WO2019137146A1

WO2019137146A1 - Uniaxial twin-rotor unmanned aerial-vehicle device, system having the device, and remote control method

Info

Publication number: WO2019137146A1
Application number: PCT/CN2018/120803
Authority: WO
Inventors: 江尚峰; 张东琳
Original assignee: 松芝机器人股份有限公司
Priority date: 2018-01-15
Filing date: 2018-12-13
Publication date: 2019-07-18
Also published as: CN110040246B; CN110040246A

Abstract

An upright shell extending along an axial direction, built inside with an energy storage module, a wireless communication module, and a control module in a telecommunication connection with the wireless communication module; an axially extending electric unit comprising a pair of inner stators; and two sets of rotor assemblies being axially spaced apart, each rotor assembly corresponding to one of the inner stators above, each rotor assembly comprising an outer rotor, at least one pivot member interposed between the outer rotor and the inner stator, and a rotor body connected to the outer rotor, the two rotor bodies rotating in opposite directions; and a heading unit comprising a plurality of rudder blades pivoted, independently of one another, in the upright shell or the inner stator, each rudder blade pivoting between a rest position close to the upright shell and a transverse displacement position away from the upright shell; and a set of actuation modules.

Description

Single-axis double-rotor unmanned flight device, system with the same and remote control method

Technical field

An unmanned flying device with a single-axis double-rotor, a system with the device and a remote control method.

Background technique

The history of the Unmanned Aerial Vehicle was developed in 1783 by the balloon type. After experiencing the baptism of the world war and the industrial revolution, the pilots who operated the aircraft were gradually removed. In military training, the unmanned drone was created. The application of the drone is extended to the remote control for the third ground strike. Today's UAV applications are no longer just for military use, but for other uses such as recreation or logistics, combined with technology equipment and machine learning, are used in aerial photography, loading of goods, extension signals and environmental detection. Measurements, coupled with the development of integrated circuits, shrink the size of the chip and enhance the function, which makes the overall size and weight of the drone further miniaturized, which is more conducive to extended development in multiple uses.

As far as the device is concerned, the advancement of technology has created many applications for drones. However, there are still the same limitations and application difficulties in quad-rotor or single-axis aircraft. When UAV is used in aerial photography, Multi-axis or single-axis aircraft often set the photographic equipment under the fuselage, but the fuselage is mostly surrounded by the propeller and the fuselage extension arm, so that when the movement offset is large and the specific azimuth angle is increased or decreased sharply, It is easy to take the aforementioned propeller and extension arm into the picture, so that the result of the aerial photography is obscured, which is caused by the subsequent production; the second is to solve the aforementioned shielding problem, and the camera is extended by the pan/tilt to increase the distance of the body. But it also increases the weight of the fuselage itself, so that the endurance is greatly reduced; the third is the pursuit of high image quality and imaging detail, the configuration of the photographic lens has many replacement needs and considerations, which is the mechanical structure of the single-axis drone, It is more necessary to consider the change of the weight of the camera set on the single-axis UAV, so that the single-axis UAV can improve the mechanical structure of the single-axis UAV for stable flight. Heteroaryl, increase the difficulty of manufacturing a uniaxially UAV, increase the cost of manufacturing.

To undertake the mechanical structure of the single-axis drone described above, especially when moving horizontally, to change the offset, whether the Swingplate tilts the rotor cone to a specific azimuth, so that the single-axis drone The specific azimuth movement, or tilting the rotor cone by changing the weight of the horizontal plane, as a solution for the movement of the single-axis drone, will face the complicated mechanical structure of the tilter, or the amount of change of the weight is difficult to accurately control, In addition to increasing the weight, it is more difficult to manufacture and operate. For precise control, the structure must be more complicated, and the complicated structure brings manufacturing difficulties and increases the overall production cost.

So far, the majority of people who control drones are mainly professional remote-controlled aircraft players. Due to the structural complexity of the three- or four-axis aircraft, the current drone control is compared to the control method of the remote control aircraft. A lot more complicated. Even users who used to use remote-controlled aircraft in the past are not necessarily able to successfully control drones, not to mention that it is more difficult for new users who are inexperienced to get started. In particular, regardless of the control of the three-axis or four-axis UAV, it is not an intuitive mode of operation, and the feedback from the remote control tends to shift the control, which undoubtedly increases the cross-entry of the drone control. Complex flight routes and angles to achieve the desired operational goals.

