CN105416571A - Unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle Download PDFInfo
- Publication number
- CN105416571A CN105416571A CN201510920570.7A CN201510920570A CN105416571A CN 105416571 A CN105416571 A CN 105416571A CN 201510920570 A CN201510920570 A CN 201510920570A CN 105416571 A CN105416571 A CN 105416571A
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- Prior art keywords
- shell fragment
- control part
- unmanned vehicle
- middle control
- catapulting
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C5/00—Stabilising surfaces
- B64C5/10—Stabilising surfaces adjustable
- B64C5/12—Stabilising surfaces adjustable for retraction against or within fuselage or nacelle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses an unmanned aerial vehicle. The unmanned aerial vehicle comprises a rack structure, rotor rings and a catapulting structure, wherein the rack structure comprises a center control part and a support part, the support part comprises multiple supports centrally symmetric about the center control part, and a controller and a power source are arranged in the center control part; the rotor rings are arranged at the tail ends of the supports; and the catapulting structure comprises a catapulting sheet and a control structure, the catapulting sheet is arranged on the edge of the outer side of the upper surface of the center control part, when the catapulting sheet is in the released state, the catapulting sheet and the outer surface of the center control part form a set included angle, and when the catapulting sheet is in the retracted state, the catapulting sheet is at least partially attached to the outer surface of the center control part. Due to the fact that the catapulting structure is arranged on the center control part of the unmanned aerial vehicle, when the back face of the unmanned aerial vehicle is landed, a user can control the catapulting structure to adjust the unmanned aerial vehicle to be landed with the front face, the situation that the user manually adjusts the unmanned aerial vehicle landed with the back face to be landed with the front face is avoided, and the controllability of the unmanned aerial vehicle is improved.
Description
Technical field
The application relates to technical field of aerospace, particularly relates to a kind of unmanned vehicle.
Background technology
The widespread use of little miniature unmanned vehicle especially many rotary wind types unmanned vehicle, has also expedited the emergence of numerous letter technical matters to be solved in this technical field.With subminiature many rotary wind types unmanned vehicle, its weight is very light, and structure formed with well-distributed rotor on multiple horizontal surface often.Under normal circumstances, this aircraft forward drops in plane to be fallen, once receive flight control command, then multiple rotor rotates rapidly, and aircraft is gone up to the air.
But a kind of situation is, sometimes aircraft runs into obstacle aloft or because out of control from when falling, not according to anticipation is " pin lands " like that in the air, but has fallen " pin is towards sky ".In fact, now unmanned vehicle does not often produce any fatal damage, if but continue to start throttle, unmanned vehicle is wanted to fly up, inverted because unmanned vehicle is current, so rotor only can constantly and ground rub, the lift that unmanned vehicle is taken off can not be produced.
So, typical example passes through in contest at the indoor obstacle of small-sized unmanned aircraft, if because when causing unmanned vehicle to fall with obstacle generation shock, lucky, aircraft forward lands, and can continue the match of having made a return journey that flies up so completely, but if unlucky, when aircraft lands be pin towards sky, then this aircraft has completely lost the possibility of keeping the field.
Time similar situation also occurs in regular job aircraft, if aircraft normally lands, so often doing any operation without the need to flying hand, just can continue to allow aircraft takeoff, if but aircraft pin having landed towards sky, then can only go manually to recover by flying hand the state of aircraft.
Summary of the invention
Embodiments provide a kind of unmanned vehicle, in order to solve in prior art after unmanned vehicle side oppositely lands, need user manually to adjust the problem of unmanned vehicle.
Its concrete technical scheme is as follows:
A kind of unmanned vehicle, described unmanned vehicle comprises:
Rack construction, described rack construction comprises middle control part and holder part, and many supports that it is center of symmetry that described holder part contains with described middle control part, arrange controller and power supply in described middle control part;
Rotor, arranges the end of described support, and a rotor is arranged on a support, and is fixedly connected with the motor on described support;
Ejection structure, described ejection structure comprises shell fragment and control structure, described shell fragment is arranged on the outer ledge of the upper surface of described middle control part, when described shell fragment is in release position, described shell fragment becomes to set angle with the described middle outside face controlling part, when described shell fragment is in contraction state, the outside face of described shell fragment and described middle control part is fitted at least partly.
