Unmanned aerial vehicle control method and device

Abstract

The invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle control method and device.The unmanned aerial vehicle control device comprises a vehicle body mechanism, a direction adjusting mechanism is arranged on the lower surface of the vehicle body mechanism, a moving mechanism is arranged on the lower surface of the direction adjusting mechanism, and a driving mechanism is arranged in the direction adjusting mechanism; the machine body mechanism comprises a machine body, four supporting rods are fixedly connected to the outer side wall of the machine body, the ends, away from the machine body, of the four supporting rods are each fixedly connected with a mounting shell, and the posture of the machine body is detected through four dynamic balance sensors; when it is detected that the posture of the machine body is affected by center-of-gravity shift caused by adjustment of the camera equipment, the controller can control the T-shaped rotating block to rotate until the T-shaped sliding groove is aligned with the center-of-gravity shift side, and then the T-shaped sliding block is driven to drive the camera equipment to move in the T-shaped sliding groove and adjust the center of gravity; therefore, the normal flight attitude of the unmanned aerial vehicle in use is ensured.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicles (UAVs), specifically to a control method and apparatus for UAVs. Background Technology

[0002] With the development of technology, drones are becoming more and more popular, and more and more people are starting to use drones for filming. Users are increasingly pursuing intelligent ways to obtain high-quality filming through drones. The camera equipment system on a drone usually involves mounting an external camera on the drone.

[0003] In actual use, the camera equipment on the drone needs to be adjusted according to requirements. After the adjustment is completed, the center of gravity will also change. In order to maintain normal camera operation, the drone needs to maintain normal flight attitude. At this time, the motor on the side with the center of gravity shift needs to increase power, or all the motors of the drone need to increase power to make the drone offset the shift. However, such asynchronous operation or overall power increase will significantly affect the normal operation of the drone. Therefore, it is necessary to propose a drone control method and device. Summary of the Invention

[0004] To address the problems in the prior art, the present invention provides a control method and apparatus for unmanned aerial vehicles (UAVs).

[0005] The technical solution adopted by the present invention to solve its technical problem is: a control device for a drone, including a body structure, a direction adjustment mechanism provided on the lower surface of the body structure, a moving mechanism provided on the lower surface of the direction adjustment mechanism, and a driving mechanism provided inside the direction adjustment mechanism.

[0006] Preferably, the machine body includes a machine body, four support rods are fixedly connected to the outer side wall of the machine body, and a mounting shell is fixedly connected to the end of each of the four support rods away from the machine body. A drive motor is fixedly installed inside each of the four mounting shells. A rotating rod is fixedly connected to the output end of each of the four drive motors through a coupling. The upper end of each of the four rotating rods extends through to the outside of the mounting shell and is fixedly connected to a rotating disk. Several fan blades are fixedly connected to the outer side wall of each of the four rotating disks.

[0007] Preferably, the direction adjustment mechanism includes a T-shaped rotating groove, which is formed on the lower surface of the machine body. A T-shaped rotating block is rotatably connected inside the T-shaped rotating groove. The lower surface of the T-shaped rotating block extends through to the outside of the machine body. Several ball grooves are formed on the lower surface of the T-shaped rotating block inside the T-shaped rotating groove. A ball is rotatably connected in each of the several ball grooves. The lower ends of the several balls extend through to the T-shaped rotating groove and abut against the groove wall. An annular groove is formed on the upper surface of the T-shaped rotating block. A ring-shaped support block is fixedly connected to the upper surface of the T-shaped rotating groove corresponding to the position of the annular groove. A ring-shaped slope block is fixedly connected to the outer ring wall of the support block, and anti-slip texture is provided on the outer side wall of the slope block.

