WO2018032425A1 - Véhicule aérien sans pilote, procédé de commande de stabilité de véhicule aérien sans pilote et dispositif de commande - Google Patents

Véhicule aérien sans pilote, procédé de commande de stabilité de véhicule aérien sans pilote et dispositif de commande Download PDF

Info

Publication number
WO2018032425A1
WO2018032425A1 PCT/CN2016/095723 CN2016095723W WO2018032425A1 WO 2018032425 A1 WO2018032425 A1 WO 2018032425A1 CN 2016095723 W CN2016095723 W CN 2016095723W WO 2018032425 A1 WO2018032425 A1 WO 2018032425A1
Authority
WO
WIPO (PCT)
Prior art keywords
drone
center
arm
gravity
change
Prior art date
Application number
PCT/CN2016/095723
Other languages
English (en)
Chinese (zh)
Inventor
瞿宗耀
吴韬
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201680004725.5A priority Critical patent/CN107624171B/zh
Priority to PCT/CN2016/095723 priority patent/WO2018032425A1/fr
Publication of WO2018032425A1 publication Critical patent/WO2018032425A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/293—Foldable or collapsible rotors or rotor supports

Definitions

  • the invention relates to a drone, in particular to a drone capable of controlling its posture and a control method and a control device for controlling the posture of the drone.
  • the drone generally includes a fuselage and a plurality of arms extending outward from the fuselage, and the arm is provided with one or more rotor blades away from the end of the fuselage, and the rotation of the rotor blades can drive the drone to fly.
  • a posture such as movement or rotation of the drone is maintained by controlling the rotational speed of the rotor.
  • the drone equipped with equipment such as universal joints operates, the position of the center of gravity of the drone changes. Therefore, the attitude of the drone is maintained by controlling the rotational speed of each of the rotors provided on the drone.
  • a drone comprising a central portion; a plurality of arms extending outwardly from the central portion; and at least one power device disposed on each of the arms, the power device for moving the The state of at least one of the manipulator, the arm and the power unit disposed thereon can be changed according to a change in the center of gravity of the drone.
  • a UAV attitude control method includes: determining a change in a center of gravity of the drone; and changing a state of at least one of a power device disposed on the arm and the arm to counteract a change in a center of gravity of the drone .
  • a control device for controlling a posture of a drone comprising a gravity center control portion, wherein the gravity center control portion is configured to change according to a gravity center of the drone when a gravity center of the drone changes Determining the change in state of the power unit provided on one or more of the arms or arms.
  • the above-mentioned drone and its attitude control method and attitude control device change the state of the power device provided on the arm or the arm when the center of gravity of the drone changes to counter the change of the center of gravity, avoiding only The use of rotor speed adjustment to maintain the speed limit of the drone attitude.
  • FIG. 1 is a perspective view of a drone according to an embodiment of the present invention.
  • FIGS. 2 to 5 are perspective views of a drone with a load according to an embodiment of the present invention.
  • Fig. 6 is a flow chart showing a method of controlling the attitude of a drone according to an embodiment of the present invention.
  • FIG. 7 through 10 are schematic views of adjusting the distance of the rotor blade axis to the center of the drone according to an embodiment of the present invention.
  • Fig. 11 is a partial functional block diagram of a drone according to an embodiment of the present invention.
  • Figure 12 is a schematic view of a carrier of a drone according to an embodiment of the present invention.
  • a component when referred to as being “fixed” to another component, it can be directly on the other component or the component can be present.
  • a component When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • a component When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • the terms “vertical,” “horizontal,” “left,” “right,” and the like, as used herein, are for illustrative purposes only.
  • the present invention provides a drone that can be used in any suitable environment, such as in the air (eg, a rotorcraft, a fixed-wing aircraft, or a fixed-wing and rotor-mixed aircraft), in water (eg, a ship or submarine) ), on the ground (eg, motorcycles, cars, trucks, buses, trains, etc.), in space (eg, space shuttle, satellite or detector), or underground (eg subway), or any of the above environments combination.
  • the drone is a rotorcraft, wherein the rotors may be a single rotor, a double rotor, a triple rotor, a quadrotor, a six-rotor, and an eight-rotor.
  • the drone in the following embodiment is described by taking a quadrotor as an example.
  • the drone 1 includes a center portion 10 , a plurality of arms 20 extending outward from the center portion 10 , and a power unit 30 disposed on the arm 20 .
  • the power unit 30 is used to move the drone 1 .
  • One end of each arm 20 connected to the body 10 is a proximal end portion of the arm 20, and the other end facing away from the proximal end is a distal end portion of the arm 20.
  • a distal end portion of each arm 20 is provided with a power unit 30, and the power unit 30 includes a motor 32 and a rotor 34 that is driven to rotate by the motor. The rotation of the rotor 34 drives the movement of the drone 1.
