A self-balancing device and method based on a dual-rotor unmanned aerial vehicle

Abstract

The purpose of this invention is to provide a self-balancing device and method based on a dual-rotor unmanned aerial vehicle (UAV), which can record horizontal parameters in various environments as needed, achieve horizontal correction when the aircraft deviates or tilts through different drive groups, and has the function of simultaneous correction of multiple planes. It includes a UAV, a horizontal sensing device, and a balancing mechanism, with the horizontal sensing device and balancing mechanism both connected to the UAV.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicles (UAVs), and more specifically to a self-balancing device and method for dual-rotor UAVs. Background Technology

[0002] As an emerging technological product, drones have been used efficiently in many fields. However, current drones have poor environmental adaptability and poor self-balancing performance in sudden environmental events. For example, CN218022149U discloses a drone balancing frame with self-adjustment function. This utility model belongs to the field of drones and includes a frame with support feet fixedly installed on its bottom surface. A balancing mechanism is fixedly installed between the support feet on the bottom surface of the frame. The balancing mechanism includes a rotating ball, a limiting ring, a bracket, a balancing disc, a first connecting plate, a gravity ball, and elastic ropes. The limiting ring is located on the rotating ball. Through the balancing disc and elastic ropes, the frame maintains horizontal balance from four directions on its bottom surface. When the frame becomes unbalanced, the elastic ropes tilt the balancing disc. After tilting, the balancing disc will naturally and gradually adjust to a horizontal state under the action of gravity. The elastic ropes then slowly straighten the frame, restoring it to a horizontal state. This allows the drone frame to self-adjust to a horizontal state and regain balance when unbalanced, reducing the difficulty for users to control and operate the drone. This utility model focuses on the balance of the frame, and its balancing characteristics are conventional mechanisms that can be adjusted by those skilled in the art according to actual conditions. For example, CN218431773U discloses a UAV aerial photography and mapping balancing device, belonging to the field of UAV mapping. The UAV aerial photography and mapping balancing device includes a fixed plate, a fixed shaft fixed to the lower end of the fixed plate, a semi-circular ring plate rotatably connected to the left and right ends of the fixed shaft, an arc-shaped sliding sleeve surrounding the semi-circular ring plate, and a matching receiver and transmitter respectively located at the lower end of the fixed shaft and the upper end of the arc-shaped sliding sleeve. This utility model can detect the balance of a UAV. However, this balancing mechanism is for camera mapping and has poor adaptability for UAVs without overall balancing design, and the photography balancing mechanism is also a conventional mechanism that can be adjusted by those skilled in the art according to actual conditions. Summary of the Invention

[0003] The purpose of this invention is to provide a self-balancing device and method based on a dual-rotor UAV, which can record horizontal parameters in various environments as needed, realize horizontal correction when the aircraft deviates or tilts through different drive groups, and has the function of simultaneous correction of multiple planes.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] A self-balancing device and method based on a dual-rotor unmanned aerial vehicle (UAV) is characterized by comprising a UAV, a horizontal sensing device, and a balancing mechanism, wherein the horizontal sensing device and the balancing mechanism are both connected to the UAV.

[0006] As a further optimization of this technical solution, the present invention provides a self-balancing device and method based on a dual-rotor unmanned aerial vehicle (UAV). The UAV includes a UAV body, flight power unit A, flight power unit B, a control motherboard, and a power module. Flight power unit A and flight power unit B are rotatably connected to the UAV body. The shelf, power module, and waterproof top cover are fixedly connected to the UAV body. The shelf is fixedly connected to the control motherboard.

