1. A foldable micro rotorcraft, comprising:

the mobile phone comprises a machine body, a control device and a control module, wherein the machine body is a columnar shell, a communication device and a battery are arranged in the machine body, a camera device is arranged at the bottom end inside the machine body, and a sliding rail is arranged on the outer wall of the machine body;

the folding wing assembly is arranged outside the machine body, is connected with the machine body and realizes folding and storage of the wings through an umbrella-shaped structure; a plurality of motors are arranged on the folding wing assembly, and each motor is provided with a rotor wing;

the counterweight mechanism is arranged in the machine body and comprises a counterweight block which can vertically move along the inner wall of the machine body, and when the unmanned aerial vehicle flies, the position of the gravity center of the unmanned aerial vehicle is adjusted by adjusting the distance between the counterweight block and the camera device;

the central control processor is a plc controller, is positioned in the unmanned aerial vehicle body and is respectively connected with the camera device, the motors and the mating mechanism, and is used for judging whether the unmanned aerial vehicle body deviates in the flying process and rapidly recovering the unmanned aerial vehicle body to a stable state when the unmanned aerial vehicle body deviates;

the central control processor is internally provided with a preset image offset rate V0, when the unmanned aerial vehicle flies, the camera device periodically collects image information or continuously records video information and respectively sends the collected image information or video information to the communication device and the central control processor, if the central control processor judges that a characteristic point in an image or a video inclines or offsets, the central control processor calculates the inclination rate or the offset rate of the characteristic point in the image or the video within a unit time t0 and marks the calculated inclination rate or the offset rate as V, after the calculation is completed, the central control processor compares the V with the V0, if V is larger than V0, the central control processor judges that the unmanned aerial vehicle is interfered by external force and the body inclines, the central control processor calculates an offset rate difference value delta V, the set delta V is V-V0, and after the calculation is completed, the central control processor adjusts the rotating speed of the corresponding rotor wing according to the specific value of the delta V so that the unmanned aerial vehicle recovers stably, if the central control processor judges that the unmanned aerial vehicle still can not recover stably after adjustment, the central control processor adjusts the distance between the balancing weight and the camera device so that the unmanned aerial vehicle recovers stably.

2. The foldable micro rotor unmanned aerial vehicle of claim 1, wherein when the central processor determines that the unmanned aerial vehicle is disturbed by external force and the body tilts, the central processor compares the obtained deviation rate difference Δ V with a corresponding preset deviation rate difference, determines the tilting degree of the unmanned aerial vehicle according to the comparison result, and selects a corresponding adjusting coefficient to adjust the rotating speed of the rotor closest to the tilting direction of the unmanned aerial vehicle;

the central control processor is internally provided with a first preset offset rate difference value delta V1, a second preset offset rate difference value delta V2, a first preset rotating speed adjusting coefficient alpha 1, a second preset rotating speed adjusting coefficient alpha 2 and a third preset rotating speed adjusting coefficient alpha 3, wherein delta V1 is less than delta V2, and alpha 1 is more than 1 and more than alpha 2 and more than alpha 3 and less than 1.5;

when the delta V is less than or equal to the delta V1, the central control processor judges that the unmanned aerial vehicle is in a slight inclination state, and the central control processor adjusts the rotating speed of the corresponding rotor wing by using alpha 1;

when the delta V1 is less than the delta V and less than or equal to the delta V2, the central control processor judges that the state of the unmanned aerial vehicle is a moderate inclination, and the central control processor adjusts the rotating speed of the corresponding rotor wing by using alpha 2;

when delta V is larger than delta V2, the central control processor judges that the unmanned aerial vehicle is in a heavy inclination state, and the central control processor adjusts the rotating speed of the corresponding rotor wing by using alpha 3 and reduces the distance between the balancing weight and the camera device;

when the central control processor selects α i to adjust the rotating speed of the corresponding rotor, setting i to be 1, 2 and 3, and setting the rotating speed of the adjusted rotor to be W ', setting W' to be W × α i, wherein W is the initial rotating speed of the rotor; when the central control processor determines that the unmanned aerial vehicle is in a heavy inclination state and reduces the distance between the balancing weight and the camera device, the central control processor sets the moving distance of the balancing weight to be D0/2, wherein D0 is the initial distance between the balancing weight and the camera device.

3. The foldable micro rotor unmanned aerial vehicle of claim 2, wherein when the central processor completes adjustment of the working parameters of the corresponding component, the central processor controls the camera device to capture an image and compares the feature point in the image with the position of the initial feature point in the image or video to obtain an offset distance L of the feature point, after the offset distance L is obtained, the central control unit compares L with a preset offset L0, and sets L0 to V0 × t0, and if L > L0, the central processor determines that the unmanned aerial vehicle is still subjected to external force interference and the body tilts, and the central processor readjusts the rotation speed of the corresponding rotor.

4. The foldable micro rotor unmanned aerial vehicle of claim 3, wherein the central processor is further configured with a preset maximum rotation speed Wmax, when the central processor needs to adjust the rotation speed of the rotor to W ', the central processor compares W' with Wmax, if W '< Wmax, the central processor adjusts the rotation speed of the rotor to Wmax, and if W' ≧ Wmax, the central processor adjusts the rotation speed of the rotor to Wmax and reduces the rotation speed of the rotor disposed opposite to the rotor;

when the central control processor adjusts the rotating speed of the rotor wing to Wmax, the central control processor calculates a rotating speed difference value delta W and adjusts the rotating speed of the rotor wing arranged opposite to the rotor wing to a corresponding value according to the value of the delta W, and the delta W is set to be W' -Wmax; the central control processor is also provided with a first preset rotating speed difference value delta W1 and a second preset rotating speed difference value delta W2, wherein delta W1 is smaller than delta W2;

when the delta W is less than or equal to the delta W1, the central control processor adjusts the rotating speed of the corresponding rotor wing by using alpha 1;

when the delta W1 is less than the delta W and less than or equal to the delta W2, the central control processor adjusts the rotating speed of the corresponding rotor wing by using alpha 2;

when Δ W > [ Δ W2, the central control processor adjusts the rotation speed of the corresponding rotor by using α 3;

when the central processor adjusts the rotation speed of the corresponding rotor by using the α i, the rotation speed of the adjusted rotor is recorded as W ″, and W × (2- α i) is set.