On the other hand, today's drones transmit images to the screen of a remote control device via, for example, radio frequency technology, or through other communication devices that can be connected to the drone, such as a mobile phone or tablet. In this way, the operation process is more intuitive and user-friendly, but such a control mode is only an alternative to the original remote control device, but the traditional control interface is transferred to the mobile communication device, but it is not a human intuitive control scheme. .

In the process of miniaturization of the drone, on the one hand, the single-axis double-rotor unmanned flying device is used to smoothly reduce the size of the overall flight device, while simplifying the control structure to reduce the manufacturing cost, and improving the convenience of handling. It is the purpose of the invention to reduce the difficulty of starting the hand and to provide a maneuverable control method to make the control more intuitive, so that the complicated application of the unmanned flying device is easy to get started.

Summary of the invention

An object of the present invention is to provide a single-shaft double-rotor unmanned aerial vehicle that controls the flight direction by a plurality of pivoting rudder blades disposed on the upright casing, thereby greatly reducing the deflection of the upright casing during steering.

Another object of the present invention is to provide a wireless remote control system for a single-axis double-rotor unmanned aerial vehicle. By outputting a polar coordinate control unit of a set of planar mobile signals, the manipulation of the remote control device is more in line with the human intuitive operation.

It is still another object of the present invention to provide a single-axis double-rotor unmanned aerial vehicle system in which a camera is provided by one of the two ends of an upright casing to eliminate the possibility that the captured image is shielded by the spiral wing and the extension arm.

Another object of the present invention is to provide a single-axis double-rotor unmanned aerial vehicle system, in which a wide-angle camera is disposed at both ends of an upright casing, and the panoramic image captured by the remote control device is adapted to the human factor engineering design. .

The single-axis double-rotor unmanned aerial vehicle disclosed in the present invention comprises an upright casing extending along an axial direction, the vertical casing having an energy storage module, a wireless communication module, and a telecommunication connection a control module of the wireless communication module; an electric unit extending along the axial direction and driven by the control module, comprising a pair of inner stators extending along the axial direction and disposed in the vertical housing; and Two sets of rotor assemblies spaced along the axial direction, each of the aforementioned rotor assemblies respectively corresponding to one of the inner stators, and each of the foregoing rotor assemblies includes an outer rotor, at least one pivot between the outer rotor and the inner stator a shaft member, and a rotor body coupled to the outer rotor, wherein the two rotor bodies rotate in opposite directions; and a heading unit comprising a plurality of rudders pivotally independent of each other on the upright casing or the inner stator, each The rudder blades are respectively pivoted between a rest position close to the upright casing and a traverse position away from the upright casing; and a group is driven by the control module Sheet above the rudder pivoting actuation module.

According to the unmanned aerial vehicle described above, the single-axis double-rotor unmanned aerial vehicle remote control system of the present invention can be constructed, and the system includes: a single-shaft double-rotor unmanned flight device including an upright casing extending along an axial direction The upright casing has an energy storage module, a wireless communication module, and a control module for telecommunications connection to the wireless communication module; and an electric unit extending along the axial direction and driven by the control module, a pair of inner stators extending along the axial direction and disposed in the upright casing; and two sets of rotor assemblies spaced along the axial direction, each of the rotor assemblies respectively corresponding to one of the inner stators, and each A rotor assembly includes an outer rotor, at least one pivot member interposed between the outer rotor and the inner stator, and a rotor body coupled to the outer rotor, wherein the two rotor bodies rotate in opposite directions; and a heading unit a plurality of rudders pivotally independent of each other on the upright casing or the inner stator, each rudder piece being in a rest position close to the upright casing And a pivoting position away from the erecting position of the upright casing; and a set of actuating modules driven by the control module to open and close the rudder blade; and a remote control device including a polar coordinate control unit For outputting a set of planar mobile signals; a lifting control unit for outputting a set of lifting signals; and a near-end communication unit for outputting the planar mobile signals and lifting signals to the wireless communication module.

