Miniature unmanned aerial vehicle

Abstract

The invention relates to the technical field of aviation device detection, and discloses a miniature unmanned aerial vehicle, the miniature unmanned aerial vehicle comprises a rack, a rotor wing mechanism, a flapping wing mechanism and an image acquisition mechanism, the rotor wing mechanism is arranged at the top of the rack, the rotor wing mechanism comprises a rotor wing driving assembly and a blade assembly, and the rotor wing driving assembly is used for driving rotor wing blades to rotate on the horizontal plane. The flapping wing mechanism is arranged on the rack, the flapping wing mechanism comprises a flapping wing driving assembly and at least two flapping wing blades, the two flapping wing blades are located on the two sides of the rack respectively and located below the rotor wing blade, any flapping wing blade and the rotor wing blade form an inclined angle, and the flapping wing driving assembly is used for driving the flapping wing blades on the two sides to swing around the vertical axis in a reciprocating mode. The image acquisition mechanism is arranged on the side end face of the rack. The flight action of the miniature unmanned aerial vehicle is more accurate and flexible, so that the miniature unmanned aerial vehicle can adapt to a complex structure in an engine, the operability of detection in a narrow channel is improved, and the accuracy of blade damage detection is improved.

Description

Technical Field

[0001] This application relates to the field of aviation device testing technology, and in particular to a micro unmanned aerial vehicle (UAV). Background Technology

[0002] As the core power component of an aircraft, the internal blades of an aero engine (such as compressor blades and turbine blades) are subjected to harsh environments of high temperature, high pressure, and high load for extended periods. These blades are highly susceptible to damage such as crushing, denting, scratches, and curling, which can affect the normal operation of the engine. Therefore, it is necessary to promptly inspect the condition of the blades. Since directly disassembling the engine for inspection would consume a significant amount of manpower and resources, a borescope is often used in actual testing.

[0003] In related technologies, the operation of borehole detectors relies entirely on the operator moving and rotating the probe wire to adjust the position of the probe head, which is labor-intensive. Furthermore, the probe of the borehole detector will sag significantly under the influence of gravity, creating a certain visual blind spot. This makes it impossible to fully detect hidden damage on the blade surface, increasing the difficulty of inspecting blade damage. Summary of the Invention

[0004] This application aims to address at least one of the technical problems existing in the prior art or related technologies.

[0005] This application proposes a micro unmanned aerial vehicle (UAV) comprising: a frame, a rotor mechanism, a flapping-wing mechanism, and an image acquisition mechanism. The rotor mechanism is located on top of the frame and includes a rotor drive assembly and a blade assembly. The rotor drive assembly drives the rotor blades to rotate in a horizontal plane. The flapping-wing mechanism is located on the frame and includes a flapping-wing drive assembly and at least two flapping-wing blades. The two flapping-wing blades are located on opposite sides of the frame and below the rotor blades. Each flapping-wing blade forms an angle with the rotor blade. The flapping-wing drive assembly drives the two flapping-wing blades on both sides to reciprocate around a vertical axis. The image acquisition mechanism is located on the side end face of the frame.

[0006] In some technical solutions provided in this application, the rotor blade includes an upper blade and a lower blade, and the blade assembly includes an upper rotor shaft and a lower rotor shaft. The upper rotor shaft and the lower rotor shaft are respectively connected to the upper blade and the lower blade. The lower rotor shaft is sleeved on the outside of the upper rotor shaft. The rotor drive assembly is used to drive the upper rotor shaft and the lower rotor shaft to rotate in opposite directions.

[0007] In some technical solutions provided in this application, the blade assembly further includes: an upper support, a stabilizer bar, and a stabilizing bar. The upper support is rotatably connected to the upper rotor shaft, and the upper blades are located at the ends of the upper support. The stabilizer bar is rotatably connected to the upper rotor shaft and passes through the upper rotor shaft radially. The two ends of the stabilizing bar are rotatably connected to the upper support and the stabilizer bar, respectively.

[0008] In some of the technical solutions provided in this application, the blade assembly further includes: a mating sleeve, which is provided on the top of the upper rotor shaft, and the upper support is provided with a spherical groove, into which the top of the upper rotor shaft extends.

[0009] In some of the technical solutions provided in this application, the blade assembly further includes: a support shaft, which extends radially out of the upper rotor shaft and is connected to the upper support.

[0010] In some technical solutions provided in this application, the rotor drive assembly includes an upper drive component and a lower drive component, which are mounted on the frame and are used to drive the upper rotor shaft and the lower rotor shaft to rotate in opposite directions, respectively. The micro-UAV also includes a control device for controlling the operation of the upper drive component and the lower drive component.

