Swimming pool robot capable of freely submerging and floating and control method

Abstract

The invention relates to the technical field of automation equipment, and provides a free snorkeling swimming pool robot and a control method.The free snorkeling swimming pool robot comprises a robot body and further comprises a snorkeling module, and the snorkeling module comprises a power supply device, a driving device, a rotating block and a steering engine; the power supply device is used for supplying power to the driving device; the steering engine comprises a steering engine body and a steering engine shaft which are connected, and the steering engine body is connected to the machine main body; the driving device comprises a machine body and an output shaft which are connected, the machine body is connected to the steering engine shaft, and the output shaft is connected with the rotating block; the driving device drives the rotating block to rotate so that the machine body can be kept balanced when the steering engine shaft is driven to rotate, and the steering engine shaft reversely drives the steering engine body and the machine body to rotate. The robot has the advantages that through the law of conservation of angular momentum and cooperation of the motor and the steering engine, the robot body can rise or lower the head, floating or diving is achieved under cooperation of the advancing power mechanism of the robot body, and flexibility and adaptability are improved.

Description

Technical Field

[0001] The present invention relates to the field of automated equipment, and more particularly, to a free-diving and floating pool robot and a control method therefor. Background Art

[0002] With the development of intelligent hardware technology, intelligent cleaning devices have been widely applied in various fields of production and life, and pool robots are one of them. As a representative of modern intelligent cleaning technology, a pool robot is an efficient device that realizes full-automatic pool cleaning through an autonomous navigation and intelligent sensing system. It integrates multiple disciplines such as mechanical engineering, fluid dynamics, and artificial intelligence, and can complete all-round cleaning of the pool bottom, wall surface, and water line without relying on manual intervention. Pool robots have the advantages of high-efficiency cleaning, intelligent control, energy conservation and environmental protection, and safety and durability. In practical applications, this device has extended from private family pools to diverse scenarios.

[0003] However, existing pool robots are difficult to perform actions such as raising or lowering the head, cannot perform free floating and sinking, have poor flexibility, are prone to problems such as being trapped by a drain cover or getting stuck on a step, and at the same time are difficult to perform wall climbing cleaning, resulting in limited cleaning effects. Summary of the Invention

[0004] The present invention aims to overcome at least one defect (shortcoming) of the above-mentioned existing technology, and provides a free-diving and floating pool robot and a control method therefor, so as to improve the flexibility of the pool robot.

[0005] The technical solution adopted by the present invention is to provide a free-floating and diving pool robot, which includes a machine body and further includes a floating and diving module. The floating and diving module includes a power supply device, a driving device, a rotating block, and a servo motor.

[0006] The power supply device is used to provide power for the driving device.

[0007] The servo motor includes a servo motor body and a servo motor shaft connected thereto. The servo motor body is connected to the machine body.

[0008] The driving device includes a fuselage and an output shaft connected thereto. The fuselage is connected to the servo motor shaft, and the output shaft is connected to the rotating block.

[0009] The driving device drives the rotating block to rotate, so that the fuselage maintains balance when the servo motor shaft is driven to rotate, and the servo motor shaft reversely drives the servo motor body and the machine body to rotate.

[0010] In this technical solution, the servo motor body drives the servo motor shaft to rotate, and the fuselage drives the output shaft to rotate; the machine body is a structure with a forward power mechanism, such as a water pump.

[0011] According to the law of conservation of angular momentum, the direction of the angular momentum of a rotating object is consistent with the direction of its rotation axis. The greater the angular momentum, that is, the faster the rotation speed, the more the object remains motionless. The balance between the conservation of angular momentum and the action of torque is manifested as the fixed axis of the gyroscopic effect. The rotation axis of a rapidly rotating object has the characteristics of resisting external interference and maintaining a stable direction. In this technical solution, the driving device drives the rotating block to rotate. Due to the gyroscopic effect, the fuselage connected to the output shaft will maintain balance, and the rotating steering gear shaft will be fixed. According to Newton's third law, the steering gear body connected to the steering gear stator will be subjected to reverse torque and rotate in the opposite direction, thereby driving the entire machine body to rotate, realizing the head-up or head-down of the machine body, and realizing floating or diving with the cooperation of the forward power mechanism of the machine body, improving flexibility and adaptability, realizing the free wall-climbing activity of the swimming pool robot, and the cleaning effect is more comprehensive, meeting more cleaning needs; at the same time, free floating and diving also solve the problems of drain cover getting out of trouble and getting stuck on steps; compared with the traditional manual intervention snorkeling, this technical solution improves the automation of the swimming pool robot, improves work efficiency, and saves manpower.