In another aspect, the present invention also discloses a wireless remote control method for a single-axis double-rotor unmanned aerial vehicle, the wireless remote control system of the unmanned aerial vehicle comprising a single-axis double-rotor unmanned aerial vehicle and a set of remote control devices; The double-rotor unmanned aerial vehicle includes an upright casing extending along an axial direction, an electric unit extending along the axial direction and driven by the control module, and a heading unit; the vertical casing has a built-in storage a power module, a wireless communication module, and a control module for telecommunications connection to the wireless communication module; the electric unit includes a pair of inner stators extending along the axial direction and disposed in the upright casing, and two groups Along the axially spaced rotor assemblies, each of the foregoing rotor assemblies respectively correspond to one of the inner stators, and each of the rotor assemblies includes an outer rotor and at least one pivot member interposed between the outer rotor and the inner stator. And a rotor body coupled to the outer rotor, wherein the two rotor bodies are in a reverse rotation; and the heading unit comprises a plurality of independent a rudder piece pivotally disposed on the upright casing or the inner stator, and a set of actuation modules driven by the control module to open and close the rudder piece; the remote control device comprises a pole coordinate control unit, a lifting control unit and a near-end communication unit; the wireless remote control method comprises the steps of: a) activating the electric unit; b) outputting a set of plane movement signals and/or the lifting by the polar coordinate control unit of the remote control device The control unit outputs a set of lifting signals to the control module via the near-end communication unit and the wireless communication module; c) comparing the planar mobile signal and the lifting signal obtained by the wireless communication module by the control module Weakly, determining that the vertical housing is close to and away from the remote control device is defined as a radial direction and an angular direction perpendicular to the radial direction for interpreting the planar movement signal outputted by the polar coordinate control unit. d) when the wireless communication module receives the remote control device to transmit a set of planar mobile signals for lateral movement, the actuation module opens and closes the rudder blade to pivot, and the remote control device and the single-axis double-rotor unmanned aerial device are Maintain the distance of the aforementioned radius.

According to the above summary, the single-axis double-rotor unmanned aerial vehicle disclosed in the present invention controls the flight direction of the single-axis double-rotor unmanned aerial vehicle by the rudder blade pivoted on the upright casing to ensure the flight attitude. When the direction is changed, the rotor surface is stable and not skewed. The single-axis dual-rotor unmanned aerial vehicle remote control system ensures that the remote control device maintains a distance from the single-axis dual-rotor drone through the intensity values of the planar mobile signal and the lifting signal transmitted by the remote control device, so that the bypass flight can be used. The operation is easier and achieves the objectives of the present invention.

DRAWINGS

1 is a schematic view of a single-axis double-rotor unmanned aerial vehicle of the first preferred embodiment.

2 is a block diagram of the modeling group in the upright casing of FIG. 1.

3 is a schematic view of the actuation of the actuation module of FIG. 1.

4 is a schematic view showing the position change of the unmanned aerial vehicle of FIG. 1 in the wind tunnel and the rudder blade.

FIG. 5 is a schematic view showing the movement orientation of the unmanned aerial vehicle after the opening and closing rudder blade of FIG. 1. FIG.

6 is a block diagram of a module of the remote control device of the first preferred embodiment of FIG. 1.

7 is a schematic diagram of the movement of the unmanned aerial vehicle of the wireless remote control system of FIG. 1.

Figure 8 is a schematic plan view of the remote control device.

FIG. 9 is a diagram showing the steps of the operation method of the remote control system of FIG. 1.

Figure 10 is a schematic view of a single-axis double-rotor unmanned aerial vehicle of the second preferred embodiment.

Figure 11 is a block diagram of the control unit and remote control unit of the upright housing of Figure 10.

Figure 12 is a schematic view showing the operation of the remote control device of Figure 10.

FIG. 13 is a schematic diagram showing a first person display area of a synchronized image of the remote control device of FIG. 10. FIG.

Figure 14 is a schematic view showing the application of the remote control system of the single-axis double-rotor unmanned aerial vehicle of the third preferred embodiment.

FIG. 15 is a schematic diagram of the first person perspective shifting steering operation of FIG. 14. FIG.

FIG. 16 is a schematic diagram of the vertical switching operation of the first person perspective of FIG. 14. FIG.

Symbol Description

Unmanned

aerial vehicle

1,1’,1”

Vertical housing 10

Energy storage module 100 main

ring field camera

101, 101', 101"

Wireless communication module 102 auxiliary ring field camera 103,103”

Control module 104 wire 105

Bottom end 106 sensing module 107

Top 108

Electric unit 12

Inner stator 120 rotor assembly 122

Outer rotor 124 pivot member 126

Rotor body 128

Heading unit 14

The rudder blade 140, 140' actuates the module 142, 142'

Rest position S traverse position H

Remote control

2,2’,2”

Polar coordinate

control unit

20, 20" inertial sensing unit 21"

Lift control unit

22, 22" near-end communication unit 24, 24'

Wearing the

body

26, 26" display unit 28', 28"

Steps 30-32

Radius direction R angle direction θ

Perspective P’, P”

Detailed ways

The above detailed description of the preferred embodiments of the present invention will be more clearly understood from It.

