CN115140302A - Flight control system of coaxial unmanned aerial vehicle - Google Patents

Abstract

The invention provides a flight control system of a coaxial unmanned aerial vehicle, which comprises a main shaft and a rotor wing structure, wherein the rotor wing structure comprises an upper rotor wing part and a lower rotor wing part, the upper rotor wing part and the lower rotor wing part respectively comprise a power set, a hub and a plurality of groups of blades, the hub is sleeved on the main shaft, the plurality of groups of blades are rotationally connected to the hub, the power set drives the hub to rotate to generate centrifugal force so as to unfold the blades, a limiting piece for limiting the unfolded blades to rotate to be folded is further arranged between the hub and the blades, and an accelerometer and a timer are further arranged on the main shaft; the flight control system also comprises an acquisition module for acquiring actual acceleration information and counting information, a judgment module for judging and sending a wing-unfolding command or a waiting command, and a control module for controlling each component of the unmanned aerial vehicle; the invention has the advantages that whether the unmanned aerial vehicle reaches a vertical hovering state in the ejection process can be detected in real time, and the gun barrel ejection type unmanned aerial vehicle can fly more stably by combining the corresponding unmanned aerial vehicle structure.

Description

Flight control system of coaxial unmanned aerial vehicle

Technical Field

The invention relates to the field of unmanned aerial vehicles, in particular to a flight control system of a coaxial unmanned aerial vehicle.

Background

Unmanned aerial vehicle, the unmanned aerial vehicle who refers to the unmanned aerial vehicle that utilizes radio remote control equipment and self-contained program control device to control, including civilian unmanned aerial vehicle and military unmanned aerial vehicle, along with technological development, unmanned aerial vehicle's technique is mature gradually, and it specifically uses in fields such as aerial photography, agriculture, plant protection, miniature autodyne, express delivery transportation, disaster relief, observation wild animal, control infectious disease, survey and drawing, news report, electric power are patrolled and examined, relief of disaster, movie & TV are shot, make romance.

The mode of taking off of mainstream unmanned aerial vehicle at present mainly relies on self rotor to rotate and produces lift, and the stabilizer blade of its bottom is fixed and is played the effect that supports on unmanned aerial vehicle, and this kind of unmanned aerial vehicle need reserve the certain time when taking off and make the rotor rotate certain rotational speed, and if need unmanned aerial vehicle take off to the time that the take off of take a altitude longer, is difficult to satisfy the purpose of taking off under some specific scenes.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a flight control system of a coaxial unmanned aerial vehicle, which can detect whether the unmanned aerial vehicle reaches a vertical hovering state in the ejection process in real time, and can realize that a gun barrel ejection type unmanned aerial vehicle can fly more stably by combining a corresponding unmanned aerial vehicle structure.

In order to realize the purpose, the invention provides the following technical scheme:

a flight control system of a coaxial unmanned aerial vehicle comprises a main shaft and a rotor structure, wherein the rotor structure comprises an upper rotor part and a lower rotor part, the upper rotor part and the lower rotor part respectively comprise a power set, a hub and a plurality of groups of blades, the hub is sleeved on the main shaft, the plurality of groups of blades are rotationally connected to the hub, the power set drives the hub to rotate to generate centrifugal force to enable the blades to be unfolded, a limiting piece used for limiting the unfolded blades to rotate to be folded is further arranged between the hub and the blades, and an accelerometer and a timer are further arranged on the main shaft;

the flight control system further comprises a flight control database, wherein the flight control database comprises acceleration reference information, upper throttle default information, lower throttle default information and interval information, the acceleration reference information reflects an acceleration value of the unmanned aerial vehicle when a blade of an upper rotor part is ejected out of a gun barrel and extends, the upper throttle default information reflects an initial rotating speed value output by a power set of the upper rotor part, the lower throttle default information reflects an initial rotating speed value output by a power set of a lower rotor part, and the interval information reflects interval time between opening time of the blade of the upper rotor part and opening time of the blade of the lower rotor part;

the flight control system also comprises an acquisition module, a judgment module and a control module;

the acquisition module acquires an acceleration value of the unmanned aerial vehicle catapult flight acquired by the accelerometer as actual acceleration information, and acquires a timing value acquired by the timer and taking one second per zero point as a timing point as counting information;

the judgment module is used for acquiring actual acceleration information in the acquisition module, acquiring acceleration reference information in the flight control database, comparing the actual acceleration information with the acceleration reference information, if the actual acceleration information and the acceleration reference information are consistent, sending a wing unfolding command, and if the actual acceleration information and the acceleration reference information are not consistent, sending a waiting command;

the control module is used for controlling the power group of the upper rotor part to drive the hub of the upper rotor part to rotate by taking throttle default information above the power group of the upper rotor part as a reference when the wing spreading command is acquired, acquiring counting information in the acquisition module, recording the opening time of blades of the upper rotor part as a starting calculation point, acquiring interval information in a flight control database, matching corresponding time points in the counting information according to the starting calculation point and the interval information, controlling the power group of the lower rotor part to drive the hub of the lower rotor part to rotate by taking throttle default information below the power group of the lower rotor part as a reference, and controlling the power group of the upper rotor part to wait for starting when the waiting command is acquired.

