Multi-rotor automatic stabilizing device

Abstract

The utility model relates to a multi-rotor automatic stabilizing device in the technical field of aircrafts. The power module is provided with a plurality of first rotor wing modules which are rotationally symmetrical along the center of the rack, the power module is further provided with a second rotor wing module and a third rotor wing module which are arranged on the side portion of the rack, and the first rotor wing modules, the second rotor wing module and the third rotor wing module are perpendicular to one another in a pairwise corresponding mode; the control module is provided with a distance attitude sensor which is arranged on the rack and is used for detecting the position attitude change of the rack and a controller for adjusting the running state of the power module; according to the multi-rotor automatic stabilizing device, the three-degree-of-freedom orthogonal layout of the multi-rotor modules is adopted, decoupling and independent driving of position posture movement in all directions of a three-dimensional space are achieved, higher movement flexibility and maneuverability are achieved, and it can be guaranteed that the position posture of the multi-rotor automatic stabilizing device is kept in a stable state in the whole operation process.

Description

Technical Field

[0001] The utility model relates to the technical field of aircraft, in particular to a multi-rotor automatic stabilizing device. Background Art

[0002] At present, multi-rotor aircraft is an aircraft with three or more rotors, which has been increasingly widely used in photography, surveying and mapping and other fields.

[0003] However, the rotors of existing multi-rotor aircraft are generally arranged in the same plane in a rotationally symmetrical manner. Although they can fly in six directions: front, back, left, right, up and down in the spatial coordinate system established by the X-axis, Y-axis, and Z-axis, the steering principle of this multi-rotor aircraft is: when turning, the original flight attitude of the multi-rotor aircraft needs to be broken, that is, when the multi-rotor aircraft is flying directly upward, all the rotor shafts are in a vertical state. When turning is required, the original flight attitude of the multi-rotor aircraft needs to be broken by changing one or some of the rotor speeds, so that the multi-rotor aircraft is tilted, and then the rotor shaft is tilted to complete the steering operation. However, this steering characteristic limits the application scenarios of this type of multi-rotor aircraft, and cannot well meet the scenarios that require higher stability. For example, when applied to a glass exterior wall cleaning system, due to the influence of external wind, the multi-rotor aircraft is required to adjust its direction in real time, and the flight posture of the multi-rotor aircraft cannot be broken, which is something the above-mentioned multi-rotor aircraft cannot do; for another example, when applied to a curved surface rust removal system, even if there is no external wind influence, the multi-rotor aircraft is still required to adjust its direction in real time, and it is necessary to ensure in real time that the working surface carried by the multi-rotor aircraft exerts effective pressure on the curved surface, which is something the above-mentioned multi-rotor aircraft cannot do.

[0004] To this end, we designed a multi-rotor automatic stabilization device. Utility Model Content

[0005] In order to overcome the deficiencies in the background technology, the utility model discloses a multi-rotor automatic stabilization device.

[0006] In order to achieve the above-mentioned invention object, the utility model adopts the following technical solutions:

[0007] Multi-rotor automatic stabilization device, including:

[0008] frame;

[0009] A power module, comprising a plurality of first rotor modules which are rotationally symmetrical along the center of the frame, the power module further comprising a second rotor module and a third rotor module which are arranged on the side of the frame, and the first rotor modules, the second rotor modules and the third rotor modules correspond to each other vertically;

[0010] The control module comprises a distance attitude sensor arranged on the frame and used for detecting the change of the position attitude of the frame and a controller for adjusting the running state of the power module.

[0011] Preferably, two of the second rotor modules and two of the third rotor modules are symmetrically provided.

[0012] Preferably, the rotor module includes a power motor, a rotor and a driver, the power motor output shaft is provided with a rotor, and the driver is connected to the power motor and a controller signal.

[0013] Preferably, it also includes:

[0014] The power supply module is arranged on the frame and is used to supply power to the power module and the control module.

[0015] Preferably, the frame is provided with a plurality of mounting sleeves, and the power modules are arranged in the mounting sleeves in a one-to-one correspondence.