The unmanned aerial vehicle 1 of the single-axis double-rotor according to the first preferred embodiment of the present invention, please refer to FIG. 1 to FIG. 9 together, including an upright casing 10 extending in the vertical direction, for convenience of explanation, This defines the vertical direction as the axial direction, and this axial direction is in most cases substantially orthogonal to the horizontal direction. The wireless module 102 and the control module 104 are built in the vertical housing 10, and the wireless communication module 102 is used for receiving and transmitting signals. The control module 104 is electrically connected to the wireless communication module 102, and further The received signal controls the motor unit 12, thereby controlling the unmanned aerial vehicle 1 of the present invention.

In the present example, the electric unit 12 is also extended along the axial direction, and includes a pair of coaxial stators 120 and two sets of rotor assemblies 122. The two sets of rotor assemblies 122 are spaced apart such that each rotor assembly 122 corresponds to one of the inner stators 120, and each rotor assembly 122 includes an outer rotor 124, at least one pivot member 126, and a rotor body 128, respectively. The pivot member 126 is interposed between the outer rotor 124 and the inner stator 120 to allow the outer rotor 124 to smoothly pivot about the inner stator 120. The rotor body 128 is directly coupled to the outer rotor 124, and thus is rotated by the outer rotor 124, and the two rotor bodies 128 are rotated in the opposite direction. By the principle of the reaction force of the coaxial reverse paddle, each air passes through the two rotor bodies. 128. The rotor body 128 generates a torque to the motor unit 12 that is opposite to each other at an angular velocity, causing the reverse rotation of the two sets of rotor bodies 128 to cause torque cancellation, providing stability of the unmanned aerial vehicle 1.

For the heading control portion of the unmanned aerial vehicle 1, the heading unit 14 includes a plurality of rudder blades 140 pivotally independent of each other at the upright casing 10 or the inner stator 120, and a set of actuation modules driven by the control module 104. 142. In this example, the rudder blade 140 is pivotally disposed at the upright casing 10, and the four rudder blades 140 are disposed at an angle of 90 degrees from each other. The actuation module 142 of this example is an example of two linear motors, each of which is The linear motor controls the pivoting and opening and closing operations of the two opposite rudders 140 through the connecting rods (not labeled). Of course, those skilled in the art can easily understand that the rudder blade is pivoted to the inner stator due to the inner stator. It is a static component, so the pivoting of the rudder blade to the inner stator is not impeded by this example.

Referring to FIG. 4 together, the rudders 140 on the left and right sides of the drawing are driven by the same linear motor, respectively, in the rest position S close to the upright casing 10 and the traverse position H away from the upright casing 10 Since the length of the connecting rod in this example is smaller than the lateral width of the upright casing, when the actuating module 142 is driven by the control module 104 so that the left and right sides of the connecting rod do not touch the rudder pieces 140 on both sides, the rudder piece 140 naturally stays. In the closed rest position S, each is attached to the upright casing 10; otherwise, when the link is pushed to the right and the right rudder 140 is pivoted, the rudder 140 will pivot to the transverse away from the upright casing 10. Move position H away from the upright housing 10.

The downward slat 140 generated by the upper rotor body 128 will impact the open rudder 140, and when the rudder 140 is subjected to the downward thrust of the airflow in an inclined state, the thrust will generate a leftward direction to the upright casing 10. The component of the force, and the unmanned aerial vehicle 1 is moved backwards to the left by opening the right rudder blade 140 at a position where the level of the rotor surface is hardly changed, and the unmanned aerial vehicle 1 is substantially maintained in a substantially vertical direction. There is no obvious skew. Therefore, as shown in FIG. 5, if it is to be moved obliquely, the rudder piece on the left side and the lower side of the drawing may be simultaneously opened, and the unmanned aerial vehicle 1 may be moved in the horizontal direction at the upper right of the figure. For example, reduce the external tilt angle of the left rudder piece, and let the horizontal movement direction be biased toward the north-north direction of one o'clock.

