Vertical take-off and landing unmanned aerial vehicle

Abstract

The invention discloses a vertical take-off and landing unmanned aerial vehicle. A platform is arranged on the support, a machine body is arranged on the platform, a first electric cylinder and a second electric cylinder are hinged to one side of the support, one end of the first electric cylinder and one end of the second electric cylinder are hinged to one side of the platform, and the first electric cylinder and the second electric cylinder are designed to be triangular. A third electric cylinder and a fourth electric cylinder are hinged to one side of the support, one end of the third electric cylinder and one end of the fourth electric cylinder are also hinged to one side of the platform, and the third electric cylinder and the fourth electric cylinder are in a triangular design; a fifth electric cylinder and a sixth electric cylinder are hinged to one side of the support, one end of the fifth electric cylinder and one end of the sixth electric cylinder are also hinged to one side of the platform, the fifth electric cylinder and the sixth electric cylinder are in triangular design, and accurate movement butt joint of the tail section is achieved through six-degree-of-freedom high-precision multi-degree-of-freedom mechanical parts.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicles (UAVs), and in particular to a vertical take-off and landing UAV. Background Art

[0002] A vertical take-off and landing fixed-wing aircraft is a combination of a vertical take-off and landing configuration and a fixed-wing flight configuration. It has the characteristics of patrolling vertical take-off and landing and efficient flight, and its comprehensive performance is between that of rotary-wing and fixed-wing flight. This type of aircraft has greatly expanded the application scenarios of aircraft. However, the weight and system complexity of the vertical take-off and landing configuration require a great deal of effort to achieve a vertical take-off and landing fixed-wing aircraft. Usually, the vertical take-off and landing system can account for about 20% of the maximum take-off weight of the entire aircraft, resulting in an excessively large empty weight for the entire aircraft, compressing the payload, and greatly limiting the performance of the aircraft's fixed-wing configuration. Summary of the invention

[0003] In order to solve the above problems, the present technical solution provides a vertical take-off and landing UAV.

[0004] To achieve the above purpose, the technical solution is as follows:

[0005] A vertical take-off and landing drone, comprising;

[0006] A bracket, wherein a platform is provided on the bracket, and a machine body is provided on the platform, wherein a first electric cylinder and a second electric cylinder are hingedly connected to one side of the bracket, one end of the first electric cylinder and the second electric cylinder are also hingedly connected to one side of the platform, and a triangle design is formed between the first electric cylinder and the second electric cylinder;

[0007] A third electric cylinder and a fourth electric cylinder are hingedly connected to one side of the bracket, and one end of the third electric cylinder and the fourth electric cylinder are also hingedly connected to one side of the platform, and the third electric cylinder and the fourth electric cylinder are designed to be in a triangle;

[0008] The fifth electric cylinder and the sixth electric cylinder are hinged on one side of the bracket. One end of the fifth electric cylinder and the sixth electric cylinder is also hinged on one side of the platform. The fifth electric cylinder and the sixth electric cylinder are designed to be in a triangle.

[0009] In some embodiments, a pawl is hingedly provided on the platform for connecting with the body.

[0010] In some embodiments, the support is provided with a plurality of rotors.

[0011] In some embodiments, a visual positioning step is also included:

[0012] S1, acquire the target image;

[0013] S2, image preprocessing to remove image noise;

[0014] S3, image feature extraction;

[0015] S4, target features and standard targets are matched and solved for errors;

[0016] S5, converting the error into navigation estimates of the distance and speed relative to the target according to the positioning algorithm.

[0017] The beneficial effects of this application are:

[0018] The present application forms a six-degree-of-freedom platform through a platform and six electric cylinders. This platform is a device that can simulate movement in six directions. These six degrees of freedom usually include three translational movements (movement along the X, Y, and Z axes) and three rotational movements (rotation around the X, Y, and Z axes). It has the characteristics of fast response, high precision, and large load. Due to the practical problems such as atmospheric disturbances, control accuracy, and combined navigation errors in the flight environment, after the two platform positions are initially aligned, the aircraft cannot achieve precise docking through its own movement, and it is necessary to achieve precise motion docking of the final stage through these high-precision multi-degree-of-freedom mechanical components of six degrees of freedom. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for describing the embodiments are briefly introduced below.

[0020] Figure 1 is a schematic structural diagram of an embodiment of the present invention;

[0021] Figure 2 Schematic diagram of visual positioning according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0023] Please refer to Figure 1-2 As shown, a vertical take-off and landing UAV comprises:

[0024] A bracket 1, wherein a platform 2 is disposed on the bracket 1, and a body 3 is disposed on the platform 2, wherein a first electric cylinder 4 and a second electric cylinder 5 are hingedly connected to one side of the bracket 1, and one end of the first electric cylinder 4 and the second electric cylinder 5 are also hingedly connected to one side of the platform 2, and the first electric cylinder 4 and the second electric cylinder 5 are designed to be in a triangle;

[0025] The third electric cylinder 6 and the fourth electric cylinder 7 are hinged on one side of the bracket 1. One end of the third electric cylinder 6 and the fourth electric cylinder 7 are also hinged on one side of the platform 2. The third electric cylinder 6 and the fourth electric cylinder 7 are designed to be triangular.

