CN105691613B - A kind of unmanned plane device steadily gone up and down and control method - Google Patents
A kind of unmanned plane device steadily gone up and down and control method Download PDFInfo
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- CN105691613B CN105691613B CN201610285173.1A CN201610285173A CN105691613B CN 105691613 B CN105691613 B CN 105691613B CN 201610285173 A CN201610285173 A CN 201610285173A CN 105691613 B CN105691613 B CN 105691613B
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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
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- Aviation & Aerospace Engineering (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses unmanned plane fields, the present invention provides the unmanned plane device and control method that one kind is steadily gone up and down, the unmanned plane device steadily gone up and down of the invention includes multiple auxiliary propellers, the auxiliary propeller is centered on cross rack, it 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.The present invention is by way of increasing auxiliary propeller, solve the problems, such as that unmanned plane is shifted by the interference on horizontal plane direction, realize the steady lifting of unmanned plane in vertical direction, reduce unmanned plane lifting time simultaneously, jamproof ability when unmanned plane is gone up and down in the presence of a harsh environment is improved, the problem of offset that unmanned plane occurs because being interfered even smashes is effectively prevented.
Description
Technical field
The present invention relates to unmanned plane field, in particular to a kind of unmanned plane device steadily gone up and down and control method.
Background technique
Unmanned plane is also known as UAV, remote control or from cruiser, is a kind of at low cost, small, machine of loss
Dynamic property it is high carry load aircraft, be widely used in the multiple fields such as military affairs, scientific research, civilian.In military field, nothing
Man-machine enemy's situation investigation, communication relaying, early warning, the target drone of can be applied to is trained etc., in addition can directly form unmanned plane form into columns into
Row fights to enemy；In scientific research field, it can be used for verifying, new equipment and the feasibility simulation assessment of new departure, boat of flight test
Clap acquisition, the sampling under adverse circumstances and the condition monitoring etc. of image；In civil field, unmanned plane can be used for agriculture soil moisture content prison
Survey, agricultural fertilizer, the condition of a disaster analysis, project supervision, power network line tour etc..In some practical applications, unmanned air vehicle technique is
Fairly good achievement is achieved, people have gradually recognized its great potential and effect.
The one kind of quadrotor drone as unmanned plane, by the principal screw for being mounted on four tops of cross rack construction
Paddle generates aerodynamic force, controls the flare maneuver of four wing unmanned planes, is able to achieve VTOL, freely hovers, advances, falling back, is super
A variety of aerial statues such as low-latitude flying.As shown in Figure 1, four main screws are in sustained height plane, the first propeller 1 and
Rotation, the second main screw 2 and the 4th main screw 4 rotate clockwise three main screws 3 counterclockwise, and master is provided on unmanned plane
Unit is controlled, the control to four wing unmanned plane during flying postures can be realized by the revolving speed of control main screw in main control unit.Four rotations
Wing unmanned plane is with its novel shape and compact structure, it is considered to be a kind of most simple, most intuitive stability contorting form.
Though this unmanned air vehicle technique have research and develop it is at low cost, exploitativeness is strong, use scope is wide, operate require it is low excellent
Point, but in practical applications, unmanned plane is generally existing by the shortcomings that environment is influenced is gone up and down, in lifting, due to main screw
Upward pulling force is only provided, to overcome the gravity of unmanned plane itself, traction machine body is moved upwards, and resisting in the horizontal direction is dry
Disturb that ability is weaker, unmanned plane is in horizontal plane (front, rear, left and right of body) direction due to being influenced by wind-force, it is difficult to realize nothing
The steady lifting of man-machine vertical direction.When especially carrying out takeoff and landing in the presence of a harsh environment, the anti-interference ability of unmanned plane is more
The phenomenon that difference, unmanned plane suffers from the interference on horizontal plane direction and shifts or even smash.
Summary of the invention
It is an object of the invention to overcome the quadrotor in the presence of the prior art in takeoff and landing, main spiral shell
Rotation paddle only provides upward pulling force, and in lifting, anti-interference ability is weaker, and unmanned plane is by from wind-force on horizontal plane direction etc.
The interference of factor and the problem of shift, a kind of unmanned plane device steadily gone up and down and control method, unmanned plane dress are provided
The anti-interference ability set in the horizontal direction is stronger, realizes steady lifting in vertical direction, and reduce the liter of unmanned plane
Drop the time, increase jamproof ability when unmanned plane is gone up and down in the presence of a harsh environment, effectively prevent unmanned plane be interfered and
The phenomenon that shifting or even smashing.
In order to achieve the above-mentioned object of the invention, the present invention provides following technical schemes:
A kind of unmanned plane device steadily gone up and down, including multiple auxiliary propellers, the auxiliary propeller is with cross machine
It centered on frame, is symmetrically arranged in around unmanned plane body, the Plane of rotation of auxiliary propeller is perpendicular to horizontal plane, and auxiliary screw
The Plane of rotation direction of paddle is adjustable.
It is provided with the main control unit for controlling each system unit work on unmanned plane device, main spiral shell is controlled by main control unit
Revolve paddle and auxiliary propeller rotation, while the revolving speed of propeller be adjusted, main screw provides upward pulling force, to gram
The gravity of unmanned plane itself is taken, traction unmanned plane body moves upwards, and auxiliary propeller is to overcome extraneous ring in horizontal direction
The interference in border, the anti-interference ability of enhancing unmanned plane in the horizontal direction, the revolving speed control by main control unit to auxiliary propeller
System, makes unmanned aerial vehicle body in the speed and acceleration zero of horizontal plane all directions, it is ensured that unmanned plane is completed to rise in vertical direction
Drop movement, meanwhile, the direction of the Plane of rotation of auxiliary propeller is adjustable, makes unmanned plane device according to the actual situation, can be changed auxiliary
The Plane of rotation direction for helping propeller, the power direction for providing it is adjustable, can not only provide power in the horizontal plane, but also
The active force in vertical direction can be provided for unmanned plane simultaneously, shorten the lifting time of unmanned plane, make unmanned plane when shorter
Interior completion lifting, reduces probability of the unmanned plane by external interference, increases the jamproof ability of unmanned plane.
Preferably, the auxiliary propeller is installed in cross rack, and the Plane of rotation of auxiliary propeller perpendicular to
The axis of place rack.
Auxiliary propeller is installed in cross rack, is shared the same cross rack with main screw, is taken this
Mode can simplify the structure of unmanned plane device, not need to increase additional rack for installing auxiliary propeller, auxiliary screw
Paddle rotates the Plane of rotation to be formed perpendicular to horizontal plane, and both perpendicular to the axis of place cross rack, realizes auxiliary spiral shell
The efficiency for revolving paddle maximizes, and so that auxiliary propeller is only provided the active force in horizontal direction, active force in the horizontal direction reaches
To maximum, to effectively adjust the external force that unmanned plane is subject in the horizontal direction, guarantee the speed of unmanned plane in the horizontal direction
It is zero with acceleration, steadily completes lifting action in vertical direction convenient for unmanned plane.
Preferably, the auxiliary propeller is 4, is symmetrically arranged in the end of cross rack.In each main spiral shell of installation
Auxiliary propeller is installed in the rack outer end for revolving paddle, guarantees on the basis of not increasing mounting bracket, makes each auxiliary propeller
Plane of rotation perpendicular to the axis of place rack, guarantee that the Plane of rotation of auxiliary propeller perpendicular to frame axis, makes nobody
In the external interference being subject on adjusting horizontal direction adjustment speed and power can be improved, severe in the auxiliary propeller of machine
Under environment, two auxiliary propellers in same frame axis can provide the velocity and acceleration on the same direction, to overcome
The larger external force that unmanned plane is subject in one direction.
Preferably, the auxiliary propeller is also configured with adjustable base, for adjusting and changing the rotation of auxiliary propeller
In-plane, the adjustable base are installed in the rack of unmanned plane device.
Adjustable base is configured on auxiliary propeller, for adjusting and changing the Plane of rotation direction of auxiliary propeller, is made
The force direction of auxiliary propeller can change, and when unmanned plane is gone up and down under Stationary Random Environments state, pass through master control
Control of the unit to adjustable base changes the Plane of rotation direction of auxiliary propeller, keeps the Plane of rotation of auxiliary propeller parallel
With the Plane of rotation of main screw, auxiliary propeller and main screw provide drawing upward or downward simultaneously for the lifting of unmanned plane
Power reaches the work effect for improving unmanned plane in takeoff and landing to reduce lifting time of the unmanned plane under Stationary Random Environments
Rate.During adverse circumstances take off landing, main screw is used to generate pulling force upward or downward, by adjusting adjustable bottom
Seat, makes the Plane of rotation of auxiliary propeller perpendicular to horizontal plane, to provide the active force in horizontal direction for unmanned plane, guarantees
The velocity and acceleration of unmanned plane in the horizontal direction is zero, and unmanned plane is made to complete steady takeoff and landing in vertical direction.
Preferably, the adjustable base use direction adjusting apparatus, the direction adjusting apparatus are finger directions with tune
The power device that economize on electricity pressure is controlled.For unmanned plane during takeoff and landing, the detection device being mounted on unmanned plane is first
Amount of force in all directions is first measured, voltage signal is then converted for mechanicals efforts by conversion system, side
To adjusting apparatus i.e. according to voltage is adjusted come output action power, the purpose in control direction is obtained, to make the side of adjustable base
To effectively being adjusted.
Preferably, the direction adjusting apparatus is steering engine.Use steering engine as adjustable base, helm control circuit plate connects
The control signal from signal wire, control motor rotation are received, motor drives series of gears group, output rudder is driven to after deceleration
Disk, what the output shaft and position feedback potentiometer of steering engine were connected to, while steering wheel rotates, drive position feedback potentiometer, electricity
Position meter will export a voltage signal to control circuit board, be fed back, and then control circuit board determines electricity according to position
The rotation direction and speed of machine, to reach target stopping, to realize effective control of auxiliary propeller force direction.
Preferably, the unmanned plane device is additionally provided with the perception device for measuring speed and acceleration.Use gyro
Instrument, Inertial Measurement Unit etc. are as the sensor component and unit perceived to unmanned plane velocity and acceleration, to unmanned plane
The velocity and acceleration of three-dimensional airborne all directions (front, back, left, right, up, down) measures, as unmanned plane during flying state
Then feedback quantity introduces intelligent algorithm in main control unit, is calculated according to the feedback quantity of velocity and acceleration sension unit, into
And it is converted into the regulated quantity of system call interception unit, it is adjusted by revolving speed of the main control unit on unmanned plane to auxiliary propeller,
To offset unmanned plane environmental disturbances suffered in the horizontal direction, it is ensured that the vertical lift of unmanned plane.
Preferably, the unmanned plane device is also configured with pulse-width modulator.Using pulse-width modulator to nobody
The revolving speed of the auxiliary propeller of machine all directions is accurately adjusted, to make the speed and acceleration of standard of fuselage face all directions
Zero, it is ensured that unmanned plane completes lifting action in vertical direction.
Preferably, the unmanned plane device is additionally provided with the ground control dress for the operation of remote monitoring and control unmanned plane
It sets, the ground control unit includes display screen, memory and operation interface.By the operation interface of ground control unit to
Main control unit sends control and executes signal, while the working condition for receiving each system unit by main control unit passback back is believed
Breath, and shown and checked by display screen, these information of passback back are stored in memory.
Correspondingly, the present invention also provides the control method of unmanned plane device that one kind is steadily gone up and down, this method include with
Lower step:
A, unmanned plane main screw is started by main control unit；
B, the Plane of rotation of main screw is parallel to horizontal plane, provides upward pulling force for unmanned plane, unmanned plane rise into
Enter takeoff phase, then auxiliary propeller is started by main control unit, the active force in horizontal direction is provided for unmanned plane；
C, environmental monitoring system is come on unmanned plane, external environment is monitored by environmental monitoring system, master control
Unit adjusts the Plane of rotation direction of auxiliary propeller according to exterior environmental conditions in time, and under Stationary Random Environments, main control unit will
The Plane of rotation direction of auxiliary propeller is adjusted to be parallel to horizontal plane, provides the active force in vertical direction for unmanned plane, subtracts
The Plane of rotation direction of auxiliary propeller is adjusted to vertical by the lifting time of short unmanned plane, in the presence of a harsh environment, main control unit
In horizontal plane, the active force in horizontal direction is provided for unmanned plane, make unmanned aerial vehicle body in the speed of horizontal plane all directions and is added
Speed is zero, it is ensured that unmanned plane steadily rises；
D, after unmanned plane completes flight, in decline, the included environmental monitoring system of unmanned plane supervises external environment
It surveys, main control unit adjusts the Plane of rotation direction of auxiliary propeller, under Stationary Random Environments, main control unit according to external environment in time
It is adjusted to the Plane of rotation direction of auxiliary propeller to be parallel to horizontal plane, provides the active force in vertical direction for unmanned plane,
The lifting time of unmanned plane is shortened, in the presence of a harsh environment, the Plane of rotation direction of auxiliary propeller is adjusted to vertical by main control unit
Directly in horizontal plane, provide the active force in horizontal direction for unmanned plane, make unmanned aerial vehicle body in the speed of horizontal plane all directions and
Acceleration is zero, it is ensured that unmanned plane stable landing；
E, after unmanned plane landing, main screw and auxiliary propeller are closed by main control unit.
Aforesaid way is taken, when going up and down unmanned plane under Stationary Random Environments, lifting time is shortened, makes unmanned plane from the external world
The influence of environment when going up and down in the presence of a harsh environment, can enhance the anti-interference ability of unmanned plane, complete steady lifting.
Compared with prior art, beneficial effects of the present invention:
1, the auxiliary propeller for overcoming external environmental interference in horizontal direction is set on unmanned plane, and main screw mentions
For upward pulling force, to overcome the gravity of unmanned plane itself, traction machine body is moved upwards, and auxiliary propeller is to overcome level
The interference of external environment on direction, the anti-interference ability of enhancing unmanned plane in the horizontal direction, passes through the revolving speed of auxiliary propeller
Control, makes unmanned aerial vehicle body in the speed and acceleration zero of horizontal plane all directions, it is ensured that unmanned plane is completed in vertical direction
Lifting action；
2, adjustable base is configured on auxiliary propeller, the force direction of auxiliary propeller is made to change, in steady ring
When being gone up and down under the state of border, the direction of pedestal is adjusted, makes auxiliary propeller and main screw while being that the lifting of unmanned plane mentions
For pulling force upward or downward, to reduce lifting time of the unmanned plane under Stationary Random Environments, take off landing in adverse circumstances
In the process, main screw is used to generate pulling force upward or downward, by adjusting the direction of pedestal, make auxiliary propeller nobody
Machine provides the active force in horizontal direction, guarantees that the velocity and acceleration of unmanned plane in the horizontal direction is zero, is convenient for unmanned plane
Lifting action is completed in vertical direction；
3, unmanned plane device is configured with velocity and acceleration perception device, when external environment influences unmanned plane in the horizontal direction
On when shifting, according to the speed of unmanned plane itself and acceleration perception device, using intelligent algorithm to wind speed in horizontal plane
Component size in all directions is calculated, using pulse-width modulator of the configuration on unmanned plane device to the auxiliary of all directions
It helps propeller to be adjusted, makes the velocity and acceleration zero of standard of fuselage face all directions, make unmanned plane be easy to go up and down, improve
Anti-interference ability.
Detailed description of the invention:
Fig. 1 is the structure principle chart of existing quadrotor drone.
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.
Marked in the figure: the first main screw of 1-, the second main screw of 2-, 3- third main screw, the 4th main screw of 4-,
The first auxiliary propeller of 5-, the second auxiliary propeller of 6-, 7- third auxiliary propeller, the 4th auxiliary propeller of 8-, 9- first can
Adjust pedestal, the second adjustable base of 10-, 11- third adjustable base, the 4th adjustable base of 12-.
Specific embodiment
Below with reference to test example and specific embodiment, the present invention is described in further detail.But this should not be understood
It is all that this is belonged to based on the technology that the content of present invention is realized for the scope of the above subject matter of the present invention is limited to the following embodiments
The range of invention.
Embodiment 1
The present embodiment takes off or lands in the case where bad environments, wind speed are big for unmanned plane.
As shown in Fig. 2, jamproof unmanned plane device when lifting, including multiple auxiliary propellers, the auxiliary propeller
Centered on cross rack, be symmetrically arranged in around unmanned plane body, the Plane of rotation of auxiliary propeller perpendicular to horizontal plane,
And the Plane of rotation direction of auxiliary propeller is adjustable.It is provided with 4 main screws on unmanned plane, respectively the first main screw 1,
Second main screw 2, third main screw 3, the 4th main screw 4, and four main screws are arranged in cross rack construction
On, regard the plane of arrangement of cross rack as rectangular coordinate plane, then the first main screw 1 and third main screw 3 are distinguished
It is arranged in the positive negative direction of X-axis, in terms of overlook direction, main screw direction of rotation is that rotation, Plane of rotation are parallel counterclockwise
In horizontal plane, upward pulling force is provided for unmanned plane, to overcome the gravity of unmanned plane itself.Second main screw 2 and the 4th
Main screw 4 is arranged in the positive negative direction of Y-axis, and in terms of overlook direction, main screw direction of rotation is clockwise direction,
Plane of rotation is parallel to horizontal plane, and upward pulling force is provided for unmanned plane, to overcome the gravity of unmanned plane itself.
Auxiliary auxiliary propeller is installed in cross rack, and the Plane of rotation of auxiliary propeller is perpendicular to place rack
Axis is symmetrically arranged in 4 ends of cross rack, the first auxiliary propeller 5 as shown in Fig. 2, auxiliary propeller is 4
It is arranged in the positive negative direction of X-axis with third auxiliary propeller 7, and is located at the first main screw 1 and third main screw 3
Outside, auxiliary propeller rotates the Plane of rotation to be formed perpendicular to horizontal plane, both perpendicular to the axis of X-axis, to provide
Active force in horizontal direction, the second auxiliary propeller 6 and the 4th auxiliary propeller 8 are arranged in the positive negative direction of Y-axis,
And it is located at the outside of the second main screw 2 and the 4th main screw 4, auxiliary propeller rotates the plane to be formed perpendicular to level
Face, both perpendicular to the axis of Y-axis.When unmanned plane takes off or lands in the case where bad environments, wind speed are big, the second auxiliary
Propeller 5, the second auxiliary propeller 6, third auxiliary propeller 7 and the 4th auxiliary propeller 8 are outer in horizontal direction to overcome
The interference of boundary's environment, the anti-interference ability of enhancing unmanned plane in the horizontal direction, turns auxiliary propeller by main control unit
Speed control, makes unmanned aerial vehicle body in the speed and acceleration zero of horizontal plane all directions, it is ensured that unmanned plane is complete in vertical direction
At taking off or land.
In the present embodiment, auxiliary propeller and main screw are installed in same root cross rack, take this side
Formula can simplify the structure of unmanned plane device, not need to increase additional rack for installing auxiliary propeller, while passing through master
Control unit adjustment auxiliary propeller rotates the plane to be formed perpendicular to horizontal plane, and perpendicular to the axis of place cross rack,
It effectively realizes that the efficiency of auxiliary propeller maximizes, so that auxiliary propeller is only provided the active force in horizontal direction, in level side
Upward active force reaches maximization, plays 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, uses gyroscope, inertia measurement list
Member etc. as the sensor component and unit perceived to unmanned plane velocity and acceleration, meanwhile, unmanned plane device also configures
Have pulse-width modulator, using gyroscope, Inertial Measurement Unit to no-manned plane three-dimensional drop from the air all directions (front, rear, left and right,
Velocity and acceleration above and below) measures, and as the feedback quantity of unmanned plane during flying state, then introduces intelligence in main control unit
Energy algorithm, is calculated, and then be converted into the adjusting of system call interception unit according to the feedback quantity of velocity and acceleration sension unit
Amount, reuses pulse-width modulator and is accurately adjusted to the revolving speed of the auxiliary propeller of unmanned plane all directions, to make machine
The speed and acceleration of body horizontal plane all directions are zero, it is ensured that unmanned plane completes lifting action in vertical direction.
Unmanned plane device is additionally provided with the ground control unit for the operation of remote monitoring and control unmanned plane, ground control dress
It sets including display screen, memory and operation interface.It is sent and is controlled to main control unit by the operation interface of ground control unit
Signal is executed, while receiving the work state information of each system unit by main control unit passback back, and pass through display screen
Display checks that these information of passback back are stored in memory.
Main screw provides the active force of vertical direction for unmanned plane, to overcome the gravity of unmanned plane itself, realizes nothing
Man-machine lifting, auxiliary propeller provide the active force in horizontal direction for unmanned plane, to the level for overcoming unmanned plane to be subject to
External forces, make unmanned plane in the speed and acceleration zero of horizontal plane all directions, improve the anti-interference ability of unmanned plane.
Unmanned plane realizes steady lifting in the case where bad environments, wind speed are big, while being measured by velocity and acceleration perception device
Feedback quantity is adjusted according to the regulated quantity that intelligent algorithm obtains, and is adjusted by revolving speed of the main control unit to auxiliary propeller
It is whole, and be adjusted with environmental change, make its velocity and acceleration zero in the horizontal direction, guarantees that unmanned plane is rising
It is safely operated when drop, from external interference.
Embodiment 2
The present embodiment is used for the occasion of unmanned plane takeoff and landing under Stationary Random Environments situation.
As shown in figure 3, jamproof unmanned plane device when lifting, including multiple auxiliary propellers, the auxiliary propeller
Centered on cross rack, be symmetrically arranged in around unmanned plane body, the Plane of rotation of auxiliary propeller 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
Identical as the Plane of rotation direction of main screw to be parallel to horizontal plane, main screw is main including the first main screw 1, second
Propeller 2, third main screw 3, the 4th main screw 4, and four main screws are arranged in cross rack construction, by ten
The plane of arrangement of font rack regards rectangular coordinate plane as, then the first main screw 1 and third main screw 3 are arranged in X
In the positive negative direction of axis, and the Plane of rotation of main screw is parallel to horizontal plane, and upward pulling force is provided for unmanned plane, to gram
Take the gravity of unmanned plane itself.Second main screw 2 and the 4th main screw 4 are arranged in the positive negative direction of Y-axis, and main
The Plane of rotation of propeller is parallel to horizontal plane, and upward pulling force is provided for unmanned plane, to overcome the gravity of unmanned plane itself.
Auxiliary propeller is installed in cross rack, and the Plane of rotation of auxiliary propeller is perpendicular to the axis of place rack
Line is symmetrically arranged in 4 side ends of cross rack, 5 He of the first auxiliary propeller as shown in figure 3, auxiliary propeller is 4
Third auxiliary propeller 7 is arranged in the positive negative direction of X-axis, and is located at the first main screw 1 and third main screw 3
Outside, auxiliary propeller rotates the Plane of rotation to be formed and is parallel to horizontal plane, while being parallel to the axis of X-axis, perpendicular to provide
The upward operation of histogram is exerted oneself, and the second auxiliary propeller 6 and the 4th auxiliary propeller 8 are arranged in the positive negative direction of Y-axis,
And it is located at the outside of the second main screw 2 and the 4th main screw 4, auxiliary propeller rotates the plane to be formed and is parallel to level
Face, while being parallel to the axis of Y-axis.When unmanned plane takes off or lands in Stationary Random Environments, the first auxiliary propeller 5, second
Auxiliary propeller 6, third auxiliary propeller 7 and the 4th auxiliary propeller 8 promote nothing to provide the active force on vertical direction
The speed of man-machine lifting shortens the lifting time of unmanned plane, unmanned plane is made to complete lifting action within a short period of time, reduce by
To the probability of external environmental interference, to improve anti-interference ability when unmanned plane lifting.
In the present embodiment, auxiliary propeller and main screw are installed in same root cross rack, take this side
Formula can simplify the structure of unmanned plane device, not need to increase additional rack for installing auxiliary propeller, while adjusting auxiliary
It helps propeller to rotate the plane to be formed and is parallel to horizontal plane, and be parallel to the axis of place cross rack, make auxiliary propeller
The active force in vertical direction is only provided, active force in vertical direction reaches maximization, makes unmanned plane in the shortest time
Lifting process is completed, the influence for not confirming environmental factor is reduced, anti-interference ability when improving lifting.
In the present embodiment, auxiliary propeller is also configured with adjustable base, as shown in figure 3, the first auxiliary propeller 5 configures
There is the first adjustable base 9, the second auxiliary propeller 6 is configured with the second adjustable base 10, and third auxiliary propeller 7 is configured with third
Adjustable base 11, the 4th auxiliary propeller 8 is configured with the 4th adjustable base 12, for adjusting and changing the rotation of auxiliary propeller
In-plane, adjustable base are installed in the rack of unmanned plane device, during Stationary Random Environments take off landing, main screw
For generating pulling force upward or downward, by adjusting the direction of adjustable base, it is parallel to the Plane of rotation of auxiliary propeller
Horizontal plane guarantees that unmanned plane is completed to rise in the shortest time with fast speed to provide upward pulling force for unmanned plane simultaneously
Drop movement.Adjustable base use direction adjusting apparatus, direction adjusting apparatus are that direction is moved with what adjusting voltage was controlled
Power device uses steering engine as direction adjusting apparatus, and helm control circuit plate receives the control signal from signal wire, control
Motor rotation, motor drive series of gears group, output steering wheel, the output shaft and position feedback current potential of steering engine are driven to after deceleration
What meter was connected to, while steering wheel rotates, position feedback potentiometer is driven, potentiometer will export a voltage signal to control electricity
Road plate, is fed back, and then control circuit board determines the rotation direction and speed of motor according to position, to reach target
Stop, to realize effective control of auxiliary propeller force direction.
Unmanned plane device is configured with the perception device for measuring speed and acceleration, uses gyroscope, inertia measurement list
Member etc. as the sensor component and unit perceived to unmanned plane velocity and acceleration, meanwhile, unmanned plane device also configures
Have pulse-width modulator, using gyroscope, Inertial Measurement Unit to no-manned plane three-dimensional drop from the air all directions (front, rear, left and right,
Velocity and acceleration above and below) measures, and as the feedback quantity of unmanned plane during flying state, then introduces intelligence in main control unit
Energy algorithm, is calculated, and then be converted into the adjusting of system call interception unit according to the feedback quantity of velocity and acceleration sension unit
Amount, reuses pulse-width modulator and is accurately adjusted to the revolving speed of the auxiliary propeller of unmanned plane all directions, unmanned plane exists
When going up and down under Stationary Random Environments, speed and acceleration on horizontal plane direction are zero, adjustable base according to information feedback adjustment angle,
So that the Plane of rotation of auxiliary propeller is parallel to horizontal plane, unmanned plane is made to complete to go up and down in the shortest time with fast speed
Journey reduces the influence for not confirming environmental factor, anti-interference ability when improving lifting.
The present embodiment is seasonable in reality, passes through main control unit first and starts unmanned plane main screw, the rotation of main screw
Plane is parallel to horizontal plane, upward pulling force is provided for unmanned plane, unmanned plane ascends into takeoff phase, then passes through main control unit
Start auxiliary propeller, provides the active force in horizontal direction for unmanned plane, be provided with environmental monitoring system on unmanned plane, pass through
Environmental monitoring system is monitored external environment, and the main control unit of unmanned plane is made to adjust auxiliary screw in time according to external environment
The Plane of rotation direction of paddle, under Stationary Random Environments, the Plane of rotation direction of auxiliary propeller is adjusted to be parallel to by main control unit
Horizontal plane provides the active force in vertical direction for unmanned plane, shortens the lifting time of unmanned plane, after unmanned plane completes flight,
When landing, the Plane of rotation direction for adjusting auxiliary propeller in time according to external environment passes through main control unit under Stationary Random Environments
It is adjusted to the Plane of rotation direction of auxiliary propeller to be parallel to horizontal plane, provides the active force in vertical direction for unmanned plane,
The lifting time of unmanned plane is shortened, after unmanned plane completes landing, main screw and auxiliary propeller are closed by main control unit.
Main screw provides upward pulling force for unmanned plane, to overcome the gravity of unmanned plane itself, realizes unmanned plane
Lifting.The auxiliary propeller being mounted on adjustable base is similarly unmanned plane and provides upward pulling force, to overcome unmanned plane certainly
The gravity of body promotes the speed of unmanned plane lifting, shortens the lifting time of unmanned plane, to realize unmanned plane within a short period of time
Lifting action is completed, anti-interference ability when improving lifting.When unmanned plane is gone up and down under Stationary Random Environments, due on horizontal plane direction
Velocity and acceleration is zero, and adjustable base measures feedback quantity by velocity and acceleration perception device, is obtained according to intelligent algorithm
To regulated quantity be adjusted, the surfaces of revolution of auxiliary propeller is adjusted to be parallel to horizontal plane direction, makes unmanned plane with faster
Degree completes lifting, reduces the influence for not confirming environmental factor, from external interference.
Embodiment 3
The present embodiment is used for the occasion of unmanned plane takeoff and landing in the case where bad environments, wind speed are big.
As shown in figure 4, jamproof unmanned plane device when lifting, including multiple auxiliary propellers, the auxiliary propeller
Centered on cross rack, be symmetrically arranged in around unmanned plane body, the Plane of rotation of auxiliary propeller perpendicular to horizontal plane,
And the Plane of rotation direction of auxiliary propeller is adjustable.The main screw of unmanned plane includes the first main screw 1, the second main screw
2, third main screw 3, the 4th main screw 4, and four main screws are arranged in cross rack construction, by cross machine
The plane of arrangement of frame regards rectangular coordinate plane as, then the first main screw 1 and third main screw 3 are being arranged in X-axis just
In negative direction, and the Plane of rotation of main screw is parallel to horizontal plane, upward pulling force is provided for unmanned plane, to overcome nobody
The gravity of machine itself.Second main screw 2 and the 4th main screw 4 are arranged in the positive negative direction of Y-axis, and main screw
Plane of rotation be parallel to horizontal plane, upward pulling force is provided for unmanned plane, to overcome the gravity of unmanned plane itself.
Auxiliary propeller is installed in cross rack, and the Plane of rotation of auxiliary propeller is perpendicular to the axis of place rack
Line is symmetrically arranged in 4 ends of cross rack, 5 He of the first auxiliary propeller as shown in figure 4, auxiliary propeller is 4
Third auxiliary propeller 7 is arranged in the positive negative direction of X-axis, and is located at the first main screw 1 and third main screw 3
Outside, auxiliary propeller rotate the Plane of rotation to be formed perpendicular to horizontal plane, both perpendicular to the axis of X-axis, to provide water
Square upward active force, the second auxiliary propeller 6 and the 4th auxiliary propeller 8 are arranged in the positive negative direction of Y-axis, and
Positioned at the outside of the second main screw 2 and the 4th main screw 4, auxiliary propeller rotates the plane to be formed perpendicular to horizontal plane,
Both perpendicular to the axis of Y-axis.When unmanned plane takes off or lands when bad environments, wind speed are big, the first auxiliary spiral shell
Rotation paddle 5, the second auxiliary propeller 6, third auxiliary propeller 7 and the 4th auxiliary propeller 8 are used to provide the work in horizontal direction
Firmly, overcome the interference of unmanned plane in the horizontal direction, the velocity and acceleration zero for being subject to unmanned plane in the horizontal direction,
To realize that unmanned plane is steadily gone up and down in vertical direction, anti-interference ability when improving lifting.
In the present embodiment, auxiliary propeller and main screw are installed in same root cross rack, take this side
Formula can simplify the structure of unmanned plane device, not need to increase additional rack for installing auxiliary propeller, while adjusting auxiliary
It helps propeller to rotate the plane to be formed perpendicular to horizontal plane, and perpendicular to the axis of place cross rack, makes auxiliary propeller
The active force in horizontal direction is only provided, active force in the horizontal direction reaches maximization, can be realized unmanned plane steadily
Lifting improves anti-interference ability when lifting.
In the present embodiment, auxiliary propeller is also configured with adjustable base, as shown in figure 4, the first auxiliary propeller 5 configures
There is the first adjustable base 9, the second auxiliary propeller 6 is configured with the second adjustable base 10, and third auxiliary propeller 7 is configured with third
Adjustable base 11, the 4th auxiliary propeller 8 is configured with the 4th adjustable base 12, for adjusting and changing the rotation of auxiliary propeller
In-plane, the adjustable base are installed in the rack of unmanned plane device, take off under the situations such as bad environments, wind speed be big and
When landing, the pulling force that main screw is used to generate upward or downward makes auxiliary propeller by adjusting the direction of adjustable base
Plane of rotation is perpendicular to horizontal plane, to provide the active force in horizontal direction simultaneously for unmanned plane, guarantees that unmanned plane steadily rises
Drop.The direction adjusting apparatus that adjustable base finger direction is controlled with voltage is adjusted, uses steering engine adjustable self-contained as direction
It sets, helm control circuit plate receives the control signal from signal wire, control motor rotation, and motor drives series of gears group,
Output steering wheel is driven to after deceleration, what the output shaft and position feedback potentiometer of steering engine were connected to, while steering wheel rotates, drive
Position feedback potentiometer, potentiometer will export a voltage signal to control circuit board, be fed back, then control circuit board root
The rotation direction and speed of motor are determined according to position, to reach target stopping, to realize auxiliary propeller active force
Effective control in direction.
Unmanned plane device is configured with the perception device for measuring speed and acceleration, uses gyroscope, inertia measurement list
Member etc. as the sensor component and unit perceived to unmanned plane velocity and acceleration, meanwhile, unmanned plane device also configures
Have pulse-width modulator, using gyroscope, Inertial Measurement Unit to no-manned plane three-dimensional drop from the air all directions (front, rear, left and right,
Velocity and acceleration above and below) measures, and as the feedback quantity of unmanned plane during flying state, then introduces intelligence in main control unit
Energy algorithm, is calculated, and then be converted into the adjusting of system call interception unit according to the feedback quantity of velocity and acceleration sension unit
Amount, reuses pulse-width modulator and is accurately adjusted to the revolving speed of the auxiliary propeller of unmanned plane all directions, unmanned plane exists
When going up and down under the situations such as bad environments, wind speed be big, there are speed and acceleration, adjustable base roots on horizontal plane direction for unmanned plane
It is believed that breath feedback adjustment angle, makes the Plane of rotation of auxiliary propeller perpendicular to horizontal plane, overcomes unmanned plane in the horizontal direction
The external force being subject to makes its velocity and acceleration zero in the horizontal direction, realizes the steady lifting of unmanned plane.
Main screw provides upward pulling force for unmanned plane, to overcome the gravity of unmanned plane itself, realizes unmanned plane
Lifting.The auxiliary propeller being mounted on adjustable base provides the active force in horizontal direction for unmanned plane, to overcome nobody
The interference that machine is subject in the horizontal direction makes unmanned plane smoothly complete takeoff and landing, anti-interference ability when improving lifting.Nothing
It is man-machine when being gone up and down in the case where bad environments, wind speed are big, due to unmanned plane on horizontal plane direction there are velocity and acceleration,
Adjustable base measures feedback quantity by velocity and acceleration perception device, is adjusted according to the regulated quantity that intelligent algorithm obtains,
The surfaces of revolution of auxiliary propeller is adjusted to make unmanned plane realize steady lifting in the presence of a harsh environment perpendicular to horizontal plane direction, exempt from
By external interference.
Embodiment 4
The present embodiment is used for the occasion that unmanned plane is gone up and down under general environment (there are wind speed, but wind speed is little).
