CN104138664B - The model of an airplane - Google Patents
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- CN104138664B CN104138664B CN201310173050.5A CN201310173050A CN104138664B CN 104138664 B CN104138664 B CN 104138664B CN 201310173050 A CN201310173050 A CN 201310173050A CN 104138664 B CN104138664 B CN 104138664B
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Abstract
The invention discloses a kind of model of an airplane, it baroceptor and one including a gas pressure intensity detecting described model of an airplane place in real time controls device, described baroceptor is for by described gas pressure intensity transmission to described control device, described control device for calculating the flying height of the described model of an airplane by described gas pressure intensity, and compare and when described flying height being detected less than or equal to described height value with a height value, control the described model of an airplane and enter a protected mode, described protected mode is for controlling the flight attitude of the described model of an airplane so that the described model of an airplane keeps flight.The present invention can detect the flying qualities such as the flight attitude of the model of an airplane, course data, flying height in real time, and then sends control signal automatic control model aircraft adjustment flight attitude.
Description
Technical field
The present invention relates to a kind of model of an airplane, particularly relate to a kind of model of an airplane that according to the flying quality that detecting device and baroceptor record, flight attitude can be automatically controlled in real time.
Background technology
Along with the universal of model plane motion and popularization, the quantity of model of an airplane fan is also being increased sharply in recent years.And the existing model of an airplane is substantially all without automatic control function, thus if abecedarian's practice flight, it is easy to when Controlling model is taken off and landed, improper owing to manipulating, cause that the model of an airplane falls on the ground, so being easy to break the model of an airplane.So, the flight training of abecedarian can be badly influenced, cause that abecedarian feels very difficult left-hand seat, and then also have influence on universal further in masses of this motion of model plane.
Summary of the invention
The technical problem to be solved in the present invention is to overcome in prior art the model of an airplane all without automatic control function, cause that abecedarian is easy to break the defect of the model of an airplane owing to operation controls improper meeting, it is provided that a kind of model of an airplane that according to the flying quality that detecting device and baroceptor record, flight attitude can be automatically controlled in real time.
The present invention solves above-mentioned technical problem by following technical proposals:
The invention provides a kind of model of an airplane, it is characterized in that, it baroceptor and one including a gas pressure intensity detecting described model of an airplane place in real time controls device, described baroceptor is for by described gas pressure intensity transmission to described control device, described control device for calculating the flying height of the described model of an airplane by described gas pressure intensity, and compare and when described flying height being detected less than or equal to described height value with a height value, control the described model of an airplane and enter a protected mode, described protected mode is for controlling the flight attitude of the described model of an airplane so that the described model of an airplane keeps flight.
Utilize described baroceptor can detect the gas pressure intensity acting on described model of an airplane present position in real time, and then described control device just can calculate the flying height of the described model of an airplane according to described gas pressure intensity, the comparing calculation of gas pressure intensity when specifically just can be taken off with the described model of an airplane by the current gas pressure that described baroceptor detects goes out the relative flying height of the described model of an airplane.
Then; described flying height will be detected by described control device; and according to different flying heights; manipulation situation in conjunction with user; to send control signal to the described model of an airplane; to automatically control described model of an airplane entrance protected mode, control the flight attitude of the described model of an airplane in real time to keep flight.Described flight attitude then includes the rising of the described model of an airplane, declines and turn to, and this belongs to the known general knowledge of this area, just repeats no more at this.Wherein said protected mode enables to the described model of an airplane can refuse to perform that some may result in the operation that the model of an airplane has an accident in external remote control signal, and then prevents described model of an airplane air crash, it is ensured that the flight safety of the model of an airplane.
Wherein, the concrete function of described control device can be provided by a single-chip microcomputer and be realized.
It is preferred that when described control device detects described flying height less than or equal to first height threshold, described protected mode is used for controlling the described model of an airplane and flies in the first state；
When described control device detects that described flying height is more than described first height threshold and less than or equal to second height threshold, described protected mode is flown in the second condition for Controlling model aircraft；
When described control device detects described flying height more than described second height threshold, described protected mode is flown in a third condition for Controlling model aircraft；
The degree of described control device automatic control model aircraft weakens to described second state to the order of the described third state successively according to from described first state.
