CN112407265A - Tilting rotor four-axis unmanned aerial vehicle and tilting flight method thereof - Google Patents
Tilting rotor four-axis unmanned aerial vehicle and tilting flight method thereof Download PDFInfo
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- CN112407265A CN112407265A CN202011307643.2A CN202011307643A CN112407265A CN 112407265 A CN112407265 A CN 112407265A CN 202011307643 A CN202011307643 A CN 202011307643A CN 112407265 A CN112407265 A CN 112407265A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C19/00—Aircraft control not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
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Abstract
A four-axis unmanned aerial vehicle with tilting rotors comprises an unmanned aerial vehicle main body, four arms and tilting rotor units, wherein the four arms are symmetrically connected with the unmanned aerial vehicle front and back and left and right, one end of each arm is connected with the unmanned aerial vehicle main body, and the other end of each arm is a mounting end; the tilt rotor unit is divided into a front tilt rotor unit, a rear tilt rotor unit, a left tilt rotor unit and a right tilt rotor unit, the front tilt rotor unit, the rear tilt rotor unit, the left tilt rotor unit and the right tilt rotor unit are correspondingly installed at the installation ends of the front horn, the rear horn, the left horn and the right horn respectively, each tilt rotor unit comprises a steering engine installed at the installation end of the horn, the output end of each steering engine is connected with a motor, and a propeller is installed on an output shaft of the motor. The invention further provides a tilting flight method of the four-axis unmanned aerial vehicle with the tilting rotor wing. The invention has simple operation and reduces the manufacturing cost of the control system; the horizontal stable flight reduces the safety hidden trouble of the flight; can be translated to the left or right without changing the flight direction.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a four-axis unmanned aerial vehicle with a tilting rotor wing and a tilting flight method thereof.
Background
Now, unmanned aerial vehicles become an important tool, and have been continuously shown to play an ever-more important role in various fields. The small-sized multi-rotor unmanned aerial vehicle has the advantages of low cost, high efficiency-cost ratio, no casualty risk, high reliability degree, capability of reaching extremely dangerous regional nuclear diffusion, chemical and bacterial virus infection regions and the like. The method has wide application prospects in military and civil fields, such as low-altitude reconnaissance, security monitoring, meteorological surveying, topographic investigation, farmland pesticide spreading, aerial photography, traffic patrol and the like.
At present, a propulsion system for a small quad-rotor unmanned aerial vehicle is mostly fixed by a motor and a bracket end of a body, the rotating speed of a propeller is changed by adjusting the rotating speeds of four motors, the change of lift force is realized, and therefore the posture and the position of an aircraft are controlled. Therefore, when the aircraft moves forward and backward, the rotating speeds of the front motor and the rear motor need to be adjusted, so that the aircraft flies at a certain angle with the horizontal plane.
The four-rotor unmanned aerial vehicle is rotated by the motor, so that the propeller generates lift force to fly. The rotor symmetric distribution is in four directions in the front and back of organism, about, four rotors are in same high plane, and the structure and the radius of four rotors are all the same, and the support end at the aircraft is installed to four motor symmetries, and flight control computer and external equipment are laid to support intermediate space. The four-rotor aircraft changes the rotating speed of the rotor by adjusting the rotating speeds of the four motors, so that the change of the lift force is realized, and the attitude and the position of the aircraft are controlled. When the front motor and the rear motor rotate anticlockwise, the left motor and the right motor rotate clockwise, so that the gyroscopic effect and the aerodynamic torque effect are counteracted when the aircraft flies in a balanced manner.
In order to realize the fore-and-aft movement of the aircraft in the horizontal plane, a certain force must be applied to the aircraft in the horizontal plane. The rotating speeds of the front motor and the rear motor are required to be adjusted, so that the aircraft tilts to a certain degree, the tension of the aircraft is changed, and the front and rear movement of the aircraft is realized. However, in this operation process, the two motors in front and back need to be subjected to complicated rotation speed adjustment, which undoubtedly increases the manufacturing cost of the unmanned aerial vehicle control system.
Disclosure of Invention
In order to overcome the problems, the invention provides a four-axis unmanned aerial vehicle with a tilting rotor wing and a tilting flight method thereof.
