阅读说明：本技术 一种侧窗滑流式涵道无人机 (Side window slipstream formula duct unmanned aerial vehicle ) 是由 张霄 蔡昕钰 郭雷 余翔 燕思萌 李晶 王悦 刘雅琪 于 2021-10-25 设计创作，主要内容包括：本发明涉及一种侧窗滑流式涵道无人机,由侧窗滑流调节器、多边形或圆形涵道、动力装置、无人机控制装置组成。其中侧窗滑流调节器包括引流舵、阻流板、拉杆、舵机。侧窗滑流调节器对称安装于涵道侧壁,其纵向位置位于桨叶的上方或下方。本发明的侧窗滑流调节器可引导无人机涵道外部的气流流经引流舵的上翼面,产生向上的升力和水平方向的推力,解决了常规涵道无人机没有水平运动直接控制通道的难题,可实现涵道无人机高精度的位置控制,同时上述结构简单轻巧、部件少、装配方便、生产成本低。(The invention relates to a side window sliding flow type ducted unmanned aerial vehicle which comprises a side window sliding flow regulator, a polygonal or circular duct, a power device and an unmanned aerial vehicle control device. The side window sliding flow regulator comprises a flow guiding rudder, a spoiler, a pull rod and a steering engine. The side window slipstream regulators are symmetrically arranged on the side wall of the duct, and the longitudinal positions of the side window slipstream regulators are positioned above or below the blades. The side window slide regulator can guide airflow outside a ducted unmanned aerial vehicle to flow through the upper wing surface of the drainage rudder to generate upward lift force and horizontal thrust, solves the problem that a conventional ducted unmanned aerial vehicle does not have a direct control channel for horizontal movement, can realize high-precision position control of the ducted unmanned aerial vehicle, and has the advantages of simple and light structure, few components, convenience in assembly and low production cost.)

1. The utility model provides a side window slipstream formula duct unmanned aerial vehicle which characterized in that: the structure for directly controlling the horizontal motion of the unmanned aerial vehicle is adopted, and the structure comprises a side window slide flow regulator, a polygonal or circular duct, a power device and an unmanned aerial vehicle control device;

the polygonal or circular duct isolates the inner airflow and the outer airflow of the duct and is used for generating a side window slide flow regulator to provide the required inner and outer air pressure difference of the duct;

the power device provides lift force for the unmanned aerial vehicle, provides required inner and outer air pressure difference of the duct for the side window slide flow regulator, and is a single-propeller power system or a coaxial double-propeller power system; the power device is fixedly connected with the polygonal or circular duct;

the unmanned aerial vehicle control device is used for adjusting the opening degree of the side window slide regulator and is fixedly connected with the power device;

the side window slipstream regulator guides the external airflow of the unmanned aerial vehicle duct to flow to the inner side of the duct, so that upward lift force and horizontal thrust are generated, and horizontal motion control is realized; the longitudinal position of the side window slide flow regulator is positioned above the propeller, below the propeller or between the upper propeller and the lower propeller of the coaxial double-propeller power system and is fixedly connected with the polygonal or circular duct;

when side window slipstream formula duct unmanned aerial vehicle flies, adjust side window slipstream regulator aperture by unmanned aerial vehicle controlling means, produce the thrust of horizontal direction according to the demand to accurate control unmanned aerial vehicle's horizontal velocity and position.

2. The side window slipstream ducted drone of claim 1, characterized in that: the side window sliding flow regulator comprises a drainage rudder, a spoiler, a pull rod and a steering engine; the drainage rudder is hinged with the unmanned aerial vehicle duct; the flow blocking plates are positioned at two ends of the drainage rudder and fixedly connected to the outer wall of the duct; the pull rod is connected with the drainage rudder and the steering engine respectively, and the steering engine is installed on the outer wall of the duct.

3. The side window slipstream ducted drone of claim 1, characterized in that: the top view appearance of the polygonal or circular duct is a regular quadrangle, a regular hexagon, a regular octagon or a circle.

4. The side window slipstream ducted drone of claim 1, characterized in that: the number of the side window slide regulators is even, and the side window slide regulators are symmetrically arranged on the side wall of the duct.

5. The side window slipstream ducted drone of claim 2, characterized in that: the drainage rudder is provided with an airfoil structure, and the lower part of the drainage rudder is provided with a rolling shaft.