Furthermore, a variable-pitch structure is further arranged between the upper rotor part and the lower rotor part and comprises an inclinator and a plurality of groups of steering engines, a total-pitch piece is arranged between the inclinator and the blades, a variable-pitch piece connected with the inclinator is arranged at the output end of each group of steering engines, and a level is further arranged on the main shaft;

the flight control database also comprises attitude information, the attitude information reflects the inclination of a main shaft of the unmanned aerial vehicle during catapulting flight, and the attitude information corresponds to acceleration reference information one to one;

the acquisition module further comprises an acquisition submodule, and the acquisition submodule acquires the inclination of a main shaft detected by a level when blades of a rotor part on the unmanned aerial vehicle are unfolded and uses the inclination as actual inclination information;

the flight control system also comprises a calibration module, the calibration module acquires actual inclination information in the acquisition sub-module, acquires attitude information of the upper rotor part in a flight control database when the blades are unfolded, compares the actual inclination information with the attitude information, sends a correction command to the control module if the actual inclination information and the attitude information are different, and sends a normal command if the actual inclination information and the attitude information are the same;

and when the correction command is acquired, the control module controls a steering engine to drive the pitch-variable part to move so as to enable the inclinator to incline or move up and down along the main shaft, and the paddle rotates along the axis direction of the main shaft.

Further, a processing module is arranged in the flight control system, the processing module acquires actual inclination information when the catapult flight ascending acceleration of the unmanned aerial vehicle is zero, the inclination of the main shaft is judged according to the actual inclination information, if the inclination is equal to zero, a hovering command is sent to the control module, and if the inclination is greater than or less than zero, an oil filling command is sent to the control module;

the control module controls the power group of the upper rotor part and the power group of the lower rotor part to be respectively driven by the upper throttle default information and the lower throttle default information when the hovering command is acquired, and controls the power group of the upper rotor part and the power group of the lower rotor part to be respectively driven by the upper throttle default information and the lower throttle default information when the oil filling command is acquired.

Furthermore, the flight control database further comprises barrel discharging reference information, the barrel discharging reference information reflects an acceleration value of the unmanned aerial vehicle when the unmanned aerial vehicle is ejected out of the gun barrel, the flight control system further comprises a feedback module, the feedback module acquires actual acceleration information in the acquisition module and barrel discharging reference information in the flight control database, and when the actual acceleration information is the same as the barrel discharging reference information, a barrel discharging command is sent to the control module.

Further, still fixedly on the blade and the connecting end of propeller hub be equipped with and wave the hinge, wave the hinge and rotate with the propeller hub and be connected, the locating part is two sets of extension spring, and two sets of extension spring's one end is connected respectively in the both sides of waving the hinge, and the other end is connected respectively on the propeller hub, the blade is by fold condition when switching to the extension state, extension spring's tensile length reduces gradually.

Further, still rotate on the hub and the joint end of waving the hinge and be connected with total distance adjusting part, total distance adjusting part includes total distance hinge, adaptor, displacement axle, it is connected with total distance hinge rotation to wave the hinge, total distance hinge rotates with the adaptor to be connected, adaptor fixed connection is on the hub, displacement axle one end is fixed to be located the adaptor, and the other end extends to in the total distance hinge and is connected with total distance hinge bearing.

Furthermore, the inclinator comprises a rotating ring, a fixing ring and a deep groove ball bearing, a radial spherical sliding bearing is further arranged between the fixing ring and the main shaft, the rotating ring is rotatably connected with the fixing ring through the deep groove ball bearing, the total distance piece is connected with the rotating ring, and the distance changing piece is connected with the fixing ring.

Furthermore, the displacement piece includes rotor plate and displacement pull rod, rotor plate one end is connected with the output of steering wheel, and the other end is connected with the displacement pull rod, the one end that the rotor plate was kept away from to the displacement pull rod is connected with solid fixed ring, gu fixed ring's lateral surface is equipped with outstanding connecting portion, be connected through the bulb universal joint between displacement pull rod and the connecting portion.

Further, still be equipped with the support on the main shaft, the steering wheel all is located the support, still vertically on the support be equipped with the limiting plate, be equipped with spacing slide on the limiting plate, the one end of arbitrary a set of displacement pull rod is equipped with the slide bar of sliding connection in spacing slide.

Furthermore, the collective distance piece comprises a collective distance pull rod and a connecting arm, the collective distance pull rod is rotatably connected with the connecting arm, the other end of the collective distance pull rod is connected with the fixing ring, and the other end of the connecting arm is hinged with the collective distance.

The invention has the beneficial effects that: 1. whether reach the expansion stage through detecting unmanned aerial vehicle at the acceleration value of launching the in-process and judging the rotor, and judge the gesture when unmanned aerial vehicle launches to the end stage through the spirit level to whether follow-up can judge need correct or the oil charge, combine the unmanned aerial vehicle structure that corresponds to realize that the barrel launches formula unmanned aerial vehicle can more stable realization flight.

2. The blades are rotationally connected to the propeller hub, so that the blades can be switched between a folded state and an extended state, the unmanned aerial vehicle is convenient to adapt to a gun barrel ejection type takeoff mode, and the blades are prevented from being switched to the folded state when being in the extended state due to the arrangement of the extension spring; compared with the existing mode of manually breaking the blades, the mode of switching the folding state to the extending state of the unmanned aerial vehicle is that the blades are extended through centrifugal force generated by rotation of the propeller hub, and the mode is simple and convenient and is more suitable for a gun barrel ejection type takeoff mode;

3. multiunit steering wheel moves in vertical direction through the displacement pull rod that the drive corresponds, so that the clinometer realizes to certain lopping or whole upwards or the lapse of clinometer, be equipped with the total distance pull rod between rotatory ring on the clinometer and the rotor, the total distance pull rod can rotate along with the rotor and the solid fixed ring of the relative clinometer rotates, avoid the displacement pull rod to receive the influence because of the rotor rotates, and the slope of clinometer has realized the periodic displacement of rotor promptly, reciprocating of clinometer has realized rotor total distance of variation promptly, the purpose can drive two relative paddles and cut to one side to incline or incline to opposite direction, this kind of structure makes unmanned aerial vehicle more stable when turning to or adjusting flight angle.