[0026] The fifth electric cylinder 8 and the sixth electric cylinder 9 are hinged on one side of the bracket 1. One end of the fifth electric cylinder 8 and the sixth electric cylinder 9 are also hinged on one side of the platform 2. The fifth electric cylinder 8 and the sixth electric cylinder 9 are designed to be in a triangle.

[0027] The present application forms a six-degree-of-freedom platform through a platform and six electric cylinders. This platform is a device that can simulate movement in six directions. These six degrees of freedom usually include three translational movements (movement along the X, Y, and Z axes) and three rotational movements (rotation around the X, Y, and Z axes). It has the characteristics of fast response, high precision, and large load. Due to the practical problems such as atmospheric disturbances, control accuracy, and combined navigation errors in the flight environment, after the two platform positions are initially aligned, the aircraft cannot achieve precise docking through its own movement, and it is necessary to achieve precise motion docking of the final stage through these high-precision multi-degree-of-freedom mechanical components of six degrees of freedom.

[0028] In this embodiment, a pawl 10 is hingedly provided on the platform 2 for connecting with the body 3 .

[0029] In this embodiment, the bracket 1 is provided with a plurality of rotors 11 .

[0030] This application adopts conventional fixed-wing drone and multi-rotor mode. The fixed-wing is a conventional V-tail fixed-wing with a flat belly for easy contact with the platform. The multi-rotor adopts a 6-rotor configuration, and the upper surface of the body is equipped with a monocular vision lens, a 6-degree-of-freedom platform and a ratchet.

[0031] There is a six-degree-of-freedom intelligent pawl on the top of the multi-rotor (including: six-degree-of-freedom platform, pawl, composite sensor and controller). The six-degree-of-freedom platform has the characteristics of high freedom, fast response and large load. The platform target control value is obtained through composite sensor solution. The platform can adjust its attitude and position in real time to realize the connection between the pawl and the fixed-wing shaft ear.

[0032] In this embodiment, if Figure 2 As shown, it also includes the visual positioning step:

[0033] S1, acquire the target image;

[0034] S2, image preprocessing to remove image noise;

[0035] S3, image feature extraction;

[0036] S4, target features and standard targets are matched and solved for errors;

[0037] S5, converting the error into navigation estimates of the distance and speed relative to the target according to the positioning algorithm.

[0038] Through visual positioning, on the one hand, the position of the aircraft relative to the target aircraft is guided and corrected; on the other hand, precise guidance is provided for the docking movement of the six-degree-of-freedom platform.

[0039] The above description is only a preferred embodiment of the present application and is not intended to limit the scope of implementation of the present application. Other principles and basic structures that are the same or similar to those of the present application are within the protection scope of the present application.

Claims

1. A vertical take-off and landing UAV, characterized in that: include; A support (1), wherein a platform (2) is provided on the support (1), and a machine body (3) is provided on the platform (2), wherein a first electric cylinder (4) and a second electric cylinder (5) are hingedly connected to one side of the support (1), one end of the first electric cylinder (4) and the second electric cylinder (5) are also hingedly connected to one side of the platform (2), and the first electric cylinder (4) and the second electric cylinder (5) are designed to be triangular; A third electric cylinder (6) and a fourth electric cylinder (7) are hingedly connected to one side of the bracket (1); one end of the third electric cylinder (6) and the fourth electric cylinder (7) are also hingedly connected to one side of the platform (2); and the third electric cylinder (6) and the fourth electric cylinder (7) are designed to be triangular; A fifth electric cylinder (8) and a sixth electric cylinder (9) are hingedly connected to one side of the bracket (1); one end of the fifth electric cylinder (8) and the sixth electric cylinder (9) are also hingedly connected to one side of the platform (2); and the fifth electric cylinder (8) and the sixth electric cylinder (9) are designed to be triangular.

2. A vertical take-off and landing UAV according to claim 1, characterized in that: A ratchet (10) is hingedly provided on the platform (2) and is used for connecting with the machine body (3).

3. A vertical take-off and landing UAV according to claim 2, characterized in that: The bracket (1) is provided with a plurality of rotors (11).

4. The vertical take-off and landing UAV according to claim 1, characterized in that: It also includes the visual positioning step: S1, acquire the target image; S2, image preprocessing to remove image noise; S3, image feature extraction; S4, target features and standard targets are matched and solved for errors; S5, converting the error into navigation estimates of the distance and speed relative to the target according to the positioning algorithm.

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