Spherical foldable unmanned aerial vehicle

Abstract

A fuselage skeleton is of a spherical frame structure, a plurality of vehicle arms are evenly distributed on the side face of the fuselage skeleton, and the vehicle arms are rotationally connected with the fuselage skeleton and can be unfolded or folded through vehicle arm driving mechanisms. A rotating support and a power motor are installed on the inner side of each machine arm, the fan blades are driven by the power motors to rotate, the rotating joint motors are used for driving the rotating supports to tilt, and angle adjustment of the power motors is achieved. By tilting the power motor on the opposite side or the side, the unmanned aerial vehicle can move straightly in the connecting line direction or the perpendicular bisector direction of the power motors and has the multi-direction rapid horizontal displacement capacity, in addition, part of the power motors provide vertical lift force, the other part of the power motors provide horizontal thrust, the flexibility and maneuverability of the unmanned aerial vehicle are remarkably enhanced, and the unmanned aerial vehicle can move horizontally and horizontally. And complex task requirements are met.

Description

Technical Field

[0001] The invention relates to the technical field of aircraft, and in particular to a spherical foldable unmanned aerial vehicle. Background Art

[0002] With the deepening of low-altitude airspace management reform and the iterative upgrade of aviation technology systems, the low-altitude economy has entered a high-speed development channel, and the average annual compound growth rate of the industry scale has increased significantly. In this context, the drone industry has become the core growth pole of the low-altitude economic ecosystem with its high technical integration and strong scene adaptability, and has demonstrated strategic value in technology research and development, commercial applications and policy coordination.

[0003] In the field of urban public safety management, the application scope of drones continues to expand, involving multiple scenarios such as urban inspection, emergency response, disaster monitoring and special mission execution. Public security departments, fire agencies and urban management units have actively responded to the layout of drone technology, and technology companies have also participated in in-depth cooperation with the government. With the development of flight control, remote sensing communication, real-time monitoring and obstacle avoidance technologies, the application of drones in the field of urban public safety management has also shown a booming development trend with the rapid growth of the market scale.

[0004] At present, my country's drone industry usually uses rotary-wing drones in the field of urban public safety management. For common rotary-wing drones on the market, flight steering mainly relies on changing the rotation speed of different rotors. First, adjust the necessary tilt posture when the drone turns, and then change the rotation speed of each rotor to make the drone fly in the tilted direction. Therefore, during the change of direction, there is a certain delay and the drone's attitude is tilted, and it is not easy to keep stable after the change of direction. In some scenarios where the timeliness of steering is extremely high, such as quickly tracking moving targets and crossing narrow obstacle gaps, this delay may cause the drone to be unable to complete the steering action accurately and quickly, miss the best time, or even hit obstacles due to insufficient reaction. Summary of the invention

[0005] In view of the above shortcomings, the present invention provides a spherical foldable UAV, which can solve the problem of low flexibility of existing rotor UAVs.

[0006] In order to achieve the above object, the present invention adopts the following technical scheme:

[0007] A spherical foldable drone, comprising:

[0008] The fuselage frame is a spherical frame structure as a whole, and a plurality of arms are evenly arranged along the circumference of the side of the fuselage frame, and the tops of the arms are rotatably connected to the fuselage frame;

[0009] An arm driving mechanism, which is arranged on the fuselage frame and is used to drive the plurality of arms to expand outward around a rotation point, or to drive the plurality of arms to be retracted inward around a rotation point to form a spherical structure together with the fuselage frame;

[0010] A rotating bracket, which is transversely mounted on the inner side of each of the machine arms, with two ends of the rotating bracket being rotatably connected to two sides of the machine arms respectively, and a power motor being mounted on the rotating bracket;

[0011] A rotating joint motor, which is installed on the inner side of each of the arms and is used to drive the rotating bracket on the corresponding arm to rotate;

[0012] The fan blades are mounted on the power motor to be driven to rotate by the power motor.

[0013] Furthermore, the fan blades on the plurality of machine arms are alternately arranged in a normal and reverse manner.

[0014] Furthermore, the machine arm as a whole is an outwardly convex arc-shaped sheet structure;

[0015] A through opening is provided at the middle of the machine arm, a protective net is provided at the through opening, and ventilation holes are provided at both ends of the machine arm;

[0016] When the rotating bracket is rotated to a certain angle, the fan blades can be directed toward the through opening, or when the rotating bracket is rotated to a certain angle, the fan blades can be directed toward the vent hole.

[0017] Furthermore, the arm driving mechanism comprises:

[0018] A motor seat, which is fixedly mounted inside the fuselage frame via a support column;

[0019] A lead screw motor, which is mounted on the motor seat;

[0020] A ball screw, one end of which is connected to the screw motor and the other end of which is rotatably mounted on the fuselage frame;

[0021] A screw nut, which is matched and mounted on the ball screw;

[0022] There are multiple push rods, one end of each of the push rods is rotatably connected to the lead screw nut, and the other end is rotatably connected to the corresponding machine arms.

[0023] Further, the support column is connected to the top of the fuselage frame;

[0024] Each of the arms is connected to the top of the fuselage frame.

[0025] Furthermore, a top cover with a circular arc top surface is arranged on the top surface of the fuselage frame, and a protective air cushion is arranged on the top cover.

[0026] Furthermore, the machine arm is connected to the fuselage frame through an L-shaped plate, and the top rod is connected to the outer corner side of the corner of the L-shaped plate;

[0027] When the lead screw nut drives the plurality of push rods to rotate until the push rods are perpendicular to the ball screw to allow the machine arm to unfold, the push rods fit with the L-shaped plate, and the L-shaped plate fits with the fuselage frame.

[0028] Furthermore, the spherical foldable drone also includes a visual tracking mechanism, and the visual tracking mechanism includes:

[0029] A flight control board, which is mounted on the fuselage frame;

[0030] A bottom cover, which is arranged at the bottom of the fuselage frame;

[0031] A visual sensor, which is installed on the bottom cover of the machine and is electrically connected to the flight control board;

[0032] An ultrasonic sensor is installed on the bottom cover of the machine and is electrically connected to the flight control board.

[0033] Furthermore, the machine bottom cover is provided with a machine bottom cover opening, a steering gear frame and a steering gear for driving the steering gear frame to rotate are rotatably arranged at the machine bottom cover opening, and the visual sensor and the ultrasonic sensor are installed on the steering gear frame.

