A magnetic spring sensor for drone vibration detection

Abstract

The present invention discloses a magnetic spring sensor for detecting vibration in unmanned aerial vehicles (UAVs), belonging to the technical field of vibration detection sensors. The purpose is to solve the problems of poor measurement accuracy and inaccurate detection results in the prior art. The present invention comprises: a fixed sleeve; a vibrating element disposed within the fixed sleeve, the vibrating element comprising at least an upper vibrating magnet and a lower vibrating magnet with opposite polarities attracting each other, an upper vibrating rabbit hair fixedly disposed on the upper surface of the upper vibrating magnet, and a lower vibrating rabbit hair fixedly disposed on the lower surface of the lower vibrating magnet; and end magnetic poles located at both ends of the fixed sleeve, the end magnetic poles comprising at least an upper contact copper pole and a lower contact copper pole, the end magnetic poles and the vibrating element forming a magnetic spring with like polarities repelling each other. The vibration friction of the vibrating element generates an electrical signal, which is directed to the end magnetic poles. The electrical signal is output through the upper and lower contact copper poles of the end magnetic poles to form a voltage signal, which is then collected by a computer.

Description

Technical Field

[0001] The present invention belongs to the technical field of vibration detection sensors, and in particular relates to a self-powered magnetic spring sensor for drone vibration detection that converts drone vibration into an electrical signal output. Background Art

[0002] With the continuous advancement of technology, the complexity of flight control systems in the field of unmanned aerial vehicles (UAVs) continues to increase. Simultaneously, the number and types of sensors required for flight control systems are also increasing. The flight control system uses information obtained from these sensors to control other systems, enabling the drone to navigate effectively. Furthermore, the drone experiences complex vibrations during cruising, which can cause damage to the drone and affect its normal cruising.

[0003] In the prior art, the structures used to detect vibration include mechanical spring structures and thin film structures. Compared with mechanical spring structures, mechanical wear occurs during use, which leads to deviations in measurement results and poor measurement accuracy. For thin film structures, the generated electrical signal has a low signal-to-noise ratio and a small voltage output, resulting in inaccurate detection results. Summary of the Invention

[0004] The purpose of the present invention is to provide a magnetic spring sensor for drone vibration detection, so as to solve the problems of poor measurement accuracy and inaccurate detection results in the prior art.

[0005] To achieve the above objectives, the present invention provides a magnetic spring sensor for drone vibration monitoring, comprising:

[0006] Fixed sleeve;

[0007] A vibration element is provided in the fixed sleeve and at the center of the fixed sleeve, the vibration element comprising at least an upper vibration magnet and a lower vibration magnet with opposite polarities attracting each other, an upper vibration rabbit hair fixedly provided on the upper surface of the upper vibration magnet, and a lower vibration rabbit hair fixedly provided on the lower surface of the lower vibration magnet;

[0008] And end magnetic poles located at both ends of the fixed sleeve, the end magnetic poles at least include an upper contact copper pole and a lower contact copper pole, the end magnetic poles and the vibrating element located in the fixed sleeve form a magnetic spring with the same poles repelling each other; the vibration of the vibrating element generates an electrical signal through the friction between the upper vibrating rabbit hair and the lower vibrating rabbit hair and guides the electrical signal to the end magnetic poles, the electrical signal is output through the upper contact copper pole and the lower contact copper pole of the end magnetic pole to form a voltage signal, and is collected by a computer.

[0009] The magnetic spring sensor further includes an external copper wire coil distributed around the outside of the fixed sleeve and located at the center of the fixed sleeve, and the vibration energy generated by the rotation of the electrode of the drone arm is captured by the external copper wire coil.

[0010] The upper vibrating rabbit hair and the lower vibrating rabbit hair are both short hairs, and the length L of the short hairs ranges from 1 mm to 5 mm.