[0011] In some technical solutions provided in this application, the rotor drive assembly further includes: an upper drive gear, an upper transmission gear, a lower drive gear, and a lower transmission gear. The upper drive gear is located at the drive end of the upper drive member, the upper transmission gear meshes with the upper drive gear, and the upper transmission gear is connected to the upper rotor shaft. The lower drive gear is located at the drive end of the lower drive member, the lower transmission gear meshes with the lower drive gear, and the lower transmission gear is connected to the lower rotor shaft. The lower transmission gear is located above the upper transmission gear.

[0012] In some technical solutions provided in this application, the flapping wing drive assembly includes: a slide rail, a slider, two first links and two second links. The slide rail is mounted on the frame, the slider is slidably connected to the slide rail, the first end of any first link is rotatably connected to the slider, the second end of any first link is rotatably connected to the first end of the second link, the second link is rotatably connected to the frame, the second ends of the two second links are arranged opposite to each other, and the second end of any second link is provided with flapping wing blades.

[0013] In some of the technical solutions provided in this application, the slider is provided with a groove, and the flapping wing drive assembly also includes: a power component and a crank. The power component is located on the frame, the crank is connected to the power component, and the end of the crank extends into the groove. The power component is used to drive the end of the crank to slide in the groove and drive the slider to slide.

[0014] In some technical solutions provided in this application, the control device further includes: a detection module, a filtering module, and a synovial control module. The detection module is located in the image acquisition mechanism and is used to detect flight information, including acceleration and angular velocity. The filtering module is used to filter out glitch information in the flight information based on a Kalman filter algorithm. The synovial control module is used to control the operation of the rotor drive assembly and the flapping wing drive assembly based on the filtered flight information.

[0015] Compared with related technologies, the present invention has at least the following beneficial effects:

[0016] The micro-UAV provides lift through a rotor mechanism and forward and backward forces through a flapping wing mechanism, separating the rise and fall and forward and backward movements into two independent mechanisms. This makes flight maneuvers more precise and flexible, enabling the micro-UAV to adapt to the complex internal structure of engines and improving the operability of inspections in narrow passages. Compared to traditional borehole probes, the micro-UAV of this application improves the automation level of borehole probing and reduces the workload of operators. Furthermore, the micro-UAV's flight path is more flexible and accurate, reducing visual blind spots in image acquisition and enabling comprehensive detection of hidden damage on the blade surface. This increases the image acquisition range, thereby improving the accuracy of blade damage inspection and reducing the error rate of missed detections in borehole probing. Attached Figure Description

[0017] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of some embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0018] Figure 1 A schematic diagram of the structure of a micro unmanned aerial vehicle according to an embodiment of this application;

[0019] Figure 2 This is a schematic diagram of the rotor mechanism of one embodiment provided in this application;

[0020] Figure 3 A schematic diagram of the structure of a blade assembly according to an embodiment of this application;

[0021] Figure 4 One of the partial structural schematic diagrams of a blade assembly provided in this application;

[0022] Figure 5 A second schematic diagram of a partial structure of a blade assembly according to an embodiment of this application;

[0023] Figure 6 It shows Figure 5 A sectional view cut along section AA.

[0024] Figure 7 A third schematic diagram of a partial structure of a blade assembly according to an embodiment of this application;

[0025] Figure 8 A front view of a flapping wing mechanism according to an embodiment of this application;

[0026] Figure 9 for Figure 8 A schematic diagram of the flapping wing mechanism in the diagram;

[0027] Figure 10 A partial structural schematic diagram of a flapping wing drive assembly according to an embodiment of this application;

[0028] Figure 11 A schematic diagram of the rack structure of one embodiment provided in this application;

[0029] Figure 12 for Figure 11 A front view of the rack in the middle;

[0030] Figure 13 This application provides a schematic diagram of the motion of a flapping wing drive assembly according to one embodiment.

[0031] Figure 14 This is a schematic diagram of the tilting of a blade assembly according to one embodiment of this application.

[0032] in, Figures 1 to 14 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0033] 10. Micro UAV; 100. Frame; 110. Middle plate; 111. Boss; 112. Protruding column; 113. Groove; 120. Mounting base; 200. Rotor mechanism; 210. Rotor drive assembly; 211. Upper drive component; 212. Lower drive component; 213. Upper drive gear; 214. Upper transmission gear; 215. Lower drive gear; 216. Lower transmission gear; 220. Blade assembly; 221. Rotor blade; 2211. Upper blade; 2212. Lower blade; 222. Upper rotor shaft; 223. Lower rotor shaft; 224. 1. Upper support; 2241. Horizontal groove; 2242. Support shaft; 225. Mating sleeve; 226. Balance bar; 2261. Rod shaft; 227. Balance block; 228. Stabilizer bar; 229. Blade shaft; 300. Flapping wing mechanism; 310. Flapping wing drive assembly; 311. Slide rail; 312. Slider; 313. First connecting rod; 314. Second connecting rod; 315. Power component; 316. Crank; 317. Connecting shaft; 318. Connecting plate; 3181. Slide groove; 320. Flapping wing blade; 400. Image acquisition mechanism; 500. Control device. Detailed Implementation

[0034] To better understand the above technical solutions, the technical solutions of the embodiments of this application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this application and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this application, rather than limitations on the technical solutions of this application. In the absence of conflict, the embodiments of this application and the technical features in the embodiments can be combined with each other.