  • the movement may include takeoff, landing, hovering, and movement in the air with respect to three translational degrees of freedom and three degrees of rotational freedom.
  • the powerplant 30 can include one or more rotors 34.
  • the rotor 34 can include one or more rotor blades coupled to a rotating shaft.
  • the rotor blade or shaft can be rotated by the motor.
  • the power unit 30 of the drone 1 is described as including four rotors 34 in the embodiment, other suitable numbers, types, or arrangements of the power unit 30 are implementable.
  • the rotors 34 can be one, two, three, four, five, six, seven, eight or more.
  • the rotor 34 can be disposed horizontally, vertically, or at any suitable angle relative to the drone 1.
  • the angle of the rotor may be fixed or variable.
  • the distance between the oppositely disposed rotor shafts may be any suitable distance, such as less than or equal to 2 meters, or less than or equal to 5 meters. Alternatively, the distance may be between 40 cm and 1 meter, between 10 cm and 2 meters, or between 5 cm and 5 meters.
  • the motor 32 can be a DC motor (for example: a brush motor or a brushless motor) or an AC motor. In some embodiments, the electric machine 32 can be assembled to drive a rotor blade.
  • the drone 1 may further include a carrier 40 for carrying a load
  • the carrier 40 may be a carrier mechanism such as a gimbal or the like that is rotatable about the central portion about one or more axes.
  • a carrier mechanism that is rotatable relative to the central portion 10 about a pitch axis and a roll axis as shown in FIG.
  • the carrier mechanism is used to carry a functional load or a non-functional load.
  • the functional load may be a load for performing a particular function, such as a sensor, transmitter, tool, instrument, manipulator, or other functional device.
  • the load is a camera assembly 50.
  • the camera assembly 50 can be a camera located below the central portion 10. Through the carrier mechanism 10, the camera can be rotated about the central portion 10 about one or more axes to capture images of multiple viewing angles.
  • a control system (e.g., a flight control system) may be disposed on the center portion 10 to control the flight of the drone 1.
  • the control system is based on one or more of: the location of the drone 1, the orientation of the drone 1, the current state of the drone 1, time or said The acquired data is sensed by the sensor or load of the drone 1 to control the operation of the drone 1.
  • control system may include a receiver or other communication module disposed on the drone 1 for receiving user instructions, such as receiving user instructions from a remote terminal.
  • the user command received by the receiver is used to control the power unit 30, which is used to drive the drone to operate, such as take off, fly, hover or land, and the like.
  • the drone 1 can carry a variety of different loads (eg, cleaning tools, fishing nets, picking tools, or cutting tools, etc.) through the accessory arm, and during load operation (eg, extending outward from the folded state) There may be a change in the center of gravity of the drone 1 .
  • loads eg, cleaning tools, fishing nets, picking tools, or cutting tools, etc.
  • an exemplary unmanned aerial vehicle 1 with an auxiliary arm is used as a functional device (for example, the cleaning tool in FIG. 2, the fishing net in FIG. 3, The grasping tool of FIG. 4, the cutting tool of FIG. 5), when the functional device is extended outward from the carrier, the center of gravity of the drone 1 changes, possibly causing the attitude of the drone 1 A change occurs, such as tilting in the direction in which the functional device is extended.
  • the rotor speed is limited by an upper limit.
  • the posture of the drone 1 cannot be maintained, and the machine can be extended in the extending direction of the functional device.
  • the distance from the axis of the rotor blade on the arm to the center of the drone or the distance from the axis of the rotor blade on the arm provided in the opposite direction of the direction in which the functional device is extended to the center of the drone.
  • the flight controller When controlling the drone, the flight controller extracts the state parameter values of the unmanned aerial vehicle such as angular velocity, acceleration, direction and position from an inertial sensor (IMU), an accelerometer, a magnetometer and a GPS receiver.
  • IMU inertial sensor
  • the rotational speed ⁇ of each rotor controls the frame to reach a target attitude and a target speed.
  • the input is the state parameter value of the drone, including angular velocity, acceleration, direction and position
  • the output is the rotational speed ⁇ of the rotor.
  • the calculation result of the present invention can output the length l of the arm in addition to the rotational speed ⁇ of the rotor, wherein the length of the arm refers to the axis of the blade of the rotor provided on the arm to the drone. The distance of the center.
  • ⁇ is the roll angle of the drone along the X axis
  • ⁇ is the pitch angle of the drone along the Y axis
  • ⁇ is the yaw angle of the drone along the Z axis.
  • the basic dynamic formula of the drone can be obtained as follows:
  • k m is the coefficient between the rotor output force and the rotational speed ⁇
  • k d is the coefficient between the rotor output torque and the rotational speed ⁇
