CN112478125A - Flight array system with autonomous flight capability - Google Patents
Flight array system with autonomous flight capability Download PDFInfo
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- CN112478125A CN112478125A CN202011445884.3A CN202011445884A CN112478125A CN 112478125 A CN112478125 A CN 112478125A CN 202011445884 A CN202011445884 A CN 202011445884A CN 112478125 A CN112478125 A CN 112478125A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
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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
- 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
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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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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- 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
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
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Abstract
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a flight array system with autonomous flight capability, which is characterized in that: the single module unmanned aerial vehicle of flight array module includes at least: the device comprises a full-vector power unit, a machine body module and a load module. The autonomous flight array module has the advantages of small occupied space, high load capacity and flexible attitude adjustment, and can take off in a laminated mode in a narrow space.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a flight array system with autonomous flight capability.
Background
The development and application of the unmanned aerial vehicle have attracted high attention from various countries, and people put forward higher requirements on the environmental adaptability and the working field of the unmanned aerial vehicle. The unmanned aerial vehicle that will carry out complex function carries out the modularized design, utilizes the characteristics of modularization to realize that some global design are difficult to the index that satisfies becomes the key of each country's research gradually. The modularized flight control system is combined with the modularized design to realize the function modularization of the whole system, the function load design is loaded in a single module, and then the independent flight capability of the single load is realized through the structural design to deal with the environment with limited takeoff space, so that the application scenes and functions of the flight array are greatly enriched. For this reason, a single module unmanned aerial vehicle with a novel flight array is needed, and the tasks that can be completed include: autonomous flight, load-adaptive, stable docking, module information interaction, and the like.
The traditional distributed flight array single-module unmanned aerial vehicle mostly adopts ground assembly, and the single-module unmanned aerial vehicle adopts two sets of power systems: the single rotor wing provides power for flying; and the ground wheel system controls the assembly of multiple modules on the ground to form an array. A disadvantage of such single module drones is that the application scenarios are limited. Because the flying vehicle does not have independent flying capability, the flying vehicle can execute flying tasks by being assembled into flying arrays on land, and a larger takeoff space is needed.
The coaxial rotor mode developed on the basis has certain flight capability. Although this design can make unmanned aerial vehicle possess certain flight ability, nevertheless do not have attitude control structure. Therefore, the unmanned aerial vehicle does not have complete flight capability, cannot complete the task of adjusting the attitude in the air, cannot be butted and still needs ground assembly.
The coaxial rotor wing that develops on above-mentioned basis combines the design of control rudder, realizes aerial gesture by control rudder mechanism, and this kind of structure can solve unmanned aerial vehicle and lack the shortcoming of autonomous flight ability, possesses complete gesture adjustment ability. But the adjustment of the control rudder has certain hysteresis, so the air attitude is not flexible. The vertical space that occupies is also bigger, arranges in narrow and small space that quantity is limited, so the modularization thought of this kind of design is mainly applied to single module unmanned aerial vehicle, and is great to the space requirement of taking off.
In addition, the flight system that foretell scheme designed has a limited load capacity, and single module unmanned aerial vehicle's most space is occupied by the power system, and load capacity is limited can not carry multiple load and accomplish the ability of systematic function, and does not have the essential condition that narrow and small space takes off.
Disclosure of Invention
The invention aims to break through the limitations of large takeoff space, limited conditions, weak load capacity and insufficient endurance time of the traditional flight array, and provides the autonomous flight array module which occupies small space, has high load capacity and flexible posture adjustment and can take off in a laminated mode in a narrow space.
