CN113955114A - Linear type unmanned aerial vehicle structure based on gravity center self-adaptive adjusting device - Google Patents
Linear type unmanned aerial vehicle structure based on gravity center self-adaptive adjusting device Download PDFInfo
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- CN113955114A CN113955114A CN202111392847.5A CN202111392847A CN113955114A CN 113955114 A CN113955114 A CN 113955114A CN 202111392847 A CN202111392847 A CN 202111392847A CN 113955114 A CN113955114 A CN 113955114A
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- 230000005484 gravity Effects 0.000 title claims abstract description 23
- 230000004927 fusion Effects 0.000 claims abstract description 14
- 239000003814 drug Substances 0.000 claims description 22
- 239000007921 spray Substances 0.000 claims description 16
- 238000005096 rolling process Methods 0.000 claims description 11
- 239000007788 liquid Substances 0.000 claims description 10
- 230000000694 effects Effects 0.000 claims description 8
- 230000001133 acceleration Effects 0.000 claims description 6
- 238000002156 mixing Methods 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 5
- 230000002567 autonomic effect Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 4
- 230000003993 interaction Effects 0.000 claims description 4
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 3
- 239000000741 silica gel Substances 0.000 claims description 3
- 229910002027 silica gel Inorganic materials 0.000 claims description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 2
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 2
- 239000004917 carbon fiber Substances 0.000 claims description 2
- 230000005574 cross-species transmission Effects 0.000 claims description 2
- 238000001914 filtration Methods 0.000 claims description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 2
- 238000005507 spraying Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- 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
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a linear unmanned aerial vehicle structure based on a gravity center self-adaptive adjusting device, which comprises a first adjusting rod 1, a first rotor wing 2, a first operation unit 3, a millimeter wave radar 4, a second rotor wing 5, a second adjusting rod 6, a second operation unit 7, a first rotating bearing 8, a first GPS-RTK component 9, a flight controller 10, a second GPS-RTK component 11, a fusion cabin 12, a support frame 13, an undercarriage 14, a second rotating bearing 15, a third rotor wing 16, a third adjusting rod 17, a third operation unit 18, a laser 19, a fourth adjusting rod 20, a fourth rotor wing 21 and a fourth operation unit 22; the invention realizes the autonomous adjustment of the gravity center of the aircraft and improves the utilization rate of system energy. And (4) combining UKF fusion multi-sensor data, estimating the flight state of the aircraft in real time, and controlling the stable flight operation of the aircraft.
Description
Technical Field
The invention relates to the field of mechanical design and aircraft sensing and control, in particular to a linear unmanned aerial vehicle which combines a rotating device to accurately control the autonomous fine tuning swing of an unmanned aerial vehicle carrier to realize stable gravity center.
Background
Different from general many rotor unmanned aerial vehicle, linear type unmanned aerial vehicle rotor is the straight line even, and interference is little between the rotor, and the spraying is effectual, has application prospect in agricultural plant protection field. However, the overall structure of the linear unmanned aerial vehicle disclosed at present is absolutely fixed, so that the change of the pitch angle easily causes the change of the gravity center during the plant protection operation, and the pose of the vehicle body needs to be continuously adjusted by means of the motor, so that the useful power of the motor is reduced, and unnecessary energy waste is caused; meanwhile, the vertical attitude adjusting rod structure of the linear unmanned aerial vehicle is not fully utilized for a wind field, and an attitude adjusting motor can only provide thrust for changing the navigation attitude, so that a lower wind washing field can not be provided for spraying liquid medicine, the liquid medicine effect in a partial operation area is not uniform, and the whole operation efficiency is influenced.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects of the existing mechanical structure, the invention discloses a linear unmanned aerial vehicle structure based on a gravity-center self-adaptive adjusting device. The invention is suitable for a plurality of fields such as rescue, measurement and plant protection, mainly aims at the spraying operation in the agricultural plant protection process, and has the characteristics of good stability and high motor efficiency.
