CN109131877A - Unmanned vehicle - Google Patents
Unmanned vehicle Download PDFInfo
- Publication number
- CN109131877A CN109131877A CN201710466585.XA CN201710466585A CN109131877A CN 109131877 A CN109131877 A CN 109131877A CN 201710466585 A CN201710466585 A CN 201710466585A CN 109131877 A CN109131877 A CN 109131877A
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- Prior art keywords
- unmanned vehicle
- main wing
- rotor
- paddle
- wing
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C37/00—Convertible aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/26—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The present invention proposes a kind of unmanned vehicle, including body, and multiple rotors on the body push away paddle on the body, is detachably connected the main wing of the body, and the controller of control flight；When the main wing is installed on the body, the controller switches to the first winged control mode under telecommand or preset instructions, paddle rotation and the rudder face movement of the main wing is pushed away described in control, so that unmanned vehicle is with fixed-wing mode flight；When the main wing is separated from the body, the controller switches to the second winged control mode, controls the multiple rotor wing rotation, so that unmanned vehicle is flown with more rotor modes under telecommand or preset instructions.Integrate more rotors and fixed-wing type, convertible type flight meets more demands.
Description
Technical field
The present invention relates to a kind of unmanned vehicles.
Background technique
Unmanned vehicle includes various types, such as multi-rotor unmanned aerial vehicle, fixed-wing unmanned plane etc..Multi-rotor unmanned aerial vehicle is
It is capable of the multi-rotor aerocraft of VTOL, it is a kind of flight for not carrying operator using multiple rotors as power device
Device.Multi-rotor unmanned aerial vehicle controls various postures by controlling each rotor revolving speed, and realizes with the flight of various postures, such as outstanding
Stop, it is preceding fly, side flies and inverted flight etc., however, the energy consumption of multi-rotor unmanned aerial vehicle flight is larger, cruise duration is short, and occur it is strong
When the environmental factors such as wind, the problem of being easy to appear disequilibrium.Fixed-wing unmanned plane can generally pass through fore-body or rear portion
Propeller push air reverse power is provided, while high in the air by air-flow flight and pose adjustment, by aileron, rudder face
The roll that unmanned plane during flying needs, pitching are provided, posture torque has the advantages that cruise duration is long, voyage is remote, but cannot hang
Stop, it is more demanding to space enrironment.
Current multi-rotor unmanned aerial vehicle and fixed-wing unmanned plane is all independent aircraft, and some users wish both make
Multi-rotor unmanned aerial vehicle is used, and fixed-wing unmanned plane can be used, however current unmanned vehicle cannot achieve type change
Change, can only buy required each type under the demand of different type of machines, and no matter which kind of type, be all individually present different
Advantage and disadvantage.
In addition, user selects unmanned vehicle, also there are various performance requirements, for example, the fastness of structure, rising and falling
Stability, the stability of signal transmitting and receiving etc., under performance requirement in all respects, still a need to change to unmanned vehicle
Into.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of unmanned vehicles, collect more rotors and fixed-wing type in one
Body, convertible type flight, meets more demands.
To solve the above problems, the present invention proposes a kind of unmanned vehicle, including body, it is multiple on the body
Rotor pushes away paddle on the body, is detachably connected the main wing of the body, and the controller of control flight；
When the main wing is installed on the body, the controller switches under telecommand or preset instructions
One winged control mode pushes away paddle rotation and the rudder face movement of the main wing described in control, so that unmanned vehicle is flown with fixed-wing mode
Row；
When the main wing is separated from the body, the controller switches under telecommand or preset instructions
Two winged control modes, control the multiple rotor wing rotation, so that unmanned vehicle is flown with more rotor modes.
According to one embodiment of present invention, in the described first winged control mode, the controller selectively controls institute
Multiple rotor wing rotations are stated, the rudder face movement for pushing away paddle rotation and the main wing is simultaneously stopped；In the described second winged control mode,
The controller pushes away paddle and multiple rotors while rotating described in selectively controlling, to assist the unmanned vehicle with more rotors
Mode flight.
According to one embodiment of present invention, in the described second winged control mode, pushed away described in the controller control paddle and
When multiple rotors rotate simultaneously, control the multiple rotor revolving speed lower than predetermined low level, or pushed away described in control blade root according to wind speed and
The revolving speed determining to flying speed rotates and each rotor-speed rotates optional or convertiblely.
According to one embodiment of present invention, the main wing and the body pass through Male head connector with button bit and mother
Head connector connection；The main wing is equipped with the rudder face steering engine to drive rudder face to act under control of the controller, the male connector
The electric connection between the controller and rudder face steering engine is realized in the grafting of connector and female connector.
It according to one embodiment of present invention, further include at least two first reinforcement structures, it is vertical or horizontal to be threaded through institute
It states on body.
According to one embodiment of present invention, the multiple rotor is mounted on the extending area of each first reinforcement structure
On, and make the center of gravity position of the opposite body without main wing of each rotor symmetrical.
According to one embodiment of present invention, further include paddle seat attachment base, the extending area of the first reinforcement structure is set
On；The paddle seat attachment base includes upper connecting base and lower connecting base；The upper connecting base is plastic cement material, and corresponds to described first
The position of the end of reinforcement structure is in structure is surrounded, to surround the end for protecting first reinforcement structure.
According to one embodiment of present invention, further include two lifting support feet, be plastic cement material, be connected to opposite
The lower section of two lower connecting bases rearward, described two lower connecting bases are foamed plastics material.
According to one embodiment of present invention, lifting support portion before further including, is arranged in the intermediate position of the body, institute
Lifting support portion constitutes bikini undercarriage with two lifting support feet before stating.
