CN101934858A

CN101934858A - Miniature electric ducted propeller type intelligent unmanned aerial vehicle

Info

Publication number: CN101934858A
Application number: CN201010220017XA
Authority: CN
Inventors: 王泽峰; 王晓
Original assignee: Individual
Current assignee: Individual
Priority date: 2010-07-08
Filing date: 2010-07-08
Publication date: 2011-01-05

Abstract

The invention relates to a miniature electric ducted propeller type intelligent unmanned aerial vehicle, which consists of a ducted casing, a bracket, a coaxial counter propeller, a fairing, a battery, a motor, a driving control circuit and a microcontroller. The machine body has a dish-shaped appearance; and the ducted casing is arranged outside a rotor wing to eliminate flight safety threat caused by the traditional structure of the exposed rotor wing and improve the working efficiency of the propeller. The aerial vehicle adopts a design of the coaxial counter double-rotor wing, cancels the inertial rotation of the machine body without a tail rotor wing, saves materials and expands the operating space. The propeller is driven by the motor; the motor is under the servo control of the driving control circuit; and the horizontal motion of the aerial vehicle in the air is implemented by a deflectable guide plate below the propeller in a matching mode. In addition, a multi-azimuth convenient slot is formed inside the ducted casing of the aerial vehicle for mounting and detaching various sensors at any time; and the microcontroller comprehensively processes information fed back by each sensor and performs autonomous flight control according to a task.

Description

A kind of small-sized electric shrouded propeller formula intelligence unmanned vehicle

Technical field

The present invention relates to the minute vehicle field, with signal conditioning, automatic flicon, artificial intelligence field.

Background technology

Along with the progress of aerodynamic development and materialogy, the size of aircraft is able to miniaturization in recent years.Occurred a lot of miniature electric helicopters recently, total length is between 30 centimetres to 100 centimetres, and minimum reaches 12 centimetres.Except that single rotor added the conventional combination of tail rotor, coaxial anti-oar formula and four-axle type aircraft be emerge in multitude also.As Nanjing Aero-Space University development " driving smart " etc.

Yet on the physical construction, these aircraft all exist the screw propeller exposed problems.Aloft any collision all can cause the crash of itself, and other article even personal safety near jeopardizing; Investigate from intelligent aspect, these aircraft all need people's direct remote control, and perhaps intelligent degree is very low even not to possess intelligence.

Summary of the invention

The present invention is a kind of intelligent vertically taking off and landing flyer and the combining of intellectual technology.Mechanics, body outward appearance are dish, protect screw propeller and increase propeller efficiency with the duct casing; Use the design of the contrarotation formula bispin wing, do not establish tail rotor; Screw propeller is by direct motor drive; There is deflectable deflecting plate the screw propeller below, realizes that aircraft is skyborne mobile.In addition, in electronic system and intelligent control part, have multi-faceted convenient slot to change various sensors for installing at any time in the duct casing of aircraft, aircraft can be installed multiple sensors according to actual needs to find out external environment information; Auto-flare system state behind control circuit and the microcontroller comprehensive treatment all the sensors feedack, and carry out autonomous type according to mission requirements and fly.

Description of drawings

Fig. 1 is the aircraft exterior shape that the present invention relates to and the front elevational schematic of structure, and the visual angle from top to bottom.

Fig. 2 is the aircraft interior shape that the present invention relates to and the diagrammatic cross-sectional side elevation of structure, and the visual angle is a horizontal direction.

Fig. 3 is that the stereoscopic structure of the aircraft that the present invention relates to is looked scheme drawing, and the visual angle is oblique miter angle down.

Fig. 4 is the workflow scheme drawing of the control system that the present invention relates to.

This aircraft is by casing 1, support 2, contrarotating propeller 3, deflecting plate 4, electrical motor 5, battery 6, and control circuit 7 is formed with sensor array.Casing 1 is with support 2 and spinner, and in screw propeller 3 was enclosed in, when playing crashproof effect, the duct of its formation had also increased the efficient of screw propeller.The twin screw 3 of contrarotation is driven by two electrical motors 5 respectively, and lift is provided.The control of flight attitude realizes by the deflection of the deflecting plate on the support 4.Ultrasonic ranging (9), infrared distance measurement (10), sound transducer (11), video sensor multiple sensors such as (12) is installed in the modular sensor slot (8) that is provided with on the casing 1, gyroscope (14), battery 6 is fixed in the cabin of support central authorities with control circuit 7, control circuit collecting sensor information and carry out comprehensive treatment after, adjust flight attitude by action and the motor power (output) of controlling each steering wheel, and determine whether open web-transporting device (13), and information such as video are sent to other computing machines.

The specific embodiment

Casing 1 is a loop configuration, makes with lightweight material (as foamed plastic), and is high 15 centimetres, 80 centimetres of external diameters, 65 centimetres of internal diameters.Be enclosed in around the screw propeller, be fixed on the support, can support the bump that is subjected to a certain degree, simultaneously, casing surrounds screw propeller, has also constituted the duct of screw propeller, stop the air of wing tip lower end upwards to flow, improved the working environment of screw propeller, increased the efficient of screw propeller from the periphery.Admission port edge, casing upper end is an arc, can increase lift.

