CN116374223A

CN116374223A - Aircraft

Info

Publication number: CN116374223A
Application number: CN202310492719.0A
Authority: CN
Inventors: 苍安国; 刘源志弘
Original assignee: Individual
Current assignee: Individual
Priority date: 2023-04-28
Filing date: 2023-04-28
Publication date: 2023-07-04

Abstract

The invention discloses an aircraft, which comprises a coaxial multi-rotor power system, a chassis supporting component, a balancing weight and a gravity center shifting device, wherein the coaxial multi-rotor power system is arranged in the middle; the gravity center shifting device drives the balancing weight to make eccentric displacement, so that the gravity center of the aircraft shifts and drives the whole aircraft to deflect along with the gravity center shifting device. The balancing weight is a battery, the battery and the offset gravity center device are symmetrically distributed by taking the axis of the rotor shaft as the center, and the position of the battery is adjusted to enable the aircraft to be vertical or inclined in the air. The invention has good anti-collision performance and saves electric energy.

Description

Aircraft

Technical Field

The invention relates to the technical field of aircrafts for offshore supervision and measurement, water salvage rescue operation and agricultural plant protection operation, in particular to an unmanned aircraft.

Background

The aircrafts with coaxial dual-rotor power systems disclosed in the market at present are commonly coaxial dual-rotors in 4-axis or 6-axis symmetrical arrangements. The flying action of the aircraft has various states of ascending, hovering, turning, flat flying and the like. The lifting force is greater than the takeoff weight; hovering is when the lift of the aircraft is equal to the takeoff weight; turning is achieved by changing the rotational speed of the rotor of a certain shaft or shafts; the plane flying is realized by reducing the rotating speed of a rotor wing of a certain shaft or a plurality of shafts, and simultaneously, the rotating speed of the rotor wing of the certain shaft or a plurality of shafts is symmetrical to incline the body of the aircraft, so that the lifting force of the whole aircraft is also inclined along with the inclination, and the horizontal component of the lifting force pulls the aircraft to realize plane flying. Taking a common coaxial double-rotor aircraft with 4-axis symmetrical layout as an example, 8 motors for driving the propellers are used, 8 electric tuning for respectively controlling the running states of the 8 motors are also used, and the coaxial double-rotor aircraft has the advantages of complex structure, poor anti-collision performance and poor reliability.

Disclosure of Invention

The invention provides an aircraft, which is simple in structure and high in reliability.

The invention adopts the following technical scheme:

an aircraft comprises a coaxial multi-rotor power system which is arranged centrally by a shaft, a chassis supporting component for supporting the coaxial multi-rotor power system, a balancing weight arranged below the chassis supporting component, and a gravity center shifting device; the gravity center shifting device drives the balancing weight to make eccentric displacement, so that the gravity center of the aircraft shifts and drives the whole aircraft to deflect along with the gravity center shifting device.

Compared with the calculation control of the multi-axis unmanned aerial vehicle on different rotor speed differences and the calculation control of the direction steering, the single-axis double-rotor type unmanned aerial vehicle adopts the single-axis double-rotor, only the electric push rod is used for controlling the displacement of the balancing weight, the gravity center of the balancing weight is changed, the axis of the coaxial rotor assembly of the generated lift force deflects, the lifting of the aircraft is controlled by the balance relation between the vertical component of the deflection lift force and the vertical gravity of the aircraft, the horizontal component of the deflection lift force provides the flying power of the aircraft in the horizontal direction, the inclined direction or the inclined direction, and therefore the flying gesture is changed by changing the gravity center position of the balancing weight, and the control mechanism is simple in structure and good in anti-collision performance.

As an improvement of the scheme, the balancing weight is a battery for supplying power to the aircraft, the configured batteries are centered or symmetrically distributed in the accommodating part, the weight of the battery is larger than the total weight of the chassis supporting assembly and the coaxial double-rotor power system, and the gravity center of the aircraft is positioned at the lower half part of half of the longitudinal height of the aircraft, so that the aircraft statically forms a tumbler state with light upper part and heavy lower part.

As the improvement of the scheme, the chassis supporting component comprises a cylindrical protection frame with upper and lower openings, a bottom circular ring supporting frame and a supporting rod for connecting the cylindrical protection frame and the bottom circular ring supporting frame, wherein the cylindrical protection frame is arranged on the periphery of a rotor wing of the coaxial multi-rotor power system, and the center line of the cylindrical protection frame, the rotation center of the rotor wing and the axis line of the bottom circular ring supporting frame are coincident.