[0035] Embodiments of this application provide a micro unmanned aerial vehicle 10, such as Figure 1 , Figure 2 and Figure 8 As shown, the micro-UAV 10 includes a frame 100, a rotor mechanism 200, a flapping wing mechanism 300, and an image acquisition mechanism 400. The rotor mechanism 200 is located on top of the frame 100 and includes a rotor drive assembly 210 and a blade assembly 220. The rotor drive assembly 210 drives the rotor blades 221 to rotate in a horizontal plane. The flapping wing mechanism 300 is located on the frame 100 and includes a flapping wing drive assembly 310 and at least two flapping wing blades 320. The two flapping wing blades 320 are located on both sides of the frame 100 and below the rotor blades 221. Each flapping wing blade 320 forms an angle with the rotor blade 221. The flapping wing drive assembly 310 drives the two flapping wing blades 320 on both sides to reciprocate around a vertical axis. The image acquisition mechanism 400 is located on the side end face of the frame 100.

[0036] In this embodiment, the micro-UAV 10 is used for the inspection of aero-engine blades. The frame 100 forms the fuselage of the micro-UAV 10 and provides structural support for the rotor mechanism 200, flapping wing mechanism 300, and image acquisition mechanism 400. There are at least two rotor blades 221, which can be two, three, or four, spaced circumferentially. The rotor blades 221 unfold horizontally, and the rotor drive assembly 210 is connected to drive the rotor blades 221, enabling the rotor blades 221 to rotate around a vertical axis, making the plane of rotation of the rotor blades 221 horizontal. The rotor blades 221 have an airfoil structure, with an arc-shaped convex upper surface and a relatively flat or slightly concave lower surface. When the rotor blades 221 rotate along the horizontal plane, they cut through the air, creating a pressure difference. According to Bernoulli's principle, the increased airflow speed above the rotor blades 221 leads to a decrease in air pressure, while the relatively high pressure below the rotor generates lift, thus providing vertical driving force. The rotor blades 221 are located above the frame 100 and are used to raise or lower the frame 100 to control the altitude of the micro-UAV 10. The rotor mechanism 200 provides sufficient lift for the micro-UAV 10, enabling stable takeoff, landing, and hovering maneuvers. Furthermore, the rotor mechanism 200 has a strong load-bearing capacity, allowing the frame 100 to be equipped with an image acquisition mechanism 400, etc.

[0037] Two flapping blades 320 are located on the left and right sides of the frame 100, respectively, and below the rotor blade 221. The flapping blades 320 extend vertically, forming an angle with the rotor blade 221, exemplarily, the angle can be 90°. The flapping drive assembly 310 is connected to the flapping blades 320 on both sides and can drive either flapping blade 320 to swing back and forth around the vertical axis. During the back and forth swinging, the flapping blade 320 pushes the airflow back and forth to obtain horizontal driving force. The flapping blade 320 drives the frame 100 to move back and forth through the back and forth flapping, providing forward and backward force for the micro-UAV 10, making the back and forth movement of the micro-UAV 10 more flexible.

[0038] The front end of the frame 100 is equipped with an image acquisition mechanism 400, which is used to acquire images of the aircraft components to obtain the surface damage status of the aircraft components. For example, the image acquisition mechanism 400 can be a binocular stereo camera. The micro-UAV 10 also includes an image transmission module, which is used to transmit the images acquired by the image acquisition mechanism 400 to a display, so that the operator can accurately observe the aircraft components in real time and adjust the attitude of the micro-UAV 10.

[0039] The micro-UAV 10 provides lift through the rotor mechanism 200 and forward and backward forces through the flapping wing mechanism 300, separating the lifting and backward movements into two independent mechanisms. This makes the flight maneuvers more precise and flexible, enabling the micro-UAV 10 to adapt to the complex internal structure of the engine and improving the operability of inspection in narrow passages. Compared to traditional borescopes, the micro-UAV 10 of this application improves the automation level of borescope inspection and reduces the workload of operators. Furthermore, the flight path of the micro-UAV 10 is more flexible and accurate, reducing the visual blind spots in image acquisition, enabling comprehensive detection of hidden damage on the blade surface, increasing the image acquisition range, and thus improving the accuracy of blade damage inspection and reducing the error rate of missed detections in borescope inspection.

