A four-rotor drone based on a capsule configuration

Abstract

The present invention discloses a quadrotor unmanned aerial vehicle based on a capsule configuration, which relates to the technical field of quadrotor unmanned aerial vehicles and includes a fuselage assembly, a quadrotor assembly, and an unmanned aerial vehicle flight control system. The fuselage assembly is arranged based on a capsule-shaped configuration, and a storage groove for storing the quadrotor assembly is provided on the side. The quadrotor assembly is composed of four rotor devices that can be folded and retracted into the storage groove. The fuselage assembly of the quadrotor unmanned aerial vehicle of the present invention is arranged based on a capsule-shaped configuration and is overall tubular, greatly reducing the wind resistance in the forward direction of the quadrotor unmanned aerial vehicle, enabling high-speed flight. With the electromagnetic shielding coating, it is extremely difficult to be detected by electronic detection means such as radar. A storage groove for storing the quadrotor assembly is provided on the side of the fuselage assembly, and in cooperation with a folding motor, the automatic retraction and deployment of the rotor assembly are realized. Together with the control of the unmanned aerial vehicle flight control system, the actions of unfolding and retracting the rotor in the air and the silent sliding action can be realized, and electronic detection can be avoided by sliding.

Description

Technical Field

[0001] The present invention relates to the technical field of quadrotor drones, and more particularly to a quadrotor drone based on a capsule configuration. Background Art

[0002] Common multi-rotor airframe layout methods include tri-rotor, quad-rotor, hex-rotor, octo-rotor, and ring-rotor. Different layout methods can be selected according to different mission requirements.

[0003] Quad-rotor is a relatively common rotor layout method for multi-rotor drones. Quad-rotor drones have moderate stability, which makes them very suitable for drone aerial photography activities. The consumer drone market is mainly quad-rotor layout.

[0004] Currently, the airframe configuration of conventional quad-rotor drones is generally based on a cube configuration. The corners of the cube are rounded to reduce wind resistance and increase the strength of the structure. This type of quad-rotor drone has a relatively stable flight attitude, but the disadvantages are large wind resistance, high energy consumption, inability to achieve high-speed flight, and poor maneuverability. Summary of the Invention

[0005] In order to solve the technical problems of the airframe configuration of conventional quad-rotor drones generally being based on a cube configuration, with large wind resistance, high energy consumption, inability to achieve high-speed flight, and poor maneuverability, the present invention provides a quad-rotor drone based on a capsule configuration. The following technical solutions are adopted:

[0006] A quad-rotor drone based on a capsule configuration includes an airframe assembly, a quad-rotor assembly, and a drone flight control system. The airframe assembly is arranged based on a capsule-like configuration, and a storage groove for accommodating the quad-rotor assembly is provided on the side. The quad-rotor assembly is composed of four rotor devices that can be folded and retracted into the storage groove. The drone flight control system controls the execution actions of the quad-rotor assembly to achieve the actions of deploying and retracting the rotors of the quad-rotor drone in the air and the silent gliding action.

[0007] By adopting the above technical solution, the fuselage assembly of the quadrotor UAV is set based on a capsule-shaped configuration, which is overall tubular with an aspect ratio greater than 3, greatly reducing the air resistance in the forward direction of the quadrotor UAV. At the same time, the head of the capsule is semi-circular, which can also well reduce the air resistance, enabling high-speed flight. And in ground radar monitoring, it only presents a linear shape and is extremely difficult to be detected. A storage groove for storing the quadrotor assembly is arranged on the side of the fuselage assembly, aiming to store the four rotor devices therein, which can better cope with the air-dropping scenario. For the dropping of a UAV swarm, generally a centralized dropping bin is used to hang the quadrotor UAV. If the rotor device is in the unfolded state, the number of quadrotor UAVs that the same dropping bin can hang is far less than that of the quadrotor UAV with a retractable rotor device. After being dropped, the quadrotor assembly automatically unfolds for normal flight. With the control of the UAV flight control system, the actions of unfolding and folding the rotor in the air and the silent gliding action can be realized. The silent gliding action means that the quadrotor UAV can perform short-time radio silent gliding at a relatively high flight altitude and forward speed, and can avoid electronic detection by gliding.

