CN108146608B - A composite aerostat with vector thrust rotor and inflatable airbag - Google Patents

Abstract

The invention discloses a rotor and an inflatable airbag composite aerostat with vector thrust, comprising an aerostat and a rotor power module. In the rotor power module, the rotor is a figure-8 frame formed by a laser and a flexible film is stretched into blades. It is installed on the circular surface of the largest diameter of the aerostat at equal intervals in the circumferential direction. It is divided into two layouts, horizontal and vertical, which can realize vector The propelled rotor module is regularly programmed to output power, which can complete the rapid movement of the aircraft in all directions, including climbing, descending, hovering, and spinning. The top of the aerostat is designed with a flexible thin-film solar cell module, and the bottom is designed with a charging and central control unit. The invention is mainly applied to adjacent spaces, closed indoor spaces and semi-closed spaces, and not only has the advantages of long battery life, large ceiling, stable floating and low flight noise, etc. Excellent performance and controllability.

Description

A composite aerostat with vector thrust rotor and inflatable airbag

technical field

The invention belongs to unmanned aerial vehicle technology, new energy technology and Internet of Things technology, and specifically relates to a rotor and an inflatable airbag composite aerostat with vector thrust.

Background technique

An aerostat generally refers to an aircraft whose specific gravity is lighter than that of air and relies on atmospheric buoyancy to lift off. In the fields of electronics and military and civilian use, hot air balloons are generally not included in the scope of aerostats. Furthermore, spaceships do not necessarily rely on buoyancy. In addition to military use, large-scale civilian aerostats can also be used for transportation, transportation, entertainment, disaster relief, film and television shooting, scientific experiments, and more. At present, people's research mainly focuses on the research and development and design of large and high-altitude aerostats, and there are few applications of using aerostats for monitoring in near-Earth space. The aerostat has a development history of nearly a century, and many types of large-scale aerostats have been derived, which can pull the aerostat from the area where the aerostat flies from the far atmosphere back to the near ground. It has the advantages of long stay in the air and low requirements for take-off and landing sites, but its flight speed is slow and its maneuverability is also poor.

For near-Earth space applications, mainly small fixed-wing detection and reconnaissance UAVs, multi-axis rotor UAVs and small unmanned helicopters, etc., and the most widely used security systems are mainly fixed-position PTZ camera monitoring systems. , These systems have certain limitations in use. For example, fixed-wing UAVs have certain requirements for flight height due to their relatively fast flight speed, requiring larger flight space and larger turning radius; multi-axis rotor UAVs Due to its own structure, its limited payload capacity and endurance have been criticized; small unmanned helicopters, compared with the former two, have larger payloads, lower flight speeds, and better space maneuverability than fixed-wing helicopters. At the same time, many oil-powered and electric helicopters on the market have longer endurance than multi-axis rotor drones. However, their structure is more complex, the research and development cost is high, the operation is difficult, the operation requirements for the operator are high, and they have certain risk.

SUMMARY OF THE INVENTION

In view of the above problems, the present invention combines the characteristics of the rotor UAV and the aerostat to design a composite aerostat with a vector thrust of a rotor and an inflatable airbag, which not only has a long battery life of the aerostat, and a large ceiling (which can be used in It also has the advantages of high maneuverability, simple control and excellent flight performance of multi-rotor UAVs.

The present invention has a rotor and an inflatable airbag composite aerostat with vector thrust, which is composed of a floating body and a rotor power module. The floating body is an inflatable airbag. The top of the floating body is designed with a solar power supply module interface to connect to the flexible solar cell module. The solar energy is converted into electrical energy through the thin film solar cell and stored in the solar power supply, which is supplemented by the solar power supply for the floating aircraft. extra energy. The bottom of the floating body is designed with a charging and central control unit; the charging unit realizes electrical and mechanical connection with the ground charging equipment through the charging unit interface; the central control unit is used to receive control commands to control the regular power output of all rotor power modules , and data transmission and communication between the aerostat and the ground station. The central control unit also integrates the aircraft perception function unit, which is used to measure the six-degree-of-freedom information of the aircraft attitude, image acquisition and information transmission, etc., which can realize the effective control of the floating aircraft, and realize indoor monitoring and outdoor long-term shooting functions.

