A self-balancing device for unmanned aerial vehicle and control method thereof

Abstract

The present invention relates to the technical field of unmanned aerial vehicles, and discloses a self-balancing device for unmanned aerial vehicles and a control method thereof, comprising a horizontal guide rail fixedly installed under the fuselage of the unmanned aerial vehicle, a slotted belt pulley installed on the horizontal guide rail, a first stepper motor driving wheel meshed with the slotted belt pulley, a rotating assembly connected to one side of the first stepper motor driving wheel, a telescopic assembly connected to the rotating assembly, a first driving mechanism provided on the first stepper motor driving wheel, the first driving mechanism driving the first stepper motor driving wheel to rotate, driving the slotted belt pulley to move on the horizontal guide rail, and driving the rotating assembly and the telescopic assembly on the rotating assembly to rotate, and a second driving mechanism is provided on the telescopic assembly to drive the telescopic assembly to extend and retract. Compared with the prior art, the present invention monitors the tilt angle of the unmanned aerial vehicle in real time, controls the coordinated movement of the slotted belt pulley, the rotating assembly, and the telescopic assembly, and quickly adjusts the unmanned aerial vehicle to a balanced state.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a self-balancing device for unmanned aerial vehicles and a control method thereof. Background Art

[0002] At present, drones have been widely used, such as in military intelligence gathering, civilian photography and monitoring, and are very common in daily life. Among them, drones are applicable to take-off and operation in windless or closed indoor environments. They cannot take off in windy outdoor environments or under the influence of other external factors. They are also more likely to roll over during take-off, resulting in damage to the drone, greatly reducing the test flight experience of aircraft enthusiasts. In addition, when a drone is cruising normally in the air, due to weather and unpredictable factors, the drone may roll over, which will not only cause certain economic losses, but also endanger personal safety in serious cases.

[0003] Currently, most common automatic adjustment devices for drones are telescopic devices. In daily life, telescopic devices mainly include manual and motor types. The motor type is mostly a multi-motor operation mode with hierarchical control. This mode consumes large battery energy, has poor endurance, and a short service life. The manual type is complicated to operate, prone to failure, cannot respond quickly, and consumes physical strength. Summary of the invention

[0004] Purpose of the invention: In view of the problems existing in the prior art, the present invention provides a self-balancing device for unmanned aerial vehicles and a control method thereof. According to the self-tilt angle of the unmanned aerial vehicle, the rotation and telescopic components of the balancing device are controlled in real time through the control method, so as to automatically adjust the tilt angle of the unmanned aerial vehicle when taking off. In the structure of the balancing device, a four-tooth gear is embedded in the propeller and engaged with a four-tooth tooth groove wheel for coupled movement, thereby controlling the extension or contraction of the telescopic arm to achieve the purpose of precise control.

[0005] Technical solution: The present invention provides a self-balancing device for a drone, comprising a horizontal guide rail installed and fixed under a drone fuselage, a slotted pulley installed on the horizontal guide rail, and a first stepper motor driving wheel meshing with the slotted pulley, one side of the first stepper motor driving wheel is driven and connected to a rotating component, a telescopic component is connected to the rotating component, a first driving mechanism is also provided on the first stepper motor driving wheel, the first driving mechanism drives the first stepper motor driving wheel to rotate, drives the slotted pulley to move on the horizontal guide rail, and drives the rotating component and the telescopic component on the rotating component to rotate, and a second driving mechanism is provided on the telescopic component, which drives the telescopic component to extend and retract.

[0006] Furthermore, the rotating assembly includes a first inner ring gear, a second inner ring gear and an arc-shaped rotating gear, the first inner ring gear is located between the first stepper motor driving wheel and the second inner ring gear, and the first stepper motor driving wheel and the second inner ring gear are both meshed with the first inner ring gear, the first inner ring gear and the second inner ring gear are respectively fixed to the first retaining frame and the second retaining frame through the first solenoid valve and the second solenoid valve, and springs are respectively provided between the first retaining frame and the second retaining frame and the first solenoid valve and the second solenoid valve, when the first solenoid valve and the second solenoid valve are powered off, the first inner ring gear and the second inner ring gear can be located on the first retaining frame and the second retaining frame and slide; the arc-shaped rotating gear is located on one side of the second inner ring gear and meshed with the second inner ring gear.

[0007] Furthermore, the arc-shaped rotating gear is a half-toothed gear, and a telescopic shell is fixed to the other side of the gear. A telescopic component is provided in the telescopic shell, and the telescopic component includes a second stepper motor driving wheel rotatably connected to the telescopic shell, and a second driving mechanism is provided on the second stepper motor driving wheel for driving the second stepper motor driving wheel to rotate; three telescopic arms are sequentially provided on one side of the second stepper motor driving wheel, and the second telescopic arm and the third telescopic arm are provided with self-locking components, and the telescopic progress and telescopic time of the latter two telescopic arms are controlled by the self-locking components.