[0008] Preferably, the moving mechanism includes a T-shaped slide groove, which is formed on the lower surface of the T-shaped rotating block. Two bearings are fixedly installed between the opposite walls of the T-shaped slide groove, and a lead screw is fixedly sleeved between the two bearings. A rotating groove is formed at the bottom of an annular groove on one side of the T-shaped slide groove. One end of the lead screw extends through the rotating groove and is fixedly connected to a conical wheel. A lead screw nut is threaded onto the wall of the lead screw in the T-shaped slide groove. A T-shaped slider is fixedly sleeved on the outer wall of the lead screw nut. The T-shaped slider is slidably connected in the T-shaped slide groove, and the lower end of the T-shaped slider extends through the opening of the T-shaped slide groove to the outside of the T-shaped rotating block. A mounting groove is formed at the end of the T-shaped slider outside the T-shaped rotating block, and two mounting screw holes are symmetrically formed through the groove wall.

[0009] Preferably, the driving mechanism includes a fixed groove formed at the bottom of an annular groove, and a cylinder is fixedly installed in the fixed groove. A piston rod is movably connected inside the cylinder, and both ends of the piston rod extend through into the fixed groove. One end of the piston rod is fixedly connected to a mounting bracket, and a dual-head drive motor is fixedly installed on the mounting bracket. Both output ends of the dual-head drive motor are fixedly connected to a drive rod via couplings. A drive wheel is fixedly connected to the ends of the two drive rods away from the dual-head drive motor. A positioning block is fixedly connected to the other end of the piston rod, and the upper end of the positioning block abuts against the lower surface of the support block.

[0010] Preferably, a dynamic balance sensor is fixedly installed inside each of the four support rods.

[0011] Preferably, a controller is fixedly installed inside the T-shaped rotating block, and the controller is connected to four dynamic balance sensors via signals.

[0012] A method of using a control device for an unmanned aerial vehicle (UAV) includes the following steps: Step 1: When using the camera, insert the hanging part of the camera into the mounting slot, and then screw the screw into the mounting screw hole to install the camera on the T-shaped slider; Step 2: After that, you can control the drone to take off and drive the camera equipment to fly. When you need to adjust the camera direction and angle, you can start the dual-head drive motor. The dual-head drive motor will drive the drive wheel to rotate through the drive rod. When the drive wheel rotates, it will roll on the slope block. The dual-head drive motor will drive the T-shaped rotating block to rotate under the support of the support block and the slope block. The T-shaped rotating block will drive the camera equipment to adjust its direction. Step 3: After adjusting the camera equipment, the cylinder-driven piston rod can be activated. The piston rod will synchronously drive the mounting bracket and positioning block to move. The positioning block will move to abut against the support block, thereby positioning the T-shaped rotating block and the camera equipment to prevent them from shaking. The mounting bracket will drive the dual-head drive motor to move, which will drive the drive rod and drive wheel to move, causing the drive wheel to abut against the conical wheel. Through transmission, the dual-head drive motor can drive the lead screw to rotate. The lead screw, in cooperation with the lead screw nut, drives the T-shaped slider to move, which in turn drives the camera equipment to move, thereby shifting the center of gravity of the camera equipment for adjustment. Step 4: The output of the four drive motors and the overall balance posture of the machine are monitored by four dynamic balance sensors. When the center of gravity of the machine is shifted after the camera equipment is adjusted, the data can be transmitted to the controller through the four dynamic balance sensors. Then, the controller can control the operation of the dual-head drive motor and cylinder to adjust the balance of the machine.

[0013] The beneficial effects of this invention are: (1) The control method and device for a drone described in this invention, by setting up a body mechanism, a direction adjustment mechanism, a movement mechanism and a drive mechanism, detects the attitude of the drone by four dynamic balance sensors during use. When the drone's attitude is affected by the center of gravity shift caused by the adjustment of the camera equipment, the controller can control the T-shaped rotating block to rotate until the T-shaped slide is aligned with the side of the center of gravity shift. Then, the T-shaped slider is driven to move the camera equipment in the T-shaped slide and adjust the center of gravity, thereby ensuring the normal flight attitude of the drone during use.

