RU2816463C1 - Modular drone - Google Patents

Abstract

FIELD: aviation.

SUBSTANCE: modular drone comprises a frame, a body and a chassis. Frame is formed by connection of modules of left, right and central elements along three axes with Y axes scheme, note here that every frame element can accommodate one or two motors and propellers, their total number being divisible by three. Housing comprises three modules, top, bottom and central parts, connected to the frame and to each other. Central part contains microelectronic microprocessor equipment made in the form of a single unit with possibility of its replacement. Lower part contains at least a storage battery. Chassis is made in the form of at least two supports.

EFFECT: increased power and functionality of the apparatus is provided due to the possibility of replacing individual modules and increasing the number of electric motors and propellers.

9 cl, 9 dwg

Description

The invention relates to rotary-wing unmanned aerial vehicles (UAVs) with two or more propellers, namely rotary-wing UAVs with a modular design of the device.

The development of unmanned aerial vehicles is characterized by high dynamism - new solutions, both in the field of design and control systems, and in the field of application, appear many times faster than in the field of manned aircraft. This growth in inventive activity and subsequent production is due to the development of microelectronics and communication systems, as well as thanks to revolutionary advances in the field of materials science, which have made it possible to simplify the design of devices. Scientific and technological developments in these areas have helped create unmanned vehicles that are in demand on the market. The most rapid growth began in the second half of the 2000s in the direction of “copters”, that is, rotary-wing vehicles with various options for the number of axes. After the MikroKopter line of devices appeared on the market, the direction began to develop rapidly, becoming a parallel branch of the development of unmanned vehicles relative to aircraft-type devices.

There are many rotary-wing unmanned aerial vehicles (UAVs) known from the state of the art; the scope of application of such devices is quite wide. These may be tasks related to observation and monitoring, taking measurements, carrying loads, video recording, etc. Traditionally, these types of devices are remotely piloted. [Unmanned aerial vehicle (UAV), classification, Karshov R.S., Problems of modern science and education Number: 11 (53) year: 2016 pages: 38-40]. However, there are also solutions that work autonomously, according to a given program, without operator participation.

As part of the development of UAVs, based on the issues of ensuring multifunctionality, improving service characteristics and increasing the possibility of upgrades depending on the tasks performed or the environment in which the UAV will have to perform tasks, the direction of modular design of the UAV design is actively developing.

This is confirmed, among other things, by solutions known from the prior art. For example, the utility model patent [CN 217456330 U, published September 20, 2022] presents a modular solution that allows you to modify a UAV, giving it the characteristic properties of aircraft-type devices and (or) rotorcraft by variably attaching/detaching “wings” with propellers. By connecting some elements of the device and disconnecting others, a transformation is carried out between the three types of devices.

However, the issue of modular design has been studied most thoroughly in rotary-wing vertical take-off and landing vehicles. The number of well-known solutions is very large, for example, the modular Airblock UAV, which is a honeycomb structure, all modules of which are made of extruded polystyrene foam, has gained wide popularity in the gaming and entertainment goods market. From two to six motor units with red and black propellers mounted on the engines are attached to the central electronic unit using magnetic latches. During assembly, these units must be alternated. This apparatus contains: a main unit of an aircraft, a main body and a control motherboard located in the main body, wherein magnets are provided on the main body and additionally provided are connection grooves and a plurality of rotor systems, wherein each of the plurality of rotor systems contains a second magnet, a rotor mechanism and a rotor protective casing, which has a hollow ring structure and is fixed on the outside of the rotor mechanism, wherein a second magnetic carrier is attached to the rotor protective cover and attracts the first magnet, and a pin corresponding to the slot is further provided on the rotor protective cover, wherein the rotor system is located on the main assembly of the aircraft and electrically coupled thereto by pin-slot interaction, and also attached to the main assembly of the aircraft by a magnetic field force between the first magnetic medium and the second magnetic medium. [WO2017197602, published 11/23/2017]. This solution is very interesting, but it relates to toys, and scaling the design is difficult.

