An integrated micro electric cylinder based on double closed-loop detection

Abstract

The present invention belongs to the technical field of micro electric cylinders, and specifically relates to an integrated micro electric cylinder based on double closed-loop detection, which includes a micro electric cylinder body, which is installed on an unmanned aerial vehicle and connected to an aerial camera, and is used to control the extension and retraction of the aerial camera. The micro electric cylinder body includes a shell, a fixing seat, a motor, a reducer, a screw, a transmission part, an output part, a first detector, a second detector, a guide, a sliding bearing and a control panel; the shell is a one-side opening structure, the fixing seat is arranged at the opening of the shell, the motor is arranged inside the shell, and the reducer is connected to the output end of the motor. The device solves the problem that when the current unmanned aerial vehicle drives the aerial camera to extend and retract through the micro electric cylinder, the extension distance of the aerial camera cannot be detected with high precision, thereby making it impossible to adjust the center of gravity of the unmanned aerial vehicle, resulting in an unstable center of gravity during flight, affecting the quality of aerial photography.

Description

Technical Field

[0001] The present invention belongs to the technical field of micro electric cylinders, and in particular relates to an integrated micro electric cylinder based on double closed-loop detection. Background Art

[0002] In the aerospace field, micro electric cylinders can be used for the telescopic control of drone aerial photography. Aerial photography drones are devices that use drones for aerial photography. After the drone is extended, the flight center of gravity of the drone is unstable, so the center of gravity of the drone needs to be adjusted.

[0003] After the micro electric cylinder controls the drone to extend, a linear encoder is usually set inside it to detect the displacement of the drone, so as to facilitate the adjustment of the center of gravity of the drone. However, the drone is affected by wind, vibration and various factors during flight, which will cause the displacement data detected by the linear encoder to be inaccurate, resulting in center of gravity adjustment errors, affecting the flight and aerial photography of the drone. This phenomenon has become a problem that needs to be urgently solved by people in this field. Summary of the invention

[0004] The purpose of the present invention is to provide an integrated micro electric cylinder based on double closed-loop detection to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: an integrated micro-electric cylinder based on double closed-loop detection, comprising a micro-electric cylinder body, wherein the micro-electric cylinder body is installed on a drone and connected to an aerial camera and is used to control the extension and retraction of the aerial camera, wherein the micro-electric cylinder body comprises a housing, a fixing seat, a motor, a reducer, a screw, a transmission part, an output part, a first detector, a second detector, a guide, a sliding bearing and a control panel; the housing is a one-side opening structure, the fixing seat is arranged at the opening of the housing, the motor is arranged inside the housing, the reducer is connected to the output end of the motor, the screw is connected to the output end of the reducer, and they are integrally formed, and the The transmission part is sleeved on the screw rod, one end of the output part is connected to the transmission part, and the other end of the output part passes through the fixed seat. The first detector is a rotary encoder and is used to detect the rotational displacement of the motor. The second detector is a linear encoder and is used to detect the linear displacement of the transmission part. A high-precision detection system is arranged inside the linear encoder, and the high-precision detection system includes a high-precision detection module, a data transmission module and a center of gravity control module. A center of gravity adjustment mechanism is installed on the UAV, and the center of gravity adjustment mechanism is used to automatically adjust the center of gravity of the UAV through the center of gravity control module. The UAV is driven to fly by a remote controller, and a terminal module is arranged in the remote controller.

[0006] The present invention further illustrates that the guide member is arranged inside the shell and is slidingly connected to the transmission part, the sliding bearing is arranged between the output part and the fixed seat, the control board is arranged in the shell and is used to control the motor, the transmission part and the output part are integrally formed, and the other end of the output part is provided with a connecting hole, and the shell is composed of a first shell, a second shell and a third shell which are sequentially connected to each other; the high-precision detection module is electrically connected to the data transmission module, the data transmission module is signal-connected to the terminal module, the terminal module is signal-connected to the center of gravity control module, the center of gravity control module is electrically connected to the center of gravity adjustment mechanism, the high-precision detection module is used to accurately detect the linear displacement of the linear encoder, the data transmission module is used to transmit the detected linear displacement to the terminal, the terminal module is used to receive linear displacement data, and the center of gravity control module is used to adjust the center of gravity adjustment mechanism according to the linear displacement, thereby controlling the center of gravity of the drone.

