WO2020119731A1

WO2020119731A1 - Body-balanced unmanned aerial vehicle and control method therefor

Info

Publication number: WO2020119731A1
Application number: PCT/CN2019/124653
Authority: WO
Inventors: 杨超峰
Original assignee: 深圳市格上格创新科技有限公司
Priority date: 2018-12-14
Filing date: 2019-12-11
Publication date: 2020-06-18
Also published as: CN110641692A

Abstract

The present application discloses a body-balanced unmanned aerial vehicle and a control method therefor. In the unmanned aerial vehicle of the present application, a tilt rotor technology is used, a rotor bracket (500) is rotated by means of a rotor tilt device (400) to control the tilt angle of a rotor (220), so that the attitude of a body (100) does not need to be adjusted when making a flight attitude adjustment; in addition, body balance controllers and body balance actuators (310, 320, 330, 340) are provided to counteract tilt of the body (100) caused by wind force, and the body (100) can maintain balance during the flight, being able to improve the wind resistance capability and increase the flight stability, and being suitable as a camera platform. Compared with the conventional helicopter, said unmanned aerial vehicle has no complicated swashplate structure, and the rotor tilt device (400) with a simple structure is used to control the tilt angle of the rotor (220); compared with the multi-rotor unmanned aerial vehicle, said unmanned aerial vehicle has only one lifting device (200), and the body balance actuators (310, 320, 330, 340) used are also components with a simple structure, the whole vehicle having a simple structure and a low cost.

Description

Fuselage balanced drone and its control method

This application requires the priority of the Chinese patent application filed in the China Patent Office on December 14, 2018, with the application number 201811534978.0 and the invention titled "Body Balanced UAV and Its Control Method", the entire content of which is cited by reference Incorporated in this application.

Technical field

This application belongs to the technical field of unmanned aerial vehicles, and relates to a fuselage balanced unmanned aerial vehicle and its control method.

Background technique

In recent years, with the development of microelectronic technology and new materials, consumer-grade drones (mainly helicopters) have developed rapidly. Early consumer-grade drones were traditional helicopters, mainly in two configurations: coaxial twin-screw, single-screw and tail-rotor. The structure of the swash plate of the traditional helicopter is too complicated, the manufacturing is difficult, and the reliability is low. Rotor drones have a simple structure, are easy to manufacture, and have high reliability. At present, multi-rotor drones have become the mainstream of the market. Among them, quad-rotor drones are the most popular type of multi-rotor drones.

The most important application of consumer-grade drones is shooting, which requires high balance of the drone's fuselage. Otherwise, the continuous shaking of the fuselage and the continuous shaking of the camera will seriously affect the image effect of the shooting. However, according to the flight control principles of traditional helicopters and multi-rotor drones, the UAV cannot keep the fuselage stable during the flight. Under conditions of acceleration and deceleration, changes in wind speed or changes in wind direction, the UAV All need to do pitching and/or rolling movements to achieve flight control. For example: when flying forward, the drone must bow to make the rotor forward to produce forward thrust, while when flying sideways, the drone must roll to make the rotor roll. When generating lateral thrust and when the wind is lateral, the drone should roll to make the rotor roll against the wind. This kind of pitch and roll motion of the drone is frequent and large.

Bulletin Nos. CN106428543B and CN206243472U propose a tilting rotor control device, which contains two rotating mechanisms, which can control the rotation of the rotor around two rotation axes, thereby controlling the inclination of the rotor and realizing the flight of the drone control. The drone using this control device is different from the above-mentioned flight controllers of traditional helicopters and multi-rotor drones. When adjusting the inclination of the rotor, the attitude of the fuselage does not need to be adjusted, so the fuselage is adjusted in flight attitude. Time is balanced. However, there is a problem with this control method: the thrust of the rotor cannot be used to control the attitude of the fuselage. The main forces that determine the attitude of the fuselage are wind (or other external forces) and gravity of the fuselage. When the wind is applied, the fuselage It will tilt with the wind, the tilt angle is mainly determined by the magnitude of wind and gravity. For micro-mini drones, due to the small weight of the fuselage and the high wind force, the tilt angle of the fuselage will be very large. When the wind direction and wind speed alternate frequently, it may even trigger back and forth oscillations, affecting flight stability.

To solve the problem of poor image caused by the continuous shaking of the drone body, a simple method is to use digital image stabilization technology, but the digital image stabilization technology cannot obtain very satisfactory images. The current solution for mid- to high-end drones is to hang the camera on a gimbal, and use the gimbal rotation to counteract the shaking of the fuselage and obtain a more satisfactory image. However, due to the light weight of the micro UAV, compared with the heavier large UAV, it is necessary to adjust the pitch or roll angle to generate enough force to complete the same flight attitude control, which means that the gimbal needs It rotates faster and more. However, the space of the micro UAV is small, and only a small gimbal with low performance can be placed. Therefore, when encountering a large wind, especially the wind speed and direction change frequently At this time, the gimbal still cannot completely offset the tilting motion of the fuselage, resulting in poor shooting images.

In recent years, AR/VR technology and applications have developed rapidly, and the shooting of panoramic images is an important direction in the future imaging field. The shooting of panoramic images needs to arrange multiple cameras around (at least 4 for 360° images and at least 6 for 720° images), all cameras are shot at the same time, and then the images taken by all cameras are stitched together using image algorithms. At present, the method of shooting panoramic images in flight is to hang a spherical hanging cabin with a cloud platform, and install multiple cameras around the hanging cabin to shoot. Because the hanging cabin is hung under the drone, it is impossible to shoot the scene above the hanging cabin, and it is impossible to shoot 720° images. A flight platform that always maintains balance and can shoot 720° panoramic images is of great value for the development of panoramic images in the future.

technical problem

One of the purposes of the embodiments of the present application is to provide a fuselage balancing drone and a control method thereof to solve the technical problem that the current drone fuselage continuously affects image shooting.

Technical solution

To solve the above technical problems, the technical solutions adopted in the embodiments of the present application are:

In the first aspect, a fuselage balancing drone is provided, including:

body;

Rotor support

A lift device mounted on the rotor support, the lift device including a rotor;

A rotor tilting device mounted on the fuselage and used to rotate the rotor bracket to control the tilt angle of the rotor;

At least one fuselage balancing actuator for outputting a moment that causes the fuselage to tilt; and

A fuselage balance controller for controlling the action of the fuselage balance actuator to keep the fuselage balanced.