Optionally, one end of the shell fragment of described ejection structure is movably connected in the outer ledge of the upper surface of described middle control part, the other end of described shell fragment is movable end, when described shell fragment is in contraction state, described shell fragment is retracted in the cavity of described middle control part, and fits at least partly with the outside face of described middle control part.
Optionally, the shell fragment length of described ejection structure is less than the width of described middle control part, and the length of described shell fragment is greater than setting threshold.
Optionally, described control structure is relay, described relay is arranged on described middle control partial interior, described relay comprises electromagnet, armature, spring leaf, contact, described electromagnet is fixedly connected with the shell fragment of described ejection structure, when described relay power, described contact and described electromagnetic actuation, make described shell fragment be in contraction state; When described relay power-off, described contact is separated with described electromagnet, and described shell fragment is discharged.
Optionally, described control structure is spring type structure, and described spring type vibrational power flow is in the inside of described middle control part, and described spring type structure comprises support component, and described support component is formed for the surface supporting described shell fragment and middle control part and sets angle.
Optionally, described control structure is electronic strut bar, and described strut bar is combined with motor and moves, and described strut bar is flexibly connected with described shell fragment, and when described motor left-hand revolution, shell fragment described in described they sup-port is away from the upper surface of described middle control part; When described motor clickwise, the described strut bar described shell fragment that links is contracted to the surface of middle control part.
Optionally, described middle control part comprises treater and signal receiver, described signal receiver is connected with described treater, described treater is connected with the control structure of described ejection structure, the control signal received is transferred to control structure by described treater, makes control structure shrink or discharge described shell fragment.
Optionally, described shell fragment is rectangle shrapnel or triangle shell fragment.
Optionally, described shell fragment is metal material shell fragment or is plastic material shell fragment.
Optionally, described unmanned vehicle, also comprises:
Annunciator, is arranged in described middle control part, is connected, the alarm command of receiving processor with described treater, according to alarm command outputting alarm signal.
A kind of unmanned vehicle is provided in the embodiment of the present invention, this unmanned vehicle comprises: rack construction, rotor, ejection structure, rack construction comprises middle control part and holder part, many the supports that it is center of symmetry that holder part contains with middle control part, arrange controller and power supply in middle control part; Rotor is arranged on the end of described support, and a rotor is arranged on a support, and is fixedly connected with the motor on support; Ejection structure comprises shell fragment and control structure, shell fragment is arranged on the outer ledge of the upper surface of middle control part, and when shell fragment is in release position, shell fragment becomes to set angle with the middle outside face controlling part, when shell fragment is in contraction state, the outside face of shell fragment and middle control part is fitted at least partly.By control part in unmanned vehicle being arranged an ejection structure, when landing at the unmanned vehicle back side, user can control ejection structure and unmanned vehicle is adjusted to front landing, land in the front that doing so avoids the unmanned vehicle adjustment manually landed in the back side by user, so improve unmanned vehicle can be handling.
Accompanying drawing explanation
Fig. 1 is one of structural representation of a kind of unmanned vehicle in the embodiment of the present invention;
Fig. 2 is one of front elevation of a kind of unmanned vehicle in the embodiment of the present invention;
Fig. 3 is the front elevation two of a kind of unmanned vehicle in the embodiment of the present invention;
Fig. 4 is the front elevation three of a kind of unmanned vehicle in the embodiment of the present invention.
Detailed description of the invention
A kind of unmanned vehicle is provided in the embodiment of the present invention, in order to solve in prior art after unmanned vehicle side oppositely lands, user is needed manually to adjust the problem of unmanned vehicle, this unmanned vehicle comprises: rack construction, rotor, ejection structure, rack construction comprises middle control part and holder part, many the supports that it is center of symmetry that holder part contains with middle control part, arrange controller and power supply in middle control part; Rotor is arranged on the end of described support, and a rotor is arranged on a support, and is fixedly connected with the motor on support; Ejection structure comprises shell fragment and control structure, shell fragment is arranged on the outer ledge of the upper surface of middle control part, and when shell fragment is in release position, shell fragment becomes to set angle with the middle outside face controlling part, when shell fragment is in contraction state, the outside face of shell fragment and middle control part is fitted at least partly.
Briefly, in embodiments of the present invention, the middle control part of this unmanned vehicle is provided with an ejection structure, when landing at the unmanned vehicle back side, user can control ejection structure and unmanned vehicle is adjusted to front landing, land in the front that doing so avoids the unmanned vehicle adjustment manually landed in the back side by user, so improve unmanned vehicle can be handling.