The technical scheme of the invention comprises the following steps: a linear unmanned aerial vehicle structure based on a gravity center self-adaptive adjusting device comprises a first adjusting rod 1, a first rotor wing 2, a first operation unit 3, a millimeter wave radar 4, a second rotor wing 5, a second adjusting rod 6, a second operation unit 7, a first rotating bearing 8, a first GPS-RTK component 9, a flight controller 10, a second GPS-RTK component 11, a fusion cabin 12, a support frame 13, an undercarriage 14, a second rotating bearing 15, a third rotor wing 16, a third adjusting rod 17, a third operation unit 18, a laser 19, a fourth adjusting rod 20, a fourth rotor wing 21 and a fourth operation unit 22; the first adjusting rod 1 and the fourth adjusting rod 20 on the outermost side, the second adjusting rod 6 and the third adjusting rod 17 in the middle section of the four-position adjusting rods are symmetrically distributed by taking the flight controller 10 as the center respectively, and the tail ends of the first adjusting rod 1 and the fourth adjusting rod 20 are connected with the first operation unit 3 and the fourth operation unit 22 respectively; the tail ends of the second adjusting rod 6 and the third adjusting rod 17 are respectively connected with the second operation unit 7 and the third operation unit 18;
among the four rotors, the first rotor 2 on the first adjusting rod 1 and the fourth rotor 21 on the fourth adjusting rod 20, the second rotor 5 on the second adjusting rod 6 and the third rotor 16 on the third adjusting rod 17 are symmetrically distributed on the corresponding adjusting rods, so that main lift force and rotating tension force for changing the flight attitude are provided for the flight of the unmanned aerial vehicle;
the millimeter wave radar 4 and the laser 19 which are arranged at the far ends of the flight controller 10 are subjected to data fusion, so that the fixed-point height fixing and one-key take-off and landing functions of the unmanned aerial vehicle in different geographic environments are realized; the first GPS-RTK component 9 and the second GPS-RTK component 11 which are arranged near two ends of the flight controller 10 realize centimeter-level high-precision real-time positioning by resolving difference data of a ground base station and an airborne terminal GPS; below the flight controller 10 is a fusion bin 12, which contains a battery bin and a medicine box inside;
the first rotating bearing 8 and the second rotating bearing 15, which are connected with the undercarriage 14 at two ends of the flight controller 10, are limiting mechanical kits, the upper end of the first rotating bearing is coaxially connected with the main rod, and the lower end of the first rotating bearing is connected with the support frame 13, so that the main rod can only rotate within a limited angle; this position of the disclosed linear plant protection unmanned aerial vehicle is fixed connection, and this kind of unmanned aerial vehicle needs the motor to provide extra lift and resumes fuselage gesture stable when every single move gesture adjustment. First rolling bearing 8, the 15 structure of second rolling bearing combine the integration storehouse 12 self inertia effect that the below carried, through the angle of flight controller feedback, under motor and gear drive's effect, independently change the unmanned aerial vehicle focus that the every single move arouses and revise, improve first rotor 2, second rotor 5, third rotor 16, fourth rotor 21's useful work utilization ratio when reducing the flight control degree of difficulty.
Further, the blending bin 12 is an integrated design of a medicine box and a battery bin, a medicine box dumping opening and a battery bin cover are reserved at the upper end of the blending bin, the lower end of the blending bin is fixed on the support frame 13 through bolts, and due to the fact that the unmanned aerial vehicle adopts a large-capacity medicine box, the traditional medicine box sprays with liquid medicine, a large amount of air can be filled in the traditional medicine box, the liquid medicine can impact the medicine box in the flying process of the unmanned aerial vehicle, and difficulty is brought to gravity center adjustment and increase; in order to avoid the situation, the control difficulty caused by asymmetric mounting can be effectively reduced through the integrated design, meanwhile, the generation of gaps in the water tank is avoided through the press type water tank control method, and the press type water tank control method has good stability and controllability.