[0008] Furthermore, the second stepper motor driving wheel is meshed with the first telescopic arm gear A, the first telescopic arm gear A is coaxially connected with the first section rotating rod, the other end of the first section rotating rod is rotatably connected to the first fixed support plate, and the end thereof is coaxially fixed with the first telescopic arm gear B, which is meshed with the second telescopic arm gear A rotatably connected to the first fixed support plate, the second telescopic arm gear A is coaxially fixed with the second section rotating shaft, the first propeller is threadedly connected thereto, the end of the first propeller away from the second telescopic arm gear A is connected to the second fixed support plate, and the end of the second section rotating shaft away from the second telescopic arm gear A is provided with a section of non-threaded structure, the end of which is coaxially fixed with the second telescopic arm gear B, and the second fixed support plate is also rotatably connected to the third telescopic arm gear; the third telescopic arm gear is rotatably connected to the third telescopic arm gear; A third rotating shaft is fixed coaxially with the arm gear, and a second propeller is threadedly connected to the third rotating shaft, and an end of the second propeller away from the third telescopic arm gear is connected to a third fixed support plate, and an end of the third rotating shaft away from the third telescopic arm gear is provided with a non-threaded structure; self-locking components are provided between the second rotating shaft and the second fixed support plate, and between the third rotating shaft and the third fixed support plate; when the first propeller moves to the second fixed support plate and contacts with the second telescopic arm gear A, the second telescopic arm gear B meshes with the third telescopic arm gear, the first propeller is located at the non-threaded structure position of the second rotating shaft, and the self-locking component on the second telescopic arm starts self-locking; when the second propeller moves to the non-threaded structure position of the third rotating shaft, the self-locking component on the third telescopic arm starts self-locking.

[0009] Furthermore, the first propeller and the second propeller have the same structure and both include a left push plate and a right push plate. The left push plate and the right push plate are fixedly connected by a support column. The inner ring of the left push plate is rotatably connected to a bearing. The inner ring of the bearing and the right push plate are respectively threadedly connected to the second and third rotating shafts.

[0010] Furthermore, the length of the non-threaded structure on the second and third rotating shafts is slightly larger than the distance between the left push plate and the right push plate. When the first propeller and the second propeller are extended to their longest, the left push plate is located at the threaded structure position of the second and third rotating shafts, and the right push plate is located at the non-threaded structure position of the second and third rotating shafts.

[0011] Furthermore, the self-locking component structure between the second section rotating shaft and the second fixed support plate, and between the third section rotating shaft and the third fixed support plate is the same, and they all include a four-tooth gear sleeved on the second section rotating shaft and the third section rotating shaft and fixed to the second fixed support plate and the third fixed support plate, and a four-tooth gear groove wheel rotatably connected to the second telescopic arm gear B or sleeved on the top end of the third section rotating shaft; an electromagnet is also provided on the four-tooth gear groove wheel, and when the four-tooth gear and the four-tooth gear groove wheel are matched and engaged, the electromagnet is energized to achieve locking of the four-tooth gear and the four-tooth gear groove wheel.

[0012] Furthermore, a pressure sensor is provided on the four-tooth gear, and a gyroscope sensor is provided at the bottom of the drone. The gyroscope sensor, the pressure sensor, the electromagnet, the first solenoid valve, the second solenoid valve, the first drive mechanism and the second drive mechanism are all electrically connected to the controller.

[0013] Furthermore, slide rails are arranged in the first retaining frame and the second retaining frame, the first solenoid valve and the second solenoid valve are located in the slide rails of the first retaining frame and the second retaining frame and slide, the central axes of the first inner ring gear and the second inner ring gear are rotationally connected to the first solenoid valve and the second solenoid valve respectively, and the spring is arranged on the inner wall of the slide rail at the lower end of the first retaining frame and the inner wall of the slide rail at the upper end of the second retaining frame.

[0014] The present invention also discloses a control method based on the above-mentioned UAV self-balancing device, comprising the following steps:

[0015] S1: The gyroscope sensor monitors the tilt angle of the drone in real time, and presets a certain range of tilt angles in the controller as the threshold θ;

[0016] S2: When the tilt angle of the drone detected by the gyroscope sensor is ≥ the threshold value θ, the gyroscope sensor transmits the tilt angle to the controller;

[0017] S3: When the controller receives a signal that the tilt angle is greater than a preset threshold, the controller controls the first driving mechanism to be energized, and drives the slotted pulley to rotate through the first stepper motor driving wheel, so that the balancing device moves along the horizontal guide rail toward the side to be balanced. During the movement, the first inner race gear and the second inner race gear mesh with each other and rotate, so that the rotating assembly drives the telescopic assembly to rotate to the side to be balanced;

[0018] S4: After rotating to the side to be balanced, the controller controls the first solenoid valve or the second solenoid valve to be powered off, so that the first inner race gear moves upward or the second inner race gear moves downward, the rotating assembly is separated, and the first driving mechanism continues to drive the slotted pulley to rotate, so that the balancing device moves along the horizontal guide rail to the side to be balanced, and the tilt angle of the drone is monitored in real time;

[0019] S5: At the same time, the second driving mechanism is controlled to be energized, and the second stepper motor driving wheel is rotated rapidly to extend the second telescopic arm while monitoring the tilt angle of the UAV in real time until the tilt angle is less than the threshold value θ; when the second telescopic arm is extended to the longest angle, the monitored tilt angle is still greater than the set threshold value θ, the second telescopic arm self-locking component is self-locked, and the second stepper motor driving wheel continues to rotate the shaft to drive the third telescopic arm to extend, while monitoring the tilt angle of the UAV in real time until the tilt angle is less than the threshold value θ;

[0020] S6: When the angle of the drone returns to normal and the monitoring angle of the gyro sensor is less than the threshold value θ, the controller controls the first driving mechanism and the second driving mechanism to cut off power, the telescopic arm stops extending and retracting, and the above-mentioned balancing device is fixed;