Below by accompanying drawing and specific embodiment, technical solution of the present invention is described in detail, be to be understood that, the explanation of concrete technical characteristic in the embodiment of the present invention and embodiment just to technical solution of the present invention, instead of limit, when not conflicting, the concrete technical characteristic in the embodiment of the present invention and embodiment can combine mutually.
Be illustrated in figure 1 the structural representation of a kind of unmanned vehicle in the embodiment of the present invention, the method comprises:
Rack construction 101, described rack construction comprises middle control part 101a and holder part 101b, holder part 101b many supports that to contain with middle control part 101a be center of symmetry, arranges controller and power supply in described middle control part 101a;
Controller in middle control part 101a and power supply not shown in FIG.
Rotor 102, arranges the end of support, and a rotor 102 is arranged on a support, and is fixedly connected with the motor (not shown) on described support;
Ejection structure 103, described ejection structure 103 comprises shell fragment 103a and control structure (not shown), described shell fragment 103a is arranged on the outer ledge of the upper surface of described middle control part 101a, when described shell fragment 103a is in release position, described shell fragment 103a becomes to set angle with the outside face of described middle control part 101a, when described shell fragment 103a is in contraction state, the outside face of described shell fragment 103a and described middle control part 101a is fitted at least partly, here it should be noted that, one section that partly fits into shell fragment 103a is flexibly connected with a part for the outside face of middle control part 101a, thus make the other end of shell fragment 103a can away from middle control part 101a.
Further, in embodiments of the present invention, the one end of shell fragment 103a in ejection structure 103 is movably connected in the outer ledge (as shown in Figure 1) of the upper surface of middle control part 101a, the other end of shell fragment 103a is movable end, when shell fragment 103a is in contraction state, shell fragment 103a receives in the cavity of middle control part 101a, and with the outer surface of middle control part 101a in same plane.
That is, when shell fragment 103a discharges, the other end of shell fragment 103a will away from middle control part 101a upper surface, specifically as shown in Figure 2, in fig. 2, this shell fragment 103a discharges, now shell fragment 103a controls part 101a away from the one end at middle control part 101a edge by disengaging, thus form one with the upper surface of middle control part 101a and set angle theta, this sets angle theta can according to parameters such as the weight of unmanned vehicle and volumes as foundation sets, do not limit the size of setting angle in embodiments of the present invention, the set-up mode of setting angle is not limited yet, this set-up mode can system default, or user is arranged arranging the carrying out in interface, or system is by modes such as the parameter collected generate automatically.
Certainly, in FIG, under shell fragment 103a is in contraction state, shell fragment 103a is now in the cavity of the upper surface being embedded into middle control part 101a, thus shell fragment 103a and middle control part 101a upper surface combine together, such ejection structure 103 and middle control part 101a form a complete entirety.
Here it should be noted that, in embodiments of the present invention, in order to ensure that shell fragment 103a can be combined on the upper surface of middle control part 101a completely, and unmanned vehicle upset can be supported, so the length of this shell fragment 103a is less than the width of middle control part 101a, and the length of shell fragment 103a is greater than setting threshold.As shown in Figure 1, the middle control part 101a of this unmanned vehicle is circular configuration, so the length of this shell fragment 103a is less than or equal to middle control part 101a diameter, and the length of shell fragment 103a is also greater than setting threshold, and setting threshold is here the length ensureing that unmanned vehicle can overturn.
It should be noted that in addition, this shell fragment 103a can be rectangular configuration also can be triangular structure or trapezium structure, do not limit the concrete structure of shell fragment 103a in embodiments of the present invention, the structure of this shell fragment 103a can be adjusted according to the applicable cases of reality.
Further, in embodiments of the present invention, can be controlled by long-range mode to make the contraction of shell fragment 103a and release, so in embodiments of the present invention, control structure is further comprises in this ejection structure 103, this control structure can be relay, relay generally contains electromagnet, armature, spring leaf, the compositions such as electric shock, as long as add certain voltage at coil two ends, certain electric current will be flow through in coil, thus generation galvanomagnetic effect, the pulling force that armature will overcome return spring under the effect of electromagnetic attracting force is inhaled to iron core, thus the moving contact of band moving armature and break back contact (open contact) adhesive.When after coil blackout, the suction of electromagnetism also disappears thereupon, and armature will return to original position at the antagonistic force of spring, makes moving contact and original break back contact (normally closed contact) adhesive.Such adhesive, release, thus the object reaching conducting in circuit, cut-out.For " often open, normally closed " contact of relay, can distinguish like this: the break back contact being in off-state when relay coil is not energized, be called " open contact "; The break back contact being in on-state is called " normally closed contact ".
