RU2747006C1 - Uav of vertical takeoff and landing - Google Patents

Abstract

FIELD: aviation.

SUBSTANCE: invention relates to the field of aviation, in particular to the design of protection elements for unmanned propeller-driven aircrafts (hereinafter – UAV) of vertical takeoff and landing. The vertical takeoff and landing UAV contains a protective shell, inside which the flight controller, sensors, batteries, and at least one engine with an air propeller are installed. The protective shell contains rods, between which cables are stretched so that the rods do not touch each other. The flight controller, sensors, batteries and the propeller engine are installed inside the volume formed by the ends of the rods and cables stretched between the ends of the rods.

EFFECT: invention provides reduced weight of the UAV and shock loads.

18 cl, 22 dwg

Description

The invention relates to the design of unmanned propeller driven aircraft (UAV) vertical take-off and landing and can be used to develop a UAV with protection of structural elements in a collision with an obstacle or when falling to the ground.

As a rule, UAVs contain a housing with a flight controller, sensors, batteries and at least one engine with a propeller.

The disadvantage of this UAV design is the low survival rate of structural elements during a fall, hard landing or collision of the UAV with an obstacle in flight.

UAVs are known in which elements are used that protect structural elements with the help of various protective casings or shells:

Unmanned aerial vehicles US 20160137293 A1, US 10081421 B2 are enclosed in a protective casing. The protective casing is spherical and consists of intersecting elastic elements that form a mesh.

The KR101891693B1 radial outer frame drone contains a toroidal mesh cage that protects propellers and other structural elements in the event of a collision with an obstacle or a fall.

The unmanned aerial vehicle WO 2018117627 Al includes a housing installed in a protective frame (or protective grill), which forms an internal space for engines, propellers, a control module, etc.

The unmanned aerial vehicle EP 3057812 B1 is covered with a mesh spherical protective casing.

Hybrid aircraft and ground unmanned vehicles US20140131507A1 contains a flying device and a movable cage connected to the flying device by one rotary connection.

The disadvantage of these devices is the increase in the mass of the structure by the size of the protective casing and the elements of its attachment to the UAV. The desire to reduce the weight of the structure leads to a decrease in the strength of the protective casing.

Known UAV designs, in which the body itself plays the role of a protective structure.

Closed unmanned aerial vehicle US20160244162A1 has a volumetric body, consisting of an upper and lower parts. Inside the volume, on parts of the body, there are structural elements of the device. The body is made of honeycomb type breathable.

The unmanned aerial vehicle EP 3194265 B1 contains a hollow body in the form of an exoskeletal structure that provides the supporting structure of the unmanned aerial vehicle. The housing forms an open space in the center that facilitates airflow to or from each of the propellers.

The disadvantage of these types of UAVs is also the large weight of the structure, because the body turns out to be large and is a power element.

An unmanned aerial vehicle according to the patent US 20160137293 A1 is adopted as a prototype.

The technical objective of the invention is to create a UAV structure with a protective shell capable of absorbing significant shock loads without leading to the destruction and failure of the UAV and its individual elements. At the same time, the containment shell should serve as a supporting structure, due to which the UAV will have a low weight, high protection and sufficient strength under shock loads.

The technical result is achieved in that in a vertical take-off and landing UAV containing a protective shell inside which a flight controller, sensors, batteries are installed, and at least one engine with a propeller, according to the present invention, the protective shell contains rods, between which the cables are stretched so that the rods do not touch each other, while the flight controller, sensors, batteries and the propeller engine are installed inside the volume formed by the ends of the rods and the cables stretched between the ends of the rods.

And also by the fact that the protective shell of a vertical take-off and landing UAV contains at least three rods between which the cables are stretched so that the rods do not touch each other.

And also by the fact that the containment of vertical take-off and landing UAVs contains three pairs of parallel rods, each pair is installed on one of three intersecting orthogonal planes, and the rods of one pair are installed symmetrically to the point of intersection of the orthogonal planes.

And also by the fact that the containment of a vertical take-off and landing UAV contains four pairs of rods installed in pairs on two mutually orthogonal planes and in pairs on each of two parallel planes located orthogonal to the first two planes.

And also by the fact that the rods of the containment of vertical take-off and landing UAVs are made of the same length.

And also by the fact that the vertical take-off and landing UAV containment rods are made of different lengths.

And also by the fact that the rods of the containment of vertical take-off and landing UAVs are made with the ability to control their lengths.

And also by the fact that at least part of the vertical take-off and landing UAV containment cables are made extensible.

And also by the fact that some of the cables of the containment of vertical take-off and landing UAVs are made of combined extensible and non-extensible parts.

And also by the fact that at least part of the cables of the containment of vertical take-off and landing UAVs is made in the form of elastic elements.

And also by the fact that elastic elements are installed at the ends of the rods of the UAV with vertical take-off and landing, which ensure the tension of the cables.

And also by the fact that in vertical take-off and landing UAVs, propeller engines are installed on the rods of the containment shell.

And also by the fact that in a vertical take-off and landing UAV, at least one engine with a propeller is connected to the containment rods by means of tensioned cables.

And also by the fact that the UAV for vertical take-off and landing contains sensors for the orientation of engines with propellers in space, and can also contain sensors for the orientation of the rods, controller, battery and payload installed inside the volume formed by the ends of the rods and cables stretched between the ends of the rods ...

And also by the fact that in a vertical take-off and landing UAV, the containment cables are made with the ability to control their lengths.

And also by the fact that damping elements are installed in the vertical take-off and landing UAVs at the ends of the containment rods.

And also by the fact that in a vertical take-off and landing UAV, an engine with a propeller is located in such a way that its axis of rotation passes through the center of mass of the UAV.

And also by the fact that in a vertical take-off and landing UAV, a mesh is stretched on the protective shell, which is fixed at the ends of the rods and / or on the cables.

