CN216375002U

CN216375002U - Unmanned aerial vehicle turnover control system and unmanned aerial vehicle

Info

Publication number: CN216375002U
Application number: CN202120733160.2U
Authority: CN
Inventors: 王炫杰; 姜华强; 周明
Original assignee: Shenzhen Weixi Technology Co ltd
Current assignee: Shenzhen Weixi Technology Co ltd
Priority date: 2021-04-09
Filing date: 2021-04-09
Publication date: 2022-04-26
Anticipated expiration: 2031-04-09

Abstract

The utility model relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle overturning control system and an unmanned aerial vehicle. Unmanned aerial vehicle upset control system includes: the attitude detection module is used for detecting the real-time attitude of the unmanned aerial vehicle; the driving module is used for driving a rotor wing of the unmanned aerial vehicle to rotate; the controller is used for receiving the information of the attitude detection module and sending a corresponding instruction to the driving module according to the information of the attitude detection. The unmanned aerial vehicle comprises a vehicle body, a vehicle arm, a rotor wing and a power device, wherein the rotor wing is arranged at one end of the vehicle arm; the horizontal height of the connecting end of the horn and the rotor wing is higher than that of the connecting end of the horn and the fuselage; one end of the horn is provided with a buoyancy structure. When the unmanned aerial vehicle needs to be overturned, the power device on the horn on one side drives the rotor to rotate, and when the rotor rotates at a certain differential speed, the tension generated by the rotor can overcome the buoyancy generated by the buoyancy device, so that the unmanned aerial vehicle can be overturned to return to the right after the balance of the buoyancy of the unmanned aerial vehicle is broken.

Description

Unmanned aerial vehicle turnover control system and unmanned aerial vehicle

Technical Field

The utility model relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle overturning control system and an unmanned aerial vehicle.

Background

In recent years, the industry of civil multi-rotor unmanned aerial vehicles in China is rapidly developed, and the unmanned aerial vehicles are widely applied to the fields of military police security, geological mapping, electric power inspection, aerial photography and the like. Along with the expansion of unmanned aerial vehicle application, the marine man-machine who the specialty was for marine environment development appears gradually, because the complexity of marine environment, has provided many differences and land unmanned aerial vehicle's new problem for unmanned aerial vehicle.

One of the marine application problems encountered is: the stability of unmanned aerial vehicle sea surface takeoff and landing to and the upset of unmanned aerial vehicle after toppling in the sea return positive characteristic.

When the unmanned aerial vehicle lands on the sea surface and meets large sea waves, firstly, the stability of the whole unmanned aerial vehicle is required to be improved as much as possible, and the unmanned aerial vehicle cannot be easily overturned by the sea waves; secondly, if the airplane is overturned by sea waves, the airplane can be ensured to be overturned back to the right through the traction action of the power system.

The structural layout of current marine unmanned aerial vehicle is similar with the conventional unmanned aerial vehicle overall arrangement on land, adopts X type structure, and fuselage, horn are as an organic whole, and in order to increase complete machine stability and buoyancy, the horn size is thicker, and according to the design principle of constant intensity, the horn is by terminal horn root to, and the cross-sectional dimension is bigger and bigger. The whole machine can lift the buoyancy span and the stability by the buoyancy generated by the machine arm.

This kind of overall arrangement mode can increase complete machine stability, but the problem that brings simultaneously is, if unmanned aerial vehicle has overturn and has toppled over, because of horn buoyancy is big, and whole horn length scope all provides buoyancy, and just in-process is returned in the upset, and the horn draft is bigger and bigger, and it is more difficult to rely on driving system to overturn the aircraft back.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an unmanned aerial vehicle, which can realize the turning-over and aligning of the unmanned aerial vehicle by utilizing a power system of the unmanned aerial vehicle.

In a first aspect, the present invention provides an unmanned aerial vehicle roll-over control system, which includes:

the attitude detection module is used for detecting the real-time attitude of the unmanned aerial vehicle;

the driving module is used for driving a rotor wing of the unmanned aerial vehicle to rotate;

and the controller is used for receiving the information of the attitude detection module and sending a corresponding instruction to the driving module according to the information of the attitude detection.

