Indoor and outdoor autonomous switching unmanned intelligent agent with redundant propulsion system and method

Abstract

The invention discloses an indoor and outdoor autonomous switching unmanned intelligent agent with a redundant propulsion system and a method, and belongs to the technical field of unmanned aerial vehicles. The indoor and outdoor autonomous switching unmanned intelligent body with the redundant propulsion system comprises an unmanned intelligent body main body, two propulsion rotors are arranged in each auxiliary propeller shell, and a main rotor is arranged in a flight opening; and a high-precision hydraulic turntable is mounted at one end of the auxiliary propeller shell. The problems that an existing multi-rotor unmanned aerial vehicle is difficult to position in an indoor GPS denial environment and poor in maneuverability in a narrow space are solved, the propelling rotors can provide lift force for maintaining the height by calculating the thrust distribution scheme of the propelling rotors, yawing, pitching and rolling moments are synthesized through differential thrust, the flight control right is taken over, and the maneuverability of the multi-rotor unmanned aerial vehicle is improved. An intelligent unmanned platform which can safely, autonomously and continuously operate at an environment boundary and a system state boundary is created, and the intelligent unmanned platform can autonomously fly in indoor and outdoor complex environments and has a fault-tolerant capability.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, specifically to an indoor / outdoor autonomous switching unmanned intelligent agent and method with a redundant propulsion system. Background Technology

[0002] Drones are a type of aircraft that are gradually becoming practical. They have advantages such as maneuverability, rapid response, unmanned flight, and low operation requirements. In particular, multi-rotor drones are increasingly appearing in people's daily lives, work, and entertainment.

[0003] In the prior art, such as the multi-rotor drone with publication number CN207225656U, the multi-rotor drone includes an airframe, flight control equipment, and multiple rotor systems. The multi-rotor drone also includes a fuel-powered generator for powering itself. The multi-rotor drone provided by this patent, by employing a fuel-powered generator, can significantly improve the endurance of multi-rotor drones compared to the prior art which relies solely on battery power.

[0004] However, existing traditional multi-rotor UAVs have difficulty positioning in indoor GPS-denied environments, and conventionally designed UAVs have poor maneuverability in confined spaces and a high risk of crashing after a single propulsion system failure. Therefore, they do not meet the current requirements. To address this, we propose an indoor-outdoor autonomous switching unmanned intelligent agent and method with a redundant propulsion system. Summary of the Invention

[0005] The purpose of this invention is to provide an unmanned intelligent agent and method for autonomous switching between indoor and outdoor environments with a redundant propulsion system, which solves the problems mentioned in the background art, such as the difficulty of positioning in indoor GPS-denied environments, poor maneuverability in confined spaces, and high risk of crash after a single propulsion system failure.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an indoor-outdoor autonomous switching unmanned intelligent body with a redundant propulsion system, comprising an unmanned intelligent body body, auxiliary thruster housings symmetrically arranged in a rectangular form on both sides of the upper and lower ends of the unmanned intelligent body body, each of the auxiliary thruster housings being provided with two propulsion rotors, and eight flight ports being provided on the upper surface of the unmanned intelligent body body, each flight port being provided with a main rotor. A high-precision hydraulic turntable is installed at one end of the auxiliary thruster housing, and the high-precision hydraulic turntable is embedded in the unmanned intelligent body and fixedly connected to the unmanned intelligent body.

[0007] Preferably, all eight flight ports are integrally formed with the unmanned intelligent body, and the main rotor is rotatably connected to the unmanned intelligent body via bearings.

[0008] Preferably, the auxiliary thruster housing has two integrally formed propulsion vents, the propulsion rotor is rotatably connected to the auxiliary thruster housing via bearings, and the controller of the propulsion rotor and the controller of the main rotor are both connected via a control module, which is connected to a sensor transmission unit.

[0009] Preferably, the unmanned intelligent agent body is also equipped with a MEMS gyroscope, and a positioning module is provided on both sides of the MEMS gyroscope. The positioning module includes a GNSS receiver, an IMU, a visual sensor, and a lidar.

