68 results about "Multirotor" patented technology

There is disclosed a multirotor UAV in which electric motors are arranged to drive propellors under the control of an on-board flight controller. The UAV has a plurality of sensors and a first processor for providing sensor signals to the flight controller in normal mode of in-flight operation. The UAV has a three-dimensional depth scanner and a further data processor for processing the three-dimensional depth scanner, wherein the further data processor is selectively activated to process the three-dimensional depth scanner data in a second mode of in-flight operation when fling in close proximity to an external structure. The further data processor creates a three-dimensional map of the external structure for control of the flight of the UAV proximate thereto. The UAV can operate in a GPS-denied and / or compass-denied mode. One or more sensor can detect a profile of an external structure within a predetermined vicinity of the UAV. A depth sensor can detect a visible feature in the environment. The control system is operable to log the visible feature as reference point and to determine yaw readings for use by the flight controller relative to said reference point. The control system comprising can receive the outputs of the distance scanning sensor and the location determining system and can define a mapping boundary around a current position of the UAV. The mapping boundary is of a defined size that is smaller than the scanning range of the position scanning sensor. The data processor generates a map of any surfaces within the mapping boundary and the flight controller is arranged to output control instructions for control of the propulsive rotors based upon the map.

The invention provides a fuel-based, single-engine multirotor drone, wherein the drone comprises a body, a turboshaft engine to generate rotational movement, a plurality of rotors, a plurality of pulleys, a plurality of transmission belts, and a gearbox assembly. The gearbox assembly comprises a pair of coaxial counter-rotating gears which are coupled to a pair of coaxial counter-rotating shafts, wherein the rotational movement of the engine is transferred synchronously from the counter-rotating shafts of the gearbox to the plurality of the rotors through the plurality of pulleys and transmission belts.

Unmanned and remotely controlled airship constituted from system of multirotor combined with inflatable envelope. The airship may be lifted / powered by a power system comprising three or more rotors. In some embodiments, the airship may be constructed using rods, connectors, the main system / control box and the rotors. The airship system may have a systemic symmetry for weight distribution and flight control and may be, for example, a symmetric ellipsoid envelope / blimp.

The invention belongs to the technical field of multi-rotor unmanned aerial vehicle control, and particularly relates to a multi-rotor unmanned aerial vehicle self-adaptive feedforward control method based on a mesoscopic wind field model. Comprising the following steps: firstly, based on a relaxation time model of a lattice Boltzmann method, establishing a mapping relation between a Knudsen number and turbulence intensity and thermal noise intensity of a macroscopic wind field, and realizing parameterized representation of a mesoscopic wind field; then, constructing a mesoscopic wind field model by synthesizing a real-time wind field containing average wind, turbulent flow, gust and thermal noise components; then, calculating the wind resistance according to the predicted wind speed, designing a self-adaptive gain mechanism fusing a real-time tracking error, an error wind direction included angle and a historical error trend, and generating a dynamic feedforward control quantity; and finally, combining the feedforward control quantity with a feedback control quantity based on gravity compensation to form a comprehensive wind resistance control law. Starting from the mesoscale, the disturbance suppression capability and trajectory tracking precision of the unmanned aerial vehicle in complex environments such as strong wind and turbulent flow are enhanced.

This invention belongs to the field of unmanned aerial vehicle (UAV) control technology, and particularly relates to a feedforward control method for multi-rotor UAVs based on a dynamic cascaded spiking neural network (RCN). The method includes: S1: constructing a network model of the RCN based on pulse signals; S2: constructing a cost function of the RCN based on the network model and pulse errors; S3: solving for the weights of the RCN; S4: setting a preset similarity threshold and determining the learning rules for the dynamic cascaded structure based on the preset similarity threshold; S5: obtaining the output signal of the RCN according to the weights and the learning rules of the dynamic cascaded structure, and implementing feedforward control of the multi-rotor UAV based on the output signal. This invention improves the adaptability and robustness of multi-rotor UAVs in complex flight environments.

