CN105691613A - Unmanned aerial vehicle ascending and descending smoothly and control method - Google Patents
Unmanned aerial vehicle ascending and descending smoothly and control method Download PDFInfo
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- CN105691613A CN105691613A CN201610285173.1A CN201610285173A CN105691613A CN 105691613 A CN105691613 A CN 105691613A CN 201610285173 A CN201610285173 A CN 201610285173A CN 105691613 A CN105691613 A CN 105691613A
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- unmanned plane
- plane
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C2230/00—Boundary layer controls
- B64C2230/28—Boundary layer controls at propeller or rotor blades
Abstract
The invention discloses the field of unmanned aerial vehicles and provides an unmanned aerial vehicle device ascending and descending smoothly and a control method. The unmanned aerial vehicle device ascending and descending smoothly comprises multiple auxiliary propellers. The auxiliary propellers are symmetrically arranged on the periphery of an unmanned aerial vehicle body with a cross-shaped rack serving as the center. Rotary planes of the auxiliary propellers are perpendicular to the horizontal plane, and the directions of the rotary planes of the auxiliary propellers can be adjusted. By the adoption of the unmanned aerial vehicle device ascending and descending smoothly, the manner that the auxiliary propellers are additionally arranged is adopted, the problem that an unmanned aerial vehicle device deviates due to the interference from the horizontal plane direction is effectively solved, and the unmanned aerial vehicle device ascends and descends smoothly in the vertical direction; and meanwhile the ascending and descending time of the unmanned aerial vehicle device is shortened, the anti-interference ability of the unmanned aerial vehicle in the ascending and descending process in a severe environment is improved, and the problem that the unmanned aerial vehicle deviates and even crushes due to interference is effectively solved.
Description
Technical field
The present invention relates to unmanned plane field, particularly to unmanned plane device and the control method of a kind of steady lifting。
Background technology
Unmanned plane is also called UAV, Remote or from cruiser, is the portability load aircraft that a kind of cost is low, loss is little, mobility is high, has been widely used in military affairs, scientific research, the multiple fields such as civilian。In military field, unmanned plane can be applicable to enemy's situation investigation, communication relaying, early warning, target drone training etc., even can directly form unmanned plane formation and carry out enemy is fought；At scientific research field, can be used for the sampling under the feasibility Simulation is assessed of the checking of flight test, new equipment and new departure, the acquisition of Aerial Images, adverse circumstances and condition monitoring etc.；At civil area, unmanned plane can be used for agricultural Soil Moisture Monitoring, agricultural fertilizer, the condition of a disaster analysis, project supervision, power network line tour etc.。In some practical applications, unmanned air vehicle technique has been achieved for goodish achievement, and people recognize its great potential and effect gradually。
Four rotor wing unmanned aerial vehicles are as the one of unmanned plane, by being arranged on the main screw on four tops of cross rack construction, produce aerodynamic force, control the flare maneuver of four wing unmanned planes, VTOL can be realized, freely hover, advance, fall back, the multiple aerial statue such as super low altitude flight。As shown in Figure 1, four main screws are in sustained height plane, first propeller 1 and the 3rd main screw 3 rotate counterclockwise, second main screw 2 and the 4th main screw 4 turn clockwise, unmanned plane is provided with main control unit, main control unit, by controlling the rotating speed of main screw, can realize the control to four wing unmanned plane during flying attitudes。Four rotor wing unmanned aerial vehicles are with the profile of its novelty and compact structure, it is believed that be one the most simply, stability contorting form the most intuitively。
Though this unmanned air vehicle technique has, R&D costs are low, exploitativeness strong, use scope is wide, operation requires the advantages such as low, but in actual applications, unmanned plane but ubiquity is by the shortcoming of lifting environmental effect, when lifting, owing to main screw provides only pulling force upwards, in order to overcome the gravity of unmanned plane self, traction machine body moves upward, capacity of resisting disturbance in the horizontal direction is more weak, unmanned plane in horizontal plane (front, rear, left and right of body) direction owing to being subject to the impact of wind-force, it is difficult to realize the steady lifting of unmanned plane vertical direction。When carrying out takeoff and landing especially in the presence of a harsh environment, the capacity of resisting disturbance of unmanned plane is worse, and unmanned plane suffers from offseting the phenomenon even smashed from the interference on horizontal plane direction。
Summary of the invention
It is an object of the invention to overcome quadrotor existing in prior art when takeoff and landing, main screw provides only pulling force upwards, when lifting, capacity of resisting disturbance is more weak, interference that unmanned plane is subject on horizontal plane direction the factors such as wind-force and problem that skew occurs, unmanned plane device and the control method of a kind of steady lifting are provided, this unmanned plane device capacity of resisting disturbance in the horizontal direction is stronger, realize steadily lifting in vertical direction, and decrease the lifting time of unmanned plane, add jamproof ability when unmanned plane lifts in the presence of a harsh environment, effectively prevent unmanned plane to be interfered and offset the phenomenon that even smashes。
In order to realize foregoing invention purpose, the invention provides techniques below scheme:
A kind of unmanned plane device of steady lifting, including multiple auxiliary propellers, described auxiliary propeller, centered by cross frame, is symmetrically arranged in around unmanned plane body, the Plane of rotation of auxiliary propeller is perpendicular to horizontal plane, and the Plane of rotation direction of auxiliary propeller is adjustable。
