CN113665809A - Distributed multi-dwelling spherical unmanned system - Google Patents
Distributed multi-dwelling spherical unmanned system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C37/00—Convertible aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
- B64C1/08—Geodetic or other open-frame structures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
- B64C11/30—Blade pitch-changing mechanisms
- B64C11/44—Blade pitch-changing mechanisms electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C37/00—Convertible aircraft
- B64C37/02—Flying units formed by separate aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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Abstract
The invention belongs to the field of rotor unmanned aerial vehicles and spherical robots, and particularly relates to a distributed multi-dwelling spherical unmanned system which comprises a plurality of unmanned aerial vehicles, wherein each unmanned aerial vehicle is equivalent to one surface of a regular polyhedron in a three-dimensional structure of a platura picture; in the air, the multiple unmanned aerial vehicles fly autonomously or form a formation; on land, the unmanned aerial vehicles are connected and combined into a spheroid structure through side ends; in water, a plurality of unmanned aerial vehicles connect gradually with the stack mode and arrange into torpedo-shaped structure. The distributed multi-dwelling spherical unmanned system improves the environment adaptability and task adaptability of the unmanned system.
Description
Technical Field
The invention belongs to the field of rotor unmanned aerial vehicles and spherical robots, and particularly relates to a distributed multi-habitat spherical unmanned system which can operate in triphibious mode in water, land and air and has a mode conversion function.
Background
In recent years, the multi-rotor unmanned aerial vehicle has rapid development, simple structure, easy operation and flexible take-off and landing, and has wide development space in military and civil fields. However, with the diversification of application occasions and the complication of mission targets, higher requirements are put on the terrain-adapting capability, multi-machine cooperation capability and cruising capability of the unmanned system.
Traditional rotor unmanned aerial vehicle can only generally hover in the air, can fly well in open area, but its flight ability receives the influence of space environment complexity, is difficult to fly in complicated ground environment, for example be difficult to get into in the woods or the tunnel in the task of carrying out. For unmanned systems operating on the ground, although narrow terrain can be accessed, the speed of movement is relatively slow and the field of view is limited.
In order to improve the terrain adaptability of the unmanned system, Chinese patent CN110053435A provides a foldable amphibious quad-rotor unmanned aerial vehicle, but the mechanical structure is complicated, and the unmanned aerial vehicle is driven by a rotor in the air and driven by wheels on the ground, so that a land motor and a flying motor need to be loaded simultaneously, the redundancy of the power system is high, the weight of the unmanned aerial vehicle is increased, and the cruising ability is greatly reduced. In addition, this unmanned aerial vehicle also passes through wheel drive under the aquatic mode, and efficiency is lower. Chinese patent CN110171260A discloses an environmental information collection amphibious spherical robot, which adds a sphere-like outer frame outside the four rotors to make the four rotors roll on the ground, thus realizing the function of road-air amphibious. However, the robot can only move towards a specified direction on the ground and does not have the capability of omnidirectional movement of the spherical robot; the whole outer frame is spherical, and although the outer frame has the capability of restoring after being turned on one side to a certain extent, the gap between the frames is large, the outer frame is easy to clamp in special terrains, and the adaptability of the special terrains is poor.
In addition, the unmanned aerial vehicle cluster can meet the severe environment and better complete the task for increasingly complex task requirements and tasks with higher risks only by considering that the unmanned system monomer has amphibious or triphibious functions. For example, in military reconnaissance missions, a single unmanned aerial vehicle is likely to be knocked down or have faults, and the probability of obtaining information can be greatly improved by an unmanned aerial vehicle cluster; in a civil disaster relief task, the cluster can expand the search range, enhance the stability of data transmission and enable disaster-stricken personnel to be rescued earlier.
In conclusion, the existing rotor wing type unmanned aerial vehicle is weak in space environment adaptability, and although some unmanned aerial vehicles have the capability of multi-purpose through improvement, a lot of performances are sacrificed, and the multi-machine cooperation problem is not considered.
