CN211766290U - Combined distributed unmanned aerial vehicle and combined structure thereof - Google Patents
Combined distributed unmanned aerial vehicle and combined structure thereof Download PDFInfo
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- CN211766290U CN211766290U CN201922269200.8U CN201922269200U CN211766290U CN 211766290 U CN211766290 U CN 211766290U CN 201922269200 U CN201922269200 U CN 201922269200U CN 211766290 U CN211766290 U CN 211766290U
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Abstract
The utility model discloses a combined distributed unmanned aerial vehicle and a combined structure thereof, wherein the combined distributed unmanned aerial vehicle comprises an unmanned aerial vehicle body, an energy management system, an instruction receiving system, a flight control system and a butt joint separation system; the unmanned aerial vehicle body comprises a body, a fixed wing, a folding wing and a docking mechanism; the energy management system is used for providing flight power; the instruction receiving system is used for controlling the flight route; the flight control system is used for controlling the flight attitude; the butt joint separation system is used for controlling the butt joint mechanism to be connected with the same unmanned aerial vehicle body. The fixed wing terminal surface of a plurality of unmanned aerial vehicle bodies passes through docking mechanism and connects the integrative structure that forms a style of calligraphy. The utility model is used for the link is distribute with terminal to originated addressee of air transportation trades such as express delivery, can enough carry through single unmanned aerial vehicle, can utilize numerous unmanned aerial vehicle independent assortment to carry out the mainline transportation and the branch line separation to distribute again, combines the high lift advantage of distributing type aircraft, realizes the swift efficient air transportation of goods.
Description
Technical Field
The utility model relates to an unmanned air vehicle technique field, more specifically the utility model relates to a combination distributing type unmanned aerial vehicle and integrated configuration thereof that says so.
Background
The existing transportation industry, such as the express delivery industry, often adopts the form of gathering in the initial and target links of delivery and distribution, and the distribution center distributes and delivers after intensively transporting, and the labor mode is mainly manual picking and delivering, and the workman's amount of labour is huge, and transport efficiency is lower, and is more so in vast remote areas.
In order to solve the problem, people provide a plurality of schemes, one of the schemes is a mode of using unmanned aerial vehicles to dispatch and receive, but the scheme has some problems, the unmanned aerial vehicles selected by the unmanned aerial vehicles are light unmanned aerial vehicles, the load is small, the range is short, the dispatching task in a large-range airspace cannot be met, if a middle landing charging method is adopted, the construction cost of a huge charging device can be caused, and the time cost is huge. If adopt large-scale unmanned aerial vehicle, there is the place restriction of taking off and land again, the condition is not enough, the shortcoming of cost-effectiveness ratio low.
Therefore, how to provide an unmanned aerial vehicle structure that transportation is convenient, and can satisfy different amount of labour demands is the problem that technical staff in the field needs to solve urgently.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a combination distributing type unmanned aerial vehicle aims at solving above-mentioned technical problem.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a combination distributed drone, comprising: the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a master control system, an energy management system, an instruction receiving system, a flight control system and a butt joint separation system;
the unmanned aerial vehicle body comprises a body, a fixed wing, a folding wing and a docking mechanism; the two sides of the machine body and the fixed wings are formed integrally in a smooth transition mode; the folding wings are hinged with the end surfaces of the fixed wings; the butt joint mechanism is arranged on the end face of the fixed wing in butt joint with the folding wing;
the main control system is arranged in the fuselage and is respectively and electrically connected with the energy management system, the instruction receiving system, the flight control system and the butt joint separation system;
the energy management system is arranged in the fuselage and is used for providing flight power;
the instruction receiving system is arranged in the fuselage and is used for controlling a flight route;
the flight control system is arranged in the fuselage and is used for controlling the flight attitude;
the butt joint separation system is arranged on the end face where the fixed wing is in butt joint with the folding wing, and is used for controlling the butt joint mechanism to be connected with the same butt joint mechanism of the unmanned aerial vehicle body.
Through the technical scheme, the utility model provides an unmanned aerial vehicle is used for the originated addressee and the terminal link of delivering of air transportation trades such as express delivery, can enough carry through single unmanned aerial vehicle, can utilize numerous unmanned aerial vehicle independent assortment to carry out the main line transportation and the branch line separation to deliver again, combines the high lift advantage of distributing type aircraft, realizes the swift efficient air transportation of goods.