The invention provides a four-axis tilting rotor unmanned aerial vehicle, which comprises an unmanned aerial vehicle main body, arms and tilting rotor units, wherein the four arms are symmetrically connected with the unmanned aerial vehicle front and back and left and right, one end of each arm is connected with the unmanned aerial vehicle main body, and the other end of each arm is a mounting end; the tilting rotor wing units are divided into front, rear, left and right tilting rotor wing units, and the front, rear, left and right tilting rotor wing units are respectively and correspondingly installed on the installation ends of the front, rear, left and right machine arms;
the forward-tilting rotor wing unit comprises a first motor, a first steering engine capable of rotating by 90 degrees and a first propeller, the first steering engine is fixed at the mounting end of a horn positioned at the front side of the unmanned aerial vehicle main body, the output end of the first steering engine is connected with the first motor, the first steering engine drives the first motor to swing leftwards or rightwards relative to the unmanned aerial vehicle main body, and the swing angle range of the first steering engine is-45 degrees to 45 degrees; the output shaft of the first motor is provided with a first propeller;
the left tilting rotor unit comprises a second motor, a second steering engine capable of rotating by 90 degrees and a second propeller, the second steering engine is fixed at the mounting end of a left arm of the unmanned aerial vehicle main body, the output end of the second steering engine is connected with the second motor, the second steering engine drives the second motor to swing forwards or backwards relative to the unmanned aerial vehicle main body, and the swing angle range of the second steering engine is-45 degrees to 45 degrees; the output shaft of the second motor is provided with a second propeller;
the backward-tilting rotor wing unit comprises a third motor, a third steering engine capable of rotating by 90 degrees and a third propeller, the third steering engine is fixed at the mounting end of a horn at the rear side of the unmanned aerial vehicle main body, the output end of the third steering engine is connected with the third motor, the third steering engine drives the third motor to swing leftwards or rightwards relative to the unmanned aerial vehicle main body, and the swing angle range of the third steering engine is-45 degrees to 45 degrees; the output shaft of the third motor is provided with a third propeller;
the right tilt rotor wing unit comprises a fourth motor, a fourth steering engine capable of rotating by 90 degrees and a fourth propeller, the fourth steering engine is fixed at the mounting end of a right arm of the unmanned aerial vehicle main body, the output end of the fourth steering engine is connected with the fourth motor, the fourth steering engine drives the fourth motor to swing forwards or backwards relative to the unmanned aerial vehicle main body, and the swing angle range of the fourth steering engine is-45 degrees to 45 degrees; and a fourth propeller is installed on an output shaft of the fourth motor.
Furthermore, the output ends of the first steering engine, the second steering engine, the third steering engine and the fourth steering engine are respectively provided with a limiting device for preventing the steering engines from excessively rotating, and the limiting devices are matched with the output ends to limit the rotating angles of the first steering engine, the second steering engine, the third steering engine and the fourth steering engine to be between 45 degrees and 45 degrees.
The invention provides a tilting flight method of a four-axis unmanned aerial vehicle with a tilting rotor wing, which comprises the following steps:
when the unmanned aerial vehicle moves vertically, the first steering engine, the second steering engine, the third steering engine and the fourth steering engine under the first motor, the second motor, the third motor and the fourth motor keep in a normal position, namely, the four motors and the four propellers are all in a horizontal position; the propeller generates lift force to fly up through the rotation of the four motors;
when the unmanned aerial vehicle moves forwards at a certain height, the rotating speeds of the first motor and the third motor are kept, the first steering engine and the third steering engine under the first motor and the third motor are kept in a normal position, and the second steering engine under the second motor and the fourth steering engine under the fourth motor are controlled to drive the second motor, the fourth motor, the corresponding second propeller and the corresponding fourth propeller to rotate forwards at an angle at the same time, so that the aim of forwarding is fulfilled; if the forward movement is stopped, the steering engine under the second motor and the fourth steering engine under the fourth motor are controlled to recover the normal position;