[0008] Optionally, the fuselage assembly includes an outer shell, an inner shell and a head shell. The outer shell is in the shape of a capsule, and a pair of storage grooves are respectively arranged on both sides. The inner shell is detachably installed on the bottom surface of the inner wall of the outer shell and is used for installing electrical components inside. The head shell is hemispherical and is installed at the end of the outer shell.

[0009] By adopting the above technical solution, the fuselage assembly is divided into two parts. The outer shell is in the shape of a capsule, which plays the role of reducing air resistance, and the inner shell is used for installing various electrical components.

[0010] Optionally, an electromagnetic shielding coating is applied on the outer surface of the outer shell, and a plurality of communication wire holes are evenly arranged on the upper and lower surfaces of the outer shell respectively.

[0011] By adopting the above technical solution, the purpose of setting the electromagnetic shielding coating is to further reduce the possibility of the quadrotor UAV being detected by radar. Especially during the silent gliding action, when the rotor device is in the retracted state and the internal electrical components are powered off, the quadrotor UAV basically achieves radio silence.

[0012] Optionally, the rotor device includes a rotor arm, a rotor motor, a folding motor and a propeller. One end of the rotor arm is installed at the storage groove of the outer shell through a rotating shaft. The folding motor is installed at the installation position set on the outer shell and drives the rotor arm to rotate along the rotating shaft through a transmission device to realize the unfolding and folding actions of the rotor device. A rotor motor installation groove is arranged at the other end of the rotor arm. The housing of the rotor motor is installed in the rotor motor installation groove. The propeller is installed on the driving shaft of the rotor motor and provides lift for the quadrotor UAV under the drive of the driving shaft of the rotor motor.

[0013] By adopting the above technical solution, the configuration of the rotor device adds a folding motor on the basis of the conventional rotor arm, rotor motor and blade, in order to realize the automatic retraction and deployment of the rotor device.

[0014] Optionally, the UAV flight control system includes a main control circuit board based on a UAV flight control chip, a navigation chip, a GPS module, an optical sensing module, an electronic speed controller (ESC) module, a battery pack and multiple electronically amplified antennas. The navigation chip, GPS module and ESC module are respectively integrated on the main control circuit board. The main control circuit board and the battery pack are respectively arranged in the inner housing. The head housing is made of transparent material. The optical sensing module is arranged in the head housing. The navigation chip, GPS module, optical sensing module and ESC module are respectively communicatively connected to the main control circuit board. Multiple electronically amplified antennas are respectively arranged at multiple communication wire holes on the upper and lower surfaces of the outer housing. The main control circuit board performs wireless communication with the outside through the multiple electronically amplified antennas. The main control circuit board controls the execution actions of the rotor motor through the ESC module, and respectively controls the execution actions of the folding motor and the optical sensing module.

[0015] By adopting the above technical solution, the UAV flight control system is mainly implemented based on the main control circuit board. The main control circuit board is set based on the UAV flight control chip. The navigation chip and GPS module are used for position positioning and navigation planning of the flight path. The optical sensing module is used to perform aerial photography or reconnaissance photography tasks. The ESC module mainly controls the execution actions of the rotor motor, mainly including rotation speed and power, etc. Multiple electronically amplified antennas are used to achieve communication in multiple directions. Therefore, a shielding structure is adopted. Therefore, multiple electronically amplified antennas are used for wireless communication. When radio silence is required, the multiple electronically amplified antennas can be powered off to reduce the generation of electromagnetic waves.

[0016] Optionally, the UAV flight control system further includes a gyroscope, a barometric altimeter and a self-starting chip. The gyroscope, barometric altimeter and self-starting chip are respectively integrated on the main control circuit board and are respectively communicatively connected to the main control circuit board. The battery pack supplies power to the gyroscope, barometric altimeter and self-starting chip respectively through separate power supply lines. The self-starting chip controls the main control circuit board to restart according to the data measured by the gyroscope and barometric altimeter, so as to realize the restart from the silent sliding action.

