Coaxial double-propeller drone and control method thereof

Abstract

The embodiment of the present specification provides a coaxial double-propeller drone and a control method thereof. The coaxial double-propeller drone includes a housing, a first blade, a first rotating motor, a first tilt connection mechanism, and a first tilt control mechanism; the rotating shaft of the first rotating motor is fixedly connected to the first blade, and the first rotating motor can drive the first blade to rotate; the first rotating motor is arranged on the housing through the first tilt connection mechanism, so that the first rotating motor can tilt along two degrees of freedom relative to the housing; the first tilt control mechanism includes two tilt control motors, each of which is respectively connected to the first rotating motor through a connecting rod mechanism, and each tilt control motor is used to control the first rotating motor to tilt along one degree of freedom relative to the housing.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a coaxial twin-propeller unmanned aerial vehicle and a control method thereof. Background Art

[0002] At present, the change of heading and attitude of UAVs during flight is mainly achieved by adjusting the blades. A common method may be the cyclic pitch change of the blades, that is, the pitch of a single blade is changed once every rotation, thereby providing directional power to the fuselage of the UAV to achieve the change of heading and flight attitude. However, the cyclic pitch change of the blades has at least the following defects: first, during the process of blade pitch change, vibration will always occur, affecting the operation of other components in the fuselage; second, the mechanism for driving the blade pitch change is very complex, with a large number of parts and high processing precision requirements, so the cost is relatively expensive; third, the angle of blade pitch change is limited, so the thrust generated in the air is small, and it is difficult to drive the UAV to achieve high maneuverability. Summary of the invention

[0003] One of the embodiments of the present specification provides a coaxial twin-propeller UAV, which includes a shell, a first blade, a first rotating motor, a first tilt connection mechanism and a first tilt control mechanism; the rotating shaft of the first rotating motor is fixedly connected to the first blade, and the first rotating motor can drive the first blade to rotate; the first rotating motor is arranged on the shell through the first tilt connection mechanism, so that the first rotating motor can tilt along two degrees of freedom relative to the shell; the first tilt control mechanism includes two tilt control motors, each of which is respectively connected to the first rotating motor through a connecting rod mechanism, and each tilt control motor is used to control the first rotating motor to tilt along one degree of freedom relative to the shell.

[0004] In some embodiments, the first tilt connection mechanism includes an X-axis rotating frame and a Y-axis rotating frame; the X-axis rotating frame is rotationally connected to the shell, and the X-axis rotating frame can rotate around the X-axis relative to the shell; the Y-axis rotating frame is rotationally connected to the X-axis rotating frame, and the Y-axis rotating frame can rotate around the Y-axis relative to the X-axis rotating frame; the first rotating motor is fixedly connected to the Y-axis rotating frame.

[0005] In some embodiments, the linkage mechanism includes a rocker arm and a connecting rod, one end of the rocker arm is connected to the output shaft of the tilt control motor, and the other end is connected to one end of the connecting rod, and the other end of the connecting rod is connected to the Y-axis rotating frame.

[0006] In some embodiments, the coaxial twin-propeller drone further includes a controller, which is capable of controlling the rotation direction and rotation angle of the two tilt control motors, thereby controlling the tilt direction and tilt angle of the rotation plane of the first blade.

[0007] In some embodiments, the coaxial twin-propeller UAV includes a second blade, a second rotating motor, a second tilt connection mechanism and a second tilt control mechanism; the rotating shaft of the second rotating motor is fixedly connected to the second blade, and the second rotating motor can drive the second blade to rotate; the second rotating motor is arranged on the shell through the second tilt connection mechanism, and the second tilt connection mechanism is used to drive the second rotating motor to tilt along two degrees of freedom relative to the shell; the second tilt control mechanism includes two tilt control motors, each of the tilt control motors is respectively connected to the second rotating motor through a connecting rod mechanism, and each of the tilt control motors is used to control the second rotating motor to tilt along one degree of freedom relative to the shell.

[0008] In some embodiments, the first paddle is disposed at an upper end of the housing, and the second paddle is disposed at a lower end of the housing.

[0009] In some embodiments, a spacing between the first blade and the second blade is greater than a distance from a blade end to a rotation center of the blade.

[0010] In some embodiments, a controller, a communication device and a camera equipment mounting bracket are provided on the housing.

[0011] In some embodiments, the first rotating motor is a hollow shaft motor, a communication device is provided above the first blade, and the communication device is connected to the housing through a first connecting rod passing through the hollow shaft motor.

[0012] In some embodiments, the second rotating motor is a hollow shaft motor, a camera mounting bracket is provided below the second blade, and the camera mounting bracket is connected to the housing via a second connecting rod.

[0013] In some embodiments, the tilting directions and / or tilting angles of the first blade and the second blade can be independently controlled.

[0014] One of the embodiments of the present specification provides a control method for a coaxial twin-propeller UAV, the coaxial twin-propeller UAV comprising a shell and a first blade and a second blade arranged on the shell, the first blade and the second blade being capable of respectively achieving two degrees of tilting freedom relative to the shell; the control method comprising: controlling the rotation plane of the first blade and the rotation plane of the second blade to have different tilting directions and / or tilting angles relative to the shell.

