CN111942584A - Building block type aerial combination/separation unmanned aerial vehicle - Google Patents
Building block type aerial combination/separation unmanned aerial vehicle Download PDFInfo
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- CN111942584A CN111942584A CN202010628472.7A CN202010628472A CN111942584A CN 111942584 A CN111942584 A CN 111942584A CN 202010628472 A CN202010628472 A CN 202010628472A CN 111942584 A CN111942584 A CN 111942584A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
Abstract
The invention discloses a building block type aerial combination/separation unmanned aerial vehicle, wherein an aircraft monomer is of a bilateral symmetry flying wing structure and is provided with a left side wing, a right side wing and a butt joint mechanism; the two aircraft monomers are butted through the butting mechanisms designed on the two side wings, and the locking between the two aircraft monomers in the butting process is realized through the designed locking mechanism. And carrying out batch butt joint on the plurality of aircraft monomers according to a butt joint instruction sent by the central control computer and a preset butt joint scheme to finally form the high-aspect-ratio aircraft. According to the invention, a plurality of small aircrafts can be automatically butted into a large-aspect-ratio aircraft with higher flight efficiency after being lifted off, and the large-aspect-ratio aircraft can dispersedly execute tasks after reaching a specified destination through long-time cruising, so that the problem of short range of the small bee colony aircraft is solved, and the small bee colony aircraft has the flexibility of the small bee colony aircraft and the long range of a large aircraft, thereby greatly improving the task diversity and the scene adaptability of the aircraft.
Description
Technical Field
The invention relates to an aircraft, in particular to an aerial combined/separated modular unmanned aircraft which can cruise and fly in a high-aerodynamic efficiency combined configuration and execute core tasks in a flexible single configuration.
Background
The aircraft 'swarm' refers to the fact that low-cost small aircrafts with various task loads are comprehensively integrated on the basis of an open system architecture, a fighting system with survivability, low cost, function distribution and intelligent characteristics is built by taking communication network information as the center, taking swarm intelligence emergence capability of the system as the core, taking cooperative interaction capability among platforms as the basis and taking node fighting capability of a single platform as support. The 'swarm' generally has the characteristics of simplicity of behavior bodies, distributed organization structure, intellectualization of a cluster system and the like, each aircraft follows simple behavior rules, only has local sensing, planning and communication capabilities, and makes simple feedback behaviors aiming at external environments, a central node does not exist in the whole 'swarm' system, the behavior mode of the aircraft is changed in real time through information interaction among individuals so as to adapt to complex dynamic environments, the whole system has stronger robustness, the influence on the whole system due to the fault of a certain individual or a part of individuals is avoided, the survival capability of the swarm is enhanced by adjusting the state of the individuals, the behavior of the aircraft can be adaptively changed through the state of environment feedback, the learning of strategies and experiences is realized, and the complex problems are solved through good self-organization behaviors and intelligent self-behaviors, a more complex task is achieved.
The typical operation mode of the aircraft 'swarm' is that a large number of aircraft are carried by a large-scale land, sea and air platform and released or transmitted in a specific area to form a fighting cluster, flight control, situation perception, target distribution and intelligent decision are realized through autonomous cooperation and data sharing, and operation tasks such as cluster system reconnaissance, electronic interference, network operation, net-electricity combined paralysis, cluster bombing, linkage reconnaissance and striking are carried out. The method mainly comprises a reconnaissance detection mode and an attack mode.
At present, a large-sized carrier is adopted as a carrying tool, a small-size bee colony aircraft is conveyed to a combat area, the bee colony aircraft is released, and a core combat task is completed by the aircraft monomer. The 'swarm' aircraft can launch suicide attacks or 'self-destruct' after completing tasks, and few recovery occurs; the airborne recycling mode which is being explored and researched has high technical difficulty and low technical maturity. This way of use, on the one hand, the carrier is expensive to transport and, on the other hand, the carrier will be in a high risk area for a long time.
The reason for having to adopt this mode of use is that the existing "swarm" aircraft have their own size which limits the span, the amount of oil carried, etc., resulting in a shorter range.
