Cabin device and control method thereof

Abstract

The invention discloses a cabin device and a control method thereof, and belongs to the technical field of aviation. The cabin device comprises a mounting end, a functional cabin, a power device, a sensor, a receiver and a controller. The function cabin of the cabin device can controllably rotate relative to the mounting end, and supplementary control over the degree of freedom in the rotating direction is achieved. The invention also discloses an aircraft using the cabin device.

Description

Technical Field

[0001] The present invention belongs to the field of aviation technology, and in particular relates to a cabin device and related technologies. Background Art

[0002] Drones have been widely used in various fields such as military, agriculture, geology, meteorology, electricity, urban management, disaster relief, video shooting, etc. Various countries are also actively expanding the application areas of drones and developing drone technology, resulting in a variety of new aircraft and control methods.

[0003] Patent 2019103601099 proposes the concept of a spinning aircraft, which always maintains a high-speed spinning state around the central axis of the fuselage during flight. The spinning aircraft sacrifices control in one direction, resulting in a simpler structure and improved stability and aerodynamic efficiency. However, this also means that only some functions that do not require control in the axial direction can be realized, and it is difficult to promote to more application areas. Some other new aircraft that perform spinning flights will also have similar problems. Summary of the invention

[0004] In order to solve some or all of the above problems, the present invention provides a cabin device and a control method thereof, which are used for supplementary control of an aircraft.

[0005] A cabin device provided by the present invention is applied in a scenario where the rotation direction is unstable, and can supplement the control of the rotation direction freedom.

[0006] The present invention provides a cabin device, which includes: a mounting end that can be fixedly connected to an aircraft; a functional cabin that is rotatably connected to the mounting end; a power device that is connected between the mounting end and the cabin device; a receiver and a sensor that are partially or completely arranged in the cabin device; and a controller.

[0007] Furthermore, the cabin device also includes other structural parts.

[0008] The sensor is used to obtain the attitude information of the cabin device as the control input of the cabin device.

[0009] The power device is used to control the relative rotation between the installation end and the functional cabin.

[0010] The controller can receive signals from the receiver and the sensor and control the power device according to the control logic;

[0011] The functional cabin is the main body of the cabin device, which is used to connect, fix or carry various loads. Its structural form and relative position are not limited.

[0012] Preferably, the power device is an electric motor with controllable rotation speed.

[0013] Preferably, the power device is a unidirectional rotating motor.

[0014] A cabin device provided by the present invention is characterized in that it can control the controllable rotation of the functional cabin relative to the mounting end according to the posture information obtained by the sensor and the control requirements transmitted by the receiver, thereby realizing supplementary control of the rotation direction freedom.

[0015] A cabin device provided by the present invention is characterized in that the rotation of the power device can be controlled to drive the rotation of the functional cabin, thereby achieving stability of the degree of freedom in the rotation direction at the position of the functional cabin.

[0016] The present invention provides a cabin device, characterized in that the relative rotational speed of the power device is equal to the absolute rotational speed of the mounting end, but in opposite directions.

[0017] A cabin device provided by the present invention is characterized in that the relative rotation speed of the functional cabin is equal to the absolute rotation speed of the mounting end, but opposite in direction.

[0018] The cabin device can be installed on the spinning aircraft to supplement the degree of freedom of controlling the rotation direction, so that the spinning aircraft can achieve the same movement effect as an ordinary multi-rotor aircraft, thereby realizing the application of the spinning aircraft in more fields while retaining the advantages of the spinning aircraft itself.

[0019] The motion effects similar to those of ordinary multi-rotor aircraft include:

[0020] 1) It can directly control the three degrees of freedom of pitch, roll and yaw of the cabin device;

[0021] 2) The spatial position freedom in one direction can be directly controlled by the throttle;

[0022] 3) The other two spatial position degrees of freedom can be indirectly controlled through the above control.

[0023] The motion effect that is the same as that of an ordinary multi-rotor aircraft can be specifically referred to as the motion effect of a quad-rotor aircraft.

