A quadrotor-flapping wing hybrid layout aircraft

Abstract

The invention discloses a four-rotor-flapping-wing hybrid layout aircraft, including a hybrid layout aircraft fuselage and a hybrid layout aircraft control system; the hybrid layout aircraft fuselage is composed of a four-rotor aircraft frame and a bird-like flapping-wing aircraft fuselage embedded together, the four-rotor aircraft frame includes a four-rotor bracket and four rotors, the four-rotor bracket includes a bracket body, four rotor support rods are arranged around the bracket body, and the rotor motors of the four rotors are fixed to the ends of the four rotor support rods of the bracket body; the bracket body of the four-rotor bracket is embedded in the fuselage of the bird-like flapping-wing aircraft, and the left and right flapping wings of the bird-like flapping-wing aircraft are respectively located between the front and rear rotors of the side; the hybrid layout aircraft control system includes an aircraft remote controller, a four-rotor flight control system, a bird-like flapping-wing flight control system and a flight mode controller. It has the characteristics of strong adaptability to the flight environment, safety and reliability, and easy operation.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft. Background Art

[0002] Bird-like flapping-wing aircraft has a very important application prospect in national defense and military. In actual use, the energy it carries is limited, and the environment it is in is complex and changeable. Improving its environmental adaptability will greatly improve its utilization value, so it is required to have the ability to take off and land autonomously in a small space. However, in the prior art, most bird-like flapping-wing aircraft are hand-thrown for takeoff, and in public reports, there is no bird-like flapping-wing aircraft that can take off and land autonomously, so this has become a major obstacle for bird-like flapping-wing aircraft to become practical. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a quad-rotor-flapping wing hybrid layout aircraft, which has the characteristics of strong adaptability to flight environments, safety, reliability, and ease of operation.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0005] A four-rotor-flapping wing hybrid layout aircraft, comprising a hybrid layout aircraft fuselage and a hybrid layout aircraft control system;

[0006] The fuselage of the hybrid layout aircraft is composed of a four-rotor aircraft frame and a bird-like flapping wing aircraft frame embedded together. The four-rotor aircraft frame includes a four-rotor bracket and four rotors. The four-rotor bracket includes a bracket body, four rotor support rods are arranged around the bracket body, and the rotors include rotor motors and rotor propellers fixed on the rotor motors. The rotor motors of the four rotors are fixed to the ends of the four rotor support rods of the bracket body so that the four rotor propellers are symmetrical with respect to the longitudinal center line of the bracket body and forward relative to the transverse center line of the bracket body. The quadrotor bracket is symmetrical in the rear; the bracket body of the quadrotor bracket is embedded in the fuselage of the bird-like flapping-wing aircraft, and the longitudinal center line of the bracket body of the quadrotor bracket is arranged in parallel or coincides with the axial center line of the fuselage of the bird-like flapping-wing aircraft in the same vertical plane, the tension center of the bracket body of the quadrotor bracket is located in a sphere formed by taking the center of gravity of the hybrid layout aircraft fuselage as the sphere center and 6% of the width of the hybrid layout aircraft fuselage as the radius, and the left and right flapping wings of the bird-like flapping-wing aircraft are respectively located between the front and rear rotors on the side, thereby forming a hybrid layout aircraft fuselage;

[0007] The hybrid layout aircraft control system includes an aircraft remote controller, a quadcopter flight control system, a bird-like flapping wing flight control system and a flight mode controller;

[0008] The aircraft remote controller is provided with a flight mode conversion take-off / landing control button. The switch signal generated by the flight mode conversion take-off / landing control button is transmitted to the aircraft remote controller single-chip computer MCU via the I / O interface. The aircraft remote controller single-chip computer MCU generates corresponding take-off or landing control instructions according to the received switch quantity signal, and transmits it to the wireless communication module via the I / O interface. The wireless communication module converts it into a wireless transmission signal and issues a take-off or landing wireless control instruction.