[0012] The servo and the machine body can be detachably connected or fixedly connected. The fuselage of the drive device and the servo shaft can be detachably connected or fixedly connected, preferably fixedly connected. When the servo shaft rotates, there will be a reaction force between the fuselage and the servo shaft in the process of maintaining balance. If the two are detachably connected, the two may move relative to each other, resulting in increased control difficulty, so the firmness of the detachable connection is required to be high. Therefore, the fuselage and the servo shaft are preferably fixedly connected to reduce the difficulty of installation and ensure that the movement of the two can be accurately controlled, so as to more accurately control the angle of the machine body's head up or head down.

[0013] Furthermore, the driving device is a motor, and the rotation speed of the motor is 2000r / min to 3000r / min.

[0014] In this technical solution, the faster the rotating block rotates, the more significant the gyroscopic effect is, the stronger the stability of the motor output shaft is, and the stability of the motor body is improved. If the rotation speed of the rotating block is too low, the stability of the motor is insufficient, and the motor body is easy to tilt under the drive of the steering gear shaft, and the fixing effect on the steering gear shaft is weakened, which will affect the reaction force on the steering gear body and prevent it from reaching the target angle; if the rotation speed of the rotating block is too high, it will cause energy waste. Therefore, the reasonable setting of the motor speed can ensure that the motor body maintains balance while saving energy, and facilitate the steering gear to rotate to the target angle, thereby adjusting the rotation angle of the machine body.

[0015] Furthermore, the torque of the steering gear is 0.8 to 1.5 Nm. Appropriate setting of the steering gear torque enables the machine body to be smoothly lifted or lowered while saving energy. Preferably, the torque of the steering gear is 1 Nm.

[0016] Further, the power supply device includes a wireless input coil and a wireless output coil. The wireless input coil is connected to the machine body, and the wireless output coil is fixedly connected to the servo shaft or the fuselage.

[0017] In this technical solution, when the wireless output coil is powered on, the wireless input coil will generate an induced voltage and an induced current, thereby supplying power to the driving device. The wireless output coil can be connected to the servo shaft or the fuselage, as long as it can supply power to the driving device. Since the servo shaft will drive rotation, the fixedly connected setting can prevent the relative movement between the wireless output coil and the servo shaft or the fuselage from affecting power supply, thus ensuring the smooth operation of the driving device.

[0018] The wireless input coil and the wireless output coil form a wireless charging coil to supply power to the driving device. There is no contact between the two coils. When the wireless output coil rotates with the servo shaft or the fuselage, there will be no wear between the two coils, and it can still supply power to the driving device normally, ensuring the normal rotation of the rotating block, thereby ensuring the normal floating and diving of the machine body. At the same time, the probability of wear of the power supply device is reduced, and the service life of the power supply device is prolonged.

[0019] Further, the snorkeling module further includes a fixed seat, and the servo body is connected to the machine body through the fixed seat.

[0020] In this technical solution, the fixed seat is connected to the machine body, and the servo body and the fixed seat can be detachably connected or fixedly connected. The servo body is connected to the machine body through the fixed seat, which can improve the firmness of the connection. Preferably, the two are detachably connected, which is convenient for the repair and maintenance of the servo body.

[0021] Further, a vertical plate assembly is connected to the fixed seat. The vertical plate assembly includes at least a first vertical plate and a second vertical plate, and both ends of the servo body are respectively fixed to the first vertical plate and the second vertical plate.

[0022] In this technical solution, the number of vertical plates included in the vertical plate assembly can be 2, 3, 4, etc. The setting of multiple vertical plates can increase the stress points when the servo body drives the machine body to rotate, ensuring the stability of the servo body driving the machine body to rotate. Compared with the middle part of the servo body being fixed to the vertical plate, in this solution, the positions of the vertical plates are set more labor-saving and have higher stability, that is, the servo body can drive the machine body to rotate with less force, saving energy.

