CN106143913A - Take off vertically electric power system, fixed-wing unmanned plane and method of work - Google Patents
Take off vertically electric power system, fixed-wing unmanned plane and method of work Download PDFInfo
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- CN106143913A CN106143913A CN201610574007.3A CN201610574007A CN106143913A CN 106143913 A CN106143913 A CN 106143913A CN 201610574007 A CN201610574007 A CN 201610574007A CN 106143913 A CN106143913 A CN 106143913A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 239000003463 adsorbent Substances 0.000 claims description 42
- 230000005611 electricity Effects 0.000 claims description 31
- 230000007246 mechanism Effects 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 9
- 239000000725 suspension Substances 0.000 claims description 9
- 238000005183 dynamical system Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000005457 optimization Methods 0.000 description 15
- 238000004891 communication Methods 0.000 description 8
- 230000008859 change Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005286 illumination Methods 0.000 description 3
- 241000209094 Oryza Species 0.000 description 2
- 235000007164 Oryza sativa Nutrition 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000036772 blood pressure Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D41/00—Power installations for auxiliary purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
- H02J7/00036—Charger exchanging data with battery
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- H02J7/0027—
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to one take off vertically electric power system, fixed-wing unmanned plane and method of work, the electric power system that wherein takes off vertically includes: be positioned at the power supply device on ground；Described power supply device is suitable to when unmanned plane takes off vertically, and keeps powering unmanned plane；And after unmanned plane reaches predetermined altitude, unmanned plane departs from power supply device and powers；By power supply device when unmanned plane takes off vertically, persistently unmanned plane is powered, meets the electrical energy demands that takes off vertically, greatly reduce the power consumption of unmanned plane self, extend unmanned plane cruise mileage and time.
Description
Technical field
The present invention relates to one take off vertically electric power system, fixed-wing unmanned plane and method of work.
Background technology
Due to unmanned plane have motor-driven quickly, use cost is low, safeguard the features such as simple that use, the most
Extensively it is employed.
But traditional unmanned plane is during taking off vertically, needing to consume substantial amounts of electric energy, a large amount of electric energy are consumed, meeting
Have a strong impact on cruise mileage and the time of unmanned plane.
Therefore, how to reduce or the power consumption of avoiding unmanned plane when taking off vertically is the technical barrier of this area.
Summary of the invention
It is an object of the invention to provide one to take off vertically electric power system and method for work, hanging down effectively reducing unmanned plane
Power consumption of powdered when directly taking off.
In order to solve above-mentioned technical problem, the invention provides one and take off vertically electric power system, including: it is positioned at ground
Power supply device；Described power supply device is suitable to when unmanned plane takes off vertically, and keeps powering unmanned plane；And work as nothing
Man-machine reach predetermined altitude after, unmanned plane depart from power supply device power.
Further, the electric power system that takes off vertically described in also includes: adsorbent equipment and charging end；Described adsorbent equipment is suitable to make
The plug of charging end inserts unmanned plane charging inlet, and after unmanned plane reaches predetermined altitude, adsorbent equipment drives charging end to take off
Fall, make unmanned plane depart from power supply device and power；And be provided with for coiling transmission pressure at described power supply device
Line is taken turns.
Further, described power supply device includes: main processor modules, the main electric power being connected with this main processor modules
Line carrier module；Include in described adsorbent equipment: from processor module, with this from processor module be connected from power line carrier
Module, is controlled electric from processor or the electric magnet of dead electricity by described；And described be further adapted for obtaining from processor module unmanned
The real-time altitude information of machine, and after unmanned plane reaches predetermined altitude, controlled electric magnet dead electricity by from processor module, it is achieved charging
End is automatically separated with unmanned plane；Described adsorbent equipment is further adapted for being sent to electricity real-time altitude information by power line carrier mode
Source electric supply installation；If after unmanned plane reaches predetermined altitude, charging end does not separates with unmanned plane, then sent out by power supply device
Send the power line carrier signal making electric magnet dead electricity to adsorbent equipment, make charging end manually separate with unmanned plane.
Another aspect, present invention also offers the method for work of a kind of electric power system that takes off vertically.
The described electric power system that takes off vertically includes: be positioned at the power supply device on ground；
Described method of work includes: when unmanned plane takes off vertically, and described power supply device is suitable to keep powering unmanned plane；
And after unmanned plane reaches predetermined altitude, unmanned plane departs from power supply device and powers.