[0009] The flight mode controller includes a flight mode controller single-chip microcomputer MCU, a GPS module for receiving an altitude signal, and an airspeed meter for detecting the flight speed of the aircraft. The flight mode controller single-chip microcomputer MCU is provided with a wireless communication module wirelessly connected to the aircraft remote controller, and is used to receive a take-off or landing wireless control instruction issued by the aircraft remote controller. The flight mode controller single-chip microcomputer MCU collects the altitude signal issued by the GPS module, the flight speed signal issued by the airspeed meter, and the take-off or landing wireless control instruction received by the wireless communication module through corresponding I / O ports. The flight mode controller single-chip microcomputer MCU is also provided with a start-stop control I / O port and a level flight control I / O port for connecting to the single-chip microcomputer MCU of the four-rotor flight control system, so as to send a start-stop control signal and a level flight control signal to the single-chip microcomputer MCU of the four-rotor flight control system. The flight mode controller single-chip microcomputer MCU is also provided with a start-stop control I / O port for connecting to the single-chip microcomputer MCU of the bird-like flapping wing flight control system, so as to send a take-off or stop control signal to the single-chip microcomputer MCU of the flight mode controller;

[0010] The quadcopter flight control system single-chip computer MCU is respectively provided with a start-stop control I / O port and a level flight control I / O port for connecting with the flight mode controller single-chip computer MCU, and is respectively used for receiving the start-stop control signal and the level flight control signal sent by the flight mode controller single-chip computer MCU;

[0011] The bird-like flapping-wing flight control system single-chip microcomputer MCU is provided with a start-stop control I / O port for connecting with the flight mode controller single-chip microcomputer MCU, so as to receive a take-off or stop control signal sent by the flight mode controller single-chip microcomputer MCU.

[0012] The present invention is further improved in that:

[0013] The safety height threshold is 30 meters.

[0014] The flight mode switching time threshold is 0 to 1 second.

[0015] The flight mode switching speed threshold is 8 meters per second.

[0016] The frame of the quadcopter is made of carbon fiber.

[0017] The rotor blades are a pair of forward and reverse blades with the same blade diameter.

[0018] The GPS module and airspeed meter in the flight mode controller are the original components used in the quad-rotor flight control system or the bird-like flapping wing flight control system.

[0019] The beneficial effects of adopting the above technical solution are:

[0020] The present invention is easy to operate and can effectively solve the problem of lack of autonomous take-off and landing capability of bird-like flapping-wing aircraft. At the same time, by adopting this layout, when a flapping-wing flight mode fails, the aircraft can be switched to a rotor mode to continue flying, thereby increasing the survivability of the aircraft.

[0021] It has the characteristics of strong adaptability to flight environment, safety, reliability and easy operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the structure of the present invention;

[0023] Figure 2 yes Figure 1 Schematic diagram of the structure of the middle quadrotor bracket;

[0024] Figure 3 It is a structural diagram of a hybrid layout aircraft control system.

[0025] In the attached drawings: 1. bracket body; 2. rotor support rod; 3. rotor motor; 4. rotor propeller; 5. bird-like flapping-wing aircraft fuselage; 6. flapping wing. DETAILED DESCRIPTION

[0026] The aircraft remote controller, the quad-rotor flight control system and the bird-like flapping-wing flight control system are all prior arts and are necessary components for the quad-rotor aircraft and the bird-like flapping-wing aircraft.

[0027] In this embodiment, the aircraft remote controller, the quadcopter flight control system, and the bird-like flapping-wing flight control system are based on the existing technology and add a logic control circuit between the flight mode controller, which is not shown in the circuit diagram of the existing technology;

[0028] All components involved in this technical solution are common parts of quadcopters and bird-like flapping-wing aircraft, and the models and specifications are not repeated here.

[0029] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] The standard parts used in the present invention can all be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, and bonding in the prior art, which will not be described in detail here.

