Vibration reduction component, unmanned aerial vehicle, and unmanned aerial vehicle vibration reduction method

Abstract

A vibration reduction component, a drone and a vibration reduction method for a drone, the vibration reduction component comprising a sensor, a processor, an actuator and a mass damping stiffener; the sensor is installed at the vibration part of the drone, used to detect the vibration of the drone and output a vibration signal; the processor is electrically connected to the sensor, used to process the vibration signal and output a control signal; the actuator is electrically connected to the processor, used to perform an action according to the control signal; the mass damping stiffener is installed to the drone and connected to the actuator, the action performed by the actuator acts on the mass damping stiffener, so that the mass damping stiffener produces a displacement in the opposite direction of the vibration direction of the drone, so as to reduce the vibration of the drone. Any type of vibration of any drone can be reduced, which can reduce the stress level of the key structural parts of the drone and reduce the risk of drone failure.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a vibration reduction component, an unmanned aerial vehicle, and a vibration reduction method for an unmanned aerial vehicle. Background Art

[0002] Drones have achieved rapid development and wide application in the civil and military fields due to their good stability, strong anti-interference ability, active hovering and relatively low requirements for take-off and landing conditions. Due to the characteristics of drones, "battery-motor-propeller" is usually used as the power system of drones. The control program can issue control commands to control the blade speed of each motor individually, thereby effectively realizing the control of drone movement and obtaining higher drone stability.

[0003] With the progress and development of drones, higher and higher requirements are put forward for the reliability of drones. Since rotor drones usually adopt multi-axis form and usually use larger blades to obtain a more efficient power system, and a longer arm is required to ensure that there is no interference between the blades and the fuselage, the vibration force transmitted from the blade end to the arm connector and the fuselage is relatively large. Since the vibration reduction of drones is usually aimed at the load, and there is no special vibration reduction design for the fuselage, key structural parts such as the arm connector and the fuselage are at a higher stress level and have a greater risk of failure. In order to improve reliability, better performance materials or strengthened structural parts are usually selected, but there are disadvantages such as increased cost or increased weight. Summary of the invention

[0004] The embodiments of the present application provide a vibration reduction assembly, a drone, and a vibration reduction method for a drone, which can achieve the purpose of vibration reduction for a drone.

[0005] In a first aspect, an embodiment of the present application provides a vibration reduction assembly, comprising:

[0006] A sensor, mounted on a vibration portion of the drone, for detecting the vibration of the drone and outputting a vibration signal;

[0007] A processor, electrically connected to the sensor, for processing the vibration signal and outputting a control signal;

[0008] an actuator, electrically connected to the processor, and configured to execute an action according to the control signal; and

[0009] A mass damping stiffener is mounted on the drone and connected to the actuator. The action performed by the actuator acts on the mass damping stiffener, so that the mass damping stiffener generates a displacement in the opposite direction of the vibration direction of the drone to reduce the vibration of the drone.

[0010] In a second aspect, an embodiment of the present application provides a drone, including a vibration reduction component, wherein the vibration reduction component includes:

[0011] A sensor, installed at a vibration position of the drone, for detecting the vibration of the drone and outputting a vibration signal;

[0012] A processor, electrically connected to the sensor, for processing the vibration signal and outputting a control signal;

[0013] an actuator, electrically connected to the processor, and configured to execute an action according to the control signal; and

[0014] A mass damping stiffener is mounted on the drone and connected to the actuator. The action performed by the actuator acts on the mass damping stiffener, so that the mass damping stiffener generates a displacement in the opposite direction of the vibration direction of the drone to reduce the vibration of the drone.

[0015] In a third aspect, an embodiment of the present application provides a method for reducing vibration of a drone, including:

[0016] A vibration reduction assembly is provided, the vibration reduction assembly comprising a sensor, a processor, an actuator and a mass damping stiffener, the sensor is installed at a vibration part of the drone, the processor is electrically connected to the sensor, the actuator is electrically connected to the processor, the mass damping stiffener is installed to the drone and connected to the actuator;

[0017] Using the sensor to detect the vibration of the drone and output a vibration signal;

[0018] Using the processor to process the vibration signal and output a control signal;

[0019] The actuator is used to perform an action on the mass damping stiffener according to the control signal, so that the mass damping stiffener generates a displacement opposite to the vibration direction of the drone to reduce the vibration of the drone.

[0020] The vibration reduction component of the present application is provided with a sensor, a processor, an actuator and a mass damping stiffener. The sensor detects the vibration of the drone and outputs a vibration signal. The processor processes the vibration signal and outputs a control signal. The actuator applies a force to the mass damping stiffener according to the control signal. The mass damping stiffener generates a vibration in the opposite direction to the vibration of the drone, thereby at least partially offsetting the vibration of the drone and achieving the purpose of vibration reduction of the drone. In addition, since the vibration reduction component of the embodiment of the present application is not designed for drones or loads, any type of vibration of any drone, such as the vibration of the drone itself and the vibration transmitted by the load, can be reduced, which can reduce the stress level of the key structural parts of the drone and reduce the risk of drone failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic diagram of a drone system of an embodiment;

[0022] Figure 2 is a schematic diagram of a vibration reduction assembly of an embodiment;

[0023] Figure 3a is a partial structural schematic diagram of a vibration reduction assembly of an embodiment;

[0024] Figure 3b is a partial structural schematic diagram of a vibration reduction assembly in another embodiment;

[0025] Figure 4 is a schematic diagram of a mass damping stiffener of an embodiment in a three-dimensional coordinate system;

[0026] Figure 5 is a schematic diagram of a first execution actuator driving a mass damping stiffener to move according to an embodiment;

[0027] Figure 6 The structure diagram of a vibration reduction assembly installed on a drone according to an embodiment;

[0028] Figure 7 yes Figure 6 Another perspective of the picture;

[0029] Figure 8 yes Figure 6 Another perspective of the picture;

[0030] Fig. 9 The present invention is a flow chart of a vibration reduction assembly for performing vibration reduction in one embodiment. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0032] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0034] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0035] Please refer to Figure 1 In order to solve the vibration problem of the drone 20, the embodiment of the present application designs a vibration reduction assembly 10, which can be installed on the drone 20 to reduce the vibration of the drone 20 and reduce the failure risk of the drone 20. It can also reduce the vibration transmitted by the load 30 when the drone 20 carries the load 30. The drone 20 can be a common rotor drone, and the load 30 can be a camera device, a liquid medicine spraying device, etc.