[0021] S7: When the UAV tilts again, the controller first determines the tilt direction. If it is still tilted on the same side, the controller controls the telescopic arm to retract until the UAV is balanced. If the UAV tilts in the opposite direction, the controller first controls the third telescopic arm to retract, and then the second telescopic arm to retract. While retracting, the tilt angle of the UAV is monitored in real time until the UAV is balanced. When the telescopic arms are fully retracted, if the tilt angle of the UAV is still greater than the preset threshold θ, S3 to S6 are continued. Beneficial Effects

[0022] 1. The present invention drives the slotted pulley to move on the horizontal guide rail and the rotating component to rotate by the first driving mechanism, drives the telescopic component by the second driving mechanism, and controls the self-locking by the on and off power of the electromagnet. When the tilt angle of the UAV is monitored by the controller, when the tilt angle is too large, the balancing device on the horizontal guide rail moves rapidly to achieve the overall adjustment of the tilt angle of the UAV, and the telescopic arm gradually extends to achieve the fine adjustment of the angle of the UAV, effectively and accurately solving the rollover accident caused by the excessive take-off angle.

[0023] 2. The present invention realizes the movement of the slotted pulley on the horizontal guide rail and the rotation of the rotating assembly through a driving mechanism, so that one driving mechanism realizes two actions, saves power, and can reduce the counterweight of the balancing device.

[0024] 3. The present invention realizes the up and down movement of the first inner race gear and the second inner race gear through the first retainer, the second retainer, the first solenoid valve and the second solenoid valve, so as to realize the end and start of the rotation of the rotating assembly. When the rotating assembly does not need to rotate, it does not affect the first driving mechanism to continue to drive the slotted pulley to move on the horizontal guide rail.

[0025] 4. The present invention realizes the self-locking of the second telescopic arm and the third telescopic arm through the self-locking component. When the second telescopic arm and the third telescopic arm are extended to the longest state, the self-locking component works to realize self-locking. When the telescopic arm needs to be retracted, the order of opening the self-locking components can be controlled to control which telescopic arm to retract. When retraction is required, the self-locking component on the second telescopic arm is first controlled to be in the self-locking state, and the self-locking component on the third telescopic arm is in the unlocked state. When retraction is required, the second stepping motor driving wheel is controlled to rotate through the second driving mechanism to drive the third telescopic arm to retract first. After the third telescopic arm is retracted, the self-locking component on the second telescopic arm is controlled to unlock to realize the retraction of the second telescopic arm. The self-locking component makes it easy for the controller to drive the telescopic arms to retract one after another through a driving mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the UAV self-balancing device of the present invention;

[0027] Figure 2 A schematic diagram of the appearance of a balancing device of a self-balancing device for a UAV;

[0028] Figure 3 This is a structural diagram of the rotating device of the UAV self-balancing device of the present invention;

[0029] Figure 4 A schematic diagram of the internal structure of the telescopic arm of the UAV self-balancing device in the extended state;

[0030] Figure 5 A schematic diagram of the internal structure of the telescopic arm of the UAV self-balancing device in the retracted state;

[0031] Figure 6 This is a schematic diagram of the internal structure of the self-locking component of the present invention;

[0032] Figure 7 It is a schematic diagram of the structure of the first propeller or the second propeller of the present invention;

[0033] Figure 8 This is a control flow chart of the self-balancing device of the unmanned aerial vehicle of the present invention.

[0034] In the figure: 1 horizontal guide rail; 2 slotted pulley; 3 arc-shaped fixed grab arm; 4 telescopic housing; 5 first stepper motor driving wheel; 6 first inner race gear; 7 second inner race gear; 8 first solenoid valve; 9 second solenoid valve; 10 first retaining frame; 11 second retaining frame; 12 arc-shaped rotating gear; 13 first telescopic arm; 14 second telescopic arm; 15 third telescopic arm; 16 second stepper motor driving wheel; 17 first telescopic arm gear A; 170 first telescopic arm gear B; 18 first section rotating rod; 19 second telescopic arm gear A; 190 second telescopic arm gear B; 20 first fixed support plate; 21 second section rotating shaft; 22 first propeller; 23 third telescopic arm gear; 24 second fixed support plate; 25 third section rotating shaft; 26 second propeller; 27 third fixed support plate; 28 gyroscope sensor; 29 spring; 30 left push plate, 31 right push plate, 32 support column, 33 - bearing, 101 four-tooth gear; 102 four-tooth gear; 103 electromagnet; 104 pressure sensor. DETAILED DESCRIPTION

[0035] The present invention is further described below in conjunction with the accompanying drawings. The following implementation examples are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0036] See attached Figures 1 to 8 The present invention discloses a self-balancing device for a drone, comprising a horizontal guide rail 1 fixedly installed under a drone body, a slotted pulley 2 installed on the horizontal guide rail 1, and a first stepper motor driving wheel 5 meshing with the slotted pulley 2, one side of the first stepper motor driving wheel 5 is drivingly connected to a rotating component, a telescopic component is connected to the rotating component, and a first driving mechanism is also provided on the first stepper motor driving wheel 5. The first driving mechanism drives the first stepper motor driving wheel 5 to rotate, drives the slotted pulley 2 to move on the horizontal guide rail 1, and drives the rotating component and the telescopic component on the rotating component to rotate, and a second driving mechanism is provided on the telescopic component to drive the telescopic component to extend and retract.