[0016] Due to the adoption of the above-mentioned technical solution, the utility model has the following beneficial effects:

[0017] 1. It can automatically detect the position and attitude changes of the frame through the distance attitude sensor and issue control instructions through the controller, automatically adjust the driver current of each rotor module, and then adjust the speed of the power motor of each rotor module, so that the rotor of each rotor module can provide thrust of different sizes, and finally control the position and attitude stability of the frame; that is, the three-degree-of-freedom orthogonal layout of the multi-rotor module is adopted to realize the decoupling and independent drive of the position and attitude movement in all directions of the three-dimensional space, with higher movement flexibility and maneuverability, and can ensure that the multi-rotor automatic stabilization device maintains a stable position and attitude throughout the operation. Compared with the prior art in which multiple rotors are arranged in the same plane, it has stronger adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the first structure of the utility model;

[0019] Figure 2 A top view of the first structure of the utility model;

[0020] Figure 3 It is a top view of the second structure of the utility model;

[0021] Figure 4 It is a top view of the third structure of the utility model.

[0022] In the figure: 1. frame; 11. mounting sleeve; 2. power module; 21. first rotor module; 22. second rotor module; 23. third rotor module; 3. control module; 31. distance attitude sensor; 32. controller; 5. power motor; 6. rotor; 7. driver; 8. power supply module. DETAILED DESCRIPTION

[0023] The present invention can be explained in detail through the following embodiments. The purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention. In the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "front", "back", "left", "right", etc. to indicate directions or positional relationships, they only correspond to the drawings of the present application, in order to facilitate the description of the present invention; it should be understood that if there are terms such as "end", "side", "end part", "lateral", "lateral", "transverse", "longitudinal", etc. to indicate directions or positional relationships, they only correspond to the length and width of the corresponding parts, that is, "end part" indicates the head and tail areas in the length direction of the corresponding part, and "side part" indicates the head and tail areas in the width direction of the corresponding part; this is for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific direction.

[0024] Embodiment 1, in combination with the attached Figure 1-2 , a multi-rotor automatic stabilization device, comprising a frame 1, a power module 2, and a control module 3;

[0025] The power module 2 has a plurality of first rotor modules 21 which are rotationally symmetrical along the center of the frame 1. The power module 2 also has a second rotor module 22 and a third rotor module 23 which are arranged on the side of the frame 1. The first rotor modules 21, the second rotor modules 22 and the third rotor modules 23 correspond to each other vertically.

[0026] The control module 3 has a distance attitude sensor 31 disposed on the frame 1 and used to detect changes in the position and attitude of the frame 1 and a controller 32 for adjusting the operating state of the power module 2; as required, the distance attitude sensor 31 may not be limited to one, and multiple distance attitude sensors 31 may be provided as required; for example, when the frame 1 may be a square frame, one may be provided at each corner of the top surface of the frame 1, or one may be provided at each middle portion of the side of the top surface of the frame 1. When the frame 1 is an annular structure, three or more distance attitude sensors may be provided evenly spaced along the circumference.

[0027] Furthermore, it also includes a power supply module 8 for supplying power to the power module 2 and the control module 3 .

[0028] Furthermore, the rotor module includes a power motor 5 , a rotor 6 and a driver 7 . The output shaft of the power motor 5 is provided with the rotor 6 . The driver 7 is signal-connected with the power motor 5 and the controller 32 .

[0029] As needed, combine with Figure 1-3 The frame 1 can be a square frame or a ring frame. When the frame 1 is a square frame, preferably, there are four first rotor modules 21, and the four first rotor modules 21 are respectively arranged at the corners of the frame 1. At this time, the middle of the two adjacent side walls of the frame 1 are respectively provided with a second rotor module 22 and a third rotor module 23. Figure 4 When the frame 1 is annular, the specific number of the first rotor modules 21 may not be limited. Preferably, the second rotor module 22 or the third rotor module 23 is located in the middle of two adjacent first rotor modules 21 to ensure that the forces on the frame 1 are as parallel as possible.

[0030] It should be noted that in the present embodiment, all the first rotor modules 21 face the same direction.

[0031] It should be noted that: in the present embodiment, the second rotor module 22 and the third rotor module 23 can both rotate forward and reverse, that is, they can change the rotation direction of the rotor 6.

[0032] Furthermore, it also includes a power supply module 8 arranged on the frame 1 to supply power to the power module 2 and the control module 3. As required, the power supply module 8 can be a separate power supply device, such as a structure capable of storing electric energy, such as a lithium battery, a storage battery, etc.; the power supply module 8 can also be a circuit connector, which supplies power to the power module 2 and the control module 3 by connecting other power sources. For example, when the multi-rotor automatic stabilization device is installed on other equipment, it can be connected to the power supply on other equipment through the circuit connector to supply power to the power module 2 and the control module 3.