when the unmanned aerial vehicle moves backwards at a certain height, the rotating speeds of the first motor and the third motor are kept, the first steering engine and the third steering engine under the first motor and the third motor are kept in a normal position, and the second steering engine under the second motor and the fourth steering engine under the fourth motor are controlled to drive the second motor, the fourth motor, the corresponding second propeller and the corresponding fourth propeller to rotate backwards at an angle at the same time, so that the aim of backwards moving is fulfilled; if the backward movement is stopped, the steering engine under the second motor and the fourth steering engine under the fourth motor are controlled to recover the normal position;
when the unmanned aerial vehicle does leftward translational motion at a certain height with the direction unchanged, the rotating speeds of the first motor and the third motor are kept, and a second steering engine under the second motor and a fourth steering engine under the fourth motor are kept in a normal position; a first steering engine under a first motor and a third steering engine under a third motor are controlled to drive the first motor, the third motor and corresponding first propeller and third propeller to rotate leftwards at a certain angle simultaneously until the purpose is achieved; on the premise of keeping the unmanned aerial vehicle from rotating at an angle, the unmanned aerial vehicle can move horizontally leftwards; if the leftward translational motion is stopped, controlling a first steering engine under the first motor and a third steering engine under the third motor to recover the normal position;
when the unmanned aerial vehicle does right translation motion at a certain height with the direction unchanged, a second steering engine under a second motor and a fourth steering engine under a fourth motor keep in a normal position; a first steering engine under a first motor and a third steering engine under a third motor are controlled to drive the first motor, the third motor and corresponding first propeller and third propeller to rotate rightwards at a certain angle at the same time until the purpose is achieved; on the premise of keeping the unmanned aerial vehicle from rotating at an angle, the unmanned aerial vehicle can move in a translation manner to the right; if the right translation motion is stopped, the first steering engine under the first motor and the third steering engine under the third motor are controlled to restore to the normal position.
The invention has the beneficial effects that: through install two degree of freedom's steering wheel additional between four motors around the horn tip of the current rotor unmanned aerial vehicle of tradition and all around, realize traditional rotor unmanned aerial vehicle's improvement. The two do not have difference when moving vertically, and the two fly by the lift force generated by the rotation of the propeller driven by the motor in the horizontal direction. But when carrying out the seesaw, traditional rotor unmanned aerial vehicle will carry out the accurate regulation of front and back motor speed, and the operation is complicated relatively, causes control system's cost of manufacture increase, and the aircraft can incline when advancing to retreat simultaneously, and is unstable. The steering engine which rotates left and right is additionally arranged under the front and the back motors, and the steering engine which rotates front and back is additionally arranged under the left and the right motors, so that the following aims can be achieved
1. The forward and backward operation is simple, and the manufacturing cost of the control system is reduced.
2. The horizontal stable flight of the unmanned aerial vehicle main body and the horn can be kept, and the potential safety hazard of the flight is reduced; install stop device additional and also can protect unmanned aerial vehicle's safe flight to prevent that the screw from hitting unmanned aerial vehicle's horn.
3. Compare with traditional unmanned aerial vehicle and can reach and do not change the flight direction and carry out translation left or right to unmanned aerial vehicle.
Drawings
Fig. 1 is a schematic structural diagram of a conventional quad-rotor drone.
Fig. 2 is a schematic structural diagram of the present invention.
Figure 3 is a schematic representation of the invention as it advances.
Fig. 4 is a schematic diagram of the invention at back-off.
Fig. 5 is a schematic view of the present invention as it translates to the left.
FIG. 6 is a schematic view of the present invention as it translates to the right.
Figure 7 is a schematic view of a tilt rotor unit in a positive position.
Figure 8 is a schematic view of a tiltrotor unit in a rotated state.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments, but not all embodiments, of the present invention. 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.
In the description of the present invention, it should be noted that the orientations or positional relationships indicated as the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., appear based on the orientations or positional relationships shown in the drawings only for the convenience of describing the present invention and simplifying the description, but not for indicating or implying that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" as appearing herein are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" should be interpreted broadly, e.g., as being fixed or detachable 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.
