Control method of rotor unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to a rotor unmanned aerial vehicle control method which comprises two racks, four annularly-arranged rotor supports are fixedly connected between the two racks, and four annularly-arranged landing supports are fixedly connected to the lower surface of the lower rack. A signal transmitter is fixedly connected to the upper surface of the upper rack, and a motor is fixedly connected to the upper surface of the lower rack. By arranging the motor, a first meshing gear, a second meshing gear, a first belt wheel, a second belt wheel and a belt, the motor is started firstly, the motor drives the first meshing gear to rotate, and the first belt wheel is driven to rotate; the first meshing gear drives four second meshing gears to rotate, and a first belt pulley below the second meshing gears drives a second belt pulley to rotate through a belt, so that one motor can drive the whole unmanned aerial vehicle to operate, the production cost is reduced, the weight of the unmanned aerial vehicle is reduced, and meanwhile the endurance of the unmanned aerial vehicle is prolonged.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicles, and in particular to a control method for a rotary-wing unmanned aerial vehicle. Background Art

[0002] CONTROL METHODS FOR ROTORY UNITS Background Art is a complex and evolving field. With the rapid advancement of UAV technology, the requirements for UAV control methods are also increasing.

[0003] Rotor UAV, as a common type of UAV, the background technology of its control method covers many key aspects. From the perspective of flight control theory, the control method of multi-rotor UAV is mainly based on linear flight control theory, such as PID control, H∞ control, etc. These control methods precisely control the motor speed, pitch and other parameters of the UAV. Most of the existing rotor UAVs are controlled by multiple brushless motors. Multiple brushless motors not only increase the weight of the rotor UAV, but also affect the endurance of the rotor UAV. For this reason, we propose a control method for rotor UAV to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a control method for a rotary-wing UAV to solve the problems raised in the above-mentioned background technology.

[0005] The technical solution of the present invention is: a control method for a rotary wing unmanned aerial vehicle, comprising two frames, four annular rotor brackets are fixedly connected between the two frames, four annular landing brackets are fixedly connected to the lower surface of the frame located at the bottom, a signal transmitter is fixedly connected to the upper surface of the frame located at the top, a motor is fixedly connected to the upper surface of the frame located at the bottom, the output end of the motor is fixedly connected to a first meshing gear, the lower surface of the frame located at the top is rotatably connected to four annular second meshing gears, the lower ends of the four second meshing gears are fixedly connected to a first pulley, the lower surfaces of the four rotor brackets are rotatably connected to a second pulley, the four second pulleys and the adjacent four first pulleys are respectively sleeved with belts, the upper ends of the second pulleys are fixedly connected to a first transmission rod, the surface of the first transmission rod is fixedly connected to a plurality of annular first limit blocks, two parallel circular rings are arranged above the four rotor brackets, a bearing is arranged between the two circular rings, a round rod is fixedly connected between the two circular rings, an electric push rod is fixedly connected to the upper end of the circular ring located at the bottom, and a coding is arranged on the left side of the electric push rod. A controller, wherein the upper surface of the circular ring located below is fixedly connected with a cylinder, the inner wall of the circular ring is slidably connected with a second transmission rod, a first limiting through hole is provided at the lower end of the second transmission rod, a plurality of second limiting blocks arranged in an annular manner are fixedly connected with the surface of the second transmission rod, a rotating ring is slidably connected with the surface of the second transmission rod, a second limiting through hole is provided at the upper end of the rotating ring, three first fixing rods arranged in an annular manner are fixedly connected with the surface of the rotating ring, an end of the first fixing rod away from the rotating ring is rotatably connected with an L-shaped block, and a side wall of the L-shaped block is fixedly connected with the second fixing rod, The other end of the second fixed rod is fixedly connected to a blade, the upper end of the second transmission rod is fixedly connected to a circular piece, the surface of the circular piece is fixedly connected to three annular third fixed rods, the other ends of the three third fixed rods are rotatably connected to a cylindrical connecting block, the lower surface of the cylindrical connecting block is fixedly connected to a fourth fixed rod, a remote control shell is arranged on the outside of the two racks, a remote control switch is arranged on the upper surface of the remote control shell, a knob is rotatably connected to the surface of the second limiting through hole, a rocker is rotatably connected to the inner wall of the remote control shell, and a display screen is hinged on the side wall of the remote control shell. Preferably, the rotary wing UAV control method comprises the following steps: S1: Turn on the remote controller by pressing the remote controller switch, press the left knob to start and stop the motor, and press the right knob to control the automatic return of the rotorcraft; S2: Move the left joystick upward to control the drone's ascent height, and move the left joystick downward to control the drone's descent height; S3: By moving the right joystick, a signal can be transmitted to the coding controller, which then controls the electric push rod to move upward to adjust the height of the second transmission rod. When the height of the second transmission rod rises or falls, multiple fourth fixed rods can drive the blades to adjust the angle to reduce the contact between the blades and the air, thereby achieving control of the direction of the drone. Moving the right joystick upward can move the rotor drone to the left, moving the right joystick downward can move the rotor drone to the right, moving the right joystick to the left can move the rotor drone forward, and moving the right joystick downward can move the rotor drone backward. When the coding controller receives the transmission signal, the height of the drone is adjusted by setting the first directional antenna and the second directional antenna, wherein the acquisition of the adjustment signal includes S1, using the first directional antenna to acquire the radio signal of the drone carrier frequency band in the drone database, and if acquired, sending a first adjustment signal; S2, using a high-definition camera to acquire the drone image, if acquired, sending a second adjustment signal, and using the first directional antenna to acquire the directional radio signal of the drone of the acquired image; S3, using the second directional antenna to acquire the radio signal in the opposite direction of the first directional antenna, and performing differential spectrum analysis on the radio signals collected by the first directional antenna and the second directional antenna to obtain the directional drone carrier frequency band; S4, performing feature learning on the directional drone carrier frequency band through deep learning, and storing the data results in the drone database to update the drone database; S5, using the first directional antenna again to acquire the radio signal of the updated drone carrier frequency band.

