CN113955102A - Land-air double-domain reconfigurable ducted unmanned aerial vehicle - Google Patents
Land-air double-domain reconfigurable ducted unmanned aerial vehicle Download PDFInfo
- Publication number
- CN113955102A CN113955102A CN202111394261.2A CN202111394261A CN113955102A CN 113955102 A CN113955102 A CN 113955102A CN 202111394261 A CN202111394261 A CN 202111394261A CN 113955102 A CN113955102 A CN 113955102A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- rod
- land
- domain
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 238000000034 method Methods 0.000 claims abstract description 10
- 230000008569 process Effects 0.000 claims abstract description 9
- 230000008859 change Effects 0.000 claims abstract description 5
- 230000005484 gravity Effects 0.000 claims description 7
- 230000033228 biological regulation Effects 0.000 claims description 4
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000003281 allosteric effect Effects 0.000 claims 1
- 230000007704 transition Effects 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 3
- 230000009977 dual effect Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 230000002441 reversible effect Effects 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 20
- 238000010586 diagram Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C37/00—Convertible aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
-
- 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
- B64C11/001—Shrouded propellers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/13—Propulsion using external fans or propellers
- B64U50/14—Propulsion using external fans or propellers ducted or shrouded
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Toys (AREA)
Abstract
The invention discloses a land-air dual-domain reconfigurable ducted unmanned aerial vehicle, which comprises a vehicle body, a connecting rod mechanism and a driving assembly, wherein the connecting rod mechanism is arranged on the vehicle body; simple structure nevertheless has the ability that adapts to the land and air dual domain action, through set up link mechanism between fuselage and drive assembly, make the operating condition that utilizes link mechanism to change drive assembly reach the purpose that changes unmanned aerial vehicle operating condition, overall state switching process is simple, each component part homoenergetic of drive assembly simultaneously can play the forward effect under two kinds of operating condition, it has the work of more subassembly unable suitable dual state simultaneously to increase whole weight and resistance and play the reverse effect when having solved current unmanned aerial vehicle state and switching. The land mode and the flight mode are provided, and seamless switching between the two modes can be realized without other auxiliary mechanisms.
Description
Technical Field
The invention is applied to the field of dual-domain unmanned aerial vehicles, and particularly relates to a land-air dual-domain reconfigurable ducted unmanned aerial vehicle.
Background
The unmanned aerial vehicle is a powered, controllable and unmanned aerial vehicle capable of executing various tasks, is mainly applied to military aspects since birth, and plays an important role in aspects of reconnaissance, monitoring, communication, remote attack and the like as an intelligent and information weapon. In recent years, unmanned aerial vehicles are increasingly applied to civilian use, and countries gradually open up civilian use of unmanned aerial vehicles. Unmanned aerial vehicles have been widely used in a plurality of fields such as public safety, emergency search and rescue, agriculture and forestry, environmental protection, traffic, communication, film and television aerial photography. Undoubtedly, with the updating and development of the technology, the civil unmanned aerial vehicle can meet the development of the well-jet type, and the application prospect is very wide.
The air-ground amphibious system has the advantages that the ground motion capability and the air motion capability are combined, and the ground robot and the flying robot are combined. At present, the mechanical structure design of the land-air amphibious system platform at home and abroad has respective characteristics and is designed aiming at specific scenes. Common ground robots have a wheel structure, a caterpillar structure, a bionic foot structure and several composite structures. Compared with robots with wheel type structures and crawler type structures, the robot with the bionic foot type structure has stronger adaptability to complex unstructured environments. The flying robot is usually provided with structural forms such as a fixed wing type structure, a multi-rotor type structure, a tilting type structure and a helicopter type structure, wherein the multi-rotor type structure has the advantages of strong controllability, good maneuverability and the like compared with other structural forms, and the flying robot is a scheme with low cost and high efficiency. Therefore, the multi-rotor structure gradually becomes the most main structure mode of the air-ground amphibious system platform. The current popular land-air amphibious platform is also only different in the design difference of the ground walking part.
Disclosure of Invention
The invention aims to solve the technical problem of providing a land-air dual-domain reconfigurable ducted unmanned aerial vehicle aiming at the defects of the prior art.