Disclosure of Invention
In order to solve the inherent technical defects of low pneumatic efficiency and short voyage of the 'bee colony' small aircrafts, the invention provides a building block type air combination/separation unmanned aircraft, and all small aircrafts can be freely combined and dispersed, so that the aims of improving the pneumatic efficiency and expanding the use scene are fulfilled.
The invention relates to a building block type aerial combination/separation unmanned aerial vehicle which is composed of a plurality of vehicle monomers, wherein each vehicle monomer has the same structure and can fly autonomously; in the flight process of a plurality of single aircrafts, the single aircrafts are independently butted to form the high-aspect-ratio aircraft.
The single aircraft body is of a bilateral symmetry flying wing structure and is provided with a left side wing, a right side wing and a butt joint mechanism; the front edges of the left side wing and the right side wing are designed to be cylindrical protrusions, the rear edges of the left side wing and the right side wing are designed to be cylindrical recesses, and a matching contact surface is formed between the left side wing and the right side wing.
The butt joint mechanism comprises a soft cable, a taper sleeve, a butt joint and a capturing and locking mechanism. The soft cable is arranged in a soft cable cabin at the rear part of the left side wing and the right side wing of the aircraft; the butt joint end of the soft rope is provided with a taper sleeve. The butt joint is a telescopic joint and is arranged at the front parts of the left side wing and the right side wing. A capture locking mechanism is designed in the taper sleeve, and the capture locking mechanism is triggered after the butt joint is inserted into the taper sleeve, so that the taper sleeve and the butt joint are locked and fixed.
The connecting and locking device comprises a connector, a connector and a connecting and locking mechanism. Wherein, the connector is arranged at the rear parts of the left side wing and the right side wing of the aircraft, and a connecting and locking mechanism is designed in the connector. The connector is a telescopic connector and is arranged at the front parts of the left side wing and the right side wing of the aircraft; the connector is internally designed with a connecting and locking mechanism, and the connecting and locking mechanism is triggered after the connector is inserted into the connector, so that the locking and fixing between the connector and the connector are realized.
The aircraft single bodies with the structure realize batch butt joint according to a butt joint scheme, and the butt joint comprises four processes of capturing, drawing, positioning and connecting:
the capture process is as follows: enabling the two aircrafts to be an aircraft A and an aircraft B respectively, wherein the aircraft B is a captured aircraft; when the aircraft B flies to reach the left rear or the right rear of the aircraft A, the capturing operation is started; at the moment, the soft cables in the soft cable cabin on the side of the aircraft A close to the aircraft B are controlled to extend, and meanwhile, the butt joint on the side of the aircraft B close to the aircraft A is controlled to extend; and further controlling the extension of the soft cable to enable the butt joint to be inserted into the taper sleeve, triggering the capturing and locking mechanism, and realizing the fixation between the taper sleeve and the butt joint by the capturing and locking mechanism to finish the capturing operation of the aircraft B.
The drawing process comprises the following steps: and after the capturing operation is finished, controlling the soft cable of the aircraft A to retract into the soft cable cabin, and enabling the aircraft B to approach the aircraft A in the process to finish the drawing operation.
The positioning process comprises the following steps: when the front edge of one side wing of the aircraft B close to the aircraft A is protruded to be closely attached to the rear edge of one side wing of the aircraft A close to the aircraft B in a concave mode, the positioning operation is completed.
The connection process is as follows: after the positioning operation is finished, controlling the connector at the front edge of the side wing of the aircraft B to extend out of the aircraft B, inserting the connector into the connecting port at the rear edge of the side wing of the aircraft A, and triggering the connecting and locking mechanism when the connector is inserted to a certain depth to realize the locking between the connector and the connecting port so as to complete the connecting operation of the two aircraft; thus, a complete docking process between the two aircraft units is completed.
The separation of the aircraft monomers after the butt joint is divided into three processes of unlocking, releasing and disengaging:
the unlocking process comprises the following steps: and controlling a locking mechanism to unlock the connection port at the rear part of the wing A of the aircraft, and further controlling the connection head at the front part of the wing B of the aircraft to retract the aircraft B to complete the unlocking operation between the two aircraft.