In one embodiment, the fuselage balancing drone further includes a rotor protection frame mounted on the rotor support, the rotor protection frame is a hollow structure, and the rotor is placed inside the rotor protection frame, The rotor protection frame is used to protect the rotor. The fuselage of the drone of this application can be a hollow frame structure, the lifting device is installed inside the fuselage, and multiple cameras are arranged around the fuselage frame for shooting 720° panoramic images.

In the second aspect, a method for controlling a fuselage balanced drone is provided, including the following steps:

Step S1: Set at least one working mode for the fuselage balancing drone, and set a fuselage balancing control target for each of the working modes;

Step S2: The body balance controller receives input data required for balance control;

Step S3, the fuselage balance controller calculates the fuselage according to the current working mode of the fuselage balancing drone, the input data in step S2 and the fuselage balancing target corresponding to the current working mode in step S1 Balance the control amount of the actuator;

Step S4: Control the action of the body balance actuator according to the control amount;

Step S5: Steps S2 to S4 are executed cyclically to make the posture of the fuselage satisfy the balance control target of the fuselage.

Beneficial effect

The beneficial effects of the fuselage balancing drone and its control method provided by the embodiments of the present application are as follows:

1. The unmanned aerial vehicle of this application adopts the tilting rotor technology, and the rotor support is rotated by the rotor tilting device to control the tilt angle of the rotor. There is no need to adjust the fuselage attitude when adjusting the flight attitude. The fuselage balance controller and the aircraft are also provided. The body balance actuator counteracts the tilting of the fuselage caused by the wind, and the fuselage can maintain balance during the flight. It is suitable for use as a camera platform.

2. After miniaturization of the UAVs described in the patents CN106428543B and CN206243472U, the wind resistance is low. In this application, the UAV is equipped with a fuselage balance controller and fuselage balance actuator, which can improve the wind resistance and increase flight. stability.

3. Compared with traditional helicopters, the drone of this application does not have a complicated swash plate structure, and a simple structure of the rotor tilting device is used to control the tilt angle of the rotor. Compared with the multi-rotor drone, the drone of this application has only one Lifting device, in addition, the balance actuator used in the fuselage is also a simple structural component, the whole structure is simple, and the cost is low.

BRIEF DESCRIPTION

In order to more clearly explain the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiments or exemplary technical descriptions. Obviously, the drawings in the following description are only for the application For some embodiments, those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a three-dimensional assembly diagram of a fuselage balancing drone provided by a group of first embodiments of the present application;

FIG. 2 is an exploded perspective view of the fuselage balancing UAV of FIG. 1;

3 is a three-dimensional assembly diagram of a fuselage balancing drone provided by a group of second embodiments of the present application;

4 is a three-dimensional assembly diagram of a fuselage balancing drone provided by a third embodiment of the present application;

5 is a perspective assembly view of a fuselage balancing drone provided by a group of fourth embodiments of the present application;

6(a) and 6(b) are respectively a three-dimensional assembly drawing and a partially enlarged view of a fuselage balancing drone provided by a group of fifth embodiments of the present application;

7(a) and 7(b) are respectively a three-dimensional assembly drawing and a partially enlarged view of a fuselage balancing drone provided by a group of sixth embodiments of the present application;

8 is a schematic structural diagram of the fuselage balancing drone of FIG. 1 when folded;

9 is a three-dimensional assembly diagram of a fuselage balancing drone provided by two groups of embodiments of this application;

10 is a schematic structural diagram of the fuselage balancing drone of FIG. 9 when folded;

11 is a three-dimensional assembly drawing of a fuselage balancing drone provided by the first embodiment of three groups of this application;

12 is a three-dimensional assembly diagram of a fuselage balancing drone provided by the second embodiment of three groups of this application;

13 is a flowchart of a method for controlling a fuselage balancing drone provided by four groups of embodiments of the present application;

14 is a flowchart of a control method for the drone shown in FIG. 1 provided by four sets of embodiments of the present application.

Embodiments of the invention

In order to make the purpose, technical solutions and advantages of the present application more clear, the present application will be described in further detail in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present application.

In the description of the embodiments of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical" ", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, just to facilitate the description of the embodiments of the present application and simplify The description does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the embodiments of the present application.

In addition, the terms “first” and “second” are used for description purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise specifically limited.

In the embodiments of the present application, unless otherwise clearly specified and limited, the terms "installation", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be fixedly connected or may be Disassembly connection or integration; it can be mechanical connection or electrical connection; it can be directly connected or indirectly connected through an intermediary, it can be the connection between two components or the interaction between two components. For those of ordinary skill in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to specific situations.

1 and 2, in one embodiment of the present application, a fuselage balancing drone is provided, which includes a fuselage 100, a rotor support 500, a lift device 200, a rotor tilting device 400, and a fuselage balancing execution (310, 320, 330, 340) and the fuselage balance controller (not shown), the lift device 200 is installed on the rotor support 500, the lift device 200 includes the rotor 220; the rotor tilt device 400 is installed on the fuselage 100, Used to rotate the rotor bracket 500 to control the inclination of the rotor 220; the fuselage balance actuators (310, 320, 330, 340) are used to output the torque that causes the fuselage 100 to produce a tilting motion; the fuselage balance controller is used to control the aircraft The body balance actuators (310, 320, 330, 340) operate to keep the body 100 in balance.

The UAV uses tilting rotor technology, and the rotor support 500 is rotated by the rotor tilting device 400 to control the inclination angle of the rotor 220. Therefore, it is not necessary to adjust the attitude of the fuselage 100 when performing flight attitude adjustment, and a fuselage balance controller is also provided. And the fuselage balance actuator (310, 320, 330, 340) to counteract the fuselage tilt caused by wind, the fuselage 100 can maintain balance during flight, and can improve wind resistance and increase flight stability, suitable for As a camera platform. Compared with traditional helicopters, the drone does not have a complicated swash plate structure, and a simple structure of the rotor tilting device 400 is used to control the inclination of the rotor 220. Compared with the multi-rotor drone, the drone has only one lifting device 200. In addition, the fuselage balancing actuators (310, 320, 330, 340) used are also components with simple structure. It can be seen that the drone of this application has a simple structure and low cost.

It should be noted that the fuselage balance controller calculates the control amount of each fuselage balance actuator according to the attitude of the fuselage 100 and other data, and then controls the various fuselage balance controllers to cooperate to realize the balance control of the fuselage 100.

Example group:

This embodiment describes a drone proposed in this application, as shown in FIGS. 1 and 2, including a fuselage 100, a lift device 200, a fuselage balance actuator (310, 320, 330, 340), and a fuselage balance control Device (not shown), rotor tilting device 400, rotor support 500.

