CN207917142U - Multi-rotor unmanned aerial vehicle with hang gliding - Google Patents
Multi-rotor unmanned aerial vehicle with hang gliding Download PDFInfo
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- CN207917142U CN207917142U CN201820317336.4U CN201820317336U CN207917142U CN 207917142 U CN207917142 U CN 207917142U CN 201820317336 U CN201820317336 U CN 201820317336U CN 207917142 U CN207917142 U CN 207917142U
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Abstract
A kind of multi-rotor unmanned aerial vehicle with hang gliding, including：Rack；A plurality of rotor assemblies may be contained in the rack；Measuring unit, the posture information for measuring the multi-rotor unmanned aerial vehicle；Hang gliding group, including hang gliding and adjust steering engine, the hang gliding is rotatably held in the rack, and the direction of rotation of the hang gliding is vertical with the direction of rotation of the rotor assemblies, and the adjusting steering engine is used to drive the hang gliding to rotate according to the posture information of the multi-rotor unmanned aerial vehicle.Multi-rotor unmanned aerial vehicle provided by the utility model with hang gliding increases lift using hang gliding and reduces the power output of rotor, to energy saving and increase battery durable ability, has effectively expanded the flight stroke of transport unmanned plane.
Description
Technical field
The utility model belongs to air vehicle technique field, is a kind of multi-rotor unmanned aerial vehicle with hang gliding specifically.
Background technology
Unmanned plane abbreviation UAV (Unmanned Aerial Vehicle), refer to be not loaded with operating personnel can with autonomous flight or
The aircraft of remote driving.Wherein, multi-rotor unmanned aerial vehicle be development it is more mature, using more unmanned plane type.More rotors
Unmanned plane be a kind of tool there are three and the above rotor shaft special unmanned rotor craft, have it is handling by force, can hang down
The advantages that straight landing and hovering, purposes is very extensive.
Wherein, with the increase of the development of logistics and human cost, unmanned plane transport, which is delivered, becomes important application side
To.Currently, the multi-rotor unmanned aerial vehicle applied to transport field, is limited to structure, transportation power deficiency, aerial flight stroke are faced
Too short problem, it is difficult to meet the unmanned plane to increase sharply and deliver needs.
Utility model content
A kind of multi-rotor unmanned aerial vehicle with hang gliding that in order to overcome the deficiencies of the prior art, the utility model provides, profit
Increase lift with hang gliding and reduce the power output of rotor, to energy saving and increase battery durable ability, effectively opens up
The flight stroke of transport unmanned plane is opened up.
The purpose of this utility model is achieved through the following technical solutions：
A kind of multi-rotor unmanned aerial vehicle with hang gliding, including：
Rack；
A plurality of rotor assemblies may be contained in the rack；
Measuring unit, the posture information for measuring the multi-rotor unmanned aerial vehicle with hang gliding；
Hang gliding group, including hang gliding and adjusting steering engine, the hang gliding is rotatably held in the rack, described
The direction of rotation of hang gliding is vertical with the direction of rotation of the rotor assemblies, and the adjusting steering engine is used for according to the band hang gliding
The posture information of multi-rotor unmanned aerial vehicle drive hang gliding rotation.
As an improvement of the above technical solution, the hang gliding is arranged in pairs, described in pairs of hang gliding is symmetrically lived apart
The both sides of rack.
As a further improvement of the above technical scheme, the measuring unit includes gyroscope, and the gyroscope is set to
In the rack.
As a further improvement of the above technical scheme, the multi-rotor unmanned aerial vehicle with hang gliding has airflow design
Structure.
As a further improvement of the above technical scheme, the rotary shaft of the hang gliding and more rotors with hang gliding
The direction of the airflow design of unmanned plane is vertical.
As a further improvement of the above technical scheme, the hang gliding have streamlined configuration, upper surface arch upward and under
Surface is flat.
As a further improvement of the above technical scheme, there is detachable relationship between the hang gliding and the rack.