5. The foldable micro rotor unmanned aerial vehicle of claim 3, wherein a preset minimum rotation speed Wmin is further provided in the central processor, when the central processor needs to adjust the rotation speed of the rotor to W ", the central processor compares W" with Wmin, if W "> Wmin, the central processor adjusts the rotation speed of the rotor to W", if W "> Wmin, the central processor adjusts the rotation speed of the rotor to Wmin and shortens the distance between the counterweight and the camera at a corresponding rate, controls the camera to collect an image in real time, and compares the feature point in the image with the position of the initial feature point in the image or video to detect the offset distance L of the feature point in real time.

6. The foldable micro rotor drone according to claim 5, wherein when the central processor determines that the drone is tilted, the central processor detects a height difference H between the drone and the feature point through the camera and corrects according to the offset rate V or the movement rate V of the counterweight;

the central processor is internally provided with a first preset height H1, a second preset height H2, a first preset offset rate correction coefficient beta 1, a second preset offset rate correction coefficient beta 2, a first preset counterweight block moving speed correction coefficient gamma 1 and a second preset counterweight block moving speed correction coefficient gamma 2, wherein H1 is more than H2, beta 1 is more than 1.5 and more than beta 2 and less than 1.7, and gamma 1 is more than 1.5 and more than gamma 2 and less than 2;

when H is less than or equal to H1, the central control processor does not modify the offset rate V or the moving rate V;

when H1 is larger than H and smaller than or equal to H2, if the central control processor determines whether the unmanned aerial vehicle inclines, the central control processor corrects the offset rate V of the characteristic point by using beta 1, and if the central control processor controls the counterweight to move towards the camera device, the central control processor corrects the movement rate V of the counterweight by using gamma 1;

when H is larger than H2, if the central control processor determines whether the unmanned aerial vehicle inclines, the central control processor corrects the offset rate V of the characteristic point by using beta 2, and if the central control processor controls the balancing weight to move towards the camera device, the central control processor corrects the moving rate V of the balancing weight by using gamma 2;

when the central control processor corrects the offset rate V of the feature point by using the beta j, setting j to be 1 and 2, recording the corrected offset rate as V ', setting V ' to be V multiplied by beta j, and after correction is completed, comparing the V ' with the V0 by the central control processor to judge whether the unmanned aerial vehicle tilts;

when the central control processor corrects the moving speed v of the balancing weight by using the gamma j, the corrected moving speed is recorded as v ', and after the correction is finished by setting the v ' ═ v multiplied by the gamma j, the central control processor sets the moving speed of the balancing weight as v '.

7. The foldable micro-rotorcraft of claim 1, wherein the folding wing assembly comprises:

the cranks are uniformly distributed on the side wall of the machine body, each crank can rotate in the vertical direction at the connecting point of the crank and the side wall of the machine body, the end parts of the cranks, far away from the machine body, are respectively provided with a motor, and the top of each motor is provided with a rotor wing;

the sliding rings are sleeved on the side wall of the machine body and are positioned below the cranks and matched with the sliding rails to move along the sliding rail direction outside the machine body

The limiting ring comprises a first limiting ring arranged on the outer wall of the machine body and positioned between the sliding ring and the crank, and a second limiting ring arranged on the outer wall of the machine body and positioned below the sliding ring, a spring is arranged between the sliding ring and the second limiting ring, and the spring is sleeved on the outer wall of the machine body and used for applying vertical upward elastic force to the sliding ring;

the number of the connecting rods is the same as that of the cranks, one end of each connecting rod is uniformly arranged on the outer wall of the sliding ring and can rotate in the vertical direction at the connecting point with the side wall of the sliding ring, one end of each connecting rod, which is far away from the sliding ring, is connected with the corresponding crank, and the connecting point of the connecting rods and the cranks is positioned between the motor and the connecting point of the cranks and the machine body;

when the unmanned aerial vehicle is stored, the slip ring is moved to enable the slip ring and the second limiting ring to compress the spring, the slip ring drives the connecting rods to respectively draw in the corresponding cranks, and when the cranks are respectively attached to the side wall of the machine body and are respectively parallel to the normal line of the machine body, the unmanned aerial vehicle is stored;

when the unmanned aerial vehicle is used, the compression of the sliding ring and the second limiting ring on the spring is released, the spring exerts vertical upward elastic force on the sliding ring, the sliding ring vertically moves upwards along the machine body and drives the connecting rods to move, the connecting rods respectively support the corresponding cranks, and when the cranks are respectively perpendicular to the normal line of the machine body, the unmanned aerial vehicle is in a flying state.

8. The foldable micro rotor unmanned aerial vehicle of claim 7, wherein the body further comprises a limiting device, the limiting device is a limiting post, through holes are formed in the side wall of the body and the side wall of the sliding ring for moving the limiting post out of the body, and the limiting device is located at the same height as the first limiting ring for fixing the sliding ring; when the slip ring moves to the first limiting ring under the action of the elastic force of the spring and the slip ring is in contact with the first limiting ring, the limiting device is started, and the limiting columns sequentially penetrate through the side wall of the machine body and the side wall of the slip ring to fix the slip ring at a specified position.

