CN108146608A - A kind of rotor with vectored thrust and air bag combined type lighter-than-air flight device - Google Patents
A kind of rotor with vectored thrust and air bag combined type lighter-than-air flight device Download PDFInfo
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- CN108146608A CN108146608A CN201711372583.0A CN201711372583A CN108146608A CN 108146608 A CN108146608 A CN 108146608A CN 201711372583 A CN201711372583 A CN 201711372583A CN 108146608 A CN108146608 A CN 108146608A
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- flight device
- air bag
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/06—Rigid airships; Semi-rigid airships
- B64B1/24—Arrangement of propulsion plant
- B64B1/30—Arrangement of propellers
- B64B1/32—Arrangement of propellers surrounding hull
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/06—Rigid airships; Semi-rigid airships
- B64B1/24—Arrangement of propulsion plant
- B64B1/30—Arrangement of propellers
- B64B1/34—Arrangement of propellers of lifting propellers
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/30—Lighter-than-air aircraft, e.g. aerostatic aircraft
-
- 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
- B64U50/30—Supply or distribution of electrical power
- B64U50/34—In-flight charging
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B2201/00—Hybrid airships, i.e. airships where lift is generated aerodynamically and statically
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
Abstract
The present invention discloses a kind of rotor with vectored thrust and air bag combined type lighter-than-air flight device, including aerostatics and rotor power module.Rotor is to be turned into blade by the one-time formed 8 font frame of laser and fexible film in rotor power module, it is circumferential to be equidistantly mounted on aerostatics maximum gauge disc, it is divided into horizontal and vertical two kinds of layouts, the regular programming output power of rotor module that vector promotes can be achieved, the quick movement of aircraft all directions can be completed, including climbing, declining, hovering and spinning.The flexible film solar battery module of tip designs of aerostatics, bottom end is designed with charging and central control unit.Present invention is mainly applied near space, enclosed indoor space and hemi-closure space, not only with aerostatics long cruise duration, big ceiling, the advantages such as floating and low flight noise can be stablized, but also with multi-rotor unmanned aerial vehicle compared with high maneuverability, handling excellent characteristics.
Description
Technical field
The invention belongs to unmanned air vehicle technique, new energy technology and technology of Internet of things, and in particular to one kind is pushed away with vector
The rotor of power and air bag combined type lighter-than-air flight device.
Background technology
Aerostatics generally refers to aircraft that proportion is lighter than air, going up to the air by atmospheric buoyancy force.In electronics and the military people
With field, fire balloon is not drawn in the range of aerostatics generally.In addition, space dirigible not necessarily relies on buoyancy.Other than military,
Large-scale civilian aerostatics can be also used for traffic, transport, entertain, relieve the people in stricken areas, movies-making, scientific experiment etc..People at present
Research focuses primarily upon large-scale, high-altitude lighter-than-air flight device research and development and design, and terrestrial space is carried out using lighter-than-air flight device
The application of monitoring is less.Aerostatics has had the developing history in a nearly century, derives the large-scale aerostatics of all polytypics, will
Aerostatics retracts near-earth from the region of remote ground atmospheric flight and uses, and minimize, and has potential application value, when having stagnant empty
Between it is long, low advantage is required, but its flying speed is slower, and mobility is also poor to landing site.
And for terrestrial space using more predominantly small-sized fixed-wing detection Drones for surveillance, multiaxis rotor wing unmanned aerial vehicle
And small-sized depopulated helicopter etc., while the safety-protection system being most widely used is mainly fixed position installation cradle head camera monitoring
System, these systems have certain use limitation, for example, fixed-wing unmanned plane due to flying speed it is relatively fast, for flying
Row height has certain requirement, and the flight space needed is larger, turning radius is larger；Multiaxis rotor wing unmanned aerial vehicle due to its structure from
The problem of body, payload capability is limited, cruise duration is to denounce always for people；Small-sized depopulated helicopter, compared to preceding two
Person, payload is larger, flying speed is relatively low, space maneuver is better than fixed-wing unmanned plane, at the same on the market all heavy wools move,
Electric helicopter is more than multiaxis rotor wing unmanned aerial vehicle cruise duration, however its structure is complex, R＆D costs are higher, operation difficulty
It is larger, it is more demanding for the operation for manipulating hand, and with certain danger.
