Unmanned aerial vehicle speed sensing control device

Abstract

The invention is suitable for the technical field of unmanned aerial vehicles, discloses an unmanned aerial vehicle speed sensing control device, and aims to solve the technical problem that in the prior art, an unmanned aerial vehicle angular velocity sensor is not located at the gravity center of an unmanned aerial vehicle, so that the measurement precision of the unmanned aerial vehicle is affected. A plurality of electronic elements and speed sensing assemblies are installed on the circuit board, the speed sensing assemblies are installed at the gravity center of the unmanned aerial vehicle shell, through the arrangement of synchronous movement of the two speed sensing sets, the acceleration sensing sets can generate displacement in the acceleration process of the unmanned aerial vehicle, so that the overall gravity center of the unmanned aerial vehicle is changed, and the unmanned aerial vehicle is more convenient to use. And at the moment, the angular velocity sensing group synchronously moves along with the acceleration sensing group, so that the angular velocity sensing group always moves along with the gravity center, the angular velocity of the unmanned aerial vehicle is measured near the gravity center, the angular velocity measurement is more accurate and convenient, and an additional algorithm and the like are not needed to correct an error caused by the displacement.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a speed sensing control device for unmanned aerial vehicles. Background Art

[0002] A drone is an aircraft without a pilot and is controlled by remote control, autonomous flight or preset programs. In order to maintain its flight stability during flight, the coordinated measurement of angular velocity and acceleration is crucial in the attitude control and navigation of the drone. The gyroscope and accelerometer in the inertial measurement unit can achieve synchronous measurement of angular velocity and acceleration, and the measurement accuracy and reliability can be improved through data fusion algorithms.

[0003] In actual drone design, the angular velocity sensor may not be installed at the center of gravity due to space limitations or other hardware layout requirements. For example, the center of gravity may be occupied by batteries, motors or other key components. Sometimes, for structural strength or heat dissipation considerations, the sensor may need to be installed in other locations.

[0004] The installation position of the angular velocity sensor deviates from the center of gravity and may be disturbed by the translational acceleration, resulting in additional noise or errors in the measurement value. Moreover, since the sensor is not at the center of gravity, the rotational movement of the drone may generate additional torque at the sensor position, affecting the measurement accuracy. At the same time, a compensation algorithm is required to correct the error caused by the installation position deviating from the center of gravity, which increases the complexity of the control algorithm.

[0005] At the same time, the core part of today's acceleration sensor usually includes a mass block, an elastic element (such as a spring) and a detection device. When the drone is subjected to acceleration, the mass block will move in the opposite direction of the acceleration due to inertia, thereby compressing or stretching the elastic element. This displacement is proportional to the acceleration. The magnitude of the acceleration can be obtained by converting the physical quantity change into an electrical signal through the detection device, but the total distance of this displacement remains unchanged, and in harsh environments, the displacement distance remains unchanged, which will reduce the stability of the mass block and keep it in a displacement state, thereby affecting the calculation of the acceleration by the detection device, and greatly increasing the error of the calculation result. Summary of the invention

[0006] The purpose of the present invention is to overcome the above-mentioned deficiencies of the prior art and to provide a UAV speed sensing control device, which aims to solve the technical problem in the prior art that the UAV angular velocity sensor is not located at the center of gravity of the UAV, thereby affecting its measurement accuracy.

[0007] To achieve the above object, the present invention proposes a UAV speed sensing control device, comprising a UAV housing, a circuit board is installed in the UAV housing, a plurality of electronic components and a speed sensing assembly are installed on the circuit board, and the speed sensing assembly is installed at the center of gravity of the UAV housing; The speed sensing assembly includes a sensor housing, an acceleration sensing group and an angular velocity sensing group, wherein the acceleration sensing group and the angular velocity sensing group are installed together, the two move synchronously, and are both installed in the sensor housing of the drone housing; The acceleration sensor group comprises a mass block, which is movably mounted in the circuit board. A rotating ring and a sliding second magnetic element and a first magnetic element are arranged inside the mass block.

[0008] Preferably, a displacement groove is provided on the end face of the circuit board, the mass block moves in the displacement groove, the four side end faces of the displacement groove are provided with a first magnetic groove, a support rod is detachably mounted on the circuit board, a magnetic disk is fixed in the middle of the support rod, and a second magnetic groove is provided on the bottom end face of the magnetic disk and the inner bottom of the displacement groove.

[0009] Preferably, the second magnetic element and the first magnetic element are distributed on the six end faces of the mass block and are divided into two parts, wherein the outer parts of both are magnetic blocks, a thread is provided on the outer peripheral side of the part close to the inner side of the second magnetic element, which is threadedly connected to the inner wall of the rotating ring, and an end face thread is provided on the upper end face of the part close to the inner side of the first magnetic element, which cooperates with the end face of the rotating ring.

