CN116639276A - Four rotor unmanned aerial vehicle based on capsule configuration - Google Patents
Four rotor unmanned aerial vehicle based on capsule configuration Download PDFInfo
- Publication number
- CN116639276A CN116639276A CN202310802108.1A CN202310802108A CN116639276A CN 116639276 A CN116639276 A CN 116639276A CN 202310802108 A CN202310802108 A CN 202310802108A CN 116639276 A CN116639276 A CN 116639276A
- Authority
- CN
- China
- Prior art keywords
- rotor
- unmanned aerial
- aerial vehicle
- circuit board
- control circuit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000002775 capsule Substances 0.000 title claims abstract description 31
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 31
- 239000011248 coating agent Substances 0.000 claims abstract description 7
- 238000000576 coating method Methods 0.000 claims abstract description 7
- 230000003287 optical effect Effects 0.000 claims description 29
- 238000004891 communication Methods 0.000 claims description 23
- 230000005484 gravity Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000012780 transparent material Substances 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 10
- 238000011835 investigation Methods 0.000 description 6
- 230000005611 electricity Effects 0.000 description 5
- 238000012546 transfer Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/10—Constructional aspects of UAVs for stealth, e.g. reduction of cross-section detectable by radars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/50—Foldable or collapsible UAVs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/70—Constructional aspects of the UAV body
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
- B64U20/83—Electronic components structurally integrated with aircraft elements, e.g. circuit boards carrying loads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
- B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
- B64U30/293—Foldable or collapsible rotors or rotor supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Radar, Positioning & Navigation (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a four-rotor unmanned aerial vehicle based on a capsule configuration, which relates to the technical field of four-rotor unmanned aerial vehicles and comprises a body component, four-rotor components and an unmanned aerial vehicle flight control system, wherein the body component is arranged based on the capsule configuration, a containing groove for containing the four-rotor components is formed in the side surface of the body component, and the four-rotor components comprise rotor devices of four foldable containing grooves. The four-rotor unmanned aerial vehicle body component is arranged based on a capsule-shaped configuration, is integrally tubular, greatly reduces wind resistance in the advancing direction of the four-rotor unmanned aerial vehicle, can fly at a high speed, is matched with an electromagnetic shielding coating, is extremely difficult to find by electronic detection means such as a radar, is provided with a containing groove for containing the four-rotor component at the side surface of the body component, is matched with a folding motor, realizes automatic folding and unfolding of the rotor component, and is matched with control of an unmanned aerial vehicle flight control system to realize unfolding and folding actions and silent sliding actions of the rotor in the air, and can avoid electronic detection through sliding.
Description
Technical Field
The invention relates to the technical field of four-rotor unmanned aerial vehicles, in particular to a four-rotor unmanned aerial vehicle based on a capsule configuration.
Background
Common multi-rotor airframe layouts are three-rotor, four-rotor, six-rotor, eight-rotor and annular rotor. Different layout modes can be selected according to different task requirements.
Four rotors are a common multi-rotor unmanned aerial vehicle rotor layout mode. The four-rotor unmanned aerial vehicle has moderate stability, and the characteristics enable the four-rotor unmanned aerial vehicle to be very suitable for unmanned aerial vehicle aerial photography activities, and the consumer-level unmanned aerial vehicle market is four-rotor layout.
At present, the body structure of a conventional four-rotor unmanned aerial vehicle is generally based on a square body structure, the square edges and corners are subjected to arc treatment to reduce wind resistance, the strength of the structure is improved, the flight attitude of the four-rotor unmanned aerial vehicle with the structure is stable, and the four-rotor unmanned aerial vehicle has the defects of large wind resistance, large energy consumption, incapability of realizing high-speed flight and poor maneuverability.
Disclosure of Invention
The invention provides a capsule-configuration-based four-rotor unmanned aerial vehicle, which aims to solve the technical problems that the body configuration of a conventional four-rotor unmanned aerial vehicle is generally based on a square body configuration, has large wind resistance and energy consumption, cannot realize high-speed flight and has poor maneuverability. The following technical scheme is adopted:
the utility model provides a four rotor unmanned aerial vehicle based on capsule configuration, includes fuselage subassembly, four rotor subassemblies and unmanned aerial vehicle flight control system, the fuselage subassembly sets up based on capsule form configuration, and the side sets up the storage tank that is used for accomodating four rotor subassemblies, four rotor subassemblies include four collapsible receipts rotor devices in storage tank constitutes, unmanned aerial vehicle flight control system control four rotor subassemblies's executive action realizes four rotor unmanned aerial vehicle's aerial rotor and expands and draws in action and silence and slide the action.