[0036] In some embodiments, the vibration reduction assembly 10 may be a mechanism completely independent of the drone 20, and vibration reduction can be achieved by being installed on the drone 20. In other embodiments, some structures of the vibration reduction assembly 10 may be shared with the drone 20, thereby reducing the number of components of the vibration reduction assembly 10 and the weight required for vibration reduction. These embodiments will be discussed in detail in the subsequent description and are not discussed here.

[0037] Please refer to Figure 2A vibration reduction assembly 10 provided in an embodiment of the present application includes a sensor 11, a processor 12, an actuator 13 and a mass damping stiffener 14. The sensor 11 is electrically connected to the processor 12, the processor 12 is electrically connected to the actuator 13, and the actuator 13 is connected to the mass damping stiffener 14. It can be understood that the way in which the sensor 11 is electrically connected to the processor 12, and the way in which the processor 12 is electrically connected to the actuator 13, can be any feasible way, such as the two are connected by a wire, the two are electrically connected by wireless communication, etc. The connection between the actuator 13 and the mass damping stiffener 14 can be a direct connection or an indirect connection, a direct connection refers to a connection method without other components between the two, and an indirect connection refers to a connection method between the two through other components. The actuator 13 and the mass damping stiffener 14 can also be integrated into one component, or the actuator 13 and the mass damping stiffener 14 can also be integrated with other parts such as the processor 12.

[0038] Combination Figure 2 as well as Figures 6 to 8 Specifically, the sensor 11 is installed at the vibration part of the drone 20 to detect the vibration of the drone 20 and output a vibration signal. The vibration of the drone 20 can be divided into movement and rotation. The acceleration and angular velocity of the vibration part of the drone 20 can be detected by the sensor 11, and the vibration type and quantified vibration amplitude of the vibration part of the drone 20 are measured, that is, the vibration signal includes the vibration type and quantified vibration amplitude of the vibration part, so as to facilitate subsequent targeted vibration reduction.

[0039] The processor 12 is used to process the vibration signal and output a control signal. The actuator 13 is used to perform an action according to the control signal.

[0040] The mass damping stiffener 14 is mounted on the drone 20 and connected to the actuator 13. The action performed by the actuator 13 acts on the mass damping stiffener 14, so that the mass damping stiffener 14 generates a displacement or rotation opposite to the vibration direction of the drone 20 to reduce the vibration of the drone 20. The function of the actuator 13 is to control the displacement and speed of the mass damping stiffener 14 so that the mass damping stiffener 14 generates a displacement opposite to the vibration to be reduced. In a specific product, the actuator 13 may also be referred to as an actuator, a driver, etc. The function of the mass damping stiffener 14 is to generate a displacement opposite to the vibration to be reduced. The drone 20 and the vibration reduction assembly 10 can be regarded as the entire system. The displacement of the vibration of the drone 20 and the displacement of the mass damping stiffener 14 are the internal movements of the entire system. For the entire system, the displacements of both are movements within the system. Since the displacements of the two are opposite, at least part of the displacements will be offset. From the outside, the vibration level of the entire system is reduced, thereby achieving the purpose of vibration reduction. In a specific product, the mass-damper-stiffener 14 may also be referred to as a damper, a vibration absorber, a mass-damper-stiffener, etc.

[0041] The vibration reduction principle of the embodiment of the present application is as follows: for the entire system of the vibration reduction assembly 10 and the drone 20, the vibration of the drone 20 and the reverse vibration of the vibration reduction assembly 10 are both caused by the internal forces of the system, the mass damping stiffener 14 generates vibrations in the opposite direction to the vibrations of the drone 20, and the vibrations of the drone 20 and the mass damping stiffener 14 at least partially offset each other, thereby reducing the vibration of the drone 20. The vibration of the mass damping stiffener 14 comes from the force of the actuator 13, and the processor 12 outputs a control signal to the actuator 13 to determine the specific value of the force, and the vibration signal of the drone 20 detected by the sensor 11 is input into the processor 12 and processed to obtain the control signal.

[0042] Therefore, the embodiment of the present application sets a sensor 11, a processor 12, an actuator 13 and a mass damping stiffener 14. The sensor 11 detects the vibration of the drone 20 and outputs a vibration signal. The processor 12 processes the vibration signal and outputs a control signal. The actuator 13 applies a force to the mass damping stiffener 14 according to the control signal. The mass damping stiffener 14 generates a vibration in the opposite direction to the vibration of the drone 20, thereby at least partially offsetting the vibration of the drone 20 and achieving the purpose of vibration reduction of the drone 20. In addition, since the vibration reduction component 10 of the embodiment of the present application is not designed for the drone 20 or the load 30, any type of vibration of any drone 20, such as the vibration of the drone 20 itself and the vibration transmitted by the load 30, can be reduced, which can reduce the stress level of the key structural parts of the drone 20 and reduce the failure risk of the drone 20.

[0043] In one embodiment, please refer to Figure 2 and Figures 6 to 8 For a common rotor drone 20, its vibrating parts may include the rotor 22, the arm 23, and the connection 26 between the fuselage 21 and the load 30. This is because the rotor 22 rotates to provide lift and steering force to the drone 20, and is the main moving and vibrating part of the drone 20, while the arm 23 is connected to the rotor 22, and the vibration of the rotor 22 will be transmitted to the arm 23. On the other hand, the fuselage 21 of the drone 20 needs to carry the load 30 to work. During the flight, the load 30 may also move, thereby generating vibration, and the vibration will also be transmitted to the fuselage 21 of the drone 20. The vibration levels of the above positions are relatively high. In order to accurately and comprehensively detect the vibration of the drone 20, the number of sensors 11 can be set to be multiple, and the sensors 11 can be installed at positions of the drone 20 where the vibration level is relatively high.