[0040] In some embodiments provided in this application, such as Figure 2 and Figure 3 As shown, the rotor blade 221 includes an upper blade 2211 and a lower blade 2212. The blade assembly 220 includes an upper rotor shaft 222 and a lower rotor shaft 223. The upper rotor shaft 222 and the lower rotor shaft 223 are respectively connected to the upper blade 2211 and the lower blade 2212. The lower rotor shaft 223 is sleeved on the outside of the upper rotor shaft 222. The rotor drive assembly 210 is used to drive the upper rotor shaft 222 and the lower rotor shaft 223 to rotate in opposite directions.

[0041] In this embodiment, the rotor blades 221 are arranged in a manner that is vertically spaced with upper blades 2211 and lower blades 2212. The number of upper blades 2211 and lower blades 2212 is the same. The upper blades 2211 are located on the upper rotor shaft 222, and the lower blades 2212 are located on the lower rotor shaft 223. The lower rotor shaft 223 is sleeved on the outside of the upper rotor shaft 222, so that the lower rotor shaft 223 and the upper rotor shaft 222 are coaxially arranged and extend in the vertical direction. The rotor drive assembly 210 is connected to the upper rotor shaft 222 and the lower rotor shaft 223 respectively, so that when the rotor drive assembly 210 drives the upper rotor shaft 222 and the lower rotor shaft 223 to rotate, it can drive the upper blade 2211 and the lower blade 2212 to rotate in opposite directions around the vertical axis. For example, the upper blade 2211 rotates clockwise and the lower blade 2212 rotates counterclockwise.

[0042] The upper and lower blades rotate around the same axis of rotation in opposite directions, forming a coaxial dual-rotor structure. The anti-torques generated by the upper blade 2211 and the lower blade 2212 are equal in magnitude and opposite in direction, and the anti-torques of the two blades can cancel each other out, keeping the UAV in a balanced state and improving flight stability. Furthermore, when the upper blade 2211 rotates, it accelerates the air downward to form a primary downwash. The lower blade 2212 catches the downwash from the upper blade and further accelerates and compresses it, converting the dispersed airflow energy into a stronger downward thrust. Compared to a single-rotor structure, the dual-rotor structure has a higher lift density, making the micro UAV 10 more capable of carrying heavy loads.

[0043] In some embodiments provided in this application, such as Figure 3 and Figure 7 As shown, the blade assembly 220 further includes an upper support 224, a stabilizer bar 226, and a stabilizing bar 228. The upper support 224 is rotatably connected to the upper rotor shaft 222, and the upper blade 2211 is located at the end of the upper support 224. The stabilizer bar 226 is rotatably connected to the upper rotor shaft 222 and passes through the upper rotor shaft 222 radially. The two ends of the stabilizing bar 228 are rotatably connected to the upper support 224 and the stabilizer bar 226, respectively.

[0044] In this embodiment, a balancing method for the rotor mechanism 200 is provided. For example... Figure 4 As shown, a blade shaft 229 is provided in the transverse groove 2241 of the upper support 224. The end of the upper blade 2211 extends into the transverse groove 2241, and the blade shaft 229 passes through the through hole of the upper blade 2211, so that the upper blade 2211 is fixed to the end of the upper support 224 by interference fit. The upper support 224 can rotate relative to the upper rotor shaft 222 to adjust the tilt angle of the upper blade 2211 with respect to the horizontal plane, thereby adjusting the angle of attack of the upper blade 2211.

[0045] A balance bar 226 is located below the upper support 224, and the balance bar 226 is vertically spaced from the upper support 224, extending radially outward along the upper rotor shaft 222. A shaft 2261 passes through the upper rotor shaft 222, connecting the upper balance bar 226 to the upper rotor shaft 222 via the shaft 2261. When the rotor mechanism 200 is running, the balance bar 226 rotates with the upper rotor shaft 222, and the balance bar 226 is rotatably connected to the upper rotor shaft 222. For example, the balance bar 226 is connected to the upper rotor shaft 222 via a rod end spherical bearing, which allows the end of the balance bar 226 to swing up and down. Under the action of centrifugal force and high-speed rotation, the balance bar 226 generates a gyroscopic effect, meaning that the balance bar 226 always tends to maintain its established stable state, forming its self-stabilizing characteristic. There can be two balance bars 226, located on the left and right sides of the upper rotor shaft 222, respectively.