Through adopting above-mentioned technical scheme, four rotor unmanned aerial vehicle's fuselage subassembly sets up based on capsule form configuration, wholly be the tubulose, its length-width ratio is greater than 3, reduce four rotor unmanned aerial vehicle's direction of advance windage greatly, the capsule head is semicircle form simultaneously, also can reduce windage well, can realize high-speed flight, and it only presents the line strip in ground radar monitoring, very difficult being found, the storage tank that is used for accomodating four rotor subassemblies is put to the side of fuselage subassembly, the purpose is accomodate four rotor devices wherein, can deal with the sky throwing scene better, to unmanned aerial vehicle's throwing, generally adopt a concentrated throwing storehouse to carry four rotor unmanned aerial vehicle, if rotor devices is the expansion state, then the four rotor unmanned aerial vehicle's that same throwing storehouse can be mounted quantity is far less than four rotor unmanned aerial vehicle that can accomodate rotor devices, after being thrown, four rotor subassemblies are automatic to expand and carry out normal flight, it can realize rotor expansion and receipts action and silence and coast action to coast down, silence coast the action means and can be in order to take shelter from the attitude under the high altitude and the forward electric free from the attitude of a short time.
Optionally, the fuselage subassembly includes outer casing, inside casing and head casing, the appearance of outer casing is the capsule form, and both sides set up a pair of storage tank respectively, inside casing detachable installs on the bottom surface of outer casing inner wall, and inside is used for installing electric device, the head casing is hemispherical, installs the tip at outer casing.
Through adopting above-mentioned technical scheme, fuselage subassembly divide into two parts, and the outer casing is the capsule form, satisfies the effect that reduces the windage, and inside casing is used for installing each electric device.
Optionally, an electromagnetic shielding coating is smeared on the outer surface of the outer casing, and a plurality of communication wire holes are uniformly formed on the upper surface and the lower surface of the outer casing respectively.
Through adopting above-mentioned technical scheme, the purpose that electromagnetic shielding coating set up is further reduced four rotor unmanned aerial vehicle by the possibility that radar found, especially when silence coasting action, rotor device is in the state of accomodating, and each electrical component in inside cuts off the power supply, and four rotor unmanned aerial vehicle realizes radio silence basically.
Optionally, the rotor device includes rotor horn, rotor motor, folding motor and paddle, the one end of rotor horn is installed in the storage tank department of outer casing through the pivot, folding motor installs the installation position that sets up at outer casing, and the rotor horn rotates along the pivot through transmission drive, realizes the expansion and the action of drawing in of rotor device, and the other end of rotor horn sets up rotor motor mounting groove, rotor motor's casing is installed in rotor motor mounting groove, the paddle is installed on rotor motor's driving shaft to provide the lift for four rotor unmanned aerial vehicle under rotor motor driving shaft's drive.
Through adopting above-mentioned technical scheme, the configuration of rotor device increases folding motor on the basis of conventional rotor horn, rotor motor and paddle, in order to realize the automatic folding and the expansion of rotor device.
Optionally, unmanned aerial vehicle flies to control the system and includes main control circuit board, navigation chip, GPS module, optical sensing module, electricity transfers module, group battery and many electronic gain antennas based on unmanned aerial vehicle flies to control the chip, navigation chip, GPS module and electricity transfer module are integrated respectively on main control circuit board, main control circuit board and group battery are arranged in inside casing respectively, and the head casing adopts transparent material to make, optical sensing module sets up in the head casing, and navigation chip, GPS module, optical sensing module and electricity transfer module are connected with main control circuit board communication respectively, and many electronic gain antennas set up a plurality of communication electric wire hole departments at the upper and lower surface of outer casing respectively, and main control circuit board carries out radio communication with outside through many electronic gain antennas, and main control circuit board carries out the executive action of electric motor control rotor through electricity transfer module to control folding motor and optical sensing module's executive action respectively.
Through adopting above-mentioned technical scheme, unmanned aerial vehicle flight control system mainly realizes based on the main control circuit board, the main control circuit board is based on unmanned aerial vehicle flight control chip sets up, navigation chip and GPS module are used for the navigation planning of position location and flight route, optical sensor module is used for carrying out taking photo by plane or investigation shooting task, the electric regulation module mainly controls rotor motor's executive action, mainly include rotational speed and power etc. many electronic gain antennas are in order to realize the communication in the multiparty direction, consequently, shielding structure has been adopted and has been set up, consequently, adopt many electronic gain antennas to carry out radio communication, can cut off the power supply to many electronic gain antennas when the radio is silent, in order to reduce the production of electromagnetic wave.
Optionally, the unmanned aerial vehicle flight control system still includes gyroscope, barometric altimeter and from starting chip, gyroscope, barometric altimeter and from starting chip are integrated respectively on the main control circuit board to with main control circuit board communication connection respectively, the group battery is gyroscope, barometric altimeter and from starting chip power supply respectively through independent power supply line, and the data control main control circuit board that the automatic starting chip was measured according to gyroscope barometric altimeter restarts, realizes restarting from silence sliding action.
