CN110450944A - Tilting rotor flight slide plate - Google Patents
Tilting rotor flight slide plate Download PDFInfo
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- CN110450944A CN110450944A CN201910879445.4A CN201910879445A CN110450944A CN 110450944 A CN110450944 A CN 110450944A CN 201910879445 A CN201910879445 A CN 201910879445A CN 110450944 A CN110450944 A CN 110450944A
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- power plant
- foot control
- plant module
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 55
- 238000005183 dynamical system Methods 0.000 claims description 31
- 230000033001 locomotion Effects 0.000 claims description 24
- 230000009471 action Effects 0.000 claims description 19
- 230000001681 protective effect Effects 0.000 claims description 16
- 230000000694 effects Effects 0.000 claims description 12
- 230000008859 change Effects 0.000 claims description 10
- 230000004044 response Effects 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 230000003028 elevating effect Effects 0.000 claims description 5
- 230000005484 gravity Effects 0.000 claims description 5
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 208000033748 Device issues Diseases 0.000 claims 1
- 238000000354 decomposition reaction Methods 0.000 claims 1
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- 230000007246 mechanism Effects 0.000 abstract description 3
- 230000003137 locomotive effect Effects 0.000 abstract description 2
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- 238000004891 communication Methods 0.000 description 11
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- 230000009286 beneficial effect Effects 0.000 description 2
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- 230000002708 enhancing effect Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 210000001699 lower leg Anatomy 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
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Classifications
-
- 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
- B64C13/04—Initiating means actuated personally
- B64C13/044—Initiating means actuated personally operated by feet, e.g. pedals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/006—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/26—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/28—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft with forward-propulsion propellers pivotable to act as lifting rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The present invention relates to a kind of tilting rotor flight slide plates.The tilting rotor flight slide plate using the user input unit and tilting rotor flight slide plate of a kind of novel mode of operation there is safeguard measure to substantially reduce the probability for unintentionally encountering propeller, greatly improve the safety of user；The tilting rotor flight slide plate person of can be used almost liberates the both hands of operator, and operation is more flexible, and more flare maneuvers meet the locomotory mechanism of human body, and user is allowed to experience the feeling of free flight in the sky.
Description
Technical field
The present invention relates to manned vehicle fields, and in particular to a kind of manned tilting rotor flight slide plate.
Background technique
Such as with the famous plate type games of flexible operating: four skateboards, surfing, Halfpipe, vigor plate become crowd naturally
The derivative source of multiple people's tilting rotor flight slide plates.
Such as with the famous plate type games of flexible operating: four skateboards, surfing, Halfpipe, vigor plate become crowd naturally
The derivative source of more personal aircrafts.
Fixed Wing AirVehicle --- such as aircraft --- is able to use wing and flies, wing in response to aircraft to
Preceding air speed and generate lift, the lift by from one or more jet engines or propeller forward thrust generate.Machine
The wing has airfoil cross-section, and airfoil cross-section deflects down air when aircraft moves forward, to generate support aircraft
The vertical lift of flight.However, Fixed Wing AirVehicle needs the runway for take-off and landing.
Different from Fixed Wing AirVehicle, vertical take-off and landing (VTOL) aircraft does not need runway.But VTOL flies
Device can vertically take off, hovers and land.VTOL aircraft another example is helicopter, helicopter be have mentioned to aircraft
For the rotor craft of vertical lift and one or more rotors of forward thrust.Lifting airscrew not only may be implemented to hang
Stop, vertically take off and vertically land, but also flight forward, backward flight and horizontal flight may be implemented.These characteristics make
Helicopter highly versatile possibly can not carry out congested area, isolated area or the remote area of take-off and landing in Fixed Wing AirVehicle
Domain.However, helicopter is generally deficient of the air speed forward of Fixed Wing AirVehicle.
Tiltrotor is another example of VTOL aircraft.Tilting rotor formula aircraft is utilized and is operable to forward
That is converted between thrust orientation and vertical lift orientation can tilting rotor system.The rotor system can be relative to fixed-wing
Vert into make associated propeller have the Plane of rotation of general horizontal for vertically taking off, hovering and vertically landing with
And the Plane of rotation substantially vertically for flight forward, wherein fixed-wing provides lift.By this method, tilting rotor formula flies
Row device combines the vertical lift capability of helicopter with the speed of Fixed Wing AirVehicle and voyage.
Summary of the invention
The present invention is intended to provide a kind of tilting rotor flight slide plate, the tilting rotor flight slide plate person of can be used is almost
Liberate operator both hands, operate it is more flexible, more flare maneuvers meet the locomotory mechanism of human body, allow user in the sky
Experience the feeling of free flight.
Technical solution of the present invention:
A kind of tilting rotor flight slide plate, including
Fuselage；
Horn before horn and second before first, horn is internal laterally outward to prolong before fuselage respectively before horn and second before first
It stretches；
Horn after horn and second after first, horn is internal laterally outward to prolong behind slave respectively after horn and second after first
It stretches；
Dynamical system, dynamical system include power plant module before power plant module and second before first, power plant module and second before first
Preceding power plant module respectively with before first horn far from one end of fuselage couple and second before horn couple far from one end of fuselage；
Dynamical system further includes power plant module after power plant module and second after first, power mould after power plant module and second after first
Block respectively with after first horn far from one end of fuselage couple and second after horn couple far from one end of fuselage；
It verts system, the system of verting includes preceding reclining device and rear reclining device, and horn is far from connection before preceding reclining device and first
One end connection of power plant module, preceding before horn has second far from connection before one end connection and second of power plant module before being connected to first
Reclining device before driving first for moving after reclining device verts for power plant module before power plant module and second before driving first
Power plant module verts before power module and/or second；
Afterwards reclining device and horn after first far from couple have first after power plant module one end couple and second after horn it is separate
One end connection of power plant module after connection has second, rear reclining device after power plant module and/or second after driving first for moving
Power module is verted；
Protective cradle, the protective cradle are connected with first support including two first wings and are combined into, and two first wings lean on
One end of nearly wing tip couples with the both ends of the first support, substantially in the Internal periphery region that can accommodate propeller, the protection
There are two brackets, and a protective cradle is arranged in the front fuselage portion, and the guarantor in the front fuselage portion is arranged in
The Internal periphery region of shield bracket is located above propeller between lower section, another described protective cradle is arranged after the fuselage
End, the Internal periphery region that the protective cradle in the back body portion is arranged in are located above propeller between lower section；
Second wing, empennage and second support, the second wing is identical as the quantity of power plant module, and the second wing is arranged in fuselage
On, it is located at propeller upper end, one end of second support couples with front end first support, and the other end is arrived with the second wing tip of front end
Couple between second leading edge of a wing；
Empennage is arranged in rear end the second wing upper end, and empennage also can be set in back body.