4. Rotate the stabilizer blade and connect in the bottom of unmanned aerial vehicle body, the rethread sets up the piece that resets so that unmanned aerial vehicle launches to aerial in the barrel, and the piece that resets can be bounced to the holding state by fold condition with the stabilizer blade, and when it reset the piece for the spring catch, the stabilizer blade received the support of round pin head behind the holding state and pressed, even unmanned aerial vehicle falls to the ground the roof pressure stabilizer blade, the stabilizer blade also can not rotate.

Drawings

Figure 1 is an overall block diagram of a coaxial drone;

FIG. 2 is a system connection diagram of the present invention;

FIG. 3 is a structural view of the upper rotor portion of the present invention;

FIG. 4 is a block diagram of the lower rotor portion of the present invention;

FIG. 5 is a cross-sectional view of the upper rotor portion of the present invention;

FIG. 6 is an overall view of the recliner and the steering gear of the present invention;

FIG. 7 is a cross-sectional view of the recliner of the present invention;

FIG. 8 is a view of the construction of the support member of the present invention;

fig. 9 is a diagram of a first state of unmanned aerial vehicle ejection in the present invention;

fig. 10 is a diagram of a second state of drone ejection in accordance with the present invention.

Reference numerals: 1. a main shaft; 2. an upper wing portion; 3. a lower rotor portion; 4. a hub; 5. a paddle; 6. a power pack; 7. a tilter; 71. a rotating ring; 72. a fixing ring; 73. a deep groove ball bearing; 8. a steering engine; 9. a collective pitch; 91. a collective pitch tie rod; 92. a connecting arm; 10. a pitch-changing member; 101. rotating the sheet; 102. a variable pitch pull rod; 11. a support member; 12. swinging hinges; 13. an extension spring; 14. hinging the total distance; 15. an adapter; 16. a variable pitch axis; 17. a connecting portion; 18. a radial spherical plain bearing; 19. a support; 21. a limiting plate; 22. a limiting slide way; 23. a slide bar; 24. a support leg; 25. a hinged seat; 26. a support portion; 27. a folding section; 28. a spring pin; 29. a pin head; 30. a first connecting column; 31. a second connecting column; 111. an acquisition module; 112. a judgment module; 113. a control module; 114. a collection submodule; 115. a checking module; 116. a processing module; 117. and a feedback module.

Detailed Description

The present invention will be described in further detail with reference to the drawings and examples. In which like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "bottom" and "top," "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.

Structural part (a):

the existing main stream unmanned aerial vehicle takes off mainly by means of the rotation of a rotor wing of the main stream unmanned aerial vehicle to generate lift force, and a support leg 24 at the bottom of the main stream unmanned aerial vehicle is fixed on the unmanned aerial vehicle to play a supporting role, and the unmanned aerial vehicle needs to reserve a certain time to enable the rotor wing to rotate at a certain rotating speed when taking off, and if the unmanned aerial vehicle needs to take off to a certain height, the consumed time is long, and the take-off purpose under certain specific situations is difficult to meet.

The rotor parts of the current mainstream unmanned aerial vehicle comprise two types, one type is fixedly positioned at four corners of the unmanned aerial vehicle, the other type is foldable for storage, but the foldable unmanned aerial vehicle needs to manually fold the blades 5 to be in a horizontal state before flying, so that the folding unmanned aerial vehicle is inconvenient, and for a gun barrel launch type unmanned aerial vehicle, the rotor part of the unmanned aerial vehicle needs to be designed emphatically, so that the coaxial unmanned aerial vehicle is designed, the specific structure of the coaxial unmanned aerial vehicle is shown in figures 1 and 3-4, the coaxial unmanned aerial vehicle comprises an upper rotor part 2 and a lower rotor part 3 which are sleeved on a main shaft 1, the upper rotor part 2 and the lower rotor part 3 both comprise a rotor set and a power set 6 (the power set 6 comprises a motor, an electronic outer rotor is sleeved outside the main shaft 1 and connected with a hub 4), the rotor set comprises a hub 4 and a plurality of groups of blades 5, each group of blades 5 are respectively and rotatably connected to the outer side surface of the hub 4, each blade 5 has a folding state and an extending state, the folding state is that the blades 5 are parallel to the main shaft 1 (the folding of the blades 5 can be horizontal folding and vertical folding, the folding rotating shaft of the blades 5 which are horizontally folded is a vertical rotating shaft, the folding rotating shaft of the blades 5 which are vertically folded is a horizontal rotating shaft, in order to be suitable for a gun barrel ejection type takeoff mode, vertical folding is selected, the occupied space of the blades 5 which are vertically folded can be reduced, the blades 5 which are vertically folded are convenient to carry and easy to put into a gun barrel for launching), the extending state is that the blades 5 are vertical to the main shaft 1, the power group 6 drives the hub 4 to rotate, so that the generated centrifugal force switches the blades 5 from the folding state to the extending state, and a limiting part for limiting the blades 5 to be switched from the extending state to the folding state is further arranged between the hub 4 and the blades 5; the unmanned aerial vehicle has the advantages that the blades 5 are rotationally connected to the hub 4, so that the blades 5 can be switched between the folded state and the extended state, the unmanned aerial vehicle is convenient to adapt to a gun barrel ejection type takeoff mode, and the extension springs 13 are arranged to prevent the blades 5 from being switched to the folded state when in the extended state; compared with the existing mode of manually breaking the blades 5, the mode of switching the folding state to the extending state of the unmanned aerial vehicle is to extend the blades 5 through the centrifugal force generated by the rotation of the hub 4, and the mode is simple and more suitable for a gun barrel ejection type takeoff mode.