Preferably, in the combined distributed unmanned aerial vehicle, the docking mechanism comprises an X-axis rotary steering engine, an outer frame, a Y-axis rotary steering engine, an inner rod, a fine-tuning propeller, an electromagnet and a magnet; the X-axis rotating steering engine is fixed on the top surface inside the fixed wing; the outer frame is positioned inside the fixed wing, and the edge of the outer frame is connected with the power output end of the X-axis rotating steering engine; the Y-axis rotating steering engine is fixed on the side edge of the outer frame; the inner rod is positioned in the outer frame, and one end of the inner rod is connected with the power output end of the Y-axis rotating steering engine; the fine tuning propeller is rotatably connected with the other end of the inner rod; the electromagnet is fixed at the hinged end of the fixed wing; the magnet is fixed at the hinged end of the folding wing and corresponds to the electromagnet.
The utility model provides an unmanned aerial vehicle body is at aerial combination in-process, needs to be close to each other, in the air current environment of complicacy, is close to the location, and connection and separation are extremely difficult. The working process is as follows: each unit unmanned aerial vehicle body flies preliminary formation under the control of instruction receiving system such as GPS or big dipper and flight control system, and the folding wing expandes, and each connection position is aimed at in the air tentatively, and the fine setting screw starts afterwards, and then the thrust vector of control fine setting screw makes the unmanned aerial vehicle body accurate each other be close to each other, and after the completion is aimed at in the location, through the electrified actuation of electro-magnet, make each unmanned aerial vehicle body form wholly.
Preferably, in the above combined distributed unmanned aerial vehicle, a folding deceleration stepping motor is installed at the hinged end of the fixed wing; the folding deceleration stepping motor is used for driving the folding wings to rotate around the hinged ends of the fixed wings. The separation and butt joint between the folding wings and the fixed wings are effectively realized.
Preferably, in the above-mentioned combination distributing type unmanned aerial vehicle, the fuselage head rotates and is connected with the screw. The propeller rotates to generate pulling force to overcome flight resistance, and is driven by a motor or a micro internal combustion engine.
Preferably, in the above-mentioned combination distributing type unmanned aerial vehicle, the fixed wing with the afterbody of folding wing rotates and is connected with the control surface, the rotation control motor of control surface with flight control system electric connection. The control surface can control the flight attitude.
Preferably, in the above-mentioned combination distributed unmanned aerial vehicle, the energy management system provides electric energy or fuel for the battery and provides kinetic energy. Can effectively realize unmanned aerial vehicle's energy supply.
Preferably, in the above-mentioned combination distributing type unmanned aerial vehicle, the cross-section of fuselage is oval, and with the stationary vane is smooth excessive. The whole pneumatic form of unmanned aerial vehicle is that the wing body fuses and adds the folding wing overall arrangement, and the fuselage is oval structure and wing smooth transition, and the fuselage is inside for sealing the cargo hold, and flight stability is higher.
Preferably, in above-mentioned combination distributing type unmanned aerial vehicle, a plurality of through-holes have been seted up to the fuselage top surface, just the inside rotation of through-hole is connected with angle adjustable rotor. The flight power can be effectively provided, and the flight attitude can be controlled.
The utility model provides a combination distributing type unmanned aerial vehicle's integrated configuration, includes a plurality of unmanned aerial vehicle bodies, the unmanned aerial vehicle body folding wing is folding downwards, and is a plurality of the unmanned aerial vehicle body the stationary vane terminal surface passes through docking mechanism connects the body structure that forms a style of calligraphy.
Preferably, in above-mentioned combination distributing type unmanned aerial vehicle, it is a plurality of this body coupling back of unmanned aerial vehicle, it is a plurality of the unmanned aerial vehicle body the major control system passes through wiFi and realizes mutual data communication. The energy management system can realize fuel and electric quantity intelligent distribution between each unmanned aerial vehicle, realizes the overall flight task, and instruction receiving system accomplishes whole unmanned aerial vehicle's route and formulates, and flight control system realizes the control of whole unmanned aerial vehicle flight route and gesture, and the butt joint piece-rate system is used for realizing the butt joint and the separation of crossing between the unmanned aerial vehicle.