The rotor power modules are installed at equal angular intervals in the circumferential direction on the circumference of the maximum horizontal radius of the floating body; each rotor power module is integrated with a speed feedback module and an infrared ranging module. Among them, the direction of the rotor shaft in the spaced rotor power modules is set vertically, which is used to control the climb, descent and hovering of the aerostat; the direction of the rotor shaft in the other rotor power modules is set horizontally, which is used to control the all-round direction of the aerostat. movement and spin.

The rotor power module includes a rotor, a blade and a bracket; the rotor is driven to rotate by a driving motor; it is installed on the outer wall of the floating body through the bracket. And the rotor is an 8-shaped rotor outer frame structure formed by a laser at one time, and the hollow part is covered with a flexible film, which is stretched into a blade.

In the present invention, each rotor power module and the central control unit also have a Zigbee wireless communication system for information communication between multiple aerostats and a communication control link between the central control unit and the rotor module.

The advantages of the present invention are:

1. The present invention has a rotor and an inflatable airbag composite aerostat with vector thrust, and fully utilizes the characteristics of the aerostat and multi-rotor unmanned aerial vehicle. The structure is simple, the safety is high, and it has strong controllability;

2. The rotor and inflatable airbag composite aeroplane with vector thrust of the present invention utilizes the lift provided by the inflation of the floating airbag, which can reduce the demand for rotor lift, reduce energy consumption, and provide a guarantee for long-term endurance;

3. The rotor and inflatable airbag composite aerostat with vector thrust of the present invention has a variety of movement modes. Through the selection and layout of the number of different rotor modules, and by changing the direction of the rotor output power, it can achieve accurate and fast speed. Motion adjustment, including stable hovering, spinning, floating and descending, left and right yaw and other movements;

4. The rotor and inflatable airbag composite aerostat with vector thrust of the present invention, the rotor module of which is formed by a figure-8 metal frame formed by a laser and a flexible film into a blade, which reduces the weight of the rotor and reduces the weight of ordinary plastic or plastic. The aerodynamic noise generated by the rotation of the carbon fiber propellers ensures the quietness of the aerostat;

5. The present invention has a rotor and an inflatable airbag composite aerostat with vector thrust, each rotor module and the central control unit are integrated with a variety of aircraft sensing function units, making it more intelligent and sensitive, and at the same time using long-distance wireless communication systems A real-time image transmission and control data information exchange channel is established between the high-speed image transmission module and the ground central control station.

Description of drawings

1 is a schematic diagram of the overall structure of a rotor and an inflatable airbag composite aeroplane with vector thrust according to the present invention;

2 is a schematic diagram of the bottom structure of the rotor and inflatable airbag composite aeroplane with vector thrust according to the present invention;

3 is a schematic structural diagram of a rotor power module in the rotor and inflatable airbag composite aerostat with vector thrust according to the present invention;

FIG. 4 is a structural block diagram of the central control unit in the rotor and inflatable airbag composite aerostat with vector thrust according to the present invention.

In the picture:

1- floating body 2- rotor power module 101-solar cell film

102-Solar power supply 103-Charging and central control unit 201-Rotor

202-Blade 203-Bracket 204-Drive Motor

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

The rotor and inflatable airbag composite aerostat with vector thrust of the present invention is composed of two main parts, a helium floating body 1 and an independent rotor power module 2, as shown in Figures 1 and 2.

The aerostat 1 is used to provide the main lift force, and is a spherical, ellipsoidal or other symmetrical structure of the thin-film aerostat airbag, and the materials include but are not limited to light materials such as aluminum film and latex; Inert gas that is lighter than air is used for filling. Since the gas density is lower than that of air, it can provide a certain lift. At the same time, the use of helium as the inert gas can ensure the safety of the aeroplane and the cost is relatively low.

The rotor power module 2 is used to provide the aircraft attitude adjustment and flight power. The rotor power module 2 includes a rotor 201 , a blade 202 and a bracket 203 , as shown in FIG. 3 . Among them, the rotor 201 is an 8-shaped rotor outer frame structure formed by a laser at one time, and a flexible film is installed at the hollow part to form the blades 202; thus, the weight of the rotor 201 can be reduced, and the general plastic or carbon fiber paddle can be reduced. Aerodynamic noise from blade rotation. The rotor 201 is driven to rotate by the drive motor 204 of the rotor power module 2 .

The rotor power module 2 is fixedly installed on the outer wall of the helium floating body 1 through the bracket 203, and is circumferentially arranged on the circumference of the maximum horizontal radius of the helium floating body 1, and the arrangement adopts an 8-rotor array design, among which 4 rotor power The direction of the rotor axis of the module 2 is set vertically; the direction of the rotor axis of the other four rotor power modules 2 is set horizontally; and the rotor power modules 2 with the direction of the rotor axis set vertically and the direction of the rotor axis set horizontally are alternately arranged in the circumferential direction. The above-mentioned four rotor power modules 2 arranged vertically in the direction of the rotor shaft are used to control the climb, descent and hovering of the aerostat 1; the four rotor power modules 2 arranged horizontally in the direction of the rotor shaft are used to control the Omnidirectional movement and spin motion. According to the task requirements, the size of the required external load and the shape of the object itself, the number, distribution, output power and endurance time of the rotor power modules 2 are selected to complete the construction of the aerostat 1 .

In the present invention, a solar power supply module interface is reserved on the top of the floating body 1. The solar power supply module interface is used to connect a flexible solar cell module. The flexible solar cell module includes four solar cell films 101 and a solar power supply 102. The solar cell film 101 is installed on the circumferential direction of the solar power supply 102, and the solar power supply 102 is connected with the solar power supply interface. The solar cell film 101 converts the solar energy into electrical energy and stores it in the solar power supply, and the solar power supply is the floating aircraft. Supplement for extra energy.

A charging and central control unit 103 is installed at the bottom of the above-mentioned floating body 1; the charging unit includes a 7.4V400mAh lithium battery, which is used to realize the power supply of the floating aircraft; the charging unit realizes charging with the ground through the charging unit interface reserved at the bottom of the floating body 1 The electrical and mechanical connections between the devices make it possible to find the charging interface of the ground charging device through the monocular camera during the space flight, so as to realize the autonomous return of the floating aircraft for docking charging according to its own power.

The central control unit of the present invention adopts the STM32F108 core controller, which is used to receive control commands to control the regular power output of all rotor power modules, and the data transmission and communication between the aerostat and the ground station. As shown in Figure 4, the central control unit specifically includes a system power integrated management unit, a voltage regulator module and a wifi module, wherein the system power integrated management unit is used to manage the energy supply of the charging unit to the whole machine; the charging unit is used as the whole machine. The main power supply for the whole machine provides the stable voltage required for flight through the voltage regulator module, while the solar film provides additional energy for outdoor flight. The Wifi module is used to realize the information data exchange between the central controller, the computer and the mobile phone terminal by using the wifi signal. At the same time, the central control unit also integrates GPS outdoor positioning module, air pressure sensor, IMU inertial measurement unit, electronic compass, image acquisition module, image transmission module and wind speed monitoring sensor and other aircraft sensing functional units, which are used to measure the six aspects of the aircraft. The degree of freedom information, image acquisition and information transmission, etc., can realize the effective control of the floating aircraft, and realize indoor monitoring and outdoor long-term shooting. Each rotor power module 2 above is integrated with a rotational speed feedback module and an infrared ranging module, which are used for driving motor speed measurement and obstacle avoidance, etc.; For information communication between multiple aerostats, and the control link between the central control unit and the rotor module. Therefore, the aircraft data interaction and communication mode of the present invention utilizes GPS to realize the positioning of the aircraft, utilizes the Zigbee wireless communication system and the ground central control station to establish a real-time image transmission and control data information exchange channel, utilizes WIFI signals to realize the communication between computers, Mobile terminal communication. At the same time, a single independent aerial vehicle can also build an aerial wireless data link node through the Zigbee wireless module to realize the information exchange between each aircraft, effectively avoiding the possible collision problems during the flight of multiple aircraft, and at the same time for multiple aircraft. The cooperative control and cooperative tasks of the machines provide the hardware foundation.

The control system of the floating aircraft of the present invention includes a control panel of a lower computer and a computer terminal of an upper computer to complete the task of remote control or autonomous flight of the aircraft; the control panel of the lower computer and the computer terminal of the upper computer have a clear division of labor. The processing performance and real-time requirements need to be divided into tasks, and the lower computer in the present invention is mainly used to complete: input detection, output driving, data processing and algorithm execution. Among them, the input detection includes the command of the host computer, the sensor data information, and the power supply detection; the output drive includes the drive motor control of each rotor power module 2; the data processing includes the calculation of each sensor data, and the power distribution of each rotor power module 2; algorithm execution It includes the execution of algorithms such as mission planning, trajectory planning, formation control, and return-to-home charging delivered by the host computer. For complex and intelligent tasks with low real-time requirements, such as mission planning, trajectory planning, formation control, and return-to-air charging, the upper computer will process and send them to the central control unit of the aerostat to form a complete system. The entire control system, that is, from the actuator to the aerodynamics to the body dynamics to the control algorithm level of the feedback detection, realizes the closed loop of the system.

Claims (3)

1. The utility model provides a rotor and air bag combined type floating aircraft with vector thrust which characterized in that: the device consists of a floating body and a rotor power module;

the floating body is an inflatable air bag, the inflated gas is helium, and a solar power supply module interface connected with a flexible solar cell module is designed at the top of the floating body; the bottom is provided with a charging and central control unit; the charging unit is electrically and mechanically connected with the ground charging equipment through a charging unit interface; the central control unit is used for receiving a control command sent by ground equipment, and simultaneously controlling all the rotor power modules to regularly output power and data transmission and communication between the floating aircraft and the ground station;

the rotor wing power modules are circumferentially arranged on the circumference of the maximum horizontal radius of the aerostat at equal angular intervals, and each rotor wing power module is arranged at an interval of 45 degrees; the rotating shafts of the rotors in the spaced rotor power modules are arranged in the same direction; the four rotor power modules are horizontally arranged in the direction of the rotating shaft of the rotor; the other four rotor power modules are vertically arranged in the direction of the rotor rotating shaft; the rotor power modules which are vertically arranged in the direction of the rotor rotating shaft and horizontally arranged in the direction of the rotor rotating shaft are circumferentially and alternately arranged; a rotating speed feedback module and an infrared distance measuring module are integrated in each rotor wing power module;

the rotor wing is of an 8-shaped rotor wing outer frame structure formed by laser at one time, and a flexible TPU film is covered at the hollow part to form a blade;

the flexible solar cell module comprises thin-film solar cells and a solar power supply unit which are circumferentially arranged; the thin-film solar cell is arranged in the circumferential direction of the solar power supply unit, and the thin-film solar cell and the solar power supply unit are electrically connected with the mechanical interface;

the central control unit specifically comprises a system core controller, a power supply comprehensive management unit, a voltage stabilizing module, a large-capacity model airplane lithium battery and a wifi module; the system core controller is used for complete machine flight control and environment perception; the power supply comprehensive management unit is used for managing and charging the energy supply of the whole machine by the unit; the high-capacity model airplane lithium battery is used as the main energy supply of the whole machine and provides 65% of electric energy, the solar film provides 35% of energy for outdoor flight, and stable voltage required by flight is provided for the whole machine through the voltage stabilizing module; the Wifi module is used for realizing information data interaction between the central controller and the computer and between the central controller and the mobile phone terminal by utilizing a Wifi signal; meanwhile, a GPS outdoor positioning module, an air pressure sensor, an IMU inertial measurement unit, an electronic compass, an image acquisition module, an image transmission module and a wind speed monitoring sensor are integrated in the central control unit, and the aircraft sensing function units are used for measuring six-degree-of-freedom information, image acquisition and information transmission of an aircraft, so that the floating aircraft can be effectively controlled, and indoor monitoring and outdoor long-time shooting are realized;

a Zigbee wireless communication system is also arranged in each rotor power module and the central control unit and is used for information communication among a plurality of floating aircrafts and communication control links of the central control unit and the rotor modules;

the control system comprises a lower computer control panel and an upper computer end; the lower computer control board is mainly used for completing the following steps: input detection, output driving, data processing and algorithm execution; the input detection comprises an upper computer instruction, sensor data information and power supply detection; the output drive comprises drive motor control of each rotor power module; the data processing comprises resolving of data of each sensor and power distribution of each rotor wing power module; the algorithm execution comprises the execution of a task planning, a track planning, a formation control and a return charge algorithm transmitted by the computer end of the upper computer; for tasks with complex intelligentization and low real-time requirements of task planning, trajectory planning, formation control and return charging, a whole set of control system is completely built in a mode that an upper computer end processes and issues to a central control unit of the floating aircraft, namely, a control algorithm layer from an actuator to aerodynamic to body dynamics to feedback detection is formed, and system closed loop is realized.

2. The rotor and inflatable bladder combined aerostat with vector thrust according to claim 1, wherein: the aerostat is a spherical thin film aerostat air bag with symmetrical space after being inflated.

3. The rotor and inflatable bladder combined aerostat with vector thrust according to claim 1, wherein: the rotor power module comprises a rotor, a blade and a bracket; the rotor wing is driven by a driving motor to rotate; is arranged on the outer wall of the floating body through a bracket.

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