CN113928557A - Integrated flight carrier of a plurality of many rotor unmanned aerial vehicles - Google Patents
Integrated flight carrier of a plurality of many rotor unmanned aerial vehicles Download PDFInfo
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- CN113928557A CN113928557A CN202111228986.4A CN202111228986A CN113928557A CN 113928557 A CN113928557 A CN 113928557A CN 202111228986 A CN202111228986 A CN 202111228986A CN 113928557 A CN113928557 A CN 113928557A
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- carrier
- unmanned aerial
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- sensor
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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
- 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
- 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
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application provides an integrated a plurality of rotor unmanned aerial vehicle's flight carrier, include: the system comprises a carrier rack and a plurality of multi-rotor unmanned aerial vehicles; many rotor unmanned aerial vehicle fixed connection are in carrier frame to make flight carrier form rigid body structure. The utility model provides an integrated a plurality of rotor unmanned aerial vehicle's flight carrier is through design carrier frame and a plurality of rotor unmanned aerial vehicle combination for integrated unmanned aerial vehicle flight carrier becomes a rigid body structure, and the pulling force of production is perpendicular to fuselage all the time, can provide lift to the at utmost, has improved unmanned aerial vehicle's flight stability, load capacity and flight efficiency.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a flight carrier integrating a plurality of multi-rotor unmanned aerial vehicles.
Background
A rotorcraft is an unmanned rotorcraft having three and more upper rotor shafts. At present, along with the increasing of application demands that unmanned aerial vehicles easily carry and can pass narrow spaces and the like, modular unmanned aerial vehicles are widely researched.
In the correlation technique, the problem that the modularized unmanned aerial vehicle has poor flight stability, low load capacity and low flight efficiency.
Disclosure of Invention
The present application is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first aim at of this application provides an integrated a plurality of rotor unmanned aerial vehicle's flight carrier, has improved unmanned aerial vehicle's flight stability, load capacity and flight efficiency.
To achieve the above object, an embodiment of a first aspect of the present application provides a flight carrier integrating multiple multi-rotor drones, including: the system comprises a carrier rack and a plurality of multi-rotor unmanned aerial vehicles; many rotor unmanned aerial vehicle fixed connection in on the carrier frame to make the flight carrier forms rigid body structure.
The embodiment of the application provides an integrated a plurality of rotor unmanned aerial vehicle's flight carrier, many rotor unmanned aerial vehicle fixed connection are in carrier frame to make the flight carrier form rigid body structure. The utility model provides an integrated a plurality of rotor unmanned aerial vehicle's flight carrier, through design carrier frame and a plurality of rotor unmanned aerial vehicle combination for integrated unmanned aerial vehicle flight carrier becomes a rigid body structure, and the pulling force of production is perpendicular to fuselage all the time, can provide lift by the at utmost, has improved unmanned aerial vehicle's flight stability, load capacity and flight efficiency.
According to one embodiment of the application, a plurality of sensors are arranged on the carrier rack.
According to an embodiment of the application, the sensor comprises at least one of: the sensor comprises an angular rate sensor, an attitude sensor, a course sensor, an altitude sensor, an airspeed sensor, an airplane position sensor, an attack angle sensor and an overload sensor.
According to one embodiment of the application, the plurality of multi-rotor drones communicate with each other via a controller area network bus protocol.
According to an embodiment of the application, communicate through the flight control bus between a plurality of many rotor unmanned aerial vehicles.
According to an embodiment of the application, many rotor unmanned aerial vehicle communicate with the host computer through the ultra wide band mode.
According to an embodiment of the application, a guidance system provided on the multi-rotor unmanned aerial vehicle generates a guidance signal according to a deviation of a position of the multi-rotor unmanned aerial vehicle from a given route to control the multi-rotor unmanned aerial vehicle.
According to one embodiment of the application, a guidance system disposed on the carrier rack generates guidance signals to control the plurality of multi-rotor drones based on a deviation of the location of the flight carrier from a given route.
According to one embodiment of the application, a guidance system arranged on the carrier rack generates guidance signals according to received remote control commands of a user so as to control the multiple multi-rotor unmanned aerial vehicles.
