A flight balance adjustment device and unmanned aerial vehicle

Abstract

The present invention discloses a flight balance adjustment device, which is arranged on an unmanned aerial vehicle. The unmanned aerial vehicle carries a load in a horizontal axial direction at a non-center-of-gravity position, has a center point, and the distances from the center point to each unmanned aerial vehicle rotor are equal. The unmanned aerial vehicle is provided with a horizontally movable intelligent battery in the horizontal axial direction; the unmanned aerial vehicle also includes a controller, a motor drive module, and a motor speed detection module for detecting motor speed information; the present invention aims to provide a flight balance adjustment device and an unmanned aerial vehicle, which can adjust the position of the intelligent battery on the unmanned aerial vehicle, keep the center of gravity at the center point when carrying other equipment, achieve flight balance of the unmanned aerial vehicle, ensure flight safety of the unmanned aerial vehicle, and save energy consumption.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a flight balance adjustment device and an unmanned aerial vehicle. Background Art

[0002] At present, when a drone is unloaded, its center of gravity is located at the central axis of the fuselage, thereby achieving balance during flight. However, due to the different application fields of drones, the weight of the equipment they carry will vary greatly. For example, carrying a digital camera, professional video camera, medicine box, powder container, etc. at the nose of the drone will affect the center of gravity of the drone, thereby affecting the balance of the drone during flight. The method commonly used at present is "counterweight", that is, when the nose is equipped with a certain device, a certain weight of object is loaded at the tail of the aircraft to ensure that the center of gravity of the electric drone is located at the central axis.

[0003] The "counterweight" adjustment method can solve the problem of the center of gravity balance of the drone, but it increases the load of the drone, increases the power consumption of the electric drone, and affects the drone's flight time and flight safety. At the same time, when the plant protection drone is operating, the weight of the load will gradually decrease as the plant protection process proceeds, and then continuously change the center of gravity position of the drone, thus affecting the balance of the drone during flight. Summary of the invention

[0004] The present invention aims to provide a flight balance adjustment device and a UAV, which can adjust the position of an intelligent battery on the UAV to keep the center of gravity at a central point when other equipment is carried, thereby achieving flight balance of the UAV, ensuring flight safety of the UAV and saving energy consumption.

[0005] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] A flight balance adjustment device is provided on a drone, wherein the drone is equipped with a load in a horizontal axis direction at a non-center-of-gravity position, the drone has a center point, and the distance from the center point to each drone rotor is equal. The drone is provided with a horizontally movable smart battery in the horizontal axis direction; the device also includes a controller, a motor drive module, and a motor speed detection module for detecting motor speed information, wherein the input end of the motor speed detection module is connected to the motor, the output end of the motor speed detection module is connected to the input end of the controller, and the output end of the controller is connected to the input end of the motor drive module;

[0007] The controller is used to control the motor drive module to drive the motor to rotate according to the target speed and speed information of the motor, so as to adjust the position of the smart battery so that the center of gravity of the drone remains on the vertical axis where the center point is located;

[0008] The motor driving module is used to drive the motor to rotate according to the target speed so that the smart battery moves in the horizontal axis.

[0009] Preferably, the controller is used to obtain preset operation information of the drone and displacement parameters of the smart battery, and obtain the target movement amount of the smart battery per unit time based on the preset operation information and displacement parameters; and is used to read the movement amount per revolution of the motor, and obtain the target rotation speed of the motor based on the target movement amount of the smart battery per unit time and the movement amount per revolution of the motor.

[0010] Preferably, the target speed of the motor Among them, Q represents the target movement amount of the smart battery per unit time, and R represents the movement amount per revolution of the motor.

[0011] Preferably, the motor speed information includes the current motor speed n i , and the motor speed n at the last moment i-1 ;

[0012] The controller is used to determine the target speed n of the motor and the current speed n of the motor. i And the motor speed n at the last moment i-1 , obtain the duty cycle of the control pulse, and send a control pulse to the motor driving module according to the duty cycle of the control pulse, so as to control the motor driving module to drive the motor to rotate according to the target speed n of the motor according to the control pulse.