Technical Field

The invention belongs to the technical field of aviation, and relates to a side window sliding flow type ducted unmanned aerial vehicle.

Background

Along with the rapid development of various underground facilities such as electric power tunnel, city piping lane, the demand that carries out unmanned aerial vehicle in airtight narrow and small space in underground and patrol is increasing day by day. Duct unmanned aerial vehicle has characteristics such as small, carry heavily, safe and reliable, especially adapted above-mentioned task scene's application. However, in the existing ducted unmanned aerial vehicle, a movable control surface is mounted below a propeller to control the position and pose, and the position is indirectly controlled by controlling the pose, so that the position control loop is slow in response, and the application requirement of high-precision position control of the unmanned aerial vehicle in a closed narrow space is difficult to meet.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: overcome the not enough of above-mentioned prior art, provide a side window slipstream formula duct unmanned aerial vehicle, increase direct horizontal motion control channel, improve unmanned aerial vehicle position control precision.

The technical solution of the invention is as follows: the utility model provides a side window slipstream formula duct unmanned aerial vehicle which characterized in that: adopts a structure for directly controlling the horizontal movement of the unmanned aerial vehicle,

the structure comprises a side window slide flow regulator, a polygonal or circular duct, a power device and an unmanned aerial vehicle control device;

the polygonal or circular duct isolates the inner airflow and the outer airflow of the duct and is used for generating a side window slide flow regulator to provide the required inner and outer air pressure difference of the duct;

the power device provides lift force for the unmanned aerial vehicle, provides required inner and outer air pressure difference of the duct for the side window slide flow regulator, and is a single-propeller power system or a coaxial double-propeller power system; the power device is fixedly connected with the polygonal or circular duct;

the unmanned aerial vehicle control device is used for adjusting the opening degree of the side window slide regulator and is fixedly connected with the power device;

the side window slide regulator guides airflow outside the unmanned aerial vehicle duct to flow into the duct, so that upward lift force and horizontal thrust are generated, and position control is realized; the longitudinal position of the side window slide flow regulator is positioned above the propeller, below the propeller or between the upper propeller and the lower propeller of the coaxial double-propeller power system and is fixedly connected with the polygonal or circular duct;

when side window slipstream formula duct unmanned aerial vehicle flies, adjust side window slipstream regulator aperture by unmanned aerial vehicle controlling means, produce the thrust of horizontal direction according to the demand to accurate control unmanned aerial vehicle's horizontal velocity and position.

The side window sliding flow regulator comprises a drainage rudder, a spoiler, a pull rod and a steering engine; the drainage rudder is hinged with the unmanned aerial vehicle duct; the flow blocking plates are positioned at two ends of the drainage rudder and fixedly connected to the outer wall of the duct; the pull rod is connected with the drainage rudder and the steering engine respectively, and the steering engine is installed on the outer wall of the duct. The spoiler guides high-speed airflow to flow in along the opening generated by the diversion rudder and the duct, and is favorable for generating lift force with stable direction and thrust force in the horizontal direction.

The top view appearance of the polygonal or circular duct is a regular quadrangle, a regular hexagon, a regular octagon or a circle. The above configuration is a symmetrical structure, facilitates installation of the side window damper, and helps simplify control logic.

The number of the side window slide regulators is even, and the side window slide regulators are symmetrically arranged on the side wall of the duct. The side window slide regulators installed at different positions can generate horizontal thrust in different directions, and in order to realize the omnidirectional control of the unmanned aerial vehicle and simplify the control logic, the side window slide regulators are even in number and symmetrically installed on the side wall of the duct.

The drainage rudder is provided with an airfoil structure, and the lower part of the drainage rudder is provided with a rolling shaft. Compared with a flat plate structure, the wing-shaped structure can generate larger lifting force and is beneficial to control.

Compared with the prior art, the invention has the following advantages:

(1) in the existing ducted unmanned aerial vehicle control technology, a mechanism for directly controlling the horizontal position is not provided, and the position is indirectly controlled through a control gesture, so that the position control loop is slow in response, and the application requirement of high-precision position control of the ducted unmanned aerial vehicle in a closed narrow space is difficult to meet. The side window slide regulator can guide high-speed airflow to flow through the surface of the airfoil of the guide vane to generate upward lift force and horizontal thrust force, solves the problem that a conventional ducted unmanned aerial vehicle does not have a horizontal motion control channel, and can realize high-precision position control of the ducted unmanned aerial vehicle.

