CN114916225A

CN114916225A - Vibration reduction assembly, unmanned aerial vehicle and vibration reduction method of unmanned aerial vehicle

Info

Publication number: CN114916225A
Application number: CN202080081002.1A
Authority: CN
Inventors: 赵阳; 刘祥; 李雄飞; 陈水添
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-12-16
Filing date: 2020-12-16
Publication date: 2022-08-16
Also published as: WO2022126417A1

Abstract

A vibration reduction assembly, an unmanned aerial vehicle and a vibration reduction method of the unmanned aerial vehicle are disclosed, wherein the vibration reduction assembly comprises a sensor, a processor, an execution actuator and a mass damping rigidity device; the sensor is arranged at the vibration part of the unmanned aerial vehicle and used for detecting the vibration of the unmanned aerial vehicle and outputting a vibration signal; the processor is electrically connected with the sensor and used for processing the vibration signal and outputting a control signal; the execution actuator is electrically connected with the processor and used for executing actions according to the control signals; mass damping rigidity ware is installed to unmanned aerial vehicle to be connected with the execution actuator, the action that the execution actuator carried out is used in on the rigidity ware of mass damping, makes the rigidity ware of mass damping produce with unmanned aerial vehicle's the reverse displacement of vibration direction, with the vibration that weakens unmanned aerial vehicle. Vibration reduction can be carried out on any type of vibration of any unmanned aerial vehicle, the stress level of key structural members of the unmanned aerial vehicle can be reduced, and the failure risk of the unmanned aerial vehicle is reduced.

Description

Vibration reduction assembly, unmanned aerial vehicle and vibration reduction method of unmanned aerial vehicle

Technical Field

The application relates to the technical field of unmanned aerial vehicles, in particular to a vibration reduction assembly, an unmanned aerial vehicle and a vibration reduction method of the unmanned aerial vehicle.

Background

The unmanned aerial vehicle has the advantages of good stability, strong anti-interference capability, capability of actively hovering, relatively low requirement on take-off and landing conditions, and rapid development and wide application in the civil and military fields. Due to the characteristics of the unmanned aerial vehicle, a battery-motor-blade is usually adopted as a power system of the unmanned aerial vehicle, and a control program can be used for sending a control instruction to independently control the rotating speed of the blade of each motor, so that the motion of the unmanned aerial vehicle is effectively controlled, and higher stability of the unmanned aerial vehicle is obtained.

With the progress and development of unmanned aerial vehicles, higher and higher requirements are put forward on the reliability of the unmanned aerial vehicles. Because rotor unmanned aerial vehicle adopts the multiaxis form usually and adopts the great paddle of size usually in order to obtain more efficient driving system, and need design longer horn for guaranteeing between the paddle and can not take place to interfere with the fuselage, the vibrational force that leads to transmitting horn connecting piece and fuselage from the vibration that the paddle end takes place is great, because unmanned aerial vehicle's damping is usually to the load, and not specially to the damping design of fuselage, there is great failure risk in key structure spare such as horn connecting piece and fuselage is in higher stress level, select for use better material of performance or reinforced structure spare usually for improving the reliability, but there are shortcomings such as cost-push or weight gain.

Disclosure of Invention

The embodiment of the application provides a vibration reduction assembly, an unmanned aerial vehicle and an unmanned aerial vehicle vibration reduction method, and the purpose of vibration reduction of the unmanned aerial vehicle can be achieved.

In a first aspect, an embodiment of the present application provides a vibration damping assembly, including:

the sensor is arranged at the vibration part of the unmanned aerial vehicle and used for detecting the vibration of the unmanned aerial vehicle and outputting a vibration signal;

the processor is electrically connected with the sensor and used for processing the vibration signal and outputting a control signal;

the execution actuator is electrically connected with the processor and used for executing actions according to the control signals; and

quality damping rigidity ware, install extremely unmanned aerial vehicle, and with execution actuator connects, the action that execution actuator carried out is in on the quality damping rigidity ware, make quality damping rigidity ware produce with unmanned aerial vehicle's the reverse displacement of vibration direction is in order to weaken unmanned aerial vehicle's vibration.

In a second aspect, an embodiment of the present application provides an unmanned aerial vehicle, including damping assembly, damping assembly includes:

In a third aspect, an embodiment of the present application provides an unmanned aerial vehicle vibration damping method, including:

providing a vibration reduction assembly, wherein the vibration reduction assembly comprises a sensor, a processor, an execution actuator and a mass damping rigidity device, the sensor is installed at a vibration part of the unmanned aerial vehicle, the processor is electrically connected with the sensor, the execution actuator is electrically connected with the processor, the mass damping rigidity device is installed on the unmanned aerial vehicle and is connected with the execution actuator;

detecting vibration of the drone using the sensor and outputting a vibration signal;

processing the vibration signal by using the processor and outputting a control signal;

and performing action on the mass damping rigidity device by using the execution actuator according to the control signal, so that the mass damping rigidity device generates displacement opposite to the vibration direction of the unmanned aerial vehicle, and the vibration of the unmanned aerial vehicle is weakened.

The utility model provides a vibration damping subassembly, through setting up the sensor, the treater, execution actuator and quality damping rigidity ware, the sensor detects unmanned aerial vehicle's vibration and exports vibration signal, the treater is handled this vibration signal and is exported control signal, execution actuator exerts the effort to quality damping rigidity ware according to this control signal, quality damping rigidity ware produces the vibration opposite with unmanned aerial vehicle's vibration, thereby unmanned aerial vehicle's vibration is offset to the at least part, realize the purpose of unmanned aerial vehicle's damping. And, because the damping subassembly of this application embodiment does not design to unmanned aerial vehicle or load, to the vibration of arbitrary type of arbitrary unmanned aerial vehicle, for example the vibration of unmanned aerial vehicle self and the vibration of load transmission, all can carry out the damping, can reduce the stress level of unmanned aerial vehicle's key structure spare, reduce unmanned aerial vehicle inefficacy risk.

