Electrolyte solution balanced double-shaft flight board

Abstract

The invention discloses an electrolyte solution balanced double-shaft flight board, and belongs to the technical field of vertical take-off and landing aircrafts. The flight board comprises a flight board main body, an attitude detection device, a control system, a damping shockproof structure and a modular connection structure, an independently-driven motor and a flat battery are arranged in a flight board body, the attitude detection device is hung in the body through a movable connecting mechanism and keeps vertical, an electrolyte solution in a container of the attitude detection device is matched with a sensor assembly to detect liquid level changes, and a control system differentially adjusts the thrust of the motor according to electric signals so as to correct the inclined attitude. The damping shockproof structure inhibits solution shaking and guarantees the detection precision, and the modular connection structure supports personalized assembly. Physical sensing replaces a complex electronic sensor, cost is low, interference resistance is high, balance response speed and stability are both considered, modular design adapts to multiple scenes, maintenance is convenient, and the problems that an existing flight board is insufficient in modularization, sensors are prone to interference and the like are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vertical take-off and landing aircraft, in particular to an electrolyte solution balanced dual-axis flight board. BACKGROUND

[0002] With the increasingly prominent problem of urban traffic congestion, personal aircraft as a potential short-distance transportation tool has attracted more and more attention. Among them, the hoverboard with simple structure is an important branch of personal aircraft. The traditional hoverboard usually adopts a fixed body structure, integrates a complex attitude sensing system (such as a gyroscope, an accelerometer) and a flight control computer, and realizes balance and maneuvering by adjusting the thrust of multiple power units.

[0003] However, the existing hoverboard technology has the following significant shortcomings: 1. Lack of true modularity and customizability: existing products are mostly integrated designs, and users cannot freely combine or expand them according to specific needs (such as load capacity, size, and functions). This limits its application scenarios, and a single module failure can cause the entire system to fail.

[0004] 2. High cost and susceptibility to interference of attitude sensing system: relying on high-precision MEMS (Micro-Electro-Mechanical System) sensors and high-speed processors results in high system costs. At the same time, these electronic sensors have reduced reliability in strong electromagnetic interference environments, posing a safety hazard.

[0005] 3. Contradiction between balance response speed and stability: in order to quickly respond to attitude changes, the control system needs high gain, but this easily causes system oscillation; increasing damping to suppress oscillation will reduce response speed. In addition, the vibration of the aircraft itself will interfere with the readings of the electronic sensors, requiring complex filtering algorithms, increasing system complexity.

[0006] 4. Complex structure, difficult to maintain: integrated design makes internal repair and battery replacement very inconvenient, which is not conducive to popularization and user self-maintenance.

[0007] To overcome the above shortcomings, it is necessary to invent a new type of hoverboard that should have the characteristics of low cost, high reliability, easy modular assembly, and strong anti-interference ability. SUMMARY

[0008] In view of the deficiencies of the prior art, the purpose of the present application is to provide an electrolyte solution balanced dual-axis flight board to solve the problems raised in the background art.

[0009] In order to achieve the above object, a specific embodiment of the present application provides a kind of electrolyte solution balanced double-shaft flight plate, including flight plate main body, attitude detection device, control system and damping shockproof structure, wherein, the flight plate main body its inside is equipped with two independent drive motor and the flat battery for the motor power supply;The attitude detection device is hung in the flight plate main body by movable connection mechanism, so that the attitude detection device keeps plumb state relative to the flight plate main body when flight plate attitude changes;The attitude detection device includes container equipped with electrolyte solution and sensor assembly for detecting the change of electrolyte solution liquid level;The control system includes signal acquisition module electrically connected with the sensor assembly, processor and motor drive module, the signal acquisition module is used to collect the electrical signal change generated by sensor assembly due to liquid level change, the processor is configured to determine the inclination state of flight plate according to the electrical signal change, generates corresponding control instruction, and the thrust output of two motors is adjusted by the motor drive module to correct the inclination attitude of flight plate;The damping shockproof structure is arranged below the container, for inhibiting the swing of electrolyte solution in container, and guaranteeing the attitude detection precision.

[0010] The electrolyte solution balanced double-shaft flight plate of the embodiment of the present application solves the problems of low modularization, high cost of electronic sensor, difficulty in balancing response and stability, etc. in the prior art.

