Ducted power rocket

Abstract

The invention relates to the technical field of rockets, in particular to a ducted power rocket which comprises a rocket shell, a carbon fiber main beam, carbon fiber landing legs, a ducted power assembly, a rudder sheet control assembly, a flight control system and a power supply assembly. Wherein the rocket shell is located in a space defined by the multiple carbon fiber main beams, the extending direction of each carbon fiber main beam is the same as that of the rocket shell, and the rocket shell is connected with each carbon fiber main beam through screws or buckles; the carbon fiber landing legs are connected to the carbon fiber main beams and the positions, close to the lower end, of the rocket shell. The power supply assembly, the flight control system, the duct power assembly and the rudder sheet control assembly are sequentially arranged in the rocket shell from top to bottom, the power supply assembly is electrically connected with the flight control system, the duct power assembly and the rudder sheet control assembly, and the flight control system is connected with the duct power assembly and the rudder sheet control assembly. The ducted power rocket is easy to assemble and produce, higher in safety, attractive in appearance and capable of flying in an autonomous hovering mode, and the control difficulty of the ducted power rocket is lowered.

Description

Technical Field

[0001] This application relates to the field of rocket technology, and particularly to a ducted-powered rocket. Background Art

[0002] A ducted-powered rocket is a rocket powered by an electric ducted fan. It usually consists of a ducted power component, a rudder control component, a flight control system, a rocket body, landing legs, and a model aircraft battery, etc. Among them, the ducted power component is used to provide adjustable thrust, enabling the ducted-powered rocket to achieve ascending and descending flights; the rudder control component is composed of a servo motor pulling the rudder to swing, and is used to provide the control force for the rocket's attitude self-stabilization and lateral flight. These two are the main sources of force for the flight of the ducted-powered rocket, and they are uniformly controlled by the flight control system to achieve the normal flight of the ducted-powered rocket.

[0003] Since the ducted-powered rocket can adjust its thrust, it can not only take off vertically like a traditional rocket, but also hover in the air, fly horizontally, or land vertically like a reusable rocket. These characteristics enable the ducted-powered rocket to be used to verify the flight control algorithms of large reusable rockets. Therefore, the ducted-powered rocket not only has the value of aerospace science popularization, but also has unique scientific research value.

[0004] However, there are many problems with the existing ducted-powered rockets, as follows: 1. The rocket shell is formed by the FDM 3D (Fused Deposition Modeling) printing process. This process will cause obvious layer lines on the shell appearance, affecting the product aesthetics. Moreover, the dimensional error of the FDM 3D printing process is relatively large, which easily leads to difficult product assembly or obvious docking gaps.

[0005] 2. The rocket shell is fixed by gluing carbon fiber round rods. Due to the smooth wall surface of the carbon fiber round rods, it is impossible to accurately control the glue application position, resulting in the problem of easy position deviation during the assembly of the rocket shell. Moreover, due to the relatively smooth wall surface of the carbon fiber round rods, when flying or falling multiple times, the problem of glue detachment is likely to occur, which will cause the displacement failure of the rocket body structure.

[0006] 3. The rocket uses glue to fix the shell, resulting in difficult assembly and disassembly, which is not suitable for assembly production and after-sales maintenance, nor for the rocket assembly teaching in science popularization education institutions.

[0007] 4. The rocket landing legs are formed by 3D printing, and the material strength is relatively low and is easily broken by the landing impact. Moreover, the landing legs are completely installed on the rocket tail shell, and when the impact force is large, it is also easy to cause damage to the shell connection.

[0008] 5. The rocket uses an open-source flight control circuit board and open-source flight control algorithm for drones. It has too many redundant functions and can only be programmed in complex C language, which is not conducive to popular science teaching and secondary development.

[0009] 6. The rocket is not designed with a power-on self-check function or an automatic flight anomaly protection function, which easily causes the rocket to take off with problems and results in flight out-of-control problems.