Drawings

Fig. 1 is a schematic view of an unmanned aerial vehicle system of an embodiment;

FIG. 2 is a schematic view of a vibration damping assembly of an embodiment;

FIG. 3a is a schematic diagram of a portion of a damping assembly according to an exemplary embodiment;

FIG. 3b is a schematic view of a portion of another embodiment of a vibration damping assembly;

FIG. 4 is a schematic representation of an embodiment of a mass damping stiffness machine in a three dimensional coordinate system;

FIG. 5 is a schematic illustration of an embodiment of a first actuator driven mass damped stiffener motion;

FIG. 6 is a schematic structural diagram of an embodiment of a drone mount damping assembly;

FIG. 7 is another perspective view of FIG. 6;

FIG. 8 is another perspective view of FIG. 6;

FIG. 9 is a flow chart of damping by the damping assembly of an embodiment.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

The technical solutions in the embodiments of the present application will be described below clearly with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Referring to fig. 1, in order to solve the problem of vibration of the unmanned aerial vehicle 20, a vibration damping assembly 10 is designed in the embodiment of the present application, and the vibration damping assembly 10 may be installed on the unmanned aerial vehicle 20, so as to weaken the vibration of the unmanned aerial vehicle 20, reduce the failure risk of the unmanned aerial vehicle 20, and also play a role in reducing the vibration transmitted to the load 30 when the unmanned aerial vehicle 20 carries the load 30. Wherein, unmanned aerial vehicle 20 can be common rotor unmanned aerial vehicle, and load 30 can be camera device, liquid medicine sprinkler etc..

Wherein, in some embodiments, the vibration reduction assembly 10 may be a mechanism completely independent of the drone 20, and vibration reduction may be achieved by mounting on the drone 20. In other embodiments, some of the structure of the vibration damping assembly 10 may be shared with the drone 20, which may reduce the number of parts of the vibration damping assembly 10, reducing the added weight required to damp vibrations. These embodiments will be discussed in detail in the following description, which is not to be construed as limiting.

Referring to fig. 2, the embodiment of the present application provides a vibration damping assembly 10, which includes a sensor 11, a processor 12, an actuating actuator 13, and a mass damping stiffness device 14. The sensor 11 is electrically connected to a processor 12, the processor 12 is electrically connected to an actuator 13, and the actuator 13 is connected to a mass damping stiffness device 14. It will be appreciated that the electrical connection between the sensor 11 and the processor 12, and the electrical connection between the processor 12 and the actuator 13, may be any feasible connection, such as a wire connection, an electrical connection via wireless communication, etc. The connection between the actuator 13 and the mass damping rigidity device 14 may be a direct connection or an indirect connection, where a direct connection refers to a connection mode in which no other component is provided between the two, and an indirect connection refers to a connection mode in which the two are connected through another component. The actuator 13 and the mass damper stiffness device 14 may be integrated as one component, or the actuator 13 and the mass damper stiffness device 14 may be integrated with other components such as the processor 12.

With reference to fig. 2 and fig. 6 to 8, specifically, the sensor 11 is installed at a vibration portion of the drone 20, and is configured to detect vibration of the drone 20 and output a vibration signal. Unmanned aerial vehicle 20's vibration can be divided into and remove and rotate, and accessible sensor 11 detects the acceleration and the angular velocity of 20 vibration positions of unmanned aerial vehicle, measures the vibration type and the vibration amplitude of quantization of 20 vibration positions of unmanned aerial vehicle, has also included the vibration type and the vibration amplitude of quantization of vibration position in the vibration signal promptly to follow-up pertinence damping that carries on.

The processor 12 is used for processing the vibration signal and outputting a control signal. The actuator 13 is configured to perform an action in accordance with the control signal.

The mass damping rigidity 14 is mounted to the drone 20 and is connected with the execution actuator 13, and the action performed by the execution actuator 13 acts on the mass damping rigidity 14, so that the mass damping rigidity 14 generates a displacement or rotation opposite to the vibration direction of the drone 20 to attenuate the vibration of the drone 20. The function of the actuator 13 is performed to control the displacement and speed of the mass damping stiffness 14 so that the mass damping stiffness 14 produces a displacement opposite to the vibration to be damped. In a particular product, the actuation device 13 may also be referred to as an actuator, a driver, or the like. The function of mass damping rigidity ware 14 is for producing the vibration opposite displacement with treating weakening, can regard unmanned aerial vehicle 20 and damping subassembly 10 as entire system, and the displacement of the vibration of unmanned aerial vehicle 20 and the displacement of mass damping rigidity ware 14 are entire system's internal motion, and to entire system, displacement between them is the motion in the system, because displacement between them is opposite, at least partial displacement can be offset, and from the outside, entire system's vibration degree is reduced to realize the damping mesh. In particular products, mass damping stiffness device 14 may also be referred to as a damper, shock absorber, mass damping stiffness device, or the like.

The vibration reduction principle of the embodiment of the application is as follows: for the entire system of vibration attenuation subassembly 10 and unmanned aerial vehicle 20, the vibration of unmanned aerial vehicle 20 and the counter vibration of vibration attenuation subassembly 10 are the effort of system inside and are working, and mass damping rigidity ware 14 produces the vibration opposite with the vibration of unmanned aerial vehicle 20, and the vibration of unmanned aerial vehicle 20 and the vibration of mass damping rigidity ware 14 at least partially offset each other to weaken the vibration of unmanned aerial vehicle 20. The vibration of the mass damping stiffness device 14 is derived from the forces of the actuation actuators 13, and the processor 12 outputs control signals to the actuation actuators 13 to determine the specific values of the forces, and the vibration signals of the drone 20 detected by the sensor 11 are input to the processor 12 and processed to derive the control signals.