Invention content
For the present invention in view of the above problems, with reference to the characteristics of rotor wing unmanned aerial vehicle and aerostatics, design is a kind of to have vectored thrust
Rotor and air bag combined type lighter-than-air flight device, (can both fly with aerostatics long cruise duration, big ceiling near space
Row), the advantages such as floating and low flight noise (extremely quiet) can be stablized, and with multi-rotor unmanned aerial vehicle compared with high maneuverability, manipulation letter
Single, flying quality excellent characteristics.
The present invention has the rotor of vectored thrust and air bag combined type lighter-than-air flight device, by floating body and rotor power
Module composition.Floating body is an air bag, and floating body top design has solar powered power module interface connection flexibility too
It is positive can battery module, power storage is converted the solar into solar powered power supply by thin-film solar cells, by too
Positive energy power supply is the energy outside lighter-than-air flight device supplementary quota.Floating body bottom is designed with charging and central control unit；Its
In, charhing unit realizes the electrically and mechanically connection between the charging equipment of ground by charhing unit interface；Central control unit
It is controlled between the regular power output of all rotor power modules and lighter-than-air flight device and earth station for receiving control instruction
Data transmission and communication.Aircraft perceptional function unit is also integrated in central control unit, for measuring attitude of flight vehicle
Six-degree-of-freedom information, Image Acquisition and information transmission etc., can realize effective control to lighter-than-air flight device, and realize interior
Monitoring, outdoor long-time shooting function.
Rotor power module is circumferentially equiangularly spaced to be mounted on the horizontal maximum radius circumference of floating body；Each rotor power
Speed feedback module and infrared distance measurement module are integrated in module.Wherein, rotorshaft in rotor power module separately
Direction is vertically arranged, for controlling climbing, decline and hovering for lighter-than-air flight device；Rotorshaft in remaining rotor power module
Direction is horizontally disposed with, for combining the all-around mobile of control aerostatics and spin motion.
Rotor power module includes rotor, blade and stent；Rotor is driven by driving motor to be rotated；It is installed on by stent
On the external wall of floating.And wherein rotor is by the one-time formed 8 font rotor outer framework structure of laser, hollow part covers flexible
Film is turned into blade.
Also there is Zigbee wireless telecommunication systems in each rotor power module and central control unit in the present invention, use
The Communication Control link of information communication and central control unit and rotor module between multiple aerostatics.
The advantage of the invention is that：
1st, the present invention have the rotor of vectored thrust and air bag combined type lighter-than-air flight device, make full use of aerostatics with
It is the characteristics of multi-rotor unmanned aerial vehicle, simple for structure, it is safe, while have relatively strong handling；
2nd, the present invention has the rotor of vectored thrust and air bag combined type lighter-than-air flight device, utilizes floating airbag aeration
The lift of offer can mitigate the demand to rotor lift, reduce the consumption of the energy, and guarantee is provided for prolonged continuation of the journey；
3rd, the present invention has the rotor of vectored thrust and air bag combined type lighter-than-air flight device, has rich and varied fortune
Flowing mode, selection and layout type by the quantity of different rotor modules, while the direction by changing rotor output power,
Quickly and accurately motor adjustment can be realized, including movements such as steadily hovering, spin, floating downlink, left and right yaws；
4th, the present invention has the rotor of vectored thrust and air bag combined type lighter-than-air flight device, and rotor module is by laser
One-time formed 8 font metal framework and fexible film are turned into blade, while mitigating the weight of rotor, reduce general plastics or
The aerodynamic noise that the rotation of carbon fiber paddle blade generates, ensure that the quietness of lighter-than-air flight device；
5th, the present invention have the rotor of vectored thrust and air bag combined type lighter-than-air flight device, each rotor module and
Aircraft perceptional function unit there are many being integrated in central control unit so that it is more intelligent, sensitive, while using long away from nothing
Figure in real time is established between line communication system and high speed figure transmission module and ground central control station and passes and control data information interaction channel.
Description of the drawings
Fig. 1 is that there is the present invention rotor of vectored thrust and air bag combined type lighter-than-air flight device overall structure to illustrate
Figure；
Fig. 2 is that there is the present invention rotor of vectored thrust and air bag combined type lighter-than-air flight device bottom structure to illustrate
Figure；
Fig. 3 is the rotor and rotor power module in air bag combined type lighter-than-air flight device that the present invention has vectored thrust
Structure diagram；
Fig. 4 is the rotor and central control unit in air bag combined type lighter-than-air flight device that the present invention has vectored thrust
Structure diagram.