[0024] The functional cabin of the cabin device and the spinning vehicle can rotate relative to each other, and the supplementary control of the freedom degree of the spinning direction is achieved by controlling the relative rotation.

[0025] It should be noted that the spinning aircraft is only a connecting object in one application scenario of the cabin device, and the invention can also be applied to various other aircraft with unstable angular freedom degrees to achieve supplementary control of the angular freedom degrees.

[0026] The cabin device provided by the present invention can be used as an additional device and directly installed on a connection object with unstable rotation direction such as a spinning aircraft to achieve supplementary control of the degree of freedom of rotation direction.

[0027] The cabin device provided by the present invention can also be directly used as a component of a new type of aircraft during design and production.

[0028] It should be noted that the functional cabin and cabin device refer to objects with the above functions, and should not be used as a limitation on their shape or position. According to actual needs, they can have other structural shapes and different relative position relationships.

[0029] Another aspect of the present invention provides a novel aircraft, comprising a flight module and the cabin device.

[0030] The cabin device is rotatably connected to the flight module.

[0031] The flight module refers to an aircraft that provides flight power and maintains flight. In order to avoid confusion with the new type of aircraft in the present invention, it is called a flight module.

[0032] The effect of the flight module can be referred to as a spinning aircraft.

[0033] The flight module may also be other types of aircraft.

[0034] An important feature of a novel aircraft provided by the present invention is that when the flight module fails to achieve six-degree-of-freedom stability, the cabin device can achieve six-degree-of-freedom stability.

[0035] The method of achieving six-degree-of-freedom stability is to achieve stability of the cabin device relative to the ground by controlling the relative rotation between the rotating cabin device and the flight module, rather than directly controlling the stability of the flight module relative to the ground.

[0036] On the other hand, the present invention provides a control method for a new type of aircraft, characterized in that the control of the rotational freedom is achieved using a control method for a cabin device described below, and the control of other degrees of freedom is achieved using the flight control provided by the flight module.

[0037] Another aspect of the present invention provides a control method for a cabin device, which uses the opposite number of the rotation speed of the fixed end as the input of the power device, and uses the difference between the expected posture and the actual posture of the functional cabin as the correction of the control signal.

[0038] The present invention provides a control method for a cabin device, which calculates the difference between the yaw angle of the functional cabin and the expected yaw angle based on the attitude data of the sensor, and increases or decreases the rotation speed of the power device according to the positive or negative value of the difference, so that the yaw angle of the functional cabin tends to the expected value.

[0039] The present invention provides a method for controlling a cabin device, the specific steps of which include:

[0040] Step 1), the sensor directly or indirectly detects the actual posture of the functional cabin and the fixed end, and transmits it to the controller;

[0041] Step 2), the controller determines the required control signal according to the received actual posture information and the expected posture information transmitted by the receiver, and outputs the control signal to the power device;

[0042] Step 3) The power device receives the signal from the controller and controls the rotation of the functional cabin so that the cabin device achieves the desired movement effect.

[0043] Furthermore, in step 1), the actual posture may include: part or all of the posture data of the angle, angular velocity, and angular acceleration in the direction of the rotation axis; these posture data may be obtained entirely by sensors, or partially by sensors, and other data may be derived through derivation, integration or other internal relationships.

[0044] Furthermore, in step 1), the actual postures of the functional cabin and the mounting end include: the actual posture of the functional cabin, the actual posture of the mounting end, and the relative posture of the functional cabin and the mounting end. The posture data of the three can be obtained entirely by sensors, or partially by sensors and other data can be derived through their relative relationship.

[0045] The posture of the mounting end is determined by the posture of the connected object. Therefore, the posture data of the mounting end can also be determined based on the posture data of the connected object.

[0046] It should be noted that the purpose of step 1) is to obtain the actual posture information required for control, and there is no limitation on the specific data and the specific method of obtaining it.

[0047] Furthermore, in step 2), the expected posture information is the expected posture of the functional cabin determined by the controller according to actual task requirements or calculated by the receiver input.

[0048] In step 2), the control amount refers to the control required to adjust the cabin from an actual posture to a desired posture.

[0049] The control amount and the control signal generally refer to the rotation speed, but in specific implementation, they can also be achieved by adjusting the angular acceleration, torque, etc. Specifically, they should be flexibly adjusted according to the actual hardware conditions and the convenience of control.

[0050] Furthermore, step 2) may specifically include:

[0051] Step 2.1), the controller receives the actual posture of the fixed end and takes the inverse thereof as the reference value of the control signal.

[0052] Step 2.2), the controller receives the actual attitude information and the expected attitude information of the functional module, and makes a difference therebetween to obtain a correction value of the control signal,

[0053] Step 2.3), combining the reference value and the correction value of the control signal, determining the control signal of the power device and outputting it to the power device;

[0054] In step 2.1, the baseline value of the control signal is intended to offset the spin effect of the connector, isolate the rotation, and ensure the stability of the functional cabin.

[0055] In step 2.2, the correction value is used to compensate for sensor errors, control errors, etc., or when the cabin needs to turn, by comparing the actual attitude information of the functional cabin with the expected attitude information, the control signal of the power unit is corrected accordingly.

[0056] Specifically, these attitude information may include attitude information such as angle, angular velocity, angular acceleration, etc. By integrating this information and using a suitable control algorithm to calculate the correction value of the control signal, it is ensured that the cabin device can smoothly transition from the actual attitude to the desired attitude.

[0057] Specifically, a PID control algorithm or other common algorithms in the control field may be used to achieve precise control of the cabin device.

[0058] Preferably, the determination of the control amount in step 2) can be achieved by a proportional-integral-differential (PID) control algorithm. Specifically, the PID control algorithm is used to dynamically adjust the control amount according to the error between the actual posture of the functional cabin and the expected posture to achieve the purpose of rapid response and stable control. The PID controller calculates the control amount by the following formula:

[0059]

[0060] Among them, u(t) is the control amount, e(t) is the error between the desired posture and the actual posture, K p , K i and K d are the proportional, integral and differential control coefficients respectively.

[0061] Furthermore, in step 2), the desired attitude information of the functional cabin is subtracted from the actual attitude of the functional cabin to obtain the attitude error. The attitude error is the basis for calculating the control quantity, reflecting the deviation between the current attitude of the functional cabin and the desired attitude. The calculation of the attitude error can be expressed as:

[0062] e(t)=θ 期望 -θ 实际

[0063] Among them, θ 期望 is the desired attitude of the functional cabin, θ 实际 It is the actual posture of the functional cabin.

[0064] Preferably, multiple angles, angular velocities, and angular accelerations can be taken as postures to construct multiple PID control loops.

[0065] During the control process, the rotation speed of the functional cabin is used as a correction term to balance the movement of the cabin.

[0066] The present invention provides a method for controlling a cabin device, which can further achieve control of the direction of the cabin by adjusting the rotation speed of the power device.

[0067] Specifically, when the nacelle is required to rotate in a positive direction, the rotation speed of the power device is reduced; when the nacelle is required to rotate in a reverse direction, the rotation speed of the power device is increased.

[0068] It can be seen from the above technical scheme that the control method of a cabin device provided by the present invention is essentially to obtain posture data through a sensor, and the controller adjusts the rotation speed of the power device according to the relationship between the expected posture and the actual posture. The ultimate goal is to enable the cabin device to achieve the desired motion effect; and there can be many ways to implement it specifically.

[0069] The cabin device and control method thereof provided by the present invention can be optimized or even omitted according to existing conditions in specific applications, and should also be regarded as part of the present invention.

[0070] The cabin device provided by the present invention can preferably use the sensors of the connected objects or posture data from other sources, thereby simplifying the sensors of the cabin device.

[0071] In the cabin device provided by the present invention, preferably, the controller can be located in the cabin device, or in a connected object, or even in any other place.

[0072] A cabin device provided by the present invention can preferably use a controller connected to a flight control or other module of an aircraft, thereby simplifying the controller of the cabin device.

[0073] The present invention provides a cabin device, preferably, the functional cabin and other structural parts can have no obvious distinction and boundary with the structural parts of other modules without losing their original functions, thereby simplifying the structure and design.

[0074] The control method of a cabin device provided by the present invention can preferably refer to the control algorithm for yaw control in the flight control system and directly use the idle resources of the control system in the connected object.

[0075] The beneficial effects of the present invention are as follows:

[0076] 1. The cabin device provided by the present invention realizes the control of the spin direction while retaining many significant advantages of the autospinning aircraft, thereby broadening the application prospects of the autospinning aircraft.

[0077] 2. The cabin device and control method thereof proposed in the present invention can provide a solution for directional control of various unstable aircraft or other similar scenarios.

[0078] 3. The new aircraft proposed by the present invention provides a new option for aircraft configuration. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1 It is a schematic structural diagram of a cabin device and a flight module combined according to an embodiment of the present invention;

[0080] Figure 2 A schematic structural diagram of a cabin device according to an embodiment of the present invention;

[0081] Figure 3 A front view of a cabin device according to an embodiment of the present invention;

[0082] Figure 4 It is a partial exploded schematic diagram of a cabin device and a flight module after being combined according to an embodiment of the present invention;

[0083] Figure 5 It is a schematic diagram of the position of the load after the cabin device and the flight module are combined according to an embodiment of the present invention. DETAILED DESCRIPTION

[0084] In order to better understand the purpose, structure and function of the present invention, a cabin device and a control method thereof of the present invention are further described in detail below with reference to the accompanying drawings.

[0085] like Figure 1 and Figure 2 As shown, it is shown as a cabin device 200 of an embodiment of the present invention, including a mounting end 250, a power device 210, a functional cabin 220 and a sensor, a controller, and a receiver.

[0086] One end of the mounting end is mounted on the bottom of the flight module 100 and connected to one end of the power device 210. The functional cabin 220 is connected to the other end of the power device 210. The controller is disposed on the flight module 100. The sensor is disposed between the power devices to monitor the relative rotation between the cabin device and the mounting end.

[0087] The sensor and the receiver are connected to the input end of the controller, and the power device 210 is connected to the output end of the controller.

[0088] The present embodiment provides that the cabin device 200 detects the real-time rotation angular velocity or rotation speed of the flight module 100 through a sensor, and the controller can control the rotation of the power device 210 installed between the flight module 100 and the functional cabin 220 according to the real-time rotation angular velocity or rotation speed of the flight module 100, that is, the rotation of the power device 210 is used to offset the spin of the flight module 100, so that the functional cabin 220 does not rotate with the flight module 100, and the yaw angle of the functional cabin 220 is stable.

[0089] In this embodiment, the flight module is a spinning aircraft.

[0090] The introduction of the cabin device solves the problem of the autogyro having no yaw angle, and enables the autogyro to be extended to more technical fields. The cabin device 200 of this embodiment can be directly installed on the existing autogyro without changing the structure of the original autogyro 100, and has low use cost and is easy to operate.

[0091] The sensor of this embodiment is preferably an angular velocity sensor, which directly detects the rotational angular velocity of the spinning aircraft 100. The angle sensor can also differentiate the rotational angle of the spinning aircraft 100 detected by the velocity sensor to obtain the rotational angular velocity, and then build a double-loop PID control loop to achieve a better control effect. Among them, when the double-loop PID is adopted, the speed (incremental) PID can be selected as the main loop PID, and the fuzzy PID control algorithm can also be used to weaken the influence of the nonlinear characteristics of the motor itself and improve the control accuracy.

[0092] The cabin device 200 of this embodiment also includes a gyroscope, which is installed on the functional cabin 220 and is used to detect the real-time yaw angle of the functional cabin 220. The gyroscope is also connected to the input end of the controller to send the signal of the real-time yaw angle of the functional cabin 220 to the controller, so as to facilitate manual control of the yaw angle of the functional cabin 220.

[0093] The controller of the present embodiment is preferably the flight controller of the autogyro 100, which directly utilizes the idle resources of the flight controller in the autogyro 100, which can not only reduce the manufacturing cost, but also reduce the weight of the autogyro 100. The cabin device 200 of the present embodiment also includes an electronic speed regulator installed between the flight controller and the power device 210, which is directly connected to the battery of the autogyro 100 and provides electric energy for the power device 210. The electronic speed regulator is controlled by the flight controller through a PWM signal, and the electronic speed regulator controls the rotation size and direction of the power device 210 by adjusting the current. The above-mentioned power device 210 is preferably a unidirectional, medium-low speed, low-power electric motor.

[0094] like Figures 2 to 4 As shown, the motor 210 includes a stator 211 and a rotor 212, the stator 211 is fixedly connected to the mounting end as a whole, and then fixedly connected to the bottom end of the spinning vehicle 100 by screws, and the rotor 212 is fixedly connected to the top of the functional cabin 220, so that the functional cabin 220 and the spinning vehicle 100 can rotate relative to each other. Preferably, the rotating shaft of the motor 210 is collinear with the spin axis of the spinning vehicle 100, and the functional cabin 220 is centrally arranged near the spin axis of the spinning vehicle 100, so that the rotational inertia of the functional cabin 220 is as small as possible, thereby improving the stability of the spinning vehicle 100 carrying the cabin device 200.

[0095] like Figure 2 , Figure 4 and Figure 5 As shown, the functional cabin 220 includes a platform top plate 221, a platform bottom plate 222 and a support column 223, the platform top plate 221 and the platform bottom plate 222 are connected by the support column 223, and the distance between the platform top plate 221 and the platform bottom plate 222 is constrained by the support column 223, and the platform top plate 221 is fixedly connected to the rotor 212 of the motor 210. The functional cabin 220 can be equipped with a built-in load 241, such as a gyroscope. The functional module carried on the functional cabin 220 of the spinning aircraft 100 can achieve the same effect as that carried on an ordinary multi-rotor drone.

[0096] The cabin device 200 of this embodiment also includes a landing gear installed under the functional cabin 220. The landing gear can protect the spinning vehicle 100 and can also hang an external load 242 in the middle to increase the load space of the spinning vehicle 100. Figure 5 As shown, the controller and angle sensor of the cabin device 200 of this embodiment are arranged at the top position 142 of the spinning vehicle 100, and the device for providing electric energy to the motor 210 can preferably be a battery arranged at the middle position 141 of the spinning vehicle 100. In this embodiment, most of the weight of the cabin device 200 is arranged on the spinning vehicle 100, so that the rotational inertia is as small as possible, thereby improving the stability of the spinning vehicle 100.

[0097] The present invention also provides a control method for the above-mentioned cabin device, comprising:

[0098] Step 1), the rotational angular velocity or rotational speed of the spinning vehicle detected by the sensor is transmitted to the controller;

[0099] Step 1.1), the sensor system, including angular velocity sensors and gyroscopes, are installed at key positions of the power unit and the functional cabin to monitor the rotational angular velocity of the spinning aircraft and the yaw angle of the functional cabin in real time. These sensors convert the detected data into electrical signals and transmit them to the controller through the communication network inside the aircraft.

[0100] In step 1.2), the controller receives the sensor data and performs filtering and normalization to eliminate noise and errors.

[0101] The received raw data may contain noise and interference and needs to be preprocessed by filtering algorithms to improve the accuracy and reliability of the data. Data preprocessing also includes unit conversion and normalization to ensure that the sensor readings match the expected input of the controller.

[0102] Step 2), the controller drives the power device according to the received rotational angular velocity of the autogyro or the inverse of the absolute value of the rotational velocity signal, so that the yaw angle of the functional cabin is stabilized.

[0103] Step 2.1), the controller receives data from the sensors and calculates the required control signals based on these data. The controller uses advanced control algorithms, such as PID control or fuzzy logic control, to dynamically adjust the operating state of the power unit.

[0104] Step 2.2), the control signal output by the controller is transmitted to the power device through the electronic speed regulator, and the electronic speed regulator adjusts the current according to the PWM signal to control the speed and direction of the power device.

