CN113665809B - Distributed multi-dwelling spherical unmanned system - Google Patents
Distributed multi-dwelling spherical unmanned system Download PDFInfo
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- CN113665809B CN113665809B CN202110899042.3A CN202110899042A CN113665809B CN 113665809 B CN113665809 B CN 113665809B CN 202110899042 A CN202110899042 A CN 202110899042A CN 113665809 B CN113665809 B CN 113665809B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 17
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C37/00—Convertible aircraft
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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
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/08—Geodetic or other open-frame structures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
- B64C11/30—Blade pitch-changing mechanisms
- B64C11/44—Blade pitch-changing mechanisms electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C37/00—Convertible aircraft
- B64C37/02—Flying units formed by separate aircraft
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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
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
Abstract
The invention belongs to the field of rotor unmanned aerial vehicles and spherical robots, and particularly relates to a distributed multi-dwelling spherical unmanned aerial vehicle system, which comprises a plurality of unmanned aerial vehicles, wherein each unmanned aerial vehicle is equivalent to one surface of a regular polyhedron in a Berrader three-dimensional structure; in the air, the unmanned aerial vehicles fly autonomously or in a formation; on land, the unmanned aerial vehicles are connected and combined into a spheroid structure through side ends; in water, the unmanned aerial vehicle is connected in turn and is arranged into torpedo-shaped structure with the stack mode. The distributed multi-dwelling spherical unmanned system improves the environment adaptability and the task adaptability of the unmanned system.
Description
Technical Field
The invention belongs to the field of rotor unmanned aerial vehicles and spherical robots, and particularly relates to a distributed multi-dwelling spherical unmanned aerial vehicle system which can run in the amphibious and air and has a mode conversion function.
Background
In recent years, the multi-rotor unmanned aerial vehicle has the characteristics of rapid development, simple structure, easy operation and flexible take-off and landing, and has wide development space in the military and civil fields. However, with diversification of application occasions and complication of task targets, higher requirements are put on the capability of an unmanned system to adapt to terrains, the capability of multi-machine coordination and the endurance capability.
Conventional rotorcraft generally hover in the air and fly well in open areas, but their ability to fly is affected by the complexity of the space environment, and it is difficult to fly in complex near-ground environments, such as into a forest or in a tunnel, to perform tasks. For unmanned systems operating on the ground, while entering narrow terrain, the speed of movement is relatively slow and the field of view is limited.
In order to improve the terrain adaptability of an unmanned system, chinese patent CN110053435a provides a foldable amphibious four-rotor unmanned aerial vehicle, but its mechanical structure is complicated, and the unmanned aerial vehicle is driven through the rotor in the air, and the wheel is used to drive on the ground for need load land motor and flight motor simultaneously, lead to the high redundancy of the system of power and increased unmanned aerial vehicle weight simultaneously, and then reduce duration greatly. In addition, the unmanned aerial vehicle is driven by wheels in an in-water mode, so that the efficiency is low. Chinese patent CN110171260a discloses an air-land amphibious spherical robot with environmental information collection, which is characterized in that a spherical outer frame is additionally arranged on the outer side of the four rotors, so that the four rotors can roll on the ground, and the road-air amphibious function is realized. However, the robot can only move towards a specified direction on the ground, and the robot does not have the capability of the spherical robot to move in all directions; the whole outer frame is spherical, and has the capacity of recovering after side turning to a certain extent, but the frame clearance is larger, so that the frame is easy to clamp in special terrains, and the adaptability of the special terrains is poor.
In addition, the technology only considers that the unmanned system monomer has amphibious or triphibian functions, but for increasingly complex tasks with larger task demands and risks, the unmanned aerial vehicle cluster can cope with severe environments and better complete the tasks. For example, in a military investigation task, a single unmanned aerial vehicle is likely to be knocked down or to generate faults, and the unmanned aerial vehicle cluster can greatly improve the probability of acquiring information; in civil disaster relief tasks, the clusters can expand the search range, enhance the stability of data transmission and enable disaster-stricken personnel to be rescued earlier.
In summary, the existing rotor unmanned aerial vehicle has weaker space environment adaptability, and part of unmanned aerial vehicles have the amphibious capability through improvement, but sacrifice many performances, and the problem of multi-machine cooperation is not considered.
