A vertical take off and landing (VTOL) unmanned aerial vehicle (UAV) (1) provided by the invention comprises a multi-propeller propulsion system (2), an outer protective cage (4) surrounding the multi-propeller propulsion system (2), an autonomous power source (7), a sensing system (6), and a control system (5) connected to the sensing system (6) to receive measurement signals from the sensing system. The control system is electrically connected to the multi-propeller propulsion system (2) to control motors (10) of the propulsion system. The sensing system comprises at least an orientation sensor and a displacement sensor configured to measure the orientation and displacement of the multi-propeller propulsion system. The multi-propeller propulsion system comprises at least two propellers (8) arranged spaced apart in a non-coaxial manner, each propeller comprising a motor (10) having a stator and a rotor coupled to propeller blades (9). The control system (5) comprises at least one microprocessor (15) and at least one non-volatile memory (16) in which at least one control program (17) is executable by the microprocessor (15) to control the multi-propeller propulsion system for flight or hovering of the VTOL UAV. The control system comprises a program for stabilizing orientation (18) configured to reverse thrust on at least one propeller (8') distal from a point of contact (P) with an obstacle (26) while controlling a motor (10) of a proximal propeller from the contact point (P) to generate lift, the thrust of the distal and proximal propellers being controlled to exert lift on the UAV to counteract gravitational force (G) thereon and apply a moment of rotation (M) about said point of contact (P) to stabilize the position of the UAV or to counteract torque resulting from inertia.

    本发明的垂直起降(VTOL)无人机(1),其特征包括多螺旋桨推进系统(2)、围绕多螺旋桨推进系统(2)的保护性外笼(4)、自主动力源(7)、感测系统(6)、以及连接到感测系统(6)以接收来自感测系统的测量信号的控制系统(5)。控制系统电连接到多螺旋桨推进系统(2),以控制推进系统的电机(10)。感测系统至少包括一个方位传感器和一个位移传感器,用以测量多螺旋桨推进系统的方位和位移。多螺旋桨推进系统包括以非同轴方式间隔布置的至少两个螺旋桨(8),每个螺旋桨包括电机(10),电机(10)具有耦合到螺旋桨叶片(9)的定子和转子。控制系统(5)包括至少一个微处理器(15)和至少一个非易失性存储器(16),其中至少一个控制程序(17)可由微处理器(15)执行,以控制多螺旋桨推进系统用于垂直起飞和着陆无人机的飞行或悬停。所述控制系统包括用于稳定定向的程序(18),所述程序被配置为在与障碍物(26)的接触点(P)远端的至少一个螺旋桨(8’)上反转推力,同时控制来自接触点(P)的近端螺旋桨的电机(10)以产生升力,所述远端和近端螺旋桨的推力被控制来在无人机上施加升力以抵消其上的重力(G),并围绕所述接触点(P)施加旋转力矩(M),以稳定无人机的位置或抵消由惯性产生的扭矩。


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    Titel :

    UNMANNED AERIAL VEHICLE WITH COLLISION TOLERANT PROPULSION AND CONTROLLER


    Weitere Titelangaben:

    配有碰撞容错推进和控制器的无人机


    Beteiligte:

    Erscheinungsdatum :

    2021-10-15


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B64C AEROPLANES , Flugzeuge



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