[0105] In step 2.3), the power unit adjusts its speed and direction according to the controller's instructions to offset the spinning effect of the autorotating aircraft and ensure the stability of the yaw angle of the functional cabin. This control strategy enables the functional cabin to fly stably independently of the autorotating aircraft, improving the controllability and safety of the aircraft.

[0106] In the field of unmanned aerial vehicle technology, the attitude of unmanned aerial vehicle can be described using yaw angle, pitch angle and roll angle. The control method of the present invention is to control the yaw angle of the spinning aircraft separately so that the functional cabin has a yaw angle to make up for the defect of the spinning aircraft. In the present embodiment, when the spinning aircraft 100 is running, the sensor starts to detect the real-time rotation angular velocity or rotation speed of the spinning aircraft 100, or after the flying of the spinning aircraft 100 is stable, the sensor starts to detect the real-time rotation angular velocity or rotation speed of the spinning aircraft 100 to reduce the take-off power consumption of the spinning aircraft 100. The sensor sends the detected rotation angular velocity or rotation speed signal to the controller, which can be the flight controller of the spinning aircraft 100, utilizing the idle resources of the flight controller. The controller controls the rotation speed of the motor 210 to be infinitely close to the rotation angular velocity or rotation speed of the above-mentioned spinning aircraft 100, and uses the rotation of the motor 210 to offset the spin of the spinning aircraft 100, so that the functional cabin 220 installed on the motor 210 does not spin with the spinning aircraft 100, and the yaw angle of the functional cabin 220 can be stable, which makes up for the defects of the spinning aircraft 100 and enables the spinning aircraft 100 to be promoted to more technical fields. The control method of this embodiment can be directly added to the flight controller of the spinning aircraft 100, without changing the original control method of the spinning aircraft 100, and has low use cost and is easy to operate.

[0107] In one embodiment, the control method of the cabin device further includes:

[0108] Step 1), the rotational angular velocity or rotational speed of the spinning aircraft detected by the sensor is transmitted to the controller, the remote controller of the spinning aircraft transmits the desired yaw angle to the controller, and the actual yaw angle of the functional cabin detected by the gyroscope is transmitted to the controller;

[0109] Step 2), the controller drives the motor according to the received rotational angular velocity or rotational velocity signal, the desired yaw angle signal and the actual yaw angle signal, so that the yaw angle of the functional cabin reaches the desired yaw angle;

[0110] Step 2.1), the controller drives the motor to have a rotation speed that is the same as the rotation angular velocity or rotation speed according to the received rotation angular velocity or rotation speed signal;

[0111] Step 2.2), the controller calculates the angle at which the functional cabin needs to rotate according to the received actual yaw angle signal and the expected yaw angle signal, increases or decreases the speed of the motor or changes the rotation direction of the motor, so that the yaw angle of the functional cabin reaches the expected yaw angle.

[0112] In one embodiment, the control method of the cabin device can further realize the control of the direction of the cabin by adjusting the rotation speed of the power device, which specifically includes:

[0113] Step 1), the functional cabin rotation speed monitored by the sensor and the expected rotation speed information received by the receiver are transmitted to the controller.

[0114] Step 2), the controller determines the required control amount according to the difference between the expected speed and the actual speed of the functional cabin.

[0115] Step 3), adjust the speed of the power unit according to the control amount until the cabin direction meets the requirements.

[0116] In step 1, sensors installed on the functional cabin 220, such as an angular velocity sensor and a gyroscope, are used to monitor the rotation speed and yaw angle of the functional cabin in real time.

[0117] In step 2, if the difference between the expected speed and the actual speed of the functional cabin is greater than 0, the speed needs to be increased; if the difference between the expected speed and the actual speed of the functional cabin is less than 0, the speed needs to be reduced.

[0118] The increase is positively correlated with the difference. The specific increase and decrease can be determined by referring to the algorithm mentioned above or the common algorithm in the control field.

