The invention relates to a duct-foldable multi-duct unmanned aerial vehicle and a control method thereof. The unmanned aerial vehicle comprises a main lift force duct, vehicle arms, a control duct, an equipment cabin, an undercarriage and a load base. One ends of the four arms are fixedly connected with the main lift duct and are distributed on the outer side of the main duct in a cross shape; the other ends of the four machine arms are connected with the four control ducts correspondingly, and the control ducts can rotate relative to the machine arms. By controlling the duct to be automatically folded in flight, the size of the unmanned aerial vehicle is reduced, the trafficability of a narrow space is improved, and the portability of the unmanned aerial vehicle is also improved. The control method for automatically folding the duct in flight can reduce or eliminate the rotation torque in the duct folding control process, and ensures the stable flight of the unmanned aerial vehicle. The main lift force duct and the control duct which coaxially rotate oppositely are backups for each other, when one duct breaks down, stable landing of the unmanned aerial vehicle is achieved through a fault emergency control method, the damage rate of the unmanned aerial vehicle is reduced, and the weight and cost for additionally installing a parachute are also saved.
本发明涉及一种涵道可折叠的多涵道无人机及其控制方法,所述无人机包括主升力涵道、机臂、控制涵道、设备舱、起落架和载荷基座;四个机臂一端与主升力涵道固连,呈“十”字型分布于主涵道外侧;四个机臂的另一端分别与四个控制涵道相连接,控制涵道能够相对机臂转动。本发明通过飞行中控制涵道自动折叠,减小无人机尺寸,提高狭小空间的通过性,也增加无人机的便携性。飞行中涵道自动折叠的控制方法,可降低或消除控制涵道折叠过程中的旋转扭矩,保证无人机平稳飞行。共轴对转的主升力涵道和控制涵道互为备份,当一个涵道故障时,通过故障应急控制方法,实现无人机平稳降落,降低无人机的损毁率,也节省了额外安装降落伞的重量和成本。
Multi-duct unmanned aerial vehicle with foldable ducts and control method of multi-duct unmanned aerial vehicle
一种涵道可折叠的多涵道无人机及其控制方法
2024-12-06
Patent
Electronic Resource
Chinese
UNMANNED AERIAL VEHICLE SYSTEM INCLUDING FOLDABLE UNMANNED AERIAL VEHICLE
European Patent Office | 2024
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