The invention discloses a coaxial main rotor-tiltable multi-slave rotor heterogeneous vertical take-off and landing layout, and relates to the technical field of vertical take-off and landing aircrafts, the coaxial main rotor-tiltable multi-slave rotor heterogeneous vertical take-off and landing layout comprises a fuselage, a fixed wing surface, a coaxial main rotor system and a vector slave rotor system; the vector slave rotor systems are divided into a front group and a rear group in the longitudinal direction and have independent tilting capacity; the method is characterized in that in a helicopter mode, a large-size coaxial main rotor specially optimized for hovering provides main lift force, and a vector slave rotor provides attitude control through tilting and differential speed; in the fixed wing mode, the coaxial main rotor stops rotating and is locked as an auxiliary wing surface, the fixed wing surface in the middle of the auxiliary fuselage provides lift force, and a vector is converted into horizontal from a rotor system to provide forward flying thrust / pull force; transition between the two modes is achieved by controlling the front slave rotor wing set and the rear slave rotor wing set to execute different-direction tilting, the pitching moment can be naturally balanced in the process, and it is ensured that conversion is stable. Unification of high hovering efficiency, high cruising speed and high reliability of the aircraft is realized.

1. Name of this design product: Multirotor manned aircraft concept airframe. 2. Purpose of this design: This design is for an aircraft concept. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

The present invention discloses a multi-rotor airspeed solution method, device and computer-readable storage medium, wherein the method comprises: establishing an airspeed solution mathematical model; defining a function f(V) according to the airspeed solution mathematical model in each solution cycle, and combining the real-time measured θ inclination angle and a x Acceleration, using the Newton iterative algorithm to solve the root of the equation f(V) = 0 in real time, as the real-time airspeed V. The present invention implements an airspeed calculation solution based on dynamic principles, fully utilizing dynamic principles and combining the unique control method of multi-rotor. Without adding hardware sensors, known attitude measurements and acceleration measurements are used as algorithm inputs, and the software algorithm calculates airspeed data with the required accuracy. This simplifies the hardware structure, reduces the risk of electrical failure, and saves manufacturing, debugging, and maintenance costs.

A four-point undercarriage is connected below a fuselage, a front small tower and a rear small tower are connected with a front rocker arm seat and a rear rocker arm seat respectively, a front rocker arm and a rear rocker arm are hinged to the front rocker arm seat and the rear rocker arm seat respectively, the upper edge of the front rocker arm is connected with a front large rotor, and the right edge of the front rocker arm is sequentially connected with a right front machine arm and a right front small rotor. The upper side of the rear rocker arm is connected with the rear large rotor wing, the right side of the rear rocker arm is connected with the right rear arm and the right rear small rotor wing, and the left side of the rear rocker arm is connected with the left rear arm and the left rear small rotor wing; the lift force difference between the right front small rotor and the left front small rotor enables the lift force of the right front small rotor and the lift force of the front large rotor to synchronously deflect leftwards or rightwards, and the lift force difference between the right rear small rotor and the left rear small rotor enables the lift force of the right rear small rotor and the lift force of the rear large rotor to synchronously deflect leftwards or rightwards. And the horizontal component torque of each rotor wing is superposed to drive steering, so that the course driving force is enhanced, and the flight platform has the advantage of strong wind resistance and is a universal flight platform.

This disclosure relates to the field of multirotor aircraft technology, specifically to a degradation control method, device, multirotor aircraft, and chip. The method includes: when a fault is detected in at least one of the multiple motors of the multirotor aircraft, acquiring the current original motion attitude control command vector and degrading it based on a preset degradation strategy; acquiring faulty motor information to update the position of the current reference control point; generating a degraded control allocation matrix based on the updated reference control point position; obtaining the thrust command vector of the normal motors on the multirotor aircraft based on the degraded motion attitude control command vector and the degraded control allocation matrix; and controlling the multirotor aircraft based on the thrust command vector. Therefore, after detecting a faulty motor, the stability and controllability of the aircraft are maximized, improving the attitude stability and controllability of the multirotor aircraft and thus avoiding serious consequences.

A multi-rotor aircraft with vertical and horizontal tail rotors is characterized in that an undercarriage is connected below a fuselage, a small wing-shaped platform, a medium-large motor and a medium-large rotor are sequentially connected above the gravity center of the fuselage, the fuselage on the right side of the small wing-shaped platform is connected with a right arm, and a right small motor mounting seat, a right small motor and a right small rotor are sequentially connected to the right end of the right arm; the portion, on the left side of the small wing-shaped platform, of the fuselage is connected with a left arm, a left small motor mounting base, a left small motor and a left small rotor are sequentially connected to the left end of the left arm, the rear portion of the fuselage is longitudinally connected with a rear arm, and a near-tail small motor mounting base, a near-tail small motor and a near-tail small rotor are sequentially connected to the middle section of the rear arm. The tail end small motor mounting seat, the tail end small motor and the tail end small rotor are sequentially connected to the rear end of the rear arm; the lift moment of the tail-end small rotor enables the rotation direction of the aircraft to be opposite to the reaction torque of the middle-large rotor enables the rotation direction of the aircraft, the lift change of the tail-end small rotor controls the course of the aircraft, and the aircraft has the advantage of being high in wind resistance and becomes a universal vertical lifting flight platform.

A rotorcraft with distributed propulsion system having the capability to transition between two configurations suitable for thrust borne VTOL (vertical take-off and landing) flight and partial wing borne airplane flight. The rotorcraft includes a fuselage, an empennage, a vertical stabilizer, a rudder, a pair of wings, a pair of flaps, a pair of canards, a pair of pylons, a pair of tiltable rotor booms and a plurality of rotors. The tiltable rotor booms are associated with an actuator to change collectively the direction of the rotor thrust vector with respect to the fuselage. The rotor can be open rotor or ducted rotor. The rotor booms oriented in the canted position is the first configuration suitable for partial wing borne flight and the rotor booms oriented in the horizontal position is the second configuration suitable for thrust borne flight.

The invention relates to a power transmission device of a high-speed multi-rotor aircraft, which belongs to the technical field of aircrafts, and is provided with a transmission worm and a transmission worm gear, when a transmission shaft rotates, the transmission worm is controlled to rotate, then the transmission worm gear in meshed connection with the transmission worm is driven to rotate, and finally the rotation of power paddles is realized. According to the scheme, the transmission shaft and the transmission assembly are integrated, when the transmission shaft rotates, the transmission assembly can be driven to rotate, on the premise that flight blades and power blades are controlled to rotate, the number of power systems is reduced, and the problem that according to an existing aircraft, due to the fact that any power motor is used for controlling rotation of the corresponding blade, the power system is damaged is solved. The problems that the number of power motors on the aircraft is large, the weight is too heavy, and finally the actual load of the aircraft is reduced are inevitably caused.

A right small rotor is connected to the upper portion of the right end of a right arm, a right large rotor is connected to the upper portion of the middle section of the right arm, a left small rotor is connected to the upper portion of the left end of a left arm, a left large rotor is connected to the upper portion of the middle section of the left arm, and a horizontal tail rotor is connected to the upper end of a vertical tail arm. The vertical right tail rotor wing is connected to the right end of the right horizontal tail machine arm, the vertical left tail rotor wing is connected to the left end of the left horizontal tail machine arm, the lifting force of the right small rotor wing, the right large rotor wing, the left small rotor wing and the left large rotor wing is upward, the lifting force of the horizontal tail rotor wings is downward, the lifting force of the vertical right tail rotor wing is leftward, and the lifting force of the vertical left tail rotor wing is rightward. The lift force differential motion of the vertical right tail rotor wing and the vertical left tail rotor wing causes torque differential motion to control the course of the aircraft; pitching, rolling and heading of the aircraft are controlled through torque changes, and the aircraft is suitable for being combined with a fixed wing to form a vertical take-off and landing fixed wing aircraft, has the advantages of being high in wind resistance and long in endurance time and becomes a universal vertical take-off and landing flight platform.

The invention relates to a large-scale firefighting system, particularly for forest fires, using a refractory ceramic tarp transported by several multirotor drones. This system allows for the rapid and effective covering of fire hotspots, thus limiting the oxygen supply and contributing to their extinguishment.

A system for controlling yaw during vertical take-off and landing (VTOL) operation of an airborne craft, where the airborne craft comprises multiple crossflow fan lift, propulsion and control elements (LPCEs) disposed around a central longitudinal fuselage in a compact quadrotor format comprises: means for vectoring the thrust from one or more of the LPCEs on one side of the craft from a substantially vertical direction as it will be arranged for VTOL operation to a more horizontal forward or rearward direction, generating a forward or rearward thrust component perpendicular to the LPCE rotor axis, and means for adjusting the rotor speed to compensate for the loss of vertical lift, where the forward thrust component from a front and / or rear Right Hand LPCE or rearward thrust component from a front and / or rear Left Hand LPCE produces a clockwise torque when viewed from above about the central vertical axis of the airborne craft and the rearward thrust component from a front and / or rear Right Hand LPCE or rearward thrust component from a front and / or rear Left Hand LPCE produces an anticlockwise torque when viewed from above about the central vertical axis of the airborne craft.

1. Name of the product in this design: Multirotor UAV flight control enclosure. 2. Purpose of this design: This design is used for positioning and controlling the flight attitude and movements of multi-rotor drones based on real-time dynamic carrier phase differential technology. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

1. Name of the product in this design: Unmanned Aerial Vehicle (Yunqi Phantom Wing Multirotor). 2. Purpose of this design: A multi-rotor unmanned aerial vehicle. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

This invention discloses a heterogeneous multi-rotor layout with a single main rotor and partially tilted multiple slave rotors, relating to the field of unmanned aerial vehicle (UAV) design technology. It includes a large main rotor providing primary lift and n control rotors arranged around it, with some control rotors mounted horizontally and the rest tilted at a fixed angle. During steady-state flight, the anti-torsional torque of the main rotor is statically balanced by the horizontal component torque of the pull force from the tilted slave rotors. Attitude control of the UAV is achieved by differentially adjusting the rotational speeds of the control rotors, including pitch control, roll control, and yaw control. Pitch and roll control are achieved by differentially adjusting the rotational speeds of symmetrically positioned control rotors, while yaw control is achieved by differentially adjusting the rotational speeds between the horizontally mounted and tilted control rotor groups. This invention achieves a fusion of high aerodynamic efficiency and easy operation, effectively improving the UAV's endurance and flight performance.

This invention discloses a tiltrotor dynamics simulation method based on multibody dynamics, belonging to the field of aircraft dynamics modeling and simulation technology. It constructs a modular system including an input module, an output module, a fuselage module, a propeller module, a coupling mechanism module, and a dynamics solution module. The fuselage module has six generalized coordinates. In the propeller module, each propeller is independently modeled as a rigid body. The coupling mechanism module models the active actuator hinge between the rotor and the fuselage through rigid connections. The Kane method is used to perform dynamic modeling of the system, forming the system's equations of motion by constructing partial velocity expressions and inertial force forms for each component. The equations of motion are then numerically integrated and solved using a solver in the Simulink environment. The advantages of this invention are: accurate description of gyrocoupling effects, support for rapid changes in multirotor configurations, provision of comprehensive component-level mechanical data output, and improved simulation fidelity and engineering application value.

A landing gear is connected to the lower portion of a fuselage, a right rotor wing is connected to the upper portion of the right end of a right arm, a right large rotor wing is connected to the upper portion of the middle section of the right arm, a left rotor wing is connected to the upper portion of the left end of a left arm, a left large rotor wing is connected to the upper portion of the middle section of the left arm, and a right inclined tail rotor wing is connected to the upper end of a right inclined tail arm. The left inclined tail rotor wing is connected to the upper end of the left inclined tail machine arm, lift force differential motion of the right inclined tail rotor wing and the left rotor wing controls transverse rolling of the aircraft, and lift force differential motion of the right inclined tail rotor wing, vertical component force of lift force of the left inclined tail rotor wing and lift force differential motion of the right inclined tail rotor wing and the left rotor wing controls pitching of the aircraft. The horizontal component of the lift force of the right inclined tail rotor and the horizontal component of the lift force of the left inclined tail rotor differentially control the course of the aircraft; pitching, rolling and heading of the aircraft are controlled through torque change, the heading control capacity is high, the aircraft is suitable for being combined with a fixed wing to form a vertical take-off and landing fixed wing aircraft, and the aircraft has the advantages of being high in wind resistance and long in endurance time and becomes a universal vertical take-off and landing flight platform.

The invention belongs to the technical field of aviation, and particularly relates to a multi-rotor aircraft which comprises a fuselage, a plurality of power units and an attitude control module, a supporting structure is arranged at the top of the fuselage, the power units are evenly distributed on the supporting structure at the top of the fuselage, and the attitude control module comprises at least one attitude sensor and at least one signal processing unit. The attitude sensor is in signal connection with the signal processing unit, the supporting structure is located in front of and behind the fuselage to form two parallel or nearly parallel planes, the plane located on the rear side of the fuselage is higher than the plane located on the front side of the fuselage, a vertical distance is formed, and the supporting structure comprises a structure supporting arm transversely arranged at the top of the fuselage. At least one power unit is arranged at the two ends of the structural supporting arm. According to the invention, low-cost manufacturing can be realized, accurate attitude control is realized by means of rapid rotation speed adjustment, wear is reduced, and maintenance difficulty is reduced. Even if part of the motors have faults, flight safety can be guaranteed, and operation can be achieved without professional flight training.

The invention discloses a tiltable coaxial main rotor-multi-slave rotor heterogeneous multi-rotor layout, and relates to the technical field of aircraft design, the tiltable coaxial main rotor-multi-slave rotor heterogeneous multi-rotor layout comprises a coaxial main rotor mounted on a fuselage through a tilting mechanism, and N slave rotors symmetrically distributed around the coaxial main rotor, the tilt angle of the thrust axis of the coaxial main rotor wing is changed by controlling the tilting mechanism, and switching of two working modes can be achieved: in a hovering mode and a low-speed mode, the coaxial main rotor wing provides main lift force, and the slave rotor wing achieves attitude control through differential control; in a forward flight or backward flight mode, the coaxial main rotor inclines to generate a horizontal thrust component to drive flight, and meanwhile, the slave rotor is responsible for attitude stabilization through differential control; according to the layout, the lift force generation function and the attitude control function are separated, the high aerodynamic efficiency of the main rotor and the quick response characteristic of the slave rotor are considered, the cruise resistance is reduced by keeping the horizontal attitude of the aircraft body, and the comprehensive performance of the aircraft is remarkably improved.

1. Name of the product in this design: Multirotor aircraft with enhanced wing lift. 2. Purpose of this design: for use in composite configuration aircraft. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: a 3D model.

The utility model relates to multirotor unmanned plane technical field discloses a kind of motor seat subassembly of coaxial multirotor unmanned plane, including motor seat main body, motor seat adapter, motor seat adapter baffle, motor seat plug and electric governing installation piece;The motor seat main body is equipped with sliding slot structure, for with motor seat adapter sliding fit.This scheme aims at the functional defects such as insufficient power, channel response delay and poor stability that traditional multi-axis unmanned plane faces when executing roll, pitch and other attitude adjustment, and structural complexity, high manufacturing cost, weak environmental adaptability and other structural disadvantages, and innovative solution is proposed.The scheme simplifies the motor installation form adjustment process of multirotor coaxial unmanned plane, improves the adaptability and economy of unmanned plane in diversified application and flight environment, effectively avoids the flight instability phenomenon caused by insufficient power or response delay, significantly enhances the reliability and flight stability of system as a whole.

This invention relates to an environmental interactive control method and system for tiltable multi-rotor UAVs, specifically for fully driven tiltable hexacopter UAVs used in contact inspection tasks. The algorithm can simultaneously control position and force, exhibiting accurate force tracking capabilities. Furthermore, it is equipped with an active disturbance rejection controller, providing strong anti-interference functionality and performing well even under wind disturbances along the pole direction. This invention fills the gaps in traditional UAVs' underactuation and inaccurate force detection, significantly improving the control precision of the UAV and enhancing its ability to perform contact inspection tasks, thus providing a new solution for contact-operation UAVs.

A controller for a multicopter is configured or programmed to perform an obstacle avoidance function to detect an obstacle based on a signal output from an obstacle sensor and to perform operations to avoid collision with the obstacle. The controller is configured or programmed to disable the obstacle avoidance function when a predetermined condition is satisfied, and enable the obstacle avoidance function when the predetermined condition is not satisfied. The predetermined condition includes at least one of a first condition that a tilt angle of a body is greater than a predetermined angle, a second condition that the unmanned aerial vehicle is in a takeoff operation or a landing operation, or a third condition that an altitude of the body is at or below a predetermined height.

To provide an aircraft (especially a multirotor) whose body shape reduces unwanted positive lift and drag in the aircraft's cruising attitude, thereby improving its cruising speed. [Solution] An aircraft comprising a plurality of rotor blades including propellers and motors, characterized in that it comprises a main body with an inverted wing shape. The main body has an angle of attack that does not generate lift or generates negative lift during cruising. The main body has a positive angle of attack of 12 degrees or less. Furthermore, it comprises a payload section capable of carrying payloads. The payload section is connected to the main body via a connecting section.