[0006] Preferably, the first limiting block is slidably connected to the inner wall of the first limiting through hole, and the second transmission rod is slidably connected to the inner wall of the second limiting through hole. Preferably, the surface of the circular ring located above is rotatably connected to the inner wall of the cylinder, and the upper end of the circular ring located above is fixedly connected to the lower end of the rotating ring. Preferably, the lower end of the fourth fixing rod is rotatably connected to the upper surface of the L-shaped block, and the end of the third fixing rod away from the circular piece and the lower end of the fourth fixing rod are both spherical. Preferably, the upper end of the electric push rod is fixedly connected to the lower end of the bearing, the lower end of the upper end of the round rod and the bearing extend upward, and the surface of the round rod is slidably connected to the bearing. Preferably, the knob on the left can control the opening and closing of the drone, and the knob on the right can control the drone to return automatically. Preferably, the joystick on the left can control the drone to rise or fall, and the joystick on the right can control the drone to move forward, backward, left, or right.

[0007] The present invention provides a grass planting mosaic drone through improvement, which has the following improvements and advantages compared with the prior art: First, the present invention sets a motor, a first meshing gear, a second meshing gear, a first pulley, a second pulley, and a belt. First, the motor is started to drive the first meshing gear to rotate, and then the first meshing gear drives the four second meshing gears to rotate. Then, the first pulley under the second meshing gear drives the second pulley to rotate through the belt, so that one motor can drive the operation of the entire drone, which reduces the production cost, reduces the weight of the drone, and also increases the drone's endurance. Second: The present invention, by setting a circular ring, a bearing, a round rod, an electric push rod, a coding controller, a cylinder, a second transmission rod, a first limit through hole, a second limit block, and a rotating ring, firstly, when the UAV needs to move forward or backward, the height of the bearing can be adjusted by the electric push rod to drive the second transmission rod to move upward or downward, and then when the second transmission rod moves upward, it drives the third fixed rod and the fourth fixed rod to move upward, and the L-shaped block rotating at the lower end of the fourth fixed rod adjusts the angle of the blades of the rotor UAV to realize the forward, backward, left and right movement of the UAV, thereby increasing the operability of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The present invention will be further explained below in conjunction with the accompanying drawings and embodiments: Figure 1 It is a front view structural schematic diagram of the present invention; Figure 2 It is a schematic diagram of the internal structure of the present invention; Figure 3 It is a bottom-up structural schematic diagram of the present invention; Figure 4 It is a schematic diagram of the split structure of the rotating mechanism of the present invention; Figure 5 It is a bottom view structural schematic diagram of the rotating mechanism of the present invention; Figure 6 It is a cross-sectional structural schematic diagram of the rotating mechanism of the present invention; Figure 7 It is a schematic diagram of the blade structure of the present invention; Figure 8 It is a schematic diagram of the structure of the remote controller of the present invention; Fig. 9 It is a schematic diagram of the working principle structure of the present invention.

[0009] Description of reference numerals: 1. Frame; 2. Rotor bracket; 3. Landing bracket; 4. Signal transmitter; 5. Motor; 6. First meshing gear; 7. Second meshing gear; 8. First pulley; 9. Second pulley; 10. Belt; 11. First transmission rod; 12. First limit block; 13. Ring; 14. Bearing; 15. Round rod; 16. Electric push rod; 17. Encoding controller; 18. Cylinder; 19. Second transmission rod; 20. First limit through hole; 21. Second limit block; 22. Rotating ring; 23. Second limit through hole; 24. First fixing rod; 25. L-shaped block; 26. Second fixing rod; 27. Blade; 28. Round piece; 29. ​​Third fixing rod; 30. Cylindrical connecting block; 31. Fourth fixing rod; 32. Remote control shell; 33. Remote control switch; 34. Knob; 35. Joystick; 36. Display screen. DETAILED DESCRIPTION