9. The foldable micro rotor drone of claim 1, wherein the bottom end of the body is provided with a hemispherical shield to prevent damage to the camera device.

Background

The very big progress that has promoted the unmanned aerial vehicle technique of the rapid development of flight technique and wireless remote control technique, early unmanned aerial vehicle adopts the fuel as the power supply more, this kind of unmanned aerial vehicle flying speed is fast, the big and many applications in military field of the technical degree of difficulty, along with the flying speed development of modern electronic technology, utilize the electronic governor, brushless motor does provide sufficient power for unmanned aerial vehicle, regard the motor as the unmanned aerial vehicle simple structure of power supply, high durability and convenient operation, more be fit for ordinary consumer and use, consequently, the consumer-grade unmanned aerial vehicle who is fit for the masses floods market.

At present, consumption-level unmanned aerial vehicles mainly fall into two categories: fixed wing unmanned aerial vehicle and folding wing unmanned aerial vehicle, the former simple structure, simple installation, wholeness can be very stable, use this kind of structure in the unmanned aerial vehicle product of general price/performance ratio, also use this structure in the team of some aircraft researches simultaneously. The latter has more complex structure and higher adjustment difficulty on the basis of having the same functions as the former, and is generally used in high-end markets and under the scenes with research and development requirements and space limitations.

In recent years, the cluster performance of unmanned aerial vehicles becomes a new trend, however, the unmanned aerial vehicles participating in the cluster performance at present mostly adopt fixed-wing unmanned aerial vehicles, operating personnel need to open the field, a large amount of time carries out the deployment work before the unmanned aerial vehicle performance, the recovery workload after the unmanned aerial vehicle performance is also very large, and therefore an unmanned aerial vehicle which is convenient to carry, simple to deploy and small in occupied storage space is needed to improve the deployment state. Through using the miniature folding rotor unmanned aerial vehicle that is used for extensive deployment, can solve that unmanned aerial vehicle deploys on a large scale and unmanned aerial vehicle cluster performance in prepare that the operating time is long, open place demand is high, retrieve a series of problems such as work load is big, but folding rotor unmanned aerial vehicle is easily influenced and can't maintain the stability of organism by external annular at the flight in-process to lead to folding rotor unmanned aerial vehicle flight in-process poor stability.

Disclosure of Invention

Therefore, the invention provides a foldable micro rotor unmanned aerial vehicle, which is used for overcoming the problem of poor flight stability of the foldable rotor unmanned aerial vehicle in the prior art.

To achieve the above object, the present invention provides a foldable micro rotor drone, comprising:

the mobile phone comprises a machine body, a control device and a control module, wherein the machine body is a columnar shell, a communication device and a battery are arranged in the machine body, a camera device is arranged at the bottom end inside the machine body, and a sliding rail is arranged on the outer wall of the machine body;

the folding wing assembly is arranged outside the machine body, is connected with the machine body and realizes folding and storage of the wings through an umbrella-shaped structure; a plurality of motors are arranged on the folding wing assembly, and each motor is provided with a rotor wing;

the counterweight mechanism is arranged in the machine body and comprises a counterweight block which can vertically move along the inner wall of the machine body, and when the unmanned aerial vehicle flies, the position of the gravity center of the unmanned aerial vehicle is adjusted by adjusting the distance between the counterweight block and the camera device;

the central control processor is a plc controller, is positioned in the unmanned aerial vehicle body and is respectively connected with the camera device, the motors and the mating mechanism, and is used for judging whether the unmanned aerial vehicle body deviates in the flying process and rapidly recovering the unmanned aerial vehicle body to a stable state when the unmanned aerial vehicle body deviates;

the central control processor is internally provided with a preset image offset rate V0, when the unmanned aerial vehicle flies, the camera device periodically collects image information or continuously records video information and respectively sends the collected image information or video information to the communication device and the central control processor, if the central control processor judges that a characteristic point in an image or a video inclines or offsets, the central control processor calculates the inclination rate or the offset rate of the characteristic point in the image or the video within a unit time t0 and marks the calculated inclination rate or the offset rate as V, after the calculation is completed, the central control processor compares the V with the V0, if V is larger than V0, the central control processor judges that the unmanned aerial vehicle is interfered by external force and the body inclines, the central control processor calculates an offset rate difference value delta V, the set delta V is V-V0, and after the calculation is completed, the central control processor adjusts the rotating speed of the corresponding rotor wing according to the specific value of the delta V so that the unmanned aerial vehicle recovers stably, if the central control processor judges that the unmanned aerial vehicle still can not recover stably after adjustment, the central control processor adjusts the distance between the balancing weight and the camera device so that the unmanned aerial vehicle recovers stably.

Further, when the central control processor judges that the unmanned aerial vehicle is interfered by external force and the body inclines, the central control processor compares the obtained deviation rate difference value delta V with a corresponding preset deviation rate difference value, judges the inclination degree of the unmanned aerial vehicle according to the comparison result and selects a corresponding adjusting coefficient to adjust the rotating speed of the rotor closest to the inclination direction of the unmanned aerial vehicle;

the central control processor is internally provided with a first preset offset rate difference value delta V1, a second preset offset rate difference value delta V2, a first preset rotating speed adjusting coefficient alpha 1, a second preset rotating speed adjusting coefficient alpha 2 and a third preset rotating speed adjusting coefficient alpha 3, wherein delta V1 is less than delta V2, and alpha 1 is more than 1 and more than alpha 2 and more than alpha 3 and less than 1.5;

when the delta V is less than or equal to the delta V1, the central control processor judges that the unmanned aerial vehicle is in a slight inclination state, and the central control processor adjusts the rotating speed of the corresponding rotor wing by using alpha 1;

when the delta V1 is less than the delta V and less than or equal to the delta V2, the central control processor judges that the state of the unmanned aerial vehicle is a moderate inclination, and the central control processor adjusts the rotating speed of the corresponding rotor wing by using alpha 2;