Referring to the attached drawings, a first embodiment of the invention provides a tilt rotor four-axis unmanned aerial vehicle, which comprises an unmanned aerial vehicle main body, four arms and a tilt rotor unit, wherein the unmanned aerial vehicle is symmetrically connected with the four arms in front, back, left and right directions, one end of each arm is connected with the unmanned aerial vehicle main body, and the other end of each arm is a mounting end; the tilting rotor wing units are divided into front, rear, left and right tilting rotor wing units, and the front, rear, left and right tilting rotor wing units are respectively and correspondingly installed on the installation ends of the front, rear, left and right machine arms;
the forward-tilting rotor wing unit comprises a first motor 1, a first steering engine 5 capable of rotating by 90 degrees and a first propeller, wherein the first steering engine 5 is fixed at the mounting end of a horn positioned at the front side of the main body of the unmanned aerial vehicle, the output end of the first steering engine 5 is connected with the first motor 1, the first steering engine 5 drives the first motor 1 to swing leftwards or rightwards relative to the main body of the unmanned aerial vehicle, and the swing angle range is-45 degrees to 45 degrees; the output shaft of the first motor 1 is provided with a first propeller;
the left tilting rotor unit comprises a second motor 2, a second steering engine 6 capable of rotating by 90 degrees and a second propeller, the second steering engine 6 is fixed at the mounting end of a left arm of the main body of the unmanned aerial vehicle, the output end of the second steering engine 5 is connected with the second motor 2, the second steering engine 5 drives the second motor 2 to swing forwards or backwards relative to the main body of the unmanned aerial vehicle, and the swing angle range of the second steering engine is-45 degrees to 45 degrees; the output shaft of the second motor 2 is provided with a second propeller;
the backward-tilting rotor wing unit comprises a third motor 3, a third steering engine 7 capable of rotating by 90 degrees and a third propeller, the third steering engine 7 is fixed at the mounting end of a horn at the rear side of the main body of the unmanned aerial vehicle, the output end of the third steering engine 7 is connected with the third motor 3, the third steering engine 7 drives the third motor 3 to swing leftwards or rightwards relative to the main body of the unmanned aerial vehicle, and the swing angle range of the third steering engine is-45 degrees to 45 degrees; the output shaft of the third motor 3 is provided with a third propeller;
the right tilt rotor wing unit comprises a fourth motor 4, a fourth steering engine 8 and a fourth propeller, the fourth steering engine 8 can rotate by 90 degrees, the fourth steering engine 8 is fixed at the mounting end of a right arm of the unmanned aerial vehicle main body, the output end of the fourth steering engine 8 is connected with the fourth motor 4, the fourth steering engine 8 drives the fourth motor 4 to swing forwards or backwards relative to the unmanned aerial vehicle main body, and the swing angle range of the fourth steering engine 8 is-45 degrees to 45 degrees; the output shaft of the fourth motor 4 is provided with a fourth propeller.
For the first steering engine 5, the second steering engine 6, the third steering engine 7 and the fourth steering engine 8, firstly, control instructions need to be compiled, and the instructions mainly comprise instructions for distinguishing the four steering engines, adjusting the rotation angles of the steering engines and restoring the right positions, and then corresponding debugging is carried out to collect data and modify the instructions. Finally, the correct available commands are imported into the control panel for remote control, so that the commands in the steering engine, the motor and the control panel form a unique propulsion system.
The output ends of the first steering engine 5, the second steering engine 6, the third steering engine 7 and the fourth steering engine 8 are all provided with limiting devices for preventing the steering engines from excessively rotating to cause the unfavorable flight of the aircraft, and the limiting devices are matched with the output ends to limit the rotating angles of the first steering engine 5, the second steering engine 6, the third steering engine 7 and the fourth steering engine 8 to be within-45 degrees to 45 degrees.
The first embodiment of the invention provides a tilting flight method of a four-axis unmanned aerial vehicle with a tilting rotor wing, which comprises the following steps:
(1) vertical movement;
when the unmanned aerial vehicle moves vertically, the first steering engine 5, the second steering engine 6, the third steering engine 7 and the fourth steering engine 8 under the first motor 1, the second motor 2, the third motor 3 and the fourth motor 4 keep in the normal position, namely, the four motors and the four propellers are all in the horizontal position, as shown in fig. 2. At this time, the aircraft drives four propellers to rotate to generate lift force by means of rotation of four motors as in the conventional four-rotor unmanned aerial vehicle shown in fig. 1. Meanwhile, the output power of the four motors is increased, the rotating speed of the propellers is increased, so that the total lift force is increased, and when the total lift force is enough to overcome the weight of the whole unmanned aerial vehicle, the four-rotor unmanned aerial vehicle can lift off the ground and rise vertically; on the contrary, reduce the output of four motors simultaneously, the screw rotational speed reduces and makes total lift reduce, and when total lift was not enough to overcome whole unmanned aerial vehicle's weight this moment, four rotor unmanned aerial vehicle then descend perpendicularly, fall to the ground until the balance, realized along the vertical motion of vertical direction. When the external disturbance amount is zero, when the lift force generated by the propeller is equal to the self weight of the unmanned aerial vehicle, the unmanned aerial vehicle keeps a hovering state.
(2) Forward movement;
when the unmanned aerial vehicle moves forward at a certain height, the rotating speeds of the first motor 1, the second motor 2, the third motor 3 and the fourth motor 4 are kept unchanged, and meanwhile, the first steering engine 5 and the third steering engine 7 under the first motor 1 and the third motor 3 are kept in a positive position continuously. Then control second steering wheel 6 under second motor 2 and fourth steering wheel 8 under fourth motor 4, make it drive second motor 2, fourth motor 4 and corresponding second screw, fourth screw and carry out certain angle alpha's rotation forward simultaneously to the lift that makes second screw, fourth screw produce produces the branch pulling force in horizontal positive direction, consequently can realize unmanned aerial vehicle's the motion that advances.
The drone under forward command is shown in fig. 3. An operator can realize the advancing in the horizontal direction and the advancing in the pitch angle direction by controlling the rotating speeds of the four motors, and can control the advancing speed by controlling the rotating angles alpha of the second steering engine 6 and the fourth steering engine 8. If the forward movement is stopped, the steering engine 6 under the second motor 2 and the fourth steering engine 8 under the fourth motor 4 are controlled to recover the normal position;
(3) backward movement;
when the unmanned aerial vehicle retreats at a certain height, the rotating speeds of the first motor 1, the second motor 2, the third motor 3 and the fourth motor 4 are kept unchanged, and the first steering engine 5 and the third steering engine 7 under the first motor 1 and the third motor 3 are kept in a normal position. Then control second steering wheel 6 under second motor 2 and fourth steering wheel 8 under the fourth motor 4, make it drive second motor 2, fourth motor 4 and corresponding second screw, the fourth screw carries out certain angle beta's rotation backward simultaneously, because second screw, the rotation of certain angle beta takes place for the fourth screw to the lift that makes the rotor produce produces the branch pulling force of horizontal negative direction, consequently can realize unmanned aerial vehicle's the motion of retreating.
The drone under the back command is shown in fig. 4. An operator can realize the retreating of the rear support in the horizontal direction and the pitch angle direction by controlling the rotating speeds of the four motors, and can also control the retreating speed by controlling the rotating angles beta of the second steering engine 6 and the fourth steering engine 8. If the backward movement is stopped, the steering engine 6 under the second motor 2 and the fourth steering engine 8 under the fourth motor 4 are controlled to recover the normal position;
(4) leftward translational motion;
when the unmanned aerial vehicle moves horizontally leftwards with the direction kept unchanged at a certain height, the rotating speeds of the first motor 1, the second motor 2, the third motor 3 and the fourth motor 4 are kept unchanged, and meanwhile, the second steering engine 6 under the second motor 2 and the fourth steering engine 8 under the fourth motor 4 are kept in a right position; a first steering engine 5 under a first motor 1 and a third steering engine 7 under a third motor 3 are controlled to drive the first motor 1, the third motor 3 and corresponding first propeller and third propeller to rotate leftwards at a certain angle gamma; because the first propeller and the third propeller rotate at a certain angle gamma, the lift force generated by the first propeller and the third propeller generates a horizontal left-direction partial pull force, and therefore the horizontal left movement of the unmanned aerial vehicle can be realized.