[0015] In some embodiments, when controlling the coaxial twin-propeller drone to fly in a first direction, the control method includes: controlling the rotation plane of the first blade to tilt toward the first direction, and controlling the rotation plane of the second blade to tilt in a direction opposite to the first direction.

[0016] Through the above technical solution, the coaxial twin-propeller drone in the embodiment of this specification drives the first rotating motor and the first blade to tilt relative to the shell through the first tilt connection mechanism and the first tilt control mechanism, with a simple structure and convenient operation. Since the first blade tilts as a whole with the first rotating motor, it will not affect the self-rotation of the first blade when rotating, and has strong stability, effectively reducing the vibration caused by the tilting to the coaxial twin-propeller drone. In addition, after the first blade tilts as a whole, the lateral driving force on the coaxial twin-propeller drone is greater, making it easier for the coaxial twin-propeller drone to change its posture and achieve high maneuverability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] This specification will be further described in the form of exemplary embodiments, which will be described in detail by the accompanying drawings. These embodiments are not restrictive, and in these embodiments, the same number represents the same structure, wherein:

[0018] Figure 1 is a schematic diagram of the structure of a coaxial twin-propeller drone according to some embodiments of this specification;

[0019] Figure 2 is a schematic diagram of the structure of a coaxial twin-propeller drone according to other embodiments of this specification;

[0020] Figure 3 is based on Figure 1 An exploded schematic diagram of a coaxial twin-propeller drone shown in some embodiments;

[0021] Figure 4 is based on Figure 2 An exploded schematic diagram of a coaxial twin-propeller drone shown in some embodiments;

[0022] Figure 5 is an exploded schematic diagram of a first tilt connection mechanism and a first tilt control mechanism according to some embodiments of the present specification;

[0023] Figure 6 is a schematic diagram of assembling a first tilt connection mechanism and a first tilt control mechanism according to some embodiments of this specification;

[0024] Figure 7 is an exploded schematic diagram of a first tilt connection mechanism and a first tilt control mechanism according to other embodiments of this specification;

[0025] Figure 8 is a schematic diagram of assembling a first tilt connection mechanism and a first tilt control mechanism according to other embodiments of this specification;

[0026] Fig. 9 is a simplified diagram of a coaxial twin-propeller drone in a hovering state according to some embodiments of this specification;

[0027] Fig.10 is a simplified diagram of a coaxial twin-propeller drone after the first blade and the second blade are tilted according to some embodiments of this specification;

[0028] Fig.11 It is a simplified diagram of the coaxial twin-propeller drone tilting according to some embodiments of this specification;

[0029] Fig.12 It is a simplified diagram of a coaxial twin-propeller UAV in a translational state according to some embodiments of this specification.

[0030] Among them, the figure markings are: 1, coaxial twin-propeller UAV; 10, shell; 110, 120, fixing frame; 111, 122, X-axis bearing; 121, connecting flange; 20, first blade; 30, first rotating motor; 40, first tilt connection mechanism; 410, 440, X-axis rotating frame; 411, 441, Y-axis bearing; 420, 450, Y-axis rotating frame; 421, rotating part; 422, connecting part; 430, 460, bracket; 431, 461, connecting ear; 50, first tilt control mechanism; 510, tilt control motor; 60, connecting rod mechanism; 610, rocker arm; 620, connecting rod; 70, second blade; 80, second rotating motor; 90, second tilt connection mechanism; 100, second tilt control mechanism; 11, communication device. DETAILED DESCRIPTION

[0031] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of this specification. For ordinary technicians in this field, this specification can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0032] As shown in this specification and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "comprise" and "include" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0033] The coaxial twin-propeller drone in the embodiment of this specification may be an aircraft with two sets of propeller blades. The coaxial twin-propeller drone can be applied to multiple fields such as aerial photography, monitoring and inspection, express delivery, and post-disaster rescue, so it has high requirements for its flexibility and reliability.

[0034] Figure 1 is a schematic diagram of the structure of a coaxial twin-propeller drone according to some embodiments of this specification;

[0035] Figure 2 is a schematic diagram of the structure of a coaxial twin-propeller drone according to other embodiments of this specification; Figure 3 is based on Figure 1 An exploded schematic diagram of a coaxial twin-propeller drone shown in some embodiments; Figure 4 is based on Figure 2 Schematic diagram of an exploded view of a coaxial twin-propeller drone shown in some embodiments.

[0036] like Figures 1 to 4 As shown, the coaxial twin-propeller drone 1 in some embodiments of the present specification includes a housing 10, a first propeller blade 20, a first rotary motor 30, a first tilt connection mechanism 40 and a first tilt control mechanism 50. Among them:

[0037] In some embodiments, the housing 10 may be a shell of the drone's fuselage, capable of protecting the drone's internal components. In some embodiments, the housing 10 of the coaxial twin-propeller drone 1 may be cylindrical, small and compact, and may reduce air resistance.

[0038] In some embodiments, the rotating shaft of the first rotating motor 30 is fixedly connected to the first blade 20, and the first rotating motor 30 can drive the first blade 20 to rotate; when the first blade 20 rotates, it can push the air, so that the air generates a reverse force to push the blade, thereby driving the coaxial twin-propeller drone 1 to fly. In some embodiments, the first blade 20 may include multiple blades, for example, three blades, and the multiple blades are arranged at equal intervals along the rotation direction.