An unmanned tandem twin-rotor aircraft for transporting cargo is known [US 20210163126 A1, published 06/03/2021], including two rotor systems, each of which contains a control system and an engine driving a plurality of rotor blades. The rotor systems are interconnected by a housing, which is a pipe or several tubes arranged in a row, providing rigidity along the longitudinal axis of the structure and strength. The housing connecting the rotor systems allows torque on only one axis, along the centerline of the rotor systems. This torsion allowance allows the front and rear rotor systems to rotate such that the front and rear rotors can rotate several degrees independently of each other. This makes it possible to simplify the design of the aircraft, increase strength without adding weight and without the use of prefabricated fuselages or frames of traditional aircraft design. The connecting body design or supporting systems may include retractable or fixed chassis. The rotor systems are designed to be modular so that they can be accommodated on hull structures of varying lengths. This allows the size of the aircraft to be increased or decreased to suit specific application needs.

A modular unmanned aerial vehicle [RU 182586, published on August 23, 2018] is known, made of detachable boards interconnected by board-to-board connectors with locking and including a control unit with a base in the form of a control board, a motor board located under the control board, and a payload board located under the control board. The boards are made axisymmetric, and the installation of inter-board connectors on all boards and motors on the motor board is carried out in compliance with rotational symmetry, and the connectors for connecting batteries and external control signals are connected to the control board through the motor board or directly on the motor board. The design of the proposed modular UAV platform is characterized by the absence of a separate frame of the device, a separate set of electrical components, modules and wiring for assembly and installation by soldering. The entire structure is made in the form of multilayer printed circuit boards, and the boards are both a power supporting structure and contain an electronic circuit. The design is characterized by universal modularity, since all boards are interchangeable.

A battery-powered unmanned vehicle is known that can be reconfigured for different purposes [US20210001700A1, published 01/07/2021]. The quad-rotor UAV includes a reinforced supporting body with a built-in battery (battery module), two arms on the supporting body, each of which has two rotors, a control module mounted on the supporting body, a payload module mounted on the control module, and a landing gear. The battery module is a structure configured as a main body of a vehicle, includes a cylindrical carbon tube structure, and contains a plurality of interconnected stacks of lithium battery cells arranged in series forming a battery pack of one or more batteries, and a battery controller. The cylindrical shape of the body ensures high strength and rigidity. The arms are designed to be connected to any of the two side connectors of the housing. The control module is secured to two handles on the chassis using a hook and latch on the longitudinal ends of the control module and housing. The payload module is attached to the front end of the control module. By positioning the control module above the housing, and because the housing protects the control module from high loads, the durability of the control module is increased and it does not require its own rigid structure. The payload module is attached to the front end of the control module.

In the source [Reconfigurable Drone System for Transportation of Parcels With Variable Mass and Size; IEEE Robotics and Automation Letters (Volume: 7, Issue: 4, October 2022) DOI: 10.1109/LRA.2022.3208716] presents a reconfigurable drone based on a modular design. The drone consists of eight power modules and one computing module attached to the package. The power modules are attached in pairs (one in front of the other) to create a symmetrical morphology of the octocopter airframe. The parcel is simulated by a block of polystyrene foam (100 x 25 x 8 cm) weighing 420 grams. The propulsion module includes one motor, a propeller, a battery and electronics to control the motor. The module can be increased several times to meet the lifting requirements of the transported parcel. The computing module is the brain of the system, which controls all connected modules via cables. In this solution, the package becomes the body of a multicopter drone.

The technical solution known from the patent [US 20180022451, published 01/25/2018] is considered as a prototype. The present inventive concept provides an unmanned aerial vehicle having removable components that are easily replaced if damaged. This unmanned aerial vehicle is made with a removable manipulator. According to an embodiment of the concept of the present invention, even when the rotorcraft, battery, motor or lever is damaged, the damaged part can be easily replaced without disassembling or soldering. In unmanned aerial vehicles according to various embodiments, since the manipulator unit is configured to be detachable from the main body, when the manipulator unit is damaged or broken due to a fall or external impact, the manipulator unit can be replaced. Similarly, the battery pack or main body can be replaced.