Through adopting above-mentioned technical scheme, in silence coasting action duration, master control circuit board, navigation chip, GPS module, optical sensing module, electricity transfers module and many electronic gain antenna all can carry out outage processing, how to resume normal flight then becomes the technical problem that needs to solve, at this moment mainly rely on gyroscope and barometric altimeter four rotor unmanned aerial vehicle's gesture and flight altitude to provide the judgement basis, the self-starting chip judgement is if satisfying corresponding regulation, then self-starting chip control master control circuit board resumes the circular telegram, and then master control circuit board control each electrical apparatus resumes the power supply, thereby realize restarting from silence coasting action.
Optionally, the thickness of the fuselage assembly in the vertical direction is set to be B, and after the unmanned aerial vehicle flight control system is installed, the center of gravity point of the fuselage assembly is positioned on the central axis of the architecture geometric center point which is 0.5B-0.8B below.
Through adopting above-mentioned technical scheme, through the structure setting of fuselage subassembly, and the weight and the design of mounted position of each electric device, make the focus point of fuselage subassembly be located on the axis of architecture geometric centre point 0.5B-0.8B down, on the axis of preferred control messenger's focus point geometric centre point 0.8B down, reduce the focus and make the flight more stable like this, the silence slides the attitude that keeps stable more easily when acting.
Optionally, the optical sensor module is a dome camera.
By adopting the technical scheme, the hemispherical camera can realize controllable adjustment of shooting angles, so that shooting requirements can be detected in a larger range, detection equipment such as an ultrasonic detector can be mounted, and auxiliary detection loads such as illumination can be mounted.
Optionally, the specific method for controlling the four-rotor unmanned aerial vehicle to realize the unfolding and folding actions of the air rotor by the unmanned aerial vehicle flight control system is as follows:
the main control circuit board controls the power shaft of the folding motor to rotate and drives the rotorcraft arm to unfold from the storage groove, so that the unfolding and folding actions of the aerial rotor are realized.
By adopting the technical scheme, under the application scene of throwing in the air, the rotor wing device in the folded state needs to be automatically unfolded, and when the silent sliding action is needed, the folding action for realizing the unfolding of the rotor wing in the air is needed.
Optionally, the specific method for controlling the four-rotor unmanned aerial vehicle to realize the silent sliding action by the unmanned aerial vehicle flight control system is as follows:
the main control circuit board firstly controls the rotor motor to execute the altitude and speed lifting action through the electric adjustment module, the main control circuit board monitors the flying lifting to be higher than 1000 meters according to the altitude data provided by the barometric altimeter, the advancing speed is higher than 10 meters/second, the air rotor folding action is executed, the navigation chip, the GPS module, the optical sensing module, the electric adjustment module and the plurality of electronic gain antennas are controlled to be powered off, and then the main control circuit board is powered off;
optionally, during the duration of the silent sliding action, when the self-starting chip determines that the flying height data of the quadrotor unmanned aerial vehicle is lower than 300 meters according to the altitude data monitored by the barometric altimeter and in combination with the offline map data or the gyroscope monitors that the deflection angle of the quadrotor unmanned aerial vehicle in any direction is greater than 45 degrees, the self-starting chip executes the silent sliding action of exiting: and starting the main control circuit board to supply power, controlling the main control circuit board to execute the unfolding action of the aerial rotor wing, controlling the navigation chip, the GPS module, the optical sensing module, the electric tuning module and the plurality of electronic gain antennas to be electrified, and recovering normal flight and wireless communication.
By adopting the technical scheme, when the quadrotor unmanned aerial vehicle enters a hostile radar detection area or is used for avoiding other ground and air detection targets, a silent sliding motion needs to be executed, the premise of the silent sliding motion is a certain height and a forward speed, the height can be lowered to a certain extent within the duration of the silent sliding motion, and the height lowering speed is not very fast due to the fact that the larger forward speed exists, so that the duration of the silent sliding motion is generally longer than 30 seconds, the linear distance larger than 300 meters can be passed, the sensing area can be theoretically passed, and if the duration of the silent sliding motion is longer, the flying to a higher height is needed, or the larger forward speed is given.
In summary, the present invention includes at least one of the following beneficial technical effects:
the invention provides a four-rotor unmanned aerial vehicle based on a capsule configuration, wherein a fuselage component of the four-rotor unmanned aerial vehicle is arranged based on the capsule configuration, is integrally tubular, greatly reduces wind resistance in the advancing direction of the four-rotor unmanned aerial vehicle, can realize high-speed flight, is matched with an electromagnetic shielding coating, is extremely difficult to find by electronic detection means such as a radar, is provided with a containing groove for containing the four-rotor component on the side surface of the fuselage component, is matched with a folding motor, realizes automatic folding and unfolding of the rotor component, can better cope with an aerial throwing scene, and is matched with control of an unmanned aerial vehicle flight control system to realize aerial rotor unfolding and folding action and silent sliding action, and can avoid electronic detection through sliding.