[0037] In this embodiment, the rotating assembly includes a first inner ring gear 6, a second inner ring gear 7 and an arc rotating gear 12, the first inner ring gear 6 is located between the first stepper motor driving wheel 5 and the second inner ring gear 7, and the first stepper motor driving wheel 5 and the second inner ring gear 7 are both meshed with the first inner ring gear 6, the first inner ring gear 6 and the second inner ring gear 7 are respectively fixed to the first retaining frame 10 and the second retaining frame 11 through the first electromagnetic valve 8 and the second electromagnetic valve 9, and a spring 29 is provided between the first retaining frame 10 and the second retaining frame 11 and the first electromagnetic valve 8 and the second electromagnetic valve 9, respectively, when the first electromagnetic valve 8 and the second electromagnetic valve 9 are powered off, the first inner ring gear 6 and the second inner ring gear 7 can slide on the first retaining frame 10 and the second retaining frame 11. The arc rotating gear 12 is located on one side of the second inner ring gear 7 and meshed with the second inner ring gear 7. Slide rails are arranged inside the first retaining frame 10 and the second retaining frame 11. The first solenoid valve 8 and the second solenoid valve 9 are located in the slide rails of the first retaining frame 10 and the second retaining frame 11 and slide. The central axes of the first inner ring gear 6 and the second inner ring gear 7 are rotationally connected to the first solenoid valve 8 and the second solenoid valve 9 respectively. Springs 29 are arranged on the inner wall of the slide rail at the lower end of the first retaining frame 10 and the inner wall of the slide rail at the upper end of the second retaining frame 11.

[0038] The first driving mechanism drives the slotted belt pulley 2 to move and the rotating component to rotate at the same time, which can be divided into two situations. The first situation is: when the rotating component has rotated to the side to be balanced (assuming that Figure 2 The arc-shaped rotating gear 12 rotates in the direction of arrow A. When the arc-shaped rotating gear 12 rotates to the lowest side), the first solenoid valve 8 is powered off, and the first stepper motor driving wheel 5 rotates to drive the first inner seat ring gear 6 to rotate. Because the first solenoid valve 8 is powered off, the first solenoid valve 8 and the first retaining frame 10 are in a non-fixed state. The first solenoid valve 8 drives the first inner seat ring gear 6 to slide upward along the direction of the slide rail of the first retaining frame 10 until the first stepper motor driving wheel 5 and the first inner seat ring gear 6 are not engaged. At this time, the controller controls the first solenoid valve 8 to be powered on, and the first solenoid valve 8 remains in the relative position of the first retaining frame 10, and is in a balanced state with the spring 29. At this time, the rotating component is not in contact with the slotted pulley 2 and the first stepper motor driving wheel 5. The rotation of the first stepper motor driving wheel 5 does not affect the rotating component, and the rotating component does not affect the movement of the slotted pulley 2 on the horizontal guide rail 1. The second situation: when the rotating component has rotated to the side to be balanced (assuming that Figure 2The arc-shaped rotating gear 12 rotates in the opposite direction of the arrow A. When the arc-shaped rotating gear 12 rotates to the uppermost side), the second solenoid valve 9 is powered off, and the first stepper motor driving wheel 5 rotates to drive the first inner ring gear 6 and the second inner ring gear 7 to rotate. Because the second solenoid valve 9 is powered off, the second solenoid valve 9 and the second retaining frame 11 are not in a fixed state. The second solenoid valve 9 drives the second inner ring gear 7 to slide downward along the slide rail direction of the second retaining frame 11 until the first inner ring gear 6 and the second inner ring gear 7 are not engaged. At this time, the controller controls the second solenoid valve 9 to be powered on, and the second solenoid valve 9 remains in the relative position of the second retaining frame 11, and is in a balanced state with the spring 29. At this time, the rotating assembly is not in contact with the slotted pulley 2 and the first stepper motor driving wheel 5. The rotation of the first stepper motor driving wheel 5 does not affect the rotating assembly, and the rotating assembly does not affect the movement of the slotted pulley 2 on the horizontal guide rail 1.

[0039] When the state changes from a non-rotating state to a state where the component needs to be rotated, in the first case: the controller controls the first solenoid valve 8 to be de-energized, and the first solenoid valve 8 drives the first inner ring gear 6 to move downward under the action of the spring 29. When it moves to the meshing edge of the first stepper motor driving wheel 5, it is driven by the first stepper motor driving wheel 5 to restore the first inner ring gear 6 to mesh with the first stepper motor driving wheel 5 and the second inner ring gear 7. At this time, the controller controls the first solenoid valve 8 to be energized to drive the rotating component to rotate. In the second case: the controller controls the second solenoid valve 9 to be de-energized, and the second solenoid valve 9 drives the second inner ring gear 7 to move upward under the action of the spring 29. When it moves to the meshing edge of the first inner ring gear 6, it is driven by the first stepper motor driving wheel 5 to restore the first inner ring gear 6 to mesh with the second inner ring gear 7. At this time, the controller controls the second solenoid valve 9 to be energized to drive the rotating component to rotate.

