Method for detecting whether wing of tilting wing unmanned aerial vehicle with aerodynamic layout and tilting mechanism is loosened or not

Abstract

The invention discloses a method for detecting whether a wing of a tilting wing unmanned aerial vehicle with an aerodynamic layout and a tilting mechanism is loosened or not. The method for detectingwhether the wing of the tilting wing unmanned aerial vehicle with the aerodynamic layout and the tilting mechanism is loosened or not comprises the following steps that a flight controller detects that an angle of the wing relative to the flight controller is alpha by using a wing angle sensor on the wing when the tilting mechanism controlled by the flight controller at one time tilts the wing toa mid-value position within a total tilting range; and then the flight controller controls the tilting mechanism to tilt for a certain angle beta according to a set direction; after executing is finished, the flight controller detects an angle alpha 2 of the wing relative to the flight controller; and then the flight controller controls the tilting mechanism to tilt for an angle 2beta in a reversedirection; after the executing is finished, the flight controller detects an angle alpha 3 of the wing relative to the flight controller and then judges whether a difference between (alpha 2+alpha 3) / 2 and alpha exceeds one set threshold or not; and if it is judged that the difference between (alpha 2+alpha 3) / 2 and alpha exceeds the set threshold, it is regarded that the wing has been loosened from a rotating shaft. According to the method for detecting whether the wing of the tilting wing unmanned aerial vehicle with the aerodynamic layout and the tilting mechanism, functions, such as loosening detection and automatic correction, of the wing and the rotating shaft can be realized, and very high application value is realized.

Description

technical field [0001] The invention relates to an unmanned aerial vehicle, in particular to a method for detecting whether the wing of a tilting-wing unmanned aerial vehicle capable of vertical take-off and landing with optimized aerodynamic layout and optimized tilting mechanism is loose. technical background [0002] At present, small civil UAVs can be roughly divided into two types: fixed-wing UAVs and multi-rotor UAVs. Fixed-wing UAVs have long battery life, high flight energy efficiency ratio, and fast flight speed. With the advantage of high efficiency, the multi-rotor drone has the functions of hovering in the air, realizing fixed-point observation, and vertical take-off and landing. Due to the fast flight speed of fixed-wing UAVs, high requirements for take-off sites and high operational technical requirements, it is not suitable for engineers who are new to UAVs. For low-level reasons, the function of single take-off and large-scale operation cannot be realized. ...

AI Technical Summary

Problems solved by technology

Due to the fast flight speed of fixed-wing UAVs, high requirements for take-off sites and high operational technical requirements, it is not suitable for engineers who are new to UAVs. For low-level reasons, the function of single take-off and large-scale operation cannot be realized

[0003] Because the front and rear wings of traditional tilting wing drones are at the same level in fixed wing mode, the rear wing is easily affected by the airflow of the front wing, which reduces the efficiency of the wing surface, and the rear wing is prone to tremors, resulting in Overall poor flying experience

[0004] Due to the symmetrical installation of two pairs of power units at the front and rear of traditional tilt-rotor UAVs, the rear power unit is greatly affected by the airflow of the front power unit, which reduces the efficiency of the rear power unit and is prone to tremors

[0005] The traditional tilt-rotor UAV uses a linkage mechanism to rotate the shafts of the front and rear two pairs of tiltable wings, which makes it difficult to calibrate the inclination angle of the front and rear wings, and the control flexibility is not good. The front and rear wings cannot be tilted independently, and maintenance is troublesome , and the connecting rod used by the connecting mechanism of the front and rear wing tilting mechanism occupies a large space inside the fuselage, which is not conducive to the full utilization of the space inside the drone fuselage

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