The release process is as follows: after the unlocking operation is finished, the soft cable of the aircraft A is controlled to extend out of the soft cable cabin, the self resistance of the aircraft B is increased in the process, a speed difference is generated between the aircraft B and the aircraft A, the aircraft A is gradually far away from the aircraft A, and the releasing operation is finished.
The separation process comprises the following steps: after the releasing operation is finished, the capturing and locking mechanism in the control taper sleeve is unlocked, then the butt joint of the aircraft B is controlled to retract the aircraft B, the aircraft B is separated from the aircraft A at the moment, then the soft cable of the aircraft A is further controlled to retract into the soft cable cabin, and the separating operation is finished.
The invention has the advantages that:
1. the building block type aerial combination/separation unmanned aerial vehicle enables a plurality of small-sized aerial vehicles to be automatically connected in an abutting mode to form a large-aspect-ratio aerial vehicle with higher flight efficiency after being lifted off, and the large-aspect-ratio aerial vehicle is re-dispersed after long-time cruising to reach a specified destination, so that the pneumatic efficiency is improved, the problem that the flight distance of a 'bee colony' aerial vehicle is short is solved, the small-sized 'bee colony' aerial vehicle has the flexibility of the small-sized 'bee colony' aerial vehicle and the long flight distance of a large-sized aerial vehicle, and the task diversity and the scene adaptability of the aerial vehicle are greatly.
2. The building block type aerial combined/separated unmanned aerial vehicle can realize long-distance rushing without carrying on the basis of keeping the advantages of small size, low cost, flexibility and mobility of a cluster aircraft monomer, and can return to the journey by itself after completing a core task.
Drawings
FIG. 1 is a schematic view of a modular aerial combination/separation unmanned aerial vehicle single body configuration of the invention.
FIG. 2 is a diagram of the configuration of the building block type aerial combination/separation unmanned aerial vehicle after combination.
FIG. 3 is a schematic view of a first unmanned aerial vehicle monomer docking scheme in a building block type air combination/separation unmanned aerial vehicle combination process.
FIG. 4 is a schematic view of a second batch of unmanned aerial vehicle monomer docking scheme in the building block type air combination/separation unmanned aerial vehicle combination process.
FIG. 5 is a schematic view of a third batch of unmanned aerial vehicle monomer docking scheme in the building block type air combination/separation unmanned aerial vehicle combination process.
FIG. 6 is a schematic view of a fourth batch of unmanned aerial vehicle monomer docking scheme in the building block type air combination/separation unmanned aerial vehicle combination process.
FIG. 7 is a schematic view of a fifth batch of unmanned aerial vehicle monomer docking scheme in the building block type air combination/separation unmanned aerial vehicle combination process.
FIG. 8 is a schematic view of a sixth set of unmanned aerial vehicle monomer docking schemes during the building block type air combination/separation unmanned aerial vehicle combination process.
In the figure:
1-left flank 2-right flank 3-duct
4-electric fan 5-soft rope cabin 6-butt joint
7-connecting port 8-connecting head
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention relates to a building block type aerial combination/separation unmanned aerial vehicle which is composed of a plurality of vehicle monomers, wherein each vehicle monomer has the same structure and can fly autonomously; in the flight process of a plurality of single aircrafts, the single aircrafts can be independently butted to form an aircraft with a large aspect ratio, and the cruising lift-drag ratio is improved.
As shown in fig. 1, the single aircraft body is a bilateral flying wing structure, and has a left wing 1, a right wing 2, a duct 3, a docking mechanism and a connecting and locking device. The cross sections of the left side wing 1 and the right side wing 2 are both equilateral triangles, the wing roots of the left side wing 1 and the right side wing 2 are butted to form a rhombic plane shape of the whole aircraft, the sweepback angle of the front edge is 30 degrees, and the whole appearance is supported by the internal framework.
