Mars unmanned aerial vehicle system and method based on high-pressure micro air pump driving

Abstract

The invention discloses a Mars unmanned aerial vehicle system based on high-pressure micro air pump driving, which aims at solving the problems of low atmospheric density of Mars and insufficient lift force / poor Reynolds number effect of traditional rotors, and mainly comprises a pneumatic propulsion mechanism, an air injection mechanism, a gas compression mechanism and a flight control system, a closed-loop pneumatic propulsion structure with a high-pressure micro air pump, an air storage cylinder and a micro nozzle as the core completely replaces a traditional rotor wing or a fixed wing, stable and controllable thrust can be provided in a rarefied atmospheric environment, thrust vectorization adjustment is achieved, and the attitude and trajectory control precision of the unmanned aerial vehicle is improved; mars atmosphere (main CO2) is adopted as a unique working medium, the repeatable circulation of local material utilization, compression, storage, injection and gas resupply is realized, the flight time is prolonged, one-time gas source exhaustion is avoided, and the system reliability and the flight safety are improved through a safety lock and a pressure regulating valve.

Description

Technical Field

[0001] This invention belongs to the technical field of unmanned aerial vehicle (UAV) systems, and particularly relates to a Mars UAV system and method based on a high-pressure micro air pump. Background Technology

[0002] Mars is the most Earth-like planet in our solar system, making its exploration crucial. While orbiters offer a wide range of detection capabilities, their accuracy is relatively low. Rover missions, on the other hand, boast higher accuracy, but their wheeled locomotion limits their range and movement speed, and their field of vision is easily restricted by complex terrain such as hills, cliffs, and caves. To overcome these limitations, the development of Mars spacecraft has become a current research focus.

[0003] However, the development of a Mars spacecraft still faces many challenges: 1) Over 95% of the gas on Mars is carbon dioxide, and its atmospheric density is less than 2% of Earth's. If traditional fixed-wing and rotary-wing drones used on Earth are employed, this extremely low air density means the drones would have to operate at Reynolds numbers two orders of magnitude lower than on Earth. The flow characteristics around the wing surface under these Reynolds number conditions are extremely unstable, leading to a decrease in lift and an increase in the stall angle of attack. 2) The Martian surface atmosphere is extremely thin and rich in carbon dioxide, making it difficult to generate sufficient lift. The spacecraft's structural design must be lightweight and have a large lifting area. Furthermore, it is essential to ensure the spacecraft has efficient and long-duration exploration capabilities.

[0004] The Ingenuity rover, designed by the Jet Propulsion Laboratory, is currently the only drone to have successfully operated on the surface of Mars. Ingenuity employs a coaxial dual-rotor design, requiring its rotors to rotate at a high speed of 2400-2800 revolutions per minute. Its limited flight time—a maximum of 169.5 seconds—and maximum altitude of 24 meters severely restrict its applications, making efficient, long-duration operation difficult. Therefore, there is an urgent need to develop a Mars spacecraft that can continuously output strong and stable thrust in the Martian atmosphere and is reusable.

[0005] Mars exploration missions typically face extremely harsh environmental conditions, particularly in terms of low temperatures, low air pressure, and low gravity. These unique environmental conditions pose challenges to spacecraft systems. In particular, conventionally powered spacecraft experience performance degradation in low-temperature environments, and the energy density of their batteries limits their endurance, making it difficult to meet the demands of long-duration flights and mission testing. Summary of the Invention

[0006] The purpose of this invention is to provide a Mars unmanned aerial vehicle system and method based on high-pressure micro air pump drive. It uses compressed gas to provide power, overcomes the limitations of traditional drive systems in Mars exploration missions, extends endurance, and has significant advantages such as environmental protection and efficient thrust release.

[0007] To solve the above problems, the technical solution of the present invention is as follows: A Mars unmanned aerial vehicle system based on a high-pressure micro air pump includes: The drone itself; A gas compression mechanism, which is a motor-driven crank-slider type compression pump, is used to compress and output the gas in the Martian atmosphere; A gas storage mechanism includes at least one high-pressure gas cylinder, which is connected to the gas compression mechanism via a one-way valve and is used to store compressed gas. The nozzle mechanism includes multiple micro-nozzles, which are connected to the high-pressure gas cylinder via a control valve and are used to inject high-pressure gas to generate thrust. The flight control system is used to control the opening and closing status of the control valve and the jet angle and flow rate of the micro-nozzle in real time according to the flight mission requirements, so as to realize the attitude and position control of the UAV.

[0008] According to an embodiment of the present invention, the gas compression mechanism includes: Electric motor; A crank-slider mechanism, driven by the motor, converts rotational motion into linear reciprocating motion; A cylinder, wherein a piston is provided inside the cylinder, and the piston is connected to the crank-slider mechanism to achieve gas compression by reciprocating within the cylinder.

[0009] According to one embodiment of the present invention, the nozzle mechanism includes: The main nozzle, located at the bottom of the drone, provides the main thrust required for vertical takeoff and landing; Secondary nozzles, distributed around the drone, are used to provide horizontal or tilt thrust to enable the drone's attitude adjustment and position translation.

