CN104192295A - Autonomous flight unmanned aerial vehicle without active force and flight mode - Google Patents
Autonomous flight unmanned aerial vehicle without active force and flight mode Download PDFInfo
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- CN104192295A CN104192295A CN201410492999.6A CN201410492999A CN104192295A CN 104192295 A CN104192295 A CN 104192295A CN 201410492999 A CN201410492999 A CN 201410492999A CN 104192295 A CN104192295 A CN 104192295A
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Abstract
The invention relates to an autonomous flight unmanned aerial vehicle without active force and a flight mode and belongs to the technical field of aviation. The unmanned aerial vehicle consists of a machine body, an activity left wing, an activity right wing, a tail wing, a landing gear, an automatic navigation system, a control system, airborne equipment, operation equipment and a signal processing system; the activity left wing and the activity right wing are bilaterally and symmetrically arranged on the left side and the right side of a symmetrical longitudinal section of the machine body; the control system is used for controlling the opening and the closing of the activity left wing and the activity right wing and the machine turning and pitching flight attitude. Ground equipment matched with the unmanned aerial vehicle when in use comprises a machine body transmitter, signal transceiver equipment and flight control equipment. The unmanned aerial vehicle takes off by adopting a ground launching mode and ejects towards the upper part of a task location by an angle of about 45 degrees in an ejection way, and the activity left wing and the activity right wing are opened after the unmanned aerial vehicle reaches the upper part of the task location; the unmanned aerial vehicle performs photographing, reconnaissance or air goods delivery tasks and returns after the completion of the tasks; the autonomous flight unmanned aerial vehicle has the advantages of energy conservation, environment friendliness and safety and is particularly suitable for performing the tasks within a short distance.
Description
Technical field
A kind of autonomous flight, without active force unmanned plane and flying method thereof, belongs to aeronautical technology field, relates in particular to a kind of autonomous flight unmanned plane and flying method thereof.
Background technology
Traditional unmanned plane is with main power plant, adopts on motor-driven machine with high capacity cell, main motor, electronic governor and propelling unit as screw propeller or ducted fan etc.; Adopt on ICE-powered machine with fuel tank, explosive motor, speed control steering wheel and propelling unit that fuel oil is housed as screw propeller or ducted fan etc.The ratio that these devices account for gross weight is quite large, and can produce resistance, causes the efficiency of flight not high, and complex structure, and cost is high.If lost contact has been lost or fault is fallen, loss also can be very large.
Summary of the invention
The object of the invention is to overcome the above-mentioned deficiency of traditional unmanned plane, invent a kind of simple in structure, lightweight and autonomous flight that flight efficiency is high cheaply without active force unmanned plane and flying method thereof.
A kind of autonomous flight, without active force unmanned plane, is made up of fuselage, movable left wing, activity right flank, empennage, alighting gear, automatic navigation system, control system, airborne equipment, implement and signal handling equipment.Movable left wing is identical with activity right flank structure to be symmetrically arranged in the left and right sides of the symmetrical vertical section of fuselage, and is placed in fuselage top.Empennage comprises vertical tail and tailplane.The yaw rudder of the fixed fin that vertical tail is fixed by front portion and rear portion activity forms; The elevating rudder of the horizontal stabilizer that tailplane is fixed by front portion and rear portion activity form.Elevating rudder is upper and lower deflection under the manipulation of control system, upward deflects and can make this unmanned plane come back, and realization is faced upward; The change of team of elevating rudder downward bias is bowed this unmanned plane, realizes nutation.Yaw rudder is deflection under the manipulation of control system, and this unmanned plane is gone off course to the left or to the right.Alighting gear adopts ski type structure, and resistance is little, less demanding to landing place, and as more smooth ground, even sand ground or meadow can meet landing requirement.Automatic navigation system, control system, airborne equipment, implement and signal handling equipment adopt the lithium battery power supply of the suitable capacity of convenient charging.Automatic navigation system adopts GPS navigation system or triones navigation system.Control