To achieve the above object, a flight array system with autonomous flight capability: the method is characterized in that: the single module unmanned aerial vehicle of flight array module includes at least: the system comprises a full-vector power unit, a machine body module and a load module;
the full-vector power unit is used for providing flight power and attitude adjustment power of the single-module unmanned aerial vehicle, the flight power is realized through a coaxial propeller, the attitude adjustment is realized through a parallel steering engine, the vector inner ring controls the transverse movement of the single-module unmanned aerial vehicle, and the vector outer ring controls the forward and backward movement of the single-module unmanned aerial vehicle;
the single-module unmanned aerial vehicle comprises a body module, a load module, a full-vector power mechanism, a body module, a single-module unmanned aerial vehicle shell, a plurality of standard threaded connecting holes and a plurality of standard threaded connecting holes, wherein the body module is used for building a single-module unmanned aerial vehicle shell;
the load module is used for realizing the specific function of the single-module unmanned aerial vehicle and requires the load module to meet the appearance of a load cabin section, and the load module comprises but is not limited to a radar, an infrared photoelectric camera, a satellite transceiving communication device, a fuel cell and the like; the full vector mechanism controls the vector outer ring to generate angle inclination through the outer ring steering engine so as to control the longitudinal attitude and the longitudinal position stability of the unmanned aerial vehicle, controls the vector inner ring to generate angle inclination through the inner ring steering engine so as to control the transverse attitude and the transverse position stability of the single-module unmanned aerial vehicle, and controls the lift force generated by the coaxial vector motor to be collinear with the gravity through measuring data settled by the attitude sensor; the load module can carry six blocks in total, and the six blocks include but are not limited to the following functions according to functions: radar load, photoelectric load, communication load, energy load and other functional loads, single module unmanned aerial vehicle can realize different functions through these six loads of replacement, finally assembles and then realizes more complicated function through aerial array.
The full vector power unit comprises: the device comprises a propeller (102), a brushless motor (101), a brushless motor base (103), a steering engine base (104), a steering engine (105), a vector outer ring (106), a vector inner ring (107), a vector arm (108), a bearing seat (109), a bearing (110), a steering engine arm (111), a mechanism connecting base (112) and a fixed connecting rod (113); the full-vector power unit (1) is connected with the machine body module (2) through a mechanism connecting base (112), two steering engines (105) are mounted on the full-vector power unit, the full-vector power unit is fixedly connected with a vector arm (108) through a steering engine arm (111), the vector arm (108) is fixed on a bearing seat (109) through a bearing (110), the bearing seat (109) is fixedly connected on the mechanism connecting base (112) through a fixed connecting rod (113), and the part serves as an outer ring of vector operation to control the longitudinal attitude of the unmanned aerial vehicle; the two vector arms (108) are fixedly connected with the vector outer ring, a rudder base (104) is fixed on the vector arms, the two steering engines (105) are installed in an installation space formed by the vector outer ring (106) and the rudder base (104), the steering engines (105) are fixedly connected with the vector inner ring (107) through the rudder arms (111), and the two brushless motor bases (103) are installed on the upper portion and the lower portion of the vector inner ring; a forward propeller (102) is arranged on the brushless motor (101) arranged above, and a reverse propeller (102) is arranged on the brushless motor (101) arranged below; the upper motor rotates clockwise, and the lower motor rotates anticlockwise; when the rotating speeds of the two are the same, the generated torques are mutually offset; when the two have a certain difference in rotation speed: upper torque > lower torque: the whole machine rotates clockwise; when the upper torque < lower torque: the whole machine rotates anticlockwise; steering wheel (105) include two, be the power supply of the stable and vertical displacement of the vertical gesture on single module unmanned aerial vehicle's the horizontal plane, steering wheel arm (111) link firmly with vector arm (108), vector arm (108) are fixed on bearing frame (109) through bearing (110), bearing frame (109) link firmly on mechanism connection base (112) through solid connecting rod (113), this part is as the vertical gesture of outer loop control single module unmanned aerial vehicle of vector operation, produce angle slope and then control single module unmanned aerial vehicle's vertical gesture and fore-and-aft position stability through outer loop steering wheel control vector outer loop (106).
The full-vector power mechanism (1) generates angle inclination through an outer ring steering engine control vector outer ring (106) so as to control the longitudinal attitude and the longitudinal position stability of the single-module unmanned aerial vehicle, generates angle inclination through an inner ring steering engine control vector inner ring (107) so as to control the transverse attitude and the transverse position stability of the single-module unmanned aerial vehicle, and simultaneously controls the lift force generated by a coaxial vector motor to be collinear with the gravity through measuring data settled by an attitude sensor; the single-module unmanned aerial vehicle is composed of six same body modules (2), the inner space of the single-module unmanned aerial vehicle is circular and is composed of 30 splicing pieces (201), 5 pieces of each body module (2) are fixed between an upper bottom plate (202) and a lower bottom plate (202) through gaps and right-angle connecting pieces (205); the upper and lower bottom plates are connected with other parts through the notches; outer housing plate (204) are as unmanned aerial vehicle's outer housing part, and a single module unmanned aerial vehicle has six this structures, and outer housing plate (204) distribute in the outside, and the space bar passes through right angle connection piece (205) and connects between upper and lower bottom plate (202), links to each other with sunk structure and obtuse angle connection piece (206) on flat angle connection piece (207) and the outer housing plate through protruding on upper and lower bottom plate (202) between the module organism.