When the unmanned aerial vehicle 1 is further added to the remote control device 2, the remote control system of the present embodiment is constructed. Referring to the block diagram of the module of FIG. 6, the remote control device 2 in this example includes a set of plane moving signals. The pole coordinate control unit 20, a lifting control unit 22 for outputting a group of lifting signals, and a near-end communication unit 24 as an output signal to the wireless communication module 102 of the unmanned aerial vehicle 1, thereby outputting signals to control the The unmanned aerial vehicle 1 performs a three-dimensional motion including lifting and plane movement.

In this example, as shown in FIGS. 7 and 8, the remote control device 2 is designed in the shape of a ring for the user to directly wear on, for example, the index finger, and a micro rocker is respectively provided as a set of planes. The polar coordinate control unit 20 of the mobile signal is additionally provided with a slide key that is toggled up and down as a lift control unit 22 that outputs a set of lift signals. Of course, those skilled in the art can add other corresponding operation functions to the remote control device, and use a wristband, a mask or other wearing structure as needed, or even according to a conventional remote controller design, as long as it is convenient to operate and carry; When a camera is provided on the human flight device, a control unit corresponding to the camera can be added to the remote control device, or when a robot arm is provided on the unmanned flight device, a control unit corresponding to the operation of the robot arm can be added to the remote control device. It does not hinder the implementation of this example.

Since the unmanned aerial vehicle 1 of the present invention can maintain substantially vertical without substantially tilting even when moving horizontally, in this example, a ring field camera is added to the upright casing 10, To enhance the functional application of image capture. For ease of explanation, the lower portion of the upright housing 10 is referred to herein as the bottom end 106 and the upper portion is referred to as the top end 108. Due to the center of gravity, the electric unit 12 is disposed at an upper position of the upright casing 10, and the energy storage module 100 and the control module 104 are disposed in the upright casing 10. In the same manner as the current unmanned aerial vehicle, the main ring field camera 101 of the present invention is preferentially disposed at the bottom end 106 for capturing a 360 degree ring image downward, and the elevation angle of the upward shooting is slightly higher than the horizontal direction, covering approximately The solid angle of 210 degrees, because the upright casing 10 may be externally stretched except for the rudder piece, there is no shielding in all directions, so that the solid angle of the image capture is very wide, especially because the horizontal movement does not need to be tilted, so that the dynamic image is 撷The ride is very high.

In order to provide three-dimensional stereoscopic image data, in this example, an auxiliary ring field camera 103 is also disposed above the top end 108. Since the position of the camera is special, whether it is the wire 105 for supplying electric energy or the signal for transmitting signals. The wires must pass through the electric unit 12, so that the inner stator 120 of the present invention is further formed with an upright passage (not labeled) for allowing the wire 105 to be supplied to the auxiliary toroidal camera 103 to be smoothly guided. Go to the energy storage module 100. Since the main ring field camera 101 and the auxiliary ring field camera 103 in this example all have a wide-angle lens module, when the dual cameras operate synchronously, the height of the upright housing 10 becomes the two ring field cameras. Interval, let the images captured by the two together constitute a three-dimensional three-dimensional data.

In this example, the unmanned aerial vehicle 1 allows the operator to hold the hand grip and immediately initiates the flight when the operator throws the unmanned aerial vehicle 1. Therefore, in this example, a set of sensing modules 107 capable of outputting a sensing signal to the control module 104 is disposed in the upright housing 10, which is a push switch, and the button of the pressing switch protrudes. Outside the upright housing, when the operator throws the unmanned aerial vehicle 1, the push switch will be released, and the control module 104 will thereby know and drive the outer rotor 124 and the rotor body 128 to rotate. Of course, those skilled in the art can easily replace the main ring field camera and the auxiliary ring field camera with a depth camera or other image capturing device according to the application requirements, and replace or match different environment sensing modules, depending on the context of use. The demand does not hinder the implementation of this example.