As a criticism of the known technical level, and in particular of the prototype, it is necessary to note a significant drawback caused by building a modular structure around the main body, without using any frame against which all modular elements can be mounted.

The problem in the area of which the invention presented below is proposed is the need to simplify work with the modernization or repair of modular UAVs, as well as creating the potential to increase power or thrust through modernization based on the principle of modular assembly in terms of power by increasing the number of propellers without changing the overall characteristics of the device .

The technical result of the invention is the creation of a modular multifunctional UAV with a composite frame structure, as well as the ability to change the number of propellers.

To achieve a technical result, the following tasks are solved: ensuring a modular design principle of the device with the ability to replace individual main modules or connect additional various functional modules; ensuring an increase in the power of the device due to additional electric motors and propellers.

The technical result is achieved as follows:

A modular unmanned aerial vehicle of the copter type, made according to a three-axis scheme, with a Y-axis diagram, includes rotating propellers, electric motors, a body, a battery and has a structure divided into modules: left frame element, right frame element, central frame element, lower part of the body, which in turn can be made in the form of a single module or include at least two separate modules, one of which is the battery, the central part of the housing, the upper part of the housing, electric motors and screws. Each of the modules can be replaced individually if modification or repair or service work is necessary; each of the frame element modules includes an integrated structural element to accommodate the propeller and electric motor. The lower, upper and central parts of the housing are connected to the frame and to each other during installation. Each frame element may include one or two screws to change the thrust of the device, such that the total number of screws of the device is a multiple of three. And on the front part of the device, you can optionally place or not place an external additional functional module with hanging equipment.

Figure 1 shows a general view (sketch) of a modular unmanned aerial vehicle, where:

1 - Casing.

2 - Screw.

3 - Right frame element.

4 - Upper module of the body part.

5 - Central module of the body part.

6 - Lower module of the body part.

7 - Chassis.

To illustrate the basic principle of modular assembly of an apparatus divided into modules, Figures 2-7 are shown, which show the modules separately, without filling them with equipment (devices, sensors, connection elements and fittings).

Figures 2, 3, 4 illustrate the left, right and center frame member with integrated components to accommodate the propeller and motor. Each of these elements is a separate module.

Figure 5 illustrates the module - the lower part of the housing.

Figure 6 illustrates the module - the upper part of the housing.

Figure 7 illustrates the module - the central part of the housing.

An example of the location of an external configurable pendant module is shown in Figure 8, where:

A - modular unmanned aerial vehicle;

B - external functional module attached to the front side of the device.

Figure 8 is complemented by an image of a prototype device in Figure 9 with elements for attaching and connecting external functional modules.

The modular unmanned aerial vehicle is designed as follows.

A modular unmanned aerial vehicle of the copter type is made according to a three-axis scheme, with a Y-axis diagram. The frame structure, which improves strength and performance characteristics, and also eliminates the risk of failure of the device due to the loss of one of the modules due to the breakdown of fastening elements, is composite. The presence of a single rigid frame would not only make the structure of the device heavier, but would also complicate repair or modification work due to the need to disconnect all modules if it is necessary to replace such a frame. Thus, the frame is formed by connecting the modules left (Fig. 2), right (item 3, as well as Fig. 3) and the central element of the frame (Fig. 4) with integrated structural elements for accommodating the propeller and electric motor. The casing, integrally connected to the guides, serves as an integrated structural element for housing the propeller and electric motor. When the guides are connected to each other, the base of the frame structure takes the shape of an open triangle, that is, a “V” shape, with three traction screws at the corners. And the overall design of the frame consists of all the casings and guides connected together. The casing, as an integral part of each frame element, is also itself designed according to the principle of modularity, consisting of two one-piece parts and one detachable one. The one-piece elements are the casing shell with the struts (beams) and the mounting socket for the engine. The mounting socket has an internal thread for screwing in the engine mounting cup, which is a detachable element of the casing. This solution allows, if one of the engines fails, to replace only this engine, not the entire element (casing) completely.