As shown in fig. 3 and 4, the rotor set further includes a flapping hinge 12, one end of the flapping hinge 12 is rotatably connected to the hub 4, the other end of the flapping hinge is fixedly connected to the blade 5, the limiting member is an extension spring 13, one end of the extension spring 13 is connected to the hub 4, the other end of the extension spring is connected to the blade 5, the setting position of the extension spring 13 determines the folding direction of the blade 5, if one end of the extension spring 13 is connected to the upper surface of the hub 4 and the other end of the extension spring is connected to one side of the flapping hinge 12, the blade 5 is folded upwards, when the blade 5 is switched from the folded state to the extended state, the extension spring 13 is in the maximum extension state, the extension spring 13 has an extension force, when the hub 4 rotates, a centrifugal force is generated to swing the blade 5 out, the blade 5 is in the folded state, the extension spring is tightened, the extension spring 13 is hard to return to the extended state by gravity of the blade 5, therefore, the blade 5 is prevented from being in the folded state and the extended state and the extension spring is kept in the folded state.

As shown in fig. 3 and 4, because upper rotor part 2 is located the holistic top of unmanned aerial vehicle, consequently in order to be suitable for the mode of taking off that the barrel launched, and be convenient for accomodate unmanned aerial vehicle, the mode of selection folding down paddle 5, specifically be equipped with first spliced pole 30 respectively in the link both sides of waving hinge 12 and hub 4, the upper surface of hub 4 is equipped with the second spliced pole 31 that extends to both sides, the both sides of waving hinge 12 all are equipped with an extension spring 13, extension spring 13's one end is connected on first spliced pole 30, the other end is connected on second spliced pole 31, restriction can be improved in the setting of two extension springs 13, and more stable.

Because how to adjust the flight direction and the flight angle of the existing coaxial gun barrel ejection type unmanned aerial vehicle after takeoff is a difficult point, the pitch-variable structure in the invention comprises a main shaft 1 and a pitch-variable component, specifically as shown in figure 1, the pitch-variable component comprises a tilter 7 and a plurality of groups of steering engines 8 (the invention comprises 3 groups of steering engines 8), the tilter 7 comprises a rotating ring 71, a fixed ring 72 and a deep groove ball bearing 73, the fixed ring 72 is sleeved on the main shaft 1 (the rotating ring 71 and the main shaft 1 can only move up and down and incline back and forth and left and right, specifically, the diameter of the inner ring of the fixed ring 72 is larger than that of the main shaft 1, or an adjusting structure is arranged), the fixed ring 72 in the invention can move up and down and incline back and forth and left and right by virtue of the radial spherical sliding bearing 18, the fixed ring 72 is rotatably connected with the rotating ring 71 through the deep groove ball bearing 73, the outer ring of the rotating ring 71 is provided with a total pitch piece 9 connected with a rotor wing, the output end of each group of steering engines 8 is provided with a pitch-changing part 10 connected with a fixed ring 72, the steering engines 8 drive the pitch-changing part 10 to move so that the fixed ring 72 tilts or moves up and down along the main shaft 1, after the fixed ring 72 tilts or moves, the rotating ring 71 on the fixed ring 72 also shifts or moves, and then a total pitch part 9 connected with the rotating ring 71 can drive the corresponding blades 5 to deflect, and the effect is that the tilting of the tilter 7 realizes the periodic pitch change of the rotor, and the up-and-down movement of the tilter 7 realizes the total pitch change of the rotor, so that two opposite blades 5 can be driven to be inclined to one side or inclined to the opposite direction (the total pitch change is to increase or decrease the pitch of the two blades at the same angle, the lifting of the aircraft is controlled, and the periodic pitch change is to increase or decrease the pitch of the blades at different phases, realize the vector change of oar dish lift, thereby realize control flight all around, through the total pitch change of last rotor during this aircraft lift flight, the balanced reaction torque of lower rotor rotational speed change, thereby avoid vertical direction and course change coupling, the total pitch of last rotor increases during the driftage, lower rotor rotational speed reduces the unbalanced realization of reaction torque, this kind of structure makes unmanned aerial vehicle more stable (just also one advantage is because the rotor is in the slipstream of rotor down, rotor efficiency is less than the rotor under the balanced state of reaction torque when turning to or adjusting flight angle. So we use the upper rotor cyclic pitch. And the distance between the upper rotary wing and the gravity center is selected, so that the operation effect is good).

As shown in fig. 6, the present invention has three sets of torque converters 10, each set of torque converter 10 includes a rotor plate 101 and a torque rod 102, one end of the rotor plate 101 is connected to an output end of the steering engine 8, the other end of the rotor plate is connected to the torque rod 102 through a ball joint, one end of the torque rod 102, which is far away from the rotor plate 101, is connected to a fixing ring 72, a protruding connecting portion 17 is disposed on an outer side surface of the fixing ring 72, the connecting portion 17 includes a first portion and a second portion that are integrally formed, an included angle is formed between the first portion and the second portion, when the included angle is 120 °, the fixing ring 72 is pulled up and down by the torque rod 102 to be most stable, and the torque rod 102 is connected to the connecting portion 17 through the ball joint.