[0023] Further, a fixing ring is connected to the servo shaft, and the fixing ring is sleeved and fixed on the outside of the fuselage.

[0024] In this technical solution, the fuselage is fixed to the servo shaft through a fixing ring. Compared with directly fixing the fuselage on the servo shaft, the contact area between the fixing ring and the fuselage in this solution is larger, which improves the firmness of the connection between the motor and the servo shaft, enhances the fixing effect of the fuselage on the servo shaft, and at the same time ensures the smooth movement of the servo to drive the machine body to tilt up or down. The length of the circular ring is preferably 1 / 3 to 2 / 3 of the length of the fuselage, which saves materials and reduces the overall weight while ensuring a firm connection with the fuselage.

[0025] Further, the snorkeling module is arranged at the front of the machine body.

[0026] Further, it also includes a monitoring device. The monitoring device monitors the inclination degree of the machine body and adjusts the rotation angle of the servo body; the monitoring device monitors the inclination degree of the fuselage and adjusts the rotation speed of the rotating block or the torsion angle of the servo shaft.

[0027] In this technical solution, when the pool robot is operating underwater, it will be subjected to an upward thrust or a downward pressure from the water body fluctuations. When the monitoring device monitors that the inclination degree of the machine body does not reach the target angle or is inclined excessively, it controls the machine body to rotate to the target angle by adjusting the rotation angle of the servo, thus avoiding the influence of water body fluctuations, further ensuring that the pool robot snorkels at a predetermined angle, and improving the control accuracy.

[0028] The monitoring device also monitors the inclination degree of the fuselage at the same time. If the fuselage is not in a balanced state, it adjusts the rotation speed of the rotating block or the torsion angle of the servo shaft to keep the fuselage balanced, ensuring its fixing effect on the servo shaft, better controlling the rotation angle of the servo itself, and thus further accurately regulating the rotation angle of the machine body.

[0029] Another object of the present invention is to provide a control method for a pool robot, which is applied to any of the above free snorkeling pool robots. The pool robot includes a snorkeling module and a monitoring device. The control method includes:

[0030] The driving device receives an instruction to start and drives the rotating block to rotate;

[0031] The servo receives an instruction to start and drives the servo shaft to rotate, and the servo body drives the machine body to rotate;

[0032] The monitoring device monitors the inclination degree of the machine body in real time and adjusts the rotation angle of the servo to keep the machine body at the target angle; at the same time, the monitoring device monitors the inclination degree of the fuselage in real time and adjusts the rotation speed of the rotating block or the torsion angle of the servo shaft to keep the fuselage balanced.

[0033] Compared with the prior art, the beneficial effects of the present invention are:

[0034] (1) The present invention realizes the raising or lowering of the machine body through the law of conservation of angular momentum, the coordination of the motor and the servo, and realizes the floating or diving of the machine body with the cooperation of the forward power mechanism of the machine body, thereby improving flexibility and adaptability, realizing the free wall-crawling activity of the swimming pool robot, and achieving a more comprehensive cleaning effect and meeting more cleaning needs; at the same time, the free floating and diving also solves the problems of the drain cover getting out of trouble and getting stuck on the steps; compared with the traditional manual intervention snorkeling, the present technical solution improves the automation of the swimming pool robot, improves the work efficiency, and saves manpower.

[0035] (2) The present invention monitors the inclination of the machine body in real time through a monitoring device, adjusts the rotation angle of the machine body in time, and accurately controls the tilting and sinking of the head; and monitors in real time whether the fuselage is tilted to ensure its fixing effect on the steering gear shaft, and further accurately adjusts the rotation angle of the machine body. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is the swimming pool robot with a snorkeling module of Example 1.

[0037] Figure 2 This is a structural explosion diagram of the snorkeling module of Example 1.

[0038] Figure 3 Schematic diagram of the structure of the driving device and rotating block of Example 1.

[0039] Figure 4 This is a schematic diagram of the structure of the fixing base and the steering gear of Example 1.

[0040] Figure numerals: machine body 100, driving device 200, fuselage 210, output shaft 220, power supply device 300, wireless output coil 310, wireless input coil 320, rotating block 400, servo 500, servo body 510, servo shaft 520, fixing ring 521, fixing seat 600, first vertical piece 610, second vertical piece 620. DETAILED DESCRIPTION

[0041] The drawings of the present invention are only for illustrative purposes and should not be construed as limiting the present invention. In order to better illustrate the following embodiments, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; it is understandable to those skilled in the art that some well-known structures and their descriptions in the drawings may be omitted.

