CN205931245U - Controlling means of unmanned aerial vehicle and control unmanned aerial vehicle gesture - Google Patents
Controlling means of unmanned aerial vehicle and control unmanned aerial vehicle gesture Download PDFInfo
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- CN205931245U CN205931245U CN201620893018.3U CN201620893018U CN205931245U CN 205931245 U CN205931245 U CN 205931245U CN 201620893018 U CN201620893018 U CN 201620893018U CN 205931245 U CN205931245 U CN 205931245U
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Abstract
The utility model provides a controlling means of controlling the unmanned aerial vehicle gesture, unmanned aerial vehicle includes the central part, certainly outside a plurality of horns that extend of central part and the at least rotor of setting on each horn, controlling means includes gravity center control portion, gravity center control portion is used for when changing, unmanned aerial vehicle's focus confirms according to this unmanned aerial vehicle's focus change the axis of the blade of the rotor of setting arrives on the one or more horn the distance at unmanned aerial vehicle's center, wherein unmanned aerial vehicle's center does focus during unmanned aerial vehicle keep balance. In addition, it includes still to provide one kind controlling means's unmanned aerial vehicle. Controlling means and unmanned aerial vehicle can arrive through the axis of the blade of the rotor of setting on the change one or more horn the distance at unmanned aerial vehicle's center is opposeed unmanned aerial vehicle's centrobaric change need not confine the rotational speed restriction of rotor to.
Description
Technical field
The utility model is related to a kind of unmanned plane, more particularly, to a kind of unmanned plane that can control its attitude and control unmanned plane
The control device of attitude.
Background technology
Unmanned plane generally includes fuselage and the multiple horns flexing outward from fuselage, and horn is arranged away from the end of fuselage
One or more rotor blades, the rotation of this rotor blade can drive described unmanned plane during flying.Such in such as unmanned vehicle
Have in the unmanned plane of multiple rotors, keep the attitude of movement or the rotation of unmanned plane etc. by the rotary speed controlling rotor.
The unmanned plane one carrying the equipment such as universal joint operates, and all position of centre of gravitys of its unmanned plane just change.Therefore, it is equipped with by control
The rotary speed of each rotor on unmanned plane, keeps the attitude of unmanned plane.
But, the performance in order to the motor of rotary wing or the electric current from the driver outflow controlling this motor are having
Limit.Therefore, when the overall center of gravity of unmanned plane also has big change, the attitude of unmanned plane also can have greatly changed, and is
Overcome such attitudes vibration it is necessary to higher electric current output.It is possible to the appearance that can not correctly keep unmanned plane occurs
The situation of state.
Utility model content
In view of this it is necessary to provide a kind of unmanned plane and its attitude-control device that can correctly keep UAV Attitude.
A kind of control device controlling UAV Attitude, described unmanned plane includes central part, from described central part to extension
Multiple horns of stretching and be arranged at least one rotor on each horn, described control device includes gravity's center control portion, described heavy
Heart control unit be used for when the center of gravity of described unmanned plane changes according to the gravity center shift of this unmanned plane determine one or
The distance at the center to described unmanned plane for the axis of the blade of rotor of setting, the center of wherein said unmanned plane on multiple horns
Keep center of gravity during balance for described unmanned plane.
Further, the configuration of wherein said one or more horn or the rotor arranging thereon can change to change
State on one or more horns the distance at the center to described unmanned plane for the axis of the blade of rotor of setting.
Further, described gravity's center control portion includes：
Center of gravity detection unit, for judging the change of the center of gravity of described unmanned plane；
Arm selector, needs the horn of change configuration for determining according to the change of center of gravity；
Brachium determining section, the axis for determining on horn the rotor blade of setting according to the change of center of gravity arrive described nobody
The distance at machine center；And
Configuration determining section, determines the horn needing to do or power dress for distance according to determined by described brachium determining section
The configuration change put.
Further, described horn can extend linearly along the bearing of trend of horn or shrink, to change configuration.
Further, the change of described horn configuration includes extending described center of gravity to the dimension linear away from described central part
The horn of setting or the phase negative side shrinking described centre-of gravity shift direction to the dimension linear near described central part on offset direction
The horn setting up.
Further, described horn can at least one specified point on horn fold, to change the configuration of described horn.
Further, the rightabout that the change of the configuration of described horn includes fold described centre-of gravity shift direction is arranged
Horn.
Further, on described horn, the rotor of setting can change position on corresponding horn for its rotor blade, with
Change the configuration of the rotor of setting on described horn.
Further, the change of the configuration of described rotor include to away from described central part dimension linear movement described heavy
Rotor blade or inclined to the mobile described center of gravity of dimension linear near described central part on the horn of setting on heart offset direction
Move the rotor blade on the horn of setting on the rightabout in direction.
Further, the horn that on described horn, the blade of the rotor of setting can be located relative to this rotor blade rotates,
To change the configuration of described rotor.
Further, the change of described rotor configuration includes rotating described centre-of gravity shift to the direction near described central part
The rotor blade on horn that side sets up.
Further, during the mass centre changing of described unmanned plane, may also be combined with the rotation changing setting on one or more horns
The rotating speed of wing blade is resisting the change of the center of gravity of described unmanned plane.