According to one embodiment of present invention, first reinforcement structure includes horizontal reinforced sheet and vertical reinforced sheet, institute
It states horizontal reinforced sheet and vertical reinforced sheet is arranged in the same direction in the longitudinal direction, and the horizontal reinforced sheet and vertical reinforced sheet are hanging down
It is in directly to be mutually perpendicular in the cross-section structure on length direction.
According to one embodiment of present invention, the upside of the vertical reinforced sheet is equipped with several positioning in the longitudinal direction
Tooth, the horizontal reinforced sheet offer the location hole of the corresponding positioning tooth, the water on the position of center line of length direction
Flat reinforced sheet and vertical reinforced sheet pass through the location hole and the vertical grafting of positioning tooth.
According to one embodiment of present invention, further include at least two second reinforcement structures, be laterally or longitudinally threaded through institute
It states on body；Second reinforcement structure is intersected in length and breadth with first reinforcement structure, and crossover sites are located in the body.
According to one embodiment of present invention, further include accommodating frame, be arranged in the body, and add with described first
Strong structure and/or the second reinforcement structure are connected and fixed；The battery structure to power is provided in the accommodating frame.
According to one embodiment of present invention, further include two groups of omnidirectional antennas, be electrically connected with the controller；Described two
Group omnidirectional antenna is arranged in the accommodating frame, and is located at the two sides of the battery structure, two groups of omnidirectional antenna phases
Horizontal plane inclination to body, and the antenna tilt of same type is contrary.
According to one embodiment of present invention, every group of omnidirectional antenna includes an at least data transmission antenna and an image transmitting
Antenna, it is consistent with the antenna tilt direction in group.
According to one embodiment of present invention, the body and main wing are foamed plastics material.
After adopting the above technical scheme, the present invention has the advantages that compared with prior art
When unmanned vehicle does not have main wing, a multi-rotor unmanned aerial vehicle is constituted by the work of multiple rotor wing rotations, pushes away paddle
It can not work, since two sides main wing is removed, thus complete machine width is smaller, the flight being particularly suitable in narrow space, example
In the environment such as interior, cave in this way, flight environment of vehicle is required lower；When unmanned vehicle connects upper two sides main wing, by pushing away
The work of paddle and main wing constitutes a fixed-wing unmanned plane, and rotor can not work, since fixed-wing unmanned plane energy consumption is lower, continuation of the journey
It is longer, it can be used in cruise；Integrate more rotors and fixed-wing type, convertible type flight, different type of machines flight can
To be suitable for different flight environment of vehicle, the scope of application and purposes are wider, and consumer buys a unmanned plane and can use to difference
Type, more by the welcome of consumer；
Under more rotor type offline mode, by multiple rotors and pushes away paddle and cooperate jointly, it, can with the rotation of corresponding speed
The advantages of to gather both more rotors and fixed-wing, can reduce energy consumption, extend cruise duration, guarantee the adverse circumstances such as strong wind
The flight etc. of held stationary is remained under the influence of factor.
Detailed description of the invention
Fig. 1 is the decomposed structural schematic diagram of the unmanned vehicle of one embodiment of the invention；
Fig. 2 is the self-contained structural schematic diagram of the unmanned vehicle of one embodiment of the invention；
Fig. 3 is the structural schematic diagram of the main wing disassembly status of the unmanned vehicle of one embodiment of the invention；
Fig. 4 is the main wing structural schematic diagram of the unmanned vehicle of another embodiment of the present invention；
Fig. 5 is the part configuration schematic diagram of the unmanned vehicle of one embodiment of the invention；
Fig. 6 is the part configuration schematic diagram of the unmanned vehicle of one embodiment of the invention；
Fig. 7 is the structural schematic diagram of the body part of the unmanned vehicle of one embodiment of the invention；
Fig. 8 is the structural schematic diagram of the body part of the unmanned vehicle of another embodiment of the present invention.
Description of symbols in figure:
1- body, 101- upper machine body, 102- lower body, the side 103-, 2- rotor, 3- push away paddle, 4- main wing, 401- main wing
Main body, 402- rudder face, 403- stabilization, 501- Male head connector, 502- female connector, 6- main wing reinforcing rod, 7- first add
Strong structure, the horizontal reinforced sheet of 701-, the vertical reinforced sheet of 702-, 801- long reinforcing rod, the short reinforcing rod of 802-, 901- upper connecting base,
902- lower connecting base, 10- lifting support foot, 11- accommodate frame, 121- first data transmission antenna, the first image transmitting of 122-
Antenna, the second data transmission antenna of 131-, 132- the second image transmitting antenna.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention.But the present invention can be with
Much it is different from other way described herein to implement, those skilled in the art can be without prejudice to intension of the present invention the case where
Under do similar popularization, therefore the present invention is not limited to the specific embodiments disclosed below.
Referring to Fig. 1-8, in one embodiment, unmanned vehicle includes body 1, multiple rotors 2 on body 1,
Paddle 3 is pushed away on body 1, is detachably connected the main wing 4 of body 1, and the controller (not shown) of control flight.
Main wing 4 includes the main wing for being detachably connected 1 or so two sides of body, and detachable connection method is unlimited, preferably
Connection of Quick Release form, such as Quick Release fastener etc.；In flight, main wing 4 can not also be loaded onto, machine on body 1
The interconnecting piece for connecting with main wing 4 is correspondingly provided on the side 103 of body 1.2 quantity of rotor can be three or more.Pushing away paddle 3 is
For rotating the rotation paddle for generating thrust in the front-back direction, it can be mounted on the tail portion of body 1 as depicted in figs. 1 and 2, but do not limit
In this.Controller can be arranged in body 1 in the form of circuit board, can communicate with external remote control equipment realization, to pass
Defeated control data, image data etc..