[0034] Furthermore, the outer side of the bottom cover of the machine is provided with a transparent bottom cover.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] 1. The present invention provides a spherical foldable UAV, which can be displaced horizontally in the air through the inventive concept of a tiltable rotor of a power system. By tilting the opposite power motor and keeping the other power motors horizontal, the UAV can be moved horizontally in the direction of the connecting line of the opposite power motor; by tilting the side power motor and keeping the other power motors horizontal, the UAV can be moved horizontally in the direction of the median perpendicular line of the side power motor, thereby enabling the UAV to have rapid horizontal displacement in multiple directions;

[0037] 2. The present invention adopts a tiltable power system mechanism design in which multiple rotary joint motors are respectively combined with power motors, so that the power motors can be tilted quickly, so that a part of the power motors provide vertical lift, and another part of the power motors provide horizontal thrust, so that the UAV has the ability to change direction quickly and straightly, greatly enhancing the flexibility of the UAV;

[0038] 3. The present invention uses the idea and scheme of switching between the "umbrella" type and the "ball" type to adapt to different environments in different states. The "umbrella" type state is conducive to the flight control of the UAV, while the "ball" type state is conducive to passing through narrow spaces, and is also convenient for transportation and storage;

[0039] 4. The present invention uses a screw motor to drive the ball screw, which in turn drives the screw nut to move linearly, and relies on a push rod to expand or merge the machine arm like an "umbrella". The push rods at symmetrical positions will offset the tangential forces of each other, significantly reducing the tangential load of the ball screw. At the same time, when the machine arm is expanded to the maximum, it is at a "dead point" position, which can greatly enhance the stability of the UAV in the "umbrella" state;

[0040] 5. The present invention provides a concept and solution for protecting the drone from falling, and concentrates the weight of the drone on the top. If the drone falls unexpectedly, the power motor provides an upward support force to reduce the impact when landing, and the protective air cushion will bear most of the impact. The drone will then roll over to reduce some of the impact, and the protective net will further absorb the impact. Multiple ways to alleviate the impact when landing can effectively reduce the loss of the drone and improve the utilization rate of the drone.

[0041] 6. The present invention can ensure that the power device will not be blocked from the power airflow during the tilting process, thereby causing power failure, by providing a vent structure with both an air inlet and an air outlet on the arm and assembling a protective net at the opening of the arc-shaped arm. At the same time, such a design can also effectively protect the internal structure of the arm;

[0042] 7. The present invention uses visual sensors, ultrasonic sensors and electronic barometers to track the vision of drones. The integration of the three not only allows drones to accurately track in complex lighting, smoke and other diverse environments, but also provides rich information such as target appearance, distance, height and even airflow changes, laying a solid foundation for tracking decisions. At the same time, even if one sensor fails, the others can still operate reliably, greatly enhancing system reliability and ensuring the smooth completion of drone visual tracking tasks in all aspects.

[0043] 8. The present invention utilizes a servo to realize the flipping structure of the visual sensor and the ultrasonic sensor, thereby ensuring that the sensor shaft is quickly locked at the moment of power failure, so that the visual sensor and the ultrasonic sensor are always maintained at a selected viewing angle. It has a rapid response, efficient operation, and can flexibly adjust the viewing angle of the visual sensor and the ultrasonic sensor. It has a simple and compact structure, strong operational reliability, and is extremely convenient in terms of automated control. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for describing the embodiments are briefly introduced below.

[0045] Figure 1 It is a structural schematic diagram of the drone of the present invention in a "ball" state from one viewing angle;

[0046] Figure 2 It is a schematic diagram of the structure of the drone of the present invention in another viewing angle in a "ball" state;

[0047] Figure 3 It is a schematic structural diagram of the drone of the present invention from one viewing angle in an "umbrella" state;

[0048] Figure 4 It is a schematic structural diagram of a machine arm of the present invention at a viewing angle;

[0049] Figure 5 It is a schematic structural diagram of a machine arm of the present invention from another viewing angle;

[0050] Figure 6 It is a schematic diagram of the structure of the present invention when multiple arms are unfolded;

[0051] Figure 7 A schematic diagram of each rotary joint motor, a power motor and a fan blade in an exemplary implementation of the present invention;

[0052] Figure 8 It is a schematic diagram of the coordination structure of the machine arm driving mechanism and related components of the present invention;

[0053] Fig. 9 It is a schematic diagram of the structure of some components of the drone of the present invention;

[0054] Fig.10 The figure is a schematic structural diagram of the fuselage frame and upper parts of the UAV of the present invention.

[0055] Among them, the marks shown in the figure are: 1-the first rotating joint motor, 2-the first rotating bracket, 3-the first power motor, 4-the first fan blade, 5-the protective net, 6-the rotating bracket connecting shaft, 7-the first machine arm, 8-the second rotating joint motor, 9-the second rotating bracket, 10-the second power motor, 11-the second fan blade, 12-the second machine arm, 13-the third rotating joint motor, 14-the third rotating bracket, 15-the third power motor, 16-the third fan blade, 17-the fourth machine arm, 18-the fourth rotating joint motor, 19-the fourth rotating bracket, 20-the fourth power motor, 21-the fourth fan blade, 22-the fifth machine arm, 23-the fifth rotating joint motor, 24-the fifth rotating bracket, 25-the fifth power motor, 26-the fifth fan blade, 27-the fifth machine arm, 28-the sixth rotating joint motor, 29-the sixth rotating bracket , 30-sixth power motor, 31-sixth fan blade, 32-sixth machine arm, 33-machine arm support frame, 34-fuselage frame, 35-bearing seat, 36-bearing, 37-machine top cover, 38-protective air cushion, 39-machine arm connecting shaft, 40-L-type plate connecting shaft, 41-top rod, 42-screw nut, 43-top rod connecting shaft, 44-ball screw, 45-motor seat, 46-hexagonal support column, 47- Screw motor, 48-battery compartment, 49-power lithium battery, 50-flight control board, 51-hexagonal copper column, 52-bottom cover, 53-support foot, 54-visual sensor shaft bracket, 55-visual sensor, 56-ultrasonic sensor, 57-connecting column, 58-servo bracket, 59-servo, 60-transparent bottom cover, 61-through port, 63-vent, 64-L-shaped plate, 65-bottom cover through port. DETAILED DESCRIPTION

[0056] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0058] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0059] The purpose of the present invention is to realize a spherical tracking UAV with high space utilization, simple and compact structure, stable and efficient operation, high safety, and rich application scenarios. Through the innovative design of the mechanical structure of the UAV, the power system can be tilted, so that the UAV has the ability to change direction quickly and straightly, and the flexibility is improved; the arm can be converted between "umbrella" type and "ball" type, and the "umbrella" type enhances the flight controllability, and the "ball" type strengthens the body protection and is easy to transport and store; the overall breakthrough design of the mechanical structure such as the fuselage frame, wing shape, and connection joints is also integrated with the fall protection function. With these characteristics, the UAV can turn quickly, accurately and stably under complex flight conditions, effectively improve the efficiency of tracking moving targets, adapt to various complex scenes such as cities, mountainous areas, and islands, fundamentally enhance the maneuverability and environmental adaptability of the UAV, and meet the needs of various high-demand flight missions.

[0060] Please refer to Figures 1 to 10 The present invention provides a spherical foldable UAV, which includes a fuselage frame 34. The fuselage frame 34 is an overall spherical frame structure. The fuselage frame 34 adopts a frame-type fuselage design, which can effectively withstand axial loads, improve torsional rigidity to enhance structural strength and stability, and has weight efficiency, which can reduce weight, extend fatigue life, and is easy to manufacture and maintain. A top cover 37 is provided on the top of the fuselage frame 34, and a bottom cover 52 is provided on the bottom. The fuselage frame 34 has a plurality of arms evenly arranged along the circumference on its side, and the top of the arm is rotatably connected to the fuselage frame 34. An arm driving mechanism is provided on the fuselage frame 34, which is used to drive the plurality of arms to expand outward around a rotation point, or to drive the plurality of arms to be retracted inward around a rotation point to form a spherical structure together with the fuselage frame 34. When the plurality of arms are retracted inward around a rotation point, they can form a spherical structure together with the fuselage frame 34, such as Figure 1 and Figure 2 As shown in FIG. 1 , when multiple arms are deployed outward around the rotation point, they can be regarded as an “umbrella”-like structure, such as Figure 3 shown.