Therefore, this application embodiment is through setting up sensor 11, treater 12, carry out actuator 13 and quality damping rigidity ware 14, sensor 11 detects unmanned aerial vehicle 20's vibration and output vibration signal, treater 12 handles this vibration signal and output control signal, carry out actuator 13 and exert the effort to quality damping rigidity ware 14 according to this control signal, quality damping rigidity ware 14 produces the vibration opposite with unmanned aerial vehicle 20's vibration to at least part counteracts unmanned aerial vehicle 20's vibration, realizes the purpose of unmanned aerial vehicle 20's damping. Moreover, because the damping subassembly 10 of this application embodiment does not design to unmanned aerial vehicle 20 or load 30, to the vibration of arbitrary type of unmanned aerial vehicle 20, for example the vibration of unmanned aerial vehicle 20 self and the vibration of load 30 transmission, all can carry out the damping, can reduce the stress level of unmanned aerial vehicle 20's key structure spare, reduce unmanned aerial vehicle 20 risk of failing.

In one embodiment, referring to fig. 2 and 6-8, for a typical rotorcraft 20, the vibration sites may include a rotor 22, an arm 23, and a junction 26 of a fuselage 21 and a load 30. This is because the rotation of the rotor 22 to provide lift and steering to the drone 20 is the primary motion and vibration location of the drone 20, and the vibration of the rotor 22 is transmitted to the horn 23 as the horn 23 is attached to the rotor 22. On the other hand, the body 21 of the unmanned aerial vehicle 20 needs to be loaded with the load 30 for work, and during the flight, the load 30 may move, and further generate vibration, and the vibration is also transmitted to the body 21 of the unmanned aerial vehicle 20, and the vibration levels at these positions are high. For accurate and comprehensive detection unmanned aerial vehicle 20's vibration, can set up the quantity of sensor 11 and be a plurality of to install sensor 11 to the higher position of unmanned aerial vehicle 20's vibration level.

Optionally, the sensor 11 is mounted at the motor 24 of the drone 20 that drives the rotor 22. In this arrangement, the sensor 11 can be disposed at a position where the motor 24 for driving the rotor 22 directly receives the force of the rotation of the rotor 22 and the vibration level is relatively high, considering that the rotor 22 itself rotates at a high speed and the sensor 11 is difficult to be disposed. It will be appreciated that for a multi-rotor drone 20, a sensor 11 may be mounted at each rotor's corresponding motor 24 to detect the vibrations transmitted by each rotor 22 to the motor 24. One or more sensors 11 can be installed for one motor 24, and when one sensor 11 is installed, a high-precision sensor 11 can be installed; when the plurality of sensors 11 are mounted, the data of the plurality of sensors 11 complement each other, and the detection accuracy of the vibration of the motor 24 can be improved.

Optionally, the sensor 11 is mounted at the junction of the body 21 and the arm 23 of the drone 20. So set up, consider that horn 23 connects between fuselage 21 of unmanned aerial vehicle 20 and the motor 24 that the drive rotor rotated, the pivoted effort of rotor transmits to fuselage 21 through motor 24 and horn 23, and horn 23 has higher stress owing to bear great effort, is not very suitable to set up other spare parts on it again, so set up sensor 11 in fuselage 21 and horn 23 junction, on the one hand can detect the vibration that horn 23 transmitted, also can reduce the influence to horn 23 self structural strength and stability. It will be appreciated that for a multi-rotor drone 20, a sensor 11 may be installed at the junction of each rotor 22 corresponding to the horn 23 and the fuselage 21 to detect the vibrations transmitted by each horn 23. One or more sensors 11 can be arranged at the joint of one of the arms 23 and the machine body 21, and when one sensor 11 is arranged, a high-precision sensor 11 can be arranged; when the plurality of sensors 11 are mounted, the data of the plurality of sensors 11 complement each other, and the detection accuracy of the vibration transmitted to the arm 23 can be improved.

Optionally, the sensor 11 is mounted at the junction 26 of the fuselage 21 of the drone 20 and the load 30. In this way, the vibration generated by the movement of the load 30 is considered, and the load 30 itself is usually externally connected to the unmanned aerial vehicle 20, so that it is not convenient to install other components, and therefore the sensor 11 is installed at the connection position 26 between the body 21 and the load 30, and the sensor 11 can be installed more conveniently. It will be appreciated that one or more sensors 11 may be installed at the junction 26 of the fuselage 21 and the load 30, and that a high precision sensor 11 may be installed when one sensor 11 is installed; when the plurality of sensors 11 are mounted, the data of the plurality of sensors 11 complement each other, and the detection accuracy of the vibration transmitted to the load 30 can be improved.

It will be appreciated that the various embodiments of mounting the sensor 11 to the vibration site of the drone 20 described above may be combined with each other. The sensor 11 may be disposed at other vibration portions of the drone 20, besides the positions in the above embodiments.

Be a plurality of through setting up sensor 11 to a plurality of vibration positions of installing unmanned aerial vehicle 20 that correspond can detect unmanned aerial vehicle 20's the position that has higher vibration level, thereby can be accurate and comprehensive know unmanned aerial vehicle 20's the vibration condition, and be convenient for follow-up carry out the design of pertinence damping.

The sensor 11 in the above embodiments may be any feasible sensor 11, such as a displacement sensor 11, an acceleration sensor 11, an angular velocity sensor 11, and the like, and is not limited to this.

In one embodiment, referring to fig. 2, 7 and 8, the actuating actuators 13 include a first actuating actuator 131, a second actuating actuator 132 and a third actuating actuator 133. The first, second, and

third actuators

131, 132, and 133 are connected to the mass damping stiffness device 14 at different positions. The arrangement is such that the first, second and

third actuators

131, 132, 133 can urge the mass damping stiffness 14 to move or rotate in different directions.