Unmanned plane device is provided with the main control unit controlling the work of each system unit, control main screw by main control unit and auxiliary propeller rotates, the rotating speed of propeller is adjusted simultaneously, main screw provides pulling force upwards, in order to overcome the gravity of unmanned plane self, traction unmanned plane body moves upward, auxiliary propeller is in order to overcome the interference of external environment in horizontal direction, strengthen unmanned plane capacity of resisting disturbance in the horizontal direction, by main control unit, the rotating speed of auxiliary propeller is controlled, making unmanned aerial vehicle body is zero at speed and the acceleration of horizontal plane all directions, guarantee that unmanned plane completes lifting action in vertical direction, simultaneously, the direction of the Plane of rotation of auxiliary propeller is adjustable, make unmanned plane device according to practical situation, the Plane of rotation direction of auxiliary propeller can be changed, make its power direction provided adjustable, it is possible not only to provide in the horizontal plane power, and the active force in vertical direction can be provided for unmanned plane simultaneously, shorten the lifting time of unmanned plane, unmanned plane is made to complete lifting within a short period of time, reduce unmanned plane and be subject to the probability of external interference, add the jamproof ability of unmanned plane。
Preferably, described auxiliary propeller is installed in cross frame, and the Plane of rotation of auxiliary propeller is perpendicular to the axis of place frame。
Auxiliary propeller is installed in cross frame, same cross frame is shared with main screw, take this mode can simplify the structure of unmanned plane device, extra frame need not be increased for installing auxiliary propeller, auxiliary propeller rotates the Plane of rotation formed and is perpendicular to horizontal plane, and both perpendicular to the axis of place cross frame, the efficiency realizing auxiliary propeller maximizes, auxiliary propeller is made to provide only the active force in horizontal direction, active force in the horizontal direction reaches maximum, thus effectively regulating the external force that unmanned plane is subject in the horizontal direction, ensure that unmanned plane speed in the horizontal direction and acceleration are zero, it is easy to unmanned plane and steadily completes lifting action in vertical direction。
Preferably, described auxiliary propeller is 4, is symmetrically arranged in the end of cross frame。Auxiliary propeller is installed in the frame outer end of each installation main screw, ensure do not increasing on the basis of mounting bracket, the Plane of rotation making each auxiliary propeller is perpendicular to the axis of place frame, ensure that the Plane of rotation of auxiliary propeller is perpendicular to frame axis, make the auxiliary propeller of unmanned plane when regulating the external interference being subject in horizontal direction, governing speed and power can be improved, in the presence of a harsh environment, two auxiliary propellers in same frame axis can provide the speed on equidirectional and acceleration, in order to the bigger external force overcoming unmanned plane to be subject in one direction。
Preferably, described auxiliary propeller is also configured with adjustable base, and for adjusting and change the Plane of rotation direction of auxiliary propeller, described adjustable base is installed in the frame of unmanned plane device。
Auxiliary propeller configures adjustable base, for adjusting and change the Plane of rotation direction of auxiliary propeller, the force direction making auxiliary propeller can change, when unmanned plane lifts under Stationary Random Environments state, by the main control unit control to adjustable base, change the Plane of rotation direction of auxiliary propeller, make the parallel Plane of rotation with main screw of Plane of rotation of auxiliary propeller, the lifting for unmanned plane simultaneously of auxiliary propeller and main screw provides pulling force up or down, thus reducing unmanned plane lifting time under Stationary Random Environments, reach to improve the unmanned plane work efficiency when takeoff and landing。Take off in the process landed in adverse circumstances, main screw is for producing pulling force up or down, by adjusting adjustable base, the Plane of rotation making auxiliary propeller is perpendicular to horizontal plane, thus providing the active force in horizontal direction for unmanned plane, ensure that unmanned plane speed in the horizontal direction and acceleration are zero, make unmanned plane complete steady takeoff and landing in vertical direction。
Preferably, described adjustable base uses direction adjusting apparatus, and described direction adjusting apparatus is that finger direction is with regulating the power set that voltage is controlled。Unmanned plane is in takeoff and landing process, it is arranged on the detecting device on unmanned plane and first records amount of force in all directions, then pass through conversion system and mechanicals efforts is converted into voltage signal, namely direction adjusting apparatus carrys out output action power according to adjustment voltage, obtain controlling the purpose in direction, so that the direction of adjustable base is effectively adjusted。
Preferably, described direction adjusting apparatus is steering wheel。Use steering wheel as adjustable base, helm control circuit plate receives the control signal from holding wire, control electric machine rotation, driven by motor series of gears group, output steering wheel is driven to after deceleration, the output shaft of steering wheel and what position feedback potentiometer was connected to, while steering wheel rotates, drive position feedback potentiometer, potentiometer will export a voltage signal to control circuit plate, feed back, then control circuit buttress determines rotation direction and the speed of motor according to position, stop thus reaching target, to realize effective control of auxiliary propeller force direction。
Preferably, described unmanned plane device is additionally provided with the perception device for measuring speed and acceleration。Use gyroscope, Inertial Measurement Units etc. are as sensor component and unit that unmanned plane speed and acceleration carry out perception, the airborne all directions of no-manned plane three-dimensional are (front, after, left, right, on, under) speed and acceleration measurement, feedback quantity as unmanned plane during flying state, then intelligent algorithm is introduced at main control unit, feedback quantity according to speed and acceleration perception unit is calculated, and then it is converted into the regulated quantity of system call interception unit, by the main control unit on unmanned plane, the rotating speed of auxiliary propeller is adjusted, the environmental disturbances suffered in the horizontal direction in order to offset unmanned plane, guarantee the vertical lift of unmanned plane。
Preferably, described unmanned plane device is also configured with pulse-width modulator。Use pulse-width modulator that the rotating speed of the auxiliary propeller of unmanned plane all directions is accurately adjusted, so that the speed of standard of fuselage face all directions and acceleration are zero, it is ensured that unmanned plane completes lifting action in vertical direction。
Preferably, described unmanned plane device is additionally provided with for remotely monitoring and controls the ground control unit that unmanned plane runs, and described ground control unit includes display screen, memorizer and operation interface。Send control by the operation interface of ground control unit to main control unit and perform signal, receive the work state information of each system unit returned by main control unit simultaneously, and show check by display screen, these information returned are stored in memorizer。
