CN116080945A - Multi-rotor unmanned aerial vehicle capable of switching flight postures and flight method - Google Patents
Multi-rotor unmanned aerial vehicle capable of switching flight postures and flight method Download PDFInfo
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- CN116080945A CN116080945A CN202211572948.5A CN202211572948A CN116080945A CN 116080945 A CN116080945 A CN 116080945A CN 202211572948 A CN202211572948 A CN 202211572948A CN 116080945 A CN116080945 A CN 116080945A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/26—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
- B64C29/0008—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded
- B64C29/0016—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers
- B64C29/0025—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis horizontal when grounded the lift during taking-off being created by free or ducted propellers or by blowers the propellers being fixed relative to the fuselage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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Abstract
The invention discloses a multi-rotor unmanned aerial vehicle capable of switching flight postures and a flight method, and belongs to the technical field of rotor unmanned aerial vehicles.
Description
Technical Field
The invention relates to the technical field of rotor unmanned aerial vehicles, in particular to a multi-rotor unmanned aerial vehicle capable of switching flight postures and a flight method.
Background
The miniature rotor unmanned aerial vehicle is a product of micro-electromechanical system integration, and becomes a key point of many laboratory researches at home and abroad by virtue of the advantages of capability of taking off and landing vertically, free hovering, flexible control, strong capability of adapting to various environments and the like.
The system research of the miniature rotor unmanned aerial vehicle mainly aims at a ground control system and an airborne measurement and control communication system, and the ground control system can monitor and command and control the flight attitude of the unmanned aerial vehicle; the airborne measurement and control communication system is mainly used for collecting data of an inertial sensor, an ultrasonic distance meter and the like in the flight state of the unmanned aerial vehicle and transmitting the data to the ground control system.
The existing gliding unmanned aerial vehicle has high speed and low energy consumption, but the gliding unmanned aerial vehicle does not have aerial stay, is not suitable for activities such as aerial photography detection, and the rotor unmanned aerial vehicle has strong air stagnation capacity, but long-distance flight energy consumption speed is fast, so that the rotor unmanned aerial vehicle with the advantages of the two needs to meet the demands of different tasks.
Disclosure of Invention
In order to solve the technical problems, the invention provides a multi-rotor unmanned aerial vehicle capable of switching flight postures and a flight method.
The technical scheme of the invention is as follows: the multi-rotor unmanned aerial vehicle comprises a body, a head rotor arranged at the head of the body, a tail rotor arranged at the tail of the body, a main rotor device arranged at the top of the body, a flank device arranged at the bottom of the body, a flight control board fixedly connected inside the body and used for controlling the start and stop of the head rotor, the tail rotor, the main rotor device and the flank device, a remote controller connected with a wireless signal of the flight control board, and a battery fixedly connected inside the body and used for supplying power for various power utilization elements in the body;
the head rotor comprises a head motor and a head propeller, the head motor is fixedly connected inside the machine body, an output shaft of the head motor penetrates through the head of the machine body, the head propeller is in transmission connection with the outer end of the output shaft of the head motor, and the head motor is electrically connected with the flight control board and the battery;
the tail rotor comprises a tail screw propeller, a tail motor and a tail steering engine, wherein the tail steering engine is fixedly connected inside the engine body, a rotating rod is fixedly connected to an output shaft of the tail steering engine, the tail motor is fixedly connected to the rotating rod, the tail screw propeller is in transmission connection with an output shaft of the tail motor, and the tail motor and the tail steering engine are respectively and electrically connected with the flight control board and the battery;
the main rotor wing device comprises a main wing motor and a main propeller, the main wing motor is fixedly connected to the middle part of the machine body, an output shaft of the main wing motor penetrates through the top of the machine body to be in transmission connection with the main propeller, and the main wing motor is electrically connected with the flight control board and the battery;
the wing device comprises a wing steering engine, a connecting rod and a wing propeller, wherein the wing steering engine is fixedly connected in a machine body, an output shaft of the wing steering engine penetrates through the lower portion of the machine body and is in transmission connection with the middle portion of the connecting rod, two ends of the connecting rod are fixedly connected with a turning steering engine, the output shaft of the turning steering engine is fixedly connected with a wing motor, the wing propeller is in transmission connection with the output shaft of the wing motor, and the wing steering engine, the turning steering engine and the wing motor are respectively in electric connection with a flight control board and a battery.