Drawings
Fig. 1 is a schematic perspective view of a four-rotor unmanned aerial vehicle based on a capsule configuration;
fig. 2 is a schematic diagram of a front view structure of a quad-rotor unmanned helicopter based on a capsule configuration of the present invention;
fig. 3 is a schematic side view of a quad-rotor unmanned helicopter based on a capsule configuration of the present invention;
fig. 4 is a schematic diagram of the center of gravity design of a quad-rotor unmanned helicopter based on a capsule configuration of the present invention;
fig. 5 is a schematic diagram of an electrical device connection principle of the quad-rotor unmanned helicopter based on a capsule configuration.
Reference numerals illustrate: 1. a fuselage assembly; 11. an outer case; 12. an inner housing; 13. a head housing; 111. a storage groove; 2. a rotor device; 21. a rotorcraft arm; 22. a rotor motor; 23. a folding motor; 24. a paddle; 31. a main control circuit board; 32. a navigation chip; 33. a GPS module; 34. an optical sensing module; 35. an electric adjustment module; 36. a battery pack; 37. an electronic gain antenna; 38. a barometric altimeter; 39. a self-starting chip; 40. a gyroscope; 100. and a power switch.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The embodiment of the invention discloses a four-rotor unmanned aerial vehicle based on a capsule configuration.
Referring to fig. 1-5, a four-rotor unmanned aerial vehicle based on capsule configuration, including fuselage subassembly 1, four-rotor subassembly and unmanned aerial vehicle flight control system, fuselage subassembly 1 sets up based on capsule form configuration, and the side sets up the storage tank 111 that is used for accomodating four-rotor subassembly, and four-rotor subassembly includes that four collapsible income is accomodate rotor device 2 of tank 111 and constitutes, and unmanned aerial vehicle flight control system controls four-rotor subassembly's execution action, realizes four-rotor unmanned aerial vehicle's aerial rotor expansion and draws in action and silence and slides the action.
The fuselage subassembly 1 of four rotor unmanned aerial vehicle is based on capsule form configuration setting, wholly be the tubulose, its length-width ratio is greater than 3, reduce four rotor unmanned aerial vehicle advancing direction's windage greatly, the capsule head is semicircle form simultaneously, also can reduce windage well, can realize high-speed flight, and it only presents the line strip in ground radar monitoring, it is very difficult to be found, the storage tank 111 that is used for accomodating four rotor subassembly is put to the side of fuselage subassembly 1, the purpose is accomodate four rotor device 2 wherein, can better deal with the sky and put in the scene, put in to the unmanned aerial vehicle crowd generally, generally adopt a concentrated storehouse of putting in and mount four rotor unmanned aerial vehicle, if rotor device 2 is the state of expanding, then four rotor unmanned aerial vehicle's quantity that the same put in storehouse can be mounted is far less than four rotor unmanned aerial vehicle that can accomodate rotor device 2, after being put in, it is normal flight to receive the control of unmanned aerial vehicle flight control system can realize sky expansion and receipts action and silence and coast action, silence coast action means and is in the higher flight and can carry out the radio and avoid the electron and avoid in the attitude under the high altitude of time.
The body assembly 1 comprises an outer shell 11, an inner shell 12 and a head shell 13, wherein the outer shell 11 is in a capsule shape, a pair of containing grooves 111 are respectively formed in two sides of the outer shell 11, the inner shell 12 is detachably arranged on the bottom surface of the inner wall of the outer shell 11, an electric device is arranged in the inner shell, and the head shell 13 is in a hemispherical shape and is arranged at the end part of the outer shell 11.
The body assembly 1 is divided into two parts, the outer shell 11 is in a capsule shape, the effect of reducing wind resistance is met, and the inner shell 12 is used for installing various electric devices.
The outer surface of the outer casing 11 is coated with an electromagnetic shielding coating, and a plurality of communication wire holes are uniformly formed in the upper surface and the lower surface of the outer casing 11 respectively.
The purpose of electromagnetic shielding coating setting is to further reduce four rotor unmanned aerial vehicle by radar discovery's possibility, especially when silent sliding action, rotor device 2 is in the state of accomodating, and each electrical component in inside carries out the outage, and four rotor unmanned aerial vehicle realizes radio silence basically.
The rotor device 2 includes rotor horn 21, rotor motor 22, folding motor 23 and paddle 24, the one end of rotor horn 21 is installed in the storage tank 111 department of outer casing 11 through the pivot, folding motor 23 installs the installation position that sets up at outer casing 11, it rotates along the pivot to drive rotor horn 21 through transmission, realize rotor device 2's expansion and draw in the action, rotor motor mounting groove is set up to rotor horn 21's the other end, rotor motor 22's casing is installed in rotor motor mounting groove, paddle 24 installs on rotor motor 22's driving shaft, and provide the lift for four rotor unmanned aerial vehicle under rotor motor 22's driving shaft's drive.
