Unmanned aerial vehicle and control method thereof
阅读说明:本技术 无人机及其控制方法 (Unmanned aerial vehicle and control method thereof ) 是由 刘城斌 于 2020-07-28 设计创作,主要内容包括:本发明涉及一种无人机及其控制方法,其中无人机包括第一机翼(10)、第二机翼(20)、第一螺旋桨(30)和第二螺旋桨(40),第一机翼(10)包括第一机翼本体(11)和安装在第一机翼本体(11)上的第一副翼(12),第一副翼(12)能够相对于第一机翼本体(11)发生偏转,第一螺旋桨(30)安装在第一机翼本体(11)的前缘,第二机翼(20)与第一机翼(10)连接,第二机翼(20)包括第二机翼本体(21)和安装在第二机翼本体(21)上的第二副翼(22),第二副翼(22)能够相对于第二机翼本体(21)发生偏转,第二螺旋桨(40)安装在第二机翼本体(21)的前缘,其中,第一螺旋桨(30)的旋转速度和第二螺旋桨(40)的旋转速度能够分别独立地进行调节。(The invention relates to an unmanned aerial vehicle and a control method thereof, wherein the unmanned aerial vehicle comprises a first wing (10), a second wing (20), a first propeller (30) and a second propeller (40), the first wing (10) comprises a first wing body (11) and a first aileron (12) arranged on the first wing body (11), the first aileron (12) can deflect relative to the first wing body (11), the first propeller (30) is arranged at the front edge of the first wing body (11), the second wing (20) is connected with the first wing (10), the second wing (20) comprises a second wing body (21) and a second aileron (22) arranged on the second wing body (21), the second aileron (22) can deflect relative to the second wing body (21), the second propeller (40) is arranged at the front edge of the second wing body (21), wherein the rotational speed of the first propeller (30) and the rotational speed of the second propeller (40) can be adjusted independently of each other.)
1. An unmanned aerial vehicle, comprising:
a first wing (10) comprising a first wing body (11) and a first aileron (12) mounted on the first wing body (11), the first aileron (12) being deflectable relative to the first wing body (11);
a first propeller (30) mounted on a leading edge of the first wing body (11);
a second airfoil (20) connected to the first airfoil (10), the second airfoil (20) comprising a second airfoil body (21) and a second aileron (22) mounted on the second airfoil body (21), the second aileron (22) being deflectable relative to the second airfoil body (21); and
a second propeller (40) mounted at a leading edge of the second wing body (21);
wherein the rotational speed of the first propeller (30) and the rotational speed of the second propeller (40) are independently adjustable.
2. The drone of claim 1, further comprising a control system (80), the control system (80) being configured to control the deflection of the first and second ailerons (12, 22) and to adjust the rotational speed of the first and second propellers (30, 40) to effect a switch of the drone between landing and cruising.
3. A drone according to claim 1, wherein the first wing (10) comprises a first vertical fin (13) arranged laterally to the trailing edge of the first wing body (11), and the second wing (20) comprises a second vertical fin (23) arranged laterally to the trailing edge of the second wing body (21), the first vertical fin (13) and the second vertical fin (23) acting as landing gear for the drone.
4. A drone according to claim 1, characterised in that the first wing (10) is arranged parallel to the second wing (20) and in that the pressure face of the first wing body (11) is arranged opposite the suction face of the second wing body (21).
5. A drone according to claim 1, characterised in that the number of the first propeller (30) and the second propeller (40) is 2 or 3 each.
6. The drone of claim 1, further comprising a storage compartment (50) disposed between the first wing (10) and the second wing (20).
7. The drone of claim 2, further comprising a power supply (90) and a storage compartment (50) disposed between the first wing (10) and the second wing (20), the storage compartment (50) comprising a first compartment (51) for storing the control system (80) and/or the power supply (90) and a second compartment (52) for storing cargo (100).
8. A drone according to claim 7, characterised in that the first cabin (51) is arranged on the side of the second cabin (52) close to the first propeller (30) and the second propeller (40).
9. A drone according to claim 7, characterised in that the first cabin (51) is pyramid-shaped.
10. Unmanned aerial vehicle according to claim 7, characterized in that at least two levels of storage chambers (520) are provided in the second compartment (52) in the direction of release of the cargo (100).
11. A drone according to claim 10, wherein the storage chamber (520) comprises a bottom plate carrying the cargo (100) and a side frame (521) rotatably connected to the bottom plate, the control system (80) being configured to control the rotation of the bottom plate with respect to the side frame (521) to release the cargo (100).
12. A drone according to claim 11, wherein the bottom plate comprises a first plate (522) and a second plate (523), the first plate (522) and the second plate (523) being rotatably connected with the side frame (521), respectively.
