Quadcopter

Abstract

This utility model relates to unmanned aerial vehicles. The technical result is increased aerodynamic stability in wind conditions without a significant increase in weight (compared, for example, to a quadcopter with four pairs of coaxial propellers). This is achieved by incorporating a circular groove with a spherical cross-section on the bottom surface of the quadcopter body. This groove accommodates a balancing ball, which, when the quadcopter tilts, acts as a counterweight in the direction opposite to the tilt.

Description

[0001] The utility model relates to the field of unmanned aerial vehicles.

[0002] A quadcopter is known that contains a body, two frames for mounting propellers, four propellers with motors, a two-axis mechanical stabilizer with a 4K camera and electronic image stabilization, an LED indicator, a power battery, a flashlight and optical sensors, on the lower surface of the body in the center of mass there is one pair of coaxial propellers with electric motors, the shafts of which rotate in opposite directions (RU 236852, B64C27 / 08, published on 08 / 26 / 2025).

[0003] The disadvantages of this design are its weight, the increase of which is caused by the use of additional propellers with motors.

[0004] Also known is the design of a quadcopter with improved stability, shown on the resource https: / / www.tytorobotics.com / blogs / articles / best-coaxial-rotor-design-for-uavs?srsltid=AfmBOoq52NGt3YYKGG463u4H3nkydTsFxVKjaHmJb42oONDzj9Erbsv1 .

[0005] This quadcopter contains a body, two propeller mounting frames, 4 pairs of coaxial propellers, 8 motors, a stabilizer with a 4K camera and electronic image stabilization, 2 stands for surface installation, an LED indicator, a power battery, a flashlight and optical sensors.

[0006] Despite the use of a coaxial propeller design, which is designed to improve the stability of the quadcopter in flight, the design is not without its drawbacks.

[0007] It is known that air density decreases with altitude. To successfully perform its functions, the device must be as light as possible.

[0008] If a quadcopter is equipped with 4 pairs of propellers, then it must have 8 motors, twice as many as a standard quadcopter. This increases the weight. The higher the quadcopter climbs, the thinner the air around it becomes, making it more difficult to achieve the required thrust. As the aircraft's weight increases, this becomes critical for flight at high altitudes, not to mention the quadcopter's stability in flight.

[0009] Furthermore, the airflow created by the first propeller exerts a force on the second propeller—a drag force, directed opposite to the thrust force. Consequently, the drag force reduces the thrust generated by the second propeller. The first propeller creates turbulence, and the resulting drag counteracts not only the thrust but also the torque generated by the second propeller. The faster the first propeller rotates, the greater the drag and the greater the loss of thrust. The turbulent air masses thrown downwards swirl and flow onto the lower propeller, potentially causing it to malfunction.

[0010] The quadcopter design shown in the manual (https: / / dronnews.ru / wp-content / uploads / 2023 / 01 / sjrc_f22_4k_pro_manual_rus_dronnews.pdf?ysclid=m3pvcz52am547713202) serves as a prototype for the proposed utility model. The quadcopter comprises a body, two propeller mounting frames, four propellers with motors, a two-axis mechanical stabilizer with a 4K camera and electronic image stabilization, an LED indicator, a battery, a flashlight, and optical sensors. The operating principle of this quadcopter is the same as described above.

[0011] The quadcopter has a lightweight design, and there is no influence of air masses swirling around the propellers on other structural elements.

[0012] A disadvantage of this design is instability in flight when tilting and turning at any speed. A strong gust will cause the quadcopter to tilt to one side. A crosswind creates uneven pressure on the propellers, causing the quadcopter to tilt. If the wind velocity vector coincides with the direction of the reactive torque, an additional force acts on the quadcopter, causing it to lose stability in flight and eventually crash.

[0013] Thus, existing designs have low flight stability and / or loss of thrust with increasing speed.

[0014] To eliminate the above-described shortcomings, a quadcopter design with a balancing ball moving along a round channel is proposed.

[0015] The purpose of creating the quadcopter design is to increase its flight stability and maneuverability without significantly increasing its weight.