[0039] In some embodiments, the first rotary motor 30 is disposed on the housing 10 through the first tilt connection mechanism 40, so that the first rotary motor 30 can tilt along two degrees of freedom relative to the housing 10. The first tilt connection mechanism 40 has two degrees of rotational freedom relative to the housing 10, and the angle between the two directions can be within a range of 85° to 90°. In some embodiments, the two directions are perpendicular to each other.

[0040] In some embodiments, the first tilt control mechanism 50 includes two tilt control motors 510, each tilt control motor 510 is respectively connected to the first rotating motor 30 through a connecting rod mechanism 60, and each tilt control motor 510 is used to control the first rotating motor 30 to tilt along one degree of freedom relative to the housing 10. The tilt control motor 510 can be a steering gear or a motor capable of controlling the rotation angle; the transmission connection can be a connection mode in which the tilt control motor 510 can transmit power to the first tilt connection mechanism 40 through a transmission member such as a connecting rod mechanism 60.

[0041] Through the above technical solution, the coaxial twin-propeller drone 1 in the embodiment of this specification drives the first rotating motor 30 and the first blade 20 to tilt relative to the housing 10 through the first tilt connection mechanism 40 and the first tilt control mechanism 50, with a simple structure and convenient operation. Since the first blade 20 tilts as a whole with the first rotating motor 30, the rotation of the first blade 20 itself will not be affected during rotation, and the stability is strong, which effectively reduces the vibration caused by the tilting to the coaxial twin-propeller drone 1. In addition, after the rotation plane of the first blade 20 tilts as a whole, the lateral driving force on the coaxial twin-propeller drone 1 is greater, making it easier for the coaxial twin-propeller drone 1 to change its posture and achieve high maneuverability.

[0042] In the following, we will combine Figures 5 to 8 The exemplary embodiments of the first tilt connection mechanism 40 and the first tilt control mechanism 50 in some embodiments of the present specification are described in detail. In particular, the present specification provides two embodiments of the first tilt connection mechanism 40 and the first tilt control mechanism 50.

[0043] Figure 5 is an exploded schematic diagram of a first tilt connection mechanism and a first tilt control mechanism according to some embodiments of the present specification; Figure 6 It is a schematic assembly diagram of the first tilt connection mechanism and the first tilt control mechanism shown in some embodiments of this specification.

[0044] like Figure 5 and Figure 6As shown, in some embodiments, the first tilt connection mechanism 40 includes an X-axis rotating frame 410 and a Y-axis rotating frame 420, the X-axis rotating frame 410 is rotationally connected to the housing 10, the X-axis rotating frame 410 can rotate relative to the housing 10 around the X-axis, and the X-axis rotating frame 410 can allow the first tilt connection mechanism 40 to have a degree of freedom to rotate along the X-axis; the Y-axis rotating frame 420 is rotationally connected to the X-axis rotating frame 410, the Y-axis rotating frame 420 can rotate relative to the X-axis rotating frame 410 around the Y-axis, and the Y-axis rotating frame 420 can allow the first tilt connection mechanism 40 to have a degree of freedom to rotate along the Y-axis. Among them, the X-axis and the Y-axis can be perpendicular or substantially perpendicular to each other, and substantially perpendicular can be that the angle between the X-axis and the Y-axis is within a range of 85° to 90°. In some embodiments, the X-axis can refer to the rotation axis of the X-axis rotating frame; the Y-axis can refer to the rotation axis of the Y-axis rotating frame.

[0045] In some embodiments, the housing 10 may include a fixing frame 110, which is fixed on the housing 10 and is used to support and install the X-axis rotating frame 410 and the Y-axis rotating frame 420. In some embodiments, the fixing frame 110 is detachably arranged on the housing 10, for example, fixed to the housing 10 by fasteners, welding, bonding, etc. The X-axis rotating frame 410 can be rotatably connected to the housing 10 through the fixing frame 110. In some embodiments, an X-axis bearing 111 is arranged on the fixing frame 110, and the X-axis rotating frame 410 is rotatably arranged on the fixing frame 110 through the X-axis bearing 111. In some embodiments, the fixing frame 110 can be a hollow annular structure, such as a rectangular ring or a circular ring, and the X-axis rotating frame 410 is rotatably arranged inside the fixing frame 110.

[0046] In some embodiments, a Y-axis bearing 411 is disposed on the X-axis rotating frame 410, and the Y-axis rotating frame 420 is rotatably disposed on the fixed frame 110 through the Y-axis bearing 411. In some embodiments, the Y-axis rotating frame 420 includes a rotating portion 421 and a connecting portion 422. The rotating portion 421 is rotatably connected to the X-axis rotating frame 410 through the Y-axis bearing 411, and a receiving hole for accommodating the rotating portion 421 is formed at the center of the X-axis rotating frame 410, and the rotating portion 421 is rotatably fixed in the receiving hole through the Y-axis bearing 411; the connecting portion 422 is constructed in a plate shape and can be fixedly connected to the first rotating motor 30.