In order to solve the technical problem, the invention provides a land-air dual-domain reconfigurable ducted unmanned aerial vehicle which comprises a vehicle body, a link mechanism and a driving assembly;
the connecting rod mechanisms are symmetrically arranged on two sides of the machine body, and the driving assemblies are correspondingly arranged at one ends of the connecting rod mechanisms;
the link mechanism is used for changing the working state of the driving assembly, and the driving assembly comprises a rotating part driven by a motor.
As a possible implementation manner, further, link mechanism includes the actuating lever, it is provided with the first steering wheel that is used for controlling the actuating lever wobbling to correspond the actuating lever on the fuselage, actuating lever one end is connected with first steering wheel output, and its other end rotates with push rod one end to be linked, be equipped with spacing pendulum rod between push rod and the fuselage, spacing pendulum rod one end rotates with the push rod middle part to be connected, and its other end rotates with the base angle of fuselage one side to be connected, the push rod other end and drive assembly base one end fixed connection, be equipped with the follower lever between drive assembly base and the fuselage, follower lever one end rotates with the apex angle of fuselage one side to be connected, and its other end is connected with the one end that the push rod was kept away from to the drive assembly base.
As a possible implementation manner, further, the driving assembly comprises a motor base, a motor and a rotating part, the motor base is connected to the driving assembly base through a pin, one end of the motor is installed on the motor base, the other end of the motor is in transmission connection with the rotating part, and a second steering engine for controlling the swinging angle of the motor base is arranged on the driving assembly base.
As a possible implementation manner, further, the driving assembly further includes a duct member, and the duct member is sleeved on the periphery of the rotating member and is fixedly connected with the outer edge of the motor base.
As a possible implementation mode, the machine body is a hollow double-layer rectangular frame, a steering engine mounting groove is formed in the machine body, and mounting holes are formed in four corners of the machine body corresponding to the connecting rod mechanisms.
As a possible embodiment, further, the rotating member is a propeller blade.
As a possible implementation manner, further, the first steering engine drives the driving rod to swing to push the push rod to move outwards until the driving assembly base swings from a vertical state to a horizontal state, so that the unmanned aerial vehicle is converted from a first state to a second state, and the limiting swing rod and the driven rod rotate in a matched mode in the process.
As a possible implementation, further, when the drone is in the first state, the duct member is horizontally placed on the ground; the rotating piece rotates in the same direction at the same time, the torsion of the rotating piece drives the integral gravity center of the unmanned aerial vehicle to change instantly, and the surface of the ground is rolled by using the circular section surface of the duct piece according to inertia; rotate piece simultaneous counter-rotation and lead to duct spare to receive two strands of radial forces to drive the whole emergence of unmanned aerial vehicle and rotate.
As a possible implementation, further, when unmanned aerial vehicle is in the second state, duct spare swings to vertical state, rotate and produce lift, drive unmanned aerial vehicle and upwards fly up, second steering wheel work drives the swing of control motor cabinet and adjusts a rotation angle and carry out the regulation of unmanned aerial vehicle flight angle.
By adopting the technical scheme, the invention has the following beneficial effects:
the unmanned aerial vehicle has a simple structure and the capability of adapting to land-air dual-domain actions, the connecting rod mechanism is arranged between the machine body and the driving assembly, so that the working state of the driving assembly can be changed by utilizing the connecting rod mechanism to achieve the aim of changing the working state of the unmanned aerial vehicle, the whole state switching process is simple, all components of the driving assembly can play a forward role in two working states, and the problem that when the existing unmanned aerial vehicle is switched, more components cannot be simultaneously suitable for the working reaction of the dual states, so that the whole weight and the resistance are increased to play a reverse role is solved. The land mode and the flight mode are provided, and seamless switching between the two modes can be realized without other auxiliary mechanisms. The land mode is driven by the torque reversal generated by the power system and is matched with a vector system control motor to carry out direction control; the flight mode is ducted double rotor, mainly is controlled by the every single move and the differential of motor, converts through five connecting rod systems between two kinds of modes.