[0017] By adopting the above technical solution, during the duration of the silent gliding action, the main control circuit board, navigation chip, GPS module, optical sensing module, electronic speed control module, and multiple electronic gain antennas will all be powered off. Then, how to resume normal flight becomes a technical problem that needs to be solved. At this time, the gyroscope and barometric altimeter are mainly relied on to provide a basis for judging the attitude and flight altitude of the quadcopter drone. The self-start chip judges that if the corresponding conditions are met, then the self-start chip controls the main control circuit board to resume power supply, and further the main control circuit board controls each electrical component to resume power supply, thereby realizing the restart from the silent gliding action.

[0018] Optionally, let the vertical thickness of the fuselage assembly be B. After the flight control system of the drone is installed, make the center of gravity of the fuselage assembly located on the central axis 0.5B - 0.8B below the geometric center point of the framework.

[0019] By adopting the above technical solution, through the structural setting of the fuselage assembly and the design of the weight and installation position of each electrical component, the center of gravity of the fuselage assembly is located on the central axis 0.5B - 0.8B below the geometric center point of the framework. Preferably, control the center point to be located on the central axis 0.8B below the geometric center point. In this way, lowering the center of gravity makes the flight more stable, and it is easier to maintain a stable gliding attitude during the silent gliding action.

[0020] Optionally, the optical sensing module is a hemispherical camera.

[0021] By adopting the above technical solution, the hemispherical camera can achieve controllable adjustment of the shooting angle, and thus can meet the reconnaissance shooting requirements in a larger range. Of course, it can also be equipped with reconnaissance equipment such as ultrasonic detectors, or auxiliary reconnaissance payloads such as lighting.

[0022] Optionally, the specific method for the drone flight control system to control the quadcopter drone to perform the action of unfolding and retracting the rotors in the air is as follows:

[0023] The main control circuit board controls the power shaft of the folding motor to rotate, driving the rotor arm to unfold from the storage slot, thus realizing the action of unfolding and retracting the rotors in the air.

[0024] By adopting the above technical solution, in the application scenario of aerial delivery, it is necessary to automatically unfold the retracted rotor device. When the silent gliding action needs to be performed, it is necessary to perform the action of unfolding and retracting the rotors in the air.

[0025] Optionally, the specific method for the drone flight control system to control the quadcopter drone to perform the silent gliding action is as follows:

[0026] The main control circuit board first controls the rotor motors through the electronic speed control module to perform height and speed increase actions. Based on the altitude data provided by the barometric altimeter and the terrain data, when the main control circuit board monitors that the flight altitude has increased to more than 1000 meters and the forward speed is greater than 10 m / s, it performs the action of retracting the rotors in the air, controls the navigation chip, GPS module, optical sensing module, electronic speed control module, and multiple electronic gain antennas to power off, and then the main control circuit board powers off.

[0027] Optionally, during the silent gliding action, when the self-start chip determines, based on the altitude data monitored by the barometric altimeter and in cooperation with the offline map data, that the flight altitude data of the quadcopter drone is lower than 300 meters or the gyroscope monitors that the deflection angle of the quadcopter drone in any direction is greater than 45°, the self-start chip performs the action of exiting the silent gliding action: turning on the power supply of the main control circuit board, and the main control circuit board controls the execution of the action of deploying the rotors in the air, controls the navigation chip, GPS module, optical sensing module, electronic speed control module, and multiple electronic gain antennas to power on, and resumes normal flight and wireless communication.

[0028] By adopting the above technical solution, when the quadcopter drone enters a hostile radar detection area or in order to avoid other ground or air detection targets, it is necessary to perform the silent gliding action. The premise of the silent gliding action is a certain altitude and forward speed. During the duration of the silent gliding action, the altitude will decrease to a certain extent. Due to the relatively large forward speed, the altitude decrease speed will not be very fast. Therefore, the duration of the silent gliding action is generally greater than 30 seconds, so it can pass through a straight-line distance greater than 300 meters. Theoretically, it can pass through the sensitive area. If a longer duration of the silent gliding action is required, then it needs to fly to a higher altitude or give a greater forward speed.