Each module-frame element, including an integrated structural element for accommodating an electric motor and a propeller - a mounting socket, can be configured to accommodate one electric motor and one propeller, or to accommodate two electric motors and two propellers. For this purpose, one or two landing cups are installed in the landing socket, respectively. In the case of installing two landing cups, they are installed above and below relative to the beams connecting the casing shell to the landing socket. At the same time, in two different versions, the overall design of the casing will also be excellent - for the version with two screws, the casing will be higher to maintain the protective function and reduce the risk of direct contact of the rotating screw with external objects, and the depth of the mounting socket will be greater. When solving the problem of increasing the traction power of the device, all three elements, including electric motors and propellers, are simultaneously replaced, that is, the design of a modular unmanned aerial vehicle as a whole is possible with three or six propellers. To ensure stable aerodynamics of a modular unmanned aerial vehicle, each of the propellers, both in the three-propeller configuration and in the six-propeller configuration, are located in the same plane with each other.

The device body consists of three modules: lower (6), upper (4) and central part (5). The central part (5) is made according to the open type principle, that is, the equipment located on it is not additionally closed from the influence of the external environment, however, the lower (6) and upper (4) parts of the housing act as an upper and lower cover, covering the central part from below and from above respectively. The lower, upper and central parts of the housing are connected to the frame and to each other during installation. In this case, the body as a single unit is autonomous relative to the frame, provided that the fastening is disconnected from the frame, which allows you to remove the body from the frame and insert it back into the frame in the event of a fundamental change in the tasks performed by the modular UAV, that is, replace the body with all its contents on the same frame with screws, or replace the housing completely or partially if it is broken or damaged. The upper part of the body (4) carries communication equipment and a solar charge support panel when performing long missions; each of these elements can be replaced either without replacing the upper part of the body, or as part of it as a single unit. The central part (5) carries microelectronic microprocessor equipment for analysis, decision-making and control of the modular UAV; it can be detached and replaced completely as a single unit. Individual elements of the central part (5), for example, motor speed controllers, data storage devices, CPUs, control drives, sensors, can be replaced separately without replacing the central part (5). The lower part of the body (6) carries the battery pack and equipment for performing the tasks of a modular UAV; it can be replaced separately from other modules.

The battery pack and equipment for performing tasks can also be replaced separately. The lower part of the body is also structurally modular. The complex module-lower part of the housing (6) is attached to the bridge and docked with the upper part of the housing, directly forming a housing built into the frame. Structurally, the lower part of the housing consists of two elements: the front module of the lower part of the housing houses the equipment; the tail module of the lower part of the body includes an integrated battery, which allows battery replacement by cassette.

To ensure operation, a modular unmanned aerial vehicle has a control system, for the operation of which a central processor is provided, connected to a battery, radio sensor, lidars, GPS or GLONASS equipment, with a programmable decision-making system, as well as a pair of movable lifting landing gear located on the right and left on the body.

The design approach for a modular UAV according to the invention extends to every element and component. The landing gear (7) is made in the form of a “ski” type structure; this design of the landing supports prevents the device from tipping over after it lands on a surface, which can be either horizontal or located at a slight inclination. In addition, this design makes it possible to simultaneously increase the contact area with the surface and integrate telemetry transmission antennas into the design, which are in the optimal position when the chassis is folded.

The chassis (7) can be replaced as a single unit or element by element: landing gear, rotating mechanism, control drive.