In another embodiment of the present application, the fuselage 100 has an “L” structure, including a first body 110 and an arm 120. The first body 110 has an elongated structure, and the arm 120 is provided at one end of the first body 110. The first body 110 contains functions such as a battery, an optical flow sensor, a visual analysis module, a gimbal, and a camera 700. Module, which contains most of the weight of the drone.

In another embodiment of the present application, it also includes a flight controller (not shown). The flight controller controls the flight of the drone according to the data of various sensors and the requirements of the flight mission, which belongs to the prior art. The electronic control component including the flight controller can be installed at any location of the UAV, and is usually installed in the first body 110.

In another embodiment of the present application, the lift device 200 includes two motors 210 and two rotors 220. The two motors 210 are installed on the rotor support 500 one up and one down, and the two rotors 220 are installed on two On the output shaft of the motor 210, the rotation direction is opposite, and the rotation torque of the two rotors 220 can cancel each other.

In another embodiment of the present application, a rotor protection frame 600 is also included. The rotor protection frame 600 is installed on the rotor support 500 and wraps the lift device 200 inside to provide protection for the rotor 220 and avoid accidental injury. The rotor protection frame 600 shown in FIG. 1 is a hollow circular frame. The circular frame may be a hollow structure to reduce weight, and mesh cover plates may be added to the upper and lower ends of the circular frame to improve safety.

In another embodiment of the present application, the rotor tilting device 400 includes a first rotation mechanism 410, a first rotation controller 420, an adapter bracket 430, a second rotation mechanism 440, and a second rotation controller 450. The rotor bracket 500 is rotatably mounted on the adapter bracket 430 through the first rotation mechanism 410, and the adapter bracket 430 is rotatably mounted on the arm 120 through the second rotation mechanism 440. In principle, the rotation axis R1 of the first rotation mechanism 410 and the rotation axis R2 of the second rotation mechanism 440 are feasible as long as they are not parallel. In this embodiment, the R1 axis and the R2 axis are orthogonal. This is the preferred design. Simplify the design of the flight controller. If the orthogonal design is difficult to achieve, the mutually perpendicular design can also obtain better results. The first rotation controller 420 and the second rotation controller 450 control the lift device 200 to rotate around the R1 axis and the R2 axis, respectively, and then control the tilt angle of the rotor 220. It should be noted that the sensitivity and control accuracy requirements of the first rotary controller 420 and the second rotary controller 450 are relatively high, otherwise it will affect the handling stability of the drone.

In this embodiment, the first rotating mechanism 410 adopts a shafting structure, and there are many parts of the shafting structure. In FIG. 2, the two main components of the first bearing 411 and the first transmission shaft 412 are illustrated. In the figure, the adapter bracket A first bearing 411 is provided on the 430, and a first transmission shaft 412 is provided at the end of the rotor bracket 500. In fact, the opposite arrangement is also possible, that is, a first transmission shaft is provided on the adapter bracket, and a first bearing is provided at the end of the rotor bracket. Like the first rotating mechanism 410, the second rotating mechanism 440 also adopts a shafting structure. In the figure, two main shafting members, a second bearing 441 and a second transmission shaft 442, are used for illustration, and a second bearing 441 is provided on the arm. The end of the adapter bracket 430 is provided with a second transmission shaft 442. In fact, the opposite setting is also possible. The first rotary controller 420 and the second rotary controller 450 are servos, including motors, transmission deceleration components, and motor control components. They are illustrated by a motor and gear set in the figure, and are used to output according to control signals. Turn, this belongs to the prior art.

The above-mentioned drone flight control principle is: during flight, the first body 110 is below the rotor 220, the first body 110 contains most of the weight of the drone, based on the support of gravity of the first body 110, through the first rotation The controller 420 can control the rotor bracket 500 to rotate about the R1 axis; the second rotation controller 450 can control the adapter bracket 430 to rotate about the R2 axis, so the rotor 220 can be controlled to rotate about the R1 and R2 axes, and then control the The man-machine moves along the X-axis and Y-axis or cancels the external force of the X-axis and Y-axis to maintain hovering; by controlling the rotation speed of the two rotors 220, the rotation torque difference of the two rotors 220 is adjusted to generate a yaw moment, Simultaneously control the total lift generated by the two rotors 220 unchanged, and control the yaw movement of the UAV; by controlling the rotation speed of the two rotors 220, adjust the total lift generated by the two rotors 220, while maintaining the rotation torque of the two rotors 220 Mutually offset each other to achieve the lifting control of the drone. It can be seen from the above that the drone of this embodiment adopts the tilt rotor technology. The advantage of this control method is that the drone can adjust the tilt angle of the rotor 220 to achieve flight control without adjusting the attitude of the fuselage 100, that is to say, the drone The fuselage 100 can still be stable during the flight attitude adjustment.

The technical characteristics of the above control method are: the thrust of the rotor 220 cannot be used to control the attitude of the fuselage 100. The main forces that determine the attitude of the fuselage 100 are the wind (or other external forces) and the gravity of the fuselage. At this time, the fuselage 100 will tilt with the center of lift (the midpoint of the connection between the center points of the upper and lower rotors) as the fulcrum, and the tilt angle is determined by the wind force and the gravity of the fuselage. For micro-mini drones, due to the light weight of the fuselage, the tilt angle will be larger, which not only affects the shooting, but may also trigger back and forth oscillations and affect flight stability. The drone of this embodiment includes a fuselage balance controller and four fuselage balance actuators (310, 320, 330, 340) for controlling the tilting motion of the fuselage 100 described above.

