CN113320705A - Turbojet type unmanned aerial vehicle, carrying system and carrying method - Google Patents
Turbojet type unmanned aerial vehicle, carrying system and carrying method Download PDFInfo
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- CN113320705A CN113320705A CN202110759137.5A CN202110759137A CN113320705A CN 113320705 A CN113320705 A CN 113320705A CN 202110759137 A CN202110759137 A CN 202110759137A CN 113320705 A CN113320705 A CN 113320705A
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- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 230000005540 biological transmission Effects 0.000 claims abstract description 5
- 238000004891 communication Methods 0.000 claims description 11
- 238000002716 delivery method Methods 0.000 claims 2
- 230000008569 process Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/16—Aircraft characterised by the type or position of power plants of jet type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C15/00—Attitude, flight direction, or altitude control by jet reaction
- B64C15/02—Attitude, flight direction, or altitude control by jet reaction the jets being propulsion jets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C15/00—Attitude, flight direction, or altitude control by jet reaction
- B64C15/02—Attitude, flight direction, or altitude control by jet reaction the jets being propulsion jets
- B64C15/12—Attitude, flight direction, or altitude control by jet reaction the jets being propulsion jets the power plant being tiltable
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
In order to solve the technical problem that a multi-rotor unmanned aerial vehicle cannot carry materials or people to places with poor geographic environments, the embodiment of the invention provides a turbojet unmanned aerial vehicle, a carrying system and a carrying method. The method comprises the following steps: a carrying platform; a plurality of turbine jet carrying units are uniformly distributed on the carrying platform; each turbojet carrier unit comprising a steering mechanism, a turbojet engine and a motor; the steering mechanism is connected with the carrying platform; the motor is in transmission connection with the steering mechanism, and the turbojet engine is arranged on the steering mechanism. The carrying system comprises a turbojet unmanned aerial vehicle and a control system; the carrying method comprises the following steps: controlling each turbine engine to correct the attitude of the carrying platform according to the attitude data of the carrying platform so as to maintain the carrying platform in a stable state; and controlling the turbojet carrying unit to control the flying direction to complete takeoff or landing according to the real-time height data of the carrying platform and the real-time satellite positioning information data.
Description
Technical Field
The invention relates to a turbojet unmanned aerial vehicle, a carrying system and a carrying method.
Background
With the development of the unmanned aerial vehicle technology, the multi-rotor unmanned aerial vehicle is widely applied to the aspects of unmanned logistics, unmanned express delivery, aerial photography, monitoring and the like.
The multi-rotor unmanned aerial vehicle has strong maneuverability, can vertically take off, land and hover, but has the defects of short endurance time, light effective load, low flying speed, low flying height and the like, and cannot meet the conditions of high requirements on carrying load, flying height, flying speed, endurance time and the like, such as ground obstacles like flying and jumping rivers, mine areas, canyons and the like, and places where manpower is difficult to reach when carrying materials or people arrive at roofs, tree tops, mountains and the like.
Disclosure of Invention
In order to solve the technical problem that a multi-rotor unmanned aerial vehicle cannot carry materials or people to places with poor geographic environments, the embodiment of the invention provides a turbojet unmanned aerial vehicle, a carrying system and a carrying method.
The embodiment of the invention is realized by the following technical scheme:
in a first aspect, an embodiment of the present invention provides a turbojet unmanned aerial vehicle, including: a carrying platform;
a plurality of turbine jet carrying units are uniformly distributed on the carrying platform;
each turbojet carrier unit comprising a steering mechanism, a turbojet engine and a motor; the steering mechanism is connected with the carrying platform;
the motor is in transmission connection with the steering mechanism, and the turbojet engine is arranged on the steering mechanism.
Further, the carrying platform is a foldable carrying platform.
Further, the number of turbojet carrying units is 4; the 4 turbojet carrying units are distributed at four corners of the carrying platform, and the steering mechanism of each turbojet carrying unit is connected with the corresponding corner of the carrying platform.
Furthermore, the carrying platform is provided with a plurality of universal wheels.
In a second aspect, embodiments of the present invention provide a vehicle system comprising the turbojet unmanned aerial vehicle and a control system; the control system includes:
the height sensor is used for acquiring real-time height data of the carrying platform;
the attitude sensor is used for acquiring real-time attitude data of the carrying platform;
the satellite positioning unit is used for acquiring real-time positioning information data of a satellite of the carrying platform;
a communication unit for receiving control instruction information; and
a controller for controlling the turbojet carrying unit according to control command information; the system is used for controlling each turbine engine to correct the attitude of the carrying platform according to the attitude data of the carrying platform so as to enable the carrying platform to maintain a stable state;
the system is used for controlling the turbojet carrying unit according to the real-time height data of the carrying platform and the real-time satellite positioning information data so as to control the flying direction to complete takeoff or landing.