Disclosure of Invention
Aiming at the problems, the invention provides a distributed multi-dwelling spherical unmanned system with the ability of triphibism, which consists of a plurality of single unmanned aerial vehicles capable of realizing autonomous flight, wherein the unmanned aerial vehicles can be automatically combined into a spheroid structure and roll on the ground to move ahead; or can be superposed and combined into an underwater mode to sail on the water surface.
In order to achieve the purpose, the invention provides a distributed multi-dwelling spherical unmanned system, which comprises a plurality of unmanned aerial vehicles, wherein each unmanned aerial vehicle is equivalent to one surface of a regular polyhedron in a three-dimensional structure of a platofram; in the air, the multiple unmanned aerial vehicles fly autonomously or form a formation; on land, the unmanned aerial vehicles are connected and combined into a spheroid structure through side ends; in water, a plurality of unmanned aerial vehicles connect gradually with the stack mode and arrange into torpedo-shaped structure.
In some embodiments, each drone includes a conformal outer frame, a waterproof housing, a control unit, a rotor mechanism, and a connection mechanism; the shape-preserving outer frame is of a spherical surface structure internally connected with one surface of a regular polyhedron of a sphere; the waterproof shell comprises an upper shell and a lower shell, the upper shell is connected to the concave side of the shape-preserving outer frame, and the upper shell and the lower shell are connected to form a waterproof cavity and a duct; the control unit and the connecting mechanism are arranged in the waterproof cavity; the rotor wing mechanism is fixedly connected in the duct; the control unit comprises a rotor wing controller and a connection controller, and the rotor wing controller is connected with the rotor wing mechanism and used for controlling the rotor wing mechanism to actuate; the connection controller is connected with the connecting mechanism and used for controlling connection or disconnection among the unmanned aerial vehicles.
In some embodiments, the connection mechanism includes a first connection assembly configured to connect the plurality of drones in series in a stacked manner and a second connection assembly configured to combine the plurality of rotary-wing drone-side end connections into a sphere.
In some embodiments, the first connection assembly includes an upper magnetically attractive connection disposed inside the upper housing and a lower magnetically attractive connection disposed inside the lower housing; go up magnetism and inhale the connecting piece with down the line of inhaling the connecting piece with rotor unmanned aerial vehicle's axis coincidence.
In some embodiments, the second connection assembly includes a plurality of magnetically attractive connectors disposed around an inside of the watertight housing.
In some embodiments, the rotor mechanism comprises at least one rotor, each rotor comprising a blade, a paddle wheel mechanism, a waterproof motor, and a waterproof steering engine; the paddle is rotationally connected with the top end of the output shaft of the waterproof motor, and the paddle disc mechanism is connected with the output shaft of the waterproof motor in a sliding manner and is positioned between the paddle and the waterproof motor; the waterproof steering engine is connected with the paddle disk mechanism and used for driving the paddle disk mechanism to slide up and down along the output shaft of the waterproof motor so as to change the attack angle of the paddle; the rotor wing controller is respectively connected with the waterproof motor and the waterproof steering engine and is used for respectively controlling the waterproof motor and the waterproof steering engine to actuate.
In some embodiments, the unmanned system further comprises a stent comprising a main body portion mounted within the water-resistant lumen, and stent arms extending from the main body portion radially through the water-resistant lumen and into the duct; the control unit is mounted on the main body portion and the rotor mechanism is mounted at the boom arm free end.
In some embodiments, communication and wireless charging modules are arranged around the inner side of the waterproof housing, and are used for real-time data exchange and power distribution management of the multiple unmanned aerial vehicles when the multiple unmanned aerial vehicles are combined.
In some embodiments, the conformal outer frame has an airfoil shape in cross-section.
In some embodiments, the connection position of the upper housing and the lower housing is provided with a waterproof device.
The invention has the beneficial effects that:
1) the invention improves the environment adaptability and task adaptability of the unmanned system, and specifically comprises the following steps: a single drone may perform tasks in an open environment; the unmanned aerial vehicle group can form a sphere-like mode to explore a space which is close to the ground and has high space complexity, and can also form a water surface navigation mode, so that the adaptability of various terrains is expanded; the triphibious capability of the unmanned system can execute diversified tasks, and the use space is greatly improved; for dangerous tasks, the unmanned aerial vehicle cluster can improve the success rate of the tasks, and the loss of a single unmanned aerial vehicle cannot influence the execution of the tasks;
2) compared with an individual flying robot with triphibious capability, the unmanned aerial vehicle mainly achieves the motion capability of land and water surface through the cluster cooperation of the unmanned aerial vehicles, wherein the structure of a single unmanned aerial vehicle is simpler, the power sources are all rotor wings, a plurality of driving mechanisms such as the rotor wings and wheels do not need to be carried simultaneously, and the utilization efficiency of the mechanism is higher; meanwhile, the weight of a single unmanned aerial vehicle is reduced, and the cruising ability of the unmanned aerial vehicle is ensured;
3) the structure, the size and the function of a single unmanned aerial vehicle are completely the same, the replaceability is strong, and the restriction of the sequence and the connection direction is avoided in the mode conversion process; even if a certain unmanned aerial vehicle is lost in the task execution, the rest unmanned aerial vehicle groups can still combine to change the mode;
4) according to the invention, data and wireless charging can be exchanged among the unmanned aerial vehicles in real time, and electric quantity distribution and electric quantity management are carried out, so that the cluster can supply power to a single unmanned aerial vehicle under the condition of electric quantity exhaustion, and the single unmanned aerial vehicle can continuously execute tasks or safely return;
5) the invention has a distributed control system, each unmanned aerial vehicle has an independent control unit, the operation of other unmanned aerial vehicles can not be influenced by the function loss of a certain unmanned aerial vehicle under cluster flight and combined modes, and the stability of the group is enhanced;
6) the rotor pitch of a single unmanned aerial vehicle is variable, so that the unmanned aerial vehicle can generate opposite aerodynamic force, and the unmanned aerial vehicle can recover autonomously by changing the pitch when the unmanned aerial vehicle overturns.
Drawings
Figure 1 is a schematic top view of a single drone of an embodiment of the present invention;
fig. 2 is a schematic bottom view of a single drone of an embodiment of the present invention;
fig. 3 is an exploded view of a single drone of an embodiment of the present invention;
figure 4 is a schematic view of a rotor mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic view of the flight mode of a distributed multi-dwelling spherical unmanned system of an embodiment of the invention;
FIG. 6 is a schematic diagram of a roll mode of a distributed multi-dwelling spherical unmanned system in accordance with an embodiment of the present invention;
fig. 7 is a schematic view of the navigation mode of the distributed multi-dwelling spherical unmanned system according to the embodiment of the invention.
Detailed Description
The distributed multi-dwelling spherical unmanned system comprises a plurality of unmanned aerial vehicles, each unmanned aerial vehicle is equivalent to one surface of a regular polyhedron in a three-dimensional structure of a platofram, and each surface of the regular polyhedron is identical, so that the shapes of the single unmanned aerial vehicles can be completely identical, the unmanned aerial vehicles are designed according to a modular concept, the connection is not limited by sequence and orientation, the replaceability is strong, and the capability of adapting to various emergency situations is enhanced. In particular, the distributed multi-dwelling spherical unmanned system of the invention mainly has three working modes: in a flight mode, a plurality of unmanned aerial vehicles can fly autonomously or form a formation; in the rolling mode, a plurality of unmanned aerial vehicles can roll to move forward through a spheroid structure formed by connecting and combining side ends; navigation mode, a plurality of unmanned aerial vehicle can connect gradually and arrange into torpedo column structure at the surface of water navigation with the stack mode.
The invention is further described below with reference to the accompanying drawings and examples, it being understood that the examples described below are intended to facilitate the understanding of the invention, and are not intended to limit it in any way. In this embodiment, the spherical unmanned system of distributed perching includes six four rotor unmanned aerial vehicles, and each unmanned aerial vehicle is equivalent to the one side of regular hexahedron. It should be understood that in addition to using six drones of the present embodiment to form a roll modality, other platoons stereogram forms may be followed, such as four drones, eight drones, twelve drones, twenty drones forming a roll modality. However, it should be noted that, under the unchangeable condition of the inside hardware size of unmanned aerial vehicle, the spheroid size that the compound mode that uses the unmanned aerial vehicle that the quantity is more can make the combination of into increases, is unfavorable for hiding under the roll mode, and the adaptive capacity to environment reduces.
As shown in fig. 1-3, each unmanned aerial vehicle in this embodiment is a rotor unmanned aerial vehicle, and includes shape preserving frame 1, waterproof casing 2, support 3, rotor mechanism 4, first coupling assembling 5, second coupling assembling 6 and control unit 7.
The shape-preserving outer frame 1 is of a spherical surface structure internally connected with one surface of a regular hexahedron of a sphere. Advantageously, the conformal casing 1 has an airfoil-shaped cross-section, which provides a support profile while minimizing obstruction to the airflow.
The waterproof shell 2 is integrally of an internally-connected spherical regular hexahedron middle-surface structure and comprises an upper shell 21 and a lower shell 22. The upper case 21 has a shape similar to the shape of the shape-retaining outer frame 1 and is attached to the concave side of the shape-retaining outer frame 1 by screws. Advantageously, the conformal casing 1 is attached to the watertight housing 2, which allows the unmanned system to maintain the shape of the ball in the rolling mode. The lower shell 22 is fixedly connected with the upper shell 21 through screws, a waterproof gasket 23 is arranged between the lower shell and the upper shell to form a waterproof cavity with sealed periphery and four ducts, and an opening for the support 3 to pass through is reserved on the inner side of each duct. Advantageously, the waterproof housing 2 forms a waterproof cavity, so that loads needing waterproof, such as the control unit 7, can be wrapped in a sealing manner, and the formed cavity can provide buoyancy in an underwater mode, so that the unmanned aerial vehicle can float on the water surface; the bypass is formed, so that the power generated by the rotor wing can be enhanced and the noise can be properly reduced. Preferably, the water displacement size of the waterproof cavity is set to be more than twice of the self weight of the unmanned aerial vehicle.
Corresponding to four rotor unmanned aerial vehicle, the support 3 of this embodiment is cross symmetrical structure, including installing the main part 31 in waterproof intracavity to and follow main part 31 and radially pass waterproof chamber and extend into 4 support arms 32 of 4 ducts respectively through the inboard opening of duct. The rotor mechanism 4 is composed of four rotors, as shown in fig. 4, each rotor includes a blade 41, a paddle disk mechanism 42, a waterproof motor 43 and a waterproof steering engine 44, the waterproof motor 43 is installed at the free end of the bracket arm 32 and is located at the center of the duct; the paddle 41 is rotationally connected with the top end of an output shaft of the waterproof motor 43, and the paddle disc mechanism 42 is connected with the output shaft of the waterproof motor 43 in a sliding manner and is positioned between the paddle 41 and the waterproof motor 43; waterproof steering wheel 44 is connected with oar dish mechanism 42 to drive oar dish mechanism 42 and slide from top to bottom along waterproof motor 43 output shaft in order to change the angle of attack of paddle 41, thereby change the pitch, so that can alternate the lift direction when unmanned aerial vehicle overturns, make unmanned aerial vehicle independently resume normal condition.
In another real-time system, a single rotor, a coaxial dual rotor, a triple rotor, or the like may be used as the power drive as needed, and in order to achieve complete attitude control, it is necessary to install a variable-pitch propeller disk mechanism, a control surface, a rotor tilt mechanism, or the like in the drive.
Particularly, except that all install waterproof steering wheel by every waterproof motor to the collective pitch of four rotors is controlled respectively, can also adopt the method of four rotor collective pitches of waterproof steering wheel simultaneous control, in order to reduce actuating mechanism quantity, but this can increase the degree of difficulty of structure complexity and waterproof design relatively.
The first connecting assembly 5 and the second connecting assembly 6 are uniformly distributed in the waterproof cavity. The first coupling assembly 5 includes an upper magnetically attractive coupling 51 and a lower magnetically attractive coupling 52. Go up magnetism and inhale connecting piece 51 and install in the inboard central point of last casing 21 and put, lower magnetism is inhaled the inboard central point of connecting piece 52 installation and is put down casing 22, goes up magnetism and inhales connecting piece 51 and inhale connecting piece 52 down this moment the line and unmanned aerial vehicle's axis coincidence. A plurality of unmanned aerial vehicles can inhale the connecting piece 51 and inhale the connecting piece 52 with lower magnetism through respective last magnetism and adsorb the range in proper order into torpedo-shaped structure navigation on the surface of water with the stack mode. More unmanned aerial vehicles can be connected through the mode of stack as required. The second connecting assembly 6 includes a plurality of magnetically attractive connectors 61 mounted around the inside of the lower housing 22. A plurality of magnetic connectors 61 can also be installed around the inner side of the upper housing 21 as required. In this embodiment, 6 unmanned aerial vehicles can inhale through respective magnetism and make up into the spheroid together by connecting piece 61, roll on the ground and advance.
In particular, as shown in fig. 3, the communication and wireless charging module 8 is arranged around the magnetic connector 61, so that a plurality of unmanned aerial vehicles can exchange data in real time and realize power distribution management when combined.
The control unit 7 is located in the waterproof cavity and is mounted on the main body portion 31 of the bracket 3, and includes a rotor controller and a connection controller. The rotor controller is connected with a waterproof motor 43 and a waterproof steering engine 44, and the rotating speed of the rotor and the attack angle of the blades are adjusted through sensor signals and control instructions. Advantageously, each drone has the capability of independent operation, a distributed control method is adopted in the combination of the rolling mode and the navigation mode, data are transmitted among the drones through the communication and wireless charging modules, and the unmanned planes respectively calculate the manipulation amount required by realizing the control command.
Connection controller and last magnetism inhale connecting piece 51, down magnetism inhale connecting piece 52 and a plurality of magnetism inhale connecting piece 61 and be connected for control the connection or the disconnection between a plurality of unmanned aerial vehicle. In this embodiment, go up magnetism and inhale connecting piece 51, down magnetism and inhale connecting piece 52 and a plurality of magnetism and inhale connecting piece 61 and adopt the electro-magnet structure, at a plurality of unmanned aerial vehicle combinations and decomposition in-process, control circular telegram or outage by connection controller according to the task needs. In other embodiments, go up magnetism and inhale connecting piece 51, lower magnetism and inhale connecting piece 52 and a plurality of magnetism and inhale connecting piece 61 and can also adopt the permanent magnet structure, need not to design connection controller this moment, but require that unmanned aerial vehicle can produce sufficient aerodynamic force and break away from the magnet attraction. In addition, the first connecting assembly 5 and the second connecting assembly 6 can also adopt a mechanical structure, so that stable connection is ensured, the condition that the connecting part is dislocated or even separated due to impact in a rolling mode is prevented, but the structure is complex, and the weight is increased.
The following describes the three working modes of the distributed multi-dwelling spherical unmanned system:
in the flight mode, the unmanned aerial vehicle can complete the flight by a single unmanned aerial vehicle or can complete the flight by a plurality of unmanned aerial vehicles in formation, as shown in fig. 5. For each unmanned aerial vehicle, during normal flight, four waterproof motors 43 drive four paddles 41 respectively to provide power, and paddle wheel mechanism 42 and waterproof steering engine 44 do not work at this moment, and the manipulation mode is the same with ordinary four rotors, and the rotational speed of four waterproof motors 43 is controlled by rotor controller sending command control. When certain conditions occur, for example, the landing place collapses or falls accidentally to cause the unmanned aerial vehicle to roll over or overturn, the aerodynamic direction generated by the rotor wing faces the ground, and the unmanned aerial vehicle cannot automatically overturn by a method of changing the rotating speed. The method of changing the collective pitch can be adopted: waterproof steering wheel 44 drive oar dish mechanism 42 slides along waterproof motor 43 output shaft, and oar dish mechanism 42 reciprocates and has changed the angle of attack of paddle 1, and when oar dish mechanism 42 moved to the top, the rotor controller deadlocked waterproof steering wheel 44, and paddle 41 is the negative angle of attack this moment, produces the aerodynamic force in the opposite direction, makes unmanned aerial vehicle possess the ability of upset self-resuming. In particular, in order to reduce the overall structural weight of the unmanned aerial vehicle, the paddle mechanism 42 does not need to have a complete periodic pitch changing function like a helicopter, but only needs to have the capability of changing the total pitch.
When a cluttered environment needs to be entered or an enemy-evading aerial survey needs to be avoided, the six unmanned aerial vehicles can be combined into a spherical rolling mode to continue to perform tasks on the ground, as shown in fig. 6. Under the roll mode, each unmanned aerial vehicle is connected through a plurality of magnetism of second coupling assembling 6 and inhale connecting piece 61 between each unmanned aerial vehicle. When the six unmanned aerial vehicles are automatically combined into a sphere, one unmanned aerial vehicle firstly enables the body of the unmanned aerial vehicle to overturn through the differential speed of the rotor wings, and the shape-preserving outer frame 1 is in contact with the ground; in addition, the position coordinates of the magnetic suction connecting pieces 61 of the overturning unmanned aerial vehicles are acquired by the four unmanned aerial vehicles through the sensors (the unmanned aerial vehicles can be installed near the magnetic suction connecting pieces 61), the connecting controller plans the motion track of each unmanned aerial vehicle in the four unmanned aerial vehicles, wherein the motion track is constrained by the terminal angle, and a control command is output to the corresponding unmanned aerial vehicle. When any four unmanned aerial vehicles approach the tail end of the motion trail, the connection controller controls the plurality of magnetic suction connecting pieces 61 to be electrified to generate magnetic suction force, and the four unmanned aerial vehicles are sucked to corresponding positions and angles; and finally, the remaining unmanned aerial vehicle completes the combination of the spheres by the same method as the four unmanned aerial vehicles. From this, six unmanned aerial vehicles splice into the spheroid according to the mode of spheroid inscription regular polygon, no matter how the whole motion gesture, all can produce aerodynamic force and moment in the spherical all directions, and six unmanned aerial vehicles receive the task motion instruction of ground station simultaneously, and its waterproof motor 43's of position calculation control volume according to this unmanned aerial vehicle in the spheroid of rotor controller of each unmanned aerial vehicle. When the unmanned system needs to be decomposed into a flight mode from a rolling mode, the unmanned aerial vehicle positioned at the spherical bottom can be turned over in a pitch-variable mode.
In the sailing mode, the six unmanned aerial vehicles are sequentially connected and arranged in a torpedo-shaped structure in a superposition mode through the respective upper magnetic attraction connecting piece 51 and the lower magnetic attraction connecting piece 52, as shown in fig. 7. At this moment, make every unmanned aerial vehicle's displacement carry out the reaction torque to the rotor simultaneously more than the twice of its whole weight and adjust, can realize that every unmanned aerial vehicle always has half the rotor to float in the surface of water top, can realize controlling of torpedo column structure position in aqueous through the rotor of control surface of water top.
It will be apparent to those skilled in the art that various modifications and improvements can be made to the embodiments of the present invention without departing from the inventive concept thereof, and these modifications and improvements are intended to be within the scope of the invention.
Claims (10)
1. A distributed multi-dwelling spherical unmanned system is characterized by comprising a plurality of unmanned aerial vehicles, wherein each unmanned aerial vehicle is equivalent to one surface of a regular polyhedron in a three-dimensional structure of a platura drawing; in the air, the multiple unmanned aerial vehicles fly autonomously or form a formation; on land, the unmanned aerial vehicles are connected and combined into a spheroid structure through side ends; in water, a plurality of unmanned aerial vehicles connect gradually with the stack mode and arrange into torpedo-shaped structure.
2. The unmanned system of claim 1, wherein each drone includes a conformal outer frame, a waterproof housing, a control unit, a rotor mechanism, and a connection mechanism; the shape-preserving outer frame is of a spherical surface structure internally connected with one surface of a regular polyhedron of a sphere; the waterproof shell comprises an upper shell and a lower shell, the upper shell is connected to the concave side of the shape-preserving outer frame, and the upper shell and the lower shell are connected to form a waterproof cavity and a duct; the control unit and the connecting mechanism are arranged in the waterproof cavity; the rotor wing mechanism is fixedly connected in the duct; the control unit comprises a rotor wing controller and a connection controller, and the rotor wing controller is connected with the rotor wing mechanism and used for controlling the rotor wing mechanism to actuate; the connection controller is connected with the connecting mechanism and used for controlling connection or disconnection among the unmanned aerial vehicles.
3. The unmanned system of claim 2, wherein the connection mechanism comprises a first connection assembly configured to connect the plurality of drones in series in a stacked manner and a second connection assembly configured to combine the plurality of rotary wing drone side end connections into a sphere.
4. The unmanned system of claim 3, wherein the first connection assembly comprises an upper magnetically attractive connection disposed inside the upper housing and a lower magnetically attractive connection disposed inside the lower housing; go up magnetism and inhale the connecting piece with down the line of inhaling the connecting piece with rotor unmanned aerial vehicle's axis coincidence.
5. The unmanned system of claim 3, wherein the second connection assembly comprises a plurality of magnetically attractive connectors disposed around an inside of the watertight housing.
6. The unmanned system of any of claims 2-5, wherein the rotor mechanism comprises at least one rotor, each rotor comprising a blade, a paddle wheel mechanism, a waterproof motor, and a waterproof steering engine; the paddle is rotationally connected with the top end of the output shaft of the waterproof motor, and the paddle disc mechanism is connected with the output shaft of the waterproof motor in a sliding manner and is positioned between the paddle and the waterproof motor; the waterproof steering engine is connected with the paddle disk mechanism and used for driving the paddle disk mechanism to slide up and down along the output shaft of the waterproof motor so as to change the attack angle of the paddle; the rotor wing controller is respectively connected with the waterproof motor and the waterproof steering engine and is used for respectively controlling the waterproof motor and the waterproof steering engine to actuate.
7. The unmanned system of any of claims 2-5, comprising a stent comprising a main body portion mounted within the water-resistant chamber, and stent arms extending from the main body portion radially through the water-resistant chamber and into the duct; the control unit is mounted on the main body portion and the rotor mechanism is mounted at the boom arm free end.
8. The unmanned system of any one of claims 2-5, wherein the inside of the waterproof housing is surrounded by communication and wireless charging modules for real-time data exchange and power distribution management of the plurality of unmanned aerial vehicles when combined.
9. The unmanned system of any of claims 2-5, wherein the conformal outer frame is airfoil shaped in cross-section.
10. The unmanned system of any one of claims 2 to 5, wherein the connection location of the upper housing and the lower housing is provided with a waterproof means.
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