[0042] Example 1

[0043] refer to Figures 1 to 4The present embodiment provides a free snorkeling swimming pool robot, including a machine body 100 and a snorkeling module, wherein the snorkeling module includes a power supply device 300, a driving device 200, a rotating block 400 and a steering gear 500; the power supply device 300 is used to provide power to the driving device 200; the steering gear 500 includes a connected steering gear body 510 and a steering gear shaft 520, wherein the steering gear body 510 is connected to the machine body 100; the driving device 200 includes a connected fuselage 210 and an output shaft 220, wherein the fuselage 210 is connected to the steering gear shaft 520, and the output shaft 220 is connected to the rotating block 400; the driving device 200 drives the rotating block 400 to rotate so that the fuselage 210 keeps balance when the steering gear shaft 520 is driven to rotate, and the steering gear shaft 520 reversely drives the steering gear body 510 and the machine body 100 to rotate.

[0044] The servo body 510 drives the servo shaft 520 to rotate, and the fuselage 210 drives the output shaft 220 to rotate; the machine body 100 is a structure with a forward power mechanism, such as a water pump.

[0045] The driving device 200 drives the rotating block 400 to rotate. Due to the law of conservation of angular momentum, the fuselage 210 connected to the output shaft 220 will maintain balance and fix the rotating servo shaft 520. At this time, the servo body 510 of the servo 500 is subjected to reverse torque and rotates in the opposite direction, thereby driving the entire machine body 100 to rotate, and the machine body 100 can be tilted up or down, and with the cooperation of the forward power mechanism of the machine body 100, it can float or dive, thereby improving flexibility and adaptability, realizing the free wall-crawling activity of the swimming pool robot, and the cleaning effect is more comprehensive, meeting more cleaning needs; at the same time, free floating and diving also solves the problems of drain cover getting out of trouble, getting stuck on steps, etc.; compared with traditional manual intervention snorkeling, this technical solution improves the automation of the swimming pool robot, improves work efficiency, and saves manpower.

[0046] The servo 500 and the machine body 100 can be detachably connected or fixedly connected. The fuselage 210 and the servo shaft 520 of the drive device 200 can be detachably connected or fixedly connected, preferably fixedly connected. When the servo shaft 520 rotates, there will be a reaction force between the fuselage 210 and the servo shaft 520 in the process of maintaining balance. If the two are detachably connected, the two may move relative to each other, resulting in increased control difficulty, so the firmness of the detachable connection is required to be high. Therefore, the fuselage 210 and the servo shaft 520 are preferably fixedly connected to reduce the difficulty of installation, and ensure that the movement of the two can be accurately controlled, and the angle of the machine body 100 to look up or down can be more accurately controlled.

[0047] The rotating block 400 is preferably a circular block. The output shaft 220 passes through the center of the circular block and is connected thereto. The material of the circular block is preferably stainless steel.

[0048] The driving device 200 is a motor, and the rotational speed of the motor is 2000 r / min to 3000 r / min. The torque of the servo 500 is 0.8 to 1.5 N·m.

[0049] The faster the rotating block 400 rotates, the more significant the gyroscopic effect, the stronger the stability of the motor output shaft 220, and the higher the stability of driving the motor body 210. If the rotation speed of the rotating block 400 is too low, the stability of the motor is insufficient. Under the drive of the servo shaft 520, the motor body 210 is prone to tilt, the fixing effect on the servo shaft 520 is weakened, and the reaction force received by the servo body 510 will be affected, making it impossible to reach the target angle. If the rotation speed of the rotating block 400 is too high, it will cause waste of energy. Therefore, a reasonable setting of the motor speed can ensure that the motor body 210 maintains balance while saving energy, facilitating the servo 500 to rotate to the target angle, thereby adjusting the rotation angle of the machine main body 100.

[0050] The snorkeling module further includes a fixed seat 600. The servo body 510 is connected to the machine main body 100 through the fixed seat 600. A vertical plate assembly is connected to the fixed seat 600. The vertical plate assembly includes at least a first vertical plate 610 and a second vertical plate 620. Two ends of the servo body 510 are respectively fixed to the first vertical plate 610 and the second vertical plate 620.

