AU2019101129A4

AU2019101129A4 - Coaxial Reverse Rotary Wing Mini UAV

Info

Publication number: AU2019101129A4
Application number: AU2019101129A
Authority: AU
Inventors: Bingwei Liu; Xin Meng; Xinyuan Wei; Haoran Xu; Fengze Yang
Original assignee: Wei Xinyuan Miss
Current assignee: Wei Xinyuan Miss
Priority date: 2019-09-30
Filing date: 2019-09-30
Publication date: 2019-10-31
Anticipated expiration: 2027-09-30

Abstract

The invention discloses a coaxial inverted rotary wing UAV and a control method thereof. Unmanned aerial vehicles (UAVs) that work in urban streets or in environments that are inaccessible to humans through wireless control, which consists of three parts: wing, fuselage and arm. (1) On both sides of the upper fuselage of the engine, on both sides of the lower wing of the main engine (2) the inside of the wing is filled with batteries (3) the coaxial inversion, the wing rotatory wing (4) the fuselage head is equipped with photoelectric system and navigation system (5) the landing gear can be retrieved (6) the engine extends to the tail of the fuselage, and there is a downward nozzle. (7) Rotating multi-functional manipulator for grasping objects under the fuselage. According to the characteristics of coaxial dual-propeller rotary-wing UAV and various control modes, the internal space of the aircraft can be utilized to the greatest extent, and the wireless charging module can be installed and charged conveniently. It also counteracts the moment. Figure 1

Description

Coaxial Reverse Rotary Wing Mini UAV

FIELD OF THE INVENTION

The invention relates to a small UAV with automatic delivery function, which can improve user convenience and save time greatly.

BACKGROUND OF THE INVENTION

In the express delivery service, drones have also appeared in recent years. For example, the research project or experiment of drone express project exposed by America's Google, amazon, UPS and other technology and logistics companies, Germany's DHL giant and China's sf express company, currently the delivery error of sf uav has been controlled within 2 meters.

Drone delivery is faster than traditional delivery. With the rapid development of China economy, the problem of traffic congestion is also increasing day by day. The sky resources are abundant, but they are not properly used. If some smaller items are distributed by unmanned aerial vehicles, the distribution speed can be accelerated to avoid the slow speed caused by traffic congestion. At the same time, drone delivery does not need to look for the address like Courier. With the positioning system, it can find the shortest path and reach the destination without interruption,

2019101129 30 Sep 2019 saving unnecessary wasted time such as waiting for red lights and traffic jams. Therefore, drone delivery is faster and more efficient.

It is common knowledge that advanced equipment costs a lot, but drones used for distribution are not included. Powered by electricity, the uav USES little electricity, and the price of electricity is not high. The cost of a single transport is only a few cents. When the distance is long, the price is the same as that of human distribution, so the cost is relatively low. And fast pass due to need human to complete logistics distribution mode, artificial cost, shipping cost is much higher than that of unmanned aerial vehicle (uav) distribution costs, such as in the countryside because of the traffic inconvenience, the transportation cost is higher, sometimes even the city several times, and unmanned aerial vehicle (uav) without these limits, transportation cost is still just a few cents, so the unmanned aerial vehicle (uav) distribution is a low into the way of delivery.

The use of uav technology in the field of logistics is not only the inevitable trend of the development of logistics industry, but also the inevitable result of the intelligent and intelligent logistics industry in the industrial society 4.0 era.

SUMMARY OF THE INVENTION

This is a UAV for professional users. It can automatically switch between fixed wing and rotor, realize high-speed long-distance

2019101129 30 Sep 2019 navigation and hover ability. It also has the advantages of fixed rotor. It can realize long-distance multi-point hover reconnaissance and provide a new solution for power patrol, earthquake rescue, border patrol, sea surface reconnaissance and other industries. The scheme solves the problems of short range and low load capacity of traditional hoverable UAV, and makes the application of UAV more efficient. UAV combines fast flight capability with vertical takeoff and landing capability, and has long range.