FIG. 1a shows a variant of the UAV, the protective shell of which contains six (three pairs) of rods, between which the cables are stretched.

Figure 1b shows a variant of the UAV, the protective shell of which contains six (three pairs) rods, between which the cables are stretched, with one engine with a propeller, which is connected to the rods by means of stretched cables.

Figure 1c shows a variant of the UAV, the protective shell of which contains six (three pairs) rods, between which the cables are stretched, with two motors with propellers, which are connected to the rods by means of stretched cables.

Figure 1d shows a variant of the UAV with one impeller connected to the rods using tensioned cables, and the protective shell of the UAV contains six (three pairs) of rods, between which the cables are stretched.

Figure 1e shows a variant of the UAV, the protective shell of which contains six (three pairs) rods, between which the cables are stretched, with four impellers, two of which are installed on the rods coaxially to them, the other two are installed on other rods perpendicular to them.

FIG. 1f shows the arrangement of six (three pairs) rods in the containment.

FIG. 1g shows a version of the UAV, the protective shell of which contains six (three pairs) rods of different lengths, between which the cables are stretched.

FIG. 1i shows a version of the UAV, the protective shell of which contains three rods between which the cables are stretched, the UAV contains one impeller connected to the rods by means of stretched cables.

FIG. 1k shows a version of the UAV, the protective shell of which contains eight (four pairs) rods, between which the cables are stretched, and the impellers are mounted on the rods coaxially with them.

FIG. 1l shows a diagram of the arrangement of eight (four pairs) rods of the UAV load-bearing containment shell.

FIG. 2 shows a variant of the implementation of the rod of the supporting structure of the UAV with the possibility of controlling its length.

FIG. 3 shows an embodiment of the UAV of FIG. 1a, which uses a combination of an inextensible cable with a spring.

FIG. 4a and 4b show an embodiment of a cable with a controlled variable length, in which an electric muscle is used as a variable part.

FIG. 5a and 5b show an embodiment of a cable with a controlled variable length, in which a linear actuator is used as a variable part.

FIG. 6 shows a cable tension device made in the form of a tension spring installed in a rod.

FIG. 7 shows a device for changing the length of the cable, made in the form of a linear actuator built into the rod.

FIG. 8 shows an embodiment of the UAV, the protective shell of which contains six (three pairs) of rods, between which the cables are stretched and on which the mesh is stretched, fixed at the ends of the rods and / or on the cables.

FIG. 9 shows an embodiment of a support installed at the ends of the rods, on which a damper is made of an elastic material.

FIG. 10 shows an embodiment of a support installed at the ends of the rods, on which a damper is made using a spring.

FIG. 11 shows a diagram of the UAV control system.

UAV vertical take-off and landing contains a protective shell, which is made of rods 1 and ropes 2, while ropes 2 are stretched between rods 1 so that rods 1 do not touch each other. The rods 1 can be of the same or different length, and rods of variable variable length can also be used. In the embodiment of FIG. 1a, the rods 1 are of the same length. The interaction of the rods 1 and the cables 2 forms the spatial form of a stable structure, which forms a protective shell. In the embodiment of Fig. 1a, the protective shell contains six (three pairs) of rods 1 between which the cables 2 are stretched so that the rods 1 do not come into contact with each other. Part of the cables 2, which connect the ends of the rods 1, form the edges of the polyhedron, the tops of which are the ends of the rods 1. These cables 2, in addition to maintaining the spatial shape of the structure, form a protective shell. FIG. 1a, all cables 2 connect the ends of the rods 1 and form the edges of the polyhedron, the vertices of which are the ends of the rods 1.

Inside the containment, i.e. Within the volume described by the ends of the rods 1 and the cables 2, which connect the ends of the rods 1 and form the edges of the polyhedron, a flight controller 3, batteries 4, at least one engine 5 with a propeller 6 are installed. The UAV can carry a payload 7.

The flight controller 3, batteries 4, at least one engine 5 with a propeller 6, and a payload 7 can be mounted on the rods 1 or connected to them using tensioned cables. Engines 5 can be installed directly on rods 1 or on controlled rocking bases 8, which are mounted on rods 1, while the propellers 6 can be at the same or different levels.

The UAV can have supports 9, which are installed on the ends of the rods 1 and on some of which it stands on a plane (ground).

Indexes A1, A2 ... E1, E2 designate the ends of the rods 1.

In the UAV version of Fig. 1a, engines 5 with propellers 6 are mounted on controlled rocking bases 8, which are mounted on rods 1, the flight controller 3, batteries 4, payload 7, presented in the form of a video camera, are also mounted on rods 1. Air screws 6 are on the same level.

In the UAV version of Fig. 1b, one engine 5 with a propeller 6 is installed in the center of gravity of the UAV structure on the frame 10 and is connected to the rods 1 using tensioned cables 2a, the flight controller is 3, the batteries 4 are installed on the rods 1.

In the UAV embodiment, Fig. 1c, two counter-mounted engines 5 with propellers 6 are installed in the center of gravity of the UAV structure on the frame 10 and connected to the rods 1 using tensioned cables 2a, the flight controller 3, the batteries 4 are installed on the rods 1.

In the UAV version of Fig.1d, one or more engines with propellers are assembled into an impeller 11, which is installed in such a way that its axis passes through the center of mass of the UAV and is connected to the rods 1 using tensioned cables 2a, flight controller 3, batteries 4 are installed on rods 1. The impeller 11 may contain air rudders (not shown) to change the thrust vector.

The UAV variant of Fig. 1e contains four impellers 11, two of which are installed on rods 1 coaxially with them, two others are installed on other rods 1 perpendicular to them, the flight controller 3, batteries 4 are installed on rods 1. Moreover, all or part of the impellers 11 can be installed on controlled rocking bases 8 (not shown in Fig. 1e), which are mounted on rods 1. Flight controller 3, batteries 4 can also be connected to rods 1 using tensioned cables 2a.