Further, the mass centre changing of described unmanned plane is the state of one or more loads of setting on described unmanned plane
Change the result producing.
Further, during the mass centre changing of described unmanned plane, the position of the central part of the relatively described unmanned plane of described load
Can change to resist the mass centre changing of described unmanned plane.
Further, described in the change of the described position of central part loading relatively described unmanned plane includes load and carries
At least one of carrier of load rotates relative to the central part of described unmanned plane.
Further, described carrier include connecting described carrier to described unmanned plane the pedestal of central part, be connected to institute
State the fixture of pedestal and be arranged on movable part on described fixture, described movable part can be around the pitch axis of described fixture
Rotate with roll axis, described load is arranged on described movable part.
Further, described pedestal can rotate relative to the central part of described unmanned plane around yaw axis.
Further, described pedestal and described movable part are provided with sensor, described carrier can be sensed relatively described
The rotation of central part.
Further, the carrier of described load or the described load of carrying is provided with sensor, described sensor can be felt
There is the predetermined weight changing, being judged to described unmanned plane when the state of described load makes a reservation for and changes in the state surveying described load
The heart changes.
Further, the state of described load occur predetermined change includes the part of described load deviate described nobody
On the center of gravity direction of machine to away from or near described unmanned plane central part move.
A kind of unmanned plane, including control device as above.
Upper described unmanned plane and its attitude control method, attitude-control device are when the center of gravity of described unmanned plane changes
Change the distance at the center to described unmanned plane for the axis of the blade of rotor of setting on horn, it is to avoid only with rotor rotating speed
Adjust and to keep the problem limited by rotating speed during UAV Attitude.
Brief description
Fig. 1 is a kind of stereogram of unmanned plane that the utility model embodiment provides.
Fig. 2 to Fig. 5 is one kind band loaded unmanned plane stereogram of the utility model embodiment.
Fig. 6 is the flow chart of the control method of control UAV Attitude of the utility model one embodiment.
Fig. 7 to Figure 10 is adjustment rotor blade axis the showing to the distance at unmanned plane center of the utility model embodiment
It is intended to.
Figure 11 is the partial functional block diagram of the unmanned plane of the utility model one embodiment.
Figure 12 is the schematic diagram of the carrier of unmanned plane of the utility model one embodiment.
Main element symbol description
| Unmanned plane | 1 |
| Central part | 10 |
| Master control part | 11 |
| Storage device | 12 |
| Rotor control unit | 13 |
| Communication module | 14 |
| Sensor | 15 |
| Horn control unit | 16 |
| Gravity's center control portion | 17 |
| Center of gravity detection unit | 170 |
| Arm selector | 172 |
| Brachium determining section | 174 |
| Configuration determining section | 176 |
| Horn | 20 |
| Power set | 30 |
| Motor | 32 |
| Rotor | 34 |
| Carrier | 40 |
| Carrier control unit | 41 |
| Driver | 42 |
| Drive motor | 43 |
| Supporting mechanism | 44 |
| Photomoduel | 50 |
| Prism assemblies | 51 |
| Prism | 510 |
| Prism control unit | 512 |
| Picture shooting assembly | 52 |
| Capturing element | 520 |
| Shooting control part | 522 |
| Memory | 524 |
| Position of centre of gravity adjustment portion | 526 |
Following specific embodiment will further illustrate the utility model in conjunction with above-mentioned accompanying drawing.
Specific embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely description is it is clear that described embodiment is only a part of embodiment of the utility model rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of making creative work
The every other embodiment being obtained, broadly falls into the scope of the utility model protection.
It should be noted that when assembly is referred to as " being fixed on " another assembly, it can be directly on another assembly
Or can also there is assembly placed in the middle.When an assembly is considered as " connection " another assembly, it can be directly connected to
To another assembly or may be simultaneously present assembly placed in the middle.When an assembly is considered as " being arranged at " another assembly, it
Can be to be set directly on another assembly or may be simultaneously present assembly placed in the middle.Term as used herein is " vertical
", " level ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all of technology used herein and scientific terminology are led with belonging to technology of the present utility model
The implication that the technical staff in domain is generally understood that is identical.In term used in the description of the present utility model it is simply herein
The purpose of description specific embodiment is it is not intended that in limiting the utility model.Term as used herein " and/or " include
The arbitrary and all of combination of one or more related Listed Items.
The utility model provides a kind of unmanned plane, and described unmanned plane can be used for any suitable environment, for example in the air（Example
The aircraft mixing with rotor as rotor craft, Fixed Wing AirVehicle or fixed-wing）, in water（Example, ship or submarine）, on ground
On face（Example, motorcycle, automobile, truck, bus, train etc.）, in space（Example, space shuttle, satellite or detector）, or
In underground（Such as subway）, or any combination of above-mentioned environment.In the present embodiment, described unmanned plane is rotor craft, its
Described in rotor can be single rotor, DCB Specimen, three rotors, four rotors, six rotors and eight rotors etc..For ease of description, real as follows
The unmanned plane applied in example illustrates taking quadrotor as a example.
Below in conjunction with the accompanying drawings, some embodiments of the present utility model are elaborated.In the case of not conflicting, under
Feature in the embodiment stated and embodiment can be mutually combined.