[0029] In summary, the present invention includes at least one of the following beneficial technical effects:

[0030] The present invention provides a quadcopter drone based on a capsule configuration. The fuselage component of the quadcopter drone is set based on a capsule-like configuration and is tubular as a whole, greatly reducing the wind resistance in the forward direction of the quadcopter drone, enabling high-speed flight. With the electromagnetic shielding coating, it is extremely difficult to be detected by electronic detection means such as radar. A storage groove for storing the quadcopter component is provided on the side of the fuselage component, and in cooperation with the folding motor, the automatic retraction and deployment of the rotor component can be realized, which can better cope with the air-drop scenario. With the control of the drone flight control system, the actions of deploying and retracting the rotors in the air and the silent gliding action can be realized, and electronic detection can be avoided by gliding. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a three-dimensional structural schematic diagram of a quadcopter drone based on a capsule configuration of the present invention;

[0032] Figure 2 is a front view structural schematic diagram of a quadrotor UAV based on a capsule configuration according to the present invention;

[0033] Figure 3 is a side view structural schematic diagram of a quadrotor UAV based on a capsule configuration according to the present invention;

[0034] Figure 4 is a schematic diagram of the center of gravity design of a quadrotor UAV based on a capsule configuration according to the present invention;

[0035] Figure 5 is a schematic diagram of the electrical component connection principle of a quadrotor UAV based on a capsule configuration according to the present invention.

[0036] Explanation of reference numerals: 1, fuselage assembly; 11, outer housing; 12, inner housing; 13, head housing; 111, storage groove; 2, rotor device; 21, rotor arm; 22, rotor motor; 23, folding motor; 24, propeller blade; 31, main control circuit board; 32, navigation chip; 33, GPS module; 34, optical sensing module; 35, electronic speed control module; 36, battery pack; 37, electronic gain antenna; 38, barometric altimeter; 39, self-start chip; 40, gyroscope; 100, power switch. Detailed implementation manners

[0037] The present invention will be further described in detail below with reference to the accompanying drawings.

[0038] An embodiment of the present invention discloses a quadrotor UAV based on a capsule configuration.

[0039] Referring to Figures 1-5 , a quadrotor UAV based on a capsule configuration includes a fuselage assembly 1, a quadrotor assembly, and a UAV flight control system. The fuselage assembly 1 is arranged based on a capsule-shaped configuration, and a storage groove 111 for storing the quadrotor assembly is arranged on the side. The quadrotor assembly is composed of four rotor devices 2 that can be folded and stored in the storage groove 111. The UAV flight control system controls the execution actions of the quadrotor assembly to realize the air rotor deployment and retraction actions and the silent sliding action of the quadrotor UAV.

[0040] The fuselage assembly 1 of the quadrotor UAV is set based on a capsule-like configuration, which is overall tubular with an aspect ratio greater than 3, greatly reducing the wind resistance in the forward direction of the quadrotor UAV. At the same time, the head of the capsule is semi-circular, which can also well reduce the wind resistance, enabling high-speed flight. And in ground radar monitoring, it only presents a linear shape and is extremely difficult to be detected. On the side of the fuselage assembly 1, there is a storage groove 111 for storing the quadrotor assembly, aiming to accommodate the four rotor devices 2 therein, which can better cope with the aerial delivery scenario. For the delivery of a UAV swarm, generally a centralized delivery bin is used to carry the quadrotor UAVs. If the rotor devices 2 are in the deployed state, the number of quadrotor UAVs that the same delivery bin can carry is much less than that of the quadrotor UAVs with retractable rotor devices 2. After being delivered, the quadrotor assembly automatically unfolds for normal flight. With the control of the UAV flight control system, the actions of unfolding and retracting the rotors in the air and the silent gliding action can be achieved. The silent gliding action means that the quadrotor UAV can perform short-time radio silent gliding at a relatively high flight altitude and forward speed, and can avoid electronic detection by gliding.

[0041] The fuselage assembly 1 includes an outer casing 11, an inner casing 12 and a head casing 13. The outer casing 11 is in the shape of a capsule, with a pair of storage grooves 111 respectively arranged on both sides. The inner casing 12 is detachably installed on the bottom surface of the inner wall of the outer casing 11 and is used for installing electrical components inside. The head casing 13 is hemispherical and is installed at the end of the outer casing 11.