In above-mentioned left flank 1 and right flank 2, have duct 3 along aircraft longitudinal design, install electric fan 4 in the duct 3, the concrete mounted position of electric fan 4 in duct 3 axial is confirmed by concrete requirements such as aircraft performance and focus match. The front edges of the left wing 1 and the right wing 2 are designed to be cylindrical protrusions of R50, the rear edges are designed to be cylindrical recesses of R50, and a matching contact surface is formed between the front edges and the rear edges. The front edges and the rear edges of the left side wing 1 and the right side wing 2 are provided with a plurality of jet flow air injection holes, air is introduced through the duct 3 to generate jet flow or a jet flow generating device is installed in the aircraft to suck air and compress air to generate jet flow, and the jet flow air injection holes are used for ejecting, so that the single aircraft adopts a control mode based on jet flow/circulation control, and the single pitching, rolling and yawing postures of the aircraft are stabilized and controlled in an air flow injection mode.
The docking mechanism can adopt a docking mechanism similar to a hose type aerial refueling system, and comprises a soft rope, a taper sleeve, a docking head 6 and a capturing and locking mechanism. Wherein, the soft cable is arranged in a soft cable cabin 5 which is designed at the symmetrical position of the left flank 1 and the right flank 2 of the aircraft close to the rear edge; the butt joint end of the soft rope is provided with a taper sleeve, a capture locking mechanism is designed in the taper sleeve, and the taper sleeve is in a closed state when the soft rope is retracted into the soft rope cabin 5; when the soft rope extends out of the soft rope cabin 5, the taper sleeve is in an open state. The butt joint 6 is arranged at the position, close to the front edge, of the left side wing 1 and the right side wing 2, and the butt joint 6 can be retracted into the single aircraft body or extended out of the single aircraft body through control. Therefore, the taper sleeve is matched with the butt joint 6, and the capturing and locking mechanism is triggered to capture the aircraft single body which is butted in the front.
The connecting and locking device comprises a connecting port 7, a connecting head 8 and a connecting and locking mechanism. The connecting port 7 is arranged at the position, close to the rear edge, of the left side wing 1 and the right side wing 2 of the single aircraft, and a connecting and locking mechanism is designed in the connecting port 7. The connector 8 is cylindric, and slidable mounting is close to the leading edge position in aircraft left flank 1 and right flank 2, and the accessible control is contracted into the aircraft monomer inside, or is stretched out the aircraft monomer. Therefore, after the aircraft A and the aircraft B are positioned, the connecting head 8 is controlled to extend out of the aircraft B and be inserted into the connecting port 7 at the rear edge of the side wing of the aircraft A, the connecting and locking mechanism is triggered, locking between the connecting head 8 and the connecting port 7 is achieved, and connection and locking of the two aircraft after butt joint are completed.
The butt joint among the aircraft monomers with the structure is divided into four processes of capturing, drawing, positioning and connecting:
the capture process is as follows: the two aircrafts are respectively an aircraft A and an aircraft B, wherein the aircraft B is a captured aircraft. When the aircraft B flies to the left rear or right rear of the aircraft a, the capturing operation is started. At the moment, the soft cables in the soft cable cabin 5 of the aircraft A close to one side of the aircraft B are controlled to extend, and meanwhile, the butt joint 6 of the aircraft B close to one side of the aircraft A is controlled to extend; and further controlling the extension of the soft cable to enable the butt joint 6 to be inserted into the taper sleeve, triggering the capturing and locking mechanism, and realizing the fixation between the taper sleeve and the butt joint 6 by the capturing and locking mechanism to finish the capturing operation of the aircraft B.
The drawing process comprises the following steps: after the capturing operation is finished, the soft cable of the aircraft A is controlled to be retracted into the soft cable cabin 5, and in the process, the aircraft B approaches the aircraft A to complete the pulling operation.
The positioning process comprises the following steps: when the protrusion at the front edge of one side wing of the aircraft B close to the aircraft A is tightly attached to the recess at the rear edge of one side wing of the aircraft A close to the aircraft B, the fixed capturing taper sleeve and the butt joint are recovered to a preset position, and the positioning operation is completed.
The connection process is as follows: after the positioning operation is finished, the connector 8 at the front edge of the side wing of the aircraft B is controlled to extend out of the aircraft B and be inserted into the connector 7 at the rear edge of the side wing of the aircraft A, and when the connector is inserted to a certain depth, the connecting locking mechanism is triggered, so that the locking between the connector and the connector is realized, and the connecting operation of the two aircrafts is completed. Thus, a complete docking process between the two aircraft units is completed.
