WO2021232753A1

WO2021232753A1 - Aircraft and aircraft control system

Info

Publication number: WO2021232753A1
Application number: PCT/CN2020/134945
Authority: WO
Inventors: 艾楚越
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-05-22
Filing date: 2020-12-09
Publication date: 2021-11-25
Also published as: CN212605862U

Abstract

An aircraft and an aircraft control system. The aircraft (100) comprises a fuselage (10) and a wing (20) that is connected to the fuselage (10), and further comprises a detection apparatus (30) that is assembled on the fuselage (10) and a driving apparatus (50) that is connected to the detection apparatus (30). The detection apparatus (30) is used for detecting environment information around the aircraft (100); and the aircraft (100) rotates around a first axial direction (Y) under the control of the wing (20), and the detection apparatus (30) rotates around a second axial direction (Z) under the drive of the driving apparatus (50). A detection apparatus (30) is assembled to the aircraft (100) on the fuselage (10), the detection apparatus (30) may rotate around the first axial direction (Y) under the control of the wing (20), and may rotate around the second axial direction (Z) under the drive of the driving apparatus (50), thus solving the problem in which detection blind spot areas are present in existing laser radars, expanding the detection range of the detection apparatus (30), and can satisfy the detection comprehensiveness of the detection apparatus (30).

Description

Aircraft and aircraft control system

Technical field

This application relates to the technical field of aircraft, and in particular to an aircraft and an aircraft control system.

Background technique

With the development of science and technology, remote control technology and flight control have become more and more popular, and aircraft (such as unmanned aerial vehicles) have gradually been applied in various fields. For example, it can be used for indoor exploration or mine or cave exploration. In the process of exploration, since there may be obstacles up and down, front and back, left and right in the flying environment, relatively high requirements are put forward for the aircraft's perception ability in this type of environment.

Lidar is usually mounted on an aircraft. However, Lidar can only detect a certain angle range, and due to the obstruction of the fuselage and other parts, the lidar usually cannot detect the upper or lower part of the aircraft at the same time, which also makes the aircraft indoors. Or when detecting cave scenes, the efficiency is limited to a certain extent.

Summary of the invention

This application proposes an aircraft and an aircraft control system capable of multi-axial detection of the environment to solve the problem of limited aircraft detection angle range.

According to a first aspect of the embodiments of the present application, there is provided an aircraft including a fuselage and wings connected to the fuselage. Connected to the driving device, the detection device is used to detect environmental information around the aircraft; wherein the aircraft rotates around the first axis under the control of the wing, and the detection device is positioned on the drive device Driven to rotate around the second axis.

Further, the first axis is the yaw axis of the aircraft, and the second axis is the roll axis of the aircraft.

Further, the first axial direction passes through the center of mass of the aircraft.

Further, the drive device includes a first motor, the first motor includes a first drive shaft, the first drive shaft is connected to the detection device, and the first drive shaft extends along the roll axis .

Further, the detection device includes a main body part and a detection head arranged on the main body part, and the direction of the detection head is perpendicular to the roll axis.

Further, the detection sphere center angle of the detection head is not less than 90°.

Further, the detection device is arranged at an end of the fuselage away from the wing.

Further, the aircraft further includes a photographing device installed on the fuselage or the main body.

Further, the detection device includes one or more of laser radar, visual sensor, acoustic wave sensor, and infrared sensor.

Further, the aircraft is a single-rotor aircraft.

Further, the wing includes a wing body, an aileron connected to the wing body, and a rotor assembly connected to the end of the wing, and the rotor assembly and the aileron are arranged on the wing The opposite sides of the main body.

Further, the rotor assembly includes a second motor and a propeller, the second motor is assembled to the wing body, the second motor includes a second drive shaft, and the propeller is connected to the second drive shaft, The second drive shaft extends along the pitch axis.

According to a second aspect of the embodiments of the present application, there is provided an aircraft control system, including a remote controller and the aircraft as described in any one of the above, the aircraft includes a detection device, and the remote controller is used to control the aircraft Flight and the speed of the detection device.