[0031] Depend on Figures 1 to 3 As can be seen from the illustrated embodiment, this embodiment includes a hybrid layout aircraft fuselage and a hybrid layout aircraft control system;

[0032] The fuselage of the hybrid layout aircraft is composed of a four-rotor aircraft frame and a bird-like flapping-wing aircraft fuselage 5 embedded together. The four-rotor aircraft frame includes a four-rotor bracket and four rotors. The four-rotor bracket includes a bracket body 1, and four rotor support rods 2 are arranged around the bracket body 1. The rotor includes a rotor motor 3 and a rotor propeller 4 fixed on the rotor motor 3. The rotor motors 3 of the four rotors are fixed to the ends of the four rotor support rods 2 of the bracket body 1 so that the four rotor propellers 4 are symmetrical with respect to the longitudinal center line of the bracket body 1 and are symmetrical with respect to the lateral center line of the bracket body 1. The center line is symmetrical front and back; the bracket body 1 of the quad-rotor bracket is embedded in the fuselage 5 of the bird-like flapping-wing aircraft, and the longitudinal center line of the bracket body 1 of the quad-rotor bracket is arranged in parallel or coincides with the axial center line of the bird-like flapping-wing aircraft fuselage 5 in the same vertical plane, and the tension center of the bracket body 1 of the quad-rotor bracket is located in a sphere formed by taking the center of gravity of the hybrid layout aircraft fuselage as the sphere center and 6% of the width of the hybrid layout aircraft fuselage as the radius, and the left and right flapping wings 6 of the bird-like flapping-wing aircraft are respectively located between the front and rear rotors on this side, thereby forming a hybrid layout aircraft fuselage;

[0033] The hybrid layout aircraft control system includes an aircraft remote controller, a quadcopter flight control system, a bird-like flapping wing flight control system and a flight mode controller;

[0034] The aircraft remote controller is provided with a flight mode conversion take-off / landing control button. The switch signal generated by the flight mode conversion take-off / landing control button is transmitted to the aircraft remote controller single-chip computer MCU via the I / O interface. The aircraft remote controller single-chip computer MCU generates corresponding take-off or landing control instructions according to the received switch quantity signal, and transmits it to the wireless communication module via the I / O interface. The wireless communication module converts it into a wireless transmission signal and issues a take-off or landing wireless control instruction.

[0035] The flight mode controller includes a flight mode controller single-chip microcomputer MCU, a GPS module for receiving an altitude signal, and an airspeed meter for detecting the flight speed of the aircraft. The flight mode controller single-chip microcomputer MCU is provided with a wireless communication module wirelessly connected to the aircraft remote controller, and is used to receive a take-off or landing wireless control instruction issued by the aircraft remote controller. The flight mode controller single-chip microcomputer MCU collects the altitude signal issued by the GPS module, the flight speed signal issued by the airspeed meter, and the take-off or landing wireless control instruction received by the wireless communication module through corresponding I / O ports. The flight mode controller single-chip microcomputer MCU is also provided with a start-stop control I / O port and a level flight control I / O port for connecting to the single-chip microcomputer MCU of the four-rotor flight control system, so as to send a start-stop control signal and a level flight control signal to the single-chip microcomputer MCU of the four-rotor flight control system. The flight mode controller single-chip microcomputer MCU is also provided with a start-stop control I / O port for connecting to the single-chip microcomputer MCU of the bird-like flapping wing flight control system, so as to send a take-off or stop control signal to the single-chip microcomputer MCU of the flight mode controller;

[0036] The quadcopter flight control system single-chip computer MCU is respectively provided with a start-stop control I / O port and a level flight control I / O port for connecting with the flight mode controller single-chip computer MCU, and is respectively used for receiving the start-stop control signal and the level flight control signal sent by the flight mode controller single-chip computer MCU;

[0037] The bird-like flapping-wing flight control system single-chip microcomputer MCU is provided with a start-stop control I / O port for connecting with the flight mode controller single-chip microcomputer MCU, so as to receive a take-off or stop control signal sent by the flight mode controller single-chip microcomputer MCU;