[0013] Preferably, the duty cycle of the control pulse

[0014] M=(nn i )K p +(nn i )K i +[(nn i )-(n i -n i-1 )]K d

[0015] Among them, K p K is the proportional coefficient of the water pump motor speed; i K is the integral coefficient of the water pump motor speed; d is the differential coefficient of the pump motor speed; n is the target speed of the motor, n i is the current speed of the motor, n i-1 is the motor speed at the last moment.

[0016] Preferably, the preset operation information of the UAV includes flight speed and spraying information, and the spraying information includes spray width and spraying volume per unit area in the operation area; the controller uses the preset operation information to calculate the target movement amount of the smart battery per unit time according to a preset algorithm.

[0017] A drone comprises any one of the above-mentioned flight balance adjustment devices; and also comprises a flight control module, wherein the flight control module is used to send preset operation information of the drone and displacement parameters of the smart battery to the controller.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The present invention solves the problem of adjusting the center of gravity balance of the drone by adjusting the position of the smart battery, without the need for "counterweight". Under the premise of not affecting the endurance time and flight safety of the drone, the center of gravity and balance of the drone are adjusted according to the weight of the equipment carried by the drone. The position of the smart battery is adjusted by a motor, and the target speed of the motor is obtained based on the preset operation information of the drone, the target movement amount of the smart battery per unit time is obtained, and the target movement amount of the smart battery per unit time and the movement amount per revolution of the motor are obtained. Therefore, the target speed of the motor takes into account the operation conditions of the drone, and adjusts the target speed of the motor in real time, so that the motor is driven by the motor drive module to rotate according to the target speed, thereby adjusting the motor speed to the corresponding smart battery movement amount, so as to reduce the influence of the operation factors on the stability of the center of gravity adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the present invention;

[0021] Figure 2 is a schematic diagram of the structure of an embodiment;

[0022] In the figure: 100-controller, 200-motor drive module, 300-motor, 400-motor speed detection module, 500-intelligent battery, 600-flight control module. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings.

[0024] like Figure 1 As shown, a flight balance adjustment device is arranged on a UAV. The UAV carries a load on a horizontal axis at a non-center-of-gravity position. The UAV has a center point. The distance from the center point to each UAV rotor is equal. The UAV is provided with a horizontally movable smart battery 500 on the horizontal axis.

[0025] Since the flight of the UAV is mainly achieved by the rotors installed on the arms, multiple rotors are usually symmetrically arranged around the UAV. The rotors provide upward pulling force when working. During the flight, the pulling force provided by each rotor is almost the same, and multiple pulling forces form an upward combined force at the center point. In order to ensure flight balance and convenient control, the center of gravity of the UAV is located on the vertical axis where the center points of the four rotors are located, so as to avoid the UAV from generating torque during flight; at the same time, during level flight, multiple pulling forces will form a vertical component force and a horizontal component force at the center point. The vertical component force is used to keep the UAV suspended, and the horizontal component force is used to drive the UAV to move horizontally, so that the center of gravity of the UAV is located on the vertical axis where the center point is located, which can facilitate control, reduce the complexity of control, and help ensure flight stability.

[0026] The step of obtaining the center point includes obtaining the rotation center points of the four rotors; connecting two non-adjacent rotation center points to obtain two intersecting line segments; using the midpoints of the two line segments as planes perpendicular to the line segments where the midpoints are located to obtain two planes, and the two planes intersect to obtain the center line; obtaining the horizontal base plane where the drone body is located, and the center line intersects with the horizontal base plane to obtain the center point on the drone. Since the rotors are symmetrically arranged around the drone, obtaining the center point in this way can ensure that the distance from the center point to each rotor is equal.

[0027] Specifically, the drone is provided with a controller 100, a motor drive module 200, and a motor speed detection module 400 for detecting the speed information of the motor 300. The input end of the motor speed detection module 400 is connected to the motor 300, the output end of the motor speed detection module 400 is connected to the input end of the controller 100, and the output end of the controller 100 is connected to the input end of the motor drive module 200; the controller 100 is used to control the motor drive module 200 to drive the motor 300 to rotate at the target speed according to the target speed and speed information of the motor 300, so as to adjust the position of the smart battery 500 so that the center of gravity of the drone remains on the vertical axis where the center point is located; the motor drive module 200 is used to drive the motor 300 to rotate at the target speed so that the smart battery 500 moves in the horizontal axis. The motor 300 can move the smart battery 500 by the matching mode of the gear rack.