Preferably, unmanned aerial vehicle roll-over control system still includes the timer, the timer with controller signal connection.

Preferably, the unmanned aerial vehicle overturn control system further comprises a reversing module, and the reversing module is used for replacing a rotor wing driven by the driving module;

the reversing module is in signal connection with the controller.

In a second aspect, the utility model provides an unmanned aerial vehicle applying the unmanned aerial vehicle overturn control system, which comprises a body, arms, rotors and a power device, wherein the arms are arranged at two opposite ends of the body, the rotors are arranged at one ends of the arms far away from the body, and the power device is used for providing rotation power for the rotors; when the horizontal heights of all the rotors are the same, the horizontal height of the connecting end of the horn and the rotor is higher than the horizontal height of the connecting end of the horn and the fuselage, so that the buoyancy generated by the horn is smaller than the buoyancy generated by the horn arranged in the horizontal direction;

and one end of the machine arm, which is far away from the machine body, is provided with a buoyancy structure.

Preferably, the buoyancy structure comprises a mounting seat and a buoyancy ball;

the buoyancy ball sets up on the mount pad, the mount pad is used for connecting unmanned aerial vehicle's horn.

Preferably, the mounting seat is internally provided with a cavity, and the interior of the buoyancy ball is communicated with the cavity.

Preferably, the cavity is hermetically connected with the inner part of the buoyancy ball.

Preferably, the buoyancy ball and the mounting seat are connected through a bolt.

Preferably, the horn is kept away from the one end of fuselage is provided with the connecting rod, the both ends of connecting rod all are provided with buoyancy structure.

Preferably, the power device is a motor.

The technical scheme of the utility model has the beneficial effects that:

through the buoyancy at fuselage self, with under the combined action of the buoyancy structure that sets up on the horn, make the buoyancy that the horn produced less, and then buoyancy is comparatively concentrated, when needs upset, after starting power device, power device on one side horn drives the rotor rotation, when the rotor rotation has certain differential, the produced buoyancy of buoyancy can be overcome to the produced pulling force of rotor, break behind the equilibrium of unmanned aerial vehicle buoyancy, finally realize that unmanned aerial vehicle's upset returns just.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle roll-over control system provided in an embodiment of the present invention;

fig. 2 is a control flowchart of the unmanned aerial vehicle when performing the roll-back timing according to the embodiment of the present invention;

fig. 3 is a front view of an unmanned aerial vehicle provided by an embodiment of the present invention;

fig. 4 is a perspective view of an unmanned aerial vehicle provided in an embodiment of the present invention;

fig. 5 is a schematic installation diagram of a buoyancy structure of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 6 is a sectional view a-a of fig. 5.

In the figure:

1: a body; 2: a horn; 3: a buoyant ball; 4: a mounting seat; 5: a rotor; 6: a connecting rod; 7: a motor; 8: a cavity; 9: a bolt; 10: and a gasket.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. 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 invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element to which the description refers must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Some embodiments of the present invention will be described in detail below with reference to fig. 1 to 6. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

The utility model provides an unmanned aerial vehicle overturn control system, as shown in fig. 1, comprising:

Specifically, after unmanned aerial vehicle descends on the surface of water, earlier detect unmanned aerial vehicle's gesture through gesture detection module, judge that unmanned aerial vehicle is normal condition or the state of overturning, when unmanned aerial vehicle is normal condition, can carry out operation on next step, when unmanned aerial vehicle is the state of overturning, need overturn the back with unmanned aerial vehicle earlier and carry out operation on next step again.

After the controller received gesture detection module's information, judge that unmanned aerial vehicle is the state of overturning, the controller sends the start instruction to drive module this moment, and the rotor of drive module drive unmanned aerial vehicle unilateral starts, and the rotor begins to rotate, produces the pulling force, changes unmanned aerial vehicle's unilateral buoyancy, and then realizes that unmanned aerial vehicle's upset returns just.