[0047] In some embodiments, the link mechanism 60 includes a rocker arm 610 and a link 620, one end of the rocker arm 610 is connected to the output shaft of the tilt control motor 510, and the other end is connected to one end of the link 620, and the other end of the link 620 is connected to the Y-axis rotating frame 420. The rotation of the tilt control motor 510 drives the rocker arm 610 to rotate, the rotation of the rocker arm 610 drives the link 620 to move, and the movement of the link 620 drives the Y-axis rotating frame 420 to tilt, thereby driving the first rotating motor 30 and the first blade 20 to tilt the rotation plane.

[0048] In some embodiments, one end of the connecting rod 620 is connected to the output shaft of the tilt control motor 510, and the other end can be connected to the first rotary motor 30. The rotation of the tilt control motor 510 drives the rocker arm 610 to rotate, the rotation of the rocker arm 610 drives the connecting rod 620 to move, and the movement of the connecting rod 620 drives the first rotary motor 30 and the first blade 20 to tilt.

[0049] In some embodiments, the first tilt connection mechanism 40 may further include a bracket 430, the bracket 430 is connected to the connection portion 422 of the Y-axis rotating frame 420, and the bracket 430 is provided with connection ears 431 arranged at 90 degrees, and the connection ears 431 are respectively connected to the two tilt control motors 510 through the connecting rod mechanism 60. When the tilt control motor 510 is actuated, the bracket 430 can drive the Y-axis rotating frame 420 to tilt.

[0050] Figure 7 is an exploded schematic diagram of a first tilt connection mechanism and a first tilt control mechanism according to other embodiments of this specification; Figure 8 1 is a schematic diagram of the assembly of the first tilt connection mechanism and the first tilt control mechanism according to other embodiments of the present specification. Figure 5 and Figure 6 The main structures shown are similar, with only variations in structural morphology.

[0051] like Figure 7 and Figure 8 As shown, in some embodiments, the first tilt connection mechanism 40 includes an X-axis rotating frame 440 and a Y-axis rotating frame 450, the X-axis rotating frame 440 is rotationally connected to the housing 10, the X-axis rotating frame 440 can rotate relative to the housing 10 around the X-axis, and the X-axis rotating frame 440 can allow the first tilt connection mechanism 40 to have a degree of freedom along the X-axis; the Y-axis rotating frame 450 is rotationally connected to the X-axis rotating frame 440, the Y-axis rotating frame 450 can rotate relative to the X-axis rotating frame 440 around the Y-axis, and the Y-axis rotating frame 450 can allow the first tilt connection mechanism 40 to have a degree of freedom along the Y-axis. Among them, the X-axis and the Y-axis can be perpendicular or substantially perpendicular to each other, and substantially perpendicular can be that the angle between the X-axis and the Y-axis can be within a range of 85° to 90°.

[0052] In some embodiments, the housing 10 may include a fixing frame 120, which is fixed on the housing 10 and is used to support and install the X-axis rotating frame 440 and the Y-axis rotating frame 450. In some embodiments, the fixing frame 120 is detachably arranged on the housing 10, for example, fixed to the housing 10 by fasteners, welding, bonding, etc. In some embodiments, the fixing frame 120 may be a hollow columnar structure, and connecting flanges 121 are respectively arranged at both ends of the fixing frame 120. The connecting flange 121 at one end of the fixing frame 120 is used to connect to the housing 10 by fasteners, and the connecting flange 121 at the other end is used to fix other components of the coaxial twin-propeller drone 1, such as the communication device 11 mentioned below. A receiving space for receiving the X-axis rotating frame 440 and an X-axis bearing 122 arranged on the side wall of the receiving space are arranged in the middle of the fixing frame 120, and the X-axis rotating frame 440 is rotatably arranged in the receiving space of the fixing frame 120.

[0053] In some embodiments, the X-axis rotating frame 440 is provided with a Y-axis bearing 441, and the Y-axis rotating frame 450 is rotatably provided on the X-axis rotating frame 440 through the Y-axis bearing 441. In some embodiments, the Y-axis rotating frame 450 is formed as an annular structure, and is rotatably sleeved on the outer side of the X-axis rotating frame 440 through the Y-axis bearing 441.

[0054] In some embodiments, the link mechanism 60 includes a rocker arm 610 and a link 620, one end of the rocker arm 610 is connected to the output shaft of the tilt control motor 510, and the other end is connected to one end of the link 620, and the other end of the link 620 is connected to the Y-axis rotating frame 450. The rotation of the tilt control motor 510 drives the rocker arm 610 to rotate, the rotation of the rocker arm 610 drives the link 620 to move, and the movement of the link 620 drives the Y-axis rotating frame 450 to tilt, thereby driving the first rotating motor 30 and the first blade 20 to tilt.

[0055] In some embodiments, the first tilt connection mechanism 40 may further include a bracket 460, which is connected to the connection portion of the Y-axis rotating frame 450. In some embodiments, the bracket 460 is configured as a ring, and is used to be fixedly connected to the periphery of the Y-axis rotating frame 450. In some embodiments, the bracket 460 is provided with connecting ears 461 arranged at 90°, and the connecting ears 461 are respectively connected to the two tilt control motors 510 through the connecting rod mechanism 60. When the tilt control motor 510 is actuated, the bracket 460 can drive the Y-axis rotating frame 450 to tilt.