[0010] According to one embodiment of the present invention, the secondary nozzles are distributed symmetrically, including: The front and rear nozzles are used to achieve pitch control of the drone; The left and right nozzles are used to control the drone's roll. The horizontal dual nozzles are used to achieve yaw control for the drone.

[0011] According to one embodiment of the present invention, the flight control system includes: An inertial measurement unit (IMU) is used to measure the attitude angles of the UAV in real time. Visual sensors are used to acquire drone location information in real time; The control unit is used to adjust the opening and closing state of the control valve and the jet angle and flow rate of the micro-nozzle in real time based on the feedback information from the inertial measurement unit and the vision sensor.

[0012] According to one embodiment of the present invention, the high-pressure gas cylinder is made of carbon fiber composite material or titanium alloy material.

[0013] According to one embodiment of the present invention, the micro-nozzle adopts a convergent-divergent nozzle structure to improve the airflow exit velocity.

[0014] A method for using a Mars unmanned aerial vehicle system driven by a high-pressure micro air pump includes the following steps: S1: Complete the installation and functional verification of the air pump system, crank-slider mechanism, cylinder and nozzle module on the Martian surface, and integrate the system into the Martian UAV body; S2: Sets working parameters suitable for the low atmospheric pressure and low temperature environment of Mars, including motor preheating program, sealing reinforcement configuration and material thermal expansion compensation; S3: Start the motor, drive the crank-slider mechanism to rotate, and drive the piston to reciprocate in the cylinder to complete the gas compression process; S4: The control system automatically adjusts the crank motion frequency according to the target pressure set value, and controls the piston stroke and speed in real time through the pressure sensor. After the set pressure is reached, the control valve automatically shuts off the air pump intake and starts the energy storage and pressure stabilization state. S5: Before takeoff, the drone uses an inertial measurement unit and visual sensors to calibrate its attitude, releases a small amount of high-pressure gas, and checks the nozzle's unobstructed flow and the symmetry of the jet. S6: The control system synchronously activates the main nozzle to release high-pressure gas, which provides takeoff thrust through reaction force, enabling the aircraft to take off vertically or at an angle. S7: During flight, the compressed energy storage system initiates a real-time cyclic pressurization program to maintain stable air pressure, and the nozzle output is controlled in segments according to the mission rhythm to achieve energy-saving cruise. S8: The control system controls multiple sets of nozzles to differentially inject air based on the real-time flight status, and completes pitch, roll and yaw control. S9: In a stable flight state, the mission module is activated, and the flight path is planned in real time by the autonomous navigation algorithm according to mission requirements; S10: As the drone approaches the landing point, gradually reduce the nozzle thrust and control the drone's attitude through reverse jetting or multi-directional micro-thrust to descend slowly and reduce landing impact. S11: After landing, the main nozzle valve is closed, and the system enters standby, charging, or repressurization mode. If it is a repetitive mission platform, the Mars surface gas replenishment or storage procedure is initiated.

[0015] According to an embodiment of the present invention, step S8 further includes: S811: The drone is equipped with 8-12 miniature nozzles, distributed symmetrically. S812: The main nozzle points downward for takeoff and vertical climb, while the secondary nozzles are arranged horizontally or at an angle for translation, turning, and attitude stabilization. S813: When the drone's nose is drooping, the tail nozzle is activated and the spray direction is adjusted to generate a positive reaction torque around the Y-axis. At the same time, the spray direction is adjusted in conjunction with the front nozzle to restore the pitch angle to the reference value. When the drone's nose is tilted up at an angle greater than the reference value, the front nozzle is activated and the spray direction is adjusted to generate a negative reaction torque around the Y-axis. At the same time, the tail nozzle is finely adjusted to restore the pitch angle to the target attitude. S814: When the left side of the drone is low, the left nozzle is activated and the spray direction is adjusted to generate a positive torque around the X-axis. At the same time, the right nozzle is adjusted to achieve roll control. When the right side of the drone is low, the right nozzle is activated and the spray direction is adjusted to generate a negative torque around the X-axis. At the same time, the left nozzle is adjusted to achieve roll control. S815: It generates torque around the Z-axis through horizontal nozzle injection to achieve yaw control while maintaining total thrust balance and minimizing interference with translational attitude.

[0016] According to an embodiment of the present invention, step S8 further includes: S816: When the UAV's current position is lower than the target reference position in the X-axis direction, adjust the jet direction of the tail nozzle to generate positive thrust along the X-axis; when it is higher than the target reference position, adjust the jet direction of the front nozzle to generate negative thrust along the X-axis. S817: When the UAV's current position is lower than the target reference position in the Y-axis direction, adjust the spray direction of the right nozzle to generate positive thrust along the Y-axis; when it is higher than the target reference position, adjust the spray direction of the left nozzle to generate negative thrust along the Y-axis. S818: When the UAV's current position is lower than the target reference position in the Z-axis direction, adjust the spray angle and flow rate of the bottom nozzle to generate positive thrust along the Z-axis; when it is higher than the target reference position, reduce the thrust of the bottom nozzle or adjust the spray angle to generate negative thrust along the Z-axis.