Correspondingly, present invention also offers the control method of the unmanned plane device of a kind of steady lifting, the method comprises the following steps:
A, by main control unit start unmanned plane main screw；
B, main screw Plane of rotation be parallel to horizontal plane, provide pulling force upwards for unmanned plane, unmanned plane ascends into takeoff phase, starts auxiliary propeller again through main control unit, provides the active force in horizontal direction for unmanned plane；
C, unmanned plane carries environmental monitoring system, by environmental monitoring system, external environment condition is monitored, main control unit adjusts the Plane of rotation direction of auxiliary propeller in time according to exterior environmental conditions, under Stationary Random Environments, the Plane of rotation direction of auxiliary propeller is adjusted to and is parallel to horizontal plane by main control unit, the active force in vertical direction is provided for unmanned plane, shorten the lifting time of unmanned plane, in the presence of a harsh environment, the Plane of rotation direction of auxiliary propeller is adjusted to and is perpendicular to horizontal plane by main control unit, the active force in horizontal direction is provided for unmanned plane, making unmanned aerial vehicle body is zero at speed and the acceleration of horizontal plane all directions, guarantee that unmanned plane steadily rises；
D, after unmanned plane completes flight, when declining, external environment condition is monitored by the environmental monitoring system that unmanned plane carries, main control unit adjusts the Plane of rotation direction of auxiliary propeller in time according to external environment condition, under Stationary Random Environments, the Plane of rotation direction of auxiliary propeller is adjusted to and is parallel to horizontal plane by main control unit, the active force in vertical direction is provided for unmanned plane, shorten the lifting time of unmanned plane, in the presence of a harsh environment, the Plane of rotation direction of auxiliary propeller is adjusted to and is perpendicular to horizontal plane by main control unit, the active force in horizontal direction is provided for unmanned plane, making unmanned aerial vehicle body is zero at speed and the acceleration of horizontal plane all directions, guarantee unmanned plane stable landing；
After the landing of e, unmanned plane, closed main screw and auxiliary propeller by main control unit。
Take aforesaid way, when making unmanned plane lift under Stationary Random Environments, shorten lifting time, make unmanned plane from the impact of external environment, when lifting in the presence of a harsh environment, the capacity of resisting disturbance of unmanned plane can be strengthened, complete steady lifting。
Compared with prior art, beneficial effects of the present invention:
1, it is arranged to overcome the auxiliary propeller of external environmental interference in horizontal direction on unmanned plane, main screw provides pulling force upwards, in order to overcome the gravity of unmanned plane self, traction machine body moves upward, auxiliary propeller is in order to overcome the interference of external environment in horizontal direction, strengthen unmanned plane capacity of resisting disturbance in the horizontal direction, controlled by the rotating speed of auxiliary propeller, making unmanned aerial vehicle body is zero at speed and the acceleration of horizontal plane all directions, it is ensured that unmanned plane completes lifting action in vertical direction；
2, auxiliary propeller configures adjustable base, the force direction making auxiliary propeller changes, when lifting under Stationary Random Environments state, adjust the direction of base, the lifting for unmanned plane simultaneously of auxiliary propeller and main screw is made to provide pulling force up or down, thus reducing unmanned plane lifting time under Stationary Random Environments, take off in the process landed in adverse circumstances, main screw is for producing pulling force up or down, by adjusting the direction of base, auxiliary propeller is made to provide the active force in horizontal direction for unmanned plane, ensure that unmanned plane speed in the horizontal direction and acceleration are zero, it is easy to unmanned plane and completes lifting action in vertical direction；
3, unmanned plane device is configured with speed and acceleration perception device, when external environment affect unmanned plane in the horizontal direction occur offset time, speed according to unmanned plane self and acceleration perception device, use intelligent algorithm that wind speed component size in horizontal plane all directions is calculated, use the pulse-width modulator being arranged on unmanned plane device that the auxiliary propeller of all directions is adjusted, the speed and the acceleration that make standard of fuselage face all directions are zero, make unmanned plane be prone to lifting, improve capacity of resisting disturbance。
Accompanying drawing illustrates:
Fig. 1 is the structure principle chart of existing four rotor wing unmanned aerial vehicles。
Fig. 2 is the structure principle chart of the unmanned plane device in embodiment 1。
Fig. 3 is the structure principle chart of the unmanned plane device in embodiment 2。
Fig. 4 is the structure principle chart of the unmanned plane device in embodiment 3。
Labelling in figure: 1-the first main screw, 2-the second main screw, 3-the 3rd main screw, 4-the 4th main screw, 5-the first auxiliary propeller, 6-the second auxiliary propeller, 7-the 3rd auxiliary propeller, 8-the 4th auxiliary propeller, 9-the first adjustable base, 10-the second adjustable base, 11-the 3rd adjustable base, 12-the 4th adjustable base。
Detailed description of the invention
Below in conjunction with test example and detailed description of the invention, the present invention is described in further detail。But this should not being interpreted as, the scope of the above-mentioned theme of the present invention is only limitted to below example, and all technology realized based on present invention belong to the scope of the present invention。
Embodiment 1
The present embodiment takes off big at bad environments, wind speed for unmanned plane or lands。
As in figure 2 it is shown, jamproof unmanned plane device during lifting, including multiple auxiliary propellers, described auxiliary propeller is centered by cross frame, being symmetrically arranged in around unmanned plane body, the Plane of rotation of auxiliary propeller is perpendicular to horizontal plane, and the Plane of rotation direction of auxiliary propeller is adjustable。Unmanned plane is provided with 4 main screws, respectively first main screw the 1, second main screw the 2, the 3rd main screw the 3, the 4th main screw 4, and four main screws are arranged in cross rack construction, regard the plane of arrangement of cross frame as rectangular coordinate plane, then the first main screw 1 and the 3rd main screw 3 are arranged in the positive negative direction of X-axis, from overlooking direction, main screw direction of rotation is rotate counterclockwise, Plane of rotation is parallel to horizontal plane, pulling force upwards is provided, in order to overcome the gravity of unmanned plane self for unmanned plane。Second main screw 2 and the 4th main screw 4 are arranged in the positive negative direction of Y-axis, from overlooking direction, main screw direction of rotation is that Plane of rotation is parallel to horizontal plane clockwise, pulling force upwards is provided, in order to overcome the gravity of unmanned plane self for unmanned plane。
Auxiliary auxiliary propeller is installed in cross frame, and the Plane of rotation of auxiliary propeller is perpendicular to the axis of place frame, as shown in Figure 2, auxiliary propeller is 4, it is symmetrically arranged in 4 ends of cross frame, first auxiliary propeller 5 and the 3rd auxiliary propeller 7 are arranged in the positive negative direction of X-axis, and it is positioned at the outside of the first main screw 1 and the 3rd main screw 3, auxiliary propeller rotates the Plane of rotation formed and is perpendicular to horizontal plane, axis both perpendicular to X-axis, in order to provide the active force in horizontal direction, second auxiliary propeller 6 and the 4th auxiliary propeller 8 are arranged in the positive negative direction of Y-axis, and it is positioned at the outside of the second main screw 2 and the 4th main screw 4, auxiliary propeller rotates the plane formed and is perpendicular to horizontal plane, axis both perpendicular to Y-axis。Unmanned plane is when bad environments, wind speed take off or land big, second auxiliary propeller the 5, second auxiliary propeller the 6, the 3rd auxiliary propeller 7 and the 4th auxiliary propeller 8 are in order to overcome the interference of external environment in horizontal direction, strengthen unmanned plane capacity of resisting disturbance in the horizontal direction, by main control unit, the rotating speed of auxiliary propeller is controlled, making unmanned aerial vehicle body is zero at speed and the acceleration of horizontal plane all directions, it is ensured that unmanned plane completes to take off or land in vertical direction。
In the present embodiment, auxiliary propeller and main screw are installed in same cross frame, take this mode can simplify the structure of unmanned plane device, extra frame need not be increased for installing auxiliary propeller, rotate, by main control unit adjustment auxiliary propeller, the plane formed simultaneously and be perpendicular to horizontal plane, and it is perpendicular to the axis of place cross frame, the efficiency effectively realizing auxiliary propeller maximizes, auxiliary propeller is made to provide only the active force in horizontal direction, active force in the horizontal direction reaches to maximize, play the advantage that auxiliary propeller overcomes horizontal direction windward rapid-curing cutback to disturb to the full extent。
Unmanned plane device is configured with the perception device for measuring speed and acceleration, use gyroscope, Inertial Measurement Units etc. are as sensor component and unit that unmanned plane speed and acceleration carry out perception, simultaneously, unmanned plane device is also configured with pulse-width modulator, use gyroscope, Inertial Measurement Unit is (front to the airborne all directions of no-manned plane three-dimensional, after, left, right, on, under) speed and acceleration measurement, feedback quantity as unmanned plane during flying state, then intelligent algorithm is introduced at main control unit, feedback quantity according to speed and acceleration perception unit is calculated, and then it is converted into the regulated quantity of system call interception unit, re-use the pulse-width modulator rotating speed to the auxiliary propeller of unmanned plane all directions accurately to adjust, so that the speed of standard of fuselage face all directions and acceleration are zero, guarantee that unmanned plane completes lifting action in vertical direction。
Unmanned plane device is additionally provided with for remotely monitoring and controls the ground control unit that unmanned plane runs, and ground control unit includes display screen, memorizer and operation interface。Send control by the operation interface of ground control unit to main control unit and perform signal, receive the work state information of each system unit returned by main control unit simultaneously, and show check by display screen, these information returned are stored in memorizer。
Main screw provides the active force of vertical direction for unmanned plane, in order to overcome the gravity of unmanned plane self, realize the lifting of unmanned plane, auxiliary propeller provides the active force in horizontal direction for unmanned plane, in order to overcome the external forces of level that unmanned plane is subject to, making unmanned plane is zero at speed and the acceleration of horizontal plane all directions, improves the capacity of resisting disturbance of unmanned plane。Unmanned plane realizes steadily lifting at bad environments, wind speed big, Negotiation speed and acceleration perception device record feedback quantity simultaneously, it is adjusted according to the regulated quantity that intelligent algorithm obtains, by main control unit, the rotating speed of auxiliary propeller is adjusted, and it is adjusted with environmental change, making its speed in the horizontal direction and acceleration is zero, it is ensured that unmanned plane safe operation when lifting, from external interference。
Embodiment 2
The present embodiment is used for unmanned plane occasion of takeoff and landing under Stationary Random Environments situation。
As it is shown on figure 3, jamproof unmanned plane device during lifting, including multiple auxiliary propellers, described auxiliary propeller is centered by cross frame, being symmetrically arranged in around unmanned plane body, the Plane of rotation of auxiliary propeller is perpendicular to horizontal plane, and the Plane of rotation direction of auxiliary propeller is adjustable。In the present embodiment, the direction of the Plane of rotation of auxiliary propeller is adjusted to and is parallel to horizontal plane, identical with the Plane of rotation direction of main screw, main screw includes the first main screw 1, second main screw 2, 3rd main screw 3, 4th main screw 4, and four main screws are arranged in cross rack construction, regard the plane of arrangement of cross frame as rectangular coordinate plane, then the first main screw 1 and the 3rd main screw 3 are arranged in the positive negative direction of X-axis, and the Plane of rotation of main screw is parallel to horizontal plane, pulling force upwards is provided for unmanned plane, in order to overcome the gravity of unmanned plane self。Second main screw 2 and the 4th main screw 4 are arranged in the positive negative direction of Y-axis, and the Plane of rotation of main screw is parallel to horizontal plane, provide pulling force upwards for unmanned plane, in order to overcome the gravity of unmanned plane self。
Auxiliary propeller is installed in cross frame, and the Plane of rotation of auxiliary propeller is perpendicular to the axis of place frame, as shown in Figure 3, auxiliary propeller is 4, it is symmetrically arranged in 4 side ends of cross frame, first auxiliary propeller 5 and the 3rd auxiliary propeller 7 are arranged in the positive negative direction of X-axis, and it is positioned at the outside of the first main screw 1 and the 3rd main screw 3, auxiliary propeller rotates the Plane of rotation formed and is parallel to horizontal plane, it is parallel to the axis of X-axis simultaneously, in order to provide the operation on vertical direction to exert oneself, second auxiliary propeller 6 and the 4th auxiliary propeller 8 are arranged in the positive negative direction of Y-axis, and it is positioned at the outside of the second main screw 2 and the 4th main screw 4, auxiliary propeller rotates the plane formed and is parallel to horizontal plane, it is parallel to the axis of Y-axis simultaneously。When unmanned plane takes off in Stationary Random Environments or lands, first auxiliary propeller the 5, second auxiliary propeller the 6, the 3rd auxiliary propeller 7 and the 4th auxiliary propeller 8 are in order to provide the active force on vertical direction, promote the speed of unmanned plane lifting, shorten the lifting time of unmanned plane, unmanned plane is made to complete lifting action within a short period of time, decrease the probability being subject to external environmental interference, thus capacity of resisting disturbance when improve unmanned plane lifting。
In the present embodiment, auxiliary propeller and main screw are installed in same cross frame, take this mode can simplify the structure of unmanned plane device, extra frame need not be increased for installing auxiliary propeller, the plane simultaneously adjusting auxiliary propeller rotation formation is parallel to horizontal plane, and it is parallel to the axis of place cross frame, auxiliary propeller is made to provide only the active force in vertical direction, active force in vertical direction reaches to maximize, unmanned plane is made to complete lifting process within the shortest time, decrease the impact not confirming environmental factors, improve capacity of resisting disturbance during lifting。
In the present embodiment, auxiliary propeller is also configured with adjustable base, as shown in Figure 3, first auxiliary propeller 5 is configured with the first adjustable base 9, second auxiliary propeller 6 is configured with the second adjustable base 10, 3rd auxiliary propeller 7 is configured with the 3rd adjustable base 11, 4th auxiliary propeller 8 is configured with the 4th adjustable base 12, for adjusting and change the Plane of rotation direction of auxiliary propeller, adjustable base is installed in the frame of unmanned plane device, take off in the process landed at Stationary Random Environments, main screw is for producing pulling force up or down, by adjusting the direction of adjustable base, the Plane of rotation making auxiliary propeller is parallel to horizontal plane, thus provide pulling force upwards for unmanned plane simultaneously, ensure that unmanned plane completes lifting action with fast speed within the shortest time。Adjustable base uses direction adjusting apparatus, direction adjusting apparatus is that direction is with regulating the power set that voltage is controlled, use steering wheel as direction adjusting apparatus, helm control circuit plate receives the control signal from holding wire, control electric machine rotation, driven by motor series of gears group, output steering wheel is driven to after deceleration, the output shaft of steering wheel and what position feedback potentiometer was connected to, while steering wheel rotates, drive position feedback potentiometer, potentiometer will export a voltage signal to control circuit plate, feed back, then control circuit buttress determines rotation direction and the speed of motor according to position, stop thus reaching target, to realize effective control of auxiliary propeller force direction。
Unmanned plane device is configured with the perception device for measuring speed and acceleration, use gyroscope, Inertial Measurement Units etc. are as sensor component and unit that unmanned plane speed and acceleration carry out perception, simultaneously, unmanned plane device is also configured with pulse-width modulator, use gyroscope, Inertial Measurement Unit is (front to the airborne all directions of no-manned plane three-dimensional, after, left, right, on, under) speed and acceleration measurement, feedback quantity as unmanned plane during flying state, then intelligent algorithm is introduced at main control unit, feedback quantity according to speed and acceleration perception unit is calculated, and then it is converted into the regulated quantity of system call interception unit, re-use the pulse-width modulator rotating speed to the auxiliary propeller of unmanned plane all directions accurately to adjust, when unmanned plane lifts under Stationary Random Environments, speed and acceleration on horizontal plane direction are zero, adjustable base is according to information feedback adjustment angle, the Plane of rotation making auxiliary propeller is parallel to horizontal plane, unmanned plane is made to complete lifting process within the shortest time with fast speed, decrease the impact not confirming environmental factors, improve capacity of resisting disturbance during lifting。
The present embodiment is seasonable in reality, first pass through main control unit and start unmanned plane main screw, the Plane of rotation of main screw is parallel to horizontal plane, pulling force upwards is provided for unmanned plane, unmanned plane ascends into takeoff phase, auxiliary propeller is started again through main control unit, the active force in horizontal direction is provided for unmanned plane, unmanned plane is provided with environmental monitoring system, by environmental monitoring system, external environment condition is monitored, the main control unit making unmanned plane adjusts the Plane of rotation direction of auxiliary propeller in time according to external environment condition, under Stationary Random Environments, the Plane of rotation direction of auxiliary propeller is adjusted to and is parallel to horizontal plane by main control unit, the active force in vertical direction is provided for unmanned plane, shorten the lifting time of unmanned plane, after unmanned plane completes flight, during landing, the Plane of rotation direction of auxiliary propeller is adjusted in time according to external environment condition, under Stationary Random Environments, by main control unit the Plane of rotation direction of auxiliary propeller is adjusted to and is parallel to horizontal plane, the active force in vertical direction is provided for unmanned plane, shorten the lifting time of unmanned plane, after unmanned plane completes landing, main screw and auxiliary propeller is closed by main control unit。
