CN112478125B - A flight array system with autonomous flight capability - Google Patents

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a flight array system with autonomous flight capability, which is characterized in that: the single module unmanned aerial vehicle of flight array module includes at least: the device comprises a full-vector power unit, a machine body module and a load module. The autonomous flight array module has the advantages of small occupied space, high load capacity and flexible attitude adjustment, and can take off in a laminated mode in a narrow space.

Description

A flight array system with autonomous flight capability

technical field

The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a flight array system with autonomous flight capability.

Background technique

The development and application of UAVs have attracted great attention from various countries, and people have put forward higher requirements for the environmental adaptability and working fields of UAVs. It has gradually become the focus of research in various countries to carry out the modular design of UAVs that perform complex functions, and use the characteristics of modularity to achieve some indicators that are difficult to meet in the overall design. Combine the modular design to realize the functional modularization of the overall system, and load the functional load design into a single module, and then realize the autonomous flight capability of a single load through the structural design to cope with the environment with limited take-off space, which will greatly enrich the flight. Array application scenarios and functions. To this end, a new type of single-module UAV with a flying array is required, which can complete tasks including: autonomous flight, load adaptation, stable docking, and module information interaction.

Most of the traditional distributed flight array single-module UAVs are assembled on the ground. Single-module UAVs use two sets of power systems: a single rotor, which provides power for flight; the ground wheel system, which controls the ground assembly of multiple modules to form an array. The disadvantage of this single-module UAV is the limited application scenarios. Since it does not have the ability to fly alone, it needs to be assembled into a flight array on land to perform flight tasks, requiring a large take-off space.

The coaxial rotor mode developed on this basis has certain flying ability. Although the design allows the drone to have a certain flight capability, there is no attitude adjustment structure. Therefore, the UAV does not have the complete flight ability, can not complete the task of air attitude adjustment, can not be docked, and still needs to be assembled on the ground.

The coaxial rotor developed on the basis of the above is combined with the design of the steering rudder, and the attitude in the air is realized by the steering rudder mechanism. This structure can solve the shortcomings of the UAV's lack of autonomous flight ability, and has a complete attitude adjustment ability. However, due to the hysteresis of the adjustment of the rudder, the air attitude is not flexible. The vertical space occupied is also larger, and the number of arrangements in a small space is limited, so the modular idea of this design is mainly applied to single-module UAVs, which requires a larger take-off space.

In addition, the load capacity of the flight system designed by the above scheme is limited. Most of the space of the single-module UAV is occupied by the power system. The load capacity is limited and cannot carry multiple loads to complete the system function, and does not have the basic conditions for taking off in a small space. .

SUMMARY OF THE INVENTION

The invention aims to break through the limitations of traditional flight arrays such as large take-off space, limited conditions, weak load capacity and insufficient endurance time, and provides a small occupied space, high load capacity and flexible attitude adjustment, and can be stacked in a narrow space. way to take off the autonomous flight array module.

In order to achieve the above purpose, a flight array system with autonomous flight capability is characterized in that: the single-module UAV of the flight array module at least includes: a full vector power unit, an airframe module, and a load module;

The full vector power unit is used to provide the flight power and attitude adjustment power of the single-module UAV. The flight power is realized by the coaxial propeller, the attitude adjustment is realized by the parallel steering gear, and the vector inner loop controls the horizontal direction of the single-module UAV. Moving action, the vector outer loop controls the forward and backward of the single-module UAV;

The airframe module is used to build a single-module UAV casing. A single-module UAV casing is spliced and fixed by six identical airframe modules according to certain rules. The single-module UAV casing is a full vector power mechanism and load. The module provides a fixed point, and bears a certain degree of waterproofness and pressure resistance of the casing. There are many standard threaded connection holes on the parts of the body module, and other modules are connected through the threaded connection holes. In addition, the remaining threaded connection holes are sealed to keep waterproof. resistance and pressure resistance;

The load module is used to realize the specific function of the single-module UAV, and the load module is required to meet the shape of the load compartment. The load module includes but is not limited to radar, infrared photoelectric camera, satellite transceiver and communication device, and fuel cell, etc.; The vector mechanism uses the outer steering gear to control the vector outer ring to generate angular inclination to control the longitudinal attitude and longitudinal position stability of the UAV. And the lateral position is stable. At the same time, by measuring the data from the attitude sensor, the lift and gravity generated by the coaxial vector motor are controlled to be collinear; the load module can be equipped with a total of six pieces, which include but are not limited to the following functions. Functions: radar load, optoelectronic load, communication load, energy load and other functional loads. Single-module drones can achieve different functions by replacing these six loads, and finally achieve more complex functions through aerial array assembly.

The full vector power unit includes: a propeller (102), a brushless motor (101), a brushless motor base (103), a steering gear base (104), a steering gear (105), a vector outer ring (106), a vector Inner ring (107), vector arm (108), bearing seat (109), bearing (110), steering gear arm (111), mechanism connection base (112), solid link (113); full vector power unit (1) ) is connected to the body module (2) through the mechanism connection base (112), and at the same time two steering gears (105) are installed on it, which are fixedly connected to the vector arm (108) through the steering gear arm (111), and the vector arm (108) The bearing seat (109) is fixed on the bearing seat (109) through the bearing (110), and the bearing seat (109) is fixed on the mechanism connecting base (112) through the fixing rod (113). This part is used as the outer ring of vector operation to control the longitudinal direction of the drone Attitude; two vector arms (108) are fixedly connected to the vector outer ring, and the steering gear base (104) is fixed on it, and two steering gears (105) are installed on the vector outer ring (106) and the steering gear base (104) In the formed installation space, the steering gear (105) is fixedly connected with the vector inner ring (107) through the steering gear arm (111), and two brushless motor seats (103) are installed up and down the vector inner ring; The brush motor (101) is installed with a positive propeller (102), and the brushless motor (101) arranged below is installed with a reverse propeller (102); the upper motor rotates clockwise, and the lower motor rotates counterclockwise; when the two rotate at the same speed, The generated torques cancel each other; when the two have a certain speed difference: the upper torque > the lower torque: the whole machine rotates clockwise; when the upper torque < the lower torque: the whole machine rotates counterclockwise; the steering gear ( 105) includes two, and is the power source for longitudinal attitude stabilization and longitudinal displacement on the horizontal plane of the single-module UAV, the steering arm (111) is fixedly connected with the vector arm (108), and the vector arm (108) passes through the bearing (110) ) is fixed on the bearing seat (109), and the bearing seat (109) is fixedly connected to the mechanism connecting base (112) through the fixed connecting rod (113), this part is used as the outer loop of the vector operation to control the longitudinal attitude of the single-module UAV, The outer ring steering gear is used to control the vector outer ring (106) to generate angular inclination to control the longitudinal attitude and longitudinal position stability of the single-module UAV.

The full vector power mechanism (1) controls the vector outer ring (106) through the outer ring steering gear to generate an angle inclination to control the longitudinal attitude and longitudinal position stability of the single-module unmanned aerial vehicle, and controls the vector inner ring through the inner ring steering gear. (107) Generate angular inclination to control the lateral attitude and lateral position stability of the single-module UAV, and at the same time, control the lift generated by the coaxial vector motor to be collinear with the gravity by measuring the data settled from the attitude sensor; The modular drone is composed of six identical body modules (2), the internal space is circular, and consists of 30 pieces of splicing pieces (201), each body module (2) has 5 pieces, through the notch and the right angle connecting piece ( 205) is fixed between the upper and lower bottom plates (202); the upper and lower bottom plates are connected with other parts through gaps; the outer shell plate (204) is used as the outer shell part of the drone. A single-module drone has six such structures, and the outer shell plate ( 204) are distributed on the outside, the spacer plates are connected between the upper and lower bottom plates (202) through right-angle connecting pieces (205), and the module bodies are connected between the module bodies through the convex and concave structures on the upper and lower bottom plates (202) and the flat angle connecting pieces (207) and The obtuse angled tabs (206) on the housing board are connected.