[0007] As a further optimization of this technical solution, the present invention provides a self-balancing device and method based on a dual-rotor UAV. The horizontal sensing device includes a motor A, a paradoxical gear A, a paradoxical gear B, a gear A, a sensor A, and a universal level. The output shaft of motor A is fixedly connected to the output shaft of paradoxical gear A via a coupling A. Paradoxical gear A and paradoxical gear B are meshed together. Both paradoxical gear A and paradoxical gear B are rotatably connected to a gear connecting rod bracket and a shaft seat A. The output shaft of paradoxical gear B is fixedly connected to the output shaft of gear A. Gear A, connecting rod A, and connecting rod B are all rotatably connected to a shaft seat A. Gear A is meshed with a connecting rod gear ring. The connecting rod gear ring is rotatably connected to connecting rod A and connecting rod B. The connecting rod gear ring is fixedly connected to sensor A. Sensor A is fixedly connected to the universal level.

[0008] As a further optimization of this technical solution, the present invention provides a self-balancing device and method based on a dual-rotor UAV. The balancing mechanism includes a motor B, a flight power unit C, a flight power unit D, and a motor C. The output end of motor B is fixedly connected to shaft A, shaft A is fixedly connected to a U-shaped connecting plate, side plates A and B are fixedly connected to the U-shaped connecting plate, connecting plate A, connecting plate B, and an annular connecting plate, side plate B is fixedly connected to the drive box and motor C, connecting plate B is rotatably connected to the power unit fixing plate A, and the power unit fixing plate A is connected to the flight power unit D. C is rotatably connected; the flight power unit D is rotatably connected to side plate A and side plate B; the output shaft of motor C is fixedly connected to shaft C via coupling B; shaft C is fixedly connected to pin gear A; pin gear A and pin gear B are meshed; pin gear B is fixedly connected to shaft D; the output pins of pin gear A and pin gear B are both meshed with gear A; shaft E and pulley A are both fixedly connected to gear A; shaft C, shaft D, and shaft E are all rotatably connected to shaft seat B; pulley A is rotatably connected to pulley B via belt B; pulley B is fixedly connected to shaft B.

[0009] A passive protection method for a dual-rotor UAV is specifically implemented through the self-balancing device and method for a dual-rotor UAV described above. This method can record horizontal parameters in various environments as needed, and achieves horizontal correction when the UAV tilts or deviates due to body offset through different drive groups. It also features simultaneous correction across multiple planes. The method includes the following steps:

[0010] S1. In the field of dual-rotor drones, some devices have the problem of limited self-balancing adjustment function. In irregular airflow at high altitudes, relying solely on the intelligent speed control of each rotor cannot effectively solve the airflow impact. Moreover, the high-altitude environment, latitude and longitude, and humidity all have a direct impact on the balance of the drone. In response to the above-mentioned problems, this invention provides a self-balancing device for dual-rotor drones. Its purpose is to fundamentally solve the phenomenon of multi-plane tilting of drones. Through real-time correction, the drone can achieve self-balancing function in any environment. The specific implementation steps are as follows: the flight power group A102 and flight power group B103 in drone 1 are started. Under the control of the control motherboard 105, the flight power group A102 and flight power group B103 rotate synchronously at the same speed. The drone takes off. The waterproof top cover 107 is an integrated design with an inclined surface. When the drone 1 passes through a rain cloud environment, rainwater can slide off from the inclined surface. The power module 106 provides power to the whole machine and is located on the lower side of the waterproof top cover 107.

