A deformable and reconfigurable rotor unmanned aerial vehicle and control method

Abstract

The present invention discloses a deformable and reconfigurable rotorcraft drone, comprising a rotor assembly and a body. The rotor assembly is mounted on the body, which comprises multiple racks connected in sequence to form a ring-shaped polygonal structure. At least two adjacent racks in the ring-shaped polygonal structure are connected by a locking assembly, which is used to open or close the two adjacent racks to enable the drone to deform or reconfigure. The present invention also discloses a control method for the deformable and reconfigurable rotorcraft drone. The present invention has the advantages of a simple structure, a deformable and reconfigurable body, and a wider range of applications.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a deformable and reconfigurable rotor UAV and a control method thereof. Background Art

[0002] Rotorless aircraft (UAVs) are widely used in production, daily life, and the military due to their low cost and flexible motion control. Currently, the vast majority of multi-rotor UAVs use a fixed-configuration body structure, with accessory systems such as batteries, sensors, and flight control systems centrally located in the center of the body for easy center-of-gravity adjustment and configuration.

[0003] Currently, drones are widely used in a variety of fields, including reconnaissance, surveillance, inspection, and aerial photography. In some specialized applications, such as monitoring in oil fields and warehouses, a rotary-wing drone needs to horizontally embrace a pole-like target structure and maintain a secure attachment for extended periods of time. This conserves energy and power while facilitating the onboard payload's specific operational functions. However, traditional multi-rotor drone configurations, where the battery and other accessory systems are placed in the center of the drone, are unable to effectively embrace the pole-like target. Simply distributing the battery and other accessory systems around a fixed drone body allows the drone to "loop" around one end of the pole-like target, but it fails to achieve a "looping" effect around the drone. Furthermore, even if the battery and other accessory systems are distributed around the fixed drone body, leaving space in the middle of the drone, if the pole-like target is very long or obstructed at both ends by other obstacles, the drone cannot "loop" around the pole-like target, much less achieve a "looping" effect between the drone and the target. On the other hand, if a single rotor drone does not have enough lift when a heavier payload is required, a larger rotor drone will need to be reselected or customized, resulting in a large variety of drones and redundancy. Summary of the Invention

[0004] In response to the technical problems existing in the prior art, the present invention provides a rotor UAV and a control method thereof, which has a simple structure, a deformable and reconfigurable body, and can meet the needs of special application occasions.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A deformable and reconfigurable rotor drone comprises a rotor assembly and a body, wherein the rotor assembly is mounted on the body, and the body comprises a plurality of racks, wherein the plurality of racks are sequentially connected to form an annular polygonal structure, wherein at least two adjacent racks in the annular polygonal structure are connected by a locking assembly, and the locking assembly is used to open or close two adjacent racks to enable deformation or reconfiguration of the drone.

[0007] As a further improvement of the present invention: the body also includes multiple frame shafts and multiple frame shaft drivers, multiple frames are connected in sequence through the frame shafts to form an annular polygonal structure, the frame shaft driver is connected to the frame shaft, and the frame shaft driver is used to adjust the angle between two adjacent frames.

[0008] As a further improvement of the present invention: the number of racks constituting the annular polygonal structure is greater than three.

[0009] As a further improvement of the present invention: the frame connected by the locking assembly includes a first frame and a second frame, one end of the first frame and the second frame is provided with a connecting structure and an axis hole for installing the frame shaft, and the other end of the first frame and / or the second frame is used for installing the locking assembly.

[0010] As a further improvement of the present invention: the locking assembly includes a lock hook driver and a lock hook, and the lock hook driver and the lock hook are installed on the first frame or the second frame.

[0011] As a further improvement of the present invention: the locking assembly includes a lock body driver, a lock slot and a lock head, and the lock slot and the lock head are respectively arranged on the first frame and the second frame.

[0012] As a further improvement of the present invention: it also includes a rotor arm, a rotor arm shaft and an arm servo, the rotor assembly is installed on the rotor arm, the rotor arm is installed on the frame through the rotor arm shaft, and the arm servo is used to drive the rotor arm shaft to move to realize the expansion or retraction of the rotor arm.

[0013] As a further improvement of the present invention: the locking assembly is an electromagnetic lock or a mechanical lock.

[0014] As a further improvement of the present invention: the frame is a straight rod structure or a curved structure.