The utility model judges whether the aircraft overturns or not by selecting the attitude of the aircraft roll channel, avoids the singular point of the pitch angle and ensures the judgment accuracy.

Preferably, unmanned aerial vehicle roll-over control system still includes the timer, and timer and controller signal connection.

Specifically, the driving time of the driving module is judged in time through the timer so as to facilitate the next judgment.

Through the setting of timer, can be after the motor accelerates for a period, stop the output through controller control motor, judge whether the aircraft returns to the straight, try again, avoid the motor to be in running state always, can play the effect of protection motor.

More specifically, in this embodiment, the controller control drive module begins the operation, when driving unmanned aerial vehicle and turning over and returning to positive operation, the timer begins timing, after the time of timer reaches the first time of settlement, gesture detection module detects that unmanned aerial vehicle does not turn over and returns to positive success, then controller control drive module stops the drive to the rotor, the timer begins timing again, after reaching the second time of settlement, the controller controls drive module once more and drives the rotor and rotate, the operation of cycle previous time, until unmanned aerial vehicle turns over and returns to positive success.

In summary, it can be seen that the work flow of the unmanned aerial vehicle overturn control system for controlling the unmanned aerial vehicle to overturn specifically comprises the following steps:

when the airplane is ready to take off from the water surface, the attitude detection module detects that the airplane is in a reverse buckling state, the controller controls the unmanned aerial vehicle to only output a roll channel, the driving module controls a left motor to accelerate, a right motor to shut down, and meanwhile the attitude detection module detects whether the airplane returns to the right in real time; if the gesture returns to the positive state, the driving module controls the motor to stop outputting; if the motor is accelerated for a period of time, the attitude still does not return to the horizontal state, which indicates that the unmanned aerial vehicle encounters other obstacles, the motor is turned off, the motor is waited for 5 seconds to continue to try acceleration, and the steps are repeated.

The specific control flow chart is shown in fig. 2, as can be seen from fig. 2, when the roll angle of the unmanned aerial vehicle is detected by the attitude detection module to be smaller than 60 °, the unmanned aerial vehicle is in a normal state, when the roll angle of the unmanned aerial vehicle is larger than 60 °, the controller receives a signal of the attitude detection module and sends a turning instruction to the driving module, the driving module controls the left motor to output, the right motor to turn off, so that the left rotor of the unmanned aerial vehicle rotates, the right rotor does not rotate, the buoyancy balance of the unmanned aerial vehicle on the water surface is changed, the unmanned aerial vehicle is driven to turn over on the water surface, at the moment, the attitude detection module monitors the attitude of the unmanned aerial vehicle in real time, and when the roll angle of the unmanned aerial vehicle is detected to be smaller than 30 °, and lasts for two seconds, the unmanned aerial vehicle turns back to be right; when the roll angle of the unmanned aerial vehicle is detected to be not less than 30 degrees, the overturning action is continued.

Preferably, the unmanned aerial vehicle overturn control system further comprises a reversing module, and the reversing module is used for replacing a rotor wing driven by the driving module; the reversing module is in signal connection with the controller.

When unmanned aerial vehicle realized returning right time through overturning to the right side, after several overturns did not reach, the switching-over module started, and control unmanned aerial vehicle's drive module driven opposite side rotor makes unmanned aerial vehicle carry out the upset of left side direction and returns just.

Through the alternative of left side upset or right side upset going on, can have under the condition that has the obstacle, have great probability to realize unmanned aerial vehicle's upset and return just.

The utility model also provides an unmanned aerial vehicle, as shown in fig. 3 and 4, comprising a body 1, arms 2, rotors 5 and a power device, wherein the arms 2 are arranged at two opposite ends of the body 1, the rotors 5 are arranged at one ends of the arms 2 far away from the body 1, and the power device is used for providing rotation power for the rotors 5; when the horizontal heights of all the rotors 5 are the same, the horizontal height of the connecting end of the horn 2 and the rotor 5 is higher than that of the connecting end of the horn 2 and the fuselage 1, so that the buoyancy generated by the horn 2 per se is smaller than that generated by the horn 2 per se arranged in the horizontal direction; the end of the horn 2 away from the fuselage 1 is provided with a buoyancy structure.

