The invention relates to an anti-tilting mooring unmanned aerial vehicle and an anti-tilting device thereof. The mooring unmanned aerial vehicle comprises an unmanned aerial vehicle platform, a posture monitoring assembly, an anti-tilting device and assembly, a parachute device and a control assembly. The parachute device is arranged at the top of the unmanned aerial vehicle platform and electrically connected with the controller, the attitude monitoring assembly and the control assembly are both installed in the unmanned aerial vehicle platform, the anti-tilting device and assembly are connected with the bottom of the unmanned aerial vehicle platform and electrically connected with the controller, one end of the mooring cable is connected with the unmanned aerial vehicle platform, and the other end is connected with an automatic take-up and pay-off device. The attitude monitoring assembly monitors the inclination angle, the direction and the wind speed of the mooring unmanned aerial vehicle, when the inclination angle is larger than an angle threshold value or/and the wind speed is larger than a threshold value, the control assembly sends an instruction to the anti-tilting device, and the anti-tilting device adjusts the orientation of blades and rotates according to the instruction, so that the blades generate aerodynamic loads and trim the tilting torque in a self-adaptive mode; the mooring unmanned aerial vehicle is kept stable; when the rotating speed of the motor of the anti-tilting device reaches the maximum value and the posture monitoring assembly monitors that the inclination angle is larger than the angle threshold value, the control module sends a rotation stopping instruction and sends a parachute opening instruction to the landing device at the same time. By means of the anti-tilting device and lowering the gravity center position, the anti-tilting capacity of the mooring unmanned aerial vehicle is improved, the mooring unmanned aerial vehicle can continue to work under the atrocious weather condition, and meanwhile the safety of personnel and equipment can be guaranteed.
本发明涉及一种可防倾侧的系留无人机及其防倾侧装置。该系留无人机包括,无人机平台、姿态监控组件、防倾侧装置及组件、降落伞装置和控制组件。无人机平台上顶部设置有降落伞装置,且降落伞装置与控制器电连接,姿态监控组件和控制组件均安装在无人机平台内部,防倾侧装置及组件与无人机平台底部相连,且与控制器电连接,系留电缆一端与无人机平台相连,另一端与自动收放线装置相连。姿态监控组件监控系留无人机倾斜角度、方向和风速,当倾斜角度大于角度阈值,或/和,风速大于阈值时,控制组件向防倾侧装置发送指令,防倾侧装置根据指令调整叶片朝向并旋转,使其产生气动载荷,自适应配平倾侧力矩,使系留无人机保持平稳;当防倾侧装置电机转速达到最大且姿态监控组件监控倾斜角度大于角度阈值,控制模块发出停转指令,同时向降落装置发送开伞指令。本发明通过防倾侧装置和降低重心位置,提高了系留无人机防倾侧能力,使其能在恶劣气候条件继续作业,同时也能保证人员和设备安全。
Anti-tilting mooring unmanned aerial vehicle and anti-tilting device
一种可防倾侧的系留无人机及防倾侧装置
2021-10-12
Patent
Electronic Resource
Chinese