Compared with the previous Cartesian coordinate system control, the remote control method of the present invention is controlled by the parameters of the Cylindrical coordinate system, so that the operator can easily get started and manipulate the human factor engineering. The process is more handy. The use case in this example is to take aerial scene shooting in the active field. When the user throws the unmanned aerial vehicle 1, at the initial step 30, the control module 104 is caused to activate the electric unit 12 by the above-mentioned sensing module 107 disposed in the upright casing, so that the two rotor bodies 128 pass. A pivot member 126 between the outer rotor 124 and the inner stator 120 starts to rotate in the opposite direction to cause the unmanned aerial vehicle 1 to generate a lifting force; in step 31, the remote control device 2 performs signal control with the remote control device. The pole coordinate control unit 20 of the device 2 outputs a set of plane movement signals, and the elevation control unit 22 outputs a set of up-and-down signals, through the near-end communication unit 24 and the wireless communication module 102 to the control module 104, to the unmanned flight. The flight of the device 1 is controlled.

Compared with the general Cartesian coordinate control, in order for the UAV to fly at the same height, the controller must decide the increase and decrease of the X direction and the Y direction, and infer the position of the flying device in the mind. In line with human intuition. In this example, in step 32, the so-called polar coordinate control unit is as shown in FIG. 7 , and the signal strength from the remote control device 2 is obtained by the wireless communication module 102 as a standard. When the signal is enhanced, the erect is determined. The casing 10 is closer to the remote control device 2, and the distance defined by the radial direction R is shortened, otherwise the distance is increased, and the direction perpendicular to the radial direction R is defined as the angular direction θ, so when the radial direction R and the angular direction are interpreted and defined After θ, the unmanned aerial vehicle 1 will be able to complete the circular flight in accordance with the remote control device 2 maintaining a fixed distance, especially because the image capture is performed by the ring field camera, and the image data in all directions is very complete, so that the use It is easy to take a scene shot with an aerial shot of the event site, saving precious details in every corner of the event. Especially in the process of drawing a circle, the controller simply needs to fix the micro rocker to the left or to the right, and keep the original shape unchanged.

Of course, those skilled in the art can easily replace the heading unit with other structures, devices or combinations that change the direction of flight, without hindering the implementation of this example. The polar coordinate control unit is not limited to the signal strength and weakness as the only judgment control method, and the control module can be operated according to the dynamic route without hindering the implementation of the method.

The wireless remote control system for the single-axis double-rotor unmanned aerial vehicle of the second preferred embodiment of the present invention is as shown in FIGS. 10 to 13, and the unmanned aerial vehicle 1' in this example is only provided with the primary annular field camera 101'. And the actuation module 142' is an electromagnet control module, and the switch rudder 140' is pivoted by changing the magnetic force of the same polarity repulsive and opposite magnetic attraction, and the remote control device 2' is a smart phone. (Smart Phone), the rest of the structure is the same as that of the first preferred embodiment, and will not be described again here.

The smart phone as the remote control device 2' in this example is already a carrier of various application softwares, and has a display unit 28' that can display the screen with the main ring field camera 101', on the one hand, considers intelligent movement. The communication device has a three-dimensional dynamic sensor, which can easily obtain the orientation of the controller. On the other hand, the display unit 28' is also limited by the area, and the loop scene of the picture captured by the main surround field camera 101' cannot be restored and reproduced. Therefore, in this example, as shown in FIGS. 12 and 13, the operator can control the horizontal movement and elevation of the unmanned aerial vehicle 1' by using the display unit 28' of the touch remote control device 2', or by rotating the remote control. The device 2' or changing its pitch angle causes the near-end communication unit 24' to communicate with the unmanned aerial device 1', and determines to transmit the image data of the corresponding orientation to the remote control device 2' for display.

That is, the main ring field camera 101' has actually obtained a complete picture of more than 180 degrees solid angle, but only needs to follow the direction of the operator, for example, the view P' picture of the sector area of the solid line portion shown in FIG. The human flight device 1' is transmitted to the remote control device 2'; in contrast, the unmanned aerial vehicle 1' does not have to change its motion state in response to the rotation and pitch angle changes of the remote control device 2', so that the screen required by the operator can be provided. .

As shown in FIGS. 14 to 16, a third preferred embodiment of the present invention uses a helmet including a mask of the display unit 28" as a remote control device 2", and uses a virtual reality (Virtual Reality) for remote remote control. The airshot is mainly for the user to immerse in the first-person perspective P" immersed in the unmanned aerial vehicle 1" main ring field camera 101" and the auxiliary ring field camera 103" to view and photograph, and to The above-described main ring field camera 101" and the auxiliary ring field camera 103" are exemplified as a wide-angle camera module having a depth sensor, and the unmanned aerial vehicle 1" is not different from the structure of the foregoing embodiment. .