As a further improvement of the above technical scheme, the measuring unit further includes pitot meter, for measuring the band
The air speed of the multi-rotor unmanned aerial vehicle of hang gliding.
As a further improvement of the above technical scheme, the rack is made of carbon fibre material.
As a further improvement of the above technical scheme, the rack extends outward to form multiple fixed arms from its center,
The fixed arm is for fixing the rotor assemblies.
The utility model has the beneficial effects that：
By the way that measuring unit and hang gliding group are arranged in rack, measuring unit is used to measure the posture of multi-rotor unmanned aerial vehicle
Information, hang gliding group include for rotate fitting posture information hang gliding and for drive hang gliding rotate adjusting steering engine,
Power-assisted is provided to gliding process using the lift of hang gliding, energy saving, increasing is realized to reduce the power output of rotor
Add battery durable ability, effectively expands the flight stroke of transport unmanned plane.
To enable the above objects, features, and advantages of the utility model to be clearer and more comprehensible, preferred embodiment cited below particularly, and
The appended attached drawing of cooperation, is described in detail below.
Description of the drawings
It, below will be to required use in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it should be understood that the following drawings illustrates only some embodiments of the utility model, therefore should not be by
Regard the restriction to range as, for those of ordinary skill in the art, without creative efforts, may be used also
To obtain other relevant attached drawings according to these attached drawings.
Fig. 1 is the overlooking structure diagram for the multi-rotor unmanned aerial vehicle with hang gliding that the utility model embodiment 1 provides；
Fig. 2 is the present invention looks up structural representation for the multi-rotor unmanned aerial vehicle with hang gliding that the utility model embodiment 1 provides；
Fig. 3 is the controlling party for the multi-rotor unmanned aerial vehicle with hang gliding with hang gliding that the utility model embodiment 2 provides
The first pass schematic diagram of method；
Fig. 4 is the second of the control method for the multi-rotor unmanned aerial vehicle with hang gliding that the utility model embodiment 2 provides
Journey schematic diagram.
Main element symbol description：
Multi-rotor unmanned aerial vehicles of the 100- with hang gliding, 110- racks, 111- fixed arms, 120- rotor assemblies, 121- rotors,
122- rotor steering engines, 130- measuring units, 140- hang gliding groups, 141- hang glidings, 141a- top airfoils, 141b- lower aerofoils,
142- adjusts steering engine, 150- host shells.
Specific implementation mode
The multi-rotor unmanned aerial vehicle with hang gliding is carried out below with reference to relevant drawings for the ease of understanding the utility model,
A more complete description.The preferred embodiment of the multi-rotor unmanned aerial vehicle with hang gliding is given in attached drawing.But with the more of hang gliding
Rotor wing unmanned aerial vehicle can be realized by many different forms, however it is not limited to embodiment described herein.On the contrary, providing
The purpose of these embodiments is to keep the disclosure to the multi-rotor unmanned aerial vehicle with hang gliding more thorough and comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.On the contrary, when element is referred to as " directly existing " another element "upper",
There is no intermediary elements.Term as used herein " vertically ", " horizontal ", "left", "right" and similar statement are
For illustrative purposes.
Unless otherwise defined, all of technologies and scientific terms used here by the article is led with the technology for belonging to the utility model
The normally understood meaning of technical staff in domain is identical.Herein in the used in the description of the multi-rotor unmanned aerial vehicle with hang gliding
Term be only for the purpose of describing specific embodiments and be not intended to limit the utility model.Term as used herein
" and/or " include one or more relevant Listed Items any and all combinations.
Embodiment 1
Fig. 1~2 are please referred to, the present embodiment discloses a kind of multi-rotor unmanned aerial vehicle 100 with hang gliding, the band hang gliding
Multi-rotor unmanned aerial vehicle 100 include rack 110, rotor assemblies 120, measuring unit 130 and hang gliding group 140, for providing one
The unmanned plane that kind is energy saving, flying power is sufficient, flight stroke is big.
Rack 110 is the bearing base of the multi-rotor unmanned aerial vehicle 100 with hang gliding, for installing other structures component.Machine
Frame 110 is extended centrally out from it, forms multiple fixed arms 111.Exemplarily, rack 110 have symmetrical structure, make structure compared with
For balance.
The structure of rack 110 applies operating mode, such as the rotor of the multi-rotor unmanned aerial vehicle 100 with hang gliding according to actual
121 quantity and determine.Typically, rack 110 can be quadrotor structure.Exemplarily, rack 110 is with carbon fibre material system
At, have the advantages that intensity it is high, from heavy and light.
Preferably, the multi-rotor unmanned aerial vehicle 100 with hang gliding has airflow design structure.For example, being arranged in rack 110
Host shell 150, the electric control structure for installing the multi-rotor unmanned aerial vehicle 100 with hang gliding.Exemplarily, host shell 150
With airflow design, head is the front end of airflow design structure, windward when have the advantages that windage is small, reduce windage shadow
It rings.
As its name suggests, the multi-rotor unmanned aerial vehicle 100 with hang gliding should have a plurality of rotor assemblies 120.It should be appreciated that multiple
Several rotor assemblies 120 may be contained in rack 110.Rotor assemblies 120 can independently rotate, provide more rotors with hang gliding without
Climbing power needed for man-machine 100.
Exemplarily, a plurality of rotor assemblies 120 are set to different fixed arms 111 correspondingly, form center pair
The distributed architecture of title.Further, the head of the multi-rotor unmanned aerial vehicle 100 with hang gliding is between rotor assemblies 120.
Wherein, any rotor assemblies 120 include rotor 121 and rotor steering engine 122.Rotor steering engine 122 is installed on fixed arm
On 111, for driving rotor 121 to rotate.Rotor steering engine 122 is a kind of servo-driver with position feedback control, in fact
Matter belongs to the servo-control system of closed-loop control.In other words, rotor steering engine 122 has both feedback control and power output ability.
Multi-rotor unmanned aerial vehicle 100 with hang gliding include measuring unit 130, for measure more rotors with hang gliding nobody
The posture information of machine 100.Wherein, the posture information of the multi-rotor unmanned aerial vehicle 100 with hang gliding i.e. its position letter in space
Breath and status information, such as three-dimensional position, attitude angle (pitch angle, roll angle, course angle), three-dimensional velocity, three-dimensional acceleration with
Three-dimensional angular velocity etc..
The realization method of measuring unit 130 is numerous, including gyroscope, electronic compass, Inertial Measurement Unit, satellite positioning connect
It receives the types such as module and provides numeric reference to accurately acquire posture information for subsequent control.
Multi-rotor unmanned aerial vehicle 100 with hang gliding further includes hang gliding group 140, for according to more rotors with hang gliding without
Man-machine 100 posture information adjusts posture in time, ensures preferable lift output.Hang gliding group 140 includes hang gliding 141 and adjusts
Steering engine 142 is saved, hang gliding 141 is rotatably held in rack 110.Adjust steering engine 142 according to more rotors with hang gliding without
Man-machine 100 posture information driving hang gliding 141 rotates, it should be understood that the rotation angle of hang gliding 141 makes hang gliding 141
Obtain maximum lift.Wherein, the direction of rotation of hang gliding 141 is vertical with the direction of rotation of rotor assemblies 120, to ensure that lift is made
With stabilization.
Hang gliding 141 can be configured according to actual needs.Exemplarily, hang gliding 141 is arranged in pairs.Wherein, in pairs
Hang gliding 141 symmetrically live apart the both sides of rack 110, so that rack 110 is supported by uniform lift, ensure stress balance.
Simplelyr, under quadrotor structure, 141 quantity of hang gliding is two, the both sides for rack 110 of symmetrically living apart, and position
Between rotor assemblies 120.Further, rotor assemblies 120 are symmetrically distributed in the both sides of hang gliding 141.
