CN209581872U - Intelligent quadrotor gliding unmanned plane - Google Patents
Intelligent quadrotor gliding unmanned plane Download PDFInfo
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- CN209581872U CN209581872U CN201920254894.5U CN201920254894U CN209581872U CN 209581872 U CN209581872 U CN 209581872U CN 201920254894 U CN201920254894 U CN 201920254894U CN 209581872 U CN209581872 U CN 209581872U
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Abstract
The utility model provides a kind of intelligent quadrotor gliding unmanned plane, device design merged rotor wing unmanned aerial vehicle can VTOL and fixed-wing unmanned plane can be by the advantages that air-flow flies, holding power is strong.The utility model, as freight house, overcomes the small problem of the general rotor power unmanned plane load-carrying upper limit using fixed wing tank formula fuselage, and conevying efficiency improves；Using closed storage, power supply, appliance arrangement and institute's freight are placed in enclosure space, enhance the adaptability to various landform and climatic factor, while increasing the protection to cargo transport, use is more safe and reliable；Dynamic structure uses 4 symmetrical rotors, can take off vertically, vertical landing, overcome the general fixed-wing formula type landing problem stringent to site requirements, use more freely facilitates；Photovoltaic solar cell panels are equipped with, battery can be continued as while flight and be filled with electric energy, increase flying distance, conevying efficiency improves.
Description
Technical field
The invention belongs to unmanned plane field of structural design more particularly to a kind of intelligent quadrotor gliding unmanned planes.
Background technique
In face of the rapid expansion of material flow industry, in order to solve low cost, expeditiously transport package and goods and materials, unmanned plane by
It is gradually applied in this field；Many new want is proposed to such unmanned plane in the practice in the field simultaneously
Ask: the 1. unmanned plane load-carrying upper limits need to improve；2. unmanned plane single flight distance needs to increase；3. the flight of unmanned plane controls model
It encloses and needs to increase；4. it is more convenient etc. that the landing mode of unmanned plane needs.
Existing unmanned plane can substantially be divided into two classes: rotor wing unmanned aerial vehicle and fixed-wing unmanned plane.Rotor wing unmanned aerial vehicle it is excellent
Gesture is to manipulate flexibly with VTOL, but its due to design structure it is smaller, be easy affected by various factors, therefore can not take
Lot cargo is carried, cannot achieve prolonged flight and control at a distance；The advantage of fixed-wing unmanned plane be can for a long time,
Long-distance flight can once carry lot cargo, but its landing mode is higher to site requirements, and energy consumption is larger, thus not by
It is universal.
Summary of the invention
The utility model provides a kind of intelligent quadrotor gliding unmanned plane, and device design, which has merged rotor wing unmanned aerial vehicle, to hang down
Straight landing and fixed-wing unmanned plane can be by the advantages that air-flow flies, holding power is strong.
Intelligent quadrotor is glided unmanned plane, the unmanned plane include cylindricality main machine body, fixed main wing, fixed empennage,
Hatch door, bracket, photovoltaic battery panel, mount board, motor, shaft, rotor and rigidly fix bar；
The fixed main wing is two, is rigidly symmetrically fixed on cylindricality main machine body on both sides of the middle, the fixed empennage
It is fixed on the tail portion of cylindricality main machine body, the hatch door is installed on cylindricality main machine body upper surface, and the bracket is fixed on cylindricality host
The lower surface of body, the solar-energy photo-voltaic cell are fixed on the upper surface of the fixed main wing of two sides, and the wind speed sensing gauge is solid
Due to the outer ledge of the fixed main wing of two sides, described device plate is fixed on the downside of cylindricality main machine body inside center；
The bar that rigidly fixes is 4, one end by formed in fixed main wing and cylindricality main machine body junction level four
The vertex at a angle is stretched out, and central symmetry is distributed in fuselage surrounding, and 4 motors are fixed on sustained height respectively by the other end
On, and 4 rotors are accordingly connected with each motor via shaft respectively, the position of 4 rotors is located at same
Highly and it is just above fuselage and main wing；
Control chip, barometertic altimeter, GPS module, power supply, electricity is provided on described device plate to adjust；The power supply is institute
It states unmanned plane and power resources is provided, and be connected respectively with the photovoltaic solar cell and control chip by conducting wire；The gas
Pressure altimeter is for obtaining unmanned plane current flying altitude data；The wind speed sensing gauge is for obtaining gas around current unmanned plane
Flow flowing information；The control chip is connected with the electric tune, the barometertic altimeter, the wind speed sensing gauge by conducting wire, is used
In the electrical signal data for receiving above-mentioned measuring device, and by calculating, the electricity on described device plate readjusts the distribution out control instruction；Institute
It states electricity and is adjusted to 4, be connected respectively with 4 motors by conducting wire, electricity is adjusted the instruction for receiving control chip sending and then controlled respectively
Make 4 motors；The GPS module for identification with report unmanned plane current location.