[0011] In addition, the electrolyte solution balanced double-shaft flight plate according to the above-mentioned embodiment of the present application can further have the following additional technical features: In an embodiment of the present application, the container of the attitude detection device is an electrolyte solution bottle, and the height-to-diameter ratio of the electrolyte solution bottle is 2.5:1;The sensor assembly includes fan-shaped electrodes symmetrically arranged on the left and right sides of the container and a general electrode vertically inserted below the container;The movable connection mechanism includes a bracket, two bearings and a rotating shaft, the bracket is fixed in the flight plate main body, the bearings are installed on the bracket, the rotating shaft is assembled between the two bearings, and the container is fixedly connected with the rotating shaft.

[0012] In an embodiment of the present application, the electrolyte solution is composed of the following components in mass percentage: 5% saline, 0.3% nanosodium alginate, 0.3% food-grade glycerol, 0.05% cellulose nanocrystal, and the balance is water, and the viscosity of the electrolyte solution is controlled to be 6-8 mPa・s.

[0013] In an embodiment of the present application, a modular connection structure is further included, the modular connection structure includes not less than four connection rings, which are uniformly distributed on the front and rear edges and left and right side surfaces of the flight plate main body, and a plurality of screw holes of different specifications are formed on the connection rings to adapt to the assembly connection of different modular components.

[0014] In one embodiment of the present application, the damping shockproof structure comprises, from top to bottom, a top buffer layer, a suspended mass block assembly, and a bottom buffer layer, and further comprises a damping device connected to the side wall of the container.

[0015] In one embodiment of the present application, the top buffer layer is a shockproof sponge pad fixedly attached to the bottom of the container, the density of the shockproof sponge pad is ≥0.3 g / cm 3 , the resilience is ≥70%, and three first steel balls are embedded in the geometric center of the shockproof sponge pad; the suspended mass block assembly comprises a suspended steel ball suspended below the geometric center of the shockproof sponge pad by a thin wire, and rubber rods symmetrically supported around the suspended steel ball.

[0016] In one embodiment of the present application, the bottom buffer layer is a foam pad arranged below the rubber rods, and at least three second steel balls are embedded in the foam pad; the damping device, the first steel balls, the suspended steel ball, the rubber rods, and the second steel balls sequentially cooperate to form a multi-stage shockproof buffer structure.

[0017] In one embodiment of the present application, a carbon fiber mesh plate is arranged above the motor, which is used for protecting the motor without affecting the airflow circulation and the lightweight characteristics of the flight plate; the left and right narrow surfaces of the flight plate body are provided as main air inlets.

[0018] In one embodiment of the present application, a battery pack clamp is arranged in the flight plate body, the flat battery is fixedly connected with the battery pack clamp and arranged in the middle region of the flight plate body, and does not interfere with the motor and the attitude detection device, the battery pack clamp simultaneously realizes clamping and fixing of the attitude detection device; the length-width ratio of the flight plate body is 2:1, and the height is controlled to be 1 / 3 of the width of the flight plate body, and the thrust of the motor is 15 kg-30 kg.

[0019] In one embodiment of the present application, the resistance value of the sector-shaped electrode continuously changes with the change of the contact area of the sector-shaped electrode with the electrolyte solution; the container is made of a corrosion-resistant material, and the electrolyte solution has good conductivity adaptability with the sector-shaped electrode and the ordinary electrode.

[0020] Compared with the prior art, the present application has the following advantages: (1) Through the standardized modular connection structure, users can simply combine multiple flight plates to build flight vehicles of different sizes, loads, and functions, thereby breaking through the limitations of traditional integrated design.

[0021] (2) The attitude sensing is performed by using the physical properties of the change of the electrolyte solution level, which replaces the expensive electronic gyroscope and significantly reduces the cost; the detection method is essentially strong in anti-electromagnetic interference ability and high in reliability.

[0022] (3) The specially made low viscosity and high cohesion electrolyte solution can realize millisecond level liquid surface flow response, ensuring the timeliness of balance control; the unique mechanical damping shockproof structure effectively filters vibration, avoiding the common vibration interference problem of electronic sensors, and realizing the unification of response speed and stability.

[0023] (4) The overall design is compact and the internal layout is reasonable, facilitating production and maintenance; the modular design also makes it easy to replace individual components when they fail.