[0042] The fuselage assembly 1 is divided into two parts. The outer casing 11 is in the shape of a capsule, which serves to reduce wind resistance, and the inner casing 12 is used for installing various electrical components.

[0043] The outer surface of the outer casing 11 is coated with an electromagnetic shielding coating, and a plurality of communication wire holes are evenly arranged on the upper and lower surfaces of the outer casing 11 respectively.

[0044] The purpose of setting the electromagnetic shielding coating is to further reduce the possibility of the quadrotor UAV being detected by radar. Especially during the silent gliding action, when the rotor device 2 is in the retracted state and the internal electrical components are powered off, the quadrotor UAV basically achieves radio silence.

[0045] The rotor device 2 includes a rotor arm 21, a rotor motor 22, a folding motor 23 and a propeller 24. One end of the rotor arm 21 is installed at the storage groove 111 of the outer casing 11 through a rotating shaft. The folding motor 23 is installed at the installation position set on the outer casing 11 and drives the rotor arm 21 to rotate along the rotating shaft through a transmission device to achieve the unfolding and retracting actions of the rotor device 2. The other end of the rotor arm 21 is provided with a rotor motor installation groove, the housing of the rotor motor 22 is installed in the rotor motor installation groove, and the propeller 24 is installed on the driving shaft of the rotor motor 22 and provides lift for the quadrotor UAV under the drive of the driving shaft of the rotor motor 22.

[0046] The configuration of the rotor device 2 adds a folding motor 23 on the basis of the conventional rotorcraft arm 21, rotor motor 22 and blade 24, in order to achieve the automatic retraction and deployment of the rotor device 2.

[0047] The UAV flight control system includes a main control circuit board 31 based on a UAV flight control chip, a navigation chip 32, a GPS module 33, an optical sensing module 34, an electronic speed control module 35, a battery pack 36 and multiple electronic gain antennas 37. The navigation chip 32, GPS module 33 and electronic speed control module 35 are respectively integrated on the main control circuit board 31. The main control circuit board 31 and the battery pack 36 are respectively arranged in the inner housing 12. The head housing 13 is made of a transparent material. The optical sensing module 34 is arranged in the head housing 13. The navigation chip 32, GPS module 33, optical sensing module 34 and electronic speed control module 35 are respectively communicatively connected to the main control circuit board 31. Multiple electronic gain antennas 37 are respectively arranged at multiple communication wire holes on the upper and lower surfaces of the outer housing 11. The main control circuit board 31 performs wireless communication with the outside through the multiple electronic gain antennas 37. The main control circuit board 31 controls the execution actions of the rotor motor 22 through the electronic speed control module 35, and respectively controls the execution actions of the folding motor 23 and the optical sensing module 34.

[0048] The UAV flight control system is mainly implemented based on the main control circuit board 31. The main control circuit board 31 is set based on a UAV flight control chip. The navigation chip 32 and GPS module 33 are used for position positioning and navigation planning of the flight path. The optical sensing module 34 is used to perform aerial photography or reconnaissance shooting tasks. The electronic speed control module 35 mainly controls the execution actions of the rotor motor 22, mainly including speed and power, etc. Multiple electronic gain antennas 37 are used to achieve communication in multiple directions. Therefore, a shielding structure is adopted. Therefore, multiple electronic gain antennas 37 are used for wireless communication. When in radio silence, the multiple electronic gain antennas 37 can be powered off to reduce the generation of electromagnetic waves.

[0049] The UAV flight control system also includes a gyroscope 40, a barometric altimeter 38 and a self-start chip 39. The gyroscope 40, barometric altimeter 38 and self-start chip 39 are respectively integrated on the main control circuit board 31 and are respectively communicatively connected to the main control circuit board 31. The battery pack 36 supplies power to the gyroscope 40, barometric altimeter 38 and self-start chip 39 respectively through separate power supply lines. The self-start chip 39 controls the main control circuit board 31 to restart according to the data measured by the gyroscope 40 and barometric altimeter 38, so as to achieve restart from the silent sliding action.