[0011] S2. When the drone tilts, taking the tilt level as the left side of the midpoint of the universal level 212 as an example, start motor A201. Its motor output shaft drives the parabolic gear A203 to rotate through coupling A202. Parabolic gear A203 drives parabolic gear B204 to rotate. Here, because the tooth contact meshing method of the parabolic gear is a linear meshing method, its structural characteristics significantly reduce the jerky feeling during gear meshing compared to the traditional gear structure. Its meshing is smoother, which is used to transmit the output force of motor A201 with higher precision. When parabolic gear B204 rotates, it drives gear A207 to rotate. Gear A207 drives the connecting rod ring 208 to rotate. When it rotates, it drives connecting rod A209 and connecting rod B210 to rotate along the bearing A206. When rotating, the connecting rod gear ring 208 rotates parallel to the left, causing sensor A211 to shift to the left. This shift sends a signal to the control motherboard 105, which in turn sends a signal to motor B301 in the balancing mechanism 3. Simultaneously, the control motherboard 105 also sends signals to flight power units A102 and B103. By adjusting the rotational speeds of flight power units A102 and B103, left and right adjustment is achieved. However, the leftward tilt angle of the UAV 1 is irregular and non-linear. Subsequently, motor B301 starts upon receiving the signal, and its output drives shaft A302 to rotate. Shaft A302, through the U-shaped connecting plate 303, drives side plates A305 and B306 to rotate. During rotation... The entire balancing mechanism 3 rotates. At this time, the flight power unit D313 is activated according to the degree of tilt of the UAV to the left. Under the control of the control motherboard 105, the flight power unit D313 adjusts its speed and rotation direction according to the actual tilt degree to correct the longitudinal orientation. For the lateral tilt to the left, motor C314 is activated. Its motor output shaft drives shaft C316 to rotate through coupling B315. Shaft C316 drives pin gear A317 to rotate. Pin gear A317 drives pin gear B318 to rotate. When pin gears A317 and B318 rotate, they drive gear A320 to rotate through their own pins. The pins of pin gears A317 and B318 are symmetrically distributed, the purpose of which is to drive gear A320. When gear A320 rotates, the pins of pin-driven gears A317 and B318 can rotate gear A320 by 180° each, preventing excessive rotation of gear A320 and interference with the UAV body 101. When gear A320 rotates, it drives pulley A323 to rotate. Pulley A323 drives pulley B325 to rotate via belt B324. Pulley B325 drives shaft B304 to rotate. The rotation of shaft B304 drives side plates A305 and B306 to rotate. The tilt of the gimbal level 212 is adjusted vertically by activating the flight power unit C311. The control board 105 sends signals to motor C314 to adjust the lateral rotation angle of the entire aircraft body, adjusting each level point according to the horizontal point on the gimbal level 212.To achieve self-balancing functionality for drones.

[0012] The beneficial effects of the self-balancing device and method based on a dual-rotor unmanned aerial vehicle (UAV) of the present invention are as follows:

[0013] The present invention provides a self-balancing device and method for a dual-rotor UAV, which has the following advantages: 1. It can record horizontal parameters in various environments as needed; 2. It can achieve horizontal correction when the aircraft deviates or tilts through different drive groups, and has the function of simultaneous correction of multiple planes. Attached Figure Description

[0014] The present invention will now be described in further detail with reference to the accompanying drawings and specific implementation methods.

[0015] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 1 ;

[0016] Figure 2 This is a schematic diagram of the overall structure of the present invention. Figure 2 ;

[0017] Figure 3 This is a schematic diagram of the UAV structure of the present invention. Figure 1 ;

[0018] Figure 4 This is a schematic diagram of the UAV structure of the present invention. Figure 2 ;

[0019] Figure 5 This is a schematic diagram of the horizontal sensing device structure of the present invention. Figure 1 ;

[0020] Figure 6 This is a schematic diagram of the horizontal sensing device structure of the present invention. Figure 2 ;

[0021] Figure 7 This is a schematic diagram of the balancing mechanism structure of the present invention. Figure 1 ;

[0022] Figure 8 This is a schematic diagram of the balancing mechanism structure of the present invention. Figure 2 ;

