An attitude control system for an unmanned aerial vehicle

Abstract

The present invention provides an attitude control system for a drone, belonging to the technical field of curtain wall cleaning equipment. This attitude control system includes a frame, on which a pitching module and a rolling module are arranged. The pitching module includes a pitching fixed plate, a pitching servo, a pitching driving wheel, a pitching rotating shaft and a pitching driven wheel. The rolling module includes a rolling fixed plate, a rolling servo, a rolling servo angle, a pull rod and a rocker arm. A rolling rotating shaft is arranged on the rolling fixed plate. One end of the rocker arm is fixed on the rolling rotating shaft, and a first attitude motor and a second attitude motor are respectively fixed on the ends of the rolling rotating shaft. An attitude rotor one and an attitude rotor two are respectively connected to the output shafts of the first attitude motor and the second attitude motor. This attitude control system can realize the attitude switching of the frame and keep the corresponding attitude stable only by using two rotors, which is safe, energy-saving, simple and efficient.

Description

Technical Field

[0001] The present invention belongs to the technical field of curtain wall cleaning equipment and relates to an attitude control system for an unmanned aerial vehicle (UAV). Background Art

[0002] High-rise buildings are the business cards of a city. However, the cleaning of high-rise buildings has always been a difficult problem. In the field of outdoor curtain wall cleaning, especially the outdoor curtain wall cleaning of high-rise buildings, it is generally completed by "spidermen", which has the characteristics of high labor intensity and high risk. The curtain wall cleaning robot is considered an effective way to solve this problem. By an operator controlling the robot to complete the curtain wall cleaning work, the labor intensity can be greatly reduced and the safety can be improved, providing an effective method for the cleaning of high-rise building curtain walls.

[0003] In the prior art, UAVs generally adopt a four-rotor drive mode, and by controlling the rotation speeds of different rotors, attitude stability and switching are achieved. This method requires relatively more energy consumption. Summary of the Invention

[0004] In view of the above problems existing in the prior art, the present invention provides an attitude control system for a UAV. The technical problem to be solved by the present invention is: how to reduce energy loss.

[0005] The object of the present invention can be achieved by the following technical solutions:

[0006] An attitude control system for a UAV, the attitude control system includes a frame, a pitching module and a rolling module are arranged on the frame. The pitching module includes a pitching fixed plate fixed on the frame, a pitching servo is fixed on the pitching fixed plate, a pitching driving wheel is connected to the output shaft of the pitching servo, a pitching rotating shaft capable of rotating around its own axis is arranged on the pitching fixed plate, a pitching driven wheel is fixed on the pitching rotating shaft, and the pitching driven wheel meshes with the pitching driving wheel; the rolling module includes a rolling fixed plate fixed on the pitching rotating shaft, a rolling servo is fixed on the rolling fixed plate, a rolling servo angle is fixed on the output shaft of the rolling servo, a pull rod is hinged to the outer end of the rolling servo angle, a rocker arm is hinged to one end of the pull rod, a rolling rotating shaft capable of rotating around its own axis is arranged on the rolling fixed plate, one end of the rocker arm is fixed on the rolling rotating shaft, and an attitude motor one and an attitude motor two are respectively fixed on the ends of the rolling rotating shaft. Attitude rotors one and two are respectively connected to the output shafts of the attitude motor one and the attitude motor two.

[0007] Its working principle is as follows: The frame of this attitude control system is provided with a pitch module and a roll module. After the attitude motor 1 and the attitude motor 2 are started, they drive the attitude rotor 1 and the attitude rotor 2 to rotate respectively. When angle adjustment is required in the left - right direction, the roll rudder angle drives the servo angle to rotate. At this time, the pull rod pulls the rocker arm to swing, and the rocker arm makes the roll rotating shaft rotate a certain angle. The attitude rotor 1 and the attitude rotor 2 rotate with the roll rotating shaft to the required angle. At this time, the frame swings in the left - right direction, and the rotating attitude rotor 1 and attitude rotor 2 can maintain this attitude, realizing angle adjustment. When a pitch motion is required, the pitch servo drives the pitch driving wheel to rotate. At this time, the pitch driven wheel rotates accordingly, and the pitch driven wheel drives the pitch rotating shaft to rotate a certain angle, so that the attitude rotor 1 and the attitude rotor 2 are at different heights. The rotating attitude rotor 1 and attitude rotor 2 can maintain this attitude, and at this time, the pitch motion is realized. This attitude control system only uses two rotors, which can realize the attitude switching of the frame and keep the corresponding attitude stable, and has the characteristics of safety, energy - saving, simplicity and high efficiency.

