RU2518440C2 - Pilotless aircraft and aerial monitoring complex for it - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: invention relates to aircraft engineering, namely to pilotless aircrafts and to aerial monitoring complexes for them and can be used to perform photo- and video surveillance in real-time mode, as well as for biological, chemical and nuclear surveillance of terrain, etc. The aerial monitoring complex also includes pilotless aircraft and mobile monitoring and control panel. The pilotless aircraft includes carrying frame where at least four electric motors having air screws with controlled rotation speed are rigidly fixed in the apexes of imaginary polygon. Diametrically located electric motors have opposite rotation direction. The electric motor are connected with accumulator battery and with route calculator which is connected with inertial measurement unit, mobile control panel, video surveillance system and unit for receiving and processing satellite navigational system data.

EFFECT: higher stability during manoeuvring and "hovering", as well as increased duration and range of flight.

25 cl, 4 dwg

Description

The invention relates to the field of aviation technology, namely to unmanned aerial vehicles and air surveillance systems for them, and can be used for photo and video reconnaissance in real time, as well as biological, chemical and nuclear reconnaissance, etc., including for flying around the perimeters of protected objects, the territory of protected objects, data transfer to systems and complexes of protection of objects, security forces of the object.

Known aircraft surveillance system (RF patent No.2015067), containing unmanned aerial vehicles with autonomous electric drive, a mobile container and a remote control system. Unmanned aerial vehicles are made in the form of vertically take-off platforms with four rigidly fixed engines with propellers and are equipped with an automatic landing system.

The disadvantages of the small-sized aircraft surveillance system described above are the lack of stability and dynamism of unmanned aerial vehicles in flight mode and in the “hover” mode in the air due to the use of only four electric motors, as well as the high weight and size characteristics of the airborne surveillance complex and high requirements for the efficiency of the power plant due to the presence of an autonomous electric systems for charging unmanned aerial vehicles with electric power, made in the form of an electric unit an internal combustion engine, generator or flywheel energy storage device.

Closest to the present invention is the airborne surveillance system described in RF patent No. 2232104, containing an unmanned aerial vehicle with electric motors and propellers, a radio-controlled on-board flight support system, on-board transceiver equipment and a video surveillance device in the visible and infrared spectrum with an image transmitter, as well as a mobile remote control control and management with ground-based transceiver equipment, video receiver and radio navigation control system for unmanned years while the radio-controlled on-board system for ensuring the flight of an unmanned aerial vehicle and the radio navigation control system for an unmanned aerial vehicle are equipped with inertial blocks with micromechanical vibration gyroscopes - accelerometers that are corrected by the global navigation system. This unmanned aerial vehicle and aerial surveillance complex are selected as prototypes of the present invention.

The disadvantages of the unmanned aerial vehicle and the aircraft surveillance system for its prototypes are the lack of stability and dynamism of unmanned aerial vehicles in flight mode and in the “hover” mode due to the use of only four electric motors in the design of a helical vertically take-off platform of aircraft, as well as the presence of additional energy costs due to the use to control the movement of the take-off platform of two steering machines that change the thrust vector gy of each propeller with an electric motor relative to the body of an unmanned aerial vehicle.

The objective of the present invention is the creation of an unmanned aerial vehicle and aerial surveillance complex for it, with increased stability during maneuvering and “freezing”, the ability to pilot in automatic mode along a given route based on signals from a satellite navigation system, the possibility of stabilized video surveillance in the visible and infrared ranges, and also increased duration and range due to more efficient use of electric energy through the use of six electric motors with propellers with an electronically controlled speed, rigidly fixed at the vertices of an imaginary polygon on the supporting frame of an unmanned aerial vehicle, as well as through the use of a routing computing device and a video surveillance system in the visible and infrared ranges on a gyro-stabilized suspension in the complex air surveillance.