[0023] In the diagram: UAV 1; UAV fuselage 101; Flight propulsion unit A102; Flight propulsion unit B103; Shelf 104; Control mainboard 105; Power module 106; Waterproof top cover 107; Horizontal sensing device 2; Motor A201; Coupling A202; Contradictory gear A203; Contradictory gear B204; Gear connecting rod bracket 205; Shaft seat A206; Gear A207; Connecting rod gear ring 208; Connecting rod A209; Connecting rod B210; Sensor A211; Universal level 212; Balancing mechanism 3; Motor B301 Shaft A302; U-shaped connecting plate 303; Shaft B304; Side plate A305; Side plate B306; Drive box 307; Connecting plate A308; Connecting plate B309; Power unit fixing plate A310; Flight power unit C311; Annular connecting plate 312; Flight power unit D313; Motor C314; Coupling B315; Shaft C316; Pin gear A317; Pin gear B318; Shaft D319; Gear A320; Shaft E321; Shaft seat B322; Pulley A323; Belt B324; Pulley B325. Specific Implementation

[0024] The present invention will now be described in further detail with reference to the accompanying drawings. Specific Implementation Example 1:

[0026] The following is combined with Figure 1-8 This embodiment describes a self-balancing device and method based on a dual-rotor unmanned aerial vehicle (UAV), comprising a UAV 1, a horizontal sensing device 2, and a balancing mechanism 3, wherein the horizontal sensing device 2 and the balancing mechanism 3 are both connected to the UAV 1. Specific Implementation Example 2:

[0028] The following is combined with Figure 1-8 This embodiment further explains Example 1. The operating principle of the UAV 1 is as follows: when the flight power unit A102 and flight power unit B103 in the UAV 1 are started, the flight power units A102 and B103 rotate synchronously and at the same speed under the control of the control motherboard 105, and the UAV takes off. The waterproof top cover plate 107 is an integrated design with an inclined surface. When the UAV 1 passes through a rain cloud environment, rainwater can slide off from the inclined surface. The power module 106 provides power to the whole machine and is located on the lower side of the waterproof top cover plate 107. Specific Implementation Example 3:

[0030] The following is combined with Figure 1-8This embodiment further explains Example 1. The operating principle of the horizontal sensing device 2 is as follows: When the drone tilts, taking the tilt level as the left side of the midpoint of the universal level 212 as an example, motor A201 is started. Its output shaft drives the paradoxical gear A203 to rotate via coupling A202. Paradoxical gear A203 then drives paradoxical gear B204 to rotate. Because the tooth contact meshing method of the paradoxical gear is linear, its structural characteristics significantly reduce the jerky, jarring feeling during gear meshing compared to traditional gear structures, resulting in a smoother meshing. This allows for higher precision transmission of the output force of motor A201. When paradoxical gear B204 rotates, it drives gear A204... When gear A207 rotates, it drives the connecting rod gear ring 208 to rotate. During rotation, it drives connecting rods A209 and B210 to rotate along the shaft seat A206. During rotation, the connecting rod gear ring 208 rotates parallel to the left, which drives sensor A211 to move to the left. During the movement, a signal is sent to the control motherboard 105, which in turn sends a signal to motor B301 in the balancing mechanism 3. At the same time, the control motherboard 105 also sends signals to flight power group A102 and flight power group B103. By adjusting the rotation speed between flight power group A102 and flight power group B103, the left and right adjustment is achieved. However, the angle of the UAV 1 tilting to the left is irregular and non-linear. Specific Implementation Example 4:

[0032] The following is combined with Figure 1-8This embodiment further explains Example 1. The operating principle of the balancing mechanism 3 is as follows: Motor B301 starts after receiving a signal, and its output drives shaft A302 to rotate. Shaft A302 drives side plates A305 and B306 to rotate through U-shaped connecting plate 303. When rotating, it drives the entire balancing mechanism 3 to rotate. At this time, the flight power unit D313 is activated according to the degree of tilt of the UAV to the left. Under the control of the control motherboard 105, the flight power unit D313 adjusts its speed and rotation direction according to the actual tilt degree to correct the longitudinal orientation. For the lateral tilt to the left, motor C314 is activated. Its motor output shaft drives shaft C316 to rotate through coupling B315. Shaft C316 drives pin gear A317 to rotate. Pin gear A317 drives pin gear B318 to rotate. When pin gears A317 and B318 rotate, they drive the UAV through their own pins. When gear A320 rotates, the pins of pin-driven gears A317 and B318 are symmetrically distributed. This is to ensure that when gear A320 rotates, the pins of pin-driven gears A317 and B318 can each rotate 180° around gear A320, preventing excessive rotation of gear A320 and interference with the UAV body 101. When gear A320 rotates, it drives pulley A323 to rotate. Pulley A323 drives pulley B325 to rotate via belt B324. Pulley B325 drives shaft B304 to rotate. When shaft B304 rotates, it drives side plates A305 and B306 to rotate. The tilt of the gimbal level 212 is adjusted vertically by activating flight power unit C311. The control motherboard 105 sends a signal to motor C314 to adjust the lateral rotation angle of the entire body. Adjustments are made one by one according to the level point in the gimbal level 212 to achieve the self-balancing function of the UAV.