[0010] Preferably, the lower end of the auxiliary thruster housing is provided with an integrally formed connecting arm, the lower end of the connecting arm is fixedly connected to a connecting plate, the upper end of the high-precision hydraulic turntable is provided with a drive plate, the drive plate and the connecting plate are fixedly connected by a flange, and both the drive plate and the connecting plate are rotatably connected to the unmanned intelligent body through bearings.

[0011] Preferably, the unmanned intelligent body is equipped with a hydraulic oil pump, which is connected to a high-precision hydraulic turntable. Both sides of the high-precision hydraulic turntable are equipped with miniature swing cylinders. Each miniature swing cylinder has an oil pump interface installed outside it, which connects to a flow sensor and the hydraulic oil pump pipeline. The high-pressure oil pumped out by the hydraulic oil pump directly enters the adjacent servo valve and miniature swing cylinders, driving the drive plate and connecting plate to rotate. This eliminates pipeline pressure loss and delay, significantly reduces weight, achieves modularity, and precisely controls the angle of each hydraulic oil pump and the high-precision hydraulic turntable.

[0012] Preferably, a junction box is installed at the lower end of the high-precision hydraulic turntable. The junction box is equipped with a temperature sensor and a quality sensor for detecting hydraulic oil. A linear displacement sensor for detecting the displacement of the micro-oscillating cylinder and the rotation angle of the drive disc is also installed at the bottom of the drive disc. The hydraulic system has extremely high rigidity when operating in closed loop, and the thruster angle is not easily deviated by external forces. This provides a solid foundation for precise force and torque control. The housing of the hydraulic module itself serves as part of the aircraft arm or support structure and bears mechanical loads.

[0013] Preferably, the unmanned intelligent body is equipped with a central power management module and a single battery power supply. The central power management module is electrically connected to the single battery power supply and loads all motors. The central power management module is used to dynamically distribute power and increase the power output of other normal propulsion rotors when a single propulsion rotor fails.

[0014] Preferably, the unmanned intelligent agent body also has a controller installed inside, and the controller is configured as follows: It receives data from the positioning module and automatically switches from outdoor navigation mode to indoor navigation mode when the signal strength of the GNSS receiver is lower than a preset threshold. Real-time monitoring of the operating status of the main rotor and propulsion rotor; When the main rotor malfunction is detected, control the operation of all propulsion rotors to provide full lift and control torque, and complete the autonomous return and forced landing.

