CN110816803B - 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 makes limited small-size helium balloon of buoyancy realize flight control through double screw propeller power, and two screw propellers are installed in the left and right sides of the fixed axle of helium balloon below, have different relative positions with the fixed axle, and the orientation of going up the screw is downward, and forms 45 degrees with the horizontal direction, and the orientation of lower part screw is upwards, and forms 45 degrees with the vertical direction, carries out the change that forward rotation was reversed through controlling two screw propellers respectively and realizes the change of thrust size by controlling the rotational speed of two screw propellers respectively, and then realizes the rising and descending, advancing and the change of left turning right turn of device. The buoyancy-limited and load-limited small helium balloon is suitable for the condition of mass production, and the double propellers can reduce the load and 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, but today's human-controlled or autonomously controlled small aircraft are mostly based on four-axis rotor drones, which consume power The speed is fast and the time in the air is short, and it is impossible to complete the observation and IoT sensing tasks in the air for a long time.

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

Contents of the invention

The purpose of the present invention is to solve the problem that helium balloons have limited buoyancy and cannot carry too much equipment, and propose to control the flight of small helium balloons through double propellers. The change in size, and then realize the rise and fall of the device, advance and turn left and right, and realize the device and method for using double propellers to control the flight of small helium balloons.

The present invention specifically adopts the following technical solutions:

The small-sized 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 unit. The flight control unit includes two propeller motors, a controller, a communication module and a power supply module. The controller receives control commands from external devices through the communication module to control the two propeller motors. The two propeller motors provide power to the upper propeller and the lower propeller respectively, and the power module supplies power to the entire device.

Preferably, the orientation of the upper propeller is downward and at 45 degrees to the horizontal direction, and the orientation of the lower propeller is upward and at 45 degrees to the vertical direction.

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

The small helium balloon double-propeller control method adopts the above-mentioned small helium balloon double-propeller control device, selects the helium balloon to offset the buoyancy of the helium balloon with its own weight and the weight of the flight control part, and the external equipment sends control commands 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 ascent, descent, forward, left turn and right turn;

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

The realization process of the descent is that when the upper propeller rotates forward and the lower propeller reverses and the thrust generated by the two propellers is the same, the upper propeller generates force components in the vertical downward direction and the horizontal forward direction, and the lower propeller generates force components 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 resultant force in the vertical downward direction to realize the descent of the device;

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

The realization process of turning right is that when the upper propeller and the lower propeller are rotating forward and have different thrusts, and when 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. Force, the propulsion speed on the left side is greater than the propulsion speed on the right side, and the device turns right. At the same time, because the thrust of the upper propeller is greater than that of the lower propeller, the component force of the upper propeller in the vertical direction is greater than that of the lower propeller in the vertical direction. Down, the device moves downward while turning right;

The realization process of turning left is that when the upper propeller and the lower propeller are rotating forward and have different thrusts, when the thrust of the lower propeller is greater than that of the upper propeller, the component force of the lower propeller in the direction of horizontal advancement is greater than that of the upper propeller in the direction of horizontal advancement , 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 that 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. The resultant force direction Up, the unit moves up while turning left.

The present invention has following beneficial effect:

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

Description of drawings

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

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

Fig. 3 is a top view of a small-sized helium balloon double propeller control device;

Fig. 4 is a side view of a small-sized helium balloon double propeller control device;

Among Fig. 1 to Fig. 4, 1 is an upper propeller, 2 is a fixed shaft, and 3 is a lower propeller.

Fig. 5 is a force schematic diagram of the ascending process of the small-sized helium balloon dual-propeller control device;

Fig. 6 is a schematic diagram of force in the process of turning right of the small-sized helium balloon dual-propeller control device;

Fig. 7 is a schematic diagram of force in the left turning process of the small-sized helium balloon double propeller control device;

Fig. 8 is a schematic diagram of connection of components of the dual-propeller control device for a small helium balloon.

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 combined force direction of the two propellers, and 8 is the control 9 is the controller, 10 is the power supply module, 11 is the communication module, 12 is the helium balloon, and 13 is the flight control unit.

Detailed ways

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

As shown in Figures 1-4, the small-sized helium balloon double propeller control device is installed on the lower part of the helium balloon 12. The helium balloon 12 is made of an aluminum film balloon 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 balloon filled with helium can offset its own weight and the weight of the flight control device.

