CN110816811A

CN110816811A - Air jet type steering unmanned aerial vehicle

Info

Publication number: CN110816811A
Application number: CN201911170563.4A
Authority: CN
Inventors: 张鑫
Original assignee: Binzhou University
Current assignee: Binzhou University
Priority date: 2019-11-26
Filing date: 2019-11-26
Publication date: 2020-02-21
Also published as: WO2021103497A1; AU2020101802A4; ZA202102376B

Abstract

The invention provides an air jet type steering unmanned aerial vehicle, and mainly relates to the field of unmanned aerial vehicles. The utility model provides an air jet formula turns to unmanned aerial vehicle, includes the unmanned aerial vehicle body, unmanned aerial vehicle body bottom sets up impels the duct, the focus that impels the duct is located unmanned aerial vehicle body centrobaric under, impel duct front end diameter to be greater than the rear end diameter, impel the interior front end of duct to set up leading duct motor, impel the interior rear end of duct to set up rearmounted duct motor, impel and set up the pivot between duct and the unmanned aerial vehicle bottom, the unmanned aerial vehicle bottom sets up the motor that turns to and turns to the reducing gear box that is used for driving the pivot. The invention has the beneficial effects that: according to the invention, the forward and backward movement and the steering under the non-emergency state of the unmanned aerial vehicle can be realized by driving the ducted motor through increasing the propelling duct, so that the flight speed of the unmanned aerial vehicle can be greatly increased, and various operations are provided for the steering of the multi-rotor unmanned aerial vehicle.

Description

Air jet type steering unmanned aerial vehicle

Technical Field

The invention mainly relates to the field of unmanned aerial vehicles, in particular to an air jet type steering unmanned aerial vehicle.

Background

Many rotor unmanned aerial vehicle advances through the rotational speed that changes its middle part rotor motor, retreat, turn to, use four rotor unmanned aerial vehicle as the example, refer to figure 1, if want to let unmanned aerial vehicle move forward, increase the rotational speed of

rotor

3 and 4, reduce the rotational speed of rotor 1 and 2, organism rear portion lift is big like this, anterior lift is little, will make the organism slope, the rear portion is higher than anterior, and lift is the perpendicular to organism all the time, thereby lift has had the component force of a directional the place ahead, unmanned aerial vehicle just can have flown forward. This can be done if one wants to move the aircraft backwards, increasing the speed of rotors 1 and 2, and decreasing the speed of

rotors

3 and 4. If want to let unmanned aerial vehicle clockwise rotation, increase 2 and 4 anticlockwise rotational speed, reduce 1 and 3 clockwise rotational speed, it is big obviously that rotor 2 and 4 give unmanned aerial vehicle's clockwise rotational speed, unmanned aerial vehicle will clockwise rotation, and unmanned aerial vehicle also can not control the front and back slope.

This kind of many rotor unmanned aerial vehicle's the control method who moves forward and retreat and turn to is comparatively ripe, but when many rotor unmanned aerial vehicle moves forward and retreat, all need to have certain inclination and fly, in order to ensure that the component force in the directional place ahead of lift is enough big, just need the motor to ensure enough big rotational speed, the bigger angle of unmanned aerial vehicle slope, but the power of motor is limited, the safety angle that unmanned aerial vehicle can incline also is limited, this kind is through the mode that the separation of lift drives moves forward and retreat, make many rotor unmanned speed receive the restriction.

Disclosure of Invention

In order to solve the defects of the prior art, the invention provides an air jet type steering unmanned aerial vehicle, which can enable the unmanned aerial vehicle to advance and retreat and to steer in a non-emergency state through the driving of a duct motor by increasing a propelling duct, can greatly increase the flight speed of the unmanned aerial vehicle and provide various operations for the steering of a multi-rotor unmanned aerial vehicle.