[0010] Preferably, magnetic strips are provided in the first magnetic slot and the second magnetic slot, and the magnetic strips correspond to the second magnetic element and the first magnetic element one by one, and the magnetism of each pair of corresponding magnetic parts is the same.

[0011] Preferably, a detection groove is provided on the circuit board, at least two distance sensors are arranged in the detection groove, and detection plates are fixed to both side end faces of the mass block, and the detection plates slide in the detection groove.

[0012] Preferably, a micro motor is installed in the mass block, a gear is provided on the micro motor, and the gear is meshed with the rotating ring.

[0013] Preferably, the angular velocity sensor group comprises a mounting plate mounted on the mass block, a gyroscope housing is fixed on the mounting plate, and a rotor is movably connected inside the gyroscope housing.

[0014] Preferably, the sensor housing comprises a component housing, and the component housing is sleeved directly above the mass block and is movably connected to the circuit board.

[0015] Preferably, a flight control module, an electric control module, a power supply, a receiver, a monitoring module and a positioning module are also installed on the circuit board.

[0016] Preferably, four symmetrically arranged supporting feet are installed on both sides of the UAV housing, and the supporting feet are provided with motors and propeller blades.

[0017] Compared with the prior art, the beneficial effects of the drone speed sensing control device provided by the present invention are: 1. By setting the two speed sensor groups to move synchronously, the acceleration sensor group will be displaced during the acceleration of the drone, resulting in a change in the overall center of gravity of the drone. At this time, the angular velocity sensor group moves synchronously with the acceleration sensor group, which will always move with the center of gravity and keep it measuring the angular velocity of the drone near the center of gravity, making the angular velocity measurement more accurate and convenient, without the need for additional algorithms to correct the error caused by this displacement.

[0018] 2. By setting the second magnetic element and the first magnetic element, the distance between the second magnetic element and the first magnetic element and the corresponding first magnetic slot and the second magnetic slot can be adjusted by rotating the rotating ring, thereby changing the repulsive force between the two. The increase in repulsive force will greatly increase the stability of the entire speed sensing assembly, allowing the drone to adapt to harsh environments. However, the acceleration error generated at this time is large, the repulsive force is reduced, and the stability of the speed sensing assembly will be reduced, but the result error of the acceleration is small, so different combinations can be freely selected according to the environment, which greatly increases its controllability.

[0019] The features and advantages of the present invention will be described in detail through embodiments in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a front view of an embodiment of the present invention.

[0021] Figure 2 is an internal view of an embodiment of the present invention.

[0022] Figure 3 2 is a view of a circuit board according to an embodiment of the present invention.

[0023] Figure 4 2 is a view of the interior of a circuit board according to an embodiment of the present invention.

[0024] Figure 5 is a view of a speed sensor assembly according to an embodiment of the present invention.

[0025] Figure 6 1 is a partial view of a speed sensor assembly according to an embodiment of the present invention.

[0026] in: 10 - Drone housing; 11 - Legs; 12 - Camera; 20 - Circuit board; 21 - Component housing; 22 - Shifting groove; 23 - Support rod; 24 - Disk; 25 - Detection groove; 26 - Distance sensor; 27 - First magnetic groove; 28 - Second magnetic groove; 30 - Mass block; 31 - Detection plate; 32 - Rotating ring; 33 - Second magnetic element; 34 - First magnetic element; 35 - Micro motor; 40 - Mounting plate; 41 - Gyroscope housing; 42 - Rotor Detailed implementation manner

[0027] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the scope of the present invention. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present invention.

[0028] In the description of the present invention, it should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0029] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by terms such as "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the present invention is usually placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, terms such as "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, the meaning of "a plurality" is two or more, unless otherwise specifically defined. The meaning of "several" is one or more, unless otherwise specifically defined.

[0030] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of 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.

[0031] See also Figure 1-6 The embodiment of the present invention provides a UAV speed sensing control device, including a UAV housing 10, four symmetrically arranged supporting feet 11 are installed on both sides of the UAV housing 10, and brushless motors and blades are arranged on the supporting feet 11. A camera 12 is arranged at the front end of the UAV housing 10, and the external situation is monitored by the camera 12. The UAV housing 10 is also provided with a plurality of heat dissipation holes for dissipating heat of electronic components inside the UAV. A circuit board 20 is installed in the UAV housing 10, and a plurality of electronic components and a speed sensing component are installed on the circuit board 20. The speed sensing component is installed at the center of gravity of the UAV housing 10. The entire speed sensing component is located at the center of gravity of the UAV housing 10, and can fly in the UAV housing 10. When detecting the angular velocity, the coupling effect of the translational motion (such as acceleration) of the UAV on the angular velocity measurement can be minimized. This is because the center of gravity is the balance point of all the mass of the drone. Installing it here can more accurately measure pure rotational motion. In the flight control algorithm, the angular velocity measurement at the center of gravity can be directly used for attitude estimation and control without the need for additional compensation algorithms to correct the error caused by the installation position deviating from the center of gravity. Measuring the angular velocity at the center of gravity can avoid measurement errors caused by the lever effect (i.e., the additional torque generated because the sensor is not at the center of gravity).