Further, the control part of the flight controller 10 is composed of a position controller, a speed controller, an angle controller, an angular speed controller and an angular acceleration controller in cascade; angular acceleration closed-loop feedback is sent to a tracking differentiator for estimation through the triaxial angular velocity of the airborne gyroscope, and negative feedback control is completed through a proportional controller; the angular velocity closed loop is fed back after being subjected to low-pass filtering by the three-axis angular velocity of the airborne gyroscope, and negative feedback control is completed by the proportional controller; the angle closed loop is fed back by an Euler angle fused by an airborne accelerometer, a gyroscope and a magnetometer, the yaw angle is expected to be directly given by a human-computer interaction end, the roll angle and the pitch angle are expected to be output by a speed controller at the previous stage, and negative feedback control is completed by a proportional-integral controller; the speed closed loop is fed back by a horizontal speed vector fused by an airborne accelerometer, a gyroscope, a magnetometer and a GPS module, is fed back by a vertical speed vector fused by the airborne accelerometer, the gyroscope, the magnetometer and a millimeter wave radar, and is subjected to negative feedback control by a proportional differential controller; the position closed loop is fed back by an inertial system position fused by an airborne accelerometer, a gyroscope, a magnetometer, a millimeter wave radar and a Beidou module, and is expected to be man-machine interaction or air route planning, and negative feedback control is completed by a proportional-integral controller.
Furthermore, the adjusting rod is made of carbon fiber materials.
Furthermore, the four rotors adopt high-power motors matched with double-blade propellers.
Furthermore, the first operation unit 3, the second operation unit 7, the third operation unit 18 and the fourth operation unit 22 have the same structure, the symmetrical structure is easy to decouple, and each operation unit consists of a spray head fixing plate 23, a conveying upright rod 24, a rotating motor 25, a centrifugal spray disk 26 and a motor connecting piece 27; the spray head fixing rod 23 is connected with the main rod through a pipe clamp, a long screw and a nut, a hose is arranged in the conveying upright rod 24 and communicated with a main liquid medicine conveying channel in the main rod, and the outer part of the conveying upright rod is wrapped by a thick silica gel material, so that the inner hose is prevented from being damaged; carry and connect through motor connecting piece 27 between pole setting 24 and the rotating electrical machines 25, the rotating electrical machines provides the atomizing centrifugal force of liquid medicine, can possess good moment of torsion under high rotational speed, and centrifugal spray disk 26 provides the passageway with higher speed, guarantees that the water droplet can not spill over when the passageway flows through, realizes effective atomizing.
Furthermore, the rotation angles of the support frame 13 are flexibly limited by the aid of fasteners and springs in the first rotating bearing 8 and the second rotating bearing 15, the main rod is connected to a sliding groove in the rotating bearing through limiting pins of the first rotating bearing 8 and the second rotating bearing 15, and accordingly flexible and autonomous adjustment of the center of gravity is achieved; transparent acrylic is adopted as a cover plate outside the bearing, and whether the inner structure of the bearing works normally can be visually observed.
Further, in the first rotating bearing 8 and the second rotating bearing 15, an angle display rod 33 is connected with the inside of the transmission gear 29 through a bolt and used for visually displaying the rotating angle of the unmanned aerial vehicle weight, and an initial adjusting knob 32 and an initial adjusting spring 34 are nested together and are jointly positioned in an inner sliding groove of the bearing outer frame 30; before unmanned aerial vehicle flies, the rotatory initial adjustment knob 32 of accessible drives initial adjustment spring 34, changes the position of angle display pole 33, and the rotation angle of focus flexibility autonomic adjustment below heavy object for the mechanical wear that prevents to rotate the bring many times, and the embedded ball 28 structure of rolling bearing prevents the direct contact of drive gear 29 and mobile jib, improves rolling bearing's life-span.
In conclusion, the invention discloses a linear unmanned aerial vehicle which is high in efficiency, good in instantaneity, stable in performance and adaptive to the gravity center.
Gravity center self-adaptation straight line type unmanned aerial vehicle realizes the centrobaric autonomic adjustment of aircraft, improves the utilization ratio of system's energy. And (4) combining UKF fusion multi-sensor data, estimating the flight state of the aircraft in real time, and controlling the stable flight operation of the aircraft.
