The invention discloses an anti-collision three-rotor unmanned aerial vehicle based on a twelve-rod stretch-draw integral structure. The three-rotor unmanned aerial vehicle is composed of a twelve-rod stretch-draw integral frame, a coaxial double-propeller rotor assembly and a tension sensor assembly. The tensegrity frame has good spatial symmetry, structural stability and impact resistance, is light in weight, and can reduce the influence on the cruising ability of the unmanned aerial vehicle while protecting the three-rotor unmanned aerial vehicle. In addition, the unmanned aerial vehicle is provided with six tension sensor assemblies. When the unmanned aerial vehicle collides with an obstacle, the tension sensor assembly located in the middle of the elastic inhaul cable can sense the collision direction based on the stress deformation condition of the twelve-rod tensioning overall structure and transmit the collision direction to the control unit, and meanwhile the control unit adjusts the rotating speed of the three sets of rotors so that the unmanned aerial vehicle can be away from the obstacle. Therefore, the anti-collision function of the unmanned aerial vehicle is realized. Therefore, the three-rotor unmanned aerial vehicle has great engineering application value in the field of exploration of complex unknown environments.
本发明公开了一种基于十二杆张拉整体结构的防碰撞三旋翼无人机,该三旋翼无人机由十二杆张拉整体框架、共轴双桨旋翼组件和拉力传感器组件组成。该张拉整体框架具有良好的空间对称性、结构稳定性与抗冲击能力,并且其质量较轻,在保护三旋翼无人机的同时能够减少对无人机续航能力的影响。此外,该无人机具备六个拉力传感器组件;当无人机与障碍物发生碰撞时,位于弹性拉索中部的拉力传感器组件能够基于十二杆张拉整体结构的受力变形情况感知碰撞方向并传递给控制单元,同时控制单元调整三组旋翼的转速致使无人机远离障碍物,以此实现该无人机的防碰撞功能。因此,该三旋翼无人机在探索复杂未知环境领域具有极大的工程应用价值。
Anti-collision three-rotor unmanned aerial vehicle based on twelve-rod tensegrity structure
一种基于十二杆张拉整体结构的防碰撞三旋翼无人机
2022-07-29
Patent
Elektronische Ressource
Chinesisch
IPC: | B64C AEROPLANES , Flugzeuge |
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