[0008] As an embodiment, the frame is formed into an integral structure by welding, and the pitch driving wheel and the pitch driven wheel are gears.

[0009] In the attitude control system of an above - mentioned unmanned aerial vehicle, an attitude fixing plate 1 and an attitude fixing plate 2 are respectively fixed on the ends of the roll rotating shaft, and the attitude motor 1 and the attitude motor 2 are respectively fixed on the attitude fixing plate 1 and the attitude fixing plate 2. The attitude motor 1 and the attitude motor 2 are respectively fixed to the roll rotating shaft through the attitude fixing plate 1 and the attitude fixing plate 2. As an embodiment, the fixing method is thread locking.

[0010] In the attitude control system of an above - mentioned unmanned aerial vehicle, the attitude rotor 1 and the attitude rotor 2 are located on both sides of the roll fixing plate and are symmetrically arranged.

[0011] In the attitude control system of an above - mentioned unmanned aerial vehicle, the pitch rotating shaft and the roll rotating shaft are hollow shafts. The hollow - structured pitch rotating shaft and roll rotating shaft make the whole attitude control system lighter and the attitude switching easier, and this structure can further reduce energy consumption.

[0012] In the attitude control system of an above - mentioned unmanned aerial vehicle, the pitch module and the roll module are arranged inside the frame. The pitch module and the roll module arranged inside the frame do not occupy extra space, making the whole attitude control system more compact and smaller, and more flexible when realizing various actions.

[0013] In the attitude control system of an above - mentioned unmanned aerial vehicle, the pitch fixing plate and the frame are fixedly connected by bolts, and the pitch servo and the pitch fixing plate are fixedly connected by bolts.

[0014] The method of bolt fastening connection is convenient for disassembly and assembly and has a firm connection. Of course, the fixing method between the pitch driving wheel and the pitch servo and the fixing method between the pitch rotating shaft and the pitch driven wheel can also be thread locking.

[0015] In the attitude control system of an unmanned aerial vehicle described above, the roll fixing plate and the pitch rotating shaft are bolted and fastened, and the roll servo and the roll fixing plate are also bolted and fastened.

[0016] The method of bolt fastening connection is convenient for disassembly and assembly and has a firm connection. Of course, the fixing method between the roll servo and the roll servo angle and the fixing method between the rocker arm and the roll rotating shaft can also be thread locking.

[0017] Compared with the prior art, the advantages of the present invention are as follows:

[0018] 1. This attitude control system only uses two rotors, which can realize the attitude switching of the airframe and keep the corresponding attitude stable, and has the characteristics of safety, energy saving, simplicity and high efficiency.

[0019] 2. The pitch rotating shaft and the roll rotating shaft in this attitude control system are hollow shafts, making the whole attitude control system lighter and the attitude switching easier, and this structure can better reduce energy loss.

[0020] 3. The pitch module and the roll module in this attitude control system are arranged inside the airframe, and the pitch module and the roll module do not occupy extra space, making the whole attitude control system more compact and smaller, and more flexible when performing various actions. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic structural diagram of this attitude control system.

[0022] In the figure, 1. Airframe; 2. Pitch fixing plate; 3. Pitch servo; 4. Pitch driving wheel; 5. Pitch driven wheel; 6. Pitch rotating shaft; 7. Roll fixing plate; 8. Roll servo; 9. Roll servo angle; 10. Tie rod; 11. Rocker arm; 12. Roll rotating shaft; 13. Attitude motor one; 14. Attitude rotor one; 15. Attitude motor two; 16. Attitude rotor two; 17. Attitude fixing plate one; 18. Attitude fixing plate two; 19. Pitch module; 20. Roll module. DETAILED DESCRIPTION OF THE INVENTION

[0023] The following are specific embodiments of the present invention, and the technical solutions of the present invention are further described in conjunction with the drawings, but the present invention is not limited to these embodiments.