[0011] The end magnetic poles include an upper magnetic pole and a lower magnetic pole that are symmetrically arranged with the same structure;

[0012] The upper magnetic pole comprises:

[0013] The fixed seal is provided on the upper spring fixing element at the upper end of the fixing sleeve, and the upper surface of the upper spring fixing element is provided with an upper groove; the upper contact copper pole is fixedly provided on the bottom of the upper spring fixing element;

[0014] an upper spring magnet fixedly disposed in the upper groove;

[0015] and an upper contact film fixedly arranged on the lower surface of the upper contact copper electrode;

[0016] The lower magnetic pole comprises:

[0017] A fixed seal is provided on a lower spring fixing element at the lower end of the fixing sleeve, and a lower groove is provided on the lower surface of the lower spring fixing element; the lower contact copper pole is fixedly provided on the top of the lower spring fixing element;

[0018] A lower spring magnetic pole fixedly disposed in a lower groove of the lower spring fixing element, wherein the opposing surfaces of the upper spring magnet and the lower spring magnet are of different poles, the opposing surfaces of the upper spring magnet and the lower spring magnet are of different poles, the opposing surfaces of the upper spring magnet and the upper vibrating magnet are of the same pole, and the opposing surfaces of the lower spring magnet and the lower vibrating magnet are of the same pole;

[0019] and a lower contact film fixedly arranged on the upper surface of the lower contact copper pole.

[0020] The lower part of the upper spring fixing element is provided with a disc with a larger diameter than the upper part, and is fixedly installed by the lower surface of the disc and the upper end surface of the fixing sleeve; the upper part of the lower spring fixing element is provided with a disc with a larger diameter than the lower part, and is fixedly installed by the upper surface of the disc and the lower end surface of the fixing sleeve.

[0021] The upper vibrating magnet, the lower vibrating magnet, the upper spring magnet and the lower spring magnet are of the same model and size and are all rubidium magnets.

[0022] The material of the fixing sleeve is acrylic.

[0023] The present invention provides the following beneficial effects: a magnetic spring sensor for drone vibration detection is placed on the cantilever of a quadrotor drone near the propeller blades to detect vibration at that location. This sensor utilizes the self-powered nature of the triboelectric nanogenerator to sense drone vibration. It generates electrical signals without the need for an external power source. Furthermore, an energy capture module is included to recover the vibration energy generated by the motor rotation in the drone arm. This sensor, when applied to drone vibration detection during cruising, significantly reduces the drone's inherent power consumption and facilitates information transmission.

[0024] This invention achieves self-driven sensing, outputting electrical signals as sensing signals. The current drone vibration frequency and amplitude are determined based on the frequency and amplitude of the open-circuit voltage. This invention eliminates the need for connection to a power supply circuit for sensing, significantly reducing drone power loss during cruising. Its simple structure significantly reduces the complexity inherent in the design.

[0025] The magnetic spring structure of the present invention can perfectly avoid the problem of mechanical wear. Compared with the thin film structure, the electrical signal generated by the invention has a high signal-to-noise ratio and has the advantage of large voltage output. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the three-dimensional structure of a magnetic spring sensor for vibration detection of a drone according to the present invention;

[0027] Figure 2 This is a sectional view of the three-dimensional structure of a magnetic spring sensor for drone vibration detection according to the present invention;

[0028] Figure 3 This is a disassembled diagram of the three-dimensional structure of a magnetic spring sensor for drone vibration detection according to the present invention;

[0029] Figure 4 This is a simplified schematic diagram of a magnetic spring sensor for drone vibration detection according to the present invention;

[0030] Figure 5 This is an open circuit voltage diagram of a magnetic spring sensor for drone vibration detection according to the present invention at a frequency of 20 Hz and an amplitude of 1 mm;

[0031] Figure 6 This is a signal frequency domain diagram of a magnetic spring sensor for drone vibration detection of the present invention at a frequency of 20 Hz and an amplitude of 1 mm;

[0032] Wherein: 1. Fixed sleeve, 2. Vibrating element, 201. Upper vibrating magnet, 202. Lower vibrating magnet, 203. Upper vibrating rabbit hair, 204. Lower vibrating rabbit hair, 3. Upper magnetic pole, 301. Upper spring magnet, 302. Upper spring fixing element, 303. Upper contact copper pole, 304. Upper contact film, 4. Lower magnetic pole, 401. Lower spring magnetic pole, 402. Lower spring fixing element, 403. Lower contact copper pole, 404. Lower contact film, 5. External copper wire coil. DETAILED DESCRIPTION

[0033] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0034] As a new method of capturing mechanical energy, friction nanogenerators are widely used in energy recovery and self-powered sensors. Through the mutual friction between two materials with different electron gain and loss capabilities, surface charge transfer occurs, which can convert the mechanical energy that is widely present in the natural environment into electrical energy, providing power for small electronic devices such as portable devices.