The configuration of the rotor assembly 2 adds a folding motor 23 on the basis of a conventional rotor arm 21, rotor motor 22 and blades 24 in order to achieve automatic folding and unfolding of the rotor assembly 2.
The unmanned aerial vehicle flight control system comprises a main control circuit board 31 based on an unmanned aerial vehicle flight control chip, a navigation chip 32, a GPS module 33, an optical sensing module 34, an electric adjustment module 35, a battery pack 36 and a plurality of electronic gain antennas 37, wherein the navigation chip 32, the GPS module 33 and the electric adjustment module 35 are respectively integrated on the main control circuit board 31, the main control circuit board 31 and the battery pack 36 are respectively arranged in an inner shell 12, a head shell 13 is made of transparent materials, the optical sensing module 34 is arranged in the head shell 13, the navigation chip 32, the GPS module 33, the optical sensing module 34 and the electric adjustment module 35 are respectively in communication connection with the main control circuit board 31, the plurality of electronic gain antennas 37 are respectively arranged at a plurality of communication wire holes on the upper surface and the lower surface of the outer shell 11, the main control circuit board 31 is in wireless communication with the outside through the plurality of electronic gain antennas 37, the main control circuit board 31 controls the execution actions of the rotor motor 22 through the electric adjustment module 35, and respectively controls the execution actions of the folding motor 23 and the optical sensing module 34.
The unmanned aerial vehicle flight control system is mainly realized based on a main control circuit board 31, the main control circuit board 31 is arranged based on an unmanned aerial vehicle flight control chip, a navigation chip 32 and a GPS module 33 are used for position location and navigation planning of flight tracks, an optical sensing module 34 is used for executing aerial photography or investigation shooting tasks, an electric tuning module 35 mainly controls execution actions of a rotor motor 22 and mainly comprises rotating speed, power and the like, a plurality of electronic gain antennas 37 are used for realizing communication in multiple directions, and therefore shielding structure is adopted, wireless communication is carried out by adopting the plurality of electronic gain antennas 37, and the plurality of electronic gain antennas 37 can be powered off during radio silence so as to reduce electromagnetic wave generation.
The unmanned aerial vehicle flight control system further comprises a gyroscope 40, an air pressure altimeter 38 and a self-starting chip 39, wherein the gyroscope 40, the air pressure altimeter 38 and the self-starting chip 39 are respectively integrated on the main control circuit board 31 and are respectively in communication connection with the main control circuit board 31, the battery pack 36 respectively supplies power to the gyroscope 40, the air pressure altimeter 38 and the self-starting chip 39 through separate power supply lines, and the self-starting chip 39 controls the main control circuit board 31 to restart according to data measured by the gyroscope 40 and the air pressure altimeter 38, so that restarting from a silent sliding motion is realized.
In the duration of the silent sliding motion, the main control circuit board 31, the navigation chip 32, the GPS module 33, the optical sensing module 34, the electric adjustment module 35 and the plurality of electronic gain antennas 37 are all subjected to power-off processing, so that the technical problem to be solved is solved how to resume normal flight, at this time, the gyroscope 40 and the barometer 38 are mainly relied on to provide judgment basis for the gesture and the flight height of the quadrotor unmanned aerial vehicle, the self-starting chip 39 judges that if the corresponding adjustment is satisfied, the self-starting chip 39 controls the main control circuit board 31 to resume power-on, and then the main control circuit board 31 controls each electric device to resume power-on, thereby restarting from the silent sliding motion is realized.
The thickness of the fuselage assembly 1 in the vertical direction is set as B, and after the unmanned aerial vehicle flight control system is installed, the gravity center point of the fuselage assembly 1 is positioned on the central axis of the architecture geometric center point which is 0.5B-0.8B below.
Through the structural arrangement of the airframe component 1 and the design of the weight and the installation position of each electric device, the gravity center point of the airframe component 1 is positioned on the central axis of the architecture, which is 0.5B-0.8B lower than the geometric central point, and the central point is preferably controlled to be positioned on the central axis of the geometry, which is 0.8B lower than the geometric central point, so that the gravity center is lowered, the flying is more stable, and the stable sliding gesture is easier to keep during the silent sliding action.
The optical sensor module 34 is a dome camera.
The hemispherical camera can realize controllable adjustment of shooting angles, so that shooting requirements can be detected in a larger range;
under some task scenes which do not need to pay attention to ground electronic investigation, a pick-up and pick-up guide rail or a slide rail can be additionally arranged above and below the body assembly 1 and used for carrying task loads, such as mounting investigation equipment such as an ultrasonic detector and the like and mounting auxiliary investigation loads such as illumination and the like.