[0040] In the present embodiment, the arc-shaped rotating gear 12 is a half-toothed gear, and a telescopic shell 4 is fixed to its other side. A telescopic component is provided in the telescopic shell 4, and the telescopic component includes a second stepper motor driving wheel 16 rotatably connected to the telescopic shell 4. The second stepper motor driving wheel 16 is provided with a second driving mechanism for driving the second stepper motor driving wheel 16 to rotate. Three telescopic arms are sequentially provided on one side of the second stepper motor driving wheel 16, and self-locking components are provided on the second telescopic arm and the third telescopic arm. The telescopic progress and telescopic time of the latter two telescopic arms are controlled by the self-locking components.

[0041] The second stepper motor driving wheel 16 is meshed with the first telescopic arm gear A17, and the first telescopic arm gear A17 is coaxially connected with the first section rotating rod 18, and the other end of the first section rotating rod 18 is rotatably connected to the first fixed support plate 20, and the end thereof is coaxially fixed with the first telescopic arm gear B170, which is meshed with the second telescopic arm gear A19 rotatably connected to the first fixed support plate 20, and the second telescopic arm gear A19 is coaxially fixed with the second section rotating shaft 21, on which the first propeller 22 is threadedly connected, and the end of the first propeller 22 away from the second telescopic arm gear A19 is connected to the second fixed support plate 24, and the end of the second section rotating shaft 21 away from the second telescopic arm gear A19 is provided with a section of non-threaded structure, and the end thereof is coaxially fixed with the second telescopic arm gear B190, and the second fixed support plate 24 is provided with a second telescopic arm gear B190. It is also rotatably connected to the third telescopic arm gear 23; the third telescopic arm gear 23 is coaxially fixed with a third section rotating shaft 25, on which a second propeller 26 is threadedly connected, and the end of the second propeller 26 away from the third telescopic arm gear 23 is connected to the third fixed support plate 27, and an end of the third section rotating shaft 25 away from the third telescopic arm gear 23 is provided with a section of non-threaded structure; self-locking components are provided between the second section rotating shaft 21 and the second fixed support plate 24, and between the third section rotating shaft 25 and the third fixed support plate 27. When the first propeller 22 moves to the second fixed support plate 24 and contacts with the second telescopic arm gear A19, the first propeller 22 is located at the non-threaded structure position of the second section rotating shaft 21, and the second telescopic arm gear B190 is meshed with the third telescopic arm gear 23, and at this time the self-locking component starts self-locking.

[0042] In this embodiment, the first propeller 22 and the second propeller 26 have the same structure and both include a left push plate 30 and a right push plate 31. The left push plate 30 and the right push plate 31 are fixedly connected by a support column 32. The inner ring of the left push plate 30 is rotatably connected to a bearing 33. The inner ring of the bearing 33 and the right push plate 31 are threadedly connected to the second section rotating shaft 21 and the third section rotating shaft 25, respectively.

[0043] The length of the non-threaded structure on the second section rotating shaft 21 and the third section rotating shaft 25 is slightly larger than the distance between the left push plate 30 and the right push plate 31. When the first propeller 22 and the second propeller 26 are extended to their longest, the left push plate 30 is located at the threaded structure position of the second section rotating shaft 21 and the third section rotating shaft 25, and the right push plate is located at the non-threaded structure position of the second section rotating shaft 21 and the third section rotating shaft 25.

[0044] When the second driving mechanism drives the second stepper motor driving wheel 16 to rotate, it drives the first telescopic arm gear A17 to rotate, and at the same time drives the second section rotating shaft 21 to rotate through the first telescopic arm gear B170, and the rotation of the second section rotating shaft 21 drives the first propeller 22 to move forward. When the first propeller 22 moves to the second fixed support plate 24 and contacts the second telescopic arm gear A19, the second telescopic arm gear A19 and the third telescopic arm gear 23 are just meshed, and at this time, the left push plate of the first propeller 22 is located at the threaded structure position of the second section rotating shaft 21, and the right push plate of the first propeller 22 is located at the non-threaded structure position of the second section rotating shaft 21. At this time, the self-locking component is started. When the second driving mechanism continues to drive the second stepper motor driving wheel 16 to rotate, the left push plate of the first propeller 22 is under the action of the bearing, and the second section rotating shaft 21 rotates under the driving condition of the second driving mechanism, but the first propeller 22 does not extend forward with its rotation, and does not affect the rotation of the second section rotating shaft 21. When the second driving mechanism continues to drive the second stepper motor driving wheel 16 to rotate. The first telescopic arm gear B170 and the second telescopic arm gear A19, the second telescopic arm gear B190 and the third telescopic arm gear 23 are meshed and rotated with each other, and the third rotating shaft 25 rotates to drive the second propeller 26 to move forward, so that the third telescopic arm is extended to a certain length.

[0045] In this embodiment, the self-locking component structure between the second section rotating shaft 21 and the second fixed support plate 24, and between the third section rotating shaft 25 and the third fixed support plate 27 is the same, including a four-tooth gear 102 sleeved on the second section rotating shaft 21 and the third section rotating shaft 25 and fixed to the second fixed support plate 24 and the third fixed support plate 27, and a four-tooth gear 101 rotatably connected to the second telescopic arm gear B190 or sleeved on the top of the third section rotating shaft 25; the four-tooth gear 103 is also provided on the four-tooth gear 101. When the four-tooth gear 102 is matched and engaged with the four-tooth gear 101, the electromagnet 103 is energized to achieve the locking of the four-tooth gear 102 and the four-tooth gear 101. When the four-tooth gear 102 on the second fixed support plate 24 on the second section rotating shaft 21 moves close to the four-tooth gear 101 that is rotationally connected to the second telescopic arm gear B190 and engages with the inner wall of the four-tooth gear 101, the second telescopic arm gear B190 and the third telescopic arm gear 23 are in a meshing state, and the second telescopic arm is extended to the longest length. At this time, the electromagnet 103 is energized to achieve self-locking.

