A flexible tail-sitter drone

Abstract

The application discloses a flexible top-attached unmanned plane, which comprises a frame, two or more flexible bodies, two or more propellers, a power battery, a flight control module and a camera; the inside of each flexible body is filled with gas, the two or more flexible bodies are evenly distributed and installed on the frame in a circle, the total buoyancy of the two or more flexible bodies is greater than the gravity of the unmanned plane, and the two or more propellers are evenly distributed and installed on the frame in a circle; the power battery, the flight control module and the camera are all installed on the frame; the application has the advantages of simple structure, low cost, low power consumption, long endurance time, high concealment and wide application in the fields of indoor patrol monitoring, long-time investigation and survey of unknown terrains, investigation and attack integration and the like.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of unmanned aerial vehicle, and particularly relates to a flexible top-attached unmanned aerial vehicle. BACKGROUND

[0002] Small unmanned aerial vehicles are widely used in urban and indoor operations. Compared with ground travel, the unmanned aerial vehicles flying in the air have better flexibility and are more suitable for complex battlefield environments. However, due to the weight limitation of energy storage batteries, the flight endurance time of the unmanned aerial vehicles can only be maintained within half an hour, which limits the continuous use of the unmanned aerial vehicles in combat missions. The high-load energy storage batteries also greatly increase the cost of the unmanned aerial vehicles. SUMMARY

[0003] Therefore, the present application provides a flexible top-attached unmanned aerial vehicle which has simple structure, low cost, low power consumption, long endurance time and high concealment, and can be widely used in indoor patrol monitoring, long-time reconnaissance survey of unknown terrain, reconnaissance and attack integration and other fields.

[0004] The present application is realized by the following technical scheme:

[0005] The flexible top-attached unmanned aerial vehicle comprises a frame, two or more flexible bodies, two or more propellers, a power battery, a flight control module and a camera.

[0006] The frame is a flat plate structure.

[0007] Each flexible body is a columnar shell and is filled with gas inside. The two or more flexible bodies are evenly distributed and mounted on the frame in a circumferential direction. The total buoyancy of the two or more flexible bodies is greater than the gravity of the unmanned aerial vehicle.

[0008] The two or more propellers are evenly distributed and mounted on the frame in a circumferential direction.

[0009] The power battery, the flight control module and the camera are all mounted on the frame.

[0010] The power battery, the flight control module, the camera and the flexible body do not interfere with the rotation of the propeller.

[0011] The power battery supplies power to the flight control module and the propeller. The flight control module controls the rotation of the propeller. The camera is used for reconnaissance and image recording.

[0012] Further, the end surface of the flexible body is hinged to the edge of the frame. The flexible body can rotate relative to the frame. When the flexible body is folded to be parallel to the frame, the flexible body is located at the limit position I. When the flexible body is unfolded to be perpendicular to the frame, the flexible body is located at the limit position II. The unfolding and folding of the flexible body are not interfered by the rotation of the propeller and the power battery, the flight control module and the camera mounted on the frame.

[0013] The flight control module controls the rotation and fixation of the flexible body relative to the frame within the angle range between the limit position I and the limit position II.

[0014] Further, the unmanned aerial vehicle further comprises an equal number of deformation control mechanisms as the flexible bodies, the deformation control mechanisms are installed one by one at the hinged positions of the flexible bodies and the frame, and the flight control module controls the rotation and fixation of the flexible body relative to the frame within the angle range between the limit position I and the limit position II by controlling the deformation control mechanisms.

[0015] Further, the number of the flexible bodies and the number of the propellers are both three, the three propellers and the three flexible bodies are arranged at intervals along the circumference and are uniformly distributed.

[0016] Further, the frame is a planar hexagonal frame structure, the hexagonal frame structure comprises three equal-length long sides and three equal-length short sides, the three long sides and the three short sides are arranged at intervals; one end face of each flexible body is hinged to the corresponding short side of the frame, and the three propellers are installed one by one at the midpoints of the long sides of the frame.

[0017] Further, three trapezoidal holes are processed on the frame.

[0018] Further, the cross section of the flexible body is a triangle, the three vertices of the triangle are circularly transitioned, the three flexible bodies are installed on one side of the frame, and the end faces of the three flexible bodies enclose an equilateral triangle contour when the three flexible bodies are in the limit position I, the center of the contour extends along the length direction of the flexible body to form a space for accommodating a camera, and the camera is installed below the frame.