The separation of the aircraft monomers after the butt joint is divided into three processes of unlocking, releasing and disengaging:
the unlocking process comprises the following steps: and controlling a locking mechanism connected in a connecting port 7 at the rear edge of the side wing of the aircraft A to unlock, further controlling a connecting head 8 at the front edge of the side wing of the aircraft B to retract the aircraft B, and completing unlocking operation between the two aircraft.
The release process is as follows: after the unlocking operation is finished, the soft cable of the aircraft A is controlled to extend out of the soft cable cabin 5, the self resistance of the aircraft B is increased in the process, a speed difference is generated between the aircraft B and the aircraft A, the aircraft B is gradually far away from the aircraft A, and the releasing operation is finished.
The separation process comprises the following steps: after the releasing operation is finished, the capturing and locking mechanism in the control taper sleeve is unlocked, then the butt joint 6 of the aircraft B is controlled to retract the aircraft B, the aircraft B is separated from the aircraft A at the moment, and then the soft cable of the aircraft A is further controlled to retract into the soft cable cabin 5, so that the separating operation is finished.
The invention relates to a building block type aerial combination/separation unmanned aerial vehicle, wherein a plurality of aircraft monomers take off dispersedly or take off successively at the same time, when each aircraft monomer flies to a proper height, a central control computer sends a docking instruction, and the docking is carried out in batches according to a preset docking scheme. During the first butt joint, the target aircraft set in the butt joint scheme is used as a base aircraft A, the set first butt joint aircraft approaches the base aircraft A from the left rear side and the right rear side of the base aircraft, when the base aircraft approaches the preset distance, butt joint control is started, butt joint between the first butt joint aircraft and the base aircraft A is completed till the first butt joint aircraft and the base aircraft A are butted, and the formed whole is used as a base aircraft B for the next butt joint. And then, the central control computer sends out a docking instruction again, at this time, one or two aircraft monomers in the base aircraft B set in the docking scheme are used as target aircraft for secondary docking, then, the set second batch of docking aircraft is approached by the left rear part or the right rear part of the two target aircraft for secondary docking, when the second batch of docking aircraft approaches to a preset distance, docking control is started, so that docking between the second batch of docking aircraft and the target aircraft for secondary docking is completed, and the formed whole body is used as the base aircraft C for next docking. And repeating the steps until all the butt-joint aircrafts are butt-jointed according to the butt-joint scheme, thereby forming the high-aspect-ratio aircraft.
And flying the formed aircraft to a target area through a flight control system based on jet flow/circulation quantity after the docking is finished. And after the target area is reached, the central control computer sends out a separation instruction, and batch separation is carried out in the reverse sequence of the butt joint process according to a preset separation scheme. The separated aircraft flies away from a certain distance to stand by or execute tasks according to the control instruction of the aircraft. And other aircrafts to be separated are separated from the base aircraft one by one according to a preset sequence until all the aircrafts are separated. In the separation process, the communication networking of the single aircrafts is synchronously performed, and a plurality of single aircrafts execute tasks in a networking mode. And after the task is executed, repeating the docking process, after the docking is finished, flying back to the base area, and after the predetermined area is reached, repeating the separation process, and landing and recovering each small-scale aircraft in an parachute landing mode.
According to the basic characteristics of the airplane, two factors determining the flight of the aircraft are respectively the engine energy consumption rate (or fuel oil loading capacity) and the cruise lift-drag ratio L/D, the building block type air combination/separation aircraft forms a large aircraft by splicing a plurality of small single aircrafts, the effect of reducing energy consumption can be achieved by closing the engines of the single aircrafts in the cruising process, the cruise lift-drag ratio is improved by increasing the aspect ratio and changing the plane shape due to the fact that the large aircraft is formed after splicing, the major defects of low pneumatic efficiency and short flight path of the small bee colony aircraft are fundamentally overcome, the small bee colony aircraft is re-dispersed into a plurality of small aircrafts after reaching a specified destination, and the special advantages of the small bee colony aircraft are guaranteed.