13. A drone according to claim 1, characterised in that it further comprises a parachute (60) provided to the first wing body (11) or to the second wing body (21).
14. The unmanned aerial vehicle control method according to any one of claims 1 to 13, comprising:
-opening the first and second ailerons (12, 22), -adjusting the rotational speed of the first and second propellers (30, 40), and-differentiating the rotational speed of the first and second propellers (30, 40) to switch the drone from a vertical lift mode to a cruise mode or from the cruise mode to a vertical landing mode.
15. A control method for a drone according to claim 11, comprising:
opening the bottom plate of the storage chamber (520) positioned below, and throwing in the goods (100) in the storage chamber (520); and
after the goods (100) in all the storage chambers (520) which are positioned below are released, the bottom plate of the storage chamber (520) which is positioned above is opened, and the goods (100) in the storage chamber (520) are released.
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle and a control method thereof.
Background
Unmanned aerial vehicle includes fixed wing unmanned aerial vehicle and many rotor unmanned aerial vehicle. Fixed wing unmanned aerial vehicle's is efficient, and the continuation of the journey mileage is big, nevertheless is higher to the requirement in take off and land place. Many rotor unmanned aerial vehicle provides lift by the screw and offsets the gravity of self, though it is convenient to take off and land, flight inefficiency, and the continuation of the journey mileage is short, is fit for being used for the transportation flight task of short distance.
In order to overcome the problems that the take-off and landing requirement of the fixed-wing unmanned aerial vehicle is high and the endurance mileage of the multi-rotor unmanned aerial vehicle is short, a vertical take-off and landing fixed-wing unmanned aerial vehicle is designed, the fixed wings and the multiple rotors are combined, and the fixed wings and the multiple rotors are matched for use in the flying process. Vertical take-off and landing fixed wing unmanned aerial vehicle has combined the characteristics of many rotors and fixed wing, utilizes many rotor parts to take off and land, utilizes the fixed wing part to cruise the flight, and its flight efficiency is higher than many rotors and is less than the fixed wing, is fit for being used for the transportation flight task of well distance, can save more delivery time when being used for the delivery goods.
In the related art, the takeoff mode of the composite unmanned aerial vehicle with multiple rotors and fixed wings is as follows: 4, starting the multi-rotor system to work, and enabling the unmanned aerial vehicle to take off vertically through the lift force of the rotors; after taking off and arriving certain safe altitude, the screw of horizontal direction begins work and produces thrust, makes unmanned aerial vehicle produce horizontal acceleration, and after unmanned aerial vehicle's course speed exceeded certain safe value, 4 vertical screw stop work, unmanned aerial vehicle got into fixed wing flight mode, and the descending process also produces lift and comes the vertical landing by 4 rotors. This kind of unmanned aerial vehicle belongs to and has directly increased one set of many rotor systems on the stationary vane, has compromise the long voyage of the convenient and stationary vane of taking off and landing of many rotors, and is simple relatively to system design and flight control, so its reliability is than higher. However, this aircraft has the great disadvantage that the entire set of multiple rotor systems does not participate in any flight operation during the cruising phase, which is an excess weight, also called dead weight, that greatly reduces the load capacity of the aircraft.
Disclosure of Invention
The embodiment of the invention provides an unmanned aerial vehicle and a control method thereof, which can improve the load capacity of the unmanned aerial vehicle as much as possible.
According to an aspect of the invention, there is provided a drone comprising:
the first wing comprises a first wing body and a first aileron arranged on the first wing body, and the first aileron can deflect relative to the first wing body;
the first propeller is arranged at the front edge of the first wing body;
the second wing is connected with the first wing and comprises a second wing body and a second aileron arranged on the second wing body, and the second aileron can deflect relative to the second wing body; and
the second propeller is arranged at the front edge of the second wing body;
wherein the rotational speed of the first propeller and the rotational speed of the second propeller are independently adjustable.
In some embodiments, the drone further comprises a control system configured to control the yaw of the first and second ailerons and to adjust the rotational speed of the first and second propellers to effect a switch between landing and cruising of the drone.
In some embodiments, the first wing includes a first vertical fin disposed on a trailing edge side of the first wing body, and the second wing includes a second vertical fin disposed on a trailing edge side of the second wing body, the first vertical fin and the second vertical fin acting as landing gear for the drone.
In some embodiments, the first wing is disposed parallel to the second wing, and the pressure surface of the first wing body is disposed opposite the suction surface of the second wing body.
In some embodiments, the number of first propellers and second propellers is 2 or 3 each.
In some embodiments, the drone further includes a storage compartment disposed between the first wing and the second wing.
In some embodiments, the drone further comprises a power supply and a storage bay disposed between the first wing and the second wing, the storage bay comprising a first bay for storing the control system and/or the power supply and a second bay for storing cargo.