[0024] Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following description and drawings or can be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0026] Figure 1 It is a perspective view of a kind of electrolyte solution balance biaxial flight plate in an embodiment of the present application; Figure 2 It is the internal structure schematic of a kind of electrolyte solution balance biaxial flight plate in an embodiment of the present application Figure 1 ; Figure 3 It is the internal structure schematic of a kind of electrolyte solution balance biaxial flight plate in an embodiment of the present application Figure 2 ; Figure 4 It is the damping shockproof structure plane structure schematic of a kind of electrolyte solution balance biaxial flight plate in an embodiment of the present application; Figure 5 It is the enlarged structure schematic of A in Figure 3 ; Figure 6 It is the balance device structure schematic of a kind of electrolyte solution balance biaxial flight plate in an embodiment of the present application; Figure 7 It is the electrically connected control connection relationship flow chart of a kind of electrolyte solution balance biaxial flight plate in an embodiment of the present application; Figure 8 It is the attitude detection device working flow chart of a kind of electrolyte solution balance biaxial flight plate in an embodiment of the present application; Figure 9 It is the control system working flow chart of a kind of electrolyte solution balance biaxial flight plate in an embodiment of the present application; Figure 10 This is a flowchart illustrating the overall workflow of an electrolyte solution balancing dual-axis flight board according to an embodiment of the present invention.

[0027] Explanation of reference numerals in the attached figures: 1. Flight board main body; 2. Attitude detection device; 3. Control system; 4. Damping and shock absorption structure; 5. Modular connection structure; 11. Motor; 12. Flat battery; 13. Bracket; 15. Bearing; 16. Rotating shaft; 17. Carbon fiber mesh plate; 18. Main air intake; 21. Container; 22. Sensor assembly; 23. Electrolyte solution; 41. Shock-absorbing sponge pad; 42. First steel ball; 43. Suspension steel ball; 44. Thin thread; 45. Rubber rod; 46. Foam pad; 47. Damping device; 48. Second steel ball; 51. Connecting ring; 221. Fan-shaped electrode; 222. Ordinary electrode. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] like Figures 1 to 10 As shown, an electrolyte solution balancing dual-axis flight board according to an embodiment of the present invention consists of a flight board body 1, an attitude detection device 2, a control system 3, a damping and shock-absorbing structure 4, and a modular connection structure 5. The components are assembled according to specific positional relationships and connection methods to form a complete and functionally coordinated flight system.

[0030] First, the basic assembly of the flight board body 1 is carried out: The flight board body 1 is integrally molded from lightweight, high-strength alloy material, with its length-to-width ratio strictly controlled at 2:1, and its height set at 1 / 3 of its width. This size design ensures aerodynamic stability during flight while reasonably accommodating all internal components. In the central area inside the flight board body 1, the battery pack clip is fixedly installed with bolts. The flat battery 12 is tightly connected to the battery pack clip through a snap-fit ​​structure, ensuring secure installation and convenient disassembly. The flat battery 12 is a high-energy-density lithium battery, and its thickness is adapted to the internal height of the flight board body 1. After installation, a 5-8mm heat dissipation gap is reserved between it and surrounding components, which avoids interference with the motor 11 and attitude detection device 2 while ensuring heat dissipation.

[0031] Two independent driving motors 11 are symmetrically fixed inside the flight plate body 1 on the left and right sides. The thrust specification of the motor 11 is 15kg-30kg, and the corresponding thrust type can be selected according to the actual load requirement. The motor 11 is fixed to the internal support of the flight plate body 1 through bolts, and the mounting surface is attached with shock absorbing pads to reduce the vibration transmission generated during the operation of the motor 11. The motor 11 is covered with a carbon fiber mesh plate 17 above. The carbon fiber mesh plate 17 is detachably connected to the flight plate body 1 through buckles around it. The mesh size of the carbon fiber mesh plate 17 is 5mm x 5mm, which can effectively protect the motor 11 from external foreign object impact, and will not hinder the airflow circulation, while meeting the lightweight demand of the flight plate. The left and right narrow faces of the flight plate body 1 are provided with main air inlets 18. The main air inlets 18 are long slot structures with a length consistent with the length of the flight plate body 1 and a width of 3-5cm, which can ensure sufficient airflow intake during the operation of the motor 11 and stable thrust output.

[0032] The attitude detection device 2 is suspended inside the flight plate body 1 through a movable connection mechanism. The specific assembly process is as follows: first, the bracket 13 is fixed to the crossbeam inside the flight plate body 1 by welding. The bracket 13 is made of stainless steel, which has sufficient structural strength to support the weight of the attitude detection device 2. Two deep groove ball bearings 15 are inserted into the corresponding mounting hole positions of the bracket 13. The inner ring of the bearing 15 is interference fitted with the shaft 16, and the two ends of the shaft 16 are limited by shaft shoulders to prevent axial movement. The container 21 (i.e. the electrolyte solution bottle) of the attitude detection device 2 is made of corrosion-resistant material, preferably polytetrafluoroethylene or high borosilicate glass. The height to diameter ratio of the container 21 is 2.5:1, which can ensure sufficient liquid level change space for the electrolyte solution 23, while avoiding excessive weight increase due to excessive solution volume. The middle outside of the container 21 is fixedly connected with the shaft 16 through a hoop structure, and the inside of the hoop is provided with a rubber pad layer, which can not only enhance the fixing stability, but also buffer the vibration transmission, ensuring that the container 21 rotates flexibly with the shaft 16, and always maintains a vertical state when the flight plate changes attitude.