As the improvement of the scheme, two circles parallel to the cylindrical protection frame and the bottom ring support frame form a bus of the round table, and an included angle between the bus and the diameter of the bottom ring support frame is an acute angle.

As an improvement of the scheme, the gravity center shifting device comprises a rectangular frame, an electric push rod and a ring sleeve sleeved on a battery, wherein the long edge of the rectangular frame is radially arranged on the inner ring of the bottom circular support frame; one end of the electric push rod is fixed on the rectangular frame, the other end of the electric push rod is connected with the annular sleeve, and the battery moves away from or approaches to the axis along the long side of the rectangular frame through the expansion and contraction of the electric push rod, so that the gravity center offset of the aircraft is realized.

As the improvement of the scheme, the four groups of the gravity center shifting devices are symmetrically arranged, the electric push rod gradually pulls one group of batteries to get close to the center after being close to the edge, the gravity center at the bottom of the aircraft can be shifted and inclined to form a circular ring to move, and the aircraft is driven to integrally deflect in a 360-degree posture. In the scheme, the side-by-side refers to the position farthest from the axis line in the movable path range of the battery.

As an improvement of the scheme, the coaxial multi-rotor power system is configured as a dual-rotor power system and comprises a first motor and a second motor, wherein stators of the first motor and the second motor are respectively and correspondingly fixedly connected with an upper-layer cross beam and a lower-layer cross beam which are horizontally arranged in a cylindrical protection frame in a centering manner, a rotor of the first motor is fixedly connected with a first blade, a rotor of the second motor is fixedly connected with a second blade, and the first motor and the second motor rotate along the coaxial line.

As an improvement of the above scheme, the dual rotor power system further comprises two electronic speed regulators (hereinafter referred to as electric speed regulators), and the electric speed regulators control the start-stop state and the rotation speed of the first motor or the second motor.

As an improvement of the above scheme, the coaxial multi-rotor power system is configured as a dual-rotor power system, and comprises a first motor and a second motor, wherein a rotor of the first motor is fixedly connected with a first blade, and a rotor of the second motor is fixedly connected with a second blade; the first motor and the second motor rotate along the same axis;

the support rod comprises a first support rod and a rotating shaft;

a plurality of first support rods are uniformly distributed on the opening of the bottom surface of the cylindrical protective frame to form an isosceles inverted pyramid; the stators of the first motor and the second motor are hollow structures, and a rotating shaft penetrates through the hollow stators of the first motor and the second motor and is fixedly connected with the vertexes of the isosceles inverted pyramid.

As the improvement of above-mentioned scheme, the bracing piece still includes the second bracing piece, and the one end of a plurality of second bracing pieces is evenly fixed to be laid on the bottom ring support frame, and the other end encloses into isosceles pyramid or isosceles round platform form.

As an improvement of the scheme, the upper top of the isosceles pyramid or isosceles truncated cone is horizontally provided with a second cross rod, and a support shaft which is vertical to the second cross rod and coincides with the axis is vertically arranged; the rotating shaft positioned below the vertex of the isosceles inverted pyramid is hinged with the supporting shaft;

the rotary shafts positioned at the top points and below the isosceles inverted pyramid are horizontally provided with first cross bars, and two ends of the electric push rod are respectively hinged between the first cross bars and the second cross bars at two sides of the axis; the two electric push rods stretch and retract to enable the hinge point of the rotating shaft and the supporting shaft to rotate so as to drive the first blade and the second blade to deflect or reset the axial lead.

As an improvement of the scheme, the bottom circular ring support frame is locked with the high-impact polyamide foaming material outside the bottom circular ring support frame to form a cavity buoyancy body, and then waterproof plastic cloth is wrapped outside for sealing; or the glass fiber reinforced plastic fabric coating is prefabricated into a circumferential cavity and then locked with the fixed support to form a cavity buoyancy body, and the cavity buoyancy body provides buoyancy floating on the water surface for the aircraft.

As an improvement of the above solution, the coaxial multi-rotor power system includes coaxial dual rotors, and the rotation directions of the blades of the pair of rotors are opposite, at least one coaxial dual rotor is provided.