When main wing 4 is installed on body 1, controller switches to the first winged control mode under telecommand or preset instructions,
Control pushes away the rotation of paddle 3 and the rudder face 402 of main wing 4 acts, so that unmanned vehicle is with fixed-wing mode flight.Main wing 4 is from body
When upper separation, controller switches to the second winged control mode under telecommand or preset instructions, controls multiple rotors 2 and rotates, makes
Unmanned vehicle is obtained to fly with more rotor modes.
Telecommand can be the control instruction that external remote control equipment is sent in controller, and preset instructions, which can be, to be prestored
Control instruction in controller, these control instructions can have for controlling rudder face movement, the rotation of rotation paddle and speed, pushing away paddle
The information field of rotation and speed etc. can also include certainly other desired control information, and controller can be to control instruction
Parsed, then do corresponding control, for example, resolved detection to push away paddle 3 need to start and it is corresponding turn to and when speed,
Control pushes away paddle 3 and is accordingly rotated according to the information detected.
In other words, under fixed-wing type, main wing 4 is mounted on body 1, the rudder face steering engine of controller and main wing 4
It being electrically connected, the rudder face 402 that can control main wing 4 is acted, and the rudder face 402 of control main wing 4 is acted to control flight attitude,
Simultaneously control push away paddle 3 rotation, generate the power of forward or backward, thus unmanned vehicle be in this case as fixed-wing without
People's aircraft is flying；And under more rotor types, main wing 4 is not attached on body, without the body 1 of main wing 4, is passed through
Controller controls multiple rotations of rotor 2 to realize flight and attitudes vibration, so that unmanned vehicle is as more in this case
Rotor unmanned aircraft is flying.
Main wing 4 could alternatively be mounted on body 1, so that unmanned vehicle switches between different type of machines.It is appreciated that
Main wing 4 of the invention is removable not merely to packed and transported is convenient and designs, even more in order to controller and each
Paddle cooperation is revolved, realizes flight of the unmanned vehicle under different type of machines mode, that is to say, that whether main wing 4 is installed, is controlled in flight
Under the cooperation of system, unmanned vehicle converts between different types, this is that the unmanned vehicle of current single type cannot achieve
's.
When unmanned vehicle does not have main wing 4, a multi-rotor unmanned aerial vehicle is constituted by multiple 2 rotary works of rotor, pushes away paddle 3
It can not also work, since two sides main wing 4 is removed, thus complete machine width is smaller, the flight being particularly suitable in narrow space,
E.g. in the environment such as interior, cave, flight environment of vehicle is required lower；When unmanned vehicle connects upper two sides main wing 4, rely on
The work for pushing away paddle 3 and main wing 4 constitutes a fixed-wing unmanned plane, and rotor 2 can not work, due to fixed-wing unmanned plane energy consumption compared with
It is low, it continues a journey longer, can be used in cruise；Integrate more rotors and fixed-wing type, convertible type flight, different type of machines
Flight may adapt to different flight environment of vehicle, and the scope of application and purposes are wider, and consumer buys a unmanned plane and can use
To different types, more by the welcome of consumer.
In one embodiment, in the first winged control mode, controller selectively controls multiple rotors 2 and rotates, if choosing
It is selected as multiple rotors 2 to rotate, is then simultaneously stopped the rudder face movement for pushing away the rotation of paddle 3 and main wing 4, is not revolved if being selected as multiple rotors 2
Turn, then continues to normally control the movement of rudder face 402 for pushing away the rotation of paddle 3 and main wing 4；Under the first winged control mode, pass through rotor 2
The power of up and down direction is provided, the hovering of similar multi-rotor unmanned aerial vehicle may be implemented, go straight up to straight, landing is more stable, so that
The advantages of unmanned vehicle under fixed-wing type can have both more rotors.In the second winged control mode, controller is selectively
Control pushes away paddle 3 and multiple rotors 2 while rotating, to assist unmanned vehicle to fly with more rotor modes, in other words, Ke Yixuan
It is selected as pushing away paddle 3 and multiple rotors 2 while rotating or only controlling multiple rotors 2 rotating；Under the second winged control mode, by pushing away paddle
3 rotations can avoid or reduce the onward impulse provided needed for rotor 2 to provide the power of advance, and directly pushing away the promotion of paddle 3 can drop
Low energy consumption.
Further, it in the second winged control mode, when controller control pushes away paddle 3 and multiple rotors 2 while rotating, controls more
A 2 revolving speed of rotor flies lower than predetermined low level, and predetermined low level can be configured accordingly according to conditions such as blade lengths, example
Such as, when blade is longer, predetermined low level preferably in 3000r/s hereinafter, and when blade is shorter, predetermined low level is preferably
In 8000r/s hereinafter, being specifically not intended to limit certainly, at this point it is possible to improve, to push away the revolving speed of paddle 3 dynamic in terms of forward-reverse to realize
Power, the revolving speed for pushing away paddle 3 are preferably higher than the revolving speed of rotor, for example, can in 10000r/s or more, preferably for can control it is multiple
Rotor 2 keeps synchronized and relative to rotating with pushing away the more low speed of paddle 3.Or, in the second winged control mode, controller control pushes away paddle 3 and more
When a rotor 2 rotates simultaneously, control pushes away paddle 3 and is rotated and 2 speed of each rotor according to wind speed and the revolving speed determined to flying speed
It rotates optional or convertiblely, specifically, airspeedometer etc. can be loaded on unmanned vehicle to measure wind speed, aircraft machine
Intracorporal winged control device can receive wind speed information, and wait for that flying speed and wind speed information fly come computational theory according to unmanned vehicle
Scanning frequency degree, and be to push away 3 revolving speed of paddle to control and push away paddle 3 and rotated accordingly by theoretical flight rate conversion, for example, inverse in wind
To when flight, for the wind-force that contends with, theoretical flight speed is determined as wind speed and to the sum of flying speed, then is converted into and pushes away paddle
3 revolving speeds are forward under to flying speed to realize, the speed of rotor 2 is adjustable according to posture needs at this time；Certainly,
When unmanned vehicle is in flight in visible area, for the wind-force that contends with, the revolving speed for pushing away paddle 3 can also be by manual remote control control
System.
