阅读说明：本技术 一种无人机测绘飞行稳定控制装置 (Unmanned aerial vehicle survey and drawing flight stable control device ) 是由 李红 于 2020-12-24 设计创作，主要内容包括：本发明一种无人机测绘飞行稳定控制装置公开了一种通过电动伸缩器和活塞相配合,对不同调平空腔内部的氦气体积进行调节,从而对每个旋翼杆的沉降高度进行调节,在不干预旋翼转速的情况下及时进行姿态调控的稳定控制装置,其特征在于多个电动伸缩器环置于无人机控制箱内部,且靠近无人机控制箱的中心,无人机控制箱内部开有多个储气腔,推板置于储气腔内部,且通过连杆和电动伸缩器相连接,密封囊体置于储气腔内部,且和推板相接触,多个旋翼杆环置于无人机控制箱的外壁上,旋翼杆内部开有调平空腔,调平空腔通过通孔和密封气囊内部相连通,所述调平空腔内部置有多个加强筋。(The invention discloses a device for controlling the surveying and mapping flight stability of an unmanned aerial vehicle, which is characterized in that an electric expansion piece is matched with a piston, a stable control device which adjusts the helium volumes in different leveling cavities, thereby adjusting the sedimentation height of each rotor pole and timely adjusting and controlling the posture without interfering the rotating speed of the rotor, it is characterized in that a plurality of electric retractors are annularly arranged inside the unmanned aerial vehicle control box and are close to the center of the unmanned aerial vehicle control box, a plurality of gas storage cavities are arranged inside the unmanned aerial vehicle control box, the push plate is arranged inside the gas storage cavities, and be connected through connecting rod and electronic expansion bend, sealed utricule arranges the gas storage intracavity portion in, and contacts with the push pedal, and on the outer wall of unmanned aerial vehicle control box was arranged in to a plurality of rotor pole rings, rotor pole inside was opened there is the leveling cavity, and the leveling cavity is linked together through-hole and sealed gasbag inside, a plurality of strengthening ribs have been put to leveling cavity inside.)

1. The utility model provides an unmanned aerial vehicle survey and drawing flight stable control device, characterized by: the plurality of electric retractors are annularly arranged inside the unmanned aerial vehicle control box and are close to the center of the unmanned aerial vehicle control box, a plurality of gas storage cavities are arranged inside the unmanned aerial vehicle control box, the push plate is arranged inside the gas storage cavities and is connected with the electric retractors through a connecting rod, the sealing bag body is arranged inside the gas storage cavities and is contacted with the push plate, a plurality of rotor rods are annularly arranged on the outer wall of the unmanned aerial vehicle control box, leveling cavities are arranged inside the rotor rods and are communicated with the inside of the sealing air bag through holes, a limiting boss is arranged inside the leveling cavities and is positioned at one end of the rotor rods, a piston is arranged inside the gas storage cavities and is contacted with the limiting boss, a position sensor is arranged on the piston, an air inlet channel is arranged at the other end of the rotor rods and is communicated with the gas storage cavities, a one-way air inlet valve is arranged at the opening part of the air inlet channel, an, the oral area of outlet channel is arranged in to one-way air outlet valve, and on the other end of rotor pole was arranged in to the rotor main part, the inside through wires hole that has opened of rotor pole, the through wires hole extended to the both ends of rotor pole, and run through the rotor pole, inside the unmanned aerial vehicle control box was arranged in to the control panel, the one end and the control panel of wire were connected, and the other end of wire passed through the through wires hole and the rotor main part is connected, the control panel overhead has wireless signal transceiver, signal converter, data processing device and controller, position sensor and data processing device signal connection, wireless signal transceiver passes through data transmission line and signal converter signal connection, signal converter passes through data transmission line and data processing device signal connection, data processing device passes through data transmission line and controller signal connection, controller pass through data transmission line respectively with electronic expansion bend, The rotor wing main bodies are connected; the signal converter can receive signals of the wireless signal transceiver and convert the signals; the data processing device and the signal converter carry out information interaction, and a computer-readable storage medium is stored in the data processing device; the computer readable storage medium when executed performs the steps of: the data processing is performed on the received external signal, and the processed information is transferred to the controller.