[0033] The damping shockproof structure 4 is assembled below the container 21, and is sequentially installed from top to bottom with a top buffer layer, a suspended mass block assembly and a bottom buffer layer: the top buffer layer is an ac30 type shockproof sponge pad 41, which is fixed to the bottom of the container 21 by double-sided adhesive. The density of the shockproof sponge pad 41 is ≥0.3g / cm 3 , the resilience is ≥70%, the size of the shockproof sponge pad 41 is consistent with the cross section of the bottom of the container 21, three mounting holes are pre-formed in the inside, three first steel balls 42 are respectively embedded in the mounting holes, and are evenly distributed along the geometric center of the shockproof sponge pad 41. The embedding depth is 1 / 2 of the diameter of the steel ball, which can ensure that the first steel ball 42 is fixed firmly and does not affect the buffering performance of the shockproof sponge pad 41.

[0034] Assembly of the suspended mass block assembly: A thin line 44, 10-15cm long, made of high-strength nylon rope, is fixed at the geometric center below the shock-absorbing sponge pad 41. A steel ball 43, 8mm in diameter and made of stainless steel, is attached to the lower end of the line. Four rubber rods 45, 8-12mm high, are fixed around the steel ball 43 using brackets. A 1-2mm gap is left between the top of the rubber rods and the steel ball 43, which serves to limit and buffer movement of the steel ball 43 without hindering its normal posture adjustment.

[0035] The foam pad 46 of the bottom buffer layer is fixed to the inner bottom of the flight board body 1 by bolts. The foam pad 46 is 10-15mm thick and has at least three second steel balls 48 embedded inside. The second steel balls 48 are evenly distributed inside the foam pad 46 and are made of the same material as the first steel balls 42. The damping device 47 is a hydraulic damper. One end of the damper is connected to the middle of the side wall of the container 21 by a hinge, and the other end is fixed to the internal support of the flight board body 1. The damping coefficient of the damping device 47 is matched according to the weight of the container 21 and the sloshing characteristics of the electrolyte solution 23 to ensure that the large sloshing of the container 21 can be effectively suppressed.

[0036] Assembly of modular connection structure 5: At least four connecting rings 51 are evenly welded on the front and rear edges and left and right sides of the flight board body 1. The connecting rings 51 are made of stainless steel with a thickness of 3mm and an inner diameter of 10mm. Each connecting ring 51 has screw holes of various specifications, including three common specifications: M3, M4 and M5. The screw holes are distributed in a ring array to adapt to the assembly and connection of different modular components (such as additional load-bearing brackets, protective frames, spare battery compartments, etc.). Users can fix the required modules to the connecting rings 51 with bolts according to their actual needs to achieve personalized DIY assembly.

[0037] Assembly of Control System 3: The signal acquisition module, processor, and motor drive module of Control System 3 are integrated on a single circuit board. This circuit board is fixed to an empty area inside the flight board body 1 by an insulating bracket, maintaining electrical isolation from other components. Interfaces corresponding to the sensor assembly 22, motor 11, and flat battery 12 are reserved on the circuit board, and electrical connections are achieved through wires. The wires are shielded and externally protected by corrugated tubing to avoid signal interference and physical damage.

[0038] I. Detailed structural description of core components (a) Detailed structure of attitude detection device 2 The core function of the attitude detection device 2 is to detect the tilt state of the flight board. Its sensor assembly 22 includes a sector electrode 221 and a regular electrode 222. The sector electrode 221 is symmetrically arranged on the left and right sides of the container 21, and the sector electrode 221 is a sector-shaped variable resistor of the electrolyte solution.

[0039] The common electrode 222 is vertically inserted into the lower central position of the container 21, and the electrode material is selected from corrosion-resistant platinum or titanium alloy to ensure long-term stable operation in the electrolyte solution 23. The insertion depth is strictly controlled to be 1 / 3 of the height of the container 21, and the bottom is kept 5 mm apart from the inner wall of the bottom of the container 21, effectively avoiding short circuit caused by contact between the electrode and the bottom of the container.