[0035] The structure of the friction nanogenerator in the existing technology is relatively complex, and there is no sensor specifically designed to detect drone vibrations; the friction nanogenerators for detecting vibrations in the existing technology mostly use mechanical structures, such as springs, etc. Due to the metal fatigue characteristics of elastic elements, they are not suitable for long-term drone cruising conditions.

[0036] See also Figure 1-Figure 4 , a magnetic spring sensor for drone vibration monitoring of the present invention comprises:

[0037] Fixed sleeve 1;

[0038] A vibration element 2 is disposed within the fixed sleeve 1 and at the center of the fixed sleeve 1, the vibration element 2 comprising at least an upper vibration magnet 201 and a lower vibration magnet 202 with opposite polarities attracting each other, an upper vibration rabbit hair 203 fixedly disposed on the upper surface of the upper vibration magnet 201, and a lower vibration rabbit hair 204 fixedly disposed on the lower surface of the lower vibration magnet 202; the vibration element 2 is mounted on the drone to vibrate together and generate an electrical signal;

[0039] And the end magnetic poles located at both ends of the fixed sleeve 1, the end magnetic poles at least include an upper contact copper pole 303 and a lower contact copper pole 403, the end magnetic poles and the vibration element 2 located in the fixed sleeve 1 form a magnetic spring with the same poles repelling each other; the vibration element 2 vibrates through the friction between the upper vibrating rabbit hair 203 and the lower vibrating rabbit hair 204 to generate an electrical signal and guide the electrical signal to the end magnetic poles, the electrical signal is output through the upper contact copper pole 303 and the lower contact copper pole 403 of the end magnetic pole, forming a voltage signal, and is collected by a computer.

[0040] The magnetic spring sensor further includes an external copper wire coil 5 distributed around the outside of the fixed sleeve 1 and located at the center of the fixed sleeve 1, and the external copper wire coil 5 captures the vibration energy generated by the rotation of the electrode of the drone arm.

[0041] The upper vibrating rabbit hair 203 and the lower vibrating rabbit hair 204 are both short hairs, and the length L of the short hairs ranges from 1 mm to 5 mm.

[0042] The end magnetic poles include an upper magnetic pole 3 and a lower magnetic pole 4 that are symmetrically arranged with the same structure;

[0043] The upper magnetic pole 3 comprises:

[0044] The upper spring fixing element 302 is fixedly sealed and arranged at the upper end of the fixing sleeve 1. The upper surface of the upper spring fixing element 302 is provided with an upper groove. The upper contact copper pole 303 is fixedly arranged at the bottom of the upper spring fixing element 302.

[0045] An upper spring magnet 301 fixedly disposed in the upper groove;

[0046] and an upper contact film 304 fixedly arranged on the lower surface of the upper contact copper electrode 303;

[0047] The lower magnetic pole 4 comprises:

[0048] A fixed seal is provided on the lower spring fixing element 402 at the lower end of the fixing sleeve 1, and a lower groove is provided on the lower surface of the lower spring fixing element 402; the lower contact copper pole 403 is fixedly provided on the top of the lower spring fixing element 402;

[0049] The lower spring magnetic pole 401 is fixedly disposed in the lower groove of the lower spring fixing element 402, the opposing surfaces of the upper spring magnet 301 and the lower spring magnet are of different poles, the opposing surfaces of the upper spring magnet 301 and the lower spring magnet are of different poles, the opposing surfaces of the upper spring magnet 301 and the upper vibrating magnet 201 are of the same pole, and the opposing surfaces of the lower spring magnet and the lower vibrating magnet 202 are of the same pole;

[0050] And a lower contact film 404 fixedly arranged on the upper surface of the lower contact copper electrode 403.

