CN210191802U - Unmanned aerial vehicle control device and unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle control device and unmanned aerial vehicle Download PDFInfo
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- CN210191802U CN210191802U CN201920347359.4U CN201920347359U CN210191802U CN 210191802 U CN210191802 U CN 210191802U CN 201920347359 U CN201920347359 U CN 201920347359U CN 210191802 U CN210191802 U CN 210191802U
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Abstract
The embodiment of the utility model relates to an unmanned aerial vehicle control device and an unmanned aerial vehicle, the control device comprises a main controller, a control surface control structure and an angle detection module; the control surface control structure comprises a drive controller, a drive mechanism, a transmission mechanism and a control surface transmission shaft; the angle detection module comprises a first angle detection unit arranged on the control surface of the unmanned aerial vehicle and a second angle detection unit arranged on the fixing surface of the unmanned aerial vehicle, and the first angle detection unit and the second angle detection unit are both electrically connected with the main controller. The embodiment of the utility model provides a set up first angle detecting element on unmanned aerial vehicle's control plane, set up second angle detecting element on unmanned aerial vehicle's stationary plane, main control unit can be based on first angle detecting element with the signal acquisition control plane that second angle detecting element detected actually verts the angle. Therefore, the main controller can realize accurate and effective control on the control surface according to the actual tilting angle of the control surface.
Description
Technical Field
The embodiment of the utility model provides an unmanned aerial vehicle technical field especially relates to an unmanned aerial vehicle controlling means and applied this unmanned aerial vehicle controlling means's unmanned aerial vehicle.
Background
The fixed wing unmanned aerial vehicle mainly relies on tilting of each control surface to realize the adjustment of aircraft gesture at the flight in-process. The current realization scheme is that a motor is arranged to drive the control surface to tilt, when the angle of the control surface needs to be adjusted, an external main controller sends a control signal to a corresponding motor controller, and the motor controller drives the corresponding motor to rotate after receiving the control signal. The torque of the motor rotation drives the transmission shaft of the control surface to rotate through the transmission of the gear set, so that the angle of the control surface is driven to change.
In the process of implementing the present invention, the inventor finds that: the actual tilting condition of the control surface cannot be known by the conventional main controller, so that the control surface cannot be accurately and effectively controlled.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an unmanned aerial vehicle controlling means and applied this unmanned aerial vehicle controlling means's unmanned aerial vehicle, main control unit can learn the true condition of verting of control surface.
In order to solve the technical problem, the utility model discloses a technical scheme be: an unmanned aerial vehicle control device is used for an unmanned aerial vehicle, the unmanned aerial vehicle comprises a control surface, the control surface is arranged on a fixed surface of the unmanned aerial vehicle, and the control device comprises a main controller, a control surface control structure and an angle detection module;
the control surface control structure comprises a drive controller, a drive mechanism, a transmission mechanism and a control surface transmission shaft;
the driving controller is electrically connected with the main controller and the driving mechanism respectively, the driving mechanism is also connected with the control surface transmission shaft through the transmission mechanism, and the control surface transmission shaft is arranged on the control surface;
the angle detection module comprises a first angle detection unit and a second angle detection unit, the first angle detection unit and the second angle detection unit are both electrically connected with the main controller, the first angle detection unit is arranged on the control surface, and the second angle detection unit is arranged on the fixed surface;
the main controller is used for obtaining the actual tilting angle of the control surface corresponding to the first angle detection unit according to the signals sent by the first angle detection unit and the second angle detection unit.
In some embodiments, the control surface control structure further includes an angle feedback unit, the angle feedback unit is connected to the control surface transmission shaft and is used for detecting an actual tilting angle of the control surface, and the angle feedback unit is further electrically connected to the drive controller.
In some embodiments, the number of the first angle detection units and the number of the second angle detection units are different, and the number of the second angle detection units is one.
In some embodiments, the first angle detection unit and the second angle detection unit are present in pairs, and the number of the first angle detection unit and the second angle detection unit is the same.
In some embodiments, the first angle detection unit and the second angle detection unit are inertial measurement units.
In some embodiments, the angle feedback unit is a potentiometer.
In some embodiments, the transmission mechanism is a gear assembly.
In some embodiments, the drive mechanism is a motor.