In this embodiment, the vibration situation of the unmanned aerial vehicle 20 is complicated various when flying, and for the purpose of realizing the weakening to complicated various vibrations, design first execution actuator 131, second execution actuator 132 and third execution actuator 133, the three is connected with mass damping rigidity ware 14 in different positions to realize pushing away mass damping rigidity ware 14 in different directions and remove or rotate, thereby realize the damping. The principle is that the mass damping rigidity device 14 is installed on the unmanned aerial vehicle 20 to have an initial position, the execution actuator 13 also has an initial force application direction for pushing the mass damping rigidity device 14, and the vibration direction of the unmanned aerial vehicle 20 may have an inclined included angle with the initial force application direction, that is, the vibration direction of the unmanned aerial vehicle 20 has a component in the same direction as the initial force application direction and a perpendicular component, the action of a single execution actuator 13 can only weaken the component in the same direction, and an additional execution actuator 13 is needed to weaken the perpendicular component. Therefore, in the present embodiment, the first, second and

third actuators

131, 132 and 133 push the mass damping rigidity 14 to move or rotate in different directions, and the three actuators 13 can cover the vibration damping requirements of the unmanned aerial vehicle 20 for vibrations in various directions.

It is understood that the execution actuators 13 are not limited to the first, second, and

third execution actuators

131, 132, 133, and that there may be more execution actuators 13.

Alternatively, referring to fig. 2 and 4, the moving directions of the first actuator 131, the second actuator 132 and the third actuator 133 are perpendicular to each other, i.e. the moving directions of the first actuator 131, the second actuator 132 and the third actuator 133 form a three-dimensional rectangular coordinate system X-Y-Z. The vibration or rotation of the unmanned aerial vehicle 20 in various directions is converted into an X-Y-Z component in a three-dimensional rectangular coordinate system, and the mass damping rigidity device 14 can offset the corresponding component under the pushing of the first, second and

third execution actuators

131, 132 and 133, so as to achieve vibration damping. Therefore, the vibration types of the unmanned aerial vehicle 20 can be divided into 6 vibration types including movement and rotation in the X direction, movement and rotation in the Y direction, and movement and rotation in the Z direction, and the 6 vibration types of the unmanned aerial vehicle 20 can be offset by pushing the mass damping rigidity 14 through the first, second, and

third execution actuators

131, 132, and 133, so as to achieve vibration reduction.

Alternatively, referring to fig. 5, 7 and 8, the number of the first actuating actuators 131 is two and the first actuating actuators 131 are arranged at intervals, when two first actuating actuators 131 move along the same direction, the mass damping rigidity 14 is driven to move, and when more than two first actuating actuators 131 move along opposite directions, the mass damping rigidity 14 is driven to rotate.

As shown in fig. 5, when the two first actuators 131 simultaneously move from top to bottom along the paper surface, the mass damper stiffness device 14 is pushed to move from top to bottom; when the two first actuators 131 move from bottom to top along the paper at the same time, the mass damper rigidity 14 is pushed to move from bottom to top; if the two first actuators 131 move in opposite directions, for example, the first actuator 131 on the left side of the paper moves from top to bottom, and the first actuator 131 on the right side moves from bottom to top, the mass damping stiffness device 14 is pushed to rotate counterclockwise; if the first actuator 131 on the left side moves from bottom to top and the first actuator 131 on the right side moves from top to bottom, the mass damper rigidity 14 is pushed to rotate clockwise.

Alternatively, the number of the first actuators 131 may be greater than two, and a greater number of the first actuators 131 are arranged at intervals, which is similar to the two first actuators 131 in principle, and the power of the single first actuator 131 may be smaller.

It should be understood that the first actuator 131 is illustrated in this embodiment, and for the second actuator 132, the third actuator 133, and further the actuators 13, the arrangement and principle of the first actuator 131 can be referred to, and thus, detailed description thereof is omitted.

The actuator 13 in the above embodiments may be any feasible structure such as a motor 24, a hydraulic driving mechanism, a pneumatic driving mechanism, etc., and is not limited to the above embodiments.

In one embodiment, referring to fig. 2 and 3a, the mass damping stiffness device 14 includes a mass 141 and a damping member 142. A damping member 142 is connected to the mass 141 and to the drone 20, the damping member 142 serving to provide damping to smooth out the vibrations. The actuator 13 is connected to the mass 141, and the action performed by the actuator 13 acts on the mass 141, and the mass 141 generates a displacement or rotation opposite to the vibration direction of the drone 20.

In this embodiment, the mass block 141 is heavy and occupies most of the specific gravity of the vibration damping assembly 10, and therefore, in the overall system of the vibration damping assembly 10 and the unmanned aerial vehicle 20, the vibration of the mass block 141 has a large influence on the overall system. The heavier weight of the mass 141 has a smaller vibration amplitude, i.e. a larger vibration inertia, when vibrating, so that the vibration of the drone 20 is counteracted by the vibration of the mass 141, and the required vibration amplitude of the mass 141 is not too large, which does not affect the stability of the whole system.

In this embodiment, the damping member 142 may be made of a material having damping and buffering effects, and is not particularly limited. The damping member 142 is arranged, so that the vibration of the mass block 141 can be buffered to some extent, and the influence on the stability of the unmanned aerial vehicle 20 caused by the overlarge vibration frequency or amplitude of the mass block 141 is avoided.

In one embodiment, please refer to fig. 3b, which is substantially the same as the embodiment shown in fig. 3a, except that the actuator 13 is connected to the damping member 142, that is, the action force of the actuator 13 acts on the damping member 142, and the damping member 142 is further transmitted to the mass block 141, so as to avoid the structural failure caused by the excessive local pressure due to the direct rigid contact between the actuator 13 and the mass block 141.

In one embodiment, referring to fig. 2, 3a and 3b, the mass damper stiffness device 14 further comprises a stiffness spring 143, and the stiffness spring 143 is connected to the mass 141 and to the drone 20. When the mass 141 is in a stationary state relative to the drone 20, the stiffness spring 143 has a certain tension, and when the mass 141 is in a moving state corresponding to the drone 20, the tension of the stiffness spring 143 can be increased or decreased, thereby driving the mass 141 to have a movement tendency in some directions. Therefore, the stiffness spring 143 can provide a certain passive damping effect to the mass block 141 when the actuator 13 is not operated, and can increase the damping effect of the mass block 141 when the actuator 13 is operated. The stiffness spring 143 is made of metal, and is not particularly limited.