[0051] In this technical solution, the number of vertical plates included in the vertical plate assembly can be 2, 3, 4, etc. The setting of multiple vertical plates can increase the stress points when the servo body drives the machine main body to rotate, ensuring the stability of the servo body driving the machine main body to rotate. Compared with the middle part of the servo body being fixed to the vertical plate, in this solution, the two ends of the servo body are respectively fixed to the first vertical plate 610 and the second vertical plate 620. The vertical plate position is set more labor-saving and has higher stability, that is, the servo body can drive the machine main body to rotate with less force, saving energy.

[0052] Specifically, the machine main body 100 is provided with a receiving space matching the fixed seat 600, and the fixed seat 600 is embedded in the receiving space, so that the fixed seat 600 does not occupy too much space of the machine main body 100, making the overall structure compact. Circular holes are provided in the upper parts of the first vertical plate 610 and the second vertical plate 620. A plurality of fixing holes are further provided around the circular hole on the second vertical plate 620. The servo 500 passes through the circular hole, so that the first vertical plate 610 is sleeved and connected to the servo body 510; the second vertical plate 620 is sleeved on the servo shaft 520, and a plurality of fasteners pass through the fixing holes to fix the second vertical plate 620 to the end face of the servo body 510.

[0053] A fixing ring 521 is connected to the servo shaft 520, and the fixing ring 521 is sleeved and fixed on the outer side of the fuselage 210.

[0054] The fuselage 210 is fixed to the servo shaft 520 through the fixing ring 521. Compared with the case where the fuselage 210 is directly fixed on the servo shaft 520, in this solution, the contact area between the fixing ring 521 and the fuselage 210 is larger, which improves the firmness of the connection between the motor servo shaft 520, enhances the fixing effect of the fuselage 210 on the servo shaft 520, and at the same time ensures the smooth movement of the servo 500 to drive the machine body 100 to tilt up or down. The length of the ring is preferably 1 / 3 - 2 / 3 of the length of the fuselage 210, which saves materials and reduces the overall weight while ensuring a firm connection with the fuselage 210.

[0055] The power supply device 300 includes a wireless input coil 320 and a wireless output coil 310. The wireless input coil 320 is connected to the machine body 100, and the wireless output coil 310 is fixedly connected to the servo shaft 520, the fuselage 210 or the fixing ring 521.

[0056] When the wireless output coil 310 is energized, an induced voltage and an induced current will be generated in the wireless input coil 320, thereby supplying power to the driving device 200. The wireless output coil 310 can be connected to the servo shaft 520, the fuselage 210 or the fixing ring 521, as long as it can supply power to the driving device 200. Since the servo shaft 520 will drive rotation, the fixed connection setting can prevent the relative movement between the wireless output coil 310 and the servo shaft 520 or the fuselage 210 from affecting the power supply, thus ensuring the smooth operation of the driving device 200.

[0057] The wireless input coil 320 and the wireless output coil 310 form a wireless charging coil to supply power to the driving device 200. There is no contact between the two coils. When the wireless output coil 310 rotates with the servo shaft 520 or the fuselage 210, there will be no wear between the two coils, and still can supply power to the driving device 200 normally, ensuring the normal rotation of the rotating block 400, thus ensuring the normal floating and diving of the machine body 100, and at the same time reducing the probability of wear of the power supply device 300 and extending the service life of the power supply device 300.

[0058] The snorkeling module is arranged at the front part of the machine body 100.

[0059] It further includes a monitoring device (not shown in the figure). The monitoring device monitors the inclination degree of the machine body 100 and adjusts the rotation angle of the servo body 510; the monitoring device monitors the inclination degree of the fuselage 210 and adjusts the rotation speed of the rotating block 400 or the torsion angle of the servo shaft 520.

[0060] Specifically, the monitoring device is, for example, an IMU chip (Inertial Measurement Unit chip), which can be one or two, and respectively monitors the servo body 510 and the fuselage 210.

[0061] Embodiment 2

[0062] This embodiment provides a control method for a pool robot, which is applied to the free snorkeling pool robot provided in Embodiment 1. The pool robot includes a snorkeling module and a monitoring device. The control method includes:

[0063] The driving device receives an instruction to start and drives the rotating block to rotate.

