CN-117566133-B - Multi-rotor-wing space-coordinated multi-pose unmanned aerial vehicle structure

CN117566133BCN 117566133 BCN117566133 BCN 117566133BCN-117566133-B

Abstract

The invention discloses a multi-rotor space cooperative multi-pose unmanned aerial vehicle structure, which comprises at least two rotor units, wherein each rotor unit is rotatably connected with a load platform through a rotary joint to realize space pose conversion of the load platform, a pose detection unit, a cooperative control unit and an interface unit are further arranged on the load platform, driving motors of the pose detection unit, the interface unit and the rotor units are respectively connected with the cooperative control unit, the pose detection unit is used for detecting the pose of the load platform, and the cooperative control unit is used for controlling the driving motors of the rotor units to work according to relevant data input by the pose detection unit and the interface unit and realizing cooperative cooperation among multiple groups of rotor units so as to complete pose conversion or maintenance of the load platform. The invention can realize the change of various orientations of the load platform space, thereby being capable of conveniently adjusting the equipment carried on the load platform to work in a required posture so as to better complete the aerial work task.

Inventors

TANG JINSONG
YE FENG
MAO SHIPING
HUANG QIN
PENG YUNHAO
DENG LIKE
YU HUAIQIANG
ZHOU YIMIN
CHENG BIN

Assignees

中国电子科技集团公司第二十六研究所

Dates

Publication Date: 20260505
Application Date: 20231227

Claims (6)

1. The multi-rotor space collaborative multi-pose unmanned aerial vehicle structure comprises rotor units, a load platform and landing gear, and is characterized in that the rotor units are at least two groups, each group of rotor units is rotatably connected with the load platform through a rotary joint to realize space pose transformation of the load platform, a pose detection unit, a collaborative control unit and an interface unit are further arranged on the load platform, a driving motor of the pose detection unit, the interface unit and the rotor units is respectively connected with the collaborative control unit, the pose detection unit is used for detecting the pose of the load platform and simultaneously providing pose data for a target load, the interface unit is used for providing an interface for energy and data for a system, and the collaborative control unit is used for controlling the driving motor of the rotor units to work according to relevant data input by the pose detection unit and the interface unit and realizing collaborative cooperation among a plurality of groups of rotor units so as to complete the pose transformation or maintenance of the load platform; the landing gear is arranged on two opposite side surfaces of the load platform through a landing gear rotating shaft, wherein two groups of rotor wing units are arranged on the other two opposite side surfaces of the load platform; The rotary joints corresponding to the attitude-adjusting rotary wing units comprise universal joints and attitude-adjusting rotary shafts, a supporting rod is arranged in the center of the installation side of the load platform where the attitude-adjusting rotary wing units are located and extends outwards perpendicularly to the side, ball joints/ball joints of the universal joints are fixedly arranged at the extending ends of the supporting rod, ball joints/ball joints of the universal joints are arranged at one end of a rotating arm, the other end of the rotating arm is rotatably connected with the middle of the attitude-adjusting rotary shaft, and rotary wing mechanisms are symmetrically arranged at two ends of the attitude-adjusting rotary shaft and the two ends of the reference rotary shaft respectively.
2. The multi-rotor-wing space collaborative multi-pose unmanned aerial vehicle structure of claim 1, wherein the load platform is a hollow-out-middle low-wind-resistance space structure.
3. The multi-rotor space collaborative multi-pose unmanned aerial vehicle structure according to claim 1, wherein a shaft hole is formed in a rotating arm, the pose adjusting rotating shaft penetrates through the shaft hole and is in rotating connection with the rotating arm through a bearing, at least two mounting frames are arranged on the mounting side face of a load platform corresponding to a reference rotor unit, mounting holes with the same axis are respectively formed in the two mounting frames, and the reference rotating shaft penetrates through the two mounting holes and is in rotating connection with the mounting frames through the bearing.
4. The multi-rotor space cooperative multi-pose unmanned aerial vehicle structure is characterized in that the reference rotor units and the pose rotor units are multiple, all the reference rotor units are rotatably arranged on the corresponding side face of a load platform at equal intervals through respective reference rotating shafts, all the reference rotating shafts are arranged on the corresponding side face of the load platform at equal intervals through rotating joints, all the pose rotor units are arranged on the corresponding side face of the load platform at equal intervals in an initial state, all the pose rotating shafts are arranged on the same straight line, driving motors of all the reference rotor units and the pose rotor units are respectively connected with a cooperative control unit, all the reference rotor units work synchronously under the control of the cooperative control unit, and all the pose rotor units work synchronously under the control of the cooperative control unit.
5. The multi-rotor space collaborative multi-pose unmanned aerial vehicle structure is characterized in that the number of landing gears is 2N, N is an integer greater than or equal to 2, N groups of landing gears are respectively arranged on two sides corresponding to a load platform and are respectively arranged on the corresponding sides of the load platform through landing gear rotating shafts, a group of landing gears are respectively arranged at two ends of the corresponding sides of the load platform, the rest landing gears are arranged between the two ends and enable all the landing gears to be arranged at equal intervals, landing gear motors connected with the landing gear rotating shafts are arranged in the load platform, the landing gear motors are simultaneously connected with a collaborative control unit, and the landing gear motors drive the landing gear rotating shafts to rotate under the control of the collaborative control unit so as to open or close the landing gears.
6. The multi-rotor space collaborative multi-pose unmanned aerial vehicle structure according to claim 1, wherein the pose detection unit is embedded and installed at the middle position of the load platform.

Description

Multi-rotor-wing space-coordinated multi-pose unmanned aerial vehicle structure Technical Field The invention relates to technical improvement of rotor unmanned aerial vehicles, in particular to a multi-rotor space collaborative multi-pose unmanned aerial vehicle structure, and belongs to the technical field of unmanned aerial vehicles. Background In recent years, unmanned aerial vehicles are widely used in a plurality of fields due to the advantages of flexibility, convenience and low cost. The unmanned aerial vehicle is provided with a load platform, required working equipment (load) such as a camera, a spraying device, communication equipment and the like is installed on the load platform, and the unmanned aerial vehicle carries the working equipment to a required high-altitude area for operation. The rotor unmanned aerial vehicle is unmanned aerial vehicle's main structural style. At present, the rotor wing of the rotor wing unmanned aerial vehicle is of a fixed rigid structure, so that the azimuth relation of a load platform on the unmanned aerial vehicle is fixed in advance, and after the position relation of the load platform is fixed, the azimuth of a working device on the load platform is correspondingly fixed, and the unmanned aerial vehicle can only move back and forth and left and right or rotate in a horizontal plane. If the unmanned aerial vehicle is provided with a tool (such as a camera, a radar and the like) which needs to perform multi-azimuth scanning, a scanning blind area often exists due to the inherent mechanical structure of the unmanned aerial vehicle. Disclosure of Invention Aiming at the defects in the prior art, the invention aims to provide a multi-rotor-wing space-coordinated multi-pose unmanned aerial vehicle structure. The invention can realize the change of various orientations of the load platform space, thereby being capable of conveniently adjusting the equipment carried on the load platform to work in a required posture so as to better complete the aerial work task. In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: The multi-rotor space collaborative multi-pose unmanned aerial vehicle structure comprises rotor units, a load platform and landing gear, wherein the rotor units are at least two groups, each group of rotor units is rotatably connected with the load platform through rotary joints to realize space pose transformation of the load platform, a pose detection unit, a collaborative control unit and an interface unit are further arranged on the load platform, driving motors of the pose detection unit, the interface unit and the rotor units are respectively connected with the collaborative control unit, the pose detection unit is used for detecting the pose of the load platform and simultaneously providing pose data for a target load, the interface unit is used for providing an interface for energy and data for a system, and the collaborative control unit is used for controlling the driving motors of the rotor units to work according to relevant data input by the pose detection unit and the interface unit and achieving collaborative coordination among a plurality of groups of rotor units to finish pose transformation or maintenance of the load platform. Further, the landing gear is arranged on two opposite sides of the load platform through a landing gear rotating shaft, and two groups of rotor wing units are arranged on the other two opposite sides of the load platform. Further, the load platform is of a space structure with hollow middle and low wind resistance. The rotary joints corresponding to the attitude-adjusting rotary wing units comprise universal joints and attitude-adjusting rotary shafts, support rods are arranged in the center of the installation side of the load platform where the attitude-adjusting rotary wing units are located and extend outwards perpendicular to the side, ball sockets/ball heads of the universal joints are fixedly arranged at the extending ends of the support rods, ball heads/ball sockets of the universal joints are arranged at one end of a rotating arm, the other end of the rotating arm is rotatably connected with the middle of the attitude-adjusting rotary shaft, and rotor mechanisms are symmetrically arranged at two ends of the attitude-adjusting rotary shaft and the two ends of the reference rotary shaft respectively. The load platform is characterized in that the load platform is provided with a load platform mounting side surface corresponding to the reference rotor unit, the load platform mounting side surface is provided with a load platform mounting side surface, the load platform mounting side surface is provided with at least two mounting frames corresponding to the reference rotor unit, the load platform mounting side surface is provided with at least two mounting frames, the load platform mounting side surface is provided with a load platform mounting side surface is prov