CN105799908A - Unmanned aerial vehicle device working on heavy load condition and control method - Google Patents
Unmanned aerial vehicle device working on heavy load condition and control method Download PDFInfo
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- CN105799908A CN105799908A CN201610285172.7A CN201610285172A CN105799908A CN 105799908 A CN105799908 A CN 105799908A CN 201610285172 A CN201610285172 A CN 201610285172A CN 105799908 A CN105799908 A CN 105799908A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/58—Arrangements or construction of gas-bags; Filling arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/58—Arrangements or construction of gas-bags; Filling arrangements
- B64B1/62—Controlling gas pressure, heating, cooling, or discharging gas
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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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
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/30—Lighter-than-air aircraft, e.g. aerostatic aircraft
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Abstract
The invention belongs to the field of unmanned aerial vehicles and provides an unmanned aerial vehicle device on the heavy load condition and a control method. The unmanned aerial vehicle device on the heavy load condition comprises an unmanned aerial vehicle body structure and a master control unit controlling various systems of the unmanned aerial vehicle to be operated normally. The unmanned aerial vehicle device on the heavy load condition further comprises an air bag device providing upward tension for the unmanned aerial vehicle. The air bag device is arranged above the unmanned aerial vehicle body structure and filled with low-density gas with the density lower than that of air. The air bag device is further connected with an exhaust device for exhausting gas volume inside the air bag device. The tension generated by the air bag device is adjustable by controlling the gas volume inside the air bag device. According to the device, onboard energy consumption of an unmanned aerial vehicle on the heavy load condition is lowered, and the flight working time of the unmanned aerial vehicle is prolonged, so that the working efficiency of the unmanned aerial vehicle is achieved, the working time of the unmanned aerial vehicle on the heavy load condition is prolonged, the working range of the unmanned aerial vehicle on the heavy load condition is enlarged, and the defect that use of the unmanned aerial vehicle is limited on the heavy load condition is overcome.
Description
Technical field
The present invention relates to a kind of unmanned plane field, particularly to a kind of unmanned plane device worked under heavy load conditions and control method.
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, producing aerodynamic force, unmanned plane is provided with main control unit, the unmanned plane during flying state that monitoring system is recorded by main control unit is converted into system fading margin amount.In unmanned plane during flying process, adjusted the rotating speed of main screw by main control unit, control the flare maneuver of four wing unmanned planes, it is achieved VTOL, 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 main screw 1 and the 3rd main screw 3 rotate counterclockwise, second main screw 2 and the 4th main screw 4 turn clockwise, changed the rotating speed of different main screw by main control unit, the control to four wing unmanned plane during flying attitudes can be realized.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 unmanned plane is in the process carrying out heavy load flight operation, the pulling force provided in propeller vertical direction not only to overcome the gravity of unmanned plane self, but also to overcome the gravity of the object of its load.Due to the airborne limited energy of unmanned plane self, can comparatively fast run out of the airborne energy under heavy load conditions, it is difficult to complete long flight operation.If increasing the airborne energy of unmanned plane self, the article of its load will reduce, unmanned plane can continuously come and go and carry out article lift-launch, if unmanned plane reduces the airborne energy of unmanned plane self, increase the article of its load, the unmanned plane continuously round energy that carries out can be faced equally and supplement, no matter take which kind of mode, the working performance of unmanned plane is all very low, and the popularization and application of unmanned plane are created considerable influence.
Summary of the invention
It is an object of the invention to overcome in prior art existing due to unmanned aerial vehicle onboard limited energy, unmanned plane needs to consume a large amount of airborne energy under heavy load conditions, thus causing that unmanned plane is difficult to long flight job task, to the working performance of unmanned plane with promote the use of the problem causing tremendous influence, a kind of unmanned plane device worked under heavy load conditions and control method are provided, this unmanned plane device can reduce unmanned plane consumption to the airborne energy under heavy load conditions, make unmanned plane just can run out of the airborne energy in a long time, extend the flight activity duration under heavy load conditions, thus reaching to promote the working performance of unmanned plane, expand unmanned plane activity duration under heavy load conditions and job area, unmanned plane is overcome to use restricted shortcoming under heavy load conditions.