On the front part of the device, you can optionally place or not place an external additional functional module with hanging equipment. The additional functional module with hanging equipment (B) is also an autonomous unit that can be replaced in case of breakdown. The additional functional module with suspended equipment (B) is universal, the design includes landing elements assembled in such a way that allows, for example, to place a camera typical for drones together with an infrared camera or a thermal imager, a device for measuring wear and tear and strength of structures in combination with a camera to choose from the range presented above, MRI for checking joints, for example, railway tracks or main pipes in combination with a device from the range presented above. An important criterion is that the model range of devices is selected in such a way that changing them does not affect the center of mass and flight time. Attachments in particular can be the following:

1) camera;

2) magnetic resonance imaging;

3) thickness gauge;

4) thermal imager;

5) femtocell.

Fastening of the modules is ensured as follows: in addition to connecting the frame guide modules together to form a frame in the shape of an open triangle, each of the guides is made with grooves for connection with the modules of the body of the device; in addition, standard fittings are used for fixation. The above-mentioned front module of the lower part of the body houses the equipment and is a logical continuation of the suspension, for example, the suspension houses the camera and the measuring probe, and the analyzer is removed into the front block - a device that analyzes the values obtained from the probe. The front block can be adapted for equipment, for example, an MRI machine, etc.

A modular unmanned aerial vehicle operates as follows.

The necessary components of the unmanned aerial vehicle are being assembled. The modules that make up the frame are connected to each other and fixed with fasteners: central, right and left. Glasses are screwed into the sockets of each casing. Electric motors are being installed. A module is installed in the middle of the frame - the central part of the body. The lower part of the housing is installed as a single module or as two separate elements connected to each other, to the frame and to the central part of the housing. The upper part of the housing is mounted. If it is necessary to install external equipment on the front part of an unmanned aerial vehicle, such equipment is installed. Along with the assembly, the power and control connectors are connected.

The main power element is a rechargeable battery integrated into the module - the lower part of the case. The control system is based on a set of sensors and microelectronic devices controlled by microprocessor equipment located in the housing, namely on the central module of the housing. The receipt of appropriate signals from microprocessor equipment that implements programs and algorithms for the operation of a modular unmanned aerial vehicle sets in motion the shafts of electric motors and, accordingly, the propellers, as a result of which the device rises into the air, gains altitude and begins to perform its tasks.

When gaining altitude, the vehicle's chassis folds automatically.

Upon receipt of one or another command according to the scenario being executed, the decision-making system (an element of the software architecture provided by the microelectronic equipment of the device) starts polling sensors: radio sensor, chassis sensor, GPS/GLONASS, positioning systems, lidars or sensors of variably installed additional functional modules with suspended equipment. The results of the sensor survey are fed into the decision-making system. Data is processed asynchronously. Based on the results of data processing, a modular unmanned aerial vehicle moves in space, uses the equipment of additional functional modules and lands. A more detailed consideration of the operating algorithms of the electronic systems of the device is not relevant for the purposes of the present invention.

Justification of industrial applicability and achievement of technical results.

The modularity of the modular unmanned aerial vehicle presented in the present invention is achieved through the creation of each module based on the principle of a closed architecture, connected into a single complex, dynamic system using the pin principle. For example, to replace the engine, you need to disconnect the connectors under the mounting socket, unscrew the housing with the motor, replace the engine, screw the replacement housing with the motor into the mounting socket, and connect the connectors. A similar principle is typical for other elements of a modular design: replacement and reassembly includes two types of operations - disconnecting/connecting connectors on the power and control lines and mechanical disconnecting/connecting fastening elements. Moreover, all connectors are marked to avoid errors and ensure correct connection. Improved performance in terms of increasing the traction power of a modular unmanned aerial vehicle is ensured by the possibility of execution with 3 and 6 engines. This capability is supported by the hardware/software platform and behavior model that drives the modular unmanned aerial vehicle's flight missions and scenarios. Each module, as a single system and as a separate, equally interchangeable - pin to pin element of the system, is controlled by a hardware-software microelectronic equipment complex, which made it possible to implement the method of backpropagation of potential errors and the finite element method, connecting the 3D and CAD development environment with the modular unmanned aerial vehicle itself aircraft. For example, the software and hardware equipment of a modular unmanned aerial vehicle records the temperature on the body in the central part of the body and the temperature of the containment environment to create a heat map, correlates it with the characteristics of the main and insulating materials, and makes adjustments for the material when designing the frame, body, chassis and suspension; measures wind speed, direction and operation of engines, frequency of repetition of these events occurring in the localization environment, correlating with the geometry of the hull and engine power, makes adjustments to the geometry and the list of components when designing the frame, hull, and contours - this allows you to take into account individual nuances of the materials used for purposes and tasks in certain conditions and, in particular, based on the experience of using a unit of a modular unmanned aerial vehicle, carry out operational modification of a separate module or modules for subsequent replacement on a separate modular unmanned aerial vehicle (instead of manufacturing a new optimized device). Moreover, in the case of using new materials for the manufacture of individual elements of a particular module, or in the case of a change in geometry, the CAE development environment allows you to simulate other characteristics for a balanced set of tactical and technical characteristics. Thus, for example, when using heavier materials for one of the modules, balancing is calculated to maintain the center of mass, as well as changes in speed, maximum flight time and other characteristics.