[0010] The present invention is described in detail below, and the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0011] The present invention provides a control method for a rotary-wing UAV by improvement. The technical solution of the present invention is: like Figure 1 - Fig. 9As shown, a control method for a rotary wing UAV comprises two frames 1, four annularly arranged rotor brackets 2 are fixedly connected between the two frames 1, four annularly arranged landing brackets 3 are fixedly connected to the lower surface of the lower frame 1, a signal transmitter 4 is fixedly connected to the upper surface of the upper frame 1, a motor 5 is fixedly connected to the upper surface of the lower frame 1, a first meshing gear 6 is fixedly connected to the output end of the motor 5, four annularly arranged second meshing gears 7 are rotatably connected to the lower surface of the upper frame 1, the lower ends of the four second meshing gears 7 are fixedly connected to the first pulley 8, and the lower surfaces of the four rotor brackets 2 are fixedly connected to the lower surface of the lower frame 1. The four second pulleys 9 are rotatably connected to the four adjacent first pulleys 8, respectively, and a belt 10 is sleeved thereon. The upper end of the second pulley 9 is fixedly connected to a first transmission rod 11, and the surface of the first transmission rod 11 is fixedly connected to a plurality of first limit blocks 12 arranged in an annular manner. Two parallel circular rings 13 are arranged above the four rotor brackets 2, a bearing 14 is arranged between the two circular rings 13, a round rod 15 is fixedly connected between the two circular rings 13, an electric push rod 16 is fixedly connected to the upper end of the lower circular ring 13, an encoding controller 17 is arranged on the left side of the electric push rod 16, and a first limit block 12 arranged on the upper surface of the lower circular ring 13 is fixedly connected to the upper end of the lower circular ring 13. A cylinder 18 is fixedly connected to the surface, a second transmission rod 19 is slidably connected to the inner wall of the ring 13, a first limiting through hole 20 is provided at the lower end of the second transmission rod 19, a plurality of annular second limiting blocks 21 are fixedly connected to the surface of the second transmission rod 19, a rotating ring 22 is slidably connected to the surface of the second transmission rod 19, a second limiting through hole 23 is provided at the upper end of the rotating ring 22, three annular first fixing rods 24 are fixedly connected to the surface of the rotating ring 22, an end of the first fixing rod 24 away from the rotating ring 22 is rotatably connected to an L-shaped block 25, a side wall of the L-shaped block 25 is fixedly connected to a second fixing rod 26, and the second fixing rod 26 is fixedly connected to the side wall of the L-shaped block 25. The other end is fixedly connected with a blade 27, the upper end of the second transmission rod 19 is fixedly connected with a circular piece 28, the surface of the circular piece 28 is fixedly connected with three annular third fixing rods 29, the other ends of the three third fixing rods 29 are rotatably connected with a cylindrical connecting block 30, the lower surface of the cylindrical connecting block 30 is fixedly connected with a fourth fixing rod 31, a remote control shell 32 is arranged on the outside of the two racks 1, a remote control switch 33 is arranged on the upper surface of the remote control shell 32, a knob 34 is rotatably connected with the surface of the second limiting through hole 