[0032] The speed sensing assembly includes a sensor housing, and the sensor housing includes an element housing 21. The element housing 21 is mounted directly above the mass block 30 and is movably connected to the circuit board 20 by means of snaps or bolts. It also includes an acceleration sensing group and an angular velocity sensing group, which are installed together and move synchronously. Both are installed in the sensor housing of the drone housing 10. The setting of the synchronous movement of the two speed sensing groups can cause the acceleration sensing group to be displaced during the acceleration of the drone, thereby causing the overall center of gravity of the drone to change. At this time, the angular velocity sensing group moves synchronously with the acceleration sensing group, which will make it always move with the center of gravity and keep it measuring the angular velocity of the drone near the center of gravity, making the angular velocity measurement more accurate and convenient, and no additional algorithms are required to correct the errors caused by this displacement.

[0033] The acceleration sensor group includes a mass block 30, which is movably mounted in the circuit board 20. A rotating ring 32 and a sliding second magnetic element 33 and a first magnetic element 34 are arranged inside the mass block 30. A micro motor 35 is installed in the mass block 30. A gear is arranged on the micro motor 35. The gear is meshed with the rotating ring 32. The micro motor 35 is electrically connected to a power source and wirelessly connected to an external control element. The rotating ring 32 is controlled to rotate by the micro motor 35. A displacement groove 22 is provided on the end surface of the circuit board 20. The mass block 30 moves in the displacement groove 22. The four side end surfaces of the displacement groove 22 are all provided with a first magnetic groove 27. A support rod 23 is detachably mounted on the circuit board 20. The support rod 23 is A magnetic disk 24 is fixed in the middle, and a second magnetic groove 28 is provided on the bottom end surface of the magnetic disk 24 and the bottom of the inner side of the shift groove 22. The second magnetic element 33 and the first magnetic element 34 are distributed on the six end surfaces of the mass block 30, and are divided into two parts, wherein the outer parts of both are magnetic blocks, and the two poles of the magnetic blocks are magnetically opposite. A thread is provided on the outer peripheral side of the part close to the inner side of the second magnetic element 33, which is threadedly connected with the inner wall of the rotating ring 32, and an end face thread is provided on the upper end surface of the part close to the inner side of the first magnetic element 34, which cooperates with the end face of the rotating ring 32. When the rotating ring 32 rotates, the second magnetic element 33 and the first magnetic element 34 can both extend outward or retract at the same time, and the first magnetic groove 27 and the second Magnetic strips are arranged in the magnetic slots 28, and they correspond to the second magnetic element 33 and the first magnetic element 34 one by one. The magnetism of each pair of corresponding magnetic parts is the same. The same magnetism generates a repulsive force, and the mass block 30 can be suspended by the repulsive force. Under the action of acceleration, the mass block 30 compresses the distance between the repulsive forces of the corresponding positions with opposite acceleration under the action of inertia, so that the mass block 30 produces a certain displacement. The acceleration at this time is calculated by the algorithm through the distance it moves. By rotating the rotating ring 32, the second magnetic element 33 and the first magnetic element 34 are extended outward at the same time, shortening the distance between them and the first magnetic slot 27 and the second magnetic slot 28, and increasing the distance between the two. The repulsive force between them increases, and the stability of the entire speed sensing assembly is greatly increased, and it will not shake easily, so that the drone can adapt to harsh environments. However, at this time, the displacement of the mass block 30 caused by acceleration is small, and the error generated by the algorithm calculation is large. Under normal circumstances, the second magnetic element 33 and the first magnetic element 34 can be retracted into the mass block 30 to increase the distance between it and the first magnetic slot 27 and the second magnetic slot 28, thereby reducing the repulsive force between the two. At this time, the stability of the speed sensing assembly will be reduced, but the displacement of the mass block 30 caused by acceleration is large, and the error of the result of the algorithm calculating the acceleration is small, so different combinations can be freely selected according to the environment, which greatly increases its controllability.

[0034] A detection groove 25 is also provided on the circuit board 20, and at least two distance sensors 26 are arranged in the detection groove 25. Detection plates 31 are also fixed to the end faces of both sides of the mass block 30. The detection plate 31 slides in the detection groove 25, and the distance sensor 26 is used to detect the distance between it and the detection plate 31. The increase in acceleration is determined by the change in distance.

