CN111156865A

CN111156865A - Coaxial multi-rotor patrol missile

Info

Publication number: CN111156865A
Application number: CN202010012841.XA
Authority: CN
Inventors: 牛三库; 阎雪飞; 王贺
Original assignee: Beijing Institute of Technology BIT
Current assignee: Beijing Institute of Technology BIT
Priority date: 2020-01-07
Filing date: 2020-01-07
Publication date: 2020-05-15

Abstract

The coaxial multi-rotor flight patrol bomb disclosed by the invention can turn at a fixed point by 360 degrees through a multi-rotor propeller structure, has a zero minimum turning radius, and can be suitable for urban areas with dense building groups and barrier separation areas. When the coaxial patrol missile disclosed by the invention approaches or attacks a target, each rotor wing can generate a rotating direction opposite to that during initial deployment and generate a thrust which is opposite to a takeoff lift force and consistent with a gravity direction; the thrust and the gravity are superposed and act together on the projectile body to generate an attack acceleration greater than a gravity acceleration. The invention has cruising ability among dense building groups in urban areas and can attack ground targets moving quickly.

Description

Coaxial multi-rotor patrol missile

Technical Field

The invention relates to the technical field of intelligent ammunition, in particular to a coaxial multi-rotor-wing flying patrol bomb.

Background

The flying round belongs to a technology for shooting and destroying intelligent ammunition, and is one of the main directions for developing intelligent ammunition at home and abroad. The flying patrol is firstly proposed by a wide area scout bomb project dominated by the American national defense advanced technology agency and a low-cost autonomous attack ammunition project dominated by the American air force. The concept of flying round is originally proposed by Beijing university of reason worker in China, and the first patent of flying round national defense-artillery of cannon shoot unmanned plane-is declared by Beijing university of reason worker. A patrol bomb belongs to the third-generation ammunition technology and aims to cope with potential threats in a specific area and suppress and accurately damage the force of potential enemies.

Many types of flying patrol bombs are equipped in foreign countries, for example, the American army has been used for years in the Afghanistan war to attack the flying patrol bombs by a spring knife. The "outwolf" of the air force equipment in the united states attacks the flying bomb. The Russian equipped R-90 scout fly-bomb. The patrol missiles have the following technical characteristics:

the thermal emission technology is adopted: for example, the spring knife and the suburb patrol bomb are launched by initiating explosive devices, and the R-90 patrol bomb is launched by a rocket;

folding missile wing technology: in order to meet the launching requirement of a small space of a barrel weapon, the flying patrol bomb is folded and arranged with bomb wings;

the cruising technology is as follows: the missile wing is unfolded to provide main flying lift force for the cruise missile, so that the cruise flying speed and the flying state are ensured;

end attack techniques: and after the seeker locks the target, accurately attacking the target according to a preset guidance law.

The technical defects of the traditional flying patrol bombs such as the spring knife, the suburb wolf and the like are as follows:

problems of transmission overload and initial speed: due to the limitations of barrel size and initial flying speed, the missile, the inertial measurement unit and the onboard equipment are all subjected to a launching overload impact of hundreds of g (g is 9.8m/s2), and the impact can cause initial errors of the inertial measurement unit and damage of the onboard equipment;

the cruise speed problem is as follows: because the movement of the missile wings generates lift force, the lift force generated by the cruise missile is balanced with gravity in the whole cruise process, and the cruise missile needs to keep a certain cruise speed.

Problem of minimum turning radius limitation: the cruise missile has a limitation on the turning radius due to a limitation on the cruising speed and a limitation on the attitude angle of the projectile during turning.

Obstacle avoidance problem: in urban areas and areas blocked by obstacles, the patrol bombs caused by the minimum turning radius are difficult to avoid the obstacles in a specific space at a certain cruising speed.

Attack dead angle problem: due to the problem of avoiding the obstacles by the flying patrol bomb, the flying patrol bomb has a plurality of attack dead angles in an urban area with dense obstacles.

In addition, when the existing coaxial helicopter approaches or attacks a target, the body only depends on the pushing action generated by partial gravity to approach or attack the target. Due to the limit of the body posture, the partial gravity pushes the body to generate the motion acceleration which is less than one g (g is 9.8m/s2) attack acceleration.

Disclosure of Invention

Technical problem to be solved

In order to solve the problems, the coaxial multi-rotor flying patrol bomb provided by the invention can be steered and moved without dead angles, and the acceleration in the attack process is more than one gravity acceleration.