[0017] Because of the above technical solutions, this invention has the following advantages and positive effects compared with the prior art: This invention discloses a Mars unmanned aerial vehicle (UAV) system based on a high-pressure micro-pump, addressing the issues of low atmospheric density and insufficient lift / poor Reynolds number effect of traditional rotors. The system integrates the pump system, crank-slider mechanism, cylinder and nozzle modules into the UAV body after installation and functional verification on the Martian surface. The gas compression mechanism is a motor-driven crank-slider type compressor pump used to compress and output gas from the Martian atmosphere. A high-pressure gas cylinder is connected to the gas compression mechanism via a one-way valve to store the compressed gas. A micro-nozzle is connected to the high-pressure gas cylinder via a control valve to inject high-pressure gas to generate thrust. The flight control system controls the opening and closing of the control valve and the jet angle and flow rate of the micro-nozzle in real time according to the flight mission requirements, thereby achieving attitude and position control of the UAV. This closed-loop aerodynamic propulsion architecture, centered on a "high-pressure micro-pump + gas cylinder + micro-nozzle," completely replaces traditional rotors or fixed-wing aircraft. Using the Martian atmosphere (primarily CO2) as the sole working fluid, it achieves a repeatable cycle of "on-site material sourcing - compression - storage - injection - refilling." Attached Figure Description

[0018] Figure 1 This is a schematic diagram of a Mars drone driven by a high-pressure micro air pump according to one embodiment of the present invention. Figure 2 This is a schematic diagram of the internal structure of a Mars drone according to one embodiment of the present invention; Figure 3 This is a schematic diagram of the aerodynamic propulsion system and its pipeline connection structure of a Mars unmanned aerial vehicle system driven by a high-pressure micro air pump according to an embodiment of the present invention. Figure 4 This is a schematic diagram of the flight control system and airborne control motherboard structure of a Mars unmanned aerial vehicle system driven by a high-pressure micro air pump according to an embodiment of the present invention. Figure 5 This is a schematic diagram of the jet propulsion mechanism of a Mars unmanned aerial vehicle system driven by a high-pressure micro air pump, according to one embodiment of the present invention. Figure 6 This is a block diagram illustrating the control principle of a Mars unmanned aerial vehicle system driven by a high-pressure micro air pump according to an embodiment of the present invention. Figure 7 This is a schematic diagram of one possible embodiment of a Mars unmanned aerial vehicle system driven by a high-pressure micro air pump according to one embodiment of the present invention; Figure 8 This is a second schematic diagram of a possible embodiment of a Mars unmanned aerial vehicle system driven by a high-pressure micro air pump according to one embodiment of the present invention; Figure 9 This is one of the flowcharts illustrating the usage method of a Mars unmanned aerial vehicle system driven by a high-pressure micro air pump according to an embodiment of the present invention; Figure 10 This is a second flowchart of the usage method of a Mars unmanned aerial vehicle system driven by a high-pressure micro air pump according to an embodiment of the present invention. Figure 11 This is the third flowchart of a method for using a Mars unmanned aerial vehicle system driven by a high-pressure micro air pump according to an embodiment of the present invention; Figure 12 This is the fourth flowchart of a method for using a Mars unmanned aerial vehicle system driven by a high-pressure micro air pump, according to an embodiment of the present invention.

[0019] Explanation of reference numerals in the attached figures: 1: Aircraft frame; 2: Gas booster pump; 3: Gas storage tank; 4: Landing buffer; 5: High-pressure recoil jet head; 6: Jet angle adjuster; 7: Flight control box; 8: Cover; 9: High-pressure gas cylinder; 10: Safety lock; 11: Assembly connector; 12: Solenoid valve; 13: Three-way jet pipe; 14: Jet hose; 15: Battery; 16: Onboard control motherboard; 17: Flight control module; 18: Bottom support; 19: Pressure balance valve; 20: Compressed air hose. Detailed Implementation

[0020] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, provides a more comprehensive overview of the Mars unmanned aerial vehicle (UAV) system and method based on a high-pressure micro air pump. The advantages and features of the invention will become clearer from the following description and claims.

[0021] This embodiment provides a Mars unmanned aerial vehicle system based on a high-pressure micro air pump, including: The drone itself; The gas compression mechanism is a motor-driven crank-slider type compression pump used to compress and output the gas in the Martian atmosphere; A gas storage mechanism includes at least one high-pressure gas cylinder, which is connected to a gas compression mechanism via a one-way valve and is used to store compressed gas. The nozzle mechanism includes multiple micro-nozzles, each of which is connected to a high-pressure gas cylinder via a control valve and is used to inject high-pressure gas to generate thrust. The flight control system is used to control the opening and closing status of control valves and the jet angle and flow rate of micro nozzles in real time according to the flight mission requirements, so as to achieve attitude and position control of the UAV.

[0022] The gas compression mechanism includes: Electric motor; A crank-slider mechanism, driven by a motor, converts rotary motion into linear reciprocating motion; A cylinder, which contains a piston connected to a crank-slider mechanism, reciprocates within the cylinder to compress gas.