[0010] 7. Due to the use of an open-source flight control circuit board, the layout of the electrical interfaces inside the rocket is relatively chaotic, which leads to very messy internal wiring of the rocket. Moreover, the external part connections of the rocket are not sorted out uniformly and are directly exposed randomly. On the one hand, it is not beautiful, and on the other hand, the exposed cables are easily caught by foreign objects and cause the cables to break.

[0011] 8. The rocket is not equipped with a velocity detection sensor or only equipped with a GPS sensor, and it cannot fly stably indoors, resulting in it not being suitable for popular science education institutions to conduct flight teaching indoors. Summary of the Invention

[0012] The present application provides a ducted-powered rocket, which is easy to assemble and produce, has higher safety, is more beautiful, and can also hover autonomously, reducing its control difficulty.

[0013] To solve the above technical problems, the present application provides the following technical solutions:

[0014] A ducted-powered rocket, comprising: a rocket shell, carbon fiber main beams, carbon fiber landing legs, a ducted power component, a rudder control component, a flight control system, and a power supply component; wherein, the rocket shell is located inside the space surrounded by multiple carbon fiber main beams, the extending direction of each carbon fiber main beam is the same as the extending direction of the rocket shell, and the rocket shell is connected to each carbon fiber main beam by screws or buckles; the carbon fiber landing legs are connected to the carbon fiber main beams and the position of the rocket shell near the lower end; the power supply component, the flight control system, the ducted power component, and the rudder control component are sequentially arranged in the rocket shell from top to bottom, and the power supply component is electrically connected to the flight control system, the ducted power component, and the rudder control component, and the flight control system is connected to the ducted power component and the rudder control component.

[0015] For the ducted-powered rocket as described above, preferably, the rocket shell is located inside the space surrounded by four carbon fiber main beams, and the four carbon fiber main beams are evenly distributed on the outer periphery of the rocket shell.

[0016] For the ducted-powered rocket as described above, preferably, the rocket shell is made by SLA 3D printing process.

[0017] The ducted-powered rocket as described above, wherein, preferably, the rocket housing includes: a fairing, a battery compartment, an avionics compartment, a cable cover, a power compartment, and a rudder control compartment; wherein, the fairing, the battery compartment, the avionics compartment, the power compartment, and the rudder control compartment are docked in sequence from top to bottom, and these housings are installed on four carbon fiber main beams by screws or buckles; the cable cover is located outside the battery compartment, the avionics compartment, the power compartment, and the rudder control compartment, and its upper edge is fixedly connected to the battery compartment, and its lower edge is fixedly connected to the rudder control compartment.

[0018] The ducted-powered rocket as described above, wherein, preferably, the fairing is located at the top of the rocket and is connected to the carbon fiber main beam using a buckle; the battery compartment is located below the fairing and is connected to the carbon fiber main beam using screws, and a power supply component is installed in the battery compartment; the avionics compartment is located below the battery compartment and is connected to the carbon fiber main beam using screws, and a flight control system is installed in the avionics compartment; the rudder control compartment is located at the bottom of the rocket and is connected to the carbon fiber main beam and the carbon fiber landing legs using screws, and a rudder control component is installed inside the rudder control compartment; the power compartment is located above the rudder control compartment and below the avionics compartment, and is connected to the carbon fiber main beam using screws, and a ducted power component is installed in the power compartment; the cable cover is located between the battery compartment and the rudder control compartment and outside the battery compartment, the avionics compartment, the power compartment, and the rudder control compartment, and cables pass through it. The upper part of the cable cover is connected to the battery compartment using screws, the middle part of the cable cover is connected to the avionics compartment and the power compartment using screws, and the lower part of the cable cover is connected to the rudder control compartment using a buckle.

[0019] The ducted-powered rocket as described above, wherein, preferably, the carbon fiber landing legs include: two edge sub-legs, one central main leg, and a footrest; wherein, one end of the central main leg is hinged to the rudder control compartment, and the other end of the central main leg is hinged to one end of the two edge sub-legs; the footrest is connected to the hinge joint of the central main leg and the edge sub-legs; the other ends of the two edge sub-legs are hinged to the carbon fiber main beam.

[0020] The ducted-powered rocket as described above, wherein, preferably, the flight control system includes: a power supply board and a control board, the power supply board and the control board are stacked vertically, and the power supply board is located above the control board, so that the power supply board and the control board form a flight control circuit board in combination.

[0021] The ducted-powered rocket as described above, wherein, preferably, the flight control system further includes: a main control module, the main control module is located on the power supply board and is composed of an ESP32-WROOM-32E module, and this module can generate a wi-fi hotspot.

[0022] The ducted-powered rocket as described above, wherein, preferably, the flight control system further includes: a plurality of peripheral part interfaces, all the peripheral part interfaces are arranged on the power supply board and are located at the positions close to two opposite edges of the power supply board.

[0023] The ducted-powered rocket as described above, wherein preferably, an optical flow radar module is installed on the outer wall of the rudder control cabin. The optical flow radar module includes: an optical flow camera, a laser probe, and a cable connection port; the optical flow camera is used for speed measurement, the laser probe is used for altitude measurement, and the cable connection port is used to connect the optical flow camera and the laser probe to the flight control system.

[0024] Compared with the above background technology, the ducted-powered rocket in the present application is easy to assemble and produce, has higher safety, is more aesthetically pleasing, and can also hover autonomously, reducing its control difficulty. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0026] Figure 1 It is a schematic diagram of the ducted-powered rocket showing the rocket shell provided by the embodiment of the present application;

[0027] Figure 2 It is a schematic diagram of the ducted-powered rocket with the rocket shell hidden provided by the embodiment of the present application;

[0028] Figure 3 It is a schematic diagram of the rocket shell of the ducted-powered rocket provided by the embodiment of the present application;

[0029] Figure 4 It is a schematic diagram of the carbon fiber landing legs of the ducted-powered rocket provided by the embodiment of the present application;

[0030] Figure 5 It is a schematic diagram of the flight control system of the ducted-powered rocket provided by the embodiment of the present application;

[0031] Figure 6 It is a schematic diagram of the optical flow radar module of the ducted-powered rocket provided by the embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. In addition, spatial relationship terms such as "upper", "lower", "left", "right", "front", "rear", etc. are used to facilitate the description to explain the positional relationship between two components. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as limiting the present invention.

[0033] Please refer toFigure 1 and Figure 2 , this application provides a ducted power rocket, including: a rocket shell 110, a carbon fiber main beam 120, carbon fiber landing legs 130, a ducted power assembly 140, a rudder control assembly 150, a flight control system 160, and a power supply assembly 170.

[0034] Among them, the rocket shell 110 is located inside the space enclosed by multiple carbon fiber main beams 120. The extending direction of each carbon fiber main beam 120 is the same as that of the rocket shell 110, and the rocket shell 110 is connected to each carbon fiber main beam 120 by screws or buckles; the carbon fiber landing legs 130 are connected to the carbon fiber main beam 120 and the position of the rocket shell 110 near the lower end; the power supply assembly 170, the flight control system 160, the ducted power assembly 140, and the rudder control assembly 150 are sequentially arranged in the rocket shell 110 from top to bottom, and the power supply assembly 170 is electrically connected to the flight control system 160, the ducted power assembly 140, and the rudder control assembly 150 to provide electrical energy for the flight control system 160, the ducted power assembly 140, and the rudder control assembly 150. The flight control system 160 is connected to the ducted power assembly 140 and the rudder control assembly 150 to control the ducted power assembly 140 and the rudder control assembly 150.

[0035] The method of fixedly connecting the rocket shell 110 to the carbon fiber main beam 120 using screws or buckles, compared with the method of using glue for fixation in the existing ducted power rockets, is not only easier for assembly production and disassembly and repair, but also has fixed structural dimensions and will not have the problem of the rocket shell 120 shifting and failing due to long-term use or external force impact.

[0036] Optionally, the rocket shell 110 is located inside the space enclosed by four carbon fiber main beams 120. Optionally, the four carbon fiber main beams 120 are evenly distributed on the outer periphery of the rocket shell 110. Optionally, the rocket shell 110 is made by SLA 3D (abbreviation of Stereolithography 3D printing technology) printing process. Compared with the FDM 3D (Fused Deposition Modeling 3D printing technology) printing process used for the rocket shell in the existing technology, it has the characteristic of more delicate appearance, thus making the rocket appearance more beautiful. And the dimensions printed by SLA 3D are more accurate, which can make the assembly of the rocket shell 110 not easily have interference or loosening problems, and there will be no obvious gaps between the docking surfaces of the various components of the rocket shell 110.

[0037] On this basis, please refer to Figure 3, the rocket hull 110 includes: a fairing 111, a battery compartment 112, an avionics compartment 113, a cable cover 114, a power compartment 115, and a rudder control compartment 116; among them, the fairing 111, the battery compartment 112, the avionics compartment 113, the power compartment 115, and the rudder control compartment 116 are docked in sequence from top to bottom, and these hulls are installed on four carbon fiber main beams 120 by screws or buckles. The cable cover 114 is located outside the battery compartment 112, the avionics compartment 113, the power compartment 115, and the rudder control compartment 116, and its upper edge is fixedly connected to the battery compartment 112, and its lower edge is fixedly connected to the rudder control compartment 116.

[0038] The fairing 111 is located at the top of the rocket and is connected to the carbon fiber main beam 120 using a buckle, which facilitates the disassembly and assembly of the fairing, thus facilitating the replacement of the power supply component 170; the battery compartment 112 is located below the fairing 111 and is connected to the carbon fiber main beam 120 using screws. The battery compartment 112 contains a power supply component 170, including: a model aircraft battery; the avionics compartment 113 is located below the battery compartment 112 and is connected to the carbon fiber main beam 120 using screws. The avionics compartment 113 is equipped with a flight control system 160; the rudder control compartment 116 is located at the bottom of the rocket and is connected to the carbon fiber main beam 120 and the carbon fiber landing leg 130 using screws. The rudder control compartment 116 houses a rudder control component 150; the power compartment 115 is located above the rudder control compartment 116 and below the avionics compartment 113, and is connected to the carbon fiber main beam 120 using screws. The power compartment 115 contains a ducted power component 140; the cable cover 114 is located between the battery compartment 112 and the rudder control compartment 116 and is outside the battery compartment 112, the avionics compartment 113, the power compartment 115, and the rudder control compartment 116. Cables pass through its interior. The upper part of the cable cover 114 is connected to the battery compartment 112 using screws, the middle section of the cable cover 114 is connected to the avionics compartment 113 and the power compartment 115 using screws, and the lower part of the cable cover 114 is connected to the rudder control compartment 116 using a buckle.

[0039] In addition, please refer to Figure 4 , the carbon fiber landing leg 130 includes: two edge secondary legs 131, a central main leg 132, and a footrest 133; among them, one end of the central main leg 132 is hinged to the rudder control compartment 116, and the other end of the central main leg 132 is hinged to one end of the two edge secondary legs 131; the footrest 133 is connected to the hinge point of the central main leg 132 and the edge secondary legs 131, so that the carbon fiber landing leg 130 stably contacts the ground; the other ends of the two edge secondary legs 131 are hinged to the carbon fiber main beam 120, so that the carbon fiber landing leg 130 and the carbon fiber main beam 120 form an integrated body, and this design can transfer the impact force received by the carbon fiber landing leg 130 to the carbon fiber main beam 120, avoiding being completely borne by the rudder control compartment 116 and reducing the risk of damage to the rudder control compartment 116.

[0040] Compared with the landing legs made of 3D printed resin used in ducted fan powered rockets on the market, the carbon fiber landing leg 130 has great longitudinal rigidity and tangential toughness. It can not only withstand greater landing impact forces, but also play a certain shock absorption effect and reduce the impact on the rudder control cabin 116.

[0041] Optionally, two edge secondary legs 131 are arranged side by side, and the other end of the central main leg 132 is located between the two edge secondary legs 131. Optionally, one end of the two edge secondary legs 131 is connected to the carbon fiber main beam 120 by screws. Optionally, both the edge secondary legs 131 and the central main leg 132 are formed by cutting carbon fiber plates.

[0042] Please refer to Figure 5 , the flight control system 160 includes: a power supply board 161 and a control board 162. The power supply board 161 and the control board 162 are stacked vertically, and the power supply board 161 is located above the control board 162, so that the power supply board 161 and the control board 162 are combined to form a flight control circuit board. Among them, the power supply board 161 is responsible for battery power supply management. It can detect the voltage and current of the battery through the power supply board 161, and can also play an overcurrent and overvoltage protection role through the power supply board 161. And it can also actively control the power switches of various electrical devices through the program running in it.

[0043] However, the open-source flight control circuit boards used in ducted fan powered rockets on the market do not have a power supply board design, which poses a great risk of electricity use. The ducted fan powered rocket in this application can prevent the risk of battery short circuit through the power supply board 161. There will be no spark when the battery is connected, which can extend the battery life. And once the battery has an abnormality, it can also make the ducted fan powered rocket enter the abnormal protection working mode to prevent the ducted fan powered rocket from being damaged.

[0044] Continue to refer to Figure 5 , the flight control system 160 also includes: a main control module 163. The main control module 163 is located on the power supply board 161, and the main control module 163 is composed of an ESP32-WROOM-32E module. The ESP32-WROOM-32E module is a powerful and widely used general-purpose Wi-Fi + Bluetooth + Bluetooth LE MCU module. This module can generate a Wi-Fi hotspot, and this hotspot can be connected to a remote control, a computer, and a mobile phone at the same time, so that the ducted fan powered rocket can not only receive remote control instructions from multiple terminals, but also transmit flight or debugging data to the computer in real time for data analysis. This function can greatly facilitate users to study and debug flight control algorithms online. However, the ducted fan powered rockets on the market using open-source flight control circuit boards and open-source flight control codes can only communicate between the remote control and the flight control system and cannot transmit flight data in real time.

[0045] The flight control program of the flight control system 160 is completely independently developed, and the programming language is micropython, which is simplified from the python language. It is easy to get started and is taught in many primary and secondary schools. Moreover, the attributes of this programming language are very suitable for algorithm research. Different from ducted-powered rockets on the market that use open-source flight control code and are programmed in C language, which is difficult to get started and not suitable for algorithm development. Moreover, in order to adapt to different aircraft, there is a large amount of redundant code in the open-source flight control code, resulting in a huge and complex code system architecture, which is not suitable for popular science education or as a verification platform for the flight control algorithm of reusable rockets.

[0046] Continuing to refer to Figure 5 , the flight control system 160 further includes: a plurality of peripheral component interfaces 164. All the peripheral component interfaces 164 are arranged on the power supply board 161 and are located at positions close to two opposite edges of the power supply board 161. The peripheral component interfaces 164 can include a rudder control component interface, a ducted-powered component interface, an indicator light interface, and an optical flow radar module interface. These peripheral component interfaces 164 are reasonably arranged according to the installation positions of the peripheral components. Different from ducted-powered rockets on the market that use open-source flight control circuit boards with randomly arranged peripheral component interfaces, resulting in extremely messy wiring inside the existing ducted-powered rockets. Since the peripheral component interfaces 164 of the flight control system 160 of the ducted-powered rocket in this application are reasonably arranged, the cable connection of the ducted-powered rocket in this application is both reasonable and concise, enabling modular assembly, which can not only improve production efficiency but also be used for product assembly teaching during popular science education.

[0047] Continuing to refer to Figure 5 , the flight control system 160 further includes: a TYPE-C USB cable plug 165, which is located on the control board 162 and is used for downloading and debugging the rocket flight control program. The flight control system 160 further includes: a power supply interface 166 for the ducted-powered component, which is located on the control board 162, and the power supply interface 166 for the ducted-powered component is connected to the ducted-powered component 140 to control the power supply component 170 to supply electrical energy to the ducted-powered component 140. The flight control system 160 further includes: a power switch interface 167 for the flight control system, which is located on the control board 162, and the power switch interface 167 for the flight control system is connected to the power supply component 170 to control the power supply component 170 to supply electrical energy to the flight control system 160. Currently, ducted-powered rockets on the market do not have a power switch interface, and power on and off are achieved by unplugging and plugging the battery. This method is not only inconvenient but also prone to sparking during the moment of unplugging and plugging the battery.

[0048] In addition, the flight control code of the ducted power rocket of the present application is designed with functions such as power-on self-check, startup log recording, abnormal alarm, and partial abnormal autonomous landing, and can indicate the working state of the rocket through the rocket status indicator light, greatly improving the safety of rocket use. The ducted power rockets on the market basically do not have these functions designed, so they are prone to take to the sky with problems, resulting in the rockets being prone to failure or out of control.

[0049] Please refer to Figure 6 , on the outer wall of the rudder control cabin 116 of the ducted power rocket of the present application, an optical flow radar module is installed, and the speed and height of the ducted power rocket can be measured through the optical flow radar module. The optical flow radar module includes: an optical flow camera 210, a laser probe 220, and a cable connection port 230; the optical flow camera 210 can be used for speed measurement, the laser probe 220 can be used for height measurement, and the cable connection port 230 is used to connect the optical flow camera 210 and the laser probe 220 to the flight control system 160. Optionally, there is an outward-extending mounting boss 1161 on the outer wall of the rudder control cabin 116, and the optical flow radar module can be installed on the mounting boss 1161 by screws.

[0050] The data collected by the optical flow radar module is filtered and fused with the angular velocity, acceleration, and barometer data in the flight control system 160, and relatively accurate position and speed data can be calculated. With the support of the position and speed data, the ducted power rocket can achieve hovering flight and stable maneuvering in multiple indoor and outdoor scenarios, while the ducted power rockets on the market are at most equipped with GPS positioning sensors and can only perform hovering flight in outdoor open areas, and cannot achieve indoor hovering flight and stable maneuvering. Indoor hovering flight and stable maneuvering can greatly facilitate science popularization education or laboratory tests.

[0051] The rocket shell of the ducted power rocket in the present application is made by SLA 3D printing process, with a more delicate appearance and more accurate dimensions. And the rocket shell is connected to the carbon fiber main beam by screws and buckles, which is convenient for assembly and disassembly, and there will be no problem of shell displacement caused by degumming.

[0052] In addition, the landing legs of the ducted power rocket in the present application are made of carbon fiber material, with higher strength. The landing legs are connected to both the rudder control cabin and the carbon fiber main beam, making the overall structural strength of the ducted power rocket higher and the ability to withstand impact stronger.

[0053] In addition, the external component interfaces of the flight control system of the ducted power rocket in the present application are reasonably allocated, making the internal wiring of the ducted power rocket simple and smooth, easy for production and assembly and for carrying out rocket assembly teaching. The main control module can generate a wifi hotspot, which is convenient for devices such as remote control, computer, and mobile phone to access, and realizes synchronous rocket flight debugging and data analysis.

[0054] Moreover, the flight control system uses a self-developed flight control program in micropython language. The flight control algorithm is specially optimized according to the characteristics of the ducted power rocket, making the program more concise and understandable, the flight more stable, and facilitating users to carry out secondary development.

[0055] In addition, power-on self-check, power-on log recording, abnormal monitoring, and partial abnormal autonomous landing protection are designed in the flight control program of the flight control system, improving the reliability of the rocket and facilitating ordinary users to operate.

[0056] In addition, the ducted power rocket in this application is also equipped with an optical flow radar module, which can fly stably and hover autonomously indoors, outdoors, or in more other scenarios.

[0057] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be construed as limiting the claimed invention.

