WO2019137146A1 - Dispositif de véhicule aérien sans pilote à deux rotors du type uniaxial, système comprenant le dispositif, et procédé de commande à distance - Google Patents

Dispositif de véhicule aérien sans pilote à deux rotors du type uniaxial, système comprenant le dispositif, et procédé de commande à distance Download PDF

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Publication number
WO2019137146A1
WO2019137146A1 PCT/CN2018/120803 CN2018120803W WO2019137146A1 WO 2019137146 A1 WO2019137146 A1 WO 2019137146A1 CN 2018120803 W CN2018120803 W CN 2018120803W WO 2019137146 A1 WO2019137146 A1 WO 2019137146A1
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WO
WIPO (PCT)
Prior art keywords
rotor
unmanned aerial
module
aerial vehicle
remote control
Prior art date
Application number
PCT/CN2018/120803
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English (en)
Chinese (zh)
Inventor
江尚峰
张东琳
Original Assignee
松芝机器人股份有限公司
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Publication date
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Publication of WO2019137146A1 publication Critical patent/WO2019137146A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C9/00—Adjustable control surfaces or members, e.g. rudders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C9/00—Adjustable control surfaces or members, e.g. rudders
    • B64C9/02—Mounting or supporting thereof
    • 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
    • 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
    • B64U30/24—Coaxial rotors
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Definitions

  • An unmanned flying device with a single-axis double-rotor, a system with the device and a remote control method is provided.
  • 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.
  • 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.
  • 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.
  • a remote control device such as a mobile phone or tablet.
  • 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. .
  • 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.
  • 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.
  • 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
  • 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 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.
  • 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 radi
  • 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
  • the remote control device and the single-axis double-rotor unmanned aerial device are Maintain the distance of the aforementioned radius.
  • 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.
  • 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.
  • FIG. 1 is a schematic view of a single-axis double-rotor unmanned aerial vehicle of the first preferred embodiment.
  • FIG. 2 is a block diagram of the modeling group in the upright casing of FIG. 1.
  • FIG. 3 is a schematic view of the actuation of the actuation module of FIG. 1.
  • FIG. 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.
  • FIG. 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.
  • FIG 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. 13 is a schematic diagram showing a first person display area of a synchronized image of the remote control device of FIG. 10.
  • 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. 15 is a schematic diagram of the first person perspective shifting steering operation of FIG. 14.
  • FIG. 16 is a schematic diagram of the vertical switching operation of the first person perspective of FIG. 14.
  • FIG. 16 is a schematic diagram of the vertical switching operation of the first person perspective of FIG. 14.
  • Wireless communication module 102 auxiliary ring field camera 103,103”
  • Control module 104 wire 105
  • the rudder blade 140, 140' actuates the module 142, 142'
  • 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.
  • 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.
  • 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.
  • 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.
  • 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).
  • 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.
  • 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.
  • 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.
  • 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.
  • the remote control system of the present embodiment is constructed.
  • the remote control device 2 in this example includes a set of plane moving signals.
  • the unmanned aerial vehicle 1 performs a three-dimensional motion including lifting and plane movement.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 ⁇ The ride is very high.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 ⁇ , so when the radial direction R and the angular direction are interpreted and defined After ⁇ , 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.
  • 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'.
  • 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.
  • 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.
  • 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. .
  • 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. .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Toys (AREA)
  • Selective Calling Equipment (AREA)

Abstract

L'invention concerne une coque verticale s'étendant le long d'une direction axiale, construite avec, à l'intérieur, un module de stockage d'énergie, un module de communication sans fil et un module de commande dans une connexion de télécommunication avec le module de communication sans fil ; une unité électrique s'étendant dans le sens axial comprenant une paire de stators intérieurs ; et deux ensembles d'ensembles formant rotor étant espacés dans le sens axial, chaque ensemble formant rotor correspondant à l'un des stators intérieurs ci-dessus, chaque ensemble formant rotor comprenant un rotor extérieur, au moins un élément de pivot étant intercalé entre le rotor extérieur et le stator intérieur, et un corps de rotor étant connecté au rotor extérieur, les deux corps de rotor tournant dans des directions opposées ; et une unité de cap comprenant une pluralité de lames de gouverne de direction pivotées, indépendamment les unes des autres, dans la coque verticale ou le stator intérieur, chaque lame de gouverne de direction pivotant entre une position de repos proche de la coque verticale et une position de déplacement transversal éloignée de la coque verticale ; et un ensemble de modules d'actionnement.
PCT/CN2018/120803 2018-01-15 2018-12-13 Dispositif de véhicule aérien sans pilote à deux rotors du type uniaxial, système comprenant le dispositif, et procédé de commande à distance WO2019137146A1 (fr)

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CN201810035359.0A CN110040246B (zh) 2018-01-15 2018-01-15 单轴双旋翼无人飞行装置、具该装置的系统及遥控方法
CN201810035359.0 2018-01-15

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US20220144429A1 (en) * 2020-11-06 2022-05-12 Yana SOS, Inc. Flight-enabled signal beacon

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CN110775264B (zh) * 2019-10-28 2022-10-18 上海交通大学 水空两栖无人航行器及其控制方法

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