CN206394879U - Unmanned vehicle - Google Patents

Abstract

The utility model discloses a kind of unmanned vehicle, it is characterized in that, with there is one or more propellers, drive device is one or more motors, wing is the fixed-wing for sticking up edge airfoil composition, with fluid storage tanks and pipeline, pipeline connection storage tank and the nozzle being discharged into liquid in surrounding environment.The utility model combines the advantage and the purpose of improvement unmanned plane aerial spraying agricultural chemicals of gyroplane and fixed wing aircraft.It can be not required to runway and VTOL, horizontal flight posture be may switch to after taking off and rapid flight.Simultaneously can also slower flight turn in favor of aircraft, it is to avoid longer needed for conventional fixed-wing agricultural aircraft scans turning.These features enable the utility model in a variety of field sizes, field shape and complicated landform, it is more more energy efficient than similarly sized rotor or Fixed Wing AirVehicle, more rapidly, the single operation time complete pesticide spraying longerly.

Description

Unmanned vehicle

Technical field

The utility model is related to unmanned plane and radio/Remote aircraft field.

Technical background

Unmanned plane has many private and business applications as aerial sensor platform（That is, video acquisition）, delivery system, ring Border is sensed and communication relay.They can be used for the various uses related to national defence, for example ISR（Information monitoring is scouted）, make For weapon platform and it is used as electronic warfare platform.They can be divided into miniature, small-sized, tactics by size（In）Or strategy（Greatly）, And it can be typically further categorized into based on the method that its aerodynamic lift is produced：Fixed-wing, rotary wings, the mixing wing or flapping wing.

The advantage of mixed type unmanned plane combination fixed-wing and rotary wings unmanned plane, enables them to be successfully executed fixed-wing Individually can not all being completed with rotary wings for task.Most promising mixed type unmanned plane is to take off vertically and land（VTOL）It is fixed Wing unmanned plane.This unmanned plane can fast and efficiently fly to remote position as a traditional fixed wing aircraft, so After be transitioned into low latitude and fly slowly, hover etc., purpose reaches that rear unmanned plane can fast and efficiently fly back user again.Substantially, The unmanned plane is arrived at then as a fixed-wing type when performing task as a rotary wings type, but from original position, Substantially improve flight range, endurance and maximum speed.

Existing mixing unmanned plane uses many different designs and configuration.This configuration is that a tail sitting posture VTOL flies Machine, is rare type.This is the misfortune of domestic market, because this type is better than other types at many aspects.This The type of design, has important essential different from the VD-200 of China.First, VD-200 two contraprops and horse Up to the equal center line away from aircraft, unnecessary complexity is added.If a motor breaks down, aircraft will collapse. But, the motor and propeller of two long distance separation are favorably improved rolling inertia stability in roll.Its component is in a conventional manner It is a kind of mixing wing body design within the compartment of centrally located fuselage shape.The utility model uses two positioned at aircraft centerline Individual coaxial propellers, it is allowed to which aircraft still is able to safe flight after a propeller failure.Another advantage of the design is energy The slip-stream that propeller is produced is offset, it is to avoid the driftage produced because drag iron is hit in slip-stream, so as to avoid deflection side The additional air resistance for compensating and bringing to rudder.Other include the unique vital point of the utility model and novel part：In VD- 200 have two separated slip-streams and two groups of yaw stabilities vertically stablized（Rather than one）, it can use difference to push away Enter power control driftage, and the utility model design employs the single rudder of driftage control.In addition, VD-200 have respectively control pitching and The aileron and elevating plane of rolling.The utility model then instead of the aileron and elevating plane of tradition separation with elevon, so as to Control to roll and pitching simultaneously.VD-200 volumes are big in design, involve great expense, can only be in military field application.Current design Available for the company that plant protection service is provided for agricultural user.Compared with other aerial pesticide spraying systems, the utility model faster, It is more energy efficient.The utility model only needs to provide conventional multi-rotor aerocraft and helicopter pushing away needed for during horizontal orientation flies The sub-fraction of power, and the utility model is not necessary to lose time and fuel in turning in big scan.Low speed of the present utility model The performance of flight, hovering and its mobility is adapted for the fields of various sizes, rugged landform and various in barrier Operation in environment.