Multiple holdings of rotor 2 slowly run, so that the power of horizontal direction is rotated from paddle 3 is pushed away, can reduce energy consumption, prolong
Long cruise duration；In addition in the case of encountering high wind, the balance of the aircraft more difficult to control of rotor 2 can be used push away 3 thrust of paddle at this time
Come the wind-force that contends with, so that the state that aircraft preserves the stable equilibrium.
Under more rotor type offline mode, by multiple rotors 2 and the cooperation jointly of paddle 3 is pushed away, is rotated with corresponding speed,
The advantages of both more rotors and fixed-wing can be gathered, can reduce energy consumption, extend cruise duration, guarantee the severe rings such as strong wind
The flight of held stationary is remained under the influence of the factor of border.
In one embodiment, main wing 4 is connect with body 1 by the Male head connector and female connector for having button bit.
Main wing 4 is equipped with the rudder face steering engine to drive rudder face 402 to act under control of the controller, Male head connector and female connector
Grafting realize the electric connection between controller and rudder face steering engine.
When the button bit of Male head connector and female connector is interlockingly connected in place, the electrical contact pin of the two is in contact.Button bit knot
As long as structure can be realized Male head connector and the mutual snapping of female connector fixes, mutually matched locating convex block can be
And hook structure is arranged for example, locating convex block is arranged on Male head connector in hook structure on female connector, it is fixed after contraposition
Position convex block buckles into hook structure being connected and fixed of both realizing, and but it is not limited to this, other can be realized can be inserted into it is fixed again
The fastening structure extracted that exerts a force is applicable.
Referring to Fig. 1,3 and 4, the rudder face 402 that main wing 4 includes at least main wing main body 401 and hinges over, rudder face steering engine can be set
It sets in main wing main body 401.Male head connector 501 is arranged on body 1, can be electrically connected with 1 controller of body, and female connects
It connects device 502 to be arranged in main wing main body 401, can be electrically connected with rudder face steering engine, it specifically can be linear by being walked inside main wing 4
Formula realizes the electric connection with steering engine, to realize that controller drives the movement of rudder face by controlling steering engine.
It is connected by the Male head connector 501 and female connector 502 that have button bit, on the one hand realizes body 1 and master
It is detachably connected fixation between the wing 4, on the other hand can also realize electrically conducting for both sides, this is for 1 controller pair of body
It is highly beneficial, the cabling disorder or exposed of avoidable connecting portion for the control of rudder face 402, it is electrically unstable etc. to ask
Topic.
In order to enable the structure of connecting portion is strong between main wing 4 itself and main wing 4 and body 1, can be set on main wing
Main wing reinforcing rod 6 is set, 6 one side of main wing reinforcing rod is plugged in main wing 4, on the other hand can be inserted to body 1, and can be with
Main wing 4 is disassembled from body 1 together.
Main wing 4 can also include stabilization 403, and the interface of main wing main body 401 and stabilization 403 is provided with mutual clamping
Fixed fastening structure.Stabilization 403 is for making unmanned vehicle have static stability appropriate.Stabilization 403 can be set
It sets on the end of the separate body 1 of main wing main body 401.Realized by fastening structure stabilization 403 and main wing main body 401 it
Between clamping fixed stabilization can be disassembled and when not flying or idle state, avoid stabilization accidentally by
The problem of destroying and leading to aircraft unstability.
In one embodiment, referring to Fig. 5 and Fig. 6, unmanned vehicle can also include at least two first reinforcement structures
7, it is vertical or horizontal to be threaded through on body 1.By the way that the first reinforcement structure 7 is arranged, can make in the vertical or horizontal structure of body 1
It is strengthened, is not easily broken or deforms.
Preferably, referring to Fig. 1-3 and 5, multiple rotors 2 are mounted on the extending area of each first reinforcement structure 7, and are made
The center of gravity position for obtaining the opposite body 1 without main wing 4 of each rotor 2 is symmetrical.In the present embodiment, 2 quantity of rotor is preferably four
It is a, then needing the both ends extending area of two the first reinforcement structures 7 to install rotor 2, but should not be as limit, according to rotor
The quantity of adjustable first reinforcement structure 7 of 2 quantity and extending area.By the way that the first reinforcement structure 7 is arranged, also provide
The installation site of rotor 2 is installed it is not necessary that horn is additionally arranged；Rotor is mounted in the first reinforcement structure 7, so that rotor 2
Impetus is located in the first reinforcement structure 7, due to the firm stable of the first reinforcement structure 7, so that the stabilization of rotor 2, to fly
Row is more stable；It sets symmetrical with respect to the 1 center of gravity position of body without main wing 4 for multiple rotors 2, is conducive to that more rotors is kept to fly
Fuselage balance under row mode.
In one embodiment, unmanned vehicle further includes paddle seat attachment base.The setting of paddle seat attachment base reinforces knot first
On the extending area of structure 7.Paddle seat attachment base includes upper connecting base 901 and lower connecting base 902.Upper connecting base 901 is plastic cement material,
And the position of the end of corresponding first reinforcement structure 7 protects the end of the first reinforcement structure 7 with encirclement in structure is surrounded.