Main screw provides pulling force upwards for unmanned plane, in order to overcome the gravity of unmanned plane self, it is achieved the lifting of unmanned plane。The auxiliary propeller being arranged on adjustable base is similarly unmanned plane and provides pulling force upwards, in order to overcome the gravity of unmanned plane self, promote the speed of unmanned plane lifting, shorten the lifting time of unmanned plane, thus realizing unmanned plane to complete lifting action within a short period of time, improve capacity of resisting disturbance during lifting。When unmanned plane lifts under Stationary Random Environments, owing to the speed on horizontal plane direction and acceleration are zero, adjustable base Negotiation speed and acceleration perception device record feedback quantity, it is adjusted according to the regulated quantity that intelligent algorithm obtains, the surfaces of revolution of auxiliary propeller is adjusted to and is parallel to horizontal plane direction, make unmanned plane complete lifting with fast speed, decrease the impact not confirming environmental factors, from external interference。
Embodiment 3
The present embodiment is for unmanned plane occasion of takeoff and landing when bad environments, wind speed are big。
As shown in Figure 4, jamproof unmanned plane device during lifting, including multiple auxiliary propellers, described auxiliary propeller is centered by cross frame, being symmetrically arranged in around unmanned plane body, the Plane of rotation of auxiliary propeller is perpendicular to horizontal plane, and the Plane of rotation direction of auxiliary propeller is adjustable。The main screw of unmanned plane includes first main screw the 1, second main screw the 2, the 3rd main screw the 3, the 4th main screw 4, and four main screws are arranged in cross rack construction, regard the plane of arrangement of cross frame as rectangular coordinate plane, then the first main screw 1 and the 3rd main screw 3 are arranged in the positive negative direction of X-axis, and the Plane of rotation of main screw is parallel to horizontal plane, pulling force upwards is provided, in order to overcome the gravity of unmanned plane self for unmanned plane。Second main screw 2 and the 4th main screw 4 are arranged in the positive negative direction of Y-axis, and the Plane of rotation of main screw is parallel to horizontal plane, provide pulling force upwards for unmanned plane, in order to overcome the gravity of unmanned plane self。
Auxiliary propeller is installed in cross frame, and the Plane of rotation of auxiliary propeller is perpendicular to the axis of place frame, as shown in Figure 4, auxiliary propeller is 4, it is symmetrically arranged in 4 ends of cross frame, first auxiliary propeller 5 and the 3rd auxiliary propeller 7 are arranged in the positive negative direction of X-axis, and it is positioned at the outside of the first main screw 1 and the 3rd main screw 3, auxiliary propeller rotates the Plane of rotation formed and is perpendicular to horizontal plane, axis both perpendicular to X-axis, in order to provide the active force in horizontal direction, second auxiliary propeller 6 and the 4th auxiliary propeller 8 are arranged in the positive negative direction of Y-axis, and it is positioned at the outside of the second main screw 2 and the 4th main screw 4, auxiliary propeller rotates the plane formed and is perpendicular to horizontal plane, axis both perpendicular to Y-axis。When unmanned plane takes off or lands when bad environments, wind speed are greatly, first auxiliary propeller the 5, second auxiliary propeller the 6, the 3rd auxiliary propeller 7 and the 4th auxiliary propeller 8 are for providing the active force in horizontal direction, overcome unmanned plane interference in the horizontal direction, making speed that unmanned plane is subject in the horizontal direction and acceleration is zero, steadily lifting in vertical direction thus realizing unmanned plane, improving capacity of resisting disturbance during lifting。
In the present embodiment, auxiliary propeller and main screw are installed in same cross frame, take this mode can simplify the structure of unmanned plane device, extra frame need not be increased for installing auxiliary propeller, the plane simultaneously adjusting auxiliary propeller rotation formation is perpendicular to horizontal plane, and it is perpendicular to the axis of place cross frame, auxiliary propeller is made to provide only the active force in horizontal direction, active force in the horizontal direction reaches to maximize, make unmanned plane be capable of steady lifting, improve capacity of resisting disturbance during lifting。
In the present embodiment, auxiliary propeller is also configured with adjustable base, as shown in Figure 4, first auxiliary propeller 5 is configured with the first adjustable base 9, second auxiliary propeller 6 is configured with the second adjustable base 10, 3rd auxiliary propeller 7 is configured with the 3rd adjustable base 11, 4th auxiliary propeller 8 is configured with the 4th adjustable base 12, for adjusting and change the Plane of rotation direction of auxiliary propeller, described adjustable base is installed in the frame of unmanned plane device, at bad environments, under the situations such as wind speed is big during takeoff and landing, main screw is for producing pulling force up or down, by adjusting the direction of adjustable base, the Plane of rotation making auxiliary propeller is perpendicular to horizontal plane, thus provide the active force in horizontal direction for unmanned plane simultaneously, ensure that unmanned plane steadily lifts。Adjustable base finger direction is with regulating the direction adjusting apparatus that voltage is controlled, use steering wheel as direction adjusting apparatus, helm control circuit plate receives the control signal from holding wire, control electric machine rotation, driven by motor series of gears group, output steering wheel is driven to after deceleration, the output shaft of steering wheel and what position feedback potentiometer was connected to, while steering wheel rotates, drive position feedback potentiometer, potentiometer will export a voltage signal to control circuit plate, feed back, then control circuit buttress determines rotation direction and the speed of motor according to position, stop thus reaching target, to realize effective control of auxiliary propeller force direction。
