CN106054905A - Flight vehicle one-key takeoff method - Google Patents
Flight vehicle one-key takeoff method Download PDFInfo
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- CN106054905A CN106054905A CN201610366663.4A CN201610366663A CN106054905A CN 106054905 A CN106054905 A CN 106054905A CN 201610366663 A CN201610366663 A CN 201610366663A CN 106054905 A CN106054905 A CN 106054905A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000000630 rising effect Effects 0.000 claims abstract description 8
- 230000001133 acceleration Effects 0.000 claims description 12
- 230000003068 static effect Effects 0.000 claims description 2
- 230000009194 climbing Effects 0.000 abstract description 3
- 230000006378 damage Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 208000027418 Wounds and injury Diseases 0.000 description 4
- 230000006698 induction Effects 0.000 description 4
- 208000014674 injury Diseases 0.000 description 4
- 230000007812 deficiency Effects 0.000 description 3
- 230000035772 mutation Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
- B64D31/02—Initiating means
- B64D31/06—Initiating means actuated automatically
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a flight vehicle one-key takeoff method. The method includes the following steps that: (1) a preset height in a vertical direction required by a flight vehicle after takeoff is provided; the height of a current position of the flight vehicle in the vertical direction is detected; (2) a one-key takeoff switch is turned on, the flight vehicle takes off, the flight vehicle climbs towards the preset height in the vertical direction at a preset rising speed, a flight vehicle controller installed on the flight vehicle tracks the rising speed and rising height of the flight vehicle in real time and transmits a flight vehicle controller; and (3) when the flight vehicle controller detects that the actual height of the flight vehicle is equal to the preset height, the flight vehicle stops climbing upward and keeps at the preset height. With the method provided by the above technical schemes adopted, a user only needs to operate the one-key takeoff switch, so that the flight vehicle will climb at the preset speed, and finally hover in the sky of the preset height, and manual control on an accelerator is not required, and problems such as over-operation or insufficient operation of the accelerator can be avoided.
Description
Technical field
The invention belongs to airmanship field, particularly relate to the method that aircraft one key takes off.
Background technology
Along with the development of science and technology, aircraft miscellaneous has been produced for meeting the demand of different client.
Existing aircraft is required for manual control during taking off, and due to user operation skill, has
Now collide or situation out of control, aircraft flight is caused safely the biggest hidden danger, the most in some cases, uses
The technology at family does not passes a test, and is susceptible to Throttle Opening Control bad, operation excess or the problem of throttle deficiency occurs, causes aircraft
Cannot take off or damage, seriously can cause the problems such as personnel's injury.
Summary of the invention
It is an object of the invention to provide the method that aircraft one key takes off, it is intended to solve existing Multiwing aircraft when taking off
Control loaded down with trivial details, it is difficult to the problem of manipulation.
The present invention is achieved in that the method that aircraft one key takes off, and comprises the steps:
(1) give aircraft and preset the preset height of vertical direction after needs take off；Sense aircraft current location is vertical
The height in direction；
(2) open a key to take off switch, aircraft takeoff, aircraft in vertical direction with the default rate of climb to preset height
Climb, the rate of climb of aircraft described in the controller of aircraft real-time tracking that aircraft is provided with and lifting height, and pass to
Controller of aircraft；
(3) detect that the actual height of aircraft is upwards climbed equal to preset height, aircraft stopping and protecting when flight controller
Hold in preset height.
After using above technical scheme, give described aircraft and preset the default height of vertical direction after needs take off
Degree, then operates a key and takes off switch, and described aircraft climbs to preset height with pre-set velocity, when flight controller detects
The actual height of aircraft is equal to preset height, and aircraft stops upwards climbing, and described aircraft body hovers in the air, is not required to
Want manual control throttle, it is to avoid the problems such as operation excess or throttle deficiency, reduce the infringement to aircraft and personnel's injury etc.
Accident.
Wherein, in step (1), the numerical value of described preset height is input in flight controller.
Wherein, in step (1), the height of described current location vertical direction is any high less than described preset height
Degree.