The body module (2) comprises: the device comprises a circular ring splicing piece (201), a bottom plate (202), a separation plate (203), a shell plate (204), a right-angle connecting piece (205), an obtuse-angle connecting piece (206) and a straight-angle connecting piece (207); the lower bottom plate (202) is fixedly connected with other modules through connecting notches, the straight line edge of the lower bottom plate (202) is connected with the outer shell plate (204), the outer shell plate (204) is buckled on the straight line edge of the lower bottom plate (202) through an outer shell recess (2025) and a bottom plate bulge (2042) to ensure the calibration of the structure, and then the lower bottom plate (202) is fixed on the lower bottom plate through three right-angle connecting sheets (205) and M3 in a threaded connection manner; the arc edge of the lower bottom plate (202) is connected with the splicing sheet (201), five splicing sheet recesses (2021) are distributed on the arc edge, the splicing sheet (201) is buckled with the arc edge splicing sheet recess (2021) through a splicing sheet bulge (2011) to play a role in locking the position, and then each splicing sheet (201) is fixed on the lower bottom plate (202) through a right-angle connecting sheet (205) and M3 in a threaded connection manner; two partition board interfaces (2024) between the arc edge and the straight line edge of the lower bottom board are provided with partition boards (203) which are fixedly connected through two M3 threads; the upper base plate (202) is aligned with the splice plate (201), the spacer plate (203) and the shell plate (204) in the same manner as described above, again using a right angle connector piece (205) threaded to M3.
The load module (3) is physically divided into six load cabin sections, namely a first load cabin section (301), a second load cabin section (302), a third load cabin section (303), a fourth load cabin section (304), a fifth load cabin section (305) and a sixth load cabin section (306), wherein the first load cabin section (301), the second load cabin section (302), the third load cabin section (303), the fourth load cabin section (304), the fifth load cabin section (305) and the sixth load cabin section (306) are uniformly distributed in the cabin sections of the annular unmanned aerial vehicle, and the unmanned aerial vehicle cabin in the middle of the six load cabin sections is distributed with a docking device.
Compared with the prior art, the invention has the following advantages:
firstly, the invention adopts a full-vector power device, the gravity center of the single-module unmanned aerial vehicle is arranged at the lower side of the machine body, and the posture adjustment is realized through the component force generated by the included angle between the power and the vertical direction, so that the flexible posture adjustment action can be obtained, and the invention has good wind resistance and is more suitable for offshore operation.
Secondly, the coaxial propeller and the external duct are combined to serve as the single-module unmanned aerial vehicle power device, so that the autonomous flight capability of the single-module unmanned aerial vehicle is guaranteed, and the load capacity of the unmanned aerial vehicle is enhanced.
Thirdly, the shell of the invention adopts a modularized splicing technology, the shell of the whole machine is decomposed into six blocks, and the six blocks are further designed into a plurality of structural modules, so that the cost of the whole machine can be greatly reduced, and the invention has good mass production capability.
Fourthly, the load module meets the appearance limitation of the load cabin, different modules are carried to realize different functions, the application scenes of the single-module unmanned aerial vehicle are greatly enriched, and the single-module unmanned aerial vehicle still has certain autonomy.
Fifthly, the diameter of the module unmanned aerial vehicle is 480mm, the height of the module unmanned aerial vehicle is 150mm, and the module unmanned aerial vehicle can take off in a stacked mode in a narrow space. In addition, the take-off in narrow and small space can greatly increase the disguise of the single-module unmanned aerial vehicle.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
fig. 2A and 2B are plan views of main parts of the module structure of the machine body;
FIGS. 3A and 3B are isometric views of modular airframe structures of the present invention;
FIG. 4 is a schematic view of the vector mechanism of the present invention;
FIG. 5 is a schematic view of the loading function and arrangement position;
FIG. 6 is a schematic view of a stacked takeoff arrangement of the present invention.
