Omnidirectional flight unmanned aerial vehicle based on passive hinge type vector power system

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an omnidirectional flight unmanned aerial vehicle based on a passive hinge type vector power system. Comprising a machine body, vector power systems and machine arms, the three machine arms are arranged on the machine body in the circumferential direction at equal intervals, and the tail ends of the three machine arms are connected with the three vector power systems correspondingly; the vector power system comprises a power system fixing frame, a two-shaft connecting piece and a plurality of power rotors, one end of the two-shaft connecting piece is rotationally connected with the vehicle arm, the other end of the two-shaft connecting piece is rotationally connected with the power system fixing frame, and the power rotors are arranged on the power system fixing frame. The power system fixing frame is of an H-shaped structure, and four power rotors are arranged at the four ends of the power system fixing frame correspondingly. The whole power vector is changed under the condition that no extra actuator is added, hovering in the air can be achieved in any posture, and omni-directional movement is achieved under the condition that any posture is kept.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology, and specifically relates to an omnidirectional UAV based on a passive hinged vector power system. Background Technology

[0002] With the rapid development and increasing maturity of drone technology, drones have been widely applied in various fields, including logistics and transportation, agricultural plant protection, patrol and monitoring, building inspection, and rescue operations. Traditional rotary-wing drones occupy an important position in the market due to their high flexibility and simple structure. However, due to the underactuated structural characteristics of traditional rotary-wing drones, their flight motion relies on adjusting the overall attitude to change the thrust direction to achieve displacement and turning. This motion characteristic has certain limitations in many application scenarios, as drones cannot complete tasks requiring tilted flight attitudes, such as operations in confined spaces or obstacle avoidance in complex environments. To overcome the limitations of traditional rotary-wing drone mechanisms and achieve omnidirectional flight in any attitude, drone designs based on the omnidirectional flight concept have gradually emerged in recent years. Omnidirectional drones can achieve six-dimensional tracking of flight attitude and position trajectory planning, demonstrating great application potential in areas such as drone handling, precision operations, and aerial hovering operations.

[0003] Currently, existing omnidirectional drones primarily achieve omnidirectional flight capabilities through two main technical solutions. One is to add additional actuators, such as installing servos or other rotating mechanisms at the base of the rotor, allowing the rotor to rotate flexibly to change the direction of thrust. While this solution achieves good omnidirectional flight performance, the added mechanical structure and actuators significantly increase the overall weight of the drone, complicate the structural design, and substantially increase power consumption, thus reducing the drone's efficiency and endurance. The other solution is a fixed tilt angle rotor design, which fixes the drone's rotor at a certain tilt angle to achieve a combination of thrust in multiple directions, thus achieving omnidirectional flight capability. However, this design reduces the efficiency of rotor thrust utilization to some extent, leading to a decrease in flight performance, especially in scenarios with heavy loads or requiring high flight efficiency.

[0004] While the existing technical solutions mentioned above have achieved omnidirectional flight capabilities to a certain extent, they still suffer from problems such as complex structure, low efficiency, and excessive energy consumption, making it difficult to meet the practical application requirements of high efficiency, lightweight design, and long endurance. Summary of the Invention

[0005] To address the aforementioned problems, the present invention aims to provide an omnidirectional unmanned aerial vehicle (UAV) based on a passive hinged vector power system, thereby solving the problems of low efficiency and excessive energy consumption in existing omnidirectional UAVs.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: This invention provides an omnidirectional unmanned aerial vehicle (UAV) based on a passive hinged vector propulsion system, comprising a fuselage, a vector propulsion system, and arms. The fuselage has three arms evenly spaced along its circumference, and the ends of the three arms are respectively connected to three vector propulsion systems. The vector propulsion system includes a propulsion system mounting frame, a two-axis connector, and multiple powered rotors. One end of the two-axis connector is rotatably connected to the arm, and the other end is rotatably connected to the propulsion system mounting frame. The multiple powered rotors are mounted on the propulsion system mounting frame.

[0007] The power system mounting frame has an H-shaped structure, and four power rotors are respectively installed at the four ends.

