Reconfigurable miniature aircraft integrated architecture

Abstract

The invention discloses a reconfigurable micro aircraft integrated architecture which comprises an embedded connection mechanism, a flight module, an energy module, a task module and a self-propelled module, the embedded connection mechanism adopts a split design and comprises an upper mechanism, a middle mechanism and a lower mechanism from top to bottom, and the upper mechanism and the lower mechanism are respectively connected to the middle mechanism; the upper mechanism is used for mounting a flight module; the middle mechanism is used for mounting an energy module and a task module; the lower mechanism is used for mounting the self-propelled module; the flight module is used for realizing the flight function of the micro aircraft; the energy module is used for storing and providing energy for the micro aircraft and can share energy for other micro aircrafts; the task module comprises a flight controller of the micro aircraft, is used for controlling the flight module and the self-propelled module, and interacts with a ground control center in a wireless mode; the self-walking module is used for self-walking of the micro aircraft; wherein the flight module and the self-propelled module both have expansion and contraction functions.

Description

Technical Field

[0001] The invention belongs to the technical field of overall design of micro air vehicles, and in particular relates to a reconfigurable micro air vehicle integrated architecture. Background Art

[0002] A micro air vehicle is a very small and light aircraft that relies on its own capabilities to fly, maneuver and complete various tasks. It generally adopts an integrated design method, and various functional modules are tightly coupled and integrated into one. Except for the power module, rotor and protective devices that can be plugged in to facilitate daily maintenance, other components are basically not flexibly disassembled and assembled.

[0003] The functions and performance of a single micro-aircraft are limited and cannot meet the requirements of complex application scenarios. At present, the integration technology of micro-aircraft has developed towards cluster applications, mainly through the design of different types of aircraft, based on the integration of different functional modules, and the application of collaborative control technology to achieve the emergence of heterogeneous aircraft group efficiency. Micro-aircraft adopt an integrated design method, which solidifies the product characteristics of a single type of micro-aircraft. The needs of cluster application can only be met through serialized product design, which makes the subsequent product spectrum maintenance complicated and cannot provide field-level system supply capabilities. Reconfigurable design technology can make micro-aircraft more modular and support rapid on-site integration. It has a significant intensive effect on the design of cluster micro-aircraft for complex application scenarios, and is an advanced overall design technology for future micro-aircraft. Summary of the invention

[0004] The purpose of the present invention is to provide a reconfigurable micro-aircraft integrated architecture, which is convenient for flexible configuration of different functional modules such as flight, crawling, energy, and mission, realizes plug-in assembly and integration of components, and is easy to deploy on a large scale and adapt to complex terrain environments, thereby providing a usable integrated framework for the use of micro-aircraft clusters.

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

[0006] A reconfigurable micro-aircraft integrated architecture includes an embedded mechanism, a flight module, an energy module, a mission module, and a self-propelled module, wherein:

[0007] The embedded mechanism adopts a split design, including an upper mechanism, a middle mechanism, and a lower mechanism from top to bottom, and the upper mechanism and the lower mechanism are respectively connected to the middle mechanism; the upper mechanism is used to install the flight module, the middle mechanism is used to install the energy module and the mission module; the lower mechanism is used to install the self-propelled module;

[0008] The flight module is used to realize the flight function of the micro-aircraft; the energy module is used to store and provide energy for the micro-aircraft, and can share energy with other micro-aircraft; the mission module includes a flight controller of the micro-aircraft, which is used to control the flight module and the self-propelled module, and interact with the ground control center via wireless means; the self-propelled module is used for the self-propelled walking of the micro-aircraft; wherein, both the flight module and the self-propelled module have the functions of expansion and contraction.

[0009] Furthermore, the upper mechanism, the middle mechanism and the lower mechanism are all cylindrical structures, and the three are arranged coaxially; slide rails are distributed on the outer walls of the upper mechanism, the middle mechanism and the lower mechanism of the embedded mechanism, which are used to assemble the flight module, the energy module, the mission module and the self-propelled module by installing sliders.

[0010] Furthermore, the installation slide block is a trapezoidal block structure, and the upper and lower bottom surfaces of the trapezoidal block are arc surfaces.

[0011] Further, the flight module includes a baffle, a rotor, a large arm and a small arm, wherein: the baffle is installed at the end of the small arm, the baffle is an arc-shaped structure, and is used to protect the rotor; the small arm is movably installed at the end of the large arm, and a first groove is provided on the large arm, and the small arm can be rotated to be received in the first groove; the rotor is installed on the side of the large arm end, and the large arm is movably mounted on a first mounting slide block, and the first mounting slide block is mounted on the slide rail of the upper mechanism and fastened by bolts; a second groove is provided on the first mounting slide block, and the large arm and the rotor can be rotated to be received in the second groove;

[0012] Furthermore, the energy module includes a charging component, a discharging component and an energy storage component, which are respectively assembled on the slide rail of the middle mechanism through a second mounting slider and fastened by bolts; wherein the charging component is used to charge the energy storage component, the energy storage component is used to provide electrical energy for the flight module, the mission module and the self-propelled module, and the discharging component is used to share electrical energy with other micro air vehicles.