[0033] When in use, it can automatically detect the position and attitude changes of the frame 1 through the distance attitude sensor 31 and issue a control instruction through the controller 32, automatically adjust the current of the driver 7 of each rotor module, and then adjust the speed of the power motor 5 of each rotor module, so that the rotor 6 of each rotor module can provide thrust of different sizes, and finally control the position and attitude stability of the frame 1; that is, the multi-rotor automatic stabilization device adopts a three-degree-of-freedom orthogonal layout of the multi-rotor module, realizes the decoupling and independent drive of the position and attitude movement in all directions in the three-dimensional space, has higher movement flexibility and maneuverability, and can ensure that the multi-rotor automatic stabilization device maintains a stable position and attitude throughout the operation.

[0034] Embodiment 2, combined with the attached Figure 3-4 , a multi-rotor automatic stabilization device, based on the first embodiment, two second rotor modules 22 and two third rotor modules 23 are symmetrically provided.

[0035] This arrangement can be achieved by adjusting the rotation speed of the rotor 6 in the two second rotor modules 22, and by matching the two second rotor modules 22, the overall force exerted by the two second rotor modules 22 on the frame 1 can be adjusted; compared with changing the rotation direction of the rotor 6 by one second rotor module 22, the vibration caused by changing the rotation of the rotor 6 is eliminated, thereby making the frame 1 more stable.

[0036] Embodiment 3, in combination with the attached Figure 1-4 , a multi-rotor automatic stabilization device, based on embodiment one or two, a frame 1 is provided with a plurality of mounting sleeves 11, and the power modules 2 are arranged in the mounting sleeves 11 one by one; in this way, the rotor 6 can be arranged in the mounting sleeve 11 to protect the mounting sleeve 11, so that even if the multi-rotor automatic stabilization device collides with other objects, the rotor 6 can be prevented from colliding with the other objects, thereby effectively protecting the rotor 6.

[0037] In one example, when the multi-rotor automatic stabilization device is applied to a suspended facade operation system, such as a glass exterior wall cleaning system, the multi-rotor automatic stabilization device can control the stability and attitude adjustment of the entire system through the first rotor module 21, the second rotor module 22 and the third rotor module 23 to achieve the stability of the system itself under the action of external forces such as wind. It can also avoid the problem of time efficiency of the suspended system being unable to operate on internal slopes or curved surfaces due to the action of gravity by adjusting the system's attitude.

[0038] In one instance, when the multi-rotor automatic stabilization device is applied to a magnetic curved surface operation system, such as a hull rust removal system, the multi-rotor automatic stabilization device can provide effective pressure perpendicular to the operation surface through the second rotor module 22 or the third rotor module 23 to avoid safety problems caused by lack of magnetic force when the system overcomes obstacles.

[0039] In one example, when the multi-rotor automatic stabilization device is applied to a suspended platform such as a hanging basket, considering the safety of construction workers and operation stability issues, the multi-rotor automatic stabilization device can be applied to the suspended platform through the first rotor module 21, the second rotor module 22 and the third rotor module 23 to ensure the stability of the suspended platform.

[0040] The parts of the present invention that are not described in detail are prior art. It is obvious to those skilled in the art that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and it is intended that all changes that fall within the meaning and scope of equivalent elements are included in the present invention.

Claims

1. A multi-rotor automatic stabilization device, characterized in that: include: Rack(1); The power module (2) comprises a plurality of first rotor modules (21) which are rotationally symmetrical along the center of the frame (1); the power module (2) further comprises a second rotor module (22) and a third rotor module (23) which are arranged on the side of the frame (1); and the first rotor modules (21), the second rotor modules (22) and the third rotor modules (23) correspond to each other vertically in pairs; The control module (3) comprises a distance attitude sensor (31) arranged on the frame (1) and used to detect changes in the position attitude of the frame (1), and a controller (32) for adjusting the operating state of the power module (2).

2. The multi-rotor automatic stabilization device according to claim 1, characterized in that: Two of the second rotor modules (22) and two of the third rotor modules (23) are symmetrically provided.

3. The multi-rotor automatic stabilization device according to claim 1, characterized in that: The rotor module comprises a power motor (5), a rotor (6) and a driver (7); the output shaft of the power motor (5) is provided with the rotor (6); and the driver (7) is signal-connected to the power motor (5) and the controller (32).

4. The multi-rotor automatic stabilization device according to claim 1, characterized in that: Also includes: A power supply module (8) is arranged on the frame (1) and is used to supply power to the power module (2) and the control module (3).

5. The multi-rotor automatic stabilization device according to claim 1, characterized in that: The frame (1) is provided with a plurality of mounting sleeves (11), and the power modules (2) are arranged in one-to-one correspondence on the mounting sleeves (11).

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