[0044] Optionally, the sensor 11 is installed at the motor 24 of the driving rotor 22 of the drone 20. This arrangement is based on the consideration that the rotor 22 itself will rotate at high speed, making it difficult to install the sensor 11, while the motor 24 that drives the rotor 22 directly bears the force of the rotation of the rotor 22, and the vibration level here is also relatively high, so the sensor 11 can be installed at this position. It is understandable that for a multi-rotor drone 20, a sensor 11 can be installed at the motor 24 corresponding to each rotor to detect the vibration transmitted to the motor 24 by each rotor 22. For one of the motors 24, one or more sensors 11 can be installed. When one sensor 11 is installed, a high-precision sensor 11 can be installed; when multiple sensors 11 are installed, the data of the multiple sensors 11 complement each other, which can improve the detection accuracy of the vibration of the motor 24.

[0045] Optionally, the sensor 11 is installed at the connection between the fuselage 21 and the arm 23 of the drone 20. This arrangement is based on the consideration that the arm 23 is connected between the fuselage 21 of the drone 20 and the motor 24 that drives the rotor to rotate. The force of the rotor rotation is transmitted to the fuselage 21 through the motor 24 and the arm 23. Since the arm 23 is subjected to a large force and has a high stress, it is not suitable to set other components on it. Therefore, the sensor 11 is set at the connection between the fuselage 21 and the arm 23. On the one hand, the vibration transmitted by the arm 23 can be detected, and the impact on the structural strength and stability of the arm 23 itself can also be reduced. It is understandable that for a multi-rotor drone 20, a sensor 11 can be installed at the connection between the arm 23 and the fuselage 21 corresponding to each rotor 22 to detect the vibration transmitted by each arm 23. For the connection between one of the arms 23 and the body 21, one or more sensors 11 can be installed. When one sensor 11 is installed, a high-precision sensor 11 can be installed; when multiple sensors 11 are installed, the data of the multiple sensors 11 complement each other, which can improve the detection accuracy of the vibration transmitted by the arm 23.

[0046] Optionally, the sensor 11 is installed at the connection 26 between the fuselage 21 and the load 30 of the drone 20. This arrangement is made in consideration of the fact that the movement of the load 30 will also generate vibrations, and the load 30 itself is usually externally connected to the drone 20, and it is not convenient to install other components. Therefore, the sensor 11 is installed at the connection 26 between the fuselage 21 and the load 30, which can be more convenient to install the sensor 11. It is understandable that one or more sensors 11 can be installed at the connection 26 between the fuselage 21 and the load 30. When one sensor 11 is installed, a high-precision sensor 11 can be installed; when multiple sensors 11 are installed, the data of the multiple sensors 11 complement each other, which can improve the detection accuracy of the vibration transmitted by the load 30.

[0047] It is understandable that the above embodiments of installing the sensor 11 at the vibration part of the drone 20 can be combined with each other. In addition to being arranged at the position in the above embodiment, the sensor 11 can also be arranged at other vibration parts of the drone 20.

[0048] By providing a plurality of sensors 11 and correspondingly installing them at a plurality of vibration locations of the drone 20, the locations of the drone 20 with higher vibration levels can be detected, thereby accurately and comprehensively understanding the vibration conditions of the drone 20 and facilitating subsequent targeted vibration reduction design.

[0049] The sensor 11 in the above embodiment may be any feasible sensor 11 such as a displacement sensor 11, an acceleration sensor 11, an angular velocity sensor 11, etc., and thus no further limitation is made.

[0050] In one embodiment, please refer to Figure 2 , Figure 7 and Figure 8 The actuator 13 includes a first actuator 131, a second actuator 132 and a third actuator 133. The first actuator 131, the second actuator 132 and the third actuator 133 are respectively connected to the mass damping stiffener 14, and the connection positions are different from each other. In this way, the first actuator 131, the second actuator 132 and the third actuator 133 can push the mass damping stiffener 14 to move or rotate in different directions.

[0051] In this embodiment, the vibration of the drone 20 is complex and diverse during flight. In order to achieve the purpose of reducing the complex and diverse vibrations, the first actuator 131, the second actuator 132 and the third actuator 133 are designed. The three are connected to the mass damping stiffener 14 at different positions to achieve the purpose of pushing the mass damping stiffener 14 to move or rotate in different directions, thereby achieving vibration reduction. The principle is that the mass damping stiffener 14 has an initial position when installed on the drone 20, and the actuator 13 also has an initial force direction to push the mass damping stiffener 14, and the vibration direction of the drone 20 may have an inclined angle with the initial force direction, that is, the vibration direction of the drone 20 has a component in the same direction as the initial force direction and a component perpendicular to it. The effect of a single actuator 13 can only reduce the component in the same direction, and another actuator 13 is required to reduce the vertical component. Therefore, in this embodiment, the first actuator 131, the second actuator 132 and the third actuator 133 push the mass damping stiffener 14 to move or rotate in different directions, and the three actuators 13 can cover the vibration reduction requirements of the drone 20 in various directions.

[0052] It is understandable that the actuator 13 is not limited to the first actuator 131 , the second actuator 132 and the third actuator 133 , and there may be more actuators 13 .