[0015] The present invention also provides a control method for a deformable and reconfigurable rotorcraft, comprising the following steps:

[0016] S1: Receive unlocking signal;

[0017] S2: Control the locking component to open;

[0018] S3: Control the rotor drone to surround the target object;

[0019] S4: receiving the lock signal;

[0020] S5: Control the locking assembly to close.

[0021] Compared with the prior art, the advantages of the present invention are:

[0022] 1. The deformable and reconfigurable rotorcraft of the present invention comprises a multi-frame, annular polygonal structure, with two adjacent frames equipped with locking assemblies. When a target object is obstructed at both ends, or when the target object's size is smaller than or even larger than the size of the space left in the center of the drone, the locking assemblies are controlled to open, causing the drone's frames to unfold from a closed, annular structure to an open state. The rotorcraft can then use the opened gaps to align with, approach, and encircle the target object. Once the drone has encircled the target object, the locking assemblies are controlled to close, completing the drone's encirclement. The rotorcraft of the present invention can adapt its shape in real time during flight based on the specific conditions of the target object, enabling it to better adapt to rod-shaped targets and thus fulfill various specialized mission functions.

[0023] 2. The deformable and reconfigurable rotor drone of the present invention can disconnect the frame through a locking assembly. Multiple drones can be connected in series to form a larger drone with a ring structure, thereby greatly improving the lift of the drone, enhancing the drone's load capacity and wind resistance, and avoiding waste caused by reselecting or customizing the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic structural diagram of the frame after closing in the first specific embodiment of the present invention.

[0025] Figure 2 It is a schematic structural diagram of the frame after it is unfolded in the first specific embodiment of the present invention.

[0026] Figure 3 It is a schematic structural diagram of the first rack of the present invention in the first specific embodiment.

[0027] Figure 4 It is a schematic structural diagram of the second rack in the first specific embodiment of the present invention.

[0028] Figure 5 It is a schematic diagram of the state during the flight when the present invention is used to encircle a target object.

[0029] Figure 6 It is a schematic diagram of the state when the application invention surrounds the target object.

[0030] Figure 7 It is a schematic diagram of the state of the present invention during reorganization.

[0031] Legend:

[0032] 1. Rotor assembly; 2. Frame; 21. First frame; 22. Second frame; 3. Locking assembly; 31. Lock hook driver; 32. Lock hook; 4. Frame shaft; 5. Frame shaft driver; 6. Connecting structure; 7. Shaft hole; 8. Rotor arm; 9. Rotor arm shaft; 10. Arm servo. DETAILED DESCRIPTION

[0033] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] Example 1

[0035] like Figures 1 to 7 As shown, this embodiment discloses a deformable and reconfigurable rotor UAV, including a rotor assembly 1 and a body. The rotor assembly 1 is mounted on the body. The body includes multiple racks 2, which are sequentially connected to form an annular polygonal structure. At least two adjacent racks 2 in the annular polygonal structure are connected by a locking assembly 3. The locking assembly 3 is used to open or close two adjacent racks 2 to achieve deformation or reconfiguration of the UAV.

[0036] In this embodiment, the number of racks 2 constituting the machine body is four. In other embodiments, the number of racks 2 may be greater than three.

[0037] In this embodiment, each frame 2 is provided with a rotor assembly 1, and components such as batteries, sensors, flight control systems, and mission payloads are dispersedly installed on the frame 2. It should be noted that the number and installation positions of the rotor assemblies 1 can be adjusted according to actual needs, and the positions of components such as batteries, sensors, and flight control systems are not limited. The distribution of each component can determine its specific position according to the center of gravity balance requirements to ensure the flight stability of the UAV.

[0038] In this embodiment, the frame 2 is a straight rod-shaped structure. In other embodiments, the shape of the frame 2 may be different, such as an arc shape or various curved shapes.

[0039] In this embodiment, the body is composed of a plurality of racks 2 forming a ring-shaped polygonal structure, wherein two adjacent racks 2 are provided with locking assemblies 3. When both ends of the target object are blocked, or the size of the target object is smaller than or even larger than the size of the space left in the middle of the drone, the locking assembly 3 is controlled to open, so that the rack 2 of the drone is unfolded from a closed ring structure state to an open state. The rotor drone can use the opened gap to align with, approach and embrace the target object. After the drone embraces the target object, the locking assembly 3 is controlled to close, thereby completing the function of the drone embracing the target object.