In some embodiments, the first pod is disposed on a side of the second pod proximate to the first propeller and the second propeller.
In some embodiments, the first pod is pyramid-shaped.
In some embodiments, at least two layers of storage chambers are arranged in the second compartment in the cargo delivery direction.
In some embodiments, the storage compartment includes a floor carrying cargo and a side frame rotatably coupled to the floor, and the control system is configured to control the floor to rotate relative to the side frame to release the cargo.
In some embodiments, the bottom panel includes a first panel and a second panel, each rotatably coupled to the side frame.
In some embodiments, the drone further includes a parachute disposed on the first wing body or the second wing body.
According to another aspect of the invention, a control method based on the unmanned aerial vehicle is provided, which includes:
and opening the first aileron and the second aileron, adjusting the rotating speed of the first propeller and the second propeller, and enabling the difference value between the rotating speeds of the first propeller and the second propeller to reach a preset value, so that the unmanned aerial vehicle is switched from the vertical lifting mode to the cruise mode or from the cruise mode to the vertical landing mode.
According to another aspect of the present invention, there is provided a control method based on the above-mentioned unmanned aerial vehicle, including:
opening a bottom plate of a storage chamber positioned below, and throwing in goods in the storage chamber; and
after the goods in all the storage chambers below are released, the bottom plate of the storage chamber above is opened, and the goods in the storage chamber are released.
Based on the technical scheme, the unmanned aerial vehicle comprises two wings, an aileron and propellers are arranged on a wing body of each wing, the aileron can deflect relative to the wing body to generate deflection torque, the rotating speeds of the propellers on the two wing bodies can be respectively and independently adjusted, the lifting forces on the left side and the right side of the unmanned aerial vehicle are different when the rotating speeds of the propellers on the two wing bodies are different, the unmanned aerial vehicle can realize the switching between the vertical take-off and landing mode and the cruise mode under the combined action of unbalanced lifting forces generated by the deflection torque generated by the aileron and the different rotating speeds of the propellers, a special deflection power system is not required to be added, so the dead weight of the unmanned aerial vehicle can be reduced, and the load capacity of.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a schematic structural diagram of an embodiment of the unmanned aerial vehicle of the present invention.
Fig. 2 is a schematic structural view of an unmanned aerial vehicle according to another aspect of the present invention.
Fig. 3 is a top view of an embodiment of the drone of the present invention.
Fig. 4 is a schematic structural diagram of a storage cabin in an embodiment of the drone of the present invention.
Fig. 5 is a schematic structural diagram of a second cabin in an embodiment of the drone of the present invention.
Fig. 6 is a schematic structural diagram of an embodiment of the unmanned aerial vehicle in a vertical lifting mode or a vertical landing mode.
Fig. 7 is a schematic structural diagram of an embodiment of the unmanned aerial vehicle according to the invention when the unmanned aerial vehicle is deflected from the vertical lifting mode to the cruise mode.
Fig. 8 is a schematic structural view of an embodiment of the drone of the present invention in cruise mode.
Fig. 9 is a schematic structural diagram of an embodiment of the unmanned aerial vehicle according to the present invention deflected from the cruise mode to the vertical landing mode.
In the figure:
10. a first airfoil; 20. a second airfoil; 30. a first propeller; 40. a second propeller; 50. a storage compartment; 60. a parachute; 70. a connecting member; 80. a control system; 90. a power supply; 100. goods;
11. a first wing body; 12. a first flap; 13. a first vertical fin;
21. a second airfoil body; 22. a second flap; 23. a second vertical fin;
51. a first compartment; 52. a second compartment; 520. a storage chamber; 521. a side frame; 522. a first plate; 523. a second plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "central," "lateral," "longitudinal," "front," "rear," "left," "right," "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and for simplicity in description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the scope of the invention.
Referring to fig. 1 and 2, in some embodiments of the drone provided by the present invention, the drone includes a
In the above embodiment, unmanned aerial vehicle includes two wings, be equipped with aileron and screw on the wing body of every wing, the aileron can take place to deflect for the wing body, produce deflection torque, the rotational speed of the screw on two wing bodies can be adjusted respectively independently, the lift size that the lift that the left and right sides of unmanned aerial vehicle received is different when the rotational speed of the screw on two wing bodies is different, under the combined action of the unbalanced lift that deflection torque and the screw rotational speed difference that the aileron produced, unmanned aerial vehicle can realize the switching of VTOL mode and cruise mode, need not to increase special deflection power system, consequently, unmanned aerial vehicle's dead weight can be reduced, unmanned aerial vehicle's load-carrying capacity is improved.