Can know via foretell technical scheme, compare with prior art, the utility model discloses a combination distributing type unmanned aerial vehicle and integrated configuration thereof has following beneficial effect:
1. the utility model discloses it is big to traditional transportation industry amount of labour, the transport mode of inefficiency, on the basis of preceding people unmanned aerial vehicle air transportation, single unmanned aerial vehicle range is short to have improved, the long difficulty of idle time, combined type unmanned aerial vehicle's scheme is proposed, from the pneumatic principle, unmanned aerial vehicle's aspect ratio has been increased, the many screws of distributed electric propulsion aircraft effect of increasing lift has been utilized, great improvement the lift-drag ratio characteristic of combination unmanned aerial vehicle, 1+1+1+ … +1> n's effect has been reached, the form of independent assortment has also increased the flexibility of transportation trade simultaneously, make load free distribution, abundant utilization current unmanned aerial vehicle performance.
2. On the basis of a single unmanned aerial vehicle, the unit bodies are combined with one another, and the respective subsystems are connected in parallel to form a large system, so that the performance of the overall system is improved by geometric orders of magnitude, the failure rate of the unmanned aerial vehicle is sharply reduced, for example, IMU data of each unit body can be comprehensively calculated by using a comprehensive method such as Kalman filtering, the precision and the reliability of the data are remarkably improved, and meanwhile, the function of the failure part of the single unmanned aerial vehicle can be replaced by other unit bodies without influencing the overall efficiency. And between the unit bodies, the coordination system can flexibly distribute resources such as electric energy and the like, so that the maximum utilization of the resources is realized. The safety of flight and the reliability of unmanned aerial vehicle are showing to be promoted compared with single unmanned aerial vehicle from this.
3. On aerial compound mode, adopted earlier by the control plane of every unmanned aerial vehicle body carry out the position and the gesture of roughly adjusting every unmanned aerial vehicle body after, carry out position image recognition through the camera, the inside vector fine setting screw of rethread wing carries out meticulous alignment operation, the effectual promptness and the accuracy of guaranteeing the butt joint of form of image position feedback.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a front view of an unmanned aerial vehicle body according to embodiment 1 provided by the present invention;
fig. 2 is a top view of an unmanned aerial vehicle body according to embodiment 1 provided by the present invention;
fig. 3 is a schematic structural diagram of a docking mechanism according to embodiment 1 of the present invention;
fig. 4 is a front view of a plurality of unmanned aerial vehicle body connection structures according to embodiment 1 of the present invention;
fig. 5 is a top view of a plurality of connection structures of the unmanned aerial vehicle body according to embodiment 1 of the present invention;
FIG. 6 is a schematic diagram of system connection of embodiment 1 provided by the present invention;
FIG. 7 is a block diagram of an electrical configuration provided by the present invention;
figure 8 the accompanying drawing is the utility model provides an embodiment 2's unmanned aerial vehicle body's top view.
Wherein:
1-an unmanned aerial vehicle body;
11-a fuselage;
111-a via;
112-rotor;
12-fixed wing;
13-folding wings;
14-a docking mechanism;
141-X axis rotary steering engine;
142-an outer frame;
143-Y shaft rotating steering engine;
144-an inner rod;
145-fine tuning the propeller;
146-an electromagnet;
148-folding deceleration stepper motor;
15-a propeller;
16-a control surface;
2-a master control system;
3-an energy management system;
4-an instruction receiving system;
5-a flight control system;
6-docking the separation system.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Example 1:
referring to fig. 1 to fig. 3 and fig. 6 to fig. 7, the embodiment of the utility model discloses a combination distributing type unmanned aerial vehicle includes: the unmanned aerial vehicle comprises an unmanned aerial vehicle body 1, a master control system 2, an energy management system 3, an instruction receiving system 4, a flight control system 5 and a butt joint separation system 6;
the unmanned aerial vehicle body 1 comprises a body 11, a fixed wing 12, a folding wing 13 and a docking mechanism 14; the two sides of the fuselage 11 and the fixed wings 12 are formed integrally in a smooth transition mode; the folding wings 13 are hinged with the end surfaces of the fixed wings 12; the butt joint mechanism 14 is arranged on the end face of the fixed wing 12 in butt joint with the folding wing 13;
the main control system 2 is arranged inside the fuselage 11 and is respectively and electrically connected with the energy management system 3, the instruction receiving system 4, the flight control system 5 and the butt joint separation system 6;
the energy management system 3 is arranged inside the fuselage 11 and is used for providing flight power;
the command receiving system 4 is arranged inside the fuselage 11 and is used for controlling a flight route;
the flight control system 5 is arranged inside the fuselage 11 and is used for controlling the flight attitude;
the docking separation system 6 is disposed on the end face where the fixed wing 12 and the folding wing 13 are docked, and is used for controlling the docking mechanism 14 to be connected with the same docking mechanism 14 of the unmanned aerial vehicle body 1.