To manufacture the device, standard instruments, apparatus and materials are used. For example, an STM32H745ZIT manufactured by STMicroelectronics or any analogue of the corresponding functionality and performance can be used as a microprocessor. The microprocessor is connected to sensors that transmit information for decision making, namely radar and lidars. For example, an ultrasonic sensor HC-SR04 can be used as a radar sensor. For example, ToF lidars can be used as lidars. All sensors are mounted on the aircraft body.

Claims (12)

1. Modular unmanned aerial vehicle containing a frame formed by connecting the modules of its left, right and central elements along three axes with a diagram of the Y axes, with each frame element being designed to accommodate one or two electric motors and screws, covered with casings, the total number of which is a multiple of three; a housing containing three modules, an upper, a lower and a central part, wherein the central part carries the microelectronic microprocessor-based analysis, decision-making and control equipment of the modular UAV, which can be detached and replaced as a single unit, and the lower part includes at least a battery ; the lower central and upper parts of the body are connected to the frame and to each other during installation; chassis made in the form of at least two supports. 2. A modular unmanned aerial vehicle according to claim 1, in which on the front part of the device there are fastenings and contacts for power and control for an external, variably replaceable functional module. 3. A modular unmanned aerial vehicle according to claim 1, in which the structural element integrated into the frame module for accommodating the propeller includes a casing shell with struts and a landing socket for the engine, wherein the landing socket has an internal thread for screwing in the engine landing cup. 4. A modular unmanned aerial vehicle according to claim 1, in which the lower, upper and central parts of the body are connected to the frame and to each other during installation, while the body as a single unit is autonomous relative to the frame, provided that the fastening is disconnected from the frame. 5. A modular unmanned aerial vehicle according to claim 1, in which the equipment located on the central part of the body is not additionally protected from the external environment, however, the lower and upper parts of the body act as an upper and lower cover, covering the central part from below and from above, respectively. 6. The modular unmanned aerial vehicle according to claim 1, in which the central part carries microelectronic microprocessor equipment for analysis, decision-making and control of the modular UAV, can be detached and replaced completely as a single unit, but individual elements of the central part, in particular engine speed controllers , data storage devices, CPUs, control drives, sensors can be replaced separately without replacing the entire central part. 7. A modular unmanned aerial vehicle according to claim 1, the chassis of which is equipped with a lifting mechanism and includes a landing gear, a drive, a rotating mechanism, and is made with the ability to be replaced as a single unit or element by element. 8. A modular unmanned aerial vehicle according to claim 1, in which the upper part of the body includes communication equipment and a solar panel for supporting charge when performing long missions, each of these elements can be replaced either without replacing the upper part of the body, or as part of it as a single unit block. 9. A modular unmanned aerial vehicle according to claim 1, in which, in particular, a magnetic resonance imaging scanner, or a thickness meter, or a thermal imager, or a femtocell, or a camera can be installed on the front part of the device as an additional functional module.