[0053] Optional, please refer to Figure 2 and Figure 4 , the moving directions of the first actuator 131, the second actuator 132 and the third actuator 133 are perpendicular to each other, that is, the moving directions of the first actuator 131, the second actuator 132 and the third actuator 133 constitute a three-dimensional rectangular coordinate system XYZ. The vibration or rotation of the drone 20 in various directions is converted into the XYZ component in the three-dimensional rectangular coordinate system. The mass damping stiffener 14 can offset the corresponding components under the push of the first actuator 131, the second actuator 132 and the third actuator 133, thereby achieving vibration reduction. It can be seen that the vibration type of the drone 20 can be divided into 6 vibration modes, namely, movement and rotation in the X direction, movement and rotation in the Y direction, and movement and rotation in the Z direction. By pushing the mass damping stiffener 14 through the first actuator 131, the second actuator 132 and the third actuator 133, the 6 types of vibration modes of the drone 20 can be offset to achieve vibration reduction.

[0054] Optional, please refer to Figure 5 , Figure 7 and Figure 8There are two first actuators 131 and they are spaced apart. When the two first actuators 131 move in the same direction, the drive mass damping stiffener 14 moves. When more than two first actuators 131 move in opposite directions, the drive mass damping stiffener 14 rotates.

[0055] like Figure 5 As shown, when the two first actuators 131 move from top to bottom along the paper at the same time, the mass damping stiffener 14 is pushed to move from top to bottom; when the two first actuators 131 move from bottom to top along the paper at the same time, the mass damping stiffener 14 is pushed to move from bottom to top; if the two first actuators 131 move in opposite directions, for example, the first actuator 131 on the left side of the paper moves from top to bottom, and the first actuator 131 on the right side moves from bottom to top, the mass damping stiffener 14 is pushed to rotate counterclockwise; if the first actuator 131 on the left side of the paper moves from bottom to top, and the first actuator 131 on the right side moves from top to bottom, the mass damping stiffener 14 is pushed to rotate clockwise.

[0056] Optionally, the number of first actuators 131 may be greater than two, and a larger number of first actuators 131 may also be arranged at intervals, and the principle is similar to that of two first actuators 131. For a single first actuator 131, its power may be smaller.

[0057] It is understandable that this embodiment only illustrates the first actuator 131. For the second actuator 132, the third actuator 133 and even more actuators 13, their settings and principles can all refer to the first actuator 131, so they will not be repeated here.

[0058] The actuator 13 in the above embodiment can be any feasible structure such as a motor 24, a hydraulic drive mechanism, a pneumatic drive mechanism, etc., without further limitation.

[0059] In one embodiment, please refer to Figure 2 and Figure 3a The mass damping stiffener 14 includes a mass block 141 and a damping member 142. The damping member 142 is connected to the mass block 141 and connected to the drone 20, and the damping member 142 is used to provide damping to smooth the vibration. The actuator 13 is connected to the mass block 141, and the action performed by the actuator 13 acts on the mass block 141, and the mass block 141 generates a displacement or rotation opposite to the vibration direction of the drone 20.

[0060] In this embodiment, the mass block 141 is heavy, accounting for the vast majority of the weight of the vibration reduction assembly 10. Therefore, in the overall system of the vibration reduction assembly 10 and the drone 20, the vibration of the mass block 141 has a greater impact on the overall system. When the heavy weight of the mass block 141 vibrates, the smaller the vibration amplitude, the greater the vibration inertia. Therefore, the vibration of the drone 20 is offset by the vibration of the mass block 141, and the required vibration amplitude of the mass block 141 will not be too large, and will not affect the stability of the overall system.

[0061] In this embodiment, the damping member 142 can be made of a material having damping and buffering effects, and is not specifically limited. The damping member 142 can provide a certain buffer for the vibration of the mass block 141, thereby preventing the vibration frequency or amplitude of the mass block 141 from being too large and affecting the stability of the drone 20.

[0062] In one embodiment, please refer to Figure 3b ,and Figure 3a The embodiments are basically the same, except that the actuator 13 is connected to the damping member 142, that is, the force of the actuator 13 acts on the damping member 142, and the damping member 142 is then transmitted to the mass block 141, which can avoid the actuator 13 directly and rigidly contacting the mass block 141 to cause excessive local pressure and structural failure.

[0063] In one embodiment, please refer to Figure 2 , Figure 3a and Figure 3b , the mass damping stiffener 14 also includes a stiffness spring 143, which is connected to the mass block 141 and connected to the drone 20. When the mass block 141 is in a stationary state relative to the drone 20, the stiffness spring 143 has a certain tensioning force. When the mass block 141 is equivalent to the drone 20 being in a moving state, the tensioning force of the stiffness spring 143 can increase or decrease, thereby driving the mass block 141 to have a movement trend in a certain direction. Therefore, by setting the stiffness spring 143, when the actuator 13 is not working, the mass block 141 can have a certain passive vibration reduction effect, and when the actuator 13 is working, the vibration reduction effect of the mass block 141 can be increased. The stiffness spring 143 is made of metal, and is not specifically limited.

[0064] In one embodiment, please refer to Figures 6 to 8The fuselage 21 of the drone 20 includes a plurality of parts, which are a plurality of detachable modules, and some of the modules can be set as mass blocks 141. For example, the battery module is a module with a relatively large weight in the drone 20, and the battery module can be set as the mass block 141. The advantage of such a setting is that the parts of the drone 20 are directly used as the mass block 141 without the need to add additional mass blocks 141, which can significantly reduce the overall weight of the drone 20 and the vibration reduction assembly 10, so that the drone 20 can carry a heavier load 30. It is understandable that when the battery module is used as the mass block 141, accessories such as the connecting wires between the battery module and other parts can also be used as the mass block 141. In addition to using the battery module as the mass block 141, other parts can also be used as the mass block 141.

[0065] In another embodiment, reference may be made to Figures 6 to 8 , the vibration reduction assembly 10 also includes a support frame (not shown in the figure), the mass block 141 is the fuselage 21 of the drone 20, the support frame is connected to the arm 23 and the tripod 25 of the drone 20, and the fuselage 21 of the drone 20 is set on the support frame. In this embodiment, the fuselage 21 of the drone 20 is used as the mass block 141 as a whole. By setting a support frame to connect the arm 23 and the tripod 25, the weight of the parts of the drone 20 itself can be maximized to achieve vibration reduction, without the need to set up an additional mass block 141. It can be understood that the actuator 13, the damping member 142 and the stiffness spring 143 are all connected to the support frame.

