CN114194382B - Automatic balancing device and method for unmanned aerial vehicle - Google Patents
Automatic balancing device and method for unmanned aerial vehicle Download PDFInfo
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- CN114194382B CN114194382B CN202210069415.9A CN202210069415A CN114194382B CN 114194382 B CN114194382 B CN 114194382B CN 202210069415 A CN202210069415 A CN 202210069415A CN 114194382 B CN114194382 B CN 114194382B
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims description 24
- 238000009966 trimming Methods 0.000 claims description 6
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052802 copper Inorganic materials 0.000 claims description 3
- 239000010949 copper Substances 0.000 claims description 3
- 238000005303 weighing Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 239000003208 petroleum Substances 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000002002 slurry Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C17/00—Aircraft stabilisation not otherwise provided for
- B64C17/02—Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The invention belongs to the technical field of unmanned aerial vehicles, and relates to an automatic balancing device and method of an unmanned aerial vehicle. According to the invention, balancing is carried out by using a weighing method of an electronic scale without human intervention, after the airborne equipment is installed or the position of the equipment in the unmanned plane is changed, rotor wing information is acquired in real time, and the balancing is automatically carried out when the unmanned plane flies, so that the weight of the head direction of the unmanned plane is heavier than the tail direction, the difference value is fixed, and the optimal safest attitude of the unmanned plane is ensured.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and relates to an automatic balancing device and method for an unmanned aerial vehicle.
Background
The safe transportation of petroleum pipelines is an important link in the petroleum economy at present, and how to ensure the smoothness and safety of the whole pipeline is particularly important. The traditional manual line inspection method is large in workload, difficult in conditions, long in time, high in labor cost and difficult to implement. The unmanned aerial vehicle has characteristics such as low cost, convenient transportation, easy and simple to handle and maintenance, and these characteristics make unmanned aerial vehicle very suitable for monitoring and maintaining petroleum pipeline. The pipeline inspection unmanned aerial vehicle is put into use, time and labor-consuming manual monitoring can be omitted, the inspection speed is high, information feedback is timely, early detection of problems and early repair are guaranteed, loss is reduced to the minimum, the vertical take-off and landing fixed wing unmanned aerial vehicle does not occupy a runway due to take-off and landing, the vertical take-off and landing fixed wing unmanned aerial vehicle is a model widely applied to the vertical take-off and landing fixed wing unmanned aerial vehicle, balancing work of the unmanned aerial vehicle is needed before take-off after task equipment is installed, and the unmanned aerial vehicle can fly in the air in the optimal and safest posture.
In the existing balancing work, after task equipment is installed in an unmanned aerial vehicle, four electronic scales are required to be placed under four rotary wings, a supporting frame is required to be placed on each electronic scale, the unmanned aerial vehicle is lifted and then placed on the supporting frame, calculation is carried out according to the weight weighed by the four electronic scales, the weight of the front side of the machine body is slightly larger than the weight of the rear side of the machine body on the premise that the total weight does not exceed a standard, a certain value cannot be exceeded, otherwise, lead blocks are required to be placed in the machine body to achieve the purpose, and the positions of the lead blocks and the weight of the lead blocks are required to be continuously adjusted when the difference value between the front and the rear of the machine body exceeds a certain value, and repeated weighing is carried out for many times. The existing balancing method needs to be matched by multiple persons, the weighing result is affected by slight deviation of a supporting point below a rotor wing when the electronic scale is used for weighing, and the balancing work of the unmanned aerial vehicle can be finally realized only by multiple attempts when the weight and the position of a lead block are adjusted.
Disclosure of Invention
Aiming at the defects and shortcomings of the prior art, the invention provides an automatic balancing device and method for an unmanned aerial vehicle, which aim to realize automatic balancing of the unmanned aerial vehicle without human intervention, and can realize automatic balancing in the take-off process after the installation of airborne equipment or the change of the position of equipment in a machine body is finished, and balancing is not required to be carried out by a plurality of persons in a matching way by using an electronic scale, so that the weight of the head direction of the unmanned aerial vehicle is heavier than the tail direction and the difference value is fixed in the process, and the unmanned aerial vehicle is ensured to fly in the optimal safest posture.