The geometric dimensions of the containment elements, the dimensions and location of the flight controller 3, batteries 4, engines 5 with propellers 6 or impellers 11 and payload 7 and their placement on the rods 1 are made in such a way that they are located inside the volume described by the ends of the rods 1 and cables 2, which connect the ends of the rods 1 and form the edges of the polyhedron, and do not go beyond the specified volume with possible deformations of the protective shell. Possible deformations of the containment include a deliberate change in the geometry of rods 1 or cables 2 during operation (control of the thrust vectors of propellers 6, tilt or movement (rolling) of the UAV on the ground), as well as possible deformations when the UAV falls or hits an obstacle. This solution guarantees the safety of the structural elements of the UAV when it falls to the ground, strikes a wall or linear obstacles such as a pillar or tree branch.

FIG. 1e shows a diagram of the arrangement of six (three pairs) of rods 1 presented in the UAV versions of FIG. 1a, 1b, 1c, 1d and 1e and the designations of the ends of rods 1. Each pair of rods 1a and 1b; 1c and 1d; 1e and 1f are parallel to each other, with each pair of rods 1a and 1b; 1c and 1d; 1e and 1f is installed on one of three intersecting mutually orthogonal planes 12a, 12b and 12c. A pair of rods 1a and 1b is installed on plane 12b, a pair of rods 1c and 1d is installed on plane 12a, a pair of rods 1e and 1f is installed on plane 12c. In this case, the rods 1 of one pair are installed parallel to each other symmetrically to the point 13 of intersection of the orthogonal planes 12a, 12b and 12c, and the rods 1a and 1b; 1c and 1d; 1e and 1f, located on different planes 12b, 12a and 12c, are orthogonal to each other.

The rods 1 can be of the same or different sizes. At least some of the rods 1 can be of variable controlled length.

FIG. 1g shows a UAV with a protective shell containing rods of different lengths. The rods 1a, 1b are shorter than the other rods 1.

The ends A1 and A2 of the rod 1a, B1 and B2 of the rod 1b, B1 and B2 of the rod 1c, G1 and G2 of the rod 1d, D1 and D2 of the rod 1d, E1 and E2 of the rod 1e form the vertices of the polyhedron limiting the volume of the protective shell of the UAV.

These vertices are interconnected by cables 2 in the following order (Fig. 1a-1c):

- vertex A1 is connected to vertices B1, B1, B2, D1, E1;

- vertex A2 is connected to vertices B2, G1, G2, D1, E1;

- vertex B1 is connected to vertices A1, B1, B2, D2, E2;

- vertex B2 is connected to vertices A2, G1, G2, D2, E2;

- vertex B1 is connected to vertices A1, B1, G1, E1, E2;

- vertex B2 is connected to vertices A1, B1, G2, D1, D2;

- vertex G1 is connected to vertices A2, B2, B1, E1, E2;

- the vertex G2 is connected to the vertices A2, B2, B2, D1, D2;

- vertex D1 is connected to vertices A1, A2, B2, G2, E1;

- vertex D2 is connected to vertices B1, B2, B2, G2, E2;

- vertex E1 is connected to vertices A1, A2, B1, G1, D1;

- vertex E2 is connected to vertices B1, B2, B1, G1, D2.

The above cables 2 that connect the ends of the rods 1 and form the edges of the polyhedron, the vertices of which are the ends of the rods 1, the rods 1 play the role of the containment frame supporting the shape of the containment and its folding rigidity, and also serve to accommodate the elements of the UAV on it.

The number of torsos 2 is determined by the number of rods 1 and determines the rigidity of the containment shell. In addition to these cables 2, the containment can contain additional cables 2b (Fig. 1g), which can increase the overall rigidity of the containment or a certain part of it. For this, other connections of the vertices A1, A2 ... E1, E2 with each other by cables 2b are possible in addition to those indicated above, as well as connecting any other points of the rods 1 with each other by cables 2b. For example, in the UAV embodiment of Fig. 1g, cables 2b connect the vertices A2, B1 and A1, B2, as well as the middle of the rods 1a and 1b; in the UAV embodiment, Fig. 3 cables 2b connect tops A2, B1 and A1, B2 of rods 1a and 1b. The diagonal connection of parallel rods 1 in these cases reduces the rocking of rods 1, which should lead to better controllability of the UAV.

In some versions of the UAV, some cables 2 may be missing, if this does not violate the ability of the shell to protect the components installed in it, which is determined by their arrangement inside the containment shell. For example, in the UAV embodiment of FIG. 1d there are no cables 2 connecting the tops В1, Г1; B2, G2; E1, D1 and E2, D2. At the same time, the elements of the UAV structure are installed in such a way that when the UAV meets a linear obstacle in the places where the indicated cables 2 should be located, the corresponding rods 1c, 1d, 1d, or 1e will take the blow.

The tension of the cables 2, 2a, 2b and, accordingly, the compression of the rods 1 should provide the required spatial arrangement of the rods 1 and the tension of the cables 2, which ensure the protection of the internal volume at rest, in flight and during the collision of the UAV with a plane or linear obstacle. By changing the degree of tension of certain cables 2, 2a, 2b, the geometry of the protective shell can change. In this case, the location and orientation of individual or all of the rods 1 can be changed, the protective shell can be folded during storage and unfolded before flight, etc.

Vertices A1, A2 ... .E1, E2 of rods 1 and cables 2 form a protective shell that ensures the safety of the flight controller 3 installed inside it, batteries 4, engines 5 and propellers 6 or impellers 11 and other equipment. The tops A1, A2, ... E1, E2 of the rods 1 provide effective protection in case of collision with the plane, cables 2 provide protection in case of collision with linear obstacles such as pillars, tree branches, etc. Thus, the protection of these devices is provided by the very supporting structure of the UAV without any special additional protective equipment.