The technical solution provided by the embodiments of the present application may include the following beneficial effects: the aircraft of the present application is equipped with a detection device on the fuselage, and the detection device can rotate around the first axis under the control of the wing. The lower part can rotate around the second axis, which solves the problem of the existing lidar in detecting the blind spot area, expands the detection range of the detection device, and can meet the comprehensive detection of the detection device.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application.

Description of the drawings

Fig. 1 is a schematic structural diagram of an aircraft shown in an exemplary embodiment of the present application;

Fig. 2 is a structural block diagram of an aircraft control system shown in an exemplary embodiment of the present application.

Detailed ways

The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions. The following embodiments described with reference to the drawings are exemplary, and are only used to explain the present application, and cannot be understood as a limitation to the present application.

In the description of this application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise" and other directions or The positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it cannot be understood as a restriction on this application. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with “first” and “second” may explicitly or implicitly include one or more of the features. In the description of the present application, "multiple" means two or more than two, unless otherwise specifically defined.

In the description of this application, it should be noted that the terms "installation", "connection", and "connection" should be understood in a broad sense, unless otherwise clearly specified and limited. For example, it can be a fixed connection or a detachable connection. Connected or integrally connected; it can be mechanically connected, or electrically connected or can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal communication of two components or the interaction of two components relation. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in this application can be understood according to specific circumstances.

In this application, unless expressly stipulated and defined otherwise, the "on" or "under" of the first feature of the second feature may include direct contact between the first and second features, or may include the first and second features Not in direct contact but through other features between them. Moreover, the "above", "above" and "above" of the first feature on the second feature include the first feature directly above and obliquely above the second feature, or it simply means that the first feature is higher in level than the second feature. The “below”, “below” and “below” of the second feature of the first feature include the first feature directly below and obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.

The following application provides many different implementations or examples to realize the different structures of the application. In order to simplify the application of this application, the components and settings of specific examples are described below. Of course, they are only examples, and are not intended to limit the application.

Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and the features in the embodiments can be combined with each other.

As shown in Fig. 1, Fig. 1 is a schematic structural diagram of an aircraft according to an exemplary embodiment of the present application. The aircraft 100 of the present application includes a fuselage 10 and a wing 20 connected to the fuselage 10. The aircraft 100 is driven by the wing 20 to fly. The aircraft 100 also includes a detection device 30 assembled on the fuselage 10 and a driving device 50 connected to the detection device 30. The detection device 30 is used to detect environmental information around the aircraft 100. Wherein, the detection device 30 is arranged at an end of the fuselage 10 away from the wing 20.

When the aircraft 100 is in flight, the detection device 30 constructs a map and stores it in the aircraft 100 through detection, which can be used for positioning the aircraft 100 itself in the environment and identify the flightable area, thereby realizing autonomous exploration and flight. By matching the environmental characteristics, after flying for a period of time, it can return to the take-off position along the reachable route, or go to any reachable position according to instructions.

The detection device 30 includes one or more of laser radar, vision sensor, acoustic wave sensor, and infrared sensor. In the embodiment of the present application, the detection device 30 is a laser radar. Lidar can meet the detection of more complex environments, such as: dark indoors, mines, caves, etc.

The aircraft 100 rotates around a first axis (for example, the Y axis) under the control of the wing 20, and the detection device 30 rotates around a second axis (for example, the Z axis) under the drive of the driving device 50. The first axial direction and the second axial direction are non-parallel axial directions. By rotating the detection device 30 around different axial directions, the detection range of the detection device 30 can be expanded.

In some embodiments, the first axis and the second axis are perpendicular. In some embodiments, the first axis is the yaw axis (Y axis) of the aircraft 100, and the second axis is the roll axis (Z axis) of the aircraft 100. The detection device 30 can rotate around two vertical axes, so that the detection device 30 can obtain the maximum detection range. Wherein, the first axis passes through the center of mass of the aircraft 100, so that when the aircraft 100 rotates around the first axis, the main part of the aircraft 100 rotates, which is beneficial to the control of the aircraft 100 and can reduce the flight energy consumption of the aircraft 100 , And such a setting can satisfy the detection of the aircraft 100 in a relatively small space.