In order to realize foregoing invention purpose, the invention provides techniques below scheme:
A kind of unmanned plane device in heavy load conditions work, including the main control unit that unmanned plane main body mechanism and the control each system of unmanned plane are properly functioning, also include the airbag apparatus that upwards pulling force is provided for unmanned plane, described airbag apparatus is arranged in above unmanned plane agent structure, its internal injection has the light density gases less than atmospheric density, described airbag apparatus to be also associated with the exhaust apparatus for discharging its internal gas capacity.
When unmanned plane takes off under heavy load conditions, low density gas will be full of in airbag apparatus, it is full of the lighter-than-air gas of density to airbag apparatus is internal, airbag apparatus is made to provide pulling force upwards by the buoyancy of air for unmanned plane, main screw on unmanned plane rotates with relatively low rotating speed simultaneously, producing pulling force necessarily upwards, main screw and airbag apparatus provide pulling force upwards for unmanned plane simultaneously, overcome the gravity of unmanned plane and the gravity of load together.After unmanned plane rises to certain altitude, the rotating speed of main screw is adjusted by main control unit, making unmanned plane carry out operation in preset height, main screw has only to consume few airborne energy to regulate the motion excursion amount in short transverse of unmanned plane, reduces the depletion rate to the airborne energy.After unmanned plane operation a period of time, the load of its lift-launch alleviates, unmanned plane is subject to the pulling force of airbag apparatus can more than the gravity of himself and the gravity carrying load, the operation height of unmanned plane may proceed to rise, after main screw stops providing pulling force upwards, the height of unmanned plane is still when rising, the gas in airbag apparatus is discharged by exhaust apparatus, it is reduced to the pulling force that unmanned plane provides, the active force that unmanned plane is subject to is made to be in relative balance state all the time, have only to provide low-force to be adjusted by main screw, make unmanned plane be maintained at certain altitude and continue operation.Thus extend the activity duration of unmanned plane, unmanned plane is made to be continuously in desirable duty in a long time, improve the purpose of unmanned plane work efficiency, expand unmanned plane activity duration under heavy load conditions and job area, it is achieved unmanned plane is the effect of continuous firing under heavy load conditions.
Preferably, described unmanned plane device being additionally provided with the sensing device for measuring unmanned plane height, speed and acceleration, described sensing device is connected with main control unit.By being arranged on the sensing device on unmanned plane, the flight status parameters such as unmanned plane height, speed and acceleration can be fed back to main control unit in time, the unmanned plane during flying state that sensing device is recorded by main control unit is converted into system fading margin amount, unmanned plane is adjusted according to system fading margin amount, its active force provided is made to change again through the rotating speed adjusting main screw, allow the height of unmanned plane, speed and acceleration be adjusted in time, make unmanned plane normal flight.
Preferably, described exhaust apparatus is the air discharge cook being arranged on airbag apparatus, and described air discharge cook is connected to automaton, and the data that automaton feeds back according to main control unit perform order, for being opened or closed in time by air discharge cook.The data that sensing device is recorded by unmanned plane by main control unit are analyzed in time, calculate, and it is converted into adjustment parameter, the state of flight of unmanned plane is adjusted by adjustment parameter that automaton transmits according to main control unit in time, when the height of unmanned plane exceedes setting height, air discharge cook is opened by automaton according to the signal of feedback, thus the portion gas discharged in airbag apparatus, stop the height that unmanned plane deviation is preset, the speed simultaneously recorded according to sensing device and acceleration value, adjust in time unmanned plane speed in vertical direction and acceleration, make unmanned plane smooth flight.
Preferably, described airbag apparatus being also associated with feeder, described feeder is light density gases source, for the light density gases less than atmospheric density to airbag apparatus supply.Feeder is set, make airbag apparatus, by means of aerostatic buoyancy, unmanned plane provide upwards pulling force, feeder can supplement light density gases to airbag apparatus in time, thus keeping state of flight, unmanned plane is in flight course, often constantly rise or fall according to job instruction, simultaneously for avoiding barrier, unmanned plane also can repeat raising and lowering, unmanned plane is when needs decline, portion gas is discharged by exhaust apparatus, feeder is set simultaneously, can when unmanned plane needs again to rise, in time to airbag apparatus make-up gas, unmanned plane is made to increase easily under heavy load condition, avoid the huge consumption to the airborne energy, thus playing the prolongation activity duration, improve the purpose of work efficiency.
