CN110816803A - Small helium balloon double propeller control device and method - Google Patents

Abstract

The invention relates to the field of aircraft control, in particular to a small helium balloon double-propeller control device and method. The device uses dual propellers to provide power to control the flight of a small helium balloon with limited buoyancy. The two propellers are installed on the left and right sides of the fixed shaft under the helium balloon, and have different relative positions from the fixed shaft. The upper propeller faces downwards. And it is 45 degrees from the horizontal direction, the lower propeller is oriented upward, and it is 45 degrees from the vertical direction, the thrust direction is changed by controlling the two propellers to rotate forward and reverse respectively, and the speed of the two propellers is controlled to realize the thrust. Change, and then realize the rise and fall of the device, advance and turn left and right. It is suitable for small helium balloons with limited buoyancy and load. For mass production, the use of twin propellers can reduce the load and reduce the overall cost, so that additional devices can be installed.

Description

Small helium balloon double propeller control device and method

technical field

The invention relates to the field of aircraft control, in particular to a small helium balloon double-propeller control device and method.

Background technique

With the development of the Internet of Things technology, more and more small aircraft are required to complete more and more diverse tasks in social production and life. However, today's human-controlled or autonomously controlled small aircraft are mostly based on four-axis rotor UAVs, which consume power The speed is fast and the airborne time is short, so it is impossible to stay in the air for a long time to complete the observation and IoT sensing tasks.

Helium balloons have buoyancy and are safer than hydrogen balloons. There are various control methods for large helium balloons. However, for a large number of small helium balloons that will be used in the Internet of Things in the future, due to their limited buoyancy, it is generally not possible to install too many devices. The heavier the flight control device, the less other functional devices or power sources are carried. The heavier flight control device means less other devices or less air time to carry. Use a simplified and low weight device to carry out the helium balloon. Effective flight control is an important issue to realize the development of small helium balloon vehicles.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve the problem that the buoyancy of the helium balloon is limited and cannot carry too much equipment. It proposes to control the flight of a small helium balloon by means of double propellers. The size of the device changes, so as to realize the device's ascending, descending, forward, left and right turn, and realize the device and method for using the double propeller to control the flight of the small helium balloon.

The present invention specifically adopts following technical scheme:

A small helium balloon double-propeller control device is installed on the lower part of the helium balloon, including an upper propeller, a fixed shaft, a lower propeller and a flight control part, the flight control part includes two propeller motors, a controller, a communication module and a power supply module. The controller receives control commands from external equipment through the communication module to control the two propeller motors, the two propeller motors provide power to the upper and lower propellers respectively, and the power module supplies power to the entire device.

Preferably, the upper propeller is oriented downward and is 45 degrees from the horizontal direction, and the lower propeller is oriented upward and is 45 degrees from the vertical direction.

Preferably, the controller can control the upper propeller and the lower propeller to rotate forward or reversely, so as to change the thrust direction. When the upper propeller and the lower propeller rotate forward, the thrust is directed toward the direction of the fixed shaft, and when reversed, it is away from the direction of the fixed shaft.

The method for controlling the double propellers of the small helium balloon is to use the above-mentioned small helium balloon double propeller control device, select the helium balloon so that the buoyancy of the helium balloon is offset by its own weight and the weight of the flight control unit, and the external device sends the control command to the communication module, the controller The control command is obtained through the communication module to control the rotation direction and speed of the two propeller motors, and the control realizes up, down, forward, left turn and right turn;

The realization process of the ascent is that when the upper propeller is reversed, the thrust direction is away from the fixed axis, resulting in the vertical upward direction and the horizontal backward direction component force, the lower propeller rotates forward, the thrust direction is toward the fixed axis, and the vertical upward direction and the horizontal forward direction are generated. When the thrust generated by the upper and lower propellers is the same, the thrust components of the two propeller motors in the horizontal direction cancel each other out, and the resultant force is generated in the vertical upward direction to realize the rise of the device;

The process of descending is that when the upper propeller rotates forward, the lower propeller reverses and the thrust generated by the two propellers is the same, the upper propeller generates component force in the vertical downward direction and the horizontal forward direction, and the lower propeller in the vertical downward direction and the horizontal direction. The component force is generated in the backward direction, and the component forces of the two propellers in the horizontal direction cancel each other out, forming a combined force in the vertical downward direction to realize the descending of the device;

The forward realization process is that when both the upper and lower propellers rotate forward, the upper propeller generates component forces in the vertical downward direction and the horizontal forward direction, the lower propeller generates component forces in the vertical upward and horizontal forward directions, and the two propellers in the vertical direction. The component forces generated by the method cancel each other out, and a resultant force is generated in the horizontal advancing direction to realize the advancement of the device;