Furthermore, the remote control device also comprises a remote controller used for sending control instruction information.
In a third aspect, an embodiment of the present invention further provides a carrying method using the turbojet unmanned aerial vehicle, including:
controlling each turbine engine to correct the attitude of the carrying platform according to the attitude data of the carrying platform so as to maintain the carrying platform in a stable state;
and controlling the turbojet carrying unit to control the flying direction to complete takeoff or landing according to the real-time height data of the carrying platform and the real-time satellite positioning information data.
Further, when the destination needs to be reached, the carrying method comprises the following steps:
receiving instruction information of a preset destination;
controlling each turbine engine to lift off according to the target command information;
controlling each turbine engine to correct the attitude of the carrying platform according to the attitude data of the carrying platform so as to maintain the carrying platform in a stable state;
controlling the turbojet carrying unit according to the real-time height data of the carrying platform and the real-time satellite positioning information data so as to control the flight direction;
and after the preset purpose is achieved, controlling the flight direction of the turbojet carrying unit according to the descending command so as to finish landing.
Compared with the prior art, the embodiment of the invention has the following advantages and beneficial effects:
according to the turbojet unmanned aerial vehicle, the carrying system and the carrying method, the unmanned aerial vehicle consisting of the turbojet engines is adopted, so that the problems that ground obstacles such as rivers, thunderlands, canyons and the like cannot carry materials and convey personnel quickly are solved, and personnel and materials can be carried quickly in special or emergency situations; the defects and problems caused by the adoption of the existing multi-rotor unmanned aerial vehicle for carrying goods or people to a place with a poor geographic environment are avoided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments 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 principles of the invention. In the drawings:
fig. 1 is a schematic overall schematic diagram of an unmanned aerial vehicle and a vehicle system.
FIG. 2 is a flow chart illustrating the steps of the carrying method.
Fig. 3 is a schematic flow chart of the steps of the carrying method using the controller on the control board as the execution body.
Reference numbers and corresponding part names in the drawings:
1-a carrying platform, 2-a first steering mechanism, 3-a second steering mechanism, 4-a fourth steering mechanism, 5-a third steering mechanism, 6-a first turbojet engine, 7-a second turbojet engine, 8-a fourth turbojet engine, 9-a third turbojet engine, 10-a first motor, 11-a second motor, 12-a fourth motor, 13-a third motor, 14-a control board, 15-an attitude sensor, 16-a height sensor, 17-a satellite positioning unit, 18-a communication unit, 19-a remote controller.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Examples
Referring to fig. 1, an embodiment of the present invention provides a turbojet unmanned aerial vehicle including: a carrying platform;
a plurality of turbine jet carrying units are uniformly distributed on the carrying platform;
each turbojet carrier unit comprising a steering mechanism, a turbojet engine and a motor; the steering mechanism is connected with the carrying platform;
the motor is in transmission connection with the steering mechanism, and the turbojet engine is arranged on the steering mechanism.
According to the embodiment of the invention, the turbojet carrying units are uniformly distributed on the carrying platform, and the steering mechanism is controlled by the motor to steer, so that the turbojet engine on the steering mechanism steers, and the control on the flying direction of the carrying platform is further realized. The mode overcomes the defects and problems of the existing multi-rotor unmanned aerial vehicle for carrying goods and materials or people to places with poor geographic environment, solves the problems that ground obstacles such as rivers, thunderlands, canyons and the like can not carry goods and materials and convey people quickly by adopting the unmanned aerial vehicle consisting of a plurality of turbojet engines, and realizes the quick carrying of the people and the goods and materials under special or emergency conditions.
Optionally, the carrying platform is of rectangular configuration.
Further, the carrying platform is a foldable carrying platform.
Further, the number of turbojet carrying units is 4; the 4 turbojet carrying units are distributed at four corners of the carrying platform, and the steering mechanism of each turbojet carrying unit is connected with the corresponding corner of the carrying platform.
In order to facilitate the landing and sliding of the carrying platform, the carrying platform is provided with a plurality of universal wheels.
