CN111776207B - Remote sensing unmanned aerial vehicle and control method thereof - Google Patents
Remote sensing unmanned aerial vehicle and control method thereof Download PDFInfo
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- CN111776207B CN111776207B CN202010792059.4A CN202010792059A CN111776207B CN 111776207 B CN111776207 B CN 111776207B CN 202010792059 A CN202010792059 A CN 202010792059A CN 111776207 B CN111776207 B CN 111776207B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
- B64C27/14—Direct drive between power plant and rotor hub
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
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Abstract
The invention discloses a remote sensing unmanned aerial vehicle which comprises a rack, wherein four propellers are arranged on the rack, the arrangement shape of the four propellers is rectangular, the propellers are arranged on a first driving motor, the first driving motor is fixed on the rack through an installation frame, and a pressure sensor is arranged on the installation frame; a balance paddle is arranged on the rack through a second driving motor; the rack is also provided with a controller, the input end of the controller is in communication connection with the pressure sensor, and the output end of the controller is in communication connection with the first driving motor and the second driving motor. The invention can improve the defects of the prior art, and expands the adaptability of the remote sensing unmanned aerial vehicle to different climatic conditions on the premise of ensuring the flight safety of the remote sensing unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of remote sensing unmanned aerial vehicles, in particular to a remote sensing unmanned aerial vehicle and a control method thereof.
Background
Along with the development of unmanned aerial vehicle technique in recent years, unmanned aerial vehicle relies on the characteristics of taking off and landing flexibility, with low costs, being convenient for carry on all kinds of remote sensing equipment, and the application in low latitude remote sensing monitoring is more and more. But in the adverse weather environment, remote sensing unmanned aerial vehicle's flight safety can receive great influence. In the prior art, in order to guarantee the flight safety of the remote sensing unmanned aerial vehicle, the mode of reducing the flight speed and the height or directly stopping the flight is generally adopted to guarantee the safety of the unmanned aerial vehicle, but the application range of the remote sensing unmanned aerial vehicle can be obviously reduced.
Disclosure of Invention
The technical problem to be solved by the invention is to provide the remote sensing unmanned aerial vehicle and the control method thereof, which can solve the defects of the prior art and expand the adaptability of the remote sensing unmanned aerial vehicle to different climatic conditions on the premise of ensuring the flight safety of the remote sensing unmanned aerial vehicle.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows.
The remote sensing unmanned aerial vehicle comprises a rack, wherein four propellers are mounted on the rack, the arrangement shape of the four propellers is rectangular, the propellers are mounted on a first driving motor, the first driving motor is fixed on the rack through a mounting frame, and a pressure sensor is mounted on the mounting frame; a balance paddle is arranged on the rack through a second driving motor; the rack is also provided with a controller, the input end of the controller is in communication connection with the pressure sensor, and the output end of the controller is in communication connection with the first driving motor and the second driving motor.
Preferably, the mounting bracket comprises a shell, the bottom of the shell is connected with a first driving motor through a spring, the side wall of the shell is fixed with an elastic sheet, the top of the elastic sheet is provided with a protruding portion, a bending portion is connected below the protruding portion, the protruding portion is in compression joint fit with the side face of the first driving motor, a pressure sensor is fixed in the bending portion, the pressure sensor is in compression joint fit with the bottom face of the first driving motor, and a rubber block is filled between the bending portion and the bottom of the shell.
Preferably, two adjusting bolts are arranged on the outer side of the protruding portion, the adjusting bolts are in threaded connection with the side wall of the shell, and the tops of the adjusting bolts are in press fit with the protruding portion.