Unmanned plane device is configured with the perception device for measuring speed and acceleration, use gyroscope, Inertial Measurement Units etc. are as sensor component and unit that unmanned plane speed and acceleration carry out perception, simultaneously, unmanned plane device is also configured with pulse-width modulator, use gyroscope, Inertial Measurement Unit is (front to the airborne all directions of no-manned plane three-dimensional, after, left, right, on, under) speed and acceleration measurement, feedback quantity as unmanned plane during flying state, then intelligent algorithm is introduced at main control unit, feedback quantity according to speed and acceleration perception unit is calculated, and then it is converted into the regulated quantity of system call interception unit, re-use the pulse-width modulator rotating speed to the auxiliary propeller of unmanned plane all directions accurately to adjust, unmanned plane is at bad environments, under the situations such as wind speed is big during lifting, speed and acceleration is there is in unmanned plane on horizontal plane direction, adjustable base is according to information feedback adjustment angle, the Plane of rotation making auxiliary propeller is perpendicular to horizontal plane, unmanned plane is made to overcome the external force being subject in the horizontal direction, making its speed in the horizontal direction and acceleration is zero, realize the steady lifting of unmanned plane。
Main screw provides pulling force upwards for unmanned plane, in order to overcome the gravity of unmanned plane self, it is achieved the lifting of unmanned plane。The auxiliary propeller being arranged on adjustable base provides the active force in horizontal direction for unmanned plane, in order to overcome unmanned plane experienced interference in the horizontal direction, makes unmanned plane smoothly complete takeoff and landing, improves capacity of resisting disturbance during lifting。Unmanned plane is when bad environments, wind speed lift big, owing to unmanned plane exists speed and acceleration on horizontal plane direction, adjustable base Negotiation speed and acceleration perception device record feedback quantity, it is adjusted according to the regulated quantity that intelligent algorithm obtains, the surfaces of revolution of auxiliary propeller is adjusted to and is perpendicular to horizontal plane direction, unmanned plane is made to realize steady lifting in the presence of a harsh environment, from external interference。
Embodiment 4
The occasion that the present embodiment lifts under general environment (there is wind speed, but wind speed is little) for unmanned plane。
In the present embodiment, auxiliary propeller is also configured with adjustable base, first auxiliary propeller 5 is configured with the first adjustable base 9, second auxiliary propeller 6 is configured with the second adjustable base 10, 3rd auxiliary propeller 7 is configured with the 3rd adjustable base 11, 4th auxiliary propeller 8 is configured with the 4th adjustable base 12, for adjusting and change the Plane of rotation direction of auxiliary propeller, described adjustable base is installed in the frame of unmanned plane device, when there is external interference and disturb little during takeoff and landing, main screw is for producing pulling force up or down, by adjusting the direction of adjustable base, certain angle is there is in the Plane of rotation making auxiliary propeller with horizontal plane, thus provide vertical direction for unmanned plane simultaneously, active force in horizontal direction, ensure that unmanned plane speed in the horizontal direction and acceleration are zero, a certain amount of active force can also be provided for unmanned plane in the vertical direction simultaneously, make unmanned plane while steadily lifting, accelerate the speed of lifting, from external interference。Adjustable base finger direction is with regulating the direction adjusting apparatus that voltage is controlled, use steering wheel as direction adjusting apparatus, helm control circuit plate receives the control signal from holding wire, control electric machine rotation, driven by motor series of gears group, output steering wheel is driven to after deceleration, the output shaft of steering wheel and what position feedback potentiometer was connected to, while steering wheel rotates, drive position feedback potentiometer, potentiometer will export a voltage signal to control circuit plate, feed back, then control circuit buttress determines rotation direction and the speed of motor according to position, stop thus reaching target, to realize effective control of auxiliary propeller force direction。
Unmanned plane device is configured with the perception device for measuring speed and acceleration, use gyroscope, Inertial Measurement Units etc. are as sensor component and unit that unmanned plane speed and acceleration carry out perception, simultaneously, unmanned plane device is also configured with pulse-width modulator, use gyroscope, Inertial Measurement Unit is (front to the airborne all directions of no-manned plane three-dimensional, after, left, right, on, under) speed and acceleration measurement, feedback quantity as unmanned plane during flying state, then intelligent algorithm is introduced at main control unit, feedback quantity according to speed and acceleration perception unit is calculated, and then it is converted into the regulated quantity of system call interception unit, re-use the pulse-width modulator rotating speed to the auxiliary propeller of unmanned plane all directions accurately to adjust, when unmanned plane lifts when there is certain external interference, certain speed and acceleration is there is in unmanned plane on horizontal plane direction, adjustable base is according to information feedback adjustment angle, the Plane of rotation making auxiliary propeller is adjusted to certain angle with horizontal plane, unmanned plane is made not only steadily to lift, also within the shortest time, complete lifting process with fast speed simultaneously, decrease the impact not confirming environmental factors, improve capacity of resisting disturbance during lifting。
Main screw provides pulling force upwards for unmanned plane, in order to overcome the gravity of unmanned plane self, it is achieved the lifting of unmanned plane。It is arranged on the auxiliary propeller on adjustable base and provides the active force in horizontal direction, vertical direction for unmanned plane simultaneously, while overcoming unmanned plane to be interfered in the horizontal direction, make unmanned plane complete takeoff and landing within a short period of time, improve capacity of resisting disturbance during lifting。
When the unmanned plane device that practical application steadily lifts, operating and control unmanned plane according to following methods, the method comprises the following steps:
A, by main control unit start unmanned plane main screw；
B, main screw Plane of rotation be parallel to horizontal plane, provide pulling force upwards for unmanned plane, unmanned plane ascends into takeoff phase, starts auxiliary propeller again through main control unit, provides the active force in horizontal direction for unmanned plane；
C, unmanned plane carries environmental monitoring system, by environmental monitoring system, external environment condition is monitored, main control unit adjusts the Plane of rotation direction of auxiliary propeller in time according to exterior environmental conditions, under Stationary Random Environments, the Plane of rotation direction of auxiliary propeller is adjusted to and is parallel to horizontal plane by main control unit, the active force in vertical direction is provided for unmanned plane, shorten the lifting time of unmanned plane, in the presence of a harsh environment, the Plane of rotation direction of auxiliary propeller is adjusted to and is perpendicular to horizontal plane by main control unit, the active force in horizontal direction is provided for unmanned plane, making unmanned aerial vehicle body is zero at speed and the acceleration of horizontal plane all directions, guarantee that unmanned plane steadily rises；