[0056] According to the two exemplary embodiments of the first tilt connection mechanism 40, when the tilt control motor 510 is actuated, the X-axis rotating frame 410 allows the Y-axis rotating frame 420 to have the freedom to rotate along the X-axis direction, and the Y-axis rotating frame 420 allows the first rotating motor 30 to have the freedom to rotate along the Y-axis direction. When the two tilt control motors 510 are actuated at the same time, the first rotating motor 30 has the freedom to rotate along the X-axis direction and along the Y-axis direction under the action of the X-axis rotating frame 410 and the Y-axis rotating frame 420. After the two directions are superimposed, the Y-axis rotating frame 420 can be tilted in any direction, thereby driving the first rotating motor 30 to tilt in any direction, thereby improving the flexibility of the coaxial twin-propeller drone 1 in changing direction.

[0057] The first tilt connection mechanism 40 can make the first rotary motor 30 move around the central axis of the coaxial twin-propeller drone at any angle within a certain taper range. In some embodiments, the maximum taper angle range of the first rotary motor 30 can be between 90° and 150°.

[0058] In some embodiments, the coaxial twin-propeller drone 1 further includes a controller, which can control the rotation direction and rotation angle of the two tilt control motors 510, thereby controlling the tilt direction and tilt angle of the first blade 20. In some embodiments, by the forward or reverse rotation of the tilt control motor 510, the side of the Y-axis rotating frame 420 connected to the connecting mechanism can be controlled to tilt upward or downward, thereby controlling the tilt direction of the first blade 20. In some embodiments, the controller can be disposed inside the housing 10 and connected to the two tilt control motors 510 signals.

[0059] In some embodiments, Figure 1 and Figure 2 As shown, the coaxial twin-propeller drone 1 includes a second blade 70, a second rotating motor 80, a second tilt connection mechanism 90 and a second tilt control mechanism 100; wherein the structural features and connection relationship of the second blade 70, the second rotating motor 80, the second tilt connection mechanism 90 and the second tilt control mechanism 100 are similar to those of the first blade 20, the first rotating motor 30, the first tilt connection mechanism 40 and the first tilt control mechanism 50, and can be specifically referred to Figures 1 to 4 and its related description.

[0060] In some embodiments, the shaft of the second rotary motor 80 is fixedly connected to the second blade 70, and the second rotary motor 80 can drive the second blade 70 to rotate; when the second blade 70 rotates, it can push the air, so that the air generates a reverse force to push the blade, thereby driving the coaxial twin-propeller drone 1 to fly. In some embodiments, the second blade 70 may include a plurality of blades, for example, three blades, and the plurality of blades are arranged at equal intervals along the rotation direction.

[0061] In some embodiments, the second rotating motor 80 is arranged on the shell 10 through the second tilt connection mechanism 90, and the second tilt connection mechanism 90 is used to drive the second rotating motor 80 to tilt along two degrees of freedom relative to the shell 10; the first tilt connection mechanism 40 has two directions of rotational freedom relative to the shell 10, and the angle range between the two directions can be within 85°~90°.

[0062] In some embodiments, the second tilt control mechanism 100 includes two tilt control motors 510, each of which is respectively connected to the second rotating motor 80 through a connecting rod mechanism 60, and each tilt control motor 510 is used to control the second rotating motor 80 to tilt along one degree of freedom relative to the shell 10.

[0063] According to the structure of the above-mentioned coaxial twin-propeller UAV 1, a first blade 20 and a second blade 70 are arranged on the coaxial twin-propeller UAV 1. When flying, the rotation directions of the first blade 20 and the second blade 70 are opposite to each other, so that the torques generated on the housing 10 offset each other, thereby improving the flight stability. In addition, the first tilt control mechanism 50 controls the tilt of the rotation plane of the first blade 20, and the second tilt control mechanism 100 controls the tilt of the rotation plane of the second blade 70. The cooperation of the two makes the coaxial twin-propeller UAV 1 have greater propulsion and more flexible changes in heading and flight attitude.

[0064] like Figure 1 As shown, in some embodiments, the first blade 20 is arranged at the upper end of the shell 10, and the second blade 70 is arranged at the lower end of the shell 10, so that the thrust generated by the first blade 20 acts on the upper end of the shell 10, and the thrust generated by the second blade 70 acts on the lower end of the shell 10. When changing the flight attitude, a larger control torque can be generated on the shell 10, which facilitates the control of the drone.

[0065] like Figure 2 As shown, in some embodiments, the first paddle 20 may also be spaced apart from the upper end of the housing 10, for example, a communication device 11 or other components may be disposed above the first paddle 20. The second paddle 70 may also be spaced apart from the lower end of the housing 10, for example, a support foot or other components may be disposed below the second paddle 70.

[0066] In some embodiments, the distance between the first blade 20 and the second blade 70 is greater than the distance from the blade end to the rotation center of the blade, so as to reduce the mutual influence between the airflows generated by the first blade 20 and the second blade 70. The distance between the first blade 20 and the second blade 70 may be the distance between the rotation center of the first blade 20 and the rotation center of the second blade 70; the blade end may be the end of the blade away from the rotation center.