Refer to Fig. 1, unmanned plane 1 includes central part 10, the multiple horns 20 stretching out from central part 10 and is arranged on
Power set 30 on horn 20.Described power set 30 are used for moving described unmanned plane 1.Each horn 20 and described fuselage 10
Connected one end is the close end of this horn 20, and another end deviating from this close end phase is the distal portion of this horn 20.?
In the present embodiment, the distal portion of each horn 20 is provided with power set 30, and described power set 30 include motor 32 and by institute
The rotor 34 stated Motor drive and rotate.The rotation of rotor 34 drives the movement of described unmanned plane 1.Described movement may include
Fly, land, hover, and in the air with regard to three translation freedoms and three rotary freedoms motions.In certain embodiments,
Described power set 30 may include one or more rotors 34.Described rotor 34 may include connect one or more to a rotating shaft
Rotor blade.Described rotor blade or rotating shaft can be rotated by described Motor drive.Although described unmanned plane 1 in an embodiment
Power set 30 are described as including 4 rotors 34, but other suitable quantity of power set 30, type or deploying are all
Enforceable.For example, described rotor 34 can be one, two, three, four, five, six, seven, eight or more.
Described rotor 34 can be with respect to described unmanned plane 1 level, vertical or other any suitable angle settings.The angle of described rotor
Can be fixing or variable.The distance between described rotorshaft being oppositely arranged can be any appropriately distance, example
Such as less than it is equal to 2 meters, or be less than or equal to 5 meters.Alternatively, described distance can be between 40 centimetres to 1 meter, from 10 centimetres to 2
Between rice, or from 5cm to 5 meter.Described motor 32 can be direct current generator（Example：Brush motor or brushless electric machine）Or alternating current
Machine.In certain embodiments, described motor 32 can be configured to drive rotor blade.
In certain embodiments, described unmanned plane 1 may also include the carrier 40 for carry load, and described carrier 40 can be
The load carrier that universal joint etc. can rotate around one or more axles around described central part, such as shown in Fig. 1 can relatively
Described central part 10 is around the load carrier of pitch axis and roll axis rotation.Described load carrier is used for bearing function load or NOT function
Can load.Described function load could be for executing the load of specific function, such as, sensor, transmitter, instrument, instrument,
Executor, or other functions device.In the embodiment shown in fig. 1, described load is a photomoduel 50.In some situations
In, described photomoduel 50 can be in the camera of described central part 10 lower section.By described load carrier 10, described camera
Can rotate to obtain the image at multiple visual angles around one or more axles relative to described central part 10.
On described central part 10, control system can be set（For example, flight control system）To control flying of described unmanned plane 1
OK.In certain embodiments, described control system is based on following one or more：The position of described unmanned plane 1, described unmanned plane
1 direction, the current state of described unmanned plane 1, the sensor of time or described unmanned plane 1 or load are sensed the number obtaining
According to the operation of the described unmanned plane 1 of control.
Alternatively or can in combination, described control system may include a receiver being arranged on described unmanned plane 1
Or others communication module, for receive user instruction, for example, from remote terminal reception user instruction.By described receiver
The described user instruction being received is used for controlling described power set 30, and described power set 30 are used for driving described unmanned plane fortune
OK, for example take off, fly, spiral or land.
In certain embodiments, unmanned plane 1 can carry various different loads by attachment arm（Such as burnisher, catch
Fishnet, picker or cutting tool etc., and in load running process（For example flex outward from folded state）In, may lead
The center of gravity causing described unmanned plane 1 changes.
Refer to shown in Fig. 2 ~ Fig. 5, be a kind of unmanned plane 1 with attachment arm of illustration of the utility model, described load
For a kind of functional device（Shearing work in gripping tool in fishnet in such as burnisher in Fig. 2, Fig. 3, Fig. 4, Fig. 5
Tool）, when described functional device flexes outward from carrier, the center of gravity of described unmanned plane 1 changes, and may result in described nothing
Man-machine 1 attitude changes, for example, tilt to the direction that described functional device stretches.Attitude in order to avoid described unmanned plane 1
Change, need to improve the rotating speed of the rotor setting up with described functional device direction of extension identical side.However, rotor
Rotating speed has ceiling restriction, therefore, in order to avoid rotor rotating speed reaches the attitude that the upper limit still cannot keep described unmanned plane 1
Situation occur, the axis that may extend away in described functional device direction of extension rotor blade on the horn of setting is to described nothing
Rotor blade in the distance at man-machine center or shortening horn of setting on the rightabout of described functional device direction of extension
Axis to described unmanned plane center distance.
When controlling unmanned plane, flight controller is from inertial sensor（Inertial Measurement Unit,
IMU）, accelerometer, magnetometer and gps receiver extraction angular speed, acceleration, the described unmanned plane such as direction and position state ginseng
Numerical value, calculates the rotating speed of each rotorTo control described frame to reach targeted attitude and target velocity.
How described rotor rotating speed is obtained according to acquired parameter value calculationFor the exclusive rule of different company one
Point, but input and output are similar.Input is the status parameter values of unmanned plane, including angular speed, acceleration, direction and position
Put, output is the rotating speed of rotor.And result of calculation of the present utility model is except exporting the rotating speed of rotor, can also export
The length of horn, the length of wherein said horn refers to the axis of the blade of rotor of setting from horn to described unmanned
The distance at the center of machine.