In one embodiment, referring to fig. 6 to 8, the main body 21 of the drone 20 includes a plurality of detachable modules, some of which may be configured as the mass 141. For example, the battery module is a module with a larger weight ratio in the drone 20, and the battery module may be configured as the mass block 141. The benefit of such an arrangement is that the components of the drone 20 are directly used as the mass 141, without the need for additional mass 141, the overall weight of the drone 20 and the vibration damping assembly 10 can be significantly reduced, so that the drone 20 can carry heavier loads 30. It is understood that, when the battery module is used as the mass block 141, the mass block 141 may be used as accessories such as connection wires between the battery module and other components. In addition to the battery module as the mass block 141, other components may be used as the mass block 141.

In another embodiment, referring to fig. 6 to 8, the damping assembly 10 further includes a support frame (not shown), the mass block 141 is a body 21 of the drone 20, the support frame is connected to the arm 23 and the foot stand 25 of the drone 20, and the body 21 of the drone 20 is disposed on the support frame. This embodiment connects horn 23 and foot rest 25 with unmanned aerial vehicle 20's fuselage 21 is whole as quality piece 141, through setting up the support frame, and the damping is realized to the weight of the spare part of utilization unmanned aerial vehicle 20 self that can the maximize, need not additionally to set up quality piece 141. It will be appreciated that the actuator 13, the damper 142 and the rate spring 143 are all attached to the support bracket.

In another embodiment, referring to fig. 6 to 8, the damping assembly 10 further includes a support frame (not shown), the support frame is mounted on the fuselage 21 of the drone 20, and the mass 141 is disposed on the support frame. This embodiment needs additionally to set up a quality piece 141, is connected to unmanned aerial vehicle 20's fuselage 21 through the support frame on, the benefit that so sets up lies in can installing this damping subassembly 10 additional on the basis that does not change current unmanned aerial vehicle 20, reduces the repacking cost, promotes former unmanned aerial vehicle 20's damping effect. It will be appreciated that the actuator 13, the damper 142 and the rate spring 143 are all attached to the support bracket.

The structural part of the embodiment of the present application is explained above, and the control part of the embodiment of the present application is explained below.

In one embodiment, referring to fig. 2 and 9, the processor 12 includes a data processor 121 and a decision controller 122, and the data processor 121 is electrically connected to the sensor 11 for processing the vibration signal and outputting control data. The decision controller 122 is electrically connected to the data processor 121, and is configured to calculate a control force according to the control data and output a control signal. The sensor 11 detects the vibration of the vibration portion of the drone 20 and outputs a vibration signal that requires a series of processing to convert into a signal required for vibration reduction. Therefore, a data processor 121 and a decision controller 122 are provided, the data processor 121 is responsible for processing the vibration signal and outputting the control data, the decision controller 122 is responsible for calculating the control force according to the control data and outputting the control signal, and the execution actuator 13 performs corresponding action on the mass damping rigidity device 14 according to the known signal to realize vibration reduction. The setting processor 12 comprises a data processor 121 and a decision controller 122, and has simple structure, simple control logic and easy implementation.

Wherein, the data processor 121 processes the vibration signal, including at least one of the following processes: filtering, amplifying, adjusting, analog differential processing and analog-digital conversion processing. The above various processes are to solve the problems of weak vibration signal and large noise detected by the sensor 11, and through the above processes, a strong, stable and noiseless vibration signal can be obtained, and the vibration signal can be selected as a digital signal, which is convenient for subsequent further processing.

The decision controller 122 calculates the control force according to the control data, and includes: the decision controller 122 converts the control data into the displacement and velocity of the mass damper stiffness 14 and calculates the control force from the displacement and velocity. In this embodiment, the principle that the mass damping rigidity device 14 generates vibration in a direction opposite to the vibration direction of the drone 20 realizes vibration damping, so how much displacement and speed the mass damping rigidity device 14 needs is calculated by the decision controller 122, and the vibration of the mass damping rigidity device 14 is obtained by the action of the execution actuator 13, that is, the execution actuator 13 applies control force to the mass damping rigidity device 14. When the decision controller 122 calculates, the control force C × T ═ U may be calculated by multiplying the structural control gain matrix C by the structural state vector T according to a preset control algorithm. In other embodiments, any feasible algorithm may be used in the method for calculating the control force by the decision controller 122 according to the control data, and details are not described herein.

Optionally, the decision controller 122 is further configured to compare the calculated control force with a maximum output force that can be provided by the vibration damping assembly 10, and output a control signal according to a comparison result. The damping that damping subassembly 10 can realize has the upper limit, and when reaching the upper limit of damping, damping subassembly 10 increases the control power again, but damping subassembly 10's the power of exerting oneself no longer increases, does not have the promotion to the damping effect, so set up the biggest power that damping subassembly 10 can provide of control signal consideration, can avoid energy waste.

Specifically, when the calculated control force is greater than the maximum output force that can be provided by the vibration damping module 10, the decision controller 122 outputs a control signal with a control force of 0. When the calculated control force is less than or equal to the maximum output force that can be provided by the vibration damping module 10, the decision controller 122 outputs a control signal of the calculated control force.

When the calculated control force is larger than the maximum output force which can be provided by the vibration damping assembly 10 and exceeds the limit of vibration damping of the vibration damping assembly 10, namely the control force with the control signal of 0, the execution actuator 13 does not act on the mass damping rigidity device 14 any longer, but depends on the passive vibration damping function of the unmanned aerial vehicle 20 to perform vibration damping. The passive damping may be: the rate spring 143 acts on the mass damping stiffness device 14 and the other damping structures of the drone 20 other than the damping assembly 10 provided by the embodiments of the present application.

When the calculated control force is less than or equal to the maximum output force that can be provided by the vibration damping assembly 10, the vibration damping assembly 10 of the embodiment of the present application is adopted for vibration damping of the unmanned aerial vehicle 20 within the vibration damping limit of the vibration damping assembly 10, that is, the control force is the calculated control force, and at this time, the actuator 13 acts on the mass damping stiffness device 14.