[0015] A method for implementing an unmanned intelligent agent with a redundant propulsion system that autonomously switches between indoor and outdoor environments includes the following steps: Step 1: Establish a parameterized model. Define the unmanned intelligent body, high-precision hydraulic turntable, propulsion rotor and central power management module as models with adjustable parameters. The parameterized model includes a flight dynamics model, a detailed hydraulic system model, a motor and rotor model, and a sensor noise and delay model. Step 2: Define the objective function and weigh the conflicting objectives of maximum takeoff weight, endurance, maximum maneuvering overload, and control bandwidth. Step 3: Through algorithm iteration, find the optimal trade-off solution given the energy density of a single battery power source and the performance parameters of hydraulic components, and perform optimization. Step 4: Use C++ to write the core, high-frequency control loop, and use Python to write the upper-level task management, health monitoring, and diagnostic algorithms. Run the algorithm on the controller to calculate the target thrust and target angle of each thruster and send them down to the lower level. Based on the detection results of the positioning module and sensors, implement a state machine in the code to clearly define the system state of the unmanned intelligent agent and the conditions for triggering state transitions. Step 5: While tethered, conduct low-altitude hovering and simple translation tests, calibrate the sensors, fine-tune the control parameters, and under controlled conditions, fly forward at high speed and make large-angle turns to verify the performance improvement brought by vector thrust. Actively trigger the preset fault mode to verify the emergency control algorithm and safety. Step Six: When a complete failure of the main rotor is diagnosed through sensor data, the control algorithm will be triggered immediately. The thrust distribution scheme of the eight propeller rotors will be recalculated so that the propeller rotors can not only provide lift to maintain altitude, but also synthesize yaw, pitch and roll moments through differential thrust, thereby completely taking over flight control, stabilizing attitude and executing the procedure of returning to the takeoff point or finding a safe place to land. Step 7: Under the impact of high-speed airflow, the high-precision hydraulic turntable, combined with a hydraulic oil pump, can output huge torque to the auxiliary thruster housing with a very small volume and weight. It can quickly and stably drive the auxiliary thruster housing with a larger size and greater inertia, and make extremely high-frequency thrust vector fine adjustments to the main body of the unmanned intelligent body to complete extremely rapid avoidance, turning or attitude adjustment actions, maintain precise angles, lay the foundation for large-scale and high-load platforms, and cancel the body vibration caused by the rotor or external factors in real time. It demonstrates stability and trajectory tracking ability in strong winds or complex airflow. Step 8: Define different optimization weights for the unmanned intelligent agent's main body hovering, high-speed cruising, maneuvering avoidance, and fault recovery. When hovering, prioritize efficiency and minimize total thrust. When maneuvering, prioritize bandwidth and allow large-angle rapid deflection to achieve self-allocation of thrust magnitude and spatial vector direction. Step 9: Through continuous monitoring by MEMS gyroscope and positioning module, when the signal strength of GNSS receiver continues to be lower than the preset threshold, the system determines that it has entered an indoor area or an area with severe signal obstruction, and automatically switches the main navigation mode from GNSS and IMU to visual sensor and lidar mode to ensure the continuity of positioning information.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention continuously monitors the system using MEMS gyroscopes and positioning modules. When the signal strength of the GNSS receiver remains below a preset threshold, the system determines that it has entered an indoor area or a severely signal-blocked area. It then automatically switches the main navigation mode from GNSS and IMU to visual sensor and lidar mode to ensure the continuity of positioning information. When sensor data diagnoses a complete failure of the main rotor, the control algorithm is immediately triggered to recalculate the thrust distribution scheme of the eight propeller rotors. This allows the propeller rotors to not only provide lift to maintain altitude but also synthesize yaw, pitch, and roll moments through differential thrust, thereby completely taking over flight control, stabilizing attitude, and executing the procedure of returning to the takeoff point or finding a safe landing surface. This significantly improves the longitudinal maneuverability of the aircraft in confined spaces. Through system-level design, it creates an intelligent unmanned platform that can operate safely, autonomously, and continuously at environmental and system state boundaries. It can fly autonomously in complex indoor and outdoor environments and has fault tolerance capabilities.

[0017] 2. Under the impact of high-speed airflow, the unmanned intelligent body of this invention, with its high-precision hydraulic turntable and hydraulic oil pump, can output huge torque to the auxiliary thruster housing with a very small volume and weight. It can quickly and stably drive the larger, more inertial auxiliary thruster housing, and perform extremely high-frequency thrust vector fine-tuning of the unmanned intelligent body to complete extremely rapid avoidance, turning or attitude adjustment actions, maintaining precise angles. This lays the foundation for large-scale and high-load-bearing platforms, and can offset the vibration of the body caused by the rotor or external factors in real time. The high-pressure oil pumped by the hydraulic oil pump directly enters the adjacent servo valve and micro swing cylinder, driving the drive plate and connecting plate to rotate, eliminating pipeline pressure loss and delay, significantly reducing weight, and achieving modularity. It can precisely control the angle of each hydraulic oil pump and high-precision hydraulic turntable, and exhibits stability and trajectory tracking ability in strong winds or complex airflows. When the hydraulic system operates in closed loop, it has extremely high rigidity, and the thruster angle is not easily deviated by external forces. This provides a solid foundation for precise force and torque control. Attached Figure Description

[0018] Figure 1 This is an isometric view of the side view of the present invention; Figure 2 This is an axonometric view of the front of the auxiliary thruster housing after adjustment according to the present invention; Figure 3 This is an isometric view of the auxiliary thruster housing after adjustment according to the present invention; Figure 4 This is an axonometric view of the front view of the auxiliary thruster housing of the present invention; Figure 5 This is an internal structural diagram of the main body of the unmanned intelligent agent of the present invention; Figure 6 This is a configuration implementation diagram of the controller of the present invention.