[0040] The common electrode 222 and the fan-shaped electrodes 221 on the left and right sides (i.e. fan-shaped electrolyte solution variable resistance) together form a detection loop, all of which are reliably connected to the signal acquisition module of the control system 3 through shielding wires. All wires are led out through the special sealing joint on the top of the container 21, which is made of rubber material and has excellent waterproof and sealing performance, fundamentally preventing the leakage of electrolyte solution 23 or the intrusion of external moisture, and ensuring the long-term stability of the detection signal.

[0041] The electrolyte solution 23 in the container 21 is the key medium for realizing attitude detection, and its formula is strictly configured according to the percentage: 5% salt water, 0.3% nano sodium alginate, 0.3% food-grade glycerol, 0.05% cellulose nanocrystal, and the rest is deionized water. The viscosity of the prepared electrolyte solution 23 is controlled at 6-8 mPa・s. The preparation process of the electrolyte solution 23 needs to follow a specific procedure: first, pour deionized water into the container, add salt and stir until completely dissolved to obtain 5% salt water; then add nano sodium alginate in stages, first add 0.15% nano sodium alginate, stir with a magnetic stirrer at a speed of 300 r / min for 5 minutes, then stand for 3 minutes to make the microgel formed by nano sodium alginate preliminarily dispersed; then add the remaining 0.15% nano sodium alginate and 0.05% cellulose nanocrystal, continue to stir at a speed of 300 r / min for 4 minutes, stand for 2 minutes, and strengthen the thixotropic structure of the solution by cellulose nanocrystal without increasing the viscosity of the solution; finally, add 0.3% food-grade glycerol, and gently stir at a speed of 100 r / min for 1 minute to enhance the cohesion of the solution, ensuring that the solution can flow quickly when tilted without splashing.

[0042] (II) Working principle and circuit connection of control system 3 The control system 3 is the core processing unit for realizing the self-balancing of the flight plate, which monitors the flight attitude in real time through a high-precision signal chain and drives the actuator for dynamic adjustment. The system works based on the differential detection loop composed of the fan-shaped electrode 221 and the common electrode 222, and the fan-shaped electrode 221 is a fan-shaped electrolyte solution variable resistance.

[0043] When the flight board is in horizontal flight state, the liquid level of the electrolyte solution 23 in the container 21 remains horizontal. At this time, the contact areas of the left and right fan-shaped electrodes 221 with the electrolyte solution 23 are equal, and the resistance values of the two detection circuits are the same. The voltage signals collected by the signal acquisition module (with a high-precision analog-to-digital conversion chip) on both sides have no difference, and the output is a balanced reference signal.

[0044] When the flight board is tilted, the container 21 remains vertical under the action of the suspension mechanism, and the liquid level of the electrolyte solution 23 is deflected relative to the container due to inertia. This physical change causes the immersion area of one side of the fan-shaped electrode 221 to increase and the immersion area of the other side to decrease, thereby causing a significant difference in the resistance values of the two circuits. The differential resistance signal is captured in real time and converted into a corresponding voltage differential signal.

[0045] The signal acquisition module transmits the voltage differential signal representing the tilt to the processor at a frequency of 100 Hz. The pre-set algorithm inside the processor analyzes the polarity (judges the tilt direction, such as left or right) and amplitude (calculates the tilt angle) of the signal to generate corresponding digital control instructions.

[0046] The motor drive module receives the control instructions from the processor and differentially adjusts the thrust output of the left and right motors 11. For example, when it is determined that the flight board is tilted to the left, the instructions will increase the current of the left motor (increase the thrust) and decrease the current of the right motor (decrease the thrust), thereby generating a corrective torque to drive the flight board to return to a horizontal attitude.

[0047] The processor uses a high-performance microcontroller with a pre-set control algorithm that can determine the tilt direction and tilt angle of the flight board based on the received electrical signal changes. For example, when the flight board is tilted to the left, the contact area of the left fan-shaped electrode 221 with the electrolyte solution 23 increases, and the resistance value decreases. The processor determines the tilt direction to be left by comparing the resistance difference between the two electrodes, and calculates the tilt angle based on the resistance change amplitude. Then the processor generates corresponding control instructions and transmits them to the motor drive module.

[0048] The motor drive module uses a bridge drive circuit that can adjust the thrust output of the two motors 11 according to the control instructions from the processor. The specific adjustment logic is as follows: when the flight board is tilted to one side, the motor drive module increases the supply current of the motor 11 on the tilted side to increase the thrust of that motor 11, and decreases the supply current of the motor 11 on the opposite side to decrease the thrust of that motor 11. Through this differential adjustment method, a reverse torque is generated to correct the tilt attitude of the flight board and restore it to a horizontal state.