[0066] In another embodiment, reference may be made to Figures 6 to 8 The vibration reduction assembly 10 also includes a support frame (not shown in the figure), which is mounted on the fuselage 21 of the drone 20, and the mass block 141 is arranged on the support frame. In this embodiment, an additional mass block 141 is required to be arranged, which is connected to the fuselage 21 of the drone 20 through the support frame. The advantage of such an arrangement is that the vibration reduction assembly 10 can be installed without changing the existing drone 20, thereby reducing the modification cost and improving the vibration reduction effect of the original drone 20. It can be understood that the actuator 13, the damping member 142 and the stiffness spring 143 are all connected to the support frame.

[0067] The structural part of the embodiment of the present application is described above, and the control part of the embodiment of the present application is described below.

[0068] In one embodiment, please refer to Figure 2 and Fig. 9The processor 12 includes a data processor 121 and a decision controller 122. The data processor 121 is electrically connected to the sensor 11, and is used to process the vibration signal and output the control data. The decision controller 122 is electrically connected to the data processor 121, and is used to calculate the control force according to the control data and output the control signal. The sensor 11 detects the vibration of the vibration part of the drone 20 and outputs the vibration signal. This vibration signal needs to be processed in a series of ways before it can be converted into the signal required for vibration reduction. Therefore, a data processor 121 and a decision controller 122 are set. The data processor 121 is responsible for processing the vibration signal and outputting the control data. The decision controller 122 is responsible for calculating the control force according to the control data and outputting the control signal. The actuator 13 performs corresponding actions on the mass damping stiffener 14 according to the known signal to achieve vibration reduction. The processor 12 is set to include a data processor 121 and a decision controller 122. The structure is simple, the control logic is also simple, and it is relatively easy to implement.

[0069] The data processor 121 processes the vibration signal, including at least one of the following processes: filtering, amplification, adjustment, analog differential, and analog-to-digital conversion. The above processes are to solve the problems of weak vibration signals and high noise detected by the sensor 11. After the above processes, a strong, stable, and noise-free vibration signal can be obtained. The vibration signal can be a digital signal, which is convenient for subsequent further processing.

[0070] Among them, the decision controller 122 calculates the control force according to the control data, including: the decision controller 122 converts the control data into the displacement and velocity of the mass damping stiffener 14, and calculates the control force according to the displacement and velocity. In this embodiment, the mass damping stiffener 14 generates a vibration in the opposite direction of the vibration of the drone 20 to achieve vibration reduction, so the displacement and velocity required by the mass damping stiffener 14 are calculated by the decision controller 122, and the vibration of the mass damping stiffener 14 comes from the action of the actuator 13, that is, the actuator 13 applies the control force on the mass damping stiffener 14 to achieve. When the decision controller 122 calculates, the structure control gain matrix C can be multiplied by the structure state vector T according to the preset control algorithm to calculate the control force C*T=U. In other embodiments, the method for the decision controller 122 to calculate the control force according to the control data can adopt any feasible algorithm, which will not be repeated.

[0071] Optionally, the decision controller 122 is further used to compare the calculated control force with the maximum output that the vibration reduction component 10 can provide, and output a control signal according to the comparison result. The vibration reduction that the vibration reduction component 10 can achieve has an upper limit. When the upper limit of the vibration reduction is reached, the vibration reduction component 10 increases the control force again, but the output of the vibration reduction component 10 no longer increases, and the vibration reduction effect is not improved. Therefore, setting the control signal to consider the maximum output that the vibration reduction component 10 can provide can avoid energy waste.

[0072] Specifically, when the control force calculated by the decision controller 122 is greater than the maximum output force that the vibration reduction assembly 10 can provide, a control signal with a control force of 0 is output. When the control force calculated by the decision controller 122 is less than or equal to the maximum output force that the vibration reduction assembly 10 can provide, a control signal with a control force equal to the calculated control force is output.

[0073] When the calculated control force is greater than the maximum output that the vibration reduction assembly 10 can provide, the limit of vibration reduction that the vibration reduction assembly 10 can provide has been exceeded, that is, the control force when the control signal is 0, and the actuator 13 no longer acts on the mass damping stiffener 14, but relies on the passive vibration reduction function of the drone 20 for vibration reduction. Passive vibration reduction can be: the stiffness spring 143 acts on the mass damping stiffener 14, and the other vibration reduction structures of the drone 20 except the vibration reduction assembly 10 provided in the embodiment of the present application.

[0074] When the calculated control force is less than or equal to the maximum output that the vibration reduction assembly 10 can provide, then within the vibration reduction limit of the vibration reduction assembly 10, the vibration reduction of the drone 20 is achieved using the vibration reduction assembly 10 of the embodiment of the present application, that is, the control force is the calculated control force, and at this time, the actuator 13 acts on the mass damping stiffener 14.

[0075] Please refer to Fig. 9 The control process of the vibration reduction component 10 of the embodiment of the present application is as follows: the drone 20 generates vibration, the sensor 11 detects the vibration of the drone 20 and transmits the vibration signal to the data processor 121, the data processor 121 processes the vibration signal to obtain control data, the decision controller 122 calculates the control force according to the control data, and compares the control force with the maximum output of the vibration reduction component 10. When it is greater than the maximum output, a control signal with a control force of 0 is output, and when it is less than or equal to the maximum output, a control signal of the calculated control force, that is, an ideal control signal, is output. The control signal is transmitted to the actuator 13, and the actuator 13 acts on the mass damping stiffener 14 accordingly according to the control signal.