[0008] The power system mounting bracket includes a mounting bracket vertical tube, a mounting bracket clamp, and a mounting bracket horizontal tube. The middle part of the mounting bracket horizontal tube is rotatably connected to the two shaft connectors, and the two ends of the mounting bracket horizontal tube are perpendicularly connected to the two mounting bracket vertical tubes through the mounting bracket clamps.

[0009] The two-axis connector has a Y-shaped structure. One end of the connector has a central hole along the axial direction for connecting the arm, and the other end of the connector has bearing mounting holes on both sides for rotatably connecting with the power system mounting frame.

[0010] The powered rotor includes a propeller, a propeller motor, and a propeller motor mount. The propeller motor mount is connected to the power system mounting frame, and the propeller motor is mounted on the propeller motor mount with its output end connected to the propeller.

[0011] The propeller motor mounting base includes an upper propeller motor mounting plate, rotor tube clamp I, rotor tube clamp II, and a lower propeller motor mounting plate. The upper propeller motor mounting plate and the lower propeller motor mounting plate are arranged in parallel. The rotor tube clamp I and the rotor tube clamp II are connected between the upper propeller motor mounting plate and the lower propeller motor mounting plate and are coaxial.

[0012] The two-axis connector is equipped with an electronic speed controller and two encoders. The two encoders are used to measure the rotation angle of the power system mounting frame relative to the two-axis connector and the rotation angle of the two-axis connector relative to the arm, respectively. The electronic speed controller is connected to the power rotor and is used to control the rotation of the power rotor.

[0013] The airframe has a three-layer structure. The first layer houses the flight controller; the second layer has multiple arm fixing clamps along its circumference for connecting the arms; the third layer houses the battery and encoder data integration board; the encoder data integration board is connected to the flight controller, and the encoder is connected to the encoder data integration board; the power line of the electronic speed controller is connected to the battery, and the signal line of the electronic speed controller is connected to the flight controller; the control signals issued by the flight controller are transmitted to the electronic speed controller, processed by the electronic speed controller, and output to each of the powered rotors.

[0014] The bottom of the aircraft is equipped with landing gear.

[0015] The landing gear has a three-legged structure, with each leg including a landing gear horizontal tube, a landing gear vertical tube clamp, a landing gear vertical tube, and a landing gear diagonal tube clamp. The lower end of the landing gear vertical tube is connected to the middle of the landing gear horizontal tube through the landing gear vertical tube clamp, and the upper end of the landing gear vertical tube is fixedly connected to the fuselage through the landing gear diagonal tube clamp.

[0016] The present invention has the following beneficial effects and advantages: Power vectoring adjustment without additional actuators: Through a passive hinged structure design, and with the dual rotational degrees of freedom of the two-axis connector (rotation with the arm and rotation with the power system mounting frame), the direction and magnitude of the power vector can be flexibly changed simply by adjusting the speed difference between the rotors. No additional actuators such as servos or rotating mechanisms are required, which simplifies the mechanical structure from the root.

[0017] Efficient utilization of rotor thrust: Abandoning the traditional design of rotors with fixed tilt angles, the powered rotor can passively rotate to adaptively adjust the blade plane direction, always maintaining efficient thrust output. This avoids thrust loss caused by fixed tilt structures and significantly improves rotor thrust utilization efficiency, especially in scenarios with large loads or high flight efficiency requirements.

[0018] Six-degree-of-freedom omnidirectional flight capability: It has six-dimensional tracking capability for flight attitude and position trajectory planning, can hover in the air in any attitude, and can complete omnidirectional movement while maintaining any attitude of the body. It can also generate thrust in any direction, completely breaking through the limitations of traditional underactuated rotor UAVs that rely on attitude adjustment to achieve displacement.

[0019] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings.

[0020] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0021] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is an isometric view of an omnidirectional flying unmanned aerial vehicle based on a passive hinged vector power system according to the present invention; Figure 2 This is a schematic diagram of the vector dynamic system in this invention; Figure 3 This is a schematic diagram of the propeller structure in this invention; Figure 4 This is a schematic diagram of the structure of the organism in this invention.