Specifically, in this embodiment, set up fuselage 1 into the closure structure, its position that provides as the biggest buoyancy of unmanned aerial vehicle for guarantee unmanned aerial vehicle buoyancy on the surface of water.

Fuselage 1 is provided with the buoyancy structure through the horn 2 connection, and is concrete, in this embodiment in order to be connected with four buoyancy structures as the example, and four buoyancy structures use fuselage 1 to set up as central symmetry, under the effect of buoyancy structure, have expanded unmanned aerial vehicle's horizontal direction's area, and also can produce certain buoyancy because the buoyancy structure sets up after on the surface of water, and then guaranteed that fuselage 1 is equilibrium and stability after on the surface of water.

When unmanned aerial vehicle descends on the sea, fuselage 1 provides main buoyancy for unmanned aerial vehicle, and the terminal buoyancy structure of horn 2 has partly draft, and another part spills the surface of water, can provide partial buoyancy. Although the buoyancy provided by the buoyancy structure is smaller, the buoyancy structure has a certain distance (i.e. moment arm) from the axis of gravity of the airplane, so that a certain moment can be provided for the whole airplane. When the inclination angle of the airplane is increased under the action of sea waves, the draft of the buoyancy structure below is increased, the buoyancy is increased, the draft of the buoyancy structure above is reduced, the buoyancy difference of the upper buoyancy ball 3 and the lower buoyancy ball 3 and the moment generated by the moment arm generate restoring moment on the airplane, and the airplane is prevented from overturning at a larger inclination angle.

Unmanned aerial vehicle is under the condition that the upset topples, and the controller passes through drive module control power device and starts, and power device drives rotor 5 and rotates, realizes rotor 5's differential control, makes rotor 5 produce moment, can turn over the aircraft back just.

To the unmanned aerial vehicle of conventional overall arrangement, when at the upset in-process, because of 2 sizes of horn are great, the increase in-process of rotation angle, 2 draught areas of horn increase, and the buoyancy that whole horn 2 produced increases, and because 2 root sizes of horn are great, rotation angle is big more, horn 2 produces buoyancy big more, and the buoyancy on the horn 2 produces great moment to motor 7 department, causes difficult realization upset, or needs to export great motor 7 pulling force.

In the utility model, the size of the horn 2 is small, the buoyancy generated by the buoyancy structure is concentrated and is positioned under the rotor wing 5, and the buoyancy has no moment on the rotor wing 5, so that when the unmanned aerial vehicle overturns to return, the force generated by the rotation of the rotor wing 5 only needs to be overcome, and the overturning to return of the unmanned aerial vehicle can be realized. Compared with the conventional layout type, the utility model can realize the reversal and the correction relatively easily under the condition of not needing large tension output.

In the present embodiment, the horn 2 is disposed to be inclined with respect to the horizontal direction, and the horizontal height of the end connected to the fuselage 1 is lower than the end of the horn 2 connected to the buoyancy structure. Because the slope setting of horn 2 has reduced the buoyancy that horn 2 produced, and in this embodiment, the diameter of horn 2 reduces for the diameter of horn 2 among the prior art for its produced buoyancy further reduces, and when unmanned aerial vehicle overturns on the surface of water, the buoyancy that horn 2 produced can not produce the resistance to power device, and then can easily realize unmanned aerial vehicle's upset under rotor 5's effect.

In the embodiment, the length of the horn 2 is reduced compared with the length of the horn 2 of the unmanned aerial vehicle in the prior art, and under the condition that the horn 2 does not generate buoyancy, the balance and stability of the unmanned aerial vehicle on the water surface are ensured through the arrangement of the buoyancy structure; when unmanned aerial vehicle need overturn, only need power device to drive rotor 5 and rotate produced moment, overcome the produced moment of buoyancy structure can.