In figure：
1-Floating body2-Rotor power module 101- solar battery thin films
The solar powered power supply 103- chargings of 102- and central control unit 201- rotors
202- blade 203- stent 204- driving motors
Specific embodiment
Below in conjunction with drawings and examples, the present invention is described in further detail.
The present invention has the rotor of vectored thrust and air bag combined type lighter-than-air flight device, by helium floating body 1 and solely
The 2 liang big main part of vertical rotor power module is formed, as shown in Figure 1 and Figure 2.
The floating body 1 is used for providing prevailing lift, for spherical, elliposoidal or the film-type floating of other symmetrical structures
Device air bag, material include but not limited to the light materials such as aluminium film, latex；Inside uses helium or other indifferent gas for being lighter than air
Body is filling, since gas density is less than air, is capable of providing certain lift；The use of helium is simultaneously inert gas, it can
Ensure the safety of lighter-than-air flight device and relative inexpensiveness.
The rotor power module 2 is used for providing attitude of flight vehicle adjustment and flying power.Rotor power module 2 includes rotation
The wing 201, blade 202 and stent 203 are formed, as shown in Figure 3.Wherein, rotor 201 is by the one-time formed 8 font rotor of laser
Outer framework structure, hollow part are equipped with fexible film, are turned into blade 202；It, can while mitigating the weight of rotor 201 as a result,
Reduce general plastics or the aerodynamic noise of carbon fiber blade rotation generation.It is driven by the driving motor 204 of rotor power module 2
Rotor 201 rotates.
Rotor power module 2 is fixedly installed in by stent 203 on 1 outer wall of helium floating body, circumferential to be floated set on helium
On 1 horizontal maximum radius circumference of hollow body, and arrangement mode uses 8 rotor Array Designs, wherein, it is revolved in 4 rotor power modules 2
Wing rotor shaft direction is vertically arranged；Rotorshaft direction is horizontally disposed in another 4 rotor power modules 2；And it is vertically arranged rotor and turns
Axis direction in 2 circumferential direction of rotor power module in horizontally disposed rotorshaft direction with being alternately arranged.Above-mentioned 4 rotorshaft directions
Vertically disposed rotor power module 2, for controlling climbing, decline and hovering for lighter-than-air flight device 1；4 rotorshaft sides
To horizontally disposed rotor power module 2, for controlling the all-around mobile of aerostatics 1 and spin motion.Above-mentioned basis is appointed
Itself shape of the size and object of business demand and required external applied load selects quantity, distribution, the output work of rotor power module 2
Rate and cruise duration etc. complete building for lighter-than-air flight device 1.
1 top of floating body is reserved with solar powered power module interface in the present invention, and solar powered power module connects
Mouth is used for connecting flexible solar battery module, and flexible solar battery module includes 4 pieces of solar battery thin films 101 and the sun
It can power supply 102.Solar battery thin film 101 is installed in solar powered 102 circumferential direction of power supply, solar powered power supply
It is connected between 102 and solar powered power interface, power storage is converted the solar into too by solar battery thin film 101
It is the energy outside lighter-than-air flight device supplementary quota by solar powered power supply in positive energy power supply.
Above-mentioned 1 bottom of floating body is equipped with charging and central control unit 103；Charhing unit includes 7.4V400mAh lithiums electricity
Pond, for realizing the power supply of lighter-than-air flight device；Charhing unit is realized and ground by the charhing unit interface that 1 bottom of floating body is reserved
Electrically and mechanically connection between the charging equipment of face so that ground charging is found by monocular cam during space flight and is set
Standby charging interface, realizes independently to be maked a return voyage according to lighter-than-air flight device self electric quantity and carries out docking charging.