The specific method for controlling the four-rotor unmanned aerial vehicle to realize the unfolding and folding actions of the rotor in the air by the unmanned aerial vehicle flight control system is as follows:
the main control circuit board 31 controls the power shaft of the folding motor 23 to rotate, drives the rotorcraft arm 21 to unfold from the storage groove 111, and realizes the unfolding and folding actions of the aerial rotor.
In an application scenario of air throwing, the rotor wing device 2 in a folded state needs to be automatically unfolded, and when a silent sliding motion is needed, the folding motion for realizing the unfolding of the air rotor wing is needed.
The specific method for controlling the four-rotor unmanned aerial vehicle to realize the silent sliding action by the unmanned aerial vehicle flight control system is as follows:
the main control circuit board 31 firstly controls the rotor motor 22 to execute the lifting action of the altitude and the speed through the electric adjustment module 35, the main control circuit board 31 monitors that the flying is lifted to be higher than 1000 meters according to the terrain data through the altitude data provided by the air pressure altimeter 38, the advancing speed is higher than 10 meters/second, the air rotor folding action is executed, the navigation chip 32, the GPS module 33, the optical sensing module 34, the electric adjustment module 35 and the plurality of electronic gain antennas 37 are controlled to be powered off, and then the main control circuit board 31 is powered off;
during the duration of the silent sliding action, when the self-starting chip 39 judges that the flying height data of the quadrotor unmanned aerial vehicle is lower than 300 meters or the gyroscope 40 detects that the deflection angle of the quadrotor unmanned aerial vehicle in any direction is greater than 45 degrees according to the altitude data monitored by the barometric altimeter 38 and in combination with the offline map data, the self-starting chip 39 executes the silent sliding action of exiting: the main control circuit board 31 is started to supply power, the main control circuit board 31 controls the execution of the unfolding action of the aerial rotor, and the navigation chip 32, the GPS module 33, the optical sensing module 34, the electric adjusting module 35 and the plurality of electronic gain antennas 37 are controlled to be electrified, so that normal flight and wireless communication are restored.
When the quadrotor unmanned plane enters a hostile radar detection area or is used for avoiding other ground and air detection targets, a silent sliding action needs to be executed, the premise of the silent sliding action is a certain height and a forward speed, the height can be reduced to a certain extent within the duration of the silent sliding action, the height falling speed is not very fast due to the large forward speed, the duration of the silent sliding action is generally more than 30 seconds, the linear distance of more than 300 meters can be passed, the sensing area can be theoretically traversed, and if the duration of the silent sliding action is longer, the aircraft needs to fly to a higher height or give a larger forward speed.
The invention relates to a capsule-configuration-based four-rotor unmanned aerial vehicle concrete implementation principle:
in a specific four-rotor unmanned aerial vehicle investigation application scene, the four-rotor unmanned aerial vehicle is launched from an unmanned aerial vehicle launching bin of a 8000-meter conveyer, after launching, a power switch 100 at the top of an outer shell 11 of the four-rotor unmanned aerial vehicle is excited, at the moment, a main control circuit board 31 supplies power to the main control circuit board 31 to control and execute an air rotor unfolding action, a navigation chip 32, a GPS module 33, an optical sensing module 34, an electric adjustment module 35 and a plurality of electronic gain antennas 37 are controlled to be electrified to perform normal flight, after the GPS module 33 is positioned according to shooting targets and instructions transmitted by a flight control center arranged on the conveyer, a navigation chip 32 sets track planning, and an unmanned aerial vehicle flight control chip of the main control circuit board 31 executes track flight, and a rotor motor 22 is controlled by the electric adjustment module 35 to execute the specified action;
at a certain moment, the flying height is 5000 meters, the flying forward speed is 15 meters/second, a ground electronic monitoring area with the diameter of 500 meters is arranged in front according to a flying control center command, at the moment, a silent sliding motion is executed, the main control circuit board 31 judges that the flying height and the speed meet the requirements of the silent sliding motion, an air rotor wing gathering motion is executed firstly, then the navigation chip 32, the GPS module 33, the optical sensing module 34, the electric adjustment module 35 and the plurality of electronic gain antennas 37 are controlled to be powered off, and then the main control circuit board 31 is powered off;
after the silent sliding is performed for 1 minute and 20 seconds, the flying height is reduced to below 300 meters, the advancing speed is reduced to 6 meters/second, the flying posture is stable, the self-starting chip 39 judges that the flying height data is lower than 300 meters through the altitude data monitored by the barometric altimeter 38 and the offline map data, and the self-starting chip 39 executes the action of exiting the silent sliding: the main control circuit board 31 is started to supply power, the main control circuit board 31 controls and executes the unfolding action of the aerial rotor, the navigation chip 32, the GPS module 33, the optical sensing module 34, the electric adjusting module 35 and the plurality of electronic gain antennas 37 are controlled to be electrified, normal flight and wireless communication are restored, at the moment, the four-rotor unmanned aerial vehicle safely passes through the ground electronic monitoring area through silent sliding, and finally the destination is safely reached to complete the shooting task.