[0019] In the diagram: 1. Main body of the unmanned intelligent agent; 101. Flight port; 102. Main rotor; 2. Auxiliary thruster housing; 201. Propulsion rotor; 202. Connecting arm; 203. Connecting plate; 3. High-precision hydraulic turntable; 301. Drive plate; 302. Power junction box; 303. Miniature swing cylinder; 304. Oil pump interface; 4. Central power management module; 5. Hydraulic oil pump; 6. MEMS gyroscope; 7. Positioning module. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0021] To address the challenges faced by existing traditional multi-rotor drones, such as difficulty in GPS-denied positioning indoors, poor maneuverability in confined spaces, and high crash risk due to single propulsion system failure, please refer to [link to relevant documentation]. Figure 1 - Figure 5 This embodiment provides the following technical solution: In this embodiment, an indoor-outdoor autonomous switching unmanned intelligent body with a redundant propulsion system includes an unmanned intelligent body body 1. Auxiliary thruster housings 2 are symmetrically arranged in a rectangular form on both sides of the upper and lower ends of the unmanned intelligent body body 1. Each auxiliary thruster housing 2 is provided with two propulsion rotors 201. The upper surface of the unmanned intelligent body body 1 is provided with eight flight ports 101, and the flight ports 101 are provided with main rotors 102. A high-precision hydraulic turntable 3 is installed at one end of the auxiliary thruster housing 2. The high-precision hydraulic turntable 3 is embedded in the unmanned intelligent body 1 and fixedly connected to the unmanned intelligent body 1.

[0022] Among them, the eight flight ports 101 are all integrated with the unmanned intelligent body 1 as a single molded structure, and the main rotor 102 is rotatably connected to the unmanned intelligent body 1 through bearings.

[0023] The auxiliary thruster housing 2 is provided with two integrally formed propulsion vents. The propulsion rotor 201 is rotatably connected to the auxiliary thruster housing 2 via bearings. The controller of the propulsion rotor 201 and the controller of the main rotor 102 are both connected through a control module, and the control module is connected to the sensor transmission unit.

[0024] Furthermore, the unmanned intelligent agent body 1 is also equipped with a MEMS gyroscope 6, and positioning modules 7 are set on both sides of the MEMS gyroscope 6. The positioning modules 7 include a GNSS receiver, an IMU, a visual sensor, and a lidar.

[0025] In addition, the unmanned intelligent body 1 is equipped with a central power management module 4 and a single battery power supply. The central power management module 4 is electrically connected to the single battery power supply and loads all motors. The central power management module 4 is used to dynamically distribute power and increase the power output of other normal propulsion rotors 201 when a single propulsion rotor 201 fails.

[0026] like Figure 6 As shown, a controller is also installed inside the unmanned intelligent agent body 1, and the controller is configured as follows: It receives data from the positioning module 7 and automatically switches from outdoor navigation mode to indoor navigation mode when the signal strength of the GNSS receiver is lower than a preset threshold. Real-time monitoring of the operating status of the main rotor 102 and the propulsion rotor 201; When a malfunction is detected in the main rotor 102, control the operation of all propulsion rotors 201 to provide full lift and control torque, and complete the autonomous return and forced landing.

[0027] Specifically, through continuous monitoring by MEMS gyroscope 6 and positioning module 7, when the signal strength of the GNSS receiver is continuously lower than the preset threshold, the system determines that it has entered an indoor area or an area with severe signal obstruction, and automatically switches the main navigation mode from GNSS and IMU to visual sensor and lidar mode to ensure the continuity of positioning information. When the sensor data diagnoses a complete failure of the main rotor 102, the control algorithm will be triggered immediately to recalculate the thrust distribution scheme of the eight propeller rotors 201. This allows the propeller rotors 201 to not only provide lift to maintain altitude, but also to synthesize yaw, pitch and roll moments through differential thrust, thereby completely taking over flight control, stabilizing attitude and executing the procedure of returning to the takeoff point or finding a safe place to land. This significantly improves the longitudinal maneuverability of the aircraft in confined spaces. Through system-level design, an intelligent unmanned platform that can operate safely, autonomously and continuously at environmental and system state boundaries has been created. It can fly autonomously in complex indoor and outdoor environments and has fault tolerance capabilities.

[0028] To address the issue of unreliable stability during movement in existing traditional multi-rotor drones, please refer to [link / reference needed]. Figure 1 - Figure 5 This embodiment provides the following technical solution: The lower end of the auxiliary thruster housing 2 of this embodiment is provided with an integrally formed connecting arm 202. The lower end of the connecting arm 202 is fixedly connected to a connecting plate 203. The upper end of the high-precision hydraulic turntable 3 is provided with a drive plate 301. The drive plate 301 and the connecting plate 203 are fixedly connected by a flange, and both the drive plate 301 and the connecting plate 203 are rotatably connected to the unmanned intelligent body 1 through bearings.