Further, the electric power system that takes off vertically described in also includes: adsorbent equipment and charging end；Described adsorbent equipment is suitable to make
The plug of charging end inserts unmanned plane charging inlet, and after unmanned plane reaches predetermined altitude, adsorbent equipment drives charging end to take off
Fall；Unmanned plane departs from power supply device and powers；The line wheel for coiling transmission pressure it is provided with at described power supply device；Institute
State power supply device to include: main processor modules, the main power line carrier module being connected with this main processor modules；Described suction
Include in adsorption device: from processor module, with this from processor module be connected from power line carrier module, by described from process
Device controls electric or the electric magnet of dead electricity；And the described real-time altitude information being further adapted for acquisition unmanned plane from processor module,
And after unmanned plane reaches predetermined altitude, controlled electric magnet dead electricity by from processor module, it is achieved charging end is divided automatically with unmanned plane
From；Described adsorbent equipment is further adapted for being sent to power supply device real-time altitude information by power line carrier mode；If
After unmanned plane reaches predetermined altitude, charging end does not separates with unmanned plane, then sent by power supply device and make electric magnet dead electricity
Power line carrier signal to adsorbent equipment, make charging end manually separate with unmanned plane.
The kind of the present invention takes off vertically the beneficial effect of electric power system and method for work thereof: by power supply device in nothing
Man-machine when taking off vertically, persistently unmanned plane is powered, meets the electrical energy demands that takes off vertically, greatly reduce unmanned plane self
Power consumption, extend unmanned plane cruise mileage and time.
The third aspect, present invention also offers a kind of unmanned plane, including: airborne processor module, by this airborne processor
The unmanned plane dynamical system that module controls, and described in take off vertically electric power system；Supply when unmanned plane departs from power supply device
After electricity, in switching unmanned plane, electric power system is powered.
Further, described unmanned plane dynamical system includes: the horizontal power subsystem controlled by airborne processor module and
Vertical Dynamic subsystem；Wherein said horizontal power subsystem is positioned at fuselage, and includes: flat spin paddle mechanism；Described vertical
Straight power sub-system includes: be symmetrically set in the vertical spin paddle mechanism at left and right wing；And described airborne processor module is also
With for detecting the gyroscope of unmanned plane during flying attitude, be connected for the GPS module that unmanned plane is positioned.
Further, described vertical spin paddle mechanism includes at least one vertical spin oar, for being hanged by vertical spin paddle mechanism
Being hung on the suspension arrangement below wing, described vertical spin oar is suitable to be driven by corresponding micromachine rotate；Described suspension fills
Put and include: be suitable to the first angle adjustment motor making vertical spin oar tilt forward or backward, and make vertical spin oar to the left
Or the second angle adjustment motor being tilted to the right；Wherein said first, second angle adjustment motor and micromachine are by airborne
Processor module controls, with the inclination angle according to flight attitude regulation vertical spin oar and the rotating speed of vertical spin oar.
Further, described unmanned plane is additionally provided with the wind transducer for detecting flight course moderate crosswind and wind speed sensing
Device, described wind transducer and air velocity transducer are suitable to send to machine wind direction and the air speed data currently without man-machine suffered crosswind
Borne processor module；Described airborne processor module is suitable to the wind direction according to crosswind and air speed data, regulation vertical spin oar
Inclination angle and vertical, the rotating speed of horizontal propeller, with stable current flight attitude.
Fourth aspect, present invention also offers the method for work of a kind of unmanned plane.
When described unmanned plane takes off vertically, this unmanned plane keeps powering unmanned plane by power supply device；And
After unmanned plane reaches predetermined altitude, unmanned plane departs from power supply device and powers.
The unmanned plane of the present invention and the beneficial effect of method of work thereof: this unmanned plane and method of work thereof, it is possible to taking off
Or during cruise, stablize unmanned plane during flying attitude, and when running into crosswind, by the inclination angle of regulation vertical spin oar with vertical
Directly, the rotating speed of horizontal propeller, with stable current flight attitude, this function is particularly suitable for taking photo by plane.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the operating diagram of the electric power system that takes off vertically of the present invention；
Fig. 2 is the theory diagram of the electric power system that takes off vertically of the present invention；
Fig. 3 is the control principle drawing of the unmanned plane of the present invention；
Fig. 4 is the structural representation of the unmanned plane of the present invention；
Fig. 5 is the structured flowchart of the vertical spin paddle mechanism of the present invention.
In figure: power supply device 1, adsorbent equipment 101, plug 102, transmission pressure 103, line wheel 104, unmanned plane 2, water
Flat power sub-system 3, horizontal propeller 301, Vertical Dynamic subsystem 4, vertical spin oar 401, micromachine 402, wing 5,
Suspension arrangement the 6, first angle adjustment motor the 601, second angle adjustment motor 602.
Detailed description of the invention
In conjunction with the accompanying drawings, the present invention is further detailed explanation.These accompanying drawings are the schematic diagram of simplification, only with
The basic structure of the illustration explanation present invention, therefore it only shows the composition relevant with the present invention.