Preferably, being equiped with reaction raw materials in described feeder, reaction raw materials generates the gas less than atmospheric density after carrying out chemical reaction in feeder.Use chemical reaction raw material to generate the light density gases lighter than atmospheric density in airtight utensil to supply for airbag apparatus, it is possible to appropriate supplement inflatable body as required.
Preferably, described feeder is the storage facility that storage has liquid or solid state gas.Small volume due to liquid or solid state gas, all very convenient with in use procedure transporting, it is mounted on unmanned plane as the gas source of airbag apparatus, there is bigger advantage, use storage to have the storage facility of liquid or solid state gas as feeder simultaneously, appropriate gas can be discharged as required, make feeder in the process supplied for airbag apparatus, be turned on and off feeder all very convenient.
Preferably, described feeder is carried to airbag apparatus and is connected to air supply valve on the passage of gas, described air supply valve is controlled by automaton, and the data that automaton feeds back according to main control unit perform order, for being opened or closed in time by air supply valve.By the height of the unmanned plane measured by induction apparatus, speed and acceleration value, it is converted into regulated quantity by main control unit and starts automaton and realize automatically turning on and automatically close valve, ensure that unmanned plane is when taking off, open air-supplying valve in time, unmanned plane is made to rise to operation height, when the operation height continuation rising of unmanned plane reaches pre-set flight height, close air supply valve again through automaton, make unmanned plane be maintained at certain altitude and carry out operation.
Preferably, described airbag apparatus is the volume retractor device with gas flow and gas pressure change, and the material of described retractor device is flexible fabric.The flexible fabrics such as nylon fiber are used to have bigger use advantage as airbag apparatus, as the device providing power resources, airbag apparatus is connected to unmanned plane and swims in the air, when feeder supplies to airbag apparatus, airbag apparatus provides pulling force upwards by the buoyancy of air to unmanned plane, overcomes the gravity of unmanned plane and the gravity of load together with unmanned plane main screw.
Accordingly, present invention also offers the control method of a kind of unmanned plane device worked under heavy load conditions, comprise the following steps:
A, unmanned plane airbag apparatus being full of light density gases, close the exhaust apparatus on airbag apparatus, meanwhile, main screw rotates with relatively low rotating speed in the vertical direction, and under the active force of airbag apparatus and main screw, unmanned plane takes off；
B, unmanned plane move upward under the combined effect power of main screw and airbag apparatus, when arriving flight predetermined altitude, reduce the active force of main screw, make unmanned plane be maintained at predetermined altitude flight；
C, by main control unit adjust main screw rotating speed, make unmanned plane keep fly within a certain height and carry out relevant job task；
D, control unmanned plane carry out relevant job task；
E, progressively alleviate when the load of unmanned plane load, unmanned plane continues to rise under the drive of air bag, reduce the rotary speed of main screw, unmanned plane tension is made to reduce, when the rotary speed of main screw drops to after marginal value unmanned plane still when moving upward, opened the exhaust apparatus on airbag apparatus by main control unit, the filling gas in airbag apparatus is discharged；
F, repetition step g are until unmanned plane completes airflight operation；
When g, unmanned plane prepare landing, control unmanned plane by main control unit and arrive drop zone, progressively discharged the filling gas in airbag apparatus by exhaust apparatus, control the rotating speed of main screw simultaneously well, make unmanned plane complete safety and steady landing.
Take aforesaid way, make unmanned plane make air bag provide pulling force upwards for unmanned plane by the buoyancy of air, overcome the self gravitation of unmanned plane and the gravity of load together with main screw.Main screw has only to consume few airborne energy to regulate unmanned plane motion excursion amount in vertical direction, reduce the depletion rate to the airborne energy, extend the activity duration of unmanned plane, make unmanned plane can carry out long operation under heavy load conditions, thus reaching to improve the purpose of unmanned plane work efficiency, expand unmanned plane activity duration under heavy load conditions and job area, reach the effect that unmanned plane works for a long time under heavy load conditions.