[0046] In order to facilitate the controller to control the on and off of the electromagnet 103, a pressure sensor 104 is also provided on the four-tooth gear 102, and the pressure sensor 104 and the electromagnet 103 are both electrically connected to the controller.

[0047] In this embodiment, the first driving mechanism and the second driving mechanism have the same structure and are both driven by motors, namely, the first stepper motor and the second stepper motor. The first solenoid valve 8, the second solenoid valve 9, the first stepper motor and the second stepper motor are all electrically connected to the controller.

[0048] Referring to the accompanying drawings, the entire self-locking assembly is located between the second section rotating shaft 21 and the second fixed support plate 24 or between the third section rotating shaft 25 and the third fixed support plate 27. When the second section rotating shaft 21 and the third section rotating shaft 25 rotate (assuming that the second telescopic arm and the third telescopic arm are in an extended state), the four-tooth gear 102 moves toward the direction close to the four-toothed toothed wheel 101 along with the movement of the first propeller 22 and the second propeller 26 due to the rotation of the second section rotating shaft 21 and the third section rotating shaft 25. When the four-toothed gear 102 on the second fixed support plate 24 on the second section rotating shaft 21 moves to the direction close to the four-toothed toothed wheel 101 that is rotationally connected to the second telescopic arm gear B190 and engages with the inner wall of the four-toothed toothed wheel 101, the second telescopic arm gear B190 is in meshing state with the third telescopic arm gear 23, and the extension length of the second telescopic arm is in the longest state. At this time, the electromagnet 103 is energized to achieve self-locking.

[0049] When the second section rotating shaft 21 and the third section rotating shaft 25 rotate in the opposite direction (assuming that the second telescopic arm and the third telescopic arm are in a retracted state), the controller first controls the self-locking component of the third telescopic arm to unlock, that is, the four-tooth gear 102 and the four-tooth tooth groove wheel 101 located between the third section rotating shaft 25 and the third fixed support plate 27 are unlocked. Because of the reverse rotation of the second section rotating shaft 21 and the third section rotating shaft 25, the four-tooth gear 102 moves away from the four-tooth tooth groove wheel 101 along with the reverse movement (contraction) of the second propeller 26 (because the left push plate 30 of the second propeller 26 is threadedly connected to the third section rotating shaft 25, and the third section rotating shaft 25 rotates in the opposite direction, so the second propeller 26 is retracted back), thereby realizing the retraction of the third telescopic arm. After the third telescopic arm is retracted, the second and third rotating shafts 21, 25 continue to rotate in the opposite direction, and the four-tooth gear 102 and the four-tooth gear groove wheel 101 between the second rotating shaft 21 and the second fixed support plate 24 are unlocked. Due to the opposite rotation of the second and third rotating shafts 21, 25, the first propeller 22 drives the second fixed support plate 24 to retract back, thereby realizing the retraction of the second telescopic arm.

[0050] The control method of the above-mentioned drone self-balancing device comprises the following steps: a gyro sensor 28 is arranged at the bottom of the drone.

[0051] S1: The gyro sensor 28 monitors the tilt angle of the drone in real time, and presets a certain range of tilt angles in the controller as a threshold value θ.

[0052] S2: When the tilt angle of the drone detected by the gyro sensor 28 is ≥ the threshold value θ, the gyro sensor 28 transmits the tilt angle to the controller.

[0053] S3: When the controller receives a signal that the tilt angle is greater than a preset threshold, it controls the first driving mechanism to be energized, and drives the slotted pulley 2 to rotate through the first stepper motor driving wheel 5, so that the above-mentioned balancing device moves along the horizontal guide rail 1 toward the side to be balanced. During the movement, the first inner ring gear 6 and the second inner ring gear 7 engage and rotate with each other, so that the rotating component drives the telescopic component to rotate to the side to be balanced.

[0054] S4: After rotating to the side to be balanced, the controller controls the first solenoid valve 8 or the second solenoid valve 9 to cut off the power, so that the first inner ring gear 6 moves upward or the second inner ring gear 7 moves downward (for specific situations, refer to the first and second situations mentioned above), separates the rotating components, and the first driving mechanism continues to drive the slotted pulley 2 to rotate, so that the above-mentioned balancing device moves along the horizontal guide rail 1 toward the side to be balanced, and monitors the tilt angle of the drone in real time.

[0055] S5: At the same time, the second driving mechanism is controlled to be energized, and the second stepper motor driving wheel 16 is rotated rapidly to extend the second telescopic arm while monitoring the tilt angle of the UAV in real time until the tilt angle is less than the threshold value θ; when the second telescopic arm is extended to the longest angle, the monitored tilt angle is still greater than the set threshold value θ, the second telescopic arm self-locking component is self-locked, and the second stepper motor driving wheel 16 continues to rotate the shaft to drive the third telescopic arm to extend, while monitoring the tilt angle of the UAV in real time until the tilt angle is less than the threshold value θ.