[0028] As a preferred embodiment, the controller 100 is used to obtain the preset operation information of the drone and the displacement parameters of the smart battery 500, and obtain the target movement amount of the smart battery 500 per unit time based on the preset operation information and the displacement parameters; and is used to read the movement amount per revolution of the motor 300, and obtain the target rotational speed of the motor 300 based on the target movement amount of the smart battery 500 per unit time and the movement amount per revolution of the motor 300.

[0029] It should be noted that the displacement parameters of the smart battery 500 are generated in the following manner: adjust the load weight on the drone, obtain the position information of the smart battery 500 corresponding to different load weights; generate displacement parameters that vary with the load weight based on the position information of the smart battery 500. During the drone debugging phase, adjust the position of the smart battery 500 from no load to full load based on the load conditions so that the center of gravity of the drone is located on the vertical line where the center point is located; obtain the position information of the smart battery 500 corresponding to loads of different weights based on the debugging data; since the smart battery 500 is installed on the horizontal axis of the drone body, and the smart battery 500 can only move horizontally on the horizontal axis, based on the above information, a unique function curve between the position of the smart battery 500 and the load weight can be generated, and finally the displacement parameters that vary with the load weight are obtained.

[0030] Through the above specific implementation process, it can be known that the target speed of the motor 300 is Wherein, Q represents the target movement amount of the smart battery 500 per unit time, and R represents the movement amount per revolution of the motor 300 .

[0031] In addition, the target speed n of the motor 300 takes into account the operating information of the drone and adjusts the target speed n of the motor 300 in real time, so that the motor 300 is driven to rotate according to the target speed n through the motor drive module 200, thereby adjusting the displacement of the smart battery 500 corresponding to the speed of the motor 300, thereby reducing the influence of operating factors on the adjustment of the center of gravity of the drone.

[0032] As another preferred embodiment, the speed information of the motor 300 includes the current speed n of the motor 300. i , and the speed n of the motor 300 at the last moment i-1 ; The controller 100 is used to adjust the target speed n of the motor 300 and the current speed n of the motor 300 i and the speed n of the motor 300 at the last moment i-1 , obtain the duty cycle of the control pulse, and send the control pulse to the motor driving module 200 according to the duty cycle of the control pulse, so as to control the motor driving module 200 to drive the motor 300 according to the control pulse to rotate according to the target speed n of the motor 300; the duty cycle of the control pulse

[0033] M=(nn i )K p +(nn i )K i +[(nn i )-(n i -n i-1 )]K d

[0034] Among them, K pK is the proportional coefficient of the 300 speed of the water pump motor; i K is the integral coefficient of the water pump motor at 300 speed; d is the speed differential coefficient of the water pump motor 300; n is the target speed of the motor 300, n i is the current speed of motor 300, n i-1 is the speed of the motor 300 at the last moment.

[0035] It is worth noting that there are many unstable factors during the rotation of the motor 300, which may easily cause the speed of the motor 300 to fluctuate during the rotation. Therefore, although the motor driving module 200 drives the motor 300 to rotate according to the target speed n, during the rotation of the motor 300, if there are unstable factors that affect the speed of the motor 300, its actual speed may deviate from the target speed n.

[0036] In order to ensure that the motor 300 can rotate at the target speed n, it is necessary to collect the speed information of the motor 300 and control the motor driving module 200 to drive the motor 300 to rotate at the target speed n.

[0037] Among them, through the example of controlling the motor drive module 200 to drive the motor 300 to rotate according to the target speed n, it can be found that the speed information of the motor 300 is collected in real time, and a closed-loop control is formed with the motor drive module 200 and the motor 300. Through such a closed-loop control, on the basis of real-time monitoring of the speed information of the motor 300, the received speed information of the motor 300 and the target speed n of the motor 300 can be used as parameters to obtain the duty cycle of the control pulse, so that the motor drive module 200 drives the motor 300 to rotate according to the target speed n according to the control pulse corresponding to the duty cycle of the control pulse; in this way, even if there are some unstable factors affecting the speed of the motor 300 during the rotation process, the motor drive module 200 can be controlled to drive the motor 300 to rotate at the target speed n, thereby ensuring the accurate displacement of the smart battery 500.