[0019] Further, the flexible body is made of PTFE plastic and filled with helium inside.

[0020] Further, the flight control module is further used for controlling the on-off of the camera.

[0021] Further, the flexible top-attached unmanned aerial vehicle further comprises a positioning device, the positioning device is installed on the frame, embedded with a GPS system, and does not interfere with the rotation of the propeller and the unfolding and folding of the flexible body.

[0022] Beneficial effects:

[0023] (1) In the application, the flexible body is filled with gas inside, so that the total buoyancy of the flexible body is greater than the gravity of the unmanned aerial vehicle system, so that the unmanned aerial vehicle system is attached to the top when there is no power, and the power battery does not need to be responsible for the gravity consumption of the unmanned aerial vehicle system, and only needs to output smaller power to maneuver, greatly reduces the power consumption of the unmanned aerial vehicle flight, and greatly increases the endurance time, and the low-power driving can realize the silent flight of the unmanned aerial vehicle system, and greatly improves the concealment.

[0024] (2) In the present application, the end face of the flexible body is hinged to the edge of the frame, when the flexible body is retracted to the position where the end face is parallel to the frame, the flexible body is in the limit position I; when the flexible body is unfolded to the position where the end face is perpendicular to the frame, the flexible body is in the limit position II; the flight control module controls the rotation and fixation of the flexible body relative to the frame within the angle range between the limit position I and the limit position II. By arranging the flexible body which can rotate around the frame, when facing the situation of less indoor flyable area and narrow passage, the configuration of the unmanned aerial vehicle system can be actively adjusted to reduce the obstacle area and improve the flexibility of the unmanned aerial vehicle system. When the flyable area is wide, the configuration of the unmanned aerial vehicle system can be actively adjusted to increase the top area and improve the stability and concealment of the unmanned aerial vehicle system. The present application has simple structure, low cost and strong task adaptability, and is suitable for large-scale cluster combat, and can be widely used in indoor patrol monitoring, long-time reconnaissance survey of unknown terrain, reconnaissance and attack integration and other fields.

[0025] (3) The three propellers and the three flexible bodies are arranged at intervals along the circumference and are uniformly distributed, so that the unmanned aerial vehicle maintains balance during flight without the need for propeller output torque to maintain the balance of the unmanned aerial vehicle.

[0026] (4) The frame of the present application is processed with three trapezoidal holes, which not only can reduce weight, but also can reduce air resistance when the unmanned aerial vehicle is ascending and descending, further reducing the power consumption of the unmanned aerial vehicle in flight.

[0027] (5) The flexible body of the present application is a cylindrical shell, the end face of the cylindrical shell is a triangle, the three vertices of the triangle are rounded transitions, the three flexible bodies are installed on one side of the frame, and the end faces of the three flexible bodies form an equilateral triangle profile when the three flexible bodies are in the limit position I, the center of the profile extends along the length direction of the flexible body to form a space for accommodating the camera. The use of cylindrical shell not only provides buoyancy greater than gravity for the unmanned aerial vehicle, but also reserves space for the installation of the camera, ensuring that the camera can be installed below the frame to realize the detection of the environment below the unmanned aerial vehicle.

[0028] (6) The flexible body of the present application adopts PTFE plastic, which has excellent heat resistance and cold resistance, can be used for a long time at -180-260℃, and has the characteristics of acid and alkali resistance and resistance to various organic solvents, has reliability, and can meet the requirements of most working conditions.

[0029] (7) The unmanned aerial vehicle of the present application further comprises a positioning module, which is also installed on the frame and embedded with a GPS system, which can position the unmanned aerial vehicle during reconnaissance and survey to determine the position of the survey target and realize the integration of reconnaissance and attack. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a schematic view of the frame;

[0031] Figure 2 is a configuration schematic of the present application Figure I ;

[0032] Figure 3 is a configuration schematic of the present application Figure II ;

[0033] Wherein, 1-frame, 2-flexible body, 3-propeller, 4-transformation control mechanism, 5-power battery, 6-positioning device, 7-flight control module, 8-camera. DETAILED DESCRIPTION

[0034] The present application will be described in detail below with reference to the accompanying drawings and examples.