[0067] In some embodiments, a controller, a communication device 11, and a camera mounting bracket (not shown) are provided on the housing 10. In some embodiments, the controller and the communication device 11 may be disposed inside the housing 10. In some embodiments, at least a portion of the camera mounting bracket may be disposed on the outer surface of the housing 10, so as to facilitate shooting of the outside world after the camera is installed.

[0068] In some embodiments, the controller can be connected to the four tilt control motors 510 signals to control the rotation direction and rotation angle of the tilt control motors 510. In some embodiments, the controller can also be connected to the first rotating motor 30 and the second rotating motor 80 signals to control the rotation speed of the first blade 20 and the second blade 70.

[0069] In some embodiments, the communication device 11 may be a wireless signal transmitter for performing signal interaction with other devices (such as a ground control terminal, communication devices of other drones, signal towers, signal satellites, etc.). For example, the ground control terminal may perform signal interaction with the communication device 11 to remotely control the coaxial twin-propeller drone 1.

[0070] like Figure 4 and Figure 7 As shown, in some embodiments, the first rotating motor 30 is a hollow shaft motor, and a communication device 11 is provided above the first blade 20. The communication device 11 passes through the hollow shaft motor and is connected to the housing 10 via a first connecting rod. The communication device 11 is arranged above the first blade 20 to avoid signal interference. In some embodiments, other components may also be arranged above the first blade 20, such as a controller, a camera mounting bracket, a navigation system, etc.

[0071] In some embodiments, a flight control hardware compartment is provided above the first blade 20, and the flight control hardware compartment is fixedly connected to the connection flange 121 of the fixing frame 120. At least one of the components such as the communication device 11, the controller, the camera mounting bracket, and the navigation system can be provided in the flight control hardware compartment. In some embodiments, a main compartment is provided between the first blade 20 and the second blade 70, and at least one of the components such as the power supply, the trim load, the controller, the camera mounting bracket, and the navigation system can be provided in the main compartment.

[0072] In some embodiments, the first connecting rod may be a rod member that passes through the interior of the fixing frame 120. In some embodiments, the connecting rod may be integrally formed with the fixing frame 120 or may be a part of the fixing frame 120 to improve stability.

[0073] In some embodiments, the second rotating motor 80 is a hollow shaft motor, and a camera mounting bracket is provided below the second blade 70, and the camera mounting bracket is connected to the housing 10 through a second connecting rod. The camera mounting bracket is arranged below the second blade 70, which is conducive to shooting the ground scene and prevents the second blade 70 from blocking the shooting and affecting the picture quality.

[0074] In some embodiments, the first rotary motor 30 is a hollow shaft motor, and the first tilt connection mechanism 40 is disposed inside the first rotary motor 30, making the overall structure more compact. In some embodiments, the second rotary motor 80 is a hollow shaft motor, and the second tilt connection mechanism 90 is disposed inside the second rotary motor 80, making the structure more compact.

[0075] In some embodiments, the first rotating motor 30 and the second rotating motor 80 may be solid motors, the first tilting mechanism is disposed outside the first rotating motor 30 , and the second tilting mechanism is disposed outside the second rotating motor 80 .

[0076] In some embodiments, the tilt direction and / or tilt angle of the rotation plane of the first blade 20 and the rotation plane of the second blade 70 relative to the housing 10 can be independently controlled. In some embodiments, the tilt direction of the rotation plane of the first blade 20 and the tilt direction of the rotation plane of the second blade 70 may be different or the same. In some embodiments, the tilt angle of the rotation plane of the first blade 20 and the tilt angle of the rotation plane of the second blade 70 may be the same or different. By individually controlling the tilt angle and tilt direction of the rotation plane of the first blade 20 and the rotation plane of the second blade 70 relative to the housing 10, the flight direction and flight attitude of the coaxial twin-propeller drone 1 can be flexibly adjusted.

[0077] Fig. 9 is a simplified diagram of a coaxial twin-propeller drone in a hovering state according to some embodiments of this specification; Fig.10 is a simplified diagram of a coaxial twin-propeller drone after the first blade and the second blade are tilted according to some embodiments of this specification; Fig.11 It is a simplified diagram of the coaxial twin-propeller drone tilting according to some embodiments of this specification; Fig.12 It is a simplified diagram of a coaxial twin-propeller UAV in a translational state according to some embodiments of this specification.

[0078] In some embodiments, the coaxial twin-propeller drone 1 includes a housing 10 and a first blade 20 and a second blade 70 disposed on the housing 10, wherein the first blade 20 and the second blade 70 can respectively achieve two degrees of tilting relative to the housing 10; the control method includes: controlling the rotation plane of the first blade 20 and the rotation plane of the second blade 70 to have different tilting directions and / or tilting angles relative to the housing 10. The rotation plane of the first blade 20 and the second blade 70 refers to the spatial plane through which the blades rotate one circle.

[0079] In some embodiments, the controller of the coaxial twin-propeller drone 1 can respectively control the first tilt control mechanism 50 and the second tilt control mechanism 100. The first tilt control mechanism 50 can control the tilt direction and tilt angle of the rotation plane of the first blade 20 relative to the housing 10, and the second tilt control mechanism 100 can control the tilt direction and tilt angle of the rotation plane of the second blade 70 relative to the housing 10.