As shown in Figure 1, the arrow direction of the X axis is set to the direction of the nose, then the straight line passing the center of lift and parallel to the Y axis is the pitch axis of the drone, and the straight line passing the center of lift and parallel to the X axis is the drone Roll axis. In the drone of this embodiment, two of the fuselage balancing actuators (310, 320) are located at the two ends of the first body 110, on both sides of the pitch axis, and the other two fuselage balancing actuators (330, 340) ) Is provided on the rotor protection frame 600 on both sides of the roll axis. The basic structure of the body's balanced actuators (310, 320, 330, 340) includes balanced deflectors (311, 321, 331, 341) and balanced servos. Its working principle is: balanced deflectors (311, 321, 331, 341) a surface facing the downwash airflow of the rotor 220, the downwash airflow of the rotor 220 generates pressure on the surface, thereby generating a moment that causes the UAV to produce a tilting motion; the balance server controls the balance deflector to rotate , Adjust its angle of attack relative to the airflow of the rotor, so that the area facing the airflow becomes larger or smaller, thereby controlling the magnitude of the generated torque. For example, the fuselage balancing actuators (310, 320) on the first body 110 can generate a pitching moment that causes the fuselage 100 to make a pitching motion. If the rotation angle b of the balancing deflector 321 on the right side of the fuselage balancing actuator 320 expands outward, increasing the torque, the rotating angle a of the balancing deflector 311 on the left side of the fuselage balancing actuator 310 moves closer to the fuselage and decreases The moment produces a pitch moment that rotates the fuselage 100 clockwise around the pitch axis. If the balancing deflectors (311, 321) of the two fuselage balancing actuators (310, 320) rotate in opposite directions, a pitching moment that causes the fuselage 100 to rotate counterclockwise around the pitch axis will be generated. Similarly, the two fuselage balancing actuators (330, 340) on the rotor protection frame 600 can generate a rolling moment that rotates the fuselage 100 around the rolling axis. The balancing servo includes motors, transmission deceleration components, motor control components and other components, which are used to output rotation according to control signals, which belongs to the prior art.

In this embodiment, each balancing actuator of the fuselage can be provided with only one balancing servo to control the two balancing deflectors to rotate synchronously. Due to the different airflow to the two balance deflectors, the pressure on the two balance deflectors with the same opening angle is different. At this time, the torque generated by the body balance actuator will cause the body to not only wrap around one The axis rotation, for example, the moment generated by the fuselage balancing actuators (310, 320) on the first body 110 will not only be the pitch moment, but also part of the rolling moment. Similarly, the fuselage balance on the rotor protective frame 600 The torque generated by the actuator (330, 340) is not only the rolling torque, but also some of the component is the pitch torque. However, the body balance controller can control the four body balance actuators (310, 320, 330, 340) Coordinate actions to control the balance of the fuselage. In order to simplify the control, each balance actuator can be equipped with two balance servos to control the angle of the two balance deflectors respectively, so that the torque of a single body balance actuator is only the pitch or roll torque, but the components used More.

In another embodiment of the present application, the fuselage balancing actuators should be set as large as possible in the position of the large arm, which can improve power efficiency. For example, the two fuselage balancing actuators on the first body 110 of this embodiment ( 310, 320) are provided at both ends of the first body 110, which is the position where the arm of the pitching moment is the largest. In addition, there are various embodiments for the installation position of the fuselage balancing actuator. For example, the two fuselage balancing actuators (310, 320) on the first body of the drone shown in FIG. 1 can also be installed in the rotor protection On frame 600; or, as shown in FIG. 3, two brackets 130 are provided on the first body 110 for mounting the fuselage balancing actuator 330, and these two fuselage balancing actuators 330 generate rolling torque, instead of FIG. The two fuselage balance actuators installed on the rotor protective frame 600 of the drone shown, the hinges of the two brackets 130 can be provided with hinged mechanisms to fold and recover the drone.

The drone shown in Figure 1 is equipped with two fuselage balancing actuators on the pitch axis and roll axis. It should be noted that, in another embodiment of the present application, as shown in FIG. 4, it is also feasible to provide only one fuselage balancing actuator (310, 320) in each axis. With this configuration, the structure is simple and the weight is small, but the torque is small and the wind resistance is reduced. It should be noted that since the body's balanced actuators (310, 320) can only output unidirectional torque, their balance deflectors (311, 321) must be opened at a certain angle to produce an initial Torque, synergistic effect with the gravity of the fuselage, realizes bidirectional control by adjusting the torque up or down.

In another embodiment of the present application, as shown in FIG. 5, the fuselage balancing actuator 310 on the first body 110 is another implementation based on the deflector technology, and this fuselage balancing actuator 310 is also Including the balancing deflector 311 and the balancing servo. The working principle of the balancing deflector 311 of this fuselage balancing actuator 310 is different. It uses the principle of fixed wing. The downwash flow of the rotor is in the two of the balancing deflector 311. There will be a pressure difference on the surface, which will result in a torque. The balance servo controls the rotation of the balance deflector 311 and adjusts the angle of attack of the balance deflector and the rotor airflow to adjust the size of the torque. This implementation has high power efficiency, but it is vulnerable to Influence of external airflow.

In another embodiment of the present application, the fuselage balancing actuator also has a fan-based implementation. As shown in FIG. 6, the fan 350 in the middle of the first body 110 of the drone is a fuselage balancing actuator. Thrust can produce rolling torque. Two sets of fan blades (351, 352) are set in the fan. The wind direction of the two sets of fan blades (351, 352) is opposite, so that the fan can output the same size when rotating clockwise or counterclockwise. Torque, controlling the rotation direction of the fan 350 can control the direction of the torque, and adjusting the rotation speed of the fan 350 can control the magnitude of the torque.

In another embodiment of the present application, as shown in FIG. 7, the fan 360 provided on the first body 110 is another implementation of a fan-based body balance actuator. The fan 360 is provided with two air outlets 361, A valve is provided on the air outlet 361, and air is sucked in from above and discharged from the air outlet 361 to generate a torque. The direction of the torque can be controlled by switching the valves of the two air outlets 361, and the magnitude of the torque can be controlled by adjusting the fan speed. The valve is movably installed at the air outlet 361 and driven by the driving member to realize the opening and closing of the air outlet 361.

In another embodiment of the present application, the setting of the fuselage balance actuator is related to the specific application requirements of the drone, and may require high balance of one axis of the pitch axis or roll axis, and another axis Low, it is possible to install the fuselage balancing actuator in only one axis, or one fuselage balancing actuator in one axis, and two fuselage balancing actuators in the other axis. In addition, the specific performance of the fuselage balanced actuator is also related to the specific application requirements of the drone.

In another embodiment of the present application, the body of the drone has an "L" structure, and the arm 120 and the first body 110 of the drone form a space, as shown in FIG. The rotation of the mechanism 410 and the second rotating mechanism 440 can integrally place the lift device 200 and the rotor protective frame 600 into the space; in addition, the balance of the fuselage balancing actuators (310, 320) on the first body 110 The deflectors (311, 321) can be rotated to fit the outer shell of the first body 110, and the balance deflectors (331, 341) of the fuselage balancing actuators (330, 340) on the rotor protective frame 600 can be rotated to The rotor protection frame 600 realizes the folding and recycling of the drone, which makes the recycling size of the drone compact and portable. It is worth noting that the rotor protection frame 600 of the drone of this application can be fixedly installed on the rotor support 500, so there is no need to remove the rotor protection frame 600 each time the UAV is retracted, taking into account the ease of use of the drone And security.