Embodiment 1
Take off vertically electric power system as it is shown in figure 1, the present embodiment 1 provides one, including: it is positioned at the power supply device on ground
1；Described power supply device 1 is suitable to when unmanned plane 2 takes off vertically, and keeps powering unmanned plane 2；And when unmanned plane 2 reaches
After predetermined altitude, unmanned plane 2 departs from power supply device 1 and powers.
As the optional embodiment of one of the electric power system that takes off vertically, described in the electric power system that takes off vertically also include: inhale
Adsorption device and charging end；Described adsorbent equipment is suitable to make the plug 102 of charging end to insert unmanned plane charging inlet, and works as unmanned plane
After reaching predetermined altitude, adsorbent equipment drives charging end to come off, and makes unmanned plane depart from power supply device and powers；And described electricity
The line wheel 104 for coiling transmission pressure 103 it is provided with at source electric supply installation 1.
Concrete, described power supply device includes: main processor modules, the main electric power being connected with this main processor modules
Line carrier module；Include in described adsorbent equipment: from processor module, with this from processor module be connected from power line carrier
Module, is controlled electric from processor or the electric magnet of dead electricity by described.
After making unmanned plane arrive predetermined altitude, it is possible to automatically separate with charging end, described the suitableeest from processor module
In obtaining the real-time altitude information of unmanned plane, and after unmanned plane reaches predetermined altitude, lost by controlling electric magnet from processor module
Electricity, it is achieved charging end is automatically separated with unmanned plane.
If after occurring being automatically separated unsuccessfully, corresponding emergency measure, described adsorbent equipment need to be used to be further adapted for height in real time
Data are sent to power supply device by power line carrier mode；If after unmanned plane reaches predetermined altitude, charging end and nothing
Man-machine do not separate, then sent by power supply device and make the power line carrier signal of electric magnet dead electricity to adsorbent equipment, make to fill
Electricity end manually separates with unmanned plane.
Such as, described adsorbent equipment is provided with emergency escape button, after emergency escape button is pressed, and described primary processor mould
Block is suitable to send makes the power line carrier signal of electric magnet dead electricity to adsorbent equipment.
The real-time altitude information of described unmanned plane is suitable to obtain flight height by MS5540C numeral barometric pressure sensor
Degree, is included in described adsorbent equipment carrying out the data communication mouth of data communication with unmanned plane, and is carried out by this data communication mouth
Data are transmitted, and when adsorbent equipment and aircraft separate type, this data communication mouth disconnects the most therewith, further, by this data communication
Mouth can make power supply device obtain aircraft relevant parameter, and which is more relatively reliable than wireless mode, it is ensured that unmanned plane is hanging down
Can stablize when directly taking off, reach predetermined altitude reliably.Described flight corresponding data includes but not limited to: flying height, fly
Machine current electric quantity, flight attitude, high-altitude wind direction and wind speed (can be discussed in detail in embodiment 3 and embodiment 4).
As power supply device adsorbent equipment and charging end powered and be suitable for use with direct current mode or exchange way.
Wherein, according to direct current transportation mode, the most described power supply device is suitable to line voltage is converted to unidirectional current
After through boost module send to adsorbent equipment and charging end, the electric magnet in described adsorbent equipment is suitable for use with direct solenoid
Ferrum, and described charging end includes boost module, for promoting the DC voltage after transmission pressure blood pressure lowering, by plug even
Connect the charge and discharge control module in unmanned plane.
According to exchange way, according to ac transmission mode, then it is provided with AD-DC module in charging end and alternating current is changed
Non-unmanned plane charge and discharge control module is provided for unidirectional current；And described electric magnet is suitable for use with alternating electromagnet.
Described master and slave power line carrier module such as but not limited to use SENS-00 power line carrier module, described master,
From processor module such as but not limited to using STC series monolithic, flush bonding processor, can use by controlling electric magnet
The mode of the electrical switch of feeder ear controls electric magnet and obtains electric or dead electricity.
Embodiment 2
On the basis of embodiment 1, the present embodiment 2 additionally provides the method for work of a kind of electric power system that takes off vertically, i.e. unmanned
When machine takes off vertically, described power supply device is suitable to keep powering unmanned plane；And after unmanned plane reaches predetermined altitude,
Unmanned plane departs from power supply device and powers.
The described electric power system that takes off vertically also includes: adsorbent equipment and charging end；Described adsorbent equipment is suitable to make charging end
Plug insert unmanned plane charging inlet, and when unmanned plane reaches predetermined altitude after, adsorbent equipment drive charging end comes off；Unmanned
Machine departs from power supply device and powers；The line wheel for coiling transmission pressure it is provided with at described power supply device.
Described power supply device includes: main processor modules, the main power line carrier wave being connected with this main processor modules
Module；Include in described adsorbent equipment: from processor module, with this from processor module be connected from power line carrier module,
Controlled electric from processor or the electric magnet of dead electricity by described；And the described reality being further adapted for acquisition unmanned plane from processor module
Time altitude information, and after unmanned plane reaches predetermined altitude, controlled electric magnet dead electricity by from processor module, it is achieved charging end and nothing
Man-machine it is automatically separated；Described adsorbent equipment is further adapted for being sent to power supply real-time altitude information by power line carrier mode powering
Device；If after unmanned plane reaches predetermined altitude, charging end does not separates with unmanned plane, then sent by power supply device and make electricity
The power line carrier signal of Magnet dead electricity, to adsorbent equipment, makes charging end manually separate with unmanned plane.
Embodiment 3
On the basis of embodiment 1, the present embodiment 2 additionally provides a kind of unmanned plane.
Described unmanned plane includes: airborne processor module, this airborne processor module the unmanned plane dynamical system controlled,
And the described electric power system that takes off vertically；After unmanned plane disengaging power supply device is powered, power supply system in switching unmanned plane
System power supply.
In described unmanned plane, electric power system includes: charge and discharge control module and lithium battery.
Described unmanned plane dynamical system includes: the horizontal power subsystem 3 controlled by airborne processor module is dynamic with vertical
Power subsystem 4；Wherein said horizontal power subsystem 3 is positioned at fuselage, and includes: flat spin paddle mechanism；Described vertical dynamic
Power subsystem 4 includes: be symmetrically set in vertical spin oar 401 mechanism at left and right wing 5；And described airborne processor module
Also with for detecting the gyroscope of unmanned plane during flying attitude, be connected for the GPS module that unmanned plane is positioned.
Described vertical spin oar 401 mechanism includes at least one vertical spin oar 401, for by vertical spin oar 401 mechanism
Hanging on the suspension arrangement 6 below wing 5, described vertical spin oar 401 is suitable to be driven by corresponding micromachine 402 rotate；
Described suspension arrangement 6 includes: be suitable to the first angle adjustment motor 601(such as figure making vertical spin oar 401 tilt forward or backward
F1 direction in 5), and make the second angle adjustment motor 602(such as F2 side in Fig. 5 that vertical spin oar 401 tilts to the left or to the right
To)；Wherein said first, second angle adjustment motor and micromachine 402 are controlled by airborne processor module, with according to flying
The inclination angle of row attitude regulation vertical spin oar 401 and the rotating speed of vertical spin oar 401.
In Fig. 5, a vertical spin oar 401 includes two vertical spin oars 401, and is front and back symmetrical arranged, therefore, too
Including two the second angle adjustment motors 602, these two the second angle adjustment motors 602 are controlled to be suitable to by airborne processor module
Synchronous axial system.
Described unmanned plane is additionally provided with the wind transducer for detecting flight course moderate crosswind and air velocity transducer, described wind
Be suitable to send to airborne processor wind direction and the air speed data currently without man-machine suffered crosswind to sensor and air velocity transducer
Module；Described airborne processor module is suitable to the wind direction according to crosswind and air speed data, the inclination angle of regulation vertical spin oar 401 and
Vertically, the rotating speed of horizontal propeller, with stable current flight attitude.
Concrete, described wind transducer and air velocity transducer are for recording unmanned plane actual acquisition in flight course
The wind direction of crosswind and air speed data, and then by the inclination angle of vertical spin oar 401, i.e. front or rear, left or right regulates, and combine vertical
Directly, the rotating speed of horizontal propeller, to play the effect of stabilized flight attitude, and if crosswind be conducive to flight, improve flight effect
Rate.
Such as unmanned plane flies westerly from east, if running into the crosswind of southwestward, the most airborne processor module is suitable to regulation
The inclination angle of vertical spin oar 401, direction tilts the most southwester, to offset the crosswind of the southwestward shadow to unmanned plane during flying route
Ring；Further, according to wind speed size, the rotating speed of vertical spin oar 401 is changed.
Wherein, described airborne processor module is such as but not limited to using single-chip microcomputer or arm processor.
Embodiment 4
On the basis of embodiment 3, present invention also offers the method for work of a kind of unmanned plane.
Wherein, unmanned plane as described in Example 3, and when unmanned plane takes off vertically, this unmanned plane by power supply for Denso
Put holding unmanned plane is powered；And after unmanned plane reaches predetermined altitude, unmanned plane departs from power supply device and powers.
Preferably, described airborne processor module also with for detecting the gyroscope of unmanned plane during flying attitude, for nothing
The man-machine GPS module carrying out positioning is connected；Described unmanned plane dynamical system includes: the press horizontal mobile controlled by airborne processor module
Power subsystem 3 and Vertical Dynamic subsystem 4；Wherein said horizontal power subsystem 3 is positioned at fuselage, and includes horizontal propeller
Mechanism；Described Vertical Dynamic subsystem 4 includes: be symmetrically set in vertical spin oar 401 mechanism at left and right wing 5；Described vertically
Propeller 401 mechanism includes at least one vertical spin oar 401, for vertical spin oar 401 mechanism being hung on below wing 5
Suspension arrangement 6, described vertical spin oar 401 is suitable to be driven by corresponding micromachine 402 rotate；Described suspension arrangement 6 includes:
Be suitable to the first angle adjustment motor 601 making vertical spin oar 401 tilt forward or backward, and make vertical spin oar 401 to
The second angle adjustment motor 602 that is left or that be tilted to the right；Wherein said first, second angle adjustment motor and micromachine 402
Controlled by airborne processor module, with according to the flight attitude regulation inclination angle of vertical spin oar 401 and vertical spin oar 401
Rotating speed.
Inclination angle and the method for rotating speed according to flight attitude regulation vertical spin oar 401 include: described airborne processor die
Block is suitable to control the first angle adjustment motor 601 and drives vertical spin oar 401 to turn forward, and controls flat spin paddle mechanism simultaneously
Middle horizontal propeller works, and to shorten the time that unmanned plane arrives the cruising altitude of setting, and is reaching cruise height at unmanned plane
While degree, meet its cruising speed.
Described unmanned plane is additionally provided with the wind transducer for detecting flight course moderate crosswind and air velocity transducer, described wind
Be suitable to send to airborne processor wind direction and the air speed data currently without man-machine suffered crosswind to sensor and air velocity transducer
Module；Described airborne processor module is suitable to the wind direction according to crosswind and air speed data, the inclination angle of regulation vertical spin oar 401 and
Vertically, the rotating speed of horizontal propeller, with stable and current flight attitude.
Concrete, described airborne processor module is suitable to the wind direction according to crosswind and air speed data, regulates vertical spin oar
The inclination angle of 401 and vertical, the rotating speed of horizontal propeller, include with the stable method with current flight attitude: if unmanned plane is at sky
Middle hovering, then horizontal propeller quits work, and vertical spin oar 401 works, and described airborne processor module is suitable to according to side
The wind direction of wind and air speed data, change inclination angle and the rotating speed of vertical spin oar 401, with steadily hovering attitude；If unmanned plane cruises,
Described airborne processor module is suitable to the wind direction according to crosswind and air speed data, changes inclination angle and the rotating speed of vertical spin oar 401,
To keep cruising altitude.
Specific implementation process: if unmanned plane is controlling hovering, if running into from east crosswind westerly, then vertical spin oar 401
Inclination angle correspondence cross-wind direction, to offset the crosswind impact on unmanned plane during flying attitude, and regulate according to the wind speed of crosswind and hang down
The rotating speed of straight propeller 401.
Described airborne processor module is suitable to judge whether the wind direction of crosswind and wind speed contribute to flight, if contributing to flying
OK, then reduce vertical spin oar 401 and/or the rotating speed of horizontal propeller, improve the cruise mileage of unmanned plane.
The control system of described unmanned plane includes: for controlling the processor module that unmanned plane flies by respective paths, with
First, second GPS module that this processor module is connected, first, second GPS module is by corresponding serial ports and processor module phase
Even, described processor module is suitable to when the first GPS module cannot work, and starts the second GPS module work；
The method of work of described unmanned plane, also includes: fly unmanned plane to the path of destination to select, to obtain optimum
Path；
Fly unmanned plane to the path of destination to select, include obtaining the method for optimal path:
Obtain the real time data of wind between each building, and set up Lou Jian air channel, city net；
After unmanned plane sets air objective ground, the processor module in unmanned plane is suitable to according to city by path optimization's subsystem
Lou Jian air channel, city net selects unmanned plane to fly the optimal path to this destination；And
Being coated with photovoltaic cell on the wing of described unmanned plane, it is real-time that described path optimization subsystem is further adapted for obtaining between each building
Intensity of illumination；
Described path optimization subsystem is when selecting optimal path, if two or more section has the building of identical data
Between wind, then the section of real-time lighting maximum intensity is selected in optimal path；And
Described path optimization subsystem is further adapted for obtaining the cloud layer data in overhead, city, and when selecting optimal path, avoids cloud
The section of the layer area of coverage；
Described unmanned plane is additionally provided with the camera head for shooting building panorama, and this camera head is connected with processor module,
And described processor module is suitable to the height according to building panorama this building of identification；
When unmanned plane is in sleety weather flight, described path optimization subsystem is suitably selected for the leeward section of building as nothing
Man-machine Path selection in optimal path；And make the flying height height less than this building of unmanned plane, with by being somebody's turn to do
Building blocks sleet；
Described method of work also includes: according to inclination angle and the method for rotating speed, the most described place of flight attitude regulation vertical spin oar
Reason device module is suitable to control the first angle adjustment driven by motor vertical spin oar and turns forward, and controls flat spin paddle mechanism simultaneously
Middle horizontal propeller works, and to shorten the time that unmanned plane arrives the cruising altitude of setting, and is reaching cruise height at unmanned plane
While degree, meet its cruising speed；And
If unmanned plane aloft hovers, then horizontal propeller quits work, and the work of vertical spin oar, and described processor module is fitted
In the wind direction according to crosswind and air speed data, change inclination angle and the rotating speed of vertical spin oar, with steadily hovering attitude；
If during unmanned plane cruising flight, described processor module is suitable to the wind direction according to crosswind and air speed data, changes vertical spiral shell
The inclination angle of rotation oar and rotating speed, to keep cruising altitude；
Described processor module is connected with the charge and discharge control module in machine, and described charge and discharge control module is suitable to airborne electricity
Pond electricity sends to processor module, and when on-board batteries electricity is less than a setting value, described processor module controls unmanned
Machine stops to the high region of an intensity of illumination, to be charged on-board batteries by described photovoltaic cell；Or
Described processor module controls unmanned plane and stops to the bigger region of a wind-force, with by wind blow horizontal propeller and/or
Vertical spin oar produces electric energy and is charged on-board batteries；Wherein
Described vertical spin oar is suitable to by first, second angle adjustment motor adjustable inclination, so that vertical spin oar revolves windward
Turn.
The control system of described unmanned plane also includes: the path optimization's subsystem being connected with this processor module；Described road
Footpath optimizes subsystem and is suitable to obtain the real time data of wind between each building, and sets up Lou Jian air channel, city net；When unmanned plane sets flight
After destination, described path optimization subsystem is suitable to select unmanned plane to fly the optimum to this destination according to Lou Jian air channel, city net
Path.
Obtain unmanned plane by path optimization subsystem to fly to the optimal path of destination, make full use of between each building in air channel
Between building, the wind direction of wind, improves flight speed, reduces flight energy consumption.
Concrete, between each building, the real time data of wind is suitable to be obtained by the air channel data acquisition node being distributed between each high building
, described air channel data acquisition node includes: air velocity transducer and the building for detecting wind wind speed between building being installed between building
Between the wind transducer of wind wind direction, and the modal processor that is connected with this air velocity transducer and wind transducer and wireless module
(wireless module is preferred: 3G or 4G communication module, and/or, Wifi communication module), wind speed, wind direction data will pass through wireless parties
Formula sends to unmanned plane, to carry out data analysis by path optimization's subsystem, and then sets up Lou Jian air channel, city.
Unmanned plane is after setting air objective ground, and path optimization's subsystem or remote server are analyzed flight path and experienced
Corresponding building, city between air channel, and cook up the most rational flight path, be optimal path.
Concrete, between Wang Yige building, Lou Jian air channel, city, the intersection point in air channel is node, and according to two adjacent sections point between
Building between the wind speed in air channel, wind direction data carry out Path selection, i.e. choose wind between the corresponding building that wind direction matches to flight path
Road, as the selection section of optimal path, makes unmanned plane arrive in the case of with the wind as far as possible, to reach to improve
Flight speed, reduces the purpose of fuel consumption；Though or selecting against the wind but wind speed is little, distance is short section.Specifically can pass through
Setting corresponding limit value, such as, against the wind during state, concrete wind speed rank be digitized, such as 1 grade, 2 grades etc., distance also may be used
To arrange 10 meters, 20 meters or 30 meters etc., such as, set section alternative condition as no more than wind speed 2 grades, when distance is less than 20 meters,
This section can be selected, then, during optimum path planning, if a certain section meets above-mentioned condition, then can select this section
Add to optimal path.
Unmanned plane is suitable to receive the reality of wind between the building that air channel data acquisition node sends by airborne wireless communication module
Time data, path optimization subsystem obtains optimal path, makes unmanned plane fly to destination address according to above-mentioned path.
Described unmanned aerial vehicle control system also includes: the map memory module that is connected with processing module and be used for detecting unmanned plane
The gyroscope of flight attitude, and the aircraft power subsystem controlled by this processor module；Concrete, in described unmanned plane
Processor module is also associated with map memory module, and processor module is suitable to the optimal path received and cartographic information phase
Join, so that unmanned plane flies according to optimal path, by corresponding GPS module and gyroscope to flight road in flight course
Footpath, flight attitude are modified.
Described unmanned plane is additionally provided with the wind transducer for detecting met crosswind in flight course and air velocity transducer, institute
State wind transducer and air velocity transducer is suitable to send to processor wind direction and the air speed data currently without man-machine suffered crosswind
Module；Described processor module is suitable to the wind direction according to crosswind and air speed data, the inclination angle of regulation vertical spin oar and vertical, water
The rotating speed of flat spin oar, with stable current flight attitude.
If unmanned plane flies between building in city, then crosswind belongs to the one of wind between building.
Concrete, wind transducer and air velocity transducer on described unmanned plane are used for recording unmanned plane in flight course
The wind direction of the actual crosswind obtained and air speed data, and then by the inclination angle of vertical spin oar, i.e. front or rear, left or right regulates,
And combine vertical, the rotating speed of horizontal propeller, to play the effect of stabilized flight attitude, and if crosswind beneficially flight, then
Can also suitably reduce the rotating speed of horizontal propeller, with saves energy.
Such as unmanned plane flies westerly from east, if running into the crosswind of southwestward, then processor module is suitable to regulation vertically
The inclination angle of propeller, direction tilts the most southwester, to offset the impact on unmanned plane during flying route of the crosswind of southwestward；And
And, according to wind speed size, change the rotating speed of vertical spin oar.Or it is when utilizing unmanned plane transport express delivery, permissible by unmanned plane
Keep stable hovering attitude, to ensure that flying height matches with delivery floor, improve the accuracy of delivery, reduce unmanned plane
Collision probability.
Being coated with photovoltaic cell on the wing of described unmanned plane, described path optimization subsystem is further adapted for obtaining between each building
Real-time lighting intensity, and described path optimization subsystem or remote server are when selecting optimal path, if two or two
Above section has wind between the building of identical data, then be selected in optimal path in the section of real-time lighting maximum intensity.Wherein,
The real-time lighting intensity in one section, according to the geographic location in this section, unmanned plane through the sun of the time period in this section
The factor such as position and corresponding weather conditions, calculates.
Further, described path optimization subsystem is further adapted for obtaining the cloud layer data in overhead, city, and is selecting optimum road
During footpath, avoid the section of overcast area；And described processor module also with the camera head for shooting building panorama
It is connected, and described processor module is suitable to the height according to building panorama this building of identification；When unmanned plane is at sleety weather
During flight, described path optimization subsystem is suitably selected for the leeward section of building as unmanned plane path in optimal path
Select；And make flying height height (the preferably shorter than headroom height 3-10 of this building less than this building of unmanned plane
Rice, and be 3-5 rice with the spacing of this external wall), to block sleet by building.
Preferably, described processor module is also connected with the charge and discharge control module in machine, and described charge and discharge control mould
Block is suitable to send to processor module on-board batteries electricity, and when on-board batteries electricity is less than a setting value, described process
Device module is controlled unmanned plane and stops to the high region of an intensity of illumination, to be charged on-board batteries by described photovoltaic cell；
Or described processor module controls unmanned plane and stops to the bigger region of a wind-force, to blow horizontal propeller by wind and/or to hang down
Straight propeller produces electric energy and is charged on-board batteries；Wherein said vertical spin oar is suitable to by first, second angle micro-
Adjust motor adjustable inclination, to obtain maximum wind power, improve wind power generation efficiency.Concrete, described unmanned aerial vehicle control system also wraps
Include: charge and discharge control module, and this charge and discharge control module be suitable to produced to wind-force and solar energy electric energy is carried out complementation after right
On-board batteries is charged, and described charge and discharge control module can be realized by the corresponding wind light mutual complementing module of prior art.
With the above-mentioned desirable embodiment according to the present invention for enlightenment, by above-mentioned description, relevant staff is complete
Entirely can carry out various change and amendment in the range of without departing from this invention technological thought.The technology of this invention
The content that property scope is not limited in description, it is necessary to determine its technical scope according to right.
Claims (10)
1. the electric power system that takes off vertically, it is characterised in that including: be positioned at the power supply device on ground；
Described power supply device is suitable to when unmanned plane takes off vertically, and keeps powering unmanned plane；And
After unmanned plane reaches predetermined altitude, unmanned plane departs from power supply device and powers.
The electric power system that takes off vertically the most according to claim 1, it is characterised in that
The described electric power system that takes off vertically also includes: adsorbent equipment and charging end；
Described adsorbent equipment is suitable to make the plug of charging end insert unmanned plane charging inlet, and when unmanned plane reaches predetermined altitude
After, adsorbent equipment drives charging end to come off, and makes unmanned plane depart from power supply device and powers；And
The line wheel for coiling transmission pressure it is provided with at described power supply device.
The electric power system that takes off vertically the most according to claim 2, it is characterised in that
Described power supply device includes: main processor modules, the main power line carrier module being connected with this main processor modules；
Include in described adsorbent equipment: from processor module, with this from processor module be connected from power line carrier module, by
Described control electric from processor or the electric magnet of dead electricity；And
Described it is further adapted for obtaining the real-time altitude information of unmanned plane from processor module, and after unmanned plane reaches predetermined altitude, by
Electric magnet dead electricity is controlled, it is achieved charging end is automatically separated with unmanned plane from processor module；
Described adsorbent equipment is further adapted for being sent to power supply device real-time altitude information by power line carrier mode；If
After unmanned plane reaches predetermined altitude, charging end does not separates with unmanned plane, then sent by power supply device and make electric magnet dead electricity
Power line carrier signal to adsorbent equipment, make charging end manually separate with unmanned plane.
4. the method for work of the electric power system that takes off vertically, it is characterised in that
The described electric power system that takes off vertically includes: be positioned at the power supply device on ground；
Described method of work includes:
When unmanned plane takes off vertically, described power supply device is suitable to keep powering unmanned plane；And
After unmanned plane reaches predetermined altitude, unmanned plane departs from power supply device and powers.
The method of work of the electric power system that takes off vertically the most according to claim 4, it is characterised in that
The described electric power system that takes off vertically also includes: adsorbent equipment and charging end；
Described adsorbent equipment is suitable to make the plug of charging end insert unmanned plane charging inlet, and when unmanned plane reaches predetermined altitude
After, adsorbent equipment drives charging end to come off；
Unmanned plane departs from power supply device and powers；
The line wheel for coiling transmission pressure it is provided with at described power supply device；
Described power supply device includes: main processor modules, the main power line carrier module being connected with this main processor modules；
Include in described adsorbent equipment: from processor module, with this from processor module be connected from power line carrier module, by
Described control electric from processor or the electric magnet of dead electricity；And
Described it is further adapted for obtaining the real-time altitude information of unmanned plane from processor module, and after unmanned plane reaches predetermined altitude, by
Electric magnet dead electricity is controlled, it is achieved charging end is automatically separated with unmanned plane from processor module；
Described adsorbent equipment is further adapted for being sent to power supply device real-time altitude information by power line carrier mode；If
After unmanned plane reaches predetermined altitude, charging end does not separates with unmanned plane, then sent by power supply device and make electric magnet dead electricity
Power line carrier signal to adsorbent equipment, make charging end manually separate with unmanned plane.
6. a unmanned plane, it is characterised in that including: airborne processor module, by this airborne processor module control unmanned
Mechanomotive force system, and
The electric power system that takes off vertically as described in any one of claim 1-3；
After unmanned plane disengaging power supply device is powered, in switching unmanned plane, electric power system is powered.
Unmanned plane the most according to claim 6, it is characterised in that described unmanned plane dynamical system includes: by airborne process
The horizontal power subsystem of device module control and Vertical Dynamic subsystem；Wherein
Described horizontal power subsystem is positioned at fuselage, and includes: flat spin paddle mechanism；
Described Vertical Dynamic subsystem includes: be symmetrically set in the vertical spin paddle mechanism at left and right wing；And
Described airborne processor module also with for detecting the gyroscope of unmanned plane during flying attitude, for unmanned plane is positioned
GPS module be connected.
Unmanned plane the most according to claim 7, it is characterised in that described vertical spin paddle mechanism includes at least one vertical spiral shell
Rotation oar, for vertical spin paddle mechanism is hung on the suspension arrangement below wing, described vertical spin oar is suitable to by accordingly
Micromachine drives and rotates；
Described suspension arrangement includes: is suitable to the first angle adjustment motor making vertical spin oar tilt forward or backward, and makes
The second angle adjustment motor that vertical spin oar tilts to the left or to the right；Wherein
Described first, second angle adjustment motor and micromachine are controlled by airborne processor module, with according to flight attitude
The inclination angle of regulation vertical spin oar and the rotating speed of vertical spin oar.
Unmanned plane the most according to claim 8, it is characterised in that described unmanned plane is additionally provided with for detecting in flight course
The wind transducer of crosswind and air velocity transducer, described wind transducer and air velocity transducer are suitable to currently without man-machine suffered side
The wind direction of wind and air speed data send to airborne processor module；
Described airborne processor module is suitable to the wind direction according to crosswind and air speed data, and the inclination angle of regulation vertical spin oar is with vertical
Directly, the rotating speed of horizontal propeller, with stable current flight attitude.
10. the method for work of a unmanned plane, it is characterised in that
Described unmanned plane uses unmanned plane as claimed in claim 6, and when unmanned plane takes off vertically, this unmanned plane is by electricity
Source electric supply installation keeps powering unmanned plane；And
After unmanned plane reaches predetermined altitude, unmanned plane departs from power supply device and powers.
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| CN106143913B (en) | 2019-02-15 |
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