[0007] The present invention further illustrates that the high-precision detection module includes a vibration recognition unit, a wind force recognition unit and a linear displacement compensation unit. The vibration recognition unit is electrically connected to the wind force recognition unit. The vibration recognition unit and the wind force recognition unit are both electrically connected to the linear displacement compensation unit. The vibration recognition unit is used to identify the real-time frequency of the drone itself during flight. The wind force recognition unit is used to identify the wind force of the drone during flight and measure the resistance encountered during flight. The linear displacement compensation unit is used to detect the linear displacement of the linear encoder and perform data compensation on the linear displacement according to the vibration frequency.

[0008] The present invention further illustrates that the operation steps of the high-precision detection system include: step S1, the UAV is driven to fly by a remote control, and when the UAV is launched into the air, the aerial camera is driven to extend and retract by a telescopic electric cylinder, and the high-precision detection system is running at the same time; step S2, data compensation is performed on the linear displacement detected by the linear encoder according to the UAV's own vibration frequency; step S3, the wind force during the flight of the UAV is identified by a wind force identification unit, thereby performing secondary compensation on the linear displacement according to the airflow, and when the wind force is strong, the process goes to step S4, otherwise it goes to step S5; step S4, the resistance of the UAV increases during flight, and the resistance encountered by the aerial camera increases, thereby improving the movement stability of the transmission part, and performing tertiary compensation on the linear displacement, and then adjusting the vibration frequency data of the UAV according to the resistance encountered by the UAV itself; step S5, judging the extension distance of the aerial camera according to the linear displacement, and adjusting the flight center of gravity of the UAV according to the extension distance of the aerial camera.

[0009] The present invention further illustrates that in step S2, the relationship between the vibration frequency of the drone and the linear displacement compensation is: , , is the compensation amount of the drone vibration frequency to the linear displacement, is the maximum linear displacement of the transmission part, is the vibration frequency of the drone, is the highest vibration frequency of the drone. It is the linear displacement of the transmission part detected by the linear encoder. is the linear displacement after one compensation; that is, the higher the vibration frequency of the drone, the greater the compensation amount of the linear displacement.

[0010] The present invention further illustrates that in step S3, the wind force during the flight of the drone generates airflow, thereby affecting the vibration frequency of the drone, and the relationship is: , The wind force when the drone is flying. is the maximum wind speed when the drone is flying; , is the linear displacement after secondary compensation.

[0011] The present invention further illustrates that in step S3 and step S4: hour, Normal wind force: , , The transmission part is pushed to the right by the wind, which creates stability. For the highest stability of the transmission, is the influence of the stability of the transmission part itself on the linear displacement; that is , is the linear displacement after three compensations; when When: .

[0012] The present invention further illustrates that in step S3 and step S4, the drone is simultaneously affected by wind and generates thrust to the right. At this time: hour: , The vibration frequency of the drone is reduced after the drone is pushed to the right. The vibration frequency of the drone is adjusted. hour: .

[0013] The present invention further illustrates that in the step S5, the detected high-precision linear displacement data enters the terminal, and the center of gravity of the center of gravity adjustment mechanism of the UAV is adjusted according to the data received by the terminal, wherein the larger the extended distance data of the drone displayed on the terminal is, the heavier the weight of the drone on the other side of the drone is.