The rotary shaft set-up mode of hang gliding 141 also has an impact the effect of lift effect.Exemplarily, hang gliding 141
Rotary shaft it is vertical with the direction of airflow design of multi-rotor unmanned aerial vehicle 100 with hang gliding.Under constructing herein, hang gliding
The head of 141 wind surface and the multi-rotor unmanned aerial vehicle 100 with hang gliding is set in the same direction, make hang gliding 141 have preferably by
Wind acts on and provides preferable lift.
The moulding of hang gliding 141 also has an impact the effect of lift effect.Exemplarily, hang gliding 141 has streamlined
Construction, enables relative wind preferably to act on hang gliding 141.In a specific demonstration example, hang gliding 141 it is upper
Aerofoil 141a arches upward and lower aerofoil 141b is flat, windward side round blunt and leeward end is sharp.
It is intended that making to form pressure difference between the lower aerofoil 141b of hang gliding 141 and top airfoil 141a, to provide sky
Gas active force ensures enough lift, to overcome the gravity and windage of the multi-rotor unmanned aerial vehicle 100 with hang gliding, to drop
The load of low rotor assemblies 120 and energy consumption extend working time (the continuation of the journey energy such as by increasing battery pack of rotor assemblies 120
Power is realized).
Exemplarily, there is detachable relationship between hang gliding 141 and rack 110.Hang gliding 141 can be with rack as a result,
110 fast assembling-disassemblings convenient for storage storage, and enrich the application type of the multi-rotor unmanned aerial vehicle 100 with hang gliding.In addition, gliding
After the wing 141 is dismantled and the dead weight of the multi-rotor unmanned aerial vehicle 100 with hang gliding can be reduced, plays the role of loss of weight in certain occasions.
Steering engine 142 is adjusted to be used to drive hang gliding 141 to revolve according to the posture information of the multi-rotor unmanned aerial vehicle 100 with hang gliding
Turn.It is a kind of servo-driver with position feedback control to adjust steering engine 142, and essence belongs to the SERVO CONTROL of closed-loop control
System.In other words, it adjusts steering engine 142 and has both feedback control and power output ability.
For example, according to the posture information of the multi-rotor unmanned aerial vehicle 100 with hang gliding, cunning can quickly be calculated by adjusting steering engine 142
The rotation angle of the Xiang wing 141.The rotation angle that should be appreciated that hang gliding 141 refers to hang gliding 141 relative to current location institute
The angle to be turned over.
According to the rotation angle of hang gliding 141, adjusts steering engine 142 and hang gliding 141 is driven to turn over corresponding angle, make upper limb
Required pressure difference is formed between face 141a and lower aerofoil 141b, and the air effect power of hang gliding 141 is made to meet the requirements.
For example, under low-speed condition, the inclination angle of multi-rotor unmanned aerial vehicle 100 with respect to the horizontal plane with hang gliding compared with
Small, the horizontal thrust of rotor assemblies 120 is smaller.Hang gliding 141 keeps horizontal substantially, and lift is mainly used for overcoming band hang gliding
Multi-rotor unmanned aerial vehicle 100 gravity.Under the lift auxiliary of hang gliding 141, rotor assemblies 120 need the lifting force exported to have
Effect reduces, and driving power load is reduced, to improve cruising ability.
For another example, under high-speed flight state, the inclination angle of multi-rotor unmanned aerial vehicle 100 with respect to the horizontal plane with hang gliding compared with
Greatly, so that rotor assemblies 120 provide larger thrust.Hang gliding 141 more tilts, its lift is made to have forward thrust component,
Rotor assemblies 120 need the lift exported to be effectively reduced, and reduce driving power load.Multi-rotor unmanned aerial vehicle with hang gliding
100 using wind-force gliding act on, realize the quick gliding that common rotor wing unmanned aerial vehicle cannot achieve, effectively increase flight away from
From.