As an improvement of the scheme, at least more than three wheel sets are uniformly and fixedly connected on the bottom ring support frame in the circumferential direction, one of the wheel sets is a steering wheel, and a propeller is arranged in the center of a steering wheel frame and rotates coaxially with the wheels.

Advantageous effects

1. The invention is a coaxial double-rotor aircraft with 1 axis center layout, the number of motors used for driving propellers is 2, and the number of electric tuning for respectively controlling the running states of the 2 motors is also 2, therefore, the number of the motors and the electric tuning of the coaxial double-rotor aircraft with 4 axis symmetry layout is 4 times that of the invention, the number of parts of the aircraft is 4 times less, and the reliability is 4 times higher.

2. The invention provides a coaxial double-rotor aircraft with a 1-axis centering layout, which realizes the technical mode of flat flight, wherein a necessary battery of an electric aircraft is ingeniously deployed at the bottom of the aircraft, so that the heavy center of the aircraft is sunk to be in a tumbler state with the center of gravity, and the battery component pulling the bottom is controlled by an electric push rod to slide and lean to the side so as to shift the center of gravity of the aircraft, thereby enabling the aircraft to incline in the air and further generating the tension required by flat flight.

3. The necessary battery of the electric aircraft is arranged in the accommodating part at the bottom, the electric aircraft belongs to a tumbler state with the center of gravity in the middle, and the electric energy consumption of the movable battery is much smaller than the electric energy consumption for driving the rotor to rotate.

4. Further, experimental data prove that each motor is 4KW, the total power of 8 motors is 32KW, and the maximum weight of the aircraft capable of taking off is 103KG; the coaxial double-rotor power system supporting aircraft with 1-axis center layout is 16KW,2 motors are 32KW, the maximum weight of the aircraft which can take off is 130KG, and the efficiency of the coaxial double-rotor power system supporting aircraft is 27% higher than that of the coaxial double-rotor aircraft with 4-axis symmetry layout, because in the running process of the 4-axis aircraft, one-axis motor must be operated at less than rated power, and the motors of the symmetry plane at most operate at rated power, so that the aircraft can be tilted, and the flat running is realized. The invention realizes the inclination of the machine body in a battery offset mode, so that both motors can operate at rated power for a long time at the same time, thereby leading to higher efficacy.

Drawings

Fig. 1 is a schematic view of a coaxial dual rotor structure of an aircraft according to embodiment 1 of the present invention;

FIG. 2 is a schematic view of the explosive structure of the aircraft of FIG. 1;

fig. 3 is a schematic structural diagram of an offset center of gravity device of an electric unmanned aerial vehicle according to embodiment 1 of the present invention;

fig. 4 is a schematic structural diagram of a wheel set of an electric unmanned aerial vehicle according to embodiment 1 of the present invention;

fig. 5 is a schematic structural view of a steering wheel of an electric unmanned aerial vehicle according to embodiment 1 of the present invention;

fig. 6 is a schematic diagram of a coaxial quadrotor structure of an electric unmanned aerial vehicle according to embodiment 4 of the present invention;

fig. 7 is a schematic view of a coaxial dual rotor structure of an electric unmanned aerial vehicle according to embodiment 2 of the present invention;

fig. 8 is a schematic view of a coaxial dual rotor deflection structure of an electric unmanned aerial vehicle according to embodiment 2 of the present invention;

fig. 9 is a schematic diagram of a coaxial quadrotor structure of an electric unmanned aerial vehicle according to embodiment 2 of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

Referring to fig. 1, a schematic view of a coaxial dual rotor structure of an aircraft is provided in embodiment 1 of the present invention. The aircraft includes a coaxial dual rotor power system, a chassis support assembly for supporting the coaxial dual rotor power system, a battery 100 disposed below the chassis support assembly, and an offset center of gravity device. The gravity center shifting device drives the balancing weight to make eccentric displacement, so that the gravity center of the aircraft shifts and drives the whole aircraft to deflect along with the gravity center shifting device, and various flight attitudes are realized. The weight of the battery is greater than the total weight of the chassis supporting component and the coaxial double-rotor power system, and the gravity center of the aircraft is positioned at the lower half part of the longitudinal height of the aircraft, so that the aircraft is static to form a tumbler state with light upper part and heavy lower part, the flight stability of the aircraft is ensured, and the aircraft is not easy to turn on one's side.