when delta V is larger than delta V2, the central control processor judges that the unmanned aerial vehicle is in a heavy inclination state, and the central control processor adjusts the rotating speed of the corresponding rotor wing by using alpha 3 and reduces the distance between the balancing weight and the camera device;

when the central control processor selects α i to adjust the rotating speed of the corresponding rotor, setting i to be 1, 2 and 3, and setting the rotating speed of the adjusted rotor to be W ', setting W' to be W × α i, wherein W is the initial rotating speed of the rotor; when the central control processor determines that the unmanned aerial vehicle is in a heavy inclination state and reduces the distance between the balancing weight and the camera device, the central control processor sets the moving distance of the balancing weight to be D0/2, wherein D0 is the initial distance between the balancing weight and the camera device.

Further, when the central control processor completes adjustment of the working parameters of the corresponding component, the central control processor controls the camera device to collect an image and compares the feature point in the image with the position of the initial feature point in the image or the video to obtain an offset distance L of the feature point, after the offset distance L is obtained, the central control unit compares L with a preset offset L0, and sets L0 to V0 × t0, if L is greater than L0, the central control processor determines that the unmanned aerial vehicle is still subjected to external force interference and the body is inclined, and the central control processor readjusts the rotating speed of the corresponding rotor.

Further, a preset highest rotating speed Wmax is further arranged in the central control processor, when the central control processor needs to adjust the rotating speed of the rotor wing to W ', the central control processor compares W' with Wmax, if W 'is less than Wmax, the central control processor adjusts the rotating speed of the rotor wing to Wmax, and if W' is more than or equal to Wmax, the central control processor adjusts the rotating speed of the rotor wing to Wmax and reduces the rotating speed of the rotor wing arranged opposite to the rotor wing;

when the central control processor adjusts the rotating speed of the rotor wing to Wmax, the central control processor calculates a rotating speed difference value delta W and adjusts the rotating speed of the rotor wing arranged opposite to the rotor wing to a corresponding value according to the value of the delta W, and the delta W is set to be W' -Wmax; the central control processor is also provided with a first preset rotating speed difference value delta W1 and a second preset rotating speed difference value delta W2, wherein delta W1 is smaller than delta W2;

when the delta W is less than or equal to the delta W1, the central control processor adjusts the rotating speed of the corresponding rotor wing by using alpha 1;

when the delta W1 is less than the delta W and less than or equal to the delta W2, the central control processor adjusts the rotating speed of the corresponding rotor wing by using alpha 2;

when Δ W > [ Δ W2, the central control processor adjusts the rotation speed of the corresponding rotor by using α 3;

when the central processor adjusts the rotation speed of the corresponding rotor by using the α i, the rotation speed of the adjusted rotor is recorded as W ″, and W × (2- α i) is set.

Further, a preset minimum rotating speed Wmin is further arranged in the central control processor, when the central control processor needs to adjust the rotating speed of the rotor to W ', the central control processor compares W ' with Wmin, if W ' > Wmin, the central control processor adjusts the rotating speed of the rotor to W ', if W ' > Wmin is not more than Wmin, the central control processor adjusts the rotating speed of the rotor to Wmin, shortens the distance between the balancing weight and the camera at a corresponding speed, controls the camera to collect images in real time, and compares the characteristic points in the images with the positions of initial characteristic points in the images or videos to detect the offset distance L of the characteristic points in real time.

Further, when the central control processor determines that the unmanned aerial vehicle inclines, the central control processor detects a height difference H between the unmanned aerial vehicle and a characteristic point through the camera device and corrects the offset rate V or the moving rate V of the balancing weight;

the central processor is internally provided with a first preset height H1, a second preset height H2, a first preset offset rate correction coefficient beta 1, a second preset offset rate correction coefficient beta 2, a first preset counterweight block moving speed correction coefficient gamma 1 and a second preset counterweight block moving speed correction coefficient gamma 2, wherein H1 is more than H2, beta 1 is more than 1.5 and more than beta 2 and less than 1.7, and gamma 1 is more than 1.5 and more than gamma 2 and less than 2;

when H is less than or equal to H1, the central control processor does not modify the offset rate V or the moving rate V;

when H1 is larger than H and smaller than or equal to H2, if the central control processor determines whether the unmanned aerial vehicle inclines, the central control processor corrects the offset rate V of the characteristic point by using beta 1, and if the central control processor controls the counterweight to move towards the camera device, the central control processor corrects the movement rate V of the counterweight by using gamma 1;

when H is larger than H2, if the central control processor determines whether the unmanned aerial vehicle inclines, the central control processor corrects the offset rate V of the characteristic point by using beta 2, and if the central control processor controls the balancing weight to move towards the camera device, the central control processor corrects the moving rate V of the balancing weight by using gamma 2;

when the central control processor corrects the offset rate V of the feature point by using the beta j, setting j to be 1 and 2, recording the corrected offset rate as V ', setting V ' to be V multiplied by beta j, and after correction is completed, comparing the V ' with the V0 by the central control processor to judge whether the unmanned aerial vehicle tilts;

when the central control processor corrects the moving speed v of the balancing weight by using the gamma j, the corrected moving speed is recorded as v ', and after the correction is finished by setting the v ' ═ v multiplied by the gamma j, the central control processor sets the moving speed of the balancing weight as v '.