Compared with the prior linear unmanned aerial vehicle, the method provided by the invention has the following unique characteristics:
(1) the utility model discloses a self-adjusting's of focus linear type unmanned aerial vehicle structure realizes that the useful work of motor fully acts on the spraying operation, accomplishes unmanned aerial vehicle focus with the help of the rolling bearing that can finely tune the angle and independently adjusts, realizes systematic self-adaptation regulation.
(2) The rolling bearing mechanism finely controls the swing of the fusion bin below through the customized joint motor and gear transmission, and the swing bearing mechanism is matched with the rotor motor to control different rotating speeds, so that the energy utilization efficiency is improved to the maximum.
(3) The operating mechanism adopts the centrifugal nozzle, has better atomization effect and wider spray width, combines the special lower washing airflow of the airplane, can effectively spray the crop canopy, and improves the spraying efficiency.
(4) The adjusting rod is matched with the rotor wing to extend out of the plane of the main rod, the main rod is distributed in a staggered mode, the inter-wing interference is reduced, meanwhile, the acting force arm of the motor is increased, the posture is easily adjusted, and meanwhile, the front and back spray amplitude area is improved.
(5) The integration bin comprises a medicine box and a battery bin, so that the center of gravity of the aircraft can be adjusted conveniently by the aid of the rotating bearing, and the interference of different parts is prevented from disturbing the whole aircraft.
(6) The landing gear adopts a 3K light carbon tube, and a buffer landing gear is added. The buffering undercarriage is added to reduce the interference of the overlarge mass of the fusion bin on the flight attitude during falling.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a detail view of an adjusting lever of the present invention;
FIG. 3 is a detail view of the rolling bearing of the present invention;
FIG. 4 is a block diagram of an aircraft control algorithm of the present invention;
in fig. 1, 1-first adjustment lever, 2-first rotor, 3-first operation unit, 4-millimeter wave radar, 5-second rotor, 6-second adjustment lever, 7-second operation unit, 8-first rotation bearing, 9-first GPS-RTK component, 10-flight controller, 11-second GPS-RTK component, 12-fusion cabin, 13-support frame, 14-landing gear, 15-second rotation bearing, 16-third rotor, 17-third adjustment lever, 18-third operation unit, 19-laser, 20-fourth adjustment lever, 21-fourth rotor, 22-fourth operation unit;
in FIG. 2, 23-nozzle fixing plate, 24-conveying upright rod, 25-rotating motor, 26-centrifugal spray disk and 27-motor connecting piece;
in FIG. 3, 28-ball, 29-drive gear, 30-bearing outer frame, 31-joint motor, 32-initial adjusting knob, 33-angle display rod, 34-initial adjusting spring;
Detailed Description
The invention is further described below with reference to the figures and examples.
The linear unmanned aerial vehicle structure schematic diagram based on gravity-center adaptive adjustment device shown in fig. 1 mainly comprises the following parts: 1-a first adjusting rod, 2-a first rotor wing, 3-a first operation unit, 4-millimeter wave radar, 5-a second rotor wing, 6-a second adjusting rod, 7-a second operation unit, 8-a first rotating bearing, 9-a first GPS-RTK component, 10-flight controller, 11-a second GPS-RTK component, 12-a fusion cabin, 13-a support frame, 14-an undercarriage, 15-a second rotating bearing, 16-a third rotor wing, 17-a third adjusting rod, 18-a third operation unit, 19-laser, 20-a fourth adjusting rod, 21-a fourth rotor wing and 22-a fourth operation unit. In the whole structure, the first rotor wing 2, the second rotor wing 5, the third rotor wing 16 and the fourth rotor wing 21 are uniformly distributed on the first adjusting rod 1, the second adjusting rod 6, the third adjusting rod 17 and the fourth adjusting rod 20, so that lift force and attitude transformation tension force are provided for the flight of the unmanned aerial vehicle, and the installation angles of the first adjusting rod 1, the second adjusting rod 6, the third adjusting rod 17 and the fourth adjusting rod 20 can be optimized according to the actual operation effect; millimeter wave radar 4 and laser 19 distribute at the mobile jib both ends, gather current altitude information to different relief, control unmanned aerial vehicle height after flight controller 10 handles.