[0049] II. Overall workflow and coordination principles (1) Start-up and initialization phase When the user starts the flight board, the flat battery 12 supplies power to the control system 3 and the motor 11, the control system 3 enters the initialization state, the signal acquisition module starts to collect the electrode signal of the attitude detection device 2, the processor calibrates the initial signal, determines the reference electric signal value in the horizontal state of the flight board, and stores it in the internal memory. At this time, the damping shockproof structure 4 is in the initial state, the shockproof sponge pad 41, the rubber rod 45 and other buffer components remain in the natural state, the suspension steel ball 43 is in the vertical position under the action of gravity, and the damping device 47 has no damping force output.

[0050] (II) Attitude detection and balance adjustment phase When the flight board tilts due to external interference or user operation during flight, the working process is as follows: 1. The flight board tilts and drives the flight board body 1 to change its attitude. Since the attitude detection device 2 is suspended in the flight board body 1 through the movable connection mechanism, the container 21 always maintains the plumb state under the action of gravity, and the liquid level of the electrolyte solution 23 remains horizontal due to inertia, resulting in the tilt of the electrolyte solution 23 relative to the container 21, and the change of the contact area of the fan-shaped electrode 221 with the electrolyte solution 23 on one side; 2. The change of the contact area changes the resistance value between the fan-shaped electrode 221 and the common electrode 222, and the signal acquisition module captures the resistance change in real time, converts it into a voltage signal, and transmits it to the processor at a frequency of 100Hz; 3. After receiving the voltage signal, the processor compares it with the reference signal stored in the initialization phase, and calculates the tilt direction and angle of the flight board through a preset algorithm. For example, when the voltage signal difference is positive, it is judged that the left side is tilted, and the larger the difference, the larger the tilt angle; when the voltage signal difference is negative, it is judged that the right side is tilted; 4. The processor generates corresponding control instructions according to the tilt direction and angle, which contain the current adjustment parameters of the two motors 11. Then the control instructions are transmitted to the motor drive module, which adjusts the current output to the two motors 11 according to the instructions to realize differential thrust adjustment; 5. The thrust change of the motor 11 generates a reverse torque, which pushes the flight board body 1 to rotate in the opposite direction of the tilt, gradually restoring the horizontal attitude. In this process, the signal acquisition module continuously collects the electrode signal, and the processor adjusts the control instructions in real time until the flight board restores the horizontal attitude and the electrode signal returns to the reference value, and the balance adjustment is completed.

[0051] (III) The coordinated working principle of the damping shockproof structure 4 During the flight of the flight board, factors such as motor 11 working vibration, air flow disturbance, etc. can cause the electrolyte solution 23 in the container 21 to shake, which, if not inhibited, will affect the accuracy of the attitude detection, and even cause the balance adjustment system to malfunction. The damping shockproof structure 4 effectively suppresses the shaking of the electrolyte solution 23 through multi-stage buffering and damping action, and its working process is as follows: 1. When the flight board vibrates, the vibration is first transmitted to the flight board body 1, and then transmitted to the bottom buffer layer foam pad 46 of the damping shockproof structure 4 through the support. The foam pad 46 itself has elastic buffering characteristics and can absorb part of the vibration energy. At the same time, the second steel ball 48 inside it produces a small displacement under the action of vibration, and consumes part of the vibration energy through friction, thereby preliminarily weakening the vibration; 2. The remaining vibration is transmitted to the suspended mass assembly, and the suspended steel ball 43 will shake under the action of vibration. At this time, the rubber rod 45 around it plays a limiting and buffering role for the shaking of the suspended steel ball 43. The elastic deformation of the rubber rod 45 absorbs the shaking energy, and the tension change of the fine wire 44 further buffers the shaking; 3. The shockproof sponge pad 41 of the top buffer layer directly adheres to the bottom of the container 21, and its elastic deformation can absorb the vibration transmitted by the container 21. The first steel ball 42 inside it further disperses the vibration energy through interaction with the shockproof sponge pad 41; 4. When the container 21 shakes with a large amplitude, the damping device 47 plays a role, which hinders the rapid swinging of the container 21 through hydraulic damping force, prolongs the shaking decay time, and makes the electrolyte solution 23 quickly restore to a stable state.

[0052] Through the synergistic effect of the above multi-stage shockproof buffering structure, different frequencies and amplitudes of vibration can be effectively filtered, and the shaking of the electrolyte solution 23 can be inhibited, ensuring that the attitude detection device 2 can accurately collect the liquid level change signal and provide reliable data support for balance adjustment.

[0053] (Four) Modular expansion work adaptation When the user needs to expand the function of the flight board through the modular connection structure 5, only need to align the connection interface of the required function module (such as an additional load support, a spare battery compartment, etc.) with the connection ring 51 on the flight board body 1, select a bolt of appropriate specification to pass through the screw hole, and fix the function module and the connection ring 51 firmly. Since the connection ring 51 is uniformly distributed and has multiple size screw holes, the installation position of different function modules can be flexibly selected, and the overall structural stability of the flight board and the normal work of each core component will not be affected.

[0054] For example, when the user needs to increase the load capacity, a load support can be installed on the front and rear connecting rings 51 of the flight board body 1, the load bearing surface of the support is designed according to the load requirement, and after installation, it remains horizontal with the flight board body 1, ensuring uniform load distribution; when the user needs to extend the endurance time, a spare battery compartment can be installed through the connecting ring 51, and the battery in the spare battery compartment is connected in parallel with the flat battery 12 through a wire to provide additional power for the flight board without affecting the stability of the original power supply system.

[0055] III. Material and parameter selection of key components 1. The flight board body 1 is made of lightweight high-strength alloy material, which not only ensures that the structural strength can withstand the weight of components such as motors 11, batteries, and air resistance during flight, but also controls the overall weight and improves flight efficiency; 2. The container 21 is made of corrosion-resistant material, because the electrolyte solution 23 contains salt water components, long-term contact with ordinary materials can cause corrosion, affecting service life and sealing, and polytetrafluoroethylene or high borosilicate glass has good corrosion resistance, which can meet the use requirements; 3. The fan-shaped electrode 221 and the ordinary electrode 222 are made of corrosion-resistant and excellent conductive material, ensuring stable conduction when the electrode contacts the electrolyte solution 23, and long-term use will not cause corrosion damage; 4. The formula and viscosity parameters of the electrolyte solution 23 are determined through multiple tests, 5% salt water provides good conductivity, nano sodium alginate and cellulose nanocrystals jointly construct a thixotropic structure, and food-grade glycerol enhances cohesion, with a viscosity of 6-8 mPa·s, which can ensure rapid flow when the liquid surface changes, and can also avoid excessive shaking; 5. The parameters of each component of the damping shock-absorbing structure 4 (such as the density and resilience of the shock-absorbing sponge pad 41, the height of the rubber rod 45, the diameter of the steel ball, etc.) are matched and designed according to the weight of the container 21, the volume of the electrolyte solution 23, and the vibration characteristics of the flight board, to ensure that the shock-absorbing effect is optimal; 6. The thrust specification of the motor 11 is set to 15kg-30kg, which takes into account the weight of the flight board itself, the load capacity, and the flight speed requirement. This thrust range can meet the use requirements of various scenarios such as personal flight and low-altitude operation.

[0056] It should be noted that the control method in the embodiments of the present application can be automatically controlled by a controller, and the control method of the controller can be easily programmed by those skilled in the art, which belongs to the common knowledge in the art, and the present application mainly protects the mechanical structure, so the control method and circuit connection will not be explained in detail.

[0057] The technical solutions in the embodiments of the present application realize individualized modular assembly, replace complex electronic sensors with low-cost physical sensing mode, balance response speed and flight stability, are compact in structure, convenient to maintain, and provide a reliable technical solution for the vertical take-off and landing personal aircraft.

[0058] Obviously, the above-described embodiments are only used for describing the technical solutions of the present application, but not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some or all of the technical features can be replaced equivalently; and these modifications or replacements do not make the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application. Thus, if these modifications and variations of the present application belong to the scope of the claims of the present application and the equivalent technologies thereof, the present application also intends to include these modifications and variations.

Claims

1. An electrolyte solution balancing biaxial flight plate characterized by, The flight plate body (1), the attitude detection device (2), the control system (3) and the damping shockproof structure (4) are included, wherein, The flight plate body (1) is internally provided with two independently driven motors (11) and a flat battery (12) for powering the motors (11); The attitude detection device (2) is suspended in the flight plate body (1) through a movable connection mechanism, so that the attitude detection device (2) remains in a plumb state relative to the flight plate body (1) when the flight plate changes attitude; the attitude detection device (2) includes a container (21) containing an electrolyte solution (23) and a sensor assembly (22) for detecting changes in the liquid level of the electrolyte solution (23); The control system (3) includes a signal acquisition module electrically connected to the sensor assembly (22), a processor and a motor drive module, the signal acquisition module is used to acquire the electrical signal changes generated by the sensor assembly (22) due to the change of the liquid level, the processor is configured to determine the inclination state of the flight plate according to the electrical signal changes, generate corresponding control instructions, and adjust the thrust output of the two motors (11) through the motor drive module to correct the inclination attitude of the flight plate; The damping shockproof structure (4) is arranged below the container (21) and is used to suppress the shaking of the electrolyte solution (23) in the container (21) and ensure the attitude detection accuracy.