Further, the folding wing assembly includes:

the cranks are uniformly distributed on the side wall of the machine body, each crank can rotate in the vertical direction at the connecting point of the crank and the side wall of the machine body, the end parts of the cranks, far away from the machine body, are respectively provided with a motor, and the top of each motor is provided with a rotor wing;

the sliding rings are sleeved on the side wall of the machine body and are positioned below the cranks and matched with the sliding rails to move along the sliding rail direction outside the machine body

The limiting ring comprises a first limiting ring arranged on the outer wall of the machine body and positioned between the sliding ring and the crank, and a second limiting ring arranged on the outer wall of the machine body and positioned below the sliding ring, a spring is arranged between the sliding ring and the second limiting ring, and the spring is sleeved on the outer wall of the machine body and used for applying vertical upward elastic force to the sliding ring;

the number of the connecting rods is the same as that of the cranks, one end of each connecting rod is uniformly arranged on the outer wall of the sliding ring and can rotate in the vertical direction at the connecting point with the side wall of the sliding ring, one end of each connecting rod, which is far away from the sliding ring, is connected with the corresponding crank, and the connecting point of the connecting rods and the cranks is positioned between the motor and the connecting point of the cranks and the machine body;

when the unmanned aerial vehicle is stored, the slip ring is moved to enable the slip ring and the second limiting ring to compress the spring, the slip ring drives the connecting rods to respectively draw in the corresponding cranks, and when the cranks are respectively attached to the side wall of the machine body and are respectively parallel to the normal line of the machine body, the unmanned aerial vehicle is stored;

when the unmanned aerial vehicle is used, the compression of the sliding ring and the second limiting ring on the spring is released, the spring exerts vertical upward elastic force on the sliding ring, the sliding ring vertically moves upwards along the machine body and drives the connecting rods to move, the connecting rods respectively support the corresponding cranks, and when the cranks are respectively perpendicular to the normal line of the machine body, the unmanned aerial vehicle is in a flying state.

Furthermore, a limiting device which is a limiting column is arranged in the machine body, through holes are formed in the side wall of the machine body and the side wall of the sliding ring for enabling the limiting column to move out of the machine body, and the limiting device and the first limiting ring are located at the same height for fixing the sliding ring; when the slip ring moves to the first limiting ring under the action of the elastic force of the spring and the slip ring is in contact with the first limiting ring, the limiting device is started, and the limiting columns sequentially penetrate through the side wall of the machine body and the side wall of the slip ring to fix the slip ring at a specified position.

Furthermore, a hemispherical protective cover is arranged at the bottom end of the machine body and used for preventing the camera device from being damaged.

Compared with the prior art, the invention has the beneficial effects that: according to the unmanned aerial vehicle, the columnar body is adopted, the center of the body can be converged to a single point, the elongated structure of the unmanned aerial vehicle is used for adjusting and maintaining the attitude, the pressure of the rotor wing for adjusting the attitude is reduced, the probability of the unmanned aerial vehicle in rollover is greatly reduced, and therefore the unstable gravity center of the body caused by the use of the flat body is effectively avoided.

Furthermore, the central control processor is arranged, whether the unmanned aerial vehicle is interfered or not and is rapidly and accurately judged according to the offset rate of the characteristic points in the image or the video, the rotating speed of the corresponding rotor wing is rapidly adjusted to a corresponding value when the unmanned aerial vehicle is judged to be inclined, and the unmanned aerial vehicle can be rapidly recovered to a stable state when the unmanned aerial vehicle body is inclined, so that the stability of the unmanned aerial vehicle in flying is further improved.

Further, when the central control processor determines that the stability of the unmanned aerial vehicle body cannot be recovered by adjusting the rotating speed of the rotor wing, the central control processor can adjust the position of the balancing weight.

Further, when the central control processor judges that the unmanned aerial vehicle is interfered by external force and the unmanned aerial vehicle body inclines, the central control processor compares the obtained deviation rate difference value delta V with a corresponding preset deviation rate difference value, judges the inclination degree of the unmanned aerial vehicle according to the comparison result and selects a corresponding adjusting coefficient to adjust the rotating speed of the rotor closest to the inclination direction of the unmanned aerial vehicle.

Further, when the central control processor completes adjustment of working parameters of corresponding parts, the central control processor controls the camera device to collect images and compares the characteristic points in the images with the positions of initial characteristic points in the images or videos to obtain the offset distance L of the characteristic points, the offset distance L is compared with the preset offset L0, and whether the unmanned aerial vehicle body recovers stably is judged according to the comparison result.

Furthermore, the central control processor is also provided with a preset highest rotating speed Wmax, if the rotating speed W' of the adjusted rotor wing is not less than Wmax, the central control processor adjusts the rotating speed of the rotor wing to Wmax, calculates a rotating speed difference value delta W and reduces the rotating speed of the rotor wing arranged opposite to the rotor wing to a corresponding value according to the value of delta W.

Furthermore, the central control processor is also provided with a preset minimum rotating speed Wmin, if the rotating speed W' of the adjusted rotor wing is less than or equal to Wmin, the central control processor adjusts the rotating speed of the rotor wing to Wmin and shortens the distance between the balancing weight and the camera device at a corresponding speed, the rotating speed of the rotor wing is further reduced by using the height reduction of the balancing weight instead of further reducing the rotating speed of the rotor wing, the situation that the unmanned aerial vehicle cannot fly at a specified height due to too low rotating speed of the rotor wing can be effectively avoided, and the flying efficiency of the unmanned aerial vehicle is ensured, and meanwhile, the stability of the unmanned aerial vehicle in flying is further improved.

Further, when the central control processor determines that the unmanned aerial vehicle inclines, the central control processor detects the height difference H between the unmanned aerial vehicle and the characteristic point through the camera device and corrects the height difference according to the offset rate V or the moving rate V of the balancing weight.

Furthermore, the folding wing assembly is of an umbrella-shaped structure, the unmanned aerial vehicle is of a slender shape in a folded state, occupies a small plane space, is of a stable umbrella-shaped symmetrical structure after being unfolded, and has the characteristics of small occupied space, stable flight state and strong output power by adopting a four-rotor motor as power.