[0014] (2) The control method and device for a drone described in this invention, by setting up a body mechanism, a direction adjustment mechanism, a movement mechanism and a drive mechanism, can start the cylinder to drive the piston rod when in use. The piston rod will synchronously drive the mounting frame and the positioning block to move synchronously. When the positioning block moves to abut against the support block, it can position the T-shaped rotating block and the camera device to prevent them from shaking. When the abutment is released, the T-shaped rotating block and the camera device can be driven to rotate for adjustment. The mounting frame will drive the dual-head drive motor, drive rod and drive wheel to move. When the drive wheel abuts against the slope block, the T-shaped rotating block and the camera device can be driven to rotate for adjustment. When the drive wheel abuts against the conical wheel, the camera device can move to adjust the center of gravity. Attached Figure Description

[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0016] Figure 1 A schematic diagram of the standby state structure of a control device for an unmanned aerial vehicle (UAV) provided by the present invention; Figure 2 This invention provides a schematic diagram of the adjustment state structure of a control device for an unmanned aerial vehicle (UAV). Figure 3 A schematic diagram of the structure of a T-shaped rotating block in a control device for an unmanned aerial vehicle (UAV) provided by the present invention; Figure 4 A side view of the T-shaped rotating block of a control device for an unmanned aerial vehicle (UAV) provided by the present invention; Figure 5 This invention provides a schematic diagram of the structure of a support block and a slope block for a control device of an unmanned aerial vehicle (UAV). Figure 6 A schematic diagram of the dual-head drive motor mounting structure of a control device for an unmanned aerial vehicle (UAV) provided by the present invention; Figure 7 A schematic diagram of the wing structure of a control device for an unmanned aerial vehicle (UAV) provided by the present invention.

[0017] In the diagram: 1. Main body mechanism; 11. Main body; 12. Support rod; 13. Mounting shell; 14. Drive motor; 15. Rotating rod; 16. Rotating disk; 17. Fan blade; 18. Dynamic balance sensor; 2. Direction adjustment mechanism; 21. T-shaped rotating groove; 22. T-shaped rotating block; 23. Ball groove; 24. Ball; 25. Annular groove; 26. Support block; 27. Slope block; 28. Controller; 3. Moving mechanism; 31. T-shaped sliding groove; 32. Bearing; 33. Lead screw; 34. Rotating groove; 35. Conical wheel; 36. Lead screw nut; 37. T-shaped slider; 38. Mounting groove; 39. Mounting screw hole; 4. Drive mechanism; 41. Fixing groove; 42. Cylinder; 43. Piston rod; 44. Mounting bracket; 45. Dual-head drive motor; 46. Drive rod; 47. Drive wheel; 48. Positioning block. Detailed Implementation

[0018] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0019] like Figures 1-7 As shown, the control device for a drone of the present invention includes a body mechanism 1, a direction adjustment mechanism 2 is provided on the lower surface of the body mechanism 1, a moving mechanism 3 is provided on the lower surface of the direction adjustment mechanism 2, and a driving mechanism 4 is provided inside the direction adjustment mechanism 2.

[0020] The body mechanism 1 includes a body 11. Four support rods 12 are fixedly connected to the outer side wall of the body 11. Each of the four support rods 12 is fixedly connected to a mounting shell 13 at the end away from the body 11. Each of the four mounting shells 13 has a drive motor 14 fixedly installed inside. Each of the four drive motors 14 has a rotating rod 15 fixedly connected to its output end via a coupling. The upper ends of the four rotating rods 15 extend through the mounting shell 13 and are fixedly connected to a rotating disk 16. Each of the four rotating disks 16 has several fan blades 17 fixedly connected to its outer side wall.