[0046] like Figure 14 As shown, in stable flight, the upper rotor shaft 222 is vertical, the plane of rotation of the stabilizer bar 226 is perpendicular to the upper rotor shaft 222 and parallel to the plane of rotation of the upper blades 2211, and the stabilizer bar 228 extends vertically. In this state, the stabilizer bar 226 maintains the horizontality of its plane of rotation and the stability of its axis of rotation. In tilted flight, the upper rotor shaft 222 tilts relative to the vertical direction. Due to gyroscopic precession, the stabilizer bar 226 rotates forward / backward relative to the upper support 224. The bottom end of the stabilizer bar 228 follows the counterweight bar 226 in rotating forward / backward, causing the stabilizer bar 228 to tilt vertically. When the stabilizer bar 228 pulls the upper support 224 to rotate, it changes the pitch, thereby increasing or decreasing the angle of attack and increasing or decreasing the lift. For example, when the fuselage tilts to the right, the left upper blade 2211 will increase the pitch, and the right upper blade 2211 will decrease the pitch. The resulting total lift vector tilts to the left, gradually correcting the rightward tilt of the fuselage. The stabilizer bar 226 acts on the connected stabilizing bar 228, causing the stabilizing bar 228 and the stabilizer bar 226 to tend to maintain the established self-stabilized state. The self-stabilizing characteristics of the stabilizer bar 226 improve flight attitude, enhancing the self-stability and safety of the micro-UAV 10. The stabilizer bar 226 can stabilize the fuselage from minor disturbances, ensuring the micro-UAV 10's resistance to turbulence. Compared to complex balancing mechanisms such as momentum wheels, the stabilizer bar 226 reduces overall size and weight, improving energy efficiency.

[0047] For example, balance blocks 227 are respectively set at both ends of the balance bar 226. The balance blocks 227 extend outward along the radial direction of the balance bar 226, increasing the mass at both ends of the balance bar 226. It should be noted that the strength of the gyroscopic effect, i.e., the magnitude of angular momentum, depends on the mass of the rotating object and the radius of its mass distribution. The balance blocks 227 effectively increase the angular momentum of the balance bar 226, enhance the gyroscopic effect generated by the balance bar 226, and can quickly adjust the center of gravity of the fuselage, ensuring stable movement of the entire fuselage and improving the balancing ability of the balance bar 226.

[0048] In some embodiments provided in this application, such as Figure 5 , Figure 6 and Figure 7 As shown, the blade assembly 220 also includes a mating sleeve 225, which covers the top of the upper rotor shaft 222, and the upper support 224 is provided with a spherical groove, into which the top of the upper rotor shaft 222 extends.

[0049] In this embodiment, a mating method is provided between the upper rotor shaft 222 and the upper support 224. A spherical groove is provided in the middle of the upper support 224, and the size of the mating sleeve 225 is adapted to the spherical groove. The top of the upper rotor shaft 222 extends into the spherical groove and engages with the upper support 224 through the mating sleeve 225, reducing friction between the upper rotor shaft 222 and the upper support 224 and preventing damage to the upper rotor shaft 222 due to excessive fatigue, thus affecting the overall service life of the micro-UAV 10.

[0050] In some embodiments provided in this application, such as Figure 6 As shown, the blade assembly 220 also includes a support shaft 2242, which extends radially out of the upper rotor shaft 222 and is connected to the upper support 224.

[0051] In this embodiment, a connection method is provided between the upper rotor shaft 222 and the upper support 224. The support shaft 2242 is perpendicular to the upper rotor shaft 222, and both ends of the support shaft 2242 extend out from the upper rotor shaft 222 and the mating sleeve 225, respectively, and connect to the upper support 224. When the upper rotor shaft 222 rotates, it can drive the upper support 224 to rotate through the support shaft 2242. The installation position of the upper support 224 is determined by the support shaft 2242, which reduces the impact of the mating sleeve 225 on the installation of the upper support 224, and improves the installation convenience and stability of the upper support 224.

[0052] For example, the blade assembly 220 also includes a lower support, with a lower blade 2212 disposed at the end of the lower support, and the lower support is interference-fitted with the lower rotor shaft 223.

[0053] In some embodiments provided in this application, such as Figure 2As shown, the rotor drive assembly 210 includes an upper drive member 211 and a lower drive member 212, which are mounted on the frame 100 and are used to drive the upper rotor shaft 222 and the lower rotor shaft 223 to rotate in opposite directions, respectively. The micro UAV 10 also includes a control device 500, which is used to control the operation of the upper drive member 211 and the lower drive member 212.