[0056] S6: When the angle of the drone returns to normal and the monitoring angle of the gyro sensor 28 is less than the threshold value θ, the controller controls the first driving mechanism and the second driving mechanism to be powered off, the telescopic arm stops extending and retracting, and the above-mentioned balancing device is fixed;

[0057] S7: When the UAV tilts again, the controller first determines the tilt direction. If it is still tilted on the same side, the controller controls the telescopic arm to retract until the UAV is balanced. If the UAV tilts in the opposite direction, the controller first controls the third telescopic arm to retract, and then the second telescopic arm to retract. While retracting, the tilt angle of the UAV is monitored in real time until the UAV is balanced. When the telescopic arms are fully retracted, if the tilt angle of the UAV is still greater than the preset threshold θ, S3 to S6 are continued.

[0058] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent transformation or modification made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A self-balancing device for an unmanned aerial vehicle, characterized in that: The invention comprises a horizontal guide rail (1) fixedly mounted below a drone fuselage, a slotted belt pulley (2) mounted on the horizontal guide rail (1), and a first stepper motor driving wheel (5) meshing with the slotted belt pulley (2), one side of the first stepper motor driving wheel (5) being drivingly connected to a rotating assembly, the rotating assembly being connected to a telescopic assembly, the first stepper motor driving wheel (5) being further provided with a first driving mechanism, the first driving mechanism driving the first stepper motor driving wheel (5) to rotate, driving the slotted belt pulley (2) to move on the horizontal guide rail (1), and driving the rotating assembly and the telescopic assembly on the rotating assembly to rotate, the telescopic assembly being provided with a second driving mechanism driving the telescopic assembly to telescope; The rotating assembly comprises a first inner ring gear (6), a second inner ring gear (7) and an arc-shaped rotating gear (12); the first inner ring gear (6) is located between the first stepper motor driving wheel (5) and the second inner ring gear (7); the first stepper motor driving wheel (5) and the second inner ring gear (7) are both meshed with the first inner ring gear (6); the first inner ring gear (6) and the second inner ring gear (7) are respectively fixed to the first retaining frame (10) and the second retaining frame (11) via the first solenoid valve (8) and the second solenoid valve (9). The first retaining frame (10) and the second retaining frame (11) are provided with springs (29) respectively between the first retaining frame (10) and the second retaining frame (11) and the first solenoid valve (8) and the second solenoid valve (9); when the first solenoid valve (8) and the second solenoid valve (9) are powered off, the first inner race gear (6) and the second inner race gear (7) can be located on the first retaining frame (10) and the second retaining frame (11) and slide; the arc-shaped rotating gear (12) is located on one side of the second inner race gear (7) and meshes with the second inner race gear (7); The arc-shaped rotating gear (12) is a half-toothed gear, and a telescopic housing (4) is fixed to the other side of the arc-shaped rotating gear (12). A telescopic assembly is arranged inside the telescopic housing (4), and the telescopic assembly comprises a second stepper motor driving wheel (16) rotatably connected to the telescopic housing (4). The second stepper motor driving wheel (16) is provided with a second driving mechanism for driving the second stepper motor driving wheel (16) to rotate; three telescopic arms are arranged in sequence on one side of the second stepper motor driving wheel (16), and the second telescopic arm and the third telescopic arm are provided with self-locking assemblies, and the telescopic progress and telescopic time of the latter two telescopic arms are controlled by the self-locking assemblies; Slide rails are arranged inside the first retaining frame (10) and the second retaining frame (11); the first solenoid valve (8) and the second solenoid valve (9) are located and slide inside the slide rails of the first retaining frame (10) and the second retaining frame (11); the central axes of the first inner race gear (6) and the second inner race gear (7) are rotationally connected to the first solenoid valve (8) and the second solenoid valve (9), respectively; and the spring (29) is arranged on the inner wall of the slide rail at the lower end of the first retaining frame (10) and the inner wall of the slide rail at the upper end of the second retaining frame (11).

2. The self-balancing device for unmanned aerial vehicle according to claim 1, characterized in that: The second stepper motor driving wheel (16) is meshed with a first telescopic arm gear A (17), the first telescopic arm gear A (17) is coaxially connected to a first rotating rod (18), the other end of the first rotating rod (18) is rotatably connected to a first fixed support plate (20), and a first telescopic arm gear B (170) is coaxially fixed to its end, which meshes with a second telescopic arm gear A (19) rotatably connected to the first fixed support plate (20), the second telescopic arm gear A (19) is coaxially fixed to a second rotating shaft (21), a first propeller (22) is threadedly connected thereto, the first propeller (22) is connected to a second fixed support plate (24) at one end away from the second telescopic arm gear A (19), and a non-threaded structure is provided at one end of the second rotating shaft (21) away from the second telescopic arm gear A (19), a second telescopic arm gear B (190) is coaxially fixed to its end, and a third telescopic arm gear (23) is also rotatably connected to the second fixed support plate (24); the third telescopic arm gear ( A third rotating shaft (25) is coaxially fixed with the third rotating shaft (23), on which a second propeller (26) is threadedly connected; an end of the second propeller (26) away from the third telescopic arm gear (23) is connected to a third fixed support plate (27); and an end of the third rotating shaft (25) away from the third telescopic arm gear (23) is provided with a non-threaded structure; self-locking devices are provided between the second rotating shaft (21) and the second fixed support plate (24), and between the third rotating shaft (25) and the third fixed support plate (27). When the first propeller (22) moves to the second fixed support plate (24) and contacts the second telescopic arm gear A (19), the second telescopic arm gear B (190) meshes with the third telescopic arm gear (23), the first propeller (22) is located at the non-threaded structural position of the second section rotating shaft (21), and the self-locking component on the second telescopic arm starts self-locking; when the second propeller (26) moves to the non-threaded structural position of the third section rotating shaft (25), the self-locking component on the third telescopic arm starts self-locking.