[0076] When the mass damping stiffener 14 generates a vibration opposite to the vibration of the drone 20, the vibration of the drone 20 has been weakened. At this time, the vibration of the drone 20 is detected again through the sensor 11, and the above process is executed again, and finally the vibration of the drone 20 can be almost completely eliminated.

[0077] The embodiment of the present application further provides a drone 20, comprising the vibration reduction assembly 10 in the aforementioned embodiment. The specific structure and principle of the vibration reduction assembly 10 may be referred to above and will not be described in detail in this embodiment.

[0078] According to the aforementioned embodiments, in some cases, the drone 20 of the embodiments of the present application may be the entire system of a traditional drone 20 after installing the vibration reduction component 10. In other cases, the drone 20 of the embodiments of the present application is a system in which some components of the traditional drone 20 are shared with the vibration reduction component 10, and the two are organically integrated.

[0079] The drone 20 provided in the embodiment of the present application is provided with a sensor 11, a processor 12, an actuator 13 and a mass damping stiffener 14 through a vibration reduction assembly 10. The sensor 11 detects the vibration of the drone 20 and outputs a vibration signal. The processor 12 processes the vibration signal and outputs a control signal. The actuator 13 applies a force to the mass damping stiffener 14 according to the control signal. The mass damping stiffener 14 generates a vibration in the opposite direction to the vibration of the drone 20, thereby at least partially offsetting the vibration of the drone 20, and achieving the purpose of vibration reduction of the drone 20. In addition, since the vibration reduction assembly 10 in the embodiment of the present application is not designed for the drone 20 or the load 30, any type of vibration of any drone 20, such as the vibration of the drone 20 itself and the vibration transmitted by the load 30, can be reduced, which can reduce the stress level of the key structural parts of the drone 20 and reduce the failure risk of the drone 20.

[0080] Please refer to Figure 2 as well as Figures 6 to 8 The embodiment of the present application also provides a vibration reduction method for a drone 20, comprising:

[0081] A vibration reduction assembly 10 is provided, the vibration reduction assembly 10 includes a sensor 11, a processor 12, an actuator 13 and a mass damping stiffener 14, the sensor 11 is installed at a vibration part of a drone 20, the processor 12 is electrically connected to the sensor 11, the actuator 13 is electrically connected to the processor 12, the mass damping stiffener 14 is installed to the drone 20, and is connected to the actuator 13;

[0082] Using the sensor 11 to detect the vibration of the drone 20 and output a vibration signal;

[0083] Using the processor 12 to process the vibration signal and output a control signal;

[0084] The actuator 13 is used to perform an action on the mass damping stiffener 14 according to the control signal, so that the mass damping stiffener 14 generates a displacement or rotation opposite to the vibration direction of the drone 20 to reduce the vibration of the drone 20.

[0085] The vibration reduction method of the drone 20 of this embodiment achieves the purpose of vibration reduction by providing a vibration reduction assembly 10. The specific structure and principle of the vibration reduction assembly 10 can be referred to above, and will not be described in detail in this embodiment.

[0086] According to the aforementioned embodiments, in some cases, the drone 20 of the embodiments of the present application may be the entire system of a traditional drone 20 after installing the vibration reduction component 10. In other cases, the drone 20 of the embodiments of the present application is a system in which some components of the traditional drone 20 are shared with the vibration reduction component 10, and the two are organically integrated.

[0087] The vibration reduction method of the drone 20 of the embodiment of the present application is to set a sensor 11, a processor 12, an actuator 13 and a mass damping stiffener 14 through a vibration reduction component 10. The sensor 11 detects the vibration of the drone 20 and outputs a vibration signal. The processor 12 processes the vibration signal and outputs a control signal. The actuator 13 applies a force to the mass damping stiffener 14 according to the control signal. The mass damping stiffener 14 generates a vibration in the opposite direction to the vibration of the drone 20, thereby at least partially offsetting the vibration of the drone 20 and achieving the purpose of vibration reduction of the drone 20. In addition, since the vibration reduction component 10 of the embodiment of the present application is not designed for the drone 20 or the load 30, any type of vibration of any drone 20, such as the vibration of the drone 20 itself and the vibration transmitted by the load 30, can be reduced, which can reduce the stress level of the key structural parts of the drone 20 and reduce the failure risk of the drone 20.

[0088] The above is a detailed introduction to a pan-tilt assembly provided by the present application. Specific examples are used in this article to illustrate the principles and embodiments of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present application, there will be changes in the specific embodiments and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A vibration reduction assembly, characterized in that: include: A sensor, mounted on a vibration portion of the drone, for detecting the vibration of the drone and outputting a vibration signal; A processor, comprising a data processor and a decision controller, wherein the data processor is electrically connected to the sensor and is used to process the vibration signal and output control data; the decision controller is electrically connected to the data processor and is used to calculate the control force according to the control data and output a control signal; an actuator, electrically connected to the processor, and configured to execute an action according to the control signal; and A mass damping stiffener is mounted on the drone and connected to the actuator, and the action performed by the actuator acts on the mass damping stiffener, so that the mass damping stiffener generates a displacement in the opposite direction of the vibration direction of the drone, so as to reduce the vibration of the drone; Wherein, when the control force calculated by the decision controller is greater than the maximum output force that can be provided by the vibration reduction component, the control signal with a control force of 0 is output; When the control force calculated by the decision controller is less than or equal to the maximum output force that can be provided by the vibration reduction component, the output control force is the control signal of the calculated control force.

2. The vibration reduction assembly according to claim 1, characterized in that: The number of the sensors is multiple, and the sensors installed at the vibration parts of the drone include: The sensor is installed at the motor driving the rotor of the UAV; and / or The sensor is installed at the connection between the fuselage and the arm of the drone; and / or The sensor is installed at the connection between the fuselage and the load.

3. The vibration reduction assembly according to claim 1, characterized in that: The actuator includes a first actuator, a second actuator and a third actuator. The first actuator, the second actuator and the third actuator are respectively connected to the mass damping stiffener, and the connection positions are different from each other, so that the first actuator, the second actuator and the third actuator can push the mass damping stiffener to move or rotate in different directions.