system is used for the folding of control activity left wing and activity right flank, and controls this unmanned plane and turn and pitching flying attitude.The power element of the folding of control activity left wing and activity right flank adopts high torque steering wheel, or directly adopts the additional gear cluster of servomotor.Airborne equipment is including spiral shell top instrument and containing the flight parameter flying height, flying speed and wind speed and meteorological parameter acquisition equipment.Implement comprises pick up camera and other working equipments, and other working equipments are to be equipped with according to different job tasks.While needing to carry out aerial delivery goods and materials task, be equipped with controllable mechanical handgrip.Signal handling equipment can be issued flight parameter, meteorologic parameter, audio frequency and video and pictorial information wayside equipment and can be distributed to relevant device and the system on machine by receiving the ground signal instruction coming.The wayside equipment being used in conjunction with unmanned plane of the present invention comprises body projector, signal sending and receiving equipment and flight control unit.Body projector is furnished with closed-center system and catapult-launching gear.Signal sending and receiving equipment comprises video, audio frequency and figure receiving device, and flight parameter and meteorologic parameter receiving device including flying height, flying speed and wind speed, and flight directive sender unit.Flight control unit comprises computer, controls software and automatic tracking system.
Autonomous flight of the present invention without the flying method of active force unmanned plane is: adopt ground-launched mode to take off, by movable left wing and activity right flank, this unmanned plane removable mounting in closing up state, on the catapult-launching gear of the body projector of energy storage, uses the mode of launching to penetrate and to have realized and having taken off with overhead, horizontal surface angle task place approximately at 45 ° with precalculated initial velocity.When synchronously open gradually under movable left wing and the control of activity right flank in control system behind this unmanned plane arrival overhead, task place simultaneously.Unmanned plane is carried out photography, is scouted or deliver goods and materials task in the air, and flight information and the situation information of executing the task are beamed back to ground, after task completes, makes a return voyage and lands.Whole flight course be substantially according to predefined flight path autonomous flight or fly by ground remote control.When calculating in advance initial velocity and presetting flight path, should consider the skyborne degradation of energy of this unmanned plane and leave enough energy balance so that safety is maked a return voyage and lands.
A kind of autonomous flight of the present invention has two kinds of mode of operations without active force unmanned plane: winglet pattern and large wing pattern.Be winglet pattern from county of emission to the process in overhead, task place, this procedure activation left wing and activity right flank are in closing up state, and the resistance that this unmanned plane is subject to is little, and degradation of energy is little, and speed is fast.The stage of executing the task is large wing pattern with the stage of making a return voyage, and movable left wing and activity right flank are in open mode, and when large wing pattern, this unmanned plane speed is slow, conveniently executes the task, and lift is large, and airborne period is long, guarantees make a return voyage and land safely.
The task that this unmanned plane is carried out has but is not limited to: aerophotography, and geographical mapping, scientific investigation, the condition of a disaster is observed, and military surveillance, delivers goods and materials in the air.
A kind of autonomous flight of this invention without the outstanding advantages of active force unmanned plane is: energy-conserving and environment-protective and safety.Owing to there is no driving engine and energy supply system on machine, simple in structure, lightweight, energy-conservation consumption reduction again; On machine, there is no fuel oil or high capacity cell, greatly reduced burning and explosion safety accident.Even if lost contact has been lost or fault is fallen, loss also can be too large.The fast used time of speed in the arrival task of taking off place is short, and efficiency is high, and while making a return voyage landing, speed is safe and reliable slowly.The supporting multiple UAVs of a set of wayside equipment can be carried out multi-mode operation task simultaneously, cost-saving widely.
Flying method of the present invention is particularly useful for short range and executes the task.
Brief description of the drawings
The schematic top plan view of Fig. 1 when to be a kind of autonomous flight of the present invention draw in without the left movable wing of active force unmanned plane and right movable wing; The schematic top plan view of Fig. 2 when to be a kind of autonomous flight of the present invention open without the left movable wing of active force unmanned plane and right movable wing.
In figure, 1-fuselage, 2-empennage, 21-fixed fin, 22-yaw rudder, 23-horizontal stabilizer, 24-elevating rudder, the movable left wing of 3-, 4-activity right flank, 5-alighting gear.
Detailed description of the invention
Now 1 ~ 2 couple of the present invention is illustrated by reference to the accompanying drawings: a kind of autonomous flight, without active force unmanned plane, is made up of fuselage 1, movable left wing 3, activity right flank 4, empennage 2, alighting gear 5, automatic navigation system, control system, airborne equipment, implement and signal handling equipment.Movable left wing 3 is identical with activity right flank 4 structures is symmetrically arranged in the left and right sides of fuselage 1 symmetrical vertical section, and is placed in fuselage 1 top.Empennage 2 comprises vertical tail and tailplane.The fixed fin 21 that vertical tail is fixed by front portion and the yaw rudder 22 of rear portion activity form; The horizontal stabilizer 23 that tailplane is fixed by front portion and the elevating rudder 24 of rear portion activity form.Elevating rudder 24 is upper and lower deflection under the manipulation of control system, upward deflects and can make this unmanned plane come back, and realization is faced upward; The elevating rudder 24 downward bias change of teams are bowed this unmanned plane, realize nutation.Yaw rudder 22 is deflection under the manipulation of control system, and this unmanned plane is gone off course to the left or to the right.Alighting gear 5 adopts ski type structure, and resistance is little, less demanding to landing place, and as more smooth ground, even sand ground or meadow can meet landing requirement.Automatic navigation system, control system, airborne equipment, implement and signal handling equipment adopt the lithium battery power supply of the suitable capacity of convenient charging.Automatic navigation system adopts GPS navigation system.Control system is used for the folding of control activity left wing 3 and activity right flank 4, and controls this unmanned plane and turn and pitching flying attitude.The power element of the folding of control activity left wing 3 and activity right flank 4 adopts high torque steering wheel.Airborne equipment is including spiral shell top instrument and containing the flight parameter flying height, flying speed and wind speed and meteorological parameter acquisition equipment.Implement comprises pick up camera and other working equipments, and other working equipments are to be equipped with according to different job tasks.While needing to carry out aerial delivery goods and materials task, be equipped with controllable mechanical handgrip.Signal handling equipment can be issued flight parameter, meteorologic parameter, audio frequency and video and pictorial information wayside equipment and can be distributed to relevant device and the system on machine by receiving the ground signal instruction coming.The wayside equipment being used in conjunction with unmanned plane of the present invention comprises body projector, signal sending and receiving equipment and flight control unit.Body projector is furnished with closed-center system and catapult-launching gear.Signal sending and receiving equipment comprises video, audio frequency and figure receiving device, and flight parameter and meteorologic parameter receiving device including flying height, flying speed and wind speed, and flight directive sender unit.Flight control unit comprises computer, controls software and automatic tracking system.
Autonomous flight of the present invention without the flying method of active force unmanned plane is: adopt ground-launched mode to take off, by movable left wing 3 and activity right flank 4, this unmanned plane removable mounting in closing up state, on the catapult-launching gear of the body projector of energy storage, uses the mode of launching to penetrate and to have realized and having taken off with overhead, horizontal surface angle task place approximately at 45 ° with precalculated initial velocity.When synchronously open gradually under movable left wing 3 and the control of activity right flank 4 in control system behind this unmanned plane arrival overhead, task place simultaneously.This unmanned plane is carried out photography, is scouted or deliver goods and materials task in the air, and flight information and the situation information of executing the task are beamed back to ground, after task completes, makes a return voyage and lands.Whole flight course be substantially according to predefined flight path autonomous flight or fly by ground remote control.When calculating in advance initial velocity and presetting flight path, should consider the skyborne degradation of energy of this unmanned plane and leave enough energy balance so that safety is maked a return voyage and lands.
A kind of autonomous flight of the present invention has two kinds of mode of operations without active force unmanned plane: winglet pattern and large wing pattern.Be winglet pattern from county of emission to the process in overhead, task place, this procedure activation left wing 3 and activity right flank 4 are in closing up state, and the resistance that this unmanned plane is subject to is little, and degradation of energy is little, and speed is fast.The stage of executing the task is large wing pattern with the stage of making a return voyage, and movable left wing 3 and activity right flank 4 are in open mode, and when large wing pattern, this unmanned plane speed is slow, conveniently executes the task, and lift is large, and airborne period is long, guarantees make a return voyage and land safely.
This unmanned plane is widely used, and can be used for aerophotography, geographical mapping, and scientific investigation, the condition of a disaster is observed, and military surveillance, delivers the operations such as goods and materials in the air.
Claims (10)
1. autonomous flight, without an active force unmanned plane, is characterized in that: be made up of fuselage (1), movable left wing (3), activity right flank (4), empennage (2), alighting gear (5), automatic navigation system, control system, airborne equipment, implement and signal handling equipment; Be symmetrically arranged in the left and right sides of fuselage (1) symmetrical vertical section identical with activity right flank (4) structure of movable left wing (3), and be placed in fuselage (1) top; Empennage (5) comprises vertical tail and tailplane; The fixed fin (22) that vertical tail is fixed by front portion and the yaw rudder (23) of rear portion activity form; The horizontal stabilizer (23) that tailplane is fixed by front portion and the elevating rudder (24) of rear portion activity form; Automatic navigation system, control system, airborne equipment, implement and signal handling equipment adopt the lithium battery power supply of the suitable capacity of convenient charging; Control system is used for the folding of control activity left wing (3) and activity right flank (4), and controls this unmanned plane and turn and pitching flying attitude; Airborne equipment is including spiral shell top instrument and containing the flight parameter flying height, flying speed and wind speed and meteorological parameter acquisition equipment; Implement comprises pick up camera and other working equipments; Signal handling equipment can be issued flight parameter, meteorologic parameter, audio frequency and video and pictorial information wayside equipment and can be distributed to relevant device and the system on machine by receiving the ground signal instruction coming; The wayside equipment being used in conjunction with unmanned plane of the present invention comprises body projector, signal sending and receiving equipment and flight control unit; Body projector is furnished with closed-center system and catapult-launching gear; Signal sending and receiving equipment comprises video, audio frequency and figure receiving device, and flight parameter and meteorologic parameter receiving device including flying height, flying speed and wind speed, and flight directive sender unit; Flight control unit comprises computer, controls software and automatic tracking system.
2. a kind of autonomous flight according to claim 1, without active force unmanned plane, is characterized in that: alighting gear (5) adopts ski type structure.
3. a kind of autonomous flight according to claim 1, without active force unmanned plane, is characterized in that: automatic navigation system adopts GPS navigation system or triones navigation system.
4. a kind of autonomous flight according to claim 1, without active force unmanned plane, is characterized in that: the power element of the folding of control activity left wing (3) and activity right flank (4) adopts high torque steering wheel, or directly adopts the additional gear cluster of servomotor.
5. a kind of autonomous flight according to claim 1, without active force unmanned plane, is characterized in that: needs are equipped with mechanical gripper while carrying out aerial delivery goods and materials task.
6. a kind of autonomous flight according to claim 1, without active force unmanned plane, is characterized in that: the task that it is carried out comprises aerophotography, geographical mapping, scientific investigation, the condition of a disaster observation, military surveillance and delivers goods and materials in the air.
7. a kind of autonomous flight according to claim 1, without active force unmanned plane, is characterized in that: the supporting multiple UAVs of a set of wayside equipment, carry out multi-mode operation task simultaneously.
8. an autonomous flight is without the flying method of active force unmanned plane, it is characterized in that: adopt ground-launched mode to take off, by movable left wing (3) and activity right flank (4), this unmanned plane removable mounting in closing up state, on the catapult-launching gear of the body projector of energy storage, uses the mode of launching to penetrate and to have realized and having taken off with overhead, horizontal surface angle task place approximately at 45 ° with precalculated initial velocity; When synchronously open gradually under movable left wing (3) and the control of activity right flank (4) in control system behind this unmanned plane arrival overhead, task place simultaneously; Unmanned plane is executed the task, and flight information and the situation information of executing the task are beamed back to ground, after task completes, makes a return voyage and lands; Whole flight course be substantially according to predefined flight path autonomous flight or fly by ground remote control.
9. a kind of autonomous flight according to claim 8, without the flying method of active force unmanned plane, is characterized in that: when calculating in advance initial velocity and presetting flight path, consider the skyborne degradation of energy of this unmanned plane and leave enough energy balance so that safety is maked a return voyage and lands.
10. a kind of autonomous flight according to claim 8, without the flying method of active force unmanned plane, is characterized in that: have two kinds of mode of operations: winglet pattern and large wing pattern; Be winglet pattern from county of emission to the process in overhead, task place, this procedure activation left wing (3) and activity right flank (4) are in closing up state; The stage of executing the task is large wing pattern with the stage of making a return voyage, and movable left wing (3) and activity right flank (4) are in open mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410492999.6A CN104192295B (en) | 2014-09-24 | 2014-09-24 | A kind of autonomous flight is without active force unmanned plane and flying method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410492999.6A CN104192295B (en) | 2014-09-24 | 2014-09-24 | A kind of autonomous flight is without active force unmanned plane and flying method thereof |
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| CN104192295A true CN104192295A (en) | 2014-12-10 |
| CN104192295B CN104192295B (en) | 2015-12-30 |
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| CN201410492999.6A Expired - Fee Related CN104192295B (en) | 2014-09-24 | 2014-09-24 | A kind of autonomous flight is without active force unmanned plane and flying method thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105398298A (en) * | 2015-12-30 | 2016-03-16 | 佛山市神风航空科技有限公司 | Water-land-air three-purpose transportation means |
| WO2017184806A1 (en) * | 2016-04-20 | 2017-10-26 | Worcester Polytechnic Institute | Airborne vehicle recovery |
| CN109436363A (en) * | 2018-09-27 | 2019-03-08 | 航天时代飞鸿技术有限公司 | It is a kind of for big overload, the catapult-assisted take-off control method of folding wings formula unmanned plane |
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2014
- 2014-09-24 CN CN201410492999.6A patent/CN104192295B/en not_active Expired - Fee Related
Patent Citations (7)
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| CN105398298A (en) * | 2015-12-30 | 2016-03-16 | 佛山市神风航空科技有限公司 | Water-land-air three-purpose transportation means |
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| WO2017184806A1 (en) * | 2016-04-20 | 2017-10-26 | Worcester Polytechnic Institute | Airborne vehicle recovery |
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| CN109436363A (en) * | 2018-09-27 | 2019-03-08 | 航天时代飞鸿技术有限公司 | It is a kind of for big overload, the catapult-assisted take-off control method of folding wings formula unmanned plane |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104192295B (en) | 2015-12-30 |
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Effective date of registration: 20161129 Address after: Fengtian Street in Shenhe District of Shenyang City, Liaoning province 110013 room 1-13-18 No. 346 Patentee after: SHENYANG JINFENG SPRING AVIATION TECHNOLOGY CO.,LTD. Address before: Foshan City, Guangdong province 528500 city streets Gaoming District No. 78 Jiangwan Road, room 402 Fu Wan Patentee before: FOSHAN SHENFENG AVIATION TECHNOLOGY Co.,Ltd. |
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