Further, it the cylindricality main machine body, fixed main wing, fixed empennage and rigidly fixes bar and is all made of carbon fiber
Composite material.
Further, the fixed main wing shape selects Clarke Y wing-like.
Further, 4 rotors are distributed using X-type.
Further, XBee-Pro wireless communication module is also carried on described device plate, for carrying out information with earth station
Transmitting, while SBus wireless receiving module is also carried on mount board, it is used for real-time reception surface instruction.
Further, it is also equipped with IMU Inertial Measurement Unit on described device plate, passes through conducting wire and control chip and power supply phase
Even, the accelerometer that IMU includes is used for the acceleration of detection object, and gyroscope measures adding for unmanned plane for detecting angular speed
Speed and angular speed are to calculate the flight attitude of unmanned plane.
Compared with prior art, the advantages of the utility model and effect are as follows:
1, the utility model is overcome in general rotor power unmanned plane load-carrying using fixed wing tank formula fuselage as freight house
Small problem is limited, conevying efficiency improves；
2, the utility model uses closed storage, and power supply, appliance arrangement and institute's freight are in enclosure space
It places, enhances the adaptability to various landform and climatic factor, while increasing the protection to cargo transport, use
It is more safe and reliable；
3, the dynamic structure of the utility model uses 4 symmetrical rotors, can take off vertically, vertical landing, gram
The general fixed-wing formula type landing problem stringent to site requirements is taken, use more freely facilitates；
4, the utility model is equipped with photovoltaic solar cell panels, can continue as battery while flight and be filled with electricity
Can, flying distance is increased, conevying efficiency improves.
Detailed description of the invention
Fig. 1 is the main structure composition schematic diagram of the gliding unmanned plane of intelligence quadrotor described in the utility model embodiment.
Fig. 2 is the mount board structural schematic diagram of the gliding unmanned plane of intelligence quadrotor described in the utility model embodiment.
Wherein, 1- motor M1,2- motor M2,3- motor M3,4- motor M4,5-1 shaft, 6-2 shaft, No. 7-3 turn
Axis, 8-4 shaft, 9-1 rotor, 10-2 rotor, 11-3 rotor, 12-4 rotor, 13- cylindricality main machine body, No. 14-1
Main wing, 15-2 main wing, 16- empennage, 17-1 hatch door, 18-2 hatch door, 19- bracket, 20-1 rigid connecting rod, No. 21-2
Rigid connecting rod, 22-3 rigid connecting rod, 23-4 rigid connecting rod, 24-1 wind speed sensing gauge, 25-2 wind speed sensing
Meter, 26- mount board, 27-1 photovoltaic solar cell panels, 28-2 photovoltaic solar cell panels, 29- control chip, No. 30-1
Electricity is adjusted, No. 31-2 electricity is adjusted, No. 32-3 electricity is adjusted, No. 33-4 electric tune, 34- power supply, 35-IMU Inertial Measurement Unit, 36- pressure altitude
Meter, 37-GPS module, the invalid communication module of 38-XBee-Pro, 39-SBus wireless receiving module.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawings of the specification.
Intelligent quadrotor gliding unmanned plane, the unmanned plane includes cylindricality main machine body 13, fixed main wing, fixed empennage
16, hatch door, bracket 19, photovoltaic battery panel, mount board 26, motor, shaft, rotor and bar is rigidly fixed.
