阅读说明：本技术 一种协同虚拟作业培训下的无人机悬停机构 (Unmanned aerial vehicle mechanism of hovering under virtual operation training in coordination ) 是由 徐盛 温积群 杨迁 王绍荃 黄相良 钟尚染 于 2021-09-02 设计创作，主要内容包括：一种协同虚拟作业培训下的无人机悬停机构,包括无人机本体、无线控制装置、动力装置和悬停装置,所述悬停装置包括第一电源元件、第一无线控制开关、水银控制盒和若干个控制元件,所述水银控制盒包括盒体、导电杆和水银,所述盒体内部镂空,所述盒体上设有若干个触头,所述触头上设有触片,所述触头设有连通触头和盒体的镂空槽,所述导电杆位于盒体中心位置且始终与水银保持接触,所述触片的数量与控制元件的数量相对应,所述动力装置包括若干个螺旋桨和伺服电机,所述控制元件与所述触片电连接,当盒体处于水平状态时,所述水银所在竖直高度低于触片所在高度,当盒体向任意一侧倾斜,对应方向的触头上的水银与触片接触。(An unmanned aerial vehicle hovering mechanism under collaborative virtual operation training comprises an unmanned aerial vehicle body, a wireless control device, a power device and a hovering device, wherein the hovering device comprises a first power supply element, a first wireless control switch, a mercury control box and a plurality of control elements, the mercury control box comprises a box body, a conducting rod and mercury, the box body is hollowed out, the box body is provided with a plurality of contacts, the contacts are provided with contact pieces, each contact piece is provided with a hollowed-out groove communicated with the corresponding contact piece and the corresponding box body, the conducting rod is located in the central position of the box body and is always in contact with the mercury, the number of the contact pieces corresponds to that of the control elements, the power device comprises a plurality of propellers and servo motors, the control elements are electrically connected with the contact pieces, when the box body is in a horizontal state, the vertical height of the mercury is lower than that of the contact pieces, when the box body inclines to any side, mercury on the contact in the corresponding direction is contacted with the contact piece.)

1. The utility model provides an unmanned aerial vehicle mechanism of hovering under virtual operation training in coordination which characterized in that: the suspension device comprises an unmanned aerial vehicle body, a wireless control device connected with the unmanned aerial vehicle body, a power device used for controlling the unmanned aerial vehicle body to move and a suspension device used for assisting the unmanned aerial vehicle to suspend, wherein the suspension device comprises a first power supply element, a first wireless control switch, a mercury control box and a plurality of control elements connected with the mercury control box, the mercury control box comprises a box body, a conducting rod connected with the box body and mercury placed in the box body, the box body is hollow, a plurality of contacts are arranged on the box body, contact pieces are arranged on the contacts, each contact piece is provided with a hollow groove communicated with the contact and the box body, the opening positions of the hollow grooves are sealed by the contact pieces, the conducting rod is positioned in the central position of the box body and is always kept in contact with the mercury, the conducting rod is electrically connected with the first wireless control switch, and the number of the contact pieces corresponds to the number of the control elements, the contact piece is electrically connected with the control element respectively, the power device comprises a plurality of propellers and a plurality of servo motors used for driving the propellers to move, the control element is electrically connected with the servo motors respectively, the control element 8 is electrically connected with the contact piece, when the box body is in a horizontal state, the vertical height of the mercury is lower than that of the contact piece, when the box body inclines to any side, the mercury on the contact in the corresponding direction is contacted with the contact piece.

2. The unmanned aerial vehicle hovering mechanism under collaborative virtual work training according to claim 1, wherein: still include high adjusting device, high adjusting device includes second wireless control switch, the electricity connects in the high sensitivity baroceptor of second wireless control switch, connects in the first screw of unmanned aerial vehicle body, second screw, is used for driving the first rotating electrical machines of first screw motion and is used for driving the second rotating electrical machines of second screw motion, first rotating electrical machines and second rotating electrical machines are connected with high sensitivity baroceptor electricity respectively, first screw and second screw are located the unmanned aerial vehicle body directly over respectively and under.