[0021] The direction adjustment mechanism 2 includes a T-shaped rotating groove 21, which is located on the lower surface of the body 11. A T-shaped rotating block 22 is rotatably connected inside the T-shaped rotating groove 21. The lower surface of the T-shaped rotating block 22 extends through to the outside of the body 11. Several ball grooves 23 are provided on the lower surface of the T-shaped rotating block 22 inside the T-shaped rotating groove 21. A ball 24 is rotatably connected in each of the ball grooves 23. The lower ends of the balls 24 extend through to the T-shaped rotating groove 21 and abut against the groove wall of the T-shaped rotating groove 21. An annular groove 25 is provided on the upper surface of the T-shaped rotating groove 22. A ring-shaped support block 26 is fixedly connected to the upper surface of the T-shaped rotating groove 21 corresponding to the position of the annular groove 25. A ring-shaped slope block 27 is fixedly connected to the outer ring wall of the support block 26. Anti-slip texture is provided on the outer side wall of the slope block 27.

[0022] The moving mechanism 3 includes a T-shaped slide 31, which is located on the lower surface of the T-shaped rotating block 22. Two bearings 32 are fixedly installed between the opposite walls of the T-shaped slide 31. A lead screw 33 is fixedly sleeved between the two bearings 32. A rotating groove 34 is provided at the bottom of the annular groove 25 located on one side of the T-shaped slide 31. One end of the lead screw 33 extends through the rotating groove 34 and is fixedly connected to a conical wheel 35. A lead screw nut 36 is threadedly connected to the wall of the lead screw 33 in the T-shaped slide 31. A T-shaped slider 37 is fixedly sleeved on the outer wall of the lead screw nut 36. The T-shaped slider 37 is slidably connected in the T-shaped slide 31. The lower end of the T-shaped slider 37 extends through the opening of the T-shaped slide 31 and out of the T-shaped rotating block 22. An installation groove 38 is provided at the end of the T-shaped slider 37 outside the T-shaped rotating block 22. Two installation screw holes 39 are symmetrically provided through the groove wall of the installation groove 38.

[0023] The drive mechanism 4 includes a fixed groove 41, which is formed at the bottom of the annular groove 25. A cylinder 42 is fixedly installed in the fixed groove 41. A piston rod 43 is movably connected in the cylinder 42. Both ends of the piston rod 43 extend through into the fixed groove 41. A mounting bracket 44 is fixedly connected to one end of the piston rod 43. A dual-head drive motor 45 is fixedly installed on the mounting bracket 44. A drive rod 46 is fixedly connected to both output ends of the dual-head drive motor 45 through a coupling. A drive wheel 47 is fixedly connected to the end of each drive rod 46 away from the dual-head drive motor 45. A positioning block 48 is fixedly connected to the other end of the piston rod 43. The upper end of the positioning block 48 abuts against the lower surface of the support block 26.

[0024] Dynamic balance sensors 18 are fixedly installed inside each of the four support rods 12.

[0025] The T-shaped rotating block 22 has a controller 28 fixedly installed inside, and the controller 28 is connected to four dynamic balance sensors 18 via signals.