Example two groups:

This embodiment describes a drone proposed in this application. As shown in FIG. 9, it includes a fuselage 100, a lift device 200, a fuselage balance actuator 310, a rotor tilt device 400, a rotor support 500 and a fuselage balance controller (Not shown). The fuselage balance controller is the same as the group of unmanned aerial vehicles in the embodiment, and will not be described in detail.

In another embodiment of the present application, the fuselage 100 has a “U” shape structure, including a first body 110 and two arms 120. The first body 110 has an elongated structure, and the two arms 120 are respectively disposed at both ends of the first body 110. The first body 110 contains a battery, an optical flow sensor, a visual analysis module, a gimbal, and a camera 700. The machine function module, which contains most of the weight of the drone.

In another embodiment of the present application, the lift device 200 is installed on the rotor bracket 500, and the rotor tilting device 400 includes a first rotation mechanism 410, a first rotation controller 420, an adapter bracket 430, a second rotation mechanism 440, a first The second rotation controller 450 and the third rotation mechanism 460, the rotor bracket 500 is rotatably installed at the middle position of the adapter bracket 430 through the first rotation mechanism 410, and the two ends of the adapter bracket 430 pass through the second rotation mechanism 440 and the third The rotation mechanism 460 is rotatably mounted on the two arms 120 respectively. The rotation axes of the second rotation mechanism 440 and the third rotation mechanism 460 coincide, so the adapter bracket 430 can rotate relative to the body 100. The first rotation controller 420 controls the rotor bracket 500 to rotate relative to the adapter bracket 430 about the rotation axis R1 of the first rotation mechanism 410, and the second rotation controller 450 controls the adapter bracket 430 to rotate about the second rotation mechanism 440 The rotation axis R2 rotates relative to the body 100.

In another embodiment of the present application, the lift device of this embodiment includes a motor 210, a rotor 220, a yaw deflector (230, 240), and a yaw servo. The motor 210 is mounted on the rotor bracket 500, and the rotor 220 is mounted on the output shaft of the motor 210. The yaw deflectors (230, 240) are installed under the rotor 220, and the downwash airflow of the rotor 220 is used to generate a moment that causes the yaw to move. The two yaw deflectors 230 are fixedly installed. The other two yaw deflectors 240 are movable, and the yaw server controls the movable yaw deflector 240 to rotate to adjust the magnitude of the yaw moment. The yaw servo includes motors, transmission deceleration components, motor control components and other components for outputting rotation according to control signals, which belongs to the prior art.

The flight control of the unmanned aerial vehicle of this embodiment is the same as that of a group of unmanned aerial vehicles of the embodiment except yaw motion control, and will not be described in detail. The yaw movement control principle of the drone in this embodiment is as follows: the yaw deflector (230, 240) is based on the fixed-wing principle, and the downwash airflow of the rotor 220 flows through the yaw deflector (230, 240). The pressure difference between the two surfaces of the yoke guide (230, 240) will generate a yaw moment. The movable yaw guide 240 is controlled by the yaw server to rotate to adjust the angle of attack relative to the rotor airflow. It can control the magnitude of the generated torque to realize the yaw movement control of the UAV.

In another embodiment of the present application, this embodiment includes four fuselage balancing actuators 310 disposed on the fuselage 100, and each fuselage balancing actuator 310 includes a balancing deflector 311 and a balancing server. The working principle is the same as that of the fuselage balance actuator shown in Fig. 1. It should be noted that the torque generated by each fuselage balancing actuator 310 of this embodiment has both pitching moment and rolling moment components, and four fuselage balancing actuators 310 are required to work together to achieve balance control of the fuselage. Note that in order to make the rolling torque large enough, the balance deflector 311 of the fuselage balancing actuator of this embodiment is longer than the unmanned aerial vehicle shown in FIG. 1, which can increase the arm of the rolling torque.

It should be noted that the fuselage balancing actuators discussed in the group of drones in the embodiments can also be used in the drones in this embodiment.

In another embodiment of the present application, the U-shaped fuselage 100 of the drone of this embodiment can withstand a heavy lifting device, and the space surrounded by its two arms 120 and the first body 110 can accommodate the lifting device 200 and rotor protection frame 600, to achieve the folding recovery of the UAV, as shown in Figure 10.

Example three groups:

This embodiment describes a panoramic shooting drone, as shown in FIG. 11, including a fuselage 100, a lift device 200, a fuselage balancing actuator (310, 320), a rotor tilting device 400, a rotor support 500, and a fuselage balance Controller (not shown). The fuselage balance controller and lift device of the unmanned aerial vehicle of this embodiment are the same as the group of unmanned aerial vehicles of the embodiment, and are not repeated here.

In the embodiment of the present application, the fuselage 100 has an ellipsoidal hollow frame structure. The fuselage 100 includes a first body 110, which is placed in a lower hemisphere, and contains batteries and other electronic components therein, including unmanned Most of the weight of the machine. Multiple cameras 700 are installed around the frame of the fuselage, which can shoot 720° panoramic images. Preferably, an optical image stabilization camera is used.

In another embodiment of the present application, the lift device 200 is installed on the rotor bracket 500, and the rotor tilting device 400 includes a first rotation mechanism 410, a first rotation controller 420, an adapter bracket 430, a second rotation mechanism 440, a first The second rotation controller 450, the third rotation mechanism 460 and the fourth rotation mechanism 470. The adapter bracket 430 is a ring-shaped structure, and two ends of the rotor bracket 500 are rotatably mounted on the adapter bracket 430 through a first rotation mechanism 410 and a third rotation mechanism 460, respectively, the rotation axis of the first rotation mechanism 410 and the third rotation mechanism The rotation axis of 460 coincides, so the rotor bracket 500 can rotate relative to the adapter bracket 430. The two ends of the adapter bracket 430 are rotatably mounted on the body 100 through the second rotation mechanism 440 and the fourth rotation mechanism 470, respectively, the rotation axes of the second rotation mechanism 440 and the fourth rotation mechanism 470 coincide, so the adapter bracket 430 It can rotate relative to the body 100. The first rotation controller 420 controls the rotor bracket 500 to rotate relative to the adapter bracket 430 about the rotation axis of the first rotation mechanism 410, and the second rotation controller 450 controls the adapter bracket 430 to rotate about the second rotation mechanism 440 The axis rotates relative to the body 100. The rotor tilting device 400 of the unmanned aerial vehicle of this embodiment has stronger structural support and can support a larger lift device 200. The flight control principle of the unmanned aerial vehicle of this embodiment is completely the same as that of a group of unmanned aerial vehicles of the embodiment.