[0038] When the flight mode controller MCU receives the take-off wireless control command sent by the aircraft remote controller through the wireless communication module, the flight mode controller MCU sends a high-level take-off control signal to the quadcopter flight control system MCU through the start-stop control I / O port, so that the quadcopter flight control system takes control of the aircraft and controls the four rotors to rotate and take off vertically; when the flight mode controller MCU detects that the flight altitude value sent by the GPS module reaches the set safety altitude threshold (this is to ensure that once the aircraft has an attitude control error, there is enough altitude margin for correction), the flight mode controller MCU sends a level flight control signal to the quadcopter flight control system MCU through the level flight control I / O port. After receiving the level flight control signal, the quadcopter flight control system controls the four rotors to rotate and fly horizontally; when the flight mode When the controller single-chip computer MCU detects that the flight speed value sent by the airspeed meter reaches the set flight mode switching speed threshold (the speed required for the flapping wings 6 to fly), the flight mode controller single-chip computer MCU sends a low-level stop control signal to the four-rotor flight control system single-chip computer MCU through the start-stop control I / O port, so that the four-rotor flight control system releases the control right of the aircraft and stops the four rotors from rotating; at the same time, the flight mode controller single-chip computer MCU performs timing, and when the time interval reaches the set flight mode switching time threshold (to prevent the air disturbance generated by the four rotors from affecting the flight of the flapping wings 6), the flight mode controller single-chip computer MCU sends a high-level start control signal to the bird-like flapping-wing flight control system single-chip computer MCU through the start-stop control I / O port, so that the bird-like flapping-wing flight control system takes control of the aircraft and controls the two flapping wings 6 to flap;

[0039] When the flight mode controller microcontroller MCU receives the landing wireless control command sent by the aircraft remote control through the wireless communication module, the flight mode controller microcontroller MCU sends a low-level stop control signal to the bird-like flapping-wing flight control system microcontroller MCU through the start-stop control I / O port, so that the bird-like flapping-wing flight control system releases the control right of the aircraft and stops the two flapping wings 6 from flapping; the flight mode controller microcontroller MCU sends a high-level take-off control signal to the quadcopter flight control system microcontroller MCU through the start-stop control I / O port, so that the quadcopter flight control system takes control of the aircraft and controls the four rotors to rotate and land.

[0040] The safety height threshold is 30 meters.

[0041] The flight mode switching time threshold is 0 to 1 second.

[0042] The flight mode switching speed threshold is 8 meters per second.

[0043] The frame of the quadcopter is made of carbon fiber.

[0044] The rotor blades 4 are a pair of forward and reverse blades, and the blade diameters are the same.

[0045] The flight mode switching time threshold is 0 to 1 second.

[0046] The flight mode switching speed threshold is 8 meters per second.

[0047] The frame of the quadcopter is made of carbon fiber.

[0048] The rotor blades 4 are a pair of forward and reverse blades, and the blade diameters are the same.

[0049] The GPS module and airspeed meter in the flight mode controller are the original components used in the quadrotor flight control system or the bird-like flapping-wing flight control system, that is, the flight mode controller microcontroller MCU collects the altitude signal of the GPS module and the flight speed signal of the airspeed meter in the quadrotor flight control system or the bird-like flapping-wing flight control system.