In the present embodiment, auxiliary propeller is also configured with adjustable base, and the first auxiliary propeller 5 is adjustable configured with first
Pedestal 9, the second auxiliary propeller 6 are configured with the second adjustable base 10, and third auxiliary propeller 7 is configured with third adjustable base
11, the 4th auxiliary propeller 8 is configured with the 4th adjustable base 12, for adjusting and changing the Plane of rotation side of auxiliary propeller
To, the adjustable base is installed in the rack of unmanned plane device, there are external interference and also interference less in the case where from
When flying and landing, the pulling force that main screw is used to generate upward or downward makes auxiliary screw by adjusting the direction of adjustable base
There are certain angles with horizontal plane for the Plane of rotation of paddle, to provide vertical direction, the work in horizontal direction simultaneously for unmanned plane
Firmly, guarantee that the velocity and acceleration of unmanned plane in the horizontal direction is zero, while can also be mentioned in the vertical direction for unmanned plane
For a certain amount of active force, make unmanned plane while steady lifting, accelerates the speed of lifting, from external interference.Adjustable bottom
The direction adjusting apparatus that seat finger direction is controlled with voltage is adjusted, uses steering engine as direction adjusting apparatus, steering engine control
Control signal of the board receiver processed from signal wire, control motor rotation, motor drive series of gears group, are driven after deceleration
To output steering wheel, what the output shaft and position feedback potentiometer of steering engine were connected to, steering wheel rotate while, drive position feedback electricity
Position meter, potentiometer will export a voltage signal to control circuit board, be fed back, then control circuit board is according to position
The rotation direction and speed of motor are determined, to reach target stopping, to realize the effective of auxiliary propeller force direction
Control.
Unmanned plane device is configured with the perception device for measuring speed and acceleration, uses gyroscope, inertia measurement list
Member etc. as the sensor component and unit perceived to unmanned plane velocity and acceleration, meanwhile, unmanned plane device also configures
Have pulse-width modulator, using gyroscope, Inertial Measurement Unit to no-manned plane three-dimensional drop from the air all directions (front, rear, left and right,
Velocity and acceleration above and below) measures, and as the feedback quantity of unmanned plane during flying state, then introduces intelligence in main control unit
Energy algorithm, is calculated, and then be converted into the adjusting of system call interception unit according to the feedback quantity of velocity and acceleration sension unit
Amount, reuses pulse-width modulator and is accurately adjusted to the revolving speed of the auxiliary propeller of unmanned plane all directions, unmanned plane exists
When being gone up and down in the case where there are certain external interference, unmanned plane on horizontal plane direction there are certain speed and acceleration, it is adjustable
Pedestal makes the Plane of rotation of auxiliary propeller and horizontal plane be adjusted to certain angle, makes nobody according to information feedback adjustment angle
Machine is not only steadily gone up and down, while also completing lifting process in the shortest time with fast speed, is reduced and is not confirmed environmental factor
Influence, improve lifting when anti-interference ability.
Main screw provides upward pulling force for unmanned plane, to overcome the gravity of unmanned plane itself, realizes unmanned plane
Lifting.The auxiliary propeller that is mounted on adjustable base while horizontal direction, the active force in vertical direction are provided for unmanned plane,
While to overcome unmanned plane to be interfered in the horizontal direction, unmanned plane is made to complete takeoff and landing within a short period of time,
Anti-interference ability when improving lifting.
In the unmanned plane device that practical application is steadily gone up and down, unmanned plane, the party are operated and controlled according to following methods
Method the following steps are included:
A, unmanned plane main screw is started by main control unit；
B, the Plane of rotation of main screw is parallel to horizontal plane, provides upward pulling force for unmanned plane, unmanned plane rise into
Enter takeoff phase, then auxiliary propeller is started by main control unit, the active force in horizontal direction is provided for unmanned plane；
C, environmental monitoring system is come on unmanned plane, external environment is monitored by environmental monitoring system, master control
Unit adjusts the Plane of rotation direction of auxiliary propeller according to exterior environmental conditions in time, and under Stationary Random Environments, main control unit will
The Plane of rotation direction of auxiliary propeller is adjusted to be parallel to horizontal plane, provides the active force in vertical direction for unmanned plane, subtracts
The Plane of rotation direction of auxiliary propeller is adjusted to vertical by the lifting time of short unmanned plane, in the presence of a harsh environment, main control unit
In horizontal plane, the active force in horizontal direction is provided for unmanned plane, make unmanned aerial vehicle body in the speed of horizontal plane all directions and is added
Speed is zero, it is ensured that unmanned plane steadily rises；
D, after unmanned plane completes flight, in decline, the included environmental monitoring system of unmanned plane supervises external environment
It surveys, main control unit adjusts the Plane of rotation direction of auxiliary propeller, under Stationary Random Environments, main control unit according to external environment in time
It is adjusted to the Plane of rotation direction of auxiliary propeller to be parallel to horizontal plane, provides the active force in vertical direction for unmanned plane,
The lifting time of unmanned plane is shortened, in the presence of a harsh environment, the Plane of rotation direction of auxiliary propeller is adjusted to vertical by main control unit
Directly in horizontal plane, provide the active force in horizontal direction for unmanned plane, make unmanned aerial vehicle body in the speed of horizontal plane all directions and
Acceleration is zero, it is ensured that unmanned plane stable landing；
E, after unmanned plane landing, main screw and auxiliary propeller are closed by main control unit.
Aforesaid way is taken, when going up and down unmanned plane under Stationary Random Environments, lifting time is shortened, makes unmanned plane from the external world
The influence of environment when going up and down in the presence of a harsh environment, can enhance the anti-interference ability of unmanned plane, complete steady lifting.
Claims (9)
1. the control method of unmanned plane device that one kind is steadily gone up and down, which is characterized in that the unmanned plane device steadily gone up and down is
The quadrotor drone of cross rack construction, in the cross rack installation there are four main screw, further include it is multiple can
The auxiliary propeller of all directions active force is provided, the auxiliary propeller is symmetrically arranged in nobody centered on cross rack
Around machine body, the Plane of rotation of auxiliary propeller is perpendicular to horizontal plane, and the Plane of rotation direction of auxiliary propeller is adjustable,
When controlling the unmanned plane device steadily gone up and down, comprising the following steps:
A, unmanned plane main screw is started by main control unit；
B, the Plane of rotation of main screw is parallel to horizontal plane, and upward pulling force is provided for unmanned plane, and unmanned plane has ascended into
Fly the stage, then auxiliary propeller is started by main control unit, the active force in horizontal direction is provided for unmanned plane；
C, environmental monitoring system is come on unmanned plane, external environment is monitored by environmental monitoring system, main control unit
The Plane of rotation direction for adjusting auxiliary propeller in time according to exterior environmental conditions, under Stationary Random Environments, main control unit will be assisted
The Plane of rotation direction of propeller is adjusted to be parallel to horizontal plane, provides the active force in vertical direction for unmanned plane, shortens nothing
The Plane of rotation direction of auxiliary propeller is adjusted to perpendicular to water by man-machine lifting time, in the presence of a harsh environment, main control unit
Plane provides the active force in horizontal direction for unmanned plane, makes unmanned aerial vehicle body in the speed and acceleration of horizontal plane all directions
It is zero, it is ensured that unmanned plane steadily rises；
D, after unmanned plane completes flight, in decline, the included environmental monitoring system of unmanned plane is monitored external environment, main
Control unit adjusts the Plane of rotation direction of auxiliary propeller according to external environment in time, and under Stationary Random Environments, main control unit will be auxiliary
It helps the Plane of rotation direction of propeller to be adjusted to be parallel to horizontal plane, provides the active force in vertical direction for unmanned plane, shorten
The lifting time of unmanned plane, in the presence of a harsh environment, main control unit by the Plane of rotation direction of auxiliary propeller be adjusted to perpendicular to
Horizontal plane provides the active force in horizontal direction for unmanned plane, makes unmanned aerial vehicle body in the speed and acceleration of horizontal plane all directions
Degree is zero, it is ensured that unmanned plane stable landing；
E, after unmanned plane landing, main screw and auxiliary propeller are closed by main control unit.
2. the control method of the unmanned plane device according to claim 1 steadily gone up and down, which is characterized in that the auxiliary spiral shell
Rotation paddle is installed in cross rack, and the Plane of rotation of auxiliary propeller is perpendicular to the axis of place rack.
3. the control method of the unmanned plane device according to claim 2 steadily gone up and down, which is characterized in that the auxiliary spiral shell
Revolving paddle is 4, is symmetrically arranged in the end of cross rack.
4. the control method of the unmanned plane device according to claim 2 steadily gone up and down, which is characterized in that the auxiliary spiral shell
Rotation paddle is also configured with adjustable base, and for adjusting the Plane of rotation direction of auxiliary propeller, the adjustable base is installed on nobody
In the rack of machine device.
5. the control method of the unmanned plane device according to claim 4 steadily gone up and down, which is characterized in that the adjustable bottom
Seat use direction adjusting apparatus, the direction adjusting apparatus are the power devices that finger direction is controlled with voltage is adjusted.
6. the control method of the unmanned plane device according to claim 5 steadily gone up and down, which is characterized in that the direction can
Adjustment device is steering engine.
7. the control method of the unmanned plane device steadily gone up and down according to claim 3 or 6, which is characterized in that unmanned plane
Device is also configured with the perception device for measuring speed and acceleration.
8. the control method of the unmanned plane device according to claim 7 steadily gone up and down, which is characterized in that unmanned plane device
It is also configured with pulse-width modulator.
9. the control method of the unmanned plane device according to claim 2 steadily gone up and down, which is characterized in that unmanned plane device
Be additionally provided with for remote monitoring and control unmanned plane operation ground control unit, the ground control unit include display screen,
Memory and operation interface.
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| EP3390223B1 (en) * | 2015-12-18 | 2022-10-19 | Amazon Technologies, Inc. | Selecting propellers for performance and noise shaping |
| US10232931B2 (en) | 2015-12-18 | 2019-03-19 | Amazon Technologies, Inc. | Selecting propellers for performance and noise shaping |
| US9745050B2 (en) | 2015-12-18 | 2017-08-29 | Amazon Technologies, Inc. | Selecting propellers for performance and noise shaping |
| WO2018027925A1 (en) * | 2016-08-12 | 2018-02-15 | 张琬彬 | Voltage distribution method and system for multiple motors of unmanned aerial vehicle |
| WO2018032421A1 (en) * | 2016-08-17 | 2018-02-22 | 张琬彬 | Method and system for dynamically controlling unmanned aerial vehicle rotation speed according to wind force |
| CN106197379A (en) * | 2016-08-30 | 2016-12-07 | 四川格锐乾图科技有限公司 | A kind of novel mapping system of eminence object |
| CN107000830B (en) * | 2016-11-10 | 2019-09-13 | 深圳市大疆创新科技有限公司 | A kind of control method, device and the unmanned plane of unmanned plane decline |
| CN106585966A (en) * | 2016-12-13 | 2017-04-26 | 天津传承科技有限公司 | Electromechanical integration unmanned aerial vehicle device capable of smoothly taking off and landing |
| CN106774377A (en) * | 2017-02-07 | 2017-05-31 | 上海与德信息技术有限公司 | A kind of unmanned plane takes off control method and device |
| CN106892130B (en) * | 2017-02-20 | 2023-04-14 | 西安爱生技术集团公司 | Unmanned aerial vehicle booster rocket adjusting and positioning device and method |
| CN106973147A (en) * | 2017-03-01 | 2017-07-21 | 奇酷互联网络科技（深圳）有限公司 | Mobile terminal, terminal Shatter-resistant device and its implementation |
| CN108476008B (en) | 2017-04-25 | 2023-03-10 | 深圳市大疆创新科技有限公司 | Control method for driving motor to rotate, electronic speed regulator, power suit and unmanned aerial vehicle |
| CN107153425A (en) * | 2017-07-06 | 2017-09-12 | 杨顺伟 | Unmanned plane external force resistance interference method and device |
| CN108170162B (en) * | 2017-12-30 | 2022-03-25 | 天津职业技术师范大学 | Performance evaluation method for multi-scale wind disturbance analysis unmanned aerial vehicle cluster coordination control system |
| CN111422351B (en) * | 2020-04-14 | 2021-09-21 | 中国人民解放军32180部队 | High-wind-resistance tail-cone type mooring unmanned aerial vehicle and flight control method thereof |
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| WO2015061857A1 (en) * | 2013-11-01 | 2015-05-07 | The University Of Queensland | A rotorcraft |
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