[0054] In this embodiment, a driving method for the rotor mechanism 200 is provided. The upper drive member 211 and the lower drive member 212 can be brushless motors. The upper drive member 211 and the lower drive member 212 operate independently and provide power to the rotor mechanism 200. Specifically, the upper drive member 211 drives the upper rotor shaft 222 to rotate, and the lower drive member 212 drives the lower rotor shaft 223 to rotate in the opposite direction. Since the driving forces of the upper drive member 211 and the lower drive member 212 are opposite, the upper rotor shaft 222 and the lower rotor shaft 223 respectively drive the upper blade 2211 and the lower blade 2212 to rotate in opposite directions.

[0055] The control device 500 controls the driving speeds of the upper drive member 211 and the lower drive member 212. When the driving speeds of the upper drive member 211 and the lower drive member 212 are the same, the rotational speeds of the upper blade 2211 and the lower blade 2212 are the same, and the micro-UAV 10 is in an ascending, hovering, or descending state. The control device 500 can control the flight altitude of the micro-UAV 10. When the driving speeds of the upper drive member 211 and the lower drive member 212 are different, a rotational speed difference is formed between the upper blade 2211 and the lower blade 2212. According to the law of conservation of angular momentum, the micro-UAV 10 generates a steering force, causing the micro-UAV 10 to enter a steering state and realize the steering function. By driving the two independent drive members separately, the control device 500 can quickly adjust the rotational speeds of the two layers of blades, reducing the time required for the micro-UAV 10 to turn and improving the steering efficiency.

[0056] In some embodiments provided in this application, such as Figure 2 As shown, the rotor drive assembly 210 further includes: an upper drive gear 213, an upper transmission gear 214, a lower drive gear 215, and a lower transmission gear 216. The upper drive gear 213 is located at the drive end of the upper drive member 211, and the upper transmission gear 214 is meshed with the upper drive gear 213. The upper transmission gear 214 is connected to the upper rotor shaft 222. The lower drive gear 215 is located at the drive end of the lower drive member 212, and the lower transmission gear 216 is meshed with the lower drive gear 215. The lower transmission gear 216 is connected to the lower rotor shaft 223, and the lower transmission gear 216 is located above the upper transmission gear 214.

[0057] In this embodiment, a specific drive structure for the rotor mechanism 200 is provided. The upper transmission gear 214 is meshed with the upper drive gear 213 at the drive end and is interference-fitted with the upper rotor shaft 222. When the upper drive member 211 is running, the drive end of the upper drive member 211 drives the upper rotor shaft 222 to rotate sequentially through the upper drive gear 213 and the upper transmission gear 214, thereby transmitting the power of the upper drive member 211 to the upper rotor shaft 222, which in turn drives the upper blades 2211 to rotate. The lower drive member 212 has the same transmission method as the upper drive member 211. Specifically, the lower transmission gear 216 is meshed with the lower drive gear 215 at the drive end and is interference-fitted with the lower rotor shaft 223. When the lower drive unit 212 is running, the drive end of the lower drive unit 212 drives the lower rotor shaft 223 to rotate through the lower drive gear 215 and the lower transmission gear 216 in sequence, so that the power of the lower drive unit 212 is transmitted to the lower rotor shaft 223, thereby driving the lower blades 2212 to rotate.

[0058] The lower drive gear 216 and the upper drive gear 214 are spaced apart vertically. Since the upper rotor shaft 222 is located inside the lower rotor shaft 223, the bottom of the upper rotor shaft 222 extends out of the lower rotor shaft 223 and connects to the upper drive gear 214 located below. The lower drive gear 216 located above connects to the lower rotor shaft 223 on the outside. This connection method improves the rationality of the layout and avoids the lower rotor shaft 223, which is sleeved on the outside, from affecting the connection of the upper rotor shaft 222 on the inside.

[0059] In some embodiments provided in this application, such as Figure 9 and Figure 13 As shown, the flapping wing drive assembly 310 includes: a slide rail 311, a slider 312, two first connecting rods 313 and two second connecting rods 314. The slide rail 311 is mounted on the frame 100. The slider 312 is slidably connected to the slide rail 311. The first end of any first connecting rod 313 is rotatably connected to the slider 312. The second end of any first connecting rod 313 is rotatably connected to the first end of the second connecting rod 314. The second connecting rod 314 is rotatably connected to the frame 100. The second ends of the two second connecting rods 314 are arranged opposite to each other, and the second end of any second connecting rod 314 is provided with a flapping wing blade 320.