Disclosure of Invention
In view of the above problems, the present invention provides a distributed multi-dwelling spherical unmanned aerial vehicle system with triphibian capability, which is composed of a plurality of single unmanned aerial vehicles capable of realizing autonomous flight, and the plurality of unmanned aerial vehicles can be automatically combined into a spheroid structure to roll and advance on the ground; and the water modes can be combined in a superposition way to navigate on the water surface.
In order to achieve the above purpose, the invention provides a distributed multi-dwelling spherical unmanned aerial vehicle system, which comprises a plurality of unmanned aerial vehicles, wherein each unmanned aerial vehicle is equivalent to one surface of a regular polyhedron in a Berrad-Chart three-dimensional structure; in the air, the unmanned aerial vehicles fly autonomously or in a formation; on land, the unmanned aerial vehicles are connected and combined into a spheroid structure through side ends; in water, the unmanned aerial vehicle is connected in turn and is arranged into torpedo-shaped structure with the stack mode.
In some embodiments, each unmanned aerial vehicle comprises a conformal exterior frame, a waterproof housing, a control unit, a rotor mechanism, and a connection mechanism; the shape-preserving outer frame is of a sphere structure internally connected with one surface of a regular polyhedron of the sphere; the waterproof shell comprises an upper shell and a lower shell, the upper shell is connected to the concave side of the conformal outer frame, and the upper shell is connected with the lower shell to form a waterproof cavity and a duct; the control unit and the connecting mechanism are arranged in the waterproof cavity; the rotor wing mechanism is fixedly connected in the duct; the control unit comprises a rotor controller and a connection controller, wherein the rotor controller is connected with the rotor mechanism and used for controlling the rotor mechanism to act; the connection controller is connected with the connection mechanism and used for controlling connection or disconnection among the unmanned aerial vehicles.
In some embodiments, the connection mechanism includes a first connection assembly configured to enable the plurality of drones to be connected in sequence in a stacked manner and a second connection assembly configured to enable the plurality of rotorcraft side end connections to be combined into a sphere.
In some embodiments, the first connection assembly includes an upper magnetic attraction connection disposed inside the upper housing and a lower magnetic attraction connection disposed inside the lower housing; the upper magnetic attraction connecting piece and the lower magnetic attraction connecting piece are connected with the central axis of the rotor unmanned aerial vehicle in a coincident mode.
In some embodiments, the second connection assembly includes a plurality of magnetically attractable connectors disposed about an inner side of the waterproof housing.
In some embodiments, the rotor mechanism comprises at least one rotor, each rotor comprising a blade, a rotor disc mechanism, a waterproof motor, and a waterproof steering; the paddle is rotationally connected with the top end of the output shaft of the waterproof motor, and the paddle disc mechanism is in sliding connection with the output shaft of the waterproof motor and is positioned between the paddle and the waterproof motor; the waterproof steering engine is connected with the paddle disc mechanism and is used for driving the paddle disc mechanism to slide up and down along the output shaft of the waterproof motor so as to change the attack angle of the paddles; the rotor controller is respectively connected with the waterproof motor and the waterproof steering engine and is used for respectively controlling the waterproof motor and the waterproof steering engine to act.
In some embodiments, the unmanned system further comprises a stent comprising a body portion mounted within the anti-water chamber, and a stent arm extending radially from the body portion through the anti-water chamber and into the duct; the control unit is mounted on the body portion, and the rotor mechanism is mounted at the free end of the support arm.
In some embodiments, communication and wireless charging modules are arranged around the inner side of the waterproof shell, and are used for the plurality of unmanned aerial vehicles to exchange data and manage electric quantity distribution in real time when being combined.
In some embodiments, the cross-section of the conformal housing is airfoil shaped.
In some embodiments, the connection position of the upper housing and the lower housing is provided with a waterproof device.