Furthermore, the limiting device is arranged in the unmanned aerial vehicle, the limiting device is used for limiting the sliding ring, and each rotor wing can be fixed at a designated position, so that the stability of the unmanned aerial vehicle in flying is further improved.

Drawings

Fig. 1 is a schematic structural view of a foldable micro rotor drone according to the present invention in a stowed state;

fig. 2 is a schematic structural view of a foldable micro-rotor drone according to the present invention in flight;

fig. 3 is a schematic view of the bottom structure of the machine body according to the present invention.

Detailed Description

In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.

It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element 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, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, 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 by those skilled in the art according to specific situations.

Referring to fig. 1-3, the foldable micro-rotor drone according to the present invention comprises:

the mobile phone comprises a machine body 1 which is a columnar shell, wherein a communication device (not shown in the figure) and a battery (not shown in the figure) are arranged in the machine body 1, a camera device 11 is arranged at the bottom end in the machine body 1, and a sliding rail 12 is arranged on the outer wall of the machine body 1;

the folding wing assembly 2 is arranged outside the machine body 1, is connected with the machine body 1 and realizes folding and storage of the wings through an umbrella-shaped structure; a plurality of motors 211 are arranged on the folding wing assembly 2, and each motor 211 is provided with a rotor 212;

the counterweight mechanism (not shown in the figure) is arranged inside the machine body 1 and comprises a counterweight block (not shown in the figure) which can vertically move along the inner wall of the machine body 1, and when the unmanned aerial vehicle flies, the position of the gravity center of the unmanned aerial vehicle is adjusted by adjusting the distance between the counterweight block and the camera device 11;

a central processor (not shown in the figure), which is a plc controller, is located inside the airframe 1 and is respectively connected to the camera device 11, each motor 211 and the mating mechanism, so as to determine whether the airframe 1 is deviated during the flight of the unmanned aerial vehicle and rapidly recover the airframe 1 to a stable state when the airframe 1 is deviated;

the central control processor is internally provided with a preset image shift rate V0, when the unmanned aerial vehicle flies, the camera device 11 periodically collects image information or continuously records video information and respectively sends the collected image information or the collected video information to the communication device and the central control processor, if the central control processor judges that a characteristic point in an image or a video inclines or shifts, the central control processor calculates the inclination rate or the shift rate of the characteristic point in the image or the video in a unit time t0 and marks the calculated inclination rate or the shift rate as V, after the calculation is completed, the central control processor compares the V with the V0, if V is larger than V0, the central control processor judges that the unmanned aerial vehicle is interfered by external force and the body 1 inclines, the central control processor calculates a shift rate difference delta V, sets the delta V to be V-V0, and after the calculation is completed, the central control processor adjusts the rotating speed of the corresponding rotor wing 212 according to the specific value of the delta V so as to enable the unmanned aerial vehicle to recover to be stable, if the central control processor judges that the unmanned aerial vehicle still can not recover stably after adjustment, the central control processor adjusts the distance between the balancing weight and the camera device 11 so that the unmanned aerial vehicle recovers stably.

According to the unmanned aerial vehicle, the columnar body is adopted, the center of the body 1 can be converged to a single point, the elongated structure of the unmanned aerial vehicle is used for adjusting and maintaining the attitude, the pressure of the rotor 212 for adjusting the attitude is reduced, the probability of the unmanned aerial vehicle turning on the side is greatly reduced, and therefore the unstable gravity center of the body 1 caused by the use of the flat body is effectively avoided, meanwhile, the position of the gravity center in the unmanned aerial vehicle can be effectively adjusted by arranging the counterweight block capable of vertically moving in the body 1, the controllability of the unmanned aerial vehicle is effectively improved, and meanwhile, the stability of the unmanned aerial vehicle in flying is further improved.

Meanwhile, the central control processor is arranged, whether the unmanned aerial vehicle is interfered or not and is rapidly and accurately judged according to the offset rate of the characteristic points in the image or the video, the rotating speed of the corresponding rotor 212 is rapidly adjusted to a corresponding value when the unmanned aerial vehicle is judged to be inclined, and the unmanned aerial vehicle can be rapidly recovered to a stable state when the unmanned aerial vehicle body 1 is inclined, so that the stability of the unmanned aerial vehicle in flying is further improved. When the central control processor judges that the stability of the unmanned aerial vehicle body 1 cannot be recovered by adjusting the rotating speed of the rotor 212, the central control processor can adjust the position of the balancing weight, and the stability of the unmanned aerial vehicle body 1 can be further enhanced by adjusting the gravity center position of the unmanned aerial vehicle body 1, so that the stability of the unmanned aerial vehicle in flying is further improved.

Specifically, the folding wing assembly 2 of the present invention includes:

the cranks 21 are uniformly distributed on the side wall of the machine body 1, each crank 21 can rotate in the vertical direction at the connecting point of the crank 21 and the side wall of the machine body 1, the end parts of the cranks 21 far away from the machine body 1 are respectively provided with a motor 211, and the top of each motor 211 is provided with a rotor 212;

a sliding ring 22, which is sleeved on the side wall of the machine body 1, the sliding ring 22 is located below each crank 21 and the sliding ring 22 cooperates with the sliding rail 12 to move along the direction of the sliding rail 12 outside the machine body 1