It is assumed that world coordinate system（World Coordinate）For W（x, y, z）, unmanned plane body axis system is B（x,
y, z）, then transition matrix R (Φ, Θ, Ψ) satisfaction of Two coordinate system
Wherein Φ is the rolling angle along X-axis for the described unmanned plane；Θ is the luffing angle along Y-axis for the described unmanned plane；Ψ is
Described unmanned plane is along the yaw angle of Z axis.
The basic dynamic formula that can get unmanned plane according to described Conversion Matrix of Coordinate R is as follows：
(1)
(2)
WhereinFor rotor power output and rotary rpmBetween coefficient；For rotor output torque and rotary rpmBetween coefficient；~Distance for rotor blade axis to described unmanned plane center.、、It is that Z axis are used to along X, Y
Amount.
Refer to shown in Fig. 6, be the flow chart of the method for control UAV Attitude of the utility model one embodiment.
Step 70, the controller of described unmanned plane obtains unmanned plane state parameter.Described state parameter includes, but does not limit
In the angular speed of described unmanned plane, direction, position etc..The state parameter of described unmanned plane can set on described unmanned plane
The one or more sensors put.One or more of sensors can sense the dimensional orientation of described unmanned plane 10, speed and/
Or acceleration（Example, relative dimensional translation freedoms and the three-dimensional rotation free degree）.One or more of sensors may include, but
It is not limited to, global positioning system（GPS）Sensor, movable sensor, inertial sensor, gyroscope, accelerometer, magnetometer, near
Range sensor or image sensor.The data that one or more of sensors are sensed can be used for controlling described aircraft
Flight（For example：Dimensional orientation, speed, and/or direction）.In certain embodiments, one or more of sensors also can use
In the information of the surrounding enviroment providing with regard to described aircraft, the such as close distance of weather conditions and potential obstacle, geographical spy
The position levied, the position of artificial structure and the like.One or more of sensors may be provided in described unmanned plane
In center portion or on carrier or in load.
Step 72, the controller of described unmanned plane is according to formula（1）And the state parameter receiving calculates each rotor
Rotating speed（I=1,2,3,4）.
Step 74, the controller of described unmanned plane judges the rotating speed of described rotorWhether it is more than a predetermined limit speed
Value.Described limit speed valueSelection depend on described unmanned plane one or more electronic devices and components characteristic, for example flow
Electric current through one or more of electronic devices and components.In certain embodiments, described limit speed valueDetermination be in order to
Avoid causing extra burden to one or more of electronic devices and components.For example, described limit speed valueSelection needs to ensure
The electric current of described rotor is less than a maximum current limiting value.In certain embodiments, described maximum current limiting value can be when super
When crossing this maximum current limiting value, one or more components and parts of described UAV may be damaged.In certain embodiments, described
Limit speed valueDetermination need consider battery energy consumption.In certain embodiments, described limit speed valueMay be configured as about
500 revolutions per seconds (radious/second).In further embodiments, described limit speed valueMay be alternatively provided as being more than or little
In 500 revolutions per seconds (radious/second).If greater than described predetermined limit speed value, flow process enters step 76, no
Then, flow process enters step 78.
Step 76, the controller setting of described unmanned plane is described=.
Step 78, the controller of described unmanned plane is according to describedValue and described formula（2）Calculate each rotor blade
Axis to described unmanned plane center distance（I=1,2,3,4）.
Step 710, the controller of described unmanned plane is calculated according to instituteWithThe turning of the corresponding rotor of value adjustment
The axis of speed and rotor blade is to the distance at described unmanned plane center.Specifically, current rotor rotating speed is set by being calculated
Rotating speed,=When, the distance arranging axis to the described unmanned plane center of current rotor blade is calculated；
If<, then keep the distance at axis to the described unmanned plane center of current rotor blade constant.
Change the axis of rotor blade on described horn to described unmanned plane center distance can by linear stretch or
Shrink described horn, fold described horn, change described rotor on described horn in a certain specified location on described horn
Position or the relatively described horn of described rotor angle realizing.
In described flow chart, before step 70, the step that may also include the mass centre changing sensing described unmanned plane.When
The mass centre changing of described unmanned plane is due to the configuration of load（Namely state）When changing, can be by being arranged on described load
Upper or be arranged on sensor on the carrier the carrying described load configuration variation to obtain described load, such as Fig. 2-Fig. 5 institute
In the embodiment shown, when described functional device flexes outward from described carrier, it is arranged on the sensor on described functional device
Or setting sensor on the carrier can obtain the configuration change of described functional device, thus judging the weight of described unmanned plane
The heart changes.In certain embodiments, the configuration variation of described load includes, but not limited to the central part of relatively described unmanned plane
Linear extendible, rotation, folding, installation, the described load of dismounting.
It is understood that the sensing of the skew of the center of gravity of described unmanned plane can also the state based on described unmanned plane be joined
Number is judged.
Refer to shown in Fig. 7-Figure 10, for illustrate described unmanned plane horn on setting rotor blade axis to institute
State several schematic diagrames that the distance at unmanned plane center changes.For example, in Fig. 7, when described horn 20 is along horn bearing of trend（As
The direction of arrow of in figure）When linear stretch or contraction, the axis of the rotor blade of described rotor 34 is to described unmanned plane center
DistanceLength d equal to described horn 20（I.e. from described rotor 34 setting position A to described central part 10 central point O
The distance between；I is positive integer, represents the numbering of horn）Change therewith.When described horn 20 is to away from described central part 10
When dimension linear stretches, length d of described horn 20 is elongated, that is, be arranged on the axis of the rotor blade of rotor 34 on this horn
Distance to described unmanned plane centerElongated；Conversely, when described horn 20 is received to the dimension linear near described central part 10
During contracting, length d of described horn 20 shortens, that is, be arranged on the axis of the rotor blade of rotor 34 on this horn to described unmanned
The distance at machine centerShorten.According to determined byAnd horn current length d can determine that described horn should shrink or stretch
The length of exhibition.Can arrange at least one of described horn 20 and described central part 10 driving described horn 20 linear stretch or
The drive mechanism shunk.Described drive mechanism may include motor and meshing gear, by the meshing gear that rotarily drives of motor
Transmission is so that described horn 20 linear stretch and contraction.
In Fig. 8, described horn 20 can fold in specified point B, thus the axis changing the rotor blade of described rotor 34 arrives
The distance at described unmanned plane center.The angle folding is α, d1+d2=d, it follows that the known and fixing premise of d1, d2
Under, the angle [alpha] of folding is less, the distance of the axis of the rotor blade of described rotor 34 to described unmanned plane centerLess.Root
According to determined byAnd known d1, d2 can be calculated the angle [alpha] of described folding.It is understood that described specified folding
Point is not limited to one, can be 2 or multiple.The folding of described horn 20 can be by being arranged on described central part 10 or described horn
Drive mechanism on 20 is realizing.
In Fig. 9, the position that described rotor 34 is arranged on described horn 20 can change, can be along described horn bearing of trend
（As the in figure direction of arrow）Change, thus changing the distance of the axis of the rotor blade of described rotor 34 to described unmanned plane center.Change position on horn for the described rotor and stretching, extension or shrink horn effect similar, can change described rotor and
The distance between the central point of described unmanned plane d, namely the axis of the rotor blade of described rotor 34 is to described unmanned plane center
Distance.On described horn 20, can chute be set, described rotor 34 is slidably disposed on described horn 20, by setting
Drive mechanism on horn 20 or described rotor fixed seat drives described rotor 34 to slide along described horn 20, thus changing institute
State rotor 34 rotor blade axis to described unmanned plane center distance.
In Figure 10, on described horn 20, the rotor 34 of setting rotates so that described rotor 34 leaf relative to described horn 20
Angle β between the axis of piece and described horn 20 changes, and β is less, and the axis of the rotor blade of described rotor 34 is to described nothing
The distance at man-machine centerLess, vice versa.Described rotor set location to the distance of central point O of described central part 10 is
D, described angle β can by sin β=/ d determines.
In certain embodiments, the axis of the rotor blade of the described rotor of adjustment described in described Fig. 7 to Figure 10 is to described
The distance at unmanned plane centerMethod can individually adopt, also can be combined and adopt, for example with horn linear extendible and described rotation
The wing rotates the mode combining to adjust the axis of the rotor blade of described rotor to the distance at described unmanned plane center.
The axis of upper described rotor blade is to the distance at described unmanned plane centerChange be in flight course realize
's.In certain embodiments, the axis of described rotor blade is to the distance at described unmanned plane centerChange can also occur
Before described unmanned plane during flying.Described unmanned plane rests against a surface before flight（Such as ground）When, increase or decrease described
The load of unmanned plane, the configuration of the load changing described unmanned plane are likely to lead to the center of gravity of described unmanned plane to change,
For the balance of unmanned plane when ensureing to take off, axle that can in advance to the rotor blade of one or more horns of described unmanned plane
Line is to the distance at described unmanned plane centerIt is adjusted.In which case, can be by being arranged on described unmanned plane
Individual or multiple sensors sense the connection of described load remove or described load state change, then via this change meter
Calculate offset direction and the side-play amount of the center of gravity of described unmanned plane, then the offset direction of the center of gravity according to described unmanned plane and partially
Shifting gauge calculates the distance of the axis of the rotor blade of one or more horns to described unmanned plane center.Described computational methods
Similar with the method in above-mentioned flight course, repeat no more.
Refer to shown in Figure 11, be the partial functional block diagram of the unmanned plane of the utility model one embodiment.Described unmanned
Machine 1 include master control part 11, storage device 12, rotor control unit 13, communication module 14, sensor 15, horn control unit 16 and
Gravity's center control portion 17.
Described master control part 11 may include one or more processors, such as one programmable processor（Example, central authorities are processed
Device（CPU）.Described master control part 11 connects to described storage device 12, rotor control unit 13, communication module 14 controllablely, passes
One or more of sensor 15, horn control unit 16 and gravity's center control portion 17.Described storage device 12 can be non-volatile for one
Computer-readable medium.Described non-volatile computer-readable medium can store logic, code and/or can be held by described processor
The programming of the one or more steps of row.It is single that described non-volatile computer-readable medium may include one or more storages
Unit（Example, removable medium or similar SD card or random access memory（RAM）External memory storage）.In certain embodiments, institute
State storage device 12 to can be used for storing the result that described processing unit produces.
