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CN-115447770-B - Vertical take-off and landing unmanned aerial vehicle and system thereof

CN115447770BCN 115447770 BCN115447770 BCN 115447770BCN-115447770-B

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to a vertical take-off and landing unmanned aerial vehicle and a system thereof, wherein the vertical take-off and landing unmanned aerial vehicle comprises a connecting shaft arranged at the end part of a balance wing, the connecting shaft is rotatably connected with a first protection ring, two groups of mounting cylinders are fixedly arranged on the first protection ring, the mounting cylinders are fixedly connected with two groups of second protection rings, two sides of each second protection ring are respectively provided with a movable protection ring, a contraction cloth is connected between each movable protection ring and each second protection ring, two ends of each movable protection ring are connected with torsion shafts, a mounting cavity is arranged in each mounting cylinder, a clamping plate is further arranged in each mounting cavity, two ends of each clamping plate are respectively integrally formed with a limiting plate, each clamping plate is provided with at least one locking position and one avoiding position, when the clamping plate is positioned at the locking position, the limiting plates release the limiting of the limiting pins, and the movement trend of the movable protection rings towards the first protection rings is not inhibited. The unmanned aerial vehicle is protected in all directions when falling, and is difficult to hang at the treetop simultaneously, conveniently retrieves.

Inventors

  • LIAO KUO
  • KONG FENG
  • ZHAO MINGCHEN

Assignees

  • 徐州芒原智能科技有限公司

Dates

Publication Date
20260505
Application Date
20220920

Claims (8)

