CN204021249U - The soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle - Google Patents

Abstract

The utility model relates to a multipurpose soft-wing unmanned aerial vehicle, comprising a parafoil system and a cabin system; the lower part of the parafoil system hangs the cabin system through a hanging rope; the parafoil system includes a parafoil and an umbrella rope connected thereto; The cabin system includes a cabin and a pitot tube fixed on the cabin, a platform, a fuel tank, an engine and a propeller; the cabin is connected with a parachute through a hanging rope; The pan-tilt of the camera is fixed in the middle of the cabin and the camera lens is vertically downward; the engine is fixed at the rear end of the cabin and is connected with a propeller, and a protective cover is installed outside the propeller. The utility model has the advantages of simple structure, small size, light weight, low cost, wide flight range, easy operation and control, and programmable autonomous flight. The takeoff can be achieved at a speed of 10000°C, and the requirements for takeoff and landing locations are very low, safe and reliable, and can be used in a variety of ways.

Description

Multipurpose Soft Wing UAV

technical field

The utility model relates to the field of low-altitude unmanned aerial vehicles, in particular to a multipurpose soft-wing unmanned aerial vehicle.

Background technique

In order to be applicable to various application requirements, people have developed a kind of ram parafoil capable of powered flight. The flight of the parachute is controlled by a person pulling the rope under the parachute, and it is mostly used for flight shows, advertisements, border patrols and recreational flights. During the air flight of a powered parachute, if it is affected by air turbulence, it is very easy to cause a fall accident, and there are certain problems in the safety of the pilot. Nowadays, some research institutes have equipped remote control mechanism on the basis of powered parachute, and have developed remote-controlled type powered parachute. It uses a mechanical controllable device instead of human beings to control the umbrella, which solves the safety problem of the pilot. Compared with traditional drones, it has the advantages of light weight, low cost, and convenient inventory. It can be towed by people or vehicles to take off from the ground, and has low requirements on the take-off and landing sites; it can also be launched from the air to complete important tasks in the complex transportation system; Air pollution sampling and volcano monitoring, etc.

However, since the remote-controlled powered parachute can only fly within the visible range, the flight distance is short, and the executable task load function is limited, it cannot be applied to tasks such as terrain survey, search and rescue in disaster areas, or material delivery that require long-distance and large-scale cruise. field.

Utility model content

In order to solve the existing problems of the powered parachute, the utility model provides a novel multipurpose soft-wing unmanned aerial vehicle. The multi-purpose soft-wing unmanned aerial vehicle can realize autonomous flight under various tasks, and is simple to operate, safe and reliable, and low in cost.

The technical scheme adopted by the utility model for achieving the above-mentioned purpose is: a multi-purpose soft-wing unmanned aerial vehicle, including a parafoil system and a cabin system; the lower part of the parafoil system is hung with a rope to hang the cabin system;

The parafoil system includes a parafoil and a parachute connected thereto;

The cabin system includes a cabin and a pitot tube fixed on the cabin, a platform, a fuel tank, an engine and a propeller; the cabin is connected with a parachute by a hanging rope; The pan-tilt of the camera is fixed in the middle of the cabin and the camera lens is vertically downward; the engine is fixed at the rear end of the cabin and is connected with a propeller, and a protective cover is installed outside the propeller.

The protective cover is a mesh cover welded by metal.

The head of the pitot is at least one meter away from the shield.

The nacelle system also includes a cable retractor installed at the rear of the nacelle and connected to the parafoil through connected control ropes.

The nacelle system also includes three wheels, the first wheel is fixed under the front of the nacelle, and the other two are fixed under the rear of the nacelle and are symmetrical to the first wheel.

The cabin system also includes a GPS and magnetic compass module, a wireless data transmission module, a flight controller, an inertial measurement unit, and a rotational speed measurement unit; the GPS and the magnetic compass module are fixed at the front end inside the cabin; the wireless data transmission module, flight control The flight controller and the inertial measurement unit are fixed inside the cabin; the flight controller and the inertial measurement unit are installed in the middle of the cabin through four sets of steel cable vibration isolators; the rotational speed measurement unit is installed on the side of the engine turntable.

The X-axis of the GPS and magnetic compass module, the inertial measurement unit, and the axis of the pitot are all parallel to the thrust line of the propeller.

The parafoil system also includes two inertial measurement units and a GPS module integrated on a circuit board, a data acquisition board module, a wireless data transmission module, and a magnetic compass; the circuit board is located at the center of the lower layer of the parafoil, and the two inertial The measuring unit is fixed on both sides of the circuit board and is symmetrical, and is located on the same line as the circuit board in the direction of the chord length.

The utility model has the following beneficial effects and advantages:

1. The utility model has the advantages of simple structure, small size, light weight, low cost, wide flight range, easy operation and control, and can realize autonomous navigation flight under various tasks.

2. The utility model can be ignited independently, and the thrust generated by the engine and the propeller slides on the ground, and can take off at a relatively low speed in the case of no wind or light wind, and has very low requirements for take-off and landing locations, and is safe and reliable , It can be used in various ways, it can be used as an aerial platform for reconnaissance and search and rescue of natural disasters, it can also be used as a target drone, real-time communication relay, etc.

3. The purpose of installing the sensor on the parafoil is to measure the attitude change of the parafoil more timely and accurately, and reduce the attitude estimation deviation and control error caused by the flexible connection between the parafoil body and the cabin, so that the control is more accurate. Timely and accurate, enhance the flight stability of the soft-wing UAV.

4. Using the pitot tube can measure the atmospheric resistance encountered by the soft-wing UAV during flight, automatically determine the size of the wind disturbance in autonomous flight, improve the flight strategy, and improve the safety of the soft-wing UAV flight.

5. The X-axis of the GPS and magnetic compass module and the inertial measurement unit, the axis of the pitot tube and the thrust line of the propeller are parallel to ensure the accuracy of navigation information measurement and reduce the coupling of three-axis information.

Description of drawings

Fig. 1 is a structural schematic diagram of the multi-purpose soft-wing unmanned aerial vehicle of the present invention.

Fig. 2 is a structural schematic diagram of the parafoil system of the present invention.

Fig. 3 is a structural schematic diagram of the cabin system of the present invention.

Fig. 4 is a functional block diagram of the control system of the multi-purpose soft-wing UAV.

Fig. 5 is a working principle diagram of the utility model.

Among the figure: 1 parafoil, 2-1 GPS and magnetic compass module, 2-2 data acquisition board, 2-3 wireless data transmission module, 3, 4 inertial measurement unit, 5-1 parachute rope, 5-2 hanging rope, 5-3 control rope, 6 GPS and magnetic compass module, 7 fuel tank, 8-1 airspeed tube, 8-2 atmospheric computer, 9 wireless data transmission module, 10 flight controller, 11 inertial measurement unit, 12 gimbal, 13 receiving Cable machine, 14 wheels, 15 rotational speed measuring units, 16 engines, 17 propellers, 18 protective covers, 20 cabins.

Detailed ways

Below in conjunction with accompanying drawing and embodiment the utility model is described in further detail.

As shown in Figure 1, the structure of the utility model generally mainly includes: a flexible stamping parafoil system and a cabin system. Wherein the lower part of the flexible stamping parafoil is connected to hang the nacelle by a parachute rope.

The attitude data of the parafoil is an important parameter in flight. The utility model is equipped with two inertial measurement units, a GPS positioning unit, a magnetic compass unit, a data acquisition board and a data transmission module on the parafoil. The purpose of installing the sensor on the parafoil is to measure the attitude change of the parafoil more timely and accurately, and reduce the attitude estimation deviation and control error caused by the flexible connection between the umbrella body and the cabin, so that the control is more timely and accurate , to enhance the flight stability of the soft-wing UAV. The data acquisition board is used to collect the data of the inertial measurement unit, GPS and magnetic compass, package and send it to the data transmission module, and wirelessly send it to the flight control system through the data transmission module for data processing.

The cabin is a frame structure, which reduces the possibility of damage to important internal components of the soft-wing UAV due to collisions. Various sensors, drive circuits, cable retractors, flight control systems, engines, and gimbals, etc. All are installed inside the rack, and the rack can effectively protect the components in the cabin. Wheels, pitot tubes, fuel tanks, etc. are mainly installed around the engine room. The engine and propeller are installed at the tail of the cabin to provide forward thrust for the cabin, which is the driving force for the soft-wing UAV to fly in the air. The wheels are installed in the lower part of the nacelle, and play the role of gliding on the ground when the autonomous ignition takes off. The drive circuit is to amplify the signal of the control circuit to drive the cable reel. The cable retractor is connected to the control rope at the rear edge of the powered parachute, and the cable retractor pulls the control cable to deform the parafoil, change the aerodynamic parameters, and achieve the purpose of controlling the yaw angle, pitch angle, and flight speed of the powered parachute.

Various sensors include: pitot, inertial measurement unit, GPS, magnetic compass, rotational speed measurement unit. The pitot tube points to the front of the cabin. In a stable flight state, the airspeed of the cabin can be accurately measured. Combined with the measurement of the ground speed of the powered parachute by GPS, the magnitude and direction of the wind speed can be calculated, so as to change the control strategy to reduce the wind speed. Effects on paramotor flight. The pan/tilt is suitable for scanning and monitoring a large area, can expand the visual range of the camera, and plays a vital role in finding targets in a large area during search and rescue in disaster areas. The rotation of the camera is realized by the motor in the pan-tilt, and the motor receives the signal from the controller to run and position it accurately, so as to lock the target. The inertial measurement unit, GPS and magnetic compass sensing unit in the cabin can calculate the attitude and position information of the cabin through the flight controller. The speed measurement unit is used to measure the speed of the motor to form a closed-loop control. The load on the cabin is used to counterweight the soft-wing UAV to ensure the balance during flight and facilitate the rapid and stable landing of the soft-wing UAV.

The drone is also equipped with a ground control station. The ground control station can observe various data of the powered parachute in real time, including various attitude information, speed information, position coordinates, remaining fuel, flight trajectory, etc. during flight. In addition, through the ground control station, the soft-wing UAV can be manipulated artificially.

The flexible stamping parafoil makes full use of aerodynamics, so that it has the characteristics of large load capacity. For example, for the small soft-wing UAV in the utility model, the ratio of the maximum load capacity to the weight of the fuselage can reach nearly 1:1 , which is difficult for other aircraft to achieve.

As shown in Figure 2, 2-1 GPS module, 2-2 data acquisition board module, 2-3 wireless data transmission module, 2-4 magnetic compass four modules are integrated on one circuit board and installed at the center of gravity of the parafoil. It is installed in a straight line with the two inertial measurement units on the center line under the flexible ram parafoil, and the two inertial measurement units are placed equidistantly on both sides of the center of gravity, about 0.5 meters apart. The installation method is fixed by sewing.

The parachute 5-1 is connected to the front edge of the stamped parafoil and the middle part of the parachute is to hang the cabin. The part of the parachute at the rear edge of the umbrella is in order to control the shape of the parafoil, and the bottom rope connected with this part of the parachute is the control rope 5-3.

As shown in Figure 3, the cabin system includes several spaces, which are convenient for accommodating and installing GPS and magnetic compass module 6, fuel tank 7, pitot tube 8-1, atmospheric computer 8-2, wireless data transmission module 9, flight controller 10, inertial Measuring unit 11, pan-tilt 12, cable receiving machine 13. The installation positions of GPS and magnetic compass module 6, pitot tube 8-1, and inertial measurement unit 11 must be parallel to the thrust line of the propeller. The GPS and magnetic compass module 6 are kept away from the protective cover and cabin partition of magnetic material as far as possible, and the head of the pitot tube 8-1 must protrude from the metal protective cover by at least 1 meter.

The amount of fuel in the fuel tank 7 can reach about 5L. Due to the fuel-saving characteristics of the powered parachute, it can fly for about 2 hours under the condition of full fuel, and the flight time under the same amount of fuel is much higher than other types of aircraft. inside the cabin.

Pitot tube 8-1 is installed in the front of the cabin body, above the front wheel, and is connected with air data computer 8-2 for supporting use. The air data computer is connected with the flight controller 10 to provide accurate airspeed data to the flight controller. The wireless data transmission module 9 is responsible for communicating with the ground station and is installed in the cabin. The flight controller 10 and the inertial measurement unit 11 are installed in the middle of the cabin using four groups of spring damping links. An inertial measurement unit includes three single-axis accelerometers and three single-axis gyroscopes. The accelerometers are used to detect the acceleration signals of the three axes of the object in the carrier coordinate system independently, and the gyroscopes are used to detect the carrier relative to the navigation. The angular velocity signal of the coordinate system is used to calculate the attitude of the object based on the measured angular velocity and acceleration of the object in three-dimensional space.

The cloud platform 12 is installed in the middle position of the cabin body, and the camera is aimed at the ground direction. When carrying out natural disaster search and rescue, it is used for reconnaissance of terrain and finding ground targets. Cable receiving machine 13 is installed in cabin body rear portion, links to each other with control rope 5-3. There are 14 three wheels, the front wheels have no steering, and the rear wheels have two damping effects. The rotational speed measuring unit 15 is installed on the side of the turntable with Hall components. The engine 16 is directly connected to the propeller 17, and the speed is in the range of 5000 rpm to 7000 rpm. The soft-wing unmanned aerial vehicle uses the thrust generated by the engine 16 to rotate the propeller 17 and the lift of the flexible ram parafoil 1 to fly. . The all-metal welded protective cover 18 can prevent accidents caused by inadvertently entering the rotating propeller by hand, and effectively prevents the rotating propeller from bumping into other objects, thereby providing safety protection for people and the propeller.

As shown in Figure 4, the control system consists of parafoil sensor acquisition part, airborne flight control part, and ground control part.

Wherein, the parafoil sensing acquisition part includes a GPS and magnetic compass module 2-1, a data acquisition board 2-2, a wireless data transmission module 2-3, an inertial measurement unit 3, and an inertial measurement unit 4. The data acquisition board 2-2 is connected with the GPS and magnetic compass module 2-1, the inertial measurement units 3 and 4, and the wireless data transmission module 2-3.

The airborne flight control part includes GPS and magnetic compass module 6, pitot tube 8-1, atmospheric computer 8-2, wireless data transmission module 9, flight controller 10, inertial measurement unit 11, cable receiving machine 13, and rotational speed measurement unit 15. Flight controller 10, GPS and magnetic compass module 2-1, pitot tube 8-1, atmospheric computer 8-2, inertial measurement unit 11, wireless data transmission module 9, rotational speed measurement unit 15, pan/tilt 12, cable receiving machine 13 connections.

The ground control part includes a ground control station and a data transmission link.

Some functions of parafoil sensor acquisition: the data acquisition board collects the data of the inertial measurement unit, GPS, and magnetic compass sensors in real time, and transmits them to the flight controller installed on the parachute through the wireless data transmission link. The flight controller will use these Data analysis obtains the three-axis attitude information, three-axis velocity information, three-axis angular velocity information, longitude and latitude altitude position information of the parafoil.

Part of the airborne flight control function: the flight controller collects the data of the inertial measurement unit, GPS, magnetic compass, and pitot sensor installed on the parachute in real time, and analyzes the parachute's three-axis attitude information, three-axis speed information, And three-axis angular velocity information, longitude and latitude altitude position information, and wind speed information in the flight direction is analyzed at the same time. At the same time, combined with the three-axis attitude information, three-axis velocity information, three-axis angular velocity information, and latitude and longitude position information of the parafoil, the controller calculates the throttle rudder amount, the output of the left and right cable retractor actuators, and thus controls the soft wing. The flight status of the drone.

Functions of the ground control part: the ground control station performs data interaction with the airborne controller through a wireless data transmission link. The data information such as the flight trajectory, flight attitude, and flight speed of the unmanned aerial vehicle can be observed in real time through the ground control station, and the video images recorded by the airborne gimbal can be observed in real time. Moreover, people can control the flight of the aircraft by sending instructions from the ground control station to set parameters such as the flight route, flight speed, and flight destination location of the aircraft.

As shown in Figure 5, the soft-wing UAV can realize two flight modes: remote control flight mode and autonomous flight mode.

Remote control flight mode: through the remote control and receiving antenna, artificially control the paramotor flight.

Autonomous flight mode: through the flight controller, complete the calculation of the sensor parameters of the parafoil state sensing part, the parachute state sensing part, and the airspeed sensing part, and control the flight drive circuit and cable receiving machine according to the attitude and position information , to guide the drone to perform automatic flight in the air.

The control process of the soft-wing UAV is roughly as follows: first, in the remote control flight mode, the soft-wing UAV takes off against the wind, and after flying to a predetermined height, it switches to the autonomous flight mode, and then the flight controller follows the predetermined trajectory. Automatically adjust the attitude and perform tracking flight. During the flight, the ground station interacts with the soft-wing UAV in real time through a wireless transmission link, and can give different control task instructions. When the flight in the air is over, the soft-wing UAV first reaches the sky above the landing point, hovers and cuts the height, and when the height is suitable, selects a position against the wind and lands against the wind to complete all flight tasks.

Claims (8)

1. the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle, is characterized in that: comprise paraglider system and nacelle system; The logical hanging rope (5-2) in bottom of paraglider system hangs nacelle system;

Described paraglider system comprises parafoil (1) and connected umbrella rope (5-1);

Described nacelle system comprises cabin (20) and is fixed on pitot (8-1), The Cloud Terrace (12), fuel tank (7), driving engine (16) and the screw propeller (17) on cabin (20); Described cabin (20) is connected with umbrella rope (5-1) by hanging rope (5-2); Described pitot (8-1) is fixed on front portion, cabin (20), and the The Cloud Terrace (12) that pick up camera is housed is fixed on middle part, cabin (20) and camera lens vertically downward; Driving engine (16) is fixed on rear end, cabin (20), and is connected with screw propeller (17), and protective cover (18) is equipped with in screw propeller (17) outside.

2. the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle according to claim 1, is characterized in that the guard that described protective cover (18) forms for metal solder.

3. the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle according to claim 1, is characterized in that at least one rice of head distance protective cover (18) of described pitot (8-1).

4. the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle according to claim 1, is characterized in that described nacelle system also comprises that receiving rope machine (13) is arranged on rear portion, cabin (20), is connected with parafoil (1) by the control wire (5-3) connecting.

5. the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle according to claim 1, it is characterized in that described nacelle system also comprises three wheels (14), first wheel is fixed on anterior below, cabin (20), and two other is fixed on the below at rear portion, cabin (20) and symmetrical with respect to first wheel.

6. the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle according to claim 1, is characterized in that described nacelle system also comprises GPS and magnetic compass module (6), wireless data transfer module (9), flight controller (10), Inertial Measurement Unit (11), tachometric survey unit (15); Described GPS and magnetic compass module (6) are fixed on the inner front end in cabin (20); Wireless data transfer module (9), flight controller (10), Inertial Measurement Unit (11) are fixed on inside, cabin (20); Described flight controller (10) and Inertial Measurement Unit (11) are all arranged on body middle part, cabin by four groups of steel cable vibration isolators; Described tachometric survey unit (15) is arranged on driving engine (16) rotating disk side.

7. the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle according to claim 6, it is characterized in that described GPS with magnetic compass module (6) and the X-axis line of Inertial Measurement Unit (11), the axis of pitot (8-1) is all parallel with the line of thrust of screw propeller (17).

8. the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle according to claim 1, is characterized in that described paraglider system also comprises two Inertial Measurement Units (3,4) and is integrated in GPS module (2-1), data acquisition plate module (2-2), wireless data transfer module (2-3), a magnetic compass (2-4) on circuit card; Described circuit card is positioned at the center of parafoil (1) lower floor, and two Inertial Measurement Units (3,4) are fixed on circuit card both sides and symmetry, and in chord length direction, are positioned at same straight line with circuit card.