The realization process of right turn is that when the upper propeller and the lower propeller are both rotating forward and the thrust is different, when the thrust of the upper propeller is greater than the thrust of the lower propeller, the component force of the upper propeller in the horizontal forward direction is greater than that of the lower propeller in the horizontal forward direction. At the same time, since the thrust of the upper propeller is greater than the thrust of the lower propeller, the component force of the upper propeller in the vertical direction is greater than that of the lower propeller, and the resultant force is down, the device moves down while turning right;

The process of turning left is that when the upper and lower propellers are both rotating forward and the thrust is different, when the thrust of the lower propeller is greater than the thrust of the upper propeller, the component force of the lower propeller in the horizontal forward direction is greater than that of the upper propeller in the horizontal forward direction. , the propulsion speed on the right side is greater than the propulsion speed on the left side, and the device turns left. At the same time, because the thrust of the lower propeller is greater than the thrust of the upper propeller, the component force of the lower propeller in the vertical direction is greater than that of the upper propeller in the vertical direction, and the direction of the resultant force is Up, the device moves up while turning left.

The present invention has the following beneficial effects:

Only two propeller motors are used to realize the flight control of the small helium balloon, which can reduce the load of the small helium balloon compared to the scheme using three or more propeller motors, and the spare load of two propeller motors can be configured with more power modules , using more power to supply less propeller motors, can achieve longer airtime. Using fewer propeller motors to achieve flight control effectively reduces costs for small helium balloon vehicles deployed in large numbers.

Description of drawings

Fig. 1 is a three-dimensional schematic diagram of a fixed shaft and two propellers of a small helium balloon double propeller control device;

2 is a schematic diagram of the overall structure of a small helium balloon double-propeller control device and a small helium balloon;

Figure 3 is a top view of a small helium balloon double propeller control device;

Figure 4 is a side view of a small helium balloon double propeller control device;

In Figures 1 to 4, 1 is the upper propeller, 2 is the fixed shaft, and 3 is the lower propeller.

Figure 5 is a schematic diagram of the force during the ascent of the double-propeller control device for a small helium balloon;

Fig. 6 is the force diagram of the right turning process of the small helium balloon double propeller control device;

Fig. 7 is the force diagram of the left-turn process of the small helium balloon double-propeller control device;

FIG. 8 is a schematic diagram of the connection of the components of the small helium balloon double-propeller control device.

Among them, 1 is the upper propeller, 2 is the fixed shaft, 3 is the lower propeller, 4 is the thrust direction of the upper propeller, 5 is the position of the fixed shaft in side view, 6 is the thrust direction of the lower propeller, 7 is the direction of the combined force of the two propellers, and 8 is the control 9 is the controller, 10 is the power module, 11 is the communication module, 12 is the helium balloon, and 13 is the flight control unit.

Detailed ways

The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

As shown in Figure 1-4, the small helium balloon double-propeller control device is installed at the lower part of the helium balloon 12. The aluminum film balloon can be used for the helium balloon 12 to achieve a longer stay in the air. The size of the helium balloon is not less than 18 inches. The buoyancy of the helium-filled helium balloon counteracts its own weight and the weight of the flight controls.

The device includes an upper propeller 1, a fixed shaft 2, a lower propeller 3 and a flight control part 13. The flight control part includes two propeller motors, a controller, a communication module and a power supply module. The controller receives the control of external equipment through the communication module The command controls two propeller motors, which power the upper and lower propellers, respectively, and the power module powers the entire unit. The installation frame of the device can be stably mounted under the helium balloon. The frame is made of carbon fiber and other materials with high strength, which are not easy to bend and light in weight. The selected size of the propeller should ensure that it will not touch other devices and the helium balloon when rotating , The motor that drives the propeller uses a light-weight, small-sized and high-speed motor such as a hollow cup motor. The controller can use but not limited to STM32 series chips, 8051 series chips and Raspberry Pi, etc. The controller can use MOS tube or other methods Change the speed and rotation direction of the propeller motor. The communication module can be used but not limited to Bluetooth, WiFi, etc. The communication module is directly connected to the controller, and other control devices can be used to send commands to the controller to achieve flight control. The power module can be used but not limited to lithium The battery and the power module supply power to the whole device. Referring to Figure 2, the controller, the communication module and the power module are installed at the position 8 where the controller and other modules are installed, and the fixed shaft 2 is connected to the helium balloon 12, the controller 9, and the upper propeller. 1 and the lower propeller 3.