According to one embodiment of the application, a guidance system arranged on a carrier rack sends remote control parameters and/or video signals of the flying carrier to an upper computer.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural view of a flight carrier integrating a plurality of multi-rotor drones according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a single-deck aircraft carrier connection for a aircraft carrier that integrates multiple multi-rotor drones, according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a double-deck aircraft carrier connection method of a aircraft carrier integrating multiple multi-rotor unmanned aerial vehicles according to an embodiment of the present application;
fig. 4 is a schematic illustration of a control communication system for a flight carrier that integrates a plurality of multi-rotor drones, in accordance with an embodiment of the present application;
fig. 5 is a data link composition diagram of a manual telematic guidance mode of a flight carrier integrating a plurality of multi-rotor drones according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The flying carrier integrating a plurality of multi-rotor unmanned aerial vehicles according to the embodiment of the application is described below with reference to the attached drawings.
Fig. 1 is a schematic structural diagram of a flight carrier integrating a plurality of multi-rotor unmanned aerial vehicles according to an embodiment of the present application, and as shown in fig. 1, the flight carrier integrating a plurality of multi-rotor unmanned aerial vehicles according to an embodiment of the present application may specifically include: a carrier rack 101 and a plurality of multi-rotor drones 102. Wherein:
each multi-rotor unmanned aerial vehicle 102 is fixedly connected to the carrier frame 101 so that the flying carrier forms a rigid structure. The connection mode of the multi-rotor unmanned aerial vehicle 102 and the carrier rack 101 may specifically include a single-layer flight carrier shown in fig. 2 and a double-layer flight carrier shown in fig. 3.
In the embodiment of the application, the carrier rack 101 may be provided with a plurality of sensors. The carrier rack 101 may be an existing large unmanned rack or a completely new flight carrier rack designed according to an application scenario, and the sensor may include, but is not limited to, at least one of the following: angular rate sensor, attitude sensor, course sensor, altitude sensor, airspeed sensor, aircraft position sensor, angle of attack sensor, overload sensor, etc.
In the embodiment of the application, a plurality of multi-rotor unmanned aerial vehicles 102 of a flight carrier CAN communicate with each other through a Controller Area Network (CAN) bus protocol, and a plurality of multi-rotor unmanned aerial vehicles 102 CAN communicate with each other through a flight control bus, as shown in fig. 4, so that the speed and reliability of communication CAN be ensured.
In the embodiment of the application, each multi-rotor unmanned aerial vehicle 102 can communicate with an upper computer in an Ultra Wide Band (UWB) mode, and can realize a positioning function on a flying carrier while communicating.
Further, the flight control mode of the flight carrier integrating a plurality of multi-rotor unmanned aerial vehicles of the embodiment of the application can specifically comprise unmanned aerial vehicle control and carrier control, wherein the unmanned aerial vehicle control can specifically adopt an autonomous control mode, and the flight carrier can specifically adopt two modes of autonomous control and manual remote control.
Wherein, the unmanned aerial vehicle control that adopts autonomous control mode specifically is as follows: a guidance system disposed on multi-rotor drone 102 generates a guidance signal based on the deviation of the position of multi-rotor drone 102 from a given course to control multi-rotor drone 102.
In the embodiment of the present application, the guidance system provided on the multi-rotor drone 102 may specifically be an autonomous control guidance system, and its relative position is determined by a measurement device installed on the multi-rotor drone 102, and a deviation from a given route is calculated to generate a guidance signal to control the multi-rotor drone 102.
The control method comprises the following steps of: a guidance system disposed on the carrier rack 101 generates guidance signals to control the plurality of multi-rotor drones 102 based on deviations of the location of the flight carrier from a given course.
The control method comprises the following steps of: a guidance system provided on the carrier rack 101 generates guidance signals according to received remote control instructions of the user to control the plurality of multi-rotor drones 102.
In the embodiment of the application, when the guidance system arranged on the carrier rack 101 is a manual remote control guidance system, a data link channel needs to be established, and as shown in fig. 5, the guidance system arranged on the carrier rack 101 generates a guidance signal according to a received remote control instruction of a user, so as to control the plurality of multi-rotor unmanned aerial vehicles 102. In addition, as shown in fig. 5, the guidance system arranged on the carrier rack 101 can also send the remote control parameters and/or video signals of the flying carrier to an upper computer, such as a measurement and control station device.
It should be noted here that, the flight carrier integrating multiple multi-rotor unmanned aerial vehicles of the present application adopts a combined navigation mode, combines inertial navigation (inertial navigation), vision measurement (vision measurement), laser radar (Light Detection and Ranging, LiDAR), millimeter wave (millimeter wave) and ultra wide band technology, outputs navigation parameters such as position, speed and attitude of a carrier in real time, and can solve the problem that navigation positioning errors increase along with time accumulation, improve the navigation accuracy of the system, and enhance the reliability.