Preferably, described unmanned plane being provided for device of air, unmanned plane is in carrying out job task process, it is necessary to repeatedly during raising and lowering, and described step d includes following step:
When d1, unmanned plane decline, the rotating speed of main screw is reduced to marginal value, opens exhaust apparatus simultaneously, make unmanned plane decline；
D2, when unmanned plane drops to preset height, close exhaust apparatus, suitably controlled main rotor system RPMs by main control unit, make unmanned plane be maintained at predetermined altitude operation；
When d3, unmanned plane rise, open feeder, be full of gas to airbag apparatus, make unmanned plane increase；
D4, when unmanned plane rises to preset height, close feeder, suitably controlled main rotor system RPMs by active cell, make unmanned plane be maintained at predetermined altitude operation；
D5 is until unmanned plane completes whole operation.
Take aforesaid way, make unmanned plane in flight course, can according to job requirements raising and lowering repeatedly, and in raising and lowering process, a large amount of airborne energy need not be consumed, make unmanned plane can carry out long flight job task, make the working performance of unmanned plane get a promotion, the popularization of unmanned plane has been also functioned to impetus.
Compared with prior art, beneficial effects of the present invention:
1, by increasing airbag apparatus on unmanned plane, the buoyancy by air provides pulling force upwards for unmanned plane, overcomes the gravity of unmanned plane and the gravity of load together with main screw.Main screw has only to consume few airborne energy to regulate the motion excursion amount of unmanned plane, reduce the depletion rate to the airborne energy, extend the activity duration of unmanned plane, unmanned plane is made to be continuously in desirable duty in a long time, thus reaching to improve the purpose of unmanned plane work efficiency, expand unmanned plane activity duration under heavy load conditions and job area, reach unmanned plane effect of continuous firing under heavy load conditions；
2, on unmanned plane device, it is provided with the sensing device for measuring unmanned plane height, speed and acceleration, the flight status parameters such as unmanned plane height, speed and acceleration can be fed back to main control unit in time by sensing device, it is converted into system fading margin amount by main control unit, for adjusting the height of unmanned plane, speed and acceleration in time, make unmanned plane normal flight；
3, air supply valve is set on feeder, and air supply valve is controlled by automatic control system, the state of flight of unmanned plane is adjusted by adjustment parameter that automaton transmits according to main control unit in time, unmanned plane is when taking off, open air supply valve in time, make unmanned plane rise to operation height, when the operation height continuation rising of unmanned plane reaches pre-set flight height, close air supply valve again through automaton, make unmanned plane be maintained at certain altitude and carry out operation；
4, air discharge cook is set, and air discharge cook is controlled by automatic control system, the state of flight of unmanned plane is adjusted by adjustment parameter that automaton transmits according to main control unit in time, when the height of unmanned plane exceedes setting height, air discharge cook is opened by automaton according to the signal of feedback, thus the portion gas discharged in airbag apparatus, stop the height that unmanned plane deviation sets, simultaneously according to monitoring speed and the acceleration value that induction apparatus records, adjust in time unmanned plane speed in vertical direction and acceleration, make unmanned plane smooth flight.
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 of embodiment 1.
Fig. 3 is the structure principle chart of the unmanned plane device of embodiment 2.
Labelling in figure: 1-the first main screw, 2-the second main screw, 3-the 3rd main screw, 4-the 4th main screw, 5-airbag apparatus, 6-feeder, 7-air supply valve, 8-air discharge cook, 9-connects pipeline.
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 carries out the occasion of flight operation for unmanned plane under heavy load conditions.
As shown in Figure 2, unmanned plane device in heavy load conditions work, including the main control unit that unmanned plane main body mechanism and the control each system of unmanned plane are properly functioning, also include the airbag apparatus 5 that upwards pulling force is provided for unmanned plane, described airbag apparatus 5 is arranged in above unmanned plane agent structure, its internal injection has the light density gases less than atmospheric density, and described airbag apparatus 5 is also associated with the exhaust apparatus for discharging its internal gas capacity.