The device includes an upper propeller 1, a fixed shaft 2, a lower propeller 3 and a flight control unit 13, the flight control unit includes two propeller motors, a controller, a communication module and a power supply module, and the controller receives the control of external equipment through the communication module The command controls the two propeller motors, which provide power to the upper propeller and the lower propeller respectively, and the power module supplies power to the entire device. 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, not easy to bend and light weight. The size of the propeller should be selected to ensure that it will not touch other devices and the helium balloon when rotating. , The motor driving the propeller uses a light-weight, small-volume, and high-speed motor such as a hollow cup motor. The controller can use but is not limited to STM32 series chips, 8051 series chips, and Raspberry Pi. The controller can use MOS tubes or other methods To change the speed and rotation direction of the propeller motor, the communication module can use but not limited to Bluetooth, WiFi, etc. The communication module can be 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 use but not limited to lithium The battery and the power module supply power to the entire device. Referring to Figure 2, the controller, communication module and 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 double-propeller motors, the communication module 11, and the power module 10 are directly connected to the controller 9, but not limited to the use of wiring, etc., the power module 10 supplies power to the controller, the communication module and the two propeller motors, The communication module receives external control commands and sends them to the controller, and the controller changes the thrust direction and rotational speed of the two propeller motors according to the commands.

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

The small helium balloon double-propeller control method adopts the above-mentioned small helium balloon double-propeller control device, selects the helium balloon to offset the buoyancy of the helium balloon with its own weight and the weight of the flight control part, and the external equipment sends control commands 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 ascent, descent, forward, left turn and right turn.

Rise and fall: Refer to Figure 1, the installation position of the upper propeller is at an angle of 45 degrees to the horizontal forward direction, when thrust is generated, the same magnitude of force will be generated in the horizontal direction and the vertical direction, and the installation position of the lower propeller is 45 degrees to the vertical direction The included angle, when the lower propeller generates thrust, it will generate a component force of the same size in the horizontal direction and vertical direction. When the lower propeller rotates forward and the thrust is directed towards the fixed axis position of the frame, a vertical upward and horizontal component force will be generated. When the upper propeller When the propeller is reversed, the thrust is directed away from the fixed axis of the frame, resulting in a horizontal rearward component and a vertical upward component.

Referring to Figure 5, when the upper propeller is reversed, the thrust direction is 4, and the lower propeller rotates forward, and its thrust direction is 6, and when the two propellers rotate at the same speed, the thrust components in the horizontal direction cancel each other out, and the two The resultant force 7 produced by the two propellers in the vertical direction is the rise of the device; similarly, when the lower propeller is reversed and the upper propeller is rotating forward and the thrust is the same, the component force in the horizontal forward direction produced by the upper propeller and the horizontal backward force produced by the lower propeller The component force is offset, and the upper propeller and the lower propeller form a resultant force in the vertical downward direction to realize the descent of the device.

Forward: When both the upper propeller and the lower propeller are rotating forward, the thrust of the upper propeller will generate component force in the vertical downward and horizontal direction, and the thrust of the lower propeller will generate component force in the vertical upward and horizontal direction. When the two propellers When the thrust is the same, the two component forces in the vertical direction cancel out, and the two component forces in the horizontal direction form a resultant force to realize horizontal advancement.

Turn left and turn right: When the upper propeller and the lower propeller are rotating forward and have different thrusts, the flying device can turn left and right. Refer to Figure 6, in the direction of the top view, when the thrust of the upper propeller is greater than the thrust of the lower propeller At 3 o'clock, the propulsion speed on the left side is greater than the propulsion speed on the right side, and the flying device turns right. Referring to Figure 7, in the direction of looking down, when the thrust 3 of the lower propeller is greater than the thrust 1 of the upper propeller, the flying device turns left. The thrust of the propellers is different, and the component forces generated in the vertical direction are different. When turning right, a downward resultant force will be generated, so the flying device will descend while turning right. When turning left, an upward resultant force will be generated, so the flight The unit will go up while turning left.