Drawings
The invention is described in further detail below with reference to the following figures and embodiments:
FIG. 1 is a general schematic view of a first state structure of the present invention;
FIG. 2 is a structural diagram of a link mechanism according to a first state of the present invention;
FIG. 3 is a schematic structural diagram of a state change process of the link mechanism according to the present invention;
FIG. 4 is a structural diagram of a link mechanism according to a second state of the present invention;
FIG. 5 is a schematic view of a driving assembly according to the present invention;
FIG. 6 is a schematic view of an adjusting state of a rotating member of the driving assembly according to the present invention;
FIG. 7 is a schematic diagram of the lifting force of the present invention;
FIG. 8 is a schematic view of the pitch force of the present invention;
FIG. 9 is a schematic view of the roll force of the present invention;
FIG. 10 is a schematic view of the yaw force of the present invention;
FIG. 11 is a schematic view of the forward force of the present invention;
fig. 12 is a schematic view of the steering force of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described in detail and completely with reference to the accompanying drawings.
As shown in fig. 1, the invention provides a land-air dual-domain reconfigurable ducted unmanned aerial vehicle, which comprises a vehicle body 1, a link mechanism 2 and a driving assembly 3;
the connecting rod mechanisms 2 are symmetrically arranged on two sides of the machine body 1, and the driving assemblies 3 are correspondingly arranged at one ends of the connecting rod mechanisms 2;
the link mechanism 2 is used for changing the working state of the driving assembly 3, and the driving assembly 3 comprises a rotating part 32 driven by a motor 31.
As shown in fig. 2, the link mechanism 2 includes a driving rod 21, a first steering engine 11 for controlling the driving rod 21 to swing is arranged on the machine body 1 corresponding to the driving rod 21, one end of the driving rod 21 is connected with the output end of the first steering engine 11, the other end of the driving rod is rotationally connected with one end of a push rod 22, a limit swing rod 23 is arranged between the push rod 22 and the machine body 1, one end of the limit swing rod 23 is rotationally connected with the middle of the push rod 22, the other end of the limit swing rod is rotationally connected with a base angle on one side of the machine body 1, the other end of the push rod 22 is fixedly connected with one end of a driving component base 25, a driven rod 24 is arranged between the driving component base 25 and the machine body 1, one end of the driven rod 24 is rotationally connected with a top angle on one side of the machine body 1, and the other end of the driven rod is connected with one end of the driving component 3 base far away from the push rod 22.
The first steering engine 11 works to drive the driving rod 21 to swing to push the push rod 22 to move outwards until the driving assembly base 25 swings from a vertical state to a horizontal state (the process is shown in fig. 3), so that the conversion process of the unmanned aerial vehicle from a first state (fig. 2) to a second state (fig. 4) is completed, and in the process, the limiting swing rod 23 and the driven rod 24 rotate in a matched mode.
As shown in fig. 5-6, the driving assembly 3 includes a motor base 33, a motor 31 and a rotating member 32, the motor base 33 is connected to the driving assembly base 25 through a pin, one end of the motor 31 is installed on the motor base 33, the other end of the motor 31 is in transmission connection with the rotating member 32, and a second steering engine 34 for controlling the swing angle of the motor base 33 is arranged on the driving assembly base 25.
As a possible implementation manner, further, the driving assembly 3 further includes a duct member 35, and the duct member 35 is sleeved on the periphery of the rotating member 32 and is fixedly connected with the outer edge of the motor base 33.
As a possible implementation manner, further, the machine body 1 is a hollowed-out double-layer rectangular frame, a steering engine mounting groove is formed in the machine body 1, and mounting holes are formed in four corners of the machine body 1 corresponding to the link mechanisms 2.
As a possible embodiment, further, the rotating member 32 is a propeller blade.
When the unmanned aerial vehicle is in the first state, the duct member 35 is horizontally arranged on the ground; the rotating part 32 simultaneously rotates in the same direction, and the torque force of the rotating part drives the integral gravity center of the unmanned aerial vehicle to change instantly and utilizes the circular section surface of the duct part 35 to roll on the ground surface according to inertia; the piece 32 that rotates simultaneously counter-rotating results in the duct piece 35 to receive two radial forces to drive the rotation of unmanned aerial vehicle whole emergence.
As a possible implementation, further, when unmanned aerial vehicle is in the second state, duct piece 35 swings to vertical state, rotate piece 32 and rotate and produce lift, drive unmanned aerial vehicle and upwards fly up, the work of second steering wheel 34 drives control motor cabinet 33 swing regulation and rotates piece 32 angle and carry out the regulation of unmanned aerial vehicle flight angle.