The drone under the horizontal left movement command is shown in fig. 5. An operator can realize leftward movement in the horizontal direction and leftward movement in the pitch angle direction by controlling the rotating speeds of the four motors, and can control the leftward horizontal movement speed by controlling the rotating angles gamma of the first steering engine 5 and the third steering engine 7. If the leftward translational motion is stopped, controlling the first steering engine 5 under the first motor 1 and the third steering engine 7 under the third motor 3 to restore to the normal position;
(5) a translational movement to the right;
when the unmanned aerial vehicle does right translation movement at a certain height with the direction unchanged, the rotating speeds of the first motor 1, the second motor 2, the third motor 3 and the fourth motor 4 are kept unchanged, and the second steering engine 6 under the second motor 2 and the fourth steering engine 8 under the fourth motor 4 are kept in the right position; a first steering engine 5 under a first motor 1 and a third steering engine 7 under a third motor 3 are controlled to drive the first motor 1, the third motor 3 and corresponding first propeller and third propeller to rotate rightwards at a certain angle theta; because first screw, the rotation of certain angle xi takes place for the third screw to make the lift that first screw, third screw produced produce the horizontal branch pulling force of direction right, consequently can realize unmanned aerial vehicle's horizontal motion right.
The drone under the horizontal right movement command is shown in fig. 6. An operator can realize the rightward movement in the horizontal direction and the rightward movement in the pitch angle direction by controlling the rotating speeds of the four motors, and can control the speed of the rightward horizontal movement by controlling the rotating angles xi of the first steering engine 5 and the third steering engine 7. If the right translational motion is stopped, the first steering engine 5 under the first motor 1 and the third steering engine 7 under the third motor 3 are controlled to restore to the normal position.
(6) Estimating the magnitude of the horizontal component tension and the velocity;
the magnitude of the horizontal split tension can be obtained by using a formula F '═ Fsin theta through the lift force F generated by a single rotor wing and the rotation angle theta of a steering engine, and the obtained horizontal split tension F' is combined with the formula F ═ ma and v ═ v0+ at may approximate the magnitude of the horizontal velocity.
The embodiments described in this specification are merely illustrative of implementations of the inventive concept and the scope of the present invention should not be considered limited to the specific forms set forth in the embodiments but rather by the equivalents thereof as may occur to those skilled in the art upon consideration of the present inventive concept.
Claims (3)
1. The utility model provides a rotor four-axis unmanned aerial vehicle verts which characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle main body, four arms and tilting rotor units, wherein the four arms are symmetrically connected with the unmanned aerial vehicle in front, back, left and right directions, one end of each arm is connected with the unmanned aerial vehicle main body, and the other end of each arm is a mounting end; the tilting rotor wing units are divided into front, rear, left and right tilting rotor wing units, and the front, rear, left and right tilting rotor wing units are respectively and correspondingly installed on the installation ends of the front, rear, left and right machine arms;
the forward-tilting rotor wing unit comprises a first motor (1), a first steering engine (5) capable of rotating by 90 degrees and a first propeller, wherein the first steering engine (5) is fixed at the mounting end of a horn positioned at the front side of the unmanned aerial vehicle main body, the output end of the first steering engine (5) is connected with the first motor (1), the first steering engine (5) drives the first motor (1) to swing leftwards or rightwards relative to the unmanned aerial vehicle main body, and the swing angle range of the first steering engine is-45 degrees to 45 degrees; the output shaft of the first motor (1) is provided with a first propeller;
the left tilting rotor wing unit comprises a second motor (2), a second steering engine (6) capable of rotating by 90 degrees and a second propeller, the second steering engine (6) is fixed at the mounting end of a left arm of the unmanned aerial vehicle main body, the output end of the second steering engine (5) is connected with the second motor (2), the second steering engine (5) drives the second motor (2) to swing forwards or backwards relative to the unmanned aerial vehicle main body, and the swing angle range of the second steering engine is-45 degrees to 45 degrees; the output shaft of the second motor (2) is provided with a second propeller;
the backward-tilting rotor wing unit comprises a third motor (3), a third steering engine (7) capable of rotating by 90 degrees and a third propeller, the third steering engine (7) is fixed at the mounting end of a horn at the rear side of the unmanned aerial vehicle main body, the output end of the third steering engine (7) is connected with the third motor (3), the third steering engine (7) drives the third motor (3) to swing leftwards or rightwards relative to the unmanned aerial vehicle main body, and the swing angle range of the third steering engine is-45 degrees to 45 degrees; the output shaft of the third motor (3) is provided with a third propeller;
the right tilting rotor wing unit comprises a fourth motor (4), a fourth steering engine (8) capable of rotating by 90 degrees and a fourth propeller, the fourth steering engine (8) is fixed at the mounting end of a right arm of the unmanned aerial vehicle main body, the output end of the fourth steering engine (8) is connected with the fourth motor (4), the fourth steering engine (8) drives the fourth motor (4) to swing forwards or backwards relative to the unmanned aerial vehicle main body, and the swing angle range of the fourth steering engine is-45 degrees to 45 degrees; and a fourth propeller is arranged on an output shaft of the fourth motor (4).