Utilize the principle of above-mentioned electromagnetic relay, can allow shell fragment 103a under non-trigger state, keep the contact with contact, during triggering, utilize the principle of electromagnetism, release elastic sheet 103a, shell fragment 103a is allowed to provide elastic acting force earthward, and react on unmanned vehicle that shell fragment 103a installs, thus unmanned vehicle is obtained leave ground, and the application force of lateral turnover.
Here it should be noted that, shell fragment 103a can be separated with relay smoothly and combine, so the structure on shell fragment 103a can coordinate with relay, namely ensure when relay power and breakpoint, shell fragment 103a can discharge timely and shrink.
Clearly, can realize shrinking shell fragment 103a and the automatic control of release, thus ensure that the upset of control unmanned vehicle that user can be long-range by above-mentioned relay, what improve unmanned vehicle can be handling.
Further, in embodiments of the present invention, control structure in ejection structure 103 is except can be except relay, it can also be spring type structure (not shown), this spring type vibrational power flow is in the inside of middle control part, spring type structure comprises support component, and this support component may be used for supporting the surface of shell fragment 103a and middle control part 101a and formed and set angle.
Specifically, as shown in Figure 3, in figure 3, support component 301 in this spring type structure supports shell fragment 103a, one end of shell fragment 103a can be made away from the upper surface of middle control part 101a by this support component 301, thus the upper surface with middle control part 101a is just formed one by shell fragment 103a sets angle, and then when landing in the unmanned vehicle back side, unmanned vehicle can be overturn by control structure with coordinating of shell fragment 103a.
Here it should be noted that, support component 301 can adjust length according to demand, support component 301 can be air compressing strut member, the extended length of support component 301 can be adjusted by control structure, thus user just can adjust shell fragment 103a and middle control part 101a upper surface between angle, and then the switching process of unmanned vehicle can be controlled more accurately, promote stability and the safety of unmanned vehicle switching process.
Further, in embodiments of the present invention, the control structure in ejection structure 103 can also be strut bar, and as shown in Figure 4, in the diagram, one end of this strut bar 401 is flexibly connected with shell fragment 103a this structure, and the other end is connected with the motor of control structure.Can slide relative to shell fragment 103a in the position that strut bar 401 is flexibly connected with shell fragment 103a, like this when motor left-hand revolution, strut bar 401 supports the upper surface of shell fragment 301a away from middle control part 101a; When motor clickwise, the strut bar 401 shell fragment 103a that links is contracted to the surface of middle control part 101a, that is the rotation of motor can adjust the angle between strut bar 401 and middle control part 101a upper surface, thus when unmanned vehicle is landed overleaf, unmanned vehicle can be overturn by controlling electric machine rotation, and then the Long-distance Control achieved unmanned vehicle, the class improving unmanned vehicle is handling.
Here it should be noted that, in embodiments of the present invention, treater and signal receiver (not shown) is contained in middle control part 101a, this signal receiver is connected with treater, treater is connected with the control structure 103b of ejection structure 103, the control signal received is transferred to control structure 103b by treater, and control structure 103b is shunk or release elastic sheet 103a.
Further, in embodiments of the present invention, this unmanned vehicle also comprises:
Annunciator, is arranged in middle control part 101a, is connected with treater, the alarm command of receiving processor, and according to alarm command outputting alarm signal.Such as, when landing at the unmanned vehicle back side, the treater of this unmanned vehicle will generate alarm command, this alarm command will transfer to annunciator, thus annunciator is exported by loud speaker or other devices, thus landing in the unmanned vehicle back side to make user know, and then prompting user controls ejection structure 103 to adjust unmanned vehicle upset.
Although described the preferred embodiment of the application, one of ordinary skilled in the art once obtain the basic creative concept of cicada, then can make other change and amendment to these embodiments.So claims are intended to be interpreted as comprising preferred embodiment and falling into all changes and the amendment of the application's scope.