Further, the connecting piece is arranged at the joint of the rotating rod and the machine body, the connecting piece comprises a rotating shell, a rotating groove I and a rotating ring I, the rotating shell is fixedly connected to the outer side of the rotating rod and the tail motor, the rotating ring I is fixedly connected to the front end of the rotating shell, the rotating groove I is fixedly connected to the tail of the machine body, the rotating ring I rotates in the rotating groove I, and the rotating piece is used for bearing the weight of a tail rotor wing and is beneficial to prolonging the service life of a tail steering engine.
Further, the wing shell is wrapped up in the outside of connecting rod and upset steering wheel, the middle part upper surface fixedly connected with of wing shell rotates the ring two, it is located to rotate the ring the output shaft outside of flank steering wheel, the lower surface inner wall fixed connection of organism rotates groove two, it is in to rotate the ring two rotate in the groove two, the wing shell rotates with the organism and is connected, and the wing shell bears the gravity of connecting rod, is favorable to prolonging the life of flank steering wheel.
Further, the outside parcel of flank motor has the protective housing with the outer end of wing shell rotates to be connected, and the protective housing rotates with the wing shell to be connected, with flank motor fixed connection, the gravity of flank motor is born by the wing shell, avoids flank steering wheel output shaft atress.
Further, each of two sides below the wing shell is provided with a landing frame, each landing frame comprises a vertical rod and a cross rod, the upper ends of the vertical rods are fixedly connected with the lower surface of the wing shell, the cross rods are horizontally and fixedly connected to the lower ends of the vertical rods, and the landing frames are convenient for landing of a machine body.
Further, the camera is rotatably connected to the lower surface of the middle of the wing shell, the camera is electrically connected with the flight control board, and the camera is used for outdoor task execution of the unmanned aerial vehicle and is also beneficial for operators to observe the environment where the unmanned aerial vehicle is located.
Further, the laser radar sensor used for measuring the distance between the laser radar sensor and the obstacle is fixedly connected to the upper surface of the head of the machine body, so that the unmanned aerial vehicle can avoid the obstacle urgently, and the unmanned aerial vehicle is prevented from being knocked down.
Further, the organism internally mounted has the inertial sensor that is used for reinforcing flight stability, inertial sensor with flight control board electric connection keeps unmanned aerial vehicle flight stability, and can perception unmanned aerial vehicle deflection angle.
Further, the flight mode of organism includes upset flight, vertical flight, gliding flight, and gliding flight is favorable to improving unmanned aerial vehicle flight speed, reaches appointed place fast, and is also more energy-conserving, and the unmanned aerial vehicle of vertical flight being convenient for takes off and land, and upset flight is favorable to the unmanned aerial vehicle to survey the environment above the unmanned aerial vehicle.