  • l 1 ⁇ l 4 is the distance from the rotor blade axis to the center of the drone.
  • l x , l y , l z are inertia along the X, Y, and Z axes.
  • FIG. 6 is a flowchart of a method for controlling the attitude of a drone according to an embodiment of the present invention.
  • Step 70 The controller of the drone acquires a drone state parameter.
  • the state parameters include, but are not limited to, angular speed, direction, position, etc. of the drone.
  • the status parameter of the drone may be derived from one or more sensors disposed on the drone.
  • the one or more sensors may sense the spatial orientation, velocity, and/or acceleration of the drone 10 (eg, relative three-dimensional translational degrees of freedom and three-dimensional rotational degrees of freedom).
  • the one or more sensors may include, but are not limited to, a Global Positioning System (GPS) sensor, a motion sensor, an inertial sensor, a gyroscope, an accelerometer, a magnetometer, a proximity sensor, or an image sensor.
  • GPS Global Positioning System
  • the data sensed by the one or more sensors can be used to control the flight of the aircraft (eg, spatial orientation, velocity, and/or direction).
  • the one or more sensors may also be used to provide information about the surrounding environment of the aircraft, such as weather conditions, proximity to potential obstacles, location of geographic features, location of artificial structures, and the like. Things.
  • the one or more sensors may be disposed on a central portion of the drone or on a carrier or load.
  • Step 74 The controller of the drone determines whether the rotational speed ⁇ i of the rotor is greater than a predetermined limit rotational speed value ⁇ t .
  • the selection of the limit speed value ⁇ t depends on the characteristics of one or more electronic components of the drone, such as the current flowing through the one or more electronic components.
  • the limit speed value ⁇ t is determined to avoid placing an additional burden on the one or more electronic components.
  • the limit speed value ⁇ t is selected to ensure that the current of the rotor is below a maximum current limit.
  • the highest current limit value may be that one or more components of the UAV may be destroyed when the highest current limit value is exceeded.
  • the determination of the limit speed value ⁇ t requires consideration of the energy consumption of the battery.
  • the limit speed value ⁇ t may be set to about 500 rpm. In other embodiments, the limit speed value ⁇ t may also be set to be greater than or less than 500 rpm. If it is greater than the predetermined limit rotational speed value ⁇ t , the flow proceeds to step 76, otherwise, the flow proceeds to step 78.
  • step 710 the controller of the drone adjusts the rotational speed of the corresponding rotor and the distance of the axis of the rotor blade to the center of the drone based on the calculated values of ⁇ i and l i .
  • the controller of the drone adjusts the rotational speed of the corresponding rotor and the distance of the axis of the rotor blade to the center of the drone based on the calculated values of ⁇ i and l i .
  • the controller of the drone adjusts the rotational speed of the corresponding rotor and the distance of the axis of the rotor blade to the center of the drone based on the calculated values of ⁇ i and l i .
  • Changing the axis of the rotor blade on the arm to the center of the drone can be by linearly stretching or contracting the arm, folding the arm at a designated position on the arm, changing the position The position of the rotor on the arm or the angle of the rotor relative to the arm is achieved.
  • a step of sensing a change in the center of gravity of the drone may also be included.
  • the configuration change of the load can be obtained by a sensor disposed on the load or disposed on a carrier carrying the load.
  • a sensor disposed on the functional device or a sensor disposed on the carrier may acquire the The configuration of the functional device is changed to determine that the center of gravity of the drone has changed.
  • the change in configuration/status of the load includes, but is not limited to, linearly expanding, rotating, folding, installing, disassembling the load relative to a central portion of the drone.
  • the sensing of the offset of the center of gravity of the drone can also be determined based on the state parameters of the drone.
  • FIG. 7 to FIG. 10 are schematic diagrams showing changes in the distance from the axis of the rotor blade provided on the arm of the UAV to the center of the UAV.
  • the distance of the axis of the rotor blade of the rotor blade 34 to the center of the drone when the arm 20 linearly expands or contracts in the direction in which the arm extends (in the direction of the arrow in the figure) l i is equal to the length d of the arm 20 (i.e., the distance from the position A of the rotor 34 to the center point O of the center portion 10; i is a positive integer representing the number of the arm) change.
  • the length d of the arm 20 becomes longer, that is, the axis of the rotor blade of the rotor 34 disposed on the arm to the unmanned
  • the distance l i of the machine center becomes longer; conversely, when the arm 20 linearly contracts toward the center portion 10, the length d of the arm 20 becomes shorter, that is, the rotor provided on the arm
  • the distance l i from the axis of the rotor blade of 34 to the center of the drone becomes shorter.