The central control unit of the present invention is all for receiving control instruction control using STM32F108 core controllers
Data transmission and communication between the regular power output of rotor power module and lighter-than-air flight device and earth station.Such as Fig. 4 institutes
Showing, central control unit specifically includes system power supply integrated management unit, Voltage stabilizing module and wifi module, wherein, system power supply
Integrated management unit is for management with charhing unit to the energy resource supply of complete machine；Charhing unit is made to be supplied as the main power source of complete machine
It gives, provides flight required burning voltage for complete machine by Voltage stabilizing module, and solar energy film provides additional energy for outdoor flight
Amount.Wifi modules are used for realizing that central controller is interacted with the information data between computer, mobile phone terminal using wifi signals.Together
When, be also integrated in central control unit GPS outdoor positionings module, baroceptor, IMU Inertial Measurement Units, electronic compass,
A variety of aircraft perceptional function units such as image capture module, figure transmission module and air monitoring sensor, for measuring aircraft
Six-degree-of-freedom information, Image Acquisition and information transmission etc., can realize effective control to lighter-than-air flight device, and realize room
Interior monitoring, outdoor shooting for a long time.Speed feedback module and infrared distance measurement mould are integrated in above-mentioned each rotor power module 2
Block, tests the speed and avoidance etc. for driving motor；Also have in each rotor power module 2 and central control unit simultaneously
Zigbee wireless telecommunication systems, for the information communication between multiple aerostatics and central control unit and rotor module
Control link.Aircraft data of the invention interaction and communication mode as a result, the positioning of aircraft is realized using GPS, is utilized
Figure in real time is established between Zigbee wireless telecommunication systems and ground central control station and passes and control data information interaction channel, utilizes WIFI
Signal is implemented in the communication of computer, mobile phone terminal.Meanwhile between single independent lighter-than-air flight device can also by Zigbee without
Wire module builds on-air radio data link node, realizes the information exchange between each aircraft, effectively prevents multiple fly
Possible collision problem in row device flight course, while provide hardware foundation for multi-machine collaborative control, cotasking.
The control system of lighter-than-air flight device of the present invention, including slave computer control panel and host computer computer end, to complete to fly
The remote control of row device or the task of autonomous flight；Slave computer control panel and the division of labor of host computer computer end are clear and definite, it is contemplated that slave computer control
The process performance and requirement of real-time of making sheet need to carry out the task division of labor to it, then slave computer has been mainly used in the present invention
Into：Input detection, output driving, data processing and algorithm performs.Wherein, input detection includes host computer instruction, sensor number
It is believed that breath, power supply supply detection；The driving motor that output driving includes each rotor power module 2 controls；Data processing includes
Each sensing data resolves, the power distribution of each rotor power module 2；Mission planning of the algorithm performs including host computer transmission,
The execution of trajectory planning, formation control, the charging scheduling algorithm that makes a return voyage.For mission planning, trajectory planning, formation control, make a return voyage and fill
The intelligence of the complexity such as electricity and the not high task of requirement of real-time are then handled with upper electromechanical brain end and are handed down to lighter-than-air flight device
Central control unit mode, it is complete to have set up the whole series control system, i.e., to body dynamics from actuator to aerodynamics
The control algolithm level of feedback detection is arrived again, realizes system closed loop.
Claims (9)
1. a kind of rotor with vectored thrust and air bag combined type lighter-than-air flight device, it is characterised in that：By floating body with
Rotor power module composition；
The floating body is an air bag, and institute's inflatable body is helium, and top design has solar powered power module interface to connect
Connect flexible solar battery module；Bottom is designed with charging and central control unit；Wherein, charhing unit is connect by charhing unit
Cause for gossip shows electrically and mechanically connecting between the charging equipment of ground；Central control unit is used for receiving the control that ground installation is sent out
Instruction, while all rotor power modules is controlled regularly to export the data between power and lighter-than-air flight device and earth station
Transmission and communication；
Rotor power module is circumferentially equiangularly spaced to be mounted on the horizontal maximum radius circumference of floating body, each rotor power module
45 ° of interval；Wherein, the identical setting in rotorshaft direction in rotor power module separately；Wherein four rotor power modules
Rotorshaft direction is horizontally disposed with；Four additional rotor power module rotorshaft direction is vertically arranged；And it is vertically arranged rotor
Rotor shaft direction in the rotor power module circumferential direction in horizontally disposed rotorshaft direction with being alternately arranged.
2. a kind of rotor with vectored thrust as described in claim 1 and air bag combined type lighter-than-air flight device, feature
It is：It is the spherical film aerostatics air bag of space symmetr after the inflation of floating body.