(2) Meanwhile, the invention has the advantages of simplicity, light weight, few parts, convenient assembly and low production cost.

Drawings

Fig. 1 is a schematic view of an embodiment of the unmanned aerial vehicle adopting a circular side window slipstream duct;

fig. 2 is a schematic view of an embodiment of the unmanned aerial vehicle adopting the octagonal side window slipstream duct;

FIG. 3 is a block diagram of a side window damper of the present invention;

fig. 4 is a cross-sectional view of the structure of the flow-guiding rudder in the invention.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and examples.

As shown in fig. 1 and 2, according to the embodiment provided by the invention, the side window slipstream type ducted drone comprises a polygonal or circular duct 1, a side window slipstream regulator 2, a power device and a drone control device. The power device and the unmanned aerial vehicle control device are fixedly connected with the polygonal or circular duct 1. When unmanned aerial vehicle flies, power device provides lift for the aircraft. During position control, because the horizontal thrust directions generated between the plurality of side window slide regulators 2 are different from each other, the unmanned aerial vehicle control device can adjust the opening degree of the corresponding side window slide regulator 2 as required, so that the unmanned aerial vehicle generates the speed in the expected direction, and high-precision position control is completed.

The number of the side window slide regulators 2 is even, and the side window slide regulators are symmetrically arranged on the side wall of the polygonal or circular duct 1. The side window slide regulator 2 is convenient to install and firm to fix.

The polygonal or circular duct 1 is fixedly connected with a power device, and the top view appearance of the fixed duct is a regular quadrangle, a regular hexagon, a regular octagon or a circle.

The side window damper 2 longitudinal position is above the propeller or below the propeller (fig. 1) or between the upper and lower propellers of a coaxial twin-bladed power system (fig. 2).

As shown in fig. 1 to 3, the side window damper 2 is composed of a spoiler 3, a flow guide rudder 4, a pull rod 5, and a steering engine 6. The drainage rudder 4 is hinged with the fixed duct 1, the pull rod 5 is connected with the drainage rudder 4 and the steering engine 6, and the spoiler 3 and the steering engine 6 are installed on the fixed duct. The side window slide regulator 2 has the advantages of simple structure, few components, convenience in assembly and low production cost.

As shown in fig. 4, when the drone control device adjusts the opening of the side window damper 2: the unmanned aerial vehicle control device transmits a control signal which deflects by a certain angle to the steering engine 6, a rocker arm of the steering engine 6 generates a deflection angle, the pull rod 5 is immediately driven to move downwards, the pull rod 5 is connected with the upper rudder angle of the drainage rudder 4, the drainage rudder 4 is driven to deflect, and the control of the opening degree of the side window slide regulator 2 is completed. The deflection angles of the flow guide rudders 4 are different, the generated horizontal thrust is also different (see fig. 4), and the unmanned aerial vehicle control device can change the opening degree according to actual needs to complete high-precision position control.

As shown in fig. 3 and 4, the flow-guiding rudder 4 has an airfoil structure, and has a roller at the lower part, which can be hinged with the fixed duct 1. The steering engine 6 is controlled by the unmanned aerial vehicle control device to drive the drainage rudder 4 to deflect, the opening degree of the side window slide regulator is changed, and the power device guides airflow to flow through the wing surface of the drainage rudder 4 to generate inner and outer air pressure difference, so that vector thrust is generated, and high-precision position control is realized.

As shown in fig. 3, the spoiler 3 is a fan-shaped structure, is located at two ends of the flow-guiding rudder 4, and is fixedly connected to the outer wall of the fixed duct 1. The spoiler 3 is used for blocking airflow from entering the interior of the duct from the side surface of the drainage rudder 4, so that the control efficiency of the drainage rudder 4 can be improved.

As shown in fig. 3 and 4, the side window slide regulator 2 and the power device guide the external gas of the duct to flow into the duct, so that the airflow supercharging effect can be achieved, the energy conversion efficiency of the double-propeller system is improved, the electric quantity of the battery is saved, and the endurance time is prolonged.

Although embodiments of the present invention have been shown and described, it would be appreciated by those skilled in the art that changes may be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the claims and their equivalents.