Airbag apparatus 5 is the volume retractor device with gas flow and gas pressure change, and the material of retractor device is flexible fabric.The flexible fabrics such as nylon fiber are used to have bigger use advantage as airbag apparatus, as the device providing power resources, airbag apparatus 5 is connected to unmanned plane and swims in the air, when feeder 6 supplies to airbag apparatus 5, airbag apparatus 5 provides pulling force upwards by the buoyancy of air to unmanned plane, overcomes the gravity of unmanned plane and the gravity of load together with unmanned plane main screw.Airbag apparatus 5 is provided with exhaust apparatus, exhaust apparatus is the air discharge cook 8 being arranged on airbag apparatus 5, air discharge cook 8 is connected to automaton, air discharge cook 8 is used for discharging airbag apparatus 5 internal filling gas, after unmanned plane at high load conditions operation one end time, the weight of carrying object can slowly reduce, unmanned plane is subject to the pulling force of airbag apparatus 5 can more than himself gravity with carrying object, the meeting of unmanned plane rises, after main screw stops providing pulling force upwards, the height of unmanned plane is still when rising, need the portion gas in release airbag apparatus 5, unmanned plane is made to stop rising, it is maintained at preset height.In this state, it is necessary to open, by the automaton being arranged on air discharge cook, the portion gas that air discharge cook 8 discharges in air bag.
Being additionally provided with the sensing device for measuring unmanned plane height, speed and acceleration on unmanned plane device, described sensing device is connected with main control unit.The unmanned plane during flying state that sensing device is recorded by main control unit is converted into system fading margin amount, by being arranged on the sensing device on unmanned plane, the flight status parameters such as unmanned plane height, speed and acceleration can be fed back to main control unit in time, it is converted into system fading margin amount by main control unit, its active force provided is made to change again through the rotating speed adjusting main screw, allow the height of unmanned plane, speed and acceleration be adjusted in time, make unmanned plane normal flight.
Exhaust apparatus is the air discharge cook 8 being arranged on airbag apparatus 5, and air discharge cook 8 is connected to automaton, and the data that automaton feeds back according to main control unit perform order, for being opened or closed in time by air discharge cook 8.The data that sensing device is recorded by unmanned plane by main control unit are analyzed in time, calculate, and it is converted into adjustment parameter, the state of flight of unmanned plane is adjusted by adjustment parameter that automaton transmits according to main control unit in time, when the height of unmanned plane exceedes setting height, air discharge cook is opened by automaton according to the signal of feedback, thus the portion gas discharged in airbag apparatus 5, stop the height that unmanned plane deviation sets, simultaneously according to monitoring speed and the acceleration value that induction apparatus records, adjust in time unmanned plane speed in vertical direction and acceleration, make unmanned plane smooth flight.
When being used in the unmanned plane device of heavy load conditions work, the control method of unmanned plane device comprises the following steps:
A, unmanned plane airbag apparatus being full of light density gases, close the exhaust apparatus on airbag apparatus, meanwhile, main screw rotates with relatively low rotating speed in the vertical direction, and under the active force of airbag apparatus and main screw, unmanned plane takes off；
B, unmanned plane move upward under the combined effect power of main screw and airbag apparatus, when arriving flight predetermined altitude, reduce the active force of main screw, make unmanned plane be maintained at predetermined altitude flight；
C, by main control unit adjust main screw rotating speed, make unmanned plane keep fly within a certain height and carry out relevant job task；
D, control unmanned plane carry out relevant job task；
E, progressively alleviate when the load of unmanned plane load, unmanned plane continues to rise under the drive of air bag, reduce the rotary speed of main screw, unmanned plane tension is made to reduce, when the rotary speed of main screw drops to after marginal value unmanned plane still when moving upward, opened the exhaust apparatus on airbag apparatus by main control unit, the filling gas in airbag apparatus is discharged；
F, repetition step g are until unmanned plane completes airflight operation；
When g, unmanned plane prepare landing, control unmanned plane by main control unit and arrive drop zone, progressively discharged the filling gas in airbag apparatus by exhaust apparatus, control the rotating speed of main screw simultaneously well, make unmanned plane complete safety and steady landing.
Take aforesaid way, make unmanned plane make air bag provide pulling force upwards for unmanned plane by the buoyancy of air, overcome the self gravitation of unmanned plane and the gravity of load together with main screw.Main screw has only to consume few airborne energy to regulate unmanned plane motion excursion amount in vertical direction, reduce the depletion rate to the airborne energy, extend the activity duration of unmanned plane, make unmanned plane can carry out long operation under heavy load conditions, thus reaching to improve the purpose of unmanned plane work efficiency, expand unmanned plane activity duration under heavy load conditions and job area, reach the effect that unmanned plane works for a long time under heavy load conditions, after unmanned plane completes aerial work, control drain tap by main control unit to open, progressively discharge the portion gas in airbag apparatus, by the pulling force that main screw provides, make unmanned plane safety and steady land.