The unmanned aerial vehicle has a land mode and a flight mode, and can be seamlessly switched between the two modes without other auxiliary mechanisms. The land mode is driven by the torque reversal generated by the power system and is matched with a vector system control motor to carry out direction control; the flight mode is ducted double rotor, mainly is controlled by the every single move and the differential of motor, converts through five connecting rod systems between two kinds of modes.
The transverse double-rotor aircraft adopts two groups of lifting mechanisms which are transversely and symmetrically distributed, each group of lifting mechanisms can independently deflect around a pitching shaft, and the control of 3 translational degrees of freedom and 3 rotational degrees of freedom of the aircraft can be completed by controlling 4 parameters of lifting force provided by two motors and the included angle between the lifting force provided by the two lifting mechanisms and a vertical plane, so that the motions of vertical lifting, translation, steering and the like are completed.
Vertical (lifting) movement: vertical aircraft movement is controlled by increases and decreases in motor thrust T1 and T2. As shown in fig. 7, in order to realize the respective attitude control of vertical flight, the designed unmanned aerial vehicle adopts a swinging dual-rotor structure with propellers facing a small range of adjustment, the rotation directions of the two propellers are opposite, the motor is controlled by a steering engine in the direction of the axis of the vehicle body, the swinging amplitude is +/-30 degrees, the normal direction of the motion plane of the connecting rod is taken as the advancing direction (x axis), the thrust direction of the propeller is the vertical motion direction (z axis), and the two sides perpendicular to the axis of the vehicle are taken as the yawing direction (y axis). When the two propellers are suspended, the working directions are opposite, the rotating speeds are equal, and the counter-torque forces are equal, so that the vertical upward pulling force is generated to overcome the gravity, and the hovering control is realized.
Pitching motion: as shown in fig. 8, using a navigational coordinate system, pitching (fore-aft) motion of the drone is achieved by simultaneously deflecting the rotor orientation in the same direction. When the rotor wing moves forwards, the vector system controls the motors on the left side and the right side to deflect forwards at the same time, an angle beta is formed between the motors and a zy plane, the rotating speeds of the two motors are equal, at the moment, the pulling force generated by the two rotor wings can be decomposed into horizontal forward tilting pulling force and vertically upward pulling force for overcoming gravity, and the larger the deflection angle is, the larger the forward tilting pulling force is, the higher the forward moving speed/tilting speed is; translate backward or vert, then two motors vert backward simultaneously. When hovering, if a disturbance in the x direction is generated, so that the gravity center moves forwards to form an angle theta with the original plumb bob surface, a return moment My can be provided because the gravity center is positioned below the centroid, and the self-stabilizing effect is achieved.
Roll (side-slip) motion: referring to fig. 9, the rolling (sideslip) motion of the aircraft is realized by changing the rotation speed of the two motors and correcting the back torsion difference caused by the slip by a proper amount. When the aircraft moves leftwards, the rotating speed of the motor on the right side is increased, the tension T2 of the propeller is increased, the rotating speed of the motor on the left side is reduced, the tension T1 of the propeller is reduced, and the lift direction and the zx plane form an angle phi, so that the aircraft rolls leftwards; meanwhile, due to the difference of the rotating speeds of the motors on the two sides, a trace amount of counter-torque difference can be generated, so that the course of the aircraft can deflect, the motors on the two sides need to generate a trace amount of differential deflection to correct the difference of the counter-torque, when the left side of the aircraft is translated, the left side of the aircraft rotates clockwise, the right side of the aircraft rotates anticlockwise, the correction direction is that the left side of the aircraft deflects forwards (x), and the right side of the aircraft deflects backwards (-x). When the left motor is translated to the right (right sideslip), the rotating speed of the left motor is increased, the rotating speed of the right motor is reduced, the backward (-x) deflection of the left motor is corrected, and the forward (x) deflection of the right motor is corrected. Meanwhile, the unmanned aerial vehicle also has a aligning moment Mx in the roll direction, so that the unmanned aerial vehicle also has transverse self-stability capability.
