CN-121973964-A - Heterogeneous many rotor unmanned aerial vehicle

CN121973964ACN 121973964 ACN121973964 ACN 121973964ACN-121973964-A

Abstract

The invention discloses a heterogeneous multi-rotor unmanned aerial vehicle, which belongs to the technical field of unmanned aerial vehicles and comprises a main body, wherein a main thrust driving mechanism is arranged at the bottom of the main body, an auxiliary adjusting driving mechanism is arranged on the side wall of the main body, a loading platform is arranged at the top of the main body, a power system and a flight control system are arranged in the main body, the power system is respectively connected with the main thrust driving mechanism and the auxiliary adjusting driving mechanism, and the flight control system is respectively connected with the power system, the main thrust driving mechanism and the auxiliary adjusting driving mechanism. According to the heterogeneous multi-rotor unmanned aerial vehicle, the coaxial large rotor wings are used as the main thrust units and are arranged at the bottom of the main body of the unmanned aerial vehicle, blocking interference of downwash flow to the main body is eliminated, the energy utilization rate is improved, meanwhile, four small rotor wings are used as auxiliary adjustment units, a complex tilting disk structure is eliminated, the system is simplified, and the control precision is improved.

Inventors

WANG FANG
GUO WEI
Xu anan
SHANGGUAN CHUNMEI
WANG SHUOYI
HU SHULING
WANG JINHAN
MA HAOYU
Jiang chongwen
LIU ZHENCHEN
HU TIANXIANG
WANG QISHAO
LI YUNLONG
YU JIAN
LIU HAIYUN

Assignees

北京航空航天大学

Dates

Publication Date: 20260505
Application Date: 20260327

Claims (8)

1. The heterogeneous multi-rotor unmanned aerial vehicle is characterized by comprising a main body, wherein a main thrust driving mechanism is arranged at the bottom of the main body, an auxiliary adjusting driving mechanism is arranged on the side wall of the main body, a loading platform is arranged at the top of the main body, a power system and a flight control system are arranged in the main body, the power system is respectively connected with the main thrust driving mechanism and the auxiliary adjusting driving mechanism, and the flight control system is respectively connected with the power system, the main thrust driving mechanism and the auxiliary adjusting driving mechanism.
2. The heterogeneous multi-rotor unmanned aerial vehicle of claim 1, wherein the main thrust driving mechanism comprises an upper rotor, a lower rotor, an upper motor and a lower motor, a bearing is arranged between an output shaft of the upper motor and an output shaft of the lower motor, the upper rotor is connected with an output shaft of the lower motor, the lower rotor is connected with an output shaft of the upper motor, and the upper motor and the lower motor are connected with the power system and the flight control system.
3. The heterogeneous multi-rotor unmanned aerial vehicle of claim 2, wherein the auxiliary adjusting driving mechanism comprises a bracket and a small rotor, the bracket is connected with the main body of the aircraft body, a small motor is arranged at one end of the bracket, the small rotor is connected with an output shaft of the small motor, and the small motor is connected with the power system and the flight control system.
4. The heterogeneous multi-rotor unmanned aerial vehicle of claim 3, wherein the small motor is provided with an electronic speed regulator, and the electronic speed regulator is connected with the flight control system.
5. The heterogeneous multi-rotor unmanned aerial vehicle of claim 3, wherein the power system comprises an energy supply module and an energy management module, an energy supply cabin is arranged in the main body of the unmanned aerial vehicle, the energy supply module is arranged in the energy supply cabin and is divided into a pure electric type and an extended range type, the energy management module is arranged in the main body of the unmanned aerial vehicle, and the energy management module is respectively connected with the energy supply module, the upper motor, the lower motor, the small motor and the flight control system.
6. The heterogeneous multi-rotor unmanned aerial vehicle of claim 5, wherein the battery pack is an energy supply battery pack, the energy supply battery pack is arranged in the energy supply cabin, and the energy supply battery pack is connected with the energy management module.
7. The heterogeneous multi-rotor unmanned aerial vehicle of claim 5, wherein the range extender comprises a gasoline engine, a generator and an energy storage battery pack, wherein the gasoline engine, the generator and the energy storage battery pack are arranged in the energy supply cabin, the gasoline engine is connected with the generator, the generator is connected with the energy storage battery pack, and the energy storage battery pack is connected with the energy management module.
8. The heterogeneous multi-rotor unmanned aerial vehicle of claim 6 or 7, wherein the flight control system is arranged inside the main body of the aircraft body, and is integrated with an adaptive disturbance observation module, and the adaptive disturbance observation module is used for collecting the posture, position, speed and load data of the whole aircraft in real time and identifying and compensating flight errors caused by airflow disturbance and load change.

Description

Heterogeneous many rotor unmanned aerial vehicle Technical Field The invention relates to the technical field of unmanned aerial vehicles, in particular to a heterogeneous multi-rotor unmanned aerial vehicle. Background Unmanned aerial vehicles have been widely used in various fields by virtue of their flexibility, mobility, and capability of replacing manual work to accomplish high-risk or complex tasks. The current mainstream unmanned aerial vehicle mainly falls into single rotor unmanned aerial vehicle and many rotor unmanned aerial vehicle two kinds, but all exist and are difficult to compromise pneumatic efficiency, operation convenience and the problem of carrying capacity. For traditional coaxial double-rotor unmanned aerial vehicle, its core advantage lies in realizing moment of torsion self-balancing through upper and lower two pairs counter-rotating rotor, need not extra tail rotor, possesses higher lift density. However, existing coaxial dual rotors mostly employ a pull-in aerodynamic arrangement, i.e., the rotor system is mounted above the fuselage body. From a hydrodynamic perspective, in this arrangement, the high-speed downwash generated by rotor rotation is physically blocked by the fuselage body surface during the downward motion, thereby creating a severe download effect. Researches show that the negative lift force formed by pneumatic interference can offset about 10 to 15 percent of effective work of the whole machine, and greatly limit the energy utilization rate and the endurance performance. In addition, the traditional coaxial type multi-reliance tilting disk mechanism realizes gesture control, and the mechanism contains a large number of bearings, connecting rods and steering engines, and is highly redundant and precise in structure, so that the structural weight of a machine body is greatly increased, the daily maintenance cost is high, the mechanical abrasion is easy to cause system failure, and the reliability requirements of heavy load and high-frequency operation are difficult to meet. For traditional four-rotor and other multi-rotor unmanned aerial vehicle, although the simplification of control logic is realized through motor rotation speed difference, but its pneumatic efficiency is lower, and the air current mutual interference of a plurality of little rotors is serious, and the lift that unit power produced is limited, leads to its duration to be generally shorter under big load demand. In logistic transportation and special work applications, cargo handling is forced to adopt a bottom hanging or bottom mounting mode because the existing pull-in rotor layout occupies the top space of the fuselage. The gravity center hanging layout has the obvious defects that firstly, the loading and unloading operation does not accord with the principle of ergonomics, operators need to bend frequently or lift up a machine body, the operation difficulty of a mechanical arm is increased under the logistics automation scene, secondly, cargoes are very close to the ground, the cargoes are very easy to be polluted by water accumulation on the ground or dust or damaged by physical collision when taking off and landing on non-hardened road surfaces or complex terrains, moreover, the gravity center is severely deviated due to the swing effect generated by hanging cargoes in the flight process, unstable inertia moment is generated, the compensation burden of a flight control system is increased, and the flight safety is reduced. Disclosure of Invention The invention aims to provide a heterogeneous multi-rotor unmanned aerial vehicle, which is characterized in that a coaxial large rotor is used as a main thrust unit and is arranged at the bottom of a main body of the unmanned aerial vehicle, blocking interference of downwash to the main body is eliminated, the energy utilization rate is improved, four small rotors are used as auxiliary adjusting units, a complex tilting disk structure is canceled, the system is simplified, the control precision is improved, in addition, an open overhead cargo carrying platform is constructed by using a top space of the main body released by the lower rotor, and low-level optimization of convenient loading and unloading and flight gravity center is realized, so that the pneumatic efficiency, the operation convenience, the cruising ability and the heavy load stability are improved on the premise of not increasing the structural complexity. In order to achieve the above purpose, the invention provides a heterogeneous multi-rotor unmanned aerial vehicle, which comprises a main body, wherein a main thrust driving mechanism is arranged at the bottom of the main body, an auxiliary adjusting driving mechanism is arranged on the side wall of the main body, a loading platform is arranged at the top of the main body, a power system and a flight control system are arranged in the main body, the power system is respectively connected with the main thrust driving mechanism and t