The content of the invention

The utility model overcome the deficiencies in the prior art there is provided one it is relatively easy, economic, practical, multi-functional, with And it is popularized in the UAV in different clients and market.

In order to achieve the above object, the utility model employs following technical scheme：

A kind of unmanned vehicle, it is characterised in that with there is one or more propellers, drive device be one or Multiple motors, wing is the fixed-wing for sticking up edge airfoil composition, with fluid storage tanks and pipeline, and pipeline connects storage tank and will Liquid is discharged into the nozzle in surrounding environment.

There are two or more propellers, propeller can be coaxial or non-coaxial, but direction of rotation is opposite.

Storage tank is located inside or outside wing.

Pipeline is located inside or outside wing.

The motor is the electro-motor with speed control.

The motor is the internal combustion engine with fuel tank and incendiary source.

Equipped with emitter, for sending information to user.

Equipped with gyroscope and/or accelerometer.

It is mounted with satellite-based tracking system, including but not limited to GPS.

It is mounted with automated driving system.

It is located at including one or more receivers, battery or fuel tank inside wing, rather than is incorporated into central machine cabin In.

The structure design of described wing is that, using the slim epidermis for having bearing capacity, its material includes composite, and Force structure or soft core inside with or without, soft core include foam.

Wing carries dihedral angle or dihedral.

The version that wing becomes narrow gradually from wing root to wing tip not only includes linear change, and including other any shapes Formula.

With taking pictures and/or photographic equipment.

Knuckle with promising installation video-photographic equipment.

With tip vane.

Equipped with collision avoidance system and various detection sensors.

Compared with prior art, the utility model has advantages below：The utility model combines fixed-wing and rotary wings The advantage of unmanned plane, can perform task and skill that independent fixed-wing and rotary wings unmanned plane can not be completed.This reality With it is new can be in a variety of field sizes, field shape and complicated landform, than similarly sized rotor or fixed-wing Aircraft is more energy efficient, more rapidly, the single operation time complete pesticide spraying longerly.

Complicated embodiment of the present utility model has the highly complex function of the size type, including：

1) the flow control of Automatic Optimal can be carried out based on car speed, wind regime and its dependent variable；

2) gps coordinate is used, follow the prescribed course Intelligent flight；

3) it can be maked a return voyage when control signal is disturbed according to the program comprising gps signal；

4)-one user of scalability can dispose multiple units, and each fly different routes, and one small Face station receives synchronous live from constituent parts；

5) thermovision is away from detection；

6) field position, course, flying height, speed and acceleration information transmission；

7) it is customizable a variety of to agriculture related imaging sensor, including moisture and heat to carry；

8) collision avoidance system is carried.

In a word, the characteristics of the utility model has high multi-functional, speed, energy-conservation.

Brief description of the drawings

Fig. 1 is the perspective view of one of the present utility model simple embodiment.

Description of reference numerals：1- wings;2- aerofoil profiles;5- fluid storage tanks;6- propellers;7- pipelines；8- nozzles；9- Motor；10- drag irons；11- rudders；13- elevators or elevon.

Embodiment

1st, simple embodiment：

Simplest embodiment of the present utility model is as shown in figure 1, specific configuration includes：With there is one or more spirals Oar 6, drive device is one or more dynamic motors 9 of electronic/oil, and wing 1 is the fixed-wing for sticking up the composition of edge airfoil 2, with liquid Body storage tank 5 and pipeline 7, the connection storage tank 5 of pipeline 7 and the nozzle 8 being discharged into liquid in surrounding environment, typically in storage tank Hydraulic pump is housed between 5 and nozzle 8（It is not shown）.Direction control mechanism is provided with the middle part of the rear end of aircraft, the embodiment Direction control mechanism includes drag iron 10, rudder 11 and elevator/elevon 13.The embodiment does not include any elder generation Preceding described complicated function;It does not have sensor, data storage and a data transmission capabilities, and mainly one basic long-range The aircraft of control.It may carry tip vane, dihedral angle/dihedral（dihedral）, external fuselage equipment, it is also possible to no Band.