In order to further optimize the technical scheme, the docking mechanism 14 comprises an X-axis rotary steering engine 141, an outer frame 142, a Y-axis rotary steering engine 143, an inner rod 144, a fine-tuning propeller 145, an electromagnet 146 and a magnet; an X-axis rotary steering engine 141 is fixed on the top surface inside the fixed wing 12; the outer frame 142 is positioned inside the fixed wing 12, and the edge thereof is connected with the power output end of the X-axis rotary steering engine 141; a Y-axis rotating steering engine 143 is fixed on the side edge of the outer frame 142; the inner rod 144 is positioned inside the outer frame 142, and one end of the inner rod is connected with the power output end of the Y-axis rotating steering engine 143; the fine adjustment propeller 145 is rotatably connected with the other end of the inner rod 144; the electromagnet 146 is fixed at the hinged end of the fixed wing 12; the magnet is fixed to the hinged end of the folding wing 13 and corresponds to the electromagnet 146.
In order to further optimize the above technical solution, the hinged end of the fixed wing 12 is installed with a folding deceleration stepping motor 148; the folding deceleration stepping motor 148 is used to drive the folding wings 13 to rotate around the hinged ends of the fixed wings 12.
In order to further optimize the technical scheme, a propeller 15 is rotatably connected to the head of the machine body 11.
In order to further optimize the technical scheme, the tail parts of the fixed wing 12 and the folding wing 13 are rotatably connected with a control surface 16, and a rotation control motor of the control surface 16 is electrically connected with the flight control system 5.
In order to further optimize the above technical solution, the energy management system 3 provides electric energy or fuel oil to the battery for providing kinetic energy.
In order to further optimize the above technical solution, the cross section of the fuselage 11 is elliptical and is smooth and transitional with the fixed wing 12.
To explain further:
the main control system 2 of the unmanned aerial vehicle is a Raspberry type micro main control developed by a Raspberry Pi Foundation.
The main control system 2 is used as a core, and an energy management system 3, an instruction receiving system 4, a flight control system 5 and a docking and separating system 6 are distributed around the main control system.
Wherein:
energy management system 3: the core is an STC15F2K60 singlechip manufactured by Macro-Crystal company, and the singlechip receives a power distribution instruction from a raspberry group through a uart serial port and then drives a mos tube array. The inputs to the mos tube array are: (1) cables from other drones, (2) charging interface. The output is: this other power supply unit of unmanned aerial vehicle. Through switching on of mos pipe, select the access and the output of 24V and 15V battery respectively, when this unmanned aerial vehicle charges for other unmanned aerial vehicles, 24V battery is as the output, when other unmanned aerial vehicles charge for this unmanned aerial vehicle, 15V battery is as the input.
The instruction receiving system 4: the method mainly comprises the steps that a 4G transparent transmission module of the Steady technology company with the model number of USR-LTE-7S 4V 2 is used, the 4G transparent transmission module is connected to a 4G network, after an airway instruction from a local server is received, the airway instruction is sent to a raspberry pie through a uart serial port, the raspberry pie carries out airway control according to the instruction and the current position, and data generated by the raspberry pie is also sent to the 4G transparent transmission module through the uart serial port and sent to the server through the 4G network.
The flight control system 5: the position and the posture of the unmanned aerial vehicle are measured by an MPU9250 acceleration, a gyroscope, a compass, an altitude meter and an AT6558R Beidou/GPS dual-mode positioning module of the Zhongke microelectronics, and are sent to a raspberry group through an i2C interface, and are resolved through a navigation program in the raspberry group to obtain information such as the current position, the current height, the current posture, the current speed and the like.
Butt joint separation system 6: the core is an STM32F746 microprocessor of Italian semiconductor.
The X-axis rotary steering engine 141 and the Y-axis rotary steering engine 143 are both controlled by PWM.
The docking mechanism 14 also includes an OV7670 camera for determining the relative position of the two docking portions.