In the figure: 1. full vector power device: 101. a propeller; 102. a brushless motor; 103. a brushless motor base; 104. a rudder engine base; 105. a steering engine; 106. a vector outer loop; 107. a vector inner ring; 108. a vector arm; 109. a bearing seat; 110. a bearing; 111. a rudder horn; 112 mechanism connecting base; 113. and (5) fixing the connecting rod.
2. An engine body module: 201. splicing sheets; 202. a base plate; 203. a partition plate; 204. an outer shell plate; 205. a right-angle connecting sheet; 206. an obtuse angle connecting sheet; 207. and (7) connecting the flat corner.
3. The shape characteristics of the splice piece 201: 2011/2022, upper/lower splicing projections; bottom plate 202 shape characteristics: 2021. the splicing sheets are sunken; 2022. the bottom plate is convex; 2023. the bottom plate is sunken; 2024. a partition plate interface; 2025. a housing projection; shape characteristics of the partition plate 203: 2031/2032, partition board projection; outer shell plate 204 shape characteristics: 2041. a housing projection; 2042/2043, upper/lower floor projections; 2044. a housing recess;
4. the load module 3: 301. a first load compartment section; 302. a second load compartment section; 303. a third load compartment section; 304. a fourth load compartment section; 305. a fifth load compartment section; 306. a sixth load compartment section.
5. Dividing the modules according to functions: 401. a main control module; 402. a satellite communication module; 403. an image module; 404. a radar module; 405. an energy module.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following description is presented to enable one of ordinary skill in the art to make and use the present invention as provided within the context of a fully functioning computer system. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, a flight array system with autonomous flight capability: the method is characterized in that: the single module unmanned aerial vehicle of flight array module includes at least: the system comprises a full-vector power unit 1, a machine body module 2 and a load module 3; the full-vector power unit 1 is used for providing flight power and attitude adjustment power of the single-module unmanned aerial vehicle, the flight power is realized through a coaxial propeller, the attitude adjustment is realized through a parallel steering engine, a vector inner ring controls the transverse movement of the single-module unmanned aerial vehicle, and a vector outer ring controls the forward and backward movement of the single-module unmanned aerial vehicle;
the single-module unmanned aerial vehicle comprises a body module 2, a load module, a full-vector power mechanism, a body module, a plurality of standard threaded connecting holes and a plurality of standard threaded connecting holes, wherein the body module 2 is used for building a single-module unmanned aerial vehicle shell, the single-module unmanned aerial vehicle shell is formed by splicing and fixing six identical body modules 2 according to a certain rule, the single-module unmanned aerial vehicle shell provides a fixing point for the full-vector power mechanism and the load module and bears certain shell;
the load module 3 is used for realizing the specific function of the single-module unmanned aerial vehicle and requires the load module to meet the appearance of a load cabin section, and the load module comprises but is not limited to a radar, an infrared photoelectric camera, a satellite transceiving communication device, a fuel cell and the like; the full vector mechanism generates angle inclination through an outer ring steering engine control vector outer ring 106 so as to control the longitudinal attitude and the longitudinal position stability of the unmanned aerial vehicle, generates angle inclination through an inner ring steering engine control vector inner ring 107 so as to control the transverse attitude and the transverse position stability of the single-module unmanned aerial vehicle, and simultaneously controls the lift force generated by a coaxial vector motor to be collinear with the gravity by measuring data settled by an attitude sensor; the load module can carry six blocks in total, and the six blocks include but are not limited to the following functions according to functions: radar load, photoelectric load, communication load, energy load and other functional loads, single module unmanned aerial vehicle can realize different functions through these six loads of replacement, finally assembles and then realizes more complicated function through aerial array.
The full-vector power unit 1 is fixed on the machine body module 2 through threaded connection, and the load module 3 is installed in a load cabin section in the machine body module 2 to ensure electrical connection; the full-vector power unit 1 is used for providing flight power and attitude adjustment power of the unmanned aerial vehicle, the flight power is realized through a coaxial propeller, the attitude adjustment is realized through connecting an inner ring steering engine and an outer ring steering engine in parallel, the vector inner ring controls transverse motion on the horizontal plane of the unmanned aerial vehicle, and the vector outer ring controls longitudinal motion on the horizontal plane of the unmanned aerial vehicle; the load module 3 is used for realizing the specific function of the module unmanned aerial vehicle and requires the load module to meet the appearance of a load cabin section.