The containment of the UAV variant of FIG. 1i contains three rods 1a, 1b and 1c, installed on the plane with one end to form a triangle A1, B1, B1. The rods 1a, 1b and 1c are inclined in such a way that their second ends form a triangle A2, B2, B2 on another plane, and the end of each rod 1 is located above the beginning of the previous one, i.e. the resulting triangles are rotated relative to each other. The top of each bar 1 is connected to the tops of two other bars 1 on the plane and the top of the previous bar 1 in another plane: the top A1 is connected to the vertices B1, B1, B2; vertex B1 is connected to vertices A1, B1, A2; vertex B1 is connected to vertices A1, B1, B2; vertex A2 is connected to vertices B2, B2, B1; vertex B2 is connected to vertices A1, B1, B2; vertex B2 is connected to vertices A1, A2, B2 by cables 2.

The above cables 2 form the edges of a polyhedron, the vertices of which are the ends of the rods 1, the rods 1 play the role of a protective shell frame that maintains the shape of the protective shell and its folding rigidity, and also serve to accommodate UAV elements on it.

The UAV (Fig. 1i) contains an impeller 11 located in such a way that its axis passes through the center of mass of the UAV and is connected to the rods 1 using cables 2a, the flight controller 3, batteries 4, which can be installed on the rods 1, on the impeller body 11 or connected to the rods 1 using cables 2a. FIG. 1 and flight controller 3, batteries 4 and payload 7 are installed on the impeller housing 11.

The ends of the rods 1 form the vertices of the polygon A1 B1 B1 A2 B2 B2, the cables 2 form ribs. The geometric dimensions of the containment, the dimensions and location of the impeller 11 of the flight controller 3, the batteries 4, the payload 7 and their placement on the cables 2a are made in such a way that they are located inside the volume described by the ends A1, B1, B1, A2, B2, B2 rods 1 and cables 2 connecting them and do not go beyond the specified volume with possible deformations of the protective shell. Possible deformations of the containment shell include a change in its geometry in order to control the thrust vector of the impeller 11 during flight, when the UAV is located on the ground, as well as when the UAV falls on a plane or hits its plane or a linear obstacle, for example, a small tree trunk or a branch.

The vertices A1, B1, B1, A2, B2, B2 of the rods 1 and the cables 2 connecting them form a protective shell that ensures the safety of the impeller 11 installed inside it, the flight controller 3, batteries 4. The vertices A1, B1, B1, A2, B2, B2 rods 1 provide effective protection in case of collision with the plane, cables 2 provide protection in case of collision with linear obstacles such as pillars, tree branches, etc. In this design, the rods 1 are located in the same plane with a part of the cables 2 and are also protection elements of the UAV elements installed inside the load-bearing protective shell.

The UAV containment of FIG. 1k, contains eight (four pairs) rods 1, installed (Fig.1l) in pairs on each of two mutually orthogonal planes 12a (rods 1i, 1k) and 12b (rods 1e, 1e), and a pair on each of two parallel each other of planes 12c (rods 1c, 1d) and 12d (rods 1a, 1b), located orthogonal to the first two planes 12a and 12b. Rods 1e, 1e on planes 12c and 12d are located at an equal distance from plane 12b. In this case, rods 1i, 1g, 1e, 1e located on planes 12a and 12b are orthogonal to all rods located on other planes. The rods 1c, 1d, 1a, 1b located at 12c and 12d are parallel to each other and orthogonal to the rods located on planes 12a and 12b.

Rods 1a, 1b, 1c and 1d have the same length and are shorter than rods 1e, 1e, 1i, 1k, which also have the same length. This made it possible to obtain a UAV whose height is less than the length and width (the flattened shape of the structure).

The ends A1 and A2 of the rod 1a, B1 and B2 of the rod 1b, B1 and B2 of the rod 1c, G1 and G2 of the rod 1d, D1 and D2 of the rod 1d, E1 and E2 of the rod 1e, Zh1 and Zh2 of the rod 1zh, I1 and I2 of the rod 1i form the vertices protective shell of the UAV.

These tops of the rods 1 are interconnected by cables 2 in the following order (Fig. 1k):

- vertex A1 is connected to vertices B1, B1, G1, D1, Zh1;

- vertex A2 is connected to vertices B2, B2, G2, E1, Zh1;

- vertex B1 is connected to vertices A1, B1, G1, D1, Zh2;

- vertex B2 is connected to vertices A2, B2, G2, E1, Zh2;

- vertex B1 is connected to vertices A1, B1, G1, Zh1, I1;

- vertex B2 is connected to vertices A2, B2, G2, E2, I1;

- vertex G1 is connected to vertices A1, B1, B1, D2, I2;

- vertex G2 is connected to vertices A2, B2, B2, E2, I2;

- vertex D1 is connected to vertices A1, B1, E1, Zh1, Zh2;

- vertex D2 is connected to vertices B1, G1, E2, I1, I2;

- vertex E1 is connected to vertices A2, B2, D1, Zh1, Zh2;

- vertex E2 is connected to vertices B2, G2, D2, I1, I2;

- vertex Zh1 is connected to vertices A1, A2, D1, E1, I1;

- vertex Zh2 is connected to vertices B1, B2, D1, E1, I2;

- vertex K1 is connected to vertices B1, B2, D2, E2, Zh1;

- the vertex K2 is connected to the vertices Г1, Г2, Д2, Е2, Ж2.

The above cables 2 form the edges of a polyhedron, the vertices of which are the ends of the rods 1, the rods 1 play the role of a protective shell frame that maintains the shape of the protective shell and its folding rigidity, and also serve to accommodate UAV elements on it.