Claims

1. A self-balancing device and method based on a dual-rotor unmanned aerial vehicle (UAV), characterized in that: It includes a drone (1), a horizontal sensing device (2), and a balancing mechanism (3), both of which are connected to the drone (1); The unmanned aerial vehicle (1) includes an unmanned aerial vehicle body (101), flight power unit A (102), flight power unit B (103), control motherboard (105), and power module (106). Flight power unit A (102) and flight power unit B (103) are rotatably connected to the unmanned aerial vehicle body (101). Shelf (104), power module (106), and waterproof top cover (107) are fixedly connected to the unmanned aerial vehicle body (101). Shelf (104) is fixedly connected to control motherboard (105). The horizontal sensing device (2) includes a motor A (201), a paradoxical gear A (203), a paradoxical gear B (204), a gear A (207), a sensor A (211), and a universal level (212). The output shaft of the motor A (201) is fixedly connected to the output shaft of the paradoxical gear A (203) via a coupling A (202). The paradoxical gear A (203) meshes with the paradoxical gear B (204). Both the paradoxical gear A (203) and the paradoxical gear B (204) are connected to the gear connecting rod bracket (205) and the shaft seat A (207). 206) Rotary connection, the output shaft of the contradictory gear B (204) is fixedly connected to the output shaft of the gear A (207), the gear A (207), the connecting rod A (209), and the connecting rod B (210) are all rotatably connected to the shaft seat A (206), the gear A (207) is meshed with the connecting rod ring (208), the connecting rod ring (208) is rotatably connected to the connecting rod A (209) and the connecting rod B (210), the connecting rod ring (208) is fixedly connected to the sensor A (211), and the sensor A (211) is fixedly connected to the universal level (212); The balancing mechanism (3) includes motor B (301), flight power unit C (311), flight power unit D (313), and motor C (314). The output end of motor B (301) is fixedly connected to shaft A (302), shaft A (302) is fixedly connected to U-shaped connecting plate (303), side plate A (305) and side plate B (306) are fixedly connected to U-shaped connecting plate (303), connecting plate A (308), connecting plate B (309), and annular connecting plate (312). Side plate B (306) is fixedly connected to drive box (307) and motor C (314), connecting plate B (309) is rotatably connected to power unit fixing plate A (310), power unit fixing plate A (310) is rotatably connected to flight power unit C (311), and flight power unit D (313) is connected to side plate A (305) and side plate B (314). 06) Rotary connection, the output shaft of motor C (314) is fixedly connected to shaft C (316) through coupling B (315), shaft C (316) is fixedly connected to pin gear A (317), pin gear A (317) is meshed with pin gear B (318), pin gear B (318) is fixedly connected to shaft D (319), the output pins of pin gear A (317) and pin gear B (318) are meshed with gear C (320), shaft E (321) and pulley A (323) are fixedly connected to gear C (320), shaft C (316), shaft D (319) and shaft E (321) are rotatably connected to shaft seat B (322), pulley A (323) is rotatably connected to pulley B (325) through belt B (324), pulley B (325) is fixedly connected to shaft B (304).