The load module 3 includes, but is not limited to, radar, infrared photoelectric camera, satellite transceiver and communication device, and fuel cell.
As shown in fig. 2A and 2B, the full-vector power unit 1 includes: the device comprises a propeller 102, a brushless motor 101, a brushless motor base 103, a steering engine base 104, a steering engine 105, a vector outer ring 106, a vector inner ring 107, a vector arm 108, a bearing seat 109, a bearing 110, a steering engine arm 111, a mechanism connecting base 112 and a fixed connecting rod 113; the full-vector power unit 1 is connected with the machine body module 2 through a mechanism connecting base 112, two steering engines 105 are mounted on the full-vector power unit, the full-vector power unit is fixedly connected with a vector arm 108 through a steering engine arm 111, the vector arm 108 is fixed on a bearing block 109 through a bearing 110, the bearing block 109 is fixedly connected on the mechanism connecting base 112 through a fixed connecting rod 113, and the part serves as an outer ring of vector operation to control the longitudinal attitude of the unmanned aerial vehicle; the two vector arms 108 are fixedly connected with the vector outer ring, the rudder base 104 is fixed on the vector outer ring, the two steering engines 105 are installed in an installation space formed by the vector outer ring 106 and the rudder base 104, the steering engines 105 are fixedly connected with the vector inner ring 107 through the rudder arms 111, and the two brushless motor bases 103 are installed on the vector inner ring in the vertical direction. The brushless motor 101 disposed above mounts the forward propeller 102, and the brushless motor 101 disposed below mounts the reverse propeller 102. The upper motor rotates clockwise, and the lower motor rotates anticlockwise; when the rotating speeds of the two are the same, the generated torques are mutually offset; when the two have a certain difference in rotation speed: upper torque > lower torque: the whole machine rotates clockwise; when the upper torque < lower torque: the whole machine rotates anticlockwise.
Steering wheel 105 includes two, be the power supply of the vertical stable attitude and the vertical displacement on single module unmanned aerial vehicle's the horizontal plane, steering wheel arm 111 links firmly with vector arm 108, vector arm 108 passes through bearing 110 to be fixed on bearing frame 109, bearing frame 109 links firmly on mechanism connection base 112 through solid connecting rod 113, this part is as the vertical attitude of outer loop control single module unmanned aerial vehicle of vector operation, produce the angle slope and then control single module unmanned aerial vehicle's vertical attitude and vertical position stability through outer loop steering wheel control vector outer loop 106.
The full-vector power mechanism 1 generates angle inclination through an outer ring steering engine control vector outer ring 106 to control the longitudinal posture and the longitudinal position stability of the single-module unmanned aerial vehicle, generates angle inclination through an inner ring steering engine control vector inner ring 107 to control the transverse posture and the transverse position stability of the single-module unmanned aerial vehicle, and controls the lift force and the gravity collineation generated by the coaxial vector motor through measuring data from a posture sensor. The single-module unmanned aerial vehicle is composed of six identical module bodies 2, the inner space of each single-module unmanned aerial vehicle is circular and is composed of 30 splicing pieces 201, and 5 single module bodies 2 are fixed between an upper bottom plate 202 and a lower bottom plate 202 through gaps and right-angle connecting pieces 205; the upper and lower bottom plates are connected with other parts through the notches; the shell plate 204 is as the shell part of unmanned aerial vehicle, and a single module unmanned aerial vehicle has six this structures, and shell plate 204 distributes in the outside, and the space bar passes through right angle connection piece 205 to be connected between upper and lower bottom plate 202, links to each other with sunk structure and straight angle connection piece 207 and obtuse angle connection piece 206 on the shell plate through protruding on upper and lower bottom plate 202 between the module organism. A single module drone may carry six load modules, including but not limited to the following functions: radar load, photoelectric load, communication load, energy load and other functional loads, single module unmanned aerial vehicle realizes different functions through these six loads of replacement, finally assembles and then realizes more complicated function through aerial array.