3. a kind of rotor with vectored thrust as described in claim 1 and air bag combined type lighter-than-air flight device, feature
It is：Using the inert gas filling for being lighter than air inside floating body.
4. a kind of rotor with vectored thrust as described in claim 1 and air bag combined type lighter-than-air flight device, feature
It is：Rotor power module includes rotor, blade and stent；Rotor is driven by driving motor to be rotated；It is installed on by stent floating
On hollow body outer wall.
5. a kind of rotor with vectored thrust as described in claim 1 and air bag combined type lighter-than-air flight device, feature
It is：Rotor is by the one-time formed 8 font rotor outer framework structure of laser, and hollow part covers flexible TPU film, is turned into paddle
Leaf.
6. a kind of rotor with vectored thrust as described in claim 1 and air bag combined type lighter-than-air flight device, feature
It is：Flexible solar battery module includes circumferentially disposed thin-film solar cells and solar powered unit；The film sun
Can battery be installed in solar powered unit circumferential direction, thin-film solar cells and solar powered unit are electrically and mechanical interface
Between connect.
7. a kind of rotor with vectored thrust as described in claim 1 and air bag combined type lighter-than-air flight device, feature
It is：Central control unit specifically includes system core controller, power supply integrated management unit, Voltage stabilizing module, large capacity model plane
Lithium battery and wifi module；Wherein, system core controller is for complete machine flight control and environment sensing；Power supply integrated management list
Member is for management with charhing unit to the energy resource supply of complete machine；Large capacity model plane lithium battery is made to be supplied as the main energy sources of complete machine
It gives, 65% electric energy is provided, and solar energy film provides 35% energy for outdoor flight, is provided by Voltage stabilizing module for complete machine
Burning voltage needed for flight；Wifi modules are used for realizing between central controller and computer, mobile phone terminal using wifi signals
Information data interacts；Meanwhile aircraft perceptional function unit is also integrated in central control unit, for measuring flying for aircraft
Row height, attitude of flight vehicle six-degree-of-freedom information, Image Acquisition and information transmission, spatial obstacle analyte detection etc., can realize
Effective control to lighter-than-air flight device, and realize Indoor Video, outdoor shooting for a long time.
8. a kind of rotor with vectored thrust as described in claim 1 and air bag combined type lighter-than-air flight device, feature
It is：Speed feedback module and infrared distance measurement module are integrated in each rotor power module.
9. a kind of rotor with vectored thrust as described in claim 1 and air bag combined type lighter-than-air flight device, feature
It is：Also there is Zigbee wireless telecommunication systems in each rotor power module and central control unit, for multiple floatings
The Communication Control link of information communication and central control unit and rotor module between device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711372583.0A CN108146608B (en) | 2017-12-19 | 2017-12-19 | Rotor and inflatable air bag combined type floating aircraft with vector thrust |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711372583.0A CN108146608B (en) | 2017-12-19 | 2017-12-19 | Rotor and inflatable air bag combined type floating aircraft with vector thrust |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108146608A true CN108146608A (en) | 2018-06-12 |
| CN108146608B CN108146608B (en) | 2020-11-24 |
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ID=62466341
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711372583.0A Active CN108146608B (en) | 2017-12-19 | 2017-12-19 | Rotor and inflatable air bag combined type floating aircraft with vector thrust |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112644681A (en) * | 2020-12-30 | 2021-04-13 | 中国特种飞行器研究所 | Offshore aerostat |
| CN113260562A (en) * | 2018-12-28 | 2021-08-13 | 株式会社Ntt都科摩 | Aircraft with a flight control device |
| CN113721662A (en) * | 2021-09-06 | 2021-11-30 | 太仓阿尔法数字科技有限公司 | In-service insulator remote flaw detection control system |
| CN114148502A (en) * | 2021-12-03 | 2022-03-08 | 中国特种飞行器研究所 | Four-rotor aircraft based on floating platform |
| CN114577180A (en) * | 2022-05-06 | 2022-06-03 | 成都纵横通达信息工程有限公司 | Geographic information mapping device, system and method based on unmanned aerial vehicle |
| EP4257477A1 (en) | 2022-04-06 | 2023-10-11 | Exobotic Technologies | Improved device and method for indoor monitoring |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| Publication number | Publication date |
|---|---|
| CN108146608B (en) | 2020-11-24 |
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