In order to achieve the purpose, the invention is realized by the following technical scheme:

the utility model provides an air jet formula turns to unmanned aerial vehicle, includes the unmanned aerial vehicle body, the unmanned aerial vehicle body is many rotor unmanned aerial vehicle, this internal flight control module that has of unmanned aerial vehicle, unmanned aerial vehicle body bottom sets up and impels the duct, the focus that impels the duct is located unmanned aerial vehicle body centrobaric under, impel duct front end diameter and be greater than the rear end diameter, impel duct internal diameter mellow and smooth transition, impel the interior front end of duct and set up leading duct motor, impel the interior rear end of duct and set up rearmounted duct motor, leading duct motor and rearmounted duct motor antiport, all set up the impeller on leading duct motor and the rearmounted duct motor, impel and set up the pivot between duct and the unmanned aerial vehicle bottom, the unmanned aerial vehicle bottom sets up the motor that turns to and turn to the reducing gear box that is used for driving the pivot, leading duct motor, rearmounted duct motor, The steering motors are electrically connected with the flight control module.

The aircraft is characterized in that a pivot shaft is arranged between the propelling duct and the rotating shaft and is vertically fixed with the rotating shaft, a swing motor and a swing reduction box are arranged on one side of the top of the propelling duct, the swing motor is matched with the pivot shaft through the swing reduction box, and the swing motor is electrically connected with the flight control module.

The swinging angle of the axial line of the propelling duct relative to the horizontal plane is-45 degrees.

The steering motor is a servo motor.

The inner diameter of the front end of the propelling duct is 1.5-3 times of the inner diameter of the rear end of the propelling duct.

The swing motor is a servo motor.

The swing reduction box is driven by a secondary gear.

The steering reduction box is driven by a secondary gear.

The rotating shaft is a hollow rotating shaft.

Compared with the prior art, the invention has the beneficial effects that:

the invention controls the advancing, retreating and steering of the unmanned aerial vehicle by adding the propelling duct at the bottom of the unmanned aerial vehicle, the duct motor is arranged in the propelling duct, the impeller is driven by the duct motor to drive airflow to be ejected at high speed in the duct, so that the unmanned aerial vehicle is driven, a novel advancing and steering control method of the multi-rotor unmanned aerial vehicle different from rotor power regulation is realized, and the impeller propelling airflow is further accelerated by the change of the inner diameter of the propelling duct, so that the propelling force of the propelling duct is improved, and the speed of the unmanned aerial vehicle is improved.

Drawings

FIG. 1 is a prior art control reference diagram;

FIG. 2 is a schematic front view of the present invention;

FIG. 3 is a schematic structural view of the propelling duct in a swinging posture in a main view;

FIG. 4 is a cross-sectional structural view of the propulsion duct of the present invention;

fig. 5 is a partially enlarged view of the portion a in fig. 2 according to the present invention.

Reference numerals shown in the drawings: 1. an unmanned aerial vehicle body; 3. propelling the duct; 4. a front ducted motor; 5. a post-ducted motor; 6. an impeller; 7. a rotating shaft; 8. a steering motor; 9. a steering reduction box; 10. a pivot shaft; 11. a swing motor; 12. a swing reduction box.

Detailed Description

The invention is further described with reference to the accompanying drawings and specific embodiments. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and these equivalents also fall within the scope of the present application.