2. The unmanned aerial vehicle survey and drawing flight stability control device of claim 1, characterized in that electric expansion bend and piston cooperate, adjust the helium volume of different leveling cavity insides to adjust the settlement height of every rotor pole, in time carry out the attitude control under the condition of not interfering the rotor speed.

3. The unmanned aerial vehicle survey and drawing flight stable control device of claim 1, characterized in that the design that has set reset spring between the inner wall of piston and gas storage chamber can support through reset spring's elastic stress the air current power that receives on to the piston, avoids the piston to slide and causes wearing and tearing excessively fast, simultaneously, when electronic expansion bend contracts, reset spring can promote the piston and reset.

4. The unmanned aerial vehicle survey and drawing flight stability control device of claim 1, characterized in that the design of sealed gasbag can collect helium, guarantees the leakproofness of helium, avoids helium to leak from it.

5. The unmanned aerial vehicle survey and drawing flight stability control device of claim 1, characterized in that the design of spacing boss can make and leave the space between piston and the through-hole, avoids the piston laminating to block up the through-hole, causes the influence to the circulation of helium.

6. The unmanned aerial vehicle survey and drawing flight stability control device of claim 1, characterized in that the design of filling helium into the sealed gasbag, the density of helium is less than the density of air to can assist and alleviate the whole weight of stability control device, and then assist unmanned aerial vehicle to fly.

7. The unmanned aerial vehicle survey and drawing flight stability control device of claim 1, when using, install and fix the unmanned aerial vehicle control box on unmanned aerial vehicle, fill into sealed gasbag with the helium, wireless signal transceiver and unmanned aerial vehicle control system signal connection, when unmanned aerial vehicle is flying, through unmanned aerial vehicle control system transmission control signal, wireless signal transceiver receives the signal, and give signal transmission to signal converter, signal converter carries out analog-to-digital conversion to the signal received, then give data processing device with digital signal transmission, data processing device carries out data processing according to the computer scale storage medium of inside storage, control rotor main part through the controller and start, supplementary unmanned aerial vehicle flies.

8. The device of claim 1 or 2, wherein a plurality of reinforcing ribs are disposed inside the leveling cavity.

9. The unmanned aerial vehicle survey and drawing flight stability control device of claim 1 or 2, characterized in that electronic expansion bend promotes the push pedal and removes to the direction of through-hole to fill the gas storage intracavity with the inside helium of air-tight bag through the through-hole, the helium promotes the piston and removes, discharges the original air in gas storage intracavity through air outlet channel, thereby adjust the volume of filling of helium in each rotor pole according to the controller demand, in time carry out the regulation and control of gesture under the condition of not interfering the rotor rotational speed.

Technical Field

The invention discloses an unmanned aerial vehicle surveying and mapping flight stability control device, relates to a device capable of controlling attitude stability when an unmanned aerial vehicle conducts surveying and mapping flight, and belongs to the technical field of unmanned aerial vehicles. In particular to a stable control device which adjusts the helium volumes in different leveling cavities by matching an electric expansion piece with a piston, thereby adjusting the sedimentation height of each rotor wing rod and timely adjusting and controlling the posture without interfering the rotating speed of the rotor wing.

Background

As a new surveying tool, when surveying and mapping construction is carried out in areas with complex terrain or severe weather environment, the adoption of the surveying and mapping unmanned aerial vehicle can effectively reduce the surveying and mapping operation carrying risk in dangerous areas, the present unmanned plane with four rotors or multiple rotors has the flight attitude regulated and controlled by controlling the rotation speed of the blades on the rotors to level the attitude, the unmanned plane moves and adjusts the attitude completely depending on the timely speed change of the propellers to adjust the force and the moment, the attitude control mode is single, the leveling of the body attitude is difficult to meet in time in a special complex flight state, and the larger the size of the unmanned aerial vehicle paddle is, the more difficult it is to rapidly change the speed, therefore, the rotating speed type attitude leveling mode also limits the size of the rotor used by the unmanned aerial vehicle, and restricts the improvement and development of the rotor.

Notice No. CN110096065A discloses four rotor unmanned aerial vehicle attitude control devices, including laser signal transmitting terminal and laser signal receiving terminal, laser signal transmitting terminal includes the laser emission panel, the up end of laser emission panel is close to the position at four angles and has set gradually first laser emitter, second laser emitter, third laser emitter and fourth laser emitter, the up end positive center of laser emission panel is provided with location laser emitter, and this attitude control device carries out the regulation and control of flight attitude through the rotational speed of the propeller blade of control four rotors, and the attitude regulation and control mode is single, and the change has restricted rotor blade's size mutually.