The coaxial double-rotor power system comprises a first motor, a first blade 11 fixedly arranged on a rotor of the first motor, a second blade 12 fixedly arranged on a rotor of the second motor and an electric regulator; the first and second paddles counter-rotate. And (3) setting a control program to enable the electric motor to control the start, stop and rotating speed of the first motor or/and the second motor.

The chassis supporting component comprises a cylindrical protective frame 21 which is arranged at the periphery of the first blade and the second blade and is provided with upper and lower openings, a plurality of supporting rods 22 and a bottom circular ring supporting frame 23. One end of each supporting rod is connected with the lower end of the cylindrical protection frame with the upper opening and the lower opening, the other end of each supporting rod is connected with the bottom circular ring supporting frame, and the supporting rods are uniformly distributed. Two circles parallel to the cylindrical protection frame with the upper opening and the lower opening and the bottom circular ring support frame form a generating line of the round table, and an included angle between the generating line and the circular ring diameter of the bottom circular ring support frame is an acute angle. The cylindrical protection frame with the upper opening and the lower opening is internally provided with two horizontal transverse rods 211 which are horizontally distributed, stators of the first motor and the second motor are respectively fixedly connected with an upper layer transverse beam and a lower layer transverse beam in a centering manner, three paddles are shared by the first paddles and fixedly connected with rotors of the first motor, and three paddles are shared by the second paddles and fixedly connected with rotors of the second motor. The first motor and the second motor rotate along the same axis M. Preferably, a plurality of support rods are arranged in a crossed mode to form an hourglass shape, and the intersection 221 and the circle center of the bottom circular ring support frame are located on the axis M.

The bottom ring support 23 further includes cross support bars 231 whose inner rings are radially disposed perpendicularly to each other. Four groups of gravity center shifting devices are fixedly installed on the four rod bodies of the cross support rod respectively.

The gravity center shifting device comprises a rectangular frame 31, an electric push rod 32 and a ring sleeve 33 sleeved on the battery, wherein the long edge of the rectangular frame is radially arranged on the inner ring of the bottom circular support frame, and the width of the rectangular frame is slightly larger than the diameter of the battery. The rectangular frame is provided with guide rails 34 along the bottom of the long sides. One end of the electric push rod is fixed at one end of the rectangular frame far away from the center of the bottom circular ring support frame, the other end of the electric push rod is connected to the battery ring sleeve, the lower end of the connecting plate 35 is provided with a roller 36, the connecting plate is connected with the ring sleeve 33, the roller is matched with the guide rail, and the electric push rod pushes the battery to be far away from or close to the axial lead along the inner ring radial direction of the bottom circular ring support frame.

According to a set control program, the electric push rod gradually pulls a group of batteries to get close to the center after leaning to the side, so that the gravity center at the bottom of the aircraft can be shifted and inclined to form a circular ring to move, and the aircraft is driven to integrally deflect in a 360-degree posture.

The bottom ring support 23 is characterized in that a circle point is used as a circle center, three equal-length support rods are uniformly arranged on a plane where the radius and the axis of the bottom ring support are located to form a support portion 232 of the bottom ring buoyancy body, the support portion structure is uniformly distributed on the ring and locked with high-resistance polyamide foaming materials to form a cavity buoyancy body 40, and then the outside is wrapped with waterproof plastic cement cloth for sealing, or the outside is pre-fabricated into a circumferential cavity body by a glass fiber reinforced plastic fabric coating and then locked with the support portion to form the cavity buoyancy body. The inner ring radius length of the cavity buoyancy body 40 is greater than the distance of the long sides of the rectangular frame.

At least more than three wheel sets 233 are fixedly connected and arranged on the supporting part 232, one of the wheel sets 233 is a steering wheel, and a propeller 2331 is arranged in the center of a wheel frame of the steering wheel and coaxially rotates with the wheel, and the propeller is driven by a motor. The proposal can be pulled and shifted on the land, and the travelling direction can be pushed and controlled on the water surface by means of the propeller.

Optionally, the device for shifting the center of gravity can be at least provided with 2 groups in the inner ring of the bottom ring support frame, and is symmetrically arranged by the axis M, so that the center of gravity of the aircraft is positioned on the axis when all batteries are at the initial position.

