WO2018103203A1

WO2018103203A1 - Ducted unmanned aerial vehicle

Info

Publication number: WO2018103203A1
Application number: PCT/CN2017/074723
Authority: WO
Inventors: 刘均; 孙建勋; 张跃博
Original assignee: 深圳市元征科技股份有限公司
Priority date: 2016-12-07
Filing date: 2017-02-24
Publication date: 2018-06-14
Also published as: CN106672230A

Abstract

Disclosed is a ducted unmanned aerial vehicle, comprising: an aerial vehicle body (9), a first duct (1), a second duct (2), a third duct (3), a fourth duct (4), a front landing gear, and a rear landing gear. The first duct (1) is connected to a first side of the vehicle body (9). The second duct (2) is connected to a second side of the vehicle body (9). The third duct (3) is connected to a third side of the vehicle body (9). The fourth duct (4) is connected to a fourth side of the vehicle body (9). The front landing gear is provided below the head of the vehicle body (9). The rear landing gear is provided below the tail of the vehicle body (9). The first duct (1), the second duct (2), the third duct (3), and the fourth duct (4) are all provided therein with blades and engines for driving the blades to rotate. The unmanned aerial vehicle in embodiments of the present invention features flexible flight, high security, convenient operations, and long flight duration.

Description

Ducted drone

[0001] Technical Field

[0002] The present invention relates to the field of drones, and more particularly to a ducted drone.

BACKGROUND

[0004] In recent years, drones have gained wider and wider application and rapid development in military and civilian fields due to its distinctive technical features, especially in agricultural plant protection, military reconnaissance, environmental anomaly detection, disaster relief, power patrol. There are a wide range of needs in the fields of inspection, mapping and modeling, aerial photography, entertainment, etc. It represents an important development direction for future aircraft. In particular, in the past five years, many small multi-axis rotary wing drones have emerged.

[0005] In recent years, the multi-rotor UAV, which is particularly popular in recent years, has a large safety hazard. It is often injured or even disabled by the propeller of a multi-rotor drone due to improper operation or unskilled; The system occupies most of the space of the multi-rotor drone, making the platform of the multi-rotor UAV platform small; meanwhile, the multi-rotor drone is limited in its flight speed due to its structural characteristics. In addition, the rotary-wing drone is greatly affected by severe weather such as strong winds, and consumes more electricity.

SUMMARY OF THE INVENTION

[0007] The embodiment of the invention provides a ducted drone, which is flexible in flight, convenient in operation, and long in duration.

An embodiment of the present invention provides a ducted drone, and the drone includes:

[0009] a fuselage body, a first duct, a second duct, a third duct, a fourth duct, a nose landing gear and a rear landing gear;

[0010] the first duct is connected to the first side of the fuselage body;

[0011] the second duct is connected to the second side of the fuselage body;

[0012] the third duct is connected to the third side of the fuselage body;

[0013] the fourth duct is connected to the fourth side of the fuselage body; wherein the first duct and the third duct are symmetrically disposed with respect to the fuselage body, the second The duct and the fourth duct are symmetrically disposed with respect to the fuselage body;

[0014] the front landing gear is disposed under the head of the fuselage body, and the rear landing gear is disposed at the fuselage Below the tail of the body;

[0015] The inside of the first duct, the second duct, the third duct and the fourth duct are provided with a blade and an engine that drives the blade to rotate.

[0016] In an optional implementation manner, the first duct is rotatably connected to the first side of the body of the body by a first duct direction control steering gear;

[0017] the second duct is rotatably connected to the second side of the fuselage body through the second duct direction control; [0018] the third duct passes the third duct direction to control the steering gear and The third side of the fuselage body is rotatably connected; [0019] the fourth duct is rotatably connected to the fourth side of the fuselage body by a fourth duct direction control steering gear.