[0024] Such as Figure 1As shown in the figure, this attitude control system includes a frame 1. A pitch module 19 and a roll module 20 are arranged on the frame 1. The pitch module 19 includes a pitch fixing plate 2 fixed on the frame 1. A pitch servo 3 is fixed on the pitch fixing plate 2. A pitch driving wheel 4 is connected to the output shaft of the pitch servo 3. A pitch rotating shaft 6 that can rotate around its own axis is arranged on the pitch fixing plate 2. A pitch driven wheel 5 is fixed on the pitch rotating shaft 6. The pitch driven wheel 5 meshes with the pitch driving wheel 4. The roll module 20 includes a roll fixing plate 7 fixed on the pitch rotating shaft 6. A roll servo 8 is fixed on the roll fixing plate 7. A roll servo angle 9 is fixed on the output shaft of the roll servo 8. A pull rod 10 is hinged to the outer end of the roll servo angle 9. A rocker arm 11 is hinged to one end of the pull rod 10. A roll rotating shaft 12 that can rotate around its own axis is arranged on the roll fixing plate 7. One end of the rocker arm 11 is fixed on the roll rotating shaft 12. An attitude motor one 13 and an attitude motor two 15 are respectively fixed on the ends of the roll rotating shaft 12. Attitude rotors one 14 and two 16 are respectively connected to the output shafts of the attitude motor one 13 and the attitude motor two 15.

[0025] After the attitude motor one 13 and the attitude motor two 15 of this attitude control system are started, they respectively drive the attitude rotors one 14 and two 16 to rotate. When angle adjustment is required in the left - right direction, the roll servo angle drives the servo angle to rotate. At this time, the pull rod 10 pulls the rocker arm 11 to swing. The rocker arm 11 makes the roll rotating shaft 12 rotate a certain angle. The attitude rotors one 14 and two 16 rotate to the required angle along with the roll rotating shaft 12. At this time, the frame 1 swings in the left - right direction. The rotating attitude rotors one 14 and two 16 can maintain this attitude, realizing angle adjustment. When a pitching motion is required, the pitch servo 3 drives the pitch driving wheel 4 to rotate. At this time, the pitch driven wheel 5 rotates accordingly. The pitch driven wheel 5 drives the pitch rotating shaft 6 to rotate a certain angle, making the attitude rotors one 14 and two 16 at different heights. The rotating attitude rotors one 14 and two 16 can maintain this attitude. At this time, the pitching motion is realized.

[0026] As an embodiment, the frame 1 is formed into an integral structure by welding. The pitch driving wheel 4 and the pitch driven wheel 5 are gears.

[0027] As Figure 1 As shown in the figure, in this embodiment, an attitude fixing plate one 17 and an attitude fixing plate two 18 are respectively fixed on the ends of the roll rotating shaft 12. The attitude motor one 13 and the attitude motor two 15 are respectively fixed on the attitude fixing plate one 17 and the attitude fixing plate two 18. The attitude motor one 13 and the attitude motor two 15 are respectively fixed to the roll rotating shaft 12 through the attitude fixing plate one 17 and the attitude fixing plate two 18. As an embodiment, the fixing method is screw locking.

[0028] AsFigure 1 As shown, in this embodiment, attitude rotor 1 and attitude rotor 2 are located on both sides of the roll fixing plate 7, and attitude rotor 1 and attitude rotor 2 are symmetrically arranged.

[0029] As an embodiment, the pitch rotating shaft 6 and the roll rotating shaft 12 are hollow shafts. The hollow pitch rotating shaft 6 and roll rotating shaft 12 make the entire attitude control system lighter and the attitude switching easier, and this structure can further reduce energy loss.