In this example, the helmet of the remote control device 2" includes a wearable body 26" for the operator to wear, which is illustrated as a headband and a mask for the operator to wear on the head, and the display unit 28" is disposed on The mask is provided on the side of the wearing body 26" with a polar coordinate control unit 20" and a lifting control unit 22" for the operator to control by hand. Inside the mask, a set of inertial sensing unit 21' such as a gyroscope or an accelerometer is provided for outputting a set of inertial signals, so that the direction facing the remote control device 2" itself will be taken into account in the image processing process. This screen captures the image data presented in the Virtual Reality Box. The inertia signal makes this example easier to operate.

Of course, those skilled in the art can set an inertial sensing unit as a posture control to a remote control device worn on the user as a control for controlling the plane movement or lifting of the unmanned aerial vehicle, such as a user. The head is tilted to the left or right, and the posture of the upward or downward tilt changes, so that the inertial sensing unit outputs an inertial signal to the polar coordinate control unit, and the polar coordinate control unit outputs a corresponding set of planar motion signals. In the wireless communication module, the lifting control unit converts the digital signal by means of a touch panel or the like, outputs a set of lifting signals to the wireless communication module, or replaces the original control mode by changing the head posture to replace the inertial sensing The unit is disposed in a remote control device such as a hand-held device, and can perform a flight path control or a viewing angle direction switching control by a hand posture change, and indicates a corresponding flight path control for the planar mobile signal output by the polar coordinate control unit, or It is to change the viewing angle, which does not hinder the implementation of this example.

The visual representation in this example is changed by the viewing angle P" of the remote control device 2", so that the display unit 28" disposed in the wearing body 26" in this example is simultaneously changed from the main ring field camera 101 when the head unit is rotated in the head posture. The screen range of the "and auxiliary ring field camera 103" allows the user to obtain the first person's angle of view P" in the corresponding direction, such as the visual experience of being in the air, and is particularly suitable for applications where the user has difficulty in going deep, such as a road. Inaccessible areas such as mountainous areas that are difficult to penetrate, or inaccessible areas such as steeply rocky canyons. Of course, they can also be ecologically protected areas. In order to prevent the ecology of the area from being vandalized, users can not destroy the area. Next, observe the environmental details of the range.

In order to ensure that the change of the viewing angle P" is inaccurate with the flight attitude switching operation, it is of course familiar to those skilled in the art that the unmanned flying device can be kept in the air by pressing or touching the device or the module to perform the plane movement and the lifting movement locking. Stopping the situation, turning the first person perspective to view the picture of each angle through the change of the posture, or controlling with a variety of wearing devices; in addition, setting the depth sensing camera in the remote control device, and also identifying by hand gesture information Further, the polar coordinate control unit or the lifting control unit sends out the signal for moving or lifting the control plane, and additional functions such as capturing the screen for applying the hand posture are not hindered from the implementation of this example.

The above are all preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any simple changes and diversions made in accordance with the scope and specification of the present invention remain within the scope of the present invention. .

Claims

A single-shaft double-rotor unmanned aerial vehicle characterized in that the device comprises

An upright casing extending along an axial direction, the vertical casing having an energy storage module, a wireless communication module, and a control module for telecommunications connecting the wireless communication module;

An electric unit extending along the axial direction and driven by the control module, including

a pair of inner stators extending along the axial direction and disposed in the upright casing; and

Two sets of rotor assemblies spaced along the axial direction, each of the aforementioned rotor assemblies respectively corresponding to one of the inner stators, and each of the foregoing rotor assemblies includes an outer rotor, at least one pivot between the outer rotor and the inner stator a shaft member, and a rotor body coupled to the outer rotor, wherein the two rotor bodies are rotated in opposite directions;

a heading unit, including

a plurality of rudder blades independently pivoted from each other to the upright casing or the inner stator, each rudder blade pivoting between a rest position close to the upright casing and a traverse position away from the upright casing; and