[0060] In this embodiment, a specific structure of the flapping wing drive assembly 310 is provided. A slide rail 311 is mounted on the frame 100 and extends along the front-rear direction of the frame 100. A slider 312 can slide back and forth along the slide rail 311. The two ends of a first connecting rod 313 are rotatably connected to the slider 312 and a second connecting rod 314, respectively. The two ends of a second connecting rod 314 are rotatably connected to the first connecting rod 313 and the frame 100, respectively, forming a linkage mechanism. The slider 312 is connected to the frame 100 through this linkage mechanism. The first ends of the two second connecting rods 314 are close to each other, and the second ends are opposite to each other, making the two linkage mechanisms symmetrically distributed left and right. The rod portion of the flapping wing blade 320 is inserted into the second end of the second connecting rod 314.

[0061] Specifically, the first end of the first connecting rod 313 is rotatably connected to the slider 312. The flapping wing drive assembly 310 further includes a connecting shaft 317, which passes sequentially through the first connecting rod 313 and the second connecting rod 314, and is rotatably connected to both the first connecting rod 313 and the second connecting rod 314, so that the second end of the first connecting rod 313 is rotatably connected to the second connecting rod 314 via the connecting shaft 317. The frame 100 is provided with a protrusion 112, which is rotatably connected to the second connecting rod 314. Figure 13 As shown, when the slider 312 moves in the forward and backward direction, the first connecting rod 313 drives the first end of the second connecting rod 314 to move through the connecting shaft 317, causing the second connecting rod 314 to rotate around the protrusion 112, which in turn drives the flapping blade 320 at the second end to swing back and forth. The linkage mechanism formed by the first connecting rod 313 and the second connecting rod 314 realizes the forward and backward flapping of the flapping blade 320, thereby providing the forward or backward power for the micro UAV 10. This transmission method is simple and reliable, with high transmission efficiency, simplifies the drive layout of the flapping mechanism 300, and reduces the complexity of the flapping mechanism 300.

[0062] In some embodiments provided in this application, such as Figure 9 and Figure 10 As shown, the slider 312 is provided with a groove 3181. The flapping wing drive assembly 310 also includes a power component 315 and a crank 316. The power component 315 is provided on the frame 100. The crank 316 is connected to the power component 315. The end of the crank 316 extends into the groove 3181. The power component 315 is used to drive the end of the crank 316 to slide in the groove 3181 and drive the slider 312 to slide.

[0063] In this embodiment, a specific structure of the flapping wing drive assembly 310 is further provided. A groove 3181 is formed on the top surface of the slider 312. The groove 3181 extends perpendicularly to the extension direction of the slide rail 311 and extends in a left-right direction. Exemplarily, the flapping wing drive assembly 310 further includes a connecting plate 318. The bottom surface of the connecting plate 318 is connected to the top surface of the slider 312 and fixed by bolts. The groove 3181 is located on the top surface of the connecting plate 318, so that the groove 3181 is disposed on the slider 312 via the connecting plate 318.

[0064] The power component 315 provides driving force to the flapping wing mechanism 300. The power component 315 can be a coreless motor. The top end of the crank 316 is connected to the power component 315, and the bottom end of the crank 316 extends into the slide groove 3181. When the power component 315 drives the crank 316 to rotate around the vertical axis, the bottom end of the crank 316 slides in the left-right direction in the slide groove 3181, and drives the slider 312 to slide in the front-back direction. For every one rotation of the crank 316, the slider 312 reciprocates once. This allows the flapping wing drive assembly 310 to achieve the front-back flapping of the flapping wing blades 320 through the crank 316 and slider 312. The transmission structure is simple and reliable, reducing the complexity of the flapping wing mechanism 300.

[0065] For example, such as Figure 11 and Figure 12 As shown, the frame 100 includes a middle plate 110 and a fixed base 120. The middle plate 110 is connected to the top surface of the fixed base 120 by four bolts. An upper drive component 211, a lower drive component 212, and a power component 315 are disposed on the middle plate 110. A slide rail 311 and a second connecting rod 314 are connected to the fixed base 120. The frame 100 is provided with a boss 111 and a groove 113. The boss 111 is located below the upper transmission gear 214 and is used to limit the upper transmission gear 214. The slide rail 311 is located in the groove 113. Through the design of the boss 111 and the groove 113, the frame 100 saves material, improves the convenience of assembly, and reduces the dimensional errors generated during assembly.

[0066] In some embodiments provided in this application, the control device 500 further includes a detection module, a filtering module, and a synovial control module. The detection module is located in the image acquisition mechanism 400 and is used to detect flight information, including acceleration and angular velocity. The filtering module is used to filter out glitch information in the flight information based on a Kalman filter algorithm. The synovial control module is used to control the operation of the rotor drive assembly 210 and the flapping wing drive assembly 310 based on the filtered flight information.

