CN109927879A - Unmanned plane equipped with foldable unmanned plane supporting member - Google Patents

Abstract

The present invention relates to a kind of unmanned planes equipped with foldable unmanned plane supporting member, including unmanned plane body, link arm, at least two unmanned plane supporting members and at least one hoisting control device, the link arm extends from the unmanned plane body and includes propulsion unit in the end of the link arm, the at least two unmanned planes supporting member extends from the unmanned plane body, and the supporting member correspondingly includes lifting device, at least one described hoisting control device is linked with each of unmanned plane supporting member lifting device, so that the unmanned plane supporting member is suitable for the promotion in the unmanned plane during flying.Unmanned plane supporting member of the present invention is suitable for separating with unmanned plane body and correspondingly includes for unmanned plane supporting member to be locked to unmanned plane body/from the device of unmanned plane body unlock unmanned plane supporting member.

Description

Unmanned plane equipped with foldable unmanned plane supporting member

Technical field

The present invention relates to air vehicle technique field more particularly to a kind of unmanned planes equipped with foldable unmanned plane supporting member.

Background technique

The typical case of such unmanned plane is the parrot company (Parrot SA, Paris, France) of Paris, FRA AR.Drone, Bebop Drone or Bebop 2, the unmanned plane are equipped with a series of sensors (accelerometer, three axis accelerometer Instrument, altimeter) four-axle aircraft, and may include at least one forward looking camera, to capture field pointed by unmanned plane The image of scape.

These unmanned planes are equipped with several rotors, these rotors are by being suitable for controlled phase induction motor in a manner of differentiated Driving, to drive the unmanned plane with certain posture and speed.

For these four-axle aircrafts equipment there are four propulsion unit, each propulsion unit is equipped with propeller.These promote single Member is located in the end of link arm, and propulsion unit is connected to unmanned plane by these link arms.In addition, these unmanned planes include more A stabilizer blade, these stabilizer blades are for especially supporting the unmanned plane when unmanned plane is on ground.

20,10/,061,099 2 364 757 A1 and 2 450 862 A1 of EP (parrot company) descriptions of A2, EP of WO are logical Cross the smart phone or iPad of the touch-screen type mediaphone for being integrated with accelerometer or tablet computer, such as iPhone type The tablet computer (registered trademark) of type drives the principle of unmanned plane.

By pilot instrument issue instruction be quantitatively 4, i.e., rolling, pitching, also referred to as yaw course and hang down It is straight to accelerate, wherein rolling is the rotational motion of the longitudinal axis around unmanned plane, and pitching is the rotational motion around transverse axis, and Yaw is that unmanned plane orients the direction.

The pilot instrument includes to detect steering instructions and via the Wi-Fi (IEEE 802.11) directly established with unmanned plane Or various control elements needed for the radio link progress bidirectional data exchange of bluetooth radio local network type.Plate electricity The touch screen of brain shows the front camera institute captured image by unmanned plane, and has a certain number of labels with being superimposed, To allow the simple contact by operator's finger on the touch screen to control flight and activation instruction.

Double-direction radio formula radio link includes uplink (from tablet computer to unmanned plane) and downlink (from nobody Machine is to tablet computer), to send following data frame, these data frames include:

(from tablet computer to unmanned plane) steering instructions (fly control instruction), are referred to as " instructing " and between rule later Every and send methodically；

The video flowing of (from unmanned plane to tablet computer) from video camera；And

(from unmanned plane to tablet computer) as needed, the flying quality established by unmanned plane or positioning indicator, Such as: cell potential, mission phase (take off, automatic stabilisation, land on the ground etc.), height, failure detected etc..

In order to allow such communication, which includes communication device, which is connected to antenna, to allow and drive Sail device communication.

Nowadays, these unmanned planes allow the fortune of the various Airborne Video System sensors in the structure of the unmanned plane or supporting member It is defeated.These sensors are, for example, video camera, 360 degree of video cameras or stereo camera.

Such sensor be conventionally positioned at the lower section of unmanned plane and be attached directly to the unmanned plane rectangular structure or Be located in supporting member or on, which itself is connected to the rectangular structure of unmanned plane.