The body module (2) includes: a ring splicing piece (201), a bottom plate (202), a dividing plate (203), a shell plate (204), a right-angle connecting piece (205), an obtuse-angle connecting piece (206), The flat angle connecting piece (207); the lower base plate (202) is fixedly connected with other modules through the connection gap, the straight edge of the lower base plate (202) is connected to the outer casing plate (204), and the outer casing plate (204) passes through the casing recess (2025) and the base plate convex The lift (2042) is fastened to the straight edge of the lower base plate (202) to ensure the alignment of the structure, and then fixed on the lower base plate (202) through three right-angle connecting pieces (205) and M3 threaded connections; the arc of the lower base plate (202) The edge is connected to the splicing piece (201), and five splicing piece depressions (2021) are distributed on the arc edge, and the splicing piece (201) is fastened by the splicing piece protrusion (2011) to the arc edge splicing piece depression (2021), so as to play the role of The function of position locking, and then each splicing piece (201) is fixed on the lower base plate (202) through a right-angle connecting piece (205) and M3 screw connection; the two spacer plate interfaces between the arc edge and the straight edge of the lower base plate (2024) Install the spacer plate (203) and connect them with two M3 threads respectively; the upper bottom plate (202) is aligned with the splicing piece (201), the spacer plate (203) and the shell plate (204) in the same manner as above. The connection method also adopts right-angle connecting piece (205) to connect with M3 thread.

The load module (3) is physically divided into six load compartments, which are the first load compartment (301), the second load compartment (302), the third load compartment (303), and the fourth load compartment (301). Load compartment (304), fifth load compartment (305), sixth load compartment (306), first load compartment (301), second load compartment (302), third load compartment (303) ), the fourth load cabin section (304), the fifth load cabin section (305), and the sixth load cabin section (306) are evenly distributed in the cabin section of the annular UAV, the UAV cabin in the middle of the six load cabin sections Docking devices are distributed.

Compared with the prior art, the present invention has the following advantages:

First, the present invention adopts a full vector power device, the center of gravity of the single-module UAV is on the lower side of the body, and the attitude adjustment is realized by the component force generated by the angle between the power and the vertical direction, so the flexible attitude adjustment action can be obtained, And with good wind resistance, it is more suitable for offshore operations.

Second, the present invention adopts the coaxial propeller combined with the external duct as the power device of the single-module UAV, which not only ensures the autonomous flight capability of the single-module UAV, but also enhances the load capacity of the UAV.

Thirdly, the shell of the present invention adopts the modular splicing technology, the shell of the whole machine is decomposed into six pieces, and further designed into several structural modules, which can greatly reduce the cost of the whole machine and have good mass production capacity.

Fourth, the load module of the present invention satisfies the shape limitation of the load compartment, and is equipped with different modules to realize different functions, which greatly enriches the application scenarios of the single-module UAV, and the single-module UAV still has a certain degree of autonomy.

Fifth, the module UAV has a diameter of 480mm and a height of 150mm, which can take off in layers in a small space. In addition, taking off in a small space can greatly increase the concealment of single-module UAVs.

Description of drawings

1 is a schematic structural diagram of an embodiment of the present invention;

2A and 2B are plan views of main parts of the body module structure;

3A and 3B are isometric views of the body module structure of the present invention;

4 is a schematic structural diagram of a vector mechanism of the present invention;

Figure 5 is a schematic diagram of the load function and arrangement position;

FIG. 6 is a schematic diagram of the stacked take-off arrangement of the present invention.

In the figure: 1. Full vector power unit: 101, propeller; 102, brushless motor; 103, brushless motor base; 104, steering gear base; 105, steering gear; 106, vector outer ring; 107, vector inner ring; 108, vector arm; 109, bearing seat; 110, bearing; 111, steering gear arm; 112 mechanism connection base; 113, solid connecting rod.

2. Body module: 201, splicing piece; 202, bottom plate; 203, dividing plate; 204, shell plate; 205, right angle connecting piece; 206, obtuse angle connecting piece; 207, flat angle connecting piece.

3. Shape features of splicing piece 201: 2011/2022, upper/lower splicing protrusions; shape features of bottom plate 202: 2021, splicing piece concave; 2022, bottom plate convex; 2023, bottom plate concave; 2024, spacer plate interface; 2025, shell Protrusion; shape features of partition plate 203: 2031/2032, partition board protrusions; shell plate 204 shape features: 2041, shell protrusions; 2042/2043, upper/lower bottom plate protrusions; 2044, shell recesses;

4. Load module 3: 301, first load compartment; 302, second load compartment; 303, third load compartment; 304, fourth load compartment; 305, fifth load compartment; 306, sixth load compartment.

5. Divide modules by function: 401, main control module; 402, satellite communication module; 403, image module; 404, radar module; 405, energy module.

Detailed ways

The present invention will be described in detail below with reference to specific examples. The following description is helpful for those skilled in the art to further understand the present invention, but does not limit the present invention in any form. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

As shown in Figure 1, a flight array system with autonomous flight capability is characterized in that: the single-module UAV of the flight array module at least includes: a full vector power unit 1, an airframe module 2, and a load module 3; the described The full vector power unit 1 is used to provide the flight power and attitude adjustment power of the single-module UAV. The flight power is realized by the coaxial propeller, the attitude adjustment is realized by the parallel steering gear, and the vector inner loop controls the lateral movement of the single-module UAV. , the vector outer loop controls the forward and backward of the single-module UAV;

The body module 2 is used to build a single-module UAV shell. A single-module UAV shell is spliced and fixed by six identical body modules 2 according to certain rules. The single-module UAV shell is a full vector power mechanism. Provide a fixed point with the load module, and bear a certain degree of waterproofness and pressure resistance of the casing. There are many standard threaded connection holes on the parts of the body module 2, through which the threaded connection holes are connected to other modules. In addition, the remaining threaded connection holes Seal to maintain waterproof and pressure resistance;

The load module 3 is used to realize the specific function of the single-module UAV, and the load module is required to meet the shape of the load compartment, and the load module includes but is not limited to radar, infrared photoelectric camera, satellite transceiver and communication device, and fuel cell, etc.; The full vector mechanism uses the outer steering gear to control the vector outer ring 106 to generate angular inclination to control the longitudinal attitude and longitudinal position stability of the UAV, and controls the vector inner ring 107 to generate angular inclination through the inner steering gear to control the single-module UAV At the same time, by measuring the data from the attitude sensor, the lift and gravity generated by the coaxial vector motor are controlled to be collinear; the load module can be equipped with a total of six pieces, which are included by function but not Limited to the following functions: radar load, photoelectric load, communication load, energy load and other functional loads, single-module UAV can achieve different functions by replacing these six loads, and finally achieve more complex through aerial array assembly. Function.

The full-vector power unit 1 is fixed on the body module 2 through a screw connection, and the load module 3 is installed in the internal load compartment of the body module 2 to ensure electrical connection; the full-vector power unit 1 is used to provide The flight power and attitude adjustment power of the UAV are realized by the coaxial propeller, and the attitude adjustment is realized by the parallel inner and outer ring steering gear. The load module 3 is used to realize the specific function of the module UAV, and the load module is required to meet the shape of the load compartment.

The load module 3 includes but is not limited to radar, infrared photoelectric camera, satellite transceiver and communication device, and fuel cell.

As shown in FIGS. 2A and 2B, the full vector power unit 1 includes: a propeller 102, a brushless motor 101, a brushless motor base 103, a steering gear base 104, a steering gear 105, a vector outer ring 106, a vector inner ring 107, a vector Arm 108, bearing seat 109, bearing 110, steering gear arm 111, mechanism connection base 112, fixed connecting rod 113; the full vector power unit 1 is connected to the body module 2 through the mechanism connection base 112, and two steering gears are installed on it. 105. The steering gear arm 111 is fixed to the vector arm 108, the vector arm 108 is fixed to the bearing seat 109 through the bearing 110, and the bearing seat 109 is fixed to the mechanism connection base 112 through the fixed link 113. This part is used as a vector operation. The outer ring controls the longitudinal attitude of the drone; the two vector arms 108 are fixedly connected to the vector outer ring, and the steering gear base 104 is fixed thereon, and the two steering gears 105 are installed on the installation formed by the vector outer ring 106 and the steering gear base 104 In the space, the steering gear 105 is fixedly connected with the vector inner ring 107 through the steering gear arm 111, and two brushless motor bases 103 are installed up and down the vector inner ring. The brushless motor 101 arranged above is fitted with a forward propeller 102 , and the brushless motor 101 arranged below is fitted with a reverse propeller 102 . The upper motor rotates clockwise, and the lower motor rotates counterclockwise; when the two rotate at the same speed, the generated torques cancel each other; when the two have a certain speed difference: the upper torque > the lower torque: the whole machine generates clockwise Rotation; when the upper torque < lower torque: the whole machine rotates counterclockwise.

There are two steering gears 105, which are the power source for longitudinal attitude stabilization and longitudinal displacement on the horizontal plane of the single-module UAV. The steering gear arm 111 is fixedly connected to the vector arm 108, and the vector arm 108 is fixed on the bearing seat 109 through the bearing 110. , the bearing seat 109 is fixedly connected to the mechanism connection base 112 through the fixed connecting rod 113. This part is used as the outer loop of the vector operation to control the longitudinal attitude of the single-module UAV, and the outer loop 106 is controlled by the outer loop steering gear to generate an angle tilt and then control The longitudinal attitude and longitudinal position of the single-module UAV are stable.

The full vector power mechanism 1 controls the vector outer ring 106 to generate an angular inclination through the outer steering gear to control the longitudinal attitude and longitudinal position stability of the single-module UAV, and controls the vector inner ring 107 to generate an angular inclination through the inner steering gear. Then, the lateral attitude and lateral position stability of the single-module UAV are controlled. At the same time, by measuring the data settled from the attitude sensor, the lift generated by the coaxial vector motor is controlled to be collinear with the gravity. A single-module drone is composed of six identical module bodies 2, with a circular internal space, composed of 30 splicing pieces 201, each module body 2 has 5 pieces, which are fixed on the upper and lower sides through the gap and the right-angle connecting piece 205. Between the bottom plates 202; the upper and lower bottom plates are connected with other parts through gaps; the shell plate 204 is used as the shell part of the drone, a single-module drone has six such structures, the shell plates 204 are distributed on the outside, and the spacer plates are connected at right angles The piece 205 is connected between the upper and lower bottom plates 202, and the module bodies are connected by the protrusions and depressions on the upper and lower bottom plates 202 and the flat-angle connecting piece 207 and the obtuse-angle connecting piece 206 on the shell plate. A single-module UAV can carry six load modules, including but not limited to the following functions: radar load, optoelectronic load, communication load, energy load and other functional loads. The single-module UAV can achieve different functions by replacing these six loads. function, and finally achieve more complex functions through aerial array assembly.

As shown in FIG. 3 and FIG. 4 , the module body 2 includes: a ring splicing piece 201 , a bottom plate 202 , a partition plate 203 , a shell plate 204 , a right-angle connecting piece 205 , an obtuse-angle connecting piece 206 , and a flat-angle connecting piece 207 ; the lower bottom plate 202 The lower bottom plate 202 is connected to the outer shell plate 204 through the connecting gap, and the outer shell plate 204 is fastened to the straight edge of the lower bottom plate 202 through the shell recess 2025 and the bottom plate protrusion 2042 to ensure the alignment of the structure. The right-angle connecting piece 205 is threadedly connected to the M3 and fixed on the lower base plate 202; the arc edge of the lower base plate 202 is connected to the splicing piece 201, and five splicing piece depressions 2021 are distributed on the arc edge, and the splicing piece 201 is buckled by the splicing piece protrusion 2011 The arc edge splicing piece is recessed 2021, which plays the role of position locking, and then each splicing piece 201 is fixed on the lower bottom plate 202 through a right-angle connecting piece 205 and M3 screw connection; Each spacer plate interface 2024 is installed with the spacer plate 203, and is fixedly connected by two pieces of M3 screw connection; the upper bottom plate 202 is aligned with the splicing piece 201, the spacer plate 203 and the shell plate 204 in the same way as above, and the connection method also adopts right-angle connection. Piece 205 is connected with M3 thread.

The connection between the module bodies 2 is realized by the connecting pieces on the upper and lower bottom plates 202 and the outer shell plate 204. First, the bottom plate depressions 2023 of the oblique sides of the upper and lower bottom plates 202 are fastened to the bottom plate protrusions 2022 of the oblique sides of the other module body 2 in the longitudinal direction. Position alignment, and then realize fixed connection through four right-angle connecting pieces and M3 threaded connections; horizontally, the position alignment is achieved by snapping the shell protrusion 2041 on one side of the shell plate 204 to the shell depression 2044 on the other side of the module body corresponding to the other side, Then, the connection is realized by the obtuse angle connecting piece and the M3 thread connection.

The single-module UAV shell is spliced into six body modules according to the above connection method, and the internal duct of the body module is spliced into 30 splicing pieces 201 according to the above connection method; The board 203 divides the load compartment, and realizes electrical connection and information exchange through the gap.

As shown in Figure 5, the load module 3 of the single-module UAV is physically divided into six load compartments, namely the first load compartment 301, the second load compartment 302, the third load compartment 303, Fourth load compartment 304, fifth load compartment 305, sixth load compartment 306, first load compartment 301, second load compartment 302, third load compartment 303, fourth load compartment 304, The fifth load compartment section 305 and the sixth load compartment section 306 are evenly distributed in the cabin section of the annular UAV, and a docking device is distributed in the UAV cabin in the middle of the six load compartment sections. These loads include but are not limited to: radar, optoelectronic equipment, satellite communications, data processing and energy, etc. These functional loads meet the shape of the load compartment and meet the overall functional integrity of the modular design.

As shown in FIG. 6 , an embodiment of the present invention is arranged in a narrow space for stacked takeoff, but the number is not limited. A total of 7 single-module UAVs are arranged in the space. The take-off sequence is defined according to the distance from the space entrance. The first to take off is the main control module 401. The main control module hovers in the air and waits for the completion of the take-off of other modules and the command center. Then take off the satellite communication module 402, accept the docking command sent by the main control module after takeoff, and complete the docking; then take off the energy module 405, accept the docking command of the main control module and dock at the designated position; finally Take off the image module 403 and the radar module 404 in turn, accept the docking command from the main control module, and complete the docking at the designated position.

In the description of the present invention, it should be understood that the azimuth or positional relationship indicated by the terms "clockwise", "counterclockwise", "pitch", "yaw", "vertical", "horizontal", etc. is based on the drawings In the illustrated orientation or positional relationship, the terms "electrical connection", "structural connection", "fixed connection" and other positional relationships represent the relationship of the interface or the position of the parts. The above terms are only for describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the present invention.

The specific examples of the present invention have been described above, and the well-known common methods in the industry that are not described in detail in this example will not be described one by one here. The present invention is not limited to the above-mentioned specific embodiments, and the above examples do not limit the protection scope of the present invention. Any modification or deformation within the scope of the claims of the present invention falls within the protection scope of the present invention.

Claims (5)

1. A flight array system with autonomous flight capability, characterized in that: the single-module UAV of the flight array module at least comprises: a full vector power unit (1), a body module (2), and a load module (3); The full vector power unit (1) is used to provide the flight power and attitude adjustment power of the single-module unmanned aerial vehicle. The flying power is realized by the coaxial propeller, the attitude adjustment is realized through the parallel steering gear, and the vector inner loop controls the single-module unmanned aerial vehicle. The lateral movement of the drone, the vector outer loop controls the forward and backward of the single-module drone; The body module (2) is used to build a single-module UAV shell, and a single-module UAV shell is spliced and fixed by six identical body modules (2) according to certain rules, and the single-module UAV shell is: The full vector power unit (1) and the load module (3) provide fixed points, and bear a certain degree of waterproofness and pressure resistance of the casing. The parts of the body module (2) are provided with many standard threaded connection holes, through which threaded connection holes Connect with other modules, in addition, the remaining threaded connection holes are sealed to maintain waterproof and pressure resistance; The load module (3) is used to realize the specific function of the single-module UAV, and the load module is required to meet the shape of the load compartment, and the load module includes but is not limited to radar, infrared photoelectric camera, satellite transceiver and communication device, and fuel cell. The full vector mechanism controls the vector outer ring (106) through the outer steering gear to generate angular inclination and then controls the longitudinal attitude and longitudinal position stability of the drone, and controls the vector inner ring (107) through the inner steering gear to generate angular inclination and then control The lateral attitude and lateral position of the single-module UAV are stable. At the same time, by measuring the data from the attitude sensor, the lift and gravity generated by the coaxial vector motor are controlled to be collinear; the load module is equipped with a total of six pieces, and these six pieces are based on The functions include but are not limited to the following functions: radar load, optoelectronic load, communication load, energy load and other functional loads. The single-module UAV realizes different functions by replacing these six loads, and finally achieves more through aerial array assembly. for complex functions. 2. A flight array system with autonomous flight capability according to claim 1, wherein the full vector power unit (1) comprises: a propeller (102), a brushless motor (101), a brushless motor Motor base (103), steering gear base (104), steering gear (105), vector outer ring (106), vector inner ring (107), vector arm (108), bearing seat (109), bearing (110), The steering gear arm (111), the mechanism connection base (112), and the fixed connecting rod (113); the full vector power unit (1) is connected to the body module (2) through the mechanism connection base (112), and two The steering gear (105) is fixedly connected to the vector arm (108) through the steering gear arm (111), the vector arm (108) is fixed on the bearing seat (109) through the bearing (110), and the bearing seat (109) is fixed through the connecting rod (113) is fixed on the mechanism connection base (112), and this part is used as the outer ring of vector operation to control the longitudinal attitude of the drone; two vector arms (108) are fixedly connected with the outer vector ring, and the steering gear is fixed on it seat (104), two steering gears (105) are installed in the installation space formed by the outer vector ring (106) and the steering gear seat (104). 107) Fixed connection, two brushless motor bases (103) are installed up and down the vector inner ring; the brushless motor (101) arranged above is installed with the positive propeller (102), and the brushless motor (101) arranged below is installed Reverse propeller (102); the upper motor rotates clockwise, and the lower motor rotates counterclockwise; when the two rotate at the same speed, the generated torques cancel each other; when the two have a certain speed difference: the upper torque > the lower torque : the whole machine rotates clockwise; when the upper torque < lower torque: the whole machine rotates counterclockwise; there are two steering gears (105), which are used to stabilize the longitudinal attitude and longitudinal displacement on the horizontal plane of the single-module UAV The power source, the steering gear arm (111) is fixedly connected with the vector arm (108), the vector arm (108) is fixed on the bearing seat (109) through the bearing (110), and the bearing seat (109) is fixed by the fixing connecting rod (113) Connected to the mechanism connection base (112), this part acts as the outer loop of the vector operation to control the longitudinal attitude of the single-module UAV, and controls the vector outer loop (106) through the outer-loop steering gear to generate angular inclination to control the single-module UAV. Longitudinal posture and vertical position are stable. 3. A kind of flight array system with autonomous flight capability according to claim 1, it is characterized in that: described full vector power unit (1) controls the vector outer ring (106) through the outer ring steering gear to produce angle inclination and then Control the longitudinal attitude and longitudinal position stability of the single-module UAV, and control the vector inner ring (107) through the inner-loop steering gear to generate angular inclination to control the lateral attitude and lateral position stability of the single-module UAV. At the same time, by measuring From the data settled by the attitude sensor, the lift and gravity generated by the control of the coaxial vector motor are collinear; a single-module UAV is composed of six identical body modules (2), and the internal space is circular, which is spliced by 30 pieces Pieces (201), each body module (2) has 5 pieces, which are fixed between the upper and lower bottom plates (202) through the notch and the right-angle connecting piece (205); the upper and lower bottom plates are connected with other parts through the notch; the shell plate (204) As the shell part of the UAV, a single-module UAV has six shell plates (204), the shell plates (204) are distributed on the outside, and the spacer plates are connected between the upper and lower bottom plates (202) through right-angle connecting pieces (205). Between the module bodies, the convex and concave structures on the upper and lower bottom plates (202) and the flat-angle connecting piece (207) and the obtuse-angle connecting piece (206) on the shell plate are connected. 4. A flight array system with autonomous flight capability according to claim 3, characterized in that: the body module (2) comprises: a ring splicing piece (201), a bottom plate (202), a dividing plate (203), shell plate (204), right-angle connecting piece (205), obtuse-angle connecting piece (206), flat-angle connecting piece (207); the lower base plate (202) is fixedly connected with other modules through the connection gap, and the lower base plate (202) ) The straight edge is connected to the shell plate (204), the shell plate (204) is fastened to the straight edge of the lower bottom plate (202) through the shell recess (2025) and the bottom plate protrusion (2042) to ensure the alignment of the structure, and then connected by three right angles The plate (205) is screwed with M3 and fixed on the lower base plate (202); the arc edge of the lower base plate (202) is connected to the splicing piece (201), and five splicing piece depressions (2021) are distributed on the arc edge, and the splicing piece ( 201) The arc edge splicing piece recess (2021) is buckled through the splicing piece protrusion (2011), which plays the role of position locking, and then each splicing piece (201) is fixed with the M3 thread through a right-angle connecting piece (205) on the lower base plate (202); install the spacer plates (203) at the two spacer plate interfaces (2024) between the arc edge and the straight edge of the lower base plate, and connect them with two M3 threads respectively; the upper base plate (202) Align with the splicing piece (201), the spacer plate (203) and the shell plate (204) in the same way, and the connection method also adopts the right-angle connecting piece (205) to connect with the M3 thread. 5 . The flight array system with autonomous flight capability according to claim 1 , wherein the load module ( 3 ) is physically divided into six load compartments, which are the first load compartment respectively. 6 . (301), second load compartment (302), third load compartment (303), fourth load compartment (304), fifth load compartment (305), sixth load compartment (306), A load compartment (301), a second load compartment (302), a third load compartment (303), a fourth load compartment (304), a fifth load compartment (305), a sixth load compartment ( 306) are evenly distributed in the cabin of the annular UAV, and the UAV cabin in the middle of the six load cabins is distributed with docking devices.

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