  • the length of the arm that should be contracted or extended can be determined based on the determined l i and the current length d of the arm.
  • At least one of the arm 20 and the center portion 10 may be provided with a drive mechanism that drives the arm 20 to linearly expand or contract.
  • the drive mechanism may include a motor and a meshing gear that drives the meshing gear by rotation of the motor such that the arm 20 linearly expands and contracts.
  • the arm 20 can be folded at a designated point B to vary the distance l i of the axis of the rotor blade of the rotor 34 to the center of the drone.
  • the distance l i is smaller.
  • the angle ⁇ of the fold can be calculated from the determined l i and the known d1, d2. It can be understood that the specified folding points are not limited to one, and may be two or more.
  • the folding of the arm 20 can be achieved by a drive mechanism provided on the central portion 10 or the arm 20.
  • the position of the rotor 34 disposed on the arm 20 can be changed, and can be changed along the extending direction of the arm (in the direction of the arrow in the figure), thereby changing the axis of the rotor blade of the rotor 34.
  • the distance l i to the center of the drone. Changing the position of the rotor on the arm is similar to the effect of extending or contracting the arm, and the distance d between the rotor and the center point of the drone, that is, the rotor blade of the rotor 34, may be changed.
  • the distance from the axis to the center of the drone l i .
  • a sliding slot may be disposed on the arm 20, and the rotor 34 is slidably disposed on the arm 20, and the rotating wing 34 is driven by a driving mechanism disposed on the arm 20 or the rotor fixing seat.
  • the arm 20 slides to change the distance l i of the axis of the rotor blade of the rotor 34 to the center of the drone.
  • the rotor 34 disposed on the arm 20 is rotated relative to the arm 20 such that the angle ⁇ between the axis of the blade of the rotor 34 and the arm 20 is changed, and the smaller ⁇ , The smaller the distance l i from the axis of the rotor blade of the rotor 34 to the center of the drone, and vice versa.
  • the method for adjusting the distance l i of the axis of the rotor blade of the rotor to the center of the drone described in FIG. 7 to FIG. 10 may be used alone or in combination, for example, by using a machine.
  • the linear telescoping of the arm is combined with the rotation of the rotor to adjust the distance l i of the axis of the rotor blade of the rotor to the center of the drone.
  • the change in the distance l i from the axis of the rotor blade to the center of the drone is achieved during flight.
  • a change in the distance l i of the axis of the rotor blade to the center of the drone may also occur prior to flight of the drone.
  • the configuration of increasing or decreasing the load of the drone and changing the load of the drone may cause the center of gravity of the drone
  • the distance l i of the axis of the rotor blade of one or more arms of the drone to the center of the drone can be adjusted in advance.
  • connection or removal of the load or the change in the state of the load may be sensed by one or more sensors disposed on the drone, and then the unmanned person is calculated via the change Offset direction and offset of the center of gravity of the machine, and then calculating the axis of the rotor blade of one or more arms to the center of the drone according to the offset direction and the offset of the center of gravity of the drone Distance l i .
  • the calculation method is similar to the method in the above flight process, and will not be described again.
  • FIG. 11 is a partial functional block diagram of a drone according to an embodiment of the invention.
  • the drone 1 includes a main control unit 11, a storage device 12, a rotor control unit 13, a communication module 14, a sensor 15, a arm control unit 16, and a center of gravity control unit 17.
  • the main control unit 11 may include one or more processors, such as a programmable processor (for example, a central processing unit (CPU).
  • the main control unit 11 is operatively connected to the storage device 12, the rotor One or more of the control unit 13, the communication module 14, the sensor 15, the arm control unit 16, and the center of gravity control unit 17.
  • the storage device 12 may be a non-transitory computer readable medium.
  • the computer readable medium can store logic, code, and/or program instructions of one or more steps executable by the processor.
  • the non-transitory computer readable medium can include one or more memory units (eg, Removable medium or an external memory such as an SD card or random access memory (RAM).
  • the storage device 12 can be used to store processing results generated by the processing unit.
  • the rotor control unit 13 is for controlling the state of the drone 1 under the control of the main control unit 11.
  • the rotor control portion 13 can be used to control the power mechanism 30 of the drone 1 to adjust the orientation, velocity, and/or acceleration of the six-dimensional degrees of freedom of the drone 1 .
  • the communication module 14 is configured to transmit and/or receive data from one or more external devices (eg, a terminal, display device, or other remote controller). Any suitable means of communication may be employed, such as wired communication or wireless communication.