A set of actuation modules driven by the control module to open and close the rudder blade.
A single-axis double-rotor unmanned aerial vehicle according to claim 1, wherein said upright casing has a bottom end and a top end opposite to each other, and said unmanned aerial vehicle further comprises at least one of said upright machines The main ring field camera with the bottom end of the shell and being energized by the energy storage module.
The uniaxial double-rotor unmanned aerial vehicle according to claim 2, further comprising at least one auxiliary annular field camera disposed on said top end of said upright casing and energized by said energy storage module by a wire And the inner stator is formed with an upright passage for the energy storage module to supply the wire to the auxiliary annular field camera.
The single-axis double-rotor unmanned aerial vehicle according to claim 1, 2 or 3, wherein the vertical housing is further provided with a sensing module for outputting a sensing signal to the control module. group.
The single-axis two-wing unmanned aerial vehicle of claim 4, wherein the sensing module is a push switch.
A wireless remote control system for a single-axis double-rotor unmanned aerial vehicle, characterized in that it comprises:

a single-shaft twin-rotor unmanned aerial vehicle, including

An upright casing extending along an axial direction, the vertical casing having an energy storage module, a wireless communication module, and a control module for telecommunications connecting the wireless communication module;

An electric unit extending along the axial direction and driven by the control module, including

a pair of inner stators extending along the axial direction and disposed in the upright casing; and

Two sets of rotor assemblies spaced along the axial direction, each of the aforementioned rotor assemblies respectively corresponding to one of the inner stators, and each of the foregoing rotor assemblies includes an outer rotor, at least one pivot between the outer rotor and the inner stator a shaft member, and a rotor body coupled to the outer rotor, wherein the two rotor bodies are rotated in opposite directions;

a heading unit, including

a plurality of rudder blades independently pivoted from each other to the upright casing or the inner stator, each rudder blade pivoting between a rest position close to the upright casing and a traverse position away from the upright casing; and

a set of actuation modules driven by the control module to open and close the rudder blade; and

a set of remote controls, including

a pole coordinate control unit for outputting a set of plane movement signals;

a lifting control unit for outputting a set of lifting signals; and

A near-end communication unit for outputting the planar mobile signal and the lifting signal to the wireless communication module.
The uniaxial double-rotor unmanned aerial vehicle wireless remote control system according to claim 6, wherein said upright casing has a bottom end and a top end opposite to each other, and the unmanned aerial vehicle further comprises at least one a main annular field camera of the above-mentioned bottom end of the vertical housing and powered by the energy storage module; and at least one auxiliary device disposed at the top end of the vertical housing and supported by the energy storage module by a wire The ring field camera, and the inner stator is formed with an upright passage for the energy storage module to be energized to the wire of the auxiliary ring field camera.
The wireless remote control system for a single-axis dual-rotor unmanned aerial vehicle according to claim 6, wherein the remote control device further comprises:

a wearable body for an operator to wear;

At least one display unit disposed on the above-mentioned wearing body;

An inertial sensing unit disposed on the wearing body and outputting a set of inertial signals.
A wireless remote control method for a single-axis double-rotor unmanned aerial vehicle, characterized in that the wireless remote control system of the unmanned aerial vehicle comprises a single-axis double-rotor unmanned flight device and a set of remote control devices; wherein the aforementioned single-axis double-rotor is unmanned The flying device comprises an upright casing extending along an axial direction, an electric unit extending along the axial direction and driven by the control module, and a heading unit; the vertical casing has an energy storage module therein; a wireless communication module, and a control module for telecommunications connecting the wireless communication module; the electric unit includes a pair of inner stators extending along the axial direction and disposed in the upright casing, and two groups along the shaft To the spaced-apart rotor assemblies, each of the aforementioned rotor assemblies respectively corresponding to one of the inner stators, and each of the foregoing rotor assemblies includes an outer rotor, at least one pivot member interposed between the outer rotor and the inner stator, and connected to The rotor body of the outer rotor, wherein the two rotor bodies rotate in opposite directions; and the heading unit comprises a plurality of pivots independently of each other a vertical casing or a rudder piece of the inner stator, and a set of actuation modules driven by the control module to open and close the rudder piece; the remote control device comprises a pole coordinate control unit and a lifting control unit, And a near-end communication unit; the above wireless remote control method comprises the following steps:

a) starting the above electric unit;

b) outputting a set of planar mobile signals by the polar coordinate control unit of the remote control device and/or the lifting control unit outputs a set of lifting signals via the near-end communication unit and the wireless communication module to the control module; and

c) comparing, by the control module, the planar mobile signal and the lifting signal strength obtained by the wireless communication module, determining that the vertical housing is close to and away from the remote control device, and defining a radial direction, and a vertical The angular direction in the radial direction is used for interpreting the above-mentioned plane movement signal outputted by the polar coordinate control unit.