[0029] It should be noted that the unmanned intelligent body 1 is equipped with a hydraulic oil pump 5, which is connected to a high-precision hydraulic turntable 3. Both sides of the high-precision hydraulic turntable 3 are equipped with miniature swing cylinders 303. The miniature swing cylinders 303 are equipped with oil pump interfaces 304. The oil pump interfaces 304 are connected to the flow sensor and the pipeline of the hydraulic oil pump 5. The high-pressure oil pumped out by the hydraulic oil pump 5 directly enters the adjacent servo valve and the miniature swing cylinders 303, driving the drive plate 301 and the connecting plate 203 to rotate. This eliminates pipeline pressure loss and delay, significantly reduces weight, and achieves modularity, allowing for precise control of the angle of each hydraulic oil pump 5 and the high-precision hydraulic turntable 3.

[0030] The high-precision hydraulic turntable 3 has a junction box 302 installed at its lower end. The junction box 302 is equipped with a temperature sensor and an oil quality sensor for detecting hydraulic oil. The bottom of the drive disc 301 is also equipped with a linear displacement sensor for detecting the displacement of the micro swing cylinder 303 and the rotation angle of the drive disc 301. When the hydraulic system operates in closed loop, it has extremely high rigidity, and the thruster angle is not easily affected by external forces. This provides a solid foundation for precise force and torque control. The housing of the hydraulic module itself serves as part of the aircraft arm or support structure and bears mechanical loads.

[0031] Specifically, under the impact of high-speed airflow, the high-precision hydraulic turntable 3, combined with the hydraulic oil pump 5, can output huge torque to the auxiliary thruster housing 2 with a very small volume and weight. This allows for rapid and stable driving of the larger, more inertial auxiliary thruster housing 2, enabling the unmanned intelligent body 1 to perform extremely high-frequency thrust vector fine-tuning, completing extremely rapid avoidance, turning, or attitude adjustment actions while maintaining precise angles. This lays the foundation for large-scale and high-load-bearing platforms, and can counteract body vibrations caused by rotors or external factors in real time. The high-pressure oil pumped by the hydraulic oil pump 5 directly enters the adjacent servo valve and micro swing cylinder 303, driving the drive disc 301 and connecting disc 203 to rotate. This eliminates pipeline pressure loss and delay, significantly reduces weight, and achieves modularity. It precisely controls the angle of each hydraulic oil pump 5 and the high-precision hydraulic turntable 3, demonstrating stability and trajectory tracking capabilities in strong winds or complex airflows. The hydraulic system has extremely high rigidity when operating in a closed loop, and the thruster angle is not easily deviated by external forces. This provides a solid foundation for precise force and torque control.