The unmanned aerial vehicle in the embodiment of the invention is a tailstock type vertical take-off and landing unmanned aerial vehicle, and the whole unmanned aerial vehicle is tilted after taking off. The takeoff mode of the unmanned aerial vehicle is as follows: the first propeller 30 and the second propeller 40 start to work at the same time, and the rotation speeds are the same, so that the airplane can be pulled up, after the airplane reaches a certain safe height, the first secondary wing 12 and the second secondary wing 22 are opened and deflect relative to the first wing body 11 and the second wing body 21, and the air flow spun out by the first propeller 30 and the second propeller 40 respectively blows to the surfaces of the first secondary wing 12 and the second secondary wing 22, so that the airplane generates tilting moment; meanwhile, the rotating speeds of the first propeller 30 and the second propeller 40 are adjusted, so that the rotating speeds of the first propeller 30 and the second propeller 40 are different, and the left side and the right side of the unmanned aerial vehicle are unbalanced in stress, so that the aircraft can tilt; in the tilting process, the lift force generated by the first propeller 30 and the second propeller 40 can provide a component force in the horizontal direction, so that the unmanned aerial vehicle generates a horizontal acceleration, when the whole aircraft body tilts to the horizontal position, the aircraft obtains a course speed capable of maintaining horizontal flight, enters a cruise mode, and the landing process and the take-off process are just opposite. When taking off and landing convenience of multiple rotors and long voyage of fixed wings are considered for the unmanned aerial vehicle, a set of tilting power system does not need to be independently designed, redundant dead weight does not exist, the utilization rate of the unmanned aerial vehicle power system is high, and the effective load is large.
As shown in fig. 4, in some embodiments, the drone further includes a control system 80, the control system 80 configured to control the yaw of the first and
In some embodiments, the
In some embodiments, the
The
The side of the
The connecting
In some embodiments, the number of
As shown in fig. 3, the leading edge of the
In some embodiments, the drone further comprises a
As shown in fig. 4, in some embodiments, the drone further comprises a power supply 90 and a
In some embodiments, the first pod 51 is disposed on a side of the
In some embodiments, the first pod 51 is pyramid-shaped. The base of the pyramid is connected to the
First cabin 51 sets up to pyramid form, is favorable to reducing the air resistance when unmanned aerial vehicle is in the mode of cruising, improves the aerodynamic performance of unmanned aerial vehicle flight.
In some embodiments, at least two layers of
In some embodiments, each layer of
In some embodiments, the
By arranging the bottom plate rotatably connected with the
In some embodiments, the bottom plate includes a
In this embodiment, the bottom plate is provided as a split structure including the
In some embodiments, the drone further comprises a parachute 60 disposed on the
Optionally, a parachute 60 is provided on the one of the
The structure and the working process of an embodiment of the unmanned aerial vehicle are described below with reference to the accompanying drawings 1 to 9:
as shown in fig. 1 and 2, in this embodiment, the drone includes a
The
When the drone is on the ground, the first and
The unmanned aerial vehicle adopts a double-wing design, the total wing area is large, enough lift force can be provided, the total span length of the wings is not too long, and the occupied area is small; the vertical fin is used as an undercarriage at the same time, so that the structural strength of the whole unmanned aerial vehicle is improved; the storage cabin is arranged between the two wings, so that the structural design of the storage cabin is facilitated, and the storage space of the storage cabin is increased.
As shown in fig. 3, the first
As shown in fig. 4 and 5, a
Unmanned aerial vehicle working process:
a takeoff stage:
as shown in fig. 6, the three
A deflection stage:
as shown in fig. 7, when reaching the safe height, the whole unmanned aerial vehicle starts tilting, and the force providing tilting includes two aspects: firstly, the rotating speed of the
And (3) cruising:
as shown in fig. 8, after the drone is tilted, the obtained horizontal flying speed can meet the lowest cruising speed, and at this time, the drone will fly in a pure fixed wing mode, and the flying attitude of the drone will be completed through the cooperative control of the
A deflection stage:
as shown in fig. 9, when the drone is going to reach a destination, the difference between the rotation speeds of the
A descending stage:
referring to fig. 6, after the fuselage of the unmanned aerial vehicle is completely vertical, the attitude of the unmanned aerial vehicle is controlled by the
Based on the unmanned aerial vehicle in each embodiment, the invention provides an unmanned aerial vehicle control method, which comprises the following steps:
the first and
The control method realizes the switching of the flight mode under the combined action of the yawing moment generated by the yawing of the first
The invention also provides an unmanned aerial vehicle control method, which comprises the following steps:
opening the bottom plate of the
after the
The control method has the advantages that the lower layer of
The positive technical effects of the unmanned aerial vehicle in the above embodiments are also applicable to the unmanned aerial vehicle control method, and are not described herein again.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made without departing from the principles of the invention, and these modifications and equivalents are intended to be included within the scope of the claims.
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