Referring to FIG. 8 , the dual-propeller motor, the communication module 11, and the power supply module 10 are directly connected to the controller 9, and the power supply module 10 can supply power to the controller, the communication module and the two propeller motors, but is not limited to the use of connection lines. The communication module receives an external control command and sends it to the controller, and the controller changes the thrust direction and speed of the two propeller motors according to the command.

The upper propeller is oriented downward and is 45 degrees to the horizontal direction, and the lower propeller is oriented upward and is 45 degrees to the vertical direction. The controller can control the upper and lower propellers to rotate forward or reverse to realize the change of thrust direction. , the thrust of the upper and lower propellers is directed towards the direction of the fixed shaft when the upper and lower propellers rotate forward, and away from the direction of the fixed shaft when they are reversed.

The method for controlling the double propellers of the small helium balloon is to use the above-mentioned small helium balloon double propeller control device, select the helium balloon so that the buoyancy of the helium balloon is offset by its own weight and the weight of the flight control unit, and the external device sends the control command to the communication module, the controller The control command is obtained through the communication module to control the rotation direction and speed of the two propeller motors, and the control realizes ascending, descending, forward, left turn and right turn.

Ascending and descending: Referring to Figure 1, the upper propeller installation position and the horizontal forward direction are at an angle of 45 degrees. When the thrust is generated, the same magnitude of component force will be generated in the horizontal and vertical directions. The lower propeller installation position and the vertical direction are 45 degrees. Included angle, when the lower propeller generates thrust, it will generate a component force of the same size in the horizontal and vertical directions. When the lower propeller rotates forward and the thrust is toward the fixed axis of the frame, it will generate a vertical upward and horizontal forward component force. When the propeller reverses, the thrust is directed away from the fixed axis of the frame, producing a horizontal rearward force component and a vertical upward force component.

Referring to Figure 5, when the upper propeller is reversed, the thrust direction is 4, the lower propeller is rotating forward, and its thrust direction is 6, and when the rotational speeds of the two propellers are the same, the thrust components generated in the horizontal direction cancel each other, and the two The resultant force generated by each propeller in the vertical direction is the rise of the device; in the same way, when the lower propeller rotates in reverse, the upper propeller rotates forward and the thrust is the same, the horizontal forward direction component force generated by the upper propeller and the horizontal backward force generated by the lower propeller The component force is offset, and the upper propeller and the lower propeller form a combined force in the vertical downward direction to realize the descending of the device.

Forward: When both the upper propeller and the lower propeller are rotating forward, the thrust of the upper propeller will produce component forces in the vertical downward and horizontal forward directions, and the thrust of the lower propeller will produce component forces in the vertical upward and horizontal forward directions. When the thrust is the same, the two components in the vertical direction cancel, and the two components in the horizontal advancing direction form a combined force to achieve horizontal advancement.

Turn left and turn right: when both the upper and lower propellers are rotating forward and the thrusts are different, the flight device can be turned left and right. Referring to Figure 6, in the top view direction, when the upper propeller thrust 1 is greater than the lower propeller thrust At 3:00, the left propulsion speed is greater than the right propulsion speed, and the flight device turns right. Referring to Figure 7, in the top view direction, when the lower propeller thrust 3 is greater than the upper propeller thrust 1, the flight device turns left, and at the same time due to the two The thrust of the propeller is not the same, and the magnitude of the component force generated in the vertical direction is different. When turning right, a downward resultant force will be generated, so the flying device will descend while turning rightward, and an upward resultant force will be generated when turning leftward, so flying The device will rise while turning left.

The realization process of the ascent is that when the upper propeller is reversed, the thrust direction is away from the fixed axis, resulting in the vertical upward direction and the horizontal backward direction component force, the lower propeller rotates forward, the thrust direction is toward the fixed axis, and the vertical upward direction and the horizontal forward direction are generated. When the thrust generated by the upper and lower propellers is the same, the thrust components of the two propeller motors in the horizontal direction cancel each other out, and the resultant force is generated in the vertical upward direction to realize the rise of the device.

The process of descending is that when the upper propeller rotates forward, the lower propeller reverses and the thrust generated by the two propellers is the same, the upper propeller generates component force in the vertical downward direction and the horizontal forward direction, and the lower propeller in the vertical downward direction and the horizontal direction. A component force is generated in the backward direction, and the component forces of the two propellers in the horizontal direction cancel each other out, forming a combined force in the vertical downward direction to realize the descending of the device.

The forward realization process is that when both the upper and lower propellers rotate forward, the upper propeller generates component forces in the vertical downward direction and the horizontal forward direction, the lower propeller generates component forces in the vertical upward and horizontal forward directions, and the two propellers in the vertical direction. The component forces generated by the method cancel each other out, and a resultant force is generated in the horizontal advancing direction to realize the advancement of the device.