The limiting ring comprises a first limiting ring 231 arranged on the outer wall of the machine body 1 and positioned between the slip ring 22 and the crank 21 and a second limiting ring 232 arranged on the outer wall of the machine body and positioned below the slip ring 22, a spring 233 is arranged between the slip ring 22 and the second limiting ring 232, and the spring 233 is sleeved on the outer wall of the machine body 1 and used for applying vertical upward elastic force to the slip ring 22;

the number of the connecting rods 24 is the same as that of the cranks 21, one end of each connecting rod 24 is uniformly arranged on the outer wall of the sliding ring 22, each connecting rod 24 can rotate in the vertical direction at a connecting point with the side wall of the sliding ring 22, one end of each connecting rod 24, which is far away from the sliding ring 22, is respectively connected with the corresponding crank 21, and the connecting point of each connecting rod 24 and each crank 21 is positioned between the motor 211 and the connecting point of each crank 21 and the machine body 1;

when the unmanned aerial vehicle is stored, the slip ring 22 is moved to enable the slip ring 22 and the second limit ring 232 to compress the spring 233, the slip ring 22 drives the connecting rods 24 to respectively draw in the corresponding cranks 21, and when the cranks 21 are respectively attached to the side wall of the machine body 1 and are respectively parallel to the normal of the machine body 1, the unmanned aerial vehicle is stored;

when the unmanned aerial vehicle is used, the compression of the sliding ring 22 and the second limit ring 232 on the spring 233 is released, the spring 233 applies a vertical upward elastic force to the sliding ring 22, the sliding ring 22 moves vertically upward along the machine body 1 and drives the connecting rods 24 to move, the connecting rods 24 respectively support the corresponding cranks 21, and when the cranks 21 are respectively perpendicular to the normal of the machine body 1, the unmanned aerial vehicle is in a flying state.

The folding wing assembly 2 is of an umbrella-shaped structure, the unmanned aerial vehicle is of a slender shape in a folded state, occupies small plane space, is of a stable umbrella-shaped symmetrical structure after being unfolded, and has the characteristics of small occupied space, stable flight state and strong output power by adopting the four-rotor-wing 212 motor 211 as power.

Specifically, when the central control processor determines that the unmanned aerial vehicle is interfered by external force and the body 1 inclines, the central control processor compares the obtained deviation rate difference value Δ V with a corresponding preset deviation rate difference value, determines the inclination degree of the unmanned aerial vehicle according to the comparison result, and selects a corresponding adjusting coefficient to adjust the rotating speed of the rotor 212 closest to the inclination direction of the unmanned aerial vehicle;

the central control processor is internally provided with a first preset offset rate difference value delta V1, a second preset offset rate difference value delta V2, a first preset rotating speed adjusting coefficient alpha 1, a second preset rotating speed adjusting coefficient alpha 2 and a third preset rotating speed adjusting coefficient alpha 3, wherein delta V1 is less than delta V2, and alpha 1 is more than 1 and more than alpha 2 and more than alpha 3 and less than 1.5;

when the delta V is less than or equal to the delta V1, the central control processor judges that the unmanned aerial vehicle is in a slight inclination state, and the central control processor adjusts the rotating speed of the corresponding rotor 212 by using alpha 1;

when the delta V1 is less than the delta V and less than or equal to the delta V2, the central control processor judges that the unmanned aerial vehicle is in a moderate inclination state, and the central control processor adjusts the rotating speed of the corresponding rotor 212 by using alpha 2;

when Δ V > [ Δ V2 ], the central control processor determines that the unmanned aerial vehicle is in a heavy inclination state, and the central control processor adjusts the rotating speed of the corresponding rotor 212 by using α 3 and reduces the distance between the balancing weight and the camera device 11;

when the central processor selects α i to adjust the rotating speed of the corresponding rotor 212, setting i to be 1, 2, 3, and setting W' to be W × α i, where W is the initial rotating speed of the rotor 212; when the central control processor determines that the unmanned aerial vehicle is in a heavy inclination state and reduces the distance between the balancing weight and the camera device 11, the central control processor sets the moving distance of the balancing weight to be D0/2, wherein D0 is the initial distance between the balancing weight and the camera device 11.

According to the unmanned aerial vehicle, the rotating speed of the corresponding rotor 212 is accurately adjusted according to the difference value between the actual offset rate and the preset offset rate of the characteristic point, so that the situation that the body 1 is reversely inclined or cannot be stably restored due to too large or too small adjustment amount of the rotating speed of the rotor 212 can be effectively avoided, and the stability of the unmanned aerial vehicle in flight is further improved.

Specifically, when the central control processor completes adjustment of the working parameters of the corresponding component, the central control processor controls the image pickup device 11 to acquire an image and compares the feature point in the image with the position of the initial feature point in the image or video to obtain an offset distance L of the feature point, after obtaining L, the central control unit compares L with a preset offset L0, sets L0 to V0 × t0, and if L > L0, the central control processor determines that the unmanned aerial vehicle is still subjected to external force interference and the body 1 is inclined, and the central control processor readjusts the rotation speed of the corresponding rotor 212.

According to the unmanned aerial vehicle stability recovery method, whether the unmanned aerial vehicle recovers stability is verified by using the offset of the characteristic points, and the rotating speed of the rotor 212 is readjusted when the unmanned aerial vehicle is judged not to recover stability, so that the stability of the unmanned aerial vehicle during flying can be further improved.

Specifically, the central control processor is further provided with a preset highest rotating speed Wmax, when the central control processor needs to adjust the rotating speed of the rotor 212 to W ', the central control processor compares W' with Wmax, if W '< Wmax, the central control processor adjusts the rotating speed of the rotor 212 to Wmax, and if W' ≧ Wmax, the central control processor adjusts the rotating speed of the rotor 212 to Wmax and reduces the rotating speed of the rotor 212 opposite to the rotor 212;

when the central control processor adjusts the rotating speed of the rotor 212 to Wmax, the central control processor calculates a rotating speed difference value delta W and adjusts the rotating speed of the rotor 212 arranged opposite to the rotor 212 to a corresponding value according to the value of the delta W, and the delta W is set to be W' -Wmax; the central control processor is also provided with a first preset rotating speed difference value delta W1 and a second preset rotating speed difference value delta W2, wherein delta W1 is smaller than delta W2;

when delta W is less than or equal to delta W1, the central control processor adjusts the rotating speed of the corresponding rotor 212 by using alpha 1;

when the delta W1 is less than delta W and less than delta W2, the central control processor adjusts the rotating speed of the corresponding rotor wing 212 by using alpha 2;

when Δ W >. Δ W2, the central processor uses α 3 to adjust the speed of rotation of the corresponding rotor 212;

when the central processor adjusts the rotation speed of the corresponding rotor 212 using α i, the adjusted rotation speed of the rotor 212 is denoted as W ″, and W × (2- α i) is set.