The invention has the beneficial effects that:
1) The invention improves the environment adaptability and task adaptability of the unmanned system, in particular: a single drone may perform tasks in an open environment; the unmanned aerial vehicle group can form a space with a similar spherical mode for exploring the near ground and high space complexity, and also can form a water surface navigation mode, so that the adaptability of various terrains is expanded; the triphibian capability of the unmanned system can execute diversified tasks, so that the use space is greatly improved; for dangerous tasks, the unmanned aerial vehicle cluster can improve the success rate of the tasks, and the loss of a single unmanned aerial vehicle can not influence the task;
2) Compared with an individual flying robot with triphibian capability, the unmanned aerial vehicle has the advantages that the unmanned aerial vehicle is mainly used for achieving the movement capability of the land and the water surface through the cooperation of unmanned aerial vehicle clusters, the single unmanned aerial vehicle is simpler in structure, power sources are all rotors, a plurality of driving mechanisms such as the rotors and wheels are not needed to be carried at the same time, and the utilization efficiency of the mechanisms is high; meanwhile, the weight of a single unmanned aerial vehicle is reduced, and the cruising ability of the unmanned aerial vehicle is ensured;
3) The single unmanned aerial vehicle has the same structure, size and function, strong substitutability and no restriction of sequence and connection direction in the mode conversion process; even if one unmanned aerial vehicle is missing in the execution task, the rest unmanned aerial vehicle groups can still be combined to change the mode;
4) According to the invention, the plurality of unmanned aerial vehicles can exchange data and wirelessly charge in real time, and electric quantity distribution and electric quantity management are carried out, so that a single unmanned aerial vehicle can supply power to the unmanned aerial vehicle under the condition of electric quantity exhaustion, and the unmanned aerial vehicle can continue to execute tasks or safely return;
5) The invention has a distributed control system, each unmanned aerial vehicle is provided with an independent control unit, and the operation of other unmanned aerial vehicles is not influenced by the loss of the function of one unmanned aerial vehicle under the cluster flight and combined mode, so that the stability of the group is enhanced;
6) According to the invention, the pitch of the rotor wing of the single unmanned aerial vehicle is variable, so that the unmanned aerial vehicle can generate aerodynamic force in the opposite direction, and the unmanned aerial vehicle can be automatically recovered by changing the pitch when the unmanned aerial vehicle is overturned.
Drawings
FIG. 1 is a schematic top view of a single drone of an embodiment of the present invention;
FIG. 2 is a schematic bottom view of a single drone according to an embodiment of the present invention;
FIG. 3 is an exploded view of the structure of a single drone of an embodiment of the present invention;
FIG. 4 is a schematic view of a rotor mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic view of a flight mode of a distributed multi-dwelling spherical unmanned system according to an embodiment of the present invention;
FIG. 6 is a schematic view of a scrolling mode of a distributed multi-dwelling spherical unmanned system according to an embodiment of the present invention;
fig. 7 is a schematic view of a navigational mode of the distributed multi-dwelling spherical unmanned system according to an embodiment of the present invention.
Detailed Description
The distributed multi-dwelling spherical unmanned aerial vehicle system comprises a plurality of unmanned aerial vehicles, each unmanned aerial vehicle is equivalent to one surface of a regular polyhedron in a Berrader three-dimensional structure, and each surface of the regular polyhedron is identical, so that the appearance of the single unmanned aerial vehicle can be completely identical, the unmanned aerial vehicle system is designed according to a modularized thought, no sequence and orientation limitation exists during connection, the substitution is strong, and the capability of adapting to various emergency conditions is enhanced. In particular, the distributed multi-dwelling spherical unmanned system of the invention mainly has three working modes: a flight mode, wherein a plurality of unmanned aerial vehicles can fly autonomously or in a formation; a rolling mode, wherein a plurality of unmanned aerial vehicles can be connected and combined into a spheroid structure through side ends to roll forward; and in the navigation mode, the unmanned aerial vehicles can be sequentially connected and arranged in a superimposed mode to form a torpedo-shaped structure for navigation on the water surface.
The invention will be further described with reference to the accompanying drawings and examples, it being understood that the examples described below are intended to facilitate an understanding of the invention and are not intended to limit the invention in any way. In this embodiment, the distributed multi-dwelling spherical unmanned aerial vehicle system includes six quad-rotor unmanned aerial vehicles, each unmanned aerial vehicle corresponding to one face of a regular hexahedron. It should be understood that, instead of using the six robots of the present embodiment to compose a rolling mode, other three-dimensional structures of the parlay may be imitated, for example, four robots, eight robots, twelve robots, twenty robots may be used to compose a rolling mode. However, it should be noted that, under the condition that the size of the internal hardware of the unmanned aerial vehicle is unchanged, the combination mode of using a larger number of unmanned aerial vehicles can increase the size of the combined sphere, which is unfavorable for concealment in a rolling mode and reduces the environment adaptability.