[0040] The rotorcraft of this embodiment can adapt its shape in real time during flight based on the specific conditions of the target object, making it more adaptable to integrating with rod-shaped targets, thereby enabling the rotorcraft to perform various specialized missions. By disconnecting the chassis 2 through the locking assembly 3, multiple drones can be connected in series to form a larger ring-shaped drone, significantly increasing the drone's lift, payload capacity, and wind resistance, while avoiding the waste of redesigning or customizing the drone.

[0041] In this embodiment, the drone body further includes multiple rack shafts 4 and multiple rack shaft drivers 5. Multiple racks 2 are sequentially connected via the rack shafts 4 to form a ring-shaped polygonal structure. The rack shaft drivers 5 are connected to the rack shafts 4 and are used to adjust the angle between two adjacent racks 2. The rack shaft drivers 5 drive the rack shafts 4 to adjust the angle between two adjacent racks 2, thereby changing the configuration of the drone's entire ring-shaped body structure and achieving deformation of the drone body.

[0042] In this embodiment, the frame 2 connected by the locking assembly 3 includes a first frame 21 and a second frame 22. One end of the first frame 21 and the second frame 22 is provided with a connecting structure 6 and an axis hole 7 for installing the frame shaft 4, and the other end of the first frame 21 and the second frame 22 is used to install the locking assembly 3.

[0043] Furthermore, in a preferred embodiment, the locking assembly 3 includes a hook driver 31 and a hook 32, which are mounted on the first frame 21. In this case, the end of the second frame 22 is provided with a hook groove that mates with the hook 32. The locking assembly 3 can be a mechanical lock or an electromagnetic lock. Upon receiving an unlock signal, the hook driver 31 drives the hook 32 to disengage from the hook groove, and the frame 2 expands from a closed ring structure to an open state. Upon receiving a lock signal, the hook driver 31 drives the hook 32 to lock into the hook groove, and the frame 2 returns from the open state to a closed ring structure. It is understood that the locking assembly 3 can also be mounted on the second frame 22, in which case the end of the first frame 21 is provided with a hook groove that mates with the hook 32.

[0044] In this embodiment, the rotor arm 8, rotor arm shaft 9 and arm servo 10 are also included. The rotor assembly 1 is mounted on the rotor arm 8, and the rotor arm 8 is mounted on the frame 2 via the rotor arm shaft 9. The arm servo 10 is used to drive the rotor arm shaft 9 to move so as to expand or retract the rotor arm 8. The rotor arm 8 can be expanded under the drive of the arm servo 10, ensuring that the middle of the drone body structure is left empty, making it convenient to embrace the target object. The expanded rotor arm 8 prevents the rotor assembly 1 from interfering with the target object when embracing the target object, greatly improving the safety of the drone when in use. When the drone completes its mission, the rotor arm 8 can be retracted to the middle of the drone body structure under the drive of the arm servo 10, reducing the size of the entire machine and making it easier to store the drone.

[0045] Example 2

[0046] This embodiment is substantially the same as the first embodiment, differing in that the locking assembly 3 comprises a lock driver, a lock slot, and a lock head. The lock slot and lock head are disposed on the first frame 21 and the second frame 22, respectively. The lock driver is connected to the lock head. When the drone's locking assembly 3 needs to be opened, the lock head is manipulated by the lock driver to separate from the lock slot, disconnecting the two adjacent frames 2. The drone can then use the opened gap to align with, approach, and encircle the target object. Once the drone has encircled the target object, the locking assembly 3 is controlled to close, completing the drone's encirclement of the target object. It is understood that the positions of the lock slot and lock head are interchangeable; they only need to be installed as a pair on the first frame 21 and the second frame 22.

[0047] Example 3

[0048] This embodiment provides a control method for a deformable and reconfigurable rotary-wing UAV, comprising the following steps:

[0049] S1: Receive unlocking signal;

[0050] S2: Control the locking component 3 to open;

[0051] S3: Control the rotor drone to surround the target object;

[0052] S4: receiving the lock signal;

[0053] S5: Control the locking assembly 3 to close.