Such unmanned plane construction has the disadvantage in that video sensor covers at least the one of unmanned plane stabilizer blade in its ken Part, or even all stabilizer blades of covering unmanned plane in the situation of 360 degree of video sensors.Unmanned plane is by these nobody Machine supporting member against on the ground, thus enter the unmanned plane supporting member in the ken of sensor can interference video image matter Measure and destroy the visual aspects of video sequence.

The disadvantage can be for example, by being compensated by arranging described in 104 590 556 A of CN.Above-mentioned document description A kind of unmanned plane, the unmanned plane have the center body of flat pattern, which is equipped with four arms, and each arm is at it End carries propulsion unit, and these arms can be folded against in unmanned plane body in order to these arms and when not in use Transport.The unmanned plane carries cabin, and cabin pendency is below the vertical area of center body and is equipped with the video that can be turned to Video camera.In order to enable unmanned plane lands on the ground in the case of not damaging cabin, it is equipped with supporting member, these supporting members exist It is unfolded when landing and is retracted in flight, to will not interfere with the ken of video camera.More precisely, during flight, these Bar is folded against in the flat bottom surface of center body below unmanned plane.

CN 105 314 105 A, CN 104 626 904 A and 2 483 881 A of GB describe unmanned plane supporting member Other possible layouts of stabilizer blade, these unmanned plane supporting member stabilizer blades can be folded awing.

In any case, aerodynamics is considered in the presence of these supporting members during flight in folding position Performance, which has, greatly to be interfered, because these supporting members can generate significant form drag.In fact, these elements are not with any Mode facilitates unmanned plane in the operation of mission phase, on the contrary, these elements can forcefully be made in unmanned plane high-speed flight Move the unmanned plane.Therefore, the flying quality of unmanned plane can reduce, the total energy efficiency such as promoted, and relatively, flight is autonomous Property can deteriorate significantly, and as it is well known, flight independence is especially to close for the unmanned plane of all flights The factor of key.

Summary of the invention

It is a kind of equipped with foldable unmanned plane supporting member the purpose of the invention is to overcome the deficiencies of the prior art and provide Unmanned plane.

The present invention is achieved through the following technical solutions:

A kind of unmanned plane equipped with foldable unmanned plane supporting member, including unmanned plane body；Link arm, these link arms from Unmanned plane body extends and includes propulsion unit in their end；At least two unmanned plane supporting members, these nobody Machine supporting member extends from unmanned plane body, and the supporting member correspondingly includes lifting device；And at least one promotes control Device processed, which links with each unmanned plane supporting member lifting device, so that these unmanned planes Supporting member can be promoted in unmanned plane during flying, and in raised position, unmanned plane supporting member is correspondingly aligned with link arm.

Further, in raised position, these unmanned plane supporting members are respectively formed on the rear portion for being located in the unmanned plane Link arm leading edge and/or the link arm being located on the front of the unmanned plane trailing edge, and the forward position of link arm and Rear positions are limited relative to the main heading of the unmanned plane.

Further, the unmanned plane supporting member correspondingly includes two stabilizer blades, the two stabilizer blades by center section each other Connection, and the center section is suitable for pivoting the promotion to allow stabilizer blade.

Further, the device for promoting unmanned plane supporting member includes lift lever, and hoisting control device includes pivoting Lift crank, these pivot lift crank and are correspondingly connected to unmanned plane supporting member lift lever by coupling arrangement, to allow nobody The promotion of machine supporting member.

Further, lift crank passes through mandrel at one end and is rotated by hoisting control device driving, and mentions It includes coupling arrangement that crank, which is risen, in its another end, which is suitable for the lift lever associated with lifting device.

Further, hoisting control device includes gear motor, to drive the mandrel of the lift crank.

Further, lifting device includes pivot hinge and the Liang Ge branch of supporting member in part in its center, this two Angle is extended from central part and formed between each other in a branch, and one of branch includes being connected to promotion control dress The lift lever for the lift crank set, and second branch and unmanned plane supporting member are integral.

Compared with prior art, the beneficial effects of the present invention are: unmanned plane supporting member of the present invention is suitable for and unmanned plane Body separates and correspondingly includes unlocking nobody for unmanned plane supporting member to be locked to unmanned plane body/from unmanned plane body The device of machine supporting member.

Detailed description of the invention

Fig. 1 is the general view for showing unmanned plane and the associated pilot instrument for driving the unmanned plane.

Fig. 2 is the view of unmanned plane according to the present invention.

Fig. 3 A and 3B are the views with the unmanned plane of the link arm according to the present invention through turning up.

Fig. 3 C shows the specific embodiment of the link arm according to the present invention through turning up.

Fig. 4 shows the device of unmanned plane, which allows the arm of unmanned plane that can fold according to the present invention.

Fig. 5 A and 5B are shown for locking the exemplary of the locking/unlocking device of the folding of the link arm of unmanned plane according to the present invention Embodiment.

Fig. 6 shows the method for folding the link arm of unmanned plane according to the present invention.

Fig. 7 shows propulsion unit electric power cable slot.

Fig. 8 shows the system according to the present invention for promoting unmanned plane supporting member.

Fig. 9 is according to the present invention for promoting the detailed view of the system of unmanned plane supporting member.

Figure 10 shows the locking device of unmanned plane supporting member according to the present invention.

Figure 11, which is shown, promotes the unmanned plane under situation in unmanned plane supporting member.

Specific embodiment

In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.

In Fig. 1, appended drawing reference 10 is generally referred to unmanned plane.According to example illustrated in fig. 1, which is that four axis fly The unmanned plane of row device type.

The four-axle aircraft formula unmanned plane includes unmanned plane body 22 and two front link arms and two rear portion links Arm, two front link arms and two rear portion link arms are extended from unmanned plane body and in the remote of the two rear portion link arms It include propulsion unit at end, and the main heading institute of the forward position of link arm and rear positions relative to the unmanned plane It limits.The propulsion unit includes motor and propeller 12, which is assembled to the motor.

These propulsion units are driven independently of one another by integrated navigation and attitude control system.

Unmanned plane 10 further includes forward looking camera (not shown), which can get scene pointed by the unmanned plane Image.The unmanned plane further includes downwardly directed vertical view video camera (not shown), which is suitable for capture and flies More the consecutive image of landform and it is specifically used for assessing speed of the unmanned plane relative to ground.

Accoding to exemplary embodiment, which is equipped with inertial sensor (accelerometer and gyroscope), these inertia pass Sensor can measure the angular speed and attitude angle of the unmanned plane under certain precision, that is, describe unmanned plane and join relative to fixed bottom boundary The Eulerian angles (pitch angle roll angle θ and yaw angle ψ) of the gradient of the horizontal plane of test system, it should be understood that horizontal velocity Two vertical and horizontal components are closely related to according to the gradient of two corresponding pitch axis and roll-over axis.It is arranged at nobody Ultrasonic range finder below machine also provides the measurement of the height relative to ground.

Unmanned plane 10 by such as with integrated accelerometer touch-screen type mediaphone or tablet computer (such as The cellular phone of iPhone type (registered trademark) etc.) or the tablet computer etc of iPad type (registered trademark) etc. remotely drive Device 16 is sailed to drive.The long-range pilot instrument is standard device, i.e., controls unmanned plane 10 in addition to load application specific software Driving other than do not make an amendment.According to this embodiment, user controls the displacement of unmanned plane 10 via pilot instrument 16 in real time.

The equipment that long-range pilot instrument 16 is provided with touch screen 18, the touch screen are shown by the airborne camera shooting on unmanned plane 10 14 captured images of machine, and there are multiple labels with being superimposed, these labels allow through user's finger 20 in touch screen 18 On it is simple contact come activation instruction.Pilot instrument is via local by Wi-Fi (IEEE 802.11) or bluetooth (registered trademark) The following bidirectional data exchange that the Radio Link of network type carries out to communicate with unmanned plane 10: from unmanned plane 10 to pilot instrument 16, to be specifically used for transmission by video camera institute captured image, and from pilot instrument 16 to unmanned plane 10, to send Steering instructions.

The four-axle aircraft formula unmanned plane of Fig. 1 is illustrated in detail in Fig. 2.The four-axle aircraft formula unmanned plane 10 includes for nobody Machine body 22 and two front link arms 24,26 and two rear portion link arms 28,30, two front link arms 24,26 and two A rear portion link arm extends from unmanned plane body 22 and includes propulsion unit 32 in the far-end of the two rear portion link arms, Propeller 12 is assembled to the propulsion unit, and the forward position of link arm and rear positions fly relative to the main of the unmanned plane Line direction is limited.

Four-axle aircraft formula unmanned plane 10 has specific frame structure, especially relative to the main flight of the unmanned plane Displacement uses so-called " V tail " shape at the rear portion of the unmanned plane.In other words, frame is retrofit into so that two rear portion chains It connects arm 28,30 and forms the portion V each other.

Therefore, the fixed point and two rear portion link arms 28,30 of two front link arms 24,26 and unmanned plane body with The fixed point of the unmanned plane body is located at different corresponding heights relative to the horizontal mid-plane of unmanned plane body 22.

In addition, two front link arms 24,26 of the unmanned plane are formed relative to the horizontal mid-plane of unmanned plane body First tilt angle, and two rear portion link arms 28,30 form second relative to the horizontal mid-plane of the unmanned plane body and incline Rake angle, second tilt angle are different from first angle.

Accoding to exemplary embodiment, water of the two front link arms 24,26 of the unmanned plane relative to the unmanned plane body Flat mid-plane forms 0 to 10 ° of angle, and two formation of rear portion link arms 28,30 include the angle between 15 ° and 45 °. According to specific embodiment, angle relevant to two rear portion link arms is about 30 °.

It is separately assembled to the positioning of propeller 12 of the propulsion unit 32 of front arm 26 and rear portion arm 30 in the same plane, especially It is in same rotational plane.And the propeller 12 for being separately assembled to the propulsion unit 32 of front arm 24 and rear portion arm 28 positions In the same plane, in especially same rotational plane.In other words, in the same side over-assemble of unmanned plane to propulsion unit 32 Propeller positions in the same plane, in especially same rotational plane.The side of unmanned plane is relative to the main of the unmanned plane Heading limits.

According to alternative embodiment, all propellers for being assembled to the propulsion unit of the unmanned plane are both positioned at same plane In, in especially same rotational plane.

These propellers are suitable for removing from propulsion unit 32, so as to store or in the case of propeller 12 is impaired more It changes.

According to specific embodiment, the propeller for being assembled to the propulsion unit 32 of the front link arm 24,26 of unmanned plane exists It is diametrically 279 millimeters, and is assembled to the propeller 12 of the propulsion unit of the rear portion link arm 28,30 of the unmanned plane diametrically It is 229 millimeters.

According to specific embodiment, unmanned plane 10 is suitable for conveying different airborne sensors.These sensors are specifically It is fixed on unmanned plane body, is especially affixed to the rectangular structure of the unmanned plane.According to another embodiment, these sensors are inserted into Into supporting member, the lower outer structure of itself clasp joint of the supporting member to the unmanned plane.

Airborne sensor on unmanned plane is, for example, video camera, 360 degree of video cameras or stereo camera.

The unmanned plane further includes at least one unmanned plane supporting member 50.As shown in Figure 2, the unmanned plane include two nobody Machine supporting member 50, each unmanned plane supporting member are all provided with there are two stabilizer blade.

The unmanned plane has sizable volume due to its structure, thus disadvantage is that such unmanned plane is difficult to transport.

In order to meet the demand and according to the present invention, the link arm 24,26,28,30 of the unmanned plane is suitable for along institute The body for stating unmanned plane 22 folds, to reduce the volume of the unmanned plane during the transport of unmanned plane.

Fig. 3 A illustrates in the unmanned plane that is easy in transport configuration, wherein removes propeller and link arm edge Unmanned plane body fold up.

However, in alternate embodiments, as shown in Figure 3B, the link arm of unmanned plane can keep propeller to be assembled to nothing It is folded up while man-machine propulsion unit.

As shown in fig. 3, in the folded position, link arm (24,28) and (26,30) folds in pairs, pairs of link arm It is formed by front link arm and rear portion link arm, the link arm folds one above the other.

Specifically, as shown in FIG. 3 C, when link arm is folded up, the link arm of pairs of arm is in parallel with each other in phase It answers in plane and extends, and this extends arm on the either side of the horizontal mid-plane of unmanned plane body.

For this purpose, as shown in Figure 4, these link arms are correspondingly connected to unmanned plane body by pivoting device 34, the pivot Device 34 includes foldable locking/tripper 38.

Accoding to exemplary embodiment, pivoting device 34 is positioned substantially at the outside in the main type face of unmanned plane body 22. For this purpose, the unmanned plane body includes protruding portion 36 at each link arm, pivoting device 34 is located on the protruding portion.

As shown in Figure 4, foldable locking/tripper 38 is located under link arm.

According to specific embodiment, the foldable locking device 38 illustrated in Fig. 5 A and 5B includes at least two positions, I.e. when arm be unfolded when latched position and when link arm is in the deployed and is suitable for unlock when folding or folding up Position.

The latched position of foldable locking/tripper 38 allows for link arm to be maintained in expanded position.In other words, it locks Position allows for link arm to be maintained in their normal position, to allow unmanned plane during flying.In addition, locking device allows to avoid Especially occur any undesirable to turn up event during flight.

Fig. 5 A and 5B illustrate to be respectively at the dress of the fold latch locking/unlocking according to the present invention in locked The exemplary embodiment set.

According to the exemplary embodiment illustrated in Fig. 5 A and 5B, foldable locking/tripper 38 is button 40, the button root It include locking pin 42 and spring 44 according to an embodiment.Locking pin 42 can be taper in shape.

Fig. 5 A illustrate to be in the locked position in foldable locking/tripper 38, and Fig. 5 B explanation is in the unlocked position Foldable locking/tripper 38,

Protruding portion 36, link arm 30 and the lock/unlock device 38 of unmanned plane body 22, and chain are shown in the drawings Arm is connect to be fixed on the protruding portion.

In latched position, taper locking pin 42 is contacted with unmanned plane body 22 and link arm 30 simultaneously as shown in the figure, with Prevent any movement of unmanned plane body and link arm relative to each other.

In unlocked position, taper locking pin 42 is extracted out from its position in link arm 30, thus allow link arm into Row rotational motion.

The channel from latched position to unlocked position is formed by button 40.

Foldable locking/tripper 38 further includes spring 44, to allow protruding portion 36 and link arm when unmanned plane body When in 30 positions in " being ready to take off ", foldable locking/tripper automatically locks.

According to the collapsed embodiments that will now be described, start the folding of link arm by folded front portion arm.

For this purpose, as shown in Figure 6, foldable locking/tripper 38 (for example, button) is every front link arm 24,26 It is operated under the action of a link arm.Then, the front link arm of the unmanned plane is folded up along unmanned plane body 22.Cause This, link arm is folded towards the rear portion of unmanned plane.

Then, such as shown in above-mentioned Fig. 4, foldable locking/tripper 38 (for example, button 40) is in rear portion link arm 28, it is operated under the action of 30 each link arm.Then, the rear portion link arm of the unmanned plane is folded along unmanned plane body 22 Get up.Therefore, rear portion link arm is folded towards the front of unmanned plane.

Fig. 3 C illustrates the embodiment of the present invention, wherein pairs of link arm is folded up, and the link of the pairs of link arm Arm is substantially parallel with each other aligned.

Propulsion unit 32 is connected to unmanned plane body 22 via control and power cable, by being contained in the unmanned plane machine Electronic device in body drives.

As shown in Figure 7, controlling cable 46 is arranged in protected in cable trough, which is present in link arm and nothing In man-machine body.It is observable to be when the link arm of unmanned plane is folded up, controlling cable at pivoting device no longer by Protection.

Therefore, in order to enable the controlling cable keeps protected, cable is inserted into washer 48, to allow when link Arm directly touches the cable when being in the position folded up.

As described above, four-axle aircraft formula unmanned plane is particularly suitable in its structure using airborne sensor, especially It is video camera, 360 degree of video cameras or stereo camera.It is preferred that the sensor is on the rectangular structure of unmanned plane body It is fixed on unmanned plane body 22 or is fixed in supporting member, which itself is fixed on the lower section of the unmanned plane body Point.

Such unmanned plane construction has the disadvantages that.Video sensor covers unmanned plane supporting member at least in its ken A part, or during using 360 degree of video sensors being arranged under the unmanned plane body or even cover nobody All supporting members of machine.Therefore, observable is the unmanned plane supporting member interference video figure entered in the ken of sensor The quality of picture and the visual aspects for destroying video sequence.

As shown in Figure 2, unmanned plane includes at least two unmanned plane supporting members 50, these unmanned plane supporting members are from unmanned plane Body extends.

Each unmanned plane supporting member includes at least one stabilizer blade.Unmanned plane illustrated in fig. 2 includes two unmanned plane branch Bearing member, each unmanned plane supporting member all have two stabilizer blades.

According to the present invention, the supporting member 50 of the unmanned plane correspondingly includes lifting device 52, and unmanned plane body 22 includes extremely A few hoisting control device 54,52 chain of each lifting device of at least one hoisting control device and unmanned plane supporting member 50 It connects, so that these unmanned plane supporting members can be promoted when unmanned plane during flying.

Therefore, unmanned plane supporting member such construction on the one hand when unmanned plane supporting member 50 is not promoted, allow nobody Machine carries out landing and unmanned plane and is in settling position relative to ground, on the other hand allows when unmanned plane supporting member 50 is promoted There is the clear ken below the unmanned plane.

In fact, the raised position of unmanned plane supporting member allows to eliminate unmanned plane supporting member from the ken of video sensor And thus allow that there is such video image, which has high visual quality and especially not by nobody The stabilizer blade of machine supporting member interferes.

Fig. 8 illustrates according to the vertical cross-section made at the lifting device 52 of hoisting control device 54 and unmanned plane supporting member Such unmanned plane.

Therefore, illustrated is such a unmanned plane body 22, which includes hoisting control device 54.This Kind control device is, for example, gear-box.

The unmanned plane includes unmanned plane supporting member 50, and the unmanned plane supporting member is at its fixed part with unmanned plane body 22 Including lifting device 52, the lifting device and 54 associated of hoisting control device.

According to specific embodiment and as shown in Figure 9, the lifting device 52 of unmanned plane supporting member includes lift lever 56.

In addition, hoisting control device 54 includes pivoting lift crank 58, these pivot lift crank and are correspondingly filled by connection The lift lever 56 for the lifting device 52 that 60 are connected to unmanned plane supporting member is set, to allow the promotion of unmanned plane supporting member.

According to this embodiment, in the non-raised position of unmanned plane supporting member, at the position of crank 58 and lifting device 52 In such position, which eliminates due to the weight of unmanned plane in hoisting control device 54 and hits when UAV Landing It hits in the power for being hit and generating on ground.

As shown in figs, lift crank 58 is driven by hoisting control device 54 and is rotated.For this purpose, the end of lift crank 58 The mandrel 62 of hoisting control device 54 is fixed in portion, which is driven by hoisting control device and rotated.

The second end of lift crank 58 includes coupling arrangement 60, which is suitable for the promotion with lifting device 52 56 associated of crank.

Therefore, according to this embodiment, implement connecting rod-crank system.

Coupling arrangement 60 is, for example, the mandrel for being firmly fixed to crank 58, which is inserted into the opening of lift lever 56 In.

According to another example of the embodiment of hoisting control device 54, which is formed by gear motor, The gear motor is used to drive the mandrel of the lift crank.Such gear motor is by reduction gearing and motor drive mechanism At unit.The reduction gearing allows to reduce the velocity of rotation of motor.

As shown in Figure 9, lifting device 52 includes the supporting member articulated section 64 pivoted in part in its center.

The supporting member articulated section 64 of such pivot is for example made of the pivot spindle being inserted into unmanned plane body, to allow Lifting device is around the central axis.

Alternatively, the supporting member articulated section 64 pivoted is, for example, especially circular perforation type through-hole, complementary shape Mandrel is inserted into the through-hole, which is anchored on the unmanned plane body.

Lifting device 54 for example including Liang Ge branch, the two branches from the central part of the lifting device, especially from Pivot hinge 64 is extended, and forms angle between these branches.

The angle being formed between Liang Ge branch is included between 75 ° and 105 ° and preferably 90 °.

According to embodiment illustrated in fig. 9, one of branch includes lift lever 56, which is connected to promotion control The lift crank 58 of device, and the second branch is anchored on unmanned plane supporting member.

According to this embodiment, the direction for the power being applied on lift crank is substantially opposite the pivot spindle of lift crank Centering, and torque is not applied on the lift crank.Effect inside hoisting control device be not present or pole Low.

According to the present invention, after unmanned plane takes off, hoisting control device 54 allows unmanned plane supporting member to be promoted, with release Such as it is fixed on the ken of the video sensor on the underlying surfaces of the unmanned plane body.

For this purpose, hoisting control device 54 is driven by pilot instrument 16 illustrated in fig. 1.Specifically, pilot instrument 16 wraps Include the instruction that unmanned plane supporting member is promoted and declined.The instruction is via the communication link established between pilot instrument and unmanned plane And unmanned plane is sent to from pilot instrument.

According to an embodiment, user by pilot instrument movement come activate unmanned plane supporting member promoted and decline Instruction.

According to alternative embodiment, after the instruction for activating unmanned plane to take off by user, pilot instrument is after taking off Issue the instruction that unmanned plane supporting member is promoted.

Similarly, when unmanned plane during flying, user can activate the decline of unmanned plane supporting member on pilot instrument, especially use In the instruction of landing.

According to alternative embodiment, after the instruction for activating UAV Landing by user, pilot instrument is landing The instruction of unmanned plane supporting member decline is issued before.

In the case of receiving unmanned plane supporting member promotion/decline instruction, the unmanned machine check drone status and such as The fruit drone status is carried out the instruction if allowing.For example, just not executing unmanned plane branch when unmanned plane is on ground The promotion of bearing member instructs.

If drone status allows to execute described instruction, just pass through the hoisting control device 54 of operation unmanned plane body To execute the instruction driven by unmanned aerial vehicle (UAV) control device.

According to the side view of unmanned plane, Figure 10 corresponds to the unmanned plane of Fig. 2.The unmanned plane includes two unmanned plane supporting members 50, and each unmanned plane supporting member correspondingly includes two stabilizer blades 66, the two stabilizer blades are connected to each other by center section 68.

According to specific embodiment illustrated in fig. 10, the center section 68 of unmanned plane supporting member is suitable for pivoting to permit Perhaps the promotion of stabilizer blade.

Figure 11 shows such an embodiment, wherein it is a feature of the present invention that these unmanned plane supporting members are in unmanned plane Flight during (that is, in link arm expansion and unmanned plane supporting member in the case of fold up) be aligned with link arm.

It is such to arrange the construction for giving arm bearing unit formed body from the point of view of aerodynamic visual angle, allow to reality It tramples and inhibits the distinctive form drag of supporting member, i.e., otherwise will increase the resistance of the desired resistive force as caused by link arm, (the resistance Power is defined as resisting the power that unmanned plane supporting member moves in air).

In advantageous specific embodiment, these unmanned plane supporting members are respectively formed at the rear portion for being located in the unmanned plane The trailing edge of the leading edge of link arm and/or the link arm being located at the front of the unmanned plane, (forward position and rear portion of link arm Position is limited relative to the main heading of the unmanned plane).

For this purpose, the unmanned plane supporting member in raised position is integrated in the shape of unmanned horn, with reconstruct " plane The shape of the wing " type has the aerofoil profile with leading edge and trailing edge, to allow the resistance of supporting member can be in the unmanned plane during flying phase Between reduce.

In addition, observable be, the unmanned plane supporting member according to embodiment illustrated in fig. 11, in raised position Ensure especially in the situation for folding link arm, awing additional locking system.During unmanned plane during flying, in mentioning Raise-position set in unmanned plane supporting member strengthen link arm in structure.

According to specific embodiment, unmanned plane supporting member is suitable for separating with unmanned plane body, to specifically reduce nothing Man-machine volume is especially convenient for the transport of the unmanned plane.

Thus and as shown in Figure 10, unmanned plane supporting member correspondingly includes for locking/solution on unmanned plane body Lock the device 70 of unmanned plane supporting member.

The lock/unlock device of unmanned plane supporting member is suitable in latched position firmly holding unmanned plane supporting member On the unmanned plane body.In addition, unmanned plane supporting member is suitable for removing from unmanned plane body, especially in unlocked position Unmanned plane supporting member lifting device 52 can be removed from hoisting control device.

The method that unmanned plane supporting member is separated from unmanned plane body will now be described.This method is based on each supporting member Two steps to be executed and have the advantages that without tool.

First step includes the lock/unlock device 70 for operating unmanned plane supporting member, to unlock described device and thus Allow to separate from supporting member.Second step includes the front that unmanned plane supporting member 50 is shifted to unmanned plane, the front of the unmanned plane It is limited by the main heading of unmanned plane.Such displacement for example allow lifting device 52 from lift crank 58 and thus from Hoisting control device 54 separates.In addition, the displacement allows to separate lifting device 52 from the pivot hinge 64 of unmanned plane body. Once lifting device is separated from lift crank and from pivot hinge, unmanned plane supporting member is adapted to remove from unmanned plane.

Entire unmanned plane supporting member lifting system is illustrated on the unmanned plane with specific structure, specifically It says, the fixed point of two front link arms 24,26 and unmanned plane body and rear portion link arm 28,30 are consolidated with unmanned plane body It pinpoints and is located at different corresponding heights relative to the horizontal mid-plane of unmanned plane body, and two front chains of the unmanned plane Connect arm 24,26 relative to the unmanned plane body horizontal mid-plane formed the first tilt angle, and two rear portion link arms 28, 30 relative to the unmanned plane body horizontal mid-plane formed the second tilt angle, second tilt angle be different from this first Angle.

However, the entire unmanned plane supporting member lifting system is also adapted to implement on such unmanned plane, the unmanned plane It include: that two front link arms and the fixed point of unmanned plane body and rear portion link arm are opposite with the fixed point of unmanned plane body It is located at sustained height in the horizontal mid-plane of unmanned plane body, and two front link arms of the unmanned plane are relative to the nothing The tilt angle and level of two rear portion link arms relative to the unmanned plane body that the horizontal mid-plane of man-machine body is formed The tilt angle that mid-plane is formed is identical.

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.

Claims (8)

1. a kind of unmanned plane equipped with foldable unmanned plane supporting member, it is characterised in that: including unmanned plane body (22), link arm (24,26,28,30), at least two unmanned plane supporting members (50) and at least one hoisting control device (54), the link arm Extend from the unmanned plane body and includes propulsion unit (32), at least two nothing in the end of the link arm Man-machine supporting member extends from the unmanned plane body, and the supporting member correspondingly includes lifting device (52), it is described at least One hoisting control device is linked with each of unmanned plane supporting member lifting device, so that the unmanned plane supporting member is suitable It is promoted together in the unmanned plane during flying, in the raised position, the unmanned plane supporting member is correspondingly linked with described Arm aligns, and in the raised position, the unmanned plane supporting member is respectively formed on the rear portion for being located in the unmanned plane The trailing edge of the leading edge of the link arm and/or the link arm being located on the front of the unmanned plane, and the link arm Forward position and rear positions limited relative to the main heading of the unmanned plane.

2. a kind of unmanned plane equipped with foldable unmanned plane supporting member according to claim 1, it is characterised in that: the nothing Man-machine supporting member (50) includes correspondingly two stabilizer blades (66), and described two stabilizer blades are connected to each other by center section (68), and institute It states center section and is suitable for pivoting promotion to allow the stabilizer blade.

3. a kind of unmanned plane equipped with foldable unmanned plane supporting member according to claim 1, it is characterised in that: the nothing The lifting device of man-machine supporting member includes lift lever (56), and the hoisting control device (54) includes pivoting lift crank (58), the pivot lift crank is correspondingly connected to the unmanned plane supporting member lift lever by coupling arrangement (60), to allow The promotion of the unmanned plane supporting member.

4. a kind of unmanned plane equipped with foldable unmanned plane supporting member according to claim 3, it is characterised in that: described to mention It rises crank and passes through mandrel at one end by hoisting control device driving rotation, and the lift crank is another at it One end includes the coupling arrangement, and the coupling arrangement is suitable for the lift lever associated with the lifting device.

5. a kind of unmanned plane equipped with foldable unmanned plane supporting member according to claim 4, it is characterised in that: described to mention Rising control device includes gear motor, to drive the mandrel of the lift crank.

6. a kind of unmanned plane equipped with foldable unmanned plane supporting member according to claim 4, it is characterised in that: described to mention Rise device includes the supporting member articulated section (64) pivoted and Liang Ge branch in part in its center, and described two branches are from described Angle is extended and formed between each other to center portion point, and one of branch includes being connected to the hoisting control device (54) Lift crank (58) lift lever (56), and second branch and the unmanned plane supporting member are integral.

7. a kind of unmanned plane equipped with foldable unmanned plane supporting member according to claim 1, it is characterised in that: the nothing Man-machine supporting member (50) is suitable for separating from the unmanned plane body.

8. a kind of unmanned plane equipped with foldable unmanned plane supporting member according to claim 7, it is characterised in that: unmanned plane Supporting member (50) correspondingly includes the device for the unmanned plane supporting member described in unmanned plane body locking locking/unlocking (70)。