[0080] By controlling the rotation plane of the first blade 20 and the rotation plane of the second blade 70 to have different tilt directions and / or tilt angles relative to the housing 10, the entire coaxial twin-propeller drone 1 can be tilted to adjust the flight direction and posture, with high flexibility.

[0081] In some embodiments, when the rotation plane of the first blade 20 and the rotation plane of the second blade 70 are tilted at different angles relative to the central axis of the fuselage, the fuselage can have different control torques. Among them, the fuselage can be a general term for other components of the coaxial twin-propeller drone 1 except the first blade 20 and the second blade 70. In some embodiments, when the rotation plane of the first blade 20 and the rotation plane of the second blade 70 are arranged perpendicular to the central axis of the fuselage, the first blade 20 and the second blade 70 generate air thrust along the central axis of the fuselage. At this time, no tilting torque is generated on the fuselage, and the coaxial twin-propeller drone 1 can be kept in a hovering state and a state of flying in a preset direction. In some embodiments, when the angle between the rotation plane of the first blade 20 and the rotation plane of the second blade 70 and the central axis of the fuselage is less than 90°, and the angle between the rotation plane of the first blade 20 and the rotation plane of the second blade 70 and the central axis of the fuselage are not equal, the air thrust generated by the first blade 20 and the second blade 70 is arranged at an angle to the central axis of the fuselage to form a tilting torque that pushes the fuselage to tilt. At this time, the coaxial twin-propeller drone 1 can turn or change its flight attitude.

[0082] like Figures 9 to 12As shown, in some embodiments, when the coaxial twin-propeller drone 1 is controlled to fly in a first direction (the direction indicated by the arrow in the figure), the control method includes: controlling the rotation plane of the first blade 20 to tilt toward the first direction, and controlling the rotation plane of the second blade 70 to tilt in the opposite direction of the first direction. The tilting of the rotation plane of the first blade 20 toward the first direction may be that the blade tilts downward in the first direction; the tilting of the rotation plane of the second blade 70 toward the direction opposite to the first direction may be that the blade tilts downward in the direction opposite to the first direction.

[0083] In some embodiments, the process of controlling the coaxial twin-propeller drone 1 to fly in the first direction is specifically as follows:

[0084] First, if Fig. 9 As shown, the coaxial twin-propeller drone 1 is in a hovering state, in which the fuselage is arranged in a vertical direction, and the first blade 20 and the second blade 70 are perpendicular to the central axis of the fuselage. Fig.10 As shown, the rotation plane of the first blade 20 is controlled to tilt toward the first direction, so that the first blade 20 generates thrust toward the first direction on the upper part of the fuselage. The rotation plane of the second blade 70 is controlled to tilt toward the direction opposite to the first direction, so that the second blade 70 generates thrust toward the lower part of the fuselage in the direction opposite to the first direction. Fig.11 As shown, the thrust generated by the first blade 20 and the thrust generated by the second blade 70 cause the fuselage to tilt toward the first direction. Fig.12 As shown, after the coaxial twin-propeller UAV 1 completes its tilting, the first blade 20 is controlled to return to a position perpendicular to the central axis of the fuselage, and the second blade 70 is controlled to return to a position perpendicular to the central axis of the fuselage. At this time, the fuselage is tilted relative to the vertical direction, and the first blade 20 and the second blade 70 can generate thrust along the first direction, driving the coaxial twin-propeller UAV 1 to fly along the first direction.

[0085] The beneficial effects that may be brought about by the embodiments of the present application include but are not limited to: (1) The coaxial twin-propeller drone in the embodiments of the present specification uses the first tilt connection mechanism and the first tilt control mechanism to enable the first rotating motor to drive the first blade to tilt relative to the shell, which has a simple structure and convenient operation. Since the first blade tilts as a whole with the first rotating motor, it will not affect the rotation of the first blade itself when rotating, and has strong stability, effectively reducing the vibration caused by the tilting to the coaxial twin-propeller drone. In addition, after the first blade tilts as a whole, the lateral driving force on the coaxial twin-propeller drone is greater, making it easier for the coaxial twin-propeller drone to change its posture and achieve high maneuverability; (2) Under the action of the X-axis rotating frame and the Y-axis rotating frame, the first rotating motor has the degree of freedom along the X-axis direction and along the Y-axis direction at the same time, thereby driving the first rotating motor to tilt in any direction, thereby improving the flexibility of the coaxial twin-propeller drone to change direction; (3) The first blade and the second blade are arranged on the coaxial twin-propeller drone, and the rotation directions of the first blade and the second blade are opposite to each other during flight, so that the torque generated on the shell offsets each other, thereby improving the stability of flight. In addition, the first blade tilt is controlled by the first tilt control mechanism, and the second blade tilt is controlled by the second tilt control mechanism. The cooperation of the two makes the coaxial twin-propeller UAV have greater propulsion and more flexible changes in heading and flight attitude; (4) By controlling the rotation plane of the first blade and the rotation plane of the second blade to have different tilt directions and / or tilt angles relative to the shell, the entire coaxial twin-propeller UAV can be tilted, thereby adjusting the flight direction and attitude, and the flexibility is strong. It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects that may be produced may be any one or a combination of the above, or any other beneficial effects that may be obtained.