Preferably, the signal output end of the pressure sensor is connected with a signal processing module, the input end of the signal processing module is connected to the forward input end of the first operational amplifier through a first resistor, the forward input end of the first operational amplifier is grounded through a second resistor, the reverse input end of the first operational amplifier is connected to the output end of the first operational amplifier through a third resistor, the input end of the first operational amplifier is connected to the reverse input end of the second operational amplifier through a first capacitor, the forward input end of the second operational amplifier is grounded through a fourth resistor, the reverse input end of the second operational amplifier is connected to the output end of the second operational amplifier through a fifth resistor, the output end of the second operational amplifier is connected to the reverse input end of the first operational amplifier through a sixth resistor, the output end of the first operational amplifier is connected to the forward input end of the third operational amplifier through a seventh resistor, the output end of the first operational amplifier and the reverse input end of the third operational amplifier are grounded through an eighth, the positive input end of the third operational amplifier is connected to the output end of the third operational amplifier through a ninth resistor, the reverse input end of the third operational amplifier is connected to the output end of the third operational amplifier through a tenth resistor, the output end of the second operational amplifier is connected to the base electrode of the first triode through an eleventh resistor, the emitting electrode of the first triode is connected to the reverse input end of the third operational amplifier, the base electrode of the first triode and the emitting electrode of the first triode are connected through a twelfth resistor, the collecting electrode of the first triode is grounded through a second capacitor, the collecting electrode of the first triode is connected to the base electrode of the second triode, the emitting electrode of the second triode is grounded, the collecting electrode of the second triode is connected to the base electrode of the first triode, and the output end of the third operational amplifier serves as the output end of the signal processing module through a thirteenth resistor.
Preferably, the balance paddle comprises a rotating shaft, the rotating shaft is fixedly provided with a first paddle and a second paddle which are equal in number, the first paddle and the second paddle are arranged in a staggered mode, the first paddle drives airflow to flow downwards, the second paddle drives airflow to flow upwards, and the first paddle is connected with the rotating shaft through an extension rod.
Preferably, the extension bar is axially provided with a threaded hole in the inner portion, a through hole corresponding to the threaded hole is formed in the first blade, a fixing sleeve is connected in the through hole through a torsion spring, a first tooth portion is arranged at the bottom end of the fixing sleeve, an annular groove is formed in the outer side of the threaded hole, a second tooth portion in plug-in fit with the first tooth portion is arranged in the annular groove, a pressing plate is arranged at the top end of the fixing sleeve and located in the outer side of the through hole, the first blade penetrates the fixing sleeve through a fixing bolt and is connected with the threaded.
Preferably, the bottom surface of the pressing plate is provided with an arc-shaped sliding groove, the top of the first paddle is fixedly provided with a sliding block in sliding fit with the arc-shaped sliding groove, and a limiting block is installed in the arc-shaped sliding groove.
A control method of the remote sensing unmanned aerial vehicle comprises the following steps:
A. the controller starts the first driving motor according to preset parameters, and the pressure sensor monitors the stress state of the propeller in real time;
B. when the deviation of the detection values of any two pressure sensors exceeds a set threshold value, the controller starts a second driving motor;
C. the second driving motor drives the balance paddle to rotate, the rotating speed of the second driving motor is cycled from zero to the highest rotating speed once and then from the highest rotating speed to zero, the controller captures the minimum value of the variance of the detection values of the four pressure sensors in the process, and the rotating speed of the second driving motor at the moment is used as the target rotating speed of the current adjustment; after the second driving motor is at the target rotating speed, if the condition that the deviation of the detection values of the two pressure sensors exceeds the set threshold still exists, the controller adjusts the rotating speed of the first driving motor to enable the deviation of the detection values of any two pressure sensors to be smaller than the set threshold;
D. under the starting state of the second driving motor, if the deviation of the detection values of any two pressure sensors exceeds a set threshold value, the controller performs bidirectional adjustment of the highest rotation speed +/-5% on the rotation speed of the second driving motor, monitors the variance of the detection values of the four pressure sensors in the adjustment process, selects the rotation speed change direction with the larger variance as the adjustment direction, and continuously adjusts the rotation speed of the second driving motor until the deviation of the detection values of any two pressure sensors is smaller than the set threshold value; if the rotating speed of the second driving motor cannot reach the target that the deviation of the detection values of any two pressure sensors is smaller than the set threshold value, the second driving motor is determined to be the rotating speed at which the variance of the detection values of the four pressure sensors is at the minimum value, and then the rotating speed of the first driving motor is adjusted to enable the deviation of the detection values of any two pressure sensors to be smaller than the set threshold value.
Preferably, in step B, before calculating the detection value deviation, the controller performs preprocessing on the detection value of the pressure sensor as follows,
b1, setting the length of preprocessing time, and segmenting the detection curve of the pressure sensor to be processed according to the length of the preprocessing time;
and B2, in each section of curve, taking a continuous time interval with a curve fluctuation range smaller than a set threshold value as a pretreatment interval, performing multiple times of smoothing treatment on the inflection point position of the curve in the pretreatment interval according to curve variation trends at two sides of the inflection point position, gradually increasing the treatment range of each time of smoothing treatment until the curve in the pretreatment interval is fitted into a straight line section, and taking the average value of the straight line sections obtained by fitting as the detection value of the pressure sensor in the pretreatment interval.