As shown in fig. 3 and 4, the module body 2 includes: the circular ring splicing piece 201, the bottom plate 202, the separation plate 203, the shell plate 204, the right-angle connecting piece 205, the obtuse-angle connecting piece 206 and the straight-angle connecting piece 207; the lower base plate 202 is fixedly connected with other modules through connecting gaps, the linear edge of the lower base plate 202 is connected with the outer shell plate 204, the outer shell plate 204 is buckled on the linear edge of the lower base plate 202 through the outer shell recess 2025 and the base plate protrusion 2042, the calibration of the structure is guaranteed, and then the lower base plate 202 is fixed on the M3 through the three right-angle connecting pieces 205 and the threads; the arc edge of the lower bottom plate 202 is connected with the splicing sheet 201, five splicing sheet recesses 2021 are distributed on the arc edge, the splicing sheet 201 is buckled with the arc edge splicing sheet recesses 2021 through the splicing sheet protrusions 2011 to play a role in position locking, and then each splicing sheet 201 is fixed on the lower bottom plate 202 through a right-angle connecting sheet 205 and M3 in a threaded connection mode; the partition boards 203 are arranged on two partition board interfaces 2024 between the arc edges and the straight edges of the lower bottom board and are fixedly connected through two M3 threads; the upper base plate 202 is aligned with the splice plate 201, spacer plate 203 and housing plate 204 in the same manner as described above, again using right angle connector tabs 205 to thread M3.
The connection between the module bodies 2 is realized through the connecting pieces on the upper and lower base plates 202 and the outer shell plate 204, firstly, the base plate recess 2023 of the bevel edge of the upper and lower base plates 202 is buckled with the base plate protrusion 2022 of the bevel edge of the module of the other module body 2 longitudinally to realize the position alignment, and then, the fixed connection is realized through the four right-angle connecting pieces and the M3 threaded connection; the lateral direction is aligned by the engagement of the housing protrusion 2041 on one side of the housing plate 204 with the housing recess 2044 on the other side of the module body, and then the connection is achieved by the obtuse angle connection piece and the M3 screw connection.
The single-module unmanned aerial vehicle shell is formed by splicing six body modules according to the connection mode, and the inner duct of each body module is formed by splicing 30 splicing pieces 201 according to the connection mode; load cabin sections in the single-module unmanned aerial vehicle shell are divided by the partition plates 203, and electrical connection and information interaction are achieved through gaps.
As shown in fig. 5, the load module 3 of the single module unmanned aerial vehicle is physically divided into six load cabin sections, which are a first load cabin section 301, a second load cabin section 302, a third load cabin section 303, a fourth load cabin section 304, a fifth load cabin section 305 and a sixth load cabin section 306, respectively, the first load cabin section 301, the second load cabin section 302, the third load cabin section 303, the fourth load cabin section 304, the fifth load cabin section 305 and the sixth load cabin section 306 are uniformly distributed in the cabin sections of the ring-shaped unmanned aerial vehicle, and the docking device is distributed in the unmanned aerial vehicle cabin in the middle of the six load cabin sections. These loads include, but are not limited to: radar, optoelectronic device, satellite communication, data processing and energy etc. these functional loads satisfy the appearance of load cabin section to satisfy the whole functional integrity of modular design.
As shown in fig. 6, a stacked takeoff is performed in a narrow space, but the number of embodiments of the present invention is not limited thereto. The method comprises the following steps that 7 single-module unmanned aerial vehicles are arranged in a space, the takeoff sequence is defined according to the distance from a space entrance, the first takeoff is a main control module 401, the main control module hovers in the air, waits for the completion of the takeoff of other modules and control commands of a command center and is in butt joint at an appointed position, then a satellite communication module 402 takes off, and receives butt joint commands sent by the main control module after the takeoff to complete the butt joint; then, a take-off energy module 405 receives the docking command of the main control module and docks at a specified position; and finally, taking off the image module 403 and the radar module 404 in sequence, receiving a docking command of the main control module, and completing docking at a specified position.
In the description of the present invention, it should be understood that the terms "clockwise", "counterclockwise", "pitch", "yaw", "vertical", "horizontal", and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and the terms "electrical connection", "structural connection", "attachment", and the like represent a relationship of the positions of the interfaces or parts. The foregoing terms are merely intended to describe the present invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and is not to be construed as limiting the present invention.