[0067] In this embodiment, a flight attitude control method is provided. The detection module can be an MPU6050 six-axis sensor, used to detect the acceleration and angular velocity of the micro-UAV 10 along different detection directions. The detection directions are mutually perpendicular, namely the horizontal, vertical, and forward / backward directions. After the flight information detected by the detection module is filtered out by a Kalman filter algorithm to remove internal glitches, the accurate integral result of the flight information is input to the sliding mode control module, which also serves as the closed-loop input value of the sliding mode control module. The sliding mode control module can be a sliding mode controller, used to design the sliding surface so that the micro-UAV 10 slides on the set sliding surface. Based on the flight information, the sliding mode control module controls the operation of the upper drive component 211, lower drive component 212, and power component 315 to approximate the forward / backward, altitude, and steering degrees of freedom to obtain a precise control effect and ensure that the micro-UAV 10 operates in a stable attitude.

[0068] For example, the filtering module is also used to send the filtered flight information to an external device to collect flight data and monitor the flight status.

[0069] In this invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "link" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0070] In the description of this invention, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0071] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0072] The above are merely some embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A micro unmanned aerial vehicle (UAV), characterized in that, include: frame; A rotor mechanism is located on the top of the frame. The rotor mechanism includes a rotor drive assembly and a blade assembly. The rotor drive assembly is used to drive the rotor blades to rotate in a horizontal plane. A flapping wing mechanism is provided on the frame. The flapping wing mechanism includes a flapping wing drive assembly and at least two flapping wing blades. The two flapping wing blades are respectively located on both sides of the frame and below the rotor blades. Each flapping wing blade forms an inclination angle with the rotor blade. The flapping wing drive assembly is used to drive the flapping wing blades on both sides to swing back and forth around the vertical axis. The image acquisition mechanism is located on the side end face of the frame.

2. The micro-drone according to claim 1, characterized in that, The rotor blades include upper blades and lower blades, and the blade assembly includes: The upper rotor shaft and the lower rotor shaft are respectively connected to the upper blade and the lower blade. The lower rotor shaft is sleeved on the outside of the upper rotor shaft. The rotor drive assembly is used to drive the upper rotor shaft and the lower rotor shaft to rotate in opposite directions.

3. The micro-drone according to claim 2, characterized in that, The blade assembly also includes: The upper support is rotatably connected to the upper rotor shaft, and the upper blades are located at the end of the upper support; A stabilizer bar is rotatably connected to the upper rotor shaft and passes through the upper rotor shaft radially. A stabilizer bar, the two ends of which are rotatably connected to the upper support and the balance bar, respectively.

4. The micro-drone according to claim 3, characterized in that, The blade assembly also includes: A matching sleeve is fitted over the top of the upper rotor shaft, and the upper support is provided with a spherical groove, into which the top of the upper rotor shaft extends.

5. The micro unmanned aerial vehicle according to claim 3, characterized in that, The blade assembly also includes: The support shaft extends radially from the upper rotor shaft and is connected to the upper support.

6. The micro unmanned aerial vehicle according to claim 2, characterized in that, The rotor drive assembly includes: An upper drive unit and a lower drive unit are disposed on the frame and are used to drive the upper rotor shaft and the lower rotor shaft to rotate in opposite directions, respectively. The micro-drone also includes: A control device for controlling the operation of the upper drive component and the lower drive component.

7. The micro-drone according to claim 6, characterized in that, The rotor drive assembly also includes: An upper drive gear is located at the drive end of the upper drive member; The upper transmission gear meshes with the upper drive gear and is connected to the upper rotor shaft; A lower drive gear is located at the drive end of the lower drive member; The lower transmission gear meshes with the lower drive gear and is connected to the lower rotor shaft. The lower transmission gear is located above the upper transmission gear.

8. The micro unmanned aerial vehicle according to any one of claims 1 to 7, characterized in that, The flapping wing drive assembly includes: Slide rails are provided on the frame; The slider is slidably connected to the slide rail; Two first links, with the first end of any one of the first links rotatably connected to the slider; Two second links, the second end of any first link is rotatably connected to the first end of the second link, and any second link is rotatably connected to the frame. The second ends of the two second links are set opposite to each other, and the second end of any second link is provided with the flapping blade.

9. The micro unmanned aerial vehicle according to claim 8, characterized in that, The slider is provided with a groove, and the flapping wing drive assembly further includes: The power unit is located on the frame; A crank is connected to the power component, with the end of the crank extending into the groove. The power component drives the end of the crank to slide within the groove, thereby causing the slider to slide.

10. The micro-drone according to claim 6, characterized in that, The control device further includes: A detection module is located in the image acquisition mechanism and is used to detect flight information, including acceleration and angular velocity. The filtering module is used to filter out glitch information in the flight information based on the Kalman filter algorithm; The synovial control module is used to control the operation of the rotor drive assembly and the flapping wing drive assembly based on the filtered flight information.

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