Be preset with a plurality of installations that interface (8) is used for various sensors that plug on the casing 1, available selection has sound transducer (11), video sensor (12), infrared distance measuring sensor (10), supersonic sounding wave sensor (9) etc.Sensor signal lines depends on casing 1 and lays the control circuit that arrives support aircraft center with support 2.

Support 2 is a criss-cross, is carcasing with the carbon fibre tube, and the external application foamed plastic is made the stream line pattern tangent plane, to reduce the disturbance to the screw propeller air-flow.Support is the skeleton of whole aircraft, and other equipment all are fixed on the support.Casing 1 is fixed on four end points of support periphery.There is the cabin in support central authorities, to hold various electronic machines and battery.

Two width of cloth screw propellers, 3 specification symmetries, along same axle, i.e. aircraft axis rotation, but hand of rotation is opposite, and blade is driven respectively by two electrical motors 5 up and down.The rotating speed of electrical motor is regulated by control circuit 7.Under the floating state, the antagonistic force that drives two oar rotation generations is cancelled out each other.In the time of need turning to, regulate the power of two electrical motors, when the antagonistic force sum that two up and down oars produce main shaft was non-vanishing, aircraft promptly began rotation.Oppositely regulate power to make aircraft and stop the rotation even to another direction rotation.Two oar power increase then aircraft rising simultaneously, otherwise descend.

Respectively there is a breach below of four branches of support, and hinged movable deflecting plate 4 has four.Its similar is in the wing flap of fixed wing aircraft.Drive deflecting plate by steering wheel, make aircraft have the horizontal maneuver ability.For example, rotate: when deflecting plate during all to clockwise direction deflection, aircraft is to anticlockwise motion, otherwise opposite; Translation: with perpendicular two deflecting plates of sense of motion all to the reversing sense deflection of sense of motion; By whole deflecting plate teamwork, can obtain the mode of motion arbitrarily on the horizontal direction.

The adjusting of deflecting plate and power of motor has constituted the hardware foundation that aircraft is carried out attitude control jointly.

Battery 6 and control circuit 7 all are installed in the cabin of Lower Mid Fuselage, are fixed on the support 2.Contain programmable chip in the control circuit, after the information that program is compiled each sensor is carried out comprehensive treatment, regulate each power of electric motor, with each deflecting plate deflection angle, with the control flight attitude, avoiding barrier, decision flight path.The information of all the sensors all can be sent to other computers by network access device (13), or backup preserves, check flight state at any time after being convenient to, or be further processed, as voice recognition, visual cognition etc.

The effect of each sensor is for example: the distance that infrared distance measuring sensor and ultrasonic ranging sensor can the acquired disturbance things, azimuth information, after treater obtains these information, through and the map contrast, can learn self-position; Again in conjunction with gyrostatic data, the attitude of self as can be known; Can carry out flicon thus; Video sensor can obtain the image of environment, and sound transducer can pick up the aud. snl. in the environment, and when controller was thought necessity, web-transporting device was opened, and relevant information is sent on local area network or the internet.

Flicon is taked the closed loop control design.At first to keep the stable of state of flight, gyroscope and accelerometer measure after the attitude and mode of motion of aircraft, contrast with the target flight attitude, and make compensating movement according to the two difference.Flight path control then according to measure with each obstacle for example, and according to the map behind the location, contrast with the target location, and make compensating movement according to the two difference.

Among Fig. 4, be the flicon diagram of circuit in the frame of broken lines of top, the below is the data transmission flow process.

Except that the full automatic control pattern under the default situations, the also manually action of controlling aircraft.Aircraft can progressively be set up on-site map according to sensor information awing, and positions oneself with reference to map.

It is little that the aircraft that the present invention relates to has a noise, flight stability, crash-proof characteristics.Can be widely used in indoor, urban district investigation, family life, fields such as sports and amusement and agricultural production.

Claims

1. a small-sized electric shrouded propeller formula intelligence unmanned vehicle is that artificial intelligence technology, automatic technology combine with duct lift helicopter; The aircraft profile is flat, and central authorities are the twin screw of contrarotation, and axle is vertical with horizontal surface, and axial tension directly provides lift; The casing protection is arranged around the screw propeller, and casing constitutes the air duct, increases the pneumatic efficiency of screw propeller; There is movable deflecting plate the screw propeller below, and the may command aircraft aloft moves; This serial aircraft propeller diameter does not wait from 20 centimetres to 100 centimetres, and duct length does not wait from 5 centimetres to 50 centimetres; On the aircraft multiple sensors can be installed, comprise distance measuring sensor at least, gyroscope is realized flight attitude, the automatic management of flight path by control circuit.

2. intelligent aircraft according to claim 1, it is characterized in that: connect and other computing machine communications by network, the information of each sensor can be sent to other computing machine, to realize further intelligent the processing, as position oneself, human body detection, voice recognition etc. also can be obtained instruction from other computing machine.

3. intelligent aircraft according to claim 2 is characterized in that: casing is provided with modular sensor interface, and can change as required and insert various sensors, as infradred sensor, ultrasonic transduter, audio sensor and video sensor etc.