Yaw (steering) motion: as shown in fig. 10, the yaw (steering) motion is achieved by differentially deflecting the torque generated by the two-sided motors. When the aircraft turns left, the left motor deflects an alpha angle backwards (-x), the right motor deflects an alpha angle forwards (x), and the rotating speeds of the motors on the two sides are unchanged.
Land mode
Forward movement: referring to fig. 11, the five-bar linkage can be changed from the flying mode to the land mode, which is a two-wheel structure, and the rolling moment My in the positive direction is provided to roll in the positive x-axis direction by the anti-torque M1 and M2 of the motor.
Turning movement: as shown in fig. 12, the steering of the wheels in the z-axis direction can be controlled by the driving assembly, so that the wheels generate a steering angle γ with the y-axis, and the steering motion is completed.
The system fuses and senses the pose of an organism through a gyroscope, an accelerometer and a magnetometer, and feeds data back to a controller in real time so as to update the motion attitude. When the machine body moves forward, the system controls and outputs a PWM waveform through a given instruction, and the PWM waveform is input to the motor driving module so as to control the running speed of the machine body; when the engine body is controlled to turn, the idea of the optimal curvature method is combined, the course angle measured by the magnetometer is used for continuously correcting the expected steering angle of the engine body, the angular velocity value of the turn can be obtained through the action of the motion controller, the turning radius is calculated according to the motion model, then the linear velocity of the vehicle body motion can be obtained through the multiplication of the angular velocity value and the turning radius, and the driving speed of the engine body is further obtained.
The foregoing is directed to embodiments of the present invention, and equivalents, modifications, substitutions and variations such as will occur to those skilled in the art, which fall within the scope and spirit of the appended claims.
Claims (9)
1. The utility model provides an air-ground double domain allosteric duct unmanned aerial vehicle which characterized in that: the device comprises a machine body, a connecting rod mechanism and a driving assembly;
the connecting rod mechanisms are symmetrically arranged on two sides of the machine body, and the driving assemblies are correspondingly arranged at one ends of the connecting rod mechanisms;
the link mechanism is used for changing the working state of the driving assembly, and the driving assembly comprises a rotating part driven by a motor.
2. The land-air dual-domain reconfigurable ducted unmanned aerial vehicle of claim 1, wherein: the connecting rod mechanism comprises a driving rod, a first steering engine used for controlling the driving rod to swing is arranged on the machine body corresponding to the driving rod, one end of the driving rod is connected with the output end of the first steering engine, the other end of the driving rod is rotationally connected with one end of a push rod, a limiting swing rod is arranged between the push rod and the machine body, one end of the limiting swing rod is rotationally connected with the middle of the push rod, the other end of the limiting swing rod is rotationally connected with a base angle on one side of the machine body, the other end of the push rod is fixedly connected with one end of a driving assembly base, a driven rod is arranged between the driving assembly base and the machine body, one end of the driven rod is rotationally connected with a top angle on one side of the machine body, and the other end of the driven rod is connected with one end of the driving assembly base, which is far away from the push rod.
3. The land-air dual-domain reconfigurable ducted unmanned aerial vehicle of claim 2, wherein: the driving assembly comprises a motor base, a motor and a rotating piece, the motor base is connected to the driving assembly base through a pin, one end of the motor is installed on the motor base, the other end of the motor is in transmission connection with the rotating piece, and a second steering engine used for controlling the swinging angle of the motor base is arranged on the driving assembly base.
4. The land-air dual-domain reconfigurable ducted unmanned aerial vehicle of claim 3, wherein: the driving assembly further comprises a duct piece, and the duct piece is sleeved on the periphery of the rotating piece and is fixedly connected with the outer edge of the motor base.
5. The land-air dual-domain reconfigurable ducted unmanned aerial vehicle of claim 1, wherein: the steering engine is characterized in that the machine body is a hollow double-layer rectangular frame, a steering engine mounting groove is formed in the machine body, and mounting holes are formed in four corners of the machine body corresponding to the connecting rod mechanisms.
6. The land-air dual-domain reconfigurable ducted unmanned aerial vehicle of claim 1, wherein: the rotating member is a propeller blade.