Described rotor control unit 13 is used for controlling the state of described unmanned plane 1 under the control of described master control part 11.Example
As described rotor control unit 13 can be used for controlling the described actuating unit 30 of described unmanned plane 1 sextuple to adjust described unmanned plane 1
The described orientation of the free degree, speed and/or acceleration.
Described communication module 14 is used for transmission and/or reception comes from one or more external device (ED)s（Example, a terminal, show
Showing device, or other remote controllers）Data.Any suitable communication mode can adopt, such as wire communication or channel radio
Letter.For example, described communication module 14 can utilize LAN（LAN）, wide area network（WAN）, infrared ray, radio frequency, WiFi, point-to-point
（P2P）One or more of network, communication network, cloud communication and other similar communication networks.Alternatively, trunk desk, such as tower,
Satellite or mobile workstation etc. may be utilized.Radio communication may be based on distance be alternatively with apart from unrelated.Real at some
Apply in example, communication needs visually also to need visually.Described communication module 14 can be transmitted produced by described master control part 11
Result, predetermined control data, receive the control instruction of self terminal or remote controllers.
In some cases, the control instruction from described terminal or remote controllers may include described unmanned plane 1, carrier
40 and the relative position of load, movement, start or control.For example, described control instruction can change the position of described unmanned plane 1
And/or direction（Example, by controlling described power set 30）, or described load is moved relative to described unmanned plane 1（Example, leads to
Cross and control described carrier 40）.Can control described load from the control instruction of described terminal or remote controllers, for example, control phase
Machine or the operation of other functions equipment（Example, obtains either statically or dynamically image, push away near or push away remote camera lens, is turned on and off, switches shadow
As pattern, change image analytic degree, focusing, change the depth of field, change the time for exposure, change visual angle or the visual field；Stretch or shrink institute
State function device）.In some cases, the communication information from described unmanned plane 1, carrier 40 and load may include from one
The information of individual or multiple sensor 15.Described communication may include the information that one or more different types of sensors are sensed
（Example, GPS sensor, movable sensor, inertial sensor, Proximity Sensor or image sensor）.Described information can be for closing
Orientation in described aircraft, carrier and/or load（Example, position, direction）, the information of mobile or acceleration.Described derive from
The information of load may include the data of described load sensing or the state of the described load being sensed.Described terminal or remotely control
The described control instruction that device provides and transmits can be used for controlling one or more of described unmanned plane 1, carrier 40 and load
State.Alternatively or in combination with, described carrier 40 and load also can include communicating with described terminal or remote controllers respectively
Communication module so that described terminal or remote controllers can separately with described unmanned plane 1, carrier 40 and negative
It is loaded into row communication and control.
Described sensor 15 may include and can gather the various types of of the information being related to described unmanned plane 1 in a variety of different ways
The sensor of type.Various types of sensor can sense the signal of different types of signal or separate sources.For example, described
Sensor may include inertial sensor, GPS sensor, Proximity Sensor（Example, laser sensor）, or vision/image sensing
Device（Example, camera）.In certain embodiments, described sensor 15 connects to a communication module controllablely（Example, a Wi-Fi passes
Defeated module）, described transport module can be used for directly transmitting sensing data to a suitable external device (ED) or system.
Described horn control unit 16 is used for controlling the relatively described central part of horn 20 under the control of described master control part 11
10 is mobile, includes, but not limited to linear stretch or contraction, folding, rotation etc., thus drive being assemblied on described horn 20
Power set 30 move relative to described central part 10.
Gravity's center control portion 17 is used for the center according to this unmanned plane when the center of gravity of described unmanned plane changes and changes really
The configuration variation of the power set of setting on fixed one or more horns or horn.Described center control unit 17 may be provided at described
In the central part 10 of unmanned plane 1, as a part for the flight control system of described unmanned plane 1, alternatively fly independent of described
One controller of row control system.Described gravity's center control portion may include processor and the series of instructions generation that can be executed by processor
Code, realizes the function in described gravity's center control portion 17 by this series of instructions code of computing device.Specifically, described center of gravity control
Portion 17 processed is used for selecting to need change to join for resisting this centre-of gravity shift during centre-of gravity shift, the centre-of gravity shift determining described unmanned plane
The horn put and determine the axis of the rotor blade of power set on selected horn to described unmanned plane center away from
From, and need the configuration change doing.Described configuration change includes, but not limited to horn linear stretch and shrinks, horn folds,
On horn, the rotor of setting linearly moves relative to described horn or rotates（Refer to shown in Fig. 7-10）One or more of.
Described gravity's center control portion 17 includes center of gravity detection unit 170, arm selector 172, brachium determining section 174 and configuration and determines
Portion 176.Wherein said center of gravity detection unit 170 is used for determining the skew of described unmanned plane 1 center of gravity.Described arm selector 172 is used for
Being determined according to the skew of center of gravity needs the horn of change configuration.For example, when center of gravity offsets to one side, can be inclined by extending center of gravity
The length of the horn that shifting side sets up or the length shortening the horn that side in opposite direction sets up with centre-of gravity shift.Described arm
Long determining section 174 is used for determining the axis of the rotor blade of setting on horn to described unmanned plane center according to the skew of center of gravity
Distance.Described brachium determines the upper described flow and method of method ginseng.Described configuration determining section 176 is used for according to described brachium determining section
Brachium determined by 176 determines the configuration change needing to do.Described configuration change may include the change rotor described in Fig. 7 to Figure 10
The axis of blade is to one or more of the method for distance at described unmanned plane center.