[0032] A method for implementing an unmanned intelligent agent with a redundant propulsion system that autonomously switches between indoor and outdoor environments includes the following steps: Step 1: Establish a parameterized model. Define the unmanned intelligent body 1, high-precision hydraulic turntable 3, propulsion rotor 201 and central power management module 4 as models with adjustable parameters. The parameterized model includes a flight dynamics model, a detailed hydraulic system model, a motor and rotor model, and a sensor noise and delay model. Step 2: Define the objective function and weigh the conflicting objectives of maximum takeoff weight, endurance, maximum maneuvering overload, and control bandwidth. Step 3: Through algorithm iteration, find the optimal trade-off solution given the energy density of a single battery power source and the performance parameters of hydraulic components, and perform optimization. Step 4: Write the core, high-frequency control loop in C++, and write the upper-level task management, health monitoring and diagnostic algorithms in Python. Run the controller to receive attitude commands at a frequency of 500Hz, run the fast optimization algorithm to calculate the target thrust and target angle of each thruster, and send them down to the lower layer. Based on the detection results of the positioning module 7 and the sensors, implement a state machine in the code to clearly define the system state of the unmanned intelligent agent and the conditions for triggering state transitions. Step 5: While tethered, conduct low-altitude hovering and simple translation tests, calibrate the sensors, fine-tune the control parameters, and under controlled conditions, fly forward at high speed and make large-angle turns to verify the performance improvement brought by vector thrust. Actively trigger the preset fault mode to verify the emergency control algorithm and safety. Step Six: When a complete failure of the main rotor 102 is diagnosed through sensor data, the control algorithm will be triggered immediately. The thrust distribution scheme of the eight propeller rotors 201 will be recalculated so that the propeller rotors 201 can not only provide lift to maintain altitude, but also synthesize yaw, pitch and roll moments through differential thrust, thereby completely taking over flight control, stabilizing attitude and executing the procedure of returning to the takeoff point or finding a safe place to land. Step 7: Under the impact of high-speed airflow, the high-precision hydraulic turntable 3, combined with the hydraulic oil pump 5, can output huge torque to the auxiliary thruster housing 2 with a very small volume and weight. It can quickly and stably drive the larger and more inertial auxiliary thruster housing 2, and make extremely high-frequency thrust vector fine-tuning of the unmanned intelligent body 1 to complete extremely rapid avoidance, turning or attitude adjustment actions, maintain precise angle, lay the foundation for large-scale and high-load platforms, and cancel the body vibration caused by the rotor or external environment in real time. It demonstrates stability and trajectory tracking ability in strong winds or complex airflow. Step 8: Define different optimization weights for hovering, high-speed cruising, maneuvering avoidance, and fault recovery of the unmanned intelligent agent body 1. Prioritize efficiency and minimize total thrust when hovering, and prioritize bandwidth when maneuvering to allow large-angle rapid deflection, so as to achieve self-allocation of thrust magnitude and spatial vector direction. Step 9: Through continuous monitoring by MEMS gyroscope 6 and positioning module 7, when the signal strength of GNSS receiver continues to be lower than the preset threshold, the system determines that it has entered an indoor area or an area with severe signal obstruction, and automatically switches the main navigation mode from GNSS and IMU to visual sensor and lidar mode to ensure the continuity of positioning information.

[0033] Working Principle: Before flight, a parametric model is established, defining the unmanned intelligent agent body 1, high-precision hydraulic turntable 3, propulsion rotor 201, and central power management module 4 as adjustable parameter models. The parametric model includes a flight dynamics model, a detailed hydraulic system model, a motor and rotor model, and a sensor noise and delay model. An objective function is defined, balancing conflicting objectives such as maximum takeoff weight, endurance, maximum maneuvering overload, and control bandwidth. Through algorithmic iteration, the optimal compromise is found given the energy density of a single battery power source and the performance parameters of hydraulic components. Optimization is then performed, with the core, high-frequency control loop written in C++ and the upper-level task management, health monitoring, and diagnostic algorithms written in Python. This process runs within the control... The system receives attitude commands at a frequency of 500Hz, runs a fast optimization algorithm to calculate the target thrust and target angle of each thruster, and sends the results down to the lower level. Based on the detection results of the positioning module 7 and sensors, a state machine is implemented in the code to clearly define the system state of the unmanned intelligent agent and the conditions for triggering state transitions. In tethered mode, low-altitude hovering and simple translation tests are performed to calibrate sensors and fine-tune control parameters. Under controlled conditions, high-speed forward flight and large-angle turns are performed to verify the performance improvement brought by vector thrust. Preset fault modes are actively triggered to verify the emergency control algorithm and safety. When a complete failure of the main rotor 102 is diagnosed through sensor data, the control algorithm will be immediately triggered to recalculate the thrust of the eight thruster rotors 201. The allocation scheme enables the propulsion rotor 201 to not only provide lift for maintaining altitude, but also to synthesize yaw, pitch, and roll moments through differential thrust, thereby completely taking over flight control, stabilizing attitude, and executing procedures to return to the takeoff point or find a safe landing site. This significantly improves the aircraft's longitudinal maneuverability in confined spaces. Through system-level design, an intelligent unmanned platform capable of safe, autonomous, and continuous operation at environmental and system state boundaries has been created. It can fly autonomously in complex indoor and outdoor environments and has fault tolerance capabilities. Under the impact of high-speed airflow, the high-precision hydraulic turntable 3, combined with the hydraulic oil pump 5, can output huge torque to the auxiliary thruster housing 2 with a very small volume and weight, which can quickly and stably drive the larger and more inertial auxiliary thruster housing 2. The thruster housing 2 performs extremely high-frequency thrust vector fine-tuning on the unmanned intelligent body 1, enabling extremely rapid avoidance, turning, or attitude adjustment maneuvers while maintaining precise angles. This lays the foundation for large-scale and high-load-bearing platforms. It also counteracts rotor or external vibrations in real time, demonstrating stability and trajectory tracking capabilities in strong winds or complex airflow. The hydraulic system exhibits extremely high rigidity in closed-loop operation, making the thruster angle less susceptible to external interference. This provides a solid foundation for precise force and torque control. Different optimization weights are defined for the unmanned intelligent body 1's hovering, high-speed cruising, maneuvering avoidance, and fault recovery. Efficiency is prioritized during hovering to minimize total thrust, while bandwidth is prioritized during maneuvers to allow for large-angle rapid deflections. This achieves self-allocation of thrust magnitude and spatial vector direction.Through continuous monitoring by the MEMS gyroscope 6 and positioning module 7, when the signal strength of the GNSS receiver remains below a preset threshold, the system determines that it has entered an indoor area or an area with severe signal obstruction, and automatically switches the main navigation mode from GNSS and IMU to visual sensor and lidar mode to ensure the continuity of positioning information.