[0064] The servo receives an instruction to start and drives the servo shaft to rotate. The servo body drives the machine body to rotate.

[0065] The monitoring device continuously monitors the inclination degree of the machine body and adjusts the rotation angle of the servo to keep the machine body at the target angle. At the same time, the monitoring device continuously monitors the inclination degree of the fuselage and adjusts the rotation speed of the rotating block or the torsion angle of the servo shaft to keep the fuselage balanced.

[0066] When the pool robot is operating underwater, it will be subject to an upward thrust or a downward pressure from the water body fluctuations. When the monitoring device detects that the inclination degree of the machine body does not reach the target angle or is inclined too much, the rotation angle of the servo is adjusted to control the machine body to rotate to the target angle, thus avoiding the influence of water body fluctuations and further ensuring that the pool robot snorkels at a predetermined angle and improving the control accuracy.

[0067] The monitoring device also monitors the inclination degree of the fuselage. If the fuselage is inclined and not in a balanced state, the rotation speed of the rotating block or the torsion angle of the servo shaft is adjusted to keep the fuselage balanced and ensure its fixing effect on the servo shaft.

[0068] Obviously, the above embodiments of the present invention are only examples for clearly illustrating the technical solutions of the present invention, rather than limitations on the specific implementation manners of the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the claims of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. A free-diving pool robot, comprising a machine body, characterized in that, It also includes a snorkeling module, and the snorkeling module includes a power supply device, a driving device, a rotating block and a servo motor; The power supply device is used to provide power for the driving device; The servo motor includes a servo motor body and a servo motor shaft connected thereto, and the servo motor body is connected to the machine body; The driving device includes a fuselage and an output shaft connected thereto, the fuselage is connected to the servo motor shaft, and the output shaft is connected to the rotating block; The driving device drives the rotating block to rotate, so that the fuselage maintains balance when the servo motor shaft is driven to rotate, and the servo motor shaft drives the servo motor body and the machine body to rotate in the reverse direction.

2. The free-diving pool robot according to claim 1, characterized in that The driving device is a motor, and the rotation speed of the motor is 2000 r / min to 3000 r / min.

3. The free-diving pool robot according to claim 1, characterized in that, The torque of the servo motor is 0.8 to 1.5 N·m.

4. The free-diving pool robot according to claim 1, characterized in that, The power supply device includes a wireless input coil and a wireless output coil, the wireless input coil is connected to the machine body, and the wireless output coil is fixedly connected to the servo motor shaft or the fuselage.

5. The free-diving pool robot according to claim 1, wherein, The snorkeling module further includes a fixing seat, and the servo motor body is connected to the machine body through the fixing seat.

6. The free-diving pool robot according to claim 5, characterized in that A vertical plate assembly is connected to the fixing seat, and the vertical plate assembly includes at least a first vertical plate and a second vertical plate, and both ends of the servo motor body are respectively fixed to the first vertical plate and the second vertical plate.

7. The free-diving pool robot according to claim 1, characterized in that, A fixing ring is connected to the servo motor shaft, and the fixing ring is sleeved and fixed on the outer side of the fuselage.

8. The free-diving pool robot according to claim 1, characterized in that, The snorkeling module is arranged at the front part of the machine body.

9. The free-diving pool robot according to claim 1, characterized in that, It also includes a monitoring device, and the monitoring device monitors the inclination degree of the machine body and adjusts the rotation angle of the servo motor body; the monitoring device monitors the inclination degree of the fuselage and adjusts the rotation speed of the rotating block or the torsion angle of the servo motor shaft.

10. A control method for a pool robot, applied to the pool robot for free snorkeling according to any one of claims 1 to 9, wherein the pool robot includes a snorkeling module and a monitoring device, characterized in that, The control method includes: The driving device receives an instruction to start and drives the rotating block to rotate; The servo motor receives an instruction to start and drives the servo motor shaft to rotate, and the servo motor body drives the machine body to rotate; The monitoring device monitors the inclination degree of the machine body in real time, adjusts the rotation angle of the servo motor to keep the machine body at the target angle; at the same time, the monitoring device monitors the inclination degree of the fuselage in real time, adjusts the rotation speed of the rotating block or the torsion angle of the servo motor shaft to keep the fuselage balanced.

Images