The above embodiments are not intended to limit the scope of the present invention, and therefore: all equivalent changes in structure, shape and principle of the invention should be covered in the scope of protection of the invention.
Claims (10)
1. Four rotor unmanned aerial vehicle based on capsule configuration, its characterized in that: including fuselage subassembly (1), four rotor subassemblies and unmanned aerial vehicle flight control system, fuselage subassembly (1) are based on capsule form configuration setting, and the side sets up and is used for accomodating groove (111) of four rotor subassemblies, four rotor subassemblies include four collapsible income rotor devices (2) constitution of accomodating groove (111), unmanned aerial vehicle flight control system control four rotor subassemblies's execution action realizes four rotor unmanned aerial vehicle's aerial rotor expansion and draws in action and silence and slide the action.
2. The four-rotor unmanned aerial vehicle based on a capsule configuration of claim 1, wherein: the utility model provides a fuselage subassembly (1) is including outer casing (11), inside casing (12) and head casing (13), the appearance of outer casing (11) is the capsule form, and both sides set up a pair of storage tank (111) respectively, inside casing (12) detachably install on the bottom surface of outer casing (11) inner wall, inside is used for installing electric device, head casing (13) are hemispherical, install the tip at outer casing (11).
3. The four-rotor unmanned aerial vehicle based on a capsule configuration of claim 1, wherein: an electromagnetic shielding coating is smeared on the outer surface of the outer shell (11), and a plurality of communication wire holes are uniformly formed on the upper surface and the lower surface of the outer shell (11) respectively.
4. A quad-rotor unmanned helicopter based on a capsule configuration according to claim 3 wherein: rotor device (2) are including rotor horn (21), rotor motor (22), folding motor (23) and paddle (24), accomodate groove (111) department at outer casing (11) is installed through the pivot to the one end of rotor horn (21), folding motor (23) are installed the installation position that sets up at outer casing (11), drive rotor horn (21) through transmission along the pivot rotation, realize the expansion and the action of drawing in of rotor device (2), the other end of rotor horn (21) sets up rotor motor mounting groove, the casing of rotor motor (22) is installed in rotor motor mounting groove, paddle (24) are installed on the driving shaft of rotor motor (22) to provide the lift for four rotor unmanned aerial vehicle under the drive of rotor motor (22) driving shaft.
5. The capsule-configuration-based quadrotor unmanned aerial vehicle of claim 4, wherein: the unmanned aerial vehicle flight control system comprises a main control circuit board (31) based on an unmanned aerial vehicle flight control chip, a navigation chip (32), a GPS module (33), an optical sensing module (34), an electric tuning module (35), a battery pack (36) and a plurality of electronic gain antennas (37), wherein the navigation chip (32), the GPS module (33) and the electric tuning module (35) are respectively integrated on the main control circuit board (31), the main control circuit board (31) and the battery pack (36) are respectively arranged in an inner shell (12), the head shell (13) is made of transparent materials, the optical sensing module (34) is arranged in the head shell (13), the navigation chip (32), the GPS module (33), the optical sensing module (34) and the electric tuning module (35) are respectively in communication connection with the main control circuit board (31), the plurality of electronic gain antennas (37) are respectively arranged at a plurality of communication wire holes on the upper surface and the lower surface of an outer shell (11), the main control circuit board (31) is in wireless communication with the outside through the plurality of electronic gain antennas (37), and the main control circuit board (31) performs the optical sensing action of the rotor (23) through the electric tuning motor (35) and the optical sensing module (22).
6. The capsule-configuration-based quadrotor unmanned aerial vehicle of claim 5, wherein: the unmanned aerial vehicle flight control system further comprises a gyroscope (40), an air pressure altimeter (38) and a self-starting chip (39), wherein the gyroscope (40), the air pressure altimeter (38) and the self-starting chip (39) are respectively integrated on the main control circuit board (31) and are respectively in communication connection with the main control circuit board (31), the battery pack (36) is respectively used for supplying power to the gyroscope (40), the air pressure altimeter (38) and the self-starting chip (39) through separate power supply lines, and the self-starting chip (39) controls the main control circuit board (31) to restart according to data measured by the gyroscope (40) and the air pressure altimeter (38) so as to realize restarting from the silent sliding motion.
7. The capsule-configuration-based quadrotor unmanned aerial vehicle of claim 5, wherein: the thickness of the fuselage assembly (1) in the vertical direction is set as B, and after the unmanned aerial vehicle flight control system is installed, the gravity center point of the fuselage assembly (1) is positioned on the central axis of the architecture geometric center point which is 0.5B-0.8B below.