[0013] Furthermore, a wireless charging device is installed on the upper surface of the charging component, and a wireless discharging device is installed on the lower surface of the discharging component, so as to assist the wireless charging and discharging positioning and alignment in a magnetic attraction manner.

[0014] Furthermore, a camera is installed on the task module by means of a plug-in; the task module is assembled on the slide rail of the middle mechanism through a second mounting slide block and is fastened by bolts.

[0015] Furthermore, the self-propelled module includes a support leg and a connecting rod, wherein the support leg is mounted on a third mounting slide block through the connecting rod; the third mounting slide block is mounted on a slide rail of the lower mechanism and is fastened by a positioning pin. A third groove is provided on the connecting rod, and the support leg can be rotated to be received in the third groove; a fourth groove is provided on the third mounting slide block, and the connecting rod can be rotated to be received in the fourth groove.

[0016] Furthermore, when the flight module and the self-propelled module are both in a retracted state, the reconfigurable micro air vehicle integrated architecture is an overall cylindrical structure.

[0017] Compared with the prior art, the present invention has the following technical features:

[0018] 1. The embedding mechanism of the present invention adopts a split design, is connected as a whole by threads, and is fastened by positioning pins through positioning holes. Other modules are inserted into the embedding mechanism by means of slide rails and fastened by bolts, thereby realizing modular integration of the main body of the micro-aircraft structure;

[0019] 2. The flight module and the self-propelled module are stored in the corresponding body grooves in a two-stage embedded folding manner. The micro-aircraft in the folded state has a compact structure and a standard appearance, which is convenient for large-scale deployment;

[0020] 3. Through the component design of energy modules, different types of components are divided into charging, discharging and energy storage. The energy storage components are equipped as needed and all adopt plug-in integration to meet the energy requirements of different micro-aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is an exploded diagram of the reconfigurable micro air vehicle structure in this scheme;

[0022] Figure 2 is an expanded diagram of the reconfigurable micro air vehicle in this scheme;

[0023] Figure 3 is a diagram of a physical model of the present invention, wherein the flying module and the self-propelled module are both in a retracted state;

[0024] Figure 4 It is a diagram of a physical model of the present invention, in which the flying module and the self-propelled module are both in an unfolded state. DETAILED DESCRIPTION

[0025] See attached Figure 1 and Figure 2 The present invention provides a reconfigurable micro-aircraft integrated architecture, which supports flexible integration of various functional modules and enables the micro-aircraft to realize flight, crawling, reconnaissance and support functions on demand for different application scenarios. The integrated architecture includes: an embedded mechanism 1, a flight module 2, an energy module 3, a mission module 4, and a self-propelled module 5;

[0026] The embedded mechanism 1 adopts a split design, including an upper mechanism 11, a middle mechanism 12, and a lower mechanism 13 from top to bottom. The upper mechanism 11 and the lower mechanism 13 are respectively connected to the middle mechanism 12 by threads and fastened by positioning pins; the upper mechanism 11 is used to install the flight module 2, the middle mechanism 12 is used to install the energy module 3 and the mission module 4; the lower mechanism 13 is used to install the self-propelled module 5; in this solution, the upper mechanism 11, the middle mechanism 12, and the lower mechanism 13 are all cylindrical structures, and the three are coaxially arranged. Slide rails are distributed on the outer walls of the upper mechanism 11, the middle mechanism 12, and the lower mechanism 13 of the embedded mechanism 1, which are used to assemble the flight module 2, the energy module 3, the mission module 4, and the self-propelled module 5 by installing sliders; in this embodiment, the installation slider is a trapezoidal block structure, and the upper and lower bottom surfaces of the trapezoidal block are arc surfaces.

[0027] The flight module 2 is used to realize the flight function of the micro-aircraft, and the flight module 2 has the functions of expansion and contraction; the flight module 2 includes a baffle 21, a rotor 22, a large arm 23 and a small arm 24, wherein: the baffle 21 is installed at the end of the small arm 24, and the baffle 21 is an arc-shaped structure for protecting the rotor 22; the small arm 24 is movably installed at the end of the large arm 23, and a first groove is provided on the large arm 23, and the small arm 24 can be rotated to be received in the first groove; the rotor 22 is installed on the side of the end of the large arm 23, and the large arm 23 is movably mounted on the first mounting slider, and the first mounting slider is mounted on the slide rail of the upper mechanism 11 and fastened by bolts; a second groove is provided on the first mounting slider, and the large arm 23 and the rotor 22 can be rotated to be received in the second groove. The flight module 2 has two states: retracted and expanded. In the retracted state, the small arm 24 is folded back and retracted into the first groove of the upper arm 23, and then the upper arm 23 and the rotor 22 are folded back and retracted into the second groove of the first mounting slider. In the expanded state, the upper arm 23 and the rotor 22 are rotated out of the second groove, the small arm 24 is rotated out of the first groove and expanded by the spring. After expansion, it is fixed by a limiting mechanism, which can be, for example, a limiting marble, a limiting pin, etc.

[0028] The energy module 3 is used to store and provide energy for the micro-aircraft; the energy module 3 includes a charging component 31, a discharging component 32 and an energy storage component 33, and the charging component 31, the discharging component 32 and the energy storage component 33 are respectively assembled on the slide rail of the middle mechanism 12 through a second mounting slider and fastened by bolts; wherein, the charging component 31 is used to charge the energy storage component 33, the energy storage component 33 is used to provide electrical energy for the flight module 2, the mission module 4 and the self-propelled module 5, and the discharging component 32 is used to share electrical energy with other micro-aircraft; a wireless charging device is installed on the upper surface of the charging component 31, and a wireless discharging device is installed on the lower surface of the discharging component 32, so as to assist the wireless charging and discharging positioning and alignment in a magnetic way.

[0029] The mission module 4 includes a flight controller of the micro-aircraft, which is used to control the flight module 2 and the self-propelled module 5, and interact with the ground control center wirelessly; a camera is installed on the mission module 4 in a plug-in manner; the mission module 4 is assembled on the slide rail of the middle mechanism 12 through a second mounting slider and fastened by bolts.

[0030] The self-propelled module 5 is used for the self-propelled movement of the micro-aircraft, and the self-propelled module 5 has the functions of expansion and contraction; the self-propelled module 5 includes a support leg 51 and a connecting rod 52, and the support leg 51 is assembled on the third mounting slider 53 through the connecting rod 52; the third mounting slider 53 is assembled on the slide rail of the lower mechanism 13 and fastened by a positioning pin. A third groove is provided on the connecting rod 52, and the support leg 51 can be rotated to be accommodated in the third groove; a fourth groove is provided on the third mounting slider 53, and the connecting rod 52 can be rotated to be accommodated in the fourth groove. In the contracted state, the support leg 51 is folded back and stored in the third groove of the connecting rod 52, and the connecting rod 52 is folded back and stored in the fourth groove of the third mounting slider 53; in the expanded state, the support leg 51 and the connecting rod 52 are respectively rotated out of the third groove and the fourth groove, and are fixed by the limiting mechanism after being in place.

[0031] The integrated architecture of the micro-aircraft of the present invention can realize different working states of the micro-aircraft by utilizing the flight module 2 and the self-propelled module 5; when it is necessary to perform a ground mission, the flight module 2 is in a retracted state and the self-propelled module 5 is in an open state; and when it is necessary to perform an aerial mission, the flight module 2 is in an open state and the self-propelled module 5 is in a retracted state.

[0032] Example:

[0033] like Figure 1 As shown, the reconfigurable micro-aircraft integrated architecture provided in this example includes 1 embedded mechanism, 4 flight modules, 1 energy module, 1 mission module, and 4 self-propelled modules. The embedded mechanism adopts a split design, which is connected as a whole through threads. After being screwed into place, it is fastened with positioning pins through positioning holes. Other modules are inserted into the embedded mechanism through slide rails and fastened with bolts; the flight module and the self-propelled module are stored in the corresponding body grooves in a two-stage embedded folding manner, unfolded by springs, and each part is flipped into place and limited by marbles; the energy module is divided into three types of components: charging, discharging, and energy storage. The energy storage components are equipped as needed, and magnetic suction is used to assist wireless charging and discharging positioning and alignment, so as to share energy among micro-aircraft; the flight module, energy module, mission module, and self-propelled module are plugged and integrated as needed to achieve functional reconfiguration for complex scenarios.

[0034] like Figure 2As shown in the figure, in the unfolded state, the flight module and the self-propelled module of the micro-aircraft are in a released state. Using the self-propelled module as a ground support mechanism can obtain a larger movement space, facilitate flight and self-propelled, and have stronger adaptability to complex terrain environments. After the flight module and the self-propelled module are folded, the micro-aircraft is in a standard cylindrical shape, which is convenient for cluster delivery.