[0020] In an optional implementation manner, the first duct direction control steering gear is rotatably connected to the first side of the body body through the first steering wheel;

[0021] the second ducted direction steering servo is rotatably coupled to the second side of the fuselage body through the second steering wheel; [0022] the third ducting direction controls the steering gear through the third steering wheel The third side of the fuselage body is rotatably connected; [0023] the fourth ducting direction steering servo is rotatably coupled to the fourth side of the fuselage body through a fourth steering wheel.

[0024] In an optional implementation manner, the first duct, the second duct, the third duct, and the fourth duct are the same and the inner diameter and the duct width of the duct The ratio is in the range of 1.4-1.6, the paddle is at one-third of the entrance to the duct, and the ratio of the diameter of the duct exit to the inside diameter of the duct is in the range of 1.1-1.2.

[0025] In an optional implementation manner, the first duct, the second duct, the third duct, and the fourth duct are the same and the inner diameter of the duct is The ratio of the width of the duct is 1.5, and the ratio of the diameter of the duct exit to the inner diameter of the duct is 1.15.

[0026] In an optional implementation manner, the drone further includes: a fuel engine, a generator, and a power distribution device;

[0027] the fuel engine and the generator are respectively connected to the power distribution device;

[0028] The power distribution device converts power generated by the fuel engine into power to drive the blades and power to drive the generator.

[0029] In an optional implementation manner, the drone further includes: a rechargeable battery;

[0030] The rechargeable battery is electrically connected to the generator; the rechargeable battery is rectified and filtered by the alternating current generated by the generator to be charged.

[0031] In an optional implementation manner, the wireless charging apparatus includes: a receiving coil and a receiving module circuit [0032] the receiving coil and the receiving module circuit are electrically connected;

[0033] the receiving coil is configured to introduce a current generated by an inductive electromagnetic field into the receiving module circuit; [0034] the receiving module circuit is configured to adjust the current to meet a current demand of the battery Rear

, charging the battery.

[0035] In an optional implementation manner, the UAV further includes: a controller;

[0036] the controller and the first duct direction control steering gear of the first duct and the first engine, the second duct direction control steering gear of the second duct, and the second engine, a third ducted direction control steering gear of the third duct, a third engine, a fourth duct direction steering steering gear of the fourth duct, and a fourth engine and the landing gear steering gear are electrically connected;

[0037] the controller controls the rotational speeds of the first engine, the second engine, the third engine, and the fourth engine, and the first duct, the second duct, and the The direction of the third duct and the fourth duct is controlled to control the flight of the drone.

[0038] In an optional implementation manner, the UAV further includes a power detecting module and a wireless communication module;

[0039] The power detecting module is electrically connected to the controller and the battery, and the wireless communication module is electrically connected to the controller;

[0040] the electric quantity detecting module is configured to send the detected electric quantity data of the battery to the controller;

[0041] the controller is configured to: after determining that the battery power is less than a preset value according to the power quantity data sent by the power quantity detecting module, send, by the wireless communication module, a power shortage instruction to the control device The low battery command indicates that the power of the drone is less than the preset value.

[0042] It can be seen from the above technical solutions that the embodiments of the present invention have the following advantages: The ducted drone in the embodiment of the present invention includes four ducts located on different sides of the drone, and the four The ducts on the different sides of the drone provide power and direction adjustment for the drone, avoiding the damage that the peripheral propeller may cause to humans, and making the drone's flight more flexible, and the user's operation. More convenient. The drone uses a hybrid electric or electric charging device to enhance endurance.

BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. Obviously, the drawings in the following description are only some of the present invention. For the embodiments, other drawings can be obtained from those skilled in the art without any inventive labor.

1 is a schematic structural view of a ducted drone according to an embodiment of the present invention;

2 is a schematic structural view of a ducted unmanned aerial vehicle power system according to an embodiment of the present invention;

3 is a schematic structural diagram of a wireless charging and receiving apparatus according to an embodiment of the present invention;

4 is a schematic structural diagram of a receiving module circuit according to an embodiment of the present invention;

5 is a schematic structural view of a ducted drone according to an embodiment of the present invention.