2. A self-balancing method for a dual-rotor unmanned aerial vehicle (UAV), specifically implemented using a self-balancing device based on a dual-rotor UAV as described in claim 1 above, capable of recording horizontal parameters in various environments as needed, achieving horizontal correction when the aircraft deviates or tilts via different drive groups, and possessing multi-plane simultaneous correction capabilities, comprising the following steps: S1. Start the flight power group A (102) and flight power group B (103) in the UAV (1). Under the control of the control motherboard (105), the flight power group A (102) and flight power group B (103) rotate synchronously and at the same speed. The UAV takes off. The waterproof top cover plate (107) is an integrated design with an inclined surface. When the UAV (1) passes through the rain cloud environment, the rainwater can slide off from the inclined surface. The power module (106) provides power to the whole machine and is located on the lower side of the waterproof top cover plate (107). S2. When the drone tilts, taking the tilt level as the left side of the midpoint of the universal level (212) as an example, start motor A (201). Its motor output shaft drives the paradoxical gear A (203) to rotate through coupling A (202). The paradoxical gear A (203) drives the paradoxical gear B (204) to rotate. Here, because the tooth contact meshing mode of the paradoxical gear is a linear meshing mode, its structural characteristics greatly reduce the jerky feeling of gear meshing compared with the traditional gear structure. Its meshing is smoother and is used to transmit the output force of motor A (201) with higher precision. When the paradoxical gear B (204) rotates, it drives gear A (207) to rotate. Gear A (207) drives the connecting rod ring gear (208) to rotate. When rotating, The connecting rods A (209) and B (210) rotate along the bearing A (206). During the rotation, the connecting rod gear ring (208) rotates parallel to the left. During the rotation, the sensor A (211) is displaced to the left. During the displacement, a signal is given to the control board (105). The control board (105) gives a signal to the motor B (301) in the balancing mechanism (3). The control board (105) gives a signal to the flight power group A (102) and the flight power group B (103) at the same time as giving a signal to the motor B (301). By adjusting the speed between the flight power group A (102) and the flight power group B (103), the purpose of left and right adjustment is achieved. However, the left tilt angle of the UAV (1) is irregular and non-linear. Then the motor B ( 301) After receiving the signal, it starts, and its output end drives shaft A (302) to rotate. Shaft A (302) drives side plate A (305) and side plate B (306) to rotate through U-shaped connecting plate (303). When rotating, it drives the entire balancing mechanism (3) to rotate. At this time, the flight power group D (313) is started according to the degree of tilt of the UAV to the left. Under the control of the control motherboard (105), the flight power group D (313) adjusts the speed and rotation direction according to the actual tilt degree to correct the longitudinal orientation. As for the tilt to the left in the lateral direction, motor C (314) is started. Its motor output shaft drives shaft C (316) to rotate through coupling B (315). Shaft C (316) drives pin gear A (317) to rotate. Wheel A (317) drives pinion gear B (318) to rotate. When pinion gears A (317) and B (318) rotate, they drive gear C (320) to rotate through their own pins. The pins of pinion gears A (317) and B (318) are symmetrically distributed. The purpose of this is that when gear C (320) rotates, the pins of pinion gears A (317) and B (318) can rotate gear C (320) by 180° respectively, preventing the pins from driving gear C (320) to rotate excessively and causing interference with the UAV body (101). When gear C (320) rotates, it drives pulley A (323) to rotate. Pulley A (323) drives pulley B (325) to rotate through belt B (324).The pulley B (325) drives the shaft B (304) to rotate. As the shaft B (304) rotates, it drives the side plates A (305) and B (306) to rotate. Based on the tilt of the gimbal level (212), the flight power unit C (311) is activated to adjust the vertical movement. The control motherboard (105) sends a signal to motor C (314) to adjust the lateral rotation angle of the entire aircraft. Adjustments are made one by one according to the horizontal points in the gimbal level (212) to achieve the self-balancing function of the UAV.

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