[0061] A rotating bracket is installed horizontally on the inner side of each arm, and the two ends of the rotating bracket are respectively connected to the two sides of the arm for rotation. A power motor is installed on the rotating bracket, and a fan blade is installed on the power motor to drive the fan blade to rotate through the power motor. At the same time, a rotating joint motor is installed on the inner side of each arm to drive the rotating bracket on the corresponding arm to rotate.

[0062] The following is an exemplary specific embodiment, in which the fuselage frame 34 has six arms evenly arranged along the circumference on its side, which are respectively recorded as the first arm 7, the second arm 12, the third arm 17, the fourth arm 22, the fifth arm 27 and the sixth arm 32, and correspondingly, there are six rotating brackets, which are respectively recorded as the first rotating bracket 2, the second rotating bracket 9, the third rotating bracket 14, the fourth rotating bracket 19, the fifth rotating bracket 24 and the sixth rotating bracket 29, six power motors, which are respectively recorded as the first power motor 3, the second power motor 10, the third power motor 15, the fourth power motor 20, the fifth power motor 25 and the sixth power motor 30, six rotating joint motors, which are respectively recorded as the first rotating joint motor 1, the second rotating joint motor 8, the third rotating joint motor 13, the fourth rotating joint motor 18, the fifth rotating joint motor 23 and the sixth rotating joint motor 28, and six fan blades, which are respectively recorded as the first fan blade 4, the second fan blade 11, the third fan blade 16, the fourth fan blade 21, the fifth fan blade 26 and the sixth fan blade 31.

[0063] The first rotary joint motor 1 is mounted on a support plate on one side of the first arm 7 and connected by bolts, the support plate on the other side of the first arm 7 is connected to the first rotary bracket 2 through a rotary bracket connecting shaft 6, and the first power motor 3 is connected to the first rotary bracket 2 through bolts. Similarly, the second rotary joint motor 8 is mounted on a support plate on one side of the second arm 12, the support plate on the other side of the second arm 12 is connected to the second rotary bracket 9 through a rotary bracket connecting shaft, and the second power motor 10 is connected to the second rotary bracket 9; the third rotary joint motor 13 is mounted on a support plate on one side of the third arm 17, the support plate on the other side of the third arm 17 is connected to the third rotary bracket 14 through a rotary bracket connecting shaft, and the third power motor 15 is connected to the third rotary bracket 14; the fourth rotary joint motor 18 is mounted on a support plate on one side of the fourth arm 22, the support plate on the other side of the fourth arm 22 is connected through a rotary bracket connecting shaft. It is connected to the fourth rotating bracket 19 through a rotating bracket connecting shaft, and the fourth power motor 20 is connected to the fourth rotating bracket 19; the fifth rotating joint motor 23 is installed on the support plate on one side of the fifth arm 27, and the support plate on the other side of the fifth arm 27 is connected to the fifth rotating bracket 24 through a rotating bracket connecting shaft, and the fifth power motor 25 is connected to the fifth rotating bracket 24; the sixth rotating joint motor 28 is installed on the support plate on one side of the sixth arm 32, and the support plate on the other side of the sixth arm 32 is connected to the sixth rotating bracket 29 through a rotating bracket connecting shaft, and the sixth power motor 30 is connected to the sixth rotating bracket 29. Thus, the rotation of the first rotary joint motor 1, the second rotary joint motor 8, the third rotary joint motor 13, the fourth rotary joint motor 18, the fifth rotary joint motor 23 and the sixth rotary joint motor 28 will drive the corresponding first rotary bracket 2, the second rotary bracket 9, the third rotary bracket 14, the fourth rotary bracket 19, the fifth rotary bracket 24 and the sixth rotary bracket 29 to rotate, so that the corresponding first power motor 3, the second power motor 10, the third power motor 15, the fourth power motor 20, the fifth power motor 25 and the sixth power motor 30 thereon are tilted, so that the power motor rotates around the axis. The first rotary joint motor 1, the second rotary joint motor 8, the third rotary joint motor 13, the fourth rotary joint motor 18, the fifth rotary joint motor 23 and the sixth rotary joint motor 28 are also respectively provided with gyroscopes, which can detect the tilt angles of the first power motor 3, the second power motor 10, the third power motor 15, the fourth power motor 20, the fifth power motor 25 and the sixth power motor 30 in real time, and adjust them in time as needed.

[0064] The arm as a whole is an outwardly convex arc-shaped sheet structure, and the curvature of the arc-shaped sheet structure is consistent with the curvature of the fuselage frame which is an overall spherical frame structure, so that when multiple arms are stored inward around the rotation point, they can form a spherical structure with better roundness together with the fuselage frame 34.

[0065] A circular opening 61 is provided at the middle of the arm to form an air inlet or outlet. A protective net 5 is provided at the opening 61. The protective net 5 is installed at the circular opening 61 of the arm. A buffer rubber pad is also provided in the middle and connected by bolts to absorb part of the impact and reduce collision damage. Under the premise of not affecting the air inlet of the power motor, the falling protection of the fan blades is realized, which greatly enhances the maintainability of the UAV. Ventilation holes 62 are provided at the two ends of the arm. The vents 62 also serve as air inlets or outlets, which improve the aerodynamic performance of the UAV. For example, the vents 62 on the top of the arm are triangular holes mainly located on both sides, and the vents 62 on the bottom of the arm are evenly distributed array-arranged through holes. When the rotating bracket is rotated to a certain angle, the fan blades can be directed toward the opening 61, or when the rotating bracket is rotated to a certain angle, the fan blades can be directed toward the vents 62. The arc-shaped arm is designed with openings and vents, and is equipped with a protective net to ensure smooth power airflow during the tilting of the power unit and avoid power failure. It can also effectively protect the internal structure of the arm, improve the overall aerodynamic performance and structural stability of the UAV, reduce energy loss during flight, and enhance flight efficiency and reliability.

[0066] In the present invention, the blades on multiple arms are alternately arranged in normal and reverse installation. As in this exemplary embodiment, the first blade 4, the third blade 16, and the fifth blade 26 are normal blades, and the second blade 11, the fourth blade 21, and the sixth blade 31 are reverse blades. The first blade 4, the third blade 16, and the fifth blade 26 provide upward lift when the corresponding power motor rotates forward, and the second blade 11, the fourth blade 21, and the sixth blade 31 provide upward lift when the corresponding power motor reverses. Three of the six blades will rotate clockwise, and the other three will rotate counterclockwise, and the two adjacent blades will rotate in opposite directions. The spatial top-down posture diagram of the drone is shown as follows Figure 7 As shown, the six blades are distributed in a regular hexagon. The first blade 4, the third blade 16, and the fifth blade 26 rotate clockwise, while the second blade 11, the fourth blade 21, and the sixth blade 31 rotate counterclockwise. This alternating arrangement can make the counter-torques generated by each blade offset each other, prevent the drone from rotating in the air, and ensure flight stability.

[0067] Please refer to Figures 3 to 6As shown, when the six arms are unfolded outward around the rotation point, an "umbrella" structure is formed. When the UAV rises horizontally, the first rotary joint motor 1, the second rotary joint motor 8, the third rotary joint motor 13, the fourth rotary joint motor 18, the fifth rotary joint motor 23 and the sixth rotary joint motor 28 are powered to always control the corresponding first power motor 3, the second power motor 10, the third power motor 15, the fourth power motor 20, the fifth power motor 25 and the sixth power motor 30 to be in a horizontal posture. Then, the first power motor 3, the third power motor 15 and the fifth power motor 25 are powered to rotate forward, and the second power motor 10, the fourth power motor 20 and the sixth power motor 30 are powered to reverse, and the counter-torques generated by the corresponding blades (the first blade 4, the second blade 11, the third blade 16, the fourth blade 21, the fifth blade 26 and the sixth blade 31) cancel each other out, and all the blades provide upward lift to enable the UAV to leave the ground.

[0068] When the UAV moves forward horizontally, the second rotary joint motor 8, the third rotary joint motor 13, the fifth rotary joint motor 23 and the sixth rotary joint motor 28 are powered to always control the corresponding second power motor 10, the third power motor 15, the fifth power motor 25 and the sixth power motor 30 to be in a horizontal posture, the first rotary joint motor 1 is powered to control the first power motor 3 to tilt 90 degrees outward, and the fourth rotary joint motor 18 is powered to control the fourth power motor 20 to tilt 90 degrees inward; and the first power motor 3, the third power motor 15, the fifth power motor 25 are powered to control the corresponding second power motor 10, the third power motor 15, the fifth power motor 25 and the sixth power motor 30 to be in a horizontal posture. The motor 1 is powered on for forward rotation, and the second power motor 10, the fourth power motor 20 and the sixth power motor 30 are powered on for reverse rotation; the counter-torques generated by the second blades 11, the third blades 16, the fifth blades 26 and the sixth blades 31 cancel each other out, the counter-torques generated by the first rotary joint motor 1 and the fourth rotary joint motor 18 cancel each other out, and the counter-torques generated by the first blades 4 and the fourth blades 21 cancel each other out; the second blades 11, the third blades 16, the fifth blades 26 and the sixth blades 31 provide upward lift, and the first blades 4 and the fourth blades 21 provide forward thrust, so that the UAV can move forward in a linear motion. When the drone moves backward horizontally, the second rotary joint motor 8, the third rotary joint motor 13, the fifth rotary joint motor 23 and the sixth rotary joint motor 28 are powered to always control the corresponding second power motor 10, the third power motor 15, the fifth power motor 25 and the sixth power motor 30 to be in a horizontal posture, the first rotary joint motor 1 is powered to control the first power motor 3 to tilt 90 degrees inward, and the fourth rotary joint motor 18 is powered to control the fourth power motor 20 to tilt 90 degrees outward; and the first power motor 3, the third power motor 15, the fifth power motor 25 are powered to control the corresponding second power motor 10, the third power motor 15, the fifth power motor 25 and the sixth power motor 30 to be in a horizontal posture. The second power motor 10, the fourth power motor 20 and the sixth power motor 30 are powered to rotate forward, and the second blade 11, the third blade 16, the fifth blade 26 and the sixth blade 31 generate counter torques that cancel each other out, the counter torques generated by the first rotary joint motor 1 and the fourth joint motor 18 cancel each other out, and the counter torques generated by the first blade 4 and the fourth blade 21 cancel each other out; the second blade 11, the third blade 16, the fifth blade 26 and the sixth blade 31 provide upward lift, and the first blade 4 and the fourth blade 21 provide backward thrust, so that the UAV can move backward in translation. Changing the tilting direction of the opposite rotary joint motor can make the UAV move in the direction of the line connecting the opposite rotary joint motors, such as the second rotary joint motor 8 and the fifth joint motor 23 tilt in different directions, and the UAV can move in the direction of the line connecting the second joint motor 8 and the fifth rotary joint 23; the third rotary joint motor 13 and the sixth joint motor 28 tilt in different directions, and the UAV can move in the direction of the line connecting the third rotary joint motor 13 and the sixth joint motor 28.

[0069] When the UAV moves horizontally to the right, the first rotary joint motor 1, the second rotary joint motor 8, the third rotary joint motor 13, and the fourth rotary joint motor 18 are powered on to always control the corresponding first power motor 3, the second power motor 10, the third power motor 15, and the fourth power motor 20 to be in a horizontal posture, and the fifth rotary joint motor 23 and the sixth rotary joint motor 28 are powered on to control the corresponding fifth power motor 25 and the sixth power motor 30 to tilt 90 degrees outward; then the first power motor 3, the third power motor 15, and the fifth power motor 25 are powered on to rotate forward, and the second power motor 10, the fourth The power motor 20 and the sixth power motor 30 are powered on and reversed; the counter-torques generated by the first blade 4, the second blade 11, the third blade 16, and the fifth blade 26 offset each other, and the counter-torques generated by the fifth rotating joint motor 23 and the sixth rotating joint motor 28 and the counter-torques generated by the first blade 4 and the fourth blade 21 can appropriately increase the lift of the second blade 11 and the third blade 16 to offset; the first blade 4, the second blade 11, the third blade 16 and the fourth blade 21 provide upward lift, and the fifth blade 26 and the sixth blade 31 provide rightward thrust, thereby realizing the rightward translation of the UAV. When the UAV moves horizontally to the left, the first rotary joint motor 1, the fourth rotary joint motor 18, the fifth rotary joint motor 23 and the sixth rotary joint motor 28 are powered to always control the corresponding first power motor 3, the fourth power motor 20, the fifth power motor 25 and the sixth power motor 30 to be in a horizontal posture, the second rotary joint motor 8 and the third rotary joint motor 13 are powered to control the corresponding second power motor 10 and the third power motor 15 to tilt 90 degrees outward; then the first power motor 3, the third power motor 15 and the fifth power motor 25 are powered to rotate forward, and the second power motor 10, The fourth power motor 20 and the sixth power motor 30 are powered on and reversed; the counter-torques generated by the first blade 4, the fourth blade 21, the fifth blade 26 and the sixth blade 31 cancel each other out, and the counter-torques generated by the second rotary joint motor 8 and the third rotary joint motor 13 and the counter-torques generated by the second blade 11 and the third blade 16 can appropriately increase the lift offset of the fifth blade 26 and the sixth blade 31; the first blade 4, the fourth blade 21, the fifth blade 26 and the sixth blade 31 provide upward lift, and the second blade 11 and the third blade 16 provide leftward thrust, thereby realizing the left translation of the UAV. Similarly, changing the tilt direction of the lateral rotating joint motor can make the drone move in the direction of the perpendicular midline of the lateral rotating joint motor. For example, if the first rotating joint motor 1 and the second rotating joint motor 8 tilt in the same direction, the drone can move along the direction of the perpendicular midline of the first rotating joint motor 1 and the second rotating joint motor 8; if the first rotating joint motor 1 and the sixth rotating joint motor 28 tilt in the same direction, the drone can move along the direction of the perpendicular midline of the first rotating joint motor 1 and the sixth rotating joint motor 28.

[0070] In summary, in this exemplary embodiment, on the same horizontal plane, the drone can achieve rapid horizontal displacement in at least 12 directions, greatly enhancing its flexibility in complex environments. In complex environments such as cities, mountainous areas, and islands, it can quickly respond to mission requirements such as tracking moving targets and crossing narrow obstacle gaps, greatly improving the efficiency and accuracy of mission execution, breaking through the limitations of steering delays of traditional rotor drones, and enhancing the adaptability of drones to highly flexible environments. Moreover, the drone can not only achieve rapid horizontal displacement in multiple directions when the arms are deployed in the "umbrella" mode, but also achieve rapid horizontal displacement in multiple directions in the "spherical" mode when the arms are retracted. The implementation method in the "spherical" mode can refer to the implementation method in the "umbrella" mode. The mechanism design that switches between the "umbrella" type and the "ball" type can improve the controllability of the body in the "umbrella" type state, making the attitude adjustment during flight more precise, more flexible, and more stable in flight; in the "ball" type state, it can enhance the protection performance of the UAV and facilitate crossing narrow spaces. At the same time, it can also reduce space occupancy and facilitate transportation and storage, thereby improving the adaptability of the UAV in different scenarios and broadening its application range.

[0071] The arm drive mechanism includes a motor base 45, a support column 46, a screw motor 47, a ball screw 44, a screw nut 42 and a push rod 41. The motor base 45 is fixedly mounted inside the fuselage frame 34 through the support column 46, the screw motor 47 is fixedly mounted on the motor base 45, one end of the ball screw 44 is connected to the screw motor 47 so as to be driven to rotate by the screw motor 47, and the other end is rotatably mounted on the fuselage frame 34, the screw nut 42 is matched and mounted on the ball screw 44, and there are multiple push rods 41, the number of which is preferably consistent with the number of arms and corresponds one to one, one end of the multiple push rods 41 is rotatably connected to the screw nut 42, and the other end is rotatably connected to the corresponding arms. The ball screw 44 is driven to rotate by the screw motor 47, thereby driving the screw nut 42 to move axially along the ball screw 44, converting the rotational motion of the motor into linear motion of the screw nut 42, thereby achieving precise control of the displacement of the screw nut 42, and the push rod 41 moves with the screw nut 42, so as to prop open the arm to expand it or pull back the arm to retract it.

[0072] Preferably, the support column 46 is connected to the top of the fuselage frame 34, and each of the arms is connected to the top of the fuselage frame 34, so that the weight of the drone is concentrated on the top. The top surface of the fuselage frame 34 is provided with a top cover 37 with a circular top surface, and a protective air cushion 38 is provided on the top cover 37, which can play a protective role in the event of a collision.

[0073] The arm is connected to the fuselage frame 34 through an L-shaped plate 64, and the push rod 41 is connected to the outer corner side of the corner of the L-shaped plate 64. When the screw nut 42 drives multiple push rods 41 to rotate until the push rod 41 is perpendicular to the ball screw 44 to allow the arm to be unfolded, the push rod 41 fits with the L-shaped plate 64, and the L-shaped plate 64 fits with the fuselage frame 34.

[0074] In this exemplary embodiment, the arm drive mechanism has a power source, namely a screw motor 47, which is mounted on a motor seat 45 and connected by screws. The top of the motor seat 45 is fixedly connected to six hexagonal support columns 46, and the other end of the hexagonal support column 46 is fixedly connected to the inner side of the top plate of the fuselage frame 34. A bearing seat 35 is provided on the top of the fuselage frame 34, and its mounting hole is aligned with the protruding end of the hexagonal support column and connected by bolts. A bearing 36 is installed inside the bearing seat 35, and the inner ring of the bearing 36 is docked and coupled with the top of the ball screw 44. The bottom of the ball screw 44 is engaged with the screw motor 47. The screw nut 42 is connected to the ball screw 44 by threaded matching. When the screw motor 47 drives the ball screw 44 to rotate, the screw nut 42 moves along the axial direction of the screw, converting the rotational motion of the motor into linear motion, thereby realizing precise control of the displacement of the screw nut 42. An arm support frame 33 is provided on the top of the fuselage frame 34, and is connected by screws on the lower surface of the top of the fuselage frame 34. The rotating shaft connection piles of the arm support frame 33 in six directions are respectively connected to the L-shaped plates 64 of the first arm 7, the second arm 12, the third arm 17, the fourth arm 22, the fifth arm 27 and the sixth arm 32 through the arm connection shaft 39, so that they can rotate around the axis. The L-shaped plates 64 of the first arm 7, the second arm 12, the third arm 17, the fourth arm 22, the fifth arm 27 and the sixth arm 32 are connected to the top rod 41 through the L-shaped plate connection shaft 40 at the outer corner side of the corner, so that they can rotate around the axis, and the other end of the top rod 41 is connected to the lead screw nut 42 through the nut top rod connection shaft 43, so that it can rotate around the axis. Therefore, the downward displacement of the screw nut 42 can cause the push rod 41 to retract inward, so that each arm is closed to make the drone a "ball" shape, or the upward displacement of the screw nut 42 can cause the push rod 41 to expand outward, so that each arm is unfolded to make the drone an "umbrella" shape. When the upward displacement of the screw nut 42 reaches the maximum value, the central axis of the push rod 41 is perpendicular to the central axis of the ball screw 44, the pressure angle on the follower is 90 degrees, and the mechanism is in a "dead point" position. At the same time, the push rods in the symmetrical position will offset each other's forces, significantly reducing the tangential load of the ball screw 44, and at this time, the push rod 41 is in contact with the L-shaped plate 64, and the L-shaped plate 64 is in contact with the fuselage frame 34, which greatly improves the stability of the arms when they are unfolded.

[0075] During implementation, when it is necessary to unfold to the "umbrella" type state, the screw motor 47 is energized, driving the ball screw 44 to rotate forward so that the screw nut 42 moves upward, and the upward displacement of the screw nut 42 will cause the push rod 41 to expand outward. Under the action of the push rod 41, each arm will be opened like an "umbrella", and finally reach the "dead point" position of the mechanism, so that each arm can be unfolded. When it is necessary to close to the "ball" type state, the screw motor 47 is energized, driving the ball screw 44 to reverse and cause the screw nut 42 to move downward. The downward displacement of the screw nut 42 will cause the push rod 41 to shrink inward. Under the action of the push rod 41, each arm will gradually fold and close, and finally the sides of each arm will contact and close with each other, so as to realize the transition to the "ball" type state. The drone may lose power for various reasons and fall unexpectedly. At this time, the drone quickly converts to a "ball" type state. Since the weight of the drone is concentrated on the top, the top of the drone falls downward. In this process, the first rotary joint motor 1, the second rotary joint motor 8, the third rotary joint motor 13, the fourth rotary joint motor 18, the fifth rotary joint motor 23 and the sixth rotary joint motor 28 are powered on and turned over to always control the first power motor 3, the second power motor 10, the third power motor 15, the fourth power motor 20, the fifth power motor 25 and the sixth power motor 30 to provide upward support force to reduce the impact of landing; at the same time, the top protective air cushion 38 will first contact the ground to withstand the impact, and due to the "ball" type design, the drone will roll after the collision to reduce the impact of the collision. At the same time, the protective net 5 installed on each arm further absorbs the impact, reduces the damage of the drone, reduces the maintenance cost, and improves the use efficiency. The drone of the present invention constructs a multiple fall protection system by concentrating the weight on the top, cooperating with the power motor to provide upward support to reduce the impact, the protective air cushion absorbs the impact, the rolling unloading force and the secondary absorption of the protective net. This mechanism design can effectively reduce the degree of damage when the drone falls accidentally, reduce maintenance costs and equipment losses, improve the utilization rate and service life of the drone, and ensure the safety of the equipment in complex environments.

[0076] The drone also includes a visual tracking mechanism, which includes a flight control board 50, a bottom cover 52, a visual sensor 55, and an ultrasonic sensor 56. The visual sensor 55 and the ultrasonic sensor 56 are electrically connected to the flight control board 50 to receive signals from the visual sensor 55 and the ultrasonic sensor 56. It can be understood that the flight control board 50 is also electrically connected to each motor on the drone to control each motor.

[0077] The visual tracking mechanism has a power source, namely a steering gear 59, which is installed at the bottom cover opening 65 at the bottom of the fuselage frame 34 and connected to the steering gear bracket 58 by bolts, and the steering gear bracket 58 is also connected to the bottom plate of the fuselage frame 34 by bolts. The steering gear shaft is connected to the shafts of the visual sensor 55 and the ultrasonic sensor 56 through the connecting column 57, and the other side shafts of the visual sensor 55 and the ultrasonic sensor 56 are adapted to be connected to the visual sensor shaft bracket 54, which can observe the external environment in real time, and then complete the positioning and capture of the target through the flight control board 50. The visual sensor shaft bracket 54 is installed on the lower surface of the bottom plate of the fuselage frame 34 and is connected by bolts. The bottom cover 52 is installed on the bottom of the fuselage frame 34 by screws. Three supporting feet 53 are installed at the bottom of the bottom cover 52, and are centrally symmetrically distributed to form a triangular distribution, connected by screws, and are used to support the safe take-off and landing of the drone, keep the fuselage high off the ground to avoid contact with ground obstacles, and assist in moving on the ground. The bottom end of the bottom cover 52 is connected with a transparent bottom cover 60, and the visual sensor 55 can observe the transparent bottom cover 60. The transparent bottom cover 60 is made of relatively uniform and pure materials such as borosilicate glass, which has little effect on the propagation of ultrasonic waves, and realizes effective observation of external environmental conditions. At the same time, the transparent bottom cover 60 can also provide a certain degree of protection for the visual sensor 55 and the ultrasonic sensor 56 to resist possible external interference such as dust, water vapor, and slight impact. The battery compartment 48 is installed on the top of the fuselage frame 34, and is symmetrically distributed and connected by bolts. A battery slot is reserved inside the power compartment 48 for storing the power lithium battery 49, which plays a role in safely protecting the power supply, optimizing the power supply placement position to optimize the overall center of gravity of the drone, shielding the electromagnetic interference generated by the power supply, and providing a suitable working environment (such as heat dissipation, moisture-proof, etc.) for the power supply. The power lithium battery 49 is used to power the drone. The flight control board 50 is installed on the top of the fuselage frame 34, supported by the hexagonal copper column 51 and connected by screws to avoid direct contact with the bearing seat. The flight control board 50 can sense the attitude through sensors and control the motor to adjust the attitude to maintain balance, stabilize the entire flight, coordinate the positioning module for navigation, positioning and correction, manage multiple flight modes, and allocate motor power according to flight status and needs to ensure the operation of the power system.

[0078] During the flight operation of the UAV, based on the relevant algorithm model of visual capture, the visual sensor 55 and the ultrasonic sensor 56 can always keep aiming at the target. First, the first rotary joint motor 1, the second rotary joint motor 8, the third rotary joint motor 13, the fourth rotary joint motor 18, the fifth rotary joint motor 23 and the sixth rotary joint motor 28 and the first power motor 3, the second power motor 10, the third power motor 15, the fourth power motor 20, the fifth power motor 25 and the sixth power motor 30 are controlled to use the rapid straight change of the UAV to achieve the preliminary positioning and alignment of the target object; by accurately adjusting the rotation angle of the steering gear 59, after the visual sensor 55 reaches the selected viewing angle, the steering gear 59 is powered off, firmly locking the rotating shafts of the visual sensor 55 and the ultrasonic sensor 56, so that they are fixed at the predetermined viewing angle, thereby ensuring that the visual sensor 55 continuously and stably focuses on the target.

[0079] The flight control board 50 also includes an electronic barometer, which can convert atmospheric pressure into an electrical signal, and then output the altitude value in digital form after processing and calculation by electronic circuits, and continuously provide relatively accurate altitude information within a certain altitude range, such as a range of 10 to 100 meters. The visual sensor 55 can effectively identify ground textures, buildings and other features at a certain altitude, such as 10 to 100 meters, to locate, build an environmental map, and provide rich environmental information for obstacle avoidance and path planning. The higher the altitude, the wider the field of view, and can perceive environmental changes in a larger range in advance. The ultrasonic sensor 56 can accurately measure the distance between the drone and obstacles below or around it within a certain low-altitude range, such as a low-altitude range of about 10 meters. As a supplement to visual positioning at low altitude, when visual positioning is affected by factors such as illumination and occlusion, the ultrasonic sensor can provide distance information in time to assist the drone to maintain a safe flight altitude and distance. The electronic barometer in the flight control board 50 is fused with the data of the visual sensor 55 and the ultrasonic sensor 56, so that the drone can have a more comprehensive understanding of its position in three-dimensional space and achieve more accurate altitude control and positioning.

[0080] The visual tracking mechanism uses a servo flip visual sensor and an ultrasonic sensor in conjunction with a high-stability drone, which can achieve rapid response, efficient operation, simple and compact structure, and strong reliability. During flight operations, based on the visual capture algorithm model, in conjunction with the drone's rapid change of direction, the target can be accurately located and tracked, ensuring continuous and stable focus on the moving target, providing clear and accurate image information for tasks such as urban inspections, emergency response, and disaster monitoring, and improving the quality of task execution and the reliability of decision-making basis. Visual sensors, ultrasonic sensors, and electronic barometers have significant advantages in the visual tracking of drones. With the ability to capture detailed features of the target, the visual sensor can accurately locate the target's position, posture, and motion trajectory, and has extremely high accuracy in close-range scenes with good light; the ultrasonic sensor is not affected by light or color, and can accurately measure the distance between the drone and the target in harsh environments, making up for the shortcomings of vision in distance judgment; the electronic barometer provides stable altitude information based on changes in air pressure, helping the drone adapt to different altitudes and air pressure environments and maintain flight altitude.

[0081] The following is an exemplary implementation of the present invention, which will explain a complete UAV tracking moving target task through the UAV preparation stage, take-off stage, target initial locking stage, target tracking and capture stage, hidden hovering stage in the "ball" state, and UAV landing and stopping stage.

[0082] In the UAV preparation stage, the UAV is in a "ball" state, parked on an open ground, the battery power lithium battery 49 in the battery compartment 48 is fully charged, all parts have been adjusted, the flight mission is clear, the road environment is safe, the flight controller is in the operating room, the main power is started, and it is ready to take off.

[0083] During the take-off phase, the flight control board 50 sends a control signal, and the first rotary joint motor 1, the second rotary joint motor 8, the third rotary joint motor 13, the fourth rotary joint motor 18, the fifth rotary joint motor 23 and the sixth rotary joint motor 28 are powered to control the corresponding first power motor 3, the second power motor 10, the third power motor 15, the fourth power motor 20, the fifth power motor 25 and the sixth power motor 30 to be in a horizontal posture, and then the first power motor 3, the third power motor 15 and the fifth power motor 25 are powered to rotate forward, and the second power motor 10, the fourth power motor 20, the fifth power motor 25 and the sixth power motor 30 are powered to rotate forward. The motor 20 and the sixth power motor 30 are powered on and reversed. Since the first blade 4, the third blade 16, and the fifth blade 26 provide upward lift when the first power motor 3, the third power motor 15, and the fifth power motor 25 rotate forward, the reversed second blade 11, the fourth blade 21, and the sixth blade 31 provide upward lift when the second power motor 10, the fourth power motor 20, and the sixth power motor 30 rotate reversely, the rotation directions of two adjacent blades are opposite, so the counter-torques generated by each blade cancel each other out, and all blades provide upward lift, enabling the drone to leave the ground. After being lifted horizontally to a certain height, the flight control board 50 further sends a control signal, the screw motor 47 is energized, and the ball screw 44 is driven to rotate forward. Since the screw nut 42 is connected to the ball screw 44 through threaded cooperation, the screw nut 42 will move upward along the screw axis, driving the push rod 41 to tilt and expand outward, so the arm will gradually unfold into an "umbrella" shape. When each arm is opened to the maximum, the central axis of the push rod 41 is perpendicular to the central axis of the ball screw 44, the pressure angle on the follower is 90 degrees, and the mechanism is in the "dead point" position. The push rods 41 at the symmetrical position will also offset the tangential forces of each other. During the deployment of each arm, the gyroscope chip inside the first rotary joint motor 1, the second rotary joint motor 8, the third rotary joint motor 13, the fourth rotary joint motor 18, the fifth rotary joint motor 23 and the sixth rotary joint motor 28 will combine the angular velocity information of multiple axes to determine the direction and posture of the first power motor 3, the second power motor 10, the third power motor 15, the fourth power motor 20, the fifth power motor 25 and the sixth power motor 30, so that they are always in a horizontal position. The UAV is transformed into an "umbrella" state in the air, and after reaching the rated height, it completes takeoff and prepares to initially lock the target.

[0084] In the initial target locking stage, the UAV is first lifted to a height of 100 meters to give it a larger field of view. The flight control board 50 sends a control signal to energize the servo 59, control the tilt of the visual sensor 55 and the ultrasonic sensor 56, increase the field of view of the UAV in the front and rear directions, and feedback a clear visual picture by fusing the visual sensor 55 and the electronic barometer data on the flight control board 50, and using relevant algorithms, and cooperate with the manual identification and confirmation of the flight controller to preliminarily select the target in the visual picture. Afterwards, the flight control board 50 further sends a control signal, and the first rotary joint motor 1, the second rotary joint motor 8, the third rotary joint motor 13, the fourth rotary joint motor 18, the fifth rotary joint motor 23 and the sixth rotary joint motor 28 are energized to control the corresponding first power motor 3, the second power motor 10, the third power motor 15, the fourth power motor 20, the fifth power motor 25 and the sixth power motor 30 to be in a horizontal posture, and increase the speed of the second power motor 10, the fourth power motor 20 and the sixth power motor 30 to reverse under the condition of ensuring that the lift remains unchanged. , reduce the forward rotation speed of the first power motor 3, the third power motor 15, and the fifth power motor 25. Since the counter torque generated by the reverse fan blades is greater than the counter torque generated by the forward fan blades, the drone will rotate horizontally around the central axis until the selected target moves to the vertical center line of the visual picture. The flight control board 50 sends a control signal again to make the reverse rotation speed of the second power motor 10, the fourth power motor 20, and the sixth power motor 30 the same as the forward rotation speed of the first power motor 3, the third power motor 15, and the fifth power motor 25. The counter torques cancel each other out, and the drone hovers in the air. The servo 59 is powered, and controls the visual sensor 55 and the ultrasonic sensor 56 to tilt slightly, so that the selected target is aligned with the center of the visual picture, completing the initial locking of the target, and preparing to further track and capture the target.

[0085] During the target tracking and capturing stage, the flight control board 50 sends out a control signal, and the second rotary joint motor 8, the third rotary joint motor 13, the fourth rotary joint motor 18, the fifth rotary joint motor 23 and the sixth rotary joint motor 28 are powered to always control the corresponding second power motor 10, the third power motor 15, the fourth power motor 20 and the fifth power motor 25 to be in a horizontal posture, the first rotary joint motor 1 is powered to control the first power motor 3 to tilt 90 degrees outward, and the fourth rotary joint motor 18 is powered to control the fourth power motor 20 to tilt 90 degrees inward; then the first power motor 3, the third power motor 15, the fourth power motor 20 and the fifth power motor 25 are powered to control the corresponding second power motor 10, the third power motor 15, the fourth power motor 20 and the fifth power motor 25 to be in a horizontal posture. 15. The fifth power motor 25 is powered on to rotate forward, and the second power motor 10, the fourth power motor 20 and the sixth power motor 30 are powered on to rotate reversely; the counter torques generated by the second blade 11, the third blade 16, the fifth blade 26 and the sixth blade 31 offset each other, the counter torques generated by the first rotary joint motor 1 and the fourth rotary joint motor 18 offset each other, and the counter torques generated by the first blade 4 and the fourth blade 21 offset each other; the second blade 11, the third blade 16, the fifth blade 26 and the sixth blade 31 provide upward lift, the first blade 4 and the fourth blade 21 provide forward thrust, and the UAV moves forward in translation. In this process, the servo 59 is powered on, and the visual sensor 55 and the ultrasonic sensor 56 are always controlled to tilt slowly, so that the selected target is always aligned with the center of the visual picture, until the UAV is directly above the selected target within the error range. The flight control board 50 further sends out a control signal, and the first rotary joint motor 1 and the fourth rotary joint motor 18 are powered to control the first power motor 3 and the fourth power motor 20 to rotate to the horizontal, reduce the speed of the first power motor 3, the second power motor 10, the third power motor 15, the fourth power motor 20, the fifth power motor 25 and the sixth power motor 30, so that the drone slowly lowers the horizontal height until it is about 8 meters high. The ultrasonic sensor 56 starts to measure the distance of the target. The electronic barometer, the visual sensor 55 and the ultrasonic sensor 56 on the flight control board 50 are further integrated through the relevant algorithm to reduce the distance measurement error and make the visual capture more accurate. The drone hovers in the air to determine whether the target continues to move. If the target moves, the flight control board 50 sends out a control signal again. According to the above drone control principle, the target is continuously positioned and tracked in at least 12 directions by translational displacement, so that the drone is always located directly above the selected target within the allowable error. Until the selected target is stationary for a certain period of time, the tracking and capture of the target is completed, and it is ready to be transformed into a concealed hover in the "ball" state, and further detailed analysis of the target is carried out.