Embodiment 2
The present embodiment carries out the occasion of flight operation for unmanned plane under heavy load conditions.
As shown in Figure 3, unmanned plane device in heavy load conditions work, including the main control unit that unmanned plane main body mechanism and the control each system of unmanned plane are properly functioning, also include the airbag apparatus 5 that upwards pulling force is provided for unmanned plane, described airbag apparatus 5 is arranged in above unmanned plane agent structure, its internal injection has the light density gases less than atmospheric density, and described airbag apparatus 5 is also associated with the exhaust apparatus for discharging its internal gas capacity.
Airbag apparatus 5 is the volume retractor device with gas flow and gas pressure change, and the material of retractor device is flexible fabric.The flexible fabrics such as nylon fiber are used to have bigger use advantage as airbag apparatus, as the device providing power resources, airbag apparatus 5 is connected to unmanned plane and swims in the air, when feeder 6 supplies to airbag apparatus 5, airbag apparatus 5 provides pulling force upwards by the buoyancy of air to unmanned plane, overcomes the gravity of unmanned plane and the gravity of load together with unmanned plane main screw.Airbag apparatus 5 arranges exhaust apparatus, exhaust apparatus is air discharge cook 8, air discharge cook 8 is used for discharging airbag apparatus 5 internal filling gas, after unmanned plane at high load conditions operation one end time, the weight of carrying object can slowly reduce, unmanned plane is subject to the pulling force of airbag apparatus 5 can more than himself gravitational load with carrying object, the operation height of unmanned plane can rise, after main screw stops providing pulling force upwards, the height of unmanned plane is still when rising, need the portion gas in release airbag apparatus 5, unmanned plane is made to stop rising, in this state, need the portion gas in discharge airbag apparatus 5, the upwards pulling force that airbag apparatus provides to unmanned plane is made to reduce.
Being additionally provided with the sensing device for measuring unmanned plane height, speed and acceleration on described unmanned plane device, described sensing device is connected with main control unit.The unmanned plane during flying state that sensing device is recorded by main control unit is converted into system fading margin amount, by being arranged on the sensing device on unmanned plane, the flight status parameters such as unmanned plane height, speed and acceleration can be fed back to main control unit in time, it is converted into system fading margin amount by main control unit, its active force provided is made to change again through the rotating speed adjusting main screw, allow the height of unmanned plane, speed and acceleration be adjusted in time, make unmanned plane normal flight.
Air discharge cook 8 is connected to automaton, and air discharge cook 8 realizes opening and Guan Bi by automaton, and the data that automaton feeds back according to main control unit perform order, for being opened or closed in time by air discharge cook 8.The data that sensing device is recorded by unmanned plane by main control unit are analyzed in time, calculate, and it is converted into adjustment parameter, the state of flight of unmanned plane is adjusted by adjustment parameter that automaton transmits according to main control unit in time, when the height of unmanned plane exceedes setting height, air discharge cook 8 is opened by automaton according to the signal of feedback, thus the portion gas discharged in airbag apparatus 5, stop the height that unmanned plane deviation sets, simultaneously according to monitoring speed and the acceleration value that induction apparatus records, adjust in time unmanned plane speed in vertical direction and acceleration, make unmanned plane smooth flight.
Being also associated with feeder 6 on described airbag apparatus 5, feeder 6 is light density gases source, for supplying the light density gases less than atmospheric density to airbag apparatus 5 so that unmanned plane is provided upwards pulling force by means of aerostatic buoyancy by airbag apparatus 5.Feeder is set, light density gases can be supplemented in time to airbag apparatus, thus keeping state of flight, unmanned plane is in flight course, often constantly rise or fall according to job instruction, simultaneously for avoiding barrier, unmanned plane also can repeat raising and lowering, unmanned plane is when needs decline, portion gas is discharged by exhaust apparatus, feeder is set simultaneously, can when unmanned plane needs again to rise, in time to airbag apparatus make-up gas, unmanned plane is made to increase easily under heavy load condition, avoid the huge consumption to the airborne energy, thus playing the prolongation activity duration, improve the purpose of work efficiency.
Being equiped with reaction raw materials in feeder 6 in the present embodiment, reaction raw materials generates the gas less than atmospheric density after carrying out chemical reaction in feeder 6.Use chemical reaction raw material to generate the light density gases lighter than atmospheric density in airtight utensil to supply for airbag apparatus 5, it is possible to appropriate supplement inflatable body as required.In addition, feeder 6 can also is that storage has the storage facility of liquid or solid state gas, small volume due to liquid or solid state gas, all very convenient with in use procedure transporting, it is mounted on unmanned plane as the gas source of airbag apparatus 5, there is bigger advantage, use storage to have the storage facility of liquid or solid state gas as feeder 6 simultaneously, can quantitatively discharge appropriate gas as required, described feeder can also be other modes, as long as quantitatively light density gases can be provided to airbag apparatus 5.
Feeder 6 is carried to airbag apparatus 5 and is connected to air supply valve 7 on the interface channel 9 of gas, air supply valve 7 is controlled by automaton, the data that automaton feeds back according to main control unit perform order, for being opened or closed in time by air supply valve 7.By the height of the unmanned plane measured by induction apparatus, speed and acceleration value, it is converted into regulated quantity by main control unit and starts automaton and realize automatically turning on and automatically close switch, ensure that unmanned plane is when taking off, open air supply valve 7 in time, unmanned plane is made to rise to operation height, when the operation height continuation rising of unmanned plane reaches pre-set flight height, close air supply valve 7 again through automaton, make unmanned plane be maintained at certain altitude and carry out operation.
In the present embodiment, under unmanned plane is in heavy load conditions, takeoff phase both can use feeder to supply to airbag apparatus, airbag apparatus is made to be full of light density gases, buoyancy by air provides pulling force upwards for unmanned plane, main screw rotates with relatively low rotating speed simultaneously, producing pulling force necessarily upwards, main screw and airbag apparatus provide pulling force upwards for unmanned plane simultaneously, overcome the gravity of unmanned plane and the gravity of load together.After feeder supplies to a certain extent and unmanned plane rises to certain altitude, feeder is made to stop supplying to airbag apparatus, unmanned plane carries out operation after arriving operation height, main screw has only to consume few airborne energy to regulate the motion excursion amount of unmanned plane, reduce the depletion rate to the airborne energy, extend the activity duration of unmanned plane, unmanned plane is made to be continuously in desirable duty in a long time, thus reaching to improve the purpose of unmanned plane work efficiency, expand unmanned plane activity duration under heavy load conditions and job area, reach unmanned plane effect of continuous firing under heavy load conditions, after unmanned plane completes aerial work, the progressively gas in release airbag apparatus, by the pulling force that main screw provides, make unmanned plane safety and steady land.
When being used in the unmanned plane device of heavy load conditions work, the control method of unmanned plane device is roughly the same with embodiment 1, but owing to the unmanned plane device in the present embodiment is provided for device of air, during unmanned plane operation aloft, when needs rise or fall repeatedly, require over main control unit repeatable operation and control air discharge cook, air supply valve and feeder, be specifically related to the step d in embodiment 1, comprise the steps:
When d1, unmanned plane decline, the rotating speed of main screw is reduced to marginal value, opens exhaust apparatus simultaneously, make unmanned plane decline；
D2, when unmanned plane drops to preset height, close exhaust apparatus, suitably controlled main rotor system RPMs by main control unit, make unmanned plane be maintained at predetermined altitude operation；
When d3, unmanned plane rise, open feeder, be full of gas to airbag apparatus, make unmanned plane increase；
D4, when unmanned plane rises to preset height, close feeder, suitably controlled main rotor system RPMs by active cell, make unmanned plane be maintained at predetermined altitude operation；
D5 is until unmanned plane completes whole operation.
Pass through above-mentioned steps, make unmanned plane in flight course, can according to job requirements raising and lowering repeatedly, and in raising and lowering process, a large amount of airborne energy need not be consumed, make unmanned plane can carry out long flight job task, make the working performance of unmanned plane get a promotion, the popularization of unmanned plane has been also functioned to impetus.