In another embodiment of the present application, as shown in FIG. 11, the fuselage balancing actuator of the drone of this embodiment uses three fans (310, 320). Let the arrow of the X axis point to the nose, then the X axis is the roll axis, and the Y axis is the pitch axis. The wind direction of the intermediate fan 310 is parallel to the X axis, generating a pitching moment, and the wind direction of the two fans 320 on both sides is parallel to the Y axis, generating a rolling moment. Another embodiment may use two fans, retaining the middle fan 310, and another fan below the middle fan 310, whose wind direction is parallel to the Y axis, instead of the two fans 320 on both sides in FIG. 11, but the fan is set at In this position, the arm is shorter and the power supply efficiency is low. An alternative embodiment is to place a fan in a position where the lower hemisphere is symmetrical to the middle fan 310, and the wind direction is parallel to the Y axis to generate a rolling torque with high efficiency.

It should be noted that the fuselage balance actuators in the first group and the second group of embodiments can be used in the drone of this embodiment, as shown in FIG. 12 is an embodiment, the drone is set on the lower hemisphere Four fuselage balancing actuators 310 based on deflector technology, other parts are the same as the UAV shown in FIG. 11.

It should be noted that the performance of the fuselage balancing actuator of the drone of this embodiment is higher, so that the fuselage can maintain higher stability, which is conducive to image stitching and shooting stable panoramic images.

Example four groups:

As shown in FIG. 13, this embodiment describes a fuselage balancing control method for the fuselage balancing drone of any of the above embodiments, including the following steps:

Step S101. Set the fuselage balance control target for the fuselage balance controller: first set different working modes for different working states of the drone according to the application requirements of the drone, and then set different machines for each working mode Body balance control goals. For example, because the fuselage balancing actuator action requires energy consumption, the higher the fuselage balance to be controlled, the greater the energy consumed. It can be set as a working mode for the working state of the drone when there is no image shooting task. It is a flight mode. In flight mode, you can set a control target with a low balance of the fuselage. In addition, set the drone to another working mode when it is in the working state of shooting images, called the shooting mode, and set the balance of the fuselage. Sexual control goals;

Step S102, the fuselage balance controller receives input data required for balance control; such as fuselage attitude data (fuselage pitch angle/pitch angle speed, fuselage roll angle/roll angle speed), rotor pitch angle/roll angle speed data, etc. . In fact, the UAV flight controller also requires the above data. The UAV is equipped with a fuselage attitude perception module and a rotor tilt perception module to obtain the above data. The usual implementation method is to use an IMU device (including accelerometer and gyro) Instrument) to perceive the original motion data of the fuselage or rotor, and then use a filtering algorithm (such as extended Kalman filter algorithm) to eliminate noise and obtain accurate fuselage attitude data and rotor tilt data, which belongs to the existing technology;

Step S103: According to the above input data, the fuselage balance controller applies the corresponding fuselage balance control target set in step S101 according to the current working mode of the drone, executes the corresponding fuselage balance control algorithm, and according to the current fuselage attitude data and The deviation value of the target value set by the fuselage balance control target calculates the control amount of each fuselage balance actuator. The fuselage balance control algorithm can be a PID-based control algorithm or a more complex mathematical model-based control algorithm;

Step S104: Control the action of the body's balance actuator according to the calculated control amount;

In step S105, step S102 to step S104 are executed cyclically so that the posture of the fuselage satisfies the fuselage balance control target.

Further, based on the above-mentioned fuselage balance control method, the UAV shown in FIGS. 1 and 2 is a specific control object, and a PID-based fuselage balance control method is described in detail below. The drone shown in Figure 1 is used for self-portraits of individual users. One feature of the self-portrait application is that the user will issue a shooting instruction every time he wants to shoot, as long as the drone receives a short response time after receiving the instruction Can control the body to maintain stability, it will not affect the user's shooting experience. Using this feature, the working mode of the UAV is divided into two working modes, namely the flight mode (the working state without the image shooting task) and the shooting mode (the working state with the image shooting task). Set different fuselage balance control targets: 1. In flight mode, the fuselage balance control target is that the drone's roll angular velocity is below a roll angular velocity threshold and the pitch angular velocity is below a pitch angular velocity threshold, the control target is only suppressed Too fast body tilting movement does not maintain the absolute balance of the fuselage to reduce power consumption and increase battery life; 2. In shooting mode, the fuselage balance control target is the fuselage's pitch angle and roll angle respectively equal to the target pitch Angle and target roll angle, the target pitch angle and target roll angle are respectively the fuselage pitch angle and roll angle when the drone is switched to the shooting mode, the control target keeps the drone's fuselage posture when it is received by the user The attitude of the fuselage at the time of the command to shoot a stable image

In order to facilitate the description of the fuselage balance control method, first define the UAV's pitch axis and roll axis. As shown in Fig. 1, let the arrow of the X axis point to the nose direction, then the straight line parallel to the Y axis passing the rotor lift center is the pitch axis, and the straight line parallel to the X axis and passing the rotor lift center is the roll axis. Provided _{_{_{A p, AR p, A r}}} , AR r respectively fuselage pitch angle, pitch rate, roll angle and roll rate, provided around the head symbol AR _p and A _p is the pitch in the axial direction of the rotary positive when the rotary body about the roll axis to the right (Y-axis pointing arrow) and the AR _r a _r is a positive sign.

As shown in FIG. 14, the fuselage balance control method applied to the drone shown in FIG. 1 includes the following steps:

Step S201: Divide the unmanned working state into two working modes-flight mode and shooting mode, and set the fuselage balance control target for each working mode:

R1: In flight mode, the fuselage balance control target is that the fuselage's pitch angular velocity is lower than the pitch angular velocity threshold AR_THR _p , and the fuselage's roll angular velocity is lower than the roll angular velocity threshold AR_THR _r ;

R2: In shooting mode, the balance control target of the fuselage is that the pitch angle of the fuselage is equal to the target pitch angle A_FIT _p , and the roll angle of the fuselage is equal to the target roll angle A_FIT _r , where A_FIT _p and A_FIT _r are respectively the UAV switching Pitch angle and roll angle when shooting mode;

Step S202: The body balance controller receives data required to control the body balance, including:

Attitude sensing module receives data from the existing fuselage airframe attitude, including the current pitch angle A _p, the current pitch rate AR _p, the current roll angle A _r, the current roll rate AR _r.