DETAILED DESCRIPTION

The present invention will be further described in detail with reference to the accompanying drawings, in which FIG. An embodiment. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without making creative labor are within the scope of the present invention.

Referring to FIG. 1, FIG. 1 is a schematic structural diagram of a ducted drone according to an embodiment of the present invention. As shown in FIG. 1, the drone includes: a fuselage main body 9, a first duct 1, a second duct 2, a third duct 3, a fourth duct 4, a front landing gear and a rear landing gear;

[0053] The first duct 1 is connected to the first side of the fuselage main body 9;

[0054] The second duct 2 is connected to the second side of the fuselage main body 9;

[0055] The third duct 3 is connected to the third side of the fuselage main body 9;

[0056] The fourth duct 4 is connected to the fourth side of the fuselage main body 9; wherein the first duct 1 and the third duct 3 are symmetrically disposed with respect to the fuselage main body 9, and the second culvert The track 2 and the fourth duct 4 described above are symmetrically disposed with respect to the fuselage body 9;

[0057] The front landing gear is disposed below the head of the body main body 9, and the rear landing gear is disposed below the tail portion of the body main body 9;

[0058] The first duct 1 and the second duct 2, the third duct 3 and the fourth duct 4 are provided with a blade and an engine for driving the blade.

[0059] The fuselage body may have different shapes, such as a positive direction, a rectangular shape, a hexagonal shape, a circular shape, or the like. The first duct 1, the second duct 2, and the third duct 3 of the third duct 3 have the same specifications and can be regarded as the same duct. The first duct 1 , the second duct 2, the third duct 3, and the foregoing Four-way duct 4 powers the drone and controls the flight of the drone. The drone described above can use a fuel transmitter to power the blades. The front landing gear and the rear landing gear are respectively connected to the corresponding steering gears to ensure the normal take-off and landing of the drone. The first duct 1, the second duct 2, the third duct 3, and the fourth duct 4 are all controlled by the controller of the drone, and the blades of the ducts are coordinated and controlled. The rotational speed and the flight of the drone are controlled by controlling the rotation of each of the above-described steering gears.

[0060] In the embodiment of the invention, the drone controls the direction of the drone by four ducts, and the flight is more flexible.

[0061] On the basis of the previous embodiment, the embodiment of the present invention provides a connection mode of the duct and the steering gear of the drone, as follows: The first duct 1 controls the steering gear 5 through the first duct direction The first side of the fuselage body 9 is rotatably connected;

[0062] The second duct 2 is rotatably connected to the second side of the fuselage main body 9 by the second duct direction control steering gear 6;

[0063] The third duct 3 is rotatably connected to the third side of the fuselage main body 9 through the third duct direction control steering gear 7;

[0064] The fourth duct 4 is rotatably coupled to the fourth side of the body main body 9 via the fourth duct direction control steering gear 8.

[0065] The first bypass direction control steering gear 5, the second bypass direction control steering gear 6, the third bypass direction control steering gear 7, and the fourth bypass direction control steering gear 8 respectively pass through a rotating shaft The corresponding ducts are connected. The controller can control the direction of the corresponding duct by controlling the rotation of the steering gear in each of the above directions. For example, turning the direction of all four ducts to the front, the drone will fly straight ahead at maximum speed.

[0066] In the embodiment of the present invention, each of the ducts can be easily changed in direction and angle, thereby conveniently changing the flight state of the drone.

[0067] On the basis of the previous embodiment, the embodiment of the present invention provides a connection mode of the steering gear and the main body of the main body of the drone, as follows:

[0068] The first bypass direction control steering gear 5 is rotationally coupled to the first side of the fuselage main body 9 through the first steering wheel.