FIG. 2 shows a detail view of the adjusting rod of the present invention. The first adjusting rod 1, the second adjusting rod 6, the third adjusting rod 17 and the fourth adjusting rod 20 are fixed with the main rod through a three-way connecting piece, the first adjusting rod 1 and the fourth adjusting rod 20 are symmetrically installed at two ends of the main rod, and the second adjusting rod 6 and the third adjusting rod 17 are symmetrically installed in the middle of the main rod. One operation unit is arranged below the rotor corresponding to the first adjusting rod 1, the second adjusting rod 6, the third adjusting rod 17 and the fourth adjusting rod 20. The symmetrical structure is easy to decouple and is convenient for establishing a mathematical model and a control system. Each operation unit consists of a spray head fixing plate 23, a conveying upright rod 24, a rotating motor 25, a centrifugal spray disk 26 and a motor connecting piece 27. The nozzle fixing rod 23 is connected with the main rod through a pipe clamp, a long screw and a nut. The inside main liquid medicine conveying channel that has hose UNICOM mobile jib of carrying pole setting 24, the outside is used thicker silica gel material parcel, avoids inside hose impaired. The conveying upright rod 24 and the rotating motor 25 are connected through a motor connecting piece 27. The rotary motor provides the centrifugal force for atomizing the liquid medicine and can have good torque at high rotating speed. The centrifugal spray disk 26 provides an acceleration channel to ensure that water droplets do not overflow when flowing through the channel, thereby achieving effective atomization.
Operating device adopts centrifugal nozzle, compares in pressure nozzle, and the droplet gathers together more, and relative width is lower, distributes more evenly, and the plant absorbs faster, and the medicament performance is better, guarantees overall structure's uniformity and the full cover of spraying operation, prevents that repeatability from spraying, improves unmanned aerial vehicle's operating efficiency.
Fig. 3 shows a schematic view of a rotary bearing. The first rotating bearing 8 and the second rotating bearing 15 are symmetrically arranged at two sides of the flight controller 10. Angle shows pole 33 and the inside bolted connection that passes through of drive gear 29 for the rotation angle of visual display unmanned aerial vehicle heavy object, initial adjustment knob 32 and initial adjustment spring 34 are nested together, lie in the inside spout of bearing frame 30 jointly, and before unmanned aerial vehicle flies, the rotatory initial adjustment knob 32 of accessible drives initial adjustment spring 34, changes the position of angle display pole 33, and the rotation angle of the flexible autonomic adjustment below heavy object of focus. In order to prevent mechanical abrasion caused by multiple rotations, the invention embeds the ball 28 structure to prevent the transmission gear 29 from directly contacting with the main rod, thereby prolonging the service life of the rotating bearing. When the unmanned aerial vehicle changes the gesture (every single move, roll, driftage etc.) in flight, the unmanned aerial vehicle focus can produce the contained angle for geodetic coordinate system and the vertical direction in ground, is unfavorable for flight operation and flight stability. Transparent acrylic is adopted as a cover plate outside the bearing, and whether the inner structure of the bearing works normally can be directly observed.
The first and second rotary bearings 8, 15 are custom bearings that are self-adaptive to rotate within a limited angular range. Firstly, the flight controller sends the three-axis angular velocity of the onboard gyroscope to the tracking differentiator to estimate the attitude angle of the aircraft based on the geodetic coordinate system at present, and calculates the tilting angle of the lower heavy object by the gravity center offset algorithm. Then, the unmanned aerial vehicle controller gives an instruction to the joint motor 31 according to the tilt angle. The joint motor 31 rotates the airborne fusion cabin 12 and other heavy objects through the transmission gear 29, and the gravity center is adjusted in the vertical direction under the geodetic coordinate system through the inertia effect, so that the stable flight and operation of the aircraft are ensured.