[0016] The technical result is expressed in increasing aerodynamic stability under the influence of wind without a significant (compared, for example, with a quadcopter with 4 pairs of coaxial propellers) increase in weight.

[0017] The technical result is achieved in that a quadcopter comprising a housing, two frames for mounting propellers, four propellers with motors, a control system with a regulator, a mechanical stabilizer with a 4K camera and electronic image stabilization, a LED indicator, a power battery, a flashlight and optical sensors, angle and angular velocity sensors, legs for landing on a plane, while on the lower surface of the housing there is a circular groove with a cross-section in the shape of a sphere, along which a balancing ball moves, which, in the event of a roll or pitch of the quadcopter, according to the control signal of the regulator, is moved by means of an actuator as a counterweight in the direction opposite to that in which the quadcopter rolls.

[0018] To increase stability by compensating for reactive moments, a coaxial design is often used (4 pairs of propellers, in each pair the propellers rotate in different directions).

[0019] The quadcopter is illustrated with figures where:

[0020] Fig. 1 - proposed quadcopter design.

[0021] Fig. 2 - section in Fig. 1

[0022] Fig. 3 - top view of Fig. 1

[0023] The quadcopter comprises a body (1), a frame (2) for mounting propellers (3), 4 electric motors (4) with propellers (3), a stabilizer with a 4K camera and electronic image stabilization (5), an LED indicator (6), a power battery (7), optical sensors (8), and landing legs (9). Moreover, on the lower surface of the body (1) there is a circular groove (10) with a spherical cross-section along which a balancing ball (11) moves.

[0024] The operating principle of the proposed utility model is as follows.

[0025] The propellers convert the engine torque into thrust. The motors are located on the frame arms opposite each other and rotate in opposite directions—two clockwise, two counterclockwise. The quadcopter ascends when all four motors are running at the same and maximum RPM. It descends when all four motors are running at the same RPM, but lower than during ascent. When the quadcopter rolls or pitches (deviates from the horizontal plane in any direction), the control system commands the balancing ball to move in the direction opposite to the roll direction. The control system comprises a controlled object, a pitch angle sensor, a pitch angular rate sensor, a roll angle sensor, a roll angular rate sensor, a pitch angle setter, a roll angle setter, a controller (comparison unit), and an actuator. Data from the sensors (angle and angular velocity sensors) is sent to the controller, which generates a control signal.In accordance with this signal, the balancing ball is moved by means of the actuator, which allows the roll and pitch angles to be changed or stabilized.

[0026] The modern quadcopter operates using four motors with propellers mounted on them, which generate lift. Propellers convert the motor torque into thrust. The motors are located on the frame arms opposite each other and rotate in opposite directions—two clockwise, two counterclockwise. The quadcopter ascends when all four motors are running at the same and maximum RPM. It descends when all four motors are running at the same RPM, but lower than during ascent. The quadcopter tilts when the RPM of the left and right motors differs. Speed ​​is adjusted when moving straight ahead by varying the RPM of the front and rear motors. To rotate the quadcopter, simply reduce the RPM of one of the four motors. The quadcopter's flight is controlled by an onboard computer or flight controller.It processes signals from sensors and transmits commands to the engines to perform certain maneuvers.

[0027] A quadcopter propeller works by spinning the blades, capturing air and pushing it downward, creating a zone of low pressure above them and a zone of high pressure below them. This creates lift for flight.

[0028] The advantage of the proposed utility model is that it is lighter than a design with a coaxial scheme, more maneuverable, allows the quadcopter to be aerodynamically stable when exposed to wind and quickly level its position when tilted relative to the horizontal plane.

Claims

A quadcopter comprising a housing, two frames for mounting propellers, four propellers with motors, a control system with a regulator, a mechanical stabilizer with a 4K camera and electronic image stabilization, a LED indicator, a power battery, a flashlight and optical sensors, angle and angular velocity sensors, legs for landing on a plane, characterized in that on the lower surface of the housing there is a circular groove with a spherical cross-section along which a balancing ball moves, which, in the event of a roll or pitch of the quadcopter, according to a control signal from the regulator, is moved by means of an actuator as a counterweight in the direction opposite to that in which the quadcopter is rolling.

Images