The produced moment of buoyancy structure is the distance of buoyancy structure to fuselage 1, and moment is littleer for prior art that is to say for under rotor 5's effect, the produced buoyancy of buoyancy structure of overcoming that can be comparatively easy realizes unmanned aerial vehicle's upset function.

As can be seen from the above, in the present embodiment, the length of the horn 2 is shorter than that of the horn 2 of the unmanned aerial vehicle in the prior art; in addition, the cross section of the horn 2 in this embodiment has the same shape and area, and the diameter or area is smaller, so that larger buoyancy is not generated; the generation of buoyancy can be further reduced by the horn 2 being disposed obliquely.

Preferably, as shown in fig. 5 and 6, the buoyancy structure comprises a mounting seat 4 and a buoyancy ball 3; buoyancy ball 3 sets up on mount pad 4, and mount pad 4 is used for connecting unmanned aerial vehicle's horn 2.

In this embodiment, mount pad 4 sets up the one end of keeping away from unmanned aerial vehicle at horn 2, and buoyancy ball 3 sets up in the below of mount pad 4, and such setting for the produced buoyancy of buoyancy ball 3 can be the biggest to the effect that unmanned aerial vehicle's equilibrium produced.

It should be pointed out that, buoyancy structure can be through buoyancy ball 3 production buoyancy, and it also can be other can produce the device of buoyancy to unmanned aerial vehicle, like gasbag etc. that, that is to say, it just can produce buoyancy to unmanned aerial vehicle, can realize unmanned aerial vehicle's the float after unmanned aerial vehicle descends on the surface of water.

Preferably, the mounting seat 4 has a cavity 8 therein, and the interior of the buoyant spheres 3 is in communication with the cavity 8.

In this embodiment, set up cavity 8 in the inside of mount pad 4, and with the inside of buoyancy ball 3 and the 8 intercommunications of cavity of mount pad 4, form a holistic hollow structure, can further increase the terminal produced buoyancy of horn 2, and then guarantee unmanned aerial vehicle stability on the surface of water.

Preferably, the connection between the buoyant ball 3 and the mounting seat 4 is a bolt 9 connection.

Specifically, in this embodiment, the buoyancy ball 3 is provided with a connecting hole, the mounting seat 4 is provided with a threaded hole, and after the bolt 9 penetrates through the connecting hole, the threaded hole is in threaded connection with the connecting hole, so that the purpose of fixing the buoyancy ball 3 on the mounting seat 4 is achieved.

Or, all set up the connecting hole on buoyancy ball 3 and on mount pad 4, after bolt 9 passed the connecting hole on two buoyancy balls 3 and the connecting hole on mount pad 4 in proper order, be connected the purpose of realizing the fixed setting of buoyancy ball 3 on mount pad 4 with the nut.

It should be noted that, in the present embodiment, the fixing connection manner between the buoyancy ball 3 and the mounting seat 4 is the bolt 9 connection, but it is not limited to the bolt 9 connection, and it may also be other fixing connection manners, such as welding, riveting, etc., and may also be clamping, bonding, etc., that is, as long as the buoyancy ball 3 can be fixedly disposed on the mounting seat 4.

Preferably, in the present embodiment, in order to ensure the stability of the buoyancy generated by the buoyancy ball 3, a sealing connection is provided between the cavity 8 and the inside of the buoyancy ball 3.

Specifically, the sealing connection is realized by adding a sealing gasket 10 between the buoyancy ball 3 and the mounting seat 4.

Preferably, the power means is arranged on the mounting 4.

In this embodiment, the power device is a motor 7, which is disposed on the mounting base 4, and can conveniently provide power for the rotation of the rotor 5.

Preferably, one end of the horn 2, which is far away from the fuselage 1, is provided with a connecting rod 6, and two ends of the connecting rod 6 are both provided with a buoyancy structure.

In this embodiment, a connecting rod 6 is arranged between the two buoyancy structures, one end of the horn 2 is connected to the middle of the connecting rod 6, and the other end of the horn 2 is connected to the fuselage 1.

