CN112124590A - Strong crosswind interference resistant multi-rotor unmanned aerial vehicle - Google Patents
Strong crosswind interference resistant multi-rotor unmanned aerial vehicle Download PDFInfo
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- CN112124590A CN112124590A CN202011104504.XA CN202011104504A CN112124590A CN 112124590 A CN112124590 A CN 112124590A CN 202011104504 A CN202011104504 A CN 202011104504A CN 112124590 A CN112124590 A CN 112124590A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- 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
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- 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
- B64C27/10—Helicopters with two or more rotors arranged coaxially
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
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- Wind Motors (AREA)
Abstract
The invention provides a strong crosswind interference resistant multi-rotor unmanned aerial vehicle, which comprises: unmanned aerial vehicle organism, a plurality of rotor and a plurality of side push away the wing, a plurality of rotor coplanar sets up, a plurality of rotor with the midpoint of unmanned aerial vehicle organism evenly encircles as the centre of a circle and installs on the unmanned aerial vehicle organism, a plurality of sides push away the wing with the midpoint of unmanned aerial vehicle organism evenly encircles as the centre of a circle and installs on the unmanned aerial vehicle organism. This patent sets up all can be according to displacement and the monitoring of coming to the wind at the side thrust wing of unmanned aerial vehicle windward side and leeward side, and the automatic rotatory side thrust wing, thereby to unmanned aerial vehicle's displacement apply in opposite directions in the power of crosswind direction avoid the interference of crosswind to unmanned aerial vehicle flight. The invention can avoid the influence of crosswind by starting the side thrust wings under the condition that the horizontal rotor wing does not adjust the posture, so that an under-actuated system is changed into a full-drive system, the thrust of the crosswind is stronger and more efficient, the flight is more stable and more efficient, and the strong wind interference resistance and effect are better.
Description
Technical Field
The invention relates to the technical field of multi-rotor unmanned aerial vehicles, in particular to a multi-rotor unmanned aerial vehicle capable of resisting strong crosswind interference.
Background
Along with domestic research to unmanned aerial vehicle technique deepens gradually, unmanned aerial vehicle technique has used each field, and common multiaxis unmanned aerial vehicle is provided with a plurality of rotors with the plane, thereby unmanned aerial vehicle can change flight status through the output who adjusts every rotor.
When high wind, particularly strong crosswind, is encountered, and when high wind, particularly strong crosswind is encountered, the conventional multi-shaft unmanned aerial vehicle can change the flight state to incline by adjusting the rotation speed of each rotor through a controller to overcome the influence caused by wind power, for example, CN201380028830.9 proposes a method for controlling a multi-rotor unmanned aerial vehicle by estimating and compensating crosswind and accelerometer deviation, which controls the unmanned aerial vehicle to fly through the attitude and speed of the unmanned aerial vehicle by an angular command applied to a control loop for controlling each engine of the unmanned aerial vehicle according to a pitch axis and a roll axis, but the precise adjustment of each rotor by the multi-rotor unmanned aerial vehicle in the actual operation process consumes a large amount of electric energy, particularly, the multi-rotor unmanned aerial vehicle cannot keep a continuous horizontal state when continuous gust of wind occurs, and influences the positioning capability and the cruising capability of the unmanned aerial vehicle.
Disclosure of Invention
The invention provides a strong crosswind interference resistant multi-rotor unmanned aerial vehicle, and aims to solve the problems that the strong crosswind resistance of the traditional unmanned aerial vehicle is weak, and the endurance and flight performance are influenced.
In order to achieve the above object, an embodiment of the present invention provides a strong crosswind interference resistant multi-rotor drone, including:
unmanned aerial vehicle organism, a plurality of rotor and a plurality of side push wings, a plurality of rotors are with the plane setting, a plurality of rotor with the midpoint of unmanned aerial vehicle organism evenly encircles the setting as the centre of a circle on the unmanned aerial vehicle organism.
Wherein, the rotor is single rotor, many rotors or coaxial upper and lower rotor.
Wherein, the rotor is provided with three at least, the side pushes away the wing and is provided with three at least.