Described storage tank 5, hydraulic pump and pipeline 7 is located inside wing 1, to keep the streamlined and air of wing 1 to move Force efficiency.Pipeline 7 is located at the trailing edges of wing 1 to improve applications of pesticide effect.The low aspect ratio of wing 1 result in stronger Tip vortex, powerful air-swirl greatly improves the fully dispersed of agricultural chemicals.In order to keep the pitching of fuselage during flying Stability, storage tank 5 is designed in the mass centre of aircraft, and the significant change of liquid volume will not be led in such storage tank 5 The significant change of Aircraft Quality center is caused, this is for keeping the mass centre of appropriate relative position and the air of aircraft to move Mechanics center is extremely important.Because the performance of wing is most sensitive to the barrier and defect of its upper surface, wherein unfavorable pressure Gradient may cause flow separation, so nozzle 8 is downwardly directed by the aperture of the lower surface of wing 1.In order to the flowing of lower surface Obstacle and issuable turbulent flow are minimized, and the port of nozzle 8 is flushed with lower surface.Storage tank 5 is used to inject liquid（Such as agricultural chemicals）, The liquid in storage tank 5 is sprayed away through piping 7 from nozzle 8 when using, is mainly used in agriculture and forestry production.

Described propeller 6 includes the propeller that the propeller and blade of fixed blade can be deflected.It is of the present utility model Direction control mechanism can also be other any constructions.

Fuselage includes the slim crust with energy load-bearing, is attached to inner structure part such as floor and stringer （stringers）Deng.Each part is distributed in whole fuselage by embedded, mass centre is maintained on the fuselage plane of symmetry, and Positioned at the position away from about 25% chord length of the leading edge of wing 1.Wing 1 is with certain dihedral angle or dihedral (dihedral) with improvement Roll stability.There are two embedded servo motors（It is not shown）Drive elevon 13, also one embedded servo motor （It is not shown）Driving direction rudder 11.The slip-stream that dual rotation propeller 6 is produced hardly band whirlpool.This burst very powerful slip-stream By elevon 13 and rudder 11, when low-down flying speed and hovering, or when almost there is no wind speed, also can Effective controling power is produced to fuselage, the functions such as the safety and compound action of flight have been ensured.The symmetric deflection of elevon 13 Angle produces a non-zero pitching moment, and the differential deflection angle of elevon 13 produces a non-zero rolling moment.The wing of wing 1 Type is thicker so that various parts can be embedded in wing 1；The reflex action of aerofoil profile 2 adds the stability of pitching motion（It is common to All wing designs）.Particular case lower wing 1 can also use thin airfoil.Double motor with reciprocating movement components（That is motor 9, with electricity Sub- speed control）It is used to drive propeller 6.Electronic speed controller therein is used to limit the throttle of motor 9 to control it The thrust of generation.Battery（It is not shown）For being powered to propeller motor 9 and each servo motor.

The selection of aerofoil profile 2 ensures the change with direction and control input, and its aerodynamic quality is gradually changed（I.e. " soft " stall）, and ensure that aerodynamic efficiency is maximized while realizing acceptable high coefficient of lift combined.The big portion of wing 1 Divide and be immersed in propulsion slip-stream, therefore the aerodynamic performance of wing 1（Maximum lift coefficient, stall angle etc.）It is strong according to Rely the impelling ratio and many other factors in propeller 6（The angle of attack, Reynolds number, dimensionless pitch rate etc.）.In order to obtain such sky The robust control algorithm of the complicated aircraft of aerodynamics, substantial amounts of air stage combustion is necessary.Agricultural chemicals application Pump and valve system have been used, volume mean diameter is produced（VMD）Drop always greater than 50 microns.