Two pairs of lower connecting bases 902 and upper connecting base can be set since both ends are stretched out in one the first reinforcement structure 7
901, it is located at end positions.Lower connecting base 902 and upper connecting base 901 be respectively arranged on the first reinforcement structure 7 downside and
Upside, it is corresponding up and down.The perforation that the paddle seat across rotor 2 is offered on upper connecting base 901 may make paddle seat to pass through and with
The connection of one reinforcement structure 7.
The setting of lower connecting base 902 and upper connecting base 901 so that the first reinforcement structure 7 be unlikely to thinly it is exposed outside.
When rotor 2 is installed, paddle seat first can be, but not limited to be fixed in the first reinforcement structure 7 with spiro connecting piece, then by lower connecting base
902 and upper connecting base 901 it is fixed, then blade is installed on paddle seat again.
Upper connecting base 901 is plastic cement material, and the position of the end of corresponding first reinforcement structure 7 of upper connecting base 901 is in encirclement
Structure can surround the end of the first reinforcement structure 7 of protection.By the encirclement structure of 901 end position of upper connecting base by first
Reinforcement structure 7 is surrounded, thus in fact real outermost end is the encirclement structure, and material is plastic cement material,
End protective effect can be played, it is made to be not easy to be damaged.
In one embodiment, upper connecting base 901 can be connected and fixed with lower connecting base 902, and the structure being specifically clamped is not
Limit, such as can be buckle structure.Upper connecting base 901 and lower connecting base 902 wrap up the first reinforcement structure 7 of corresponding position
Come, certainly, the end of the first reinforcement structure 7 is surrounded by the encirclement structure of upper connecting base 901, can also be simultaneously by lower company
The corresponding end of joint chair 902 protects.
Lower connecting base 902 can be first connected and fixed with the first reinforcement structure 7, then upper connecting base 901 and lower connecting base 902
It connects and fixes, last upper connecting base 901 can be reconnected with the first reinforcement structure 7 and is fixed up, and the mode being connected and fixed can be
It is spirally connected.
In one embodiment, with continued reference to Fig. 1-3 and 5, unmanned vehicle can also include two lifting support feet 10.
Two lifting support feet 10 can be plastic cement material, be connected to the lower section of two lower connecting bases 902 relatively rearward, two
Lower connecting base 902 is foamed plastics material.
Since lifting support foot 10 is when rising and falling, biggish impact force can be generated, thus plastic cement material can guarantee to rise and fall
The structural integrity of support leg 10 is not easy to break or wear；And set foamed plastics portion material for lower connecting base 902, then it can be with
Play the role of absorbing vibration, buffering, and light-weight, mitigates complete machine burden.
In one embodiment, unmanned vehicle can also include preceding lifting support portion, and the middle part of body 1 is arranged in
Position, preceding lifting support portion constitute bikini undercarriage with two lifting support feet.Preferably, 3 lines are isosceles triangle.
Preceding lifting support portion can be the portion for protruding from body 1 of accommodating frame itself or device the protection structure for placing battery structure
Position.Bikini undercarriage not only guarantee it is steady when rising and falling, but also in the lesser situation of occupied space needed for guaranteeing undercarriage
Reduce the support construction quantity of undercarriage, landing gear structure is more small and exquisite, stores convenient for packed and transported.
Preferably, the first reinforcement structure 7 includes horizontal reinforced sheet 701 and vertical reinforced sheet 702.Horizontal 701 He of reinforced sheet
The setting in the same direction in the longitudinal direction of vertical reinforced sheet 702, and horizontal reinforced sheet 701 and vertical reinforced sheet 702 are perpendicular to length
Cross-section structure on direction is in be mutually perpendicular to.Each rotor 2 is fastened on horizontal reinforced sheet 701.Reinforced sheet is designed as sheet
Structure can be rotated about axis to avoid under the drive of outer power, and simultaneously by horizontal reinforced sheet 701 and vertical reinforced sheet 702
It is set as longitudinally perpendicular connection, shearing force can be enhanced, is twisted on vertical and horizontal direction not easy to break.
The upside of vertical reinforced sheet 702 is equipped with several positioning tooths in the longitudinal direction, and horizontal reinforced sheet 701 is in length side
To position of center line on offer the location hole of corresponding positioning tooth, horizontal reinforced sheet 701 and vertical reinforced sheet 702 pass through positioning
Hole and the vertical grafting of positioning tooth.Or the position of location hole and positioning tooth can be interchanged, horizontal reinforced sheet 701 is in the longitudinal direction
Equipped with several positioning tooths, vertical reinforced sheet 702 offers the location hole of corresponding positioning tooth, horizontal reinforced sheet in the longitudinal direction
701 pass through location hole and the vertical grafting of positioning tooth with vertical reinforced sheet 702.Certainly, the specific location of positioning tooth and location hole
It is unlimited.It is mutually located guarantee between vertical reinforced sheet 701 and horizontal reinforced sheet 702 not occurring to deviate relatively, so that first reinforces
Structure 7 itself is stable and firm.
In the present embodiment, two the first reinforcement structures 7 are separately positioned on the two sides side 103 of body 1.Preferably,
The horizontal channel for wearing fixed horizontal reinforced sheet 701 is at least longitudinally offered on the side 103 of body 1, horizontal channel
Bottom longitudinally offers vertical slot, and vertical reinforced sheet 702, which plugs, to be fixed in vertical slot.By horizontal channel and vertical slot come the level of placing
Reinforced sheet 701 and vertical reinforced sheet 702, play the role of positioning and fixing, and the first reinforcement structure 7 is more stable.Certainly, the water
Flat channel and vertical slot also extend in lower connecting base 902.
