Self-balancing foot stool of unmanned rotorcraft, unmanned rotorcraft and method

Abstract

The invention discloses a self-balancing foot stool of a unmanned rotorcraft, the unmanned rotorcraft and a method. The unmanned rotorcraft comprises a vehicle body and a flight control board installed on the vehicle body, an inertial sensor and a single chip microcomputer are installed on the flight control board, and the inertial sensor is used for obtaining an attitude angle. The self-balancing foot stool comprises: a shell; a driving module which is installed on the shell, receives a control signal of the single chip microcomputer and converts the control signal into a driving signal of the self-balancing foot stool; a telescopic module which is installed on the shell and used for receiving the driving signal and outputting the telescopic amount according to the driving signal; and a laser distance measuring sensor which is installed at the bottom end of the telescopic module and used for obtaining the relative distance between the laser distance measuring sensor and the ground and sending relative distance data to the single chip microcomputer, wherein the single-chip microcomputer receives the attitude angle and the relative distance, analyzes and processes the attitude angle and the relative distance, and outputs the control signal.

Description

technical field [0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a self-balancing tripod for a rotary-wing unmanned aerial vehicle, a rotary-wing unmanned aerial vehicle and a method. Background technique [0002] With the gradual development of the UAV market, the practical application of UAVs in our lives is gradually increasing, especially in the fields of UAV aerial photography, power inspection, traffic monitoring, environmental protection, post-disaster rescue, film and television shooting, etc. . However, there are still certain restrictions and shortcomings in the application of drones in some special environments. For example, when the drone lands on some rough roads or slopes, the drone will roll over after landing, resulting in unmanned The drone was damaged, which greatly affected the landing safety of the drone. [0003] Generally, there is a big problem for drones to land on slopes or rough roads,...

AI Technical Summary

Problems solved by technology

However, there are still certain restrictions and shortcomings in the application of drones in some special environments. For example, when the drone lands on some rough roads or slopes, the drone will roll over after landing, resulting in unmanned The drone was damaged, which greatly affected the landing safety of the drone

[0003] Generally, there is a big problem for drones to land on slopes or rough roads, so some special drones have been designed according to this problem. For example, the authorized Chinese invention patent (CN106005375B) describes a Connection, to realize the linkage expansion and contraction between each tripod, try to maintain the horizontal balance of the drone body, but it still cannot maintain balance on a slope with a large slope or on a rough road, and there is a greater possibility of rollover; the announced The Chinese invention patent (CN112173086A) describes the installation of a laser radar sensor inside the carbon tube of the tripod beam of the drone. The distance between the tripod and the ground is judged by the laser radar sensor to control the telescopic movement of the tripod to achieve a stable landing in some special environments. , but the two tripods of the drone are connected by a beam carbon tube, so that the expansion and contraction of the two tripods are mutually restricted and cannot be completed independently

When obstacles (stones, garbage, etc.) are on the carbon tube of the beam, it is difficult to adjust the height of the corresponding tripod, and it is prone to rollover

In addition, there are two problems in using the lidar sensor to automatically scan the ground level of the landing area: one is that it is difficult to obtain the precise distance between each tripod and the ground directly below; High want thousands of yuan, even tens of thousands of yuan); The published Chinese invention patent (CN 112319782 A) has described that some fixed pulleys are set at the lower end of the unmanned aerial vehicle tripod, and after the unmanned aerial vehicle lands, according to the unmanned aerial vehicle Change the position of the center of gravity, adjust the position of the center of gravity of the UAV by sliding the tripod through the pulley, and fix the pulley after the adjustment is completed to achieve the purpose of landing the UAV on slopes and steep slopes, but when the UAV tripod contacts The center of gravity is adjusted through the pulleys only after the ground has a large inclination. There is an obvious lag in the adjustment method, and it is easy to rollover due to too late adjustment.

[0004] Existing UAVs all rely on propellers to provide lift during takeoff and landing. General civilian UAVs are equipped with cameras for remote operation, which will cause the weight of the fuselage to be unbalanced. Problems such as center of gravity offset

During take-off and landing on a slope, if the lift is provided only by the blades, the lift at this time is inclined, and the vertical component is used to overcome the gravity of the drone, while the horizontal component will further accelerate the tilt of the drone’s fuselage and the center of gravity. The development of the offset imbalance direction increases the possibility of the UAV’s rollover, and restricts the slope angle of the UAV during take-off and landing, thereby limiting the take-off and landing environment of the UAV.

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