Further, the flight method of the multi-rotor unmanned aerial vehicle capable of switching flight postures comprises the following steps:
s1, taking off of an unmanned aerial vehicle:
the remote control unit remotely transmits instructions to the flight control board, the flight control board controls the starting of each motor and the steering engine, the battery supplies power to each electric element, the flight control board distributes power for supplying power, the flank steering engine rotates to drive the connecting rod to rotate, so that the connecting rod rotates to be vertical to the engine body, the overturning steering engine rotates to drive the output shaft of the flank motor to move upwards, the tail wing steering engine rotates to drive the rotating rod to rotate, the output shaft of the tail motor is further kept to move upwards, and meanwhile, the tail wing motor, the flank motor and the main wing motor are started to drive the main wing propeller, the flank propeller and the tail propeller to rotate to provide upward lifting force for the engine body to take off;
s2, vertical flight:
the flight control board controls and starts the head motor to drive the head propeller to rotate, the head propeller rotates to generate forward thrust to the machine body, and meanwhile, the tail steering engine rotates to drive the rotating rod to rotate, so that the tail motor deflects to one side of the machine body, and the horizontal steering capacity of the unmanned aerial vehicle is improved;
s3, gliding flight:
the turning steering engine rotates to drive the wing motors to rotate, so that the output shafts of the wing motors turn to the front of the machine body, the wing shells realize gliding, upward lift force is generated on the machine body by utilizing the difference of the flow velocity of the upper and lower air flows of the wing shells, and the thrust generated by the wing motors enhances the navigation speed of the unmanned aerial vehicle;
s4, overturning and flying:
the flight control board supplies energy to the two flank motors differently, so that the rotation speeds of the two flank motors are different, the overturning of the machine body is realized, the abdomen of the machine body is upward after overturning, the back of the machine body is downward, and the overturning steering engine rotates to enable the output shafts of the two flank motors to be consistent with the back direction of the machine body;
s5, unmanned aerial vehicle gesture sensing:
the camera shoots the surrounding environment of the machine body to cooperate with operators to accurately operate the machine body, the laser radar sensor detects the distance between the machine body and an obstacle, the inertial sensor senses the deflection angle of the machine body, and data information acquired by the sensors and the camera is transmitted to the remote controller through the flight control board in a wireless mode.
The beneficial effects of the invention are as follows:
(1) The multi-rotor unmanned aerial vehicle provided by the invention has a plurality of rotors, can simulate the take-off and landing postures of a helicopter, can simulate the flight postures of the unmanned aerial vehicle, and can simulate the flight postures of a glider.
(2) This unmanned aerial vehicle can overturn the flight with the organism, shoots unmanned aerial vehicle top with the belly camera of organism, is favorable to accomplishing the detection task to unmanned aerial vehicle top in the complex environment, and laser radar sensor can also be urgent keep away the barrier.
(3) When passing through narrower passageway, flank steering wheel rotates and makes the connecting rod keep with the organism level, reduces unmanned aerial vehicle's flight width, passes through narrower passageway smoothly.
(4) The unmanned aerial vehicle provided by the invention has complete functions, can execute detection tasks in complex environments, and has abundant use scenes.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Figure 2 is a cross-sectional view of the junction of the body and the wing skin of the present invention.
Figure 3 is a cross-sectional view of the junction of the protective shell and the wing skin.
Fig. 4 is a cross-sectional view at the connection.
The device comprises a 1-engine body, a 2-head rotor, a 3-tail rotor, a 4-main rotor device, a 5-flank device, a 6-flight control board, a 7-remote controller, an 8-battery, a 21-head motor, a 22-head propeller, a 31-tail propeller, a 32-tail motor, a 33-tail steering engine, a 34-rotating rod, a 41-main wing motor, a 42-main propeller, a 51-flank steering engine, a 52-connecting rod, a 53-overturning steering engine, a 54-flank motor, a 55-flank propeller, an 11-connecting piece, a 111-rotating shell, a 112-rotating groove I, a 113-rotating ring I, a 521-wing shell, a 522-rotating ring II, a 523-rotating groove II, a 541-protecting shell, a 12-falling frame, a 121-vertical rod, a 122-cross rod, a 13-camera, a 14-laser radar sensor and a 15-inertia sensor.