23, a rocker 35 is rotatably connected to the inner wall of the remote control shell 32, and a display screen 36 is hinged on the side wall of the remote control shell 32. Furthermore, the rotor drone control method includes the following steps: S1: Turn on the remote controller by pressing the remote controller switch 33, press the left knob 34 to control the start and stop of the motor 5, and press the right knob 34 to control the automatic return of the rotary wing UAV; S2: Move the left joystick 35 upward to control the drone's rising height, and move the left joystick 35 downward to control the drone's descending height; S3: By moving the right joystick 35, a signal can be transmitted to the encoding controller 17, and then the encoding controller 17 controls the electric push rod 16 to move upward to adjust the height of the second transmission rod 19. When the height of the second transmission rod 19 rises or falls, the multiple fourth fixed rods 31 can drive the blades 27 to adjust the angle to reduce the contact between the blades 27 and the air, thereby realizing the control of the direction of the UAV. Moving the right joystick 35 upward can make the rotor UAV move to the left, moving the right joystick 35 downward can make the rotor UAV move to the right, moving the right joystick 35 to the left can make the rotor UAV move forward, and moving the right joystick 35 downward can make the rotor UAV move backward. Furthermore, the first limit block 12 is slidably connected to the inner wall of the first limit through hole 20, and the second transmission rod 19 is slidably connected to the inner wall of the second limit through hole 23. The sliding connection between the first limit block 12 and the inner wall of the first limit through hole 20 provides a guiding mechanism to ensure that the first limit block 12 and the second transmission rod 19 can move on a predetermined path. The inner wall of the limit through hole serves as a track to limit the movement range and direction of the moving parts, which helps to maintain the relative position and movement relationship between the parts, and can ensure that the first limit block 12 and the second transmission rod 19 maintain a stable position during movement, which helps to reduce vibration and shaking, and improve the stability and reliability of the entire system.

[0012] Furthermore, the surface of the upper ring 13 is rotatably connected to the inner wall of the cylinder 18, and the upper end of the upper ring 13 is fixedly connected to the lower end of the rotating ring 22. Since the upper ring 13 is rotatably connected to the inner wall of the cylinder 18, the upper ring 13 performs a rotating motion inside the cylinder 18. At the same time, since the upper ring 13 is fixedly connected to the rotating ring 22, this rotational motion can be further transmitted to the rotating ring 22, thereby possibly driving or affecting other components or systems connected to the rotating ring 22.

[0013] Furthermore, the lower end of the fourth fixing rod 31 is rotatably connected to the upper surface of the L-shaped block 25, and the end of the third fixing rod 29 away from the circular piece 28 and the lower end of the fourth fixing rod 31 are both spherical settings. The fourth fixing rod 31 is rotated relative to the L-shaped block 25. This design makes the entire structure more flexible and can adapt to different operating conditions and angle changes. The spherical setting helps to reduce friction and wear between the third fixing rod 29 and the fourth fixing rod 31, thereby improving the durability and reliability of the overall structure.

[0014] Furthermore, the upper end of the electric push rod 16 is fixedly connected to the lower end of the bearing 14, the upper end of the round rod 15 is connected to the lower end of the bearing 14 and extends upward, the surface of the round rod 15 is slidably connected to the bearing 14, the upper end of the round rod 15 extends to the lower end of the bearing 14, and the surface of the round rod 15 is slidably connected to the bearing 14, the round rod 15 slides inside the bearing 14, and the bearing 14 provides support and guidance for the round rod 15, ensuring that the bearing 14 can stably move parallel therein.

[0015] Furthermore, the knob 34 on the left can control the opening and closing of the drone, and the knob 34 on the right can control the automatic return of the drone. During the flight, if the drone encounters low battery, signal loss, or user-initiated triggering, it can automatically return to the take-off point or designated safe area. This is very important for ensuring the safety of the drone and avoiding potential risks.

[0016] Furthermore, the joystick 35 on the left can control the drone to rise or fall, and the joystick 35 on the right can control the drone to move forward, backward, left and right, so that the pilot can accurately control the flight action and position of the drone, thereby maximizing the effectiveness of the drone in various application scenarios.

[0017] Working principle: Turn on the remote control by pressing the remote control switch 33, press the left knob 34 to control the start and stop of the motor 5, press the right knob 34 to control the automatic return of the rotary wing drone, and control the rising height of the drone by toggling the left joystick 35 upwards, and control the descending height of the drone by toggling the left joystick 35 downwards. When the drone reaches the specified height, the right joystick 35 can be used to transmit a signal to the coding controller 17, and then the coding controller 17 controls the electric push rod 16 to move upward to adjust the height of the second transmission rod 19. The second transmission rod 19 moves upward or downward to drive the third fixing rod 29 and the fourth fixing rod 31 to move. The lower end of the fourth fixing rod 31 drives the L-shaped block 25 to move, thereby adjusting the angle of the blade 27 in the drone to increase or reduce the wind resistance of the drone and realize the steering of the drone. Pushing the right rocker 35 upward can make the rotor drone move to the left, pushing the right rocker 35 downward can make the rotor drone move to the right, pushing the right rocker 35 to the left can make the rotor drone move forward, and pushing the right rocker 35 downward can make the rotor drone move backward.

[0018] The above description enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for a rotary wing drone, comprising two frames (1), characterized in that: Four annular rotor brackets (2) are fixedly connected between the two racks (1); four annular landing brackets (3) are fixedly connected to the lower surface of the lower rack (1); a signal transmitter (4) is fixedly connected to the upper surface of the upper rack (1); a motor (5) is fixedly connected to the upper surface of the lower rack (1); the output end of the motor (5) is fixedly connected to a first meshing gear (6); the lower surface of the upper rack (1) is rotatably connected to four annular second meshing gears (7); the lower ends of the four second meshing gears (7) are fixedly connected to a first pulley (8); the lower surfaces of the four rotor brackets (2) are rotatably connected to a second pulley (9); the four first gears (7) are fixedly connected to the lower surfaces of the four rotor brackets (2); The second pulley (9) and the four adjacent first pulleys (8) are respectively sleeved with a belt (10); the upper end of the second pulley (9) is fixedly connected to a first transmission rod (11); the surface of the first transmission rod (11) is fixedly connected to a plurality of annular first limit blocks (12); two parallel circular rings (13) are arranged above each of the four rotor brackets (2); a bearing (14) is arranged between the two circular rings (13); a circular rod (15) is fixedly connected between the two circular rings (13); an electric push rod (16) is fixedly connected to the upper end of the circular ring (13) located below; an encoding controller (17) is arranged on the left side of the electric push rod (16); and a first stop block (12) is fixedly connected to the upper surface of the circular ring (13) located below. A cylinder (18) is provided, wherein a second transmission rod (19) is slidably connected to the inner wall of the circular ring (13), a first limiting through hole (20) is provided at the lower end of the second transmission rod (19), a plurality of annularly arranged second limiting blocks (21) are fixedly connected to the surface of the second transmission rod (19), a rotating ring (22) is slidably connected to the surface of the second transmission rod (19), a second limiting through hole (23) is provided at the upper end of the rotating ring (22), three annularly arranged first fixing rods (24) are fixedly connected to the surface of the rotating ring (22), an end of the first fixing rod (24) away from the rotating ring (22) is rotatably connected to an L-shaped block (25), a side wall of the L-shaped block (25) is fixedly connected to a second fixing rod (26), and the rotating ring (22) is provided with a plurality of annularly arranged second limiting blocks (21) fixedly connected to the surface of the second transmission rod (19), The other end of the second fixing rod (26) is fixedly connected to a blade (27); the upper end of the second transmission rod (19) is fixedly connected to a circular plate (28); the surface of the circular plate (28) is fixedly connected to three annularly arranged third fixing rods (29); the other ends of the three third fixing rods (29) are rotatably connected to a cylindrical connecting block (30); the lower surface of the cylindrical connecting block (30) is fixedly connected to a fourth fixing rod (31); a remote control shell (32) is arranged outside the two racks (1); a remote control switch (33) is arranged on the upper surface of the remote control shell (32); a knob (34) is rotatably connected to the surface of the second limit through hole (23); and a rocker (35) is rotatably connected to the inner wall of the remote control shell (32);A display screen (36) is hingedly connected to the side wall of the remote control housing (32).