7. The land-air dual-domain reconfigurable ducted unmanned aerial vehicle of claim 4, wherein: the first steering engine works to drive the driving rod to swing to push the push rod to move outwards until the driving assembly base swings from a vertical state to a horizontal state, the transition process of the unmanned aerial vehicle from a first state to a second state is completed, and in the process, the limiting swing rod and the driven rod rotate in a matched mode.
8. The land-air dual-domain reconfigurable ducted unmanned aerial vehicle of claim 7, wherein: when the unmanned aerial vehicle is in a first state, the duct piece is horizontally arranged on the ground; the rotating piece rotates in the same direction at the same time, the torsion of the rotating piece drives the integral gravity center of the unmanned aerial vehicle to change instantly, and the surface of the ground is rolled by using the circular section surface of the duct piece according to inertia; rotate piece simultaneous counter-rotation and lead to duct spare to receive two strands of radial forces to drive the whole emergence of unmanned aerial vehicle and rotate.
9. The land-air dual-domain reconfigurable ducted unmanned aerial vehicle of claim 7, wherein: when unmanned aerial vehicle is in the second state, duct spare swings to vertical state, rotate the piece and rotate and produce lift, drive unmanned aerial vehicle and fly upward, second steering wheel work drives the swing of control motor cabinet and adjusts a rotation angle and carry out the regulation of unmanned aerial vehicle flight angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111394261.2A CN113955102B (en) | 2021-11-23 | 2021-11-23 | Land-air double-domain allosteric duct unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111394261.2A CN113955102B (en) | 2021-11-23 | 2021-11-23 | Land-air double-domain allosteric duct unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113955102A true CN113955102A (en) | 2022-01-21 |
| CN113955102B CN113955102B (en) | 2024-01-30 |
Family
ID=79471645
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111394261.2A Active CN113955102B (en) | 2021-11-23 | 2021-11-23 | Land-air double-domain allosteric duct unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113955102B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190263206A1 (en) * | 2018-02-28 | 2019-08-29 | Stmicroelectronics S.R.L. | Multi-environment flexible vehicle |
| CN114776932A (en) * | 2022-05-04 | 2022-07-22 | 中南大学 | Ducted power robot for high-altitude pipeline detection |
| CN115157947A (en) * | 2022-08-04 | 2022-10-11 | 哈尔滨工业大学 | Air-ground amphibious reconfigurable robot |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202319771U (en) * | 2011-11-07 | 2012-07-11 | 上海工程技术大学 | Air-land dual-purpose aircraft |
| CN104669964A (en) * | 2015-03-11 | 2015-06-03 | 北京工业大学 | Water-land-air triphibious unmanned investigation device |
| KR101529856B1 (en) * | 2015-03-20 | 2015-06-17 | 양연철 | Flight vehicle having flying function of helicopter |
| KR20170092068A (en) * | 2016-02-02 | 2017-08-10 | 서울과학기술대학교 산학협력단 | A unmanned robot caparable of operating in the air and on the ground |
| US20170274995A1 (en) * | 2016-03-22 | 2017-09-28 | Fujitsu Limited | Flying machine and flying machine usage method |
| CN108750088A (en) * | 2018-05-31 | 2018-11-06 | 江苏常探机器人有限公司 | Rear single screw folding composite wing cargo aircraft with the compound auxiliary wing of thrust |
| CN111845232A (en) * | 2020-06-19 | 2020-10-30 | 北京理工大学 | Wheel hub duct shared sea, land and air submersible multi-purpose unmanned platform |
| CN112078298A (en) * | 2020-10-13 | 2020-12-15 | 河北工业大学 | Rotary wheel type water, land and air multi-purpose mobile aircraft |
| CN113135078A (en) * | 2021-05-27 | 2021-07-20 | 彭千祝 | Electric automobile capable of floating and crossing obstacles |
-
2021
- 2021-11-23 CN CN202111394261.2A patent/CN113955102B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202319771U (en) * | 2011-11-07 | 2012-07-11 | 上海工程技术大学 | Air-land dual-purpose aircraft |