Referring to fig. 9, a control flow of the damping assembly 10 according to the embodiment of the present application is as follows: the unmanned aerial vehicle 20 generates vibration, the sensor 11 detects the vibration of the unmanned aerial vehicle 20 and transmits a vibration signal to the data processor 121, the data processor 121 processes the vibration signal to obtain control data, the decision controller 122 calculates according to the control data to obtain a control force, compares the control force with the maximum output force of the vibration damping assembly 10, when the control force is greater than the maximum output force, outputs a control signal with the control force being 0, when the control force is less than or equal to the maximum output force, outputs a control signal of the calculated control force, namely an ideal control signal, the control signal is transmitted to the execution actuator 13, and the execution actuator 13 performs a corresponding action on the mass damping rigidity device 14 according to the control signal.

After quality damping rigidity ware 14 produced the vibration opposite with unmanned aerial vehicle 20's vibration, has weakened unmanned aerial vehicle 20's vibration, detects unmanned aerial vehicle 20's vibration again through sensor 11 this moment to carry out above-mentioned flow once more, finally can realize that unmanned aerial vehicle 20's vibration is close the purpose of eliminating completely.

The embodiment of the present application further provides an unmanned aerial vehicle 20, including the damping component 10 in the foregoing embodiment, the specific structure, principle, etc. about the damping component 10 can refer to the foregoing, and this embodiment is not described again.

According to the foregoing embodiments, in some cases, the drone 20 of the embodiment of the present application may be the entire system after the conventional drone 20 is installed with the vibration damping assembly 10, and in other cases, the drone 20 of the embodiment of the present application may be a system in which some components of the conventional drone 20 are shared with the vibration damping assembly 10, and both are organically integrated.

The embodiment of the application provides an unmanned aerial vehicle 20, set up sensor 11 through damping subassembly 10, treater 12, carry out actuator 13 and quality damping rigidity ware 14, sensor 11 detects unmanned aerial vehicle 20's vibration and output vibration signal, treater 12 handles this vibration signal and output control signal, carry out actuator 13 and exert the effort to quality damping rigidity ware 14 according to this control signal, quality damping rigidity ware 14 produces the vibration opposite with unmanned aerial vehicle 20's vibration, thereby at least part offsets unmanned aerial vehicle 20's vibration, realize the purpose of unmanned aerial vehicle 20's damping. Moreover, because the damping subassembly 10 of this application embodiment does not design to unmanned aerial vehicle 20 or load 30, to the vibration of arbitrary type of unmanned aerial vehicle 20, for example the vibration of unmanned aerial vehicle 20 self and the vibration of load 30 transmission, all can carry out the damping, can reduce the stress level of unmanned aerial vehicle 20's key structure spare, reduce unmanned aerial vehicle 20 risk of failing.

Referring to fig. 2 and fig. 6 to 8, an embodiment of the present application further provides a method for damping vibration of an unmanned aerial vehicle 20, including:

providing a vibration damping assembly 10, wherein the vibration damping assembly 10 comprises a sensor 11, a processor 12, an execution actuator 13 and a mass damping rigidity device 14, the sensor 11 is installed at a vibration part of the unmanned aerial vehicle 20, the processor 12 is electrically connected with the sensor 11, the execution actuator 13 is electrically connected with the processor 12, the mass damping rigidity device 14 is installed on the unmanned aerial vehicle 20 and is connected with the execution actuator 13;

detecting the vibration of the drone 20 using the sensor 11 and outputting a vibration signal;

processing the vibration signal using the processor 12 and outputting a control signal;

the execution actuator 13 is used to perform an action on the mass damping rigidizer 14 according to the control signal, so that the mass damping rigidizer 14 generates a displacement or rotation in the opposite direction to the vibration direction of the drone 20 to attenuate the vibration of the drone 20.

The vibration reduction method of the unmanned aerial vehicle 20 achieves the purpose of vibration reduction by arranging the vibration reduction assembly 10. As for the specific structure, principle, etc. of the damping module 10, reference may be made to the foregoing description, and the description of this embodiment is omitted.

The utility model provides an unmanned aerial vehicle 20 damping method, set up sensor 11 through damping subassembly 10, treater 12, carry out actuator 13 and quality damping rigidity ware 14, sensor 11 detects unmanned aerial vehicle 20's vibration and output vibration signal, treater 12 handles this vibration signal and output control signal, carry out actuator 13 and exert the effort to quality damping rigidity ware 14 according to this control signal, quality damping rigidity ware 14 produces the vibration opposite with unmanned aerial vehicle 20's vibration, thereby at least part offsets unmanned aerial vehicle 20's vibration, realize the purpose of unmanned aerial vehicle 20's damping. Moreover, because the damping subassembly 10 of this application embodiment does not design to unmanned aerial vehicle 20 or load 30, to the vibration of arbitrary type of unmanned aerial vehicle 20, for example the vibration of unmanned aerial vehicle 20 self and the vibration of load 30 transmission, all can carry out the damping, can reduce the stress level of unmanned aerial vehicle 20's key structure spare, reduce unmanned aerial vehicle 20 risk of failing.

The foregoing detailed description of a pan/tilt head assembly provided by the present application, and the specific examples applied herein illustrate the principles and embodiments of the present application, and the description of the embodiments is only used to help understand the method and the core concept of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims

A vibration dampening assembly, comprising:

the sensor is arranged at the vibration part of the unmanned aerial vehicle and used for detecting the vibration of the unmanned aerial vehicle and outputting a vibration signal;

the processor is electrically connected with the sensor and used for processing the vibration signal and outputting a control signal;

the execution actuator is electrically connected with the processor and used for executing actions according to the control signals; and

quality damping rigidity ware, install extremely unmanned aerial vehicle, and with execution actuator connects, the action that execution actuator carried out is in on the quality damping rigidity ware, make quality damping rigidity ware produce with unmanned aerial vehicle's the reverse displacement of vibration direction is in order to weaken unmanned aerial vehicle's vibration.
The vibration attenuation module of claim 1, wherein the number of the sensors is a plurality, and the sensor is installed at a vibration part of the unmanned aerial vehicle and comprises:

the sensor is installed at a motor of a driving rotor of the unmanned aerial vehicle; and/or

The sensor is arranged at the joint of the body and the arm of the unmanned aerial vehicle; and/or

The sensor is installed at the connection position of the machine body and the load.
The vibration damping assembly of claim 1 wherein the actuation actuators include a first actuation actuator, a second actuation actuator and a third actuation actuator, the first actuation actuator, the second actuation actuator and the third actuation actuator being coupled to the mass damping rigidizer at different locations such that the first actuation actuator, the second actuation actuator and the third actuation actuator are capable of pushing the mass damping rigidizer to move or rotate in different directions.
The vibration damping assembly of claim 3 wherein said first actuator is spaced apart from and more than two, wherein said mass damping stiffners are driven to move when said more than two first actuators move in the same direction, and wherein said mass damping stiffners are driven to rotate when said more than two first actuators move in opposite directions.
A vibration damping assembly according to claim 3 wherein the directions of movement of said first, second and third actuator are mutually perpendicular.
The vibration attenuation assembly of claim 1, wherein the mass damping rigidizer includes a mass and a damping member, the damping member coupled to the mass and coupled to the drone, the actuation actuator coupled to the mass, the actuation actuator performing an action on the mass, the mass producing a displacement opposite a direction of vibration of the drone, the damping member providing damping to smooth the vibration.
The vibration attenuation assembly of claim 6, wherein the mass damping rigidizer further comprises a stiffness spring connected to the mass and to the drone.
The vibration damping assembly of claim 6, wherein the mass is a component of the drone.
The vibration damping assembly of claim 6, further comprising a support frame, wherein the mass is a fuselage of the unmanned aerial vehicle, the support frame is connected with a horn and a foot rest of the unmanned aerial vehicle, and the fuselage of the unmanned aerial vehicle is disposed on the support frame.
The vibration attenuation assembly of claim 6, further comprising a support bracket mounted to the fuselage of the drone, the mass being disposed on the support bracket.
The vibration attenuation module according to any one of claims 1 to 10, wherein the processor comprises a data processor and a decision controller, the data processor being electrically connected to the sensor for processing the vibration signal and outputting control data; the decision controller is electrically connected with the data processor and used for calculating control force according to the control data and outputting the control signal.
The vibration attenuation module according to claim 11, wherein the data processor processes the vibration signal including at least one of: filtering, amplifying, adjusting, analog differential processing and analog-digital conversion processing.
The vibration attenuation module according to claim 11, wherein the decision controller calculates a control force based on the control data, comprising: and the decision controller converts the control data into the displacement and the speed of the mass damping rigidity device, and calculates the control force according to the displacement and the speed.
The vibration damping assembly of claim 13 wherein the decision controller is further configured to compare the calculated control force with a maximum output force that can be provided by the vibration damping assembly and output the control signal based on the comparison.
The vibration damping assembly according to claim 14, wherein the decision controller outputs the control signal having a control force of 0 when the calculated control force is greater than the maximum output force that can be provided by the vibration damping assembly; and when the control force calculated by the decision controller is less than or equal to the maximum output force which can be provided by the vibration reduction assembly, outputting a control signal of which the control force is the calculated control force.
An unmanned aerial vehicle, its characterized in that includes damping assembly, damping assembly includes:

the sensor is arranged at the vibration part of the unmanned aerial vehicle and used for detecting the vibration of the unmanned aerial vehicle and outputting a vibration signal;

the processor is electrically connected with the sensor and used for processing the vibration signal and outputting a control signal;

the execution actuator is electrically connected with the processor and used for executing actions according to the control signals; and

quality damping rigidity ware, install extremely unmanned aerial vehicle, and with execution actuator connects, the action that execution actuator carried out is in on the quality damping rigidity ware, make quality damping rigidity ware produce with unmanned aerial vehicle's the reverse displacement of vibration direction is in order to weaken unmanned aerial vehicle's vibration.
The drone of claim 16, wherein the drone includes a rotor, a horn, and a fuselage, the number of sensors is plural, the sensors being mounted at a vibration location of the drone including:

the sensor is mounted at a motor that drives the rotor; and/or

The sensor is arranged at the joint of the machine body and the machine arm; and/or