[0054] Working principle: During normal flight, the rotor UAV adopts a closed annular polygonal configuration for flight. When both ends of the target object are blocked, or the size of the target object is smaller than or even larger than the size of the space left in the middle of the UAV, when the UAV approaches the target, the ground station sends an unlocking command through the relevant signal fed back by the camera or radar component mounted on the UAV, or the flight system automatically sends an unlocking command based on the feedback signal. After receiving the unlocking command, the flight control system sends an unlocking control signal to the locking component 3, and the first frame 21 and the second frame 22 separate. The frame 2 unfolds from the closed annular structure state to the open state. The multi-rotor UAV can use the opened gap to align with, approach and embrace the target object. When the UAV "embraces" the target object, the ground station sends a locking command or the flight system automatically sends a locking command based on the feedback signal. After receiving the locking command, the flight control system sends a locking control signal to the locking component 3, and the first frame 21 and the second frame 22 are reconnected, and the frame 2 changes from the open state to the closed annular structure state, that is, the rotor UAV completes the embrace of the target object.

[0055] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions based on the principles of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should be considered within the scope of protection of the present invention.

Claims

1. A deformable and reconfigurable rotor drone, comprising a rotor assembly (1) and a body, wherein the rotor assembly (1) is mounted on the body, and is characterized in that: The body comprises a plurality of racks (2), the plurality of racks (2) being sequentially connected to form an annular polygonal structure, the annular polygonal structure having at least two adjacent racks (2) being connected via a locking assembly (3), the locking assembly (3) being used to open or close two adjacent racks (2) to achieve deformation or reorganization of the drone; the body further comprises a plurality of rack shafts (4) and a plurality of rack shaft drivers (5), the plurality of racks (2) being sequentially connected via the rack shafts (4) to form an annular polygonal structure, the rack shaft drivers (5) being connected to the rack shafts (4), the rack shaft drivers (5) being used to adjust the angle between two adjacent racks (2); the racks (2) connected via the locking assembly (3) comprise a first rack (21) and a second frame (22), one end of the first frame (21) and the second frame (22) is provided with a connecting structure (6) and an axis hole (7) for installing a frame shaft (4), and the other end of the first frame (21) and / or the second frame (22) is used to install a locking component (3); when both ends of the target object are blocked, or the size of the target object is smaller than or even larger than the size of the space left in the middle of the drone, the locking component (3) is controlled to open, so that the frame of the drone is unfolded from a closed ring structure state to an open state, and the rotor drone can use the opened gap to align with, approach and surround the target object. When the drone surrounds the target object, the locking component (3) is controlled to close, thereby completing the function of the drone surrounding the target object.

2. The deformable and reconfigurable rotor drone according to claim 1, characterized in that: The number of racks (2) constituting the annular polygonal structure is greater than three.

3. The deformable and reconfigurable rotor drone according to claim 1, characterized in that: The locking assembly (3) comprises a lock hook driver (31) and a lock hook (32), and the lock hook driver (31) and the lock hook (32) are mounted on the first frame (21) or the second frame (22).

4. The deformable and reconfigurable rotor drone according to claim 1, characterized in that: The locking assembly (3) comprises a lock body driver, a lock slot and a lock head, wherein the lock slot and the lock head are respectively arranged on the first frame (21) and the second frame (22).

5. The deformable and reconfigurable rotor drone according to claim 1, characterized in that: It also includes a rotor arm (8), a rotor arm shaft (9) and an arm servo (10), wherein the rotor assembly (1) is mounted on the rotor arm (8), the rotor arm (8) is mounted on the frame (2) via the rotor arm shaft (9), and the arm servo (10) is used to drive the rotor arm shaft (9) to move so as to realize the expansion or contraction of the rotor arm (8).

6. The deformable and reconfigurable rotor drone according to any one of claims 1 to 5, characterized in that: The locking assembly (3) is an electromagnetic lock or a mechanical lock.

7. The deformable and reconfigurable rotor drone according to any one of claims 1 to 5, characterized in that: The frame (2) is a straight rod-shaped structure or a curved structure.

8. A control method for a deformable and reconfigurable rotorcraft according to any one of claims 1 to 7, characterized in that: The steps include: S1: Receive unlocking signal; S2: Control the locking component (3) to open; S3: Control the rotor drone to surround the target object; S4: receiving the lock signal; S5: Control the locking assembly (3) to close.

Images