Alternatively, referring to fig. 6, a coaxial dual rotor power system may be provided with at least one.

The shape of the cavity buoyancy body can also be square, polygonal, ellipsoidal, pyramid and the like.

Because unmanned aerial vehicle flies or hovers when shooting the video, need overcome aircraft self weight constantly by motor operation drive rotor's paddle rotation, in power consumptive, this application electronic unmanned aerial vehicle can be unsettled sometimes, floats on the surface of water sometimes, and the motor stops to rotate this moment, saves the electric quantity.

The electric unmanned aerial vehicle flight control system receives an instruction of a remote controller, outputs a corresponding signal to an electric power and battery driving device, and the battery driving device is specifically an electric push rod, wherein the electric power is used for converting direct current of a battery into three-phase power, the current intensity and frequency of the three-phase power output to a motor are controlled in real time according to the signal, so that the rotating speed of the motor is regulated, and the battery driving device moves the battery to a corresponding position.

The following is the implementation process of each flight action of the aircraft:

vertical take-off and landing: after the aircraft leaves the ground, when the lift force generated by the rotation of the blades is greater than the gravity of the aircraft, the aircraft vertically rises, and when the lift force generated by the rotation of the blades is less than the gravity of the aircraft, the aircraft vertically descends; when the side flying is switched to the vertical lifting mode, the flying control system sends out an instruction according to the horizontal speed and the direction of the side flying, so that the battery driving device pushes the battery to move until the aircraft stands in the air, and vertical lifting is realized.

Hovering in the air: and controlling the aircraft to vertically lift, and hovering the aircraft when the lift force generated by the rotation of the blades is equal to the gravity of the aircraft under the specified height.

And (3) flat flight: the flight control system sends out an instruction, the initial position of the battery is located around the axis, the electric push rod pushes the battery to move along the direction away from the axis in the radial direction, the aircraft tilts in the air at the moment, the lifting force direction tilts along with the battery, and when the lifting force generated by rotation of the blades is large enough, and the vertical component of the lifting force is equal to the weight of the aircraft, the horizontal component of the lifting force pulls the aircraft to fly flatly.

Obliquely flying up and obliquely flying down: in a flat flight state, when the lifting force is increased or reduced, the vertical component of the lifting force is larger or smaller than the weight of the aircraft, and the horizontal component of the lifting force pulls the aircraft to fly, so that the obliquely upward flight and the obliquely downward flight can be realized.

Turning: the flight control system instructs one of the first motor and the second motor of the coaxial double-rotor assembly to accelerate or decelerate, the reactive torque generated by the first blade and the second blade which rotate in opposite directions is unbalanced, and the aircraft rotates towards the direction with large reactive torque, or instructs one of the first motor and the second motor to accelerate at the same time, and the other motor decelerates, so that the steering of the aircraft can be realized.

Water surface floating: after the aircraft touches water, the buoyancy of the cavity buoyancy body is larger than the gravity of the aircraft, and the aircraft floats on the water surface.

Emergency reaction: if the aircraft suddenly encounters strong wind, the aircraft quickly tilts towards a certain direction, when the attitude sensor detects that the tilt angle of the aircraft is larger than a set value and the angular velocity value of tilting motion is larger than the set value, the flight control system automatically sends a quick steering instruction to enable the aircraft to steer towards the incoming wind, namely fly against the wind, and the aircraft is turned and regulated in real time along with the change of the attitude of the aircraft, so that the aircraft is prevented from turning over in the air in a certain wind power range.

Super emergency reaction: when the emergency response can not effectively control the aerial gesture (the unmanned aerial vehicle is in an emergency response state for more than 10 seconds), the flight control system automatically instructs the battery driving device to push the battery to move, the gravity center is changed, when the gravity center of the aircraft is positioned on the central line of the rotor shaft, the flight control system automatically instructs one motor of the first motor and the second motor of the coaxial double-rotor assembly to accelerate, and the other motor stops, so that the aircraft rotates rapidly in the air to form a rotation gyro, the aircraft is ensured not to overturn in a certain wind power range by virtue of the dead axle of the gyro, and the aircraft descends gradually to land on the ground.

Referring to fig. 7, a schematic diagram of a coaxial dual rotor structure of an electric unmanned aerial vehicle according to embodiment 2 of the present invention is provided.

