1. Miniature aircraft is visited to vital sign based on ion wind drive, its characterized in that including:

the propelling device comprises a propelling shell (1), wherein the propelling shell (1) comprises an upper shell and a lower shell which are mounted in a clamping manner, and the propelling shell (1) is integrally in a hollow funnel shape;

the cantilever mechanism (2) comprises a left front cantilever unit (21), a right front cantilever unit (22), a right rear cantilever unit (23) and a left rear cantilever unit (24), wherein the left front cantilever unit (21), the right front cantilever unit (22), the right rear cantilever unit (23) and the left rear cantilever unit (24) are respectively arranged at four corners of the propelling shell (1);

an ion wind propulsion system (3) which comprises a left front propulsion unit (31), a right front propulsion unit (32), a right rear propulsion unit (33) and a left rear propulsion unit (34), wherein the left front propulsion unit (31), the right front propulsion unit (32), the right rear propulsion unit (33) and the left rear propulsion unit (34) are respectively arranged at the tail ends of the four cantilever units;

and the data processing system (4) comprises a CPU microcontroller unit, an NPU unit, a sensor unit, a transformer unit, a signal transceiving unit, a laser unit, a high-energy battery unit and a PCB (printed circuit board) deposited copper-silicon plate.

2. The ion wind drive based vital sign sniffing micro aerial vehicle according to claim 1, wherein the left front cantilever unit 21, the right front cantilever unit 22, the right rear cantilever unit (23) and the left rear cantilever unit (24) are identical in structure; the left front suspension arm unit (21) comprises a servo motor 211, a bearing (212) and a suspension arm shaft (213); the servo motor (211) is fixedly installed in the propelling shell (1), an output shaft of the servo motor (211) is connected to the cantilever shaft (213), the cantilever shaft (213) penetrates through the bearing (212), and the tail end of the cantilever shaft (213) is provided with the left front propelling unit (31).

3. The ionic wind drive-based vital sign sniffing micro aircraft according to claim 1, characterized in that the left front propulsion unit 31, the right front propulsion unit 32, the right rear propulsion unit (33) and the left rear propulsion unit (34) are structurally identical; the left front propelling unit (31) comprises a propelling shell 301, a high-voltage power supply 303, an electrode bracket (304) and an electrode (305); the propelling shell (301) is cylindrical, and a plurality of air inlets (302) are formed in the top of the propelling shell (301); a high-voltage power supply cavity is arranged on one side of the propelling shell (301), and a high-voltage power supply (303) is arranged in the high-voltage power supply cavity; an electrode support (304) is arranged on the middle side of the top of the propelling shell (301), an electrode (305) is fixed on the electrode support (304), and the electrode (305) is electrically connected with a high-voltage power supply (303); the high-voltage power supply (303) is electrically connected with the high-energy battery unit through the transformer unit.

4. The ionic wind drive-based vital sign sniffing micro aerial vehicle according to claim 1, characterized in that: the CPU microcontroller unit, the NPU unit, the sonar ranging unit, the gyroscope unit, the transformer unit, the signal receiving and transmitting unit, the laser unit and the high-energy battery unit are integrally mounted on the PCB deposited copper-silicon plate.

5. The ionic wind drive-based vital sign sniffing micro aerial vehicle according to claim 1, characterized in that: the CPU microcontroller unit is respectively connected with the NPU unit, the signal transceiving unit, the sensor unit, the laser unit and the high-energy battery unit, and the high-energy battery unit is connected with the transformer unit; the sensor unit comprises a carbon dioxide sensor, a water vapor sensor, a temperature sensor, a flight attitude controller, a sonar ranging sensor and a gyroscope sensor.

Background

Most of the traditional micro aircrafts concentrate on the bionic field of flapping wings, mainly depend on a mechanical feeding structure to realize flight, and the existence of the mechanical transmission structure causes a plurality of precise parts and brings great difficulty to the miniaturization of the aircrafts. On the other hand, due to the reduction of the size, the rotation speed needs to be increased to realize stable flight, so that the flapping wings and the rotor wings can generate larger noise when flying. Therefore, it is imperative to develop an aircraft based on fewer mechanical components and quietness.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides a vital sign sniffing miniature aircraft based on ion wind driving.

The technical scheme adopted by the invention for solving the technical problems is as follows:

miniature aircraft is visited to vital sign based on ion wind drive including:

the propelling device comprises a propelling shell 1, wherein the propelling shell 1 comprises an upper shell and a lower shell which are mounted in a clamping manner, and the propelling shell 1 is integrally hollow and funnel-shaped;

a boom mechanism 2, the boom mechanism including a left front boom unit 21, a right front boom unit 22, a right rear boom unit 23, and a left rear boom unit 24, the left front boom unit 21, the right front boom unit 22, the right rear boom unit 23, and the left rear boom unit 24 being respectively disposed at four corners of the propulsion housing 1;

an ion wind propulsion system 3, which comprises a left front propulsion unit 31, a right front propulsion unit 32, a right rear propulsion unit 33 and a left rear propulsion unit 34, wherein the left front propulsion unit 31, the right front propulsion unit 32, the right rear propulsion unit 33 and the left rear propulsion unit 34 are respectively arranged at the tail ends of the four cantilever units;

and the data processing system 4 comprises a CPU microcontroller unit, an NPU unit, a sensor unit, a transformer unit, a signal transceiving unit, a laser unit, a high-energy battery unit and a PCB (printed circuit board) deposited copper-silicon plate.

The invention also has the following additional technical features:

the technical scheme of the invention is further specifically optimized as follows: the left front suspension arm unit 21, the right front suspension arm unit 22, the right rear suspension arm unit 23, and the left rear suspension arm unit 24 are identical in structure; the left front suspension arm unit 21 includes a servo motor 211, a bearing 212, and a suspension arm shaft 213; the servo motor 211 is fixedly installed inside the propulsion housing 1, an output shaft of the servo motor 211 is connected to a cantilever shaft 213, the cantilever shaft 213 penetrates through the bearing 212, and the end of the cantilever shaft 213 is provided with the left front propulsion unit 31.

The technical scheme of the invention is further specifically optimized as follows: the left front propulsion unit 31, the right front propulsion unit 32, the right rear propulsion unit 33 and the left rear propulsion unit 34 are identical in structure; the left front propelling unit 31 comprises a propelling shell 301, a high-voltage power supply 303, an electrode bracket 304 and an electrode 305; the propelling shell 301 is cylindrical, and the top of the propelling shell 301 is provided with a plurality of air inlets 302; a high-voltage power supply cavity is arranged on one side of the propelling shell 301, and a high-voltage power supply 303 is arranged in the high-voltage power supply cavity; an electrode bracket 304 is arranged at the middle side of the top of the propelling shell 301, an electrode 305 is fixed on the electrode bracket 304, and the electrode 305 is electrically connected with a high-voltage power supply 303; the high voltage power supply 303 is electrically connected to the high energy battery unit through the transformer unit.

The technical scheme of the invention is further specifically optimized as follows: CPU microcontroller unit, NPU unit, sonar ranging unit, gyroscope unit, transformer unit, signal transceiver unit, laser unit and high energy battery unit integrated form are installed on PCB deposit copper-silicon panel.

The technical scheme of the invention is further specifically optimized as follows: the CPU microcontroller unit is respectively connected with the NPU unit, the signal transceiving unit, the sensor unit, the laser unit and the high-energy battery unit, and the high-energy battery unit is connected with the transformer unit; the sensor unit comprises a carbon dioxide sensor, a water vapor sensor, a temperature sensor, a flight attitude controller, a sonar ranging sensor and a gyroscope sensor.

Compared with the prior art, the invention has the advantages that:

as shown in figure 1, the invention can fly in a narrow space of a decimeter level, can also be used as a micro weapon applied to future irregular-scale combat, can fly in an extremely silent mode, and can cut barriers by carried high-energy point source laser beams to realize a crossing function. For example, the device is applied to searching vital signs in loose ruin structures caused by disasters (such as earthquakes, mine collapse) and the like, collecting vital sign representative gas along a flight path, analyzing the collected data through a cascaded large-scale sniffing aircraft, integrating sniffing modules such as carbon dioxide, water vapor and temperature, a flight attitude control module, a signal transmission module and a power supply module, judging position information under certain conditions, and applying the device to the narrow space for searching vital signs.

The invention has the characteristics of extremely low power consumption (only a few mW), very quiet and intelligent flight and the like, and better conforms to the miniaturization development trend of the aircraft.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic structural view of the aircraft of the present invention 1;

FIG. 2 is a schematic structural view of the aircraft of the present invention 2;

fig. 3 is a schematic structural diagram of the left front suspension arm unit 21 of the present invention;

FIG. 4 is a schematic view of the construction of the front left propulsion unit 31 of the present invention;

FIG. 5 is a schematic view of the principle of the ionic wind propulsion system 3 of the present invention;

FIG. 6 is a schematic diagram of the control scheme of data processing system 4 of the present invention;

FIG. 7 is a block diagram of data processing system 4 according to the present invention;

FIG. 8 is a schematic view of a detection gas release source in example 1 of the present invention.

Description of reference numerals: a propelling housing 1; a cantilever mechanism 2; an ionic wind propulsion system 3; a data processing system 4; a left front suspension arm unit 21; the right front suspension arm unit 22; the right cantilever unit 23; left rear suspension arm unit 24; a left front propulsion unit 31; a right front propulsion unit 32; a right rear propulsion unit 33; a left rear propulsion unit 34; a servo motor 211; a bearing 212; a cantilever shaft 213; the propulsion housing 301; an air intake hole 302; a high voltage power supply 303; an electrode holder 304; an electrode 305.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings, in order that the present disclosure may be more fully understood and fully conveyed to those skilled in the art. While the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the invention is not limited to the embodiments set forth herein.

Vital sign sniffing miniature aircraft based on ion wind driving is shown in figures 1-2, and comprises:

the propelling device comprises a propelling shell 1, wherein the propelling shell 1 comprises an upper shell and a lower shell which are mounted in a clamping manner, and the propelling shell 1 is integrally hollow and funnel-shaped;

a boom mechanism 2, the boom mechanism including a left front boom unit 21, a right front boom unit 22, a right rear boom unit 23, and a left rear boom unit 24, the left front boom unit 21, the right front boom unit 22, the right rear boom unit 23, and the left rear boom unit 24 being respectively disposed at four corners of the propulsion housing 1;

an ion wind propulsion system 3, which comprises a left front propulsion unit 31, a right front propulsion unit 32, a right rear propulsion unit 33 and a left rear propulsion unit 34, wherein the left front propulsion unit 31, the right front propulsion unit 32, the right rear propulsion unit 33 and the left rear propulsion unit 34 are respectively arranged at the tail ends of the four cantilever units;

and the data processing system 4 comprises a CPU microcontroller unit, an NPU unit, a sensor unit, a transformer unit, a signal transceiving unit, a laser unit, a high-energy battery unit and a PCB (printed circuit board) deposited copper-silicon plate.

The left front suspension arm unit 21, the right front suspension arm unit 22, the right rear suspension arm unit 23, and the left rear suspension arm unit 24 are identical in structure; as shown in fig. 3, the left front suspension unit 21 includes a servo motor 211, a bearing 212, and a suspension shaft 213; the servo motor 211 is fixedly installed inside the propulsion housing 1, an output shaft of the servo motor 211 is connected to a cantilever shaft 213, the cantilever shaft 213 penetrates through the bearing 212, and the end of the cantilever shaft 213 is provided with the left front propulsion unit 31.

The left front propulsion unit 31, the right front propulsion unit 32, the right rear propulsion unit 33 and the left rear propulsion unit 34 are identical in structure; as shown in fig. 4, the left front propulsion unit 31 includes a propulsion housing 301, a high voltage power supply 303, an electrode holder 304, and an electrode 305; the propelling shell 301 is cylindrical, and the top of the propelling shell 301 is provided with a plurality of air inlets 302; a high-voltage power supply cavity is arranged on one side of the propelling shell 301, and a high-voltage power supply 303 is arranged in the high-voltage power supply cavity; an electrode bracket 304 is arranged at the middle side of the top of the propelling shell 301, an electrode 305 is fixed on the electrode bracket 304, and the electrode 305 is electrically connected with a high-voltage power supply 303; the high voltage power supply 303 is electrically connected to the high energy battery unit through the transformer unit.

CPU microcontroller unit, NPU unit, sonar ranging unit, gyroscope unit, transformer unit, signal transceiver unit, laser unit and high energy battery unit integrated form are installed on PCB deposit copper-silicon panel.

As shown in fig. 7, the CPU microcontroller unit is connected to the NPU unit, the signal transceiving unit, the sensor unit, the laser unit, and the high-energy battery unit, respectively, and the high-energy battery unit is connected to the transformer unit; the sensor unit comprises a carbon dioxide sensor, a water vapor sensor, a temperature sensor, a flight attitude controller, a sonar ranging sensor and a gyroscope sensor.

Ionic wind thrust principle of ionic wind propulsion system 3:

as shown in fig. 5, when a high intensity electric field is applied between the high curvature corona electrode and the low curvature collector electrode, gas molecules near the corona discharge region are ionized. The ionized gas molecules move to the collecting electrode under the action of the electric field force and collide with neutral air molecules. When the electric field strength between the two plates is high, the collision between the electrons and the outer layer of the molecule will gradually reach the Townson threshold, i.e. the electrons will gain sufficient energy from the near field with high tip curvature. So that the initial electrons still keep high energy state after bombarding the peripheral electron layer of the molecule, and further electron avalanche is generated and maintained, thereby realizing stable corona discharge. The charged particles after stripping electrons move to the electrode with the opposite polarity under the action of strong electric field force, collide with neutral gas molecules and exchange kinetic energy, and further form a macroscopic scale so-called 'ion wind' between the two polar plates. When the high-speed airflow induced by the ion wind collides with the static air, thrust is generated, and then, macroscopic flying motion is formed.

The ionic wind moving speed is as follows: v ═ u + μ E (2-15);

wherein the current density is: j ═ ρ (u + μ E) (2-16);

the volume force in the region is approximately equal to the fluid motion under the coulomb force, and mainly depends on the concentration of charged particles in the region and the electric field intensity. The resultant of the forces on the fluid in the control volume v and the current in the control plane satisfy the following equation:

F_EHD＝∫∫∫_vρEdV (2-17)；

I＝∫∫_Sjds (2-18)；

in this regard, thrust density and thrust efficiency can be calculated according to the formulas derived from Gilmore and Barrett:

the vital sign sniffing miniature aircraft has various different implementation forms according to specific operating environments, and in order to fully illustrate the flight control principle, the invention uses a four-cantilever aircraft as a sample for illustration.

As shown in fig. 6, the flight control principle of the ionic wind propulsion system 3:

for the vital sign sniffing micro aircraft, in order to fully realize the control stability, 6 flight attitudes of dive, climb, hover, advance (retreat), rotation (plane) and roll (space) are set, and 4 modes of manual control, intelligent automatic control, thin-wall laser ablation crossing and self-destruction are provided. Different control effects are achieved by manipulating the rotation angles of the left front suspension arm unit 21, the right front suspension arm unit 22, the right rear suspension arm unit 23, and the left rear suspension arm unit 24. When the control is kept stable, the gyroscopic effect and the aerodynamic torque effect need to be counteracted in a mode that the diagonal propulsion units move in the same direction and the adjacent propulsion units move in the opposite direction.

Diving: accelerating the falling from a steady state in a certain direction with a larger angle of attack. When the input current to the front left and right propulsion units 31 and 32 decreases and the thrust decreases, the right and left suspension arm units 23 and 24 are inverted upward to give a velocity vector in the horizontal direction.

Climbing: the forward left front propulsion unit 31 and the forward right propulsion unit 32 have increased input currents when the vehicle is accelerated in an upward direction at a large angle of attack from a stationary state, and the rear propulsion unit is accelerated in the same manner as in a dive state.

Hovering: the thrust outputs of the left front propulsion unit 31, the right front propulsion unit 32, the right rear propulsion unit 33, and the left rear propulsion unit 34 are the same, and the magnitude thereof is adjusted according to the initial state, the thrust force formed in the final hovering state is equal to the gravity, and the final speed is 0.

Forward (backward): the forward and backward movements are movements in the horizontal direction while maintaining a steady state, that is, the resultant force of the left front propulsion unit 31, the right front propulsion unit 32, the right rear propulsion unit 33, and the left rear propulsion unit 34 in the vertical direction is zero, and the resultant force in the horizontal direction is along the plane.

Rotating: the rotation on a plane is mainly to give the aircraft a torque, i.e. in addition to the movement in the vertical direction, a torque on the horizontal plane is to give the aircraft a rotational movement around the center of gravity. The left front suspension arm unit 21, the right front suspension arm unit 22, the right rear suspension arm unit 23, and the left rear suspension arm unit 24 on the diagonal lines are symmetrically offset in opposite directions, enabling rotational movement.

Rolling: the combined motion of rotation around the center of gravity of the aircraft and translation around the center gives the aircraft torque through the left front suspension arm unit 21, the right front suspension arm unit 22, the right rear suspension arm unit 23 and the left rear suspension arm unit 24 on the diagonal, and rolling is realized after velocity vectors are superposed.

For a brief description of the above state of operation, as shown in table 1, wherein the numbering sequence is clockwise, propulsion units 1 and 3, propulsion units 2 and 4 are opposite sides, "+" indicates increasing thrust output; "-" indicates decreasing thrust output; "indicates to maintain stable thrust output; "/" indicates that the servo motor is positively deflected, i.e., the servo motor is above the horizontal plane; "\\" indicates reverse skew of the servo motor, which is located below the horizontal plane.

TABLE 1 State control

All four modes are relatively simple and only the mode in which laser ablation traverses an obstruction is described herein. The high-energy laser positioned on the head is started, the migration state is composed of four basic states of translation, rotation, ascending and descending, the size of a laser ablation area is larger than the outer contour of the aircraft, and the crossing function is realized.

Example 1

In order to fully explain the function of the vital sign sniffing miniature aircraft and to detect the engineering background whether the life exists in the loose building stacking species formed after the earthquake collapse, the ablation crossing function of the aircraft is taken as an example to explain the function realization. Fig. 8 is a schematic diagram illustrating the flight condition of the vital sign sniffing micro aircraft in the space, and when the aircraft detects that there is an obstacle in front that cannot fly over, the laser ablation function is started to ablate a suitable hole in the forward direction, so that the aircraft can successfully pass through the closed space.

The vital sign sniffing micro aircraft is dived, advanced, hovered, laser ablated, climbed and hovered.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described above with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the above detailed description of the embodiments of the invention presented in the drawings is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.