[0023] The nozzle mechanism includes: The main nozzle, located at the bottom of the drone, provides the main thrust required for vertical takeoff and landing; Secondary nozzles, distributed around the drone, are used to provide horizontal or tilt thrust to enable the drone's attitude adjustment and position translation.

[0024] The auxiliary nozzles are distributed symmetrically, including: The front and rear nozzles are used to achieve pitch control of the drone; The left and right nozzles are used to control the drone's roll. The horizontal dual nozzles are used to achieve yaw control for the drone.

[0025] The flight control system in this embodiment includes: An inertial measurement unit (IMU) is used to measure the attitude angles of the UAV in real time. Visual sensors are used to acquire drone location information in real time; The control unit is used to adjust the opening and closing status of the control valve and the jet angle and flow rate of the micro nozzle in real time based on feedback information from the inertial measurement unit and vision sensor.

[0026] For details, please refer to Figure 1-8 The Mars unmanned aerial vehicle (UAV) system in this embodiment mainly includes: an aerodynamic propulsion mechanism, a jet propulsion mechanism, a gas compression mechanism, and a flight control system. These subsystems are structurally connected and controlled by signals to form an organic whole, enabling the UAV to propulse and control its attitude in a thin atmosphere.

[0027] The aerodynamic propulsion mechanism includes: a high-pressure gas cylinder 9, a solenoid valve 12, a three-way jet pipe 13, a jet hose 14, a high-pressure recoil jet nozzle 5 (i.e., a miniature nozzle), a jet angle adjuster 6, and an assembly connector 11. The high-pressure gas cylinder 9 stores high-pressure gas compressed by a gas booster pump, serving as the propulsion energy source. The solenoid valve 12 is connected to the gas cylinder via the assembly connector 11, and its function is to control the opening and closing of gas flow under the command of the flight control system. The three-way jet pipe 13 distributes the high-pressure airflow to multiple nozzles, ensuring multi-directional jetting. The jet hose 14 uses a flexible connection method to ensure layout flexibility and shock resistance during gas delivery. The high-pressure recoil jet nozzle 5 is located at the bottom or side of the fuselage, injecting high-pressure gas to generate a reaction force, thereby providing lift or attitude adjustment torque. The jet angle adjuster 6 is located at the end of the nozzle and is used to change the jet direction under flight control commands, achieving thrust vector adjustment. High-pressure gas is sequentially delivered to the high-pressure recoil jet nozzle 5 via the gas storage cylinder 9, solenoid valve 12, three-way jet pipe 13, and jet hose 14, and the jet direction is adjusted by the jet angle adjuster 6, thereby achieving lift output and attitude control during the flight of the UAV.

[0028] When the system is working, with the valve closed, the air pump continuously pumps gas into the gas cylinder through the piston compression mechanism. When the pressure inside the gas cylinder reaches the set threshold, the control system switches the valve state and opens the gas storage passage. At this time, a smooth path is formed between the gas cylinder and the micro nozzle. The high-pressure gas is accelerated through the nozzle channel and ejected at high speed, forming a reaction force to provide propulsion for the UAV.

[0029] Please refer to Figure 3 The gas compression mechanism includes a gas booster pump 2, a compressed air pipe 20, a pressure balancing valve 19, and a gas storage tank 3. The gas booster pump 2 is located inside or on the side of the aircraft frame 1 and is used to compress external gas to a high-pressure state. The compressed air pipe 20 connects the booster pump outlet to the gas storage tank 9, ensuring smooth delivery of compressed gas. The pressure balancing valve 19 is used to dynamically regulate the internal pressure of the gas storage tank, preventing rupture or leakage due to overpressure. The gas storage tank 3 serves as a gas source buffer unit, ensuring stable output airflow and reducing the impact of pressure pulsation on jet performance. After being compressed by the gas booster pump 2, the external gas is sequentially delivered to the gas storage tank 3 and the high-pressure gas storage tank 9 through the compressed air pipe 20. Under the regulation of the pressure balancing valve 19, a safe operating pressure is maintained, providing a continuous and stable high-pressure gas source for the propulsion nozzle.

[0030] The flight control system includes: a flight control box 7, a flight control module 17, an airborne control motherboard 16, a solenoid valve 12, a jet angle adjuster 6, a safety lock 10, and a battery 15. The flight control box 7 houses the flight control module 17, serving as the core control unit of the UAV. The airborne control motherboard 16 is electrically connected to the flight control module 17 for signal transmission and logic operations. The solenoid valve 12, driven by control signals, controls the on / off state of the nozzle, determining whether gas enters. The jet angle adjuster 6 receives flight control signals and adjusts the nozzle direction to achieve thrust vectoring. The safety lock 10 is located between the gas cylinder and the solenoid valve to prevent accidental jetting during non-operational states, improving system safety. The battery 15 provides power to the flight control system, gas compression mechanism, and solenoid valve drive. The flight control module 17 issues commands to the airborne control motherboard 16, driving the solenoid valve 12 and the jet angle adjuster 6, thereby achieving real-time control of airflow jetting and direction adjustment. Through combinations of different nozzles, the system can achieve lift control, attitude adjustment, and trajectory correction.