As shown in fig. 1-3, each unmanned aerial vehicle in this embodiment is a rotary wing unmanned aerial vehicle, and includes a conformal outer frame 1, a waterproof housing 2, a bracket 3, a rotary wing mechanism 4, a first connection assembly 5, a second connection assembly 6, and a control unit 7.
The shape-retaining outer frame 1 is one surface of a regular hexahedron of an inscribed sphere and has a spherical structure. Advantageously, the cross-section of the conformal housing 1 is airfoil shaped, which provides contoured support while minimizing obstruction to airflow.
The waterproof housing 2 is integrally in a structure of one face of a regular hexahedron of an inscribed sphere, and comprises an upper housing 22 and a lower housing 21. The upper case 22 has a similar external shape to the shape-retaining frame 1 and is fastened to the concave side of the shape-retaining frame 1 by screws. Advantageously, the attachment of the conformal shell 1 to the watertight housing 2 allows the unmanned system to maintain the shape of the sphere in a rolling mode. The lower shell 21 and the upper shell 22 are fixedly connected through screws, and a waterproof gasket 23 is arranged between the lower shell and the upper shell, so that a waterproof cavity with sealed periphery and four ducts are formed, and an opening for the bracket 3 to pass through is reserved on the inner side of each duct. Advantageously, the waterproof housing 2 forms a waterproof cavity, which not only can seal and wrap the load such as the control unit 7 which needs to be waterproof, but also can provide buoyancy when in a water mode, so that the unmanned aerial vehicle can float on the water surface; the duct is formed, so that the power generated by the rotor wing can be enhanced, and the noise can be properly reduced. Preferably, the water drainage amount of the water-proof cavity is set to be more than twice of the self weight of the unmanned aerial vehicle.
Corresponding to the quadrotor unmanned aerial vehicle, the bracket 3 of the embodiment is of a cross symmetrical structure, and comprises a main body part 31 arranged in the waterproof cavity, and 4 bracket arms 32 which radially penetrate through the waterproof cavity from the main body part 31 and respectively extend into 4 ducts through openings on the inner sides of the ducts. The rotor mechanism 4 is composed of four rotors, as shown in fig. 4, each rotor comprises a blade 41, a rotor disc mechanism 42, a waterproof motor 43 and a waterproof steering engine 44, wherein the waterproof motor 43 is arranged at the free end of the bracket arm 32 and is positioned at the center of the duct; the paddle 41 is rotationally connected with the top end of the output shaft of the waterproof motor 43, and the paddle disc mechanism 42 is slidably connected with the output shaft of the waterproof motor 43 and is positioned between the paddle 41 and the waterproof motor 43; the waterproof steering engine 44 is connected with the propeller disc mechanism 42 to drive the propeller disc mechanism 42 to slide up and down along the output shaft of the waterproof motor 43 to change the attack angle of the blade 41, thereby changing the pitch so as to be able to change the lift direction when the unmanned aerial vehicle is tipped over, and to enable the unmanned aerial vehicle to return to a normal state autonomously.
In another real-time system, single-rotor, coaxial twin-rotor, three-rotor, etc. may be used as power drive as needed, and in order to achieve complete control of attitude, it is necessary to install a variable pitch rotor disk mechanism, control surface, rotor tilting mechanism, etc. when using these drives.
In particular, besides installing a waterproof steering engine beside each waterproof motor to control the total distance of four rotors respectively, a method of simultaneously controlling the total distance of four rotors by using one waterproof steering engine can be adopted to reduce the number of executing mechanisms, but the method relatively increases the structural complexity and the difficulty of waterproof design.