(II) technical scheme

In order to achieve the purpose, the invention provides the following technical scheme: a coaxial multi-rotor-wing flying patrol bomb comprises a top power upper rotor wing, a top power lower rotor wing, a top power upper motor, a top power lower motor, a battery bin, a lower power upper motor, a lower power lower motor, a lower power upper propeller, a lower power lower propeller, a control bin of a control device and a navigation device, a fighting part and a seeker, wherein the top power upper rotor wing, the top power lower rotor wing, the lower power upper propeller and the lower power lower propeller are all propellers; the top power upper rotor and the top power lower rotor are respectively and electrically connected with a top power upper motor and a top power lower motor to form a top coaxial propeller; the lower power upper motor and the lower power lower motor are respectively connected with the lower power upper propeller and the lower power lower propeller to form a lower coaxial propeller, the top coaxial propeller and the lower coaxial propeller are electrically connected with a battery compartment, and the battery compartment is electrically connected with a control compartment of the control device and the control compartment of the navigation device; the control cabin of the control device and the navigation device is electrically connected with the lower part of the warhead; the warhead is electrically connected with the seeker; the electric wires of the control cabin of the control device and the navigation device penetrate through the warhead and are connected with the seeker.

Preferably, the propellers are all arranged coaxially in tandem; the number of propellers is not limited, the propellers can be single-blade, double-blade, three-blade or other varieties, and the propellers can be folded or unfolded.

Preferably, any adjacent propellers are oppositely turned and generate the same direction of thrust; when the coaxial multi-rotor-wing aerobat is attacked, the rotating direction of the propeller is opposite to the initial rotating direction when the aerobat is deployed and lifted, and the propeller generates thrust opposite to the lifting force when the aerobat is deployed, so that the resultant force of the coaxial multi-rotor-wing aerobat is greater than one gravity acceleration.

Preferably, the guide heads are of a plurality of types, and different guide heads can be adopted according to different situations.

Advantageous effects

The invention has the beneficial effects that: the coaxial multi-rotor flight patrol bomb disclosed by the invention can turn at a fixed point by 360 degrees through a multi-rotor propeller structure, has a zero minimum turning radius, and can be suitable for urban areas with dense building groups and barrier separation areas. When the coaxial cruise missile disclosed by the invention approaches or attacks a target, each rotor wing can generate a rotating direction opposite to that during initial deployment and generate a thrust opposite to a takeoff lift force and consistent with a gravity direction. The thrust and the gravity are superposed and act together on the projectile body to generate an attack acceleration greater than a gravity acceleration. The invention has cruising ability among dense building groups in urban areas and can attack ground targets moving quickly.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention without limiting the invention in which:

fig. 1 shows a schematic structural composition diagram of the coaxial multi-rotor cruise missile;

FIG. 2 shows a coaxial multi-rotor cruise missile rotor collapsed state;

FIG. 3 shows a schematic of the direction of rotation of a coaxial multi-rotor cruise missile cruise flight propeller;

FIG. 4 shows a propeller steering schematic for a coaxial multi-rotor cruise attack;

FIG. 5 shows a schematic representation of the variation of lift of a coaxial multi-rotor cruise missile propeller;

in the figure, 1 is a top power upper rotor, 2 is a top power lower rotor, 3 is a top power upper motor, 4 is a top power lower motor, 5 is a battery compartment, 6 is a lower power upper motor, 7 is a lower power lower motor, 8 is a lower power upper propeller, 9 is a lower power lower propeller, 10 is a control compartment of a control device and a navigation device, 11 is a fighting part, and 12 is a seeker.

Detailed Description

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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to attached drawings 1-5, a novel intelligence is patrolled and is flown bullet to coaxial many rotor unmanned aerial vehicle is the carrier, can solve fixed wing and patrol the transmission that the fly bullet exists and transship greatly to and in the intensive urban area of building can't avoid because its turning radius with keep away the attack dead angle problem that the barrier leads to.

The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.

As shown in fig. 1, the coaxial multi-rotor cruise missile according to the embodiment of the present invention includes a top power upper rotor 1, a top power lower rotor 2, a top power upper motor 3, a top power lower motor 4, a battery compartment 5, a lower power upper motor 6, a lower power lower motor 7, a lower power upper propeller 8, a lower power lower propeller 9, a control compartment 10 of a control device and a navigation device, a fighting section 11, and a seeker 12, wherein the top power upper rotor 1, the top power lower rotor 2, the lower power upper propeller 8, and the lower power lower propeller 9 are all propellers; the top power upper rotor wing 1 and the top power lower rotor wing 2 are respectively and electrically connected with a top power upper motor 3 and a top power lower motor 4 to form a top coaxial propeller; the lower power upper motor 6 and the lower power lower motor 7 respectively form a lower coaxial propeller together with a lower power upper propeller 8 and a lower power lower propeller 9, the top coaxial propeller and the lower coaxial propeller are electrically connected with the battery compartment 5, and the battery compartment 5 is electrically connected with a control compartment 10 of the control device and the navigation device; the control cabin 10 of the control device and the navigation device is electrically connected with the lower part of the warhead 11; the warhead 11 is electrically connected with the seeker 12; the electrical wiring of the control cabin 10 of the control device and the navigation device is connected with the seeker 12 through the warhead 11.