The system work flow is as follows: the STM32F746 microprocessor receives a docking command from the raspberry pi via the i2C interface, and then turns off the electromagnet 146 to drive the fold deceleration stepper motor 148, causing the wing to fold. The OV7670 is driven to photograph the two-dimensional code and the identification positioned by the target, then the relative position deviation is obtained through image processing, two X-axis rotating steering engines 141 and Y-axis rotating steering engines 143 controlled by PWM are driven according to deviation signals, the outer frame 412 and the inner rod 144 are rotated, namely the X axis and the Y axis, the tension vector of the fine adjustment propeller 145 is controlled, the butt joint part is aligned and close, after the two electromagnets 146 are close, the microprocessor drives the electromagnets 146 to attract, and the butt joint part of the unmanned aerial vehicle is combined.
Each unmanned aerial vehicle is interconnected in the WIFI local area network of self, communicates.
Example 2:
referring to fig. 8, the present embodiment is different from embodiment 1 in that: a plurality of through holes 111 are formed on the top surface of the fuselage 11, and a rotor 112 with an adjustable angle is rotatably connected inside the through holes 111.
Each unmanned aerial vehicle body 1 of embodiment 1's structure all is the same, transport unmanned aerial vehicle with standardized production promptly, and this kind of mode can mass production, apportions research and development cost to make whole system cost very little, can walk into each express delivery company very conveniently. But the cargo hold of single configuration unmanned aerial vehicle body 1 is fixed, can't adapt to the size of goods in a flexible way, in the delivery of large-scale goods, can only take the form of hoist and mount, has seriously destroyed unmanned aerial vehicle's aerodynamic profile, and the resistance increases. Therefore, in the form of design combination, the scheme of the embodiment is provided, the design size specification is the unmanned aerial vehicle with three specifications of small, medium and large, and the interface form is the same as that of the embodiment 1 so as to adapt to the cargo transportation requirements of different specifications.
In embodiment 1, the configuration of the unit bodies is a fixed wing configuration, and when goods are delivered, the unit bodies can only adopt an airdrop landing mode, some destinations cannot meet delivery conditions, and the use of the unmanned aerial vehicle is limited. For this reason, we have proposed the alternative of the rotor configuration that verts of this embodiment, under the rotor mode, three rotor 112 is arranged at the level in fuselage 11, and thrust upwards overcomes unmanned aerial vehicle body 1's gravity perpendicularly, realizes VTOL, reaches a take-off and landing after the take-off and take turns to 90 degrees forward gradually around the axle that verts, and rotor 112 is vertical, and unmanned aerial vehicle body 1's resistance is overcome backward to rotor 112 thrust, and unmanned aerial vehicle body 1 becomes the fixed wing mode. The aerodynamic layout of unmanned aerial vehicle body 1 is the same with embodiment 1, and the structure is also the same, connects and docking mechanism 14 is all the same, and the difference lies in installation 3 rotors 112 in fuselage 11, realizes switching between rotor and stationary vane mode.
Other structures of this embodiment are the same as those of embodiment 1, and are not described herein again.
Example 3:
referring to fig. 1 to 7, the present embodiment is combined on the basis of the unmanned aerial vehicle body 1 provided in embodiments 1 and 2:
the utility model provides a composite structure of combination distributing type unmanned aerial vehicle, includes a plurality of unmanned aerial vehicle bodies 1, folding wing 13 of unmanned aerial vehicle body 1 is folding downwards, and the fixed wing 12 terminal surfaces of a plurality of unmanned aerial vehicle bodies 1 pass through docking mechanism 14 and connect the integrative structure that forms a style of calligraphy.
In order to further optimize above-mentioned technical scheme, a plurality of unmanned aerial vehicle bodies 1 connect the back, the equal electric connection of energy management system 2, instruction receiving system 3, flight control system 4 and the butt joint piece-rate system 5 of a plurality of unmanned aerial vehicle bodies 1.
From whole aerodynamic configuration, be the all-wing aircraft overall arrangement with the appearance design of unmanned aerial vehicle body 1, including fuselage 11 and stationary vane 12, fuselage 11 and stationary vane 12 smooth transition, at the flight in-process, fuselage 11 also produces most lift, under the same weight of taking off, improve the voyage and the time of staying empty of unmanned aerial vehicle body 1. The unmanned aerial vehicle body 1 is mainly controlled by the control surface 16, and the pitching moment is improved downwards and upwards simultaneously through controlling, and the left and right directions reversely provide the rolling moment, and the left and right sides open and close to provide the yawing moment. The fuselage 11, the fixed wing 12 and the folding wing 13 are made of composite materials, a propeller 15 is arranged at the front part of the fuselage 11, the propeller 15 rotates to generate tension to overcome flight resistance, and the propeller 15 is driven by a motor or a micro internal combustion engine.