3. The unmanned aerial vehicle hovering mechanism under collaborative virtual work training according to claim 2, wherein: the height adjusting device further comprises a driving motor connected to the high-sensitivity air pressure sensor, a first contact rod connected to the driving motor, a second contact rod connected to the first propeller and a third contact rod connected to the second propeller, wherein contact pieces are arranged at the upper end and the lower end of the first contact rod respectively, when the first contact rod moves to a position right below the first propeller, the contact pieces on the first contact rod are in contact with the second contact rod, and when the first contact rod moves to a position right above the second propeller, the contact pieces on the first contact rod are in contact with the third contact rod.

4. The unmanned aerial vehicle hovering mechanism under collaborative virtual work training according to claim 3, wherein: the contact ends of the second feeler lever and the third feeler lever and the first feeler lever are conical, and the first feeler lever is in point contact with the second feeler lever and the third feeler lever respectively.

Technical Field

The invention relates to the technical field of unmanned aerial vehicle equipment, in particular to an unmanned aerial vehicle hovering mechanism under collaborative virtual operation training.

Background

Unmanned aerial vehicle is the unmanned aerial vehicle who utilizes radio remote control equipment and the program control device manipulation of self-contained, and among the prior art, unmanned aerial vehicle carries on the camera commonly used and carries out the work of taking photo by plane, and the in-process of taking photo by plane often needs unmanned aerial vehicle to hover and shoots, in order to guarantee picture quality, needs to guarantee that unmanned aerial vehicle hovers two indexes of in-process: first, fly height stability; second, whether unmanned aerial vehicle inclines, among the prior art, also there are a lot of unmanned aerial vehicle auxiliary device that hovers on the market, but all have characteristics such as the precision is not enough, sensitivity is low, controllability is poor.

Disclosure of Invention

In order to solve the problems, the invention provides the hovering mechanism of the unmanned aerial vehicle, which can ensure that the flying height of the unmanned aerial vehicle is stable, the unmanned aerial vehicle can keep a horizontal state, and the hovering mechanism of the unmanned aerial vehicle has high controllability and high sensitivity.

The technical scheme of the invention is as follows: an unmanned aerial vehicle hovering mechanism under collaborative virtual operation training comprises an unmanned aerial vehicle body, a wireless control device connected to the unmanned aerial vehicle body, a power device used for controlling the unmanned aerial vehicle body to move and a hovering device used for assisting the unmanned aerial vehicle to hover, wherein the hovering device comprises a first power supply element, a first wireless control switch, a mercury control box and a plurality of control elements connected to the mercury control box, the mercury control box comprises a box body, a conducting rod connected to the box body and mercury placed in the box body, the box body is hollowed out, a plurality of contacts are arranged on the box body, contact pieces are arranged on the contacts, the contacts are provided with hollowed-out grooves communicated with the contacts and the box body, the opening positions of the hollowed-out grooves are sealed by the contact pieces, the conducting rod is located in the center of the box body and is always kept in contact with the mercury, and the conducting rod is electrically connected with the first wireless control switch, the number of the contact pieces corresponds to that of the control elements, the contact pieces are electrically connected with the control elements respectively, the power device comprises a plurality of propellers and a plurality of servo motors used for driving the propellers to move, the control elements are electrically connected with the servo motors respectively, the control elements are electrically connected with the contact pieces, when the box body is in a horizontal state, the vertical height of the mercury is lower than that of the contact pieces, when the box body inclines to any side, the mercury on the contacts in the corresponding direction is in contact with the contact pieces.

By adopting the technical scheme, when the unmanned aerial vehicle body flies to a proper position and needs to suspend, a user controls the first wireless control switch to be closed through the wireless control device, so that a circuit is connected, electric power is transmitted to the conducting rod from the first power supply element, the conducting rod is positioned at the central position of the box body and is always in contact with mercury, and current can pass through mercury, when the unmanned aerial vehicle body inclines at a certain angle, the mercury can flow to the hollow groove in the contact at the corresponding position under the action of gravity, the mercury water level in the hollow groove can rise, because the control element and the contact piece and the box body are in a horizontal state, the vertical height of the mercury is lower than that of the contact piece, when the box body inclines to any side, the mercury on the contact in the corresponding direction is in contact with the contact piece, and the mercury has good conductivity, therefore, the closed circuit can be connected, and the current can flow through the control element, the rotational speed is strengthened to the corresponding servo motor of control element control, and when the unmanned aerial vehicle body resumes the horizontality, this circuit open circuit, servo motor resume original rotational speed, and at this moment, the unmanned aerial vehicle body keeps the horizontality, can improve the sensitivity when unmanned aerial vehicle keeps the horizontality greatly through this device.

The invention further comprises the following steps: still include high adjusting device, high adjusting device includes second wireless control switch, the electricity connects in the high sensitivity baroceptor of second wireless control switch, connects in the first screw of unmanned aerial vehicle body, second screw, is used for driving the first rotating electrical machines of first screw motion and is used for driving the second rotating electrical machines of second screw motion, first rotating electrical machines and second rotating electrical machines are connected with high sensitivity baroceptor electricity respectively, first screw and second screw are located the unmanned aerial vehicle body directly over respectively and under.

By adopting the technical scheme, when the unmanned aerial vehicle moves to a proper flying height, a user confirms that the flying height can meet the shooting requirement through the fed-back shooting picture information, the wireless control device controls the second wireless control switch to be switched on to enable the circuit to be communicated, the high-sensitivity air pressure sensor records the air pressure value at the moment as a standard value, when the air pressure value is increased, the flying height is higher at the moment, the high-sensitivity air pressure sensor transmits an electric signal to the second rotating motor, the second rotating motor drives the second screw propeller to move, and because the second screw propeller is positioned right below the unmanned aerial vehicle body, the second screw propeller drives the unmanned aerial vehicle body to move downwards for a certain distance until the numerical value of the high-sensitivity air pressure sensor is recovered to the standard value, the high-sensitivity air pressure sensor cuts off the electric signal, and similarly, when the air pressure value is reduced, the flying height is lower at the moment, high sensitivity baroceptor transmits the signal of telecommunication to first rotating electrical machines, the motion of the first screw of first rotating electrical machines drive for the altitude of flight of unmanned aerial vehicle body rises, has realized automatically regulated altitude and has guaranteed unmanned aerial vehicle's altitude keep stable function.

The invention further comprises the following steps: the height adjusting device further comprises a driving motor connected to the high-sensitivity air pressure sensor, a first contact rod connected to the driving motor, a second contact rod connected to the first propeller and a third contact rod connected to the second propeller, wherein contact pieces are arranged at the upper end and the lower end of the first contact rod respectively, when the first contact rod moves to a position right below the first propeller, the contact pieces on the first contact rod are in contact with the second contact rod, and when the first contact rod moves to a position right above the second propeller, the contact pieces on the first contact rod are in contact with the third contact rod.

Adopt above-mentioned technical scheme, because both ends are equipped with the contact respectively about the first feeler lever, when first feeler lever removed under first screw, contact and the contact of second feeler lever on the first feeler lever, when first feeler lever removed under the second screw, contact and the contact of third feeler lever on the first feeler lever, detect out atmospheric pressure when high sensitivity baroceptor and descend, high sensitivity baroceptor control driving motor drives first feeler lever and moves under first screw for first rotating electrical machines circular telegram drives unmanned aerial vehicle and rises, otherwise the same reason.

The invention further comprises the following steps: the contact ends of the second feeler lever and the third feeler lever and the first feeler lever are conical, and the first feeler lever is in point contact with the second feeler lever and the third feeler lever respectively.

By adopting the technical scheme, because the contact ends of the second contact rod and the third contact rod and the first contact rod are both conical, the first contact rod is in point contact with the second contact rod and the third contact rod respectively, the stability of the contact sheet on the first contact rod when the contact sheet is in contact with the second contact rod and the third contact rod respectively can be improved, and the possibility of equipment failure is reduced.