[0035] The circuit board 20 is also equipped with a flight control module, an electric adjustment module, a power supply, a receiver, a monitoring module and a positioning module. The angular velocity sensor group includes a mounting plate 40 mounted on the mass block 30, a gyroscope housing 41 is fixed on the mounting plate 40, and a rotor 42 is movably connected inside the gyroscope housing 41. Through the setting of the rotor 42, when the rotor 42 inside it rotates at a high speed, due to the conservation of angular momentum, the rotation axis of the rotor 42 will remain in a fixed direction in the inertial space. When the drone rotates, the gyroscope can detect the angular velocity change caused by this rotation and convert it into an electrical signal output.

[0036] Working principle: during use, when the drone is started, the acceleration process will cause the mass block 30 to move in the opposite direction. The movement of the mass block 30 can drive the detection plate 31 to move, and its position in the detection slot 25 will change. The change in distance can be detected by the distance sensor 26, and then converted into an electrical signal output for adjusting the flight state of the drone, such as speed, altitude and direction, to achieve more accurate and stable flight. When the mass block 30 is displaced, it will drive the mounting plate 40 to move synchronously, thereby causing the gyroscope housing 41 to move. At this time, the entire speed sensing assembly is still located at the center of gravity of the drone, and the rotor 42 will detect the angular velocity of the drone more accurately.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent substitution or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A drone speed sensing control device, comprising a drone housing (10), wherein a circuit board (20) is installed in the drone housing (10), characterized in that: A plurality of electronic components and a speed sensing component are mounted on the circuit board (20), and the speed sensing component is mounted at the center of gravity of the drone housing (10); The speed sensing assembly comprises a sensor housing, an acceleration sensing group and an angular velocity sensing group, wherein the acceleration sensing group and the angular velocity sensing group are installed together, the two move synchronously, and are both installed in the sensor housing of the drone housing (10); The acceleration sensor group comprises a mass block (30), the mass block (30) being movably mounted in the circuit board (20), and a rotating ring (32) and a sliding second magnetic element (33) and a first magnetic element (34) being arranged inside the mass block (30).

2. The UAV speed sensing control device according to claim 1, characterized in that: The end surface of the circuit board (20) is provided with a displacement groove (22), the mass block (30) moves in the displacement groove (22), the four side end surfaces of the displacement groove (22) are provided with a first magnetic groove (27), a support rod (23) is detachably mounted on the circuit board (20), a magnetic disk (24) is fixed in the middle of the support rod (23), and a second magnetic groove (28) is provided on the bottom end surface of the magnetic disk (24) and the inner bottom of the displacement groove (22).

3. The UAV speed sensing control device according to claim 2, characterized in that: The second magnetic element (33) and the first magnetic element (34) are distributed on the six end faces of the mass block (30), and are both divided into two parts, wherein the outer parts of both are magnetic blocks, the outer peripheral side of the part close to the inner side of the second magnetic element (33) is provided with a thread, which is connected to the inner wall thread of the rotating ring (32), and the upper end face of the part close to the inner side of the first magnetic element (34) is provided with an end face thread, which cooperates with the end face of the rotating ring (32).

4. The UAV speed sensing control device according to claim 3, characterized in that: Magnetic strips are provided in the first magnetic slot (27) and the second magnetic slot (28), and correspond one-to-one with the second magnetic element (33) and the first magnetic element (34), and the magnetism of each pair of corresponding magnetic parts is the same.

5. The UAV speed sensing control device according to claim 1, characterized in that: The circuit board (20) is also provided with a detection slot (25), in which at least two distance sensors (26) are arranged, and detection plates (31) are fixed to both side end surfaces of the mass block (30), and the detection plates (31) slide in the detection slot (25).

6. The drone speed sensing control device according to claim 1, characterized in that: A micro motor (35) is also installed in the mass block (30), and a gear is provided on the micro motor (35), and the gear is meshed with the rotating ring (32).

7. The UAV speed sensing control device according to claim 1, characterized in that: The angular velocity sensor group comprises a mounting plate (40) mounted on the mass block (30), a gyroscope housing (41) being fixed on the mounting plate (40), and a rotor (42) being movably connected inside the gyroscope housing (41).

8. The UAV speed sensing control device according to claim 1, characterized in that: The sensor housing comprises an element housing (21), wherein the element housing (21) is sleeved directly above the mass block (30) and is movably connected to the circuit board (20).

9. The drone speed sensing control device according to claim 1, characterized in that: The circuit board (20) is also equipped with a flight control module, an electric control module, a power supply, a receiver, a monitoring module and a positioning module.

10. The UAV speed sensing control device according to claim 1, characterized in that: Four symmetrically arranged supporting feet (11) are installed on both sides of the drone housing (10), and motors and propeller blades are arranged on the supporting feet (11).

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