Wherein, in step (2), described aircraft includes that gyroscope, described gyroscope detect described aircraft in real time
It is converted into the described rate of climb by calculating after climb acceleration.
Wherein, in step (2), described aircraft also includes barometer, aircraft described in described barometer real-time tracking
The relatively atmospheric pressure value on ground be converted into described lifting height by calculating.
Wherein, in step (2), described aircraft climbs to preset height with the default rate of climb and comprises the following steps:
1. the state of flight of described aircraft is judged；
If the most described aircraft is static or during vacant state, the most described controller of aircraft controls aircraft to preset upper raising speed
Degree vertically climbs；If described flight is in climb mode, the most described controller of aircraft is by the described default rate of climb and works as
The front rate of climb compares so that the described default rate of climb is consistent with the current rate of climb.
Wherein, step 2. in, when the described rate of climb less than preset the rate of climb time, described controller of aircraft strengthen
Throttle or electric switch so that the described rate of climb is consistent with the default rate of climb；If the described rate of climb is more than presetting the rate of climb,
Described controller of aircraft reduces aircraft throttle or electric switch so that the described rate of climb is consistent with the default rate of climb；If institute
Stating the rate of climb equal to presetting the rate of climb, controller of aircraft throttle or electric switch holding are constant.
Wherein, described gyroscope is six axle gyroscopes, and the data feedback obtained by described six axle gyroscopes and barometer arrives
Controller, controller, by above-mentioned data are processed and adjusted, makes the number of the aircraft rate of climb and actual height
According to more accurate.
Wherein, described aircraft is provided with a key landing switch, and the described key switch that takes off is built in a described key landing and opens
Shut.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with embodiment, to the present invention
It is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not used to
Limit the present invention.
The present invention provides aircraft one method that key takes off, and comprises the steps:
(1) give aircraft and preset the preset height of vertical direction after needs take off；Sense aircraft current location is vertical
The height in direction；
(2) open a key to take off switch, aircraft takeoff, aircraft in vertical direction with the default rate of climb to preset height
Climb, the rate of climb of aircraft described in the controller of aircraft real-time tracking that aircraft is provided with and lifting height, and pass to
Controller of aircraft；
(3) detect that the actual height of aircraft is upwards climbed equal to preset height, aircraft stopping and protecting when flight controller
Hold in preset height.
Described method is applicable not only to unmanned plane, applies also for someone and controls a key of aircraft and take off, in this enforcement
In example, including aircraft and for controlling the remote controller of aircraft, described aircraft is provided with controller of aircraft, gyro
Instrument, barometer, multiple motor and multiple propeller, described controller of aircraft respectively with gyroscope, barometer and multiple electricity
Mechatronics, described multiple propellers are respectively arranged on multiple motor, described remote controller is provided with a key and takes off and press
Key and throttle etc., be connected by wireless network between described remote controller and aircraft.
In step (1), described flying vehicles control computer presetting after an aircraft takeoff preset by remote controller
Highly, wherein, described preset height can be arbitrary height number, when the height number described in described remote controller acquisition
After, take off described height number is transmitted on aircraft after switch by triggering a key.
Described gyroscope is six axle gyroscopes, six described axle gyroscopes be internally provided with three-axis gyroscope and three axles
Accelerometer, owing to described three-axis gyroscope is a kind of inertia induction apparatus, this inertia induction apparatus can be measured in real time and obtain
The angle of inclination of aircraft, reaches described angle of inclination in described controller of aircraft, and judges the attitude of described aircraft
And obtain and change numerical value accordingly, described controller of aircraft changes numerical value according to this and makes sensitive reaction, thus quickly
Ground controls the stability of the default rate of climb of described aircraft, after using above technical scheme, is possible not only to obtain accurately
The attitude information of aircraft, but also sensitive sensing can be made according to described attitude information such that it is able to adjust rapidly and fly
The stability of row device, wherein, described attitude information such as aircraft does pitching motion and inclination action etc..