2. The control method of a rotary wing UAV according to claim 1, characterized in that: The rotary wing UAV control method comprises the following steps: S1: Turn on the remote controller by pressing the remote controller switch (33), press the left knob (34) to control the start and stop of the motor (5), and press the right knob (34) to control the automatic return of the rotary wing drone; S2: Move the left joystick (35) upward to control the drone's ascending height, and move the left joystick (35) downward to control the drone's descending height; S3: By moving the right joystick (35), a signal can be transmitted to the coding controller (17), and then the coding controller (17) controls the electric push rod (16) to move upward, thereby adjusting the height of the second transmission rod (19). When the height of the second transmission rod (19) rises or falls, the plurality of fourth fixed rods (31) can drive the blades (27) to adjust the angle to reduce the contact between the blades (27) and the air, thereby achieving control of the direction of the UAV. Moving the right joystick (35) upward can make the rotary-wing UAV move to the left, moving the right joystick (35) downward can make the rotary-wing UAV move to the right, moving the right joystick (35) to the left can make the rotary-wing UAV move forward, and moving the right joystick (35) downward can make the rotary-wing UAV move backward.

3. The control method of a rotary wing UAV according to claim 1, characterized in that: The first limiting block (12) is slidably connected to the inner wall of the first limiting through hole (20), and the second transmission rod (19) is slidably connected to the inner wall of the second limiting through hole (23).

4. The control method of a rotary wing UAV according to claim 1, characterized in that: The surface of the circular ring (13) located above is rotatably connected to the inner wall of the cylinder (18), and the upper end of the circular ring (13) located above is fixedly connected to the lower end of the rotating ring (22).

5. The control method of a rotary wing UAV according to claim 1, characterized in that: The lower end of the fourth fixing rod (31) is rotatably connected to the upper surface of the L-shaped block (25), and the end of the third fixing rod (29) away from the circular sheet (28) and the lower end of the fourth fixing rod (31) are both spherical.

6. The control method of a rotary wing UAV according to claim 1, characterized in that: The upper end of the electric push rod (16) is fixedly connected to the lower end of the bearing (14), the upper end of the round rod (15) is connected to the lower end of the bearing (14) and extends upward, and the surface of the round rod (15) is slidably connected to the bearing (14).

7. The control method of a rotary wing UAV according to claim 1, characterized in that: The knob (34) on the left can control the opening and closing of the drone, and the knob (34) on the right can control the automatic return of the drone.

8. The control method of a rotary wing UAV according to claim 1, characterized in that: The joystick (35) on the left can control the drone to rise or fall, and the joystick (35) on the right can control the drone to move forward, backward, left, or right.

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