Claims (10)
1. the unmanned plane device that a kind works under heavy load conditions, including the main control unit that unmanned plane main body mechanism and the control each system of unmanned plane are properly functioning, it is characterized in that, also include the airbag apparatus that upwards pulling force is provided for unmanned plane, described airbag apparatus is arranged in above unmanned plane agent structure, its internal injection has the light density gases less than atmospheric density, described airbag apparatus to be also associated with the exhaust apparatus for discharging its internal gas capacity.
2. the unmanned plane device worked under heavy load conditions according to claim 1, it is characterised in that being additionally provided with the sensing device for measuring unmanned plane height, speed and acceleration on unmanned plane device, described sensing device is connected with main control unit.
3. the unmanned plane device worked under heavy load conditions according to claim 2, it is characterized in that, described exhaust apparatus is the air discharge cook being arranged on airbag apparatus, described air discharge cook is connected to automaton, the data that automaton feeds back according to main control unit perform order, for being opened or closed in time by air discharge cook.
4. the unmanned plane device worked under heavy load conditions according to claim 2, it is characterized in that, being also associated with feeder on described airbag apparatus, described feeder is light density gases source, for the light density gases less than atmospheric density to airbag apparatus supply.
5. the unmanned plane device worked under heavy load conditions according to claim 4, it is characterised in that being equiped with reaction raw materials in described feeder, reaction raw materials generates the gas less than atmospheric density after carrying out chemical reaction in feeder.
6. the unmanned plane device worked under heavy load conditions according to claim 4, it is characterised in that described feeder is the storage facility that storage has liquid or solid state gas.
7. according to the unmanned plane device worked under heavy load conditions one of claim 4-6 Suo Shu, it is characterized in that, described feeder is carried to airbag apparatus and is connected to air supply valve on the passage of gas, described air supply valve is controlled by automaton, the data that automaton feeds back according to main control unit perform order, for being opened or closed in time by air supply valve.
8. the unmanned plane device worked under heavy load conditions according to claim 7, it is characterised in that described airbag apparatus is the volume retractor device with gas flow and gas pressure change, and the material of described retractor device is flexible fabric.
9. the control method of the unmanned plane device that a kind works under heavy load conditions, it is characterised in that the control method of the unmanned plane device worked under heavy load conditions as described in one of claim 1-8, comprises the following steps:
A, unmanned plane airbag apparatus being full of light density gases, close the exhaust apparatus on airbag apparatus, meanwhile, main screw rotates with relatively low rotating speed in the vertical direction, and under the active force of airbag apparatus and main screw, unmanned plane takes off；
B, unmanned plane move upward under the combined effect power of main screw and airbag apparatus, when arriving flight predetermined altitude, reduce the active force of main screw, make unmanned plane be maintained at predetermined altitude flight；
C, by main control unit adjust main screw rotating speed, make unmanned plane keep fly within a certain height and carry out relevant job task；
D, control unmanned plane carry out relevant job task；
E, progressively alleviate when the load of unmanned plane load, unmanned plane continues to rise under the drive of air bag, reduce the rotary speed of main screw, unmanned plane tension is made to reduce, when the rotary speed of main screw drops to after marginal value unmanned plane still when moving upward, opened the exhaust apparatus on airbag apparatus by main control unit, the filling gas in airbag apparatus is discharged；
F, repetition step g are until unmanned plane completes airflight operation；
When g, unmanned plane prepare landing, control unmanned plane by main control unit and arrive drop zone, progressively discharged the filling gas in airbag apparatus by exhaust apparatus, control the rotating speed of main screw simultaneously well, make unmanned plane complete safety and steady landing.
10. the control method of the unmanned plane device worked under heavy load conditions according to claim 9, it is characterised in that described step d comprises the steps:
When d1, unmanned plane decline, the rotating speed of main screw is reduced to marginal value, opens exhaust apparatus simultaneously, make unmanned plane decline；
D2, when unmanned plane drops to preset height, close exhaust apparatus, suitably controlled main rotor system RPMs by main control unit, make unmanned plane be maintained at predetermined altitude operation；
When d3, unmanned plane rise, open feeder, be full of gas to airbag apparatus, make unmanned plane increase；
D4, when unmanned plane rises to preset height, close feeder, suitably controlled main rotor system RPMs by active cell, make unmanned plane be maintained at predetermined altitude operation；
D5 is until unmanned plane completes whole operation.
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