The fixed main wing is two 14 and 15, is rigidly symmetrically fixed on 13 on both sides of the middle of cylindricality main machine body, described solid
Fixed pattern empennage 16 is fixed on the tail portion of cylindricality main machine body 13, and the hatch door 17 and 18 is installed on 13 upper surface of cylindricality main machine body, institute
The lower surface that bracket 19 is fixed on cylindricality main machine body 13 is stated, the solar-energy photo-voltaic cell 27 and 28 is fixed on the fixed of two sides
The upper surface of main wing 14 and 15, the wind speed sensing gauge 24 and 25 are fixed on the outer side edges of the fixed main wing 14 and 15 of two sides
Edge, described device plate 26 are fixed on the downside of 13 inside center of cylindricality main machine body.
The bar that rigidly fixes is 4, is 20,21,22,23 in attached drawing, one end is by fixed main wing 14 and 15 and cylindricality
The vertex at four angles formed in 13 junction level of main machine body is stretched out, and central symmetry is distributed in 13 surrounding of fuselage, the other end point
4 motors 1,2,3,4 are not fixed on sustained height, and by 4 rotors 9,10,11,12 respectively via shaft
5,6,7,8 are accordingly connected with each motor 1,2,3,4, the position of 4 rotors 9,10,11,12 be located at sustained height and
Just above fuselage 13 and main wing 14 and 15.
Be provided on described device plate 26 control chip 29, barometertic altimeter 36, GPS module 37, power supply 34, electricity adjust 30,
31,32,33；The power supply 34 provides power resources for the unmanned plane, and electric with the photovoltaic solar respectively by conducting wire
Pond 27 and 28 is connected with control chip 29；The barometertic altimeter 36 is for obtaining unmanned plane current flying altitude data；It is described
Wind speed sensing gauge 24 and 25 is for obtaining current unmanned plane surrounding flow flowing information；The control chip 29 is adjusted with the electricity
30,31,32,33, the barometertic altimeter 36, the wind speed sensing gauge 24 are connected with 25 by conducting wire, for receiving above-mentioned measurement
The electrical signal data of equipment, and by calculating, the electricity on described device plate 26 adjusts 30,31,32,33 to issue control instruction；Institute
State electricity and be adjusted to 4, be attached drawing in 30,31,32,33, be connected respectively with 4 motors 1,2,3,4 by conducting wire, electricity adjust 30,31,
32,33 instructions for receiving that control chip 29 issues control 4 motors respectively in turn；The GPS module 37 for identification and report
The current location of unmanned plane.
In addition, the cylindricality main machine body 13, fixed main wing 14 and 15, fixed empennage 16 and rigidly fix bar 20,21,
22,23 it is all made of carbon fibre composite.
In addition, the shape of fixed main wing 14 and 15 selects Clarke Y wing-like.
In addition, 4 rotors 9,10,11,12 are distributed using X-type.
In addition, XBee-Pro wireless communication module 38 is also carried on described device plate 26, for carrying out information with earth station
Transmitting, while SBus wireless receiving module 39 is also carried on mount board, it is used for real-time reception surface instruction.
In addition, being also equipped with IMU Inertial Measurement Unit 35 on described device plate, pass through conducting wire and control chip 29 and power supply 34
It is connected, the accelerometer that IMU Inertial Measurement Unit 35 includes is used for the acceleration of detection object, and gyroscope is for detecting angle speed
Degree, measures the acceleration and angular speed of unmanned plane to calculate the flight attitude of unmanned plane.
Compared with prior art, the advantages of the utility model and effect are as follows:
The utility model, as freight house, overcomes the general rotor power unmanned plane load-carrying upper limit using fixed wing tank formula fuselage
Small problem, conevying efficiency improve.
The utility model uses closed storage, and power supply, appliance arrangement and institute's freight are put in enclosure space
It sets, the adaptability to various landform and climatic factor is enhanced, while increasing the protection to cargo transport, using more
Add safe and reliable.
The dynamic structure of the utility model uses 4 symmetrical rotors, can take off vertically, vertical landing, overcome
The general fixed-wing formula type landing problem stringent to site requirements, use more freely facilitate.
The utility model is equipped with photovoltaic solar cell panels, can continue as battery while flight and be filled with electric energy,
Flying distance is increased, conevying efficiency improves.