[0022] In the diagram: 1-Airframe, 11-Flight Controller, 12-Battery, 13-Landing Gear, 131-Landing Gear Cross Tube, 132-Landing Gear Vertical Tube Clamp, 133-Landing Gear Vertical Tube, 134-Landing Gear Diagonal Tube Clamp, 14-Arm Fixing Tube Clamp, 15-Encoder Data Integration Board, 2-Vectoring Power System, 21-Powered Rotor, 211-Propeller, 212-Propeller Motor, 213-Upper Propeller Motor Mounting Plate, 214-Rotor Tube Clamp I 215-Rotor tube clamp II, 216-Lower propeller motor mounting plate, 22-Power system mounting bracket, 221-Mounting bracket vertical tube, 222-Mounting bracket tube clamp, 223-Mounting bracket horizontal tube, 23-Two-shaft connector, 24-Encoder, 25-Electronic speed controller, 261-Carbon tube limiting ring I, 262-Carbon tube limiting ring II, 263-Carbon tube limiting ring III, 27-Shaft limiting component I, 28-Bearing, 29-Shaft limiting component II, 3-Arm. Detailed Implementation

[0023] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0024] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0025] See Figure 1As shown, the present invention provides an omnidirectional unmanned aerial vehicle based on a passive hinged vector power system, including a fuselage 1, a vector power system 2, and arms 3. The fuselage 1 has three arms 3 evenly spaced along its circumference, and the ends of the three arms 3 are respectively connected to three vector power systems 2. The vector power system 2 includes a power system mounting frame 22, a two-axis connector 23, and multiple powered rotors 21. One end of the two-axis connector 23 is rotatably connected to the arm 3, and the other end is rotatably connected to the power system mounting frame 22. The multiple powered rotors 21 are mounted on the power system mounting frame 22.

[0026] In an embodiment of the present invention, the power system mounting frame 22 has an H-shaped structure, and four power rotors 21 are respectively provided at the four ends.

[0027] See Figure 2 As shown in the embodiment of the present invention, the power system mounting bracket 22 includes a mounting bracket vertical tube 221, a mounting bracket clamp 222, and a mounting bracket horizontal tube 223. The middle part of the mounting bracket horizontal tube 223 is rotatably connected to the two shaft connectors 23, and both ends of the mounting bracket horizontal tube 223 are perpendicularly connected to the two mounting bracket vertical tubes 221 through the mounting bracket clamp 222. The mounting bracket clamp 222 includes a positioning hole and a clamping hole, which uses friction to hold the mounting bracket vertical tube 221 and the mounting bracket horizontal tube 223 in place.

[0028] Specifically, the two-axis connector 23 has a Y-shaped structure. One end of the connector has a central hole along the axial direction for connecting the arm 3. The end of the arm 3 is installed in the central hole of the two-axis connector 23 through a bearing. The inner end of the two-axis connector 23 is axially limited by a carbon tube limiting ring III 263, and the outer end of the two-axis connector 23 is axially limited by a carbon tube limiting ring II 262 and an axis limiting member II 29. The other end of the two-axis connector 23 has bearing mounting holes on both sides for rotating connection with the horizontal tube 223 of the fixed frame. Bearings 28 are installed in the bearing mounting holes, and the inner ring of the bearings 28 is axially limited by a carbon tube limiting ring I 261 and an axis limiting member I 27.

[0029] To ensure that the four powered rotors 21 are on the same plane, five small levels are placed on each powered rotor 21 and the center of the power system mounting bracket 22 during assembly. The clamping screws of each mounting bracket clamp 222 are then finely adjusted to ensure the four powered rotors are on the same plane. The power system mounting bracket 22 is connected to the two-shaft connector 23 via a pair of pitch shaft bearings, ensuring relative rotation between them. Specifically, the outer ring of the pitch shaft bearing is embedded in a stepped hole on the two-shaft connector 23, with an interference fit between the stepped hole and the bearing. The mounting bracket transverse tube 223 passes through the bearing and has an interference fit with the inner ring of the bearing. Two carbon tube limiting rings I 261 are mounted on the mounting bracket transverse tube 223. These carbon tube limiting rings I 261 press against the inner ring of the bearing, providing axial positioning with the pitch shaft bearing and ensuring the overall centering of the power system mounting bracket 22. The rotation angle of the pitch shaft is measured by an encoder 24, which consists of two parts: a stator fixed to the two-shaft connector 23 and a rotor fixed to the horizontal tube 223 of the mounting frame. When the two rotate relative to each other, the magnetic poles of the rotor change, and the chip at the stator end can measure the corresponding angle. The other shaft of the two-shaft connector 23 cooperates with the machine arm 3. The two-shaft connector 23 is connected to the machine arm 3 via two pairs of bearings, and axial positioning is achieved using carbon tube limiting rings II 262 and III 263 fixed to the machine arm 3. The rotation angle between the two is measured by another encoder 24, whose stator is fixed to the two-shaft connector 23 and whose rotor is fixed to the machine arm 3.