The driving device 50 includes a first motor 51, and the first motor 51 is arranged in the body 10. The first motor 51 includes a first drive shaft 511 connected to the detection device 30, and the first drive shaft 511 extends along the roll axis, so that the detection device 30 can be driven by the first motor 51 Rotate around the roll axis.

The detection device 30 of the present application includes a main body portion 31 and a detection head 32 disposed on the main body portion 31, and the direction of the detection head 32 is perpendicular to the roll axis. The detection device 30 is driven by the first motor to rotate around the roll axis, so that the detection head 32 can scan a range of the circumference of the aircraft 100.

In some embodiments, the detection sphere center angle of the detection head 32 is not less than 90°. With this arrangement and by cooperating with the aircraft 100 to rotate around the heading axis under the control of the wing 20, the wing 20 drives the fuselage 10 to rotate 360° around the Y axis, so as to realize the 360° scanning of the detection device 30 in the horizontal direction.

Specifically, the detection device 30 rotates around the roll axis under the drive of the driving device 50, and the detection device 30 rotates around the Z axis to perform a 360° scan. In this way, the detection device 30 can scan 360° in the vertical direction, so as to meet the requirements of the aircraft. 100 realizes the scanning coverage of the entire spherical surface of 720°, which satisfies that the aircraft 100 realizes detection without dead angles through a single detection device 30.

Wherein, the rotation frequency of the detection device 30 and the rotation speed of the fuselage 10 can be designed with a difference d, and the scanning of different azimuths can be realized by controlling d. In an exemplary embodiment, the detection sphere center angle of the detection head 32 is 90°, so when the body 10 rotates 90°, the detection device 30 rotates at least one revolution.

Further, the aircraft 100 further includes a photographing device 40 which is mounted on the fuselage 10 or the main body 31. The detection device 30 of the aircraft 100 In the illustration of this application, the imaging device 40 is arranged on the fuselage 10 as an example. Specifically, in the flying direction of the aircraft 100, the imaging device 40 may be arranged on the front or side of the fuselage 10 . In this embodiment, the aircraft 100 cooperates with the detection device 30 and the photographing device 40 to obtain more environmental information. Among them, the detection device 30 selects a laser radar for detecting environmental information; and the photographing device 40 is used for photographing environmental pictures.

In some embodiments, the aircraft 100 is a single-rotor aircraft 100. The single-rotor aircraft 100 refers to an aircraft 100 that generates lift through the rotation of the entire fuselage 10. In some embodiments, one wing 20 or a set of propellers may be provided, but in other embodiments, it is not limited to only one wing 20 or a set of propellers to provide power. In some embodiments, the propeller may be mounted on the wing 20. However, in some other embodiments, the propeller may not necessarily be installed on the wing 20, and may be installed in other positions. Of course, in other embodiments, the aircraft 100 may be a rotorcraft of different configurations, and may use a multi-rotor or a helicopter. The detection device 30 can also use other types of sensors.

In the embodiment of the present application, the wing 20 includes a wing body 21, an aileron 22 connected to the wing body 21, and a rotor assembly 23 connected to the end of the wing 20. Among them, the rotor assembly 23 and the aileron 22 are arranged on opposite sides of the wing main body 21. The aileron 22 has a plate shape, and the aileron 22 has a gradually decreasing thickness in the direction in which the aileron 22 is away from the wing main body 21. The aileron 22 is rotatably connected to the wing main body 21. During the rotation of the aileron 22, the surface of the aileron 22 changes at an angle with the horizontal plane, that is, the aileron 22 can rotate up and down.

Further, the wing body 21 is provided with a servo (not shown) and a transmission device (not shown) for driving the aileron 22 to rotate. The servo is electrically connected to the transmission device for controlling the transmission device to drive the aileron. 22 rotation. That is, under the control of the servo, the aileron 22 can rotate up and down, so as to provide the aircraft 100 with a change in the direction of lift.

The rotor assembly 23 includes a second motor 231 and a propeller 232. The second motor 231 is assembled to the wing body 21. The second motor 231 includes a second drive shaft (not shown). The propeller 232 is connected to the second drive shaft. The drive shaft extends along the pitch axis, so that the propeller 232 rotates in the vertical direction.