The embodiment of the application provides an integrated a plurality of rotor unmanned aerial vehicle's flight carrier, many rotor unmanned aerial vehicle fixed connection are in carrier frame to make the flight carrier form rigid body structure. The utility model provides an integrated a plurality of rotor unmanned aerial vehicle's flight carrier, through design carrier frame and a plurality of rotor unmanned aerial vehicle combination for integrated unmanned aerial vehicle flight carrier becomes a rigid body structure, and the pulling force of production is perpendicular to fuselage all the time, can provide lift by the at utmost, has improved unmanned aerial vehicle's flight stability, load capacity and flight efficiency.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. The utility model provides an integrated a plurality of many rotor unmanned aerial vehicle's flight carrier which characterized in that includes: the system comprises a carrier rack and a plurality of multi-rotor unmanned aerial vehicles;
many rotor unmanned aerial vehicle fixed connection in on the carrier frame to make the flight carrier forms rigid body structure.
2. The flying carrier of claim 1, wherein a plurality of sensors are provided on the carrier rack.
3. The flying carrier of claim 2, wherein the sensor comprises at least one of:
the sensor comprises an angular rate sensor, an attitude sensor, a course sensor, an altitude sensor, an airspeed sensor, an airplane position sensor, an attack angle sensor and an overload sensor.
4. The flying carrier of claim 1, wherein the plurality of multi-rotor drones communicate therebetween via a controller area network bus protocol.
5. The flying carrier of claim 1, wherein the plurality of multi-rotor drones communicate with each other via a flight control bus.
6. The flying carrier according to claim 1, wherein the multi-rotor drone communicates with the upper computer by way of ultra-wideband.
7. The flight carrier according to claim 1, wherein a guidance system provided on the multi-rotor drone generates a guidance signal to control the multi-rotor drone as a function of a deviation of the position of the multi-rotor drone from a given course.
8. The flight carrier according to claim 1, wherein a guidance system provided on the carrier rack generates guidance signals for controlling the plurality of multi-rotor drones based on a deviation of the location of the flight carrier from a given route.
9. The flying carrier of claim 1, wherein a guidance system provided on the carrier rack generates guidance signals to control the plurality of multi-rotor drones based on received user remote control commands.
10. The flight carrier according to claim 9, characterized in that a guidance system provided on the carrier rack sends the flight carrier's remote control parameters and/or video signals to an upper computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111228986.4A CN113928557A (en) | 2021-10-21 | 2021-10-21 | Integrated flight carrier of a plurality of many rotor unmanned aerial vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111228986.4A CN113928557A (en) | 2021-10-21 | 2021-10-21 | Integrated flight carrier of a plurality of many rotor unmanned aerial vehicles |
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| Publication Number | Publication Date |
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| CN113928557A true CN113928557A (en) | 2022-01-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111228986.4A Pending CN113928557A (en) | 2021-10-21 | 2021-10-21 | Integrated flight carrier of a plurality of many rotor unmanned aerial vehicles |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116062202A (en) * | 2023-03-20 | 2023-05-05 | 北京瀚科智翔科技发展有限公司 | Combined coaxial double-rotor unmanned aerial vehicle system |
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| CN107264786A (en) * | 2017-06-08 | 2017-10-20 | 北京化工大学 | A kind of two-stage balanced control device of multi-rotor unmanned aerial vehicle aircraft carrier |
| CN107472521A (en) * | 2017-06-22 | 2017-12-15 | 深圳大学 | The control method of more rotor flying platforms and more rotor flying platforms |
| US20180118336A1 (en) * | 2016-11-02 | 2018-05-03 | Bell Helicopter Textron Inc. | Mutually Symbiotic Aircraft Systems |
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2021
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| US20140374532A1 (en) * | 2013-06-24 | 2014-12-25 | The Boeing Company | Modular Vehicle Lift System |
| US9630712B1 (en) * | 2015-09-23 | 2017-04-25 | Amazon Technologies, Inc. | Using multirotor lifters to deploy fixed wing aircraft |
| US20180118336A1 (en) * | 2016-11-02 | 2018-05-03 | Bell Helicopter Textron Inc. | Mutually Symbiotic Aircraft Systems |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116062202A (en) * | 2023-03-20 | 2023-05-05 | 北京瀚科智翔科技发展有限公司 | Combined coaxial double-rotor unmanned aerial vehicle system |
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