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

The realization process of the descent is that when the upper propeller rotates forward and the lower propeller reverses and the thrust generated by the two propellers is the same, the upper propeller generates force components in the vertical downward direction and the horizontal forward direction, and the lower propeller generates force components 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 resultant force in the vertical downward direction to realize the descent of the device.

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

The realization process of turning right is that when the upper propeller and the lower propeller are rotating forward and have different thrusts, and when 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. Force, the propulsion speed on the left side is greater than the propulsion speed on the right side, and the device turns right. At the same time, because the thrust of the upper propeller is greater than that of the lower propeller, the component force of the upper propeller in the vertical direction is greater than that of the lower propeller in the vertical direction. Down, the device moves downward while turning right.

The realization process of turning left is that when the upper propeller and the lower propeller are rotating forward and have different thrusts, when the thrust of the lower propeller is greater than that of the upper propeller, the component force of the lower propeller in the direction of horizontal advancement is greater than that of the upper propeller in the direction of horizontal advancement , 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 that 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. The resultant force direction Up, the unit moves up while turning left.

It should be noted that in this article, 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 that there is a relationship between these entities or operations. There is no such actual relationship or order between them.

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

Claims (1)

1. small-sized helium balloon double-screw control method, adopts small-sized helium balloon double-screw control device, it is installed in the bottom of helium balloon, it is characterized in that, described small-sized helium balloon double-screw control device comprises upper propeller, fixed shaft, lower propeller and Flight control section, the flight control section includes two propeller motors, a controller, a communication module and a power supply module, the controller receives control commands from external devices through the communication module to control the two propeller motors, and the two propeller motors respectively The propeller and the lower propeller provide power, and the power module supplies power to the whole device; The orientation of the upper propeller is downward and at 45 degrees to the horizontal direction, and the orientation of the lower propeller is upward and at 45 degrees to the vertical direction; The controller can control the upper propeller and the lower propeller to rotate forward or reversely to realize the change of the thrust direction. When the upper propeller and the lower propeller rotate forward, the thrust is towards the direction of the fixed shaft, and when reversed, it is away from the direction of the fixed shaft; The control method is: Select the helium balloon to offset the buoyancy of the helium balloon with its own weight and the weight of the flight control part. The external device sends a control command to the communication module, and the controller obtains the control command through the communication module to control the rotation direction and speed of the two propeller motors. Realize ascent, descent, forward, left turn and right turn; The process of rising is as follows: when the upper propeller is reversed, the thrust direction is away from the fixed axis, resulting in vertical upward and horizontal backward force components; the lower propeller rotates forward, and the thrust direction is toward the fixed axis, resulting in vertical upward direction and horizontal forward direction When the thrust generated by the upper and lower propellers is the same, the component forces of the thrust of the two propeller motors in the horizontal direction cancel each other out, and a resultant force is generated in the vertical upward direction to realize the rise of the device; The realization process of the descent is that when the upper propeller rotates forward and the lower propeller reverses and the thrust generated by the two propellers is the same, the upper propeller generates force components in the vertical downward direction and the horizontal forward direction, and the lower propeller generates force components 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 resultant force in the vertical downward direction to realize the descent of the device; The process of advancing is as follows: when both the upper propeller and the lower propeller rotate forward, the upper propeller generates component force in the vertical downward direction and the horizontal direction, the lower propeller generates component force in the vertical upward direction and the horizontal direction, and the two propellers generate force in the vertical direction. The component forces generated in the direction cancel each other out, and a resultant force is generated in the horizontal forward direction to realize the advancement of the device; The realization process of turning right is that when the upper propeller and the lower propeller are rotating forward and have different thrusts, and when 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. Force, the propulsion speed on the left side is greater than the propulsion speed on the right side, and the device turns right. At the same time, because the thrust of the upper propeller is greater than that of the lower propeller, the component force of the upper propeller in the vertical direction is greater than that of the lower propeller in the vertical direction. Down, the device moves downward while turning right; The realization process of turning left is that when the upper propeller and the lower propeller are rotating forward and have different thrusts, when the thrust of the lower propeller is greater than that of the upper propeller, the component force of the lower propeller in the direction of horizontal advancement is greater than that of the upper propeller in the direction of horizontal advancement , 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 that 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. The resultant force direction Up, the unit moves up while turning left.

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