In the above-described embodiments, the determination of the skew of described center of gravity can be by the sensing of the change of the configuration to load Lai real
Existing.For example, in the embodiment described in Fig. 2 to Fig. 5, described unmanned plane 1 includes attachment arm, can be by being arranged on attachment arm
Sensor to determine the skew of center of gravity come the state to sense attachment arm.In some other embodiment, can also be by setting
Sensor on carrier or load to sense the state change of load and to determine the skew of center of gravity.In certain embodiments, institute
The skew stating center of gravity removes and can adjust balance centre-of gravity shift using the change of above-mentioned horn and the configuration of the rotor arranging thereon
Outside the attitudes vibration causing, tune that can also be using the position of regulating load or the relatively described central part of carrier to realize center of gravity
Whole.
For example, in fig. 11, described unmanned plane is connected with a carrier 40, described carrier 40 can carry one or more negative
Carry.Described carrier 40 may include carrier control unit 41, driver 42, drive motor 43 and supporting mechanism 44.Wherein said carrier
Control unit 41 can control described carrier to rotate around yaw axis, pitch axis and roll axis under the control of described master control part 11.Phase
Ying Di, described driver 42 includes yaw axis driver, pitch axis driver and roll axis driver respectively；Described drive motor
43 include go off course shaft drive motor, pitching shaft drive motor and rolling shaft drive motor.Described supporting mechanism 44 includes yaw axis
Rotating mechanism, pitch axis rotating mechanism and roll axis rotating mechanism.
In the embodiment shown in fig. 11, illustrate only a kind of load：Photomoduel 50.Described photomoduel 50 includes
Prism assemblies 51 and picture shooting assembly 52.Wherein prism assemblies 51 include multiple prisms 510 and prism control unit 512.Described shooting
Assembly 52 includes capturing element 520 and shooting control part 522.Described shooting control part 522 is used in described master control part 11
The described capturing element 520 of lower control is controlled to be shot.In certain embodiments, described picture shooting assembly 52 can also include storing
Device 524, described memory 524 can be removable storage card or mobile storage disc, is clapped for storing described capturing element 520
The image taken the photograph.In certain embodiments, described capturing element 526 can also include position of centre of gravity adjustment portion 526, described center of gravity control
Adjustment portion 526 processed is used for adjusting the center of gravity of described photomoduel under the control of shooting control part 522.
In certain embodiments, the carrier of described load or the described load of carrying is provided with sensor, described sensor
There is predetermined change in the state that can sense described load, when the state of described load occurs predetermined change, that is, be judged to institute
The center of gravity stating unmanned plane changes when the predetermined change of state generation of load（A part for described load is described unmanned in deviation
On the center of gravity direction of machine to away from or near described unmanned plane central part move, such as in the embodiment shown in Fig. 2-Fig. 5, institute
The part stating functional device is stretched out to the direction away from described central part 10）When leading to unmanned plane mass centre changing, described carrier
Control unit can control described carrier and rotates relative to described central part and the center of gravity that adjusts described unmanned plane, so that described unmanned plane
Keep balance.
Refer to shown in Figure 12, be a kind of illustration can be by controlling carrier or load adjusting the weight of described unmanned plane
Carrier 6 schematic diagram of the heart.In this embodiment, the center of gravity of described unmanned plane is consistent with the center of gravity direction of described carrier 6.Described load
Body 6 includes pedestal 60, fixture 61 and movable part 62.Described fixture 61 is connected to the center of unmanned plane by described pedestal 60
Portion.Described fixture 61 is in substantially sphere, and described movable part 62 is located at the framework of described outer surface of spheroid, described framework for ring
On can carry one or more loads.Described movable part 62 can relatively described fixture 61 around pitch axis 63-2 and roll axis 63-3
Rotation, thus drive the one or more loads carrying thereon to follow rotate.Described pedestal 60 can compare described unmanned plane around inclined
Boat axle 63-1 rotation.When the state of one or more loads of setting on described movable part 62 changes, lead to described carrier 6
Described in deviation of gravity center during ball centre, described movable part 62 can rotate around described pitch axis 63-2 or roll axis 63-3 and make
The center of gravity of described carrier returns in described ball centre.The skew of wherein said carrier center of gravity can be by being arranged on described pedestal 60
On sensor 64-1 around the degree of rotation of described yaw axis and be arranged on described movable part 62 one sensing described carrier
Individual or multiple sensors, such as sensor 64-2,64-3 are sensing described movable part 62 around described pitch axis 63-2 or roll axis
63-3 rotates degree of rotation, and judges the skew of described carrier center of gravity according to the degree of rotation being sensed.
In addition, for the person of ordinary skill of the art, it can be made according to technology design of the present utility model
It various corresponding change and deformation, and all these change all should belong to the protection model of the utility model claim with deformation
Enclose.