[0014] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the high-precision detection system adopted by the present invention causes the transmission part to jump slightly due to the vibration of the drone during flight, thereby causing the linear displacement detected by the linear encoder to produce a deviation, and the linear displacement data is compensated, so that the extension distance of the drone can be accurately determined, and when the drone is flying, the greater the airflow, the stronger the vibration, so that the linear displacement caused by the airflow is compensated twice, which can further improve the data accuracy of the linear displacement of the transmission part, thereby further improving the judgment accuracy of the extension distance of the drone, and facilitating the subsequent improvement of the accuracy of the drone's center of gravity adjustment. When the wind is strong, the left side of the drone is subjected to resistance, thereby being subjected to a thrust to the right. At this time, the transmission part is subjected to a force to the right, so that the stability is relatively improved and the vibration frequency is reduced. At this time, the linear displacement detected by the linear encoder is compensated three times, which can greatly improve the detection accuracy, so that the detection accuracy is further improved, and the overall resistance of the drone is increased, and the vibration frequency of the drone itself is reduced, so that the vibration frequency data of the drone is adjusted, which can further increase the data accuracy of the linear displacement detection and improve the detection quality;

[0015] It can keep the center of gravity on the left and right sides of the drone stable when flying, thereby improving the quality of aerial photography. The adjustment of the center of gravity is more accurate through high-precision compensation of the linear displacement data, which fully avoids the occurrence of unstable flight of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 It is a schematic diagram of the connection relationship between modules and units of the high-precision detection system of the present invention;

[0019] In the figure: 101, first shell; 102, second shell; 103, third shell; 200, fixed seat; 300, motor; 400, reducer; 500, screw rod; 600, transmission part; 701, first detector; 702, second detector; 703, guide member; 704, sliding bearing; 705, control board; 800, output part; 801, connecting hole. DETAILED DESCRIPTION

[0020] The following is a further non-limiting detailed description of the technical solution of the present invention in conjunction with the preferred embodiments and the accompanying drawings. 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.

[0021] See also Figure 1-2 The present invention provides a technical solution: an integrated micro-electric cylinder based on double closed-loop detection, including a micro-electric cylinder body, the micro-electric cylinder body is installed on a drone, and is connected to an aerial camera, and is used to control the extension and retraction of the aerial camera, the micro-electric cylinder body includes a housing, a fixing seat 200, a motor 300, a reducer 400, a screw 500, a transmission part 600, an output part 800, a first detector 701, a second detector 702, a guide 703, a sliding bearing 704 and a control board 705;

[0022] The housing is an open structure on one side, the fixing seat 200 is arranged at the opening of the housing, the motor 300 is arranged inside the housing, the reducer 400 is connected to the output end of the motor 300, the screw rod 500 is connected to the output end of the reducer 400, and is integrally formed, the transmission part 600 is sleeved on the screw rod 500, one end of the output part 800 is connected to the transmission part 600, and the other end of the output part 800 passes through the fixing seat 200, the first detector 701 is a rotary encoder, and is used to detect the rotational displacement of the motor 300, and the second detector 702 is a linear encoder, and is used to detect the linear displacement of the transmission part 600;

[0023] The linear encoder is equipped with a high-precision detection system inside. The high-precision detection system includes a high-precision detection module, a data transmission module and a center of gravity control module. The drone is equipped with a center of gravity adjustment mechanism. The center of gravity adjustment mechanism is used to automatically adjust the center of gravity of the drone through the center of gravity control module. The drone is driven to fly by a remote control, and a terminal module is provided in the remote control.

[0024] The guide member 703 is arranged inside the housing and is slidably connected with the transmission part 600. The sliding bearing 704 is arranged between the output part 800 and the fixing seat 200. The control board 705 is arranged inside the housing and is used to control the motor 300. The transmission part 600 and the output part 800 are integrally formed. The other end of the output part 800 is provided with a connecting hole 801. The housing is composed of a first housing 101, a second housing 102 and a third housing 103 which are sequentially connected to each other.