Obviously, those skilled in the art can carry out various change and modification to the application and not depart from the spirit and scope of the application.Like this, if these amendments of the application and modification belong within the scope of the application's claim and equivalent technologies thereof, then the application is also intended to comprise these change and modification.
Claims (10)
1. a unmanned vehicle, is characterized in that, described unmanned vehicle comprises:
Rack construction, described rack construction comprises middle control part and holder part, and many supports that it is center of symmetry that described holder part contains with described middle control part, arrange controller and power supply in described middle control part;
Rotor, arranges the end of described support, and a rotor is arranged on a support, and is fixedly connected with the motor on described support;
Ejection structure, described ejection structure comprises shell fragment and control structure, described shell fragment is arranged on the outer ledge of the upper surface of described middle control part, when described shell fragment is in release position, described shell fragment becomes to set angle with the described middle outside face controlling part, when described shell fragment is in contraction state, the outside face of described shell fragment and described middle control part is fitted at least partly.
2. unmanned vehicle as claimed in claim 1, it is characterized in that, one end of the shell fragment of described ejection structure is movably connected in the outer ledge of the upper surface of described middle control part, the other end of described shell fragment is movable end, when described shell fragment is in contraction state, described shell fragment is retracted in the cavity of described middle control part, and fits at least partly with the outside face of described middle control part.
3. unmanned vehicle as claimed in claim 1, it is characterized in that, the shell fragment length of described ejection structure is less than the width of described middle control part, and the length of described shell fragment is greater than setting threshold.
4. unmanned vehicle as claimed in claim 1, it is characterized in that, described control structure is relay, described relay is arranged on described middle control partial interior, described relay comprises electromagnet, armature, spring leaf, contact, and described electromagnet is fixedly connected with the shell fragment of described ejection structure, when described relay power, described contact and described electromagnetic actuation, make described shell fragment be in contraction state; When described relay power-off, described contact is separated with described electromagnet, and described shell fragment is discharged.
5. unmanned vehicle as claimed in claim 1, it is characterized in that, described control structure is spring type structure, described spring type vibrational power flow is in the inside of described middle control part, described spring type structure comprises support component, and described support component is formed for the surface supporting described shell fragment and middle control part and sets angle.
6. unmanned vehicle as claimed in claim 1, it is characterized in that, described control structure is electronic strut bar, described strut bar is combined with motor and moves, described strut bar is flexibly connected with described shell fragment, when described motor left-hand revolution, shell fragment described in described they sup-port is away from the upper surface of described middle control part; When described motor clickwise, the described strut bar described shell fragment that links is contracted to the surface of middle control part.
7. unmanned vehicle as claimed in claim 1, it is characterized in that, described middle control part comprises treater and signal receiver, described signal receiver is connected with described treater, described treater is connected with the control structure of described ejection structure, the control signal received is transferred to control structure by described treater, makes control structure shrink or discharge described shell fragment.
8. the unmanned vehicle as described in claim arbitrary in claim 1-7, is characterized in that, described shell fragment is rectangle shrapnel or triangle shell fragment.
9. the unmanned vehicle as described in claim arbitrary in claim 1-7, is characterized in that, described shell fragment is metal material shell fragment or is plastic material shell fragment.
10. the unmanned vehicle as described in claim arbitrary in claim 1-7, is characterized in that, described unmanned vehicle, also comprises:
Annunciator, is arranged in described middle control part, is connected, the alarm command of receiving processor with described treater, according to alarm command outputting alarm signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510920570.7A CN105416571B (en) | 2015-12-11 | 2015-12-11 | A kind of unmanned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510920570.7A CN105416571B (en) | 2015-12-11 | 2015-12-11 | A kind of unmanned vehicle |
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| Publication Number | Publication Date |
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| CN105416571A true CN105416571A (en) | 2016-03-23 |
| CN105416571B CN105416571B (en) | 2017-08-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510920570.7A Active CN105416571B (en) | 2015-12-11 | 2015-12-11 | A kind of unmanned vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106516128A (en) * | 2016-09-28 | 2017-03-22 | 南京航空航天大学 | Novel electromagnetic multi-rotor aircraft based on turbine engine and control method thereof |
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| KR20080099839A (en) * | 2008-09-26 | 2008-11-13 | 노인철 | The unmanned aerial vehicle have 4 legs and 4 motors |
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| CN105416571B (en) | 2017-08-25 |
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