[0119] In step 3, if the speed needs to be increased, the speed of the power device should be reduced by an amount equal to the increase in step 2; if the speed needs to be reduced, the speed of the power device should be increased by an amount equal to the decrease in step 2;

[0120] In this embodiment, the desired yaw angle is a control instruction inputted by the user to the controller through the remote controller, and the controller receives the control instruction and controls the magnitude or direction of the motor speed according to the desired yaw angle and the actual yaw angle of the functional cabin 220 detected by the gyroscope, so that the yaw angle of the functional cabin 220 reaches the desired yaw angle, completing the user's control instruction, thereby compensating for the defects of the spinning aircraft 100, and enabling the spinning aircraft 100 to be extended to more technical fields. The measurement method adopted is concise and effective, is not interfered by electromagnetic and light, and has strong adaptability to the working environment.

[0121] The control method provided by the present invention can set up a multi-layer control loop, and multi-path feedback can be used to adjust the stable state of the drone, which is more sensitive and efficient than single-loop feedback.

[0122] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by those skilled in the art to which the present invention belongs.

[0123] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0124] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0125] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0126] Finally, it should be noted 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 aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention. In particular, as long as there is no structural conflict, the various technical features mentioned in each embodiment can be combined in any way. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A cabin device, comprising: The mounting end can be fixedly connected to the connection object; A functional cabin, rotatably connected to the mounting end, for carrying a payload; A power device, connected between the mounting end and the cabin device, and used to control the relative rotation between the mounting end and the functional cabin; A sensor for obtaining attitude information of the cabin device as a control input of the cabin device; a receiver for receiving a signal of a desired posture; as well as A controller, which receives signals from the receiver and the sensor and is used to control the rotation of the power unit; The cabin device can be applied to scenarios where the rotation direction is unstable. The controller can control the controllable rotation of the functional cabin relative to the mounting end according to the posture information obtained by the sensor and the control requirements transmitted by the receiver, thereby realizing supplementary control of the rotation direction freedom.

2. The cabin device according to claim 1, characterized in that The relative rotation speed of the functional cabin is equal to the absolute rotation speed of the mounting end, but opposite in direction.

3. The cabin device according to claim 1, characterized in that The fixed end of the cabin device can be installed on the spinning aircraft, and the functional cabin and the spinning aircraft can rotate relative to each other. By controlling the relative rotation, supplementary control of the freedom of the spinning direction is achieved, so that the functional cabin can achieve the same movement effect as an ordinary multi-rotor aircraft.

4. A new type of aircraft, characterized in that: The invention comprises the cabin device according to any one of claims 1 to 3, and a flight module.

5. A novel aircraft according to claim 4, characterized in that: The flight module is a spinning aircraft.

6. A method for controlling a cabin device, characterized in that: include: Step 1), the sensor detects the actual posture of the functional cabin and the fixed end, and transmits it to the controller; Step 2), the controller determines the required control signal according to the received actual posture information and the expected posture information transmitted by the receiver, and outputs the control signal to the power device; Step 3), the power device controls the rotation of the cabin and the functional cabin so that the cabin achieves the desired movement effect.

7. A method for controlling a cabin device according to claim 6, characterized in that: The difference between the yaw angle of the cabin device and the desired yaw angle is calculated according to the attitude data of the sensor, and the rotation speed of the power device is increased or decreased according to the positive or negative value of the difference, so that the yaw angle of the cabin device tends to the desired value.

8. A method for controlling a cabin device according to claim 6, characterized in that: include: Step 2.1), the controller receives the actual posture of the fixed end and takes the inverse thereof as the reference value of the control signal; Step 2.2), the controller receives the actual attitude information and the expected attitude information of the functional module, and makes a difference therebetween to obtain a correction value of the control signal; Step 2.3), by combining the reference value and the correction value of the control signal, the control signal of the power device is determined and output to the power device.

9. A method for controlling a cabin device according to claim 6, characterized in that: When the nacelle needs to rotate in the positive direction, the speed of the power unit is reduced; when the nacelle needs to rotate in the reverse direction, the speed of the power unit is increased.

10. A control method for a novel aircraft according to any one of claims 4 to 5, characterized in that: The control of the rotational degree of freedom is achieved by using a control method for a cabin device according to any one of claims 6-9, and the control of other degrees of freedom is achieved by using the flight control provided by the flight module.

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