Detailed Description
Example 1:
as shown in fig. 1, a multi-rotor unmanned aerial vehicle capable of switching flight postures comprises a body 1, a head rotor 2 arranged at the head of the body 1, a tail rotor 3 arranged at the tail of the body 1, a main rotor device 4 arranged at the top of the body 1, a flank device 5 arranged at the bottom of the body 1, a flight control board 6 fixedly connected inside the body 1 and used for controlling the start and stop of the head rotor 2, the tail rotor 3, the main rotor device 4 and the flank device 5, a remote controller 7 connected with the flight control board 6 in a wireless signal manner, and a battery 8 fixedly connected inside the body 1 and used for supplying power to various power utilization elements in the body 1;
the head rotor 2 comprises a head motor 21 and a head propeller 22, the head motor 21 is fixedly connected inside the machine body 1, an output shaft of the head motor 21 penetrates through the head of the machine body 1, the head propeller 22 is in transmission connection with the outer end of the output shaft of the head motor 21, and the head motor 21 is electrically connected with the flight control board 6 and the battery 8;
as shown in fig. 4, the tail rotor 3 includes a tail rotor 31, a tail motor 32, and a tail steering engine 33, the tail steering engine 33 is fixedly connected inside the machine body 1, a rotating rod 34 is fixedly connected to an output shaft of the tail steering engine 33, the tail motor 32 is fixedly connected to the rotating rod 34, the tail rotor 31 is in transmission connection with an output shaft of the tail motor 32, and the tail motor 32 and the tail steering engine 33 are respectively electrically connected with the flight control board 6 and the battery 8;
the main rotor device 4 comprises a main wing motor 41 and a main propeller 42, the main wing motor 41 is fixedly connected to the middle part of the machine body 1, an output shaft of the main wing motor 41 penetrates through the top of the machine body 1 to be in transmission connection with the main propeller 42, and the main wing motor 41 is electrically connected with the flight control board 6 and the battery 8;
as shown in fig. 2-3, the wing device 5 includes a wing steering engine 51, a connecting rod 52, a wing propeller 55, the wing steering engine 51 is fixedly connected in the machine body 1, an output shaft of the wing steering engine 51 passes through the lower part of the machine body 1 and is in transmission connection with the middle part of the connecting rod 52, two ends of the connecting rod 52 are fixedly connected with a turning steering engine 53, an output shaft of the turning steering engine 53 is fixedly connected with a wing motor 54, the wing propeller 55 is in transmission connection with an output shaft of the wing motor 54, and the wing steering engine 51, the turning steering engine 53 and the wing motor 54 are respectively in electric connection with the flight control board 6 and the battery 8.
Example 2:
on the basis of embodiment 1, embodiment 2 is different from embodiment 1 in that the connection part of the rotating rod 34 and the machine body 1 is provided with a connecting piece 11, the connecting piece 11 comprises a rotating shell 111, a rotating groove one 112 and a rotating ring one 113, the rotating shell 111 is fixedly connected to the outer sides of the rotating rod 34 and the tail motor 32, the rotating ring one 113 is fixedly connected to the front end of the rotating shell 111, the rotating groove one 112 is fixedly connected to the tail of the machine body 1, the rotating ring one 113 rotates in the rotating groove one 112, and the rotating piece 11 is used for bearing the weight of the tail rotor wing 3, so that the service life of the tail steering engine 33 is prolonged.
Comparative example 1 and example 2, example 2 provides better results.
Example 3:
on the basis of embodiment 2, embodiment 3 is different from embodiment 2 in that the outer sides of the connecting rod 52 and the overturning steering engine 53 are wrapped with wing shells 521, the upper surface of the middle part of each wing shell 521 is fixedly connected with a second rotating ring 522, the rotating rings are located on the outer sides of output shafts of the flanking steering engines 51, the inner wall of the lower surface of the engine body 1 is fixedly connected with a second rotating groove 523, the second rotating ring 522 rotates in the second rotating groove 523, the wing shells 521 are rotationally connected with the engine body 1, and the wing shells 521 bear the gravity of the connecting rod 52, so that the service life of the flanking steering engines 51 is prolonged.