[0034] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0035] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention.

Claims

1. An unmanned intelligent agent with a redundant propulsion system that autonomously switches between indoor and outdoor environments, comprising an unmanned intelligent agent body (1), characterized in that, Auxiliary thruster housings (2) are symmetrically arranged in a rectangular shape on both sides of the upper and lower ends of the unmanned intelligent body (1). Each auxiliary thruster housing (2) is provided with two thruster rotors (201). The upper surface of the unmanned intelligent body (1) is provided with eight flight ports (101). The flight ports (101) are provided with main rotors (102). A high-precision hydraulic turntable (3) is installed at one end of the auxiliary thruster housing (2), and the high-precision hydraulic turntable (3) is embedded in the unmanned intelligent body (1) and fixedly connected to the unmanned intelligent body (1).

2. The indoor / outdoor autonomous switching unmanned intelligent agent with a redundant propulsion system according to claim 1, characterized in that, All eight flight ports (101) are integrated with the unmanned intelligent body (1) as a single unit, and the main rotor (102) is rotatably connected to the unmanned intelligent body (1) via bearings.

3. The indoor / outdoor autonomous switching unmanned intelligent agent with a redundant propulsion system according to claim 2, characterized in that, The auxiliary thruster housing (2) is provided with two integrally formed thrust air inlets. The thruster rotor (201) is rotatably connected to the auxiliary thruster housing (2) through a bearing. The controller of the thruster rotor (201) and the controller of the main rotor (102) are both connected through a control module, and the control module is connected to the sensor transmission unit.

4. The indoor / outdoor autonomous switching unmanned intelligent agent with a redundant propulsion system according to claim 3, characterized in that, The unmanned intelligent agent body (1) is also equipped with a MEMS gyroscope (6), and a positioning module (7) is provided on both sides of the MEMS gyroscope (6). The positioning module (7) includes a GNSS receiver, an IMU, a visual sensor and a lidar.

5. The indoor / outdoor autonomous switching unmanned intelligent agent with a redundant propulsion system according to claim 4, characterized in that, The lower end of the auxiliary thruster housing (2) is provided with an integrally formed connecting arm (202), and the lower end of the connecting arm (202) is fixedly connected with a connecting disc (203). The upper end of the high-precision hydraulic turntable (3) is provided with a drive disc (301). The drive disc (301) and the connecting disc (203) are fixedly connected by a flange, and the drive disc (301) and the connecting disc (203) are rotatably connected to the unmanned intelligent body (1) through bearings.

6. The indoor / outdoor autonomous switching unmanned intelligent agent with a redundant propulsion system according to claim 5, characterized in that, The unmanned intelligent body (1) is equipped with a hydraulic oil pump (5), which is connected to a high-precision hydraulic turntable (3). Both sides of the high-precision hydraulic turntable (3) are equipped with miniature swing cylinders (303). An oil pump interface (304) is installed on the outside of the miniature swing cylinder (303). The oil pump interface (304) is connected to a flow sensor and the pipeline of the hydraulic oil pump (5).