The invention is realized by adopting the following technical scheme:
an unmanned aerial vehicle automatic balancing device, comprising: the device comprises a control module, a transmission module, a counterweight module, a locking module and a power supply module. The device is installed inside the vertical take-off and landing fixed wing unmanned aerial vehicle, wherein the control module is used for collecting rotor information in real time and analyzing whether balancing is carried out so as to control the next action, if balancing is carried out, the locking module is controlled to act, if balancing is not carried out, the transmission module is controlled to act, the transmission module is used for driving the counterweight module to move back and forth, an electric sliding rail can be selected, the counterweight module is placed on the transmission module and used for balancing the front and back weight of the unmanned aerial vehicle, a lead block or a copper block with regular shape can be selected, the locking module is used for locking the counterweight module after balancing is carried out, and the power module is used for providing power for the device.
In the balancing process, the control module controls the transmission module to move back and forth so as to drive the counterweight module to move back and forth until the control module judges that the balancing condition is reached, and the control module sends a locking instruction to control the locking module to lock the counterweight module, so that balancing of the front and back weight of the unmanned aerial vehicle is realized. The control module collects rotor information in real time, and when the unmanned aerial vehicle flies, the unmanned aerial vehicle automatically balances, so that the weight of the head direction of the unmanned aerial vehicle is heavier than that of the tail direction, the difference value is fixed, and the optimal safest attitude of the unmanned aerial vehicle is ensured to fly.
An automatic balancing method for an unmanned aerial vehicle is characterized by comprising the following steps:
1. the rotor is electrified, the unmanned aerial vehicle leaves the ground under the drive of the rotor, at the moment, the rotation speeds of the four rotors are R1, R2, R3 and R4 respectively, wherein the rotation speeds of the two rotors of the machine head are R1 and R2, the corresponding lifting forces are F1 and F2 respectively, the rotation speeds of the two rotors of the machine tail are R3 and R4, and the corresponding lifting forces are F3 and F4 respectively; the control module collects rotor information in real time and calculates the lift force of a rotor, wherein the rotor lift force F=D×P×A×R×p×k, D is the rotor diameter, P is the pitch of rotor pulp, A is the rotor width, R is the rotor rotating speed, P is the atmospheric pressure, k is an empirical coefficient, and F is in kg.
2. If R1+R2> R3+R4 is satisfied, and 0< (F1+F2) - (F3+F4) < m, namely the rotational speeds of the rotor wings 1 and 2 are greater than the rotational speeds of the rotor wings 3 and 4, the weight of the machine head is greater than the weight of the machine tail, and the weight difference satisfies the (0, m) interval, the control module judges that balancing is already performed, and the control module sends a locking instruction to control the locking module to lock the counterweight module.
3. If the conditions are not met, the control module controls the transmission module to drive the counterweight module to move back and forth according to the weight difference values (F1+F2) - (F3+F4), when the weight difference values (F1+F2) - (F3+F4) are not less than m, the weight difference value of the machine head and the machine tail exceeds the m critical value, the control module controls the transmission module to drive the counterweight module to move backwards until the trimming condition is met, the control module sends a locking instruction to control the locking module to lock the counterweight module, when the weight difference values (F1+F2) - (F3+F4) are not less than 0, the machine tail weight exceeds the machine head weight, the control module controls the transmission module to drive the counterweight module to move forwards until the trimming condition is met, and the control module sends a locking instruction to control the locking module to lock the counterweight module.
The beneficial effects achieved by the invention are as follows:
according to the invention, balancing is carried out by using a weighing method of an electronic scale without human intervention, after the airborne equipment is installed or the position of the equipment in the unmanned plane is changed, rotor wing information is acquired in real time, and the balancing is automatically carried out when the unmanned plane flies, so that the weight of the head direction of the unmanned plane is heavier than the tail direction, the difference value is fixed, and the optimal safest attitude of the unmanned plane is ensured.
Drawings
The invention will be described in further detail with reference to the drawings and detailed description, wherein:
FIG. 1 is a block diagram of an automatic trimming device for an unmanned aerial vehicle;
fig. 2 is a workflow diagram of an automatic trim apparatus for a drone.
Detailed Description
Embodiments of the technical scheme of the present invention are described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and thus are merely examples, which should not be construed as limiting the scope of the present invention.
Fig. 1 is a structural diagram of an automatic balancing device for an unmanned aerial vehicle in an embodiment of the present invention, including: the device comprises a control module, a transmission module, a counterweight module, a locking module and a power supply module. The device is installed inside the vertical take-off and landing fixed wing unmanned aerial vehicle, wherein the control module is used for collecting rotor information in real time and analyzing whether balancing is carried out so as to control the next action, if balancing is carried out, the locking module is controlled to act, if balancing is not carried out, the transmission module is controlled to act, the transmission module is used for driving the counterweight module to move back and forth, an electric sliding rail can be selected, the counterweight module is placed on the transmission module and used for balancing the front and back weight of the unmanned aerial vehicle, a lead block or a copper block with regular shape can be selected, the locking module is used for locking the counterweight module after balancing is carried out, and the power module is used for providing power for the device.
In the balancing process, the control module controls the transmission module to move back and forth so as to drive the counterweight module to move back and forth until the control module judges that the balancing condition is reached, and the control module sends a locking instruction to control the locking module to lock the counterweight module, so that balancing of the front and back weight of the unmanned aerial vehicle is realized. The control module collects rotor information in real time, and when the unmanned aerial vehicle flies, the unmanned aerial vehicle automatically balances, so that the weight of the head direction of the unmanned aerial vehicle is heavier than that of the tail direction, the difference value is fixed, and the optimal safest attitude of the unmanned aerial vehicle is ensured to fly.
Fig. 2 is a working flow chart of an automatic balancing device of an unmanned aerial vehicle, when the unmanned aerial vehicle is electrified and leaves the ground under the drive of rotary wings, at the moment, the rotary speeds of four rotary wings are respectively R1, R2, R3 and R4, wherein the rotary speeds of two rotary wings of a machine head are respectively R1 and R2, corresponding lifting forces are respectively F1 and F2, the rotary speeds of two rotary wings of a machine tail are respectively R3 and R4, and corresponding lifting forces are respectively F3 and F4; the control module collects rotor information in real time and calculates the lift force of the rotor, and a rotor lift force F calculation expression is as follows: f=d×p×a×r×p×k, where D is the rotor diameter, P is the pitch of the rotor slurry, a is the rotor width, R is the rotor speed, P is the barometric pressure, k is the empirical coefficient, and F is in kg.
The control module judges whether balancing is carried out according to the rotating speeds and lifting forces of all the rotors, if R1+R2> R3+R4 and 0< (F1+F2) - (F3+F4) < m, namely the rotating speeds of the rotors No. 1 and No. 2 are larger than the rotating speeds of the rotors No. 3 and No. 4, the weight of the machine head is larger than the weight of the machine tail, the weight difference meets the (0, m) interval, the control module judges that balancing is carried out, and the control module sends a locking instruction to control the locking module to lock the counterweight module.
If the conditions are not met, the control module controls the transmission module to drive the counterweight module to move forwards and backwards according to the weight difference values (F1+F2) - (F3+F4), when the weight difference values (F1+F2) - (F3+F4) are larger than or equal to m, the weight difference value of the machine head and the machine tail exceeds the m critical value, the control module controls the transmission module to drive the counterweight module to move backwards until the trimming condition is met, the control module sends a locking instruction to control the locking module to lock the counterweight module, when the weight difference values (F1+F2) - (F3+F4) are smaller than or equal to 0, the machine tail weight exceeds the machine head weight, the control module controls the transmission module to drive the counterweight module to move forwards until the trimming condition is met, and the control module sends a locking instruction to control the locking module to lock the counterweight module.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In summary, the present description should not be construed as limiting the invention.
Claims (3)
1. The automatic balancing device for the unmanned aerial vehicle is characterized by comprising a control module, a transmission module, a counterweight module, a locking module and a power module, wherein the control module is used for collecting rotor wing information in real time and analyzing whether the unmanned aerial vehicle is balanced or not, so that the transmission module and the locking module are controlled to act, the transmission module is used for driving the counterweight module to move forwards and backwards and balancing the front and back weight of the unmanned aerial vehicle, the counterweight module is used for balancing the front and back weight of the unmanned aerial vehicle, the locking module is controlled by the control module to make locking action in a balancing state of the unmanned aerial vehicle, and the power module is used for providing power for the control module, the transmission module and the locking module; the automatic balancing method of the unmanned aerial vehicle automatic balancing device comprises the following steps:
a. the unmanned aerial vehicle rotor is electrified, the unmanned aerial vehicle leaves the ground under the drive of the rotor, at the moment, the rotation speeds of the four rotors are R1, R2, R3 and R4 respectively, wherein the rotation speeds of the two rotors in the machine head direction are R1 and R2, the corresponding lifting forces are F1 and F2 respectively, the rotation speeds of the two rotors in the machine tail direction are R3 and R4, and the corresponding lifting forces are F3 and F4 respectively; the control module acquires rotor rotation speed information in real time and calculates the lift force of a rotor, wherein the rotor lift force F=D×P×A×R×p×k, D is the rotor diameter, P is the pitch of rotor pulp, A is the rotor width, R is the rotor rotation speed, P is the atmospheric pressure, k is an empirical coefficient, and F is in kg;
b. if the trimming condition R1+R2> R3+R4 is met and 0< (F1+F2) - (F3+F4) < m, namely the rotating speeds of two rotary wings in the machine head direction are mutually greater than those of two rotary wings in the machine tail direction, the weight of the machine head is greater than that of the machine tail, the weight difference meets the (0, m) interval, the control module judges that the unmanned aerial vehicle has been trimmed, and the control module sends a locking instruction to control the locking module to lock the counterweight module;
c. if R1+R2> R3+R4 is not satisfied, according to the weight difference between (F1+F2) - (F3+F4), the control module controls the transmission module to drive the counterweight module to move forwards and backwards, when (F1+F2) - (F3+F4) > m is larger than m, the weight difference of the machine head and the machine tail exceeds a m critical value, the control module controls the transmission module to drive the counterweight module to move backwards until a balancing condition is satisfied, the control module sends a locking instruction to control the locking module to lock the counterweight module, when (F1+F2) - (F3+F4) > is smaller than or equal to 0, the weight of the machine tail exceeds the weight of the machine head, the control module controls the transmission module to drive the counterweight module to move forwards until the balancing condition is satisfied, and the control module sends a locking instruction to control the locking module to lock the counterweight module.
2. The automatic balancing device of the unmanned aerial vehicle according to claim 1, wherein the transmission module is an electric sliding rail and is arranged inside the unmanned aerial vehicle.
3. The automatic balancing device of the unmanned aerial vehicle according to claim 1, wherein the weight module is a lead block or a copper block with regular shape, and is arranged inside the unmanned aerial vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210069415.9A CN114194382B (en) | 2022-01-21 | 2022-01-21 | Automatic balancing device and method for unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210069415.9A CN114194382B (en) | 2022-01-21 | 2022-01-21 | Automatic balancing device and method for unmanned aerial vehicle |
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| CN114194382A CN114194382A (en) | 2022-03-18 |
| CN114194382B true CN114194382B (en) | 2024-02-27 |
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