The added structure of example 3 is beneficial to prolonging the service life of the flank steering engine 51 compared with example 3 and example 2, so that the use effect of example 3 is better.
Example 4:
on the basis of embodiment 3, embodiment 4 is different from embodiment 3 in that the outer side of the wing motor 54 is wrapped with a protective shell 541, the protective shell 541 is rotationally connected with the outer end of the wing shell 521, the protective shell 541 is rotationally connected with the wing shell 521, and is fixedly connected with the wing motor 54, and the gravity of the wing motor 54 is borne by the wing shell, so that the output shaft of the wing steering engine 51 is prevented from being stressed.
In comparative example 4 and example 3, the gravity of the wing motor 54 in example 4 is borne by the wing shell, so that the output shaft of the wing steering engine 51 is prevented from being stressed, and the use effect of example 4 is better.
Example 5:
on the basis of embodiment 4, embodiment 5 is different from embodiment 4 in that two lower sides of the wing shell 521 are respectively provided with a landing frame 12, the landing frame 12 comprises a vertical rod 121 and a cross rod 122, the upper end of the vertical rod 121 is fixedly connected with the lower surface of the wing shell 521, the cross rod 122 is horizontally and fixedly connected with the lower end of the vertical rod 121, and the landing frame 12 is convenient for landing.
Compared with embodiment 4, embodiment 5 is convenient for the unmanned aerial vehicle to land, so embodiment 5 has better use effect.
Example 6:
on the basis of embodiment 5, embodiment 6 is different from embodiment 5 in that the lower surface of the middle of the wing shell 521 is rotatably connected with a camera 13, the camera 13 is electrically connected with the flight control board 6, and the camera 13 is used for outdoor task execution of the unmanned aerial vehicle and is also beneficial for an operator to observe the environment where the unmanned aerial vehicle is located.
Compared with the embodiment 5-embodiment 6, the camera in the embodiment 6 is more convenient for the unmanned aerial vehicle to sense the surrounding environment, so that the practical use effect of the embodiment 6 is better.
Example 7:
on the basis of embodiment 6, embodiment 7 is different from embodiment 6 in that the laser radar sensor 14 for measuring the distance between the laser radar sensor and the obstacle is fixedly connected to the upper surface of the head of the machine body 1, so that the unmanned aerial vehicle can avoid the obstacle emergently and avoid the unmanned aerial vehicle from being crashed.
In comparison between the embodiment 6 and the embodiment 7, the laser radar in the embodiment 7 is advantageous for the unmanned aerial vehicle to avoid the obstacle in emergency, so the use effect of the embodiment 7 is better.
Example 8:
on the basis of embodiment 7, embodiment 8 is different from embodiment 7 in that the body 1 is internally provided with an inertial sensor 15 for enhancing flight stability, the inertial sensor 15 is electrically connected with the flight control board 6, the unmanned aerial vehicle flight stability is maintained, and the deflection angle of the unmanned aerial vehicle can be perceived.
In the comparison between the embodiment 7 and the embodiment 8, when no reference is available at high altitude, the unmanned aerial vehicle attitude cannot be judged visually, and the unmanned aerial vehicle flying attitude is sensed by the inertial sensor 15, so that the embodiment 8 has better effect in practical use.
Example 9:
on the basis of embodiment 8, embodiment 9 is different from embodiment 8 in that the flight mode of the machine body 1 includes a overturn flight, a vertical flight and a gliding flight, the gliding flight is beneficial to improving the flight speed of the unmanned aerial vehicle, the unmanned aerial vehicle can arrive at a designated place quickly, the energy is saved, the vertical flight is convenient for the unmanned aerial vehicle to take off and land, and the overturn flight is beneficial to the unmanned aerial vehicle to detect the environment above the unmanned aerial vehicle.
The unmanned aerial vehicle flight mode disclosed in the embodiment 9 meets the flight requirements of various complex environments, so that the effect of the embodiment 9 in actual flight is better.