The aircraft is internally provided with an avionic-flight control integrated control computer which is used for realizing aircraft control in the butt joint and separation processes and flight control of each aircraft before and after butt joint according to instructions sent by a central control computer.
Example (b):
the number of the aircrafts for executing the tasks is 21, the aircrafts adopt a dispersed takeoff mode, when the aircrafts reach a set flight height, the central control computer sends a docking instruction, and the aircrafts are docked in batches according to a preset docking scheme to form the high-aspect-ratio aircraft shown in fig. 2, wherein the specific configuration is as follows: the three aircraft monomers are coaxial from front to back and are the middle shafts of the high-aspect-ratio aircraft; 6 aircraft monomers, 3 aircraft monomers and 0 aircraft monomer are respectively connected in series on two sides of each aircraft from front to back.
The docking scheme is as follows:
the aircraft is numbered as aircraft monomer No. 1 ~ 21, and wherein, aircraft monomer No. 1 is initial base member aircraft, and aircraft monomer No. 2, 3 is the first butt joint aircraft.
As shown in fig. 3, after the central control computer sends out the first batch of aircraft docking instructions, the aircraft 2 and 3 fly to the left rear and the right rear of the aircraft 1, and then the docking with the aircraft 1 is completed.
As shown in fig. 4, the central control computer sends a second batch of aircraft monomer docking instructions, the No. 4 aircraft monomer flies to a position between the opposite side wings of the No. 2 aircraft monomer and the No. 3 aircraft monomer, and the No. 5 aircraft monomer and the No. 6 aircraft monomer respectively fly to the left rear of the No. 2 aircraft monomer and the right rear of the No. 3 aircraft monomer; and then, finishing the simultaneous butt joint between the No. 4 aircraft monomer and the No. 2 aircraft monomer and the No. 3 aircraft monomer, the butt joint between the No. 5 aircraft monomer and the No. 2 aircraft monomer, and the butt joint between the No. 6 aircraft monomer and the No. 3 aircraft monomer.
As shown in fig. 5, the central control computer sends a third batch of aircraft monomer docking instructions, the No. 7 aircraft monomer flies to a position between the No. 4 aircraft monomer and the opposite side wing of the No. 5 aircraft monomer, the No. 8 aircraft monomer flies to a position between the No. 4 aircraft monomer and the opposite side wing of the No. 6 aircraft monomer, and the No. 9 aircraft monomer and the No. 10 aircraft monomer respectively fly to the left rear of the No. 5 aircraft monomer and the right rear of the No. 6 aircraft monomer; then, the simultaneous butt joint between the No. 7 aircraft monomer and the No. 4 aircraft monomer and the No. 5 aircraft monomer, the simultaneous butt joint between the No. 8 aircraft monomer and the No. 4 aircraft monomer and the No. 6 aircraft monomer, the butt joint between the No. 9 aircraft monomer and the No. 5 aircraft monomer, and the butt joint between the No. 10 aircraft monomer and the No. 6 aircraft monomer are completed.
As shown in fig. 6, the central control computer sends a fourth batch of aircraft monomer docking instructions, the No. 11 aircraft monomer flies to a position between the No. 7 aircraft monomer and the opposite side wing of the No. 8 aircraft monomer, the No. 12 aircraft monomer flies to a position between the No. 8 aircraft monomer and the opposite side wing of the No. 9 aircraft monomer, the No. 13 aircraft monomer flies to a position between the No. 9 aircraft monomer and the opposite side wing of the No. 10 aircraft monomer, and the No. 14 aircraft monomer and the No. 15 aircraft monomer respectively fly to the left rear of the No. 7 aircraft monomer and the right rear of the No. 10 aircraft monomer; then, the simultaneous butt joint between the No. 11 aircraft monomer and the No. 7 aircraft monomer and the No. 8 aircraft monomer, the simultaneous butt joint between the No. 12 aircraft monomer and the No. 8 aircraft monomer, the simultaneous butt joint between the No. 13 aircraft monomer and the No. 9 aircraft monomer and the No. 10 aircraft monomer, the butt joint between the No. 14 aircraft monomer and the No. 7 aircraft monomer, and the butt joint between the No. 15 aircraft monomer and the No. 10 aircraft monomer are completed.