Wherein, the wing body 21 is rigidly connected to the fuselage 10, and the direction of the pulling force generated by the propeller 232 is perpendicular to the chord direction of the wing 20. When the aircraft 100 is in flight, the wing 20 drives the fuselage 10 to rotate around the y Fly in all directions, front, back, left, and right. By speeding up or slowing down the rotation speed of the wing 20, the ascent and descent can be controlled.

The aircraft 100 of the present application is equipped with a detection device 30 on the fuselage 10, the detection device 30 can rotate around a first axis under the control of the wings 20, and can rotate around a second axis under the drive of the driving device 50, The problem of the detection blind spot area of the existing lidar is solved, the detection range of the detection device 30 is enlarged, and the detection comprehensiveness of the detection device 30 is satisfied. This application utilizes the flight characteristics of a single-rotor rotation, and the detection device 30 only needs to rotate in a single axis, which greatly simplifies the structure. At the same time, a single detection device 30 is used, which is economical compared with the existing aircraft using multiple detection devices. Cost.

As shown in FIG. 2 in combination with FIG. 1, according to another aspect of the embodiments of the present application, an aircraft control system 200 is provided. The aircraft control system 200 includes a remote controller 201 and an aircraft 100. The aircraft 100 includes a detection device 30. The device 201 is used to control the flight of the aircraft 100 and the rotation speed of the detection device 30. Among them, the structural features of the aircraft 100 and the detection device 30 are as shown in the foregoing embodiments, and will not be repeated here. In this application, through the control of the remote controller 201, the user's detection of the target area can be satisfied.

Those skilled in the art will easily think of other embodiments of this application after considering the specification and practicing the application applied here. This application is intended to cover any variations, uses, or adaptive changes of this application. These variations, uses, or adaptive changes follow the general principles of this application and include common knowledge or customary technical means in the technical field not applied for in this application. . The description and the embodiments are only regarded as exemplary, and the true scope and spirit of the application are pointed out by the claims of the application.

It should be understood that the present application is not limited to the precise structure that has been described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the application is only limited by the appended claims.

Claims

An aircraft, characterized by comprising a fuselage and wings connected to the fuselage, the aircraft further comprising a detection device assembled on the fuselage and a driving device connected to the detection device, the detection device The device is used to detect environmental information around the aircraft; wherein the aircraft rotates around a first axis under the control of the wings, and the detection device rotates around a second axis under the drive of the driving device .
The aircraft according to claim 1, wherein the first axis is the yaw axis of the aircraft, and the second axis is the roll axis of the aircraft.
The aircraft according to claim 2, wherein the first axis passes through the center of mass of the aircraft.
The aircraft according to claim 2, wherein the driving device comprises a first motor, the first motor comprises a first drive shaft, the first drive shaft is connected to the detection device, and the first drive shaft is connected to the detection device. The drive shaft extends along the roll axis.
The aircraft according to claim 4, wherein the detection device comprises a main body and a detection head arranged on the main body, and the direction of the detection head is perpendicular to the roll axis.
The aircraft according to claim 5, wherein the detection sphere center angle of the detection head is not less than 90°.
The aircraft according to claim 5, wherein the detection device is arranged at an end of the fuselage away from the wing.
The aircraft according to claim 5, wherein the aircraft further comprises a photographing device, and the photographing device is installed on the fuselage or the main body.
The aircraft according to any one of claims 1 to 8, wherein the detection device includes one or more of a laser radar, a visual sensor, an acoustic wave sensor, and an infrared sensor.
The aircraft according to claim 1, wherein the aircraft is a single-rotor aircraft.
The aircraft according to claim 10, wherein the wing comprises a wing body, an aileron connected to the wing body, and a rotor assembly connected to the end of the wing, the rotor assembly and The ailerons are arranged on opposite sides of the wing main body.
The aircraft according to claim 11, wherein the rotor assembly includes a second motor and a propeller, the second motor is assembled to the wing body, the second motor includes a second drive shaft, and the The propeller is connected to the second drive shaft, and the second drive shaft extends along the pitch axis.
An aircraft control system, comprising a remote control and the aircraft according to any one of claims 1 to 12, the aircraft comprising a detection device, and the remote control is used to control the flight of the aircraft and the aircraft. The speed of the detection device.