The realization process of right turn is that when the upper propeller and the lower propeller are both rotating forward and the thrust is different, when the thrust of the upper propeller is greater than the thrust of the lower propeller, the component force of the upper propeller in the horizontal forward direction is greater than that of the lower propeller in the horizontal forward direction. At the same time, since the thrust of the upper propeller is greater than the thrust of the lower propeller, the component force of the upper propeller in the vertical direction is greater than that of the lower propeller, and the resultant force is Down, the device moves down while turning right.

The process of turning left is that when the upper and lower propellers are both rotating forward and the thrust is different, when the thrust of the lower propeller is greater than the thrust of the upper propeller, the component force of the lower propeller in the horizontal forward direction is greater than that of the upper propeller in the horizontal forward direction. , the propulsion speed on the right side is greater than the propulsion speed on the left side, and the device turns left. At the same time, because the thrust of the lower propeller is greater than the thrust of the upper propeller, the component force of the lower propeller in the vertical direction is greater than that of the upper propeller in the vertical direction, and the direction of the resultant force is Up, the device moves up while turning left.

It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists.

Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by those skilled in the art within the essential scope of the present invention should also belong to the present invention. the scope of protection of the invention.

Claims (4)

1. A small-size helium balloon double-propeller control device is installed on the lower portion of a helium balloon and is characterized by comprising an upper propeller, a fixed shaft, a lower propeller and a flight control portion, wherein the flight control portion comprises two propeller motors, a controller, a communication module and a power supply module, the controller receives a control command of external equipment through the communication module to control the two propeller motors, the two propeller motors respectively provide power for the upper propeller and the lower propeller, and the power supply module supplies power for the whole device.

2. A compact helium balloon twin propeller control as claimed in claim 1 where the upper propeller is oriented downwards at 45 degrees to the horizontal and the lower propeller is oriented upwards at 45 degrees to the vertical.

3. The small helium balloon twin screw control device according to claim 1, wherein the controller is capable of controlling the upper and lower screws to rotate forward or backward to change the direction of the thrust, the thrust of the upper and lower screws moving forward is directed toward the fixed shaft, and the thrust of the upper and lower screws moving backward is directed away from the fixed shaft.

4. A small helium balloon double-propeller control method adopts a small helium balloon double-propeller control device according to any one of claims 1 to 3, and is characterized in that a helium balloon is selected to enable buoyancy of the helium balloon to be offset with self weight and weight of a flight control part, an external device sends a control command to a communication module, a controller obtains the control command through the communication module to control rotation directions and rotation speeds of two propeller motors, and ascending, descending, advancing, left-turning and right-turning are controlled;

the lifting is realized in the process that when the upper propeller rotates reversely and the thrust direction is far away from the fixed shaft, component forces in the vertical upward direction and the horizontal backward direction are generated, the lower propeller rotates forwards, the thrust direction faces the fixed shaft, component forces in the vertical upward direction and the horizontal forward direction are generated, when the thrust generated by the upper propeller and the lower propeller are the same, the component forces of the thrust in the horizontal direction of the two propeller motors are mutually offset, resultant force is generated in the vertical upward direction, and the lifting of the device is realized;

the descending process is that when the upper propeller rotates forwards and rotates backwards and the thrust generated by the two propellers is the same, the upper propeller generates component force in the vertical downward direction and the horizontal advancing direction, the lower propeller generates component force in the vertical downward direction and the horizontal backward direction, the component force of the two propellers in the horizontal direction are mutually offset, resultant force is formed in the vertical downward direction, and the descending of the device is realized;

the advancing realization process is that when the upper propeller and the lower propeller rotate forwards, the upper propeller generates component force in the vertical downward direction and the horizontal advancing direction, the lower propeller generates component force in the vertical upward direction and the horizontal advancing direction, the component force generated by the two propellers in the vertical mode is mutually offset, and resultant force is generated in the horizontal advancing direction to realize the advancing of the device;

the right turn is realized by the device, when the upper propeller and the lower propeller rotate forwards and the thrust is different, and the thrust of the upper propeller is greater than that of the lower propeller, the component force of the upper propeller in the horizontal advancing direction is greater than that of the lower propeller in the horizontal advancing direction, the propelling speed of the left side is greater than that of the right side, and the device realizes right turn;

the left turn is realized by the device, when the upper propeller and the lower propeller rotate forwards and the thrust is different, and the thrust of the lower propeller is greater than that of the upper propeller, the component force of the lower propeller in the horizontal advancing direction is greater than that of the upper propeller in the horizontal advancing direction, the propelling speed of the right side is greater than that of the left side, and the device realizes the left turn.

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