According to the unmanned aerial vehicle, the stability of the unmanned aerial vehicle body 1 is recovered by reducing the rotating speed of the oppositely arranged rotors 212, so that the situation that the stability of the unmanned aerial vehicle body 1 cannot be recovered when the rotating speed of a single rotor 212 reaches a critical value can be effectively avoided, and the stability of the unmanned aerial vehicle in flying is further improved.

Specifically, the central control processor is further provided with a preset minimum rotation speed Wmin, when the central control processor needs to adjust the rotation speed of the rotor 212 to W ″, the central control processor compares W ″ with Wmin, if W ″ > Wmin, the central control processor adjusts the rotation speed of the rotor 212 to W ″, and if W ″, is less than or equal to Wmin, the central control processor adjusts the rotation speed of the rotor 212 to Wmin, shortens the distance between the counterweight and the camera 11 at a corresponding rate, controls the camera 11 to acquire an image in real time, and compares the feature point in the image with the position of the initial feature point in the image or video to detect the offset distance L of the feature point in real time.

According to the unmanned aerial vehicle, the rotating speed of the rotor 212 is further reduced by replacing the height of the weight reducing block, so that the situation that the unmanned aerial vehicle cannot fly at a specified height due to the fact that the rotating speed of the rotor 212 is too low can be effectively avoided, the flying efficiency of the unmanned aerial vehicle is guaranteed, and meanwhile, the stability of the unmanned aerial vehicle during flying is further improved.

Specifically, when the central control processor determines that the unmanned aerial vehicle is inclined, the central control processor detects a height difference H between the unmanned aerial vehicle and a feature point through the camera device 11 and corrects the height difference according to the offset rate V or the movement rate V of the counterweight block;

the central processor is internally provided with a first preset height H1, a second preset height H2, a first preset offset rate correction coefficient beta 1, a second preset offset rate correction coefficient beta 2, a first preset counterweight block moving speed correction coefficient gamma 1 and a second preset counterweight block moving speed correction coefficient gamma 2, wherein H1 is more than H2, beta 1 is more than 1.5 and more than beta 2 and less than 1.7, and gamma 1 is more than 1.5 and more than gamma 2 and less than 2;

when H is less than or equal to H1, the central control processor does not modify the offset rate V or the moving rate V;

when H1 is larger than H and smaller than or equal to H2, if the central control processor determines whether the unmanned aerial vehicle inclines, the central control processor corrects the offset rate V of the characteristic point by using beta 1, and if the central control processor controls the counterweight to move towards the camera device 11, the central control processor corrects the movement rate V of the counterweight by using gamma 1;

when H is larger than H2, if the central control processor determines whether the unmanned aerial vehicle inclines, the central control processor corrects the offset rate V of the characteristic point by using beta 2, and if the central control processor controls the balancing weight to move towards the camera device 11, the central control processor corrects the movement rate V of the balancing weight by using gamma 2;

when the central control processor corrects the offset rate V of the feature point by using the beta j, setting j to be 1 and 2, recording the corrected offset rate as V ', setting V ' to be V multiplied by beta j, and after correction is completed, comparing the V ' with the V0 by the central control processor to judge whether the unmanned aerial vehicle tilts;

when the central control processor corrects the moving speed v of the balancing weight by using the gamma j, the corrected moving speed is recorded as v ', and after the correction is finished by setting the v ' ═ v multiplied by the gamma j, the central control processor sets the moving speed of the balancing weight as v '.

According to the invention, the deviation rate V or the moving rate V of the balancing weight is corrected according to the actual flying height of the unmanned aerial vehicle, so that the influence of the flying height on the actual deviation distance of the characteristic point in the image can be effectively avoided, and the stability of the unmanned aerial vehicle in flying is further improved.

Specifically, the machine body 1 of the present invention is further provided with a limiting device (not shown in the figures), which is a limiting column, wherein through holes are formed in the side wall of the machine body 1 and the side wall of the sliding ring 22, so as to allow the limiting column to move out of the machine body 1, and the limiting device and the first limiting ring 231 are located at the same height, so as to fix the sliding ring 22; when the slip ring 22 moves to the first limit ring 231 under the elastic force of the spring 233 and the slip ring 22 contacts the first limit ring 231, the limit device is started, and the limit posts sequentially penetrate through the side wall of the machine body 1 and the side wall of the slip ring 22 to fix the slip ring 22 at a designated position. It is understood that the triggering relationship between the position-limiting columns and the first position-limiting ring 231 and the sliding ring 22 can be a mechanical, magnetic, electrical or other triggering relationship, as long as the requirement that the position-limiting columns can be ejected out of the machine body 1 when the sliding ring 22 contacts the first position-limiting ring 231 is satisfied.

According to the unmanned aerial vehicle, the slip ring 22 is limited by using the limiting device, and each rotor wing 212 can be fixed at a designated position, so that the stability of the unmanned aerial vehicle in flying is further improved.

Specifically, the bottom end of the body 1 of the present invention is provided with a hemispherical protection cover 13 to prevent the camera device 11 from being damaged.

So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to 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.