[0026] A method of using a control device for an unmanned aerial vehicle (UAV) includes the following steps: Step 1: When using the camera, the hanging part of the camera can be inserted into the mounting slot 38, and then the camera can be installed on the T-shaped slider 37 by screwing the screw at the mounting screw hole 39; Step 2: Then, the drone can be controlled to take off and drive the camera equipment to fly. When it is necessary to adjust the camera direction and angle, the dual-head drive motor 45 can be activated. The dual-head drive motor 45 will drive the drive wheel 47 to rotate through the drive rod 46. When the drive wheel 47 rotates, it will roll on the slope block 27. The dual-head drive motor 45 will drive the T-shaped rotating block 22 to rotate under the support of the support block 26 and the slope block 27. The T-shaped rotating block 22 will drive the camera equipment to adjust its direction. Step 3: After the camera equipment is adjusted, cylinder 42 can be activated to drive piston rod 43. Piston rod 43 will synchronously drive mounting bracket 44 and positioning block 48 to move synchronously. Positioning block 48 will move to abut against support block 26, thereby positioning T-shaped rotating block 22 and camera equipment to a certain extent to prevent them from shaking. Mounting bracket 44 will drive double-head drive motor 45 to move. Double-head drive motor 45 will drive drive rod 46 and drive wheel 47 to move, and drive wheel 47 will abut against tapered wheel 35. Thus, through transmission, double-head drive motor 45 can drive lead screw 33 to rotate. Lead screw 33 drives T-shaped slider 37 to move through cooperation with lead screw nut 36. T-shaped slider 37 will drive camera equipment to move, thereby shifting the center of gravity of camera equipment for adjustment. Step 4: The output of the four drive motors 14 and the overall balance posture of the machine body 11 are monitored by four dynamic balance sensors 18. When the center of gravity of the machine body 11 shifts after the camera equipment is adjusted, the data can be transmitted to the controller 28 through the four dynamic balance sensors 18. Then, the controller 28 can control the operation of the dual-head drive motor 45 and the cylinder 42 to adjust the balance of the machine body 11.

[0027] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A control device for an unmanned aerial vehicle (UAV), comprising a body structure (1), characterized in that, The lower surface of the body mechanism (1) is provided with a direction adjustment mechanism (2), the lower surface of the direction adjustment mechanism (2) is provided with a moving mechanism (3), and the interior of the direction adjustment mechanism (2) is provided with a driving mechanism (4).

2. The control device for a drone according to claim 1, characterized in that: The machine body (1) includes a machine body (11). Four support rods (12) are fixedly connected to the outer side wall of the machine body (11). Each of the four support rods (12) is fixedly connected to a mounting shell (13) at the end away from the machine body (11). Each of the four mounting shells (13) is fixedly installed with a drive motor (14). Each of the four drive motors (14) is fixedly connected to a rotating rod (15) through a coupling. The upper ends of the four rotating rods (15) extend through to the outside of the mounting shell (13) and are fixedly connected to a rotating disk (16). Each of the four rotating disks (16) is fixedly connected with several fan blades (17) on the outer side wall.

3. The control device for a drone according to claim 1, characterized in that: The direction adjustment mechanism (2) includes a T-shaped rotating groove (21), which is located on the lower surface of the body (11). A T-shaped rotating block (22) is rotatably connected inside the T-shaped rotating groove (21). The lower surface of the T-shaped rotating block (22) extends through to the outside of the body (11). Several ball grooves (23) are provided on the lower surface of the T-shaped rotating block (22) located inside the T-shaped rotating groove (21). Each of the several ball grooves (23) is rotatably connected to a ball (24). The lower ends of each of the ball bearings (24) extend through into the T-shaped rotating groove (21) and abut against the groove wall of the T-shaped rotating groove (21). An annular groove (25) is provided on the upper surface of the T-shaped rotating block (22). A ring-shaped support block (26) is fixedly connected to the upper surface of the T-shaped rotating groove (21) corresponding to the position of the annular groove (25). A ring-shaped slope block (27) is fixedly connected to the outer ring wall of the support block (26), and anti-slip texture is provided on the outer side wall of the slope block (27).

4. The control device for a drone according to claim 1, characterized in that: The moving mechanism (3) includes a T-shaped groove (31), which is located on the lower surface of the T-shaped rotating block (22). Two bearings (32) are fixedly installed between the opposite walls of the T-shaped groove (31). A lead screw (33) is fixedly sleeved between the two bearings (32). A rotating groove (34) is provided at the bottom of the annular groove (25) on one side of the T-shaped groove (31). One end of the lead screw (33) extends through the rotating groove (34) and is fixedly connected to a conical wheel (35). A lead screw nut (36) is threaded onto the rod wall of the T-shaped slide groove (31). A T-shaped slider (37) is fixedly sleeved on the outer wall of the lead screw nut (36). The T-shaped slider (37) is slidably connected in the T-shaped slide groove (31), and the lower end of the T-shaped slider (37) passes through the groove opening of the T-shaped slide groove (31) and extends to the outside of the T-shaped rotating block (22). An installation groove (38) is opened at one end of the T-shaped slider (37) outside the T-shaped rotating block (22). The groove wall of the installation groove (38) is symmetrically opened with two installation screw holes (39).