D, after unmanned plane completes flight, when declining, external environment condition is monitored by the environmental monitoring system that unmanned plane carries, main control unit adjusts the Plane of rotation direction of auxiliary propeller in time according to external environment condition, under Stationary Random Environments, the Plane of rotation direction of auxiliary propeller is adjusted to and is parallel to horizontal plane by main control unit, the active force in vertical direction is provided for unmanned plane, shorten the lifting time of unmanned plane, in the presence of a harsh environment, the Plane of rotation direction of auxiliary propeller is adjusted to and is perpendicular to horizontal plane by main control unit, the active force in horizontal direction is provided for unmanned plane, making unmanned aerial vehicle body is zero at speed and the acceleration of horizontal plane all directions, guarantee unmanned plane stable landing；
After the landing of e, unmanned plane, closed main screw and auxiliary propeller by main control unit。
Take aforesaid way, when making unmanned plane lift under Stationary Random Environments, shorten lifting time, make unmanned plane from the impact of external environment, when lifting in the presence of a harsh environment, the capacity of resisting disturbance of unmanned plane can be strengthened, complete steady lifting。
Claims (10)
1. the unmanned plane device of a steady lifting, it is characterised in that include multiple auxiliary propeller, described auxiliary propeller is centered by cross frame, being symmetrically arranged in around unmanned plane body, the Plane of rotation of auxiliary propeller is perpendicular to horizontal plane, and the Plane of rotation direction of auxiliary propeller is adjustable。
2. the unmanned plane device of steady lifting according to claim 1, it is characterised in that described auxiliary propeller is installed in cross frame, and the Plane of rotation of auxiliary propeller is perpendicular to the axis of place frame。
3. the unmanned plane device of steady lifting according to claim 2, it is characterised in that described auxiliary propeller is 4, is symmetrically arranged in the end of cross frame。
4. the unmanned plane device of steady lifting according to claim 2, it is characterised in that described auxiliary propeller is also configured with adjustable base, for adjusting the Plane of rotation direction of auxiliary propeller, described adjustable base is installed in the frame of unmanned plane device。
5. the unmanned plane device of steady lifting according to claim 4, it is characterised in that described adjustable base uses direction adjusting apparatus, described direction adjusting apparatus is that finger direction is with regulating the power set that voltage is controlled。
6. the unmanned plane device of steady lifting according to claim 5, it is characterised in that described direction adjusting apparatus is steering wheel。
7. the unmanned plane device of the steadily lifting according to claim 3 or 6, it is characterised in that unmanned plane device is also configured with the perception device for measuring speed and acceleration。
8. the unmanned plane device of steady lifting according to claim 7, it is characterised in that unmanned plane device is also configured with pulse-width modulator。
9. the unmanned plane device of steady lifting according to claim 2, it is characterised in that unmanned plane device is additionally provided with for remotely monitoring and controls the ground control unit that unmanned plane runs, described ground control unit includes display screen, memorizer and operation interface。
10. the control method of the unmanned plane device of a steady lifting, it is characterised in that the control method of the steadily unmanned plane device of lifting as described in one of claim 1-9, comprises the following steps:
A, by main control unit start unmanned plane main screw；
B, main screw Plane of rotation be parallel to horizontal plane, provide pulling force upwards for unmanned plane, unmanned plane ascends into takeoff phase, starts auxiliary propeller again through main control unit, provides the active force in horizontal direction for unmanned plane；
C, unmanned plane carries environmental monitoring system, by environmental monitoring system, external environment condition is monitored, main control unit adjusts the Plane of rotation direction of auxiliary propeller in time according to exterior environmental conditions, under Stationary Random Environments, the Plane of rotation direction of auxiliary propeller is adjusted to and is parallel to horizontal plane by main control unit, the active force in vertical direction is provided for unmanned plane, shorten the lifting time of unmanned plane, in the presence of a harsh environment, the Plane of rotation direction of auxiliary propeller is adjusted to and is perpendicular to horizontal plane by main control unit, the active force in horizontal direction is provided for unmanned plane, making unmanned aerial vehicle body is zero at speed and the acceleration of horizontal plane all directions, guarantee that unmanned plane steadily rises；
D, after unmanned plane completes flight, when declining, external environment condition is monitored by the environmental monitoring system that unmanned plane carries, main control unit adjusts the Plane of rotation direction of auxiliary propeller in time according to external environment condition, under Stationary Random Environments, the Plane of rotation direction of auxiliary propeller is adjusted to and is parallel to horizontal plane by main control unit, the active force in vertical direction is provided for unmanned plane, shorten the lifting time of unmanned plane, in the presence of a harsh environment, the Plane of rotation direction of auxiliary propeller is adjusted to and is perpendicular to horizontal plane by main control unit, the active force in horizontal direction is provided for unmanned plane, making unmanned aerial vehicle body is zero at speed and the acceleration of horizontal plane all directions, guarantee unmanned plane stable landing；
After the landing of e, unmanned plane, closed main screw and auxiliary propeller by main control unit。
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Effective date of registration: 20221208 Address after: 271000 The second house from the south of Building 1, East Street Road South (Wangchen Commercial and Residential Building), Wenmiao Sub district Office, Ningyang County, Tai'an City, Shandong Province Patentee after: Shandong Jiumu Hydrogen Energy Technology Co.,Ltd. Address before: 750021 No. 204, Wenchang North Street, Xixia District, the Ningxia Hui Autonomous Region, Yinchuan Patentee before: BEIFANG MINZU University |