This embodiment is based on embodiment 1, and differs from embodiment 1 in that the chassis support assembly includes a cylindrical guard frame 21 provided at the upper and lower openings of the outer peripheries of the first blade 11 and the second blade 12, a plurality of support bars, and a bottom ring support frame. The lower end of the cylindrical protection frame with the upper and lower openings is connected with a plurality of support rods 201', preferably three support rods, to form an isosceles inverted cone shape. The stators of the first motor and the second motor are hollow structures, and a rotating shaft 202a' penetrates through the hollow stators of the first motor and the second motor to be fixedly connected. The tip of the isosceles inverted cone-shaped support rod is fixedly connected with a first horizontal rod 203' which is horizontally arranged, the lower end of the rotating shaft 202a ' penetrates through the tip of the isosceles inverted cone-shaped support rod, and the first horizontal rod is hinged with a support shaft 202b '. The two symmetrical sides of the first cross rod at the conical tip position are equal in length, and the circle centers of the supporting shaft and the bottom circular ring supporting frame are positioned on the axis.

One end of each supporting rod 201 'is uniformly arranged on the bottom circular ring supporting frame and fixedly connected with the bottom circular ring supporting frame, the other end of each supporting rod is fixed on a supporting shaft below a hinging point of the rotating shaft and the supporting shaft to form an isosceles pyramid shape, and second cross rods 204' are fixedly and horizontally arranged at the top positions of the conical tips or the pyramid tables of the pyramid-shaped supporting rods and are equal in length at two symmetrical sides of the conical tips of the pyramid-shaped supporting rods. Two ends of the electric push rod 205' are respectively hinged between the second cross rods on two sides of the axis and the first cross rod, one end of the electric push rod is hinged with the end of the first cross rod, and the other end is hinged with the end of the second cross rod. The two electric push rods stretch and retract to enable the hinge point of the rotating shaft and the supporting shaft to rotate so as to drive the first blade and the second blade to deflect.

Alternatively, referring to fig. 9, a coaxial dual rotor power system may be provided with at least one.

Differentiation of flight actions:

and (3) flat flight: referring to fig. 4, when the flight control system controls one electric push rod to shrink and the other electric push rod to stretch, the rotating shaft fixedly connected with the first cross rod and the cylindrical protective frame with the upper opening and the lower opening are forced to drive the first blade and the second blade to deviate from the axis line M, the coaxial double-rotor wing is driven to rotate, at the moment, the lift force generated by rotation of the blades is inclined, the inclined lift force is decomposed into a vertical component and a horizontal component, and when the lift force is large enough and the vertical component is equal to the gravity of the aircraft, the horizontal component pulls the aircraft to fly flatly.

Vertical take-off and landing: when the horizontal flight is switched to the vertical lifting mode, the flight control system controls the electric push rods on two sides of the axis to retract to the original position, the axis of the double rotor wings is reset to be in a vertical state, the flight control system simultaneously controls the battery to move back to the initial position, and the gravity center of the aircraft is positioned on the axis, so that the vertical lifting is realized.

Super emergency reaction: when the emergency response can not effectively control the aerial gesture (the unmanned aerial vehicle is in the emergency response state for more than 10 seconds), the flight control system instructs the axis of the double rotor wings to reset to be in a vertical state, meanwhile instructs the battery to move so that the center of gravity of the aircraft is on the axis, and then automatically instructs one of the first motor and the second motor to accelerate and the other motor to stop, so that the aircraft rotates rapidly in the air to form a rotation gyro, the fixed axiality of the gyro is relied on to ensure that the aircraft does not overturn in a certain wind power range, and the aircraft descends to the ground gradually.

While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.

Claims

1. An aircraft is characterized by comprising a coaxial multi-rotor power system arranged in the middle, a chassis supporting component for supporting the coaxial multi-rotor power system, a balancing weight arranged below the chassis supporting component and a gravity center shifting device; the gravity center shifting device drives the balancing weight to make eccentric displacement, so that the gravity center of the aircraft shifts and drives the whole aircraft to deflect along with the gravity center shifting device.

2. The aircraft of claim 1 wherein the weight is a battery for powering the aircraft and the batteries are centrally or symmetrically disposed, the weight of the battery being greater than the combined weight of both the chassis support assembly and the coaxial dual rotor power system, the center of gravity of the aircraft being located in the lower half of half the longitudinal height of the aircraft such that the aircraft statically forms a light-up and heavy-down tumbler condition.