Example 10:
on the basis of embodiment 9, embodiment 10 is different from embodiment 9 in that embodiment 10 further provides a flying method of the multi-rotor unmanned aerial vehicle capable of switching flying postures, comprising the following steps:
s1, taking off of an unmanned aerial vehicle:
the remote controller 7 remotely transmits instructions to the flight control board 6, the flight control board 6 controls the starting of each motor and steering engine, the battery 8 supplies power to each electric element, the flight control board 6 distributes power to supply, the flank steering engine 51 rotates to drive the connecting rod 52 to rotate, the connecting rod 52 rotates to be vertical to the machine body 1, the overturning steering engine 53 rotates to drive the output shaft of the flank motor 54 to be upward, the tail steering engine rotates to drive the rotating rod 34 to rotate, the output shaft of the tail motor 32 is kept upward, and meanwhile, the tail motor, the flank motor 54 and the main wing motor 41 are started to drive the main wing propeller, the flank propeller 55 and the tail propeller 31 to rotate to provide upward lifting force for the take-off of the machine body 1;
s2, vertical flight:
the flight control board 6 controls and starts the head motor 21 to drive the head propeller 22 to rotate, the head propeller 22 rotates to generate forward thrust to the machine body 1, and meanwhile, the tail steering engine 33 rotates to drive the rotating rod 34 to rotate, so that the tail motor 32 deflects to one side of the machine body 1, and the horizontal steering capacity of the unmanned aerial vehicle is improved;
s3, gliding flight:
the turning steering engine 53 rotates to drive the flank motor 54 to rotate, so that the output shaft of the flank motor 54 turns to the front of the machine body 1, gliding is realized through the wing shell 521, upward lift force is generated on the machine body 1 by utilizing the difference of the flow velocity of the air flow on the upper surface and the lower surface of the flank shell, and the navigational speed of the unmanned aerial vehicle is enhanced by the thrust generated by the flank motor 54;
s4, overturning and flying:
the flight control board 6 supplies energy to the two flank motors 54 differently, so that the rotation speeds of the flank motors 54 are different, the overturning of the machine body 1 is realized, the abdomen of the machine body 1 is upward after overturning, the back of the machine body 1 is downward, and the overturning steering engine 53 rotates to enable the output shafts of the flank motors 54 to be consistent with the back direction of the machine body 1;
s5, unmanned aerial vehicle gesture sensing:
the camera 13 shoots the surrounding environment of the machine body 1 to cooperate with operators to accurately operate the machine body 1, the laser radar sensor 14 detects the distance between the machine body 1 and an obstacle, the inertial sensor 15 senses the deflection angle of the machine body 1, and data information acquired by the sensors and the camera 13 is transmitted to the remote controller 7 through the flight control board 6 in a wireless mode.
In comparison with embodiment 9 and embodiment 10, the unmanned aerial vehicle flight method provided in embodiment 10 is more beneficial to unmanned aerial vehicle flight, so embodiment 10 is the best embodiment.
The flight control board 6, the remote controller 7, the head motor 21, the tail motor 32, the tail steering engine 33, the main wing motor 41, the flank motor 54, the overturning steering engine 53, the camera 13, the laser radar sensor 14 and the inertial sensor 15 in the above embodiment are all commercially available products, so long as the functions of the present invention can be realized, and a person skilled in the art can select and use the flight control board according to conventional general knowledge, and no special limitation is made herein.