[0031] During flight, the flight control module 17 issues commands based on attitude sensor data to drive the solenoid valve 12 to open, and the gas is delivered sequentially through the three-way jet pipe 13 and the jet hose 14 to the high-pressure recoil jet nozzle 5 to achieve propulsion control.

[0032] The nozzle angle adjuster 6 changes the jet direction under flight control commands, so that the jet airflow forms thrust vectors in different directions, thereby realizing the control of the UAV's ascent, descent, hovering, forward, backward and pitch / roll.

[0033] In non-flight mode, safety lock 10 blocks the air path to prevent accidental triggering of injection, and air pressure balance valve 19 keeps the air storage cylinder within the safe operating range.

[0034] Through the above-mentioned structure and connection, the Mars UAV system based on high-pressure micro air pump can provide stable and controllable thrust in a thin atmosphere, realize thrust vectoring adjustment, improve the attitude and trajectory control accuracy of the UAV, have a self-circulating compression air replenishment function, extend flight time, avoid one-time air source depletion, and improve system reliability and flight safety through safety locks and pressure regulating valves.

[0035] Please refer to Figure 7 This embodiment demonstrates the operational status of an aircraft during takeoff or landing, with its aerodynamic propulsion mechanism and support structure in a specialized deployment mode.

[0036] Before takeoff, the landing buffer 4 is in a fully extended support state, with its lower end in stable contact with the ground, which can ensure that the aircraft body 1 maintains a vertical attitude during pressurized takeoff and avoids the aircraft body from overturning.

[0037] Upon landing, the buffer frame 4 can absorb part of the impact load and distribute the force to the structural frame of the aircraft body 1, protecting the internal air storage tank 3 and flight control box 7 from damage.

[0038] In this state, the nozzles spray vertically downwards, primarily to generate vertical lift, ensuring smooth takeoff or landing. The jet angle adjuster 6 has a relatively small adjustment range, operating only within fine-tuning to correct the aircraft's attitude and prevent rollover during takeoff and landing. The flight control module's task at this stage is to stably control the jet intensity and timing, ensuring uniform thrust distribution for smooth takeoff or slow descent.

[0039] This embodiment can ensure the balance and stability of the aircraft during takeoff, and achieve a soft landing through the buffer frame 4 and nozzle fine adjustment during landing. It is suitable for vertical takeoff and landing conditions and improves the adaptability of the aircraft in complex terrain environments.

[0040] Please refer to Figure 8 This embodiment illustrates the operational status of the aircraft during level flight or maneuvering flight, including its nozzle layout and buffer frame structure. Figure 7 They are different.

[0041] During flight, the landing buffer 4 is retracted and attached to the outside or side of the aircraft body 1, thereby effectively reducing air resistance. This structure can prevent the buffer from obstructing the jet stream or causing jet interference, thus improving flight efficiency.

[0042] In this state, the nozzles are symmetrically distributed, and their spray direction can be flexibly adjusted by the jet angle adjuster 6.

[0043] During flight, multiple nozzles can be independently controlled to open or close, forming different thrust combinations. The jet angle adjuster 6 can achieve a wide range of angle adjustments, so that the jet direction forms lateral, forward or backward components, thereby generating pitching moment, rolling moment and horizontal thrust.

[0044] During this phase, the flight control module needs to collect the aircraft's attitude and position data in real time, and dynamically allocate the opening time, jet flow rate and jet angle of each nozzle according to the mission requirements. Through the joint operation of multiple nozzles, the aircraft can achieve hovering, horizontal translation and complex maneuvering.

[0045] This embodiment enables the spacecraft to achieve precise attitude control in the thin Martian atmosphere, and improves flight flexibility by using thrust vectoring to achieve lateral translation and trajectory correction; it is suitable for level flight, hovering, turning and complex maneuvering conditions.

[0046] Unlike traditional Mars drone designs that use fixed gliders or propeller propulsion, this embodiment utilizes a drive method that combines compressed gas propulsion with real-time compressed gas pressure regulation. It does not rely on mechanical rotating parts, omits complex rotor systems and attitude adjustment structures, significantly reduces the overall weight and system complexity, and improves system robustness and safety.

[0047] Furthermore, this embodiment utilizes the Martian atmosphere as a compressed air source. The air pump can perform multiple rounds of pressurization and replenishment during flight, hovering, or landing, thereby achieving a closed-loop energy cycle of inflation-jet-flight-re-real-time inflation. This cycle structure overcomes the shortcomings of traditional gliding aircraft, such as one-time power source depletion, limited mission cycle, and poor controllability, or the vulnerability of traditional rotorcraft rotors, poor robustness, and poor reliability, and has significant advantages.

[0048] In summary, this embodiment provides a novel pneumatic propulsion and Mars drone design scheme that combines lightweight structure, closed-loop power source circulation, efficient and controllable thrust, and strong mission sustainability. It is particularly suitable for mission scenarios such as long-term loiter time, repetitive area exploration, local image acquisition and terrain mapping in current and future Mars exploration. It breaks through the key bottlenecks of traditional propulsion technology in low-pressure environments and the difficulty in continuously replenishing the power source, and has good practicality and engineering transformation prospects.