  • the communication module 14 can utilize one or more of a local area network (LAN), a wide area network (WAN), infrared, radio frequency, WiFi, point-to-point (P2P) networks, telecommunications networks, cloud communications, and other similar communication networks.
  • LAN local area network
  • WAN wide area network
  • infrared radio frequency
  • WiFi point-to-point
  • P2P point-to-point
  • telecommunications networks cloud communications
  • a repeater station such as a tower, satellite or mobile workstation can be employed.
  • Wireless communication can be distance-based or distance-independent. In some embodiments, the communication needs to be visible or not.
  • the communication module 14 can transmit the processing result generated by the main control unit 11, predetermined control data, and receive a control command from a terminal or a
  • control commands from the terminal or remote controller may include relative position, movement, actuation, or control of the drone 1, carrier 40, and load.
  • the control command may change the position and/or direction of the drone 1 (eg, by controlling the power unit 30) or cause the load to move relative to the drone 1 (eg, by control) The carrier 40).
  • Control commands from the terminal or remote controller can control the load, such as controlling the operation of a camera or other functional device (eg, acquiring a still or moving image, zooming in or zooming out the lens, turning it on or off, switching the image mode, Change the image resolution, focus, change the depth of field, change the exposure time, change the angle of view or field of view; stretch or shrink the functional device).
  • communication information from the drone 1, carrier 40, and load may include information from one or more sensors 15.
  • the communication may include information sensed by one or more different types of sensors (eg, a GPS sensor, a motion sensor, an inertial sensor, a proximity sensor, or an image sensor).
  • the information may be information about the orientation (eg, position, direction), movement or acceleration of the aircraft, carrier, and/or load.
  • the load-derived information may include the load-sensed data or the sensed state of the load.
  • the control commands provided and transmitted by the terminal or remote controller can be used to control the status of one or more of the drone 1, carrier 40, and load.
  • the carrier 40 and the load may also respectively include a communication module in communication with the terminal or remote controller such that the terminal or remote controller may independently and the drone 1 , carrier 40, and load for communication and control.
  • the sensor 15 can include various types of sensors that can collect information about the drone 1 in a variety of different ways.
  • a variety of different types of sensors can sense different types of signals or signals from different sources.
  • the sensor may include an inertial sensor, a GPS sensor, a proximity sensor (eg, a laser sensor), or a visual/image sensor (eg, a camera).
  • the sensor 15 is operatively coupled to a communication module (eg, a Wi-Fi transmission module) that can be used to directly transmit sensed data to a suitable external device or system.
  • a communication module eg, a Wi-Fi transmission module
  • the arm control unit 16 is configured to control the movement of the arm 20 relative to the central portion 10 under the control of the main control unit 11, including, but not limited to, linear stretching or contraction, folding, rotation, and the like. Thereby, the power unit 30 mounted on the arm 20 is moved relative to the center portion 10.
  • the center of gravity control unit 17 is configured to determine the state of one or more arms or the state change of the power unit provided on the arm according to the center change of the drone when the center of gravity of the drone changes.
  • the central control unit 17 may be disposed in the central portion 10 of the drone 1 as part of the flight control system of the drone 1 or as a controller independent of the flight control system.
  • the gravity center control unit may include a processor and a series of instruction codes executable by the processor, and the functions of the gravity center control unit 17 are implemented by the processor executing the series of instruction codes.
  • the center of gravity control unit 17 is configured to determine an arm of the UAV that is in a state of being changed against the center of gravity offset when the center of gravity of the UAV is offset or offset, and to determine the selected arm.
  • the state change (also referred to as configuration change) includes, but is not limited to, linear extension and contraction of the arm, folding of the arm, linear movement or rotation of the rotor provided on the arm relative to the arm (see Figure 7- One or more of 10).
  • the gravity center control unit 17 includes a gravity center determination unit 170, an arm selection unit 172, an arm length determination unit 174, and an arrangement determination unit 176.
  • the center of gravity determining unit 170 is configured to determine the offset of the center of gravity of the drone 1 .
  • the arm selection unit 172 is configured to determine an arm that needs to be changed in accordance with the offset of the center of gravity. For example, when the center of gravity is shifted to one side, the length of the arm provided in the direction in which the center of gravity is shifted may be extended or the length of the arm provided in the opposite direction to the direction of the center of gravity offset may be shortened.