3. The self-balancing device for unmanned aerial vehicle according to claim 2, characterized in that: The first propeller (22) and the second propeller (26) have the same structure, and both comprise a left push plate (30) and a right push plate (31). The left push plate (30) and the right push plate (31) are fixedly connected via a support column (32). The inner ring of the left push plate (30) is rotatably connected to a bearing (33). The inner ring of the bearing (33) and the right push plate (31) are respectively threadedly connected to the second section rotating shaft (21) and the third section rotating shaft (25).

4. The self-balancing device for unmanned aerial vehicle according to claim 3, characterized in that: The length of the non-threaded structure on the second rotating shaft (21) and the third rotating shaft (25) is slightly greater than the distance between the left push plate (30) and the right push plate (31); when the first propeller (22) and the second propeller (26) are extended to their longest length, the left push plate (30) is located at the threaded structure position of the second rotating shaft (21) and the third rotating shaft (25), and the right push plate is located at the non-threaded structure position of the second rotating shaft (21) and the third rotating shaft (25).

5. The self-balancing device for unmanned aerial vehicle according to claim 2, characterized in that: The self-locking components between the second rotating shaft (21) and the second fixed support plate (24), and between the third rotating shaft (25) and the third fixed support plate (27) have the same structure, and all of them comprise a four-tooth gear (102) sleeved on the second rotating shaft (21) and the third rotating shaft (25) and fixed to the second fixed support plate (24) and the third fixed support plate (27), and a four-tooth toothed wheel (101) rotatably connected to the second telescopic arm gear B (190) or sleeved on the top end of the third rotating shaft (25); an electromagnet (103) is also provided on the four-tooth toothed wheel (101); when the four-tooth gear (102) and the four-tooth toothed wheel (101) are matched and engaged, the electromagnet (103) is energized to achieve locking of the four-tooth gear (102) and the four-tooth toothed wheel (101).

6. The self-balancing device for unmanned aerial vehicle according to claim 5, characterized in that: A pressure sensor (104) is further provided on the four-tooth gear (102), a gyroscope sensor (28) is provided at the bottom of the drone, and the gyroscope sensor (28), the pressure sensor (104), the electromagnet (103), the first solenoid valve (8), the second solenoid valve (9), the first drive mechanism and the second drive mechanism are all electrically connected to the controller.

7. A control method for the self-balancing device of a drone according to any one of claims 1 to 6, characterized in that: The steps include: S1: The gyroscope sensor (28) monitors the tilt angle of the drone in real time 2, and presets a certain range of tilt angles in the controller as a threshold value θ; S2: When the tilt angle of the drone detected by the gyro sensor (28) is greater than or equal to a threshold value θ, the gyro sensor (28) transmits the tilt angle to the controller; S3: When the controller receives a signal that the tilt angle is greater than a preset threshold value, it controls the first driving mechanism to be energized, and drives the slotted pulley (2) to rotate via the first stepper motor driving wheel (5), so that the drone self-balancing device moves along the horizontal guide rail (1) toward the side to be balanced. During the movement, the first inner race gear (6) and the second inner race gear (7) mesh with each other and rotate, so that the rotating component drives the telescopic component to rotate to the side to be balanced; S4: After rotating to the side to be balanced, the controller controls the first solenoid valve (8) or the second solenoid valve (9) to cut off the power, so that the first inner race gear (6) moves upward or the second inner race gear (7) moves downward, the rotating assembly is separated, and the first driving mechanism continues to drive the slot-type pulley (2) to rotate, so that the drone self-balancing device moves along the horizontal guide rail (1) toward the side to be balanced, and the tilt angle of the drone is monitored in real time; S5: simultaneously controlling the second driving mechanism to be energized, and rapidly rotating the second stepper motor driving wheel (16), extending the second telescopic arm while monitoring the tilt angle of the drone in real time, until the tilt angle is less than a threshold value θ; when the second telescopic arm is extended to the longest angle, the monitored tilt angle is still greater than the set threshold value θ, the second telescopic arm self-locking component is self-locked, and the second stepper motor driving wheel (16) continues to rotate the shaft to drive the third telescopic arm to extend, while monitoring the tilt angle of the drone in real time, until the tilt angle is less than the threshold value θ; S6: When the angle of the drone returns to normal and the monitoring angle of the gyro sensor (28) is less than the threshold value θ, the controller controls the first drive mechanism and the second drive mechanism to cut off power, the telescopic arm stops extending and retracting, and the drone self-balancing device is fixed; S7: When the UAV tilts again, the controller first determines the tilt direction. If it is still tilted on the same side, the controller controls the telescopic arm to retract until the UAV is balanced. If the UAV tilts in the opposite direction, the controller first controls the third telescopic arm to retract, and then the second telescopic arm to retract. While retracting, the tilt angle of the UAV is monitored in real time until the UAV is balanced. When the telescopic arms are fully retracted, if the tilt angle of the UAV is still greater than the preset threshold θ, S3 to S6 are continued.

Images