[0049] Based on the technical concept consistent with the structure of the above embodiments, this embodiment further provides a method for using a Mars drone, which is applicable to drone platforms that use high-pressure micro-air pumps to compress the Martian atmosphere and propel themselves by jet propulsion. Figures 9 to 12 As shown, where Figure 9 A schematic flowchart illustrating the overall method of using the Mars drone is provided. Figure 10 , Figure 11 and Figure 12 These are flowcharts illustrating the process of this method during task execution. The method mainly includes the following steps: S1: On the Martian surface, complete the installation and functional verification of the air pump system, crank-slider mechanism, cylinder and nozzle modules, and integrate the system into the Martian UAV body to ensure that it meets the airworthiness design requirements such as weight, size and center of gravity distribution.

[0050] S2: Set working parameters suitable for the low atmospheric pressure and low temperature environment of Mars, including motor preheating program, sealing reinforcement configuration, material thermal expansion compensation, etc.; set up a Martian gas collection and compression device to directly extract carbon dioxide from the Martian atmosphere for compression and storage via a gas pump.

[0051] S3: Start the motor to drive the crank-slider mechanism to rotate, and the connecting rod drives the piston to reciprocate in the cylinder to complete the gas compression process.

[0052] S4: The control system automatically adjusts the crank motion frequency according to the target pressure setting value, and controls the piston stroke and speed in real time through the pressure sensor. Once the set pressure is reached, the control valve automatically shuts off the air pump intake and starts the energy storage and pressure stabilization state.

[0053] S5: Before takeoff, the Mars drone uses an inertial measurement unit and visual sensors to calibrate its attitude, releases a small amount of high-pressure gas, and checks the nozzle patency and spray symmetry.

[0054] S6: The control system synchronously starts the main nozzle, releases high-pressure gas, and provides takeoff thrust through reaction force, enabling the UAV to take off vertically or at an angle. The nozzle uses a servo mechanism to control the jet angle and flow rate, realizing multi-dimensional vector thrust control.

[0055] S7: During flight, the compressed energy storage system initiates a real-time cyclic pressurization program to maintain stable air pressure, and the nozzle output is controlled in segments according to the mission rhythm to achieve energy-saving cruise.

[0056] S8: The control system controls multiple sets of nozzles to differentially inject air based on real-time flight status, including attitude angle, speed, trajectory points, etc., to complete pitch, roll and yaw control.

[0057] S9: In a stable flight state, activate mission modules such as image acquisition, gas sampling, and surface detection scanning. The flight path is planned in real time by the autonomous navigation algorithm according to mission requirements.

[0058] S10: As the drone approaches the landing point, gradually reduce the nozzle thrust and control its attitude through reverse jetting or multi-directional micro-thrust to descend slowly. Combined with the drone's mechanical shock absorption device and terminal buffer jetting, reduce landing impact.

[0059] S11: After landing, close the main nozzle valve and the system enters standby, charging, or repressurization state. If it is a repetitive mission platform, start the ground gas replenishment or storage procedure.

[0060] In one possible implementation, the closed-loop control process in step S6 of the above-described method for using the Mars drone provided in this embodiment specifically includes the following steps: S611: Flight status input; S612: Calculation of attitude angles and trajectory errors; S613: Flight control algorithm generates control commands; S614: Thrust distribution for each nozzle; S615: Solenoid valve control switch; S616: Miniature nozzle injection; S617: Thrust produces attitude and position changes; S618: Status feedback completes closed loop.

[0061] In the method of using the drive system provided in this embodiment, according to a feasible implementation, in step S8, the flight control system performs dynamic adjustment of the aircraft attitude based on real-time flight state parameters to achieve control in pitch, roll, yaw, and translation directions. The specific operation process includes the following sub-steps: S811: Mars drones are typically equipped with 8-12 micro nozzles, distributed symmetrically as follows: (1) Pitch control uses the front nozzle and the rear nozzle; (2) Roll control uses the left nozzle and the right nozzle; (3) Yaw control uses horizontal dual nozzles.

[0062] S812: The main nozzle points downward for takeoff and vertical climb, while the secondary nozzles are arranged horizontally or at an angle for translation, turning, and attitude stabilization. Each nozzle is connected to an independent gas cylinder and a solenoid regulating valve.

[0063] S813: When attitude angle The drone's nose is lowered, the tail nozzles are activated and their direction adjusted accordingly to generate a reaction torque around the positive Y-axis. Simultaneously, the front nozzles are adjusted to further reduce the pitch angle, gradually restoring it to the reference value. When the attitude angle... When the drone's nose pitch angle is greater than the reference value, the front nozzle is activated and the spray direction is adjusted accordingly to generate a reaction torque around the negative Y-axis. At the same time, the tail nozzle spray angle and thrust are finely adjusted to adjust the pitch angle downward and return to the target attitude.