Such mode of setting up connects the buoyancy structure of the 1 left and right sides of fuselage as a whole, and then can be more convenient for overturn just after unmanned aerial vehicle topples.

Preferably, the buoyancy structure is a buoyancy-adjustable structure.

Set up the buoyancy structure into the adjustable structure of buoyancy for when needing to carry out unmanned aerial vehicle fuselage 1 balance, can increase the produced buoyancy of buoyancy structure, when needing unmanned aerial vehicle to overturn back, reduce the produced buoyancy of buoyancy structure, and then can reduce power device and overcome the produced moment of buoyancy structure and required power.

Specifically, the buoyancy-adjustable structure may be an air bag, and the buoyancy of the air bag may be achieved by adjusting the temperature of the air bag, or by inflating and deflating the air bag, or the like.

According to the utility model, by adjusting the structural layout, the buoyancy balls 3 are added at the tail ends of the machine arms 2, so that the span between the buoyancy balls 3 is larger, the generated buoyancy has larger moment on the machine body 1, the stability of the unmanned aerial vehicle floating on the front surface of the sea is improved, and the wave resistance is improved; simultaneously through having reduced horn 2 size for horn 2 shortens for horn 2 among the prior art, and then reduces horn 2's buoyancy, and motor 7 is located buoyancy ball 3's top, and the buoyancy that buoyancy ball 3 produced does not have moment to motor 7's action point, makes unmanned aerial vehicle overturn the back, through motor 7 differential control, easily realizes overturning just.

In summary, the arrangement structure of the buoyant spheres 3 in the present invention not only ensures the stability of the front floating, but also ensures the realizability of turning back to the positive after overturning.

The technical scheme of the utility model has the beneficial effects that:

through the buoyancy at fuselage 1 self, with under the combined action of the buoyancy structure that sets up on horn 2, make the buoyancy that horn 2 produced less, and then buoyancy is comparatively concentrated, when needs upset, after starting power device, power device on one side horn 2 drives rotor 5 rotatory, when rotor 5 is rotatory to have certain differential, the produced buoyancy of buoyancy can be overcome to the produced pulling force of rotor, break behind the equilibrium of unmanned aerial vehicle buoyancy, finally realize that unmanned aerial vehicle's upset returns just.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An unmanned aerial vehicle roll-over control system which characterized in that includes:

the controller is used for receiving the information of the attitude detection module and sending a corresponding instruction to the driving module according to the information of the attitude detection;

the reversing module is used for replacing the rotor driven by the driving module;

the reversing module is in signal connection with the controller.

2. The unmanned aerial vehicle roll-over control system of claim 1, further comprising a timer in signal connection with the controller.

3. An unmanned aerial vehicle applying the unmanned aerial vehicle overturn control system of claim 1 or 2, comprising a body, arms, rotors and a power device, wherein the arms are arranged at two opposite ends of the body, the rotors are arranged at one ends of the arms far away from the body, and the power device is used for providing rotation power for the rotors; the aircraft is characterized in that when the horizontal heights of all the rotors are the same, the horizontal height of the connecting end of the horn and the rotor is higher than the horizontal height of the connecting end of the horn and the aircraft body, so that the buoyancy generated by the horn is smaller than the buoyancy generated by the horn arranged in the horizontal direction;

4. The drone of claim 3, wherein the buoyant structure includes a mount and a buoyant ball;

5. The drone of claim 4, wherein the mount has a cavity therein, the interior of the buoyant sphere being in communication with the cavity.

6. The drone of claim 5, wherein the cavity is in sealed connection with the interior of the buoyant sphere.

7. The unmanned aerial vehicle of claim 4, wherein the buoyant spheres are bolted to the mounting base.

8. An unmanned aerial vehicle according to claim 3, wherein one end of the horn remote from the fuselage is provided with a connecting rod, and both ends of the connecting rod are provided with the buoyancy structure.

9. A drone according to claim 3, characterised in that the power means is an electric motor.