Preferably, in step B2, the curve in each preprocessing section is signal enhanced, and the ratio of signal enhancement is proportional to the number of inflection points on the curve in the preprocessing section.
Adopt the beneficial effect that above-mentioned technical scheme brought to lie in: the invention adopts a four-rotor unmanned aerial vehicle driving mode, and adjusts the airflow around the rotor propeller by additionally arranging the balance blades, thereby reducing the interference of unbalanced airflow on the rotor propeller. The invention adopts a flexible installation mode for the first driving motor, and realizes indirect measurement of the stress of the propeller by utilizing the detection of the pressure sensor on the first driving motor. Inside the mounting bracket, carry on spacingly through designing special-shaped shell fragment to first driving motor, utilize the bellying to cushion first driving motor atress in the equidirectional not, guarantee the linearity of pressure sensor's the ascending pressure in vertical side through the kink simultaneously to improve pressure sensor's detection accuracy. Before using unmanned aerial vehicle, learn the anticipated wind-force in flight area through the weather forecast, through the initial shape of adjusting bolt adjustment bellying, can reduce first driving motor's side direction clamping-force under less wind-force state, increase first driving motor's side direction clamping-force under great wind-force state to guarantee that pressure sensor all can reach higher measurement accuracy under different wind-force states.
Because the load capacity of the unmanned aerial vehicle is limited and is limited by the problem of cost, the measured data of the pressure sensor cannot be processed by large calculation amount, otherwise, the delay of data processing is increased, and the aim of monitoring the flight state of the unmanned aerial vehicle in real time cannot be fulfilled. In order to ensure the accuracy of comparison of the detection values on the premise of not increasing the operation amount, the fitting average value of the corresponding curve segment is obtained by carrying out segmented reinforcement and multi-round smoothing on the detection value curve, and the real-time performance and the accuracy of data processing are considered to the greatest extent.
The signal enhancement is to reduce the loss rate of the signal with smaller intensity and shorter time of occurrence in the preprocessing process. However, local distortion of a detection value curve can be caused in the process of signal enhancement, and in the invention, a signal processing module is specially designed for processing the output signal of the pressure sensor in order to reduce data distortion. The signal processing module can delay the fine pulse peak in the detection curve in the time axis direction and increase the fine pulse peak in the intensity axis direction, so that the strengthening proportion in the subsequent signal strengthening process is reduced, and the data distortion is reduced.
According to the invention, the balancing blades are designed into two groups of long and short blades, and air flows in different directions are generated during rotation, so that a local air flow circulation with an outer side flowing downwards and an inner side flowing upwards can be formed during rotation of the balancing blades. Because unmanned aerial vehicle's rotor propeller is located the outside of balanced paddle, so this local air current circulation that balanced paddle produced can play effectual water conservancy diversion effect to the air current of the downward flow that the propeller produced to improve the equilibrium degree of the peripheral air current of screw. The adjustable installation mode is adopted for the first paddle and the extension bar, the initial installation angle of the first paddle can be adjusted according to actual needs during installation, the first paddle is fixed with the pressing plate in a compression joint mode through the fixing bolt, the first paddle can rotate at a certain angle during rotation through elastic deformation of the torsion spring, and therefore self-adaptive adjustment of the angle of the first paddle driving airflow is changed along with the difference of the rotation speed is achieved. The maximum autonomous rotation angle of the first blade can be limited and adjusted by changing the installation position of the limiting block.
Drawings
FIG. 1 is a block diagram of one embodiment of the present invention.
Fig. 2 is a block diagram of a mount according to an embodiment of the present invention.
Fig. 3 is a block diagram of a signal processing module according to an embodiment of the present invention.
FIG. 4 is a block diagram of a balancing blade in accordance with one embodiment of the present invention.
Fig. 5 is a block diagram of a first blade in an embodiment of the present invention.
Fig. 6 is a partial plan view in the direction a in fig. 5.
Detailed Description
The standard parts used in the invention can be purchased from the market, the special-shaped parts can be customized according to the description and the description of the attached drawings, and the specific connection mode of each part adopts the conventional means of mature bolts, rivets, welding, sticking and the like in the prior art, and the detailed description is not repeated.
Referring to fig. 1 to 6, a specific embodiment of the present invention includes a frame 1, four propellers 2 are mounted on the frame 1, the arrangement shape of the four propellers 2 is rectangular, the propellers 2 are mounted on a first driving motor 3, the first driving motor 3 is fixed on the frame 1 through a mounting bracket 4, and a pressure sensor 5 is mounted on the mounting bracket 4; a balance paddle 7 is arranged on the frame 1 through a second driving motor 6; the frame 1 is also provided with a controller 8, the input end of the controller 8 is in communication connection with the pressure sensor 5, and the output end of the controller 8 is in communication connection with the first driving motor 3 and the second driving motor 6. Mounting bracket 4 includes shell 9, shell 9's bottom is connected with first driving motor 3 through spring 10, shell 9's lateral wall is fixed with the shell fragment, the shell fragment top is provided with bellying 11, bellying 11 below is connected with kink 12, bellying 11 cooperates with first driving motor 3's side crimping, kink 12 internal fixation has pressure sensor 5, pressure sensor 5 cooperates with first driving motor 3's bottom surface crimping, it has block rubber 13 to fill between kink 12 and the shell 9 bottom. Two adjusting bolts 14 are arranged on the outer side of the protruding portion 11, the adjusting bolts 14 are in threaded connection with the side wall of the shell 9, and the top of each adjusting bolt 14 is in press fit with the protruding portion 11.
A control method of the remote sensing unmanned aerial vehicle comprises the following steps:
A. the controller 8 starts the first driving motor 3 according to preset parameters, and the pressure sensor 5 monitors the stress state of the propeller 2 in real time;
B. when the deviation of the detection values of any two pressure sensors 5 exceeds a set threshold value, the controller 8 starts the second driving motor 6;
C. the second driving motor 6 drives the balance paddle 7 to rotate, the rotation speed of the second driving motor 6 is cycled from zero to the highest rotation speed once and then from the highest rotation speed to zero, the controller 8 captures the minimum value of the variance of the detection values of the four pressure sensors 5 in the process, and the rotation speed of the second driving motor 6 at the moment is used as the target rotation speed of the current adjustment; after the second driving motor 6 is at the target rotating speed, if the condition that the deviation of the detection values of the two pressure sensors 5 exceeds the set threshold still exists, the controller 8 adjusts the rotating speed of the first driving motor 3 to ensure that the deviation of the detection values of any two pressure sensors 5 is smaller than the set threshold;
D. under the state that the second driving motor 6 is started, if the deviation of the detection values of any two pressure sensors 5 exceeds a set threshold value, the controller 8 carries out bidirectional adjustment of the highest rotation speed +/-5% on the rotation speed of the second driving motor 6, monitors the deviations of the detection values of the four pressure sensors 5 in the adjustment process, selects the rotation speed change direction with the smaller deviation and larger amplitude as the adjustment direction, and continuously adjusts the rotation speed of the second driving motor 6 until the deviation of the detection values of any two pressure sensors 5 is smaller than the set threshold value; if the target that the deviation of the detection values of any two pressure sensors 5 is smaller than the set threshold cannot be achieved by changing the rotation speed of the second driving motor 6, the second driving motor 6 is determined at the rotation speed at which the variance of the detection values of the four pressure sensors 5 is the minimum, and then the deviation of the detection values of any two pressure sensors 5 is smaller than the set threshold by adjusting the rotation speed of the first driving motor 3.
In step B, before calculating the detection value deviation, the controller 8 performs preprocessing of the detection value of the pressure sensor 5 as follows,
b1, setting the length of the preprocessing time, and segmenting the detection curve of the pressure sensor 5 to be processed according to the length of the preprocessing time;
and B2, in each section of curve, taking a continuous time interval with a curve fluctuation range smaller than a set threshold value as a pretreatment interval, performing multiple times of smoothing treatment on the inflection point position of the curve in the pretreatment interval according to curve variation trends at two sides of the inflection point position, gradually increasing the treatment range of each time of smoothing treatment until the curve in the pretreatment interval is fitted into a straight line section, and taking the average value of the straight line sections obtained by fitting as the detection value of the pressure sensor 5 in the pretreatment interval.
In step B2, the curve in each preprocessing section is signal enhanced, and the ratio of signal enhancement is proportional to the number of inflection points on the curve in the preprocessing section.
This embodiment adopts the unmanned aerial vehicle drive mode of four rotors, adjusts the air current around the rotor screw through installing balanced paddle 7 additional, reduces the interference of unbalanced air current to the rotor screw. This embodiment adopts the mode of flexible mounting to first driving motor 3, utilizes pressure sensor 5 to realize the indirect measurement to the screw 2 atress to first driving motor 3's detection. Inside mounting bracket 4, carry on spacingly through designing special-shaped shell fragment to first driving motor 3, utilize bellying 11 to cushion first driving motor 3 atress in the not equidirectional, guarantee the linearity of pressure sensor 5 the ascending pressure in vertical side through kink 12 simultaneously to improve pressure sensor 5's detection accuracy. Before using unmanned aerial vehicle, learn the anticipated wind-force in flight area through the weather forecast, adjust the initial shape of bellying 11 through adjusting bolt 14, can reduce first driving motor 3's side direction clamping-force under less wind-force state, increase first driving motor 3's side direction clamping-force under great wind-force state to guarantee that pressure sensor 5 all can reach higher measurement accuracy under different wind-force states.
Because unmanned aerial vehicle's load capacity is limited, and is subject to the cost problem, so can not carry out the processing of big operand to pressure sensor 5's measured data, otherwise can lead to data processing's time delay increase, can't reach the purpose of carrying out real-time supervision to unmanned aerial vehicle flight state, so this embodiment is through adopting the mode that the detected value directly compares to control the rotational speed of balanced paddle 7. In order to ensure the accuracy of comparison of the detection values on the premise of not increasing the operation amount, the fitting average value of the corresponding curve segment is obtained by carrying out segmented reinforcement and multi-round smoothing on the detection value curve, and the real-time performance and the accuracy of data processing are considered to the greatest extent.
A signal output end of the pressure sensor 5 is connected with a signal processing module, an input end IN of the signal processing module is connected to a forward input end of a first operational amplifier a1 through a first resistor R1 (1.5 k Ω), a forward input end of the first operational amplifier a1 is grounded through a second resistor R2 (0.3 k Ω), a reverse input end of the first operational amplifier a1 is connected to an output end of the first operational amplifier a1 through a third resistor R3 (1 k Ω), an input end IN is connected to a reverse input end of a second operational amplifier a2 through a first capacitor C1 (330 μ F), a forward input end of the second operational amplifier a2 is grounded through a fourth resistor R4 (2.3 k Ω), a reverse input end of the second operational amplifier a2 is connected to an output end of the second operational amplifier a2 through a fifth resistor R5 (1.5 k Ω), an output end of the second operational amplifier a2 is connected to a forward input end of the first operational amplifier a 3527 a through a sixth resistor R6 (0.8 k Ω), and an output end of the second operational amplifier a 3527 k 7 is connected to a seventh operational amplifier a forward input end of the first operational amplifier A7 k Ω, and a seventh operational amplifier a 3642 An input end, an output end of the first operational amplifier A1 and an inverting input end of the third operational amplifier A3 are grounded through an eighth resistor R8 (0.1 k omega), a forward input end of the third operational amplifier A3 is connected to an output end of the third operational amplifier A3 through a ninth resistor R9 (0.25 k omega), an inverting input end of the third operational amplifier A3 is connected to an output end of the third operational amplifier A3 through a tenth resistor R10 (1.2 k omega), an output end of the second operational amplifier A2 is connected to a base of the first triode Q1 through an eleventh resistor R11 (0.85 k omega), an emitter of the first triode Q1 is connected to an inverting input end of the third operational amplifier A3, a base of the first triode Q1 and an emitter of the first triode Q1 are connected through a twelfth resistor R12 (1.5 k omega), a collector of the first triode Q1 is grounded through a second capacitor C2 (500 muF), and a collector of the first triode Q2 is connected to a, the emitter of the second triode Q2 is grounded, the collector of the second triode Q2 is connected to the base of the first triode Q1, and the output end of the third operational amplifier is used as the output end OUT of the signal processing module through a thirteenth resistor R13 (2.5 k Ω).
The signal enhancement is to reduce the loss rate of the signal with smaller intensity and shorter time of occurrence in the preprocessing process. However, local distortion of the detection value curve may be caused in the process of signal enhancement, and in this embodiment, in order to reduce data distortion, a signal processing module is specially designed to process the output signal of the pressure sensor. The signal processing module can delay the fine pulse peak in the detection curve in the time axis direction and increase the fine pulse peak in the intensity axis direction, so that the strengthening proportion in the subsequent signal strengthening process is reduced, and the data distortion is reduced.
The balance paddle 7 comprises a rotating shaft 17, the rotating shaft 17 is fixedly provided with a first paddle 15 and a second paddle 16 which are equal in number, the first paddle 15 and the second paddle 16 are arranged in a staggered mode, the first paddle 15 drives airflow to flow downwards, the second paddle 16 drives airflow to flow upwards, and the first paddle 15 is connected with the rotating shaft 17 through an extension rod 18. The inside axial of extension bar 18 is provided with screw hole 19, be provided with the through-hole 20 corresponding with screw hole 19 in the first paddle 15, be connected with fixed cover 22 through torsional spring 21 in the through-hole 20, the bottom of fixed cover 22 is provided with first tooth portion 23, the outside of screw hole 19 is provided with ring channel 24, be provided with in the ring channel 24 with first tooth portion 23 grafting complex second tooth portion 25, the top of fixed cover 22 is provided with clamp plate 26, clamp plate 26 is located the outside of through-hole 20, first paddle 15 passes fixed cover 22 through fixing bolt 27 and is connected with screw hole 19, fixing bolt 27 and clamp plate 26 crimping cooperation. The bottom surface of clamp plate 26 is provided with arc spout 28, and first paddle 15 top is fixed with the slider 29 with arc spout 28 sliding fit, installs stopper 30 in the arc spout 28.
In this embodiment, the balancing blades 7 are designed as two long and short groups of blades, and generate airflows in different directions when rotating, so that a local airflow circulation in which the outer side flows downward and the inner side flows upward can be formed when the balancing blades 7 rotate. Because unmanned aerial vehicle's rotor propeller is located the outside of balanced paddle 7, so this local air current circulation that balanced paddle 7 produced can play effectual water conservancy diversion effect to the air current of the downward flow that the propeller produced to improve the degree of balance of the peripheral air current of screw 2. First paddle 15 and extension bar 18 adopt adjustable mounting means, through can be according to actual need adjustment first paddle 15's initial installation angle when the installation, be fixed with at fixing bolt 27 and clamp plate 26 crimping, first paddle 15 relies on torsional spring 21's elastic deformation can produce the rotation of certain angle when rotatory to realize along with the different self-adaptation adjustment of the angle that changes first paddle 15 drive air current of rotatory rotational speed. By changing the mounting position of the stopper 30, the maximum autonomous rotation angle of the first blade 15 can be restricted and adjusted.
In addition, the surface of the frame 1 is provided with a diversion trench 31, and the diversion trench 31 is annularly arranged by taking the balance blades 7 as the center. The turbulence generated on the surface of the frame 1 by the airflow generated by the propeller 2 and the balance blades 7 can be reduced by arranging the guide grooves 31.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Claims (8)
1. The utility model provides a remote sensing unmanned aerial vehicle, includes frame (1), installs four screw (2) on frame (1), and the shape of arranging of four screw (2) is the rectangle, its characterized in that: the propeller (2) is installed on the first driving motor (3), the first driving motor (3) is fixed on the rack (1) through the mounting frame (4), and the pressure sensor (5) is installed on the mounting frame (4); a balance paddle (7) is arranged on the frame (1) through a second driving motor (6); the rack (1) is also provided with a controller (8), the input end of the controller (8) is in communication connection with the pressure sensor (5), and the output end of the controller (8) is in communication connection with the first driving motor (3) and the second driving motor (6);
the balance paddle (7) comprises a rotating shaft (17), the rotating shaft (17) is fixedly provided with a first paddle (15) and a second paddle (16) which are equal in number, the first paddle (15) and the second paddle (16) are arranged in a staggered mode, the first paddle (15) drives airflow to flow downwards, the second paddle (16) drives airflow to flow upwards, and the first paddle (15) is connected with the rotating shaft (17) through an extension rod (18); threaded holes (19) are axially formed in the inner portion of the extension rod (18), through holes (20) corresponding to the threaded holes (19) are formed in the first blades (15), fixing sleeves (22) are connected into the through holes (20) through torsion springs (21), first tooth portions (23) are arranged at the bottom ends of the fixing sleeves (22), annular grooves (24) are formed in the outer sides of the threaded holes (19), second tooth portions (25) matched with the first tooth portions (23) in an inserting mode are formed in the annular grooves (24), pressing plates (26) are arranged at the top ends of the fixing sleeves (22), the pressing plates (26) are located on the outer sides of the through holes (20), the first blades (15) penetrate through the fixing sleeves (22) through fixing bolts (27) to be connected with the threaded holes (19), and the fixing bolts (27) are.
2. The remote sensing unmanned aerial vehicle of claim 1, wherein: mounting bracket (4) include shell (9), the bottom of shell (9) is connected with first driving motor (3) through spring (10), the lateral wall of shell (9) is fixed with the shell fragment, the shell fragment top is provided with bellying (11), bellying (11) below is connected with kink (12), bellying (11) and the side crimping cooperation of first driving motor (3), kink (12) internal fixation has pressure sensor (5), the bottom surface crimping cooperation of pressure sensor (5) and first driving motor (3), it has rubber block (13) to fill between kink (12) and shell (9) bottom.
3. The remote sensing unmanned aerial vehicle of claim 2, wherein: two adjusting bolts (14) are arranged on the outer side of the protruding portion (11), the adjusting bolts (14) are in threaded connection with the side wall of the shell (9), and the top of each adjusting bolt (14) is in press-fit with the protruding portion (11).
4. The remote sensing unmanned aerial vehicle of claim 3, wherein: the signal output end of the pressure sensor (5) is connected with a signal processing module, the input end (IN) of the signal processing module is connected to the forward input end of a first operational amplifier (A1) through a first resistor (R1), the forward input end of the first operational amplifier (A1) is grounded through a second resistor (R2), the reverse input end of the first operational amplifier (A1) is connected to the output end of the first operational amplifier (A1) through a third resistor (R3), the input end (IN) is connected to the reverse input end of a second operational amplifier (A2) through a first capacitor (C1), the forward input end of the second operational amplifier (A2) is grounded through a fourth resistor (R4), the reverse input end of the second operational amplifier (A2) is connected to the output end of a second operational amplifier (A2) through a fifth resistor (R5), the output end of the second operational amplifier (A2) is connected to the reverse input end of the first operational amplifier (A1) through a sixth resistor (R6), an output end of the first operational amplifier (A1) is connected to a forward input end of a third operational amplifier (A3) through a seventh resistor (R7), an output end of the first operational amplifier (A1) and a reverse input end of the third operational amplifier (A3) are grounded through an eighth resistor (R8), a forward input end of the third operational amplifier (A3) is connected to an output end of the third operational amplifier (A3) through a ninth resistor (R9), a reverse input end of the third operational amplifier (A3) is connected to an output end of the third operational amplifier (A3) through a tenth resistor (R10), an output end of the second operational amplifier (A2) is connected to a base of a first triode (Q1) through an eleventh resistor (R11), an emitter of the first triode (Q1) is connected to a reverse input end of the third operational amplifier (A3), a collector of the first triode (Q1) and an emitter of the first transistor (Q1) are connected to a twelfth resistor (R12) through a twelfth resistor (R2, and a collector of the second triode (Q12) is connected to the ground, the collector of the first triode (Q1) is connected to the base of the second triode (Q2), the emitter of the second triode (Q2) is grounded, the collector of the second triode (Q2) is connected to the base of the first triode (Q1), and the output end of the third operational amplifier is used as the output end (OUT) of the signal processing module through a thirteenth resistor (R13).
5. The remote sensing unmanned aerial vehicle of claim 1, wherein: the bottom surface of clamp plate (26) is provided with arc spout (28), and first paddle (15) top is fixed with slider (29) with arc spout (28) sliding fit, installs stopper (30) in arc spout (28).
6. The method of controlling a remotely sensed drone of any one of claims 1 to 5, characterized in that it comprises the following steps:
A. the controller (8) starts the first driving motor (3) according to preset parameters, and the pressure sensor (5) monitors the stress state of the propeller (2) in real time;
B. when the deviation of the detection values of any two pressure sensors (5) exceeds a set threshold value, the controller (8) starts the second driving motor (6);
C. the second driving motor (6) drives the balance paddle (7) to rotate, the rotating speed of the second driving motor (6) is cycled from zero to the highest rotating speed once and then from the highest rotating speed to zero, the controller (8) captures the minimum value of the variance of the detection values of the four pressure sensors (5) in the process, and the rotating speed of the second driving motor (6) at the moment is used as the target rotating speed of the current adjustment; after the second driving motor (6) is in the target rotating speed, if the situation that the deviation of the detection values of the two pressure sensors (5) exceeds the set threshold still exists, the controller (8) adjusts the rotating speed of the first driving motor (3) to enable the deviation of the detection values of any two pressure sensors (5) to be smaller than the set threshold;
D. under the state that the second driving motor (6) is started, if the deviation of the detection values of any two pressure sensors (5) exceeds a set threshold value, the controller (8) carries out bidirectional adjustment of the highest rotation speed +/-5% on the rotation speed of the second driving motor (6), the variance of the detection values of the four pressure sensors (5) is monitored in the adjustment process, the rotation speed change direction with the smaller variance and larger amplitude is selected as an adjustment direction, and the rotation speed of the second driving motor (6) is continuously adjusted until the deviation of the detection values of any two pressure sensors (5) is smaller than the set threshold value; if the rotating speed of the second driving motor (6) cannot reach the target that the deviation of the detection values of any two pressure sensors (5) is smaller than the set threshold value, the second driving motor (6) is determined to be the rotating speed at which the variance of the detection values of the four pressure sensors (5) is the minimum value, and then the rotating speed of the first driving motor (3) is adjusted to enable the deviation of the detection values of any two pressure sensors (5) to be smaller than the set threshold value.
7. The remote sensing unmanned aerial vehicle control method of claim 6, wherein: in step B, before calculating the detection value deviation, the controller (8) performs preprocessing on the detection value of the pressure sensor (5) in the following steps,
b1, setting the length of the preprocessing time, and segmenting the detection curve of the pressure sensor (5) to be processed according to the length of the preprocessing time;
and B2, in each section of curve, taking a continuous time interval with a curve fluctuation range smaller than a set threshold value as a pretreatment interval, performing multiple times of smoothing treatment on the inflection point position of the curve in the pretreatment interval according to curve variation trends at two sides of the inflection point position, gradually increasing the treatment range of each time of smoothing treatment until the curve in the pretreatment interval is fitted into a straight line section, and taking the average value of the straight line sections obtained by fitting as the detection value of the pressure sensor (5) in the pretreatment interval.
8. The remote sensing unmanned aerial vehicle control method of claim 7, wherein: in step B2, the curve in each preprocessing section is signal enhanced, and the ratio of signal enhancement is proportional to the number of inflection points on the curve in the preprocessing section.
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| US5096383A (en) * | 1989-11-02 | 1992-03-17 | Deutsche Forschungsanstalt Fur Luft- Und Raumfahrt E.V. | Propeller blades |
| CN101244762A (en) * | 2008-03-21 | 2008-08-20 | 周公平 | Power-driven system of aerial vehicle |
| CN102424112B (en) * | 2011-11-30 | 2014-01-22 | 东北大学 | Three-layer airborne flight control device for micro four-rotor aerial vehicle |
| CN103625640A (en) * | 2013-10-25 | 2014-03-12 | 南京航空航天大学 | Multi-rotor unmanned aerial vehicle |
| CN204998765U (en) * | 2015-09-11 | 2016-01-27 | 深圳市天利艾蒙科技有限公司 | Advertisement unmanned aerial vehicle |
| FR3046135B1 (en) * | 2015-12-23 | 2019-04-12 | Safran Aircraft Engines | REVERSE CLIPPING PROPELLER TURBOMACHINE |
| CN206502020U (en) * | 2016-12-30 | 2017-09-19 | 深圳市阳日电子有限公司 | Unmanned vehicle |
| CN108569394A (en) * | 2017-03-14 | 2018-09-25 | 尚小华 | A kind of construction for the method and aircraft that control aircraft is stablized |
| CN108945393B (en) * | 2017-05-20 | 2022-05-13 | 珠海磐磊智能科技有限公司 | Multi-axis aircraft |
| CN207157513U (en) * | 2017-07-20 | 2018-03-30 | 安徽工程大学 | A kind of four rotor wing unmanned aerial vehicles with lift self feed back |
| CN109018327A (en) * | 2018-09-21 | 2018-12-18 | 南通志乐新材料有限公司 | A kind of secure courier unmanned plane |
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