Drawings

Fig. 1 is a sectional view of an unmanned aerial vehicle hovering mechanism under collaborative virtual work training according to an embodiment of the present invention.

Fig. 2 is a circuit diagram of a hovering device in a hovering mechanism of an unmanned aerial vehicle under collaborative virtual work training according to an embodiment of the present invention.

Fig. 3 is a working schematic diagram of a hovering device in a hovering mechanism of an unmanned aerial vehicle under collaborative virtual work training according to an embodiment of the present invention.

Fig. 4 is a working schematic diagram of a height adjustment device in an unmanned aerial vehicle hovering mechanism under collaborative virtual work training according to an embodiment of the present invention.

1-unmanned aerial vehicle body, 2-wireless control device, 3-power device, 4-hovering device, 5-first power supply element, 6-first wireless control switch, 7-mercury control box, 8-control element, 9-box, 10-conducting rod, 11-mercury, 12-contact, 13-contact, 14-hollowed-out groove, 15-propeller, 16-servo motor, 17-height adjusting device, 18-second wireless control switch, 19-high sensitivity air pressure sensor, 20-first propeller, 21-second propeller, 22-first rotating motor, 23-second rotating motor, 24-driving motor, 25-first contact rod, 26-second contact rod, 27-third contact rod.

Detailed Description

As shown in fig. 1-4, an unmanned aerial vehicle hovering mechanism under collaborative virtual operation training comprises an unmanned aerial vehicle body 1, a wireless control device 2 connected to the unmanned aerial vehicle body 1, a power device 3 for controlling the unmanned aerial vehicle body 1 to move, and a hovering device 4 for assisting the unmanned aerial vehicle to hover, wherein the hovering device 4 comprises a first power supply element 5, a first wireless control switch 6, a mercury control box 7, and a plurality of control elements 8 connected to the mercury control box 7, the mercury control box 7 comprises a box body 9, a conductive rod 10 connected to the box body 9, and mercury 11 placed in the box body 9, the box body 9 is hollowed out, the box body 9 is provided with a plurality of contacts 12, the contacts 12 are provided with contact pieces 13, the contacts 12 are provided with hollowed-out grooves 14 for communicating the contacts 12 with the box body 9, and the contact pieces 13 seal the opening positions of the hollowed-out grooves 14, the conductive rod 10 is located at the center of the box body 9 and is always in contact with the mercury 11, the conductive rod 10 is connected with the first wireless control switch 6, the number of the contact pieces 13 corresponds to the number of the control elements 8, the contact pieces 13 are electrically connected with the control elements 8 respectively, the power device 3 comprises a plurality of propellers 15 and a plurality of servo motors 16 used for driving the propellers 15 to move, the control elements 8 are electrically connected with the servo motors 16 respectively, the control elements 8 are electrically connected with the contact pieces 13, when the box body 9 is in a horizontal state, the vertical height of the mercury 11 is lower than that of the contact pieces 13, and when the box body 9 inclines to any side, the mercury 11 on the contact 12 in the corresponding direction is in contact with the contact pieces 13.

When the unmanned aerial vehicle body 1 flies to a proper position and needs to be suspended, a user controls the first wireless control switch 6 to be closed through the wireless control device 2, so that a circuit is formed, electric power is transmitted to the conducting rod 10 from the first power supply element 5, the conducting rod 10 is located in the center of the box body 9 and always keeps contact with the mercury 11, current can pass through the mercury 11, when the unmanned aerial vehicle body 1 inclines at a certain angle, the mercury 11 can flow to the hollow groove 14 in the contact 12 at the corresponding position under the action of gravity, the water level of the mercury 11 in the hollow groove 14 can rise, when the control element 8 and the contact piece 13 are in a horizontal state and the box body 9 is in a horizontal state, the vertical height of the mercury 11 is lower than that of the contact piece 13, when the box body 9 inclines to any side, the mercury 11 on the contact piece 12 in the corresponding direction is in contact with the contact piece 13, and the mercury 11 has good conductivity, consequently, this closed circuit can pass through, and the control element 8 can be flowed through to the electric current, and the control element 8 control corresponds servo motor 16 and strengthens the rotational speed, and when unmanned aerial vehicle body 1 resumes the horizontality, this circuit opens circuit, and servo motor 16 resumes original rotational speed, and at this moment, unmanned aerial vehicle body 1 keeps the horizontality, can improve the sensitivity when unmanned aerial vehicle keeps the horizontality greatly through this device.