Claims (10)
1. The multi-rotor unmanned aerial vehicle capable of switching flight postures is characterized by comprising a machine body (1), a head rotor (2) arranged at the head of the machine body (1), a tail rotor (3) arranged at the tail of the machine body (1), a main rotor device (4) arranged at the top of the machine body (1), a flank device (5) arranged at the bottom of the machine body (1), a flight control board (6) fixedly connected inside the machine body (1) and used for controlling the start and stop of the head rotor (2), the tail rotor (3), the main rotor device (4) and the flank device (5), a remote controller (7) connected with wireless signals of the flight control board (6), and a battery (8) fixedly connected inside the machine body (1) and used for supplying power for various power utilization elements in the machine body (1);
the head rotor (2) comprises a head motor (21) and a head propeller (22), the head motor (21) is fixedly connected inside the machine body (1), an output shaft of the head motor (21) penetrates through the head of the machine body (1), the head propeller (22) is in transmission connection with the outer end of the output shaft of the head motor (21), and the head motor (21) is electrically connected with the flight control board (6) and the battery (8);
the tail rotor (3) comprises a tail propeller (31), a tail motor (32) and a tail steering engine (33), wherein the tail steering engine (33) is fixedly connected inside the engine body (1), a rotating rod (34) is fixedly connected to an output shaft of the tail steering engine (33), the tail motor (32) is fixedly connected to the rotating rod (34), the tail propeller (31) is in transmission connection with an output shaft of the tail motor (32), and the tail motor (32) and the tail steering engine (33) are respectively electrically connected with a flight control board (6) and a battery (8);
the main rotor device (4) comprises a main wing motor (41) and a main propeller (42), the main wing motor (41) is fixedly connected to the middle part of the machine body (1), an output shaft of the main wing motor (41) penetrates through the top of the machine body (1) to be in transmission connection with the main propeller (42), and the main wing motor (41) is electrically connected with the flight control board (6) and the battery (8);
the wing device (5) comprises a wing steering engine (51), a connecting rod (52) and a wing propeller (55), wherein the wing steering engine (51) is fixedly connected in the engine body (1), an output shaft of the wing steering engine (51) penetrates through the lower portion of the engine body (1) and is in transmission connection with the middle portion of the connecting rod (52), two ends of the connecting rod (52) are fixedly connected with a turnover steering engine (53), an output shaft of the turnover steering engine (53) is fixedly connected with a wing motor (54), the wing propeller (55) is in transmission connection with an output shaft of the wing motor (54), and the wing steering engine (51), the turnover steering engine (53) and the wing motor (54) are respectively in electric connection with a flight control plate (6) and a battery (8).
2. The multi-rotor unmanned aerial vehicle capable of switching flight postures according to claim 1, wherein a connecting piece (11) is arranged at the joint of the rotating rod (34) and the machine body (1), the connecting piece (11) comprises a rotating shell (111), a rotating groove I (112) and a rotating ring I (113), the rotating shell (111) is fixedly connected to the outer sides of the rotating rod (34) and the tail motor (32), the rotating ring I (113) is fixedly connected to the front end of the rotating shell (111), the rotating groove I (112) is fixedly connected to the tail of the machine body (1), and the rotating ring I (113) rotates in the rotating groove I (112).
3. The multi-rotor unmanned aerial vehicle capable of switching flight postures according to claim 1, wherein wing shells (521) are wrapped on the outer sides of the connecting rods (52) and the overturning steering engines (53), a second rotating ring (522) is fixedly connected to the upper surface of the middle of each wing shell (521), the rotating ring is located on the outer side of an output shaft of each wing steering engine (51), a second rotating groove (523) is fixedly connected to the inner wall of the lower surface of the engine body (1), and the second rotating ring (522) rotates in the second rotating groove (523).
4. A multi-rotor unmanned aerial vehicle with switchable flying postures according to claim 3, wherein the outer side of the wing motor (54) is wrapped with a protective shell (541), and the protective shell (541) is rotatably connected with the outer end of the wing shell (521).
5. A multi-rotor unmanned aerial vehicle capable of switching flight attitudes according to claim 3, wherein a landing frame (12) is arranged on two sides below the wing shell (521), the landing frame (12) comprises a vertical rod (121) and a cross rod (122), the upper end of the vertical rod (121) is fixedly connected with the lower surface of the wing shell (521), and the cross rod (122) is horizontally and fixedly connected with the lower end of the vertical rod (121).