  • the arm length determining portion 174 is for determining the distance from the axis of the rotor blade provided on the arm to the center of the drone based on the offset of the center of gravity.
  • the arm length determining method is referred to the flow method.
  • the configuration determining unit 176 is configured to determine a state change that needs to be made based on the arm length determined by the arm length determining unit 176.
  • the state change may include one or more of the methods of varying the distance of the axis of the rotor blade to the center of the drone as described in Figures 7-10.
  • the determination of the offset of the center of gravity can be achieved by sensing the change in the state of the load.
  • the drone 1 includes an accessory arm that can be sensed by a sensor disposed on the accessory arm to sense the offset of the center of gravity.
  • the offset of the center of gravity may also be determined by sensing a change in state of the load by a sensor disposed on the carrier or load.
  • the offset of the center of gravity may be adjusted by using the above-described change of the state of the arm and the rotor provided thereon to adjust the attitude change caused by the balance center of gravity shift, and the adjustment load or the carrier relative position may also be used. The position of the center Set to achieve the adjustment of the center of gravity.
  • the drone is coupled to a carrier 40 on which one or more loads can be carried.
  • the carrier 40 may include a carrier control portion 41, a driver 42, a drive motor 43, and a support mechanism 44.
  • the carrier control unit 41 controls the carrier to rotate about the yaw axis, the pitch axis, and the roll axis under the control of the main control unit 11.
  • the drivers 42 respectively include a yaw axis drive, a pitch axis drive and a roll axis drive;
  • the drive motor 43 includes a yaw axis drive motor, a pitch axis drive motor and a roll axis drive motor.
  • the support mechanism 44 includes a yaw axis rotation mechanism, a pitch axis rotation mechanism, and a roll axis rotation mechanism.
  • the camera assembly 50 includes a prism assembly 51 and a photographing assembly 52.
  • the prism assembly 51 includes a plurality of prisms 510 and a prism control unit 512.
  • the imaging unit 52 includes an imaging element 520 and an imaging control unit 522.
  • the imaging control unit 522 is configured to control the imaging element 520 to perform imaging under the control of the main control unit 11.
  • the photographing component 52 can also include a memory 524, which can be a removable memory card or a removable storage disc for storing images captured by the photographing element 520.
  • the imaging element 526 may further include a center of gravity position adjustment portion 526 for adjusting the center of gravity of the camera assembly under the control of the imaging control portion 522.
  • the load or the carrier carrying the load is provided with a sensor capable of sensing a predetermined change in the state of the load, and when a predetermined change occurs in the state of the load,
  • the center of gravity of the drone changes when a state of the load changes (a portion of the load moves away from or near the center of the drone in a direction away from the center of gravity of the drone, such as FIG. 2 - in the embodiment shown in Figure 5, the carrier control portion controls the carrier relative to the center when a portion of the functional device projects away from the central portion 10, causing the center of gravity of the drone to change
  • the portion rotates to adjust the center of gravity of the drone to keep the drone in balance.
  • FIG. 12 it is a schematic diagram of an exemplary carrier 6 that can adjust the center of gravity of the drone by controlling the carrier or load.
  • the center of gravity of the drone coincides with the direction of the center of gravity of the carrier 6.
  • the carrier 6 includes a base 60, a fixing member 61, and a movable member 62.
  • the fixing member 61 is connected to the center portion of the drone through the base 60.
  • the fixing member 61 is substantially spherical
  • the movable member 62 is a frame that is disposed on the outer surface of the ball, and the frame is Can carry one or more loads.
  • the movable member 62 is rotatable relative to the fixed member 61 about the pitch axis 63-2 and the roll shaft 63-3, thereby causing one or more loads carried thereon to rotate.
  • the base 60 is rotatable relative to the drone about the yaw axis 63-1.
  • the offset of the center of gravity of the carrier may be sensed by the sensor 64-1 disposed on the base 60 to sense the degree of rotation of the carrier about the yaw axis and one or both of the movable members 62
  • a plurality of sensors such as sensors 64-2, 64-3, sense the extent to which the movable member 62 is rotationally rotated about the pitch axis 63-2 or the roll axis 63-3, and determine the degree of rotation according to the sensed degree of rotation.
  • the offset of the center of gravity of the carrier may be sensed by the sensor 64-1 disposed on the base 60 to sense the degree of rotation of the carrier about the yaw axis and one or both of the movable members 62
  • a plurality of sensors such as sensors 64-2, 64-3, sense the extent to which the movable member 62 is rotationally rotated about the pitch axis 63-2 or the roll axis 63-3, and determine the degree of rotation according to the sensed degree of rotation.