  1. 1. The vertical take-off and landing unmanned aerial vehicle comprises a machine body (101), a control module is installed in the machine body (101), the control module is electrically connected with a remote control end, a plurality of groups of spiral supports (102) are installed on the machine body (101), propellers (103) are respectively installed on the spiral supports (102), at least two groups of balance wings (104) are also installed on the side face of the machine body (101), and the vertical take-off and landing unmanned aerial vehicle is characterized in that a connecting shaft (105) is installed at the end part of the balance wings (104), the connecting shaft (105) is rotatably connected with a first protection ring (201), two groups of installation barrels (301) are fixedly installed on the first protection ring (201), the two groups of installation barrels (301) are arranged on the same diameter of the first protection ring (201), the installation barrels (301) are fixedly connected with two groups of second protection rings (202), moving rings (203) are respectively installed on two sides of the second protection rings (202), the moving protection rings (203) have a trend towards the first protection ring (201), a shrink cloth (205) is connected between the moving protection rings (203), a shrink cloth (301) is arranged in the installation cavity (301), and the position of the installation cavity (302) is located at least one position of the limit assembly is located at the limit position of the limit assembly, and is kept away from the limit assembly, and is at the limit position when the limit assembly is at least is located at the limit position, the movement trend of the movable protective ring (203) towards the first protective ring (201) is not inhibited, and the shrinkage cloth is opened; The movable protective ring (203) is characterized in that torsion shafts (206) are connected to two ends of the movable protective ring (203), the ends of the torsion shafts (206) are rotatably connected with the inner wall of the mounting cavity (302), torsion springs (207) are sleeved on the torsion shafts (206), the torsion springs (207) enable the movable protective ring (203) to have a trend of rotating towards the first protective ring (201), mounting columns are connected to the torsion shafts (206), limit pins (305) are mounted on the side surfaces of the mounting columns, the limit assemblies comprise clamping plates (307) mounted in the mounting cavity (302), limit plates (308) are integrally formed at two ends of the clamping plates (307), and the limit plates (308) limit the movement of the limit pins (305); The device is characterized in that an ejection cavity (309) is further formed in the mounting cylinder (301), an ejection cylinder (310) is mounted in the ejection cavity (309), an opening of the ejection cylinder (310) faces to one side far away from the machine body (101), an ejection spring (324) is mounted in the ejection cylinder (310), the ejection spring (324) is connected with a push plate (311), the push plate (311) is in abutting connection with a gravity ball (312), the ejection spring (324) is compressed, the push plate (311) has a trend of ejecting the gravity ball (312), the gravity ball (312) is connected with a pull wire (318), a through hole (313) is formed in the side wall of the ejection cylinder (310), the pull wire (318) extends from the through hole (313) to the ejection cavity (309), a rotatable wire winding roller (316) is mounted in the ejection cavity (309), the pull wire (318) is wound on the wire winding roller (316), the wire winding roller (316) is connected with a limit unit, the end part of the pull wire (318) is fixedly connected with a tension gauge (317), the end part of the mounting column is provided with a push switch (304), a movable protection ring (203) is electrically connected with a first protection ring (201) and a trigger module (304) in a corresponding to the first protection ring, the first protection ring (201) and the two-step protection ring, the first protection ring (202) is triggered by the trigger module, the two-step-down switch (201) is triggered, and the trigger module is electrically, and the trigger module is rotated in real-time, and the trigger module is rotated, and calculate unmanned aerial vehicle fall time T according to flying height, spacing unit electric connection has time delay unit, and time delay unit sets for time delay T, then T=t+ Wherein For the setting value, the influence of collision time in the falling process of the unmanned aerial vehicle is eliminated, after the push switch (304) is triggered, the time delay unit starts timing, after the time delay time T, the limit unit releases the limit of the wire receiving roller (316), and the tension meter (317) detects the tension of the pull wire (318) and judges the position state of the unmanned aerial vehicle.
  2. 2. The vertical take-off and landing unmanned aerial vehicle according to claim 1, wherein the clamping plate (307) is fixedly connected with an electric telescopic rod (323), the electric telescopic rod (323) is fixedly installed on the inner wall of the installation cavity (302), the electric telescopic rod (323) is electrically connected with the control module, and when the control module detects that the unmanned aerial vehicle flies abnormally, the control module controls the electric telescopic rod (323) to shorten, so that the clamping plate (307) moves from the locking position to the avoiding position.
  3. 3. The vertical lifting unmanned aerial vehicle according to claim 1, wherein a retraction spring (322) is fixedly connected between the clamping plate (307) and the inner wall of the installation cavity (302), and the retraction spring (322) enables the clamping plate (307) to have a tendency to move from a locking position to an avoiding position.
  4. 4. A vertical lift unmanned aerial vehicle according to claim 1, wherein the two sets of tension meters (317) each detect tension data of the wire (318) to which they are connected 、 The tension meter (317) is electrically connected with a comparison unit, the comparison unit is provided with a standard gravity M which is the gravity of the gravity ball (312), if Not less than M and If at least one item is not less than M, the unmanned aerial vehicle is judged to be suspended, and further judgment is carried out Not less than M and Whether or not M is only one of the two is not less than the length of the stay wire (318), if yes, the suspension height is lower than the length of the stay wire, otherwise, the suspension height of the unmanned aerial vehicle is not determined, if Not less than M or And if the judgment result is not equal to M, judging that the unmanned aerial vehicle falls on the ground, and sending the judgment result to the control module by the judgment unit, wherein the control module sends the unmanned aerial vehicle GPS positioning and the judgment result to the remote control terminal.
  5. 5. The vertical lifting unmanned aerial vehicle according to claim 1, wherein the limiting unit comprises a mounting shaft (315) mounted at two ends of the wire receiving roller (316), the mounting seat (314) is mounted in the ejection cavity (309), the mounting shaft (315) is mounted on the mounting seat (314), one end of the mounting shaft (315) is connected with a limiting seat (319), a limiting hole is formed in the end face of the limiting seat (319), a telescopic limiting rod (320) is mounted on the inner wall of the ejection cavity (309), a limiting column matched with the limiting hole is arranged at the end of the telescopic limiting rod (320), and the limiting column is inserted into the limiting hole to limit the rotation of the wire receiving roller (316).
  6. 6. The vertical take-off and landing unmanned aerial vehicle according to claim 5, wherein the end of the mounting shaft (315) far away from the limiting seat (319) extends to the outside of the ejection cavity (309), and the end of the mounting shaft (315) located at the outside of the ejection cavity (309) is fixedly connected with a handle (321).
  7. 7. A vertical lift unmanned aerial vehicle system comprising a vertical lift unmanned aerial vehicle as claimed in any one of claims 1 to 6, comprising: the flight power module is used for providing flight power; The control module is used for controlling the whole flight of the unmanned aerial vehicle and comprises a flight parameter unit and a fault detection unit, wherein the flight parameter unit records and measures flight data of the unmanned aerial vehicle, including flight altitude and flight speed data; the protection module is used for protecting the unmanned aerial vehicle body; The remote control end is used for establishing signal connection with the control module, sending an instruction to the control unit and controlling the flight power module to change the flight state of the unmanned aerial vehicle; When the fault detection unit judges that the unmanned aerial vehicle is in a fault state, a signal is sent to the protection module, the protection module is switched from a flying anti-collision state to a falling anti-collision state, wherein in the flying anti-collision state, the protection module establishes an anti-collision ring on the periphery of the unmanned aerial vehicle, and in the falling anti-collision state, the protection module establishes a closed protection ball layer on the periphery of the unmanned aerial vehicle.
  8. 8. The vertical take-off and landing unmanned aerial vehicle system of claim 7, wherein the protection module further comprises: the ejection unit is used for ejecting the gravity ball from two directions of the unmanned aerial vehicle; The limiting unit is in a normally open state and is used for limiting the operation of the ejection unit; the calculation unit is used for capturing unmanned aerial vehicle flight data in real time and calculating the falling time t of the unmanned aerial vehicle according to the unmanned aerial vehicle flight data; The delay unit is used for delaying the start limiting unit, wherein the delay unit stores a set value Delayed start time t=t+ When timing is up to T, a signal is sent to a limit unit; The tension detecting unit is used for detecting the final stable and unchanged tension value generated by the gravity ball after the gravity ball pops out And (3) with ; The comparison unit stores a standard value M which is the gravity of the gravity ball and is to Comparing with M, judging that the landing point of the unmanned aerial vehicle is suspended or landed, and sending the judging result to the control module, wherein if Not less than M or If not less than M is any one of the two, the unmanned aerial vehicle is suspended, and if Not less than M or If not, judging that the unmanned aerial vehicle falls on the ground; the control module further comprises a positioning unit for positioning the unmanned aerial vehicle, receiving the judgment result sent by the comparison unit and sending the unmanned aerial vehicle position and the judgment result to the remote control unit; and the remote control unit is used for receiving and displaying the unmanned aerial vehicle position and the judging result.