5. The control device for a drone according to claim 1, characterized in that: The drive mechanism (4) includes a fixed groove (41) which is opened at the bottom of the annular groove (25). A cylinder (42) is fixedly installed in the fixed groove (41). A piston rod (43) is movably connected in the cylinder (42). Both ends of the piston rod (43) extend through into the fixed groove (41). One end of the piston rod (43) is fixedly connected to a mounting bracket (44). A dual-head drive motor (45) is fixedly installed on the mounting bracket (44). Both output ends of the dual-head drive motor (45) are fixedly connected to a drive rod (46) through a coupling. A drive wheel (47) is fixedly connected to the end of each of the two drive rods (46) away from the dual-head drive motor (45). A positioning block (48) is fixedly connected to the other end of the piston rod (43). The upper end of the positioning block (48) abuts against the lower surface of the support block (26).

6. A control device for an unmanned aerial vehicle according to claim 2, characterized in that: Dynamic balance sensors (18) are fixedly installed inside each of the four support rods (12).

7. A control device for an unmanned aerial vehicle according to claim 1, characterized in that: A controller (28) is fixedly installed inside the T-shaped rotating block (22), and the controller (28) is connected to four dynamic balance sensors (18) via signals.

8. A method of using a control device for a drone as described in any one of claims 1-7, characterized in that: Includes the following steps: Step 1: When using the camera, the hanging part of the camera can be inserted into the mounting slot (38), and then the camera can be installed on the T-shaped slider (37) by screwing the screw at the mounting screw hole (39); Step 2: After that, the drone can be controlled to take off and drive the camera equipment to fly. When it is necessary to adjust the camera direction and angle of the camera equipment, the dual-head drive motor (45) can be started. The dual-head drive motor (45) will drive the drive wheel (47) to rotate through the drive rod (46). When the drive wheel (47) rotates, it will roll on the slope block (27). The dual-head drive motor (45) will drive the T-shaped rotating block (22) to rotate under the support of the support block (26) and the slope block (27). The T-shaped rotating block (22) will drive the camera equipment to adjust its direction. Step 3: After the camera equipment is adjusted, the cylinder (42) can be started to drive the piston rod (43). The piston rod (43) will drive the mounting bracket (44) and the positioning block (48) to move synchronously. The positioning block (48) will move to abut against the support block (26), thereby positioning the T-shaped rotating block (22) and the camera equipment to a certain extent and preventing them from shaking. The mounting bracket (44) will drive the double-head drive motor (45) to move. The double-head drive motor (45) will drive the drive rod (46) and the drive wheel (47) to move, and make the drive wheel (47) abut against the conical wheel (35). Thus, through transmission, the double-head drive motor (45) can drive the lead screw (33) to rotate. The lead screw (33) drives the T-shaped slider (37) to move through the cooperation with the lead screw nut (36). The T-shaped slider (37) will drive the camera equipment to move, thereby causing the center of gravity of the camera equipment to shift for adjustment. Step 4: The output of the four drive motors (14) and the overall balance posture of the machine body (11) are monitored by four dynamic balance sensors (18). When the center of gravity of the machine body (11) is shifted after the camera equipment is adjusted, the data can be transmitted to the controller (28) through the four dynamic balance sensors (18). Then, the dual-head drive motor (45) and cylinder (42) can be controlled by the controller (28) to adjust the balance of the machine body (11).

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