The first connecting component 5 and the second connecting component 6 are uniformly distributed in the waterproof cavity. The first coupling assembly 5 includes an upper magnetic attraction coupling 51 and a lower magnetic attraction coupling 52. The upper magnetic attraction connecting piece 51 is installed at the inner center position of the upper shell 22, the lower magnetic attraction connecting piece 52 is installed at the inner center position of the lower shell 21, and at the moment, the connecting line of the upper magnetic attraction connecting piece 51 and the lower magnetic attraction connecting piece 52 coincides with the central axis of the unmanned aerial vehicle. The plurality of unmanned aerial vehicles can sequentially adsorb and arrange into a torpedo-shaped structure to navigate on the water surface in a superposition mode through the upper magnetic attraction connecting piece 51 and the lower magnetic attraction connecting piece 52 of each unmanned aerial vehicle. More unmanned aerial vehicles can be connected in a superposition mode according to the requirement. The second coupling assembly 6 includes a plurality of magnetic coupling pieces 61 installed around the inside of the lower case 21. A plurality of magnetic attachment pieces 61 may be installed around the inside of the upper case 22 as needed. In this embodiment, 6 unmanned aerial vehicles can be adsorbed together through respective magnetic connection pieces 61 to form a sphere, and roll on the ground for traveling.
In particular, as shown in fig. 3, the communication and wireless charging module 8 is arranged around the magnetic attraction connecting piece 61, so that a plurality of unmanned aerial vehicles can exchange data in real time and realize power distribution management when being combined.
The control unit 7 is located in the waterproof chamber and is mounted on the main body 31 of the bracket 3, including a rotor controller and a connection controller. The rotor controller is connected with a waterproof motor 43 and a waterproof steering engine 44, and the rotation speed of the rotor and the attack angle of the blades are adjusted through sensor signals and control instructions. Advantageously, each unmanned aerial vehicle has the capability of independent operation, a distributed control method is adopted in the combined rolling mode and sailing mode, data are transmitted between the unmanned aerial vehicles through a communication and wireless charging module, and the manipulation amount required by realizing the control instruction is calculated respectively.
The connection controller is connected with the upper magnetic attraction connection piece 51, the lower magnetic attraction connection piece 52 and the plurality of magnetic attraction connection pieces 61 for controlling connection or disconnection between the plurality of unmanned aerial vehicles. In this embodiment, the upper magnetic attraction connection piece 51, the lower magnetic attraction connection piece 52 and the plurality of magnetic attraction connection pieces 61 adopt an electromagnet structure, and in the process of combining and decomposing a plurality of unmanned aerial vehicles, the connection controller controls power on or power off according to task requirements. In other embodiments, the upper magnetic attachment member 51, the lower magnetic attachment member 52, and the plurality of magnetic attachment members 61 may also be configured as permanent magnets, in which case the attachment controller need not be configured, but the unmanned aerial vehicle is required to generate sufficient aerodynamic force to disengage the magnet attraction. In addition, the first connecting component 5 and the second connecting component 6 can also adopt mechanical structures to ensure stable connection and prevent the dislocation or even separation of the connection parts caused by impact in a rolling mode, but the structure is complex and the weight is increased.
Three working modes of the distributed multi-dwelling spherical unmanned system are specifically described below:
in the flight mode, the unmanned aerial vehicle can be completed by a single unmanned aerial vehicle or can be formed by a plurality of unmanned aerial vehicles to fly, as shown in fig. 5. For each unmanned aerial vehicle, during normal flight, four waterproof motors 43 drive four paddles 41 respectively to provide power, and at this moment, the paddle tray mechanism 42 and the waterproof steering engine 44 do not work, and the operation mode is the same with ordinary four rotors, and the rotation speed of four waterproof motors 43 is controlled by the transmission instruction of rotor controller. When a certain situation occurs, for example, a landing place collapses or falls accidentally to cause the unmanned aerial vehicle to turn over or overturn, the aerodynamic force direction generated by the rotor wing faces the ground, and the unmanned aerial vehicle can not automatically overturn through a rotating speed changing method. At this time, a method of changing the collective pitch may be employed: the waterproof steering engine 44 drives the paddle disc mechanism 42 to slide along the output shaft of the waterproof motor 43, the attack angle of the paddle 41 is changed by the up-and-down movement of the paddle disc mechanism 42, when the paddle disc mechanism 42 moves to the top end, the rotor controller locks the waterproof steering engine 44, the paddle 41 is at the negative attack angle at the moment, and aerodynamic force in the opposite direction is generated, so that the unmanned aerial vehicle has the overturning self-recovery capability. In particular, in order to reduce the overall structural weight of the unmanned aerial vehicle, the paddle mechanism 42 need not have a complete cyclic pitch function, as in a helicopter, but need only have the capability of changing the collective pitch.