Abstract

L'invention concerne un véhicule aérien sans pilote (1) qui comporte : une partie centrale (10) ; une pluralité de bras mécaniques (20) s'étendant vers l'extérieur à partir de la partie centrale (10), au moins un dispositif électrique (30) disposé sur chacun des bras mécaniques (20), le dispositif électrique (30) étant utilisé pour déplacer le véhicule aérien sans pilote (1). Un état d'au moins l'un du bras mécanique (20) et du dispositif électrique (30) disposé sur celui-ci peut être ajusté en fonction d'un changement dans un centre de gravité du véhicule aérien sans pilote (1). L'invention concerne en outre un dispositif de commande de stabilité et un procédé de commande de stabilité pour le véhicule aérien sans pilote (1).
PCT/CN2016/095723 2016-08-17 2016-08-17 Véhicule aérien sans pilote, procédé de commande de stabilité de véhicule aérien sans pilote et dispositif de commande WO2018032425A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201680004725.5A CN107624171B (zh) 2016-08-17 2016-08-17 无人机及控制无人机姿态的控制方法、控制装置
PCT/CN2016/095723 WO2018032425A1 (fr) 2016-08-17 2016-08-17 Véhicule aérien sans pilote, procédé de commande de stabilité de véhicule aérien sans pilote et dispositif de commande

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/095723 WO2018032425A1 (fr) 2016-08-17 2016-08-17 Véhicule aérien sans pilote, procédé de commande de stabilité de véhicule aérien sans pilote et dispositif de commande

Publications (1)

Publication Number Publication Date
WO2018032425A1 true WO2018032425A1 (fr) 2018-02-22

Family

ID=61087392

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/095723 WO2018032425A1 (fr) 2016-08-17 2016-08-17 Véhicule aérien sans pilote, procédé de commande de stabilité de véhicule aérien sans pilote et dispositif de commande

Country Status (2)

Country Link
CN (1) CN107624171B (fr)
WO (1) WO2018032425A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108664041A (zh) * 2018-06-29 2018-10-16 长沙市云智航科技有限公司 一种飞行器倾转角度检测装置、控制系统及方法
CN110832418A (zh) * 2018-11-29 2020-02-21 深圳市大疆创新科技有限公司 无人飞行器控制方法、控制装置及无人飞行器
US10822082B2 (en) 2017-04-07 2020-11-03 Mark Holbrook Hanna Distributed-battery aerial vehicle and a powering method therefor

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108319282B (zh) * 2018-02-07 2020-11-24 衢州职业技术学院 多旋翼飞行器的控制方法以及控制装置
CN108327874B (zh) * 2018-02-11 2020-03-10 河海大学常州校区 一种多功能水下航行器及其控制方法
CN108608512B (zh) * 2018-03-08 2023-08-08 南京太司德智能科技有限公司 一种作业臂可动态伸缩的树障清理空中机器人和调节方法
CN108651048B (zh) * 2018-03-08 2023-10-20 南京太司德智能科技有限公司 一种用于树障清理空中机器人的保护关节
CN110831852A (zh) * 2018-10-30 2020-02-21 深圳市大疆创新科技有限公司 无人飞行器稳定性的控制方法、控制装置及无人飞行器
CN112722273B (zh) * 2021-03-08 2023-05-02 安徽鸠兹航空智能产业技术研究院有限公司 一种重心可调的复合推进无人机及其控制方法
CN114355986B (zh) * 2022-03-21 2022-06-03 山东天空之眼智能科技有限公司 一种无人机自适应抗干扰控制系统

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5374879A (en) * 1992-11-04 1994-12-20 Martin Marietta Energy Systems, Inc. Omni-directional and holonomic rolling platform with decoupled rotational and translational degrees of freedom
CN103979106A (zh) * 2014-04-29 2014-08-13 浙江大学 一种自动调整重心的旋翼式无人机以及调整方法
CN104853988A (zh) * 2013-01-10 2015-08-19 深圳市大疆创新科技有限公司 可变形飞行器
CN104859838A (zh) * 2015-06-03 2015-08-26 中恒天信（天津）航空科技有限公司 一种油动多旋翼无人飞行平台
CN105059536A (zh) * 2015-08-07 2015-11-18 胡家祺 变螺距旋翼装置以及多旋翼飞行器
CN105093960A (zh) * 2015-06-18 2015-11-25 浙江大学 一种模拟飞行器采集作物信息的装置
CN105173068A (zh) * 2015-07-31 2015-12-23 广州极飞电子科技有限公司 一种无人机