Fig. 4 is a block diagram of the drone control algorithm of the present invention. The invention is composed of a position controller, a speed controller, an angle controller, an angular speed controller and an angular acceleration controller in cascade. The invention combines UKF fusion multi-sensor data, estimates the flight state of the unmanned aerial vehicle in real time and controls the stable flight operation of the unmanned aerial vehicle.
Claims (8)
1. A linear unmanned aerial vehicle structure based on a gravity center self-adaptive adjusting device is characterized by comprising a first adjusting rod 1, a first rotor wing 2, a first operation unit 3, a millimeter wave radar 4, a second rotor wing 5, a second adjusting rod 6, a second operation unit 7, a first rotating bearing 8, a first GPS-RTK component 9, a flight controller 10, a second GPS-RTK component 11, a fusion cabin 12, a support frame 13, an undercarriage 14, a second rotating bearing 15, a third rotor wing 16, a third adjusting rod 17, a third operation unit 18, a laser 19, a fourth adjusting rod 20, a fourth rotor wing 21 and a fourth operation unit 22; the first adjusting rod 1 and the fourth adjusting rod 20 on the outermost side, the second adjusting rod 6 and the third adjusting rod 17 in the middle section of the four-position adjusting rods are symmetrically distributed by taking the flight controller 10 as the center respectively, and the tail ends of the first adjusting rod 1 and the fourth adjusting rod 20 are connected with the first operation unit 3 and the fourth operation unit 22 respectively; the tail ends of the second adjusting rod 6 and the third adjusting rod 17 are respectively connected with the second operation unit 7 and the third operation unit 18;
among the four rotors, the first rotor 2 on the first adjusting rod 1 and the fourth rotor 21 on the fourth adjusting rod 20, the second rotor 5 on the second adjusting rod 6 and the third rotor 16 on the third adjusting rod 17 are symmetrically distributed on the corresponding adjusting rods, so that main lift force and rotating tension force for changing the flight attitude are provided for the flight of the unmanned aerial vehicle;
the millimeter wave radar 4 and the laser 19 which are arranged at the far ends of the flight controller 10 are subjected to data fusion, so that the fixed-point height fixing and one-key take-off and landing functions of the unmanned aerial vehicle in different geographic environments are realized; the first GPS-RTK component 9 and the second GPS-RTK component 11 which are arranged near two ends of the flight controller 10 realize centimeter-level high-precision real-time positioning by resolving difference data of a ground base station and an airborne terminal GPS; below the flight controller 10 is a fusion bin 12, which contains a battery bin and a medicine box inside;
the first rotating bearing 8 and the second rotating bearing 15, which are connected with the undercarriage 14 at two ends of the flight controller 10, are limiting mechanical kits, the upper end of the first rotating bearing is coaxially connected with the main rod, and the lower end of the first rotating bearing is connected with the support frame 13, so that the main rod can only rotate within a limited angle; first rolling bearing 8, the 15 structure of second rolling bearing combine the integration storehouse 12 self inertia effect that the below carried, through the angle of flight controller feedback, under motor and gear drive's effect, independently change the unmanned aerial vehicle focus that the every single move arouses and revise, improve first rotor 2, second rotor 5, third rotor 16, fourth rotor 21's useful work utilization ratio when reducing the flight control degree of difficulty.
2. The linear unmanned aerial vehicle structure based on self-adaptive gravity center adjusting device according to claim 1, wherein the blending bin 12 is an integrated design of a medicine box and a battery bin, a medicine box dumping opening and a battery bin cover are reserved at the upper end of the blending bin, and the lower end of the blending bin is fixed on the support frame 13 through bolts.