Supporting element, third bracket, horizontal support, the horizontal support and the first support are connected on described first
Horizontal support can symmetrically couple with front fuselage above frame, and one end of third bracket couples with horizontal support, and the other end is with before
Hold the wing tip of the second wing to couple between leading edge, supporting element has four, one end and front end of supporting element and with the first machine of rear end
Thriving root is connected between wing tip, and supporting element is connect far from one end of the first wing with fuselage.
User's system, user's system includes user input unit and to user's display device, described to make
User's input unit includes front foot control device and rear foot control device,
The front foot control device includes first base, the first operation portion and the second operation portion, with predetermined in the first base
Angle extends an axis, and first operation portion lower end centre bit is equipped with hole, the first operation portion upper recess and line of symmetry
On have a hole, first operation portion hole is arranged on the axis that the pedestal extends and couples with axis cooperation and can be in user's foot
Step movement drives lower rotation, and the substantially disc-shaped object of second operation portion and line of symmetry both ends are outward extended with axis, and described second
Operation portion is arranged on first operation portion, and the axis of second operation portion both ends extension and first operation portion are symmetrical
The hole of axis cooperates and can be tilted to the left in the case where the foot-operated effect of user and/or user change center of gravity or to Right deviation
Tiltedly；
The rear foot control device includes second base and third control unit, extends one at a predetermined angle in the second base
Axis, third operation portion lower end centre bit are equipped with a hole, third operation portion hole be arranged on the first base axis and
Cooperate and can be rotated under the drive of user's footwork；
A variety of inductors, a variety of inductors are arranged on the front foot control device and the rear foot control device, make institute
The pressure applied using the action signal and front foot of front foot to the front foot control device can be captured by stating front foot control device, be made
The rear foot control device can capture heel after the pressure that user's rear foot applies the rear foot control device, user
Pressure, the action signal of user's rear foot that the rear foot control device left side or the right are applied with rear foot tiptoe；
The front foot control device is arranged in the front fuselage portion, is arranged with the fuselage at predetermined angular, the rear foot control
Device processed is arranged in the back body portion, is arranged with the fuselage at predetermined angular；The front foot control device entirety or portion
Dividing can be tilted to the left or be tilted to the right under the foot-operated effect and/or change center of gravity of user, the rear foot control dress
Setting in whole or in part can be under the drive of the footwork of human body using scheduled angle as axis rotation or the front foot control device
It can also be rotated under the drive of the footwork of human body by axis of scheduled angle in whole or in part；
Flight control system, flight control system operatively with preceding power plant module, rear power plant module, preceding reclining device
Or rear reclining device is associated, flight control system be operable to independently control each power plant module in dynamical system and
It is operable to the independent each reclining device controlled in system of verting, including the vertical lift orientation of control takes with forward thrust
To conversion.
Flight control system can also be associated and associated with user's system, by user to switching control mould
Formula, the person of further using to user's system be operable to the control advance of tilting rotor tilting rotor flight slide plate, retrogressing,
Hovering movement obduction, is dived, horizontally advances, hovers and is tilted in brake, and control model is different, front foot control device and rear foot control
Device processed is provided with multiple and different threshold values.
User's system further includes user input unit；
Flight control system in response to airborne user fly control, distance flight control, autonomous flight control and they
At least one of combination manipulates the operation of rotor.
User's system further includes for airborne user's display device；
The fixed device of front foot and the fixed device of the rear foot, the fixed device of front foot and the fixed device of the rear foot and front foot control device and the rear foot
The upper removable surfaces of control device couple, the fixed device of the front foot and the fixed device of the rear foot can also by belt, shoe cover,
Electromagnet is bonded fixation with two foot bottoms of user.
The method have the benefit that:
Invention introduces and step control device stress difference limen value avoid repetition footwork control conflict, almost solve
The both hands for having put people further realize a variety of flare maneuvers, and operation is more flexible, meets human motion mechanism, allows user in sky
The middle experience and enjoyment for enjoying free flight；It also introduces peripheral control unit and plays booster action, user's flight is allowed more to pacify
It is complete more humane, protective cradle and the second wing are more introduced, improves the speed and cruising ability of flight, more improving makes
User unintentionally encounters the probability of propeller, further improves the life safety of user.
Detailed description of the invention
Fig. 1 is the original state top view of the manned tilting rotor flight slide plate of the embodiment of the present invention.
Fig. 2 is that the throttle of the manned tilting rotor flight slide plate of the embodiment of the present invention gives amount top view.
Fig. 3 is the perspective view of the manned tilting rotor flight slide plate of the embodiment of the present invention.
Fig. 4 is the best vertical lift orientation schematic diagram of the manned tilting rotor flight slide plate of the embodiment of the present invention.
Fig. 5 is the Best Thrust orientation schematic diagram of the manned tilting rotor flight slide plate of the embodiment of the present invention.
Fig. 6 is the Best Thrust orientation top view of the manned tilting rotor flight slide plate of the embodiment of the present invention.
Fig. 7 is the front foot control device structure chart of the manned tilting rotor flight slide plate of the embodiment of the present invention.
Fig. 8 is the part-structure figure of the front foot control device of the manned tilting rotor flight slide plate of the embodiment of the present invention.
Fig. 9 is the structure chart of the rear foot control device of the manned tilting rotor flight slide plate of the embodiment of the present invention.
Figure 10 is the control system block diagram of the manned tilting rotor flight slide plate of the embodiment of the present invention.Specific embodiment
Although realizing and using for various embodiments of the invention is described in detail below it should be appreciated that
It is that the present invention provides many applicable inventive concepts that can implement in each particular case.Tool described herein
Body embodiment is merely illustrative, the range being not intended to limit the present invention.It for clarity, in the present invention may be not to reality
All features of border embodiment are all described.Obviously it should be understood that any this actual implementation mode exploitation
In must all make many specific implementations and determine, to realize the specific objective of developer, such as meet that system is related and business
Relevant limitation, these limitations are different with the difference of embodiment.However, it should be understood that such development can
It can be complicated and time-consuming, but still can be the routine work that those benefit from those of ordinary skill in the art of the invention.
In the description, when describing the device in attached drawing, the spatial relationship and portion that are referred between all parts
The spatial orientation of the various aspects of part.However, as those skilled in the art will be recognized after the complete reading present invention, herein
Described in device, component, equipment etc. can be with any desired orientation positions.Therefore, because dress described herein
Setting can be oriented with any desired direction, thus using such as " in ... top ", " in ... lower section ", "upper", "lower", vertical
Term or other similar term come the spatial relationship between all parts is described or describe these components various aspects space
Orientation should be understood as that the spatial orientation for describing the various aspects of relativeness or these components between these components respectively.When
Component referred to as " is fixed on " another component, it can be directly on another component or there may also be groups placed in the middle
Part.When a component is considered as " being set to " another component, it, which can be, is set up directly on another component or can
Component placed in the middle can be existed simultaneously.As used herein, term " connection " may include by any means, including mobile
The direct or indirect connection of mechanical connection and/or non-moving mechanical connection；
Unless otherwise defined, all technical and scientific terms used herein and the technology for belonging to technical field of the invention
The normally understood meaning of personnel is identical.It is specific that term as used herein in the specification of the present invention is intended merely to description
The purpose of embodiment, it is not intended that in the limitation present invention.Term as used herein "and/or" includes one or more relevant
Any and all combinations of 4 listed items；Term " first " that the embodiment of the present invention uses, " second ", " third " be for
One element of difference and another element, do not have succession and importance；In addition, following
When being related to attached drawing, the same appended drawing reference in different attached drawings indicates the same or similar element for description.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
Referring to attached drawing
Fuselage 100 is used to carry user and installation electronic device,
System of verting is arranged inside 100 surrounding of fuselage, specifically, is arranged in left front inside fuselage 100, left back
Side, right front, right back are coupled dynamical system 102 with dynamical system 102 by tiliting axis, are flown for providing tilting rotor
The power of row slide plate flight,
Dynamical system 102 includes that can be permanently mounted or can be attached independently to the system of verting and can be from the system of verting
Multiple power plant modules of disassembly.
As illustrated, distributed power system 102 includes the power plant module of four independent operations.Power plant module respectively with
It is distributed in vert system and power before being referred to as that the system of verting inside fuselage 100 is attached to left front and right front
Module.Power plant module after power plant module is respectively coupled to left back and right back and can be referred to as, in other embodiments,
Preceding power plant module or rear power plant module are a power plant module, 3 power plant modules, 4 power plant modules etc., specifically actually to set
It is calculated as standard.
In the present embodiment, the system of verting is a kind of reclining device, reclining device can make power plant module forward, backward with
And the conversion between vertical thrust and/or pulling force orientation；In other embodiments, system of verting is reclining device and/or the machine that verts
Structure can make power plant module forward, backward, vertically, to the left and to the right thrust and/or pulling force orientation between conversion.
Motor and a pair of of propeller there are two being arranged in illustrated embodiment, in each power plant module, one
It is positive paddle and anti-slurry to propeller, it can also be positive paddle or anti-paddle that propeller, which may not be a pair,.
In the present embodiment, power plant module drives propeller type to provide power, in other embodiments, power for motor
System 102 is internal combustion engine, duct, culvert type engine, jet engine or rocket type engine.In the present embodiment, it drives
What dynamic dynamical system 102 was verted verts system for 4 reclining devices, and a reclining device is for driving a power plant module, In
In other embodiments, reclining device has 1,2 etc..
Protective cradle includes that two first wings 105,107 and the connection of first support 112 are combined into, in the present embodiment, machine
The wing is canard and combination wing, and combination wing is combined by dalta wing and buzzard-type wing, and in other embodiments, wing is rectangle
The wing, dalta wing, swept-back wing, dalta wing combination swept-back wing etc., are subject to actual demand；
First support 112 can be two kinds and two or more bracket compositions, and shape is indefinite, in the present embodiment, first
Frame 112 is a variety of spoilers composition, it is a variety of for more than or equal to two kinds be it is a variety of, in other embodiments, first support 112 is
A variety of different and/or identical combinations between plate, pipe, stick, shelf, power plant module etc.,
The both ends of first support 112 couple with two first wings 105,107 close to one end of wing tip, can substantially accommodate in heptagon
The Internal periphery region of two propellers, there are two protective cradle, two protective cradles are separately positioned on the setting of tilting rotor flight slide plate
The front-end and back-end of fuselage 100, protective cradle Internal periphery region are located at the lower end of propeller, two first wings 105,107 and machine
Body 100 couples, and by the coupling first support 112 with fuselage 100 of the spoiler of substantially parallelogram, protective cradle can
It reduces propeller to touch the probability of people or object and generate additional lift, further promotes flying for tilting rotor flight slide plate
Scanning frequency degree and cruising ability.
Second wing 104,109 be arranged in 100 surrounding of fuselage, be located at propeller upper end, one end of second support 106 with
First support 112 connects, and the other end couples with the leading edge of the second wing of front end two sides 104,109, reduces user and unintentionally encounters
The probability and the additional lift of offer of propeller.
In the present embodiment, second support 106 is spoiler, is in substantially two quadrangles, is also possible to the object of other shapes
Body is not necessarily spoiler, such as plate, pipe, shelf, is mainly used for reducing the probability for stopping people or object to encounter propeller, In
In the present embodiment, second support 106 is 1, and in other embodiments, second support 106 is 2,3,4,5 etc.,
Specifically it is subject to actual design.
The horizontal support 101 couples with first support 112 and is located at 112 top of first support, and horizontal support 101 is symmetrical
Couple with 100 front end of fuselage, one end of third bracket 110,1101 couples with horizontal support 101, the other end and front end two sides
Second wing 104, the connection of 109 leading edges；Third bracket 110,1101 is also spoiler, there are two, it is substantially in the group of two quadrangles
Close and arc, to sum up, it will be appreciated that third bracket 110,1101 is also possible to other objects, is not necessarily spoiler, as plate, pipe,
Shelf etc. is mainly used for reducing the probability that propeller meets people or object, it can be seen that, third bracket 110,1101 can not also
Only 2, such as 1,3,4.
Empennage 113 is arranged in rear end sides the second wing 104,109 upper ends, and empennage 113 also can be set in fuselage 100
On；The dynamic pressure ratio in forward flight mode of empennage 113 is operated, and it is steady in forward flight mode that this facilitates row device
It is qualitative.
The first wing of surrounding 105,107 is provided with spoiler, is in substantially random hexagon, is set to the first wing of surrounding
105,107 probably intermediate position, is mainly used for the foot prop of tilting rotor flight slide plate, reduces resistance when flight, is not difficult to manage
Solution is that foot prop is not necessarily spoiler and is also possible to other objects etc., is also not necessarily positioned on the first wing 105,107,
Also can be set below fuselage 100 etc..
There are four supporting elements, is separately positioned on 100 surrounding of fuselage, one end of supporting element couples with 100 upper end of fuselage, another
End couple with surrounding the first wing 105,107 approximately mid way between, supporting element be used to support the first wing of surrounding 105,107 and
Reduce the probability that user unintentionally encounters propeller.
In the present embodiment, the front foot control device in user's system 103 includes first base, the first operation portion
With the second operation portion, extend an axis at a predetermined angle in the first base, first operation portion lower end centre bit is equipped with
Hole, there is hole on the first operation portion upper recess and line of symmetry, and first operation portion hole is arranged in what the pedestal extended
Couple on axis and with axis cooperation and can be rotated under the drive of user's footwork, the substantially disc-shaped object of the second operation portion
And line of symmetry both ends are outward extended with axis, second operation portion is arranged on first operation portion, and second operation
Portion both ends extend axis and the first operation portion axis of symmetry hole cooperate and can user foot-operated effect and/or make
User, which changes, to be tilted to the left or is tilted to the right under center of gravity；
The rear foot control device in user's system 103 includes second base and third control unit, in the second base
Extend an axis at a predetermined angle, third operation portion lower end centre bit is equipped with a hole, and the setting of third operation portion hole exists
On the first base axis and cooperates and can be rotated under the drive of user's footwork；
A variety of inductors, a variety of inductors are arranged on the front foot control device and the rear foot control device, make institute
The pressure applied using the action signal and front foot of front foot to the front foot control device can be captured by stating front foot control device, be made
The rear foot control device can capture heel after the pressure that user's rear foot applies the rear foot control device, user
Pressure, the action signal of user's rear foot that the rear foot control device left side or the right are applied with rear foot tiptoe；
In other embodiments, control device includes front foot control device and rear foot control device, and front foot control device is substantially in
Cylindrical body, the lower end center of front foot control device extend downwardly an axis, it will be appreciated that are known as vertical pivot, front foot control device upper end has
Groove, groove be substantially in hemisphere and substantially be in semicylinder two grooves；Front foot control device further includes substantially in hemisphere
With the assembly of two half-cylinders, two half-cylinders are arranged on the same axis in hemispheroidal upper end circular symmetry axis two sides, and two
Semicylinder can be understood as horizontal axis, and assembly can be overlapped connection, front foot control device with the groove held on the cylinder
Multiple sensors are inside provided with, sensor is used to capture the front foot footwork signal of user, interchangeable multiple sensors
It can be potentiometer, encoder etc. and the selection between them；Front foot control device can be rotated by axis of horizontal axis, can also be with
It is restored to the equilibrium state of original stress；Front foot control device can also be rotated by axis of vertical pivot；Rear foot control device is substantially in
Cylindrical body, cylindrical body lower end center extend downwardly an axis, it will be appreciated that are vertical pivot, a variety of sensings are arranged inside rear foot control device
Device, for detecting the action signal of user's rear foot step, interchangeable multiple sensors can be potentiometer, encoder etc.
And the selection between them.Front foot control device and the shape of rear foot control device setting not necessarily substantially in cylindrical body and
Substantially it is in the assembly of hemisphere and semicylinder, can also is in other shapes, such as cuboid, square, ellipsoid, ball
Combination between body, sphere combination cylinder body etc., in the present embodiment, front foot control device and rear foot control are an axis and two
Axis rotation.
Front foot control device and rear foot control device be arranged on fuselage 100 and not can be used person step effect issue
Raw using vertical pivot is that axis rotates, and front foot control device can also be under the foot-operated effect of user using horizontal axis as axis rotation, and can be with
Restore initial equilibrium conditions.
Front foot control device and rear foot control device are provided with inductor, and the inductor is for capturing user's rear foot
Heel or rear foot tiptoe are left to the rear foot control device after pressure and user to rear foot control device application
What the action signal of pressure and capture user's front foot that side or the right apply and front foot applied the front foot control device
Pressure；
As described in this article, each power plant module is individually controllable, so that certain power plant module is in distributed propulsion system
Interior operation change can be realized during VTOL operation to the pitching of tilting rotor flight slide plate, sideway and Roll control.Example
Such as, it is exported by changing preceding power plant module relative to the thrust of rear power plant module, realizes pitch control.As another example,
Power plant module by changing left front, left back is exported relative to the thrust of right front, right back power plant module, realizes side
Incline control.The thrust output for changing specified power system 102 can be by the rotation speed and/or blade of the corresponding rotor of change
Pitch is realized.It should be pointed out that some power plant modules of dynamical system 102 or whole power plant modules may include fixedpiston
Formula rotor.Alternatively, some power plant modules in dynamical system 102 or whole power plant modules may include being operable to use
In the rotor that total pitch control and/or cyclicpiston control.In one embodiment, preceding power plant module has total pitch control
Device, and rear power plant module has fixedpiston formula rotor.Sideway control of the tilting rotor flight slide plate during VTOL is operated
System or balance can be realized by reversely rotating preceding power plant module and reversely rotating rear power plant module.It is alternative or
Additionally, sideway control or balance of the tilting rotor flight slide plate during VTOL operation can be by making left front and a left side
The power plant module at rear reversely rotates and makes the power plant module of right front and right back to reversely rotate to realize.Tilting rotor flight
The torque imbalance of slide plate can also pass through the differential longitudinal thrust-vector using one of dynamical system 102 or more person
And/or the torque bias of one of sharp dynamical system 102 or more person controls.It should be pointed out that due to rotor-speed
Change and/or the change of blade pitch will affect the balance of tilting rotor flight slide plate, thus may need in different items
Implement different balance technologies under part.Dynamical system 102 can be optionally standardization and interchangeable unit, unit can
Selection of land be can be easily fitted to tilting rotor flight slide plate and from tilting rotor flight slide plate remove route it is replaceable
Unit.In addition, the use of route replaceable units is in the faulty situation of one of discovery propulsion assembly in repair
Aspect is beneficial.In such a case, it is possible to pass through shirtsleeve operation --- for example, unloading the bolt of structural elements, disconnecting
Communication line and other suitable operations --- the power plant module of failure is coupled with the disconnection of tilting rotor flight slide plate.Then
Can by connection communication line, structural elements is linked together with bolt and operation that other are suitable is by another propulsion
Component is attached to tilting rotor flight slide plate.
In illustrated embodiment, tilting rotor flight slide plate has electric energy, which is depicted as accommodating
In fuselage 100, --- such as wing 14 and/or tiliting axis --- is interior, which is supplied to via the communication line 56 in body 24
To each propulsion assembly 26 to be directly provided with power to electric motor 32 and/or for being stored in battery.
Alternative or additionally, body can accommodate one or more electricity for the electric energy that can be used as dynamical system 102
Pond.Battery can be electrically charged at earth station.Battery 58 can also be removed in a manner of interchangeable and be mounted to can be real
Now effective battery again, this may be special in the embodiment that only electric energy of tilting rotor flight slide plate is battery 58
It is not beneficial.In the embodiment with 48 the two of battery 58 and electric energy generating system, battery 58 can provide non-firm power
Source is so that tilting rotor flight slide plate being capable of the safe landing in the case where electric energy generating system 48 breaks down.
Referring additionally to Figure 10 in attached drawing, block diagram, which depicts, to be operable to and tilting rotor flight slide plate 10 of the invention
The tilting rotor skateboard control system 100 being used together.In illustrated embodiment, system 100 includes being based on host computer
The three subsystems of machine；That is, autonomous system 102, pilot's system 104 and remote system 106.As described in this article, originally
The tilting rotor flight slide plate of invention can automatically be operated in response to the order that is generated by flight control system 108,
Flight control system 108 preferably includes non-transient computer readable storage medium, non-transient computer readable storage medium packet
Include the one group of computer instruction that can be executed by processor.Flight control system 108 can be in one or more general meters
The triplex level redundancy system realized on calculation machine, special purpose computer or other machines with memory and processing capacity.For example, flight
Control system 108 may include one or more memory memory modules, and including but not limited to: storage inside memory is such as
Random access memory, nonvolatile memory such as read-only memory, removable memory such as magnetic storage memory, light are deposited
Store reservoir, solid-state storage memory or other suitable memory storage entities.Flight control system 108 can be based on micro-
The system of processor, the system are operable to execute the program code in machine-executable instruction form.In addition, flight control
System 108 can be via proprietary encryption network, the public encryption network, internet that may include both wired connection and wireless connection
Or other suitable communication networks and be selectively connected to other computer systems.
In illustrated embodiment, flight control system 108 includes command module 110 and monitoring module 112.Ability
Field technique personnel should be understood that can be in a variety of manners by these and other modules that flight control system 108 executes ---
Including hardware, software, firmware, application specific processor and their combination --- Lai Shixian.The reception of flight control system 108 comes from
The input of each provenance, each provenance include: inside sources, for example, for sensor 114, controller 116, propulsion assembly 118,120,
122,124 and pilot's system 104；And external source, such as remote system 106, GPS satellite or other positioning
System etc..For example, it includes task that flight control system 108 can be received from pilot's system 104 and/or remote system 106
The flight plan of starting position and end position.Hereafter, flight control system 108 is operable to automatically control of the invention
All aspects of the flight of tilting rotor flight slide plate.
For example, in the various operation modes of tilting rotor flight slide plate 10 --- including vertically taking off and landing flight mould
Formula, hovering flight mode, forward flight mode and the conversion between them --- period, command module 110 is to controller 116
Order is provided.These orders make it possible to each power plant module 118,120,122,124 of independent operation, including for example control rotor
Rotation speed, change rotor blade pitch, adjust thrust vectoring etc..In addition, these are ordered so that tilting rotor flight is slided
Plate 10 can be orientated in vertical lift and be converted between forward thrust orientation.Flight control system 108 is received from control
The feedback of device 116 and each power plant module 118,120,122,124.The feedback is handled by monitoring module 112, prison
Depending on module 112 correction data and other information can be provided to command module 110 and/or controller 116.Sensor 114 is such as
Alignment sensor, attitude transducer, velocity sensor, environmental sensor, fuel sensor, temperature sensor, position sensor
Deng also to the offer information of flight control system 108 to further enhance autonomous control ability.
Some autonomous control abilities of flight control system 108 or whole autonomous control abilities can be controlled by distance flight
The enhancing of system 106 replaces.Remote system 106 may include can general purpose computer, special purpose computer or have memory and
One or more computing systems realized on the other machines of processing capacity.For example, computing system may include one or more
Multiple memory memory modules, including but not limited to: storage inside memory such as random access memory, non-volatile memories
Device such as read-only memory, removable memory such as magnetic storage memory, optical storage memory, solid-state storage memory or its
His suitable memory storage entity.Computing system can be microprocessor-based system, which is operable to execute
In the program code of machine-executable instruction form.In addition, computing system can be via may include wired connection and wireless connection
Proprietary encryption network, public encryption network, internet or other suitable communication networks of the two and be connected to other computers
System.Communication network can be the network of local area network, wide area network, internet or any other type, these network connections are multiple
Computer is by using the communication technology appropriate --- such as transmission control protocol/internet protocol, File Transfer Protocol, super literary
This transport protocol, Internet Protocol Security Protocol, Point to Point Tunnel Protocol, secure socket layer protocol or other suitable agreements ---
And various communication patterns are realized via internet message.Remote system 106 is via including wired connection and both wireless connections
Communication link 130 is communicated with flight control system 108.
Remote system 106, which preferably includes, is configured to display and one or more tilting rotor flight slide plates of the invention
One or more flying quality display devices 126 of related information.Display device 126 can be configured to any suitable shape
Formula, including such as liquid crystal display, light emitting diode indicator, cathode-ray tube display, VR equipment or any suitable type
Display.Remote system 106 can also include audio output and input unit, such as microphone, loudspeaker and/or audio end
Mouthful, so that operator be allowed to communicate with the user on such as tilting rotor flight slide plate.If shown using touch screen
Device embodiment, then display device 126 is also used as remote entry unit 128, but can also alternatively use other
Remote entry unit, such as keyboard or control stick, to allow operator response in long-range control and to the rotation of verting just operated
Wing flight slide plate provides control command.
For example, command module 110 provides order to controller 116 in the various modes of tilting rotor flight slide plate.These orders
Make it possible to each power plant module 118,120,122,124 of independent operation, is pushed away including for example controlling the rotation speed of rotor, adjusting
Force vector etc..In addition, these order enable tilting rotor flight slide plate 10 vertical lift orientation, backward thrust orientation with
It is converted between forward thrust orientation.In the embodiment for the pitch that can change blade, these orders make it possible to independence
Each power plant module is operated, including rotation speed, the adjusting thrust vectoring etc. for for example controlling rotor.In addition, these order so that
Tilting rotor flight slide plate can be orientated in vertical lift, be converted between backward thrust orientation and forward thrust orientation.Fly
Row control system 108 receives the feedback from controller 116 and each power plant module.The feedback is carried out by monitoring module 112
Processing, monitoring module 112 can provide correction data and other information to command module 110 and/or controller 116.Sensing
Device 114 such as alignment sensor, attitude transducer, velocity sensor, environmental sensor, battery sensor, temperature sensor, position
It sets sensor etc. and also provides information to flight control system 108 to further enhance autonomous control ability.
Some autonomous flight controls of tilting rotor flight slide plate of the invention and/or distance flight control are all autonomous
Flight control and/or distance flight control can fly control from the airborne user of user's system 104 with origin enhancing or
Replace.User's system 104 can be preferably with autonomous system 102 integrated either autonomous system, the autonomous system
Including non-transient computer readable storage medium, non-transient computer readable storage medium include can be executed by processor and
It can be referred to by general purpose computer, special purpose computer or the one group of computer realized with memory and the other machines of processing capacity
It enables.Tilting rotor flight sledge system 104 may include one or more memory memory modules, memory memory module packet
It includes but is not limited to: storage inside memory such as random access memory, nonvolatile memory such as read-only memory, removable
Dynamic memory such as magnetic storage memory, optical storage memory, solid-state storage memory or other suitable memory storages are real
Body.User's system 104 can be microprocessor-based system, which is operable to execute in machine-executable instruction
The program code of form.In addition, pilot's system 104 can add via may include wired connection with the proprietary of the two is wirelessly connected
Close network, public encryption network, internet or other suitable communication networks and be connected to other computer systems.User system
System 104 can be communicated via the communication channel 136 for preferably including wired connection with flight control system 108.
User's system 104 preferably includes the cockpit display device 132 for being configured to that information is shown to airborne user.
Cockpit display device 132 can be configured to any suitable form, including such as such as liquid crystal display, light emitting diode are shown
Show one or more display screens of device or the like or including such as display panel, instrument panel display VR equipment, AR equipment, increasing
The suitable display of any other type of strong reality displays etc..Pilot's system 104 can also include audio output with
Input unit, such as microphone, loudspeaker and/or audio port, so that airborne user be allowed to manage with such as air traffic
Or the operator of remote system communicates.If using AR equipment embodiment, cockpit display device 132 can also be used
Make user input unit 134, however, it is also possible to alternatively using other users interface equipment to allow onboard flight person to ring
Should in external control equipment for example including but be not limited to control panel, machine control unit, hand controller, voice controller,
The airborne user of E.E.G controller or other control systems controls to the tilting rotor flight slide plate just operated and provides control
Order at least can control the elevating movement of tilting rotor flight slide plate.It is such as apparent for those of ordinary skills
It is that, by using system 100, tilting rotor tilting rotor flight slide plate of the invention can be in response to including autonomous flight control
The fly flight control protocol of control and their combination of system, distance flight control or airborne user operates.
As best seen in Figure 1A, Fig. 1 C, Fig. 1 E, Fig. 1 G, in this configuration, it is contemplated that tilting rotor flight slide plate
Posture, each rotor have is generally horizontally-oriented.Flight control system independently controls each power plant module and control thrust
Vector is to generate lift and provide pitch control, course changing control and translation control.In illustrated configuration, by whole power
Curving for module generation washes stream (propwash) only by the obstruction for the shaft end that verts and to the smallest down load of body generation.
This unique structure of the dynamical system 102 on fuselage 100 provides promotion force efficiency for tilting rotor flight slide plate.
As best seen in Figure 1B, Fig. 1 D, Fig. 1 F, Fig. 1 H, tilting rotor flight slide plate 10 has forward flight mode,
In forward flight mode, distributed propulsion system is in its forward thrust orientation.In view of the appearance of tilting rotor flight slide plate
State, each rotor, which has, to be substantially vertically orientated.Flight control system independently controls and operates each power plant module to generate
The thrust needed, wherein the first wing 105,107 and the second wing 104,109 provide lift and provide liter in other embodiments
Power further includes the aerodynamic surface as 113 component of flaperon and empennage to provide pitching, sideway and Roll control.In
In illustrated configuration, air-flow (propwash) is curved substantially along the tangential side of the first wing 105,107 by what preceding power generated
Air-flow is curved hardly by the obstruction of fuselage 100 to traveling, and by what rear power plant module generated.Due to the configuration of fuselage 100,
Empennage 113 is operated in forward flight mode with the upcurrent (upwash) of the second wing 104,109.In addition, due to
Thrust requirements in preceding offline mode with vertically take off and the lift requirement of landing flight mode compared with reduce, thus flying forward
Between the departure date, flight control system can reduce the rotation speed of some power plant modules or all propulsion assemblies in dynamical system 102
Degree.Alternative or additionally, flight control system can close certain propulsion assemblies in power plant module during flight forward,
In this case, associated rotor blade can be allowed to make rotation as windmill.For example, flight control system can to
Power plant module before being closed during preceding flight and power plant module after operating.
Next the control mode of description tilting rotor flight skateboarding mode of the present invention is as follows:
When the front foot tiptoe or heel of user make the right force of front foot control device or the front foot footwork of user
Front foot control device is axial right rotation with horizontal axis, and front foot control device captures the action signal that user's front foot turns to the right
And it is transmitted to flight control system, dynamical system 102 and system of verting further are controlled, tilting rotor flight slide plate is made to turn right
To before the front foot tiptoe or heel of user make the left side force of front foot control device or the front foot footwork of user
Foot control device is axial anticlockwise with horizontal axis, front foot control device capture the action signal that user's front foot turns to the left and
It is transmitted to flight control system, dynamical system 102 and system of verting further is controlled, tilting rotor flight slide plate is made to turn left
Axis left rotation and right rotation is provided with adjustable angle threshold value of horizontal axis to, preceding foot device, greater than not rotating and verting after adjustable threshold
The turning efficiency of rotor flying slide plate is best, understandable to be, front foot control device is rotated by axis of horizontal axis, and rotation angle is got over
Big then axial effect is better；When the rear foot tiptoe or heel of user exert a force to the right of front foot control device, rear foot control is filled
Set capture user's rear foot to right translation action signal and be transmitted to flight control system, further control dynamical system
It 102 and verts system, makes tilting rotor flight slide plate to right translation, filled when the front foot tiptoe or heel of user control front foot
Set the left side force, rear foot control device capture user's rear foot to left action signal and be transmitted to flight control
System further controls dynamical system 102 and verts system, makes tilting rotor flight slide plate to left, after user's rear foot
With or tiptoe it is faster on the right of rear foot control device or the right more big then panning effect that exerts a force, on the right of the rear foot control device and left side
Strong adjustable threshold is similarly set, it is contemplated that the power of user's rear foot tiptoe or heel is greater than the adjustable threshold on both sides, power
It is then maximum value in adjustable threshold greater than adjustable threshold；When the movement of user's front foot drives front foot control device with vertical pivot for rotation
It transfers and achievees the purpose that control throttle, front foot control device is rotated by axis of vertical pivot, and rotation angle is also equipped with adjustable threshold, is surpassed
It crosses threshold value do not rotating then, it is contemplated that the left foot of user is with vertical pivot in the preceding situation of preceding or right crus of diaphragm, rear foot control device
Axis rotation, specific direction of rotation are to increase Throttle Opening Control counterclockwise or clockwise, and direction of rotation is adjustable；When user's rear foot
Movement drive rear foot control device using vertical pivot be axis rotate achieve the purpose that control throttle fine tuning, rear foot control device with erect
Axis is axis rotation, and rotation angle is also equipped with adjustable threshold, is not rotating then more than threshold value, it is contemplated that the left foot of user is rear
Or the posterior situation of right crus of diaphragm, rear foot control device are rotated by axis of vertical pivot, specific direction of rotation is to come counterclockwise or clockwise
Increase Throttle Opening Control, direction of rotation is adjustable；Currently foot control device is by the power of user's front foot relative to rear foot control device
For power difference by user's rear foot in adjustable in positive threshold value, front foot control device and rear foot control device capture user
The action signal to travel forward and be transmitted to flight control system, further control dynamical system 102 and vert system, vert
Rotor flying slide plate travels forward, and current foot control device is made by the power of user's front foot relative to rear foot control device
For the power difference of user's rear foot can be in low-key threshold value, front foot control device and rear foot control device capture the hovering of user
Action signal and it is transmitted to flight control system, further controls dynamical system 102 and system of verting, tilting rotor flight slide plate
Hovering movement, power power relative to rear foot control device by the user rear foot of the current foot control device by user's front foot
For difference in high positive threshold value, front foot control device and rear foot control capture the action signal and transmitting that the underriding of user moves
To flight control system, dynamical system 102 and system of verting further are controlled, tilting rotor flight slide plate, which dives, to be moved, currently
Foot control device by user's front foot power relative to rear foot control device by user's rear foot power difference in adjustable
In negative threshold value, front foot control device and the rear foot control the action signal for the setback for capturing user or the movement letter of brake
Number and be transmitted to flight control system, further control dynamical system 102 and system of verting, make tilting rotor flight slide plate backward
Movement or brake, current foot control device by user's front foot power relative to rear foot control device by user's rear foot
In power difference adjustable height negative threshold value, front foot control device and the rear foot control capture user obduction movement action signal and
It is transmitted to flight control system, further control dynamical system 102 and system of verting, tilting rotor flight slide plate obduction movement,
Front foot control device by user's front foot power relative to rear foot control device by user's rear foot power difference adjustable
More big in high positive threshold value, the underriding movement effects of tilting rotor flight slide plate are more obvious, before front foot control device is by user
The power of foot relative to rear foot control device by user's rear foot power difference in adjustable height negative threshold value smaller then tilting rotor
The obduction movement effect of flight slide plate is more obvious；In view of front foot control device by user's front foot power relative to rear foot control
Device processed by user's rear foot power difference be greater than the positive threshold value of adjustable height or be less than adjustable height negative threshold value, when power difference be greater than can
Positive threshold value is turned up, then is maximum value in the positive threshold value of adjustable height, when power difference be less than the positive threshold values of adjustable height, then be the negative threshold of adjustable height
Minimum value in being worth；In step control model two, it is noted that tilting rotor flight slide plate is hovering, travelling forward, retreating
In movement, the dynamical system 102 of tilting rotor flight slide plate is in forward thrust orientation, backward thrust orientation, vertical lift orientation
Transition period tilting rotor flight slide plate keeps the posture of general horizontal, to horizontally advance when guaranteeing user's familiarization flight, water
The demand of the flight experience or some tasks of flat retrogressing and horizontal hovering.
In some embodiments, front foot control device opens control throttle fine tuning, and then foot control device is used to control throttle
Control further reaches control elevating movement, and in some embodiments, the setting of front foot control device in 100 rear end of fuselage and
Rear foot control device is arranged on 100 front end of fuselage.
Particularly, because environment is special or other situations, such as those of ordinary skills it is evident that passing through
Using system 100, tilting rotor tilting rotor flight slide plate of the invention can be in response to including autonomous flight control, long-range flying
The fly flight control protocol of control and their combination of row control or airborne user operates.
Regardless of selected flight control mode, each propulsion assembly in propulsion assembly 26 is during flight operation
It can be independently controlled and independent control thrust vectoring.For example, as best seen in Fig. 3 C, in order to be grasped in VTOL
Make --- including pitching, translation and course changing control during hovering --- period help to stablize, it may be necessary to adjust as herein
Described in propulsion assembly in one or more propulsion assemblies thrust output, torque output and/or thrust vectoring.
For the purpose of diagram and description, the foregoing description of the embodiments of the present invention is had been presented for.This not anticipates
It is being exhaustion or is limiting the invention to invented precise forms, and in view of teachings above, remodeling and modification is possible
Or it according to the present invention can practice to know.Each embodiment is chosen and described to illustrate the principle of the present invention and its practice
Using, and then enable those skilled in the art in various embodiments using the present invention and by being suitable for contemplated spy
The various remodeling for determining purposes come using the present invention.Each embodiment can be set without departing substantially from the scope of the present invention
Other alternatives, remodeling, modification and omission are made in meter, operating condition and setting.To those skilled in the art, work as reference
When specification, these remodeling of illustrated embodiment and combination and other embodiments be will be apparent.Therefore, appended power
Benefit requires to be intended to these any remodeling or embodiment.
Claims (10)
1. a kind of tilting rotor flight slide plate, including the fuselage longitudinally extended, it is characterised in that:
Horn before horn and second before first, horn is separately positioned on the front fuselage portion before horn and second before described first
Two sides；
Horn after horn and second after first, horn is separately positioned on the back body portion after horn and second after described first
Two sides；
Dynamical system, the dynamical system include power plant module before power plant module and second before first, power mould before described first
Before block and second power plant module respectively with before first horn far from one end of fuselage couple and described second before horn far from machine
One end of body couples；
The dynamical system further includes power plant module after power plant module and second after first, power plant module and second after described first
Afterwards power plant module respectively with after first horn far from one end of fuselage couple and described second after the one end of horn far from fuselage
Connection；
It verts system, the system of verting includes preceding reclining device or rear reclining device, the preceding reclining device and described first
Horn far from connection has described the before one end connection and described second of power plant module before preceding horn has described first far from connection
One end connection of power plant module before two, the preceding reclining device before power plant module and described second before driving described first for moving
Power module vert it is described after reclining device vert for power plant module before power plant module and/or second before driving described first；
Or it is described after reclining device and horn after described first far from couple have first after one end of power plant module couple and described
One end connection of power plant module after horn has second far from connection after second, the rear reclining device is for after driving described first
Power plant module verts after power plant module and/or second；
Protective cradle, the protective cradle are connected with first support including two first wings and are combined into, and two first wings lean on
One end of nearly wing tip couples with the both ends of the first support, substantially in the Internal periphery region that can accommodate propeller, the protection
There are two brackets, and a protective cradle is arranged in the front fuselage portion, and the guarantor in the front fuselage portion is arranged in
The Internal periphery region of shield bracket is located above propeller between lower section, another described protective cradle is arranged after the fuselage
End, the Internal periphery region that the protective cradle in the back body portion is arranged in are located above propeller between lower section；
User's system, user's system includes user input unit, and the user input unit includes preceding foot control
Device and the rear foot control device processed, the front foot control device are arranged in the front fuselage portion, with the fuselage at predetermined angle
Degree setting, the rear foot control device are arranged in the back body portion, are arranged with the fuselage at predetermined angular；The front foot
Control device can be tilted to the left under center of gravity or in the foot-operated effect and/or change of user to Right deviation in whole or in part
Tiltedly, the rear foot control device in whole or in part can the footwork of human body drive under using scheduled angle be axis rotation or
The front foot control device can also rotate under the drive of the footwork of human body by axis of scheduled angle in whole or in part；
The front foot control device and the rear foot control device further include motion sensor and pressure inductor, the sense of movement
Device and pressure inductor is answered to be arranged on the front foot control device and the rear foot control device, the front foot control device can
To capture the action signal and the pressure that applies to the front foot control device of front foot of user's front foot, the rear foot control dress
Set heel or rear foot foot after can capture the pressure and user that user's rear foot applies the rear foot control device
The pressure that point applies the rear foot control device left side or the right；The rear foot control device in whole or in part can be in human body
Footwork drive under using scheduled angle be axis rotation or the front foot control device in whole or in part can also be in human body
Footwork drive under using scheduled angle be axis rotation, the rear foot control device can also capture user's rear foot
Footwork signal or the front foot control device can also capture the action signal of user's front foot；
Flight control system, the flight control system operatively with the dynamical system, the preceding reclining device
Or it includes only that rear reclining device, which is associated and is operable to independently control each power plant module in the dynamical system,
Each rotor in the vertical each power plant module of control includes being operable to independent each of the system of verting that controls to incline
Rotary device, including control the vertical lift orientation of any one described power plant module, forward thrust orientation and/or backward thrust system
Conversion between system,
The flight control system is associated with user's system, and the flight control system receives user's input
The signal that device issues, controls the output of the power:
The Kinematic Decomposition of tilting rotor flight slide plate is left and right translational motion, divertical motion, forward-reverse moves and elevating movement,
It is realized by the front foot control device and the rear foot control device:
The elevating movement of tilting rotor flight slide plate is controlled by the front foot control device or the rear foot control device；
The left and right translational motion of tilting rotor flight slide plate is controlled by the front foot control device or the rear foot control device；
The forward-reverse of tilting rotor flight slide plate moves, and is controlled by the front foot control device and the rear foot control device；
The divertical motion of tilting rotor flight slide plate is controlled by the front foot control device and the rear foot control device.
2. tilting rotor flight slide plate as described in claim 1, it is characterised in that: the manned tilting rotor flight slide plate is also
Including the second wing and/or supporting element, second wing is arranged on the fuselage, is located above propeller；
One end and front end of the supporting element and and rear end described in the first wing wing root connected between wing tip, the supporting element is remote
One end from first wing is connect with the fuselage.
3. tilting rotor flight slide plate as claimed in claim 2, it is characterised in that: the tilting rotor flight slide plate further includes
Second support and/or third bracket, horizontal support, the horizontal support couple with the first support, are located at described first and protect
It protects above bracket；The horizontal support can symmetrically couple with the front fuselage, one end of the third bracket and the cross
Couple to bracket, the other end couples with the wing tip of the second wing described in front end between leading edge；
One end of the second support couples with first support described in front end, the second wing tip described in the other end and front end to institute
It states and couples between second leading edge of a wing.
4. such as the described in any item tilting rotor flight slide plates of claims 1 to 3, it is characterised in that: the system of verting includes
Preceding reclining device and rear reclining device, the preceding reclining device and horn before described first far from couple have described first before power
One end connection of power plant module, described to lean forward before horn has described second far from connection before one end connection of module and described second
Rotary device verts for power plant module before power plant module and/or described second before driving described first；It is described after reclining device with
Horn far from connection has the after one end connection and described second of power plant module after horn has first far from connection after described first
One end connection of power plant module after two, the rear reclining device after power plant module and/or second after driving described first for moving
Power module is verted.
5. such as the described in any item tilting rotor flight slide plates of claims 1 to 4, it is characterised in that: the rear foot control device
It in whole or in part can be whole using scheduled angle as axis rotation and the front foot control device under the drive of the footwork of human body
Body or part can also rotate under the drive of the footwork of human body by axis of scheduled angle, and the rear foot control device may be used also
The foot of user's front foot can also be captured to capture footwork signal and the front foot control device of user's rear foot
Walk action signal.
6. such as the described in any item tilting rotor flight slide plates of claim 2 to 5, it is characterised in that: the tilting rotor flies
Row slide plate further includes empennage, and the empennage is arranged on second wing upper end and/or the fuselage.
7. such as the described in any item tilting rotor flight slide plates of claims 1 to 6, it is characterised in that: user's system is also
Including further including external control devices to user's display device and/or the user input unit, the external control is set
Standby including but not limited to hand controller, voice controller, E.E.G controller, the peripheral control unit at least can control described
The elevating movement of tilting rotor flight slide plate；
It is described to user's display device include but is not limited to AR equipment, VR equipment.
8. such as the described in any item tilting rotor flight slide plates of claims 1 to 7, it is characterised in that: the flight control system
In response to airborne user flight control, distance flight control, autonomous flight control and combinations thereof
To manipulate the operation of the rotor.
9. such as the described in any item tilting rotor flight slide plates of claims 1 to 8, it is characterised in that: the tilting rotor flight
Slide plate further includes the fixed device of front foot and the fixed device of the rear foot, and the fixed device of the front foot and the rear foot fix device and the front foot
The connection of the upper surface of control device and rear foot control device, the fixed device of the front foot and the fixed device of the rear foot can also pass through skin
Band, shoe cover, electromagnet are bonded fixation with two foot bottoms of user.
10. tilting rotor flight slide plate as claimed in claim 9, it is characterised in that: the front foot control device entirety or portion
Dividing can be tilted to the left or be tilted to the right under the foot-operated effect and/or change center of gravity of user and can restore initially flat
Weighing apparatus state, and initial equilibrium conditions can be restored, the front foot control device can occur to the left under the foot-operated effect of user
Tilt or be tilted to the right, the angle that tilts is provided with threshold value, capture user's rear foot tiptoe or followed by force divide into greatly
Be equipped with threshold value, the front foot control device by strength of one's legs before user with respect to rear foot control device by after user strength of one's legs it is big
Small difference is provided with different threshold values.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910879445.4A CN110450944A (en) | 2019-09-18 | 2019-09-18 | Tilting rotor flight slide plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910879445.4A CN110450944A (en) | 2019-09-18 | 2019-09-18 | Tilting rotor flight slide plate |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110450944A true CN110450944A (en) | 2019-11-15 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910879445.4A Pending CN110450944A (en) | 2019-09-18 | 2019-09-18 | Tilting rotor flight slide plate |
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| CN (1) | CN110450944A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086195A (en) * | 2021-04-19 | 2021-07-09 | 哈尔滨职业技术学院 | High-voltage line damage detection unmanned aerial vehicle |
-
2019
- 2019-09-18 CN CN201910879445.4A patent/CN110450944A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086195A (en) * | 2021-04-19 | 2021-07-09 | 哈尔滨职业技术学院 | High-voltage line damage detection unmanned aerial vehicle |
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Application publication date: 20191115 |