| CN104669964A (en) * | 2015-03-11 | 2015-06-03 | 北京工业大学 | Water-land-air triphibious unmanned investigation device |
| KR101529856B1 (en) * | 2015-03-20 | 2015-06-17 | 양연철 | Flight vehicle having flying function of helicopter |
| KR20170092068A (en) * | 2016-02-02 | 2017-08-10 | 서울과학기술대학교 산학협력단 | A unmanned robot caparable of operating in the air and on the ground |
| US20170274995A1 (en) * | 2016-03-22 | 2017-09-28 | Fujitsu Limited | Flying machine and flying machine usage method |
| CN108750088A (en) * | 2018-05-31 | 2018-11-06 | 江苏常探机器人有限公司 | Rear single screw folding composite wing cargo aircraft with the compound auxiliary wing of thrust |
| CN111845232A (en) * | 2020-06-19 | 2020-10-30 | 北京理工大学 | Wheel hub duct shared sea, land and air submersible multi-purpose unmanned platform |
| CN112078298A (en) * | 2020-10-13 | 2020-12-15 | 河北工业大学 | Rotary wheel type water, land and air multi-purpose mobile aircraft |
| CN113135078A (en) * | 2021-05-27 | 2021-07-20 | 彭千祝 | Electric automobile capable of floating and crossing obstacles |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190263206A1 (en) * | 2018-02-28 | 2019-08-29 | Stmicroelectronics S.R.L. | Multi-environment flexible vehicle |
| US11660920B2 (en) * | 2018-02-28 | 2023-05-30 | Stmicroelectronics S.R.L. | Multi-environment flexible vehicle |
| CN114776932A (en) * | 2022-05-04 | 2022-07-22 | 中南大学 | Ducted power robot for high-altitude pipeline detection |
| CN114776932B (en) * | 2022-05-04 | 2023-12-19 | 中南大学 | Duct power robot for high-altitude pipeline detection |
| CN115157947A (en) * | 2022-08-04 | 2022-10-11 | 哈尔滨工业大学 | Air-ground amphibious reconfigurable robot |
| CN115157947B (en) * | 2022-08-04 | 2023-04-07 | 哈尔滨工业大学 | Air-ground amphibious allosteric robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113955102B (en) | 2024-01-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP2021176757A (en) | Vertical takeoff and landing (vtol) air vehicle | |
| CN113955102B (en) | Land-air double-domain allosteric duct unmanned aerial vehicle | |
| JP2022552431A (en) | Separate lift-thrust VTOL aircraft with articulated rotors | |
| US20160059958A1 (en) | Controlling Rotary Wing Aircraft | |
| CN204895858U (en) | Aerial variant stationary vane four -axis unmanned aerial vehicle of VTOL | |
| CN105539833A (en) | Fixed-wing multi-shaft aircraft | |
| WO2020215304A1 (en) | Sea-land-air-underwater adapted vehicle capable of vertical take-off and landing | |
| CN112298552B (en) | Miniature double-flapping-wing aircraft capable of being controlled by autonomous stability augmentation and control moment generation method thereof | |
| CN113844221B (en) | Amphibious three-mode flight adsorption wall climbing robot and control method | |
| CN106828918B (en) | Three-wing-surface vertical take-off and landing aircraft | |
| CN102700707A (en) | Novel aircraft | |
| CN111452969A (en) | Tailstock type flying wing layout unmanned aerial vehicle capable of taking off and landing vertically | |
| CN107797567B (en) | Internal deflection type non-planar six-rotor aircraft and control method | |
| CN112034868A (en) | Yaw control method and mechanism of bionic micro flapping wing aircraft | |
| CN114715392A (en) | Variant all-wing aircraft formula rotor unmanned aerial vehicle that verts | |
| CN108423167B (en) | Dual control system aircraft | |
| CN107444606B (en) | Novel aircraft and aircraft system | |
| CN108427432B (en) | Non-planar three-rotor aircraft and control method | |
| CN114394228A (en) | Aircraft and control method thereof | |
| CN217624108U (en) | Three-dimensional vector tilting rotor power module | |
| CN216232964U (en) | Unmanned aerial vehicle capable of vertically taking off and landing with tiltable rotor | |
| CN211308963U (en) | Double-rotor aircraft | |
| CN219523598U (en) | Flying device | |
| CN112896485B (en) | Two-axis inclined wing aircraft with streamline fuselage and control method | |
| CN117784822B (en) | Method and control system for correcting water surface overturning of aircraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |