All-round exhaust saucer-shaped aircraft driven by single motor and control method of all-round exhaust saucer-shaped aircraft

Abstract

The invention relates to an unmanned aerial vehicle, in particular to a single-motor-driven all-around exhaust saucer-shaped aircraft and a control method thereof.The saucer-shaped aircraft is characterized in that an air inlet is formed in the top of a flying saucer body, and an annular nozzle is arranged on the side face of the flying saucer body; the power supply control module is arranged in the flying saucer body and is electrically connected with the driving motor, the air inlet adjusting module and the nozzle adjusting module; the driving motor is arranged in the flying saucer body and the output end is connected with the centrifugal fan; the centrifugal fan is arranged in the flying saucer body, the air inlet is located above the centrifugal fan, and the annular nozzle is located on the side face of the centrifugal fan. The air inlet adjusting module comprises a flow guide grid movably assembled at the air inlet; the nozzle adjusting module comprises a nozzle grid movably assembled on the annular nozzle. Compared with the prior art, the saucer-shaped aircraft solves the problems that an existing saucer-shaped aircraft is large in size, heavy in mass and high in energy consumption. According to the scheme, the single motor serves as a power source and is matched with the adjustable grating, and the small size, light weight and low energy consumption of the saucer-shaped aircraft are achieved.

Description

Technical Field

[0001] The present invention relates to an unmanned aerial vehicle, in particular to a single-motor driven, full-circle exhaust disc-shaped aerial vehicle and a control method thereof. Background Art

[0002] Drones play a vital role in both military and civilian sectors. In the military, drones are widely used for intelligence gathering, battlefield surveillance, precision strikes, and electronic warfare. By providing real-time battlefield data, executing targeted strikes, and effectively reducing personnel risks, they significantly enhance combat capabilities and tactical flexibility. In the civilian sector, drone applications span a wide range of industries, including precision agricultural management, logistics and distribution, environmental monitoring, disaster response, and film and television production, driving efficiency improvements and resource optimization across these sectors. With the advancement of artificial intelligence, autonomous driving, and swarm operations, the military and civilian potential of drones will further expand, becoming a key driver of development in multiple sectors.

[0003] Currently, mainstream drones can be divided into fixed-wing and rotary-wing types. Fixed-wing drones are suitable for high-altitude flight scenarios, but they have difficulty hovering in a fixed position in the air. Rotary-wing drones are commonly multi-rotor drones, especially quadcopters, but they have poor stability, high energy consumption, and short flight time, with operating time only lasting from a dozen to dozens of minutes. Therefore, there is an urgent need for a new type of drone that combines the advantages of fixed-wing and rotary-wing drones, thereby ensuring a compact structure, stable flight, and long flight time to meet the performance requirements of drones in various scenarios.

[0004] Chinese patent application number 201810658152.9 proposes a disc-shaped drone featuring dual drive motors and dual centrifugal fans. Airflow is channeled through ducts, and attitude adjustment is achieved by the speed difference between the two drive motors. This design somewhat avoids the low stability issues of traditional multi-rotors. However, the use of dual motors and dual centrifugal fans results in significant bulk and drag. Furthermore, the driving airflow changes direction and splits up and down after passing through the outer ring of the duct, resulting in low drive efficiency. Furthermore, Chinese patent application number 201910946048.4 proposes a propulsion-type flying saucer capable of three-dimensional propulsion, controlling the airflow discharge path by opening and closing nozzles. This design improves the aircraft's flexibility to a certain extent, but the multiple drive units designed to meet the three degrees of freedom of propulsion in its structure require a high energy requirement, and the design of ejecting air through small orifices results in significant energy loss, making it difficult to miniaturize and unsuitable for long-duration missions. In addition, Professor Paul Oh published a paper titled “Designing an aerial robot for hover-and-stare surveillance” in ICAR (12 (2005) 303-308) which designed a ducted disc-shaped aircraft. Although the aircraft can carry a certain amount of load and fly at a relatively high speed, it is still unable to perform long-duration reconnaissance missions due to its high energy consumption. Summary of the Invention

[0005] The present invention aims to address at least one of the aforementioned issues by providing a single-motor-driven, all-round exhaust disc-shaped aircraft and its control method, thereby resolving the issues of large size, heavy weight, and high energy consumption associated with existing disc-shaped aircraft. This solution utilizes a single drive motor as the disc-shaped aircraft's power source, combined with adjustable grilles at the inlet and exhaust ports, to achieve a compact, lightweight, and low-energy-consumption disc-shaped aircraft.

[0006] The purpose of the present invention is achieved through the following technical solutions:

[0007] The first aspect of the present invention discloses a single-motor driven, full-circle exhaust disc-shaped aircraft, the disc-shaped aircraft having a centrally symmetrical structure, comprising a flying saucer body, a power supply control module, a drive motor, a centrifugal fan, an air intake adjustment module, and a nozzle adjustment module;

[0008] An air inlet is provided on the top of the flying saucer body, and an annular nozzle is provided on the side of the flying saucer body;

[0009] The power supply control module is disposed inside the flying saucer body, and is electrically connected to the drive motor, the air intake adjustment module, and the nozzle adjustment module; the drive motor is disposed inside the flying saucer body, and the output end of the drive motor is connected to the centrifugal fan; the centrifugal fan is disposed inside the flying saucer body, and the air intake is located above the centrifugal fan, and the annular nozzle is located on the side of the centrifugal fan;

[0010] The air intake adjustment module includes a guide grille movably mounted on the air intake, and the guide grille is used to change the air intake direction; the nozzle adjustment module includes a nozzle grille movably mounted on the annular nozzle, and the nozzle grille is used to change the exhaust direction.

[0011] Preferably, the flying saucer body comprises an upper shell and a lower shell;

[0012] The upper shell and the lower shell are fixedly assembled;

[0013] The air inlet is arranged at the top of the upper shell;

[0014] The annular nozzle is arranged between the upper shell and the lower shell; the angle between the tangent line of the upper shell at the annular nozzle and the tangent line of the lower shell at the annular nozzle is 0-90 degrees.

[0015] Preferably, the flying saucer body includes a partition;

[0016] The partition separates the internal space of the flying saucer body into an upper air pressure chamber and a lower control area; the power supply control module and the drive motor are arranged in the control area, and the output end of the drive motor is arranged through the partition; the centrifugal fan, the air intake adjustment module and the nozzle adjustment module are arranged in the air pressure chamber.

[0017] Preferably, the guide grille includes bearings, transmission gears, guide grille blades, a propulsion motor, a propulsion connecting rod and a connecting rod;

[0018] The outer ring of the bearing is fixed on the upper outer shell, the transmission gear and the propulsion motor are fixed on the inner ring of the bearing, and a number of guide grille blades are provided in parallel with each other. Each guide grille blade is movably assembled on the inner ring of the bearing through a connecting shaft. The guide grille blades are connected in series through connecting rods to form a four-bar structure to ensure that they remain parallel to each other when swinging. The propulsion motor relies on the propulsion connecting rod to transmit the driving force to the guide grille blades.

[0019] Preferably, the bearing inner ring is driven by the first micro motor through the transmission teeth fixed to the bearing inner ring, so that the bearing inner ring rotates around its central axis. The first micro motor is assembled inside the flying saucer body, and the rotation angle range of the guide grille is 0 to 180°; the guide grille blades are driven by the propulsion motor to rotate around the connecting shaft, and the rotation angle range of the guide grille blades is -60 to 60°.

[0020] Preferably, the nozzle adjustment module further includes a second micro motor, a gear set, and a control ring;

[0021] The second micro motors are provided in three numbers and are assembled inside the flying saucer body. The gear sets are fixed to the three second micro motors and can be driven to rotate by the second micro motors. The inner side of the control ring is provided with teeth and meshes with the gear sets. The second micro motors are driven by the transmission of the gear sets so that the control unit rotates around the central axis.

[0022] The nozzle grid includes a tension spring, a fixed shaft and nozzle grid blades; a plurality of nozzle grid blades are arranged at intervals along the circumference of the annular nozzle, and each nozzle grid blade is movably assembled on the flying saucer body through a fixed shaft; the control ring is connected to each nozzle grid blade through a tension spring.

[0023] More preferably, the control ring is assembled inside the flying saucer body through an annular bearing or an annular slide rail.

[0024] Preferably, the control ring rotates around its central axis under the drive of the second micro motor, and the rotation angle range of the control ring is -5 to +5°; when the rotation angle of the control ring is 0°, the plane where the nozzle grid blades are located passes through the central axis of the flying saucer body.

[0025] Preferably, the power supply control module includes a power supply unit and a control unit;

[0026] The power supply unit is electrically connected to the control unit, the drive motor, the air intake adjustment module and the nozzle adjustment module;

[0027] The control unit includes a control board, on which a control chip, a communication component and a positioning component are integrated; the control board is electrically connected to the drive motor, the air intake adjustment module and the nozzle adjustment module.

[0028] More preferably, the blades of the centrifugal fan are arc-shaped blades, specifically arc-shaped blades with a high distal end and a low center, so as to provide sufficient space for the rotation of the guide grille.

[0029] More preferably, the driving motor is a brushless motor.

[0030] Preferably, the saucer-shaped aircraft further includes a mission payload module;

[0031] The mission load module includes a camera, a load-bearing mechanical claw and an operating mechanical arm;

[0032] The mission load module is connected to the flying saucer body, and the mission load module is electrically connected to the power supply control module.

[0033] More preferably, the mission load module is connected to the flying saucer body through a quick connector, and the corresponding mission load module can be selected according to different tasks to be performed to achieve a multifunctional design.

[0034] A second aspect of the present invention discloses a control method for a single-motor driven, full-circle exhaust saucer-shaped aircraft as described above, wherein the saucer-shaped aircraft discharges airflow through an annular nozzle to form a pressure difference between the upper and lower sides of the saucer body, and the driving force is provided by the pressure difference;

[0035] The power supply control module instructs the drive motor to change the output power to control the speed of the centrifugal fan, thereby adjusting the driving force. When the driving force is greater than the gravity of the saucer-shaped aircraft, the saucer-shaped aircraft is in an ascending state; when the driving force is equal to the gravity of the saucer-shaped aircraft, the saucer-shaped aircraft is in a hovering state; when the driving force is less than the gravity of the saucer-shaped aircraft, the saucer-shaped aircraft is in a descending state.

[0036] The power supply control module instructs the guide grille to rotate toward the target movement direction to change the direction of the incoming air. The driving force is decomposed into a vertical component and a horizontal component. The vertical component is used to resist gravity, and the horizontal component is used to push the saucer-shaped aircraft to move horizontally. When the driving force is greater than the gravity of the saucer-shaped aircraft, the saucer-shaped aircraft is in an ascending movement state; when the driving force is equal to the gravity of the saucer-shaped aircraft, the saucer-shaped aircraft is in a horizontal movement state; when the driving force is less than the gravity of the saucer-shaped aircraft, the saucer-shaped aircraft is in a diving movement state.

[0037] The power supply control module instructs the nozzle grille to rotate in the opposite direction of the target rotation direction to change the exhaust direction. The driving force is decomposed into a vertical component and a rotational component. The vertical component is used to resist gravity, and the rotational component is used to drive the saucer-shaped aircraft to spin. When the driving force is greater than the gravity of the saucer-shaped aircraft, the saucer-shaped aircraft is in a lifting spinning state; when the driving force is equal to the gravity of the saucer-shaped aircraft, the saucer-shaped aircraft is in a hovering spinning state; when the driving force is less than the gravity of the saucer-shaped aircraft, the saucer-shaped aircraft is in a descending spinning state.

[0038] In complex environments, the power supply control module can synchronously instruct the drive motor, guide grille and nozzle grille to operate to achieve lifting, translation and rotation towards the target direction.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] 1) A single motor drives the centrifugal fan. This single motor design reduces the weight of the entire aircraft. The centrifugal fan, combined with full-circle exhaust, increases the air intake volume, thereby improving the efficiency and endurance of the aircraft.

[0041] 2) The structure is compact and the internal space is fully utilized, which optimizes the weight of the whole machine and ensures a sufficient lift-to-weight ratio, making the aircraft flexible in operation and low in energy consumption.

[0042] 3) The disc-shaped wing uses a central air intake (at the top) and full-circle exhaust. The aircraft has large lift and equal forces in all directions, making it less susceptible to interference from external factors.

[0043] 4) Simple control: the attitude control of the aircraft only needs to adjust the direction of the guide grille and the blade folding angle, the blade folding angle of the nozzle grille and the lift provided by the centrifugal fan (regulating the speed).

[0044] Compared with the existing technology, the present invention effectively solves the problems of short aircraft endurance (only single motor drive), long wingspan (disc-shaped design), poor stability (central air intake, full-circle exhaust) and complex control (regulating the speed of the centrifugal fan, the direction of the guide grille and the folding angle of its blades and the folding angle of the nozzle grille blades); the overall design of the machine is ingenious and the structure is compact, which effectively reduces the cost of mass production; the aircraft is stable and efficient, providing new ideas for meeting dual-use military and civilian needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic side cross-sectional view of the structure of a saucer-shaped aircraft;

[0046] Figure 2 This is a schematic diagram of the structure of a disc-shaped aircraft;

[0047] Figure 3 This is a schematic diagram of the structural cross-section of a disc-shaped aircraft;

[0048] Figure 4 This is a schematic diagram of the explosion of the disc-shaped aircraft structure;

[0049] Figure 5 A schematic diagram of the structure of the control loop in the nozzle adjustment module of a saucer-shaped aircraft;

[0050] Figure 6 It is a structural diagram of the guide grille of a saucer-shaped aircraft;

[0051] In the figure: 1—flying saucer body; 2—power supply unit; 3—drive motor; 4—centrifugal fan; 5—guide grille; 6—control ring; 7—nozzle grille; 101—lower side housing; 102—partition; 103—upper side housing; 501—bearing outer ring; 502—bearing inner ring; 503—transmission gear; 504—guide grille blades; 505—propulsion motor; 506—propulsion connecting rod; 507—connecting connecting rod; 701—tension spring; 702—fixed shaft; 703—nozzle grille blades. DETAILED DESCRIPTION

[0052] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0053] Example 1

[0054] A single motor driven, full-circle exhaust disc-shaped aircraft, such as Figure 1-6 As shown, the saucer-shaped aircraft is a centrally symmetrical structure; it includes a flying saucer body 1, a power supply control module, a drive motor 3, a centrifugal fan 4, an air intake adjustment module and a nozzle adjustment module;

[0055] An air inlet is provided on the top of the flying saucer body 1, and an annular nozzle is provided on the side of the flying saucer body 1;

[0056] The power supply control module is disposed inside the flying saucer body 1, and is electrically connected to the drive motor 3, the air intake adjustment module, and the nozzle adjustment module; the drive motor 3 is disposed inside the flying saucer body 1, and the output end of the drive motor 3 is connected to the centrifugal fan 4; the centrifugal fan 4 is disposed inside the flying saucer body 1, with the air intake located above the centrifugal fan 4 and the annular nozzle located on the side of the centrifugal fan 4;

[0057] The air intake adjustment module includes a guide grille 5 movably mounted on the air intake, and the guide grille 5 is used to change the air intake direction; the nozzle adjustment module includes a nozzle grille 7 movably mounted on the annular nozzle, and the nozzle grille 7 is used to change the exhaust direction.

[0058] More specifically, in this embodiment:

[0059] A long-endurance (single-motor driven) saucer-shaped aircraft with full-circle exhaust comprises a saucer body 1, a power supply control module, a drive motor 3, a centrifugal fan 4, an air intake adjustment module, and a nozzle adjustment module. The structure of the saucer-shaped aircraft is centrally symmetrical to ensure its structural balance.

[0060] The flying saucer body 1 is formed by fixing and assembling the upper shell 103 and the lower shell 101, and the other structures are assembled in the inner cavity of the flying saucer body 1. Figure 1-4As shown, the upper and lower shells 103 and 101 of the flying saucer body 1 are aerodynamically designed. An annular nozzle, arranged circumferentially between the upper and lower shells 103 and 101, serves as an exhaust port. A circular air inlet is located at the top center of the upper shell 103, creating a central intake and full-circumferential exhaust structure. The airflow discharged from the annular nozzle rests against the upper side of the wing (lower shell 101), creating a pressure differential with the underside of the wing, thereby providing lift around the entire circumference of the saucer-shaped aircraft. The internal cavity of the flying saucer body 1 is further divided by a partition 102 into an upper air pressure chamber and a lower control area. The power supply control module and drive motor 3 are located in the lower control area, while the centrifugal fan 4, air intake control module, and nozzle control module are all located in the upper air pressure chamber. The inner wall of the air pressure chamber adopts a smooth and streamlined design (consistent with aerodynamics) to avoid large corners during the gas ejection process, thereby reducing the consumption of gas power. In addition, the angle between the tangent lines of the upper shell 103 and the lower shell 101 at the annular nozzle is controlled to be 0 to 90°. This angle can ensure that the initial velocity direction of the blown air flow forms an angle of 0 to 45° with the lower shell 101, so that it is better attached to the lower shell 101.

[0061] The power supply control module specifically includes a power supply unit 2 and a control unit. The power supply unit 2 supplies power (electrically connects) to all power-consuming structures or units of the saucer-shaped aircraft, and the control unit is electrically connected to all controllable structures or units of the saucer-shaped aircraft (including the power supply unit 2, the drive motor 3, the air intake adjustment module, and the nozzle adjustment module). The power supply unit 2 can specifically be a battery pack, such as Figure 3 、 4As shown, the center is symmetrically arranged around the drive motor 3. In this embodiment, after balancing the flight time and mass, three batteries are selected and arranged in the form of an equilateral triangle around the periphery of the drive motor 3. The control unit includes a control board, which is integrated with a control chip, a communication component, and a positioning component; a control chip such as a microcontroller or microprocessor is used to execute core logic such as flight control and data processing; a communication component is used to realize data communication between the UAV and a ground station or other equipment; the component can adopt, for example, radio wave-based communication technology (such as wireless communication modules operating in frequency bands such as 2.4GHz and 5GHz), or satellite communication technology (such as communication modules supporting Beidou, Galileo, GPS, etc. satellite systems), and other technical solutions suitable for UAV communication functions; the positioning component is used to obtain the location information of the UAV; the component can adopt, for example, a positioning module based on the Global Navigation Satellite System (GNSS) (such as a module supporting Beidou, GPS, GLONASS, Galileo, etc. systems), or a real-time dynamic positioning / post-processing dynamic positioning (RTK / PPK) high-precision positioning module, or a positioning module based on laser radar, or a positioning module based on ultra-wideband (UWB) technology, and other technical solutions suitable for UAV positioning functions. Each of the above-mentioned controllers and corresponding components, units, and modules can adopt existing technologies or commercially available products that meet the target functions, and no additional restrictions are imposed here.

[0062] Drive motor 3 is located in the lower control area of flying saucer body 1, with its center of gravity positioned on the central axis of the saucer-shaped vehicle, and the axis of its output shaft coinciding with the central axis. The output end (output shaft) of drive motor 3 passes through partition 102 and enters the air pressure chamber to interface with centrifugal fan 4 located within the chamber. Drive motor 3 utilizes a brushless motor to ensure the high speed required by centrifugal fan 4. A bushing is provided where partition 102 passes through the output shaft, and a sealing ring may be provided on the outside of the bushing as needed to provide support for the output shaft and reduce wear during high-speed rotation.

[0063] The power supply control module and the drive motor 3 are arranged to maintain gravity balance, thereby reducing the energy consumed for self-balance during flight control.

[0064] Centrifugal fan 4, such as Figure 1 、 3, 4, where its axis coincides with the central axis of the saucer-shaped aircraft, and its center is connected to the output shaft of the drive motor 3. The blades of the centrifugal fan 4 are cylindrical structures with a concave upper side, that is, each blade is an arc-shaped blade, with a structure that is high at the distal end and low at the center, so as to provide sufficient movement space in the middle for the air intake adjustment module (specifically, the guide grille 5) assembled at the air intake. The centrifugal fan 4 is arranged directly below the air intake of the flying saucer body 1 (the two central axes coincide), and the annular nozzle is located on the outside of the centrifugal fan 4, so that under the action of the centrifugal fan 4, the airflow enters the air pressure chamber from the air intake and is discharged from the annular nozzle; the airflow ejected from the nozzle adheres to the upper surface of the wing (lower shell 101), thereby causing a pressure difference between the upper side and the lower side of the wing, and the pressure difference further provides the required axial driving force.

[0065] Intake air conditioning module, such as Figure 1-4 , 6. The air intake adjustment module includes a guide grille 5 for adjusting the airflow (direction and intake volume). The guide grille specifically includes a bearing (consisting of a bearing outer ring 501 and a bearing inner ring 502), a transmission gear 503, guide grille blades 504, a propulsion motor 505, a propulsion connecting rod 506, and a connecting rod 507. The bearing outer ring 501 is fixed to the upper housing 103, and the transmission gear 503 and the propulsion motor 505 are respectively fixed to the bearing inner ring 502. Figure 6As shown in . The bearing outer ring 501 is fixed to the circular air inlet at the top of the upper housing 103, and the bearing inner ring 502 can rotate relative to the bearing outer ring 501. A plurality of guide grille blades 504 are provided, and a plurality of connecting rods 507 are provided. The guide grille blades 504 are arranged parallel to each other and spaced apart inside the bearing inner ring 502. Specifically, the guide grille blades 504 are assembled inside the bearing inner ring 502 via mutually parallel connecting shafts (the connecting shafts are located at the top edge of each guide grille blade 504), so that the guide grille blades 504 can rotate around the connecting shafts. Furthermore, the guide grille blades 504 are connected in series via connecting rods 507, forming multiple sets of four-bar linkage mechanisms to ensure consistent movement when controlling the rotation (folding) of the guide grille blades 504. The guide grille blades 504 adjacent to the propulsion motor 505 are connected to the propulsion shaft of the propulsion motor 505 via a propulsion link 506 (connected to or near the bottom edge of the guide grille blade 504, offset from the connecting shaft). This ensures that the propulsion motor 505 transmits driving force to the guide grille blades 504 via the propulsion link 506. During operation, the propulsion shaft of the propulsion motor 505 (a telescopic motor with an axially retractable propulsion shaft) extends or retracts, transmitting this driving force to the adjacent blades via the propulsion link 506. Because the blades are movably mounted on the bearing inner ring 502 by the connecting shaft (central axis), they rotate (fold) about their central axis under the influence of the driving force. Furthermore, because the blades are connected in series by connecting links 507 to form multiple four-bar linkages, each guide grille blade 504 rotates (folds) about its respective central axis under power transmission, maintaining parallelism and consistent angles during movement. To connect more guide grille blades 504 in series, the linkage mechanisms between adjacent blade groups can be connected in a similar manner (for example, using the follower rocker of the previous group as the driving rocker of the next group) to form a series four-bar linkage, thereby achieving synchronized movement of all blades. Initially, the guide grille blades 504 can be arranged vertically. During operation, the first micromotor (installed inside the flying saucer body) transmits rotational force to the bearing inner ring 502 via the transmission gear 503, causing the bearing inner ring 502 to rotate around its own central axis. At this time, since the guide grille blades 504 are movably mounted on the bearing inner ring 502 via the connecting shaft, the guide grille blades 504 rotate with the bearing inner ring 502. When the guide grille blades 504 need to be folded, the propulsion motor 505 pushes the propulsion link 506 to transmit the driving force to the guide grille blades 504, causing them to rotate (fold) around the connecting shaft.The guide grille blades 504 rotate in conjunction with the rotation of the bearing inner ring 502 and their own folding, thereby controlling the airflow drawn in from different directions and angles, thereby controlling the aircraft's forward direction and fuselage tilt. The guide grille 5 can rotate 180 degrees, and the folding angle of the guide grille blades 504 is controlled between -60° and 60°. The tilt angle of the guide grille blades 504 is coordinated with the driving power of the centrifugal fan 4, and the proportion of the upward component of the aircraft's driving force that offsets gravity controls the aircraft's movement in various directions.

[0066] Nozzle adjustment module, such as Figure 1-5 As shown, it includes a second micromotor, a gear set, a control ring 6, and a nozzle grid 7. The control ring 6 is an annular structure that can be arranged at the same height (horizontally) as the annular nozzle. The control ring 6 can be assembled inside the air pressure chamber of the flying saucer body 1 through, for example, an annular bearing or an annular slide rail (matched with a bracket as needed); the inner side of the control ring 6 is provided with a tooth structure, and the control ring 6 can mesh with the gear set through the tooth structure, and the gear set is further connected to the output shaft of the second micromotor, so that the gear set realizes the transmission from the second micromotor to the control ring 6; in this solution, three second micromotors are arranged at equal intervals along the circumference. The nozzle grille 7 specifically includes a tension spring 701, a fixed shaft 702 and nozzle grille blades 703. The fixed shaft 702 passes through the annular nozzle in the vertical direction and is assembled in the flying saucer body 1, and the fixed shaft 702 is arranged at equal intervals along the circumferential direction; a number of nozzle grille blades 703 are arranged corresponding to the fixed shaft 702, and each nozzle grille blade 703 is independently rotatably assembled on the fixed shaft 702. In this embodiment, the fixed shaft 702 is preferably arranged in the middle position of the nozzle grille blade 703; a number of tension springs 701 are arranged corresponding to the nozzle grille blades 703, and each nozzle grille blade 703 is independently connected to the control ring 6 through the tension spring 701, and each tension spring 701 is connected one by one to a preset tension spring 701 fixing position on the control ring 6. Furthermore, the second micromotor operates, transmitting power via a gear train to the control ring 6, driving the control ring 6 to rotate. This in turn drives the tension springs 701 to independently pull each nozzle grille blade 703 to rotate (fold) about the fixed axis 702. This adjusts the angle of the ejected airflow by adjusting the angle of the nozzle grille blades 703, thereby offsetting the rotational torque of the centrifugal fan 4 and enabling the disc-shaped aircraft to spin (turn). In the initial state of the nozzle adjustment module, each nozzle grille blade 703 should be at the 0° position, with its plane passing through the central axis of the disc-shaped aircraft. Furthermore, the control ring 6 uniformly controls the rotation of each nozzle grille blade 703, ensuring that after the nozzle adjustment module rotates, the angle of each nozzle grille blade 703 relative to the default position is uniform. In this embodiment, the rotation angle of the control ring 6 about its center is controlled within a range of -5 to 5°.

[0067] In addition, as needed, the saucer-shaped aircraft can be further equipped with a mission load module, such as a camera, a load-bearing mechanical claw, an operating mechanical arm, etc. The mission load module is also connected to the power supply control module to achieve unified management and control by the saucer-shaped aircraft. The setting position of the mission load module should ensure the structural gravity balance of the saucer-shaped aircraft to avoid excessive energy consumption in the process of maintaining its own balance when the saucer-shaped aircraft is flying. The mission load module can usually be connected physically and electrically through a quick connector provided on the flying saucer body 1, and then the appropriate mission load module can be replaced and selected according to the mission requirements; in some targeted cases, the mission load module that realizes a specific function can be directly fixed and assembled (such as bolts) on the flying saucer body 1 to ensure the overall structural strength and reliability.

[0068] When the disc-shaped aircraft is working:

[0069] The power supply control module instructs the drive motor 3 to change the output power to control the rotation speed of the centrifugal fan 4, thereby adjusting the driving force (lift) (the driving force at this time only has a vertical force); when the driving force is greater than the gravity of the saucer-shaped aircraft, the saucer-shaped aircraft is in an ascending state; when the driving force is equal to the gravity of the saucer-shaped aircraft, the saucer-shaped aircraft is in a hovering state; when the driving force is less than the gravity of the saucer-shaped aircraft, the saucer-shaped aircraft is in a descending state;

[0070] The power supply control module instructs the guide grille 5 to rotate in the target movement direction to change the direction of the air inlet. At this time, the driving force is decomposed into a vertical component and a horizontal component. The vertical component is used to resist gravity, and the horizontal component is used to push the saucer-shaped aircraft to move horizontally. When the driving force is greater than the gravity of the saucer-shaped aircraft, the saucer-shaped aircraft is in an ascending movement state; when the driving force is equal to the gravity of the saucer-shaped aircraft, the saucer-shaped aircraft is in a horizontal movement state; when the driving force is less than the gravity of the saucer-shaped aircraft, the saucer-shaped aircraft is in a diving movement state.

[0071] The power supply control module instructs the nozzle grille 7 to rotate in the opposite direction of the target rotation direction to change the exhaust direction. The driving force is decomposed into a vertical component and a rotational component, wherein the vertical component is used to resist gravity, and the rotational component is used to drive the saucer-shaped aircraft to spin; when the driving force is greater than the gravity of the saucer-shaped aircraft, the saucer-shaped aircraft is in a lifting spinning state; when the driving force is equal to the gravity of the saucer-shaped aircraft, the saucer-shaped aircraft is in a hovering spinning state; when the driving force is less than the gravity of the saucer-shaped aircraft, the saucer-shaped aircraft is in a descending spinning state.

[0072] In a complex environment, the power supply control module can synchronously instruct the drive motor 3, the guide grid 5 and the nozzle grid 7 to operate to achieve lifting, translation and rotation (steering) towards the target direction.

[0073] like:

[0074] In vertical takeoff and landing mode, the disc-shaped aircraft's guide grille blades 504 remain upright, drawing air in from directly above. The nozzle grille blades 703 are in their initial position, with their extensions intersecting at the center of the disc. The compressed, high-speed air is then blown out perpendicular to the wing edges. In this state, the disc-shaped aircraft's takeoff, landing, and hovering can be controlled simply by controlling the power of the drive motor 3 and, therefore, the speed of the centrifugal fan 4.

[0075] The disc-shaped aircraft is in horizontal forward mode: the bearing inner ring 502 rotates to make the guide grille blades 504 perpendicular to the forward direction, and controls the guide grille blades 504 to fold in the forward direction. Air is sucked in obliquely from the forward direction, causing the aircraft to tilt. At this time, the vertical component of the driving force of the disc-shaped aircraft offsets gravity, and the horizontal component provides forward power.

[0076] In the disc-shaped aircraft's ascending mode, the bearing inner ring 502 rotates to align the guide grille blades 504 perpendicularly with the aircraft's forward direction. The blades 504 are then controlled to fold in the forward direction. Specifically, the folding angle of the guide grille blades 504 is controlled to be smaller than that during the horizontal forward mode. While maintaining the output of the drive motor 3, the vertical component of the disc-shaped aircraft's driving force is greater than gravity. In this state, the horizontal component of the disc-shaped aircraft's driving force provides forward momentum, while the vertical component provides upward lift. Together, these forces enable the disc-shaped aircraft to fly upward.

[0077] In the disc-shaped aircraft's dive mode, the bearing inner ring 502 rotates to align the guide grille blades 504 perpendicularly with the aircraft's forward direction. The blades 504 are then controlled to fold in the forward direction. Specifically, the folding angle of the guide grille blades 504 is controlled to be greater than the folding angle during the horizontal forward mode. While maintaining the output of the drive motor 3, the vertical component of the disc-shaped aircraft's driving force is reduced to less than gravity. In this state, the horizontal component of the driving force provides forward momentum, while the vertical component partially offsets gravity, combining to achieve downward flight.

[0078] Saucer attitude adjustment mode: the guide grille 5 remains vertical, and the nozzle grille blades 703 are folded in the opposite direction of the rotation. According to the law of conservation of angular momentum, the gas discharged from the nozzle grille blades 703 provides the saucer with rotation power, thereby achieving the attitude adjustment of the saucer.

[0079] In summary, the present invention drives the centrifugal fan through a single drive motor 3, and cooperates with the adjustable guide grille and nozzle grille to control the direction of the central air intake and the direction and speed of the air flow discharged around the periphery to achieve flexible flight in different directions, providing a saucer-shaped aircraft with a compact structure, strong stability, high efficiency and long flight time.

[0080] The above description of the embodiments is intended to facilitate understanding and use of the invention by those skilled in the art. It will be apparent that those skilled in the art can readily make various modifications to these embodiments and apply the general principles described herein to other embodiments without requiring inventive effort. Therefore, the present invention is not limited to the above-described embodiments. Improvements and modifications made by those skilled in the art based on the disclosure of the present invention, without departing from the scope of the present invention, should be within the scope of protection of the present invention.

Claims

1. A single-motor driven, full-circle exhaust disc-shaped aircraft, the disc-shaped aircraft having a centrally symmetrical structure; characterized in that: It comprises a flying saucer body (1), a power supply control module, a drive motor (3), a centrifugal fan (4), an air intake adjustment module and a nozzle adjustment module; An air inlet is provided on the top of the flying saucer body (1), and an annular nozzle is provided on the side of the flying saucer body (1); The power supply control module is arranged inside the flying saucer body (1), and the power supply control module is electrically connected to the drive motor (3), the air intake adjustment module and the nozzle adjustment module; the drive motor (3) is arranged inside the flying saucer body (1), and the output end of the drive motor (3) is connected to the centrifugal fan (4); the centrifugal fan (4) is arranged inside the flying saucer body (1), and the air intake is located above the centrifugal fan (4), and the annular nozzle is located on the side of the centrifugal fan (4); The air intake adjustment module comprises a guide grille (5) movably mounted on the air intake, and the guide grille (5) is used to change the air intake direction; the nozzle adjustment module comprises a nozzle grille (7) movably mounted on the annular nozzle, and the nozzle grille (7) is used to change the air exhaust direction.

2. A single-motor driven, full-circle exhaust disc-shaped aircraft according to claim 1, characterized in that: The flying saucer body (1) comprises an upper shell (103) and a lower shell (101); The upper shell (103) and the lower shell (101) are fixedly assembled; The air inlet is arranged at the top of the upper shell (103); The annular nozzle is arranged between the upper shell (103) and the lower shell (101); the angle between the tangent line of the upper shell (103) at the annular nozzle and the tangent line of the lower shell (101) at the annular nozzle is 0 to 90 degrees.

3. The single-motor driven, full-circle exhaust disc-shaped aircraft according to claim 1, characterized in that: The flying saucer body (1) includes a partition (102); The partition (102) divides the internal space of the flying saucer body (1) into an upper air pressure chamber and a lower control area; the power supply control module and the drive motor (3) are arranged in the control area, and the output end of the drive motor (3) is arranged through the partition (102); the centrifugal fan (4), the air intake adjustment module and the nozzle adjustment module are arranged in the air pressure chamber.

4. The single-motor driven, full-circle exhaust disc-shaped aircraft according to claim 1, characterized in that: The guide grille (5) comprises a bearing, a transmission gear (503), guide grille blades (504), a propulsion motor (505), a propulsion connecting rod (506) and a connecting rod (507); The outer ring (501) of the bearing is fixed on the upper shell (103), the transmission gear (503) and the propulsion motor (505) are fixed on the inner ring (502) of the bearing, a plurality of guide grille blades (504) are provided in parallel with each other, each guide grille blade (504) is movably assembled on the inner ring (502) of the bearing through a connecting shaft, and the guide grille blades (504) are connected in series through a connecting rod (507) to form a four-bar structure to ensure that they remain parallel to each other when swinging, and the propulsion motor (505) relies on the propulsion rod (506) to transmit the driving force to the guide grille blades (504).

5. A single-motor driven, full-circle exhaust disc-shaped aircraft according to claim 4, characterized in that: The bearing inner ring (502) rotates around its central axis under the drive of a first micro motor, which is assembled inside the flying saucer body (1), and the rotation angle range of the guide grille (5) is 0 to 180 degrees; the guide grille blades (504) rotate around the connecting shaft under the drive of a propulsion motor (505), and the rotation angle range of the guide grille blades is -60 to 60 degrees.

6. The single-motor driven, full-circle exhaust disc-shaped aircraft according to claim 1, characterized in that: The nozzle adjustment module further includes a second micro motor, a gear set, and a control ring (6); The second micro motor is assembled inside the flying saucer body (1), and the output end of the second micro motor is connected to the control ring (6) through a gear set; The nozzle grid (7) comprises a tension spring (701), a fixed shaft (702) and nozzle grid blades (703); a plurality of nozzle grid blades (703) are arranged at intervals along the circumference of the annular nozzle, and each nozzle grid blade (703) is movably assembled on the flying saucer body (1) via the fixed shaft (702); and the control ring (6) is connected to each nozzle grid blade (703) via the tension spring (701).

7. A single-motor driven, full-circle exhaust disc-shaped aircraft according to claim 6, characterized in that: The control ring (6) rotates around its central axis under the drive of the second micro motor, and the rotation angle range of the control ring (6) is -5 to +5 degrees; when the rotation angle of the control ring (6) is 0 degrees, the plane where the nozzle grid blades (703) are located passes through the central axis of the flying saucer body (1).

8. The single-motor driven, full-circle exhaust disc-shaped aircraft according to claim 1, characterized in that: The power supply control module comprises a power supply unit (2) and a control unit; The power supply unit (2) is electrically connected to the control unit, the drive motor (3), the air intake adjustment module and the nozzle adjustment module; The control unit comprises a control board on which a control chip, a communication component and a positioning component are integrated; the control board is electrically connected to the drive motor (3), the air intake adjustment module and the nozzle adjustment module.

9. The single-motor driven, all-round exhaust disc-shaped aircraft according to claim 1, characterized in that: The saucer-shaped aircraft further includes a mission payload module; The mission load module includes a camera, a load-bearing mechanical claw and an operating mechanical arm; The mission load module is connected to the flying saucer body (1), and the mission load module is electrically connected to the power supply control module.

10. A control method for a single-motor driven, full-circle exhaust disc-shaped aircraft according to any one of claims 1 to 9, characterized in that: The saucer-shaped aircraft discharges airflow through an annular nozzle to form a pressure difference between the upper and lower sides of the flying saucer body (1), and provides driving force through the pressure difference; The power supply control module instructs the drive motor (3) to change the output power to control the rotation speed of the centrifugal fan (4), thereby adjusting the driving force. When the driving force is greater than the gravity of the disc-shaped aircraft, the disc-shaped aircraft is in a lifting state; when the driving force is equal to the gravity of the disc-shaped aircraft, the disc-shaped aircraft is in a hovering state. When the driving force is less than the weight of the saucer-shaped aircraft, the saucer-shaped aircraft is in a descending state; The power supply control module instructs the guide grille (5) to rotate toward the target moving direction to change the incoming wind direction, and the driving force is decomposed into a vertical component and a horizontal component, wherein the vertical component is used to resist gravity, and the horizontal component is used to push the disc-shaped aircraft to move horizontally; when the driving force is greater than the gravity of the disc-shaped aircraft, the disc-shaped aircraft is in a lifting moving state; when the driving force is equal to the gravity of the disc-shaped aircraft, the disc-shaped aircraft is in a horizontal moving state; when the driving force is less than the gravity of the disc-shaped aircraft, the disc-shaped aircraft is in a diving moving state; The power supply control module instructs the nozzle grille (7) to rotate in the opposite direction of the target rotation direction to change the exhaust direction, and the driving force is decomposed into a vertical component and a rotational component, wherein the vertical component is used to resist gravity, and the rotational component is used to drive the disc-shaped aircraft to spin; when the driving force is greater than the gravity of the disc-shaped aircraft, the disc-shaped aircraft is in a lifting spin state; when the driving force is equal to the gravity of the disc-shaped aircraft, the disc-shaped aircraft is in a hovering spin state; when the driving force is less than the gravity of the disc-shaped aircraft, the disc-shaped aircraft is in a descending spin state.

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