Exemplarily, measuring unit 130 further includes pitot meter, for measuring the multi-rotor unmanned aerial vehicle 100 with hang gliding
Air speed.Air speed refers to speed of the multi-rotor unmanned aerial vehicle 100 relative to air with hang gliding, is that calculating aircraft is aerodynamic
Call parameter.The air speed of the multi-rotor unmanned aerial vehicle 100 of junction belt hang gliding further can definitely carry out the rotation of hang gliding 141
The control of gyration keeps the auxiliary lifting that hang gliding 141 generates even more ideal.
Embodiment 2
Fig. 3~4 are please referred to, the present embodiment discloses a kind of control method of the multi-rotor unmanned aerial vehicle with hang gliding, should
The multi-rotor unmanned aerial vehicle 100 with hang gliding that control method is introduced based on embodiment 1, for solving more rotors with hang gliding
The adjusting of the auxiliary lifting of unmanned plane 100, the control method include the following steps：
A：Obtain the posture information of the multi-rotor unmanned aerial vehicle 100 with hang gliding.
B：The rotation angle of hang gliding 141 is calculated according to the posture information of the multi-rotor unmanned aerial vehicle 100 with hang gliding.
For example, according to the attitude angle (exemplarily, can be pitch angle) of the multi-rotor unmanned aerial vehicle 100 with hang gliding, sentence
The state of flight of the multi-rotor unmanned aerial vehicle 100 of broken belt hang gliding.According to different state of flights, and then judge with the more of hang gliding
Lift (lift of hang gliding 141) needed for rotor wing unmanned aerial vehicle 100, to obtain the rotation angle of hang gliding 141.
C：Hang gliding 141 is driven to rotate according to the rotation angle of hang gliding 141.The rotation angle is turned in hang gliding 141
When, the lift of hang gliding 141 is ideal.
Exemplarily, step B includes the following steps：
B1：Obtain the target airspeed of the multi-rotor unmanned aerial vehicle 100 with hang gliding.The so-called multi-rotor unmanned aerial vehicle with hang gliding
100 target airspeed refers to 100 institute's air speed to be achieved of multi-rotor unmanned aerial vehicle with hang gliding.The target airspeed can be by manipulating
Device inputs, and can also be inputted by other delivering paths.
B2：According to the target airspeed of the multi-rotor unmanned aerial vehicle 100 with hang gliding and the multi-rotor unmanned aerial vehicle 100 with hang gliding
Posture information, determine that the power of rotor assemblies 120 and hang gliding group 140 distributes.
According to the target airspeed of the multi-rotor unmanned aerial vehicle 100 with hang gliding, you can judge more rotors with hang gliding nobody
Machine 100 becomes to the required flight attitude of target airspeed.The current pose of the multi-rotor unmanned aerial vehicle 100 of junction belt hang gliding is believed
Breath, you can learn the angle to be deflected of multi-rotor unmanned aerial vehicle 100 with hang gliding.Then, it is determined each power output member
Power distribution.It should be appreciated that power distribution includes the auxiliary of the power output and hang gliding group 140 of each rotor assemblies 120
Power.
B3：The rotation angle for determining hang gliding 141 is distributed according to the power.It is distributed according to the power (i.e. therein
The numerical value of the auxiliary power of hang gliding group 140), the rotation angle of hang gliding 141 is calculated, to keep hang gliding 141 corresponding
Rotation.
In all examples being illustrated and described herein, any occurrence should be construed as merely illustrative, without
It is as limitation, therefore, other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But therefore it can not be interpreted as the limitation to the scope of the utility model.It should be pointed out that for the ordinary skill of this field
For personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these belong to this
The protection domain of utility model.Therefore, the scope of protection of the utility model should be determined by the appended claims.