[0035] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A reconfigurable micro air vehicle integrated architecture, characterized in that: It comprises an embedded mechanism (1), a flight module (2), an energy module (3), a mission module (4), and a self-propelled module (5), wherein: The embedded mechanism (1) adopts a split design, and comprises an upper mechanism (11), a middle mechanism (12), and a lower mechanism (13) from top to bottom, wherein the upper mechanism (11) and the lower mechanism (13) are respectively connected to the middle mechanism (12); the upper mechanism (11) is used to install the flight module (2), the middle mechanism (12) is used to install the energy module (3) and the mission module (4); and the lower mechanism (13) is used to install the self-propelled module (5); The flight module (2) is used to realize the flight function of the micro-aircraft; the energy module (3) is used to store and provide energy for the micro-aircraft, and can also share energy with other micro-aircraft; the mission module (4) includes a flight controller of the micro-aircraft, which is used to control the flight module (2) and the self-propelled module (5), and interact with the ground control center via wireless means; the self-propelled module (5) is used for the self-propelled walking of the micro-aircraft; wherein both the flight module (2) and the self-propelled module (5) have the functions of expansion and contraction.

2. The reconfigurable micro air vehicle integrated architecture according to claim 1, characterized in that: The upper mechanism (11), the middle mechanism (12), and the lower mechanism (13) are all cylindrical structures, and the three are arranged coaxially; slide rails are distributed on the outer walls of the upper mechanism (11), the middle mechanism (12), and the lower mechanism (13) of the embedded mechanism (1), and are used to assemble the flight module (2), the energy module (3), the mission module (4), and the self-propelled module (5) by installing slide blocks.

3. The reconfigurable micro air vehicle integrated architecture according to claim 2, characterized in that: The installation slide block is a trapezoidal block structure, and the upper and lower bottom surfaces of the trapezoidal block are arc surfaces.

4. The reconfigurable micro air vehicle integrated architecture according to claim 1, characterized in that: The flight module (2) comprises a baffle (21), a rotor (22), a large arm (23) and a small arm (24), wherein: the baffle (21) is mounted at the end of the small arm (24), the baffle (21) is an arc-shaped structure, and is used to protect the rotor (22); the small arm (24) is movably mounted at the end of the large arm (23), a first groove is provided on the large arm (23), and the small arm (24) can be rotated to be received in the first groove; the rotor (22) is mounted on the side of the end of the large arm (23), the large arm (23) is movably mounted on a first mounting slide block, the first mounting slide block is mounted on a slide rail of an upper mechanism (11) and is fastened by bolts; the first mounting slide block is provided with a second groove, and the large arm (23) and the rotor (22) can be rotated to be received in the second groove.

5. The reconfigurable micro air vehicle integrated architecture according to claim 1, characterized in that: The energy module (3) comprises a charging component (31), a discharging component (32) and an energy storage component (33), wherein the charging component (31), the discharging component (32) and the energy storage component (33) are respectively mounted on the slide rail of the middle mechanism (12) via a second mounting slide block and fastened via bolts; wherein the charging component (31) is used to charge the energy storage component (33), the energy storage component (33) is used to provide electric energy for the flight module (2), the mission module (4) and the self-propelled module (5), and the discharging component (32) is used to share electric energy with other micro-aircraft.

6. The reconfigurable micro air vehicle integrated architecture according to claim 5, characterized in that: A wireless charging device is installed on the upper surface of the charging component (31), and a wireless discharging device is installed on the lower surface of the discharging component (32), so as to assist the wireless charging and discharging positioning and alignment in a magnetic attraction manner.

7. The reconfigurable micro air vehicle integrated architecture according to claim 1, characterized in that: The camera is installed on the task module (4) by means of a plug-in; the task module (4) is assembled on the slide rail of the middle mechanism (12) via a second installation slide block and is fastened by bolts.

8. The reconfigurable micro air vehicle integrated architecture according to claim 1, characterized in that: The self-propelled module (5) comprises a support leg (51) and a connecting rod (52). The support leg (51) is mounted on a third mounting slide block (53) via the connecting rod (52); the third mounting slide block (53) is mounted on a slide rail of a lower mechanism (13) and is fastened via a positioning pin. A third groove is provided on the connecting rod (52), and the support leg (51) can be rotated to be received in the third groove; a fourth groove is provided on the third mounting slide block (53), and the connecting rod (52) can be rotated to be received in the fourth groove.

9. The reconfigurable micro air vehicle integrated architecture according to claim 1, characterized in that: When the flight module (2) and the self-propelled module (5) are both in a retracted state, the reconfigurable micro-aircraft integrated architecture is an overall cylindrical structure.

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