[0064] S814: When attitude angle When the drone's left side is low, it rolls to the left. The left nozzle is activated and its direction adjusted accordingly to generate positive torque around the X-axis. Simultaneously, the right nozzle adjusts its angle and thrust to achieve the desired roll control, causing the drone to roll to the right. When the attitude angle... When the drone is low on the right, it rolls to the right. The right nozzle is activated and the spray direction is adjusted accordingly to generate a negative torque around the X-axis. At the same time, the left nozzle adjusts the spray direction and thrust to make the drone roll to the left, thus achieving the desired control of the roll angle.

[0065] S815: Yaw control is achieved by generating torque around the Z-axis through the injection of horizontal nozzles. During yaw, the total thrust is kept balanced while the injection angles of the front and rear nozzles are adjusted to minimize interference with the translational attitude.

[0066] In one possible implementation, in the method for using the Mars drone provided in this embodiment, step S8 completes the translation control, specifically including the following steps: S816: When it is detected that the current position of the UAV is lower than the target reference position in the X-axis direction, the jet direction of the tail nozzle is adjusted to generate a positive thrust along the X-axis, causing the UAV to translate along the X-axis to the target position; when it is detected that the current position of the UAV is higher than the target reference position in the X-axis direction, the jet direction of the front nozzle is adjusted to generate a negative thrust along the X-axis, causing the UAV to translate along the X-axis to the target position.

[0067] S817: When it is detected that the current position of the drone is lower than the target reference position in the Y-axis direction, adjust the spray direction of the right nozzle to generate a positive thrust along the Y-axis, so that the drone translates along the Y-axis to the target position; when it is detected that the current position of the drone is higher than the target reference position in the Y-axis direction, adjust the spray direction of the left nozzle to generate a negative thrust along the Y-axis, so that the drone translates along the Y-axis to the target position.

[0068] S818: When it is detected that the current position of the drone is lower than the target reference position in the Z-axis direction, the spray angle and flow rate of the bottom nozzle are adjusted to generate a positive thrust along the Z-axis, causing the drone to translate along the Z-axis to the target position; when it is detected that the current position of the drone is higher than the target reference position in the Z-axis direction, the thrust of the bottom nozzle is reduced or the spray angle is adjusted to generate a negative component around the Z-axis, generating a thrust in the negative direction of the Z-axis, causing the drone to translate along the Z-axis to the target position.

[0069] The method for using the Mars drone provided in this embodiment employs inflatable jet propulsion as its primary power source. This not only enables multi-cycle use of the Mars drone, significantly improving its loiter time, mission execution frequency, and lifespan, but also expands the terrain area it can cover, increasing its exploration range. Furthermore, this power scheme eliminates the need for complex rotary drive structures, greatly simplifying the overall design and reducing system weight. It effectively solves the critical problem of insufficient lift, which hinders the sustained loiter of traditional rotorcraft or gliders in the thin Martian atmosphere. Moreover, the high-pressure gas obtained through air pump compression possesses high energy density and propulsion capacity per unit volume. This not only provides sufficient thrust output for the Mars drone, overcoming the technical bottleneck of low propulsion efficiency of traditional propellers in the Martian atmosphere, but also provides enough power to propel the drone to high altitudes after vertical takeoff, greatly extending its loiter time and cruising distance, thereby achieving efficient energy utilization and expanded mission coverage.

[0070] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they shall still fall within the protection scope of the present invention.

Claims

1. A Mars unmanned aerial vehicle system based on a high-pressure micro air pump, characterized in that, include: The drone itself; A gas compression mechanism, which is a motor-driven crank-slider type compression pump, is used to compress and output the gas in the Martian atmosphere; A gas storage mechanism includes at least one high-pressure gas cylinder, which is connected to the gas compression mechanism via a one-way valve and is used to store compressed gas. The nozzle mechanism includes multiple micro-nozzles, which are connected to the high-pressure gas cylinder via a control valve and are used to inject high-pressure gas to generate thrust. The flight control system is used to control the opening and closing status of the control valve and the jet angle and flow rate of the micro-nozzle in real time according to the flight mission requirements, so as to realize the attitude and position control of the UAV.

2. The Mars unmanned aerial vehicle system based on a high-pressure micro air pump as described in claim 1, characterized in that, The gas compression mechanism includes: Electric motor; A crank-slider mechanism, driven by the motor, converts rotational motion into linear reciprocating motion; A cylinder, wherein a piston is provided inside the cylinder, and the piston is connected to the crank-slider mechanism to achieve gas compression by reciprocating within the cylinder.

3. The Mars unmanned aerial vehicle system based on a high-pressure micro air pump as described in claim 1, characterized in that, The nozzle mechanism includes: The main nozzle, located at the bottom of the drone, provides the main thrust required for vertical takeoff and landing; Secondary nozzles, distributed around the drone, are used to provide horizontal or tilt thrust to enable the drone's attitude adjustment and position translation.

4. The Mars unmanned aerial vehicle system based on a high-pressure micro air pump as described in claim 3, characterized in that, The secondary nozzles are distributed symmetrically, including: The front and rear nozzles are used to achieve pitch control of the drone; The left and right nozzles are used to control the drone's roll. The horizontal dual nozzles are used to achieve yaw control for the drone.