Description

Vertical take-off and landing unmanned aerial vehicle and system thereof Technical Field The invention relates to the technical field of unmanned aerial vehicles, in particular to a vertical take-off and landing unmanned aerial vehicle and a system thereof. Background Unmanned aerial vehicle technology has developed to a certain level at the present stage, and the application in various fields has been relatively mature. The unmanned aerial vehicle is mainly used for plant protection spraying in the agricultural field, the forest field mainly utilizes the unmanned aerial vehicle for forest fire prevention observation and forest spraying, and faults in the unmanned aerial vehicle flight process can lead to the unmanned aerial vehicle falling from high altitude, and the unmanned aerial vehicle is caused to crash in severe cases. The chinese patent of application number CN202210279441.4 provides a collapsible unmanned aerial vehicle that possesses screw protection machanism, through set up elastic bandage and protection gasbag around the screw, protects unmanned aerial vehicle's collision probably to take place. The present inventors have found that there are at least the following problems with the prior art: unmanned aerial vehicle carries out the task in the forest sky, runs into the trouble back when falling, and the thick vegetation in the forest can pass elastic bandage and collide with unmanned aerial vehicle organism, fork unmanned aerial vehicle at the trees top simultaneously, inconvenient operating personnel retrieves. Disclosure of Invention Therefore, the invention aims to provide a vertical take-off and landing unmanned aerial vehicle and a system thereof, which are used for solving the problem that an operator is inconvenient to recycle when the unmanned aerial vehicle falls into a forest after a fault. Based on the above object, the invention provides a vertical lifting unmanned aerial vehicle, comprising a machine body, wherein a control module is arranged in the machine body, the control module is electrically connected with a remote control end, a plurality of groups of spiral brackets are arranged on the machine body, propellers are respectively arranged on the spiral brackets, at least two groups of balance wings are also arranged on the side surface of the machine body, a connecting shaft is arranged at the end part of the balance wing, the connecting shaft is rotatably connected with a first protection ring, two groups of mounting cylinders are fixedly arranged on the first protection ring, the two groups of mounting cylinders are arranged on the same diameter of the first protection ring, the mounting cylinders are fixedly connected with two groups of second protection rings, two sides of each second protection ring are respectively provided with a movable protection ring, a contraction cloth is connected between the movable protection ring and the second protection ring, the movable protective ring is connected with a torsion shaft at two ends, an installation cavity is arranged in the installation cylinder, the end part of the torsion shaft is rotatably connected with the inner wall of the installation cavity, a torsion spring is sleeved on the torsion shaft, the torsion spring enables the movable protective ring to have a trend of rotating towards the first protective ring, an installation column is connected on the torsion shaft, a limiting pin is arranged on the side face of the installation column, a clamping plate is further arranged in the installation cavity, limiting plates are integrally formed at two ends of the clamping plate respectively, the clamping plate at least has a locking position and an avoidance position, when the clamping plate is in the locking position, the limiting plates limit the limiting pins, when the clamping plate is in the avoidance position, the limiting plates release the limiting of the limiting pins, and the movement trend of the movable protective ring towards the first protective ring is not inhibited. During the use, the screw provides flight power for unmanned aerial vehicle, the balance wing finely tunes unmanned aerial vehicle's flight gesture, and provide the helping hand for unmanned aerial vehicle flight, under the normal flight condition, the cardboard is in the lock position, the limiting plate is spacing to the spacer, restrain and remove the motion trend of protection ring to first protection ring, first protection ring cooperation second protection ring protects unmanned aerial vehicle fuselage, prevent that unmanned aerial vehicle fuselage is direct to collide with the object, be in unusual flight condition when unmanned aerial vehicle, then unmanned aerial vehicle control module sends signal to the cardboard, the cardboard removes to dodging the position, the limiting plate is released spacing to the spacer, under torsion spring's elasticity effect, torsion axle rotation makes and removes the protection ring rotatory towards first p