In order to solve the above technical problem, the utility model discloses a still another technical scheme be: a drone, the drone comprising:
a body;
a wing coupled to the fuselage;
and foretell unmanned aerial vehicle controlling means, unmanned aerial vehicle controlling means locates the fuselage.
The utility model discloses unmanned aerial vehicle controlling means and applied this unmanned aerial vehicle controlling means's unmanned aerial vehicle sets up first angle detecting element on unmanned aerial vehicle's control surface, sets up second angle detecting element on unmanned aerial vehicle's stationary plane, and main control unit can be based on first angle detecting element with the signal acquisition control surface that second angle detecting element detected actually verts the angle. Therefore, the main controller can realize accurate and effective control on the control surface according to the actual tilting angle of the control surface.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a schematic structural diagram of an embodiment of the unmanned aerial vehicle of the present invention;
fig. 2 is a schematic view of a control surface and a fixing surface in an embodiment of the unmanned aerial vehicle of the present invention;
fig. 3 is a schematic structural diagram of an embodiment of the unmanned aerial vehicle control device of the present invention;
fig. 4 is a schematic structural diagram of an embodiment of the unmanned aerial vehicle control device of the present invention.
Detailed Description
In order to facilitate understanding of the present invention, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, for the utility model provides an unmanned aerial vehicle 100's the schematic structure diagram, the embodiment shown in fig. 1, unmanned aerial vehicle 100 is fixed wing unmanned aerial vehicle, and it mainly relies on each control surface to realize the adjustment of aircraft gesture at the flight in-process. In the embodiment shown in fig. 1, the drone 100 includes a fuselage, wings connected to the fuselage, aileron rudder surfaces 21, vertical tail rudder surfaces 22, and horizontal tail rudder surfaces 23 fixed to the fuselage fixing surface 24. Referring to fig. 2, the fixed surface 24 is a fixed surface on the fuselage, which is stationary and relative to which the control surface can move, and the movement of the control surface can change the attitude of the drone. The aileron control surfaces 21 are located at the rear edges of two wings of the unmanned aerial vehicle and are used for controlling the roll motion of the unmanned aerial vehicle, the horizontal tail control surfaces 23 are used for controlling the pitch angle of the unmanned aerial vehicle, and the vertical tail control surfaces 22 are used for controlling the yaw angle of the unmanned aerial vehicle.
It should be noted that fig. 1 only shows a few control surfaces of the drone 100 by way of example, and in other embodiments, other control surfaces or a greater number of control surfaces may be included.
The drone 100 further comprises a control device 10 provided at the fuselage, as shown in fig. 3, the control device 10 comprising a main controller 11, at least one control surface control structure 12 (only one control surface control structure is shown in fig. 3) and an angle detection module 13. The control surface control structure 12 includes a drive controller 121, a drive mechanism 122, a transmission mechanism 123 and a control surface transmission shaft 124. The driving controller 121 is electrically connected to the main controller 11 and the driving mechanism 122, the driving mechanism is further connected to a control surface transmission shaft 124 through a transmission mechanism 123, and the control surface transmission shaft 124 is disposed on the control surface shown in fig. 1 or fig. 2.
The angle detection module 13 includes at least one first angle detection unit 131 and at least one second angle detection unit 132, where the at least one first angle detection unit 131 is respectively disposed on each control surface, and the second angle detection unit 132 is disposed on a surface (i.e., a fixed surface) fixed with respect to the control surface. The first angle detecting unit 131 may detect an angle of the control surface, and the second angle detecting unit 132 may detect an angle of the fixed surface, and by detecting the two angles, an angle change of the control surface, that is, an actual tilting angle of the control surface may be obtained.
Among them, in some embodiments, the first angle detecting unit 131 and the second angle detecting unit 132 are present in pairs, i.e., the number of both is the same. In the paired first angle detecting unit and second angle detecting unit, the first angle detecting unit 131 is disposed on the control surface, and the second angle detecting unit 132 is disposed on the fixed surface on which the control surface is located. In other embodiments, the number of the first angle detecting units 131 and the number of the second angle detecting units 132 may be different, the first angle detecting units are respectively disposed on the control surfaces to be controlled, only one second angle detecting unit 132 is disposed on one fixing surface, and the angles of the other fixing surfaces may be obtained according to the position relationship with the fixing surface.