Step S203: The fuselage balance controller uses the corresponding fuselage balance control target according to the current working mode of the drone and executes the corresponding fuselage balance control algorithm. Suppose the current time point is T _k , the control quantities of the pitching moment body balance actuators (310, 320) and the rolling moment body balance actuators (330, 340) are C_PITCH(k) and C_ROLL(k), respectively , The initial values of C_PITCH(0) and C_ROLL(0) are 0. The fuselage balance control algorithm is a PID-based control algorithm;

Step S203A: When the drone operating mode is the flight mode, the fuselage balance control target R1 is used, according to the deviation between the current pitch angular velocity AR _p and the pitch angular velocity threshold AR_THR _p , and the current roll angular velocity AR _r and roll angular velocity The deviation value between the threshold AR_THR _r uses a fuselage balance control algorithm corresponding to the flight mode to control the amount of the computer body balance actuator. The specific algorithm is as follows:

Calculate the pitch angular velocity deviation e_AR _p (k) between the fuselage's current pitch angular velocity AR _p (k) and the pitch angular velocity threshold AR_THR _p at time T _k , and the current fuselage's current roll angular velocity AR _r (k) using equation (1) Rolling angular velocity deviation e_AR _r (k) between the rolling angular velocity threshold AR_THR _r , where abs(x) is the absolute value function of x;

If e_AR _p (k) is greater than 0, the fuselage's current pitch angular velocity exceeds the pitch angular velocity threshold, set Tp as the current time point, and Tp as the starting time point for this round of control. The control quantity C_PITCH(k) of the balance actuator (310, 320); otherwise, set C_PITCH(k)=0 and stop the control;

If e_AR _r (k) is greater than 0, the current roll angular velocity of the fuselage exceeds the roll angular velocity threshold, and Tr is the current time point, Tr is the starting time point of this round of control, and the roll is calculated using PID formula (3) The control amount C_ROLL(k) of the torque-balanced body balance actuator (330, 340); otherwise, set C_ROLL(k)=0 and stop the control;

Among them, in formulas (2) and (3), A_K _p , A_K _i , and A_K _d are the proportional, integral, and derivative control parameters of the PID algorithm respectively; sign(x) is the sign function of taking x, which is C_PITCH(k) and C_ROLL(k) sets the corresponding sign bit to determine the direction of the control torque.

Step S203B. After receiving the user's shooting instruction, the drone's working mode is switched to the shooting mode, and the fuselage balance control target R2 is adopted. The target pitch angle and target roll angle of the fuselage balance control target are set to the drone switch to shooting, respectively The pitch angle and roll angle in the mode, and then, according to the deviation between the current pitch angle/roll angle of the fuselage and the target pitch angle/target roll angle, a body balance control algorithm corresponding to the shooting mode is used to balance the computer body The control quantity of the actuator is as follows:

Let T0 be the moment when the drone's working mode is switched to shooting mode, T0 be the starting time point of this round of control, and let A_FIT _p be the current fuselage pitch angle A _p and A_FIT _r be the current fuselage roll angle A _r , A_FIT _p and A_FIT _r are the target pitch angle and target roll angle of the fuselage balance target to be controlled in this round. The control algorithm is a cascade PID algorithm;

Formula (4) is the first-level PID formula, where A1_K _p and A1_K _i are proportional and integral parameters;

Formula (5) is the second-level PID formula, where A2_K _p , A2_K _i , and A2_K _d are proportional, integral, and derivative parameters;

The first level PID uses formula (4) to calculate the target pitch angle speed C_AR _p (k) and the target roll angle speed C_AR _r (based on the deviation of the current pitch angle/current roll angle of the fuselage from the target pitch angle/target roll angle) k); The second-level PID adopts formula (5), according to the deviation of the fuselage's current pitch angular speed/current roll angular speed and the target pitch angular speed/target roll angular speed, the computer body balance actuator control variables C_PITCH(k) and C_ROLL( k);

Step S204, according to the calculated control amount, control the action of the body balance actuator: if C_PITCH(k) is a negative number, the deflector of the body balance actuator 320 opens an angle |C_PITCH(k)|; body balance The deflector of the actuator 310 rotates to fit the fuselage shell, inhibiting the tilting motion of the fuselage around the pitch axis. If it is a positive number, the deflector of the fuselage balancing actuator 320 rotates to fit the fuselage shell, and the deflector of the fuselage balancing actuator 310 opens at an angle |C_PITCH(k)| Tilt the pitch axis downward. If it is 0, the deflectors of the balancing actuators (310, 320) of the fuselage will rotate to fit the fuselage shell, and no torque will be output.

If C_ROLL(k) is a negative number, the deflector of the fuselage balancing actuator 330 is opened at an angle |C_ROLL(k)|, the deflector of the fuselage balancing actuator 340 rotates perpendicular to the rotor wing disc, suppressing the fuselage Tilt movement around the roll axis to the lower right (pointed by the Y-axis arrow); if positive, the deflector of the fuselage balancing actuator 330 rotates to be perpendicular to the rotor wing disc, and the fuselage balancing actuator 340 The deflector is opened at an angle |C_ROLL(k)| to suppress the tilting movement of the fuselage around the roll axis to the lower left; if it is 0, the deflector of the fuselage balancing actuator (330, 340) rotates to It is perpendicular to the rotor disk and does not output torque.

Among them, |X| is the absolute value of X;

Step S205. Go to step S202 to execute the next control cycle.

Understandably, the fuselage balance control method shown in FIG. 14 can be applied to any fuselage balance drone described in the first to third groups. During specific implementation, according to the requirements of different UAV application fields, different working modes and corresponding fuselage balance control targets can be set, and only one working mode or more working modes can be set. In a specific working mode, It is also possible to control only the roll or pitch movement of the fuselage. For example, for the panoramic shooting drone shown in Figure 11 and Figure 12, the drone can be used for panoramic shooting of large-scale activities. In this application scenario, the drone needs to shoot a stable panoramic image throughout the process, so only set one One working mode, that is, the shooting mode, the corresponding body balance control target is that the target pitch angle and target roll angle of the body are both 0°. Step S203 of the balance control method of the drone only has content corresponding to the shooting mode.

The above are only the preferred embodiments of this application and are not intended to limit this application. Any modification, equivalent replacement and improvement made within the spirit and principle of this application should be included in the scope of protection of this application Inside.