Specifically; when described control device detects described flying height less than or equal to first height threshold; described protected mode can control the value of the angle of pitch of the described model of an airplane for more than or equal to 0 degree; the value of the angle of heel controlling the described model of an airplane is spent to 20 degree for-20; and controlling the decrease speed of the described model of an airplane less than or equal to 1m/s, the described model of an airplane of namely above-mentioned control flies in the first state；
Wherein, when described flying height is too low (during less than or equal to described first height threshold), the described model of an airplane being carried out strict control, the manually operated degree of freedom of user is then greatly reduced.Control the described angle of pitch more than or equal to 0 degree, namely can control the described model of an airplane and only rise or keep horizontal flight without declining, so also avoid user and utilize remote controller to control the decline of the described model of an airplane and cause that the described model of an airplane falls.The maximum occurrences of the described angle of pitch is then the maximum when ensure that described model of an airplane normal flight, and this belongs to the known general knowledge of this area, just repeats no more at this.And described control device can realize above-mentioned control by the angular acceleration and acceleration of gravity controlling the described model of an airplane.
When described control device detects that described flying height is more than described first height threshold and less than or equal to second height threshold; described protected mode is spend more than or equal to-10 for controlling the value of the described angle of pitch; the value controlling described angle of heel is spent to 45 degree for-45, and controls described decrease speed less than or equal to 3m/s；
When the flying height of the described model of an airplane is more than described first height threshold and less than or equal to second height threshold, then allow user, by remote controller, the flight attitude of the described model of an airplane is carried out a range of control, allow to control the described model of an airplane to decline, but all can be restricted to the value of angle downwards and decrease speed.
When described control device detects described flying height more than described second height threshold; described protected mode is spend more than or equal to-30 for controlling the value of the described angle of pitch; described height value is more than described second height threshold, and the described model of an airplane of namely above-mentioned control flies in the second condition.
When the flying height of the described model of an airplane is more than described second height threshold, the control freedom degree of the flight attitude of the described model of an airplane can be greatly increased by user, user can being allowed to pass through remote controller angle downwards and decrease speed to the described model of an airplane compare in relatively large span and control freely, the described model of an airplane of namely above-mentioned control flies in a third condition.
And the value of the above-mentioned angle of pitch and angle of heel can be configured according to practical situation.
It is preferred that in said first condition, described control device controls the decrease speed of the described model of an airplane less than or equal to a First Speed value；
In said second condition, described control device controls the decrease speed of the described model of an airplane less than or equal to a second speed value；
Described second speed value is more than described First Speed value.
It is preferred that described first height threshold is 10 meters, described second height threshold is 30 meters.
Preferably, described control device includes detecting device and processes device, described detecting device includes one for detecting the three shaft angle acceleration transducers and of the angular acceleration of the described model of an airplane in real time for detecting the gravity sensor of three axle acceleration of gravitys of the described model of an airplane in real time, and described process device is for receiving the testing result of described detecting device and described testing result carrying out computing to obtain the flight information of the described model of an airplane.
Utilize the data that described detecting device detects by calculating the flight information being obtained with the described model of an airplane, specifically, described three shaft angle acceleration transducers can detect the angular acceleration of the described model of an airplane in real time, and then described process device can calculate described model of an airplane rotational angle on each change in coordinate axis direction according to described angular acceleration, described three axle gravity sensors then can detect three axle acceleration of gravitys of the described model of an airplane in real time, and then described process device can calculate the real-time gravity direction of the described model of an airplane according to described three axle acceleration of gravitys.Thus the real-time gravity direction of final rotational angle according to the described model of an airplane calculated on each change in coordinate axis direction and the described model of an airplane, described process device just can obtain the real-time flight information of the described model of an airplane by calculating.