In the embodiment shown in fig. 1, at least one control surface control structure may include two aileron control surface control structures, one vertical tail control surface control structure, and two horizontal tail control surface control structures, and are respectively used for controlling tilting of the corresponding aileron control surface, vertical tail control surface, and horizontal tail control surface.
The main controller 11 is configured to send a control plane tilting control instruction to the drive controller 121 according to a control plane target tilting angle, and the drive controller 121 receives the control plane tilting control instruction and controls the driving mechanism 122 to operate according to the control plane tilting control instruction. The operation of the driving mechanism 122 drives the transmission mechanism 123 to operate, the transmission mechanism 123 drives the control surface transmission shaft 124 to rotate, and the control surface transmission shaft 124 drives the control surface to tilt. After the control surface tilts, the angle of the control surface can be obtained through the first angle detection unit 131, and then the angle change of the control surface, namely the actual tilting angle of the control surface, can be obtained according to the angle of the corresponding fixed surface.
Through set up first angle detecting element on unmanned aerial vehicle's control plane, set up second angle detecting element on unmanned aerial vehicle's stationary plane, main control unit can be according to first angle detecting element with the signal that second angle detecting element detected obtains the actual angle of verting of control plane. Therefore, the main controller can realize accurate and effective control on the control surface according to the actual tilting angle of the control surface. For example, a control plane tilting control instruction is adjusted according to the actual tilting angle of the control plane, the attitude of each control plane is self-checked before the unmanned aerial vehicle takes off, and the like.
In other embodiments, as shown in fig. 4, the control surface control structure 12 further includes an angle feedback unit 125, the angle feedback unit 125 is connected to the control surface transmission shaft 124, and the angle feedback unit 125 is further electrically connected to the driving controller 121. The angle feedback unit 125 is connected to the control surface transmission shaft 124, and when the control surface transmission shaft 124 rotates, the angle feedback unit 125 can rotate along with the control surface transmission shaft 124, so that the actual tilting angle of the control surface, that is, the actual tilting angle of the control surface can be detected. The angle feedback unit 125 sends the generated feedback signal to the driving controller 121, and the driving controller 121 controls the driving mechanism to operate according to the control surface tilting control command sent by the main controller 11 and the feedback signal.
Wherein the drive controller 121 may adjust the control of the drive mechanism 122 according to said feedback signal received by the drive controller 121. For example, closed loop control may be performed based on the control surface tilt control command and the feedback signal. The main controller 11 can adjust the control surface tilting control command according to the actual control surface tilting angle obtained by the main controller 11. For example, closed-loop control can be performed according to the target tilting angle of the control surface and the actual tilting angle of the control surface. Main controller 11 can also be based on the signal that first angle detecting element and second angle detecting element sent carries out the self-checking to each control surface control structure before unmanned aerial vehicle 100 takes off, for example main controller 11 sends control surface tilting control command to drive controller 121 according to the control surface target angle of tilting earlier, and drive controller 21 controls the back to the actuating mechanism that corresponds, and main controller 11 obtains the actual angle of tilting of control surface through the signal that first angle detecting element and second angle detecting element sent. If the actual tilting angle of the control surface accords with the target tilting angle of the control surface, the operation of the corresponding control surface control structure is normal, otherwise, the control surface control structure is considered to be abnormal.
Specifically, in some embodiments, the driving mechanism 122 may employ a motor, such as a brush motor, a brushless motor, a dc motor, a stepper motor, an ac induction motor, and the like. Drive mechanism 123 can be the gear assembly, and main control unit 11 can adopt the controller that sets up alone, also can utilize unmanned aerial vehicle's flight control chip. The angle feedback unit 125 may be a potentiometer or other device that can be connected to the control surface transmission shaft and generate a variable signal as the control surface transmission shaft rotates. The first angle detection unit and the second angle detection unit are Inertial Measurement Units (IMUs).
The potentiometer generally comprises a resistor body and a movable brush, when the brush moves along the resistor body, the resistance value of the resistor body changes along with the displacement of the brush, and a resistance value or a voltage value which has a certain relation with the displacement can be obtained at the output end of the potentiometer. In practical application, the brush of the potentiometer is connected with the control surface transmission shaft 124, and when the control surface transmission shaft 124 rotates, the brush of the potentiometer also rotates, so that the voltage of the output pin of the potentiometer changes. After receiving the control surface tilting control instruction of the main controller 11, the driving controller 121 drives the motor to rotate according to the control surface tilting control instruction, and the motor drives the control surface transmission shaft to rotate through the torque transmission of the gear assembly after rotating, so as to drive the control surface to change the angle. And when the control surface transmission shaft rotates, the potentiometer can be driven to rotate, and then the voltage at the output end of the potentiometer is changed. The angle change of the control surface can be calculated according to the change of the voltage, so that the actual tilting angle of the control surface is obtained.