[0051] The upper spring fixing element 302 is a stepped disc as a whole. A disc with a relatively larger diameter than the upper part is provided at the lower part of the upper spring fixing element 302. It is fixed and installed by the lower surface of the disc and the upper end face of the fixing sleeve 1. It is convenient to install and is fixed on the top of the fixing sleeve 1 by glue. There is a hole on the upper part to form an upper groove. It is worth noting that there is no hole on the lower disc of the upper spring fixing element 302. The upper spring fixing element 302 is fixed on the top of the fixing sleeve 1 by glue; the upper part of the lower spring fixing element 402 is provided with a disc with a relatively larger diameter than the lower part, and is fixed and installed by the upper surface of the disc and the lower end face of the fixing sleeve 1. The bottom of the upper spring fixing element 302 is a sealed disc with no gap; at the same time, there is a gap between it and the vibration element 2. The upper and lower surfaces of the upper vibration magnet 201 and the lower vibration magnet 202 are of opposite poles. At the same time, the lower surface of the upper spring magnet 301 and the upper surface of the lower spring magnet are also of opposite poles. At this time, the vibration element 2 in the magnetic spring sensor for drone vibration detection forms a same-pole repulsion with it, forming a magnetic spring.

[0052] The upper vibrating magnet 201 , the lower vibrating magnet 202 , the upper spring magnet 301 and the lower spring magnet are of the same model and size, and are all rubidium magnets.

[0053] The material of the fixing sleeve 1 is acrylic.

[0054] The magnetic spring sensor detection terminal of the present invention is a computer.

[0055] The magnetic spring sensor in this embodiment is cylindrical in shape, with a maximum diameter of 15 mm and a length of 60 mm. The overall structure is centrally symmetrical, with all components in the upper and lower parts having identical shapes and sizes. When vibration occurs, the upper and lower electrodes have different triboelectric polarities.

[0056] The magnetic spring sensor of the present invention is suitable for low-frequency (0-50 Hz) and low-amplitude (1 mm-30 mm) vibration detection of drones.

[0057] The present invention relates to a magnetic spring sensor for drone vibration detection. When the drone's arm vibrates, the magnetic spring sensor vibrates, causing the vibrating element 2 to vibrate, generating an electrical signal for output. Specifically, when the drone's arm vibrates, the magnetic spring sensor, which uses magnets instead of springs, is more sensitive to small vibrations. The arm then drives the magnetic spring sensor to vibrate. At this time, the upper vibrating magnet 201, the upper vibrating rabbit hair 203, the lower vibrating magnet 202 and the lower vibrating rabbit hair 204 are combined to act as the vibrating element 2 to vibrate. At the same time, since the upper vibrating magnet 201 and the upper spring magnet 301 have the same poles, when the vibrating element 2 vibrates to the top of the fixed sleeve 1, the magnets with the same poles repel each other, and the vibrating element 2 is repelled to the middle position of the fixed sleeve 1. In this process, the upper vibrating rabbit hair 203 comes into contact with the upper contact film 304 (polytetrafluoroethylene). At this time, electrons are guided to the upper contact copper pole 303 through the upper vibrating rabbit hair 203 and the upper contact film 304, completing an upward vibration process. During downward vibration, the vibrating element 2 vibrates. Simultaneously, because the lower vibrating magnet 202 and the lower spring magnet have the same polarity, when the vibrating element 2 vibrates below the fixed sleeve 1, magnets with the same polarity repel each other, forcing the vibrating element 2 to the center of the fixed sleeve 1. During this process, the lower vibrating rabbit hair 204 comes into contact with the lower contact film 404 (polytetrafluoroethylene). Electrons are guided by the lower vibrating rabbit hair 204 and the lower contact film 404 to the lower contact copper pole 403, completing a downward vibration. Electrons are then output through the upper contact copper pole 303 and the lower contact copper pole 403, forming a voltage signal that is collected by a computer. The vibrating element 2 then vibrates in an up-and-down cycle. The upper vibrating magnet 201 and the lower vibrating magnet 202, acting as two permanent magnets, vibrate in an up-and-down cycle. The external copper wire coil 5 wrapped around the exterior of the fixed sleeve 1 captures energy.

[0058] See also Figure 5 and Figure 6 The final collected signal is applied to a magnetic spring sensor used for drone vibration detection at 20Hz and 1mm amplitude. The open circuit voltage and its frequency domain diagram are then obtained to reflect the vibration situation.