In one embodiment, further include at least two second reinforcement structures, be laterally or longitudinally threaded through on body 1；The
Two reinforcement structures are intersected in length and breadth with the first reinforcement structure 7, and crossover sites are located in body 1.
If the second reinforcement structure and the first reinforcement structure 7 are arranged in a crossed manner in body 1 using the up and down direction of body as Z axis
Internal vertical is in the plane of Z axis.In the present embodiment, the second reinforcement structure is laterally arranged in body 1, and first reinforces knot
Structure 7 is longitudinally disposed in body 1, laterally can be the left and right directions of body 1, longitudinally can be the front-rear direction of body 1, certainly
Can also have offset.The two of intersection is preferably mutually perpendicular to, naturally it is also possible to out of plumb.
Second reinforcement structure and the first reinforcement structure 7 can be any structure that can be played and reinforce body 1, can be compared with machine
Structure is made in stronger portion's material for body 1, is also possible to compared with structure more thick and solid for 1 housing wall of body.
Since the second reinforcement structure and the first reinforcement structure 7 are intersected in length and breadth in body 1, so that body 1 is in all directions
On the enhancing of power ability to bear, be not easily broken when stress on any direction, so that 1 structure of body is stronger.
In one embodiment, unmanned vehicle can also include accommodating frame 11, be arranged in body 1, and with first
Reinforcement structure 7 and/or the second reinforcement structure are connected and fixed；It is provided in accommodating frame 11 to the battery structure powered (in figure
It is not shown).Accommodating frame 11 can be only connected and fixed with the second reinforcement structure, can also be only connected and fixed with the first reinforcement structure 7,
Can also be both connected and fixed.
Since accommodating frame 11 and its content occupy larger weight, and compare concentration, by being fixedly connected on first
In reinforcement structure 7 and/or the second reinforcement structure, the active force of accommodating box frame 11 can be made to share to reinforcement structure, avoided
When body 1 is by external collision, lead to the problem of accommodating 11 inertia impact of frame and being easy breakdown body 1.
Second reinforcement structure can be interconnected and fixed with the first reinforcement structure 7, it is ensured that the knot of entire reinforcement structure
Structure stability, and reinforcement structure center is arranged in accommodating frame 11 or by the position at center, 1 center of gravity of body can be made to be located at
Or the center of closer than reinforcement structure, so that center of gravity is more stable.
Referring to Fig. 6, the second reinforcement structure includes the long reinforcing rod 801 of at least one and at least two short reinforcing rod 802.It is long
The content dress that reinforcing rod 801 does not influence to accommodate frame 11 is connected and fixed with taking with accommodating frame 11；That is, long reinforcing rod
801 will not influence toward accommodating frame 11 is built-in with the connection of accommodating frame 11 and take corresponding contents object, and long reinforcing rod 801, which is located at, to be held
The one side for setting frame 11 is connected and fixed by accommodating the connecting bracket that frame 11 has, naturally it is also possible to connection accommodating frame 11
Bottom frame.Two short reinforcing rod 802 is located along the same line, and opposite end is connect admittedly with the two sides of accommodating frame 11 respectively
It is fixed；That is, two short reinforcing rod 802 can be regarded as a reinforcing rod of intermediate truncation, intermediate truncation position connects respectively
Connect the two sides of accommodating frame 11.The connection of long reinforcing rod 801, short reinforcing rod 802 and accommodating frame 11 will not influence accommodating box
Frame 11 content dress take so that dress take it is more convenient, and make accommodate frame 11 it is centrally located.
In one embodiment, unmanned vehicle can also include two groups of omnidirectional antennas, be electrically connected with controller.Two groups
Omnidirectional antenna is arranged in accommodating frame 11, and is located at the two sides of battery structure, and two groups of omnidirectional antennas are with respect to body 1
Horizontal plane inclination, and the antenna tilt of same type is contrary.Each omnidirectional antenna is preferably in the shape of a rod, and mast and body 1 are horizontal
There is certain angle between face.
Two groups of omnidirectional antenna inclined directions are different, and e.g., one group of omnidirectional antenna is and another towards 1 head inclination of body
Group omnidirectional antenna is tilted towards 1 tail portion of body, but should not be as limit.Every group of omnidirectional antenna may include one or more complete
To antenna, two groups of omnidirectional antennas cooperate collectively as unmanned vehicle and the antenna that is remotely controlled end and communicates.
The horizontal plane of body 1 refers to the plane perpendicular with 1 up and down direction of body.With the variation of flight attitude, such as
When tilting flight, the horizontal plane of body 1 can follow body that certain inclination occurs, and the omnidirectional antenna on body 1 also accordingly occurs
Inclination.
It can accomplish signal in all directions in organism level if it is the vertical single antenna on body
It is relatively strong, and if in the case of body run-off the straight, will have signal in certain angles (the corresponding range of antenna ends)
Very weak situation, thus the problem of single antenna be easy to cause signal interruption during body attitudes vibration.
And two groups of omnidirectional antenna cooperations are used, since both opposite 1 horizontal plane of body tilts and inclined direction is different, letter
Number coverage area it is wider, when aircraft is flown nonstop to, due to receiving and dispatching ability enhancing at two groups of antenna overlappings, and in aircraft
Under inclination conditions, the signal that an antenna end corresponds to range can be compensated by another antenna, because still flying nonstop to regardless of tilting, all may be used
Accomplish stronger signal transmitting and receiving performance.