[0030] Furthermore, the two-axis connector 23 is equipped with an electronic speed controller 25 and two encoders 24. The two encoders 24 are used to measure the rotation angle of the power system mounting frame 22 relative to the two-axis connector 23 and the rotation angle of the two-axis connector 23 relative to the arm 3, respectively. The electronic speed controller 25 is connected to the power rotor 21 and is used to control the rotation of the power rotor 21.

[0031] See Figure 3 As shown, in an embodiment of the present invention, the power rotor 21 includes a propeller 211, a propeller motor 212 and a propeller motor mounting base, wherein the propeller motor mounting base is connected to the power system mounting frame 22, the propeller motor 212 is mounted on the propeller motor mounting base and its output end is connected to the propeller 211.

[0032] Specifically, the propeller motor mounting bracket includes an upper propeller motor mounting plate 213, rotor tube clamp I 214, rotor tube clamp II 215, and a lower propeller motor mounting plate 216. The upper and lower propeller motor mounting plates 213 and 216 are arranged in parallel. Rotor tube clamp I 214 and rotor tube clamp II 215 are connected between the upper and lower propeller motor mounting plates 213 and 216, and are coaxial. Rotor tube clamp I 214 and rotor tube clamp II 215 are fitted onto one end of the mounting frame vertical tube 221 of the power system mounting bracket 22, and tightened with a through bolt and nut, securing them to the mounting frame vertical tube 221 using friction.

[0033] See Figure 4 As shown in the embodiment of the present invention, the body 1 has a three-layer structure. The first layer is equipped with a flight controller 11, which is the control core of the entire UAV. The control algorithm in the flight controller 11 controls the entire UAV. The second layer is equipped with six arm fixing clamps 14 along the circumference for connecting the arms 3. Each arm 3 passes through two arm fixing clamps 14 and is tightened with a through bolt and nut to achieve a fixed connection. The third layer is equipped with a battery 12 and an encoder data integration board 15. The encoder data integration board 15 is connected to the flight controller 11, and the encoder 24 is connected to the encoder data integration board 15. The three-phase power lines of the four propeller motors 212 of each vector power system 2 are connected to the electronic speed controller 25. The power line of the electronic speed controller 25 is connected to the battery 12, and the signal line of the electronic speed controller 25 is connected to the flight controller 11. The control signal issued by the flight controller 11 is transmitted to the electronic speed controller 25, processed by the electronic speed controller 25, and outputs the control current corresponding to each propeller motor 212. All six encoders 24 are connected to the encoder data integration board 15. After integration, they are connected to the flight controller 11 via a serial port. The flight controller 11 can then use the information measured by its own sensors and the encoder data collected to run the control algorithm and control the entire drone.

[0034] See Figure 1 and Figure 4 As shown in the embodiment of the present invention, a landing gear 13 is provided at the bottom of the fuselage 1. The landing gear 13 has a three-legged structure, each leg including a landing gear horizontal tube 131, a landing gear vertical tube clamp 132, a landing gear vertical tube 133, and a landing gear diagonal tube clamp 134. The lower end of the landing gear vertical tube 133 is connected to the middle of the landing gear horizontal tube 131 through the landing gear vertical tube clamp 132, and the upper end of the landing gear vertical tube 133 is fixedly connected to the fuselage 1 through the landing gear diagonal tube clamp 134. The three-legged landing gear is fixed by a multi-clamp connection method, providing stable support and adapting to different take-off and landing scenarios. The motor mounting design of the powered rotor ensures that the four rotors are always on the same plane, guaranteeing the balance and stability of power output.

[0035] In this embodiment, the two-axis connector 23 is hinged to the arm 3 and can rotate relative to it. It is perpendicular to the rotation axis of the powered rotor 21 relative to the power system mounting frame 22. The rotation angle of the two axes is obtained by two encoders 24. Since the arm 3 is fixed to the body 1, the vector power system 2 has two rotational degrees of freedom relative to the body 1. It can drive the UAV to move by changing the direction and magnitude of the power vector while maintaining the attitude of the body 1. The rotational degrees of freedom of the two axes are connected by passive hinges. Changing the direction and magnitude of the power vector is achieved by adjusting the rotation speed of the four powered rotors 21 individually to generate tension and torque.

[0036] This invention provides an omnidirectional unmanned aerial vehicle (UAV) based on a passive hinged vector power system, the working principle of which is as follows: The core principle of omnidirectional flight for drones is that the power vector driving the drone's motion can be freely adjusted; the key to not reducing the drone's efficiency lies in not adding an additional actuator to change the drone's power vector. This invention utilizes aerodynamics to adjust the power vector of the vector power system 2. Specifically, the thrust generated by the power rotor 21 is always perpendicular to the propeller plane; changing the rotation speed of the power rotor 21 can change the magnitude of the thrust and the counter-torque, with higher rotation speeds resulting in greater thrust and counter-torque; when the thrust generated by the four power rotors 21 on the same plane is different, they will combine to form a resultant torque and a resultant thrust; since the power system mounting frame 22 is connected to the arm 3 through two passive hinges, applying torque to the power system mounting frame 22 will cause it to rotate, thereby changing the plane orientation of the power rotors 21 and thus changing the direction of the thrust generated by the power rotors 21; therefore, by adjusting the rotation speed difference of each power rotor 21, the direction of the power vector can be adjusted, and by adjusting the rotation speed of the power rotors 21, the magnitude of the power vector can be adjusted, thereby achieving the function of adjusting the drone's power vector.

[0037] The entire flight process is as follows: During takeoff, all powered rotors 21 remain horizontal, generating an upward pull to drive the UAV to take off; when movement is required, each vector power system 2 adjusts the rotational speed of each motor to generate corresponding force and torque, driving the powered rotors 21 to turn and generate pull; the power vector generated by all vector power systems 2 is a total vector composed of the anti-gravity vector and the force vector of the desired direction of motion; when the heading needs to be veered, each vector power system 2 adjusts the rotational speed of the powered rotors 21, so that each vector power system 2 generates an anti-torque, thereby driving the UAV to veer.

[0038] This invention provides an omnidirectional unmanned aerial vehicle (UAV) based on a passive hinged vector power system. This six-degree-of-freedom high-maneuverability omnidirectional UAV uses encoders to collect real-time rotation angle data of both axes, which is then transmitted to the flight control system via an encoder data integration board. Combined with the flight control system's control algorithm, precise control of the power vector is achieved, ensuring the UAV's attitude stability during omnidirectional movement and hovering, thus improving operational accuracy. Furthermore, it eliminates the need for complex attitude adjustment logic; the flight control system can directly achieve omnidirectional movement by adjusting the rotor speed, lowering the operational threshold. Because it eliminates the need for additional actuators and complex auxiliary mechanical structures, the overall weight of the UAV is significantly reduced, simplifying assembly and lowering manufacturing costs. It also reduces the probability of mechanical failures and improves equipment reliability. The invention avoids the energy consumption associated with additional actuators, and the efficient pull utilization mode reduces power loss within the same battery capacity. Its omnidirectional flight capability provides exceptional flexibility in scenarios such as operation in confined spaces, obstacle avoidance in complex environments, and precision operations. It can adapt to complex mission requirements in various fields such as logistics transportation, agricultural plant protection, patrol monitoring, building inspection, and rescue operations, expanding the application boundaries of UAVs.

[0039] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An omnidirectional unmanned aerial vehicle based on a passive hinged vector power system, characterized in that, The system includes a body (1), a vector power system (2), and arms (3). The body (1) has three arms (3) spaced evenly along the circumference. The ends of the three arms (3) are connected to the three vector power systems (2) respectively. The vector power system (2) includes a power system mounting frame (22), a two-axis connector (23), and multiple power rotors (21). One end of the two-axis connector (23) is rotatably connected to the arm (3), and the other end is rotatably connected to the power system mounting frame (22). The multiple power rotors (21) are mounted on the power system mounting frame (22).

