Unmanned aerial vehicle with crash-tolerant propulsion and controller

摘要

A vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) (1) comprises a multi-propeller propulsion system (2), an external protective cage (4) surrounding the multi-propeller propulsion system (2), an autonomous power source (7), and a sensing system (6). ) and a control system (5) coupled to the sensing system (5) for receiving a measurement signal from the sensing system (5). The control system (5) is electrically connected to the multi-propeller propulsion system (2) to control the motor (10) of the propulsion system. The sensing system includes at least one direction sensor and one displacement sensor configured to measure direction 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 connected to propeller blades (9). The control system 5 includes at least one microprocessor 15 and at least one control program executable by the microprocessor 15 for controlling the multi-propeller propulsion system for flight or hovering of the VTOL UAV. at least one non-volatile memory 16 . The control system controls the motor 10 of the propeller proximal from the point of contact P with the obstacle 26 to generate lift while reversing the thrust for the at least one propeller 8 ″ distal from the point of contact. and a program (18) for directional stabilization configured to cause the distal and proximal propellers to be controlled to exert lift on the UAV to counteract gravity (G) thereon and a rotational moment (P) about the point of contact (P). M) is applied to stabilize the position of the UAV or counteract the torque resulting from inertia.