5. The Mars unmanned aerial vehicle system based on a high-pressure micro air pump as described in claim 1, characterized in that, The flight control system includes: An inertial measurement unit (IMU) is used to measure the attitude angles of the UAV in real time. Visual sensors are used to acquire drone location information in real time; The control unit is used to adjust the opening and closing state of the control valve and the jet angle and flow rate of the micro-nozzle in real time based on the feedback information from the inertial measurement unit and the vision sensor.

6. The Mars unmanned aerial vehicle system based on a high-pressure micro air pump as described in any one of claims 1 to 5, characterized in that, The high-pressure gas cylinder is made of carbon fiber composite material or titanium alloy material.

7. The Mars unmanned aerial vehicle system based on a high-pressure micro air pump as described in any one of claims 1 to 5, characterized in that, The micro-nozzle employs a convergent-divergent nozzle structure to increase the airflow exit velocity.

8. A method of using a Mars unmanned aerial vehicle system based on a high-pressure micro air pump as described in any one of claims 1 to 7, characterized in that, Includes the following steps: S1: Complete the installation and functional verification of the air pump system, crank-slider mechanism, cylinder and nozzle module on the Martian surface, and integrate the system into the Martian UAV body; S2: Sets working parameters suitable for the low atmospheric pressure and low temperature environment of Mars, including motor preheating program, sealing reinforcement configuration and material thermal expansion compensation; S3: Start the motor, drive the crank-slider mechanism to rotate, and drive the piston to reciprocate in the cylinder to complete the gas compression process; S4: The control system automatically adjusts the crank motion frequency according to the target pressure set value, and controls the piston stroke and speed in real time through the pressure sensor. After the set pressure is reached, the control valve automatically shuts off the air pump intake and starts the energy storage and pressure stabilization state. S5: Before takeoff, the drone uses an inertial measurement unit and visual sensors to calibrate its attitude, releases a small amount of high-pressure gas, and checks the nozzle's unobstructed flow and the symmetry of the jet. S6: The control system synchronously activates the main nozzle to release high-pressure gas, which provides takeoff thrust through reaction force, enabling the aircraft to take off vertically or at an angle. S7: During flight, the compressed energy storage system initiates a real-time cyclic pressurization program to maintain stable air pressure, and the nozzle output is controlled in segments according to the mission rhythm to achieve energy-saving cruise. S8: The control system controls multiple sets of nozzles to differentially inject air based on the real-time flight status, and completes pitch, roll and yaw control. S9: In a stable flight state, the mission module is activated, and the flight path is planned in real time by the autonomous navigation algorithm according to mission requirements; S10: As the drone approaches the landing point, gradually reduce the nozzle thrust and control the drone's attitude through reverse jetting or multi-directional micro-thrust to descend slowly and reduce landing impact. S11: After landing, the main nozzle valve is closed, and the system enters standby, charging, or repressurization mode. If it is a repetitive mission platform, the Mars surface gas replenishment or storage procedure is initiated.

9. The method of use as described in claim 8, characterized in that, Step S8 further includes: S811: The drone is equipped with 8-12 miniature nozzles, distributed symmetrically. S812: The main nozzle points downward for takeoff and vertical climb, while the secondary nozzles are arranged horizontally or at an angle for translation, turning, and attitude stabilization. S813: When the drone's nose is drooping, the tail nozzle is activated and the spray direction is adjusted to generate a positive reaction torque around the Y-axis. At the same time, the spray direction is adjusted in conjunction with the front nozzle to restore the pitch angle to the reference value. When the drone's nose is tilted up at an angle greater than the reference value, the front nozzle is activated and the spray direction is adjusted to generate a negative reaction torque around the Y-axis. At the same time, the tail nozzle is finely adjusted to restore the pitch angle to the target attitude. S814: When the left side of the drone is low, the left nozzle is activated and the spray direction is adjusted to generate a positive torque around the X-axis. At the same time, the right nozzle is adjusted to achieve roll control. When the right side of the drone is low, the right nozzle is activated and the spray direction is adjusted to generate a negative torque around the X-axis. At the same time, the left nozzle is adjusted to achieve roll control. S815: It generates torque around the Z-axis through horizontal nozzle injection to achieve yaw control while maintaining total thrust balance and minimizing interference with translational attitude.

10. The method of use as described in claim 8 or 9, characterized in that, Step S8 further includes: S816: When the UAV's current position is lower than the target reference position in the X-axis direction, adjust the jet direction of the tail nozzle to generate positive thrust along the X-axis; when it is higher than the target reference position, adjust the jet direction of the front nozzle to generate negative thrust along the X-axis. S817: When the UAV's current position is lower than the target reference position in the Y-axis direction, adjust the spray direction of the right nozzle to generate positive thrust along the Y-axis; when it is higher than the target reference position, adjust the spray direction of the left nozzle to generate negative thrust along the Y-axis. S818: When the UAV's current position is lower than the target reference position in the Z-axis direction, adjust the spray angle and flow rate of the bottom nozzle to generate positive thrust along the Z-axis; when it is higher than the target reference position, reduce the thrust of the bottom nozzle or adjust the spray angle to generate negative thrust along the Z-axis.

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