[0086] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only for example and does not constitute a limitation of this specification. Although not explicitly stated here, those skilled in the art may make various modifications, improvements and corrections to this specification. Such modifications, improvements and corrections are suggested in this specification, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of this specification.

[0087] At the same time, this specification uses specific words to describe the embodiments of this specification. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of this specification. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures or characteristics in one or more embodiments of this specification can be appropriately combined.

[0088] It should be noted that in order to simplify the description disclosed in this specification and thus help understand one or more embodiments, in the above description of the embodiments of this specification, multiple features are sometimes combined into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the subject of this specification are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0089] In some embodiments, numbers describing the number of components and attributes are used. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise specified, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may change according to the required features of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of this specification are approximate values, in specific embodiments, the setting of such numerical values ​​is as accurate as possible within the feasible range.

[0090] Finally, it should be understood that the embodiments described in this specification are only used to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, as an example and not a limitation, alternative configurations of the embodiments of this specification may be considered consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly introduced and described in this specification.

Claims

1. A coaxial twin-propeller drone, characterized in that: The coaxial twin-propeller drone comprises a housing, a first propeller blade, a first rotating motor, a first tilt connection mechanism and a first tilt control mechanism; The rotating shaft of the first rotating motor is fixedly connected to the first blade, and the first rotating motor can drive the first blade to rotate; The first rotating motor is arranged on the housing through the first tilting connection mechanism, so that the first rotating motor can tilt along two degrees of freedom relative to the housing; The first tilt control mechanism comprises two tilt control motors, each of which is respectively connected to the first rotating motor through a connecting rod mechanism, and each tilt control motor is used to control the first rotating motor to tilt along one degree of freedom relative to the housing; The coaxial double-propeller UAV comprises a second propeller blade, a second rotating motor, a second tilt connection mechanism and a second tilt control mechanism; The rotating shaft of the second rotating motor is fixedly connected to the second blade, and the second rotating motor can drive the second blade to rotate; The second rotating motor is arranged on the housing through the second tilting connection mechanism, and the second tilting connection mechanism is used to drive the second rotating motor to tilt along two degrees of freedom relative to the housing; The second tilt control mechanism comprises two tilt control motors, each of which is respectively connected to the second rotating motor through a connecting rod mechanism, and each of which is used to control the second rotating motor to tilt along one degree of freedom relative to the housing; The tilting directions and / or tilting angles of the first blade and the second blade can be independently controlled; the rotation plane of the first blade and the rotation plane of the second blade have different tilting directions and / or tilting angles relative to the shell.

2. The coaxial twin-propeller UAV according to claim 1, characterized in that: The first tilt connection mechanism includes an X-axis rotating frame and a Y-axis rotating frame; The X-axis rotating frame is rotatably connected to the shell, and the X-axis rotating frame can rotate around the X-axis relative to the shell; The Y-axis rotating frame is rotationally connected to the X-axis rotating frame, and the Y-axis rotating frame can rotate around the Y axis relative to the X-axis rotating frame; The first rotating motor is fixedly connected to the Y-axis rotating frame.

3. The coaxial twin-propeller UAV according to claim 2, characterized in that: The connecting rod mechanism includes a rocker arm and a connecting rod, one end of the rocker arm is connected to the output shaft of the tilt control motor, and the other end is connected to one end of the connecting rod, and the other end of the connecting rod is connected to the Y-axis rotating frame.

4. The coaxial twin-propeller UAV according to claim 1, characterized in that: The coaxial twin-propeller UAV further includes a controller, which is capable of controlling the rotation direction and rotation angle of the two tilt control motors, thereby controlling the tilt direction and tilt angle of the rotation plane of the first blade.

5. The coaxial twin-propeller UAV according to claim 1, characterized in that: The first blade is arranged at the upper end of the shell, and the second blade is arranged at the lower end of the shell.

6. The coaxial twin-propeller UAV according to claim 5, characterized in that: The spacing between the first blade and the second blade is greater than the distance from the blade end to the rotation center of the blade.

7. The coaxial twin-propeller UAV according to claim 5, characterized in that: The housing is provided with a controller, a communication device and a camera equipment mounting bracket.

8. The coaxial twin-propeller UAV according to claim 5, characterized in that: The first rotating motor is a hollow shaft motor. A communication device is provided above the first blade. The communication device passes through the hollow shaft motor and is connected to the housing via a first connecting rod.

9. The coaxial twin-propeller UAV according to claim 5, characterized in that: The second rotating motor is a hollow shaft motor. A camera mounting bracket is provided below the second blade. The camera mounting bracket is connected to the housing via a second connecting rod.

10. A control method for a coaxial twin-propeller UAV, characterized in that: The coaxial twin-propeller UAV comprises a shell and a first blade and a second blade arranged on the shell, wherein the first blade and the second blade can respectively achieve two degrees of tilting freedom relative to the shell; the control method comprises: controlling the rotation plane of the first blade and the rotation plane of the second blade to have different tilting directions and / or tilting angles relative to the shell.

11. The control method of the coaxial twin-propeller UAV according to claim 10, characterized in that: When controlling the coaxial twin-propeller UAV to fly in a first direction, the control method includes: controlling the rotation plane of the first blade to tilt toward the first direction, and controlling the rotation plane of the second blade to tilt in a direction opposite to the first direction.

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