2. The electrolyte solution balancing biaxial flying plate according to claim 1, wherein, The container (21) of the attitude detection device (2) is an electrolyte solution bottle, the height to diameter ratio of which is 2.5:1; the sensor assembly (22) includes fan-shaped electrodes (221) symmetrically arranged on the left and right sides of the container (21) and a normal electrode (222) vertically inserted into the lower part of the container (21); the movable connection mechanism includes a bracket (13), two bearings (15) and a rotating shaft (16), the bracket (13) is fixed in the flight plate body (1), the bearings (15) are installed on the bracket (13), and the rotating shaft (16) is assembled between the two bearings (15), and the container (21) is fixedly connected with the rotating shaft (16).

3. The balanced biaxial flying plate of claim 2, wherein, The electrolyte solution (23) is composed of the following components in mass percentage: 5% saline, 0.3% nanosodium alginate, 0.3% food-grade glycerol, 0.05% cellulose nanocrystal, and the balance is water, and the viscosity of the electrolyte solution (23) is controlled at 6-8 mPa・s.

4. The balanced biaxial flying plate of claim 1, wherein, It also includes a modular connection structure (5), the modular connection structure (5) includes not less than four connection rings (51), which are uniformly distributed on the front and rear edges and left and right sides of the flight plate body (1), and a plurality of screw holes of different specifications are formed on the connection rings (51) to adapt to the assembly connection of different modular components.

5. The electrolyte solution balancing biaxial flying plate according to claim 1, wherein, The damping shockproof structure (4) includes a top buffer layer, a suspended mass block assembly and a bottom buffer layer from top to bottom, and further includes a damping device (47) connected with the side wall of the container (21).

6. The equilibrium biaxial flying plate of an electrolyte solution according to claim 5, wherein The top buffer layer is a shockproof sponge pad (41) fixedly attached to the bottom of the container (21), the shockproof sponge pad (41) has a density ≥ 0.3 g / cm 3 , a resilience ≥ 70%, and three first steel balls (42) embedded therein and uniformly distributed along the geometric center thereof; the suspension mass block assembly includes a suspension steel ball (43) suspended below the geometric center of the shockproof sponge pad (41) by a thin wire (44), and rubber rods (45) symmetrically supported around the suspension steel ball (43).

7. The electrolyte solution balancing biaxial flying plate according to claim 6, wherein, The bottom buffer layer is a foam pad (46) arranged below the rubber rod (45), and at least three second steel balls (48) are embedded in the foam pad (46); The damping device (47), the first steel ball (42), the suspension steel ball (43), the rubber stick (45) and the second steel ball (48) are sequentially matched to form a multi-stage shock absorption buffer structure.

8. The electrolyte solution balancing biaxial flying plate according to claim 1, wherein, The motor (11) is covered with a carbon fiber net-shaped plate (17), which is used for protecting the motor (11) and does not affect the air flow circulation and the lightweight characteristics of the flight plate; the left and right narrow surfaces of the flight plate body (1) are provided as main air inlets (18).

9. The electrolyte solution balancing biaxial flying plate of claim 1, wherein, The flight plate body (1) is provided with a battery pack clamp, the flat battery (12) is fixedly connected with the battery pack clamp and is arranged in the middle region of the flight plate body (1), and the flat battery (12) does not interfere with the motor (11) and the attitude detection device (2), the battery pack clamp simultaneously realizes clamping and fixing of the attitude detection device (2); the length-width ratio of the flight plate body (1) is 2:1, and the height is controlled to be 1 / 3 of the width of the flight plate body (1), the thrust of the motor (11) is 15kg-30kg.

10. The balanced biaxial flying plate of claim 2, wherein, The resistance value of the sector-shaped electrode (221) continuously changes with the change of the contact area of the sector-shaped electrode (221) and the electrolyte solution (23); the container (21) is made of a corrosion-resistant material, and the electrolyte solution (23) has good conductivity adaptability with the sector-shaped electrode (221) and the common electrode (222).

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