As shown in fig. 7, the central control computer sends a fifth batch of aircraft monomer docking instructions, the No. 16 aircraft monomer flies to a position between the No. 11 aircraft monomer and the No. 14 aircraft monomer opposite side wings, the No. 17 aircraft monomer flies to a position between the No. 13 aircraft monomer and the No. 15 aircraft monomer opposite side wings, and the No. 18 aircraft monomer and the No. 19 aircraft monomer respectively fly to the left rear of the No. 14 aircraft monomer and the right rear of the No. 15 aircraft monomer; and then finishing the simultaneous butt joint between the No. 16 aircraft monomer and the No. 11 aircraft monomer and the No. 14 aircraft monomer, the simultaneous butt joint between the No. 17 aircraft monomer and the No. 13 aircraft monomer and the No. 15 aircraft monomer, the butt joint between the No. 18 aircraft monomer and the No. 14 aircraft monomer, and the butt joint between the No. 19 aircraft monomer and the No. 15 aircraft monomer.
As shown in fig. 8, the central control computer sends a sixth batch of aircraft monomer docking instructions, and the No. 20 aircraft monomer and the No. 21 aircraft monomer respectively fly to the left rear of the No. 18 aircraft monomer and the right rear of the No. 19 aircraft monomer; then, the butt joint between the No. 20 aircraft monomer and the No. 18 aircraft monomer and the butt joint between the No. 21 aircraft monomer and the No. 19 aircraft monomer are completed.
Claims (7)
1. A building block type aerial combination/separation unmanned aerial vehicle is characterized in that: the aircraft is composed of a plurality of aircraft monomers, and each aircraft monomer has the same structure and can fly autonomously; in the flight process of a plurality of aircraft monomers, the aircraft with high aspect ratio is formed by the autonomous butt joint of the aircraft monomers; after the terminal reaches a task area, the terminal is separated by the aircraft autonomously, and the task is executed dispersedly.
2. The modular airborne combined/separated unmanned aerial vehicle of claim 1, wherein: the plurality of aircraft monomers are subjected to batch butt joint according to a butt joint instruction sent by the central control computer and a preset butt joint scheme; during the first docking, a target aircraft set in the docking scheme is used as a base aircraft A, the set first docking aircraft approaches the base aircraft A from the left rear side and the right rear side of the base aircraft, when the first docking aircraft approaches a preset distance, docking control is started, the docking between the first docking aircraft and the base aircraft A is completed, and the formed whole is used as a base aircraft B for the next docking;
the central control computer sends out a docking instruction again, at this time, one or two aircraft monomers in the base aircraft B set in the docking scheme are used as target aircraft for secondary docking, the set second batch of docking aircraft is approached by the left rear part or the right rear part of the two target aircraft for secondary docking, when the preset distance is approached, docking control is started, so that docking between the second batch of docking aircraft and the target aircraft for secondary docking is completed, and the formed whole is used as a base aircraft C for next docking; and repeating the steps until all the butted aircrafts finish the butt joint according to the butt joint scheme.
3. The modular airborne combined/separated unmanned aerial vehicle of claim 1, wherein: the single aircraft body is propelled by an electric ducted fan engine.
4. The modular airborne combined/separated unmanned aerial vehicle of claim 1, wherein: the single aircraft body adopts a control mode based on jet flow/circulation control, and realizes the stabilization and control of pitching, rolling and yawing postures of the aircraft in a mode of jetting airflow.