Wherein, the control cabin 10 of the control device and the navigation device has the functions of receiving and transmitting signals, the warhead 11 is loaded with ammunition, and the guide head 12 plays the role of guiding the warhead to attack the target. In order to have long endurance, the coaxial multi-rotor patrol missile is provided with a battery with larger electric quantity, and because the battery is heavier, the lift force generated by a single small propeller is not enough to offset the self gravity, two or more groups of double-rotor propeller structures are used, so that the sufficient lift force can be generated under the condition of ensuring that the propellers are small enough. And because the flight mode of adopting screw structure, this coaxial many rotors patrols the shell and when rotatory, can reach the degree that does not have the dead angle.

Further, fig. 3 shows the propeller rotation relationship of the coaxial multi-rotor cruise missile in the takeoff and cruise states, wherein, the set omega is the vector direction of the rotation of the propeller, the-omega means that the rotation direction is opposite to the omega, and the rotation speed value is not limited. The rotation directions of the top upper rotor and the top lower rotor propeller are omega and-omega, and the direction of the generated lift force is upward along the axial direction. The lower upper rotor and the lower rotor propellers have the rotation directions of omega and-omega, and the generated lift direction is upward along the axial direction. The direction of resultant force generated by the propellers is upward, and when the direction of resultant force is larger than the self gravity, lift force is generated, so that the coaxial multi-rotor-wing cruise missile can take off.

Further, fig. 4 shows the rotation relationship of the propeller when the coaxial multi-rotor boomerang is hit by a target, which is opposite to the rotation relationship of the propeller shown in fig. 2. The rotation directions of the top upper rotor and the top lower rotor propeller are-omega and omega, and the direction of the generated lift force is downward along the axial direction. The lower upper rotor and the lower rotor propellers have the rotating directions of-omega and omega, and the generated lift force is downward along the axial direction. At the moment, the direction of resultant force generated by the propeller is downward, and the gravity of the propeller is added, so that the coaxial multi-rotor aerobat is subjected to downward attack acceleration which is more than gravity acceleration.

Further, the whole process of taking off the coaxial cruise missile from the ground to attack the target is shown in the figure-5. Fig. 5 shows the main stress situation of the coaxial multi-rotor cruise missile, and the propellers of the coaxial multi-rotor cruise missile generate upward pulling force in the takeoff phase and the cruise phase. The direction of the tension T is opposite to that of the gravity G, and the tension T overcomes the gravity G to drive the flying patrol bomb to fly. In the attack stage, the direction of the force T generated by the propeller is the same as that of the gravity G, and the combined force of the force T and the gravity G jointly pushes the flying patrol bomb to approach the target until the flying patrol bomb meets the target.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. 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, further discussion thereof is not required in subsequent figures.

In the description of the present application, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the case of not making a reverse description, these directional terms do not indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the scope of the present application; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of protection of the present application is not to be construed as being limited.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A coaxial multi-rotor patrol missile is characterized by comprising a top power upper rotor (1), a top power lower rotor (2), a top power upper motor (3), a top power lower motor (4), a battery bin (5), a lower power upper motor (6), a lower power lower motor (7), a lower power upper propeller (8), a lower power lower propeller (9), a control bin (10) of a control device and a navigation device, a fighting part (11) and a seeker (12), wherein the top power upper rotor (1), the top power lower rotor (2), the lower power upper propeller (8) and the lower power lower propeller (9) are propellers;

the top power upper rotor (1) and the top power lower rotor (2) are respectively electrically connected with the top power upper motor (3) and the top power lower motor (4) to form a top coaxial propeller; the lower power upper motor (6) and the lower power lower motor (7) respectively form a lower coaxial propeller together with a lower power upper propeller (8) and a lower power lower propeller (9), the top coaxial propeller and the lower coaxial propeller are both electrically connected with the battery compartment (5), and the battery compartment (5) is electrically connected with the control device and a control compartment (10) of the navigation device; the control cabin (10) of the control device and the navigation device is electrically connected with the lower part of the warhead (11); the warhead (11) is electrically connected with the seeker (12); the electric wire of the control cabin (10) of the control device and the navigation device passes through the warhead (11) to be connected with the seeker (12).

2. A coaxial multi-rotor boomerang in accordance with claim 1, characterized in that said propellers are all arranged coaxially in tandem; the number of propellers is not limited, the propellers may be single-bladed, double-bladed, triple-bladed or other variants, the propellers may be in folded or unfolded form.

3. A coaxial multi-rotor boomerang in accordance with claim 2, characterized in that any adjacent propellers are turned in opposite directions and generate thrust in the same direction; when the coaxial multi-rotor-wing cruise missile is attacked, the rotating direction of the propeller is opposite to the initial rotating direction when the propeller is deployed and lifted, the propeller generates thrust opposite to the lifting force when the propeller is deployed, and the resultant force of the coaxial multi-rotor-wing cruise missile is larger than a gravity acceleration.

4. Coaxial multi-rotor boomerang, according to claim 1, characterized in that said guide heads (12) are of various types, different guide heads (12) being possible to use according to different situations.