[0038] It is easy to understand that the preset operation information of the drone includes flight speed and spraying information, and the spraying information includes spray width and spraying volume per unit area in the operation area; the controller 100 uses the preset operation information to calculate the target movement amount of the smart battery 500 per unit time according to the preset algorithm.

[0039] It should be noted that the flight speed of the above-mentioned UAV, the spraying volume per unit area in the operating area, and the spray width are generally set values ​​input by the client, and the movement per revolution is set according to the parameters of the motor 300.

[0040] Specifically, the preset operation information of the drone is used to calculate the change information of the load weight. The change information of the load focus is calculated and combined with the displacement parameters of the smart battery 500 to generate the target movement amount of the smart battery 500. The calculation of the change information of the load weight includes the following steps: according to the flight speed and spray width of the drone, the spraying area per unit time is calculated; according to the spraying area per unit time and the spraying amount per unit area in the working area, the total spraying amount of the drone per unit time is calculated; according to the total spraying amount of the drone per unit time, the change information of the load weight is generated.

[0041] like Figure 2 As shown, a drone includes any one of the above-mentioned flight balance adjustment devices; and also includes a flight control module 600, which is used to send preset operation information of the drone and displacement parameters of the smart battery 500 to the controller 100.

[0042] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, technicians familiar with the field may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. A flight balance adjustment device, arranged on an unmanned aerial vehicle, wherein the unmanned aerial vehicle is equipped with a load in a horizontal axis direction not at the center of gravity, and the unmanned aerial vehicle has a center point, and the distance from the center point to each unmanned aerial vehicle rotor is equal, and the characteristics are: The drone is provided with a horizontally movable intelligent battery in the horizontal axis direction; further comprising a controller, a motor drive module and a motor speed detection module for detecting motor speed information, wherein the input end of the motor speed detection module is connected to the motor, the output end of the motor speed detection module is connected to the input end of the controller, and the output end of the controller is connected to the input end of the motor drive module; The controller is used to control the motor drive module to drive the motor to rotate according to the target speed and speed information of the motor, so as to adjust the position of the smart battery so that the center of gravity of the drone remains on the vertical axis where the center point is located; The motor driving module is used to drive the motor to rotate at a target speed so that the smart battery moves in a horizontal axis direction; The controller is used to obtain preset operation information of the drone and displacement parameters of the smart battery, and obtain the target movement amount of the smart battery per unit time according to the preset operation information and displacement parameters; It is used to read the movement amount per revolution of the motor, and obtain the target speed of the motor according to the target movement amount of the smart battery per unit time and the movement amount per revolution of the motor; the displacement parameter is a unique function curve between the position of the smart battery and the load weight; the preset operation information of the drone is used to calculate the change information of the load weight.

2. A flight balance adjustment device according to claim 1, characterized in that: The target speed of the motor ; Where Q represents the target movement of the smart battery per unit time, and R represents the movement per revolution of the motor.

3. A flight balance adjustment device according to claim 2, characterized in that: The motor speed information includes the current motor speed n i , and the motor speed n at the last moment i-1 ; The controller is used to determine the target speed n of the motor and the current speed n of the motor. i And the motor speed n at the last moment i-1 , obtain the duty cycle of the control pulse, and send a control pulse to the motor driving module according to the duty cycle of the control pulse, so as to control the motor driving module to drive the motor to rotate according to the target speed n of the motor according to the control pulse.

4. A flight balance adjustment device according to claim 3, characterized in that: The duty cycle of the control pulse Among them, K p K is the proportional coefficient of the water pump motor speed; i K is the integral coefficient of the water pump motor speed; d is the differential coefficient of the pump motor speed; n is the target speed of the motor, n i is the current speed of the motor, n i-1 is the motor speed at the last moment.

5. A flight balance adjustment device according to claim 1, characterized in that: The preset operation information of the UAV includes flight speed and spraying information, and the spraying information includes spray width and spraying volume per unit area in the operation area; the controller uses the preset operation information to calculate the target movement amount of the smart battery per unit time according to a preset algorithm.

6. A drone, characterized in that: A flight balance adjustment device comprising any one of claims 1 to 5; It also includes a flight control module, which is used to send preset operation information of the drone and displacement parameters of the smart battery to the controller.

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