Disclosure of Invention

In order to improve the situation, the stability control device for surveying and mapping flight of the unmanned aerial vehicle, provided by the invention, is used for adjusting helium volumes in different leveling cavities by matching an electric expansion piece and a piston, so that the settlement height of each rotor rod is adjusted, and attitude regulation and control are timely carried out under the condition of not interfering the rotating speed of a rotor.

The invention relates to an unmanned aerial vehicle surveying and mapping flight stability control device, which is realized as follows: the invention relates to an unmanned aerial vehicle surveying and mapping flight stability control device, which consists of a supporting device and an adjusting device, wherein the supporting device consists of an unmanned aerial vehicle control box, a rotor rod, a leveling cavity, a piston, a gas storage cavity, a push plate, an electric expansion piece, a reset spring, a sealing bag body, a position sensor, a through hole, a limiting boss, a gas inlet channel, a one-way gas inlet valve, a one-way gas outlet valve, a reinforcing rib and a gas outlet channel, a plurality of electric expansion pieces are annularly arranged inside the unmanned aerial vehicle control box and are close to the center of the unmanned aerial vehicle control box, the unmanned aerial vehicle control box is internally provided with a plurality of gas storage cavities, the push plate is arranged inside the gas storage cavities and is connected with the electric expansion pieces through a connecting rod, the sealing bag body is arranged inside the gas storage cavity and is contacted with the push plate, a plurality of rotor rods are annularly arranged on, the utility model discloses an unmanned aerial vehicle, including leveling cavity, piston, air storage cavity, air outlet channel, one-way air outlet valve, adjusting device, control device, air inlet channel, wire, through wires, the rotor main part is arranged on the other end of rotor pole, the leveling cavity is built-in to have a plurality of strengthening ribs, spacing boss is arranged in the leveling cavity, and is located the one end of rotor pole, the piston is arranged in the air storage cavity, and contacts with spacing boss, the piston overhead has position sensor, reset spring has been put between the inner wall of piston and air storage cavity, it has air inlet channel to open on the other end of rotor pole, air outlet channel and air storage cavity are linked together, the oral area of air outlet channel is arranged in to one-way air outlet valve, adjusting device comprises control panel, wire, through wires hole and rotor main part, the rotor main part is arranged on the other end of rotor pole, open inside the rotor pole has the through, the one end and the control panel of wire are connected, and the other end of wire passes through the through wires hole and the rotor bulk phase is connected, the control panel overhead has wireless signal transceiver, signal converter, data processing device and controller, position sensor and data processing device signal connection, wireless signal transceiver passes through data transmission line and signal converter signal connection, signal converter through data transmission line and data processing device signal connection, data processing device passes through data transmission line and controller signal connection, the controller is connected with electric expansion bend, rotor bulk phase respectively through data transmission line.

Advantageous effects

The mode that can increase unmanned aerial vehicle attitude adjustment avoids the untimely problem of rotational speed regulation, reduces rotor motor's work load.

And secondly, the filling volume of helium in each rotor rod can be freely adjusted according to the requirement of the controller, and the posture can be timely regulated and controlled under the condition that the rotating speed of the rotor is not interfered.

Thirdly, the weight of the unmanned aerial vehicle is lightened through phase change.

Fourthly, the structure is simple, and the device is convenient and practical.

Fifthly, the cost is low, and the popularization is convenient.

Drawings

FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle surveying and mapping flight stability control device of the invention;

FIG. 2 is a schematic structural diagram of a piston of the unmanned aerial vehicle surveying and mapping flight stability control device;

FIG. 3 is a schematic structural diagram of a rotor body of the unmanned aerial vehicle surveying and mapping flight stability control device of the invention;

FIG. 4 is a three-dimensional structure diagram of a rotor rod of the unmanned aerial vehicle surveying and mapping flight stability control device;

fig. 5 is a schematic structural diagram of a rotor rod of an unmanned aerial vehicle surveying and mapping flight stability control device in embodiment 2.

In the attached drawings

Wherein the method comprises the following steps: unmanned aerial vehicle control box (1), control panel (2), wire (3), rotor pole (4), through wires hole (5), rotor main part (6), leveling cavity (7), piston (8), gas storage chamber (9), push pedal (10), electronic expansion bend (11), reset spring (12), sealed utricule (13), position sensor (14), through-hole (15), spacing boss (16), inlet channel (17), one-way admission valve (18), one-way air outlet valve (19), strengthening rib (20), outlet channel (21).

The specific implementation mode is as follows:

the invention relates to an unmanned aerial vehicle surveying and mapping flight stability control device, which is realized as follows: the invention relates to an unmanned aerial vehicle surveying and mapping flight stability control device which comprises a supporting device and an adjusting device, wherein the supporting device comprises an unmanned aerial vehicle control box (1), a rotor wing rod (4), a leveling cavity (7), a piston (8), a gas storage cavity (9), a push plate (10), an electric expansion piece (11), a return spring (12), a sealing bag body (13), a position sensor (14), a through hole (15), a limiting boss (16), an air inlet channel (17), a one-way air inlet valve (18), a one-way air outlet valve (19), a reinforcing rib (20) and an air outlet channel (21), a plurality of electric expansion pieces (11) are annularly arranged inside the unmanned aerial vehicle control box (1) and are close to the center of the unmanned aerial vehicle control box (1), a plurality of gas storage cavities (9) are formed inside the unmanned aerial vehicle control box (1), the push plate (10) is arranged inside the gas storage cavities (9) and is connected with the electric, inside gas storage chamber (9) was arranged in to sealed utricule (13), and contact with push pedal (10), and on the outer wall of unmanned aerial vehicle control box (1) was arranged in to a plurality of rotor poles (4) ring, inside division of rotor pole (4) had leveling cavity (7), leveling cavity (7) were linked together through-hole (15) and sealed gasbag inside, leveling cavity (7) inside has been put a plurality of strengthening ribs (20), and leveling cavity (7) inside is arranged in to spacing boss (16), and is located the one end of rotor pole (4), and gas storage chamber (9) inside is arranged in to piston (8), and contacts with spacing boss (16), position sensor (14) have been put on piston (8), set reset spring (12) between the inner wall of piston (8) and gas storage chamber (9), open on the other end of rotor pole (4) has inlet channel (17), and inlet channel (17) are linked together with gas storage chamber (9), the oral area of inlet channel (17) is arranged in to one-way admission valve (18), it has air outlet channel (21) to open on the other end of rotor pole (4), air outlet channel (21) and gas storage chamber (9) are linked together, the oral area of air outlet channel (21) is arranged in to one-way air outlet valve (19), adjusting device is by control panel (2), wire (3), through wires hole (5) and rotor main part (6) are constituteed, rotor main part (6) are arranged in on the other end of rotor pole (4), inside opening of rotor pole (4) has through wires hole (5), through wires hole (5) extend to the both ends of rotor pole (4), and run through rotor pole (4), inside unmanned aerial vehicle control box (1) was arranged in to control panel (2), the one end and the control panel (2) of wire (3) are connected, the other end of wire (3) passes through wires hole (5) and is connected with rotor main part (6), control panel (2) are overhead to have wireless signal transceiver, The position sensor (14) is in signal connection with the data processing device, the wireless signal transceiver is in signal connection with the signal converter through a data transmission line, the signal converter is in signal connection with the data processing device through a data transmission line, the data processing device is in signal connection with the controller through a data transmission line, and the controller is respectively connected with the electric expansion piece (11) and the rotor wing main body (6) through data transmission lines; the signal converter can receive signals of the wireless signal transceiver and convert the signals; the data processing device and the signal converter carry out information interaction, and a computer-readable storage medium is stored in the data processing device;

the computer readable storage medium when executed performs the steps of: processing data of the received external signal and transmitting the processed information to the controller;

the controller and the data processing device carry out information interaction; the data processing device consists of a processing component and a memory; the processing component controls the overall operation of the data processing device; the processing components may include one or at least two processors to execute instructions to perform all or part of the steps of the above-described method;

the memory is configured to store various types of data to support the operation of the data processing apparatus. The memory may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. The signal converter is a converter which is commonly used at present and converts an electric signal into a digital signal.

The controller may be implemented by one or at least two Application Specific Integrated Circuits (ASICs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for executing instructions of the data processing apparatus.

During the use, install unmanned aerial vehicle control box (1) and fix on unmanned aerial vehicle, fill helium into air bag, wireless signal transceiver and unmanned aerial vehicle control system signal connection, when unmanned aerial vehicle is flying, through unmanned aerial vehicle control system transmission control signal, wireless signal transceiver receives the signal, and give signal transfer to signal converter, signal converter carries out analog-to-digital conversion to the signal received, then give data processing device with digital signal transmission, data processing device carries out data processing according to the computer degree storage medium of internal storage, start through controller control rotor main part (6), supplementary unmanned aerial vehicle flies;

unmanned aerial vehicle responds to the deviation angle of the body through a gyroscope of the unmanned aerial vehicle, when deviation occurs, control signals are transmitted through an unmanned aerial vehicle control system, signals are received by a wireless signal transceiver and are transmitted to a signal converter, the signal converter performs analog-to-digital conversion on the received signals and then transmits digital signals to a data processing device, the data processing device performs data processing according to a computer readable storage medium stored inside, each electric expansion piece (11) is controlled by a controller to perform extension in different degrees, the electric expansion piece (11) pushes a push plate (10) to move towards a through hole (15), so that helium in a sealed air bag is filled into a gas storage cavity (9) through the through hole (15), a piston (8) is pushed to move, and the original air in the gas storage cavity (9) is discharged through a gas outlet channel (21), the helium gas filling volume in each rotor wing rod (4) is adjusted according to the requirement of a controller, the posture is timely regulated and controlled under the condition that the rotating speed of the rotor wing is not interfered, a position sensor (14) in a piston (8) transmits a signal to a data processing device, the data processing device transmits the signal to a signal converter, the signal converter performs analog-to-digital conversion on the received signal, and then the signal is transmitted to an unmanned aerial vehicle control system through a wireless signal transceiver, so that the feedback of the helium gas filling volume is formed, and the controller can accurately control the posture leveling precision;

the electric expansion piece (11) is matched with the piston (8) to adjust helium volumes in different leveling cavities (7), so that the settlement height of each rotor wing rod (4) is adjusted, and posture regulation and control are timely performed under the condition that the rotating speed of the rotor wing is not interfered. The design that a plurality of reinforcing ribs (20) are arranged in the leveling cavity (7) can enhance the compression resistance of the rotor rod (4) and avoid the rotor rod (4) from being broken; the piston (8) is provided with a position sensor (14), so that feedback of the position sensor (14) can be realized, and feedback of a helium gas inflation volume can be formed, so that the controller can accurately control the attitude leveling precision;

the design that a return spring (12) is arranged between the piston (8) and the inner wall of the air storage cavity (9) can support the airflow force on the piston (8) through the elastic stress of the return spring (12), so that the piston (8) is prevented from being worn due to too fast sliding, and meanwhile, when the electric expansion piece (11) contracts, the return spring (12) can push the piston (8) to reset so as to be used next time; the design of the sealing air bag can collect helium, ensure the tightness of the helium and avoid the helium from leaking out of the sealing air bag; due to the design of the limiting boss (16), a gap can be reserved between the piston (8) and the through hole (15), and the piston (8) is prevented from being attached to block the through hole (15) to influence the circulation of helium; the design of filling helium into the sealed air bag ensures that the density of the helium is less than that of air, so that the overall weight of the stable control device can be reduced in an auxiliary manner, and the unmanned aerial vehicle can be assisted to fly;

the electric expansion piece (11) and the piston (8) are designed in a matched mode, when the electric expansion piece is used, the electric expansion piece (11) pushes the push plate (10) to move towards the direction of the through hole (15), the push plate (10) pushes the sealing air bag to contract, so that helium in the sealing air bag is conveyed to the interior of the leveling cavity (7) through the through hole (15), meanwhile, the piston (8) in the leveling cavity (7) is pushed, the settlement height of each rotor wing rod (4) is adjusted according to the proportion of the helium in the leveling cavity (7), and posture adjustment and control are performed in time under the condition that the rotating speed of the rotor wing is not interfered;

the helium volume in different leveling cavities (7) is adjusted by matching the electric expansion piece (11) with the piston (8), so that the settlement height of each rotor wing rod (4) is adjusted, and the posture is adjusted and controlled in time under the condition of not interfering the rotating speed of the rotor wing.