[0050] During the duration of the silent gliding action, the main control circuit board 31, navigation chip 32, GPS module 33, optical sensing module 34, electronic speed control module 35, and multiple electronic gain antennas 37 will all be powered off. Then, how to resume normal flight becomes a technical problem to be solved. At this time, it mainly relies on the gyroscope 40 and barometric altimeter 38 to provide a basis for judging the attitude and flight altitude of the quadcopter drone. The self-start chip 39 determines that if the corresponding conditions are met, then the self-start chip 39 controls the main control circuit board 31 to resume power supply. Furthermore, the main control circuit board 31 controls each electrical component to resume power supply, thereby achieving a restart from the silent gliding action.

[0051] Let the vertical thickness of the fuselage assembly 1 be B. After the installation of the drone flight control system, the center of gravity of the fuselage assembly 1 is located on the central axis 0.5B - 0.8B below the geometric center point of the structure.

[0052] Through the structural setting of the fuselage assembly 1 and the design of the weight and installation position of each electrical component, the center of gravity of the fuselage assembly 1 is located on the central axis 0.5B - 0.8B below the geometric center point of the structure. Preferably, it is controlled so that the center point is on the central axis 0.8B below the geometric center point. This way, lowering the center of gravity makes the flight more stable and it is easier to maintain a stable gliding attitude during the silent gliding action.

[0053] The optical sensing module 34 is a hemispherical camera.

[0054] The hemispherical camera can achieve controllable adjustment of the shooting angle, thus meeting the need for reconnaissance shooting over a larger range;

[0055] In some mission scenarios where ground electronic reconnaissance is not required, a Picatinny rail or slide can be additionally installed above and below the fuselage assembly 1 for carrying mission payloads, such as mounting reconnaissance equipment like ultrasonic detectors, or auxiliary reconnaissance payloads like lighting.

[0056] The specific method for the drone flight control system to control the quadcopter drone to perform the air rotor deployment and retraction actions is as follows:

[0057] The main control circuit board 31 controls the power shaft of the folding motor 23 to rotate, driving the rotor arm 21 to deploy from the storage groove 111, thus realizing the air rotor deployment and retraction actions.

[0058] In the application scenario of air dropping, it is necessary to automatically deploy the retracted rotor device 2. When a silent gliding action needs to be performed, it is necessary to perform the retraction action for the air rotor deployment.

[0059] The specific method for the drone flight control system to control the quadcopter drone to perform the silent gliding action is as follows:

[0060] First, the main control circuit board 31 controls the rotor motors 22 through the electronic speed control module 35 to perform altitude and speed increase actions. Based on the altitude data provided by the barometric altimeter 38 and the terrain data, when the main control circuit board 31 monitors that the flight altitude has increased to more than 1000 meters and the forward speed is greater than 10 m / s, it performs the action of retracting the rotors in the air, controls the navigation chip 32, GPS module 33, optical sensing module 34, electronic speed control module 35, and multiple electronic gain antennas 37 to power off, and then the main control circuit board 31 powers off.

[0061] During the silent gliding action, when the self-starting chip 39, based on the altitude data monitored by the barometric altimeter 38 and in cooperation with the offline map data, determines that the flight altitude data of the quadcopter drone is lower than 300 meters or the gyroscope 40 detects that the deflection angle of the quadcopter drone in any direction is greater than 45°, the self-starting chip 39 performs the action of exiting the silent gliding: powers on the main control circuit board 31, the main control circuit board 31 controls the execution of the action of deploying the rotors in the air, controls the navigation chip 32, GPS module 33, optical sensing module 34, electronic speed control module 35, and multiple electronic gain antennas 37 to power on, and resumes normal flight and wireless communication.

[0062] When the quadcopter drone enters a hostile radar detection area or to avoid other ground or air detection targets, it needs to perform the silent gliding action. The premise of the silent gliding action is a certain altitude and forward speed. During the duration of the silent gliding action, the altitude will decrease to a certain extent. Due to the relatively large forward speed, the altitude decrease speed will not be very fast. Therefore, the duration of the silent gliding action can generally be greater than 30 seconds, so it can pass through a straight-line distance greater than 300 meters and theoretically can pass through the sensitive area. If a longer duration of the silent gliding action is required, then it needs to fly to a higher altitude or be given a greater forward speed.