With the characteristics of low noise and fast flight speed, the functions of vertical takeoff and landing, low-altitude and low-speed flight and hovering in the air are realized, which can meet the commercial requirements of the Rotor UAV. Four electric propellers are used to provide power, and small angle rotation of wing and tail rudder surface is used to provide forward, lateral, vertical and heading aerodynamic power, so as to achieve flat flight and hovering in helicopter mode in fixed wing mode. Apart from pulling the power switch on the UAV, remote control and measurement and control are used in the operation, without direct contact with people.

The initial heading of UAV in the vertical takeoff and landing phase is uncertain relative to the wind direction. Because the vertical takeoff and

2019101129 30 Sep 2019 landing time of solid-rotor UAV is usually short in actual use, the wind field environment will not change greatly during takeoff and landing stages. Therefore, the actual wind environment during takeoff or landing can be assumed to be a steady wind environment. Without considering the dynamic changes of wind field and the dynamic control characteristics of flight control system, the wind resistance of the solid-rotor UAV can be determined by the following methods: (1) Analyzing the force of the solid-rotor UAV under the wind disturbance in hovering, establishing the static model of the UAV based on the balance of forces and moments in all directions; (2) In the fourth part, the static model of the UAV can be established by the balance of forces and moments in all directions. Under the limitation of the maximum output tension and torque of the rotor dynamic system, the numerical solution of the wind speed which can make the model established can be solved. The result is that the solid-rotor UAV can resist the wind speed. According to the definition of wind resistance of the fixed-rotor UAV mentioned above, the maximum wind speed is the characterization of the maximum wind resistance of the fixed-rotor UAV. Based on the above wind resistance analysis methods, the methods to improve the wind resistance characteristics of the solid-rotor UAV are studied by analyzing the effects of various parameters of the solid-rotor UAV on its maximum wind resistance speed.

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Aiming at the inconvenience of wired charging for UAV and the need for manual intervention, a wireless charging system for UAV is designed by using magnetic coupling resonance wireless charging technology. A wireless charging coupling device for UAV is proposed. Its transmitter has bipolar magnetic field characteristics. The receiving device uses a coil winding on a small ferrite bar, and the receiving device is installed at the bottom of the main wing. Finite element analysis is used to analyze the magnetic field distribution of the coupling device. It is found that the magnetic field is confined near the receiving device to avoid the magnetic leakage interference caused by the wireless charging system. According to the constant voltage output requirement of the system, the LCL-secondary series compensation topology is selected, the mathematical model of the system circuit is established, and the relationship between input and output voltage is obtained to guide the design of system parameters. The prototype system is built, and the results show that the measured values of the system are consistent with the theoretical values of the circuit model calculation. The designed system can charge 80 W UAV normally within the range of 30 mm misalignment.

The advantage of this invention is that its space for taking off and landing is not limited, and it enhances the range and speed. At the same

2019101129 30 Sep 2019 time, compared with the same type of express UAV, the main wing can rotate 90 degrees and coincide with the fuselage for easy reception. Wireless charging also prolongs the usage time of UAVs. In R&D, it is more modular, convenient for later maintenance and upgrade.

DESCRIPTION OF THE DRAWINGS

The appended drawings are only for the purpose of description and explanation but not for limitation, wherein:

Fig.l is anoverall view of the present invention;

Fig.2 is a front view illustrating an outer appearance and overall structure of the present invention;

Fig. 3 is a side view showing the present invention and the main accessories;

Fig. 4 is a top view of the invention;

Fig. 5 is a demonstration of the tilted rotary wing of the invention;

Fig. 6 is a demonstration diagram of the dual-propeller coaxial of the invention. Each adjacent rotor rotates in the opposite direction, eliminating the torque;

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Fig.7 shows that the main wing can be rotated to save space when the present invention lands;

Fig. 8 shows the design of the landing gear and manipulator of the present invention, which has the function of carrying certain goods when working;

Fig. 9 is an illustration showing the scenario described in embodiment 1.

It shows how the present invention avoids obstacles in flight and proceeds in slightly different directions;

Fig. 10 is an illustration showing the scenario described in embodiment 2.

It shows how the invention grabs express delivery;

Fig. 11 is a system structure diagram of the invention;

Fig. 12 is a flowchart showing the UAV program according to the present invention.