2. The four-axis unmanned aerial vehicle with tiltrotors as claimed in claim 1, wherein: the output ends of the first steering engine (5), the second steering engine (6), the third steering engine (7) and the fourth steering engine (8) are respectively provided with a limiting device for preventing the steering engines from excessively rotating, and the limiting devices are matched with the output ends to limit the rotating angles of the first steering engine (5), the second steering engine (6), the third steering engine (7) and the fourth steering engine (8) to be within-45 degrees to 45 degrees.
3. Method of tilt flight of a tiltrotor four-axis drone according to any of claims 1-2, comprising:
when the unmanned aerial vehicle moves vertically, a first motor (1), a second motor (2), a third motor (3), a first steering engine (5), a second steering engine (6), a third steering engine (7) and a fourth steering engine (8) under a fourth motor (4) keep in a normal position, namely, the four motors and the four propellers are all in a horizontal position; the propeller generates lift force to fly up through the rotation of the four motors;
when the unmanned aerial vehicle moves forwards at a certain height, the rotating speeds of the first motor (1) and the third motor (3) are kept, the first steering engine (5) and the third steering engine (7) under the first motor (1) and the third motor (3) are kept in the right positions, and the second steering engine (6) under the second motor (2) and the fourth steering engine (8) under the fourth motor (4) are controlled to drive the second motor (2), the fourth motor (4) and the corresponding second propeller and fourth propeller to rotate forwards at an angle at the same time, so that the aim of forwarding is fulfilled; if the forward movement is stopped, the steering engine (6) under the second motor (2) and the fourth steering engine (8) under the fourth motor (4) are controlled to recover the normal position;
when the unmanned aerial vehicle moves backwards at a certain height, the rotating speeds of the first motor (1) and the third motor (3) are kept, the first steering engine (5) and the third steering engine (7) under the first motor (1) and the third motor (3) are kept in a right position, and the second steering engine (6) under the second motor (2) and the fourth steering engine (8) under the fourth motor (4) are controlled to drive the second motor (2), the fourth motor (4), the corresponding second propeller and the corresponding fourth propeller to rotate backwards at an angle, so that the purpose of backwards moving is achieved; if the backward movement is stopped, the steering engine (6) under the second motor (2) and the fourth steering engine (8) under the fourth motor (4) are controlled to recover the normal position;
when the unmanned aerial vehicle does leftward translational motion at a certain height with the direction unchanged, a second steering engine (6) under a second motor (2) and a fourth steering engine (8) under a fourth motor (4) keep in a normal position; a first steering engine (5) under a first motor (1) and a third steering engine (7) under a third motor (3) are controlled to drive the first motor (1), the third motor (3) and corresponding first propeller and third propeller to rotate leftwards at a certain angle simultaneously until the purpose is achieved; on the premise of keeping the unmanned aerial vehicle from rotating at an angle, the unmanned aerial vehicle can move horizontally leftwards; if the leftward translational motion is stopped, controlling a first steering engine (5) under the first motor (1) and a third steering engine (7) under the third motor (3) to restore to the normal position;
when the unmanned aerial vehicle does right translation motion at a certain height with the direction unchanged, a second steering engine (6) under a second motor (2) and a fourth steering engine (8) under a fourth motor (4) keep in a normal position; a first steering engine (5) under a first motor (1) and a third steering engine (7) under a third motor (3) are controlled to drive the first motor (1), the third motor (3) and corresponding first propeller and third propeller to rotate rightwards at a certain angle at the same time until the purpose is achieved; on the premise of keeping the unmanned aerial vehicle from rotating at an angle, the unmanned aerial vehicle can move in a translation manner to the right; if the right translation movement is stopped, the first steering engine (5) under the first motor (1) and the third steering engine (7) under the third motor (3) are controlled to restore to the normal position.
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