[0063] The specific implementation principle of a quadcopter drone based on a capsule configuration in the present invention:

[0064] In a specific quadcopter drone reconnaissance application scenario, the quadcopter drone is launched from the drone launch bay of a transport aircraft at 8000 meters. After launch, it activates the power switch 100 at the top of the outer shell 11 of the quadcopter drone. At this time, the main control circuit board 31 supplies power, the main control circuit board 31 controls the execution of the action of deploying the rotors in the air, controls the navigation chip 32, GPS module 33, optical sensing module 34, electronic speed control module 35, and multiple electronic gain antennas 37 to power on, and conducts normal flight. After the GPS module 33 performs positioning according to the shooting target and instructions transmitted by the flight control center set on the transport aircraft, the navigation chip 32 sets the flight path planning, and the drone flight control chip of the main control circuit board 31 executes the flight along the path, and controls the rotor motors 22 to perform according to the specified actions through the electronic speed control module 35.

[0065] At a certain moment, the flight altitude is 5000 meters and the forward flight speed is 15 m / s. According to the instructions of the flight control center, there is a ground electronic monitoring area with a diameter of 500 meters ahead. At this time, the silent gliding operation is executed. The main control circuit board 31 judges that the flight altitude and speed at this time meet the requirements of the silent gliding operation. First, the aerial rotor folding action is executed, and then the navigation chip 32, GPS module 33, optical sensing module 34, electronic speed control module 35 and multiple electronic gain antennas 37 are controlled to power off. Finally, the main control circuit board 31 powers off;

[0066] After 1 minute and 20 seconds of silent gliding, the flight altitude drops below 300 meters and the forward speed drops to 6 m / s. The flight attitude is stable. The self-starting chip 39 judges that the flight altitude data is lower than 300 meters based on the altitude data monitored by the barometric altimeter 38 and the offline map data. The self-starting chip 39 executes the action to exit the silent gliding: power on the main control circuit board 31. The main control circuit board 31 controls the execution of the aerial rotor unfolding action, controls the navigation chip 32, GPS module 33, optical sensing module 34, electronic speed control module 35 and multiple electronic gain antennas 37 to power on, and resumes normal flight and wireless communication. At this time, the silent gliding quadcopter drone has safely passed through the ground electronic monitoring area and finally safely reached the destination to complete the close-range shooting mission.

[0067] The above are all the preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby. Therefore, all equivalent changes made according to the structure, shape and principle of the present invention should be covered within the protection scope of the present invention.

Claims

1. A quadrotor UAV based on a capsule configuration, characterized in that: It includes a fuselage assembly (1), a quad-rotor assembly, and a UAV flight control system. The fuselage assembly (1) is based on a capsule-shaped configuration, and a storage groove (111) for storing the quad-rotor assembly is provided on the side. The quad-rotor assembly is composed of four rotor devices (2) that can be folded and retracted into the storage groove (111). The UAV flight control system controls the execution actions of the quad-rotor assembly to realize the air rotor deployment and retraction actions and the silent gliding action of the quad-rotor UAV; The rotor device (2) includes a rotor arm (21), a rotor motor (22), a folding motor (23), and a propeller (24). One end of the rotor arm (21) is installed at the storage groove (111) of the outer casing (11) through a rotating shaft. The folding motor (23) is installed at the installation position provided on the outer casing (11) and drives the rotor arm (21) to rotate along the rotating shaft through a transmission device to realize the deployment and retraction actions of the rotor device (2). The other end of the rotor arm (21) is provided with a rotor motor installation groove. The housing of the rotor motor (22) is installed in the rotor motor installation groove. The propeller (24) is installed on the driving shaft of the rotor motor (22) and provides lift for the quad-rotor UAV under the drive of the driving shaft of the rotor motor (22); The UAV flight control system includes a main control circuit board (31) based on a UAV flight control chip, a navigation chip (32), a GPS module (33), an optical sensing module (34), an electronic speed control module (35), a battery pack (36), and multiple electronic gain antennas (37). The navigation chip (32), the GPS module (33), and the electronic speed control module (35) are respectively integrated on the main control circuit board (31). The main control circuit board (31) and the battery pack (36) are respectively arranged in the inner casing (12). The head casing (13) is made of a transparent material. The optical sensing module (34) is arranged in the head casing (13). The navigation chip (32), the GPS module (33), the optical sensing module (34), and the electronic speed control module (35) are respectively communicatively connected to the main control circuit board (31). Multiple electronic gain antennas (37) are respectively arranged at multiple communication wire holes on the upper and lower surfaces of the outer casing (11). The main control circuit board (31) performs wireless communication with the outside through multiple electronic gain antennas (37). The main control circuit board (31) controls the execution actions of the rotor motor (22) through the electronic speed control module (35), and respectively controls the execution actions of the folding motor (23) and the optical sensing module (34); The UAV flight control system further includes a gyroscope (40), a barometric altimeter (38) and a self-start chip (39). The gyroscope (40), the barometric altimeter (38) and the self-start chip (39) are respectively integrated on the main control circuit board (31) and are respectively communicatively connected to the main control circuit board (31). The battery pack (36) supplies power to the gyroscope (40), the barometric altimeter (38) and the self-start chip (39) respectively through separate power supply lines. The self-start chip (39) controls the main control circuit board (31) to restart according to the data measured by the gyroscope (40) and the barometric altimeter (38), so as to realize restart from the silent gliding action.