2. The omnidirectional unmanned aerial vehicle based on a passive hinged vector power system according to claim 1, characterized in that, The power system mounting frame (22) has an H-shaped structure, and four power rotors (21) are respectively installed at the four ends.

3. The omnidirectional flight UAV based on a passive hinged vector power system according to claim 2, characterized in that, The power system mounting bracket (22) includes a mounting bracket vertical tube (221), a mounting bracket clamp (222), and a mounting bracket horizontal tube (223). The middle part of the mounting bracket horizontal tube (223) is rotatably connected to the two shaft connectors (23), and the two ends of the mounting bracket horizontal tube (223) are vertically connected to the two mounting bracket vertical tubes (221) through the mounting bracket clamps (222).

4. The omnidirectional flight UAV based on a passive hinged vector power system according to claim 1, characterized in that, The two-axis connector (23) has a Y-shaped structure. One end of the connector has a central hole along the axial direction for connecting the arm (3), and the other end of the connector (23) has bearing mounting holes on both sides for rotating connection with the power system mounting frame (22).

5. The omnidirectional flight UAV based on a passive hinged vector power system according to claim 1, characterized in that, The power rotor (21) includes a propeller (211), a propeller motor (212) and a propeller motor mounting base, wherein the propeller motor mounting base is connected to the power system mounting frame (22), the propeller motor (212) is mounted on the propeller motor mounting base, and its output end is connected to the propeller (211).

6. The omnidirectional flight UAV based on a passive hinged vector dynamics system according to claim 5, characterized in that, The propeller motor mounting base includes an upper propeller motor mounting plate (213), rotor tube clamp I (214), rotor tube clamp II (215), and a lower propeller motor mounting plate (216). The upper propeller motor mounting plate (213) and the lower propeller motor mounting plate (216) are arranged in parallel. The rotor tube clamp I (214) and the rotor tube clamp II (215) are connected between the upper propeller motor mounting plate (213) and the lower propeller motor mounting plate (216) and are coaxial.

7. The omnidirectional flight UAV based on a passive hinged vector power system according to claim 1, characterized in that, The two-axis connector (23) is equipped with an electronic speed controller (25) and two encoders (24). The two encoders (24) are used to measure the rotation angle of the power system mounting frame (22) relative to the two-axis connector (23) and the rotation angle of the two-axis connector (23) relative to the arm (3), respectively. The electronic speed controller (25) is connected to the power rotor (21) and is used to control the rotation of the power rotor (21).

8. The omnidirectional unmanned aerial vehicle based on a passive hinged vector power system according to claim 7, characterized in that, The body (1) has a three-layer structure. The first layer is equipped with a flight controller (11). The second layer is equipped with multiple arm fixing clamps (14) for connecting the arms (3) along the circumference. The third layer is equipped with a battery (12) and an encoder data integration board (15). The encoder data integration board (15) is connected to the flight controller (11), and the encoder (24) is connected to the encoder data integration board (15). The power line of the electronic speed controller (25) is connected to the battery (12), and the signal line of the electronic speed controller (25) is connected to the flight controller (11). The control signal issued by the flight controller (11) is transmitted to the electronic speed controller (25), processed by the electronic speed controller (25), and output to each of the powered rotors (21).

9. The omnidirectional unmanned aerial vehicle based on a passive hinged vector power system according to claim 1, characterized in that, The bottom of the fuselage (1) is provided with landing gear (13).

10. The omnidirectional flight UAV based on a passive hinged vector power system according to claim 9, characterized in that, The landing gear (13) is a three-legged structure, each leg including a landing gear horizontal tube (131), a landing gear vertical tube clamp (132), a landing gear vertical tube (133), and a landing gear diagonal tube clamp (134). The lower end of the landing gear vertical tube (133) is connected to the middle part of the landing gear horizontal tube (131) through the landing gear vertical tube clamp (132), and the upper end of the landing gear vertical tube (133) is fixedly connected to the fuselage (1) through the landing gear diagonal tube clamp (134).

Images