The sensor is installed at the connection position of the machine body and the load.
The drone of claim 16, wherein the execution actuators include a first execution actuator, a second execution actuator, and a third execution actuator, the first, second, and third execution actuators are respectively connected with the mass damping rigidizer at different locations from one another such that the first, second, and third execution actuators can push the mass damping rigidizer to move or rotate in different directions.
The drone of claim 18, wherein the number of the first actuation actuators is two or more and the first actuation actuators are spaced apart, the mass damping rigidizer is driven to move when the two or more first actuation actuators move in the same direction, and the mass damping rigidizer is driven to rotate when the two or more first actuation actuators move in opposite directions.
The drone of claim 18, wherein the first, second, and third execution actuators move in directions that are perpendicular to each other.
The drone of claim 16, wherein the mass damping rigidizer includes a mass and a damping member, the damping member connecting the mass and the drone, the actuation actuator connected with the mass, the actuation performed by the actuation actuator acting on the mass, the mass producing a displacement opposite a direction of vibration of the drone, the damping member providing damping to smooth the vibration.
The drone of claim 21, wherein the mass damping stiffener further comprises a stiffness spring connecting the mass and the drone.
The drone of claim 21, wherein the mass is a component of the drone.
The unmanned aerial vehicle of claim 21, wherein the vibration attenuation assembly further comprises a support frame, the mass is a fuselage of the unmanned aerial vehicle, the support frame is connected with arms and a foot rest of the unmanned aerial vehicle, and the fuselage of the unmanned aerial vehicle is disposed on the support frame.
The drone of claim 21, wherein the vibration reduction assembly further comprises a support bracket mounted to a fuselage of the drone, the mass disposed on the support bracket.
A drone according to any one of claims 16 to 25, wherein the processor includes a data processor and a decision controller, the data processor being electrically connected to the sensor for processing the vibration signal and outputting control data; the decision controller is electrically connected with the data processor and used for calculating control force according to the control data and outputting the control signal.
The drone of claim 26, wherein the data processor processes the vibration signal including at least one of: filtering, amplifying, adjusting, analog differential processing and analog-digital conversion processing.
A drone as claimed in claim 26, wherein the decision controller calculates the control force from the control data, including: and the decision controller converts the control data into the displacement and the speed of the mass damping rigidity device and calculates the control force according to the displacement and the speed.
The drone of claim 28, wherein the decision controller further compares the calculated control force to a maximum output that the vibration reduction assembly can provide, and outputs the control signal based on the comparison.
An unmanned aerial vehicle as claimed in claim 29, wherein the decision controller outputs the control signal with a control force of 0 when the calculated control force is greater than a maximum output force that can be provided by the vibration reduction assembly; and when the control force calculated by the decision controller is less than or equal to the maximum output force which can be provided by the vibration reduction assembly, outputting a control signal of which the control force is the calculated control force.
An unmanned aerial vehicle vibration reduction method is characterized by comprising the following steps:

providing a vibration reduction assembly, wherein the vibration reduction assembly comprises a sensor, a processor, an execution actuator and a mass damping rigidity device, the sensor is installed at a vibration part of the unmanned aerial vehicle, the processor is electrically connected with the sensor, the execution actuator is electrically connected with the processor, the mass damping rigidity device is installed on the unmanned aerial vehicle and is connected with the execution actuator;

detecting vibration of the unmanned aerial vehicle by using the sensor and outputting a vibration signal;

processing the vibration signal by using the processor and outputting a control signal;

and performing action on the mass damping rigidity device by using the execution actuator according to the control signal, so that the mass damping rigidity device generates displacement opposite to the vibration direction of the unmanned aerial vehicle, and the vibration of the unmanned aerial vehicle is weakened.
The vibration reduction method for unmanned aerial vehicles according to claim 31, wherein the unmanned aerial vehicle includes a rotor, a horn and a fuselage, the number of the sensors is set to be plural, and the mounting of the sensors at the vibration portion of the unmanned aerial vehicle includes:

mounting the sensor at a motor that drives the rotor; and/or

Installing the sensor at the connection position of the machine body and the machine arm; and/or

And installing the sensor at the connection position of the machine body and a load.
The vibration reduction method for unmanned aerial vehicles according to claim 31, wherein the execution actuators are arranged to include a first execution actuator, a second execution actuator and a third execution actuator, the first execution actuator, the second execution actuator and the third execution actuator are respectively connected to the mass damping rigidizer at different connection positions, so that the first execution actuator, the second execution actuator and the third execution actuator can push the mass damping rigidizer to move or rotate in different directions.
The vibration reducing method for the unmanned aerial vehicle as claimed in claim 33, wherein the number of the first actuators is two or more, and the first actuators are spaced apart from each other, the mass damping rigidizer is driven to move when the two or more first actuators move in the same direction, and the mass damping rigidizer is driven to rotate when the two or more first actuators move in opposite directions.
The vibration reduction method for unmanned aerial vehicles according to claim 33, wherein the first, second and third actuators are arranged to move in directions perpendicular to each other.
The vibration reduction method for unmanned aerial vehicles according to claim 31, wherein the mass damping rigidizer is provided to include a mass and a damping member, the mass and the unmanned aerial vehicle are connected using the damping member, the actuator is connected to the mass, the action performed by the actuator acts on the mass, the mass generates a displacement opposite to a vibration direction of the unmanned aerial vehicle, and the damping member provides damping to smooth the vibration.
The method of claim 36, wherein providing the mass damping stiffness further comprises using a stiffness spring to connect the mass and the drone.
A method of damping vibration in an unmanned aerial vehicle as claimed in claim 36, wherein the mass is provided as a component of the unmanned aerial vehicle.
The vibration reduction method for the unmanned aerial vehicle of claim 36, wherein the vibration reduction assembly further comprises a support frame, the mass block is arranged on a body of the unmanned aerial vehicle, the support frame is connected with a horn and a foot rest of the unmanned aerial vehicle, and the body of the unmanned aerial vehicle is arranged on the support frame.
A vibration damping method for an unmanned aerial vehicle as claimed in any one of claims 31 to 39, wherein the processor is configured to comprise a data processor and a decision controller, the data processor is electrically connected to the sensor for processing the vibration signal and outputting control data; and the decision controller is electrically connected with the data processor and used for calculating control force according to the control data and outputting the control signal.
The vibration reduction method for unmanned aerial vehicles of claim 40, wherein the vibration signal is processed using the data processor, comprising at least one of: filtering, amplifying, adjusting, analog differential processing and analog-digital conversion processing.
A method of damping vibration in an unmanned aerial vehicle as defined in claim 40, wherein calculating a control force from the control data using the decision controller comprises: and converting the control data into the displacement and the speed of the mass damping rigidity device by using the decision controller, and calculating the control force according to the displacement and the speed.
The vibration reduction method for unmanned aerial vehicles of claim 42, wherein the decision controller further compares the calculated control force with a maximum output force that can be provided by the vibration reduction assembly, and outputs the control signal according to the comparison result.
The vibration reduction method for unmanned aerial vehicles according to claim 43, wherein when the control force calculated by the decision controller is greater than the maximum output force provided by the vibration reduction assembly, the control signal with a control force of 0 is output; and when the control force calculated by the decision controller is smaller than or equal to the maximum output force which can be provided by the vibration reduction assembly, outputting a control signal of which the control force is the calculated control force.