2. The quadrotor UAV based on a capsule configuration according to claim 1, characterized in that: The fuselage assembly (1) includes an outer shell (11), an inner shell (12) and a head shell (13). The outer shell (11) is in a capsule shape, and a pair of receiving grooves (111) are respectively arranged on both sides. The inner shell (12) is detachably installed on the bottom surface of the inner wall of the outer shell (11) and is used for installing electrical components inside. The head shell (13) is hemispherical and is installed at the end of the outer shell (11).

3. The quadrotor UAV based on a capsule configuration according to claim 1, characterized in that: The outer surface of the outer shell (11) is coated with an electromagnetic shielding coating, and a plurality of communication wire holes are evenly arranged on the upper and lower surfaces of the outer shell (11).

4. The quadrotor UAV based on a capsule configuration according to claim 1, characterized in that: Let the vertical thickness of the fuselage assembly (1) be B. After the UAV flight control system is installed, the center of gravity of the fuselage assembly (1) is located on the central axis 0.5B - 0.8B below the geometric center point of the structure.

5. The quadrotor UAV based on a capsule configuration according to claim 1, characterized in that: The specific method for the UAV flight control system to control the four-rotor UAV to perform the aerial rotor deployment and retraction actions is as follows: The main control circuit board (31) controls the power shaft of the folding motor (23) to rotate, driving the rotor arm (21) to deploy from the receiving groove (111), so as to realize the aerial rotor deployment and retraction actions.

6. The quadrotor UAV based on a capsule configuration according to claim 5, characterized in that: The specific method for the UAV flight control system to control the four-rotor UAV to perform the silent gliding action is as follows: The main control circuit board (31) first controls the rotor motor (22) to perform the height and speed increase actions through the electronic speed control module (35). According to the altitude data provided by the barometric altimeter (38) and the terrain data, when the main control circuit board (31) monitors that the flight altitude rises above 1000 meters and the forward speed is greater than 10 m / s, it performs the aerial rotor retraction action, controls the navigation chip (32), the GPS module (33), the optical sensing module (34), the electronic speed control module (35) and multiple electronic gain antennas (37) to power off, and then the main control circuit board (31) powers off.

7. The quadrotor UAV based on a capsule configuration according to claim 6, characterized in that: During the duration of the silent gliding operation, when the self-starting chip (39) determines, based on the altitude data monitored by the barometric altimeter (38) and in cooperation with the offline map data, that the flight altitude data of the quadcopter drone is lower than 300 meters or the gyroscope (40) detects that the deflection angle of the quadcopter drone in any direction is greater than 45°, the self-starting chip (39) executes the action of exiting the silent gliding operation: turning on the power supply of the main control circuit board (31), the main control circuit board (31) controls the execution of the action of deploying the aerial rotors, controls the navigation chip (32), the GPS module (33), the optical sensing module (34), the electronic speed control module (35) and multiple electronic gain antennas (37) to be powered on, and resumes normal flight and wireless communication.

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