The embodiment of the invention provides a carrying system, which comprises the turbojet unmanned aerial vehicle and a control system; the control system includes:
the height sensor is used for acquiring real-time height data of the carrying platform;
the attitude sensor is used for acquiring real-time attitude data of the carrying platform;
the satellite positioning unit is used for acquiring real-time positioning information data of a satellite of the carrying platform;
a communication unit for receiving control instruction information; and
a controller for controlling the turbojet carrying unit according to control command information; the system is used for controlling each turbine engine to correct the attitude of the carrying platform according to the attitude data of the carrying platform so as to enable the carrying platform to maintain a stable state;
the system is used for controlling the turbojet carrying unit according to the real-time height data of the carrying platform and the real-time satellite positioning information data so as to control the flying direction to complete takeoff or landing.
Furthermore, the remote control device also comprises a remote controller used for sending control instruction information.
Specifically, the carrying system of the turbojet unmanned aerial vehicle comprises the turbojet unmanned aerial vehicle and the carrying system; specifically, the foldable carrying platform comprises a foldable carrying platform 1, a first steering mechanism 2, a second steering mechanism 3, a fourth steering mechanism 4, a third steering mechanism 5, a first turbojet engine 6, a second turbojet engine 7, a fourth turbojet engine 8, a third turbojet engine 9, a first motor 10, a second motor 11, a fourth motor 12, a third motor 13, a control panel 14, an attitude sensor 15, a height sensor 16, a satellite positioning unit 17, a communication unit 18 and a remote controller 19.
Four universal wheels are symmetrically arranged at four corners of the back of the foldable carrying platform 1;
the first steering mechanism 2, the second steering mechanism 3, the fourth steering mechanism 4 and the third steering mechanism 5 are symmetrically arranged at four corners of the front surface of the foldable carrying platform 1.
The carrying system comprises a control panel 14 provided with a controller, an attitude sensor 15, a height sensor 16, a satellite positioning unit 17 and a communication unit 18 which are fixedly arranged on the back of the foldable carrying platform 1;
a first turbojet engine 6 and a first motor 10 are fixedly installed on the first steering mechanism 2, a second turbojet engine 7 and a second motor 11 are fixedly installed on the second steering mechanism 3, a fourth turbojet engine 8 and a fourth motor 12 are fixedly installed on the fourth steering mechanism 4, and a third turbojet engine 9 and a third motor 13 are fixedly installed on the steering mechanism 5;
the first turbojet 6, the second turbojet 7, the fourth turbojet 8, the third turbojet 9, the first motor 10, the second motor 11, the fourth motor 12, the third motor 13, the attitude sensor 15, the altitude sensor 16, the satellite positioning unit 17 and the communication unit 18 are connected to the control board 14; the communication module 18 communicates with the remote controller 19 by wireless communication.
The working principle of the carrying system is the same as that of the carrying method, which is not described in detail herein.
Referring to fig. 2, an embodiment of the present invention further provides a carrying method using the turbojet unmanned aerial vehicle, including:
s101, controlling each turbine engine to correct the attitude of the carrying platform according to the attitude data of the carrying platform so as to enable the carrying platform to maintain a stable state;
and S102, controlling the turbojet carrying unit to control the flying direction to complete takeoff or landing according to the real-time height data of the carrying platform and the real-time satellite positioning information data.
Therefore, the carrying method realizes the control of the flight direction, the lifting and the landing of the turbojet unmanned aerial vehicle through carrying platform attitude data, carrying platform real-time height data and satellite real-time positioning information data, thereby solving the problems that ground obstacles such as rivers, thunderlands, canyons and the like cannot carry materials and conveying personnel quickly.
Further, when it is necessary to go to the destination, referring to fig. 3, the carrying method, with the controller on the control board 14 as the execution subject, includes:
s201, receiving instruction information of a preset destination;
s202, controlling each turbine engine to lift off according to the target instruction information;
s203, controlling each turbine engine to correct the attitude of the carrying platform according to the attitude data of the carrying platform so as to enable the carrying platform to maintain a stable state;
s204, controlling the turbojet carrying unit according to the real-time height data of the carrying platform and the real-time satellite positioning information data to control the flight direction;
s205, after the preset purpose is achieved, the flight direction of the turbojet carrying unit is controlled according to the descending instruction so as to finish landing.
During the return process, the return can be carried out in the same way.