Claims

A fuselage balanced drone, characterized by including:

body;

Rotor support

A lift device mounted on the rotor support, the lift device including a rotor;

A rotor tilting device mounted on the fuselage and used to rotate the rotor bracket to control the tilt angle of the rotor;

At least one fuselage balancing actuator for outputting a moment that causes the fuselage to tilt; and

A fuselage balance controller for controlling the action of the fuselage balance actuator to keep the fuselage balanced.
The fuselage balanced drone according to claim 1, wherein the rotor tilting device includes a first rotation mechanism, a first rotation controller, an adapter bracket, a second rotation mechanism, and a second rotation controller The rotor bracket is rotatably connected to the adapter bracket through the first rotation mechanism, the adapter bracket is rotatably connected to the fuselage through the second rotation mechanism, and the rotation axis of the first rotation mechanism Is not parallel to the rotation axis of the second rotation mechanism; the first rotation controller is used to control the rotation of the rotor bracket around the rotation axis of the first rotation mechanism, and the second rotation controller is used to control the The adapter bracket rotates around the rotation axis of the second rotation mechanism, so as to control the rotation of the rotor around the rotation axis of the first rotation mechanism and the second rotation mechanism, so as to control the inclination of the rotor.
The fuselage balancing drone according to claim 2, wherein the rotor tilting device further includes a third rotating mechanism, and two ends of the adapter bracket respectively pass through the second rotating mechanism and The third rotation mechanism is rotatably connected to the body, and the second rotation mechanism coincides with the rotation axis of the third rotation mechanism;

Alternatively, the rotor tilting device further includes a third rotation mechanism and a fourth rotation mechanism, and the two ends of the rotor bracket are connected to the rotor by the first rotation mechanism and the third rotation mechanism, respectively. Connected to the bracket, the first rotation mechanism coincides with the rotation axis of the third rotation mechanism; the two ends of the adapter bracket are rotatably connected to the machine through the second rotation mechanism and the fourth rotation mechanism The rotation axis of the second rotation mechanism and the fourth rotation mechanism coincide.
The fuselage balancing drone according to claim 1, further comprising a rotor protection frame mounted on the rotor support, the rotor protection frame is a hollow structure, and the rotor is placed on the rotor protection Inside the frame, the rotor protection frame is used to protect the rotor.
The fuselage balancing drone according to any one of claims 1 to 4, wherein at least one of the fuselage balancing actuators is a fuselage balance for outputting a torque that causes the fuselage to perform a pitching motion Actuator;

And/or, wherein two of the fuselage balancing actuators are fuselage balancing actuators for outputting moments that cause the fuselage to pitch, and the two fuselage balancing actuators are respectively disposed on the fuselage Balance the two sides of the drone's pitch axis.
The fuselage balancing drone according to any one of claims 1 to 4, wherein at least one of the fuselage balancing actuators is a fuselage for outputting a torque that causes the fuselage to roll Balanced actuator

And/or, wherein two of the fuselage balancing actuators are fuselage balancing actuators for outputting a torque that causes the fuselage to roll, and the two fuselage balancing actuators are respectively provided on the machine Balance the two sides of the UAV's roll axis.
The fuselage balancing drone according to any one of claims 1 to 4, wherein at least one of the fuselage balancing actuators includes a balancing deflector and a balancing servo, and the balancing deflector is installed Below the rotor, the downwash airflow of the rotor is used to generate a moment that causes the fuselage to tilt, and the balance servo controls the rotation of the balance deflector to adjust the relative balance of the balance deflector The angle of the downwash airflow of the rotor controls the amount of torque generated by the balance deflector.
The fuselage balancing drone according to claim 7, wherein one surface of the balancing deflector faces the downwash airflow of the rotor, and the pressure formed on the surface by the downwash airflow of the rotor is utilized A moment that causes the tilting movement of the fuselage is generated.
The fuselage balancing drone according to claim 7, wherein the balancing deflector has a position to rotate so as not to affect the folding and recovery of the fuselage balancing drone.
The fuselage balancing drone according to any one of claims 1 to 4, wherein at least one of the fuselage balancing actuators is a fan, the fan is provided on the fuselage, and the fan The thrust force generates a moment that causes the body to tilt, and the fan speed is controlled to adjust the torque.
The fuselage balancing drone according to any one of claims 1 to 4, wherein the fuselage includes a first body and at least one arm, and the first body is an elongated structure. The arm is provided at the end of the first body, the rotor tilting device is mounted on the arm, and the lift device is placed in the space surrounded by the arm and the first body to realize the machine Body folding drone recycling;

Alternatively, the fuselage is a hollow frame structure, the rotor tilting device and the lift device are placed inside the fuselage, and multiple cameras are provided around the fuselage to shoot panoramic images.
A fuselage balancing control method for a fuselage balancing drone according to any one of claims 1 to 11, comprising the following steps:

Step S1: Set at least one working mode for the fuselage balancing drone, and set a fuselage balancing control target for each of the working modes;

Step S2: The body balance controller receives input data required for balance control;

Step S3, the fuselage balance controller calculates the fuselage according to the current working mode of the fuselage balancing drone, the input data in step S2 and the fuselage balancing target corresponding to the current working mode in step S1 The control amount of the balance actuator; Step S4, according to the control amount, control the action of the body balance actuator;

Step S5: Steps S2 to S4 are executed cyclically to make the posture of the fuselage satisfy the balance control target of the fuselage.
The fuselage balance control method according to claim 12, wherein in step S1, one of the working modes is a flight mode, and the flight mode corresponds to that the fuselage balance drone has no image shooting task The working state of the fuselage balance control set in this working mode is that the roll angular velocity of the fuselage is lower than the roll angular velocity threshold, and/or the pitch angular velocity of the fuselage is lower than the pitch angular velocity threshold.
The fuselage balance control method according to claim 12, wherein in step S1, one of the working modes is a shooting mode, and the shooting mode corresponds to the fuselage balancing drone has an image shooting task The working state of the fuselage balance control set in this working mode is that the pitch angle of the fuselage is equal to the target pitch angle, and/or the roll angle of the fuselage is equal to the target roll angle, where the target pitch angle and The target roll angles are respectively the pitch angle and roll angle when the fuselage balancing UAV is switched to the working mode.
The fuselage balance control method according to claim 12, wherein in step S2, the input data includes fuselage attitude data, and the fuselage attitude data includes the current pitch angle and current pitch of the fuselage Angular speed, current roll angle and current roll angle speed.
The fuselage balance control method according to claim 12, wherein in step S3, the corresponding fuselage balance control target is applied according to the current operating mode of the fuselage balance drone, and the corresponding fuselage balance is executed Control algorithm; the fuselage balance control algorithm calculates the control amount of the fuselage balance actuator according to the deviation between the current value of the fuselage attitude and the target value set by the fuselage balance control target.