Claims

1. A quadrotor-flapping wing hybrid layout aircraft, characterized in that: including a hybrid layout aircraft fuselage and a hybrid layout aircraft control system; The fuselage of the hybrid layout aircraft is composed of a quadrotor aircraft frame and a bird-like flapping wing aircraft fuselage (5) embedded together. The quadrotor aircraft frame includes a quadrotor bracket and four rotors. The quadrotor bracket includes a bracket body (1). Four rotor support rods (2) are arranged around the bracket body (1). The rotors include rotor motors (3) and rotor propellers (4) fixed to the rotor motors (3). The rotor motors (3) of the four rotors are fixed to the ends of the four rotor support rods (2) of the bracket body (1) so that the four rotor propellers (4) are symmetrical with respect to the longitudinal center line of the bracket body (1) and are symmetrical with respect to the longitudinal center line of the bracket body (1). The transverse centerline of the bracket body (1) is symmetrical in front and back; the bracket body (1) of the quad-rotor bracket is embedded in the fuselage (5) of the bird-like flapping-wing aircraft, and the longitudinal centerline of the bracket body (1) of the quad-rotor bracket is arranged in parallel with or coincides with the axial centerline of the fuselage (5) of the bird-like flapping-wing aircraft in the same vertical plane; the tension center of the bracket body (1) of the quad-rotor bracket is located in a sphere formed by taking the center of gravity of the hybrid layout aircraft fuselage as the sphere center and 6% of the width of the hybrid layout aircraft fuselage as the radius; the left and right flapping wings (6) of the bird-like flapping-wing aircraft are respectively located between the front and rear rotors, thereby forming a hybrid layout aircraft fuselage; The hybrid layout aircraft control system includes an aircraft remote controller, a quadcopter flight control system, a bird-like flapping wing flight control system and a flight mode controller; The aircraft remote controller is provided with a flight mode conversion take-off / landing control button, and the switch signal generated by the flight mode conversion take-off / landing control button is transmitted to the aircraft remote controller single-chip computer MCU via the I / O interface. The aircraft remote controller single-chip computer MCU generates corresponding take-off or landing control instructions according to the received switch quantity signal, and transmits the signal to the wireless communication module via the I / O interface, and the wireless communication module converts the signal into a wireless transmission signal to issue a take-off or landing wireless control instruction; The flight mode controller includes a flight mode controller single-chip microcomputer MCU, a GPS module for receiving an altitude signal, and an airspeed meter for detecting the flight speed of the aircraft. The flight mode controller single-chip microcomputer MCU is provided with a wireless communication module wirelessly connected to the aircraft remote controller, which is used to receive the take-off or landing wireless control command issued by the aircraft remote controller. The flight mode controller single-chip microcomputer MCU collects the altitude signal issued by the GPS module, the flight speed signal issued by the airspeed meter, and the take-off or landing wireless control command received by the wireless communication module through corresponding I / O ports. The flight mode controller single-chip microcomputer MCU is also provided with a start-stop control I / O port and a horizontal flight control I / O port for connecting to the single-chip microcomputer MCU of the four-rotor flight control system, so as to send a start-stop control signal and a horizontal flight control signal to the single-chip microcomputer MCU of the four-rotor flight control system. The flight mode controller single-chip microcomputer MCU is also provided with a start-stop control I / O port for connecting to the single-chip microcomputer MCU of the bird-like flapping wing flight control system, so as to send a take-off or stop control signal to the single-chip microcomputer MCU of the flight mode controller; The quadrotor flight control system single-chip computer MCU is respectively provided with a start-stop control I / O port and a level flight control I / O port for connecting to the flight mode controller single-chip computer MCU, and is respectively used to receive a start-stop control signal and a level flight control signal sent by the flight mode controller single-chip computer MCU; The bird-like flapping-wing flight control system single-chip microcomputer MCU is provided with a start-stop control I / O port for connecting to the flight mode controller single-chip microcomputer MCU, so as to receive a take-off or stop control signal issued by the flight mode controller single-chip microcomputer MCU; The flight mode switching speed threshold is 8 meters per second.

2. A quadrotor-flapping wing hybrid layout aircraft according to claim 1, characterized in that: The safety height threshold is 30 meters.

3. A quadrotor-flapping wing hybrid layout aircraft according to claim 1, characterized in that: The quadrotor aircraft frame is made of carbon fiber.

4. The quadrotor-flapping wing hybrid layout aircraft according to claim 1, characterized in that: The rotor blades (4) are a pair of forward and reverse blades, and the blade diameters are the same.

5. The quadrotor-flapping wing hybrid layout aircraft according to claim 3, characterized in that: The GPS module and airspeed meter in the flight mode controller are the original components used in the quad-rotor flight control system or the bird-like flapping-wing flight control system.

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