[0025] The high-precision detection module is electrically connected to the data transmission module, the data transmission module is signal-connected to the terminal module, the terminal module is signal-connected to the center of gravity control module, the center of gravity control module is electrically connected to the center of gravity adjustment mechanism, the high-precision detection module is used to accurately detect the linear displacement of the linear encoder, the data transmission module is used to transmit the detected linear displacement to the terminal, the terminal module is used to receive the linear displacement data, and the center of gravity control module is used to adjust the center of gravity adjustment mechanism according to the linear displacement, thereby controlling the center of gravity of the drone.

[0026] The high-precision detection module includes a vibration recognition unit, a wind force recognition unit and a linear displacement compensation unit. The vibration recognition unit is electrically connected to the wind force recognition unit. The vibration recognition unit and the wind force recognition unit are both electrically connected to the linear displacement compensation unit. The vibration recognition unit is used to identify the real-time frequency of the drone itself during flight. The wind force recognition unit is used to identify the wind force of the drone during flight and measure the resistance encountered during flight. The linear displacement compensation unit is used to detect the linear displacement of the linear encoder and perform data compensation for the linear displacement according to the vibration frequency.

[0027] The operation steps of the high-precision detection system include:

[0028] Step S1, the UAV is driven to fly by the remote control. During the flight of the UAV, the telescopic electric cylinder drives the aerial camera to extend and retract, and the high-precision detection system is running at the same time;

[0029] Step S2, performing data compensation on the linear displacement detected by the linear encoder according to the drone's own vibration frequency;

[0030] Step S3, identifying the wind force during the flight of the UAV through the wind force identification unit, thereby performing secondary compensation for the linear displacement according to the airflow force, and entering step S4 when the wind force is strong, otherwise entering step S5;

[0031] Step S4, the resistance of the drone during flight increases, and the resistance of the drone increases, so that the movement stability of the transmission unit 600 is improved, the linear displacement is compensated three times, and then the vibration frequency data of the drone is adjusted according to the resistance of the drone itself;

[0032] Step S5: determine the extension distance of the drone according to the linear displacement, and adjust the flight center of gravity of the drone according to the extension distance of the drone.

[0033] In step S2, the relationship between the vibration frequency of the drone and the linear displacement compensation is: , , is the compensation amount of the drone vibration frequency to the linear displacement, is the maximum linear displacement of the transmission part 600, is the vibration frequency of the drone, is the highest vibration frequency of the drone. is the linear displacement of the transmission part 600 detected by the linear encoder, is the linear displacement after one compensation;

[0034] That is, the higher the vibration frequency of the drone, the greater the compensation amount of the linear displacement;

[0035] The vibration of the drone during flight causes the transmission part 600 to jump slightly, which causes a deviation in the linear displacement detected by the linear encoder. The linear displacement data is compensated, so that the extension distance of the drone can be accurately determined.

[0036] In step S3, the wind force during the flight of the drone generates airflow, which affects the vibration frequency of the drone, and the relationship is: , The wind force when the drone is flying. The maximum wind speed when the drone is flying;

[0037] Right now , is the linear displacement after secondary compensation;

[0038] When the UAV is flying, the greater the airflow, the stronger the vibration, thereby performing secondary compensation for the linear displacement caused by the vibration of the airflow, which can further improve the data accuracy of the linear displacement of the transmission part 600, thereby further improving the judgment accuracy of the extension distance of the drone, and facilitating the subsequent improvement of the accuracy of the UAV's center of gravity adjustment.

[0039] In step S3 and step S4:

[0040] when hour, Normal wind force: , , The transmission part 600 is pushed to the right by the wind, thus generating stability. For the highest stability of the transmission 600, The influence of the stability of the transmission part 600 on the linear displacement;

[0041] Right now , is the linear displacement after three compensations;

[0042] when When: ;

[0043] When the wind is strong, the left side of the drone encounters resistance, and is thus pushed to the right. At this time, the transmission part 600 is subjected to a force to the right, so that the stability is relatively improved and the vibration frequency is reduced. At this time, the linear displacement detected by the linear encoder is compensated three times, which can greatly improve the detection accuracy and further improve the detection accuracy.