The problem is solved by creating an unmanned aerial vehicle containing a supporting frame and electric motors with propellers associated with a battery, characterized in that at least six electric motors with propellers with a controlled speed are rigidly fixed on the supporting frame at the vertices of an imaginary polygon associated with the route computing device, which is associated with an inertial measuring device and a unit for receiving and processing satellite data a new navigation system, the diametrically located motors having an opposite direction of rotation, and the route computing device is configured to control the rotational speed of the electric motors, while ensuring the horizontal position of the aircraft according to the signals of the inertial measuring device, as well as providing monitoring and control of the aircraft based on satellite coordinates a navigation system based on signals from a satellite receiver and data processing unit vigatsionnoy system for performing automatic flight mission to return to the take-off area.

In a preferred embodiment of the unmanned aerial vehicle, the electric motors are fixed in one plane and have electronic speed control.

In a preferred embodiment, the unmanned aerial vehicle comprises an onboard power supply system battery and a power battery for electric motors.

In a preferred embodiment of an unmanned aerial vehicle, the structure of the carrier frame comprises a connecting carrier plate, to which at least six diverging rods are attached, protecting the carrier plate and landing gear, with one end of each rod attached to the connecting carrier plate and the other end to the motor mount.

In a preferred embodiment of an unmanned aerial vehicle, a power storage battery for electric motors is located on the chassis.

In a preferred embodiment, the unmanned aerial vehicle comprises a tilt-and-tilt gyro-stabilized suspension attached to the chassis, configured to install video surveillance and aerial photography tools and connected to a tilt-and-tilt gyro-stabilized suspension control unit, which is connected to a route computing device.

In a preferred embodiment of the unmanned aerial vehicle, the micro-inertial inertial measuring device comprises an accelerometer, a magnetometer, a microgyroscope and a barometer.

In a preferred embodiment of an unmanned aerial vehicle, a trip computing device, an inertial measuring device and a data receiving and processing unit of a satellite navigation system form an on-board flight support system.

In a preferred embodiment of an unmanned aerial vehicle, an airborne flight support system is located on a unit carrier plate.

In a preferred embodiment, the unmanned aerial vehicle comprises a tracker and an emergency landing system associated with a routing computing device.

The problem was also solved by creating an aircraft surveillance complex containing an unmanned aerial vehicle and a mobile control and control panel, characterized in that the unmanned aerial vehicle includes a supporting frame on which at least six electric motors with air motors are rigidly fixed at the vertices of an imaginary polygon speed-controlled screws associated with the battery and with a trip computing device that is connected to an inertial measure a single device, a mobile control and monitoring panel, a video surveillance system and a data receiving and processing unit of the satellite navigation system, the diametrically located electric motors having a counter direction of rotation, and the route computing device configured to control the frequency of rotation of the electric motors, while ensuring the horizontal position of the aircraft by signals of an inertial measuring device, providing changes in the course and altitude of the aircraft telemetry signals from the mobile control and monitoring panel, monitoring and control of the aircraft based on the coordinates of the satellite navigation system according to the signals of the data receiving and processing unit of the satellite navigation system to perform an automatic flight mission with return to the take-off area, as well as with providing visual control of the flight by video signals of the video surveillance system.

In a preferred embodiment of the aircraft surveillance complex, the electric motors are fixed in one plane and have electronic speed controllers.

In a preferred embodiment, the aircraft surveillance system comprises a power supply for an onboard flight support system and a power battery for powering the electric motors.

In a preferred embodiment of the airborne surveillance complex, the structure of the carrier frame comprises a unit carrier plate to which at least six diverging rods are attached, protecting the carrier plate and the chassis, one end of each rod being attached to the unit carrier plate and the other end to the mount electric motor.

In a preferred embodiment of the aircraft surveillance system, a power storage battery for powering the electric motors is located on the chassis.

In a preferred embodiment, the airborne surveillance system comprises a swivel-tilt gyro-stabilized suspension attached to the chassis, connected to a control unit of a tilt-gyro-stabilized suspension, which is connected to the route computing device.

In a preferred embodiment of the airborne surveillance complex, the micro-inertial inertial measuring device comprises an accelerometer, a magnetometer, a microgyroscope and a barometer.

In a preferred embodiment of the airborne surveillance complex, a routing computing device, an inertial measuring device, a video surveillance system and a data receiving and processing unit of a satellite navigation system form an on-board flight support system.

In a preferred embodiment of the airborne surveillance system, an on-board flight support system is located on the unit carrier plate.

In a preferred embodiment of the aircraft surveillance complex, the video surveillance system comprises a video surveillance device in the visible and infrared spectrum and a video data transmitter located in the on-board flight support system, as well as a video data receiver located in the mobile control and monitoring panel.

In a preferred embodiment of the airborne surveillance complex, the video surveillance device is mounted on a tilting gyro-stabilized suspension.

In a preferred embodiment of the aircraft surveillance complex, the on-board flight support system comprises a radio transmitting and receiving system connected to a route computing device and configured to exchange data via a radio channel with a mobile radio transmitting and receiving system located in a mobile control and monitoring panel.

In a preferred embodiment of the airborne surveillance complex, the mobile control and control panel comprises a portable personal computer connected to a mobile radio transmitting and receiving system, a satellite navigation system signal receiving and processing unit, a video data receiver, an unmanned aerial vehicle control panel, and a mobile personal video display device.

In a preferred embodiment, the aircraft surveillance system comprises a tracker and an emergency landing system associated with a routing computing device.

For a better understanding of the present invention, the following is a detailed description thereof with corresponding drawings.

Figure 1. Block diagram of an unmanned aerial vehicle, made according to the invention.

Figure 2. A block diagram of an unmanned aerial vehicle and aerial surveillance complex for it, made according to the invention.

Figure 3. Structural diagram (top view) of an unmanned aerial vehicle and aerial surveillance complex for it, made according to the invention.

Figure 4. Structural diagram (side view) of an unmanned aerial vehicle and aerial surveillance complex for it, made according to the invention.

Consider the options for implementing this unmanned aerial vehicle and aerial surveillance complex for him, presented in Fig.1-4.

Consider an embodiment of the present unmanned aerial vehicle, presented in figure 1. The unmanned aerial vehicle 1 contains a routing computing device 2 connected to a satellite navigation system signal receiving and processing unit 3, an inertial measuring device 4 (containing an accelerometer, magnetometer and barometer), a tracker 5, an emergency landing system 6, and a gyro-stabilized tilt-and-tilt control unit 7 suspension, sonar 8, six electric motors 9 with propellers (Figure 4).

The unmanned aerial vehicle 1a, which is part of the airborne surveillance complex (FIG. 2), further comprises a transmitting and receiving radio system 10, a video surveillance device 11 in the visible and infrared spectrum, and a video data transmitter 12. The mobile control and control unit 13 contains a portable personal computer 14 connected with a mobile radio transceiver 15, a video receiver 16, a monitor 17, a specialized control panel 18 for controlling an unmanned aerial vehicle, a mobile individual device 19 Video data corruption.

Routing computing device 2 may consist of a microprocessor, buffer registers, memory devices, interface circuits.

The power supply system of the UAV (unmanned aerial vehicle) contains two independent sources: the battery power supply for the on-board flight support system and the power battery for powering the electric motors.

The design of the supporting frame of the unmanned aerial vehicle 1, 1a (Figs. 3-4) consists of a chassis 20, rods 21, fastenings 22 of electric motors 9 with propellers 23, a uniting support plate 24 and protection of the upper plate 25. A rotary-tilt mount is attached to the chassis 20 gyro-stabilized suspension 26. An onboard flight support system for the unmanned aerial vehicle 1, 1a and an onboard power supply system for the flight support system are located on the carrier plate 24, an electric power battery is placed on the chassis 20 engines. On the swivel-gyro-stabilized suspension 26 is placed a video surveillance device 11.

Electric motors 9 are located at the vertices of an imaginary regular hexagon on a supporting structure of increased strength. Electric motors 9, located diametrically, have an opposite direction of rotation, while the routing computing device 2 performs the following functions: directly controls the frequency of the electric motors 9 and, based on the signals of the inertial measuring device 4, ensures the horizontal position of the unmanned aerial vehicle 1, 1a; the signals of the satellite navigation system determines the coordinates and transmits them to the mobile control and management panel, by telemetry signals from the mobile remote control and control 13 changes the course and height of the unmanned aerial vehicle 1a; and also on the basis of the program incorporated in it, in the absence of communication with the mobile control unit 13, monitoring and control based on the coordinates of the GPS / GLONASS satellite navigation system, performs an automatic flight mission with return to the take-off area, and provides visual control of the flight using the transmitted video signals, as well as the signals of the mobile control and control panel, it changes the position of the video surveillance system in the visible and infrared spectrum mounted on a gyro-stabilized suspension, and does not It transmits video data to a mobile control and monitoring panel, as well as to a monitor included in its composition.

The carrying capacity of an unmanned aerial vehicle is 2-5 kg, which in turn allows you to install equipment on it on a gyro-stabilized suspension.

Structurally, an unmanned aerial vehicle consists of several boards, a frame, and brushless electric motors. Parts are mounted in such a way as to ensure flight stability and a fixed position in the “hovering” mode in air. Overall dimensions of an unmanned aerial vehicle: length, width, height, taking into account rotating planes, approximately 1 × 1 × 0.65 m.

The unmanned aerial vehicle 1a is controlled by the remote control 13 as a radio-controlled model. The gyro-stabilized suspension has independent control. The range of stable manual control at a frequency of 2.4 GHz is up to 1-1.5 km, practically limited by the visual reach of the device. Telemetry transmission range at a frequency of 900 MHz at a distance of 700 meters in direct line of sight. The control range of an unmanned aerial vehicle can be increased by transmitting a video signal from it in real time, and if there is global positioning, it is possible to hardly follow the device. An unmanned aerial vehicle is capable of independent flight to a given point by the shortest route.

With a battery capacity of 5-8 Ah, the lifting height can reach several hundred meters, which allows us to solve the problems of aerial photography, forest fire monitoring, transportation of small loads, inspection of hard-to-reach objects, and agricultural applications. In case of loss of communication with the mobile control and control panel, the unmanned aerial vehicle enters automatic mode and is able to execute predefined commands, and then fly to its destination, guided by the data of the global positioning system.

The basis for the technological feasibility of a real unmanned aerial vehicle and aerial surveillance complex is the success in several microtechnologies, especially the technologies of microelectromechanical systems. These systems combine planar electronic microcomponents with comparable spatial electromechanical structures of varying complexity, which provides unique functionality. Currently, such devices (for example, a brushless AXI 2814/22 niode magnet motor, XL335B accelerometer, ALI 037 piezoelectric gyroscope) are manufactured industrially.

Although the above-described embodiment of the invention has been set forth to illustrate the present invention, it is clear to those skilled in the art that various modifications, additions and substitutions are possible without departing from the scope and meaning of the present invention disclosed in the attached claims.

Claims (25)

1. An unmanned aerial vehicle containing a supporting frame and electric motors with propellers associated with a battery, characterized in that at least six electric motors with controlled rotational speed propellers rigidly fixed to the supporting frame at the vertices of an imaginary polygon are connected route computing device, which is associated with an inertial measuring device and a unit for receiving and processing data from a satellite navigation system, and the diameter but the located electric motors have an opposite direction of rotation, and the route computing device is configured to control the frequency of rotation of the electric motors, while ensuring the horizontal position of the aircraft according to the signals of the inertial measuring device, as well as providing monitoring and control of the aircraft based on the coordinates of the satellite navigation system according to the signals of the unit receiving and processing satellite navigation system data for automatic flight mode with returning to the runway. 2. The unmanned aerial vehicle according to claim 1, characterized in that the electric motors are fixed in one plane and have electronic speed control. 3. The unmanned aerial vehicle according to claim 1, characterized in that it contains a battery for supplying an on-board flight support system and a power battery for powering the electric motors. 4. The unmanned aerial vehicle according to claim 1, characterized in that the design of the supporting frame includes a connecting carrier plate, to which are attached at least six diverging rods from it, protecting the carrier plate and landing gear, and one end of each rod is attached to the connecting carrier plate, and the other end to the motor mount. 5. The unmanned aerial vehicle according to claim 3 or 4, characterized in that the power battery for powering the electric motors is located on the chassis. 6. The unmanned aerial vehicle according to claim 1 or 4, characterized in that it comprises a tilt-and-tilt gyro-stabilized suspension attached to the chassis, configured to install video surveillance and aerial photography tools and connected to a tilt-and-tilt gyro-stabilized suspension control unit, which is associated with a route computing device. 7. The unmanned aerial vehicle according to claim 1, characterized in that the inertial measuring device in micro-execution contains an accelerometer, magnetometer, microgyroscope and barometer. 8. The unmanned aerial vehicle according to claim 1, characterized in that the route computing device, inertial measuring device and data receiving and processing unit of the satellite navigation system form an on-board flight support system. 9. The unmanned aerial vehicle according to claim 4 or 7, characterized in that the on-board flight support system is located on the unifying carrier plate. 10. The unmanned aerial vehicle according to claim 1, characterized in that it contains a tracker and emergency landing system associated with the route computing device. 11. Aerial surveillance complex comprising an unmanned aerial vehicle and a mobile control and control panel, characterized in that the unmanned aerial vehicle includes a supporting frame on which at least six controlled frequency propeller motors are rigidly fixed at the vertices of an imaginary polygon rotation associated with the battery and with the trip computing device, which is associated with an inertial measuring device, a mobile control panel and control system and a data reception and processing unit of the satellite navigation system, the diametrically located motors having a counter direction of rotation, and the route computing device configured to control the speed of the motors, while ensuring the horizontal position of the aircraft according to the signals of an inertial measuring device, to ensure changes heading and altitude of the aircraft by telemetry signals from a mobile remote control control and management, monitoring and control of the aircraft based on the coordinates of the satellite navigation system according to the signals of the data receiving and processing unit of the satellite navigation system to perform an automatic flight mission with return to the take-off area, as well as the ability to provide visual control of the flight by signals video data of a video surveillance system. 12. Aircraft surveillance system according to claim 11, characterized in that the electric motors are fixed in one plane and have electronic speed control. 13. Aircraft surveillance system according to claim 11, characterized in that it contains a battery for supplying an on-board flight support system and a power battery for powering the electric motors. 14. Aircraft surveillance system according to claim 11, characterized in that the design of the supporting frame contains a connecting carrier plate, to which are attached at least six diverging rods from it, protecting the carrier plate and the chassis, with one end of each rod attached to the connecting carrier plate, and the other end to the motor mount. 15. Aircraft surveillance system according to claim 13 or 14, characterized in that the power battery for powering the electric motors is located on the chassis. 16. Aircraft surveillance system according to claim 11 or 14, characterized in that it comprises a tilt-and-tilt gyro-stabilized suspension attached to the chassis, connected to a control unit of a tilt-and-tilt gyro-stabilized suspension, which is connected to the route computing device. 17. Aircraft surveillance system according to claim 11, characterized in that the inertial measuring device in micro-execution contains an accelerometer, magnetometer, microgyroscope and barometer. 18. Aircraft surveillance system according to claim 11, characterized in that the route computing device, inertial measuring device, video surveillance system and data receiving and processing unit of the satellite navigation system form an on-board flight support system. 19. Aircraft surveillance system according to claim 14 or 18, characterized in that the on-board flight support system is located on a unifying carrier plate. 20. The aircraft surveillance system according to claim 16, wherein the video surveillance system comprises a video surveillance device in the visible and infrared spectrum and a video data transmitter located in the on-board flight support system, as well as a video data receiver located in the mobile control and monitoring panel. 21. Aircraft surveillance system according to claim 16, characterized in that the video surveillance device is mounted on a tilt-and-tilt gyro-stabilized suspension. 22. Aircraft surveillance system according to claim 20, characterized in that the video surveillance device is mounted on a tilt-and-tilt gyro-stabilized suspension. 23. Aircraft surveillance system according to claim 18, characterized in that the on-board flight support system comprises a radio transmitting and receiving system connected to a route computing device and configured to exchange data via a radio channel with a mobile radio transmitting and receiving system located in a mobile monitoring and control panel . 24. The airborne surveillance system according to claim 11, characterized in that the mobile control and control panel includes a portable personal computer connected to a mobile radio transmitting and receiving system, a satellite navigation system receiving and processing unit, a video data receiver, an unmanned aerial vehicle control panel and a mobile individual video display device. 25. The aircraft surveillance system according to claim 11, characterized in that it comprises a tracker and an emergency landing system associated with a route computing device.

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