As shown in fig. 6, still be equipped with support 19 on main shaft 1, support 19 is last support seat and lower support seat, steering wheel 8 all is located between support seat and the lower support seat, still vertically be equipped with limiting plate 21 on the last support seat, be equipped with limiting slide 22 on the limiting plate 21, the one end of arbitrary a set of displacement pull rod 102 is equipped with sliding rod 23 of sliding connection in limiting slide 22, limiting slide 22's setting is mainly for spacing displacement pull rod 102, steering wheel 8 is when driving displacement pull rod 102, displacement pull rod 102 can move in vertical direction all the time, limiting plate 21 plays two limiting displacement, one is the slope of inclinator 7, one is that prevent solid fixed ring 72 from rotating.

As shown in fig. 6 and 7, the collective pitch piece 9 includes a collective pitch pull rod 91 and a connecting arm 92, the collective pitch pull rod 91 and the connecting arm 92 in the present invention are rotatably connected, the collective pitch pull rod 91 and the connecting arm 92 are mutually perpendicular in an initial state, the other end of the collective pitch pull rod 91 is connected to the rotating ring 71, the other end of the connecting arm 92 is connected to the rotor, in order to realize that the upper rotor can change the rotating speed and can change the collective pitch and change the cyclic pitch, therefore, the rotor portion includes a collective pitch hinge 14, an adaptor 15, a pitch change shaft 16 and a blade 5, the blade 5 is rotatably connected to the collective pitch hinge 14, the collective pitch hinge 14 is rotatably connected to the adaptor 15 (the rotating direction of the blade 5 and the collective pitch hinge 14 is a first direction, the rotating direction of the collective pitch hinge 14 and the adaptor 15 is a second direction, the first direction and the second direction are mutually perpendicular), the adaptor 15 is fixedly connected to the hub 4, one end of the pitch change shaft 16 is fixedly located in the adaptor 15, the other end extends into the collective pitch change 14 and is connected to the bearing, the collective pitch change principle is that: the collective tie rod 91 moves in the vertical direction, the connecting arm 92 rotates relative to the collective tie rod 91, and the connecting arm 92 can drive the collective hinge 14 to rotate around the variable pitch shaft 16 so as to realize the rotation of the blade 5.

Because the existing main stream unmanned aerial vehicle takes off mainly by means of the rotation of a rotor wing of the main stream unmanned aerial vehicle to generate lift force, the support legs 24 at the bottom of the main stream unmanned aerial vehicle are fixed on the unmanned aerial vehicle to play a supporting role, the unmanned aerial vehicle needs to reserve a certain time to enable the rotor wing to rotate at a certain rotating speed when taking off, and if the unmanned aerial vehicle needs to take off to a certain height, the consumed time is longer, so that the unmanned aerial vehicle takes off in some specific places, the unmanned aerial vehicle takes off by applying a barrel type taking off mode, the unmanned aerial vehicle is ejected to a certain height through a barrel and then takes off, however, the unmanned aerial vehicle landing gear in the mode is arranged with a certain difficulty, the landing gear structure is designed, specifically shown in figure 8, the landing gear comprises a plurality of groups of support members 11, the landing gear comprises the support members 11, the landing gear comprises 4 groups of support members 11, each group of support members 11 is uniformly distributed on the outer edge of the bottom of the unmanned aerial vehicle, the plurality of groups of support members 11 are rotatably connected with the unmanned aerial vehicle body so that the landing gear has a folded state and a support state, the support members 11 are arranged between the support members from the folded state, and the support members 24 are suitable for launching the barrel type unmanned aerial vehicle when the unmanned aerial vehicle is launched to the barrel type unmanned aerial vehicle, and the gun barrel type unmanned aerial vehicle is suitable for launching the unmanned aerial vehicle; specifically, support piece 11 includes stabilizer blade 24 and articulated seat 25, and articulated seat 25 upper surface is fixed in unmanned aerial vehicle body bottom, and stabilizer blade 24 articulates on articulated seat 25, and when the undercarriage was fold condition, stabilizer blade 24 hugs closely on the lateral surface of unmanned aerial vehicle body, and when the undercarriage was the support condition, there was the support angle between stabilizer blade 24 and the unmanned aerial vehicle body, and the support angle was between 120-145, and the support angle should be relatively the most stable when 120, unmanned aerial vehicle stopped and fell.

Example 1:

as shown in fig. 8, the supporting leg 24 includes a supporting portion 26 and a folding portion 27, one end of the folding portion 27 is hinged to the hinge seat 25, the other end of the folding portion 27 is connected to the supporting portion 26, the reset component includes a spring pin 28 (the specific model of the spring pin 28 is a snap lock dk 634), the spring pin 28 is located in the hinge seat 25, the spring pin 28 includes a housing and a pin head 29 and a spring located in the housing, the spring applies an elastic force to the pin head 29 to make the pin head 29 pop out of the housing, and the pin head 29 pops out the folding portion 27 in the folded state to the supporting state, when the unmanned aerial vehicle is located in the launching gun barrel, the folding portion 27 is tightly attached to the outer surface of the unmanned aerial vehicle body in the folded state, at this time, the pin head 29 compresses the spring inwards, when the gun barrel launches the unmanned aerial vehicle into the air, the pin head 29 acts on the folding portion 27 under the elastic force of the spring, and pushes out the folding portion 27 to make the supporting leg 24 in the supporting state, the unmanned aerial vehicle comes to the ground, and the supporting leg 24, and the limiting torsion spring can play a buffering role.

As shown in fig. 8, when the unmanned aerial vehicle body stops, in order to avoid the rotation of the leg 24, the pin head 29 is a right-angle triangular platform, when the landing gear is in the folded state, the straight side of the pin head 29 abuts against the end of the folded portion 27, the oblique side of the pin head 29 is parallel to the folded portion 27, and at this time, the folded portion 27 is blocked and cannot rotate.