3. The aircraft of claim 1, wherein the chassis support assembly comprises a cylindrical shield frame with upper and lower openings, a bottom ring support frame, and support rods for connecting the cylindrical shield frame and the bottom ring support frame, the cylindrical shield frame being disposed on the periphery of the rotor of the coaxial multi-rotor power system, the center line of the cylindrical shield frame, the center of rotation of the rotor coinciding with the axis line of the bottom ring support frame.

4. An aircraft according to claim 3, wherein two circles parallel to both the cylindrical guard frame and the bottom ring support frame form a generatrix of a circular truncated cone, and the included angle with the diameter of the bottom ring support frame is an acute angle.

5. The aircraft of claim 3, wherein the center of gravity shifting device comprises a rectangular frame, an electric push rod and a ring sleeve sleeved on the battery, and the long edge of the rectangular frame is radially arranged on the inner ring of the bottom circular support frame; one end of the electric push rod is fixed on the rectangular frame, the other end of the electric push rod is connected with the annular sleeve, and the battery moves away from or approaches to the axis along the long side of the rectangular frame through the expansion and contraction of the electric push rod, so that the gravity center offset of the aircraft is realized.

6. The aircraft according to claim 5, wherein the means for shifting the center of gravity is symmetrically provided with four groups, and the electric push rod gradually pulls one group of batteries to get close to the center after leaning, so that the center of gravity of the bottom of the aircraft can shift and tilt to form a circular ring, and the aircraft is driven to shift in a 360-degree posture as a whole.

7. The aircraft of claim 3, wherein the coaxial multi-rotor power system is configured as a dual-rotor power system, and comprises a first motor and a second motor, wherein stators of the first motor and the second motor are respectively and correspondingly fixedly connected with an upper cross beam and a lower cross beam which are horizontally arranged in the cylindrical protection frame, a rotor of the first motor is fixedly connected with a first blade, a rotor of the second motor is fixedly connected with a second blade, and a coaxial line of the first motor and the second motor rotate in opposite directions.

8. The aircraft of claim 7, wherein the dual rotor power system further comprises two electronic governors that control the start and stop and rotational speed of the first motor or the second motor, respectively.

9. The aircraft of claim 3, wherein the coaxial multi-rotor power system is configured as a dual-rotor power system comprising a first motor and a second motor, the rotor of the first motor being fixedly connected to the first blade, the rotor of the second motor being fixedly connected to the second blade; the first motor and the second motor rotate along the same axis;

the support rod comprises a first support rod and a rotating shaft;

a plurality of first support rods are uniformly distributed on the opening of the bottom surface of the cylindrical protective frame to form an isosceles inverted pyramid; the stators of the first motor and the second motor are hollow structures, and a rotating shaft penetrates through the hollow stators of the first motor and the second motor and the vertexes of the isosceles inverted pyramids to be fixedly connected.

10. The aircraft of claim 9, wherein the support rods further comprise a second support rod, one end of the plurality of second support rods is uniformly and fixedly arranged on the bottom circular ring support frame, and the other end of the plurality of second support rods is enclosed to form an isosceles pyramid shape or an isosceles truncated cone shape.

11. The aircraft of claim 10, wherein the isosceles pyramid-shaped or isosceles truncated cone-shaped upper top is horizontally provided with a second cross bar, and a support shaft which coincides with the axis is vertically arranged perpendicular to the second cross bar; the rotating shaft positioned below the vertex of the isosceles inverted pyramid is hinged with the supporting shaft;

12. The aircraft of claim 3, wherein the bottom ring support frame is locked with the high impact polyamide foam outside the bottom ring support frame to form a cavity buoyancy body, and then the outside is wrapped with waterproof plastic cloth for sealing; or the glass fiber reinforced plastic fabric coating is prefabricated into a circumferential cavity and then locked with the fixed support to form a cavity buoyancy body, and the cavity buoyancy body provides buoyancy floating on the water surface for the aircraft.

13. An aircraft according to claim 3, wherein at least three wheel sets are uniformly and fixedly connected to the bottom ring support in the circumferential direction, one of the wheel sets is a steering wheel, and a propeller is disposed in the center of the steering wheel frame and rotates coaxially with the wheels.