Described triaxial accelerometer is for accelerating induction apparatus, and described acceleration induction apparatus measures described aircraft in real time on each axle
Linear acceleration, and described acceleration is delivered in described controller of aircraft in real time, wherein, described aircraft control
Device processed can also be modified according to described six axle gyroscopes, the acceleration of axle each to described aircraft, thus fly described in obtaining
The actual acceleration of row device, according to the quadratic integral of described actual acceleration, thus obtains the actual displacement amount of described aircraft,
After using above technical scheme, it is possible not only to the attitude of described aircraft is modified, avoids aircraft in space simultaneously
Produce elegant problem, during aircraft, it is not necessary to user is ceaselessly revised so that described aircraft operation is more steady
Fixed, easy left-hand seat.
After using above technical scheme, the acceleration of aircraft any time can be collected by six described axle gyroscopes
Degree, and by after described integrated acceleration, thus obtain the rate of climb of aircraft any time, it is possible not only to judge aircraft
Flight state, also achieve aircraft increases steady function simultaneously certainly.
Described barometer is measured in real time and obtains the described aircraft place environment atmospheric pressure value relative to ground, described rising
Highly calculate gained by described atmospheric pressure value, the lifting height of aircraft described in the most described controller of aircraft real time record.
The height of the current location vertical direction of described aircraft can be on ground, it is also possible to is to hover over to be less than
On the arbitrary height of preset height, it is also possible to be the state of flight climbed to preset height.
When the height of the current location vertical direction of described aircraft is in ground or hovers over less than preset height
Arbitrary height time, described aircraft now position is referred to as current location, the rising obtained measured by described barometer
Highly it is referred to as present level, due under the state that described aircraft is in ground or hovering, being tried hard to keep of the most described aircraft
Maintain an equal level weighing apparatus, and when a key takes off switch triggering, six described axle gyroscopes are automatically brought into operation controller of aircraft, change of flight device
Throttle value, directly orders about carry-on motor and accelerates, start the corresponding propeller on motor, and described aircraft will obtain one
The default rate of climb in vertical direction, thus produce the lift that aircraft needs so that aircraft is with described default rising
Speed is towards preset height vertical ascent.
When described aircraft is in the state that present level climbs toward described preset height, take off switch triggering a key
Time, described controller of aircraft presets a default rate of climb automatically, and described controller of aircraft is upper by described aircraft
Lifting speed compares with the described default rate of climb, if the described default rate of climb is more than the rate of climb, and described flight
Device controller strengthens throttle or the electric switch of described aircraft, directly orders about carry-on motor and accelerates to start corresponding spiral
Oar so that the rate of climb keeps consistent and vertical towards preset height with this default rate of climb with the described default rate of climb
Rising, if the described default rate of climb is less than the rate of climb, described controller of aircraft reduces the throttle of described aircraft
Or electric switch so that the described rate of climb is consistent with the default rate of climb, if the described rate of climb is equal to presetting the rate of climb, and flight
Device controller throttle or electric switch keep constant, and described aircraft continues to rise towards described preset height with the rate of climb, thus
Guarantee that described aircraft the most at the uniform velocity rises, improve the stability of aircraft speed.
After using above technical scheme, when any height that aircraft rest on the ground or during being in and climbing,
User wants to enter the automatic mode that a key takes off in any moment, and directly operation one key takes off switch, it is not necessary to again by described flight
Device landing ground carries out the automatic mode that a key takes off again, helps some abecedarians to reduce aircraft especially and damages and avoid personnel
The accident etc. of injury.
Receive additionally, described controller of aircraft compares the lifting height that current time receives in real time with previous moment
Lifting height compare, it is judged that whether the lifting height of the aircraft of current time undergos mutation, if sudden change, described in fly
Row device controller obtains the acceleration of current time according to described six axle gyroscopes, and judges whether the acceleration of aircraft occurs
Sudden change, whether the i.e. described rate of climb undergos mutation, if the rate of climb of described aircraft is undergone mutation, then the most this moment
Lifting height be effective lifting height, the most described rate of climb is finely adjusted, if the rate of climb of aircraft does not occurs
Sudden change, then be finely adjusted described lifting height, thus ensure what aircraft changed relative to ground vertical height variation tendency
Correctness, it is to avoid lifting height is affected by air-flow.
In the present embodiment, when aircraft at the uniform velocity rises towards preset height, if user wants that exiting a key takes off
Automatic mode, only need to touch throttle and can exit this automatic mode so that described aircraft just can hover over less than pre-
If on the arbitrary height of height.
Be additionally provided with on described remote controller one key landing switch, described one key landing switch include a key take off switch and
One key landing switch, switchs by operating this key landing, can trigger a described key and take off switch so that described remote control
Device structure more optimizes, and reduces switch taking up room on a remote control.
After using above technical scheme, user is easier to left-hand seat, it is to avoid in take-off process, Throttle Opening Control is bad, as operated
The problems such as amount or throttle deficiency, reduce the operation of the injury accident such as aircraft or personnel, particularly some multi-rotor aerocrafts
Deng.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Any amendment, equivalent and the improvement etc. made within god and principle, should be included within the scope of the present invention.
Claims (9)
1. the method that aircraft one key takes off, it is characterised in that said method comprising the steps of:
(1) give aircraft and preset the preset height of vertical direction after needs take off；Sense aircraft current location is vertical
The height in direction；
(2) open a key to take off switch, aircraft takeoff, aircraft in vertical direction with the default rate of climb to preset height
Climb, the rate of climb of aircraft described in the controller of aircraft real-time tracking that aircraft is provided with and lifting height, and pass to
Controller of aircraft；
(3) detect that the actual height of aircraft is upwards climbed equal to preset height, aircraft stopping and protecting when flight controller
Hold in preset height.
2. the method that aircraft one key as claimed in claim 1 takes off, it is characterised in that: in step (1), described default height
The numerical value of degree is input in controller of aircraft.
3. the method that aircraft one key as claimed in claim 1 takes off, it is characterised in that: in step (1), described present bit
The height putting vertical direction is any height less than described preset height.
4. the method that aircraft one key as claimed in claim 1 takes off, it is characterised in that: in step (2), described aircraft
Including gyroscope, described gyroscope is converted into described upper raising speed by calculating after detecting the climb acceleration of described aircraft in real time
Degree.
5. the method that aircraft one key as described in claim 1 or 4 takes off, it is characterised in that: in step (2), described in fly
Row device also includes barometer, and aircraft described in described barometer real-time tracking relative to the atmospheric pressure value on ground and is converted into by calculating
Described lifting height.
6. the method that aircraft one key as claimed in claim 1 takes off, it is characterised in that: in step (2), described aircraft
Climb to preset height with the default rate of climb and comprise the following steps:
1. the state of flight of described aircraft is judged；
If the most described aircraft is static or during vacant state, the most described controller of aircraft controls aircraft to preset upper raising speed
Degree vertically climbs；If described flight is in climb mode, the most described controller of aircraft is by the described default rate of climb and works as
The front rate of climb compares so that the described default rate of climb is consistent with the current rate of climb.
7. the method that aircraft one key as claimed in claim 6 takes off, it is characterised in that: step 2. in, when described rising
Speed is less than when presetting the rate of climb, and described controller of aircraft is opened the throttle or electric switch so that the described rate of climb is with default
The rate of climb is consistent；If the described rate of climb more than preset the rate of climb, described controller of aircraft reduce aircraft throttle or
Electric switch so that the described rate of climb is consistent with the default rate of climb；If the described rate of climb is equal to presetting the rate of climb, aircraft
Controller throttle or electric switch keep constant.
8. the method that aircraft one key as claimed in claim 5 takes off, it is characterised in that: described gyroscope is six axle gyros
Instrument, the data feedback obtained by described six axle gyroscopes and barometer to controller, controller is by above-mentioned data
Reason and adjustment, the data making the aircraft rate of climb and actual height are more accurate.