The number of torsos 2 is determined by the number of rods 1 and determines the rigidity of the containment shell. In addition to the indicated ropes 2, the protective shell may contain additional ropes 2b (Fig. 1g) providing other connections of the tops A1, A2 ... I1, I2 of the rods 1 with each other in addition to the above, as well as the connection of any other points of the rods 1 to each other. In some versions of the UAV, some cables 2 may be missing, if this does not violate the ability of the shell to protect the components installed in it, which is determined by their arrangement inside the containment shell. Ropes 2a (Fig. 1b, 1c, 1d, 1i), the tension of which ensures the location of the engine 5 with propellers 6 and other structural elements, also affect the geometry and rigidity of the protective shell of the UAV. The tension of the cables 2, 2a, 2b and, accordingly, the compression of the rods 1 should provide the required spatial arrangement of the rods 1 and the tension of the cables 2, 2a, 2b, which ensures the protection of the internal volume at rest, in flight and during the collision of the UAV with a plane or linear obstacle. By changing the degree of tension of certain cables 2, 2a, 2b, the geometry of the protective shell can change. In this case, the location and orientation of individual or all of the rods 1 can be changed, the protective shell can be folded during storage and unfolded before flight, etc.

The protective shell may contain three or more rods 1, between which the cables 2 are stretched so that the rods 1 do not touch each other. The presented protective shells of three, six (three pairs) and eight (four pairs) rods are convex polyhedrons. Based on the indicated construction principle and using rods 1 of the same or different lengths, protective shells can be obtained that are other geometric shapes, for example, a pyramid, cylinder, disk, etc., which can be most optimal for building a specific UAV configuration for given purposes ...

This approach to the development of the protective shell of the UAV allows you to obtain a modular transformable UAV, which is assembled from a set of rods 1 of the same or different lengths and cables 2 with subsequent fastening to the resulting containment of all necessary devices. Moreover, even a set of elements limited in size can provide a large number of options for assembling UAVs of various sizes for a variety of tasks.

As mentioned above, the rods 1 can be of constant and variable controlled length.

FIG. 2 shows an embodiment of the rod 1 of variable controlled length. The rod 1 consists of two tubular parts, outer 13 and inner 14, which fit into each other telescopic. On the outer 13 part of the rod 1, a motor 15 with a lead screw 16 is installed, on the inner 14 of the rod 1 a nut 17 is installed. The installation of parts 13 and 14 of the rod 1 into each other is made with the possibility of longitudinal movement and does not allow them to rotate relative to each other. Pos. 9 shows the supports.

Ropes 2, 2a and 2b can be inextensible, extensible or combined, consisting of non-extensible, extensible parts. It is also possible to use cables 2, 2a and 2b of controlled variable length. The protective shell of the UAV can simultaneously contain several types of cables 2, 2a and 2b. It is possible to ensure the tension of the cables 2, 2a and 2b using elastic elements or tensioning devices installed inside the rods 1.

Non-extensible cables 2, 2a and 2b, or parts thereof, can be made of a material of high strength and high modulus of elasticity, for example, metal or Kevlar.

Extensible cables 2, 2a and 2b or their parts can be made of high-strength elastic material with a low modulus of elasticity, for example, from synthetic ropes or rubber cords. It is also possible to use tension springs as an extensible cable 2, 2a and 2b or a part thereof. FIG. 3 shows a version of the UAV in which a combination of an inextensible cable 2 with a spring 18 is used.

It is possible to use artificial muscles, a linear actuator, or another similar device providing a change in length according to a given command as a cable 2, 2a and 2b of it or part of a controlled variable length.

FIG. 4a and 4b show an embodiment of cables 2, 2a or 2b, part of the controlled variable length of which is made in the form of an artificial muscle 19, which is a bundle of an elastic electroactive polymer composite that changes its length λ depending on the value of the control voltage / current applied to its ends. The length L1 in FIG. 4a corresponds to the maximum length of the cable 2, 2a or 2b with the artificial muscle 19 at the moment when the artificial muscle 19 is relaxed and has a maximum length λ1. The length L2 corresponds to the minimum cable length 2, 2a or 2b, when the artificial muscle 19 is tense and has a minimum length λ2. The working range of the cable length 2, 2a or 2b lies between the values of L1 and L2. It is possible to use other types of artificial muscles 19, for example, pneumatic.

FIG. 5a and 5b show an embodiment of cables 2, 2a or 2b, part of the controlled variable length of which is made in the form of a pulling linear actuator 20. Linear actuator with a sliding rod 21, inside the body of the linear actuator 20 there is a mechanism for extending the rod 21. The linear actuator 20 is installed in a gap cable 2, 2a or 2b and is connected to them by the ends of the body 20 and rod 21. The values of the lengths λ1, λ2, L1 and L2 are similar to the corresponding values in FIG. 4a and 4b.

The tension of the cables 2 and their working length can be set by a tensioning or length adjustment device, which is built into the ends of the rods 1. As a tensioning device for the cables 2, one or more compression or tension springs can be used, one end of which is connected to the rod 1, the other to the cable 2. The use of several springs allows you to set an individual tension for each cable 2, one spring provides one amount of tension for all cables 2 connected to it.

FIG. 6 shows an embodiment of the cable tensioning device 2, made in the form of one tension spring 22. One end of the spring 22 is connected to the cables 2, the other end to the rod 1. The device contains a tip 23 along which the cables slide 2. It is possible to use other types of tips (not shown graphically), for example, with pulleys for the cable 2, which reduces the friction of the cables 2.

FIG. 7 shows an embodiment of a device for changing the length of the cable 2, made in the form of linear actuators 20, the movable rod 21 of which is connected to the ends of the cables 2, and the body is connected to the rod 1. Instead of the linear actuator 20, it is also possible to use an artificial muscle 19 or similar mechanisms.