While specific embodiments of the present invention have been described above, common and well-known means in the industry have not been described in detail in the embodiments, and are not described one by one. The present invention is not limited to the specific embodiments described above, and the above examples do not limit the scope of the present invention, and all modifications or variations that fall within the scope of the claims of the present invention fall within the scope of the present invention.
Claims (5)
1. A flight array system with autonomous flight capability: the method is characterized in that: the single module unmanned aerial vehicle of flight array module includes at least: the system comprises a full-vector power unit (1), a machine body module (2) and a load module (3);
the full-vector power unit (1) is used for providing flight power and attitude adjustment power of the single-module unmanned aerial vehicle, the flight power is realized through a coaxial propeller, the attitude adjustment is realized through a parallel steering engine, a vector inner ring controls the transverse movement of the single-module unmanned aerial vehicle, and a vector outer ring controls the forward and backward movement of the single-module unmanned aerial vehicle;
the single-module unmanned aerial vehicle comprises machine body modules (2), a load module, a full-vector power mechanism, a machine body module and a machine body module, wherein the machine body modules (2) are used for building a single-module unmanned aerial vehicle shell, the single-module unmanned aerial vehicle shell is spliced and fixed by six same machine body modules (2) according to a certain rule, the single-module unmanned aerial vehicle shell provides a fixing point for the full-vector power mechanism and the load module and bears certain shell waterproofness and pressure resistance, a plurality of standard threaded connecting holes are formed in parts of the machine body modules;
the load module (3) is used for realizing the specific function of the single-module unmanned aerial vehicle and requiring the load module to meet the appearance of a load cabin section, and the load module comprises but is not limited to a radar, an infrared photoelectric camera, a satellite transceiving communication device, a fuel cell and the like; the full-vector mechanism generates angle inclination through an outer ring steering engine control vector outer ring (106) to control the longitudinal attitude and the longitudinal position stability of the unmanned aerial vehicle, generates angle inclination through an inner ring steering engine control vector inner ring (107) to control the transverse attitude and the transverse position stability of the single-module unmanned aerial vehicle, and controls the lift force generated by the coaxial vector motor to be collinear with the gravity through measuring data obtained by settlement from an attitude sensor; the load module can carry six blocks in total, and the six blocks include but are not limited to the following functions according to functions: radar load, photoelectric load, communication load, energy load and other functional loads, single module unmanned aerial vehicle can realize different functions through these six loads of replacement, finally assembles and then realizes more complicated function through aerial array.
2. The autonomous flight capable flight array system of claim 1: the method is characterized in that: the full-vector power unit (1) comprises: the device comprises a propeller (102), a brushless motor (101), a brushless motor base (103), a steering engine base (104), a steering engine (105), a vector outer ring (106), a vector inner ring (107), a vector arm (108), a bearing seat (109), a bearing (110), a steering engine arm (111), a mechanism connecting base (112) and a fixed connecting rod (113); the full-vector power unit (1) is connected with the machine body module (2) through a mechanism connecting base (112), two steering engines (105) are mounted on the full-vector power unit, the full-vector power unit is fixedly connected with a vector arm (108) through a steering engine arm (111), the vector arm (108) is fixed on a bearing seat (109) through a bearing (110), the bearing seat (109) is fixedly connected on the mechanism connecting base (112) through a fixed connecting rod (113), and the part serves as an outer ring of vector operation to control the longitudinal attitude of the unmanned aerial vehicle; the two vector arms (108) are fixedly connected with the vector outer ring, a rudder base (104) is fixed on the vector arms, the two steering engines (105) are installed in an installation space formed by the vector outer ring (106) and the rudder base (104), the steering engines (105) are fixedly connected with the vector inner ring (107) through the rudder arms (111), and the two brushless motor bases (103) are installed on the upper portion and the lower portion of the vector inner ring; a forward propeller (102) is arranged on the brushless motor (101) arranged above, and a reverse propeller (102) is arranged on the brushless motor (101) arranged below; the upper motor rotates clockwise, and the lower motor rotates anticlockwise; when the rotating speeds of the two are the same, the generated torques are mutually offset; when the two have a certain difference in rotation speed: upper torque > lower torque: the whole machine rotates clockwise; when the upper torque < lower torque: the whole machine rotates anticlockwise; steering wheel (105) include two, be the power supply of the stable and vertical displacement of the vertical gesture on single module unmanned aerial vehicle's the horizontal plane, steering wheel arm (111) link firmly with vector arm (108), vector arm (108) are fixed on bearing frame (109) through bearing (110), bearing frame (109) link firmly on mechanism connection base (112) through solid connecting rod (113), this part is as the vertical gesture of outer loop control single module unmanned aerial vehicle of vector operation, produce angle slope and then control single module unmanned aerial vehicle's vertical gesture and fore-and-aft position stability through outer loop steering wheel control vector outer loop (106).