[0035] The present embodiment provides a multi-structure deformable flexible top-attached unmanned aerial vehicle, referring to the accompanying Figures 1-3 , comprising: a frame 1, two or more flexible bodies 2, two or more propellers 3, an equal number of transformation control mechanisms 4 as the flexible bodies 2, a power battery 5, a flight control module 7 and a camera 8;

[0036] In the present embodiment, the number of flexible bodies 2 is preferably three, and the number of propellers 3 is also preferably three;

[0037] The three flexible bodies 2, the three propellers 3, the power battery 5, the flight control module 7 and the camera 8 are all installed on the frame 1, and the power battery 5 supplies power to the flight control module 7, the propellers 3 and the transformation control mechanisms 4;

[0038] The end face of the flexible body 2 is hinged to the edge of the frame 1, and the flexible body 2 can rotate relative to the frame 1, and the three transformation control mechanisms 4 are installed one by one at the hinge between the flexible body 2 and the frame 1; when the flexible body 2 is folded to be parallel to the frame 1, the flexible body 2 is at the limit position I; when the flexible body 2 is unfolded to be perpendicular to the frame 1, the flexible body 2 is at the limit position II; the flight control module 7 controls the rotation and fixation of the flexible body 2 relative to the frame 1 within the angle range between the limit position I and the limit position II by controlling the transformation control mechanism 4; the flexible body 2 is filled with helium gas, and the total buoyancy of the flexible body 2 is greater than the gravity of the whole unmanned aerial vehicle;

[0039] The flight control module 7 is also used to control the rotation of the propeller 3; and the camera 8 is used to perform reconnaissance and record images.

[0040] The multi-structure deformable flexible top-attached unmanned aerial vehicle further comprises a positioning device 6, which is installed on the frame 1 and embedded with a GPS system.

[0041] Wherein, the installation of the power battery 5, the positioning device 6, the flight control module 7 and the camera 8, the rotation of the propeller 3 and the unfolding and folding of the flexible body 2 do not interfere with each other.

[0042] The rack 1 is a flat structure, and preferably a planar hexagonal frame structure in the embodiment, which includes three equal-length long sides and three equal-length short sides, the three long sides being arranged at intervals with the three short sides, three trapezoidal holes being machined on the rack 1 for weight reduction and reduction of air resistance when the unmanned aerial vehicle is lifted; three propellers 3 and three flexible bodies 2 are arranged at intervals along the circumference on the rack 1 and are uniformly distributed.

[0043] The flexible body 2 is a columnar shell, the cross section of the columnar shell being triangular, the three vertices of the triangle being rounded transitions, each of the three flexible bodies 2 being installed on one side of the rack 1, one end face of each flexible body 2 being hinged to the corresponding short side of the rack 1, the end faces of the three flexible bodies 2 forming an equilateral triangle profile when the three flexible bodies 2 are in the limit position I, the center of the profile extending along the length direction of the flexible body 2 to form a space for accommodating a camera; the material of the flexible body 2 is PTFE plastic;

[0044] The three propellers 3 are one-to-one corresponding to the midpoints of the long sides of the rack 1, each of the propellers 3 being provided with a brushless motor, the brushless motor being connected to the rack 1 through a corresponding motor base, and the flight control module 7 controls the rotation of the propeller by controlling the start and stop of the brushless motor.

[0045] Working principle:

[0046] Before the unmanned aerial vehicle works, helium is filled into the flexible body 2, so that the buoyancy of the flexible body 2 is greater than the weight of the unmanned aerial vehicle system.

[0047] When the unmanned aerial vehicle works, it includes the following three modes:

[0048] (1) Attached top standby mode: when the unmanned aerial vehicle flies to the designated position, the propeller is turned off and does not work, and because the buoyancy of the flexible body 2 is greater than the weight of the unmanned aerial vehicle system, the unmanned aerial vehicle system can rely on its own buoyancy to be attached and parked, that is, the top of the unmanned aerial vehicle can be attached to the lower surface of the building due to the action of the buoyancy, at this time, the power battery does not need to be responsible for the weight consumption of the unmanned aerial vehicle system;

[0049] (2) Flight maneuver mode: the flight maneuver mode includes behaviors such as hovering, horizontal maneuvering, vertical maneuvering and forward flight with rising, when the unmanned aerial vehicle needs to enter the maneuver mode, the flight control module 7, the brushless motor and the deformation control mechanism 4 are powered on, the flight control module 7 controls the operation of the brushless motor through the instruction, thereby controlling the rotation of the propeller 3, and providing the unmanned aerial vehicle with the force and moment required for maneuvering. At this time, since the power battery does not need to be responsible for the gravity consumption of the unmanned aerial vehicle system, only a small power needs to be output to carry out the maneuvering, greatly reducing the power consumption of the unmanned aerial vehicle flight, thereby doubling the endurance time, enabling the unmanned aerial vehicle to carry less battery for long-time operation, such as indoor patrol monitoring, long-time reconnaissance survey of unknown terrain, etc. At the same time, the small power driving can realize the silent flight of the unmanned aerial vehicle system, greatly improving the concealment.