The biggest technical innovation point and difficulty of the scheme is that the combined mechanism is characterized in that in a separated state, namely a figure 1 and a figure 2, a unit of the unmanned aerial vehicle body 1 flies independently, the folding wings 13 are unfolded, the inner section and the outer section are locked by the butt joint mechanism 14, and the wings reach the maximum extension length. It should be noted here that the electromagnet 146 in the docking mechanism 14 is used not only for the connection between the drone body 1 but also for the connection between the fixed wing 12 and the folding wing 13, and therefore, the end face of the folding wing 13 that is docked with the fixed wing 12 has a corresponding magnet. In the assembled state, i.e. fig. 4 and 5, the folding wings 13 and the fixed wings 12 of the left and right wings of each unit body of the drone body 1 are unfolded, the folding wings 13 are folded downwards under the action of the folding deceleration stepping motor 148, and the fixed wings 12 are connected with each other under the control of the flight control system 4 of the drone body 1 to be assembled into a whole. Simultaneously, the folding wing 13 of turning down forms the type of falling V fin in unmanned aerial vehicle body 1, for the whole pitching and driftage manipulation that improves of unmanned aerial vehicle body 1, the maneuverability of unmanned aerial vehicle body 1 is showing and is improving. Before combination and separation, each energy management system 2 installed in the unmanned aerial vehicle body 1 is cooperatively processed to form a battery or fuel oil energy management total system, energy is intelligently distributed to each unit according to the load and the task flight distance of each subunit, and the units with large load and far tasks obtain more energy.
In this embodiment, unmanned aerial vehicle body 1 needs to be close to each other in the air combination process, and in the complicated air current environment, close to the location, connect and separate and be extremely difficult. The overall work flow is as follows: each unit unmanned aerial vehicle body 1, under the control of instruction receiving system 3 such as GPS or big dipper and flight control system 4, fly preliminary formation, folding wing 13 expandes, each connection position is in aerial preliminary alignment, fine setting screw 145 starts afterwards, the frame 142 and interior pole 144 of control fine setting screw 145 behind the camera obtains relative position information, and then control fine setting screw 145's thrust vector, make unmanned aerial vehicle body 1 accurate each other be close to each other, the location is aimed at and is accomplished the back, electro-magnet 146 adsorbs each other, make each unmanned aerial vehicle body 1 form wholly, communication and electric wire cable interconnect.
The software layer is mainly dispatched by the raspberry master of the master control system 2. In formation, the unmanned aerial vehicle with the highest stored electric energy is selected as a core, a WIFI wireless local area network is established through a WIFI module of the unmanned aerial vehicle, other unmanned aerial vehicles are accessed into the local area network through WIFI, and the unmanned aerial vehicles communicate with the core unmanned aerial vehicle, receive instructions and report information at the same time.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A combination distributed unmanned aerial vehicle, comprising: the unmanned aerial vehicle comprises an unmanned aerial vehicle body (1), a master control system (2), an energy management system (3), an instruction receiving system (4), a flight control system (5) and a butt joint separation system (6);
the unmanned aerial vehicle body (1) comprises a vehicle body (11), a fixed wing (12), a folding wing (13) and a docking mechanism (14); the two sides of the fuselage (11) and the fixed wings (12) are smoothly transited and integrally formed; the folding wings (13) are hinged with the end surfaces of the fixed wings (12); the butt joint mechanism (14) is arranged on the end face of the fixed wing (12) in butt joint with the folding wing (13);
the main control system (2) is arranged inside the aircraft body (11) and is respectively electrically connected with the energy management system (3), the instruction receiving system (4), the flight control system (5) and the butt joint separation system (6);
the energy management system (3) is arranged inside the fuselage (11) and is used for providing flight power;
the command receiving system (4) is arranged inside the fuselage (11) and is used for controlling a flight route;
the flight control system (5) is arranged inside the fuselage (11) and is used for controlling the flight attitude;
the butt joint separation system (6) is arranged on the end face where the fixed wing (12) and the folding wing (13) are in butt joint, and is used for controlling the butt joint mechanism (14) to be connected with the same butt joint mechanism (14) of the unmanned aerial vehicle body (1).