[0044] In step S3 and step S4, the drone is affected by the wind and generates thrust to the right. At this time:

[0045] when hour: , The vibration frequency of the drone is adjusted based on the data that the drone's vibration frequency decreases after being pushed to the right.

[0046] when hour: ;

[0047] The overall resistance to the drone increases and the drone's own vibration frequency decreases, so the vibration frequency data of the drone can be adjusted to further increase the data accuracy of linear displacement detection and improve the detection quality.

[0048] In step S5, the detected high-precision linear displacement data enters the terminal, and the center of gravity of the center of gravity adjustment mechanism of the drone is adjusted according to the data received by the terminal, wherein the larger the extended distance data of the drone displayed on the terminal is, the heavier the weight of the drone on the other side of the drone is;

[0049] It can keep the center of gravity on the left and right sides of the drone stable when flying, thereby improving the quality of aerial photography. The adjustment of the center of gravity is more accurate through high-precision compensation of the linear displacement data, which fully avoids the occurrence of unstable flight of the drone.

[0050] In the description of the present invention, it is necessary to understand that the terms "up", "down", "front", "back", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0051] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, a person skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features can be replaced by equivalents, and 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 embodiments of the present invention.

Claims

1. An integrated micro electric cylinder based on double closed-loop detection, comprising a micro electric cylinder body, characterized in that: The micro-electric cylinder body is mounted on a drone and connected to an aerial camera, and is used to control the extension and retraction of the aerial camera. The micro-electric cylinder body comprises a housing, a fixing seat (200), a motor (300), a reducer (400), a screw (500), a transmission part (600), an output part (800), a first detector (701), a second detector (702), a guide member (703), a sliding bearing (704), and a control panel (705); The housing is a structure with an opening on one side, the fixing seat (200) is arranged at the opening of the housing, the motor (300) is arranged inside the housing, the reducer (400) is connected to the output end of the motor (300), the screw rod (500) is connected to the output end of the reducer (400), and is integrally formed, the transmission part (600) is sleeved on the screw rod (500), one end of the output part (800) is connected to the transmission part (600), and the other end of the output part (800) passes through the fixing seat (200), the first detector (701) is a rotary encoder, and is used to detect the rotational displacement of the motor (300), and the second detector (702) is a linear encoder, and is used to detect the linear displacement of the transmission part (600); A high-precision detection system is arranged inside the linear encoder, and the high-precision detection system includes a high-precision detection module, a data transmission module and a center of gravity control module. A center of gravity adjustment mechanism is installed on the UAV, and the center of gravity adjustment mechanism is used to automatically adjust the center of gravity of the UAV through the center of gravity control module. The UAV is driven to fly by a remote controller, and a terminal module is arranged inside the remote controller.

2. According to claim 1, the integrated micro electric cylinder based on double closed-loop detection is characterized in that: The guide member (703) is arranged inside the housing and is slidably connected to the transmission part (600); the sliding bearing (704) is arranged between the output part (800) and the fixing seat (200); the control board (705) is arranged inside the housing and is used to control the motor (300); the transmission part (600) and the output part (800) are integrally formed; the other end of the output part (800) is provided with a connection hole (801); and the housing is composed of a first housing (101), a second housing (102), and a third housing (103) which are sequentially connected to each other; The high-precision detection module is electrically connected to the data transmission module, the data transmission module is signal-connected to the terminal module, the terminal module is signal-connected to the center of gravity control module, the center of gravity control module is electrically connected to the center of gravity adjustment mechanism, the high-precision detection module is used to accurately detect the linear displacement of the linear encoder, the data transmission module is used to transmit the detected linear displacement to the terminal, the terminal module is used to receive linear displacement data, and the center of gravity control module is used to adjust the center of gravity adjustment mechanism according to the linear displacement, thereby controlling the center of gravity of the drone.