The rotor wing is horizontally arranged, and each side pushing wing is vertically arranged on the plane where the rotor wing is located.
Wherein, the whole type of unmanned aerial vehicle organism is discoid.
The whole model of the unmanned aerial vehicle body can also be in a flying saucer shape with a thin outer edge and a raised part in the center of the top surface; the protruding portion of unmanned aerial vehicle organism is the gentle transition to the outward flange.
The unmanned aerial vehicle comprises an unmanned aerial vehicle body, a plurality of exhaust channels and a control system, wherein the unmanned aerial vehicle body is uniformly provided with the plurality of exhaust channels, and ports at two ends of each exhaust channel are respectively communicated with the inner space and the outer space of the unmanned aerial vehicle body; in the overlooking direction, the exhaust passage is arranged along the direction of a connecting line from the midpoint of the unmanned aerial vehicle body to the middle point of the two adjacent rotors.
The waist size of the exhaust channel is smaller than the size of an inner side port and the size of an outer side port of the exhaust channel, and the side push wing is arranged at the position of the inner side port of the exhaust channel.
Wherein, the opening has been seted up at the bulge center of unmanned aerial vehicle organism, the opening with exhaust passage intercommunication.
The scheme of the invention has the following beneficial effects:
according to the strong crosswind interference resistant multi-rotor unmanned aerial vehicle disclosed by the embodiment of the invention, the unmanned aerial vehicle is provided with the plurality of rotors and the plurality of side thrust wings, and provides flight power through the plurality of rotors during normal flight, wherein the unmanned aerial vehicle body is in a flying saucer shape, and the top surface of the unmanned aerial vehicle body is provided with the bulge, so that when air flows through the shell of the unmanned aerial vehicle, the air flow rates above and below the unmanned aerial vehicle are different, so that the unmanned aerial vehicle generates lifting force, and the horizontal rotors can decelerate according to the height change, so that the purposes of saving electricity and being more stable are achieved; when the unmanned aerial vehicle encounters crosswind interference, the side thrust wings arranged on the windward side and the leeward side of the unmanned aerial vehicle rotate to apply force opposite to the crosswind direction to the unmanned aerial vehicle, so that the interference of crosswind to the flight of the unmanned aerial vehicle is avoided; in addition, the shell of the unmanned aerial vehicle is provided with the exhaust channels which correspond to the side thrust wings one to one, and airflow generated by rotation of the side thrust wings can be further intensively exhausted through the exhaust channels, so that the side thrust wings can effectively resist side wind. The invention can avoid the influence of crosswind by starting the side thrust wing under the condition that the rotor wing is not adjusted, so that the flying is more efficient and the flying duration is longer.
Drawings
Fig. 1 is a schematic view of a top view of an embodiment 1 of a strong crosswind interference resistant multi-rotor drone according to the present invention;
fig. 2 is a schematic view of a top view of an embodiment 2 of the strong crosswind interference resistant multi-rotor drone of the present invention;
fig. 3 is a schematic view of a top view of embodiment 3 of the strong crosswind interference resistant multi-rotor drone of the present invention;
fig. 4 is a schematic view of a top view of embodiment 4 of the strong crosswind interference resistant multi-rotor drone of the present invention;
fig. 5 is a schematic side view angle profile of co-axial upper and lower rotors of the strong crosswind interference resistant multi-rotor drone of the present invention;
fig. 6 is a schematic side view angle profile of a single rotor of the strong crosswind interference resistant multi-rotor drone of the present invention.
[ description of reference ]
1-unmanned aerial vehicle body; 2-a rotor wing; 3-side pushing wings; 4-a raised portion; 5-an exhaust channel; 6-opening.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The invention provides a strong crosswind interference resistant multi-rotor unmanned aerial vehicle, aiming at the problems that the existing unmanned aerial vehicle needs to consume a large amount of electric energy to resist crosswind, and the cruising ability of the unmanned aerial vehicle and the flight performance during flight are greatly influenced.