Claims (21)
1. a kind of control device controlling UAV Attitude, described unmanned plane includes central part, stretches out from described central part
Multiple horns and be arranged at least one rotor on each horn it is characterised in that：Described control device includes gravity's center control
Portion, described gravity's center control portion is used for determining institute when the center of gravity of described unmanned plane changes according to the gravity center shift of this unmanned plane
State on one or more horns the distance at the center to described unmanned plane for the axis of the blade of rotor of setting, wherein said nobody
The center of machine is the center of gravity that described unmanned plane keeps during balance.
2. control device as claimed in claim 1 it is characterised in that：Wherein said one or more horn or arrange thereon
The configuration of rotor can change the blade of the rotor to change on one or more of horns setting axis arrive described nobody
The distance at the center of machine.
3. control device as claimed in claim 2 it is characterised in that：Described gravity's center control portion includes：
Center of gravity detection unit, for judging the change of the center of gravity of described unmanned plane；
Arm selector, needs the horn of change configuration for determining according to the change of center of gravity；
Brachium determining section, for determining the axis of the rotor blade of setting on horn in described unmanned plane according to the change of center of gravity
The distance of the heart；And
Configuration determining section, the horn doing for the determination needs of distance according to determined by described brachium determining section or power set
Configuration change.
4. control device as claimed in claim 2 it is characterised in that：Described horn linearly can prolong along the bearing of trend of horn
Stretch or shrink, to change configuration.
5. control device as claimed in claim 4 it is characterised in that：The change of described horn configuration is included to away from described
The dimension linear of center portion extends horn or the dimension linear receipts to close described central part that described centre-of gravity shift side sets up
Contract the horn of setting on the rightabout in described centre-of gravity shift direction.
6. control device as claimed in claim 2 it is characterised in that：Described horn being capable of at least one specified point on horn
Fold, to change the configuration of described horn.
7. control device as claimed in claim 2 it is characterised in that：The change of the configuration of described horn includes folding described heavy
The horn of setting on the rightabout of heart offset direction.
8. control device as claimed in claim 2 it is characterised in that：On described horn, the rotor of setting can change its rotor
Position on corresponding horn for the blade, to change the configuration of the rotor of setting on described horn.
9. control device as claimed in claim 8 it is characterised in that：The change of the configuration of described rotor is included to away from described
The rotor blade on horn that the mobile described centre-of gravity shift side of the dimension linear of central part sets up or near described center
Rotor blade on the horn of setting on the rightabout in the mobile described centre-of gravity shift direction of the dimension linear in portion.
10. control device as claimed in claim 2 it is characterised in that：On described horn, the blade of the rotor of setting being capable of phase
The horn rotation that this rotor blade is located, to change the configuration of described rotor.
11. control devices as claimed in claim 10 it is characterised in that：The change of described rotor configuration is included near described
The direction of central part rotates the rotor blade on the horn that described centre-of gravity shift side sets up.
12. control devices as claimed in claim 2 it is characterised in that：During the mass centre changing of described unmanned plane, may also be combined with and change
Become on one or more horns the change to resist the center of gravity of described unmanned plane for the rotating speed of the rotor blade of setting.
13. control devices as claimed in claim 2 it is characterised in that：The mass centre changing of described unmanned plane is described unmanned plane
The result that the state change of one or more loads of upper setting produces.
14. control devices as claimed in claim 13 it is characterised in that：During the mass centre changing of described unmanned plane, described load
The position of the central part of relatively described unmanned plane can change to resist the mass centre changing of described unmanned plane.
15. control devices as claimed in claim 14 it is characterised in that：The described central part loading relatively described unmanned plane
The change of position is included loading and is rotated relative to the central part of described unmanned plane with least one of the carrier of the described load of carrying.
16. control devices as claimed in claim 15 it is characterised in that：Described carrier includes connecting described carrier to described nothing
The pedestal of man-machine central part, it is connected to the fixture of described pedestal and is arranged on movable part on described fixture, described work
Moving part can rotate around the pitch axis of described fixture and roll axis, and described load is arranged on described movable part.
17. control devices as claimed in claim 16 it is characterised in that：Described pedestal can be relatively described unmanned around yaw axis
The central part rotation of machine.
18. control devices as claimed in claim 16 it is characterised in that：It is provided with sensing on described pedestal and described movable part
Device, can sense described carrier rotating relative to described central part.
19. control devices as claimed in claim 13 it is characterised in that：Set on the carrier of described load or the described load of carrying
It is equipped with sensor, the state that described sensor can sense described load occurs predetermined change, when the state of described load makes a reservation for
It is judged to during change that the center of gravity of described unmanned plane changes.
20. control devices as claimed in claim 19 it is characterised in that：The state of described load occurs predetermined change to include institute
State the part of load on the center of gravity direction deviateing described unmanned plane to away from or move near the central part of described unmanned plane.
A kind of 21. unmanned planes, including the control device as described in any one of claim 1 to 20.
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| CN201620893018.3U CN205931245U (en) | 2016-08-17 | 2016-08-17 | Controlling means of unmanned aerial vehicle and control unmanned aerial vehicle gesture |
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| CN201620893018.3U CN205931245U (en) | 2016-08-17 | 2016-08-17 | Controlling means of unmanned aerial vehicle and control unmanned aerial vehicle gesture |
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