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102360217B (zh) * 2011-07-29 2013-06-19 中国科学院长春光学精密机械与物理研究所 多旋翼无人机全局输入解耦装置及包含该装置的控制系统
CN102592007A (zh) * 2011-12-30 2012-07-18 成都飞机工业（集团）有限责任公司 用于飞行控制律设计调参的无人机对象模型建模方法
CN112614246A (zh) * 2014-09-30 2021-04-06 深圳市大疆创新科技有限公司 用于数据记录与分析的系统和方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5374879A (en) * 1992-11-04 1994-12-20 Martin Marietta Energy Systems, Inc. Omni-directional and holonomic rolling platform with decoupled rotational and translational degrees of freedom
CN104853988A (zh) * 2013-01-10 2015-08-19 深圳市大疆创新科技有限公司 可变形飞行器
CN103979106A (zh) * 2014-04-29 2014-08-13 浙江大学 一种自动调整重心的旋翼式无人机以及调整方法
CN104859838A (zh) * 2015-06-03 2015-08-26 中恒天信（天津）航空科技有限公司 一种油动多旋翼无人飞行平台
CN105093960A (zh) * 2015-06-18 2015-11-25 浙江大学 一种模拟飞行器采集作物信息的装置
CN105173068A (zh) * 2015-07-31 2015-12-23 广州极飞电子科技有限公司 一种无人机
CN105059536A (zh) * 2015-08-07 2015-11-18 胡家祺 变螺距旋翼装置以及多旋翼飞行器

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10822082B2 (en) 2017-04-07 2020-11-03 Mark Holbrook Hanna Distributed-battery aerial vehicle and a powering method therefor
US11811224B2 (en) 2017-04-07 2023-11-07 Mark Holbrook Hanna Distributed-battery aerial vehicle and a powering method therefor
CN108664041A (zh) * 2018-06-29 2018-10-16 长沙市云智航科技有限公司 一种飞行器倾转角度检测装置、控制系统及方法
CN108664041B (zh) * 2018-06-29 2024-02-06 长沙市云智航科技有限公司 一种飞行器倾转角度检测装置、控制系统及方法
CN110832418A (zh) * 2018-11-29 2020-02-21 深圳市大疆创新科技有限公司 无人飞行器控制方法、控制装置及无人飞行器
US11920999B2 (en) 2018-11-29 2024-03-05 SZ DJI Technology Co., Ltd. Unmanned aerial vehicle control method and device, and unmanned aerial vehicle

Also Published As

Publication number Publication date
CN107624171B (zh) 2019-03-01
CN107624171A (zh) 2018-01-23

Similar Documents

Publication Publication Date Title
WO2018032425A1 (fr) Véhicule aérien sans pilote, procédé de commande de stabilité de véhicule aérien sans pilote et dispositif de commande
US11427319B2 (en) Foldable multi-rotor aerial vehicle
JP6367232B2 (ja) 変形可能な航空機
US10793270B2 (en) Foldable UAV
US20200164968A1 (en) Uav with transformable arms
US10447912B2 (en) Systems, methods, and devices for setting camera parameters
JP6182266B2 (ja) Ｕａｖによるパノラマ画像撮影方法
ES2902469T3 (es) Métodos y sistemas para el control del movimiento de dispositivos voladores
CN109219785B (zh) 一种多传感器校准方法与系统
EP3158255B1 (fr) Systèmes et procédés de stabilisation de charge utile
JP7265017B2 (ja) 無人飛行システム及び無人飛行システムに用いられる制御システム
JP2020501969A (ja) 変形可能装置
WO2018040006A1 (fr) Procédé, dispositif et système de contrôle, véhicule aérien, porteur, et dispositif de commande
JP6114865B1 (ja) 移動体、移動体の制御方法、及びプログラム
WO2021052334A1 (fr) Procédé et dispositif de retour pour véhicule aérien sans pilote, et véhicule aérien sans pilote
WO2019006697A1 (fr) Véhicule aérien sans pilote intégré portatif
US10974825B2 (en) Aerial system including foldable frame architecture
JPWO2021064982A1 (ja) 情報処理装置および情報処理方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16913184

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16913184

Country of ref document: EP

Kind code of ref document: A1