As shown in fig. 1 to 6, an embodiment of the invention provides a strong crosswind interference resistant multi-rotor unmanned aerial vehicle, which comprises an unmanned aerial vehicle body 1, a plurality of rotors 2 and a plurality of side thrust wings 3, wherein the rotors 2 are arranged on the same plane, and the rotors 2 are uniformly arranged on the unmanned aerial vehicle body 1 in a surrounding manner by taking a middle point of the unmanned aerial vehicle body 1 as a circle center.
According to the strong crosswind interference resistant multi-rotor unmanned aerial vehicle disclosed by the embodiment of the invention, the rotor wings 2 provide power for the unmanned aerial vehicle to fly, and when the unmanned aerial vehicle encounters crosswind interference, the flight controller of the unmanned aerial vehicle can rotate through the side thrust wings 3 arranged on the windward side and the leeward side of the unmanned aerial vehicle, so that the side thrust wings 3 apply force opposite to the crosswind direction to the unmanned aerial vehicle, and the interference of crosswind to the unmanned aerial vehicle flight is avoided.
As shown in fig. 5 and 6, the rotor 2 is a single rotor, a multi-rotor, or a coaxial upper and lower rotors.
Wherein, rotor 2 is provided with three at least, side thrust wing 3 is provided with three at least.
According to the strong crosswind interference resistant multi-rotor unmanned aerial vehicle provided by the embodiment of the invention, the number combination of the rotor 2 and the side thrust wings 3 can be as follows: three rotor 2 collocation is three side thrust wing 3, four rotor collocation is four side thrust wing, six rotor 2 collocation is six side thrust wing 3 and eight rotor 2 collocation is four side thrust wing 3 etc..
Wherein, rotor 2 horizontal setting, every side pushes away wing 3 perpendicular to respectively rotor 2 place plane sets up.
According to the strong crosswind interference resistant multi-rotor unmanned aerial vehicle, the side thrust wings 3 are perpendicular to the plane where the rotor wings 2 are located, so that when the strong crosswind interference resistant multi-rotor unmanned aerial vehicle is subjected to crosswind interference, airflow generated by rotation of the side thrust wings 3 can act in the same plane with crosswind.
Wherein, the whole model of unmanned aerial vehicle organism 1 is discoid.
As shown in fig. 5 and 6, the whole model of the unmanned aerial vehicle body 1 may also be a flying saucer shape with a thin outer edge and a raised portion 4 at the center of the top surface; the protruding part 4 of unmanned aerial vehicle organism is the gentle transition to the outward flange.
According to the strong crosswind interference resistant multi-rotor unmanned aerial vehicle, the protruding portion 4 is arranged in the center of the top of the unmanned aerial vehicle body 1, the unmanned aerial vehicle body 1 is similar to a flying saucer shape, when the unmanned aerial vehicle flies or encounters crosswind interference, air passes through the unmanned aerial vehicle body 1, the air flow distances of the upper side and the lower side of the unmanned aerial vehicle body are different, and the air flow distance above the unmanned aerial vehicle body 1 is longer than that below the unmanned aerial vehicle body 1, so that the unmanned aerial vehicle can generate upward lifting force during flying by the shell of the unmanned aerial vehicle body 1, and meanwhile, the rotating speed of the horizontally arranged rotor wings 2 can be adjusted according to height changes, and therefore the purposes of saving electricity and being more stable are achieved.
A plurality of exhaust channels 5 are uniformly formed in the unmanned aerial vehicle body 1, and two ends of each exhaust channel 5 are respectively communicated with the inside and the outside of the unmanned aerial vehicle body 1; in the overlooking direction, the exhaust passage 5 is formed along the direction of a connecting line from the middle point of the unmanned aerial vehicle body 1 to the middle point of the two adjacent rotors 2.
The waist size of the exhaust channel 5 is smaller than the inner side port size and the outer side port size of the exhaust channel 5, and the side push wing 3 is arranged at the inner side port of the exhaust channel.