4. The vibration reduction assembly according to claim 3, characterized in that: The number of the first actuators is more than two and they are arranged at intervals. When the two or more first actuators move in the same direction, the mass damping stiffener is driven to move. When the two or more first actuators move in opposite directions, the mass damping stiffener is driven to rotate.

5. The vibration reduction assembly according to claim 3, characterized in that: The moving directions of the first actuating actuator, the second actuating actuator and the third actuating actuator are perpendicular to each other.

6. The vibration reduction assembly according to claim 1, characterized in that: The mass damping stiffener includes a mass block and a damping member, wherein the damping member is connected to the mass block and to the drone, and the actuator is connected to the mass block. The action performed by the actuator acts on the mass block, and the mass block generates a displacement in the opposite direction of the vibration direction of the drone. The damping member provides damping to smooth the vibration.

7. The vibration reduction assembly according to claim 6, characterized in that: The mass damping stiffener further comprises a stiffness spring, wherein the stiffness spring is connected to the mass block and is connected to the drone.

8. The vibration reduction assembly according to claim 6, characterized in that: The mass block is a component of the drone.

9. The vibration reduction assembly according to claim 6, characterized in that: The vibration reduction assembly also includes a support frame, the mass block is the fuselage of the UAV, the support frame is connected to the arm and the tripod of the UAV, and the fuselage of the UAV is arranged on the support frame.

10. The vibration reduction assembly according to claim 6, characterized in that: The vibration reduction assembly also includes a support frame, which is mounted on the fuselage of the UAV, and the mass block is arranged on the support frame.

11. The vibration reduction assembly according to any one of claims 1 to 10, characterized in that: The processor includes a data processor and a decision controller. The data processor is electrically connected to the sensor and is used to process the vibration signal and output control data. The decision controller is electrically connected to the data processor and is used to calculate the control force according to the control data and output the control signal.

12. The vibration reduction assembly according to claim 11, characterized in that The data processor processes the vibration signal, including at least one of the following processes: filtering, amplification, regulation, analog differential, and analog-to-digital conversion.

13. The vibration reduction assembly according to claim 11, characterized in that The decision controller calculates the control force according to the control data, including: the decision controller converts the control data into the displacement and velocity of the mass damper stiffener, and calculates the control force according to the displacement and velocity.

14. The vibration reduction assembly according to claim 13, characterized in that The decision controller is also used to compare the calculated control force with the maximum output that can be provided by the vibration reduction component, and output the control signal according to the comparison result.

15. The vibration reduction assembly according to claim 14, wherein: When the control force calculated by the decision controller is greater than the maximum output force that the vibration reduction component can provide, the control signal with a control force of 0 is output; when the control force calculated by the decision controller is less than or equal to the maximum output force that the vibration reduction component can provide, the control signal with a control force equal to the calculated control force is output.

16. A drone, characterized in that: The invention comprises a vibration reduction assembly, wherein the vibration reduction assembly comprises: A sensor, installed at a vibration position of the drone, for detecting the vibration of the drone and outputting a vibration signal; A processor, comprising a data processor and a decision controller, wherein the data processor is electrically connected to the sensor and is used to process the vibration signal and output control data; the decision controller is electrically connected to the data processor and is used to calculate the control force according to the control data and output a control signal; an actuator, electrically connected to the processor, and configured to execute an action according to the control signal; and A mass damping stiffener is mounted on the drone and connected to the actuator, and the action performed by the actuator acts on the mass damping stiffener, so that the mass damping stiffener generates a displacement in the opposite direction of the vibration direction of the drone, so as to reduce the vibration of the drone; Among them, when the control force calculated by the decision controller is greater than the maximum output that the vibration reduction component can provide, the control signal with a control force of 0 is output; when the control force calculated by the decision controller is less than or equal to the maximum output that the vibration reduction component can provide, the control signal with a control force equal to the calculated control force is output.

17. The drone according to claim 16, characterized in that: The drone comprises a rotor, an arm and a fuselage, and the number of the sensors is multiple, and the sensors are installed at the vibration parts of the drone including: The sensor is installed at the motor driving the rotor; and / or The sensor is installed at the connection between the fuselage and the arm; and / or The sensor is installed at the connection between the fuselage and the load.

18. The drone according to claim 16, wherein: The actuator includes a first actuator, a second actuator and a third actuator. The first actuator, the second actuator and the third actuator are respectively connected to the mass damping stiffener, and the connection positions are different from each other, so that the first actuator, the second actuator and the third actuator can push the mass damping stiffener to move or rotate in different directions.

19. The drone according to claim 18, characterized in that: The number of the first actuators is more than two and they are arranged at intervals. When the two or more first actuators move in the same direction, the mass damping stiffener is driven to move. When the two or more first actuators move in opposite directions, the mass damping stiffener is driven to rotate.

20. The drone of claim 18, wherein: The moving directions of the first actuating actuator, the second actuating actuator and the third actuating actuator are perpendicular to each other.

21. The drone of claim 16, wherein: The mass damping stiffener includes a mass block and a damping member, wherein the damping member connects the mass block and the drone, and the actuator is connected to the mass block. The action performed by the actuator acts on the mass block, and the mass block generates a displacement opposite to the vibration direction of the drone. The damping member provides damping to smooth the vibration.

22. The drone according to claim 21, characterized in that: The mass damping stiffener also includes a stiffness spring, which connects the mass block and the drone.

23. The drone according to claim 21, characterized in that: The mass block is a component of the drone.

24. The drone of claim 21, wherein: The vibration reduction assembly also includes a support frame, the mass block is the fuselage of the UAV, the support frame is connected to the arm and the tripod of the UAV, and the fuselage of the UAV is arranged on the support frame.

25. The drone of claim 21, wherein: The vibration reduction assembly also includes a support frame, which is mounted on the fuselage of the UAV, and the mass block is arranged on the support frame.