Example 2:

wherein the piece that resets still can be spacing torsional spring, and stabilizer blade 24 rotates with articulated seat 25 through spacing torsional spring to be connected, and when unmanned aerial vehicle was located the barrel, stabilizer blade 24 was folding under spacing torsional spring's effect, and when unmanned aerial vehicle reflected to aerial, the torsion of spacing torsional spring rotated stabilizer blade 24 to the support state, and unmanned aerial vehicle falls to the ground roof pressure stabilizer blade 24, and spacing torsional spring can play the effect of the buffering of moving away to avoid possible earthquakes.

Example 3:

the coaxial unmanned aerial vehicle can also be a fixed undercarriage, the support legs 24 are fixedly connected to the bottom of the unmanned aerial vehicle body, and the takeoff mode of the coaxial unmanned aerial vehicle is that the coaxial unmanned aerial vehicle takes off through rotation of a rotor wing on the traditional bottom surface.

The system part is as follows:

as shown in fig. 2, the flight control system further includes a flight control database, the flight control database includes acceleration reference information, upper throttle default information, lower throttle default information and interval information, the acceleration reference information reflects an acceleration value when the blades 5 of the upper rotor part 2 of the unmanned aerial vehicle are ejected out of the gun barrel and extend, the upper throttle default information reflects an initial rotation speed value output by the power set 6 of the upper rotor part 2, the lower throttle default information reflects an initial rotation speed value output by the power set 6 of the lower rotor part 3, and the interval information reflects an interval time between the opening time of the blades 5 of the upper rotor part 2 and the opening time of the blades 5 of the lower rotor part 3;

the flight control system also comprises an acquisition module 111, a judgment module 112 and a control module 113;

the acquisition module 111 acquires an acceleration value of the unmanned aerial vehicle catapult flight acquired by the accelerometer as actual acceleration information, and acquires a timing value acquired by the timer by taking one second per zero point as a timing point as counting information;

the judging module 112 is used for acquiring the actual acceleration information in the acquisition module 111, acquiring the acceleration reference information in the flight control database, comparing the actual acceleration information with the acceleration reference information, if the actual acceleration information and the acceleration reference information are consistent, sending a wing unfolding command, and if the actual acceleration information and the acceleration reference information are not consistent, sending a waiting command;

the control module 113 is used for controlling the power pack 6 of the upper rotor part 2 to drive the hub 4 of the upper rotor part 2 to rotate by taking throttle default information above the throttle as a reference when a wing spreading command is acquired, acquiring counting information in the acquisition module 111, recording the opening time of the blades 5 of the upper rotor part 2 as an initial calculation point, acquiring interval information in the flight control database, matching a corresponding time point in the counting information according to the initial calculation point and the interval information, controlling the power pack 6 of the lower rotor part 3 to drive the hub 4 of the lower rotor part 3 to rotate by taking throttle default information below the throttle default information as a reference, and controlling the power pack 6 of the upper rotor part 2 to wait for starting when a waiting command is acquired;

examples are as follows: when the coaxial unmanned aerial vehicle is ejected through air compression of the gun barrel, the unmanned aerial vehicle is ejected out of the gun barrel from a static state, the acceleration is increased from zero to the maximum value and then is reduced, when the acceleration value is 5g, the unmanned aerial vehicle is ejected into the air, at the moment, the power set 6 of the upper rotor part 2 outputs the default value of the throttle to drive the hub 4 to rotate, the upper blades 5 are unfolded under the action of centrifugal force, the upper blades 5 are timed through a timer after being unfolded, and after 0.5 second, the power set 6 of the lower rotor part 3 drives the lower hub 4 to rotate under the default value of the throttle, so that the lower blades 5 are unfolded to rotate.

The flight control database also comprises attitude information, the attitude information reflects the inclination of the main shaft 1 when the unmanned aerial vehicle flies by ejection, and the attitude information corresponds to the acceleration reference information one by one;

the acquisition module 111 further comprises an acquisition submodule 114, and the acquisition submodule 114 acquires the inclination of the main shaft 1 detected by the level meter when the blades 5 of the rotor part 2 on the unmanned aerial vehicle are unfolded and uses the inclination as actual inclination information;

the flight control system also comprises a calibration module 115, wherein the calibration module 115 acquires actual inclination information in the acquisition submodule 114, acquires attitude information when the blades 5 of the upper rotor wing part 2 in the flight control database are unfolded, compares the actual inclination information with the attitude information, sends a correction command to the control module 113 if the actual inclination information and the attitude information are different, and sends a normal command if the actual inclination information and the attitude information are the same;

the control module 113 controls the steering engine 8 to drive the pitch-variable part 10 to move so that the inclinator 7 inclines or moves up and down along the main shaft 1 when a correction command is obtained, and the blades 5 rotate along the axis direction of the main shaft 1;

examples are: because the unmanned aerial vehicle after the barrel launches is located in the air, as shown in fig. 9, when the unmanned aerial vehicle is at point b, the position that blade 5 is opened is gone up, the degree of inclination that must detect unmanned aerial vehicle this moment, when the barrel launches perpendicularly, unmanned aerial vehicle can receive the influence of wind in the air and produce the slope, or when the barrel slopes to launch, unmanned aerial vehicle still inclines when point b, but the acceleration and the speed of point b all can calculate, and unmanned aerial vehicle's weight and focus are known, can predict unmanned aerial vehicle's flight track, can know how much degree that unmanned aerial vehicle inclines when point b, point c is the peak under the unmanned aerial vehicle effect of launching, in the flight track of prediction, unmanned aerial vehicle should be in the horizontality when point c, therefore, detect the actual inclination angle of unmanned aerial vehicle at point b, compare with attitude information again, if detect actual inclination angle and predetermined angle are different, then need be through slope 7 auxiliary adjustment blade 5.