As shown in fig. 1-5, the air jet type steering unmanned aerial vehicle comprises an unmanned aerial vehicle body 1, wherein the unmanned aerial vehicle body 1 is a multi-rotor unmanned aerial vehicle, a flight control module is arranged in the unmanned aerial vehicle body 1, and the flight control module is a controller which is used for receiving ground control on the unmanned aerial vehicle and controlling a rotor motor, a camera and various sensors of the unmanned aerial vehicle. 1 bottom of unmanned aerial vehicle body sets up impels duct 3, impel duct 3's focus to be located 1 centrobaric of unmanned aerial vehicle body under, do not influence unmanned aerial vehicle's fuselage balance. The diameter of the front end of the propelling duct 3 is larger than that of the rear end of the propelling duct, and the inner diameter of the propelling duct 3 is in smooth transition, so that the airflow is smoothly guided. The front end in the propelling duct 3 is provided with a front duct motor 4, the rear end in the propelling duct 3 is provided with a rear duct motor 5, the front duct motor 4 and the rear duct motor 5 rotate reversely, the front duct motor 4 and the rear duct motor 5 are both provided with impellers 6, the inclination angles of the blades of the two impellers are opposite, and when the two duct motors drive the respective impellers to rotate, the driven airflow is from the front of the propelling duct to the rear. Impel and install pivot 7 between duct 3 and the 1 bottom of unmanned aerial vehicle, 1 bottom of unmanned aerial vehicle sets up the motor 8 that turns to that is used for driving pivot 7 and turns to reducing gear box 9, turn to the motor and be used for driving the pivot and drive the rotation of impelling the duct, make impel the duct to rotate the change that realizes unmanned aerial vehicle advancing direction. For the setting of cooperation propulsion duct, regard the support frame of unmanned aerial vehicle body bottom as four-point supporting, make unmanned aerial vehicle's supporting leg can not lead to the fact to blockking to propulsion duct spun air current. The front ducted motor 4, the rear ducted motor 5 and the steering motor 8 are all electrically connected with the flight control module. Through propelling the high-speed blowout of air current in the duct, can realize improving unmanned aerial vehicle's flying speed to unmanned aerial vehicle's high-speed drive, realize being different from the new many rotor unmanned aerial vehicle that rotor power adjusted and advance, turn to control method. And through the change of propelling duct internal diameter, realize the impeller to impel the further acceleration of air current to further improve the thrust that impels the duct, improve unmanned aerial vehicle's speed.

Preferably, a pivot shaft 10 is installed between the propelling duct 3 and the rotating shaft 7, the pivot shaft 10 is vertically fixed with the rotating shaft 7, a swing motor 11 and a swing reduction box 12 are installed on one side of the top of the propelling duct 3, the swing motor 11 is matched with the pivot shaft 10 through the swing reduction box 12, and the propelling duct is driven to swing through transmission of gears. The swing motor 11 is electrically connected with the flight control module. Through the luffing motion of propelling the duct, can assist unmanned aerial vehicle to carry out the flight of oblique top, oblique below to realize unmanned aerial vehicle's quick obstacle avoidance.

Preferably, the swinging angle of the axial line of the propelling duct 3 relative to the horizontal plane is-45 degrees to 45 degrees.

Preferably, the steering motor 8 is a servo motor. The servo motor can control the rotation angle more accurately, thereby ensuring the accurate angle adjustment of the propelling duct.

Preferably, the inner diameter of the front end of the propelling duct 3 is 1.5-3 times of the inner diameter of the rear end. Through the reduction of propelling duct internal diameter, can make the air velocity increase 1.5~3 times to realize the air current in the duct jet and play the effect, play bigger thrust to unmanned aerial vehicle.

Preferably, the swing motor 11 is a servo motor. The servo motor can control the angle of the propelling duct more accurately, so that the precise adjustment of the swinging angle of the propelling duct is guaranteed.

Preferably, the swing reduction box 12 is in two-stage gear transmission.

Preferably, the steering reduction box 9 is in two-stage gear transmission.

Preferably, the rotating shaft 7 is a hollow rotating shaft. The hollow rotating shaft can reduce the total weight of the unmanned aerial vehicle, so that the load of the unmanned aerial vehicle is reduced, and the cruising ability of the unmanned aerial vehicle is improved.