[0059] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A magnetic spring sensor for drone vibration monitoring, characterized in that: include: Fixed sleeve (1); a vibration element (2) disposed in the fixed sleeve (1) and at the center of the fixed sleeve (1), the vibration element (2) comprising at least an upper vibration magnet (201) and a lower vibration magnet (202) with opposite polarities attracting each other, an upper vibration rabbit hair (203) fixedly disposed on the upper surface of the upper vibration magnet (201), and a lower vibration rabbit hair (204) fixedly disposed on the lower surface of the lower vibration magnet (202); and end magnetic poles located at both ends of the fixed sleeve (1), the end magnetic poles at least comprising an upper contact copper pole (303) and a lower contact copper pole (403), the end magnetic poles and a vibration element (2) located in the fixed sleeve (1) forming a magnetic spring with the same poles repelling each other; the vibration element (2) vibrates and generates an electric signal through friction between the upper vibrating rabbit hair (203) and the lower vibrating rabbit hair (204), and guides the electric signal to the end magnetic poles; the electric signal is output through the upper contact copper pole (303) and the lower contact copper pole (403) of the end magnetic poles to form a voltage signal, which is then collected by a computer.

2. A magnetic spring sensor for drone vibration monitoring according to claim 1, characterized in that: The magnetic spring sensor further comprises an external copper wire coil (5) which is distributed around the outside of the fixed sleeve (1) and is located at the center of the fixed sleeve (1), and the vibration energy generated by the rotation of the electrode of the drone arm is captured by the external copper wire coil (5).

3. The magnetic spring sensor for drone vibration monitoring according to claim 1, characterized in that: The upper vibrating rabbit hair (203) and the lower vibrating rabbit hair (204) are both short hairs, and the length L of the short hairs ranges from 1 mm to 5 mm.

4. A magnetic spring sensor for drone vibration monitoring according to any one of claims 1 to 3, characterized in that: The end magnetic poles include an upper magnetic pole (3) and a lower magnetic pole (4) that are symmetrically arranged with the same structure; The upper magnetic pole (3) comprises: A fixed seal is provided on an upper spring fixing element (302) at the upper end of the fixing sleeve (1), and an upper groove is provided on the upper surface of the upper spring fixing element (302); the upper contact copper pole (303) is fixedly provided on the bottom of the upper spring fixing element (302); an upper spring magnet (301) fixedly disposed in the upper groove; and an upper contact film (304) fixedly arranged on the lower surface of the upper contact copper electrode (303); The lower magnetic pole (4) comprises: A fixed seal is provided on a lower spring fixing element (402) at the lower end of the fixing sleeve (1), and a lower groove is provided on the lower surface of the lower spring fixing element (402); the lower contact copper pole (403) is fixedly provided on the top of the lower spring fixing element (402); The lower spring magnetic pole (401) is fixedly arranged in the lower groove of the lower spring fixing element (402), the opposing surfaces of the upper spring magnet (301) and the lower spring magnet are of different poles, the opposing surfaces of the upper spring magnet (301) and the lower spring magnet are of different poles, the opposing surfaces of the upper spring magnet (301) and the upper vibrating magnet (201) are of the same pole, and the opposing surfaces of the lower spring magnet and the lower vibrating magnet (202) are of the same pole; and a lower contact film (404) fixedly arranged on the upper surface of the lower contact copper pole (403).

5. The magnetic spring sensor for drone vibration monitoring according to claim 4, characterized in that: The upper spring fixing element (302) is provided with a disc having a larger diameter than the upper part at the lower part, and is fixedly mounted via the lower surface of the disc and the upper end face of the fixing sleeve (1); the lower spring fixing element (402) is provided with a disc having a larger diameter than the lower part at the upper part, and is fixedly mounted via the upper surface of the disc and the lower end face of the fixing sleeve (1).

6. The magnetic spring sensor for drone vibration monitoring according to claim 4, characterized in that: The upper vibrating magnet (201), the lower vibrating magnet (202), the upper spring magnet (301) and the lower spring magnet are of the same model and size and are all rubidium magnets.

7. The magnetic spring sensor for drone vibration monitoring according to claim 1, characterized in that: The material of the fixing sleeve (1) is acrylic.

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