[0086] In the concealed hovering stage in the "ball" state, the flight control board 50 sends a control signal, the screw motor 47 is energized, and the motor drives the ball screw 44 to reverse. Since the screw nut 42 is connected to the ball screw 44 through threaded matching, the screw nut 42 will move downward along the screw shaft, driving the top rod 41 to tilt and retract inward, so that each arm will gradually close into a "ball" shape. In the process of closing the arm, the gyroscope chip inside the first rotary joint motor 1, the second rotary joint motor 8, the third rotary joint motor 13, the fourth rotary joint motor 18, the fifth rotary joint motor 23 and the sixth rotary joint motor 28 will combine the angular velocity information of multiple axes to determine the direction and posture of the first power motor 3, the second power motor 10, the third power motor 15, the fourth power motor 20, the fifth power motor 25 and the sixth power motor 30, so that they are always in a horizontal position. Afterwards, the flight controller made subtle adjustments to make the drone hover in a "ball" shape around the selected target at the rated altitude and rated angle, take high-definition pictures of the selected target, record the important actions of the selected target, and wait for the subsequent tasks to be carried out.

[0087] During the landing and stopping phase of the drone, after the drone completes the designated tracking task, it selects a suitable landing and parking location nearby, and switches to the "umbrella" type state according to the above control principle, and proceeds along the route. After arriving directly above the landing location, the flight control board 50 sends a control signal, the screw motor 47 is powered on, the motor drives the ball screw 44 to reverse, the screw nut 42 moves downward along the screw shaft, drives the push rod 41 to tilt inward and retract, and each arm gradually closes into a "ball" type. In this process, the first rotary joint motor 1, the second rotary joint motor 8, the third rotary joint motor 13, the fourth rotary joint motor 18, the fifth rotary joint motor 23 and the sixth rotary joint motor 28 are powered, and the first power motor 3, the second power motor 10, the third power motor 15, the fourth power motor 20, the fifth power motor 25 and the sixth power motor 30 are always controlled to be in a horizontal posture. After changing to the "ball" state, the rotation speeds of the first power motor 3, the second power motor 10, the third power motor 15, the fourth power motor 20, the fifth power motor 25 and the sixth power motor 30 are reduced, so that the drone slowly lowers its horizontal height until the support foot 53 touches the ground to achieve a soft landing. The drone is on standby to integrate data. After the integration is completed, a detailed report of the mission process is sent to the control room, and the drone power is disconnected, completing a drone tracking moving target mission.

[0088] In summary, the spherical UAV of the present invention demonstrates excellent performance by virtue of its unique mechanical structure design and multi-sensor fusion application. From the preparation stage when everything is ready, to the "umbrella" type deployment and lift-off achieved through clever motor collaboration during take-off; in the initial target locking stage, the high-altitude vision and sensor tilting and data fusion are used to quickly select the target and hover accurately; in the target tracking and capture stage, the complex and orderly power motor and joint motor control are used, and the sensors are adjusted in real time to ensure the stable tracking of the UAV; the concealed hovering in the "ball" state can not only protect the body, but also quietly record the target information; until the smooth landing and data feedback in the landing stop stage, the whole process is completed in one go. The UAV highly integrates mechanical innovation and intelligent control, which effectively meets the needs of efficient and accurate tracking of mobile targets in complex scenes such as cities, mountainous areas, and islands, and provides reliable guarantees for the execution of various high-demand flight missions. It has broad application prospects and extremely high practical value, and is expected to promote UAVs to new heights in the field of tracking.

[0089] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A spherical foldable drone, characterized in that: Included are: The fuselage frame is a spherical frame structure as a whole, and a plurality of arms are evenly arranged along the circumference of the side of the fuselage frame, and the tops of the arms are rotatably connected to the fuselage frame; An arm driving mechanism, which is arranged on the fuselage frame and is used to drive the plurality of arms to expand outward around a rotation point, or to drive the plurality of arms to be retracted inward around a rotation point to form a spherical structure together with the fuselage frame; A rotating bracket, which is transversely mounted on the inner side of each of the machine arms, with two ends of the rotating bracket being rotatably connected to two sides of the machine arms respectively, and a power motor being mounted on the rotating bracket; A rotating joint motor, which is installed on the inner side of each of the arms and is used to drive the rotating bracket on the corresponding arm to rotate; The fan blades are mounted on the power motor to be driven to rotate by the power motor.

2. The spherical foldable drone according to claim 1, characterized in that: The fan blades on the plurality of machine arms are alternately arranged in a forward-mounted and reverse-mounted manner.

3. The spherical foldable drone according to claim 1, characterized in that: The machine arm is in an outwardly convex arc-shaped sheet structure as a whole; A through opening is provided at the middle of the machine arm, a protective net is provided at the through opening, and ventilation holes are provided at both ends of the machine arm; When the rotating bracket is rotated to a certain angle, the fan blades can be directed toward the through opening, or when the rotating bracket is rotated to a certain angle, the fan blades can be directed toward the vent hole.

4. The spherical foldable drone according to claim 1, characterized in that: The arm driving mechanism comprises: A motor seat, which is fixedly mounted inside the fuselage frame via a support column; A lead screw motor, which is mounted on the motor seat; A ball screw, one end of which is connected to the screw motor and the other end of which is rotatably mounted on the fuselage frame; A screw nut, which is matched and mounted on the ball screw; There are multiple push rods, one end of each of the push rods is rotatably connected to the lead screw nut, and the other end is rotatably connected to the corresponding machine arms.

5. The spherical foldable drone according to claim 4, characterized in that: The support column is connected to the top of the fuselage frame; Each of the arms is connected to the top of the fuselage frame.

6. The spherical foldable drone according to claim 5, characterized in that: The top surface of the fuselage frame is provided with a machine top cover with a circular arc top surface, and a protective air cushion is provided on the machine top cover.

7. The spherical foldable drone according to claim 4, characterized in that: The machine arm is connected to the fuselage frame through an L-shaped plate, and the top rod is connected to the outer corner side of the corner of the L-shaped plate; When the lead screw nut drives the plurality of push rods to rotate until the push rods are perpendicular to the ball screw to allow the machine arm to unfold, the push rods fit with the L-shaped plate, and the L-shaped plate fits with the fuselage frame.

8. The spherical foldable drone according to claim 1, characterized in that: It also includes a visual tracking mechanism, which includes: A flight control board, which is mounted on the fuselage frame; A bottom cover, which is arranged at the bottom of the fuselage frame; A visual sensor, which is installed on the bottom cover of the machine and is electrically connected to the flight control board; The ultrasonic sensor is installed on the bottom cover of the machine and is electrically connected to the flight control board.

9. The spherical foldable drone according to claim 8, characterized in that: The machine bottom cover is provided with a machine bottom cover opening, a steering gear frame and a steering gear for driving the steering gear frame to rotate are rotatably arranged at the machine bottom cover opening, and the visual sensor and the ultrasonic sensor are mounted on the steering gear frame.

10. A spherical foldable drone according to claim 8 or 9, characterized in that: The outer side of the machine bottom cover is covered with a transparent bottom cover.

Images