It should be noted that the preferred embodiments of the present invention are described in the specification and the drawings, but the present invention can be realized in many different forms, and is not limited to the embodiments described in the specification, and these embodiments are not provided as additional limitations to the present invention, and are provided for the purpose of making the understanding of the disclosure of the present invention more thorough and complete. Moreover, the above technical features are combined with each other to form various embodiments which are not listed above, and all the embodiments are regarded as the scope of the present invention; further, modifications and variations will occur to those skilled in the art in light of the foregoing description, and it is intended to cover all such modifications and variations as fall within the true spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. The utility model provides an unmanned aerial vehicle controlling means for unmanned aerial vehicle, unmanned aerial vehicle includes the control plane, the control plane set up in on unmanned aerial vehicle's the stationary plane, its characterized in that: the control device comprises a main controller, a control surface control structure and an angle detection module;
the control surface control structure comprises a drive controller, a drive mechanism, a transmission mechanism and a control surface transmission shaft;
the driving controller is electrically connected with the main controller and the driving mechanism respectively, the driving mechanism is also connected with the control surface transmission shaft through the transmission mechanism, and the control surface transmission shaft is arranged on the control surface;
the angle detection module comprises a first angle detection unit and a second angle detection unit, the first angle detection unit and the second angle detection unit are both electrically connected with the main controller, the first angle detection unit is arranged on the control surface, and the second angle detection unit is arranged on the fixed surface;
the main controller is used for obtaining the actual tilting angle of the control surface corresponding to the first angle detection unit according to the signals sent by the first angle detection unit and the second angle detection unit.
2. The UAV control apparatus according to claim 1, wherein the control surface control structure further comprises an angle feedback unit, the angle feedback unit is connected to the control surface transmission shaft and is used for detecting an actual tilting angle of the control surface, and the angle feedback unit is further electrically connected to the driving controller.
3. The drone controlling device of claim 1 or 2, wherein the number of the first angle detecting units and the number of the second angle detecting units are different, and the number of the second angle detecting units is one.
4. The drone controlling device of claim 1 or 2, wherein the first angle detecting unit and the second angle detecting unit are present in pairs, the number of the first angle detecting unit and the second angle detecting unit being the same.
5. The drone controlling device according to claim 1 or 2, wherein the first angle detecting unit and the second angle detecting unit are inertial measuring units.
6. The drone controlling device of claim 2, wherein the angle feedback unit is a potentiometer.
7. The drone controlling device of claim 1 or 2, wherein the transmission mechanism is a gear assembly.
8. A drone control device according to claim 1 or 2, characterised in that the drive mechanism is a motor.
9. A drone, characterized in that it comprises:
a body;
a wing coupled to the fuselage;
and the drone controlling device of any one of claims 1 to 8, the drone controlling device being provided to the fuselage.
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| CN201920347359.4U CN210191802U (en) | 2019-03-19 | 2019-03-19 | Unmanned aerial vehicle control device and unmanned aerial vehicle |
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| CN201920347359.4U CN210191802U (en) | 2019-03-19 | 2019-03-19 | Unmanned aerial vehicle control device and unmanned aerial vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020187094A1 (en) * | 2019-03-19 | 2020-09-24 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle control device and unmanned aerial vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2020187094A1 (en) * | 2019-03-19 | 2020-09-24 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle control device and unmanned aerial vehicle |
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Address after: 518055 Guangdong city of Shenzhen province Nanshan District Xili Street Xueyuan Road No. 1001 Chi Yuen Building 9 layer B1 Patentee after: Shenzhen daotong intelligent Aviation Technology Co.,Ltd. Address before: 518055 Guangdong city of Shenzhen province Nanshan District Xili Street Xueyuan Road No. 1001 Chi Yuen Building 9 layer B1 Patentee before: AUTEL ROBOTICS Co.,Ltd. |