3. The integrated micro electric cylinder based on double closed-loop detection according to claim 2 is characterized in that: The high-precision detection module includes a vibration recognition unit, a wind force recognition unit and a linear displacement compensation unit. The vibration recognition unit is electrically connected to the wind force recognition unit. The vibration recognition unit and the wind force recognition unit are both electrically connected to the linear displacement compensation unit. The vibration recognition unit is used to identify the real-time frequency of the drone itself during flight. The wind force recognition unit is used to identify the wind force of the drone during flight and measure the resistance encountered during flight. The linear displacement compensation unit is used to detect the linear displacement of the linear encoder and perform data compensation on the linear displacement according to the vibration frequency.

4. The integrated micro electric cylinder based on double closed-loop detection according to claim 3 is characterized in that: The operation steps of the high-precision detection system include: Step S1, the UAV is driven to fly by the remote control. During the flight of the UAV, the telescopic electric cylinder drives the aerial camera to extend and retract, and the high-precision detection system is running at the same time; Step S2, performing data compensation on the linear displacement detected by the linear encoder according to the drone's own vibration frequency; Step S3, identifying the wind force during the flight of the UAV through the wind force identification unit, thereby performing secondary compensation for the linear displacement according to the airflow force, and entering step S4 when the wind force is strong, otherwise entering step S5; Step S4, the resistance of the drone increases during flight, and the resistance of the drone increases, so that the movement stability of the transmission part (600) is improved, and the linear displacement is compensated three times, and then the vibration frequency data of the drone is adjusted according to the resistance of the drone itself; Step S5: determine the extension distance of the drone according to the linear displacement, and adjust the flight center of gravity of the drone according to the extension distance of the drone.

5. The integrated micro electric cylinder based on double closed-loop detection according to claim 4 is characterized in that: In step S2, the relationship between the vibration frequency of the drone and the linear displacement compensation is: , , is the compensation amount of the drone vibration frequency to the linear displacement, is the maximum linear displacement of the transmission part (600), is the vibration frequency of the drone, is the highest vibration frequency of the drone. is the linear displacement of the transmission part (600) detected by the linear encoder, is the linear displacement after one compensation; That is, the higher the vibration frequency of the drone, the greater the compensation amount of the linear displacement.

6. The integrated micro electric cylinder based on double closed-loop detection according to claim 5 is characterized in that: In step S3, the wind force during the flight of the drone generates airflow, which affects the vibration frequency of the drone, and the relationship is: , The wind force when the drone is flying. The maximum wind speed when the drone is flying; Right now , is the linear displacement after secondary compensation.

7. The integrated micro electric cylinder based on double closed-loop detection according to claim 6 is characterized in that: In step S3 and step S4: when hour, Normal wind force: , , The transmission part (600) is pushed to the right by the wind, thus generating stability. For the highest stability of the transmission (600), The influence of the stability of the transmission part (600) on the linear displacement; Right now , is the linear displacement after three compensations; when When: .

8. The integrated micro electric cylinder based on double closed-loop detection according to claim 7 is characterized in that: In step S3 and step S4, the drone is affected by wind and generates thrust to the right. At this time: when hour: , The vibration frequency of the drone is adjusted based on the data that the drone's vibration frequency decreases after being pushed to the right. when hour: .

9. The integrated micro electric cylinder based on double closed-loop detection according to claim 8 is characterized in that: In step S5, the detected high-precision linear displacement data enters the terminal, and the center of gravity of the center of gravity adjustment mechanism of the UAV is adjusted according to the data received by the terminal. The larger the extended distance data of the drone displayed on the terminal is, the heavier the weight of the drone on the other side of the drone is.

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