A mesh 24 (Fig. 8) can be stretched over the protective shell, which is fixed at the ends of the rods 1 and / or on cables 2. This solution increases the degree of protection installed inside the protective shell of the flight controller 3, batteries 4, engines 5 with propellers 6 and payload 7, especially when hitting protruding objects, for example, a broken sticking out branch of a tree or a separately lying stone, the dimensions of which are less than the distance between the cables 2.

To increase the protection of the UAV from impacts, damping elements 25 can be installed on the supports 9. They can be protrusions (tips) made of an elastic material (Fig. 9), for example, rubber, a tip 26 (Fig. 10) resting on a spring 27 or similar devices.

The use of a protective shell, which contains rods 1, between which cables 2 are stretched, gives wide and varied possibilities for accommodating engines 5 with propellers 6, impellers 11, flight controller 3, batteries 4 and payload 7. At the same time, this imposes additional conditions.

Placing the engine 5 with propellers 6 on the rods 1, which in turn are installed on the cables 2, or the direct placement of the engines 5 on the tensioned cables 2a allow, on the one hand, to control their orientation in space by redistributing the tension of the cables 2, 2a and 2b or by changing lengths of rods 1. This, in turn, requires control of the direction of the thrust vector of each engine 5 with propeller 6 in space. Therefore, each engine 5 with a propeller 6 contains an engine orientation sensor (not shown). This can be an inclinometer, inertial sensors (IMU) or similar device mounted directly to the engine 5.

Engines 5 with propellers 6 can be installed on the rod 1 so that the axis of rotation of the engine 5 was parallel to the rod 1 or at some angle to the rod 1. It is possible to install the engine 5 with the propeller 6 on the rod on the controlled swing element 8 (Fig. 1a ), which allows you to change the angle of the thrust vector in relation to the bar on which it is installed. Engines 5 with propellers 6, the axes of which are parallel to the rods 1, can be installed next to the rod 1, in the rupture of the rod 1 coaxially to it (Fig. 1k). Curved rods 1 can also be used, on which motors 5 with propellers 6 or impellers 11 are installed, which are installed coaxially with a line connecting the beginning and end of the rod 1.

The placement of UAV structural elements should be carried out taking into account the UAV alignment. Engines 5 with propellers 6, flight controller 3 (autopilot), sensors (not shown in the figure), batteries 4 and payload 7 can be installed separately from each other to ensure mass distribution within the containment. Communication between devices can be carried out both via cables and wireless communication channel.

As payload 7 UAVs can be used cameras (including visible range, infrared and multispectral, depth cameras, event and others), laser scanners, lighting devices, weights, etc. Payload 7 and sensors can be fixed on rods 1 and ropes 2a. The payload and sensors can be placed on gyro-stabilized suspensions (not shown in the figure).

The UAV contains the following control system and is equipped with the following sensors. The control system (Fig. 11) contains a flight controller 3 with a built-in gyroscope, compass, accelerometer and barometer (not shown in the figure), a communication receiver 28, a receiver 29 of the global satellite navigation system, drivers 30 for controlling engines 5 with propellers 6 in number motors 5, may contain drivers 31 for controlling drives 32 for changing the lengths of rods 1 (motor 15 in Fig. 2), drivers 33 for controlling drives 34 for changing the lengths of cables 2, 2p, 2b (electric muscle 19 in Fig. 4a, 4b; actuator 20 in Fig. 5a, 5b, 7), drivers 35 for controlling the drive 36 of the thrust vector of the impellers 11. It may also contain an on-board computer 37, sensors 38 of an inertial navigation system (INS), as well as video cameras 39, lidars 40 and other equipment necessary to perform the UAV function.

Sensors 38 INS can be installed on engines 5 installed on controlled rocking elements 8 (Fig.1a), which are installed on rods 1, as well as on engines 5 (Fig.1b, 1c) and impellers 11 (Fig.1d, 1i) , which are connected to the rods 1 using tensioned cables 2a. The best result is obtained by installing sensors 38 ISN on all engines 5 or impellers 11. Sensors 38 INS can also be installed on all rods 1 and other structural elements, which allows the on-board computer 37 to determine in real time the spatial configuration of the UAV and calculate the location of the center of mass.

Device operation.

The design of the UAV allows you to control the movement in flight in three ways:

- Changing the thrust of each propeller 6;

- Changing the direction of the thrust vector of each or a group of propellers 6;

- Changing the direction of the thrust vector of the impeller 11;

- Displacement of the center of mass of the UAV.

Changing the thrust of each propeller 6 is the traditional and most common way to control the movement of a UAV. With a change in the thrust of the propellers 6, the UAV acquires an inclination, which makes it possible to obtain a horizontal thrust component of a given direction.

This method of motion control in flight is suitable for UAV versions with a constant length of rods 1 and cables 2, 2b, which are shown in Fig. 1a, 1g, 1k, 3 and 8. Changes in the thrust of each propeller 6 can make small changes in the geometry of the containment, which must be taken into account when controlling the UAV.

Changing the direction of the thrust vector of each or a group of propellers 6 is possible in three versions, depending on how the engines 5 with propellers 6 are installed.

For the version in which the motors 5 are installed directly on the rods 1, the method is based on changing the orientation of the rods 1 of the containment by changing the lengths of the cables 2, 2b and / or rods 1. The motors 5 installed on the rods 1 change the orientation of the axis of rotation together with the rod 1 to which they are installed. The INS sensors 38 installed on the engines 5 record the angular orientation of the engine 5 and transmit it to the flight controller 3.

This method of motion control in flight is suitable for versions in which there are rods 1 of controlled variable length, shown in FIG. 2 or cables 2 of controlled variable length using electric muscles 19, shown in FIG. 4a, 4b, using the actuators 20 shown in FIG. 5a, 5b and FIG. 7. In this case, the UAV can be one of the embodiments of FIG. 1a, 1e, 1g, 1k, 3 and 8.