[0058] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A ducted rocket, characterized in that: include: Rocket shell, carbon fiber main beam, carbon fiber landing legs, ducted power assembly, rudder control assembly, flight control system and power supply assembly; The rocket shell is located inside a space surrounded by a plurality of carbon fiber main beams, the extension direction of each carbon fiber main beam is the same as the extension direction of the rocket shell, and the rocket shell is connected to each carbon fiber main beam by screws or buckles; The carbon fiber landing legs are connected to the carbon fiber main beam and the rocket shell near the lower end; The power supply assembly, the flight control system, the ducted power assembly and the rudder blade control assembly are arranged in the rocket shell from top to bottom, and the power supply assembly is electrically connected to the flight control system, the ducted power assembly and the rudder blade control assembly, and the flight control system is connected to the ducted power assembly and the rudder blade control assembly.

2. The ducted rocket according to claim 1, characterized in that: The rocket shell is located inside the space surrounded by four carbon fiber main beams, and the four carbon fiber main beams are evenly distributed around the outer circumference of the rocket shell.

3. The ducted rocket according to claim 1 or 2, characterized in that: The rocket shell is made using SLA 3D printing technology.

4. The ducted rocket according to claim 1 or 2, characterized in that: The rocket shell includes: fairing, battery compartment, avionics compartment, cable cover, power compartment and rudder control compartment; Among them, the fairing, battery compartment, avionics compartment, power compartment and rudder control compartment are connected in sequence from top to bottom, and these shells are installed on four carbon fiber main beams by screws or buckles; The cable cover is located outside the battery compartment, the avionics compartment, the power compartment and the rudder control compartment, and its upper edge is fixedly connected to the battery compartment, and its lower edge is fixedly connected to the rudder control compartment.

5. The ducted rocket according to claim 4, characterized in that: The fairing is located at the top of the rocket and is connected to the carbon fiber main beam with clips; the battery compartment is located below the fairing and is connected to the carbon fiber main beam with screws. The battery compartment contains power supply components; The avionics cabin is located below the battery cabin and is connected to the carbon fiber main beam with screws. The flight control system is installed in the avionics cabin; the rudder control cabin is located at the bottom of the rocket and is connected to the carbon fiber main beam and carbon fiber landing legs with screws. The rudder control assembly is installed inside the rudder control cabin; the power cabin is located above the rudder control cabin and below the avionics cabin, and is connected to the carbon fiber main beam with screws. The power cabin is equipped with a ducted power assembly; the cable cover is located between the battery cabin and the rudder control cabin, and is located on the outside of the battery cabin, avionics cabin, power cabin and rudder control cabin, with cables passing through it. The top of the cable cover is connected to the battery cabin with screws, the middle section of the cable cover is connected to the avionics cabin and the power cabin with screws, and the bottom of the cable cover is connected to the rudder control cabin with buckles.

6. The ducted rocket according to claim 1 or 2, characterized in that: The carbon fiber landing legs include: two edge auxiliary legs, a center main leg and a foot support; one end of the center main leg is hinged to the rudder control cabin, and the other end of the center main leg is hinged to one end of the two edge auxiliary legs; the foot support is connected to the hinge between the center main leg and the edge auxiliary leg; the other ends of the two edge auxiliary legs are hinged to the carbon fiber main beam.

7. The ducted rocket according to claim 1 or 2, characterized in that: The flight control system includes: a power board and a control board, which are stacked up and down, and the power board is located above the control board, so that the power board and the control board are combined to form a flight control circuit board.

8. The ducted rocket according to claim 7, characterized in that: The flight control system also includes: a main control module, which is located on the power board and is composed of an ESP32-WROOM-32E module that can generate a wifi hotspot.

9. The ducted rocket according to claim 7, characterized in that: The flight control system also includes: The flight control system also includes: a plurality of peripheral parts interfaces, all of which are arranged on the power board and are located near two opposite edges of the power board.

10. The ducted rocket according to claim 4, characterized in that: An optical flow radar module is installed on the outer wall of the rudder control cabin, and the optical flow radar module includes: an optical flow camera, a laser probe and a cable connection port; the optical flow camera is used to measure speed, the laser probe is used to measure height, and the cable connection port is used to connect the optical flow camera and the laser probe to the flight control system.

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