Equally, according to the described flight information that described process device just calculates, described control device will according to different flight informations, in conjunction with the manipulation situation of user, to send described control signal to the described model of an airplane, adjust flight attitude in real time automatically controlling the described model of an airplane.And then prevent described model of an airplane air crash, it is ensured that the flight safety of the model of an airplane.
It is preferred that described detecting device also includes one for detecting the magnetic field sensor of the magnetic direction in magnetic field residing for the described model of an airplane in real time.
Described control device is additionally operable to the flight course adjusting described magnetic direction to control the described model of an airplane, and then controls the flight attitude of the described model of an airplane.
Wherein, the concrete function of three shaft angle acceleration transducers described above, described gravity sensor and described magnetic field sensor can be realized by nine highly integrated axle sensors, it is also possible to is realized by three independent three-axis sensors.
It is preferred that described detecting device is arranged on the axis of the described model of an airplane.
It is preferred that described detecting device is arranged at the position of centre of gravity of the described model of an airplane.The center of gravity of the described model of an airplane is all on described axis, and described detecting device is arranged at described position of centre of gravity, it becomes possible to more accurately detect flight information and the flight course data of the described model of an airplane.
Certainly, the position that arranges of above-mentioned described detecting device is also feasible from above-mentioned axis or some deviation of described position of centre of gravity, as long as ensure that the accuracy of test and precision.
It is preferred that described control device is arranged on the axis of the described model of an airplane.
It is preferred that described control device is arranged at the position of centre of gravity of the described model of an airplane.
It is preferred that described baroceptor is arranged on the ventral of the described model of an airplane.
It is preferred that described baroceptor is arranged on described detecting device.
The actively progressive effect of the present invention is in that: the present invention can detect the flying qualities such as the flight information of the model of an airplane, course data, flying height in real time, and then send control signal automatic control model aircraft adjustment flight attitude, prevent from causing model of an airplane air crash owing to the manipulation of user is improper, thus ensure that the flight safety of the model of an airplane, reduce abecedarian and practise the difficulty of the model of an airplane, be conducive to the model plane motion extensively universal and popularization in masses.
Accompanying drawing explanation
Fig. 1 is the structural representation of the model of an airplane of embodiments of the invention 1.
Detailed description of the invention
Present pre-ferred embodiments is provided, to describe technical scheme in detail below in conjunction with accompanying drawing.
Embodiment 1:
As shown in Figure 1, the baroceptor 2 and one that the model of an airplane of the present embodiment includes on a ventral being arranged at the described model of an airplane controls device 4, and described control device 4 includes the detecting device 1 and of a position of centre of gravity being arranged at the described model of an airplane and processes device 3.By described detecting device 1 is arranged at described position of centre of gravity, it becomes possible to the various flying qualities such as flight attitude and course data of more accurately detecting the described model of an airplane.Wherein, described detecting device 1 includes one or three shaft angle acceleration transducer 11, gravity sensor 12 and magnetic field sensors 13, wherein said three shaft angle acceleration transducers 11 can detect the angular acceleration of the described model of an airplane in real time, and described angular acceleration can be sent to described process device 3, and then described process device 3 can calculate described model of an airplane rotational angle on each change in coordinate axis direction according to described angular acceleration；Described gravity sensor 12 then can detect three axle acceleration of gravitys of the described model of an airplane in real time, and described three axle acceleration of gravitys can be sent to described process device 3, and then described process device 3 just can calculate the real-time gravitation information of the described model of an airplane according to described three axle acceleration of gravitys；Described magnetic field sensor 13 then can detect the magnetic direction of the described model of an airplane in real time, and described magnetic direction can be sent to described process device 3, and then described process device 3 can according to described magnetic direction calculate the head of the described model of an airplane towards, then described process device 3 just can by calculating real-time flight attitude and the course data that obtain the described model of an airplane.
Simultaneously, utilize described baroceptor 2 then can detect the gas pressure intensity acting on described model of an airplane present position in real time, and described gas pressure intensity can be sent to described process device 3, and then described process device 3 just can calculate the flying height of the described model of an airplane according to described gas pressure intensity, the comparing calculation of gas pressure intensity when specifically just can be taken off with the described model of an airplane by the current gas pressure that described baroceptor 2 detects goes out the relative flying height of the described model of an airplane.
Described control device 4 calculates the flying height of the described model of an airplane by described gas pressure intensity; and compare and when described flying height being detected less than or equal to described height value with a height value; controlling the described model of an airplane and enter a protected mode, described protected mode is for controlling the flight attitude of the described model of an airplane so that the described model of an airplane keeps flight.
Then, utilize described flight information and course data and flying height that described process device 3 calculates, described control device 4 just can according to different flight informations, different course datas and different flying heights, manipulation situation in conjunction with user, to send described control signal to the described model of an airplane, adjust flight attitude in real time automatically controlling the described model of an airplane.And then prevent described model of an airplane air crash, it is ensured that the flight safety of the model of an airplane.
Wherein, the concrete function of three shaft angle acceleration transducers 11 described above, described gravity sensor 12 and described magnetic field sensor 13 can be realized by nine highly integrated axle sensors, it is also possible to is realized by three independent three-axis sensors.Therefore, described detecting device 1 can be nine axle sensors in the specific implementation.
Wherein, in the present embodiment, described control signal can control the rudder face of the described model of an airplane, to control described model of an airplane horizontal take-off and level landing.Specifically, when the described model of an airplane takes off, described detecting device 1 can utilize described three shaft angle acceleration transducers 11 to detect the angular acceleration of the described model of an airplane in real time, and described angular acceleration is calculated just learning when the described model of an airplane towards which kind of direction is thrown out by described process device 3, and the flight attitude etc. of the described model of an airplane may be by described detecting device 1 and detects.
Then, the control signal that described control device 4 sends just can control relevant rudder face and the power of the described model of an airplane, the described model of an airplane is set level, head keeps certain angle just can steadily take off, equally, same principle is utilized to adopt in the same way, it is possible to control level landing when the landing of the described model of an airplane.Adopt this mode automatically controlled just can be prevented effectively from the air crash of the model of an airplane caused due to the maloperation of user, it is ensured that the flight safety of the model of an airplane.
Wherein, the concrete function of described process device 3 and described control device 4 can be provided by a single-chip microcomputer and be realized.Described control device 4 can also be arranged at the position of centre of gravity of the described model of an airplane.Described baroceptor 2 then can be arranged on the ventral of the described model of an airplane, or, described baroceptor 2 can also be arranged on described detecting device 1.
And the control relevant to the flight attitude of the described model of an airplane can be stored in advance in the receiver of the described model of an airplane, and the communication interface that can pass through receiver is carried out configuration modification by computer, mobile phone or transmitter etc., receiver is after receiving the flight directive that transmitter sends, it becomes possible to produces the control signal described model of an airplane of control and completes the flight of various attitude.
Embodiment 2:
As shown in Figure 1, the baroceptor 2 and one that the model of an airplane of the present embodiment includes on a ventral being arranged at the described model of an airplane equally controls device 4, and described control device 4 includes the detecting device 1 and of a position of centre of gravity being arranged at the described model of an airplane equally and processes device 3.
The present embodiment and embodiment 1 are distinctive in that: in the present embodiment, the control signal that described control device 4 sends keeps a fixing flight attitude flight for controlling the described model of an airplane, when concrete flight, various pattern can be arranged to, the model of an airplane is set to Automatic-searching ascending air as will be described, and the flight attitude then keeping fixing progressively climbs；When described model of an airplane flight aloft, can also be set to be automatically adjusted to the initial state of certain stunt, user thus can be allowed to be absorbed in the stunt that exercise is fixing, to help user to study the flight skill of the model of an airplane in depth.
Embodiment 3:
As shown in Figure 1, the baroceptor 2 and one that the model of an airplane of the present embodiment includes on a ventral being arranged at the described model of an airplane equally controls device 4, and described control device 4 includes the detecting device 1 and of a position of centre of gravity being arranged at the described model of an airplane equally and processes device 3.
The present embodiment and embodiment 1 are distinctive in that: in the present embodiment; the described flying height received can also be detected by described control device 4; when described control device 4 detects described flying height less than or equal to first height threshold, described protected mode controls the described model of an airplane and flies in the first state；When described control device 4 detects that described flying height is more than described first height threshold and less than or equal to second height threshold, described protected mode Controlling model aircraft flies in the second condition；When described control device 4 detects described flying height more than described second height threshold, described protected mode Controlling model aircraft flies in a third condition；
The degree of described control device 4 automatic control model aircraft weakens to described second state to the order of the described third state successively according to from described first state.
Specifically, in said first condition, described control device 4 controls the decrease speed of the described model of an airplane less than or equal to a First Speed value；
In said second condition, described control device 4 controls the decrease speed of the described model of an airplane less than or equal to a second speed value；
Wherein, described second speed value is more than described First Speed value.
In specific embodiment of the invention process; when described control device 4 detects described flying height less than or equal to first height threshold; described protected mode is more than or equal to 0 degree for controlling the value of the angle of pitch of the described model of an airplane; the value of the angle of heel controlling the described model of an airplane is spent to 20 degree for-20; and control the decrease speed of the described model of an airplane less than or equal to 1m/s(and above-mentioned First Speed value), the above-mentioned described model of an airplane of control that is flies in the first state；
Wherein, when described flying height is too low (during less than or equal to described first height threshold), the described model of an airplane being carried out strict control, the manually operated degree of freedom of user is then greatly reduced.Control the described angle of pitch more than or equal to 0 degree, namely can control the described model of an airplane and only rise or keep horizontal flight without declining, so also avoid user and utilize remote controller to control the decline of the described model of an airplane and cause that the described model of an airplane falls.The maximum occurrences of the described angle of pitch is then the maximum when ensure that described model of an airplane normal flight, and this belongs to the known general knowledge of this area, just repeats no more at this.And described control device can realize above-mentioned control by the angular acceleration and acceleration of gravity controlling the described model of an airplane.
When described control device 4 detects that described flying height is more than described first height threshold and less than or equal to second height threshold; described protected mode is spend more than or equal to-10 for controlling the value of the described angle of pitch; the value controlling described angle of heel is spent to 45 degree for-45; and control described decrease speed less than or equal to 3m/s(and above-mentioned second speed value), the above-mentioned described model of an airplane of control that is flies in the second condition；
When the flying height of the described model of an airplane is more than described first height threshold and less than or equal to second height threshold, then allow user, by remote controller, the flight attitude of the described model of an airplane is carried out a range of control, allow to control the described model of an airplane to decline, but all can be restricted to the value of angle downwards and decrease speed.
When described control device 4 detects described flying height more than described second height threshold, described protected mode is spend more than or equal to-30 for controlling the value of the described angle of pitch, and described height value is more than described second height threshold.
When the flying height of the described model of an airplane is more than described second height threshold, the control freedom degree of the flight attitude of the described model of an airplane can be greatly increased by user, user can be allowed to pass through remote controller angle downwards and decrease speed to the described model of an airplane compare in relatively large span and control freely, be the described model of an airplane of above-mentioned control and fly in a third condition.
Preferably, described first height threshold is 10 meters, and described second height threshold is 30 meters.
And the classification of concrete flying height and relevant control authority can set in advance, it is also possible to be set as being turned on and off in real time in flight course.
Although the foregoing describing the specific embodiment of the present invention, it will be appreciated by those of skill in the art that these are merely illustrative of, protection scope of the present invention is defined by the appended claims.Those skilled in the art is under the premise without departing substantially from principles of the invention and essence, it is possible to these embodiments are made various changes or modifications, but these change and amendment each falls within protection scope of the present invention.
Claims (11)
1. a model of an airplane, it is characterized in that, it baroceptor and one including a gas pressure intensity detecting described model of an airplane place in real time controls device, described baroceptor is for by described gas pressure intensity transmission to described control device, described control device for calculating the flying height of the described model of an airplane by described gas pressure intensity, and compare and when described flying height being detected less than or equal to described height value with a height value, control the described model of an airplane and enter a protected mode, described protected mode is for controlling the flight attitude of the described model of an airplane so that the described model of an airplane keeps flight；
When described control device detects described flying height less than or equal to first height threshold, described protected mode is used for controlling the described model of an airplane and flies in the first state；
When described control device detects that described flying height is more than described first height threshold and less than or equal to second height threshold, described protected mode is flown in the second condition for Controlling model aircraft；
When described control device detects described flying height more than described second height threshold, described protected mode is flown in a third condition for Controlling model aircraft；
The degree of described control device automatic control model aircraft weakens to described second state to the order of the described third state successively according to from described first state.
2. the model of an airplane as claimed in claim 1, it is characterised in that in said first condition, described control device controls the decrease speed of the described model of an airplane less than or equal to a First Speed value；
In said second condition, described control device controls the decrease speed of the described model of an airplane less than or equal to a second speed value；
Described second speed value is more than described First Speed value.
3. the model of an airplane as claimed in claim 2, it is characterised in that described first height threshold is 10 meters, and described second height threshold is 30 meters.
4. the model of an airplane as described in claim 1 or 2 or 3, it is characterized in that, described control device includes detecting device and processes device, described detecting device includes one for detecting the three shaft angle acceleration transducers and of the angular acceleration of the described model of an airplane in real time for detecting the gravity sensor of three axle acceleration of gravitys of the described model of an airplane in real time, and described process device is for receiving the testing result of described detecting device and described testing result carrying out computing to obtain the flight information of the described model of an airplane.
5. the model of an airplane as claimed in claim 4, it is characterised in that described detecting device also includes for detecting the magnetic field sensor of the magnetic direction in magnetic field residing for the described model of an airplane in real time.
6. the model of an airplane as claimed in claim 4, it is characterised in that described detecting device is arranged on the axis of the described model of an airplane.
7. the model of an airplane as claimed in claim 6, it is characterised in that described detecting device is arranged at the position of centre of gravity of the described model of an airplane.
8. the model of an airplane as claimed in claim 7, it is characterised in that described control device is arranged on the axis of the described model of an airplane.
9. the model of an airplane as claimed in claim 8, it is characterised in that described control device is arranged at the position of centre of gravity of the described model of an airplane.
10. the model of an airplane as claimed any one in claims 1 to 3, it is characterised in that described baroceptor is arranged on the ventral of the described model of an airplane.
11. the model of an airplane as claimed in claim 4, it is characterised in that described baroceptor is arranged on described detecting device.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310173050.5A CN104138664B (en) | 2013-05-10 | 2013-05-10 | The model of an airplane |
| PCT/CN2013/085453 WO2014180096A1 (en) | 2013-05-10 | 2013-10-18 | Model plane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310173050.5A CN104138664B (en) | 2013-05-10 | 2013-05-10 | The model of an airplane |
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| CN104138664B true CN104138664B (en) | 2016-06-29 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104787349A (en) * | 2015-04-21 | 2015-07-22 | 深圳一电科技有限公司 | Aircraft safety take-off control method and device |
| CN107632545B (en) * | 2017-09-14 | 2021-01-26 | 深圳市盛路物联通讯技术有限公司 | Control method and device applied to space equipment |
| CN109870900B (en) * | 2017-12-01 | 2022-10-04 | 上海航空电器有限公司 | Safety envelope establishing method for preventing overlarge roll angle in helicopter flying and approaching process and application |
| CN108052120B (en) * | 2017-12-16 | 2021-01-12 | 广东容祺智能科技有限公司 | Unmanned aerial vehicle safety flight system |
| CN108896079A (en) * | 2018-07-13 | 2018-11-27 | 山东远大朗威教育科技股份有限公司 | Teaching rocket model flight recorder |
| CN112015193A (en) * | 2020-08-18 | 2020-12-01 | 江阴市翔诺电子科技有限公司 | Model airplane control system and control method |
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| CN104138664A (en) | 2014-11-12 |
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