For the option of installing the engine 5 with the propeller 6 on the rod 1 on the controlled rocking element 8 (Fig. 1a), it is possible to orient the axis of rotation of the engine 5 regardless of the orientation of the rod 1 on which it is installed. In this case, the UAV can be one of the embodiments of FIG. 1a, 1e, 1g, 1k, 3 and 8 in which there are rods 1 of controlled variable length, shown in Fig. 2 or cables 2 of controlled variable length using electric muscles 19, shown in FIG. 4a, 4b, using the actuator 20 shown in FIG. 5a, 5b and 7. Installed on engines 5, INS sensors 38 record the angular orientation of engine 5 and transmit it to flight controller 3

For the option of installing engines with 5 propellers 6 or impellers 11 on tensioned ropes 2a, it is possible to change the spatial orientation by coordinated changes in the lengths of the ropes 2a holding them, in which the engine 5 with propeller 6 or the impeller 11 will be rotated to the required angle. These UAV versions are shown in Fig. 1b, 1c, 1d, 1i. Installed on the engines 5 or impellers 11, the INS sensors 38 record the angular orientation of the engine 5 and transmit it to the flight controller 3

By changing the direction of the thrust vector of the impeller 11, which is possible on all versions of the UAV, in which the impeller 11 with an air rudder is used (not shown). These UAV versions are shown in Fig. 1d, 1d, 1i and 1k.

The displacement of the center of mass of the UAV can be carried out by changing the lengths of cables 2, 2a, 2b and rods 1 at which rods 1 and other components of the UAV are displaced relative to each other, which leads to a redistribution of the structure's masses and a shift in the center of mass. In the event that the engines 5 with propellers 6 or other components of the UAV are installed on the tensioned cables 2a, it is possible to displace them by coordinated changes in the lengths of the cables 2a that hold them. With a change in the center of mass, the UAV acquires an inclination, which makes it possible to obtain a horizontal thrust component of a given direction.

This method of UAV control is possible on all the above UAV versions in which there are rods 1 of controlled variable length, shown in Fig. 2 or cables 2 of controlled variable length using electric muscles 19, shown in FIG. 4a, 4b, using the actuator 20 shown in FIG. 5a, 5b and 7.

A combination of all or some of these methods can also be used, both permanently and episodically. This allows you to use the most effective flight control method for a given situation.

In the initial state, the UAV lies on a plane resting on the ends of at least three rods 1 or supports 9 on the plane (ground). The thrust vector of engines 5 installed on the UAV with propellers 6 or impellers 11 is directed vertically upward or at an angle to the horizon and is recorded by the sensors 38 INS installed on them.

After turning on the power, the on-board computer 37 interrogates all sensors 38 of the INS, builds the spatial configuration of the UAV structure, determines the angle of inclination of the UAV to the horizon and the direction of the thrust vectors of propellers 6 or impellers 11. If necessary, the necessary changes in the spatial configuration of the structure are made by changing the lengths of rods 1 and cables 2. For example, if cables 2 are relaxed for stowing the UAV in a container, rods 1 have a minimum length and the structure of the containment has lost its stable spatial shape, the lengths of rods 1 and cables 2 are reduced to operating values and the structure regains a given stable spatial shape.

At the command “take off” of the UAV, the flight controller 3 starts the engines 5 with propellers 6 or the impellers 11 and, in one of the above ways or a combination of them, aligns the UAV relative to the horizon and takes off upward.

In flight, the on-board computer 37 in real time interrogates all the sensors 38 of the INS, builds the spatial configuration of the UAV structure, determines the angle of inclination of the UAV to the horizon and the direction of the thrust vector of propellers 6 or impellers 11. This allows you to choose the most optimal way to control the movement of the UAV.

For control purposes, a mathematical model of the UAV as a rigid body is used. This mathematical model generates control commands for the UAV controls (engines 5, drives 32 for changing the lengths of rods 1, drives 34 for changing the lengths of cables 2, 2a, 2b, drives 36 of the air rudders of the impellers 11). The control program monitors the accuracy of command execution by comparing the expected trajectory of the UAV movement with the real trajectory of the UAV movement obtained by processing the on-board computer 37 signals from the gyroscope and accelerometer. The discrepancy between the expected and real trajectory of movement is considered as a result of the influence of an external disturbing force, which is caused by such factors as the influence of the environment, inaccuracy of the model and vibration of the elements of the containment shell, etc. Based on these calculations, an adjustment is made to the flight control program.

When it meets a flat obstacle, the UAV runs into it with the ends of rods 1. Due to the design feature of the containment shell, in which all the rods 1 are interconnected by cables 2 and 2b, the impact energy along cables 2 and 2b is redistributed to other rods 1 and the containment is deformed, which in ultimately dampens the impact without creating a critical large load on individual structural elements. The presence of dampers 25 on the supports 9 installed at the ends of the rods 1, elastic elements 27 at the ends of the rods 1 and elastic elements (springs pos. 18 in Fig. 3, pos. 22 in Fig. 6) on cables 2 and 2b, the use of cables 2 and 2b is extensible or combined, consisting of non-extensible and extensible parts, help to reduce the shock load when meeting an obstacle.

The meeting of the UAV with a linear obstacle (post, tree branch, etc.) usually occurs with one or more ropes 2. In this case, the ropes 2 are deformed and transfer the tension force through the ends of the rods 1 to the entire structure of the containment shell. The protective shell deforms, accumulates and absorbs impact energy.

An embodiment of the UAV on the protective shell of which the mesh 24 is stretched (Fig. 8) has the ability to protect against protruding objects, for example, a broken sticking out branch of a tree or a separately lying stone, the dimensions of which are less than the distance between the cables 2. Meeting with such an obstacle occurs along the mesh 24. The mesh is stretched and transfers the load to several cables 2 and the ends of rods 1. The protective shell deforms with the accumulation and dissipation of impact energy.