8. The capsule-configuration-based quadrotor unmanned aerial vehicle of claim 6, wherein: the specific method for controlling the four-rotor unmanned aerial vehicle to realize the unfolding and folding actions of the rotor in the air by the unmanned aerial vehicle flight control system is as follows:
the main control circuit board (31) controls the power shaft of the folding motor (23) to rotate, drives the rotorcraft arm (21) to unfold from the storage groove (111), and realizes the unfolding and folding actions of the aerial rotor.
9. The capsule-configuration-based quadrotor unmanned aerial vehicle of claim 8, wherein: the specific method for controlling the four-rotor unmanned aerial vehicle to realize the silent sliding action by the unmanned aerial vehicle flight control system is as follows:
the main control circuit board (31) firstly controls the rotor motor (22) to execute the altitude and speed lifting action through the electric adjustment module (35), the main control circuit board (31) monitors the flying lifting to be higher than 1000 meters according to altitude data provided by the air pressure altimeter (38), the advancing speed is higher than 10 meters/second, the air rotor folding action is executed, the navigation chip (32), the GPS module (33), the optical sensing module (34), the electric adjustment module (35) and the plurality of electronic gain antennas (37) are controlled to be powered off, and the main control circuit board (31) is powered off.
10. The capsule-configuration-based quadrotor unmanned aerial vehicle of claim 9, wherein: during the duration of the silent sliding action, when the self-starting chip (39) judges that the flying height data of the quadrotor unmanned aerial vehicle is lower than 300 meters or the gyroscope (40) monitors that the deflection angle of the quadrotor unmanned aerial vehicle in any direction is greater than 45 degrees according to the altitude data monitored by the barometric altimeter (38) and in combination with offline map data, the self-starting chip (39) executes the silent sliding action: the main control circuit board (31) is started to supply power, the main control circuit board (31) controls and executes the unfolding action of the aerial rotor wing, and the navigation chip (32), the GPS module (33), the optical sensing module (34), the electric tuning module (35) and the plurality of electronic gain antennas (37) are controlled to be electrified, so that normal flight and wireless communication are restored.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310802108.1A CN116639276A (en) | 2023-07-03 | 2023-07-03 | Four rotor unmanned aerial vehicle based on capsule configuration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310802108.1A CN116639276A (en) | 2023-07-03 | 2023-07-03 | Four rotor unmanned aerial vehicle based on capsule configuration |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116639276A true CN116639276A (en) | 2023-08-25 |
Family
ID=87623197
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310802108.1A Pending CN116639276A (en) | 2023-07-03 | 2023-07-03 | Four rotor unmanned aerial vehicle based on capsule configuration |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116639276A (en) |
-
2023
- 2023-07-03 CN CN202310802108.1A patent/CN116639276A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10850835B2 (en) | Unmanned aerial vehicle with monolithic wing and twin-rotor propulsion/lift modules | |
| US20230303244A1 (en) | High speed multi-rotor vertical takeoff and landing aircraft | |
| CN206258735U (en) | The aerial demo system of multidimensional based on multiple no-manned plane | |
| CN106809402B (en) | Automatic auxiliary landing system of rotor unmanned aerial vehicle and control method thereof | |
| US20200285251A1 (en) | Tilt-frame uav for agricultural air sampling with a propeller-thrust-governing system that facilitates vtol capability | |
| JP2018095236A (en) | Wind-powered recharging for weight-shifting coaxial rotor blade helicopter | |
| CN111731475B (en) | Vertical take-off and landing tilting composite wing aircraft | |
| CN107512391A (en) | Based on the rotor unmanned aircraft for being tethered at cable power supply | |
| US10246185B2 (en) | Aircraft system and method for vertical takeoff and landing | |
| JP2023500568A (en) | airborne communication device | |
| CN105775122A (en) | Tilt rotor type aircraft | |
| US10144510B1 (en) | Tethered wind turbine using a stopped rotor aircraft | |
| KR20180116849A (en) | Fixed wing drone using variable pitch propeller | |
| JP2023071646A (en) | Suspended aerial vehicle system with thruster stabilization | |
| CN108425541A (en) | A kind of unmanned plane sunshade flies paulin and its implementation | |
| CN105818954A (en) | Spherical unmanned airship based on dual remote control system | |
| US20200339239A1 (en) | Hinged blimp | |
| CN204078068U (en) | A kind of four-axle aircraft of overlength flying power | |
| CN210526849U (en) | Fixed wing unmanned aerial vehicle of tilting-rotating force | |
| CN205819529U (en) | A kind of flapping wings type bionic intelligence balloon | |
| CN116639276A (en) | Four rotor unmanned aerial vehicle based on capsule configuration | |
| CN107284658B (en) | Composite vertical/short-distance take-off and landing aircraft | |
| CN104229130A (en) | Four-rotor wing unmanned aerial vehicle with pneumatic structure | |
| CN204056295U (en) | Pneumatic structure four rotor unmanned aircraft | |
| CN205440866U (en) | Rotorcraft aircraft verts |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |