Inverse compensation stable-attitude quadrotor unmanned aerial vehicle

Abstract

The invention discloses an inverse compensation stable-attitude quadrotor unmanned aerial vehicle. The inverse compensation stable-attitude quadrotor unmanned aerial vehicle comprises a vehicle body, wherein four arms are fixedly connected to the vehicle body, a rotor wing is installed at the tail end of each arm, the arms are arranged in a pairwise opposite mode, every two opposite arms are located on the same straight line, and the positions where two opposite arms are connected with the vehicle body are higher than the positions where the other two opposite arms are connected with the vehicle body; a chamber channel is formed in each arm, the chamber channels of every two opposite arms are communicated through a pipeline arranged in the vehicle body to form parallel channels, and balancing blocks are arranged in the parallel channels and driven by driving devices arranged on the parallel channels. By the adoption of the inverse compensation stable-attitude quadrotor unmanned aerial vehicle, the problem that the vehicle shakes under continuous strong wind high in the sky is effectively solved, and the quality of an aerial photo is more stable.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to a reverse-compensated attitude-stabilized quadrotor unmanned aerial vehicle. Background technique [0002] UAV, also known as unmanned aerial vehicle, or unmanned aircraft, unmanned aircraft system, does not require a driver to drive, and uses ground remote control or automatic driving technology to carry out scientific observation, battlefield reconnaissance and other tasks. UAVs are divided into military and civilian use. In fact, the earliest UAVs were used for military use. With the development of the times and the advancement of technology, UAV technology has gradually penetrated into civilian use, and a large number of civilian unmanned aerial vehicles have been developed. machine. At present, civilian drones should be widely used in aerial photography, film, agriculture, real estate, news, firefighting, rescue, energy, wildlife protection and other fields. [0003...

AI Technical Summary

Problems solved by technology

Although the current four-rotor aerial photography UAV has a large number of UAVs, it is inevitable that it still has a fatal shortcoming, that is, when it is taking aerial photography, the picture is extremely prone to shaking, specifically as follows:

[0005] 1. Some quadrotor UAVs are small in size and light in weight. It is precisely because of this that the high-frequency vibration and low-frequency jitter of this part of the UAV itself affect the stability of shooting. The gimbal is used to counteract this part of the impact. The stable gimbal mostly uses electronic equipment to detect the attitude change of the camera or camera, and controls the servo reverse compensation to achieve the stability of the camera or camera. This is currently faced with high-frequency vibration and low-frequency jitter. It is undeniable that this method can improve the stability of the picture to a certain extent. For example, the invention patent with application number 200910258080.X discloses a three-degree-of-freedom inertial stabilized aerial photography platform. The cloud platform can eliminate the influence of the high-frequency and low-frequency vibration of the drone on the aerial image to a certain extent, but the structure of the cloud platform is complex, the cost is high, and it is not convenient for large-scale popularization

[0006] 2. The wind speed near the ground is relatively stable. Based on the ground, as the height increases, the wind speed also increases. When the quadrotor UAV is flying in the air, it will be several times the wind speed on the ground, which is extremely prone to large This kind of shaking cannot be offset by the stabilized gimbal, so it has a great impact on the quality of aerial photography. At present, there is no drone that can effectively deal with the large-scale shaking caused by continuous strong winds.

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