When a cluttered environment needs to be entered or an airborne detection needs to be avoided from an enemy, six unmanned aerial vehicles can be combined into a spherical rolling mode to continue to execute tasks on the ground, as shown in fig. 6. In the rolling mode, the unmanned aerial vehicles are connected through a plurality of magnetic attraction connecting pieces 61 of the second connecting assembly 6. When six unmanned aerial vehicles are automatically combined into a sphere, one unmanned aerial vehicle firstly turns over the body through rotor wing differential speed, so that the shape-preserving outer frame 1 contacts the ground; the position coordinates of a plurality of magnetic connection pieces 61 of the unmanned aerial vehicle can be obtained by the other four unmanned aerial vehicles through own sensors (which can be installed near the magnetic connection pieces 61), and the connection controller plans the movement track with the end angle constraint of each unmanned aerial vehicle in the four unmanned aerial vehicles, and outputs a control instruction to the corresponding unmanned aerial vehicle. When any four unmanned aerial vehicles approach the tail end of the motion track, the connection controller controls the plurality of magnetic attraction connecting pieces 61 to be electrified, so that magnetic attraction is generated, and the four unmanned aerial vehicles are attracted to corresponding positions and angles; finally, the remaining one drone completes the assembly of spheres by the same method as the four drones. Therefore, six unmanned aerial vehicles are spliced into a sphere according to the mode that the sphere is inscribed with a regular polygon, aerodynamic force and moment can be generated in all directions of the sphere no matter how the overall motion gesture is, the six unmanned aerial vehicles simultaneously receive task motion instructions of the ground station, and the rotor controllers of all unmanned aerial vehicles calculate the control quantity of the waterproof motor 43 according to the positions of the unmanned aerial vehicles in the sphere. When the unmanned system needs to be decomposed into a flight mode from a rolling mode, the unmanned aerial vehicle positioned at the spherical bottom can realize overturning in a pitch-variable mode.
In the sailing mode, six unmanned aerial vehicles are sequentially connected and arranged into a torpedo-shaped structure in a superposition manner through respective upper magnetic attraction connecting pieces 51 and lower magnetic attraction connecting pieces 52, as shown in fig. 7. At this moment, make every unmanned aerial vehicle's displacement carry out the reaction torque to the rotor simultaneously more than twice of its whole weight and adjust, can realize that every unmanned aerial vehicle always has half rotor to float in the surface of water top, can realize controlling of torpedo form structure in the aquatic position through the rotor of control surface of water top.
It will be apparent to those skilled in the art that several modifications and improvements can be made to the embodiments of the present invention without departing from the inventive concept thereof, which fall within the scope of the invention.
Claims (9)
1. The distributed multi-dwelling spherical unmanned system is characterized by comprising a plurality of unmanned aerial vehicles, wherein each unmanned aerial vehicle is equivalent to one surface of a regular polyhedron in a Berrad three-dimensional structure; in the air, the unmanned aerial vehicles fly autonomously or in a formation; on land, the unmanned aerial vehicles are connected and combined into a spheroid structure through side ends; in water, the unmanned aerial vehicles are sequentially connected and arranged in a torpedo-shaped structure in a superposition mode;
each unmanned aerial vehicle comprises a conformal outer frame;
the shape-preserving outer frame is of a sphere structure internally connected with one surface of a regular polyhedron of the sphere;
each unmanned aerial vehicle comprises a waterproof shell, a control unit, a rotor wing mechanism and a connecting mechanism; the waterproof shell comprises an upper shell and a lower shell, the upper shell is connected to the concave side of the conformal outer frame, and the upper shell is connected with the lower shell to form a waterproof cavity and a duct; the control unit and the connecting mechanism are arranged in the waterproof cavity; the rotor wing mechanism is fixedly connected in the duct; the control unit comprises a rotor controller and a connection controller, wherein the rotor controller is connected with the rotor mechanism and used for controlling the rotor mechanism to act; the connection controller is connected with the connection mechanism and used for controlling connection or disconnection among the unmanned aerial vehicles.