Since battery structure is coated with metal film, usually aluminium foil, thus signal isolation can be played the role of.Battery knot
Structure is, for example, lithium battery.The two sides of battery structure are arranged in two groups of omnidirectional antennas, can isolate in body 1 by battery structure
Interfere the interference of component；Simultaneously because battery structure two sides all have omnidirectional antenna, can only may be used to avoid after isolation interference
The single-side radiating signal of body 1 the problem of, and when external ambient occlusion body shelters from side, guarantee that there are also the other sides
Antenna can send and receive signals, and reduce the possibility that signal interruption occurs.
Every group of omnidirectional antenna includes an at least data transmission antenna and an image transmitting antenna, with the antenna tilt side in group
To consistent, preferably it is parallel to each other with group omnidirectional antenna.Referring to Fig. 7 and 8, first group of omnidirectional antenna includes first data transmission day
Line 121 and the first image transmitting antenna 122, second group of omnidirectional antenna include that the second data transmission antenna 131 and the second image pass
Defeated antenna 132.The data transmission antenna of each group antenna and the position of image transmitting antenna can be exchanged, spacing between the two
It is unlimited.
Data transmission antenna is 2.4GHz omnidirectional antenna, and image transmitting antenna is 5.8GHz omnidirectional antenna.Due to 5.8GHz
The frequency of omnidirectional antenna is higher, transmission rate faster, for transmitting image faster；The frequency of 2.4GHz omnidirectional antenna is relatively
It is low, for transmitting the signal of control flight.It is of course also possible to be other omnidirectional antennas, for example, data transmission antenna can be
Perhaps counting for other frequencies passes antenna image transmitting antenna as 915M or the figure of other frequencies biography antenna to 915M.
From the point of view of Fig. 7 and Fig. 8, projection relation of two groups of omnidirectional antennas on body lateral plan is to intersect, it is known that two groups
Group omnidirectional antenna is located in Different Plane.But mode shown in figure is preferably, and two groups of omnidirectional antennas can be set to intersect
Or antarafacial.That is, the relationship of two groups of data transmission antenna can be intersection or antarafacial, two groups of image transmitting antenna
Relationship is also possible to intersection or antarafacial.
Two groups of omnidirectional antennas can be separately fixed on the left side wall and right side wall of accommodating frame, and inclined direction is opposite.
The fixed mode of two groups of omnidirectional antennas is, for example, the modes such as screwed lock, rubberizing, the pressing of upper and lower fuselage.
Two groups of omnidirectional antennas have certain length, and accommodate frame be usually on body 1 accommodating space height it is highest,
Thus antenna is arranged on the side wall of accommodating frame, can remove from and open up additional space for antenna；Antenna tilt direction phase
Anti- coverage area can be made most wide, the cooperation of two antennas is best.Antenna can be set in length direction along side wall.
In one embodiment, the circuit board piece with controller be fixed on accommodating frame under, and with two groups of omnidirectional antennas
Line is not overlapped with respect to the orthographic projection region of the horizontal plane of body 1.Circuit board piece can be electrically connected with two groups of omnidirectional antennas, be realized
The processing of each road antenna transmission signal.
Two-way with frequency range antenna can each corresponding receiving processing circuit of self-configuring, letter can also be carried out after receipt
Number judgement, selects the high signal of performance to be further processed；Two-way can configure same transmitting processing electricity with the antenna of frequency range
Road is sent to two antennas by power splitter and is emitted, specific unlimited.Antenna reception remote control end transmitting carries control instruction
Signal, be transferred to controller and carry out certain signal processing and parse control instruction, can be used to control rotor, rudder face, push away
The work of paddle, to control flight.
Preferably, the antenna in two groups of omnidirectional antennas is in the shape of a rod, tilts 45 degree with respect to the horizontal plane of body 1, and incline
Tilted direction antarafacial is vertical.So can be best with signal transmitting and receiving performance, but should not as limit, can also tilt as other angles or
There are certain deviations by person.
In one embodiment, body 1 and main wing 4 are foamed plastics material, are tied by each reinforcement in previous embodiment
Structure, it is ensured that the structural strength of aircraft entirety is not easily broken.
The present embodiments relate to foamed plastics material can for EPO it is (interpolymerized by polyolefin and vi-ny l aromatic monomers
Resin granule foaming forms) foamed plastics, it is also possible to EPS (expanded polystyrene (EPS)), EPP (Expanded
Polyproplene, PP foam material) etc. other foamed materials；The material of reinforcement structure can be glass fibre, plastic cement,
Or carbon fiber portion material etc., lighter and sound construction.
In one embodiment, body 1 includes the upper machine body 101 and lower body 102 that are connected and fixed, the first reinforcement structure 7,
Second reinforcement structure etc. is between upper machine body 101 and lower body 102.In processing, between upper machine body 101 and lower body 102
It can be and be separately made, then in assembly, after each component is installed between upper machine body 101 and lower body 102, upper machine body
101 and lower body 102 reconnection be fixed up, the mode of being connected and fixed can be bonding or other.
Although the present invention is disclosed as above with preferred embodiment, it is not for limiting claim, any this field
Technical staff without departing from the spirit and scope of the present invention, can make possible variation and modification, therefore of the invention
Protection scope should be subject to the range that the claims in the present invention are defined.
Claims (16)
1. a kind of unmanned vehicle, which is characterized in that including body, multiple rotors on the body are set to the machine
Paddle is pushed away on body, is detachably connected the main wing of the body, and the controller of control flight；
When the main wing is installed on the body, the controller switches to first and flies under telecommand or preset instructions
Control mode pushes away paddle rotation and the rudder face movement of the main wing described in control, so that unmanned vehicle is with fixed-wing mode flight；
When the main wing is separated from the body, the controller switches to second and flies under telecommand or preset instructions
Control mode controls the multiple rotor wing rotation, so that unmanned vehicle is flown with more rotor modes.