The foregoing is merely better embodiment of the invention, protection scope of the present invention is not with above embodiment
Limit, as long as those of ordinary skill in the art's equivalent modification or variation made by disclosure according to the present invention, should all be included in power
In the protection scope recorded in sharp claim.
Claims (6)
- The unmanned plane 1. intelligent quadrotor is glided, it is characterised in that:The unmanned plane includes cylindricality main machine body, fixed main wing, fixed empennage, hatch door, bracket, photovoltaic battery panel, device Plate, motor, shaft, rotor and rigidly fix bar；The fixed main wing is two, is rigidly symmetrically fixed on cylindricality main machine body on both sides of the middle, the fixed empennage is fixed In the tail portion of cylindricality main machine body, the hatch door is installed on cylindricality main machine body upper surface, and the bracket is fixed on cylindricality main machine body Lower surface, the solar-energy photo-voltaic cell are fixed on the upper surface of the fixed main wing of two sides, and the wind speed sensing gauge is fixed on The outer ledge of the fixed main wing of two sides, described device plate are fixed on the downside of cylindricality main machine body inside center；The bar that rigidly fixes is 4, and one end is by four angles being formed in fixed main wing and cylindricality main machine body junction level Vertex stretch out, central symmetry is distributed in fuselage surrounding, and 4 motors are fixed on sustained height by the other end respectively, and 4 rotors are accordingly connected with each motor via shaft respectively, the position of 4 rotors be located at sustained height and Just above fuselage and main wing；Control chip, barometertic altimeter, GPS module, power supply, electricity is provided on described device plate to adjust；The power supply is the nothing Man-machine offer power resources, and be connected respectively with the photovoltaic solar cell and control chip by conducting wire；The air pressure is high Degree meter is for obtaining unmanned plane current flying altitude data；The wind speed sensing gauge is for obtaining current unmanned plane surrounding flow stream Dynamic information；The control chip is connected with the electric tune, the barometertic altimeter, the wind speed sensing gauge by conducting wire, for connecing The electrical signal data of above-mentioned measuring device is received, and by calculating, the electricity on described device plate readjusts the distribution out control instruction；The electricity 4 are adjusted to, is connected respectively with 4 motors by conducting wire, electricity adjusts the instruction for receiving control chip sending and then controls 4 respectively Motor；The GPS module for identification with report unmanned plane current location.
- The unmanned plane 2. intelligence quadrotor according to claim 1 is glided, it is characterised in that: the cylindricality main machine body, fixation It formula main wing, fixed empennage and rigidly fixes bar and is all made of carbon fibre composite.
- The unmanned plane 3. intelligence quadrotor according to claim 1 is glided, it is characterised in that: the fixed main wing shape choosing With Clarke Y wing-like.
- The unmanned plane 4. intelligence quadrotor according to claim 1 is glided, it is characterised in that: 4 rotors use X-type Distribution.
- The unmanned plane 5. intelligence quadrotor according to claim 1 is glided, it is characterised in that: also carried on described device plate XBee-Pro wireless communication module for carrying out information transmitting with earth station, while also carrying SBus wireless receiving on mount board Module is used for real-time reception surface instruction.
- The unmanned plane 6. intelligence quadrotor according to claim 1 is glided, it is characterised in that: be also equipped on described device plate IMU Inertial Measurement Unit is connected by conducting wire with control chip and power supply, and the accelerometer that IMU includes is used for detection object Acceleration, gyroscope measure the acceleration and angular speed of unmanned plane for detecting angular speed to calculate the flight attitude of unmanned plane.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920254894.5U CN209581872U (en) | 2019-02-28 | 2019-02-28 | Intelligent quadrotor gliding unmanned plane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920254894.5U CN209581872U (en) | 2019-02-28 | 2019-02-28 | Intelligent quadrotor gliding unmanned plane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109720563A (en) * | 2019-02-28 | 2019-05-07 | 南京邮电大学 | Intelligent quadrotor gliding unmanned plane and its flight control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109720563A (en) * | 2019-02-28 | 2019-05-07 | 南京邮电大学 | Intelligent quadrotor gliding unmanned plane and its flight control method |
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