[0050] (3) Flexible body deformation mode: when the unmanned aerial vehicle is in the working condition of flying in a wide area, the flight control module 7 sends an instruction to the deformation control mechanism 4, the deformation control mechanism 4 receives the instruction to drive the flexible body 2 to expand to the limit position II and fix, so as to increase the top area and improve the stability and concealment of the unmanned aerial vehicle system; when the unmanned aerial vehicle is in the working condition of flying in a narrow area, such as the working condition of flying in a small indoor area and passing through a narrow channel, the flight control module 7 sends an instruction to the deformation control mechanism 4, the deformation control mechanism 4 receives the instruction to control the flexible body 2 to retract to meet the working condition passing requirement and fix, so as to reduce the obstacle area and improve the flexibility of the unmanned aerial vehicle system.

[0051] In summary, the above is only a preferred embodiment of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A flexible attached-top drone, characterized by, The unmanned aerial vehicle comprises a frame, two or more flexible bodies, two or more propellers, a power battery, a flight control module and a camera. The frame is a flat structure. Each flexible body is a cylindrical shell, and the inside of each flexible body is filled with gas. The two or more flexible bodies are evenly distributed around the circumference of the frame. The two or more propellers are evenly distributed around the circumference of the frame. The power battery, the flight control module and the camera are all mounted on the frame. The power battery, the flight control module, the camera and the flexible bodies do not interfere with the rotation of the propellers. The power battery supplies power to the flight control module and the propellers. The flight control module controls the rotation of the propellers. The camera is used for reconnaissance and image recording. The end surface of the flexible body is hinged to the edge of the frame. When the flexible body is retracted to the position where the end surface is parallel to the frame, the flexible body is in the limit position I. When the flexible body is unfolded to the position where the end surface is perpendicular to the frame, the flexible body is in the limit position II. The unfolding and retracting of the flexible body are not affected by the rotation of the propellers and the power battery, the flight control module and the camera mounted on the frame.

2. The flexible attached-top UAV of claim 1, wherein, The flight control module controls the rotation and fixation of the flexible body relative to the frame within the angle range between the limit position I and the limit position II.

3. The flexible tail-sitter UAV of claim 1 or 2, wherein, When the unmanned aerial vehicle is in operation, it includes the following three modes:

4. The flexible tail-sitter UAV of claim 3, wherein, The top-attached standby mode: when the unmanned aerial vehicle flies to the designated position, the propellers are turned off, so that the unmanned aerial vehicle system can rely on its own buoyancy to attach and stop; 5. The flexible tail-sitter UAV of claim 4, wherein, The flight maneuvering mode: the flight maneuvering mode includes hovering, horizontal maneuvering, vertical maneuvering and forward flight with ascending, and the power battery does not need to be responsible for the gravity consumption of the unmanned aerial vehicle system; 6. The flexible tail-sitter UAV of claim 4, wherein, The flexible body deformation mode: when the unmanned aerial vehicle flies in a wide area, the flight control module controls the flexible body to unfold to the limit position II and fix; when the unmanned aerial vehicle flies in a narrow area, the flight control module controls the flexible body to retract to meet the requirements of the working condition and fix. The unmanned aerial vehicle further comprises a deformation control mechanism corresponding to the flexible body. The number of flexible bodies and propellers is three. The frame is a flat hexagonal frame structure. The frame is machined with three trapezoidal holes. The cross section of the flexible body is a triangle. When the three flexible bodies are in the limit position I, the end surfaces of the three flexible bodies form an equilateral triangle contour. The camera is installed below the frame.

7. The flexible tail-sitter UAV of claim 1 or 2, wherein, The flexible body is made of PTFE plastic and filled with helium.

8. The flexible tail-sitter UAV of claim 1 or 2, wherein, The flight control module is also used for controlling the switch of the camera.

9. The flexible tail-sitter UAV of claim 1 or 2, wherein, The flexible top-attached unmanned aerial vehicle further comprises a positioning device which is installed on the frame, embedded with a GPS system and does not interfere with the rotation of the propeller and the expansion and contraction of the flexible body.

Images