The utility model combines the advantage of gyroplane and fixed wing aircraft and improves unmanned plane aerial spraying agricultural chemicals Purpose.It can take off vertically and land, and can be used from anywhere in no runway.Qi Shui is may switch to after taking off Flat flight attitude, fast and effeciently flies onto field and crop, is revolved accordingly, with respect to Similar size and the conventional of weight Rotor aircraft greatly strengthen its fuel efficiency and flight range.The utility model can slower speeds fly very much, in favor of flying Machine turns to and starts new stroke, it is to avoid longer needed for conventional fixed-wing agricultural aircraft scans turning.These features cause The utility model can be in a variety of field sizes, field shape and complicated landform, than other similarly sized types More rapidly, pesticide spraying is completed more energy efficiently.

2nd, complicated embodiment：

Complicated embodiment includes some or all foregoing complicated functions and associated components.Extra increased sensor After being added with other assemblies, endurance of the present utility model, endurance and payload capacity would generally be reduced（Keep original chi It is very little constant）, and cost of the present utility model can increase.

Statement：

All above-described embodiments and discussion are merely to illustrate that technological concept of the present utility model and feature, so that ability The those of ordinary skill in domain it will be appreciated that and implement the utility model, rather than limitation scope of the present utility model purpose.Press Any change or modification for the equivalent made according to the utility model should belong within the scope of the utility model.

Claims (18)

1. a kind of unmanned vehicle, it is characterised in that with there is one or more propellers（6）, drive device is one Or multiple motors（9）, wing（1）To stick up edge airfoil（2）The fixed-wing of composition, with fluid storage tanks（5）And pipeline（7）, Pipeline（7）Connect storage tank（5）With the nozzle being discharged into liquid in surrounding environment（8）.

2. unmanned vehicle according to claim 1, it is characterised in that have two or more propellers（6）, spiral Oar（6）Can be coaxial or non-coaxial, but direction of rotation is opposite.

3. unmanned vehicle according to claim 1, it is characterised in that storage tank（5）Positioned at wing (1) it is internal or It is outside.

4. unmanned vehicle according to claim 1, it is characterised in that pipeline（7）It is internal or outer positioned at wing (1) Portion.

5. unmanned vehicle according to claim 1, it is characterised in that the motor（9）It is to carry speed control The electro-motor of device.

6. unmanned vehicle according to claim 1, it is characterised in that the motor（9）It is to carry fuel The internal combustion engine of case and incendiary source.

7. unmanned vehicle according to claim 1, it is characterised in that equipped with emitter, for being sent out to user Deliver letters breath.

8. unmanned vehicle according to claim 1, it is characterised in that equipped with gyroscope and/or accelerometer.

9. unmanned vehicle according to claim 1, it is characterised in that be mounted with satellite-based tracking system, Including but not limited to GPS.

10. unmanned vehicle according to claim 1, it is characterised in that be mounted with automated driving system.

11. unmanned vehicle according to claim 1, it is characterised in that including one or more receivers, battery Or fuel tank is located inside wing.

12. unmanned vehicle according to claim 1, it is characterised in that described wing（1）Structure design be Using the slim epidermis for having bearing capacity, its material includes force structure or soft core inside composite, and with or without, Soft core includes foam.

13. unmanned vehicle according to claim 1, it is characterised in that wing（1）With dihedral angle or dihedral.

14. unmanned vehicle according to claim 1, it is characterised in that wing（1）Gradually become from wing root to wing tip Narrow version not only includes linear change, and including other any forms.

15. unmanned vehicle according to claim 1, it is characterised in that with taking pictures and/or photographic equipment.

16. unmanned vehicle according to claim 1, it is characterised in that with promising installation video-photographic equipment Knuckle.

17. unmanned vehicle according to claim 1, it is characterised in that with tip vane.

18. unmanned vehicle according to claim 1, it is characterised in that equipped with collision avoidance system and various detections Sensor.