3. The linear unmanned aerial vehicle structure based on self-adaptive gravity center adjusting device of claim 1, wherein the control part of the flight controller 10 is composed of a position controller, a speed controller, an angle controller, an angular velocity controller and an angular acceleration controller in cascade; angular acceleration closed-loop feedback is sent to a tracking differentiator for estimation through the triaxial angular velocity of the airborne gyroscope, and negative feedback control is completed through a proportional controller; the angular velocity closed loop is fed back after being subjected to low-pass filtering by the three-axis angular velocity of the airborne gyroscope, and negative feedback control is completed by the proportional controller; the angle closed loop is fed back by an Euler angle fused by an airborne accelerometer, a gyroscope and a magnetometer, the yaw angle is expected to be directly given by a human-computer interaction end, the roll angle and the pitch angle are expected to be output by a speed controller at the previous stage, and negative feedback control is completed by a proportional-integral controller; the speed closed loop is fed back by a horizontal speed vector fused by an airborne accelerometer, a gyroscope, a magnetometer and a GPS module, is fed back by a vertical speed vector fused by the airborne accelerometer, the gyroscope, the magnetometer and a millimeter wave radar, and is subjected to negative feedback control by a proportional differential controller; the position closed loop is fed back by an inertial system position fused by an airborne accelerometer, a gyroscope, a magnetometer, a millimeter wave radar and a Beidou module, and is expected to be man-machine interaction or air route planning, and negative feedback control is completed by a proportional-integral controller.
4. The linear unmanned aerial vehicle structure based on self-adaptive gravity center adjusting device of claim 1, wherein the adjusting rod is made of carbon fiber material.
5. The linear unmanned aerial vehicle structure based on self-adaptive gravity center adjusting device of claim 1, wherein four rotors are provided with high-power motors and double-blade paddles.
6. The linear unmanned aerial vehicle structure based on self-adaptive gravity center adjusting device is characterized in that the first operation unit 3, the second operation unit 7, the third operation unit 18 and the fourth operation unit 22 are identical in structure, the symmetrical structure is easy to decouple, and each operation unit is composed of a spray head fixing plate 23, a conveying vertical rod 24, a rotating motor 25, a centrifugal spray disk 26 and a motor connecting piece 27; the spray head fixing rod 23 is connected with the main rod through a pipe clamp, a long screw and a nut, a hose is arranged in the conveying upright rod 24 and communicated with a main liquid medicine conveying channel in the main rod, and the outer part of the conveying upright rod is wrapped by a thick silica gel material, so that the inner hose is prevented from being damaged; carry and connect through motor connecting piece 27 between pole setting 24 and the rotating electrical machines 25, the rotating electrical machines provides the atomizing centrifugal force of liquid medicine, can possess good moment of torsion under high rotational speed, and centrifugal spray disk 26 provides the passageway with higher speed, guarantees that the water droplet can not spill over when the passageway flows through, realizes effective atomizing.
7. The linear unmanned aerial vehicle structure based on self-adaptive gravity center adjusting device according to claim 1, wherein the first rotating bearing 8 and the second rotating bearing 15 are both internally provided with a fastener and a spring to flexibly limit the rotating angle of the support frame 13, and the main rod is connected to a sliding groove in the rotating bearing through a limiting pin of the first rotating bearing 8 and the second rotating bearing 15 to realize self-adjustment of the self-flexibility of the gravity center; transparent acrylic is adopted as a cover plate outside the bearing, and whether the inner structure of the bearing works normally can be visually observed.
8. The linear unmanned aerial vehicle structure based on self-adaptive gravity center adjusting device of claim 7 is characterized in that in the first rotating bearing 8 and the second rotating bearing 15, an angle display rod 33 is connected with the inside of the transmission gear 29 through a bolt for visually displaying the rotating angle of the unmanned aerial vehicle weight, and an initial adjusting knob 32 and an initial adjusting spring 34 are nested together and are located in an inner sliding groove of the bearing outer frame 30; before unmanned aerial vehicle flies, the rotatory initial adjustment knob 32 of accessible drives initial adjustment spring 34, changes the position of angle display pole 33, and the rotation angle of focus flexibility autonomic adjustment below heavy object for the mechanical wear that prevents to rotate the bring many times, and the embedded ball 28 structure of rolling bearing prevents the direct contact of drive gear 29 and mobile jib, improves rolling bearing's life-span.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| WO2024012000A1 (en) * | 2022-07-15 | 2024-01-18 | 江苏大学 | Linear multi-rotor plant protection unmanned aerial vehicle structure based on tilt rotors and control method therefor |
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