According to the strong crosswind interference resistant multi-rotor unmanned aerial vehicle, the exhaust channel 5 is uniformly arranged between the rotors 2, the side thrust wings 3 are arranged at the inner side ports of the exhaust channel 5, and the sectional area of the waist of the exhaust channel 5 is smaller than the sectional area of the inner side port and the sectional area of the outer side port of the exhaust channel 5, so that the flow speed of airflow pushed by the side thrust wings 3 is increased due to the reduction of the flow sectional area when the airflow passes through the waist of the exhaust channel 5, and meanwhile, the airflow direction is more concentrated when the airflow is exhausted from the exhaust channel 5, so that a better effect is achieved when the crosswind is resisted.
Wherein, opening 6 has been seted up at the bulge 4 center of unmanned aerial vehicle organism, opening 6 with exhaust passage 5 intercommunication.
According to the strong crosswind interference resistant multi-rotor unmanned aerial vehicle disclosed by the embodiment of the invention, the opening 6 is formed in the center of the top surface of the convex part 4, so that when the side rotor 3 rotates, airflow enters through the opening 6 and flows out of the exhaust channel 5.
According to the strong crosswind interference resistant multi-rotor unmanned aerial vehicle, the rotor wings 2 uniformly arranged on the unmanned aerial vehicle body 1 provide flight power, and the unmanned aerial vehicle body 1 is provided with the protruding parts 4, so that the unmanned aerial vehicle can generate an ascending force in the flight process; when the unmanned aerial vehicle is interfered by crosswind, the flight controller controls the corresponding side thrust wings 3 to rotate, so that the side thrust wings 3 on the windward side and the leeward side rotate to generate airflow opposite to the crosswind, and the interference of the crosswind is eliminated; when the side thrust wing 3 rotates, a part of high-speed airflow flowing above the unmanned aerial vehicle body enters the unmanned aerial vehicle body 1 through the opening 6, the high-speed airflow passes through the side thrust wing 3 and is intensively exhausted from the exhaust passage 5 after being accelerated, and the high-speed airflow is further accelerated at the waist of the exhaust passage 5, so that the unmanned aerial vehicle generates airflow jet relative to crosswind when encountering crosswind interference, and the crosswind interference is resisted.
Example 1
As shown in fig. 1, the present embodiment provides an embodiment provides a strong crosswind interference resistant multi-rotor drone, including: unmanned aerial vehicle organism 1, three rotor 2, three the side pushes away wing 3 and three exhaust passage 5, unmanned aerial vehicle organism 1's shell top center is provided with the bulge 4 that rises gently, a plurality of rotors 2 are with the plane setting, a plurality of rotors 2 with the midpoint of unmanned aerial vehicle organism 1 evenly encircles the setting as the centre of a circle on the unmanned aerial vehicle organism 1.
Wherein, every two are adjacent be provided with one between the rotor 2 exhaust duct 5, every exhaust duct 5's interior port all corresponds and is provided with side thrust wing 3.
Example 2
As shown in fig. 2, the present embodiment provides an embodiment provides a strong crosswind interference resistant multi-rotor drone, including: unmanned aerial vehicle organism 1, four rotor 2, four side pushes away wing 3 and four exhaust passage 5, unmanned aerial vehicle organism 1's shell top center is provided with the bulge 4 that rises gently, a plurality of rotors 2 are with the plane setting, a plurality of rotors 2 with the midpoint of unmanned aerial vehicle organism 1 evenly encircles the setting as the centre of a circle on the unmanned aerial vehicle organism 1.
Wherein, every two are adjacent be provided with one between the rotor 2 exhaust duct 5, every exhaust duct 5's interior port all corresponds and is provided with side thrust wing 3.
Example 3
As shown in fig. 3, the present embodiment provides an embodiment provides a strong crosswind interference resistant multi-rotor drone, including: unmanned aerial vehicle organism 1, six rotor 2, six side pushes away wing 3 and six exhaust passage 5, unmanned aerial vehicle organism 1's shell top center is provided with the bulge 4 that rises gently, a plurality of rotors 2 are with the plane setting, a plurality of rotors 2 with the midpoint of unmanned aerial vehicle organism 1 evenly encircles the setting as the centre of a circle on the unmanned aerial vehicle organism 1.
Wherein, every two are adjacent be provided with one between the rotor 2 exhaust duct 5, every exhaust duct 5's interior port all corresponds and is provided with side thrust wing 3.
Example 4
As shown in fig. 4, the present embodiment provides an embodiment provides a strong crosswind interference resistant multi-rotor drone, including: unmanned aerial vehicle organism 1, eight rotor 2, four side pushes away wing 3 and four exhaust passage 5, unmanned aerial vehicle organism 1's shell top center is provided with the bulge 4 that rises gently, a plurality of rotors 2 are with the plane setting, a plurality of rotors 2 with the midpoint of unmanned aerial vehicle organism 1 evenly encircles the setting as the centre of a circle on the unmanned aerial vehicle organism 1.
Wherein, every two are adjacent rotor 2 is a set of, and every two sets of adjacent be provided with one between the rotor 2 exhaust duct 5, every exhaust duct 5's interior port all corresponds and is provided with sideslip wing 3.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. The utility model provides an anti strong crosswind disturbs many rotor unmanned aerial vehicle, its characterized in that includes: unmanned aerial vehicle organism, a plurality of rotor and a plurality of side push wings, a plurality of rotors are with the plane setting, a plurality of rotor with the midpoint of unmanned aerial vehicle organism evenly encircles the setting as the centre of a circle on the unmanned aerial vehicle organism.
2. A strong crosswind interference resistant multi-rotor drone according to claim 1, wherein the rotors are single rotors, multiple rotors or coaxial upper and lower rotors.
3. A strong crosswind interference resistant multi-rotor drone according to claim 1, wherein there are at least three said rotors and at least three said side thrusting wings.
4. A strong crosswind interference resistant multi-rotor drone according to claim 1, wherein said rotors are arranged horizontally, each of said side thrust wings being arranged vertically to the plane of said rotor respectively.
5. The strong crosswind interference resistant multi-rotor drone according to claim 1, wherein the drone body is shaped as a whole disc.
6. The strong crosswind interference resistant multi-rotor unmanned aerial vehicle as claimed in claim 1, wherein the whole body of the unmanned aerial vehicle body can be further configured into a flying saucer shape with a thin outer edge and a raised part at the center of the top surface; the protruding portion of unmanned aerial vehicle organism is the gentle transition to the outward flange.
7. The strong crosswind interference resistant multi-rotor unmanned aerial vehicle as claimed in claim 6, wherein a plurality of exhaust channels are uniformly formed in the unmanned aerial vehicle body, and ports at two ends of each exhaust channel are respectively communicated with the inner space and the outer space of the unmanned aerial vehicle body; in the overlooking direction, the exhaust passage is arranged along the direction of a connecting line from the midpoint of the unmanned aerial vehicle body to the middle point of the two adjacent rotors.
8. The strong crosswind interference resistant multi-rotor unmanned aerial vehicle of claim 7, wherein a waist dimension of the exhaust channel is smaller than an inner port dimension and an outer port dimension of the exhaust channel, and the side thrust wing is disposed at the inner port of the exhaust channel.
9. The strong crosswind interference resistant multi-rotor unmanned aerial vehicle of claim 8, wherein the center of the protruding portion of the unmanned aerial vehicle body is provided with an opening, and the opening is communicated with the exhaust passage.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011104504.XA CN112124590A (en) | 2020-10-15 | 2020-10-15 | Strong crosswind interference resistant multi-rotor unmanned aerial vehicle |
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| CN202011104504.XA CN112124590A (en) | 2020-10-15 | 2020-10-15 | Strong crosswind interference resistant multi-rotor unmanned aerial vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115009515A (en) * | 2022-06-20 | 2022-09-06 | 南京航空航天大学 | High-wind-resistance multi-duct type mooring unmanned aerial vehicle and control method thereof |
| WO2022242458A1 (en) * | 2021-05-15 | 2022-11-24 | 余新克 | Multi-layer swing rotor reaction force strong wind-resistant aircraft |
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