[0069] The second duct direction control steering gear 6 is rotatably connected to the second side of the fuselage main body 9 through the second steering wheel [0070] The third bypass direction control steering gear 7 is rotatably connected to the third side of the fuselage main body 9 through the third steering wheel

[0071] The fourth bypass direction control steering gear 8 is rotationally coupled to the fourth side of the fuselage main body 9 through the fourth steering wheel.

In the embodiment of the present invention, each of the ducts is rotatably connected to the corresponding side of the fuselage body through a corresponding steering wheel, so that the above-mentioned respective ducts can be changed by a larger angle.

[0073] In the embodiment of the present invention, preferred specifications of the first duct 1, the second duct 2, the third duct 3, and the fourth duct 4 are given as follows: The duct 1, the second duct 2, the third duct 3 and the fourth duct 4 are the same and the ratio of the inner diameter of the duct to the duct width is in the range of 1.4-1.6, and the paddle is at the distance duct. At the third of the inlet, the ratio of the diameter of the duct exit to the inside diameter of the duct is in the range of 1.1-1.2.

[0074] each of the above-mentioned ducts includes a duct entrance, a duct main body and a duct exit, wherein the duct entrance is located at an air inlet end of the corresponding duct, and the duct exit is located at an air outlet end of the corresponding duct, the culvert The channel inlet and the above-mentioned duct exit are respectively located on both sides of the corresponding duct body and are connected to the corresponding duct body. The diameter of the duct outlet is the diameter of each of the duct outlets, and the inner diameter of the duct is the diameter of the duct where the paddle is located.

[0075] The ducts with different specifications have a great influence on the performance of the drone. The ducts in this embodiment can provide more power for the drone under the same conditions. For example, when the ratio of the inner diameter of the duct of the above duct to the width of the duct is in the range of 1.4-1.6, the drone can be provided with more lifting force. When the ratio of the diameter of the duct exit of the above duct to the inner diameter of the duct is in the range of 1.1-1.2, the ducted lift of the above duct is greater. The above duct width is the height of the above duct, and the ratio of the inner diameter of the duct to the duct width is the duct aspect ratio.

[0046] The ducts in the embodiments of the present invention can provide more power to the drone.

[0077] In the embodiment of the present invention, a specific duct is proposed, as follows: The first duct 1, the second duct 2, the third duct 3, and the fourth duct 4 are the same And the ratio of the inner diameter of the above duct to the width of the duct is 1.5, and the ratio of the diameter of the duct exit to the inner diameter of the duct is 1.15.

[0078] After theoretical calculations and actual experiments, it is determined that the performance of the duct having the above parameters is better.

[0079] In the embodiment of the present invention, a method for powering a blade is proposed, which is specifically as follows: The above-mentioned drone further includes: a fuel engine 201, a generator 203, and a power split device 202;

[0080] The fuel engine 201 and the generator 203 are respectively connected to the power distribution device 202;

[0081] The power distribution device 202 converts the power generated by the fuel engine 201 into driving the first duct 1, the second duct 2, the third duct 3, and the fourth duct 4, respectively. The power of the engine and the power to drive the generator 203 described above.

In the embodiment of the present invention, the fuel engine can be used to power the generator to fully utilize the kinetic energy of the fuel engine.

[0083] In the embodiment of the present invention, the unmanned aerial vehicle further includes: a rechargeable battery;

[0084] The rechargeable battery is electrically connected to the generator; and the rechargeable battery is rectified and filtered by the alternating current generated by the generator to be charged.

[0085] The use of a rechargeable battery can reduce the inconvenience of replacing the battery.

[0086] In the embodiment of the present invention, the wireless charging device can be wirelessly charged for the drone, as shown in FIG. 3, the wireless charging device includes: a receiving coil 301 and a receiving module circuit 302;

[0087] The receiving coil 301 and the receiving module circuit 302 are electrically connected;

[0088] The receiving coil 301 is configured to introduce a current generated by the electromagnetic induction field into the receiving module circuit 302.