3. The autonomous flight capable flight array system of claim 1: the method is characterized in that: the full-vector power mechanism (1) generates angle inclination through an outer ring steering engine control vector outer ring (106) so as to control the longitudinal attitude and the longitudinal position stability of the single-module unmanned aerial vehicle, generates angle inclination through an inner ring steering engine control vector inner ring (107) so as to control the transverse attitude and the transverse position stability of the single-module unmanned aerial vehicle, and simultaneously controls the lift force generated by a coaxial vector motor to be collinear with the gravity through measuring data settled by an attitude sensor; the single-module unmanned aerial vehicle is composed of six same body modules (2), the inner space of the single-module unmanned aerial vehicle is circular and is composed of 30 splicing pieces (201), 5 pieces of each body module (2) are fixed between an upper bottom plate (202) and a lower bottom plate (202) through gaps and right-angle connecting pieces (205); the upper and lower bottom plates are connected with other parts through the notches; outer housing plate (204) are as unmanned aerial vehicle's outer housing part, and a single module unmanned aerial vehicle has six this structures, and outer housing plate (204) distribute in the outside, and the space bar passes through right angle connection piece (205) and connects between upper and lower bottom plate (202), links to each other with sunk structure and obtuse angle connection piece (206) on flat angle connection piece (207) and the outer housing plate through protruding on upper and lower bottom plate (202) between the module organism.
4. The autonomous flight capable flight array system of claim 1: the method is characterized in that: the body module (2) comprises: the device comprises a circular ring splicing piece (201), a bottom plate (202), a separation plate (203), a shell plate (204), a right-angle connecting piece (205), an obtuse-angle connecting piece (206) and a straight-angle connecting piece (207); the lower bottom plate (202) is fixedly connected with other modules through connecting notches, the straight line edge of the lower bottom plate (202) is connected with the outer shell plate (204), the outer shell plate (204) is buckled on the straight line edge of the lower bottom plate (202) through an outer shell recess (2025) and a bottom plate bulge (2042) to ensure the calibration of the structure, and then the lower bottom plate (202) is fixed on the lower bottom plate through three right-angle connecting sheets (205) and M3 in a threaded connection manner; the arc edge of the lower bottom plate (202) is connected with the splicing sheet (201), five splicing sheet recesses (2021) are distributed on the arc edge, the splicing sheet (201) is buckled with the arc edge splicing sheet recess (2021) through a splicing sheet bulge (2011) to play a role in locking the position, and then each splicing sheet (201) is fixed on the lower bottom plate (202) through a right-angle connecting sheet (205) and M3 in a threaded connection manner; two partition board interfaces (2024) between the arc edge and the straight line edge of the lower bottom board are provided with partition boards (203) which are fixedly connected through two M3 threads; the upper base plate (202) is aligned with the splice plate (201), the spacer plate (203) and the shell plate (204) in the same manner as described above, again using a right angle connector piece (205) threaded to M3.
5. The autonomous flight capable flight array system of claim 1: the method is characterized in that: the load module (3) is physically divided into six load cabin sections, namely a first load cabin section (301), a second load cabin section (302), a third load cabin section (303), a fourth load cabin section (304), a fifth load cabin section (305) and a sixth load cabin section (306), wherein the first load cabin section (301), the second load cabin section (302), the third load cabin section (303), the fourth load cabin section (304), the fifth load cabin section (305) and the sixth load cabin section (306) are uniformly distributed in the cabin sections of the annular unmanned aerial vehicle, and the unmanned aerial vehicle cabin in the middle of the six load cabin sections is distributed with a docking device.
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