The elements of the containment are rods 1 and cables 2 stretched between them. The rods 1 are the supporting structures of the UAV and simultaneously penetrate the containment from the inside giving it spatial rigidity during impacts. This ensures the location of the flight controller 3, batteries 4 and engines 5 with propellers 6 inside the protective shell during its deformation from impact and excludes their possible collision with an obstacle. Impact energy is redistributed throughout the entire protective shell and reaches each component weakened.

At the moment of impact, the flight controller 3 determines the direction of the obstacle from the gyroscope and accelerometer readings and changes the direction of the UAV's flight away from the obstacle.

After the impact, the UAV bounces off the obstacle due to the energy accumulated during the impact of the tension of the cables 2 and the compression of the rods 1 and flies in the direction opposite to the obstacle.

The landing of the UAV occurs by gradual descent until the surface touches the surface of the protective shell. After a complete stop of the propellers, the UAV stands on at least three ends of the rods 1 or support 9. The thrust vector of the engines 5 installed on the UAV with propellers 6 is directed vertically upward or at an angle to the horizon.

UAV actions on the surface.

The design feature of the containment shell makes it possible to change the orientation of the individual rods 1 relative to each other by changing the lengths of the cables 2 and rods 1. This makes it possible to tilt the structure relative to the horizontal axes, roll and fold the structure.

To tilt the UAV, the lengths of the rods 1 on which the UAV rests can be changed. It is also possible to redistribute the lengths of cables 2 and 2b, which will lead to a tilt of the UAV. This function can be used to obtain the vertical thrust of the propellers 6 at the time of the UAV takeoff.

If, when the UAV is tilted, the line lowered from the point of the center of mass of the UAV goes beyond the figure formed by the points of contact of the ends of rods 1 or supports 9, the UAV will fall on the next ends of rods 1 or support 9. This allows the UAV to turn in such a way that the directions of the vectors the thrust was directed upward after an unsuccessful landing, which prevents the UAV from taking off without turning the propellers. In this way, it is also possible to move the UAV over the surface by rolling.

Folding the structure. In the case of relaxation of all cables 2, the structure of the protective shell loses its spatial stability and can be deformed for packing into containers, while requiring a smaller volume than in working condition.

Thus, a vertical take-off and landing UAV has been developed, the protective shell of which contains rods, between which the cables are stretched so that the rods do not touch each other. The flight controller, sensors, batteries, at least one engine with a propeller are installed inside the protective shell of the UAV, limited by the ends of the rods and cables stretched between them. This made it possible to create a UAV structure with a protective shell capable of absorbing significant shock loads without leading to the destruction and failure of the UAV and its individual elements. The protective shell, in addition, serves as a supporting structure, due to which the UAV has a low weight, high protection and sufficient strength under shock loads.

A technical solution has been proposed that makes it possible to assemble a UAV with a protective shell of a modular design from a set of rods and cables. This allows you to get a large number of options for assembling UAVs of various sizes and configurations to solve various problems with a limited set of elements.

Claims (18)

1. UAV with vertical take-off and landing, containing a protective shell, inside which are installed a flight controller, sensors, batteries, and at least one engine with a propeller, characterized in that the protective shell contains rods between which the cables are stretched so, that the rods are not in contact with each other, while the flight controller, sensors, batteries and the propeller engine are installed inside the volume formed by the ends of the rods and cables stretched between the ends of the rods. 2. A vertical take-off and landing UAV according to claim 1, characterized in that the protective shell contains at least three rods, between which the cables are stretched so that the rods do not come into contact with each other. 3. UAV vertical take-off and landing according to claim 1, characterized in that the containment contains three pairs of parallel rods, each pair is installed on one of three intersecting orthogonal planes, and the rods of one pair are installed symmetrically to the intersection of the orthogonal planes. 4. UAV vertical take-off and landing according to claim 1, characterized in that the containment contains four pairs of rods installed in pairs on two mutually orthogonal planes and in pairs on each of two parallel planes located orthogonal to the first two planes. 5. UAV vertical take-off and landing according to claim 1, characterized in that the containment rods are made of the same length. 6. UAV vertical take-off and landing according to claim 1, characterized in that the containment rods are made of different lengths. 7. UAV vertical take-off and landing according to claim 1, characterized in that the containment rods are made with the ability to control their lengths. 8. UAV vertical take-off and landing according to claim 1, characterized in that at least part of the containment cables are made extensible. 9. UAV vertical take-off and landing according to claim 1, characterized in that part of the containment cables are made of combined extensible and non-extensible parts. 10. UAV vertical take-off and landing according to claim 9, characterized in that the tensile part of the cables is made in the form of elastic elements. 11. UAV vertical take-off and landing according to claim 1, characterized in that at the ends of the rods there are elastic elements that provide tension on the cables. 12. UAV vertical take-off and landing according to claim 1, characterized in that the engines with propellers are installed on the rods of the containment shell. 13. UAV vertical take-off and landing according to claim 1, characterized in that at least one engine with a propeller is connected to the containment rods by means of tension cables. 14. UAV vertical take-off and landing according to claim 1, characterized in that it contains sensors for the orientation of engines with propellers in space, and may also contain sensors for the orientation of the rods, controller, battery and payload installed inside the volume formed by the ends of the rods and cables stretched between the ends of the rods. 15. UAV vertical take-off and landing according to claim 1, characterized in that the containment cables are made with the ability to control their lengths. 16. A vertical take-off and landing UAV according to claim 1, characterized in that damping elements are installed at the ends of the containment rods. 17. UAV vertical take-off and landing according to claim 1, characterized in that the engine with the propeller is located in such a way that its axis of rotation passes through the center of mass of the UAV. 18. A vertical take-off and landing UAV according to claim 1, characterized in that a mesh is stretched over the protective shell, which is fixed at the ends of the rods and / or on the cables.

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