A processing module 116 is further arranged in the flight control system, the processing module 116 acquires actual inclination information when the ascending acceleration of the unmanned aerial vehicle catapulting flight is zero, the inclination of the main shaft 1 is judged according to the actual inclination information, if the inclination is equal to zero, a hovering command is sent to the control module 113, and if the inclination is greater than or less than zero, an oil filling command is sent to the control module 113;

when a hovering command is acquired, controlling the power group 6 of the upper rotor part 2 and the power group 6 of the lower rotor part 3 to be respectively driven by the default information of the upper throttle and the default information of the lower throttle, and if an oil filling command is acquired, controlling the power group 6 of the upper rotor part 2 and the power group 6 of the lower rotor part 3 to be respectively driven by the default information of the upper throttle and the default information of the lower throttle;

examples are: as shown in fig. 10, when the unmanned aerial vehicle continues to fly to point c from point b, the influence of the wind speed may cause the unmanned aerial vehicle to still be in an inclined state at the point c, and then the upper blade 5 and the lower blade 5 of the unmanned aerial vehicle still rotate with the corresponding upper throttle default and lower throttle default, and then the unmanned aerial vehicle is difficult to be in a hovering state, and will incline and fall to a certain place, so that the upper throttle and the lower throttle need to be increased to accelerate the rotation of the upper blade 5 and the lower blade 5, and the attitude of the unmanned aerial vehicle is slowly adjusted, wherein the unmanned aerial vehicle and the inclinator 7 can be adjusted in an auxiliary manner.

Still include a section of thick bamboo reference information in the flight control database, an acceleration value when a section of thick bamboo reference information reflection unmanned aerial vehicle launches and breaks away from the barrel still includes feedback module 117 among the flight control system, and feedback module 117 obtains the actual acceleration information in collection module 111, obtains a section of thick bamboo reference information in the flight control database, and when actual acceleration information is the same with a section of thick bamboo reference information, then sends out a section of thick bamboo command to control module 113, if: the acceleration value when unmanned aerial vehicle breaks away from the barrel is 2g, then when detecting that unmanned aerial vehicle's acceleration reaches 2g, then explains that unmanned aerial vehicle has broken away from the barrel.

The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to those skilled in the art without departing from the principles of the present invention should also be considered as within the scope of the present invention.

Claims (10)

1. The utility model provides a coaxial unmanned aerial vehicle's flight control system which characterized in that: the novel propeller comprises a main shaft (1) and a rotor structure, wherein the rotor structure comprises an upper rotor part (2) and a lower rotor part (3), the upper rotor part (2) and the lower rotor part (3) respectively comprise a power set (6), a hub (4) and a plurality of groups of blades (5), the hub (4) is sleeved on the main shaft (1), the plurality of groups of blades (5) are rotatably connected to the hub (4), the power set (6) drives the hub (4) to rotate to generate centrifugal force to enable the blades (5) to be unfolded, a limiting part used for limiting the unfolded blades (5) to rotate to be folded is further arranged between the hub (4) and the blades (5), and an accelerometer and a timer are further arranged on the main shaft (1);

the flight control system further comprises a flight control database, wherein the flight control database comprises acceleration reference information, upper throttle default information, lower throttle default information and interval information, the acceleration reference information reflects an acceleration value when the blades (5) of the upper rotor part (2) ejected out of the gun barrel by the unmanned aerial vehicle extend, the upper throttle default information reflects an initial rotating speed value output by a power set (6) of the upper rotor part (2), the lower throttle default information reflects an initial rotating speed value output by the power set (6) of the lower rotor part (3), and the interval information reflects interval time between opening time of the blades (5) of the upper rotor part (2) and opening time of the blades (5) of the lower rotor part (3);

the flight control system also comprises an acquisition module (111), a judgment module (112) and a control module (113);

the acquisition module (111) acquires an acceleration value of the unmanned aerial vehicle catapult flight acquired by the accelerometer as actual acceleration information, and acquires a timing value acquired by the timer and taking one second per zero point as a timing point as counting information;

the judgment module (112) is used for acquiring actual acceleration information in the acquisition module (111), acquiring acceleration reference information in the flight control database, comparing the actual acceleration information with the acceleration reference information, and sending a wing unfolding command if the actual acceleration information and the acceleration reference information are consistent, or sending a waiting command if the actual acceleration information and the acceleration reference information are not consistent;

the control module (113) controls the power group (6) of the upper rotor part (2) to drive the hub (4) of the upper rotor part (2) to rotate by taking the default information of the throttle above as a reference when acquiring the wing spreading command, acquires counting information in the acquisition module (111), records the opening time of the blades (5) of the upper rotor part (2) as a starting calculation point, acquires interval information in a flight control database, controls the power group (6) of the lower rotor part (3) to drive the hub (4) of the lower rotor part (3) to rotate by taking the default information of the throttle below as a reference according to the starting calculation point and the corresponding time point in the counting information, and controls the power group (6) of the upper rotor part (2) to wait for starting when acquiring the waiting command.

