CN-122009554-A - High-load high-speed long-range anti-interference unmanned aerial vehicle system

CN122009554ACN 122009554 ACN122009554 ACN 122009554ACN-122009554-A

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a high-load high-speed long-distance anti-interference unmanned aerial vehicle system which comprises a high-strength light-weight engine body module, a four-rotor high-power unit, a multi-mode redundant navigation module, a self-adaptive anti-interference communication link module, an embedded AI task processing unit and a high-energy density power unit, wherein the high-strength light-weight engine body module adopts a carbon fiber integrated engine body, a Y-shaped main beam is arranged in the high-strength light-weight engine body module, and is automatically locked after taking off to form a rigid integral dual advantage, so that the whole machine quality is greatly reduced, the energy utilization efficiency is improved, the flexible deformation of an engine arm is effectively restrained under high-dynamic working conditions such as high-load hovering, high-speed front flying or strong wind disturbance, and the like, and the lift force eccentricity and attitude oscillation even out-of-control risks caused by structure looseness are avoided, and the structural robustness, the pneumatic efficiency and the flight control precision of the whole machine are remarkably enhanced.

Inventors

HU JIAPENG
LIU LEI
YE WEI

Assignees

深圳智天创科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260225

Claims (10)

1. The high-load high-speed long-range anti-interference unmanned aerial vehicle system is characterized by comprising a high-strength light-weight engine body module, a four-rotor high-power unit, a multi-mode redundant navigation module, a self-adaptive anti-interference communication link module, an embedded AI task processing unit and a high-energy-density power supply unit; The high-strength lightweight machine body module is internally provided with a Y-shaped main beam, two groups of machine arms are rotationally connected with the machine body through a hinge with an electromagnetic clutch, and the electromagnetic clutch is electrically connected with the flight control unit and is used for controlling the machine arms by the flight control unit after taking off to form a rigid structure coaxial; The four-rotor high-power unit comprises a plurality of motors and propellers, wherein the motors are connected with the flight control unit through an electronic speed regulator supporting two-way communication and used for receiving rotating speed instructions and returning motor states; the multi-mode redundant navigation module is connected with the flight control unit through communication, the flight control unit runs a VIO-GNSS tight coupling algorithm, automatically switches to a navigation mode taking a visual inertial odometer as a leading mode when a GNSS signal fails, and corrects the accumulated error in the height direction by utilizing laser ranging data; The self-adaptive anti-interference communication link module is connected with the communication management unit, the communication management unit detects the state of the optical fiber communication link in real time, evaluates the quality of each wireless communication link, and dynamically selects a main wireless communication channel according to the task priority; The embedded AI task processing unit receives data from the environment sensing sensor, runs a target detection and tracking algorithm, generates a dynamic waypoint and sends the dynamic waypoint to the flight control unit through a UDP protocol; the high-energy-density power supply unit is provided with a temperature sensor connected with the battery management system, and the BMS is communicated with the flight control unit.
2. The high-load high-speed long-range anti-interference unmanned aerial vehicle system of claim 1, wherein the multi-modal redundant navigation module comprises an RTK-GNSS receiver, a high-precision six-axis IMU, a global shutter binocular camera, a single-point laser range finder, a digital barometer and a triaxial geomagnetic sensor.
3. The high-load high-speed long-range anti-interference unmanned aerial vehicle system according to claim 1, wherein: The communication management unit detects the online/offline state of the optical fiber communication links in real time, monitors the signal-to-noise ratio, the packet loss rate, the round trip delay and the bandwidth utilization rate of each wireless communication link in real time, selects the optical fiber communication link when the optical fiber communication link is detected to be in the online state, and when the optical fiber communication link is detected to be in the offline state, the control instruction is preferentially routed to the wireless communication link with the lowest delay, the video stream adopts a sliced parallel redundancy transmission mechanism, key telemetry data is transmitted in a backup manner across links, and the flight safety and task continuity are still maintained under the conditions of strong electromagnetic interference, multipath fading or partial link interruption.
4. The high-load high-speed long-range anti-interference unmanned aerial vehicle system of claim 1, wherein the flight control unit establishes two-way communication with each functional module through a high-speed digital bus respectively: the battery management system is connected with the multi-mode redundant navigation module and the high-energy-density power supply unit through a CAN bus; the system comprises a multimode redundant navigation module, a digital barometer, a triaxial geomagnetic sensor, a high-frequency inertial data acquisition module and a high-frequency inertial data acquisition module, wherein the digital barometer and the triaxial geomagnetic sensor in the multimode redundant navigation module are directly connected through an SPI bus to acquire high-frequency inertial data; receiving the UDP-encapsulated waypoint instruction with the embedded AI task processing unit through an Ethernet or a high-speed UART; Exchanging link state and priority strategy with the self-adaptive anti-interference communication link module through a serial interface or a special communication management channel; the flight control unit also outputs a control signal to an electromagnetic clutch driving circuit in the high-strength light-weight engine body module, so that dynamic regulation and control of the rigidity of the engine arm are realized.
5. The high-load high-speed long-range anti-interference unmanned aerial vehicle system of claim 1, wherein the Y-shaped main beam is internally integrated with an unfolding type pneumatic fairing, and the fairing is unfolded by a memory alloy through a flight control unit and is automatically folded in a lifting or low-speed maneuvering stage to avoid interference with the downward washing airflow of a propeller.
6. The high-load high-speed long-range anti-interference unmanned aerial vehicle system of claim 1, wherein the embedded AI task processing unit supports multi-task parallel reasoning including, but not limited to, target recognition, semantic map construction, dynamic obstacle prediction and emergency return path re-planning; When the quality of the communication link exceeds a threshold value, automatically switching to a local closed-loop control mode, generating a obstacle avoidance track according to the latest environment sensing data, and executing autonomous return.
7. The high-load high-speed long-range anti-interference unmanned aerial vehicle system of claim 1, wherein the high-energy-density power supply unit is provided with a double-battery hot plug interface and supports dynamic electric quantity balance in flight; The battery management system monitors the voltage, internal resistance and temperature rise gradient of each battery core in real time, when any battery core is abnormal, the flight control unit immediately isolates the fault module and switches to a standby power supply loop, and meanwhile, the battery management system sends a battery health state alarm to the ground station.
8. The high-load high-speed long-range anti-interference unmanned aerial vehicle system of claim 1, wherein the multi-mode redundant navigation module is further integrated with millimeter wave radar for detecting the distance and relative speed of a front obstacle in a dense fog, dust or night low-light environment; lei Dadian cloud data are fused with binocular vision characteristics and are input to a robust state estimator in a flight control unit, so that the local obstacle avoidance navigation capacity in a VIO-GNSS failure scene is enhanced.
9. The high-load high-speed long-range anti-interference unmanned aerial vehicle system of claim 1, wherein the communication management unit dynamically selects network access points to ensure continuous availability of public network links in a cross-regional long-range task.
10. The high-load high-speed long-range anti-interference unmanned aerial vehicle system of claim 1, wherein the flight control unit is provided with a fault safety state machine, the fault safety state machine is a software and hardware collaborative fault monitoring and grading response control mechanism integrated in the flight control unit, and state switching logic for normal operation, early warning, fault and emergency is constructed by collecting state data of all functional modules in real time, and when more than two main sensors in the multi-mode redundant navigation module are detected to be invalid, and a communication link is completely interrupted and continuously exceeds a preset time limit, the emergency response mechanism is automatically triggered.

Description

High-load high-speed long-range anti-interference unmanned aerial vehicle system Technical Field The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a high-load high-speed long-distance anti-interference unmanned aerial vehicle system. Background Unmanned aerial vehicle is an aircraft which does not need a human pilot to operate on the aircraft and relies on remote control or autonomous flight procedures to complete specific tasks, along with the development of artificial intelligence, material science and communication technology, modern unmanned aerial vehicle is widely applied to the fields of military reconnaissance, logistics transportation, emergency rescue, agricultural plant protection, geographical mapping and the like, and particularly in complex environments or high-risk scenes, high-performance unmanned aerial vehicle is gradually becoming a key task execution platform by virtue of flexibility, high efficiency and expandability. Under the dual driving of the modern aerospace technology and the application demands in multiple fields, the unmanned aerial vehicle gradually evolves from a single reconnaissance and mapping tool to a multifunctional platform with 'large load, high speed, long voyage and anti-interference', at present, critical scenes such as emergency rescue, border patrol, marine maintenance, remote logistics and the like are provided, the comprehensive performance of the unmanned aerial vehicle has strict requirements that the unmanned aerial vehicle needs to quickly carry rescue materials and medical equipment to arrive at a remote disaster site in emergency rescue, the unmanned aerial vehicle is required to have large load bearing capacity and high-speed maneuvering performance, the border patrol and the marine maintenance scenes have long voyage capability as the core for guaranteeing task coverage, and complex electromagnetic environments (such as radar interference and communication shielding) provide rigid demands for the anti-interference capability of the unmanned aerial vehicle, and remote logistics, trans-regional material delivery and other scenes, and the like are required to resist adverse factors such as electromagnetic interference and air flow disturbance in the complex environment while the large load and the long voyage are considered, so that the task is ensured to be stably executed. In the prior art, despite the remarkable progress of the current unmanned aerial vehicle technology, multiple challenges still face in the aspects of comprehensive performances such as large load, high speed, long distance, strong anti-interference and the like, and the technical scheme is as follows: First, it is difficult to achieve both structural strength and weight reduction. The traditional machine body is mostly made of split-type splicing or common composite materials, has insufficient rigidity, is easy to deform or even has structural failure when in heavy load or high-speed maneuver, but the existing folding machine arm design lacks an active locking mechanism, cannot form a rigid whole in flight to influence pneumatic efficiency and control response, and has insufficient reliability in a complex environment. The system is characterized in that a plurality of unmanned aerial vehicles rely on GNSS signals, are easy to lose lock in urban canyons, indoor or electromagnetic interference environments, have the problems of large accumulated error, high drift and the like in single inertia or visual navigation, lack multi-source tight coupling and automatic switching mechanisms, cause sudden drop of positioning precision and even out of control, have weak anti-interference capability of communication links and stiff resource scheduling, are easy to interrupt in strong interference or shielding scenes by adopting fixed frequency band communication, and meanwhile, control instructions and video streams share the same channel, bandwidth and redundancy strategies are not dynamically allocated according to task priority, so that key instruction delay or video jamming is caused, and the continuity and safety of task execution are seriously affected. Disclosure of Invention In order to overcome the defects of the prior art and solve at least one technical problem in the background art, the invention provides a high-load high-speed long-range anti-interference unmanned aerial vehicle system. The technical scheme adopted for solving the technical problems is that the high-load high-speed long-range anti-interference unmanned aerial vehicle system comprises a high-strength light-weight engine body module, a four-rotor high-power unit, a multi-mode redundant navigation module, a self-adaptive anti-interference communication link module, an embedded AI task processing unit and a high-energy-density power supply unit; The high-strength lightweight machine body module is internally provided with a Y-shaped main beam, two groups of machine arms a