7. The indoor / outdoor autonomous switching unmanned intelligent agent with a redundant propulsion system according to claim 6, characterized in that, The lower end of the high-precision hydraulic turntable (3) is equipped with a junction box (302). The junction box (302) is equipped with a temperature sensor and an oil quality sensor for detecting hydraulic oil. The bottom of the drive disc (301) is also equipped with a linear displacement sensor for detecting the displacement of the micro swing cylinder (303) and the rotation angle of the drive disc (301).

8. The indoor / outdoor autonomous switching unmanned intelligent agent with a redundant propulsion system according to claim 7, characterized in that, The unmanned intelligent body (1) is equipped with a central power management module (4) and a single battery power supply. The central power management module (4) is electrically connected to the single battery power supply, and the central power management module (4) loads all motors. The central power management module (4) is used to dynamically allocate power and increase the power output of other normal propulsion rotors (201) when a single propulsion rotor (201) fails.

9. The indoor / outdoor autonomous switching unmanned intelligent agent with a redundant propulsion system according to claim 8, characterized in that, The unmanned intelligent agent body (1) is also equipped with a controller, and the controller is configured as follows: Receives data from the positioning module (7), and automatically switches from outdoor navigation mode to indoor navigation mode when the signal strength of the GNSS receiver is lower than a preset threshold; The operating status of the main rotor (102) and the propulsion rotor (201) is monitored in real time; When a fault is detected in the main rotor (102), control the operation of all propulsion rotors (201) to provide full lift and control torque to complete autonomous return and forced landing.

10. A method for implementing an unmanned intelligent agent with a redundant propulsion system that autonomously switches between indoor and outdoor environments according to claim 9, characterized in that, Includes the following steps: Step 1: Establish a parameterized model, defining the unmanned intelligent body (1), high-precision hydraulic turntable (3), propulsion rotor (201) and central power management module (4) as models with adjustable parameters; Step 2: Define the objective function and weigh the conflicting objectives of maximum takeoff weight, endurance, maximum maneuvering overload, and control bandwidth. Step 3: Through algorithm iteration, find the optimal solution under the given energy density of a single battery power source and the performance parameters of hydraulic components, and perform optimization. Step 4: Write the core, high-frequency control loop in C++, and write the upper-level task management, health monitoring, and diagnostic algorithms in Python, which will run on the controller; Step 5: While tethered, conduct low-altitude hovering and simple translation tests, calibrate the sensors, fine-tune the control parameters, and under controlled conditions, fly forward at high speed and make large-angle turns; Step 6: When the main rotor (102) is diagnosed as completely malfunctioning through sensor data, the control algorithm will be triggered immediately. The thrust distribution scheme of the eight propeller rotors (201) will be recalculated so that the propeller rotors (201) can not only provide lift to maintain altitude, but also synthesize yaw, pitch and roll moments through differential thrust, thereby completely taking over flight control, stabilizing attitude and executing the procedure of returning to the takeoff point or finding a safe place to land. Step 7: Under the impact of high-speed airflow, the high-precision hydraulic turntable (3) and hydraulic oil pump (5) can output huge torque to the auxiliary thruster housing (2) with a very small volume and weight. It can quickly and stably drive the auxiliary thruster housing (2) with a larger size and greater inertia, and make the unmanned intelligent body (1) perform extremely high frequency thrust vector fine adjustment to complete extremely rapid avoidance, turning or attitude adjustment actions. Step 8: Define different optimization weights for the unmanned intelligent agent body (1) hovering, high-speed cruise, maneuvering avoidance, and fault recovery. When hovering, prioritize efficiency and minimize total thrust. When maneuvering, prioritize bandwidth and allow large-angle rapid deflection to achieve self-allocation of thrust magnitude and spatial vector direction. Step 9: Through continuous monitoring by MEMS gyroscope (6) and positioning module (7), when the signal strength of GNSS receiver is continuously lower than the preset threshold, the system determines that it has entered an indoor area or an area with severe signal obstruction, and automatically switches the main navigation mode from GNSS and IMU to visual sensor and lidar mode to ensure the continuity of positioning information.

Images