Claims (10)
1. a kind of multi-rotor unmanned aerial vehicle with hang gliding, which is characterized in that including：
Rack；
A plurality of rotor assemblies may be contained in the rack；
Measuring unit, the posture information for measuring the multi-rotor unmanned aerial vehicle with hang gliding；
Hang gliding group, including hang gliding and adjusting steering engine, the hang gliding are rotatably held in the rack, the gliding
The direction of rotation of the wing is vertical with the direction of rotation of the rotor assemblies, and the adjusting steering engine is used for according to described with the more of hang gliding
The posture information of rotor wing unmanned aerial vehicle drives the hang gliding rotation.
2. the multi-rotor unmanned aerial vehicle according to claim 1 with hang gliding, which is characterized in that the hang gliding is set in pairs
It sets, pairs of hang gliding is symmetrically lived apart the both sides of the rack.
3. the multi-rotor unmanned aerial vehicle according to claim 1 with hang gliding, which is characterized in that the measuring unit includes top
Spiral shell instrument, the gyroscope are set in the rack.
4. the multi-rotor unmanned aerial vehicle according to claim 1 with hang gliding, which is characterized in that more rotations with hang gliding
Wing unmanned plane has airflow design structure.
5. the multi-rotor unmanned aerial vehicle according to claim 4 with hang gliding, which is characterized in that the rotary shaft of the hang gliding
It is vertical with the direction of airflow design of the multi-rotor unmanned aerial vehicle with hang gliding.
6. the multi-rotor unmanned aerial vehicle according to claim 1 with hang gliding, which is characterized in that the hang gliding has streamline
Type constructs, and upper surface is arched upward and lower surface is flat.
7. the multi-rotor unmanned aerial vehicle according to claim 1 with hang gliding, which is characterized in that the hang gliding and the machine
There is detachable relationship between frame.
8. the multi-rotor unmanned aerial vehicle according to claim 1 with hang gliding, which is characterized in that further include pitot meter, be used for
Measure the air speed of the multi-rotor unmanned aerial vehicle with hang gliding.
9. the multi-rotor unmanned aerial vehicle according to claim 1 with hang gliding, which is characterized in that the rack is by carbon fiber material
Material is made.
10. the multi-rotor unmanned aerial vehicle according to claim 1 with hang gliding, which is characterized in that the rack is from its center
Multiple fixed arms are extended outward to form, the fixed arm is for fixing the rotor assemblies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820317336.4U CN207917142U (en) | 2018-03-07 | 2018-03-07 | Multi-rotor unmanned aerial vehicle with hang gliding |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820317336.4U CN207917142U (en) | 2018-03-07 | 2018-03-07 | Multi-rotor unmanned aerial vehicle with hang gliding |
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| Publication Number | Publication Date |
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| CN207917142U true CN207917142U (en) | 2018-09-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820317336.4U Active CN207917142U (en) | 2018-03-07 | 2018-03-07 | Multi-rotor unmanned aerial vehicle with hang gliding |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108216607A (en) * | 2018-03-07 | 2018-06-29 | 东莞市锦明运动器材有限公司 | Multi-rotor unmanned aerial vehicle and its control method with hang gliding |
| CN110562438A (en) * | 2019-09-18 | 2019-12-13 | 深圳飞马机器人科技有限公司 | Multi-rotor aircraft and control method thereof |
-
2018
- 2018-03-07 CN CN201820317336.4U patent/CN207917142U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108216607A (en) * | 2018-03-07 | 2018-06-29 | 东莞市锦明运动器材有限公司 | Multi-rotor unmanned aerial vehicle and its control method with hang gliding |
| CN108216607B (en) * | 2018-03-07 | 2024-03-26 | 东莞市锦明运动器材有限公司 | Multi-rotor unmanned aerial vehicle with gliding wings and control method thereof |
| CN110562438A (en) * | 2019-09-18 | 2019-12-13 | 深圳飞马机器人科技有限公司 | Multi-rotor aircraft and control method thereof |
| CN110562438B (en) * | 2019-09-18 | 2024-04-05 | 深圳飞马机器人股份有限公司 | Multi-rotor aircraft and control method thereof |
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