DESCRIPTION OF PREFERRED EMBODIMENT

In order that the present invention can be more readily understood, reference will now be made to the accompanying drawing to illustrate the embodiments of the present invention.

2019101129 30 Sep 2019

Referring to Figs. 1, 2 and 3, 1 is the manipulator and rear landing gear;

is the front landing gear; 3 is the main body; 4 is the main wing, built-in engine and battery; 5 is the transmission shaft; 6, 7 is the rotor, in the opposite direction; 8 is the tail wing; 9 is the rotatory part of the manipulator; 10 is the control module; 11 is the GPS positioning; 12 is camera system and photoelectric system.

The overall relationship of the main components is shown in Fig. 11. It is divided into three parts: fuselage, wing and manipulator. The fuselage includes engine, scanner system, navigation system, camera system and photoelectric system. The wing consists of a propeller and a charging system. The propeller is a coaxial twin-propeller, and the tilting rotor can be achieved. The manipulator part acts as the rear landing gear at the same time, and forms the rear three-point landing gear system together with the front landing gear. The latter three-point landing gear can provide better stability for the helicopter.

The manipulator is installed at the bottom of the fuselage, which is convenient for grabbing goods, and acts as a landing gear, thus greatly saving space.

The wing is a coaxial twin-propeller, and the wing can tilt and rotate, the coaxial inversion, offset the moment, can meet the vertical takeoff and landing, takeoff and landing is not limited by space; in normal operation,

2019101129 30 Sep 2019 the propeller moves in front, fast, long range, and the same weight of helicopter, can expand the range by three times, the battery installed in the wing, convenient and non-existent. Installation and charging of line charging module.

The fuselage is hollowed out to maximize the use of the internal space of the aircraft to facilitate the capture of a variety of objects.

On both sides of the fuselage, the engine extends to the tail of the fuselage, with a downward nozzle to ensure that the aircraft is balanced at all times.

The scanner system is installed at the bottom of the fuselage and is used with the manipulator. First, the scanner confirms whether it is the object to be grabbed, and then carries on the action, which saves time greatly.

The navigation system is installed in front of the fuselage to locate the moving path.

The camera system is installed in front of the fuselage, with wide field of vision and easy observation.

The photoelectric system is installed in front of the fuselage, which is used to sense obstacles in front of the fuselage and to avoid obstacles reasonably.

EXAMPLE 1

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When we turn on the UAV switch, the batteries inside start to power all the motors and accessories, and the UAV starts to run. As shown in Fig. 9, when the UAV is flying in the air, it judges whether there are obstacles ahead and adjusts its direction automatically according to the information detected by the photoelectric system. According to the detected information, the signal is transmitted to the motherboard, and a series of operations are carried out according to the preprogrammed algorithm. For example, a house appears in front of the UAV flying in the air. When approaching a certain distance, the photoelectric system senses obstacles, and the speed of the propeller will be adjusted, resulting in a differential speed, steering, avoiding obstacles and moving on.

EXAMPLE 2

As shown in Figure 10, when the UAV starts to run and arrives at the location of the cargo successfully, it first identifies whether the cargo is the target to be moved through the scanner system. If not, it then scans the next cargo until it is scanned to be moved. Then it carries out the next operation. The manipulator senses the size of the cargo and opens it appropriately. Angle, fixed goods, through the navigation system, the goods will be moved to the designated location, unloading the goods.

Claims

1. A coaxial reverse rotary wing mini UAV, which is a non-manned aircraft operated by radio remote control devices and self-contained programmable control devices, can automatically deliver express delivery, wherein it is equipped with GPS automatic navigation system, which is convenient for real-time positioning; its main rotor is coaxial inversion, so no UAV is in the cruising stage, can be the same as fixed-wing aircraft, so it is faster than most of the small UAVs today, the range is larger.

2. The coaxial reverse rotary wing mini UAV of claim 1, wherein it has GPS receiver, various sensors and wireless signal 1 transmitting and receiving equipment; it has many flight modes, such as GPS automatic navigation, fixed-point suspension, manual control and so on; said UAV improves the efficiency of autonomous work and reduces the labor cost.