2. The combined distributed unmanned aerial vehicle of claim 1, wherein the docking mechanism (14) comprises an X-axis rotary steering engine (141), an outer frame (142), a Y-axis rotary steering engine (143), an inner rod (144), a fine-tuning propeller (145), an electromagnet (146) and a magnet; the X-axis rotating steering engine (141) is fixed on the top surface inside the fixed wing (12); the outer frame (142) is positioned inside the fixed wing (12), and the edge of the outer frame is connected with the power output end of the X-axis rotating steering engine (141); the Y-axis rotating steering engine (143) is fixed on the side edge of the outer frame (142); the inner rod (144) is positioned in the outer frame (142), and one end of the inner rod is connected with the power output end of the Y-axis rotating steering engine (143); the fine adjustment propeller (145) is rotatably connected with the other end of the inner rod (144); the electromagnet (146) is fixed at the hinged end of the fixed wing (12); the magnet is fixed at the hinged end of the folding wing (13) and corresponds to the electromagnet (146).
3. A combined distributed drone according to claim 1 or 2, characterised in that the hinged ends of the fixed wings (12) are fitted with folding deceleration stepper motors (148); the folding speed-reducing stepping motor (148) is used for driving the folding wings (13) to rotate around the hinged ends of the fixed wings (12).
4. A combined distributed drone according to claim 1, characterised in that the fuselage (11) is connected in rotation with a propeller (15) at the head.
5. The combined distributed drone according to claim 1, characterized in that the fixed wing (12) and the folded wing (13) have their tail portions connected in rotation with a control surface (16), the rotation control motor of the control surface (16) being electrically connected to the flight control system (5).
6. A combined distributed drone according to claim 1, characterised in that the energy management system (3) provides electrical energy for batteries or kinetic energy for fuel.
7. The combined distributed drone of claim 1, characterized in that the fuselage (11) is elliptical in section and is smooth with the fixed wings (12).
8. The combined distributed unmanned aerial vehicle according to claim 1, wherein a plurality of through holes (111) are formed in the top surface of the main body (11), and a rotor (112) with an adjustable angle is rotatably connected to the inside of each through hole (111).
9. A combined structure of a combined distributed unmanned aerial vehicle, which comprises a plurality of unmanned aerial vehicle bodies (1) as claimed in any one of claims 1 to 8, wherein the folding wings (13) of the unmanned aerial vehicle bodies (1) are folded downwards, and the end faces of the fixed wings (12) of the unmanned aerial vehicle bodies (1) are connected through the docking mechanism (14) to form a straight integral structure.
10. The structure of claim 9, wherein after the unmanned aerial vehicle bodies (1) are connected, the main control system (2) of the unmanned aerial vehicle bodies (1) realizes data communication with each other through WiFi.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112650263A (en) * | 2020-12-08 | 2021-04-13 | 电子科技大学 | Control method of combined unmanned aerial vehicle |
| CN112977793A (en) * | 2021-04-19 | 2021-06-18 | 深圳市科卫泰实业发展有限公司 | Combined multi-rotor unmanned aerial vehicle and control method thereof |
| CN113031637A (en) * | 2021-03-05 | 2021-06-25 | 北京理工大学 | Multi-flying-robot integrated operation platform |
-
2019
- 2019-12-17 CN CN201922269200.8U patent/CN211766290U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112650263A (en) * | 2020-12-08 | 2021-04-13 | 电子科技大学 | Control method of combined unmanned aerial vehicle |
| CN112650263B (en) * | 2020-12-08 | 2022-03-15 | 电子科技大学 | Control method of combined unmanned aerial vehicle |
| CN113031637A (en) * | 2021-03-05 | 2021-06-25 | 北京理工大学 | Multi-flying-robot integrated operation platform |
| CN113031637B (en) * | 2021-03-05 | 2023-03-10 | 北京理工大学 | Multi-flying-robot integrated operation platform |
| CN112977793A (en) * | 2021-04-19 | 2021-06-18 | 深圳市科卫泰实业发展有限公司 | Combined multi-rotor unmanned aerial vehicle and control method thereof |
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