[0089] The receiving module circuit 302 is configured to charge the rechargeable battery after adjusting the current to a current that satisfies the charging requirement of the rechargeable battery.

[0090] The receiving coil 301 can induce an electromagnetic field to generate a current, and introduce the generated current into the receiving module circuit 302. The receiving module circuit 302 processes the received circuit and then charges the rechargeable battery. The wireless charging receiving device supports at least one of electromagnetic induction charging, magnetic field resonance charging, and radio wave charging. For example, the above wireless charging receiving device can integrate two types of wireless charging methods: electromagnetic induction charging and magnetic field resonant charging. The two wireless charging devices can respectively occupy a part of the wireless charging receiving device, and the wireless charging receiving device can also collectively support a plurality of wireless charging modes. The wireless charging receiving device can select an appropriate wireless charging method according to the charging mode of the wireless charging device. As shown in FIG. 4, the receiving module circuit 302 may include a buck circuit 401, a rectifying circuit 402, and a charging control circuit 403. The receiving coil 301 induces an electromagnetic field to generate a current, and then the voltage is reduced by the step-down circuit 401, and is rectified by the rectifier circuit 402, and finally charged. The electric control circuit 403 charges the above rechargeable battery.

[0091] In the embodiment of the present invention, a flight control method for a drone is provided, which is specifically as follows: The drone further includes: a controller;

[0092] the controller and the first duct direction control steering gear 5 of the first duct 1 and the second duct direction control steering gear 6 and the second engine of the first engine and the second duct 2, The third ducted direction control steering gear 7 of the third duct 3 and the third engine, the fourth duct direction control steering gear 8 of the fourth duct 4, and the fourth engine and the above-mentioned landing gear steering gear are electrically connected ;

[0093] the controller controls the rotational speeds of the first engine, the second engine, the third engine, and the fourth engine, and the first duct 1, the second duct 2, and the third duct 3 The flight of the drone is controlled in the direction of the fourth duct 4 described above.

[0094] The transmitter is disposed inside the corresponding duct, and drives the corresponding blade to rotate. The controller controls the direction of the respective steering wheels to change the direction of the corresponding ducts, and controls the speed of the blades to adjust the respective torques to realize flight control of the drone.

[0095] In the embodiment of the present invention, a method for detecting the battery power is provided, as follows: As shown in FIG. 5, the unmanned aerial vehicle further includes: a power detecting module 502 and a wireless communication module 503;

[0096] The power detecting module 502 is electrically connected to the controller 501 and the rechargeable battery 504, and the wireless communication module 503 is electrically connected to the controller 501;

[0097] The power detecting module 502 is configured to send the detected power data of the rechargeable battery 504 to the controller;

The controller 501 is configured to: after determining that the power of the rechargeable battery 504 is less than a preset value according to the foregoing power quantity data sent by the power quantity detecting module 502, send the power shortage instruction to the control device by using the wireless communication module 503. The low battery command indicates that the power of the drone is less than the preset value.

[0099] For example, the controller 501 may notify the power detecting module 502 to detect the remaining power of the rechargeable battery with a certain period of time, and according to whether the remaining power is less than a preset value. The above control device may be a controller for controlling the above-mentioned drone, or may be another terminal to which the drone is bound, such as a mobile phone, a wearable device, or the like. For example, when the controller 501 determines that the power of the rechargeable battery is insufficient, the wireless communication module 503 sends an alarm message to the user's mobile phone, and the mobile phone binds to the mobile phone through a specific application. In the embodiment of the present invention, the power detecting module 502 detects the power of the battery, and sends the power to the corresponding control device through the wireless communication module 503, so that the user can be prompted to perform charging.

[0101] In this embodiment, the unmanned aerial vehicle may have a binding relationship with the terminal device. The terminal device, such as a mobile phone, a tablet computer, a desktop computer, etc., can be bound to the unmanned aerial vehicle through a specific application, and after the binding, the terminal device can send various instructions to the drone, such as a charging instruction, a rising instruction, Drop instructions, etc. The up command can indicate that the drone is flying upwards. The descent command instructs the drone to fly downward. The controller may control the wireless communication module to send remaining power information, altitude information and coordinate information of the drone to the terminal device. The terminal device can actively acquire the information of the drone through the server, and can also send corresponding instructions to the drone through the server.