After the unmanned aerial vehicle is started, the remote controller of the unmanned aerial vehicle is operated, the wireless transmitting module of the remote controller sends signals to the wireless receiving module in the flight control module, so that the rotor motors of the multi-rotor unmanned aerial vehicle rotate at a constant speed, the unmanned aerial vehicle rises to a stable height, then the rotating speed of the rotor motors is reduced, and the unmanned aerial vehicle is ensured to hover at a stable high altitude. When needs advance, fly the accuse module and receive the instruction, control duct motor starts, makes to impel duct jet air current, promotes unmanned aerial vehicle and advances, when unmanned aerial vehicle needs turn, flies the accuse module and receives the instruction, and control turns to the motor action, and the drive impels the duct to turn to the realization impels the survey direction of unmanned aerial vehicle, under the condition that does not change the unmanned aerial vehicle gesture, realizes turning to the flight of unmanned aerial vehicle. When the unmanned aerial vehicle needs to fly obliquely upwards or obliquely downwards, the flight control module receives an instruction, controls the swing motor to act to enable the propelling duct to swing to a certain angle, and realizes the flight of the unmanned aerial vehicle obliquely upwards/obliquely downwards by the aid of airflow jetted obliquely downwards/obliquely upwards by the propelling duct.

It should be pointed out that this air jet formula turns to unmanned aerial vehicle is realized based on many rotor unmanned aerial vehicle's rotor motor at the uniform velocity rotates the prerequisite, and its air jet impels unmanned aerial vehicle to advance, when turning to, unmanned aerial vehicle's own direction does not change, just carries out the translation in the equidirectional not. Therefore if need install the camera on unmanned aerial vehicle and shoot the use, then need install the camera on advancing the duct.

Claims

1. The utility model provides an air jet formula turns to unmanned aerial vehicle, includes unmanned aerial vehicle body (1), unmanned aerial vehicle body (1) is many rotor unmanned aerial vehicle, the flight control module has in unmanned aerial vehicle body (1), its characterized in that: the unmanned aerial vehicle is characterized in that a propelling duct (3) is arranged at the bottom of an unmanned aerial vehicle body (1), the gravity center of the propelling duct (3) is located under the gravity center of the unmanned aerial vehicle body (1), the diameter of the front end of the propelling duct (3) is larger than that of the rear end of the propelling duct (3), the inner diameter of the propelling duct (3) is in smooth transition, a front duct motor (4) is arranged at the front end of the propelling duct (3), a rear duct motor (5) is arranged at the rear end of the propelling duct (3), the front duct motor (4) and the rear duct motor (5) rotate in opposite directions, impellers (6) are arranged on the front duct motor (4) and the rear duct motor (5), a rotating shaft (7) is arranged between the propelling duct (3) and the bottom of the unmanned aerial vehicle (1), and a steering motor (8) and a steering reduction gearbox (9) for driving the rotating shaft (7) are arranged at the bottom of the unmanned aerial vehicle (1), the front ducted motor (4), the rear ducted motor (5) and the steering motor (8) are all electrically connected with the flight control module.

2. An air jet steering drone according to claim 1, characterized in that: the aircraft is characterized in that a pivot shaft (10) is arranged between the propelling duct (3) and the rotating shaft (7), the pivot shaft (10) is vertically fixed with the rotating shaft (7), a swing motor (11) and a swing reduction box (12) are arranged on one side of the top of the propelling duct (3), the swing motor (11) is adapted to the pivot shaft (10) through the swing reduction box (12), and the swing motor (11) is electrically connected with the flight control module.

3. An air jet steering drone according to claim 2, characterized in that: the swing angle of the axial line of the propelling duct (3) relative to the horizontal plane is-45 degrees.

4. An air jet steering drone according to claim 1, characterized in that: the steering motor (8) is a servo motor.

5. An air jet steering drone according to claim 1, characterized in that: the inner diameter of the front end of the propelling duct (3) is 1.5-3 times of the inner diameter of the rear end.

6. An air jet steering drone according to any one of claims 2 to 3, characterised in that: the swing motor (11) is a servo motor.

7. An air jet steering drone according to any one of claims 2 to 3, characterised in that: the swing reduction box (12) is in two-stage gear transmission.

8. An air jet steering drone according to any one of claims 1 to 5, characterised in that: the steering reduction box (9) is driven by a secondary gear.

9. An air jet steering drone according to any one of claims 1 to 5, characterised in that: the rotating shaft (7) is a hollow rotating shaft.