Still include height adjusting device 17, height adjusting device 17 includes second wireless control switch 18, the electricity connects in second wireless control switch 18's high sensitivity baroceptor 19, connects in the first screw 20 of unmanned aerial vehicle body 1, second screw 21, is used for driving the first rotating electrical machines 22 of the motion of first screw 20 and is used for driving the second rotating electrical machines 23 of the motion of second screw 21, first rotating electrical machines 22 and second rotating electrical machines 23 are connected with high sensitivity baroceptor 19 electricity respectively, first screw 20 and second screw 21 are located unmanned aerial vehicle body 1 directly over and directly under respectively.

When the unmanned aerial vehicle moves to a proper flying height, a user confirms that the height can meet shooting requirements through the fed-back shooting picture information, the wireless control device 2 controls the second wireless control switch 18 to be turned on, so that a circuit is formed, the high-sensitivity air pressure sensor 19 records the air pressure value at the moment as a standard value, when the air pressure value is increased, the flying height is higher at the moment, the high-sensitivity air pressure sensor 19 transmits an electric signal to the second rotating motor 23, the second rotating motor 23 drives the second propeller 21 to move, because the second propeller 21 is positioned right below the unmanned aerial vehicle body 1, the second propeller 21 drives the unmanned aerial vehicle body 1 to move downwards for a certain distance until the numerical value of the high-sensitivity air pressure sensor 19 is recovered to the standard value, the high-sensitivity air pressure sensor 19 cuts off the electric signal, and similarly, when the air pressure value is reduced, the flying height is lower at the moment, high sensitivity baroceptor 19 transmits the signal of telecommunication to first rotating electrical machines 22, and first rotating electrical machines 22 drive first screw 20 motion for unmanned aerial vehicle body 1's altitude of flight rises, has realized automatically regulated altitude and has guaranteed unmanned aerial vehicle's altitude keep stable function.

The height adjusting device 17 further comprises a driving motor 24 connected to the high-sensitivity air pressure sensor 19, a first contact rod 25 connected to the driving motor 24, a second contact rod 26 connected to the first propeller 20, and a third contact rod 27 connected to the second propeller 21, wherein contact pieces 13 are respectively arranged at the upper end and the lower end of the first contact rod 25, when the first contact rod 25 moves to the position right below the first propeller 20, the contact pieces 13 on the first contact rod 25 are in contact with the second contact rod 26, and when the first contact rod 25 moves to the position right above the second propeller 21, the contact pieces 13 on the first contact rod 25 are in contact with the third contact rod 27.

Because both ends are equipped with contact 13 respectively about first feeler lever 25, when first feeler lever 25 removed under first screw 20, contact 13 and second feeler lever 26 contact on the first feeler lever 25, when first feeler lever 25 removed under second screw 21, contact 13 and the contact of third feeler lever 27 on the first feeler lever 25, when high sensitivity baroceptor 19 detected the atmospheric pressure and dropped, high sensitivity baroceptor 19 control driving motor 24 drove first feeler lever 25 and moved under first screw 20 for first rotating electrical machines 22 circular telegram drives unmanned aerial vehicle and rises, otherwise the same reason.

The contact ends of the second contact rod 26 and the third contact rod 27 and the first contact rod 25 are conical, and the first contact rod 25 is in point contact with the second contact rod 26 and the third contact rod 27 respectively.

Because the contact ends of the second contact rod 26 and the third contact rod 27 and the first contact rod 25 are both conical, the first contact rod 25 is in point contact with the second contact rod 26 and the third contact rod 27 respectively, the stability of the contact piece 13 on the first contact rod 25 in contact with the second contact rod 26 and the third contact rod 27 can be improved, and the possibility of equipment failure is reduced.