CN105752320A - Duct type unmanned aerial vehicle and control method thereof - Google Patents

Abstract

The invention discloses a duct type unmanned aerial vehicle and a control method thereof.The unmanned aerial vehicle comprises a main vehicle body (1), a first main duct (2), a second main duct (3), a third main duct (4) and a fourth main duct (5).The first main duct (2) and the second main duct (3) are connected with the first side of the main vehicle body (1).The third main duct (4) and the fourth main duct (5) are connected with the second side of the main vehicle body (1).The first main duct (2) and the fourth main duct (5) are arranged symmetric about the tail of the main vehicle body (1).The second main duct (3) and the third main duct (4) are arranged symmetric about the head of the main vehicle body (1).The unmanned aerial vehicle can run amphibiously on land and in air, so that the unmanned aerial vehicle stably flies in multiple forms to pass through multiple barriers, space of a power system is greatly saved through a duct type structure, large space is vacated for carrying of the unmanned aerial vehicle, and compared with a traditional multi-rotor-wing unmanned aerial vehicle, the duct type unmanned aerial vehicle is safer and more reliable.

Description

Duct type unmanned aerial vehicle and control method thereof

Technical Field

The invention relates to the field of unmanned aerial vehicles, in particular to a ducted unmanned aerial vehicle and a control method thereof.

Background

In the prior art, in recent years, an unmanned aerial vehicle obtains more and more extensive application and rapid development in the military and civil fields due to the distinct technical characteristics, particularly has wide requirements in the fields of agricultural plant protection, military reconnaissance, environmental anomaly detection, disaster relief and emergency rescue, electric power inspection, mapping and modeling, aerial photography, entertainment and the like, represents an important development direction of future aircrafts, and particularly emerges a plurality of small-sized multi-shaft rotor unmanned aerial vehicles with distinct characteristics in nearly five years.

From a technical point of view, a drone can be divided into: unmanned helicopter, unmanned fixed wing aircraft, unmanned multi-rotor aircraft, unmanned airship, unmanned umbrella wing aircraft, unmanned ducted aircraft and the like

In recent years, the multi-rotor unmanned aerial vehicle which is particularly popular has greater potential safety hazard, and people are often injured or even disabled by the propellers of the multi-rotor unmanned aerial vehicle due to improper operation or inexperience; meanwhile, the whole set of power system of the propeller occupies most of the space of the multi-rotor unmanned aerial vehicle, so that the carrying platform of the multi-rotor unmanned aerial vehicle is small in area; meanwhile, the speed of the multi-rotor unmanned aerial vehicle flying due to the structural characteristics of the multi-rotor unmanned aerial vehicle is limited to a certain extent. The fixed wing unmanned aerial vehicle has the characteristic that the fixed wing unmanned aerial vehicle can fly at a high speed, but the fixed wing unmanned aerial vehicle cannot vertically take off and land, so that the fixed wing unmanned aerial vehicle needs a larger field for taking off and landing, and cannot horizontally hover, so that the fixed wing unmanned aerial vehicle also has limitations in certain application occasions.

The ducted aircraft has the advantages of common fixed-wing aircrafts, helicopters and multi-rotor aircrafts, and plays an important role in the fields of military and civil aviation. The rotor blades of the existing multi-rotor unmanned aerial vehicle and the traditional unmanned helicopter are exposed to cause the problems of poor safety and high noise, the flight speed of the multi-rotor unmanned aerial vehicle is low, the problem of vertical (inclined) stable flight of the multi-rotor unmanned aerial vehicle can not be solved, the problem of overlarge space occupied by a power system of the multi-rotor unmanned aerial vehicle is solved, and the problem of hovering of the fixed-wing unmanned aerial vehicle at a fixed point can not be solved

Disclosure of Invention

The invention solves the technical problem of providing a ducted unmanned aerial vehicle and a control method thereof, which can realize amphibious movement on land and flying in the air and have the capability of multi-form stable flying and hovering.

A ducted drone, comprising:

a main body of the body;

a first main duct and a second main duct connected to a first side of the fuselage body;

a third main duct and a fourth main duct connected to a second side of the fuselage body; the first main duct and the fourth main duct are symmetrically arranged relative to the tail of the fuselage body, and the second main duct and the third main duct are symmetrically arranged relative to the head of the fuselage body;

a front undercarriage is arranged below the head of the machine body main body, and a rear undercarriage is arranged below the tail of the machine body main body;

the first main duct, the second main duct, the third main duct and the fourth main duct are all internally provided with a propeller and an engine driving the propeller to rotate.

The invention also discloses a control method of the ducted unmanned aerial vehicle, which comprises the following steps:

acquiring a depth image of the current environment of the unmanned aerial vehicle, wherein the depth image comprises cavity information in front of the unmanned aerial vehicle for the unmanned aerial vehicle to fly over;

acquiring the body space information of a current body main body, a first main duct, a second main duct, a third main duct and a fourth main duct of the unmanned aerial vehicle;

when the fuselage space represented by the fuselage space information can pass through the cavity space represented by the cavity information, controlling a first main duct and a second main duct connected to a first side of the fuselage main body and controlling a third main duct and a fourth main duct connected to a second side of the fuselage main body to pass through the cavity in a preset posture and a preset track;

the first main duct and the fourth main duct are symmetrically arranged relative to the tail of the fuselage body, and the second main duct and the third main duct are symmetrically arranged relative to the head of the fuselage body; a front undercarriage is arranged below the head of the machine body main body, and a rear undercarriage is arranged below the tail of the machine body main body; the first main duct, the second main duct, the third main duct and the fourth main duct are all internally provided with a propeller and an engine driving the propeller to rotate.

The invention has the beneficial effects that: the invention can run amphibious on land and in the air, the carrying capacity is large, the efficiency is high, the ducted structure is adopted, the space of a large amount of power systems is saved, and a large space is vacated for the carrying of the unmanned aerial vehicle; compared with the traditional multi-rotor unmanned aerial vehicle, the unmanned aerial vehicle is safer and more reliable by adopting a duct type structure; but four ducts rotate independently for unmanned aerial vehicle can adapt to multiple complex environment, makes the fuselage not only can fly at the horizontality, also can keep long-time steady state flight at vertical state and tilt state, avoids the complex obstacle.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only one embodiment of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a perspective view of the drone of the present invention;

fig. 2 is a schematic structural view of the propeller of the unmanned aerial vehicle of the present invention;

FIG. 3 is a schematic diagram of the unmanned aerial vehicle of the present invention traveling at high speed on the ground;

fig. 4 is a schematic view of the unmanned aerial vehicle flying stably and vertically in the air to avoid longitudinal obstacles;

fig. 5 is a schematic view of the unmanned aerial vehicle of the present invention when encountering a leaning obstacle.

FIG. 6 is a schematic view of a shock absorbing bottom wheel.

Detailed Description

The following embodiments of the present invention will be further described with reference to the drawings and examples, which are only used to more clearly illustrate the technical solutions of the present invention, and should not be taken as limiting the scope of the present invention.

As shown in fig. 1 to 6, schematic views of a drone according to an embodiment of the present invention include:

a body main body 1;

a first main duct 2 and a second main duct 3 connected to a first side of the fuselage body 1;

a third main duct 4 and a fourth main duct 5 connected to a second side of the fuselage body 1; wherein the first main duct 2 and the fourth main duct 5 are symmetrically arranged with respect to the tail of the fuselage body 1, and the second main duct 3 and the third main duct 4 are symmetrically arranged with respect to the head of the fuselage body 1;

a front landing gear 6 is arranged below the head of the fuselage main body 1, and a rear landing gear is arranged below the tail of the fuselage main body 1;

the first main duct 2, the second main duct 3, the third main duct 4 and the fourth main duct 5 are all internally provided with a propeller and an engine driving the propeller to rotate.

A first main duct 2 is rotatably connected with a first side of a main body 1 of a machine body through a first duct direction control steering engine A;

the second main duct 3 is rotatably connected with the first side of the machine body main body 1 through a second duct direction control steering engine B;

the third main duct 4 is rotatably connected with the second side of the machine body main body 1 through a third duct direction control steering engine C;

and the fourth main duct 5 is rotatably connected with the second side of the machine body main body 1 through a fourth duct direction control steering engine D.

The invention can run amphibious on land and in the air, the carrying capacity is large, the efficiency is high, the ducted structure is adopted, the space of a large amount of power systems is saved, and a large space is vacated for the carrying of the unmanned aerial vehicle; compared with the traditional multi-rotor unmanned aerial vehicle, the unmanned aerial vehicle is safer and more reliable by adopting a duct type structure; but four ducts rotate independently for unmanned aerial vehicle can adapt to multiple complex environment, makes the fuselage not only can fly at the horizontality, also can keep long-time steady state flight at vertical state and tilt state.

The first duct direction control steering engine A is rotatably connected with a first side of the machine body main body 1 through a first steering wheel;

the second duct direction control steering engine B is rotatably connected with the first side of the machine body main body 1 through a second rudder disc;

the third duct direction control steering engine C is rotatably connected with the second side of the machine body main body 1 through a third steering wheel;

and the fourth duct direction control steering engine D is rotatably connected with the second side of the machine body main body 1 through a fourth rudder disc.

The nose landing gear of the present invention includes: a first front bottom wheel 7 and a second front bottom wheel 8; wherein,

the first front bottom wheel is rotationally connected with the machine body main body 1;

the second front bottom wheel is rotatably connected with the machine body main body 1.

The head of the machine body main body 1 is also fixedly connected with a falling frame steering engine E;

and the undercarriage steering engine E is rotationally connected with the first front bottom wheel 7 and the second front bottom wheel 8 through a rudder plate.

The rear landing gear of the present invention includes: and the rear bottom wheel is fixedly connected with the tail part of the machine body main body 1.

The first front bottom wheel, the second front bottom wheel and the rear bottom wheel are provided with damping parts. FIG. 6 is a schematic view of a shock absorbing bottom wheel with two boxes indicating the location of the shock absorbing member.

The aircraft body main body 1 is also provided with a central flight control computer 9, wherein the central flight control computer 9 is electrically connected with a first duct direction control steering engine and a first engine 13 of the first main duct 2, a second duct direction control steering engine and a second engine 14 of the second main duct 3, a third duct direction control steering engine and a third engine 15 of the third main duct 4, a fourth duct direction control steering engine and a fourth engine 16 of the fourth main duct 5 and the landing gear steering engine E;

the central flight control computer controls the machine body to be in a hovering state when the rotating speeds of the first engine, the second engine, the third engine and the fourth engine are the same;

the central flight control computer controls the rotating speeds of the first engine and the second engine to be the same, and when the rotating speeds of the first engine and the second engine are different from the rotating speeds of the third engine and the fourth engine, the machine body main body is in a roll motion state, wherein the rotating speeds of the third engine and the fourth engine are the same;

the central flight control computer controls the rotating speeds of the second engine and the third engine to be the same, and when the rotating speeds of the second engine and the third engine are different from the rotating speeds of the first engine and the fourth engine, the fuselage main body is in a pitching motion state, wherein the rotating speeds of the first engine and the fourth engine are the same;

and the central flight control computer controls the rotating speeds of the first engine and the third engine to be the same and the rotating speeds of the second engine and the fourth engine to be different, and the machine body main body is in a spinning motion state, wherein the rotating speeds of the second engine and the fourth engine are the same.

The unmanned aerial vehicle of the invention also comprises: a laser scanner, a sensor and/or an image pickup device, which are disposed on the body main body 1 and electrically connected to the central flight control computer, are represented by reference numeral 10 in the figure.

The rotating directions of the propellers in the first main duct 2 and the third main duct 4 are both the first direction;

the rotation directions of the propellers inside the second main duct 3 and the fourth main duct 5 are both the second direction;

wherein the first direction is opposite to the second direction. As shown in fig. 2, the propeller includes a forward propeller 11 and a reverse propeller 12. The first main duct 2 and the third main duct 4 adopt a forward propeller 11, and the engines 13 and 15 rotate anticlockwise; the second main duct 3 and the fourth main duct 5 adopt reverse propellers 12, and the engines 14 and 16 rotate clockwise, so that the conservation of angular momentum and the control of steering of the unmanned aerial vehicle in the flight process are ensured.

As shown in fig. 3, which is a schematic diagram of the unmanned aerial vehicle of the present invention running at high speed on the ground, the four main ducts and the engine will rotate to the horizontal direction under the driving of the direction control steering engine. Promote unmanned aerial vehicle to advance at high speed on ground. The four direction control steering engines can also independently adjust the included angle between the duct and the machine body according to actual road conditions, and the most efficient advancing is realized.

As shown in fig. 4, which is a schematic view of the unmanned aerial vehicle flying stably and vertically in the air to avoid longitudinal obstacles, when the unmanned aerial vehicle flies in the air, the four main ducts and the engine rotate to the vertical direction under the driving of the direction control steering engine, so as to push the unmanned aerial vehicle to fly in the air. The air flight of the unmanned aerial vehicle adopts a differential control principle, and under the windless condition, when the rotating speeds of main duct engines 13, 14, 15 and 16 of the unmanned aerial vehicle are consistent, the unmanned aerial vehicle is in a hovering state; when the main ducted engines 13, 14 of the unmanned aerial vehicle and the main ducted engines 15, 16 have different rotation speeds, the unmanned aerial vehicle will roll (fly left or right); when the main ducted engines 14, 15 of the drone and the main ducted engines 13, 16 are at different speeds, the drone will pitch (fly forward or backward); when the main ducted engines 13, 15 of the drone are not at the same speed as the main ducted engines 14, 16, the drone will spin.

As shown in fig. 5, which is a schematic diagram of the unmanned aerial vehicle of the present invention when encountering an oblique obstacle, when encountering an obstacle during the flight of the unmanned aerial vehicle in the air, the unmanned aerial vehicle can obtain information of the obstacle in the flight direction and take obstacle avoidance measures after the unmanned aerial vehicle is identified and processed by the central flight control computer 9 according to the image information captured by the camera in real time, and the unmanned aerial vehicle can control the rotation of the steering engine A, B, C, D in four directions according to the form of the obstacle, so as to change the flight attitude of the unmanned aerial vehicle and smoothly pass through the obstacle, in addition to the conventional detour. For example, when the unmanned aerial vehicle encounters a longitudinal obstacle similar to a railing, the direction control steering engine rotates by an angle, so that the duct is parallel to the body of the unmanned aerial vehicle, and the flight attitude of the unmanned aerial vehicle can be kept stable to be in a vertical state and can pass through the obstacle.

When unmanned aerial vehicle need carry out high-speed flight, unmanned aerial vehicle can keep under the horizontally minimum resistance condition at the fuselage, through the direction of adjusting four ducts, makes to produce certain contained angle between them and the fuselage to make unmanned aerial vehicle produce certain component force in the horizontal direction, promote the high-speed flight of unmanned aerial vehicle.

The invention also provides a control method of the ducted unmanned aerial vehicle, which comprises the following steps:

acquiring a depth image of the current environment of the unmanned aerial vehicle, wherein the depth image comprises cavity information in front of the unmanned aerial vehicle for the unmanned aerial vehicle to fly over;

acquiring the body space information of a current body main body 1, a first main duct 2, a second main duct 3, a third main duct 4 and a fourth main duct 5 of the unmanned aerial vehicle;

when the fuselage space represented by the fuselage space information can pass through the cavity space represented by the cavity information, controlling a first main duct 2 and a second main duct 3 connected to a first side of the fuselage body 1 and controlling a third main duct 4 and a fourth main duct 5 connected to a second side of the fuselage body 1 to pass through the cavity in a predetermined attitude and a predetermined trajectory;

wherein the first main duct 2 and the fourth main duct 5 are symmetrically arranged with respect to the tail of the fuselage body 1, and the second main duct 3 and the third main duct 4 are symmetrically arranged with respect to the head of the fuselage body 1; a front landing gear is arranged below the head of the machine body main body 1, and a rear landing gear is arranged below the tail of the machine body main body 1; the first main duct 2, the second main duct 3, the third main duct 4 and the fourth main duct 5 are all internally provided with a propeller and an engine driving the propeller to rotate.

Wherein the predetermined gesture is obtained by:

determining an included angle alpha between the main body of the unmanned aerial vehicle body and the horizontal plane when the main body obliquely flies through the cavity information;

determining the preset posture according to the included angle alpha;

wherein alpha is more than or equal to 0 and less than or equal to pi/2.

Wherein the predetermined trajectory is obtained by:

acquiring a roll angle, a pitch angle and a yaw angle of the fuselage main body;

obtaining the rotating speed of the engine in the first main duct 2, the second main duct 3, the third main duct 4 and the fourth main duct 5 according to the roll angle, the pitch angle and the yaw angle;

according to the rotating speeds of the engines in the first main duct 2, the second main duct 3, the third main duct 4 and the fourth main duct 5, the rotating force and torque of each engine are obtained;

and obtaining the preset flying track of the fuselage main body according to the force and the moment of each engine.

Wherein the description of the control method is based on a body coordinate system and a geodetic coordinate system, and the X of the body coordinate system_fThe shaft is the axis where the head and the tail of the main body of the machine body are located, and the direction of the shaft points to the machine head from the machine tail; y of the body coordinate system_fThe shaft is an axis where the left side and the right side of the main body of the machine body are located, and the direction of the shaft points to the right side of the machine body from the left side of the machine body; z of the body coordinate system_fThe shaft is an axial line vertical to the plane of the machine body, and the direction of the shaft is from the top of the machine body to the bottom of the machine body. X of the geodetic coordinate system_dThe axis points horizontally to true north; y of the geodetic coordinate system_dThe axis points horizontally to the true east; z of the geodetic coordinate system_dThe axis is the gravitational acceleration direction.

The roll angle phi of the main body is X in the coordinate system of the rotating main body_fAxial time, Z_fThe axis being the longitudinal axis X of the fuselage body_fThe included angle between the vertical planes;

pitch angle θ: rotation Y_fAxis, X_fThe included angle between the shaft and the horizontal plane is positive upwards;

yaw angle ψ: rotation Z_fAxis, X_fProjection of axis in horizontal plane and X_dThe included angle therebetween is positive to the right.

Wherein, the transformation matrix from the ground to the fuselage body is as follows:

$R_{d2f}=\left[\begin{array}{ccc}\cos \left(\mathrm{\θ}\right)*\cos \left(\mathrm{\ψ}\right)& \cos \left(\mathrm{\θ}\right)\sin \left(\mathrm{\ψ}\right)& -\sin \left(\mathrm{\θ}\right)\\ \cos \left(\mathrm{\ψ}\right)\sin \left(\mathrm{\φ}\right)\sin \left(\mathrm{\θ}\right)-\cos \left(\mathrm{\φ}\right)\sin \left(\mathrm{\ψ}\right)& \cos \left(\mathrm{\φ}\right)\cos \left(\mathrm{\ψ}\right)+\sin \left(\mathrm{\φ}\right)\sin \left(\mathrm{\θ}\right)\sin \left(\mathrm{\ψ}\right)& \cos \left(\mathrm{\θ}\right)\sin \left(\mathrm{\φ}\right)\\ \sin \left(\mathrm{\φ}\right)\sin \left(\mathrm{\ψ}\right)+\cos \left(\mathrm{\φ}\right)\cos \left(\mathrm{\ψ}\right)\sin \left(\mathrm{\θ}\right)& \cos \left(\mathrm{\φ}\right)\sin \left(\mathrm{\θ}\right)\sin \left(\mathrm{\ψ}\right)-\cos \left(\mathrm{\ψ}\right)\sin \left(\mathrm{\φ}\right)& \cos \left(\mathrm{\φ}\right)\cos \left(\mathrm{\θ}\right)\end{array}\right]$

the rate of change of euler angle is noted as:

the three angular velocities of the coordinate system where the main body of the machine body is positioned are respectively X around the machine body_fAxis, Y_fAxis, Z_fThe angular velocities of the shaft rotation are denoted as p, q, r;

therefore, the transformation relationship between the euler angle change rate and the body angular velocity is as follows:

$\left[\begin{array}{c}p\\ q\\ r\end{array}\right]=\left[\begin{array}{ccc}cos\left(\mathrm{\θ}\right)*cos\left(\mathrm{\ψ}\right)& sin\left(\mathrm{\ψ}\right)& 0\\ -\cos \left(\mathrm{\φ}\right)sin\left(\mathrm{\ψ}\right)& cos\left(\mathrm{\ψ}\right)& 1\\ \sin \left(\mathrm{\θ}\right)& 0& 0\end{array}\right]\left[\begin{array}{c}\stackrel{\·}{\mathrm{\φ}}\\ \stackrel{\·}{\mathrm{\θ}}\\ \stackrel{\·}{\mathrm{\ψ}}\end{array}\right]$

wherein, the step of obtaining the rotational force and torque of each engine according to the rotational speed of the engine inside the first main duct 2, the second main duct 3, the third main duct 4, and the fourth main duct 5 includes:

the lift force generated by the four ducted engines is obtained as F_iWhere i ═ 1,2,3,4, and-Z of the fuselage body of the drone_fThe direction is at an angle of α degrees;

wherein, the lift force generated by the ducted motorWherein k is_fIs the rotation coefficient of the motor, omega_iIs the engine speed;

the rotation torque generated by the rotation of the propeller in the duct is M_iWherein i is 1,2,3,4, the relationship between the rotating speed and the torque of the engine is as follows:

$M_i=k_M{\mathrm{\ω}}_i^2$

wherein k is_MIs a coefficient of the motor rotation torque.

Wherein the step of obtaining a predetermined trajectory of the flight of the fuselage body from the forces and moments of said respective engines comprises

Unmanned aerial vehicle satisfies newton's second law in the motion process, has:

$mr=\left[\begin{array}{c}0\\ 0\\ mg\end{array}\right]+R_{f2d}\left[\begin{array}{c}0\\ 0\\ \underset{1}{\overset{4}{\Σ}}{F}_i\end{array}\right]$

r represents the unmanned aerial vehicle position vector;

the motion trail of the ducted amphibious unmanned aerial vehicle in the flying process is obtained through the following formula:

$I\left[\begin{array}{c}\stackrel{\·}{p}\\ \stackrel{\·}{q}\\ \stackrel{\·}{r}\end{array}\right]=\left[\begin{array}{c}Lcos\mathrm{\α}(F_2-F_4)\\ Lcos\mathrm{\α}(F_1-F_3)\\ M_2+M_4-M_1-M_3\end{array}\right]-\left[\begin{array}{c}p\\ q\\ r\end{array}\right]\×I\left[\begin{array}{c}p\\ q\\ r\end{array}\right]$

wherein, L is the distance from the center of the duct to the center of mass of the aircraft, and I is an inertia matrix.

When the unmanned aerial vehicle encounters an obstacle in the air flight process, the unmanned aerial vehicle can acquire the information of the obstacle in the flight direction and adopt obstacle avoidance measures after the information is identified and processed by the central flight control computer 9 according to the image information captured by the camera in real time, and besides the traditional detour of the obstacle avoidance measures, the unmanned aerial vehicle can change the flight attitude of the unmanned aerial vehicle and smoothly pass through the obstacle through the rotation of the four rotary steering engines A, B, C, D according to the form of the obstacle. For example, when the unmanned aerial vehicle meets a longitudinal obstacle similar to a railing, the steering engine is rotated to rotate the angle, so that the main duct is parallel to the main body of the unmanned aerial vehicle body, the flying posture of the unmanned aerial vehicle can be kept stable to be in a vertical state, and the unmanned aerial vehicle can pass through the obstacle.

When the unmanned aerial vehicle needs to fly at a high speed, the unmanned aerial vehicle can generate a certain included angle by adjusting the four main ducts and the body under the condition that the body keeps horizontal minimum resistance, so that the unmanned aerial vehicle generates a certain component force in the horizontal direction to push the unmanned aerial vehicle to fly at a high speed.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (12)

1. A ducted unmanned aerial vehicle, comprising:

a body main body (1);

a first main duct (2) and a second main duct (3) connected to a first side of the fuselage body (1);

a third main duct (4) and a fourth main duct (5) connected to a second side of the fuselage body (1); wherein the first main duct (2) and the fourth main duct (5) are symmetrically arranged with respect to the tail of the fuselage body (1), and the second main duct (3) and the third main duct (4) are symmetrically arranged with respect to the head of the fuselage body (1);

a front landing gear is arranged below the head of the machine body main body (1), and a rear landing gear is arranged below the tail of the machine body main body (1);

the first main duct (2), the second main duct (3), the third main duct (4) and the fourth main duct (5) are internally provided with a propeller and an engine driving the propeller to rotate.

2. Ducted drone according to claim 1,

the first main duct (2) is rotatably connected with the first side of the machine body main body (1) through a first duct direction control steering engine;

the second main duct (3) is rotatably connected with the first side of the machine body main body (1) through a second duct direction control steering engine;

the third main duct (4) is rotationally connected with the second side of the machine body main body (1) through a third duct direction control steering engine;

and the fourth main duct (5) is rotatably connected with the second side of the machine body main body (1) through a fourth duct direction control steering engine.

3. Ducted drone according to claim 2,

the first duct direction control steering engine is rotatably connected with the first side of the machine body main body (1) through a first rudder disc;

the second duct direction control steering engine is rotatably connected with the first side of the machine body main body (1) through a second rudder disc;

the third duct direction control steering engine is rotatably connected with the second side of the machine body main body (1) through a third rudder disc;

and the fourth duct direction control steering engine is rotatably connected with the second side of the machine body main body (1) through a fourth rudder disc.

4. The ducted drone of claim 2, wherein the nose landing gear includes: a first front bottom wheel and a second front bottom wheel; wherein,

the first front bottom wheel is rotationally connected with the machine body (1);

the second front bottom wheel is rotationally connected with the machine body main body (1);

the head of the machine body main body (1) is also fixedly connected with a falling frame steering engine;

the undercarriage steering engine is rotationally connected with the first front bottom wheel and the second front bottom wheel through a rudder disc;

the rear landing gear includes: the rear bottom wheel is fixedly connected with the tail part of the machine body main body (1);

and the first front bottom wheel, the second front bottom wheel and the rear bottom wheel are provided with damping parts.

5. Ducted unmanned aerial vehicle according to claim 4, wherein the fuselage body (1) is further provided with a central flight control computer;

the central flight control computer is electrically connected with a first duct direction control steering engine and a first engine of the first main duct (2), a second duct direction control steering engine and a second engine of the second main duct (3), a third duct direction control steering engine and a third engine of the third main duct (4), a fourth duct direction control steering engine and a fourth engine of the fourth main duct (5) and the undercarriage steering engine;

the central flight control computer controls the machine body to be in a hovering state when the rotating speeds of the first engine, the second engine, the third engine and the fourth engine are the same;

the central flight control computer controls the rotating speeds of the first engine and the second engine to be the same, and when the rotating speeds of the first engine and the second engine are different from the rotating speeds of the third engine and the fourth engine, the machine body main body is in a roll motion state, wherein the rotating speeds of the third engine and the fourth engine are the same;

the central flight control computer controls the rotating speeds of the second engine and the third engine to be the same, and when the rotating speeds of the second engine and the third engine are different from the rotating speeds of the first engine and the fourth engine, the fuselage main body is in a pitching motion state, wherein the rotating speeds of the first engine and the fourth engine are the same;

the central flight control computer controls the rotating speeds of the first engine and the third engine to be the same and the rotating speeds of the second engine and the fourth engine to be different, and the machine body main body is in a spinning motion state, wherein the rotating speeds of the second engine and the fourth engine are the same;

duct formula unmanned aerial vehicle still includes: the laser scanner, the sensor and/or the camera equipment are arranged on the machine body main body (1) and are electrically connected with the central flight control computer.

6. Ducted drone according to claim 1,

the rotating directions of the propellers in the first main duct (2) and the third main duct (4) are both the first direction;

the rotating directions of the propellers in the second main duct (3) and the fourth main duct (5) are both the second direction;

wherein the first direction is opposite to the second direction.

7. A control method of a ducted unmanned aerial vehicle is characterized by comprising the following steps:

acquiring a depth image of the current environment of the unmanned aerial vehicle, wherein the depth image comprises cavity information in front of the unmanned aerial vehicle for the unmanned aerial vehicle to fly over;

obtaining the body space information of a current body main body (1), a first main duct (2), a second main duct (3), a third main duct (4) and a fourth main duct (5) of the unmanned aerial vehicle;

when the fuselage space represented by the fuselage space information can pass through the cavity space represented by the cavity information, controlling a first main duct (2) and a second main duct (3) connected with a first side of the fuselage main body (1) and controlling a third main duct (4) and a fourth main duct (5) connected with a second side of the fuselage main body (1) to pass through the cavity at a preset attitude and a preset track;

wherein the first main duct (2) and the fourth main duct (5) are symmetrically arranged with respect to the tail of the fuselage body (1), and the second main duct (3) and the third main duct (4) are symmetrically arranged with respect to the head of the fuselage body (1); a front landing gear is arranged below the head of the machine body main body (1), and a rear landing gear is arranged below the tail of the machine body main body (1); the first main duct (2), the second main duct (3), the third main duct (4) and the fourth main duct (5) are internally provided with a propeller and an engine driving the propeller to rotate.

8. The control method of a ducted drone according to claim 7, characterised in that said predetermined attitude is obtained by:

determining an included angle alpha between the main body of the unmanned aerial vehicle body and the horizontal plane when the main body of the unmanned aerial vehicle flies obliquely;

determining the preset posture according to the included angle alpha;

wherein alpha is more than or equal to 0 and less than or equal to pi/2.

9. The control method of a ducted drone according to claim 7, characterised in that said predetermined trajectory is obtained by:

acquiring a roll angle, a pitch angle and a yaw angle of the fuselage main body;

obtaining the rotating speed of the engine in the first main duct (2), the second main duct (3), the third main duct (4) and the fourth main duct (5) according to the roll angle, the pitch angle and the yaw angle;

according to the rotating speeds of the engines in the first main duct (2), the second main duct (3), the third main duct (4) and the fourth main duct (5), the rotating force and torque of each engine are obtained;

and obtaining the preset flying track of the fuselage main body according to the force and the moment of each engine.

10. The method of controlling a ducted drone according to claim 9,

x of the body coordinate system_fThe shaft is the axis where the head and the tail of the main body of the machine body are located, and the direction of the shaft points to the machine head from the machine tail; y of the body coordinate system_fThe shaft is an axis where the left side and the right side of the main body of the machine body are located, and the direction of the shaft points to the right side of the machine body from the left side of the machine body; z of the body coordinate system_fThe axis is perpendicular to the plane of the machine body, the direction is from the top of the machine body to the bottom of the machine body, and the X of the geodetic coordinate system_dThe axis points horizontally to true north; y of the geodetic coordinate system_dThe axis points horizontally to the true east; z of the geodetic coordinate system_dThe axis is the direction of gravitational acceleration;

the roll angle phi of the main body is X in the coordinate system of the rotating main body_fAxial time, Z_fThe axis being the longitudinal axis X of the fuselage body_fThe included angle between the vertical planes;

pitch angle θ: rotation Y_fAxis, X_fThe included angle between the shaft and the horizontal plane is positive upwards;

yaw angle ψ: rotation Z_fAxis, X_fProjection of axis in horizontal plane and X_dThe included angle between the two is positive rightwards;

wherein, the transformation matrix from the ground to the fuselage body is as follows:

$R_{d2f}=\left[\begin{array}{ccc}\cos \left(\mathrm{\θ}\right)*\cos \left(\mathrm{\ψ}\right)& \cos \left(\mathrm{\θ}\right)\sin \left(\mathrm{\ψ}\right)& -\sin \left(\mathrm{\θ}\right)\\ \cos \left(\mathrm{\ψ}\right)\sin \left(\mathrm{\φ}\right)\sin \left(\mathrm{\θ}\right)-\cos \left(\mathrm{\φ}\right)\sin \left(\mathrm{\ψ}\right)& \cos \left(\mathrm{\φ}\right)\cos \left(\mathrm{\ψ}\right)+\sin \left(\mathrm{\φ}\right)\sin \left(\mathrm{\θ}\right)\sin \left(\mathrm{\ψ}\right)& \cos \left(\mathrm{\θ}\right)\sin \left(\mathrm{\φ}\right)\\ \sin \left(\mathrm{\φ}\right)\sin \left(\mathrm{\ψ}\right)+\cos \left(\mathrm{\φ}\right)\cos \left(\mathrm{\ψ}\right)\sin \left(\mathrm{\θ}\right)& \cos \left(\mathrm{\φ}\right)\sin \left(\mathrm{\θ}\right)\sin \left(\mathrm{\ψ}\right)-\cos \left(\mathrm{\ψ}\right)\sin \left(\mathrm{\φ}\right)& \cos \left(\mathrm{\φ}\right)\cos \left(\mathrm{\θ}\right)\end{array}\right]$

the rate of change of euler angle is noted as:

the three angular velocities of the coordinate system where the main body of the machine body is positioned are respectively X around the machine body_fAxis, Y_fAxis, Z_fThe angular velocities of the shaft rotation are denoted as p, q, r;

therefore, the transformation relationship between the euler angle change rate and the body angular velocity is as follows:

$\left[\begin{array}{c}p\\ q\\ r\end{array}\right]=\left[\begin{array}{ccc}cos\left(\mathrm{\θ}\right)*cos\left(\mathrm{\ψ}\right)& sin\left(\mathrm{\ψ}\right)& 0\\ -cos\left(\mathrm{\φ}\right)sin\left(\mathrm{\ψ}\right)& cos\left(\mathrm{\ψ}\right)& 1\\ \sin \left(\mathrm{\θ}\right)& 0& 0\end{array}\right]\left[\begin{array}{c}\stackrel{\·}{\mathrm{\φ}}\\ \stackrel{\·}{\mathrm{\θ}}\\ \stackrel{\·}{\mathrm{\ψ}}\end{array}\right]$

11. the method of controlling a ducted drone according to claim 10,

the step of obtaining the rotating force and torque of each engine according to the rotating speed of the engine in the first main duct (2), the second main duct (3), the third main duct (4) and the fourth main duct (5) comprises the following steps:

the lift force generated by the four ducted engines is obtained as F_iWhere i ═ 1,2,3,4, and-Z of the fuselage body of the drone_fThe direction is at an angle of α degrees;

wherein, the lift force generated by the ducted motorWherein k is_fIs the rotation coefficient of the motor, omega_iIs the engine speed;

the rotation torque generated by the rotation of the propeller in the duct is M_iWherein i is 1,2,3,4, the relationship between the rotating speed and the torque of the engine is as follows:

$M_i=k_M{\mathrm{\ω}}_i^2$

wherein k is_MIs a coefficient of the motor rotation torque.

12. The method of claim 11, wherein the step of deriving a predetermined trajectory of the fuselage body's flight from the forces and moments of the respective engines comprises

Unmanned aerial vehicle satisfies newton's second law in the motion process, has:

$mr=\left[\begin{array}{c}0\\ 0\\ mg\end{array}\right]+R_{f2d}\left[\begin{array}{c}0\\ 0\\ \underset{1}{\overset{4}{\Σ}}{F}_i\end{array}\right]$

r represents a position vector of the drone;

the motion equation of the ducted amphibious unmanned aerial vehicle in the flight process is obtained through the following formula:

$I\left[\begin{array}{c}\stackrel{\·}{p}\\ \stackrel{\·}{q}\\ \stackrel{\·}{r}\end{array}\right]=\left[\begin{array}{c}L\cos \mathrm{\α}(F_2-F_4)\\ L\cos \mathrm{\α}(F_1-F_3)\\ M_2+M_4-M_1-M_3\end{array}\right]-\left[\begin{array}{c}p\\ q\\ r\end{array}\right]\×I\left[\begin{array}{c}p\\ q\\ r\end{array}\right]$

wherein, L is the distance from the center of the duct to the center of mass of the aircraft, and I is an inertia matrix.