2. The flight control system of coaxial drones according to claim 1, characterized in that: a variable-pitch structure is further arranged between the upper rotor part (2) and the lower rotor part (3), the variable-pitch structure comprises an inclinator (7) and a plurality of groups of steering gears (8), a total pitch piece (9) is arranged between the inclinator (7) and the paddle (5), a variable-pitch piece (10) connected with the inclinator (7) is arranged at the output end of each group of steering gears (8), and a level is further arranged on the main shaft (1);

the flight control database also comprises attitude information, the attitude information reflects the inclination of the main shaft (1) when the unmanned aerial vehicle flies in an ejection manner, and the attitude information corresponds to the acceleration reference information one by one;

the acquisition module (111) further comprises an acquisition submodule (114), and the acquisition submodule (114) acquires the inclination of the main shaft (1) detected by a level when blades (5) of the rotor part (2) on the unmanned aerial vehicle are unfolded and uses the inclination as actual inclination information;

the flight control system also comprises a verification module (115), wherein the verification module (115) acquires actual inclination information in the acquisition submodule (114), acquires attitude information when the blades (5) of the upper rotor wing part (2) in the flight control database are unfolded, compares the actual inclination information with the attitude information, and sends a correction command to the control module (113) if the actual inclination information and the attitude information are different, and sends a normal command if the actual inclination information and the attitude information are the same;

when the correction command is obtained, the control module (113) controls a steering engine (8) to drive the distance-changing piece (10) to move so that the inclinator (7) inclines or moves up and down along the main shaft (1), and the blades (5) rotate along the axis direction of the main shaft (1).

3. The flight control system of coaxial drones according to claim 2, characterized in that: the flight control system is also internally provided with a processing module (116), the processing module (116) acquires actual inclination information when the catapult flight ascending acceleration of the unmanned aerial vehicle is zero, the inclination of the main shaft (1) is judged according to the actual inclination information, if the inclination is equal to zero, a hovering command is sent to the control module (113), and if the inclination is greater than or less than zero, an oil filling command is sent to the control module (113);

the control module (113) controls the power group (6) of the upper rotor part (2) and the power group (6) of the lower rotor part (3) to be driven by the throttle default information and the throttle default information respectively when the hovering command is acquired, and controls the power group (6) of the upper rotor part (2) and the power group (6) of the lower rotor part (3) to be driven by the throttle default information and the throttle default information respectively when the oil filling command is acquired.

4. The flight control system of a coaxial drone according to claim 1, characterized in that: the unmanned aerial vehicle launching system is characterized in that the flight control database further comprises barrel-out reference information, the barrel-out reference information reflects an acceleration value when the unmanned aerial vehicle is ejected to be separated from a gun barrel, the flight control system further comprises a feedback module (117), the feedback module (117) acquires actual acceleration information in the acquisition module (111) and barrel-out reference information in the flight control database, and when the actual acceleration information is the same as the barrel-out reference information, a barrel-out command is sent to the control module (113).

5. The flight control system of coaxial drones according to claim 1, characterized in that: still fixed being equipped with on the link end of paddle (5) and propeller hub (4) waves hinge (12), it is connected with propeller hub (4) rotation to wave hinge (12), the locating part is two sets of extension spring (13), and the one end of two sets of extension spring (13) is connected respectively in the both sides of waving hinge (12), and the other end is connected respectively on propeller hub (4), paddle (5) are by fold condition switch to when extending the state, extension length of extension spring (13) reduces gradually.

6. The flight control system of a coaxial drone according to claim 2, characterized in that: hub (4) still rotate on the link end with waving hinge (12) and be connected with total distance adjusting part, total distance adjusting part includes total distance hinge (14), adaptor (15), displacement axle (16), it rotates with total distance hinge (14) to wave hinge (12) and be connected, total distance hinge (14) rotate with adaptor (15) and be connected, adaptor (15) fixed connection is on hub (4), displacement axle (16) one end is fixed to be located adaptor (15), and the other end extends to in total distance hinge (14) and is connected with total distance hinge (14) bearing.

7. The flight control system of a coaxial drone according to claim 2, characterized in that: the inclinator (7) comprises a rotating ring (71), a fixing ring (72) and a deep groove ball bearing (73), a radial spherical sliding bearing (18) is further arranged between the fixing ring (72) and the main shaft (1), the rotating ring (71) is rotatably connected with the fixing ring (72) through the deep groove ball bearing (73), the total distance piece (9) is connected with the rotating ring (71), and the distance changing piece (10) is connected with the fixing ring (72).

8. The flight control system of coaxial drones according to claim 7, characterized in that: the variable-pitch part (10) comprises a rotor (101) and a variable-pitch pull rod (102), one end of the rotor (101) is connected with the output end of the steering engine (8), the other end of the rotor is connected with the variable-pitch pull rod (102), one end, far away from the rotor (101), of the variable-pitch pull rod (102) is connected with the fixing ring (72), the outer side face of the fixing ring (72) is provided with a protruding connecting part (17), and the variable-pitch pull rod (102) is connected with the connecting part (17) through a ball head universal joint.

9. The flight control system of a coaxial drone according to claim 2, characterized in that: still be equipped with support (19) on main shaft (1), steering wheel (8) all are located support (19), still vertically be equipped with limiting plate (21) on support (19), be equipped with spacing slide (22) on limiting plate (21), the one end of arbitrary a set of displacement pull rod (102) is equipped with slide bar (23) of sliding connection in spacing slide (22).

10. The flight control system of coaxial drones according to claim 2, characterized in that: total distance spare (9) are including total distance pull rod (91) and linking arm (92), total distance pull rod (91) are rotated with linking arm (92) and are connected, total distance pull rod (91) other end is connected with solid fixed ring (72), the other end and total distance hinge (14) of linking arm (92) are connected.

Images