2. The unmanned system of claim 1, wherein the connection mechanism comprises a first connection assembly configured to enable the plurality of unmanned aerial vehicles to be connected in sequence in a stacked manner and a second connection assembly configured to enable the plurality of unmanned aerial vehicle side-end connections to be combined into a sphere.
3. The unmanned system of claim 2, wherein the first connection assembly comprises an upper magnetic attraction connection and a lower magnetic attraction connection, the upper magnetic attraction connection being disposed inside the upper housing, the lower magnetic attraction connection being disposed inside the lower housing; the connecting line of the upper magnetic attraction connecting piece and the lower magnetic attraction connecting piece coincides with the central axis of the unmanned aerial vehicle.
4. The unmanned system of claim 2, wherein the second connection assembly comprises a plurality of magnetically attractable connectors disposed about the inside of the watertight housing.
5. The unmanned system of any of claims 1-4, wherein the rotor mechanism comprises at least one rotor, each rotor comprising a blade, a rotor disc mechanism, a waterproof motor, and a waterproof steering; the paddle is rotationally connected with the top end of the output shaft of the waterproof motor, and the paddle disc mechanism is in sliding connection with the output shaft of the waterproof motor and is positioned between the paddle and the waterproof motor; the waterproof steering engine is connected with the paddle disc mechanism and is used for driving the paddle disc mechanism to slide up and down along the output shaft of the waterproof motor so as to change the attack angle of the paddles; the rotor controller is respectively connected with the waterproof motor and the waterproof steering engine and is used for respectively controlling the waterproof motor and the waterproof steering engine to act.
6. The unmanned system of any of claims 1-4, comprising a bracket comprising a main body portion mounted within the waterproof chamber, and a bracket arm extending radially from the main body portion through the waterproof chamber and into the duct; the control unit is mounted on the body portion, and the rotor mechanism is mounted at the free end of the support arm.
7. The unmanned system of any of claims 1-4, wherein the waterproof housing is peripherally disposed with communication and wireless charging modules for the plurality of unmanned aerial vehicles to exchange data and power distribution management in real time when combined.
8. The unmanned system of any of claims 1-4, wherein the cross-section of the conformal housing is airfoil shaped.
9. The unmanned system of any of claims 1-4, wherein the connection location of the upper housing and the lower housing is provided with a waterproof device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110899042.3A CN113665809B (en) | 2021-08-06 | 2021-08-06 | Distributed multi-dwelling spherical unmanned system |
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| WO2013060693A2 (en) * | 2011-10-27 | 2013-05-02 | Desaulniers Jean-Marc Joseph | Active geometric exoskeleton with pseudo-rhombohedral annular fairing for gyropendular craft |
| CN107278281A (en) * | 2015-02-19 | 2017-10-20 | 亚马逊科技公司 | Collective's unmanned plane configuration |
| CN107416177A (en) * | 2017-06-22 | 2017-12-01 | 南京航空航天大学 | A kind of bionical spherical structure unmanned plane |
| CN108583181A (en) * | 2018-05-11 | 2018-09-28 | 西南交通大学 | Deformable air-ground amphibious unmanned plane |
| CN109367335A (en) * | 2018-11-07 | 2019-02-22 | 南京航空航天大学 | A kind of land, water and air three are dwelt quadrotor drone |
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| US9457899B2 (en) * | 2013-06-24 | 2016-10-04 | The Boeing Company | Modular vehicle lift system |
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| WO2013060693A2 (en) * | 2011-10-27 | 2013-05-02 | Desaulniers Jean-Marc Joseph | Active geometric exoskeleton with pseudo-rhombohedral annular fairing for gyropendular craft |
| CN107278281A (en) * | 2015-02-19 | 2017-10-20 | 亚马逊科技公司 | Collective's unmanned plane configuration |
| CN107416177A (en) * | 2017-06-22 | 2017-12-01 | 南京航空航天大学 | A kind of bionical spherical structure unmanned plane |
| CN108583181A (en) * | 2018-05-11 | 2018-09-28 | 西南交通大学 | Deformable air-ground amphibious unmanned plane |
| CN109367335A (en) * | 2018-11-07 | 2019-02-22 | 南京航空航天大学 | A kind of land, water and air three are dwelt quadrotor drone |
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