6. A multi-rotor unmanned aerial vehicle with switchable flight attitudes according to claim 3, wherein the lower surface of the middle part of the wing shell (521) is rotatably connected with a camera (13), and the camera (13) is electrically connected with the flight control board (6).
7. A multi-rotor unmanned aerial vehicle with switchable flight attitudes according to claim 1, wherein the upper surface of the head of the body (1) is fixedly connected with a lidar sensor (14) for measuring the distance to an obstacle.
8. A multi-rotor unmanned aerial vehicle with switchable flight attitudes according to claim 1, wherein the body (1) is internally provided with an inertial sensor (15) for enhancing flight stability, and the inertial sensor (15) is electrically connected with the flight control board (6).
9. A multi-rotor unmanned aerial vehicle with switchable flight attitudes according to claim 1, wherein the body (1) is internally mounted with inertial sensors (15) for enhanced flight stability.
10. A method of flying a multi-rotor unmanned aerial vehicle having switchable flying attitudes as claimed in any one of claims 1 to 9, comprising the steps of:
s1, taking off of an unmanned aerial vehicle:
the remote control unit (7) remotely transmits instructions to the flight control board (6), the flight control board (6) controls the motors and the steering engine to start, the battery (8) supplies power to the electric elements, the flight control board (6) distributes electric energy to supply, the flank steering engine (51) rotates to drive the connecting rod (52) to rotate, the connecting rod (52) rotates to be vertical to the engine body (1), the overturning steering engine (53) rotates to drive the output shaft of the flank motor (54) to move upwards, the tail wing steering engine rotates to drive the rotating rod (34) to rotate, the output shaft of the tail motor (32) is kept upwards, and meanwhile the tail wing motor, the flank motor (54), the main wing motor (41) and the main wing screw propeller, the flank screw propeller (55) and the tail screw propeller (31) are started to rotate to provide upward lifting force for taking off the engine body (1);
s2, vertical flight:
the flight control board (6) controls and starts the head motor (21) to drive the head propeller (22) to rotate, the head propeller (22) rotates to generate forward thrust to the machine body (1), and meanwhile, the tail steering engine (33) rotates to drive the rotating rod (34) to rotate, so that the tail motor (32) deflects to one side of the machine body (1), and the horizontal steering capacity of the unmanned aerial vehicle is improved;
s3, gliding flight:
the turning steering engine (53) rotates to drive the flank motor (54) to rotate, so that an output shaft of the flank motor (54) turns to the front of the unmanned aerial vehicle body (1), gliding is realized through the wing shell (521), upward lifting force is generated on the unmanned aerial vehicle body (1) by utilizing different airflow flow rates on the upper surface and the lower surface of the flank shell, and the sailing speed of the unmanned aerial vehicle is enhanced by thrust generated by the flank motor (54);
s4, overturning and flying:
the two flank motors (54) are powered differently through the flight control board (6), so that the rotation speeds of the two flank motors (54) are different, the overturning of the machine body (1) is realized, the abdomen of the machine body (1) is upward after overturning, the back of the machine body (1) is downward, and the overturning steering engine (53) rotates to enable the output shafts of the two flank motors (54) to be consistent with the back direction of the machine body (1);
s5, unmanned aerial vehicle gesture sensing:
the camera (13) shoots the surrounding environment of the machine body (1) so as to cooperate with operators to accurately operate the machine body (1), the laser radar sensor (14) detects the distance between the machine body (1) and an obstacle, the inertial sensor (15) senses the deflection angle of the machine body (1), and data information acquired by the sensors and the camera (13) is transmitted to the remote controller (7) through the flight control board (6) in a wireless mode.
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| Publication number | Publication date |
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| CN116080945B (en) | 2023-10-20 |
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