CN110015421A - Fixed wing machine take-off system and its method - Google Patents
Fixed wing machine take-off system and its method Download PDFInfo
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- CN110015421A CN110015421A CN201910017011.3A CN201910017011A CN110015421A CN 110015421 A CN110015421 A CN 110015421A CN 201910017011 A CN201910017011 A CN 201910017011A CN 110015421 A CN110015421 A CN 110015421A
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000001133 acceleration Effects 0.000 claims abstract description 102
- 230000005484 gravity Effects 0.000 claims abstract description 15
- 238000005096 rolling process Methods 0.000 claims description 7
- 238000000465 moulding Methods 0.000 claims description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 7
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- 235000008434 ginseng Nutrition 0.000 description 2
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- 238000012423 maintenance Methods 0.000 description 1
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- 230000001141 propulsive 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
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/10—All-wing aircraft
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/13—Propulsion using external fans or propellers
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
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- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
There is shown herein a kind of fixed wing machine take-off systems, are set on fixed wing machine, and the fixed wing machine take-off system includes: sensor senses the acceleration, pitch angle and roll angle of the fixed wing machine；Flight angle control device enables control model of taking off in take-off process, and the flight angle control device is made to adjust the pitch angle and the roll angle；And propeller, the starting when the acceleration reaches acceleration threshold value, wherein the acceleration threshold value is greater than acceleration of gravity.
Description
Technical field
It is this application involves a kind of fixed wing machine take-off system and its takeoff method, in particular to a kind of for surveying and drawing the nothing of landform
The fixed wing machine take-off system and its takeoff method of people's fixed wing machine.
Background technique
Unmanned fixed wing machine (fixed-wing unmanned aerial vehicle) be widely used at present landform,
Looks detect according to and landform, landforms survey and draw, be primarily due to fixed wing machine compared to multi-rotor unmanned aerial vehicle be more suitable for large range of landform,
Landforms, which are detectd, to be shone and mapping.And existing unmanned fixed wing machine is understood before take-off in order to ensure that can have certain propulsive force when taking off
First start propeller.However, when using hand throw mode take off fixed wing machine when, user may during throwing fixed wing machine quilt
The propeller of rotation is hurt.
In view of this, the fixed wing machine take-off system and method for propeller are just opened after needing a kind of throwing or ejection fixed wing machine,
To ensure the safety of user when fixed wing machine takes off.
Summary of the invention
To solve the above-mentioned problems, the conception of the application is that providing one kind just opens spiral shell after throwing or ejection fixed wing machine
The fixed wing machine take-off system and method for paddle.
Based on aforementioned conception, the application provides a kind of fixed wing machine take-off system, is set on fixed wing machine, and the fixed wing machine rises
Winged system includes: sensor, senses the acceleration, pitch angle and roll angle of the fixed wing machine；Flight angle control device, adjustment
The pitch angle and the roll angle of the fixed wing machine；And propeller, it is opened when the acceleration reaches acceleration threshold value
It is dynamic, wherein the acceleration threshold value is greater than acceleration of gravity.
Fixed wing machine take-off system provided by the present application, the fixed wing machine take-off system enable mode of taking off in take-off process
And control model of taking off.
In the preferred embodiment of the application, when the fixed wing machine take-off system enable described in take off mode when, it is described
Accelerometer persistently senses the acceleration, and the posture instrument persistently senses the pitch angle and the roll angle, and adds when described
When speed reaches preset acceleration threshold value, control model of taking off described in the fixed wing machine take-off system enabling, wherein
The propeller described in control model that takes off is activated, and the pitch angle is maintained to take off by the flight angle control device bows
Elevation angle threshold value.
In the preferred embodiment of the application, the flight angle control device adjusts the pitch angle and the rolling
Angle；Propeller starting when the acceleration reaches acceleration threshold value is set in advance wherein the acceleration threshold value is greater than
Fixed gravity acceleration value.
In the preferred embodiment of the application, the preset gravity acceleration value is 5G.
In the preferred embodiment of the application, the preset gravity acceleration value be coordinate system on X-axis, Y-axis,
The sum total acceleration of gravity of Z axis, wherein whenWhen, the propeller starting.
In the preferred embodiment of the application, the sensor is posture heading reference system.
In the preferred embodiment of the application, the sensor includes accelerometer and posture instrument；The wherein accelerometer
The acceleration is sensed, the posture instrument senses the pitch angle and the roll angle.
In the preferred embodiment of the application, when the fixed wing machine take-off system enable described in take off control model when,
The flight angle control device, which maintains the pitch angle, to take off in pitch range.
In the preferred embodiment of the application, when the fixed wing machine take-off system enable described in take off control model when,
The pitch angle is maintained the pitch angle threshold value that takes off by the flight angle control device.
In the preferred embodiment of the application, when the fixed wing machine take-off system enable described in take off control model after,
The flight angle control device, which maintains the roll angle, to take off in rolling angular region.
In the preferred embodiment of the application, when the fixed wing machine take-off system enable described in take off control model after,
The roll angle is maintained the roll angle threshold value that takes off by the flight angle control device.
In the preferred embodiment of the application, the flight angle control device includes a pair of control rudder.
In the preferred embodiment of the application, the propeller after actuation, with maximum power operation in take-off process.
In the preferred embodiment of the application, the fixed wing machine makes the acceleration reach the acceleration by launching cradle
Spend threshold value.
In the preferred embodiment of the application, the acceleration threshold value is five times of acceleration of gravity (5G).
In the preferred embodiment of the application, when the fixed wing machine reaches preset height, the fixed wing machine, which takes off, is
System stops control model of taking off described in enabling.
According to the purpose of the application, then a kind of fixed wing machine takeoff method is provided, the method includes: by the sense of fixed wing machine
Survey acceleration, pitch angle and roll angle that device senses the fixed wing machine；When the acceleration reaches acceleration threshold value, starting
The propeller of the fixed wing machine；After propeller starting, make the flight angle control device of the fixed wing machine in take-off process
Enabling is taken off control model, to adjust the pitch angle and the roll angle by the flight angle control device.
In the preferred embodiment of the application, the propeller is to start at full speed.
In the preferred embodiment of the application, the acceleration threshold value is preset five times of acceleration of gravity.
In the preferred embodiment of the application, the sensor is posture heading reference system.
In the preferred embodiment of the application, the sensor includes accelerometer and posture instrument；The wherein accelerometer
The acceleration is sensed, the posture instrument senses the pitch angle and the roll angle.
In the preferred embodiment of the application, when the fixed wing machine take-off system enable described in take off control model when,
The flight angle control device, which maintains the pitch angle, to take off in pitch range.
In the preferred embodiment of the application, when the fixed wing machine take-off system enable described in take off control model when,
The pitch angle is maintained the pitch angle threshold value that takes off by the flight angle control device.
In the preferred embodiment of the application, when the fixed wing machine take-off system enable described in take off control model when,
The flight angle control device, which maintains the roll angle, to take off in rolling angular region.
In the preferred embodiment of the application, when the fixed wing machine take-off system enable described in take off control model when,
The roll angle is maintained the roll angle threshold value that takes off by the flight angle control device.
In the preferred embodiment of the application, the flight angle control device includes a pair of control rudder.
In the preferred embodiment of the application, the propeller after actuation, with maximum power operation in take-off process.
In the preferred embodiment of the application, the fixed wing machine makes the acceleration reach the acceleration by launching cradle
Spend threshold value.
In the preferred embodiment of the application, when the fixed wing machine reaches preset height, the fixed wing machine, which takes off, is
System stops control model of taking off described in enabling.
The application aforementioned aspects and other aspects are described in detail according to following non-limiting specific embodiments and ginseng
It will more tend to be illustrated according to subsidiary schema.
Detailed description of the invention
Figure 1A is the top view for the specific embodiment that the application fixed wing machine take-off system is applied to fixed wing machine；
Figure 1B is the bottom view for the specific embodiment that the application fixed wing machine take-off system is applied to fixed wing machine；
Fig. 2 is one specific embodiment schematic diagram of launching cradle；
Fig. 3 is that flight angle control device is embodied according to the roll angle one of the sensing data point reuse fixed wing machine of sensor
It illustrates and is intended to；
Fig. 4 is that flight angle control device is embodied according to the pitch angle one of the sensing data point reuse fixed wing machine of sensor
It illustrates and is intended to；
Fig. 5 is the flow chart of one specific embodiment of the application fixed wing machine takeoff method；
Fig. 6 is in a specific embodiment, and fixed wing machine take-off system is in the mode of taking off and the related data for control model of taking off
Data schematic diagram.
Fig. 7 is the schematic diagram that user casts one specific embodiment of fixed wing machine with hand.
Description of symbols:
100 fixed wing machines
110 fuselages
112,114 cabin
113 flight control computers
120,130 wing
140,150 flight angle control devices/control flaps
160 propellers
172,174 rudder face controller
176,178 control flaps attachment device
180 ventral lids
182 ejections hook
200 folding type launching cradles
300 fixed wing machines
312 ventral directions
314 machines carry on the back direction
320 starboard wings
330 port wings
340 right control flaps
350 left control flaps
360 propellers
400 fixed wing machines
414 machines carry on the back direction
440 right control flaps
450 left control flaps
500 fixed wing machine takeoff methods
510~550 steps
602 take off control model
604 take off mode
702 users
Specific embodiment
Figure 1A is please referred to, has illustrated the application fixed wing machine take-off system applied to one specific embodiment of fixed wing machine
Top view.Embodiment as shown in Figure 1A, fixed wing machine 100 have fuselage 110；Wing 120,130；Flight angle control device,
Include control flaps 140,150；And propeller 160.
In one embodiment, the fixed wing machine take-off system can enable mode of taking off in take-off process, when described
Fixed wing machine take-off system enable described in take off mode when, the accelerometer senses the acceleration, described in the posture instrument sensing
Pitch angle and the roll angle, when the acceleration is more than preset acceleration threshold value, the propeller 160 is activated,
The fixed wing machine take-off system is while the propeller 160 is activated or later, control model of taking off described in enabling, wherein institute
It states in control model of taking off, the pitch angle is maintained the pitch angle threshold value that takes off by the flight angle control device, wherein
Acceleration threshold value is greater than acceleration of gravity.
The starting when the acceleration of fixed wing machine 100 reaches acceleration threshold value of propeller 160, in one embodiment, when
After propeller starting, with maximum power operation in take-off process, to be that fixed wing machine 100 provides stable push away in take-off process
Into power.In one embodiment, acceleration threshold value is that (Gravitational acceleration, gravity accelerate 2G
Degree).In another embodiment, acceleration threshold value is 5G, and so avoidable fixed wing machine is due to acceleration threshold value is too low
Unexpected event (such as fixed wing machine hit and generate acceleration) Shi Qidong propeller is met in fixed wing machine.And in another tool
In body embodiment, due to using launching cradle catapult-assisted take-off, acceleration threshold value can be set as 4G.It will be appreciated that above-mentioned acceleration
It spends threshold value only to illustrate herein, the acceleration threshold value of the application not can only be set as 2G, 4G or 5G, and visual demand will add
Speed threshold value is set as any number.
In one embodiment, the acceleration of fixed wing machine is calculated by following formula and is obtained:
Wherein, a is the acceleration of fixed wing machine, axFor the acceleration of fixed wing machine in the x direction, ayIn y-direction for fixed wing machine
Acceleration, azFor the acceleration of fixed wing machine in a z-direction.
In one embodiment, fixed wing machine 100 need to be first in (take off) mode of taking off, and propeller 160 just understands Yu Ding
The starting when acceleration of wing machine 100 reaches acceleration threshold value.Also that is, if fixed wing machine 100 is not in the mode of taking off, even if fixed
The acceleration of wing machine 100 reaches acceleration threshold value, and propeller 160 not will start still.Thus mechanism, by avoidable fixed wing machine in incident
Meet unexpected event (such as fixed wing machine is hit and generates acceleration) Shi Qidong propeller.In one embodiment, when
User holds up fixed wing machine to 60 degree or more (also that is, making the pitch angle of fixed wing machine in 60 degree or more), fixed wing machine can be enabled to open
With and maintain the mode of taking off.In one embodiment, user will can also take off at any time on demand mode closing.
In one embodiment, when control model of taking off enables, flight angle control device is according to fixed wing machine 100
The pitch angle and roll angle of instant pitch angle numerical value and instant roll angle numerical value adjustment fixed wing machine 100, while can preset
Preset height makes fixed wing machine take-off system stop enabling control model of taking off when fixed wing machine 100 reaches preset height.
Figure 1B is please referred to, Figure 1B is looking up for the specific embodiment that the application fixed wing machine take-off system is applied to fixed wing machine
Figure.As shown, fixed wing machine 100 has a ventral lid 180 at ventral, there is an ejection to hook 182 thereon.When use launching cradle
With ejection mode take off fixed wing machine 100 when, by ejection hook 182 ejection fixed wing machines 100 so that fixed wing machine 100 reaches acceleration door
Threshold value.In one embodiment, the antenna for being used to establish communication is covered by ventral lid 180, so in addition to day can be protected
Outside line, it is exposed and increase windage also to can avoid antenna.In one embodiment, ventral lid 180 is streamline moulding, therefore can be subtracted
Few windage.Referring to Fig. 2, launching cradle specific embodiment shown in Fig. 2 is a folding type launching cradle 200, fixed wing machine 100 can
Reach acceleration threshold value and catapult-assisted take-off by folding type launching cradle 200.
Ginseng Figure 1A please be return, fuselage 110 separately has cabin 112,114, wherein there can be image capture dress in cabin 112
It sets, ground image can be captured during flight.There is (the Flight Control of flight control computer 113 in cabin 114
Computer, FCC), and ground control station (Ground Control System) communication connection, and it is electrically connected sensor,
Its acceleration, pitch angle and roll angle to sense fixed wing machine 100.Flight control computer 113, sensor, propeller 160 and
Flight control assemblies 140,150 constitute fixed wing machine take-off system.In one embodiment, can separately have navigation in cabin 114
Device, one or all are combined with flight control computer (FCC) 113, provide fixed wing machine navigation feature；Navigate communication device and
Data transmission communication device, one or all are combined with flight control computer (FCC) 113, and are communicated and connected with ground control station
Knot；And reservoir (FCC), to store the various data during flight.
In one embodiment, sensor is posture heading reference system (AHRS, Attitude and Heading
Reference System).In another embodiment, sensor includes accelerometer and posture instrument, and wherein accelerometer can be felt
The acceleration of fixed wing machine 100 is surveyed, posture instrument can sense the pitch angle and roll angle of fixed wing machine 100.It will be appreciated that sensor is not only
It can be used posture heading reference system, accelerometer or posture instrument, and visual demand can be used for sensing fixed wing machine 100 using any
The sensor or device of acceleration, pitch angle and roll angle.In addition, sensor not can be only placed in cabin 114, and visually need
Ask other cabins or the position for placing or being set up in fixed wing machine 100.
In one embodiment, fixed wing machine 100 further includes rudder face controller 172,174 and control flaps connection dress
Set 176,178.Control flaps attachment device 176,178 engages or is fixed on control flaps 140,150, and rudder face controller 172,174 connects
Close or be fixed on control flaps attachment device 176,178.Wherein control flaps attachment device 176,178 and control flaps 140,150 is oblique
Side completely attaches to, and not only contacts with a part of the bevel edge of control flaps 140,150.This way of contact can be such that control flaps connect
The bevel edge of device 176,178 and control flaps 140,150 reaches higher conjugation grade, to avoid rudder face controller 172,174 in length
When time control (or drive) control flaps 140,150, control flaps 140,150 is caused to damage.In another embodiment, wing
120, there is groove, groove has seleced depth, so that control flaps 140,150 can be borrowed between 130 and control flaps 140,150
This is adjusted the angle.In one embodiment, wing 120,130 is integrally formed with control flaps 140,150.And another specific
In embodiment, wing 120,130 is the different components separated from control flaps 140,150.
Referring to Fig. 3, it has illustrated flight angle control device according to the sensing data point reuse fixed wing machine of sensor
Roll angle a specific embodiment.As shown in the figure, flight angle control device includes left control flaps 350 and right control flaps
340.In this particular embodiment, when flight angle control device enabling takes off control model, flight angle control device meeting
The roll angle of fixed wing machine 300 is maintained to 0 degree of the roll angle threshold value that takes off (also i.e. by maintenance level at left and right sides of fuselage).At this time
When inclination and starboard wing 320 tilt down the port wing 330 of fixed wing machine 300 upwards, flight angle control device is by left control
Rudder 350 is adjusted towards ventral direction 312 (i.e. downwards) adjustment, and by right control flaps 340 towards machine back direction 314 (i.e. upwards),
It takes off 0 degree of roll angle threshold value so that the roll angle of fixed wing machine 300 is returned to.
It will be appreciated that the fixed wing machine in Fig. 3 is only to illustrate herein, the flight angle control device of fixed wing machine is not limited only to wrap
Rudder containing a pair of control, and visual demand includes the control flaps of a control flaps or three or more, such as flight angle control device
It may include a pair of of aileron and a pair of of elevator.In addition, when flight angle control device enabling takes off control model, flight angle
Roll angle not can only be maintained a definite value by control device, and roll angle is maintained one and preset taken off by visual demand
In rolling angular region.
Referring to Fig. 4, it has illustrated flight angle control device according to the sensing data point reuse fixed wing machine of sensor
Pitch angle a specific embodiment.As shown in the figure, flight angle control device includes left control flaps 450 and right control flaps
440.In this particular embodiment, when flight angle control device enabling takes off control model, flight angle control device meeting
The pitch angle of fixed wing machine 400 is maintained and is taken off 40 degree of pitch angle threshold value, (in another embodiment, take off pitch angle
Threshold value is 30 degree).At this time when the pitch angle of fixed wing machine 400 is lower than 40 degree, flight angle control device is by left control flaps 450
And right control flaps 440 are adjusted towards machine back direction 414 (i.e. upwards), so that the pitch angle of fixed wing machine 400 is returned to pitching of taking off
40 degree of side door threshold value.It will be appreciated that flight angle control device is not when flight angle control device enabling takes off control model
Pitch angle can only be maintained to a definite value, and pitch angle is maintained the preset pitch range that takes off by visual demand
It is interior.
Referring to Fig. 5, it has illustrated the flow chart of one specific embodiment of the application fixed wing machine takeoff method.Wherein,
Fixed wing machine takeoff method 500 comprises the steps of: firstly, carry out step 510, and fixed wing machine is made to be in mode of taking off.It is specific one
In embodiment, fixed wing machine is holded up to 60 degree or more (also that is, making the pitch angle of fixed wing machine in 60 degree or more), to enable by user
Fixed wing machine enables and maintains the mode of taking off.In one embodiment, user will can also take off at any time on demand mode pass
It closes.Then, step 520 is carried out, by acceleration, pitch angle and the roll angle of the sensor sensing fixed wing machine of fixed wing machine.?
In one specific embodiment, sensor is posture heading reference system.And in another embodiment, sensor includes accelerometer
And posture instrument；Wherein the acceleration of accelerometer sensing fixed wing machine, posture instrument sense the pitch angle and roll angle of fixed wing machine.
Then, it carries out step 530 and starts the propeller of fixed wing machine when the acceleration of fixed wing machine reaches acceleration threshold value.
Wherein acceleration threshold value is greater than preset gravity acceleration value.In one embodiment, propeller after actuation, is rising
With maximum power operation during flying.In one embodiment, fixed wing machine reaches the acceleration of fixed wing machine by launching cradle
Acceleration threshold value.In one embodiment, fixed wing machine is jettisoninged to throw by hand by user 702 for example shown in Fig. 7 and makes to determine
The acceleration of wing machine reaches acceleration threshold value.
Then, step 540 is carried out, fixed wing machine is made to enable control model of taking off, step 550 is carried out later, makes fixed wing machine
Flight angle control device adjusts the pitch angle and roll angle of fixed wing machine in take-off process.In one embodiment, it flies
Angle controller includes a pair of control rudder, and by the pitch angle and roll angle to control flaps adjustment fixed wing machine.In a tool
In body embodiment, when fixed wing machine reaches preset height, stop control model of taking off described in enabling.In one embodiment,
When fixed wing machine take-off system enabling takes off control model, pitch angle is maintained the pitch angle model that takes off by flight angle control device
In enclosing.Such as when enabling takes off control model, pitch angle is maintained between 40 degree to 50 degree.Aforementioned pitch angle is the specified wing
Angle of the machine to horizontal plane.In one embodiment, when enabling takes off control model, flight angle control device is by pitching
Angle maintains the pitch angle threshold value that takes off.Such as flight angle control device ties up pitch angle when enabling takes off control model
It holds at 40 degree；And in another embodiment, the pitch angle threshold value that takes off is 30 degree.In one embodiment, work as enabling
When control model of taking off, flight angle control device, which maintains roll angle, to take off in rolling angular region.In a specific embodiment
In, when enabling takes off control model, roll angle is maintained the roll angle threshold value that takes off by flight angle control device.Such as in
Enabling take off control model when, roll angle is maintained 0 degree.
Referring to Fig. 6, being fixed wing machine take-off system in the mode of taking off 604 (take-off mode) and control model of taking off
In 602 (take-off control mode), propeller speed (Throttle) accelerates time (t) figure (Fig. 6 (A)), fixed wing machine
(Acceleration, " Acc ") is spent to time (t) figure (Fig. 6 (B)), pitch command (Pitch Command) to the time (t)
Scheme (Fig. 6 (C)).If Fig. 6 (B) is shown, horizontal axis is time t, and t is started from 0.Fixed wing machine take-off system is set in t=0 and takes off
Mode, sensor starting start the acceleration of continuous detecting fixed wing machine.When user throws projectile (as shown in Figure 7) or bullet with hand
Frame ejection fixed wing machine is penetrated, transient acceleration rises, and in t=t1, fixed wing machine acceleration reaches a peak value (peak value), and
The peak value reaches preset acceleration threshold value, and fixed wing machine take-off system starts the propeller of fixed wing machine, in t=t2, spiral shell
Paddle reaches maximum (top) speed (shown in such as Fig. 6 (A)).According to Fig. 6 (A) and Fig. 6 (B), in t1 < t < t2, throws or launch due to hand
External force terminates, and fixed wing machine acceleration slightly reduces；In t=t2, propeller speed (throttle) reaches maximum output, fixed wing machine
Acceleration is pulled up to a value more higher than 0 < t < t1 brief acceleration.In t >=t2, fixed wing machine take-off system starts control of taking off
Mode (Take-off Control Mode).In one embodiment, as shown in Fig. 6 (C), flight angle control device will
Pitch angle maintains 30 degree.
So far, the fixed wing machine take-off system of the application and its method are illustrated via above description and schema.So answer
Understand, each specific embodiment of the application can carry out various only as explanation in the case where not departing from the application the scope of the patents and spirit
Change, and is intended to be limited solely by the scope of the patents of the application.Therefore, each specific embodiment described herein is not to limit
The application processed, the application true scope and spirit are disclosed in claims.
Claims (27)
1. a kind of fixed wing machine take-off system, is set on fixed wing machine, which is characterized in that the fixed wing machine take-off system includes:
Sensor senses the acceleration, pitch angle and roll angle of the fixed wing machine；
Flight angle control device adjusts the pitch angle and the roll angle of the fixed wing machine；And
Propeller, the starting when the acceleration reaches acceleration threshold value, wherein the acceleration threshold value accelerates greater than gravity
Degree.
2. the system as claimed in claim 1, which is characterized in that the sensor is posture heading reference system.
3. the system as claimed in claim 1, which is characterized in that the sensor includes accelerometer and posture instrument；It is wherein described
Accelerometer senses the acceleration, and the posture instrument senses the pitch angle and the roll angle.
4. the system as claimed in claim 1, which is characterized in that the fixed wing machine is in mode of taking off.
5. system as claimed in claim 4, which is characterized in that when the mode of taking off enables, the sensor is persistently felt
The acceleration for surveying the fixed wing machine starts the propeller when the acceleration reaches the acceleration threshold value.
6. system as claimed in claim 5, which is characterized in that the propeller after actuation, with maximum power operation.
7. system as claimed in claim 5, which is characterized in that the fixed wing machine is launched by launching cradle or user is thrown with hand
It throws, the acceleration is made to reach the acceleration threshold value.
8. the system as claimed in claim 1, which is characterized in that the fixed wing machine is in control model of taking off.
9. system as claimed in claim 8, which is characterized in that when the control model of taking off enables, the flight angle
The pitch angle is maintained and is taken off in pitch range by control device.
10. system as claimed in claim 8, which is characterized in that when the control model of taking off enables, the flight angle
The pitch angle is maintained the pitch angle threshold value that takes off by control device.
11. system as claimed in claim 8, which is characterized in that after the control model of taking off enables, the flight angle
The roll angle is maintained and is taken off in rolling angular region by control device.
12. system as claimed in claim 8, which is characterized in that after the control model of taking off enables, the flight angle
The roll angle is maintained the roll angle threshold value that takes off by control device.
13. system as claimed in claim 8, which is characterized in that when the fixed wing machine reaches preset height, stop enabling institute
State control model of taking off.
14. the system as claimed in claim 1, which is characterized in that the flight angle control device includes a pair of control rudder.
15. the system as claimed in claim 1, which is characterized in that the acceleration threshold value is five times of acceleration of gravity (5G).
16. a kind of fixed wing machine takeoff method, which is characterized in that the method includes:
The fixed wing machine is set to enable mode of taking off；
The acceleration, pitch angle and roll angle of the fixed wing machine are sensed by the sensor of fixed wing machine；
When the acceleration reaches acceleration threshold value, start the propeller of the fixed wing machine, wherein the acceleration threshold value
Greater than acceleration of gravity；
The fixed wing machine is set to enable control model of taking off；And
The pitch angle and the roll angle are adjusted by flight angle control device.
17. the method described in claim 16, which is characterized in that the propeller is after actuation with maximum power operation.
18. the method described in claim 16, which is characterized in that when the fixed wing machine reaches a preset height, stop opening
With the control model of taking off.
19. the method described in claim 16, which is characterized in that the sensor is posture heading reference system.
20. the method described in claim 16, which is characterized in that the sensor includes accelerometer and posture instrument；Wherein institute
It states accelerometer and senses the acceleration, the posture instrument senses the pitch angle and the roll angle.
21. the method described in claim 16, which is characterized in that when the control model of taking off enables, the flying angle
Degree control device, which maintains the pitch angle, to take off in pitch range.
22. the method described in claim 16, which is characterized in that when the control model of taking off enables, the flying angle
It spends control device and the pitch angle is maintained into the pitch angle threshold value that takes off.
23. the method described in claim 16, which is characterized in that control of taking off described in being enabled when the flight angle control device
When molding formula, the flight angle control device, which maintains the roll angle, to take off in rolling angular region.
24. the method described in claim 16, which is characterized in that when the control model of taking off enables, the flying angle
It spends control device and the roll angle is maintained into the roll angle threshold value that takes off.
25. the method described in claim 16, which is characterized in that the flight angle control device includes a pair of control rudder.
26. the method described in claim 16, which is characterized in that the fixed wing machine is launched by launching cradle or user is with hand
Throwing makes the acceleration reach the acceleration threshold value.
27. the method described in claim 16, which is characterized in that the acceleration threshold value is five times of acceleration of gravity
(5G)。
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| TW107100694 | 2018-01-08 | ||
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| TWI688519B (en) | 2020-03-21 |
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