The system is taken as a main body, and the specific control process of the carrying method comprises the following steps:
firstly, according to the destination to be reached, such as requirements of flying rivers, thunderstorm areas, canyons and the like, the destination is set through a remote controller 19 and then is transmitted to a communication unit 18 in a wireless transmission mode;
after receiving the task instruction, the communication module 18 transmits the task instruction to the control panel 14 for analysis;
thirdly, the control panel 14 sends instructions to the first turbojet 6, the second turbojet 7, the fourth turbojet 8 and the third turbojet 9 according to the analysis results, and the first turbojet 6, the second turbojet 7, the fourth turbojet 8 and the third turbojet 9 start to lift off;
fourthly, in the process of lifting off, the attitude sensor 15 acquires the attitude of the platform in real time, if the platform inclines, the command is issued immediately, and the first turbojet engine 6, the second turbojet engine 7, the fourth turbojet engine 8 and the third turbojet engine 9 perform corresponding correction until the platform reaches a normal and stable state again; the height sensor 16 collects the height of the platform in real time, and when the height reaches a preset height, the satellite positioning unit 17 is combined to adjust the directions of the first turbojet engine 6, the second turbojet engine 7, the fourth turbojet engine 8 and the third turbojet engine 9 through the first motor 10, the second motor 11, the fourth motor 12 and the third motor 13, so as to control the flight direction;
and fifthly, after the preset destination is reached, the directions of the first turbojet engine 6, the second turbojet engine 7, the fourth turbojet engine 8 and the third turbojet engine 9 are adjusted through the first motor 10, the second motor 11, the fourth motor 12 and the third motor 13, the remote controller sends a descending command, and the platform lands.
And sixthly, returning the carrying platform according to the same process.
The embodiment of the invention realizes the rapid material carrying of ground obstacles such as rivers, Brazil zones, canyons and the like.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A turbojet unmanned aerial vehicle comprising: a carrying platform;
a plurality of turbine jet carrying units are uniformly distributed on the carrying platform;
each turbojet carrier unit comprising a steering mechanism, a turbojet engine and a motor; the steering mechanism is connected with the carrying platform;
the motor is in transmission connection with the steering mechanism, and the turbojet engine is arranged on the steering mechanism.
2. The turbojet unmanned aerial vehicle of claim 1 wherein the carrier platform is a collapsible carrier platform.
3. The turbojet unmanned aerial vehicle of claim 2, wherein the number of turbojet carrying units is 4; the 4 turbojet carrying units are distributed at four corners of the carrying platform, and the steering mechanism of each turbojet carrying unit is connected with the corresponding corner of the carrying platform.
4. The turbojet unmanned aerial vehicle of claim 2 wherein the carrier platform is provided with a plurality of universal wheels.
5. A carrying system comprising a turbojet unmanned aerial vehicle according to any one of claims 1 to 4 and a control system; the control system includes:
the height sensor is used for acquiring real-time height data of the carrying platform;
the attitude sensor is used for acquiring real-time attitude data of the carrying platform;
the satellite positioning unit is used for acquiring real-time positioning information data of a satellite of the carrying platform;
a communication unit for receiving control instruction information; and
a controller for controlling the turbojet carrying unit according to control command information; the system is used for controlling each turbine engine to correct the attitude of the carrying platform according to the attitude data of the carrying platform so as to enable the carrying platform to maintain a stable state;
the system is used for controlling the turbojet carrying unit according to the real-time height data of the carrying platform and the real-time satellite positioning information data so as to control the flying direction to complete takeoff or landing.
6. The turbojet unmanned aerial vehicle of claim 5, further comprising a remote control for sending control command information.
7. A method of carrying a turbojet unmanned aerial vehicle as claimed in any one of claims 1 to 3, comprising:
controlling each turbine engine to correct the attitude of the carrying platform according to the attitude data of the carrying platform so as to maintain the carrying platform in a stable state;
and controlling the turbojet carrying unit to control the flying direction to complete takeoff or landing according to the real-time height data of the carrying platform and the real-time satellite positioning information data.
8. A delivery method as in claim 7, wherein when an intended purpose is required, said delivery method comprises:
receiving instruction information of a preset destination;
controlling each turbine engine to lift off according to the target command information;
controlling each turbine engine to correct the attitude of the carrying platform according to the attitude data of the carrying platform so as to maintain the carrying platform in a stable state;
controlling the turbojet carrying unit according to the real-time height data of the carrying platform and the real-time satellite positioning information data so as to control the flight direction;
and after the preset purpose is achieved, controlling the flight direction of the turbojet carrying unit according to the descending command so as to finish landing.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110759137.5A CN113320705A (en) | 2021-07-05 | 2021-07-05 | Turbojet type unmanned aerial vehicle, carrying system and carrying method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110759137.5A CN113320705A (en) | 2021-07-05 | 2021-07-05 | Turbojet type unmanned aerial vehicle, carrying system and carrying method |
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Cited By (1)
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| CN114852338A (en) * | 2022-06-29 | 2022-08-05 | 中国兵器装备集团自动化研究所有限公司 | Hybrid power carrying unmanned aerial vehicle and carrying system |
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Application publication date: 20210831 |