5. The modular airborne combined/separated unmanned aerial vehicle of claim 1, wherein: the single aircraft body is of a bilateral symmetry flying wing structure and is provided with a left side wing, a right side wing, a butt joint mechanism and a connecting and locking device; the front edges of the left side wing and the right side wing are designed to be cylindrical protrusions, the rear edges of the left side wing and the right side wing are designed to be cylindrical recesses, and a matching contact surface is formed between the left side wing and the right side wing;
the butt joint mechanism comprises a soft cable, a butt joint and a capturing and locking mechanism; the soft cable is arranged in a soft cable cabin designed at the rear part of the left side wing and the right side wing of the aircraft; the butt joint end of the soft cable is provided with a taper sleeve; the butt joint is a telescopic joint and is arranged at the front parts of the left side wing and the right side wing; a capture locking mechanism is designed in the taper sleeve, and the capture locking mechanism is triggered after the butt joint is inserted into the taper sleeve, so that the taper sleeve and the butt joint are locked and fixed.
The connecting and locking device comprises a connecting port, a connecting head and a connecting and locking mechanism; the connecting ports are arranged at the rear parts of the left side wing and the right side wing of the aircraft, and connecting and locking mechanisms are designed in the connecting ports; the connector is a telescopic connector and is arranged at the front parts of the left side wing and the right side wing of the aircraft; after the connector is inserted into the connector, the connecting locking mechanism is triggered to realize locking and fixing between the connector and the connector.
6. The modular airborne combined/separated unmanned aerial vehicle of claim 5, wherein: the cross sections of the left side wing and the right side wing are both equilateral triangles, the wing roots of the left side wing and the right side wing are butted to form a rhombic plane shape of the whole aircraft, and the sweepback angle of the front edge is 30 degrees.
7. The modular airborne combined/separated unmanned aerial vehicle of claim 5, wherein: the butt joint of the single aircraft is divided into four processes of capturing, drawing, positioning and connecting:
the capture process is as follows: enabling the two aircrafts to be an aircraft A and an aircraft B respectively, wherein the aircraft B is a captured aircraft; when the aircraft B flies to reach the left rear or the right rear of the aircraft A, the capturing operation is started; at the moment, the soft cables in the soft cable cabin on the side of the aircraft A close to the aircraft B are controlled to extend, and meanwhile, the butt joint on the side of the aircraft B close to the aircraft A is controlled to extend; further controlling the extension of the soft cable to enable the butt joint to be inserted into the taper sleeve, triggering the capturing and locking mechanism, and realizing the fixation between the taper sleeve and the butt joint through the capturing and locking mechanism to finish the capturing operation of the aircraft B;
the drawing process comprises the following steps: after the capturing operation is finished, controlling the soft cable of the aircraft A to retract into the soft cable cabin, and in the process, enabling the aircraft B to approach the aircraft A to finish the drawing operation;
the positioning process comprises the following steps: when the front edge of one side wing of the aircraft B close to the aircraft A is protruded to be closely attached to the rear edge of one side wing of the aircraft A close to the aircraft B in a concave mode, positioning operation is completed;
the connection process is as follows: after the positioning operation is finished, controlling the connector at the front part of the side wing of the aircraft B to extend out of the aircraft B, inserting the connector into the connecting port at the rear part of the side wing of the aircraft A, and triggering the connecting and locking mechanism when the connector is inserted to a certain depth to realize the locking between the connector and the connecting port and complete the connecting operation of the two aircraft; thus, a complete butt joint process between two single aircraft is completed;
the separation of the aircraft monomers after the butt joint is divided into three processes of unlocking, releasing and disengaging:
the unlocking process comprises the following steps: controlling a locking mechanism to be connected in a connecting port at the rear part of the aircraft A side wing for unlocking, further controlling a connecting head at the front part of the aircraft B side wing to be retracted into the aircraft B, and completing unlocking operation between the two aircraft;
the release process is as follows: after the unlocking operation is finished, controlling the soft cable of the aircraft A to extend out of the soft cable cabin, increasing the self resistance of the aircraft B in the process, generating a speed difference with the aircraft A, and gradually keeping away from the aircraft A, so that the releasing operation is finished;
the separation process comprises the following steps: after the releasing operation is finished, the capturing and locking mechanism in the control taper sleeve is unlocked, then the butt joint of the aircraft B is controlled to retract the aircraft B, the aircraft B is separated from the aircraft A at the moment, then the soft cable of the aircraft A is further controlled to retract into the soft cable cabin, and the separating operation is finished.
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| Publication number | Priority date | Publication date | Assignee | Title |
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