26. The drone according to any one of claims 16 to 25, characterized in that: The processor includes a data processor and a decision controller. The data processor is electrically connected to the sensor and is used to process the vibration signal and output control data. The decision controller is electrically connected to the data processor and is used to calculate the control force according to the control data and output the control signal.

27. The drone of claim 26, wherein: The data processor processes the vibration signal, including at least one of the following processes: filtering, amplification, regulation, analog differential, and analog-to-digital conversion.

28. The drone of claim 26, wherein: The decision controller calculates the control force according to the control data, including: the decision controller converts the control data into the displacement and velocity of the mass damper stiffener, and calculates the control force according to the displacement and velocity.

29. The drone of claim 28, wherein: The decision controller also compares the calculated control force with the maximum output that can be provided by the vibration reduction component, and outputs the control signal according to the comparison result.

30. The drone of claim 29, wherein: When the control force calculated by the decision controller is greater than the maximum output force that the vibration reduction component can provide, the control signal with a control force of 0 is output; when the control force calculated by the decision controller is less than or equal to the maximum output force that the vibration reduction component can provide, the control signal with a control force equal to the calculated control force is output.

31. A method for reducing vibration of an unmanned aerial vehicle, characterized in that: include: A vibration reduction assembly is provided, the vibration reduction assembly comprising a sensor, a processor, an actuator and a mass damping stiffener, the sensor is installed at a vibration part of the drone, the processor is electrically connected to the sensor, the actuator is electrically connected to the processor, the mass damping stiffener is installed to the drone and connected to the actuator; Using the sensor to detect the vibration of the drone and output a vibration signal; The processor is used to process the vibration signal and output a control signal; the processor includes a data processor and a decision controller, the data processor is electrically connected to the sensor, and is used to process the vibration signal and output control data; the decision controller is electrically connected to the data processor, and is used to calculate the control force according to the control data and output the control signal; Using the actuator to perform an action on the mass damping stiffener according to the control signal, so that the mass damping stiffener generates a displacement opposite to the vibration direction of the drone, so as to reduce the vibration of the drone; Wherein, when the control force calculated by the decision controller is greater than the maximum output force that can be provided by the vibration reduction component, the control signal with a control force of 0 is output; When the control force calculated by the decision controller is less than or equal to the maximum output force that can be provided by the vibration reduction component, the output control force is the control signal of the calculated control force.

32. The method for reducing vibration of an unmanned aerial vehicle according to claim 31, wherein: The drone includes a rotor, an arm, and a fuselage. The number of the sensors is multiple, and the sensors are installed at the vibration part of the drone, including: Mounting the sensor on the motor driving the rotor; and / or Install the sensor at the connection between the fuselage and the arm; and / or The sensor is installed at the connection between the fuselage and the load.

33. The drone vibration reduction method according to claim 31, characterized in that: The actuator is configured to include a first actuator, a second actuator and a third actuator, and the first actuator, the second actuator and the third actuator are respectively connected to the mass damping stiffener, and the connection positions are different from each other, so that the first actuator, the second actuator and the third actuator can push the mass damping stiffener to move or rotate in different directions.

34. The method for reducing vibration of an unmanned aerial vehicle according to claim 33, wherein: The number of the first actuators is set to be more than two and they are arranged at intervals. When more than two of the first actuators move in the same direction, the mass damping stiffener is driven to move. When more than two of the first actuators move in opposite directions, the mass damping stiffener is driven to rotate.

35. The drone vibration reduction method according to claim 33, wherein: The moving directions of the first actuating actuator, the second actuating actuator and the third actuating actuator are arranged to be perpendicular to each other.

36. The drone vibration reduction method according to claim 31, wherein: The mass damping stiffener is configured to include a mass block and a damping member. The damping member is used to connect the mass block and the drone, and the actuator is connected to the mass block. The action performed by the actuator acts on the mass block, and the mass block generates a displacement opposite to the vibration direction of the drone. The damping member provides damping to smooth the vibration.

37. The method for reducing vibration of an unmanned aerial vehicle according to claim 36, wherein: The mass damping stiffener also includes a stiffness spring, and the stiffness spring is used to connect the mass block and the drone.

38. The method for reducing vibration of an unmanned aerial vehicle according to claim 36, wherein: The mass block is set as a component of the drone.

39. The method for reducing vibration of an unmanned aerial vehicle according to claim 36, wherein: The vibration reduction assembly also includes a support frame, the mass block is set as the fuselage of the UAV, the support frame is connected to the arm and tripod of the UAV, and the fuselage of the UAV is set on the support frame.

40. The method for reducing vibration of an unmanned aerial vehicle according to any one of claims 31 to 39, characterized in that: The processor is configured to include a data processor and a decision controller. The data processor is electrically connected to the sensor to process the vibration signal and output control data; the decision controller is electrically connected to the data processor to calculate the control force according to the control data and output the control signal.

41. The drone vibration reduction method according to claim 40, characterized in that: The vibration signal is processed using the data processor, including at least one of the following processes: filtering, amplification, regulation, analog differential, and analog-to-digital conversion.

42. The method for reducing vibration of an unmanned aerial vehicle according to claim 40, wherein: The control force is calculated according to the control data using the decision controller, including: using the decision controller to convert the control data into the displacement and velocity of the mass damping stiffener, and calculating the control force according to the displacement and velocity.

43. The drone vibration reduction method according to claim 42, characterized in that: The decision controller also compares the calculated control force with the maximum output that can be provided by the vibration reduction component, and outputs the control signal according to the comparison result.

44. The drone vibration reduction method according to claim 43, wherein: When the control force calculated by the decision controller is greater than the maximum output force that can be provided by the vibration reduction component, outputting the control signal with a control force of 0; When the control force calculated by the decision controller is less than or equal to the maximum output force that can be provided by the vibration reduction component, the output control force is the control signal of the calculated control force.

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