9. the method that aircraft one key as claimed in claim 1 takes off, it is characterised in that: described aircraft is provided with a key landing
Switch, a described key take off switch be built in described one key landing switch on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610366663.4A CN106054905A (en) | 2016-05-30 | 2016-05-30 | Flight vehicle one-key takeoff method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610366663.4A CN106054905A (en) | 2016-05-30 | 2016-05-30 | Flight vehicle one-key takeoff method |
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Family
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| CN201610366663.4A Pending CN106054905A (en) | 2016-05-30 | 2016-05-30 | Flight vehicle one-key takeoff method |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106647802A (en) * | 2016-11-23 | 2017-05-10 | 上海圣尧智能科技有限公司 | Vertical take-off unmanned aerial vehicle auxiliary take-off system |
| CN106818691A (en) * | 2016-11-30 | 2017-06-13 | 上海圣尧智能科技有限公司 | Semi-automatic control system during plant protection machine operation |
| CN106950997A (en) * | 2017-05-11 | 2017-07-14 | 北京京东尚科信息技术有限公司 | The method and device that unmanned plane is independently unloaded |
| CN108446914A (en) * | 2018-03-20 | 2018-08-24 | 中国计量大学 | A kind of unmanned plane method of servicing and system based on cloud platform |
| CN109765923A (en) * | 2017-11-09 | 2019-05-17 | 深圳市疆域智能科技股份有限公司 | A kind of intelligent wristwatch controlling unmanned plane |
| CN110262539A (en) * | 2019-07-05 | 2019-09-20 | 深圳市道通智能航空技术有限公司 | Unmanned plane landing control method, flight controller and unmanned plane |
| CN110621250A (en) * | 2016-12-30 | 2019-12-27 | Wing航空有限责任公司 | Electrical system for unmanned aerial vehicle |
| CN110955258A (en) * | 2019-11-28 | 2020-04-03 | 深圳蚁石科技有限公司 | Control method and device of four-axis aircraft, controller and storage medium |
| CN112416014A (en) * | 2019-08-23 | 2021-02-26 | 杭州海康机器人技术有限公司 | Flight control method and device for multi-rotor unmanned aerial vehicle and multi-rotor unmanned aerial vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106647802A (en) * | 2016-11-23 | 2017-05-10 | 上海圣尧智能科技有限公司 | Vertical take-off unmanned aerial vehicle auxiliary take-off system |
| CN106647802B (en) * | 2016-11-23 | 2020-04-24 | 广西圣尧航空科技有限公司 | Auxiliary takeoff system of vertical takeoff unmanned aerial vehicle |
| CN106818691A (en) * | 2016-11-30 | 2017-06-13 | 上海圣尧智能科技有限公司 | Semi-automatic control system during plant protection machine operation |
| CN106818691B (en) * | 2016-11-30 | 2020-04-24 | 广西圣尧航空科技有限公司 | Semi-automatic control system for operation of plant protection machine |
| CN110621250A (en) * | 2016-12-30 | 2019-12-27 | Wing航空有限责任公司 | Electrical system for unmanned aerial vehicle |
| CN106950997A (en) * | 2017-05-11 | 2017-07-14 | 北京京东尚科信息技术有限公司 | The method and device that unmanned plane is independently unloaded |
| CN109765923A (en) * | 2017-11-09 | 2019-05-17 | 深圳市疆域智能科技股份有限公司 | A kind of intelligent wristwatch controlling unmanned plane |
| CN108446914A (en) * | 2018-03-20 | 2018-08-24 | 中国计量大学 | A kind of unmanned plane method of servicing and system based on cloud platform |
| CN110262539A (en) * | 2019-07-05 | 2019-09-20 | 深圳市道通智能航空技术有限公司 | Unmanned plane landing control method, flight controller and unmanned plane |
| CN112416014A (en) * | 2019-08-23 | 2021-02-26 | 杭州海康机器人技术有限公司 | Flight control method and device for multi-rotor unmanned aerial vehicle and multi-rotor unmanned aerial vehicle |
| CN112416014B (en) * | 2019-08-23 | 2024-03-08 | 杭州海康威视数字技术股份有限公司 | Flight control method and device of multi-rotor unmanned aerial vehicle and multi-rotor unmanned aerial vehicle |
| CN110955258A (en) * | 2019-11-28 | 2020-04-03 | 深圳蚁石科技有限公司 | Control method and device of four-axis aircraft, controller and storage medium |
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