2. unmanned vehicle as described in claim 1, which is characterized in that in the described first winged control mode, the controller
The multiple rotor wing rotation is selectively controlled, the rudder face movement for pushing away paddle rotation and the main wing is simultaneously stopped；Described
In second winged control mode, the controller selectively control described in push away paddle and multiple rotors while rotating, to assist the nothing
People's aircraft is flown with more rotor modes.
3. unmanned vehicle as claimed in claim 2, which is characterized in that in the described second winged control mode, the controller
When pushing away paddle and multiple rotors described in control while rotating, the multiple rotor revolving speed is controlled lower than predetermined low level, or described in control
Push away blade root according to wind speed and to flying speed determine revolving speed rotation and each rotor-speed rotates optional or convertiblely.
4. unmanned vehicle as described in claim 1, which is characterized in that the main wing and the body are by having button bit
Male head connector is connected with female connector；The main wing is equipped with the rudder face to drive rudder face to act under control of the controller
The electric connection between the controller and rudder face steering engine is realized in steering engine, the grafting of the Male head connector and female connector.
5. unmanned vehicle as described in claim 1, which is characterized in that it further include at least two first reinforcement structures, it is longitudinal
Or it is laterally threaded through on the body.
6. unmanned vehicle as claimed in claim 5, which is characterized in that the multiple rotor is mounted on each first and reinforces knot
On the extending area of structure, and make the center of gravity position of the opposite body without main wing of each rotor symmetrical.
7. unmanned vehicle as claimed in claim 5, which is characterized in that further include paddle seat attachment base, setting is reinforced first
On the extending area of structure；The paddle seat attachment base includes upper connecting base and lower connecting base；The upper connecting base is plastic cement material,
And the position of the end of corresponding first reinforcement structure protects the end of first reinforcement structure with encirclement in structure is surrounded
Portion.
8. unmanned vehicle as claimed in claim 7, which is characterized in that further include two lifting support feet, is plastic cement material,
It is connected to the lower section of two lower connecting bases relatively rearward, described two lower connecting bases are foamed plastics material.
9. unmanned vehicle as claimed in claim 8, which is characterized in that lifting support portion before further including is arranged in the machine
The intermediate position of body, the preceding lifting support portion constitute bikini undercarriage with two lifting support feet.
10. unmanned vehicle as claimed in claim 5, which is characterized in that first reinforcement structure includes horizontal reinforced sheet
With vertical reinforced sheet, the horizontal reinforced sheet and vertical reinforced sheet are arranged in the same direction in the longitudinal direction, and the horizontal reinforced sheet
It is being in be mutually perpendicular to perpendicular to the cross-section structure on length direction with vertical reinforced sheet.
11. unmanned vehicle as claimed in claim 10, which is characterized in that the upside of the vertical reinforced sheet is in length direction
Several positioning tooths are equipped with, the horizontal reinforced sheet offers the corresponding positioning tooth on the position of center line of length direction
Location hole, the horizontal reinforced sheet and vertical reinforced sheet pass through the location hole and the vertical grafting of positioning tooth.
12. unmanned vehicle as claimed in claim 5, which is characterized in that further include at least two second reinforcement structures, laterally
Or longitudinal direction is threaded through on the body；Second reinforcement structure is intersected in length and breadth with first reinforcement structure, and crossover sites
In the body.
13. unmanned vehicle as claimed in claim 12, which is characterized in that further include accommodating frame, be arranged in the body
In, and be connected and fixed with first reinforcement structure and/or the second reinforcement structure；It is provided in the accommodating frame to power
Battery structure.
14. unmanned vehicle as claimed in claim 13, which is characterized in that further include two groups of omnidirectional antennas, with the control
Device is electrically connected；Two groups of omnidirectional antennas are arranged in the accommodating frame, and are located at the two sides of the battery structure, institute
The horizontal plane that two groups of omnidirectional antennas are stated with respect to body tilts, and the antenna tilt of same type is contrary.
15. unmanned vehicle as claimed in claim 14, which is characterized in that every group of omnidirectional antenna is transmitted including an at least data
Antenna and an image transmitting antenna, it is consistent with the antenna tilt direction in group.
16. the unmanned vehicle as described in any one of claim 1-15, which is characterized in that the body and main wing are bubble
Foam plastic material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710466585.XA CN109131877B (en) | 2017-06-19 | 2017-06-19 | Unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710466585.XA CN109131877B (en) | 2017-06-19 | 2017-06-19 | Unmanned aerial vehicle |
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| CN109131877A true CN109131877A (en) | 2019-01-04 |
| CN109131877B CN109131877B (en) | 2021-04-13 |
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| CN109866914A (en) * | 2019-01-28 | 2019-06-11 | 东北农业大学 | Fixed-wing unmanned plane takeoff auxiliary device |
| WO2020237529A1 (en) * | 2019-05-29 | 2020-12-03 | 深圳市大疆创新科技有限公司 | Flight control method and apparatus for unmanned aerial vehicle, and unmanned aerial vehicle |
| CN114537674A (en) * | 2022-01-25 | 2022-05-27 | 北京理工大学 | Separable aircraft, control method and electronic equipment |
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| CN109131877B (en) | 2021-04-13 |
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Effective date of registration: 20230315 Address after: Room No. 388, Zhengwei East Road, Jinxi Town, Kunshan City, Suzhou City, Jiangsu Province, 215324 Patentee after: Kunshan Helang Aviation Technology Co.,Ltd. Address before: 215324 Zhengwei Road, Jinxi Town, Kunshan City, Suzhou City, Jiangsu Province Patentee before: HAOXIANG ELECTRIC ENERGY (KUNSHAN) Co.,Ltd. |