The above is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of it within the technical scope disclosed by the embodiments of the present invention. Variations or substitutions are intended to be covered by the scope of the invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

technical problem

Problem solution

Advantageous effects of the invention

Claims

Claim

[Claim 1] A ducted drone, comprising:

Body body (9), first duct (1), second duct (2), third duct (3), fourth duct (4), first ducting direction steering gear (5) , the second duct direction control steering gear (6), the third duct direction control steering gear (7), and the fourth duct direction control steering gear (8);

The first duct (1) is rotatably connected to the first side of the body body (9) by the steering wheel of the first bypass direction control steering gear (5);

The second duct (2) is rotatably connected to the second side of the main body (9) through the second duct direction control steering wheel (6);

The third duct (3) is rotatably connected to the third side of the main body (9) through the steering wheel of the third duct direction control steering gear (7);

The fourth duct (4) is rotatably connected to the fourth side of the main body (9) through the fourth duct direction control steering wheel (8);

The first duct (1), the second duct (2), the third duct (3) and the fourth duct (4) are identical and the inner diameter and the duct width of the duct The ratio of the duct outlet diameter to the duct inner diameter ratio is in the range of 1.1-1.2, the first duct (1), the second duct (2), and the third culvert. Both the channel (3) and the fourth duct (4) are provided with a propeller and an engine that drives the propeller to rotate.

[2] The unmanned aerial vehicle according to claim 1, wherein the first duct (1), the second duct (2), the third duct (3), and The fourth duct (4) is the same and the ratio of the inner diameter of the duct to the width of the duct is 1.5, and the ratio of the diameter of the duct exit to the inner diameter of the duct is 1.15, and the propeller is at a distance. One third of the entrance to the duct.

[Claim 3] The UAV according to claim 1 or 2, wherein the UAV further comprises: a fuel engine, a generator, and a power distribution device;

The fuel engine and the generator are respectively connected to the power distribution device;

The power distribution device converts power generated by the fuel engine into driving the first duct (1), the second duct (2), the third duct (3), and the The four ducts (4) respectively correspond to the power of the engine and the power to drive the generator.

[Attachment 4] The drone according to claim 3, wherein the drone further comprises: a rechargeable battery;

The rechargeable battery is electrically connected to the generator;

The generator rectifies and filters the generated alternating current, and charges the rechargeable battery with the rectified and filtered current.

The UAV according to claim 1 or 2 or 4, wherein the UAV further comprises: a controller;

The controller and the engine of the first duct (1), the first duct direction control steering gear (5), the engine of the second duct (2), and the second duct direction Control the steering gear (6), the engine of the third duct (3), the third duct direction control steering gear (7), the engine of the fourth duct (4), and the fourth duct direction control rudder The machine (8) is electrically connected;

The controller controls the engine of the first duct (1), the engine of the second duct (2), the engine of the third duct (3), and the fourth duct (4) The engine speed and the first duct direction control steering gear (5), the second duct direction control steering gear (6), the third duct direction control steering gear (7), and the The fourth ducting direction controls the steering angle of the steering gear (8) to control the flight attitude of the drone.

The UAV according to claim 4, wherein the UAV further comprises: a power detecting module and a wireless communication module;

The power detecting module is electrically connected to the controller and the rechargeable battery, and the wireless communication module is electrically connected to the controller;

The power detecting module is configured to send the detected power data of the rechargeable battery to the controller;

The controller is configured to: after determining, according to the power quantity data sent by the power quantity detecting module, that the power of the rechargeable battery is less than a preset value, send the power to the control device of the drone through the wireless communication module. Insufficient instructions.