[0030] As Figure 1 shown, in this embodiment, the pitch module 19 and the roll module 20 are arranged inside the frame 1. The pitch module 19 and the roll module 20 arranged inside the frame 1 do not occupy extra space, making the entire attitude control system more compact and more flexible when performing various actions.

[0031] As an embodiment, the pitch fixing plate 2 and the frame 1 are fixedly connected by bolts, and the pitch servo 3 and the pitch fixing plate 2 are fixedly connected by bolts.

[0032] The way of bolt fixed connection is convenient for disassembly and assembly and the connection is firm. Of course, the fixing method between the pitch driving wheel 4 and the pitch servo 3 and the fixing method between the pitch rotating shaft 6 and the pitch driven wheel 5 can also be thread locking.

[0033] As an embodiment, the roll fixing plate 7 and the pitch rotating shaft 6 are fixedly connected by bolts, and the roll servo 8 and the roll fixing plate 7 are also fixedly connected by bolts.

[0034] The way of bolt fixed connection is convenient for disassembly and assembly and the connection is firm. Of course, the fixing method between the roll servo 8 and the roll servo angle 9 and the fixing method between the rocker arm 11 and the roll rotating shaft 12 can also be thread locking.

[0035] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Those skilled in the art to which the present invention pertains can make various modifications or supplements to the described specific embodiments or use similar ways to replace them, but will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. An attitude control system for an unmanned aerial vehicle, the attitude control system comprising a frame (1), characterized in that, A pitching module (19) and a rolling module (20) are provided on the frame (1). The pitching module (19) includes a pitching fixed plate (2) fixed on the frame (1). A pitching servo (3) is fixed on the pitching fixed plate (2). A pitching driving wheel (4) is connected to the output shaft of the pitching servo (3). A pitching rotating shaft (6) capable of rotating around its own axis is provided on the pitching fixed plate (2). A pitching driven wheel (5) is fixed on the pitching rotating shaft (6). The pitching driven wheel (5) meshes with the pitching driving wheel (4). The rolling module (20) includes a rolling fixed plate (7) fixed on the pitching rotating shaft (6). A rolling servo (8) is fixed on the rolling fixed plate (7). A rolling servo angle (9) is fixed on the output shaft of the rolling servo (8). A pull rod (10) is hinged to the outer end of the rolling servo angle (9). A rocker arm (11) is hinged to one end of the pull rod (10). A rolling rotating shaft (12) capable of rotating around its own axis is provided on the rolling fixed plate (7). One end of the rocker arm (11) is fixed on the rolling rotating shaft (12). An attitude motor one (13) and an attitude motor two (15) are respectively fixed on the ends of the rolling rotating shaft (12). Attitude rotors one (14) and attitude rotors two (16) are respectively connected to the output shafts of the attitude motor one (13) and the attitude motor two (15). The attitude rotors one (14) and the attitude rotors two (16) are located on both sides of the rolling fixed plate (7) and are symmetrically arranged. Among them, the pitching rotating shaft (6) and the rolling rotating shaft (12) are hollow shafts.

2. The attitude control system of an unmanned aerial vehicle according to claim 1, characterized in that Attitude fixed plates one (17) and attitude fixed plates two (18) are respectively fixed on the ends of the rolling rotating shaft (12). The attitude motor one (13) and the attitude motor two (15) are respectively fixed on the attitude fixed plate one (17) and the attitude fixed plate two (18).

3. The attitude control system of an unmanned aerial vehicle according to claim 1, characterized in that, The pitching module (19) and the rolling module (20) are arranged inside the frame (1).

4. A posture control system of a drone according to any one of claims 1-3, characterized in that, The pitching fixed plate (2) and the frame (1) are fixedly connected by bolts. The pitching servo (3) and the pitching fixed plate (2) are fixedly connected by bolts.

5. The attitude control system of an unmanned aerial vehicle according to claim 1, characterized in that The rolling fixed plate (7) and the pitching rotating shaft (6) are fixedly connected by bolts. The rolling servo (8) and the rolling fixed plate (7) are also fixedly connected by bolts.

Images