CN106143913B - Take off vertically power supply system, fixed-wing unmanned plane and working method - Google Patents

Take off vertically power supply system, fixed-wing unmanned plane and working method Download PDF

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Publication number
CN106143913B
CN106143913B CN201610574007.3A CN201610574007A CN106143913B CN 106143913 B CN106143913 B CN 106143913B CN 201610574007 A CN201610574007 A CN 201610574007A CN 106143913 B CN106143913 B CN 106143913B
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China
Prior art keywords
unmanned plane
power supply
charging
power
module
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CN106143913A (en
Inventor
李忠
朱艾成
朱浩
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Jiangsu City Hydrogen Energy Technology Co Ltd
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Jiangsu City Hydrogen Energy Technology Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C39/00Aircraft not otherwise provided for
    • B64C39/02Aircraft not otherwise provided for characterised by special use
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D41/00Power installations for auxiliary purposes
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02JCIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/00032Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
    • H02J7/00036Charger exchanging data with battery
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02JCIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0013Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries acting upon several batteries simultaneously or sequentially
    • H02J7/0027Stations for charging mobile units, e.g. of electric vehicles, of mobile telephones
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/02Unmanned aerial vehicles; Equipment therefor characterized by type of aircraft
    • B64C2201/021Airplanes, i.e. having wings and tail planes

Abstract

It takes off vertically power supply system, fixed-wing unmanned plane and working method the present invention relates to one kind, wherein the power supply system that takes off vertically includes: the power supply device positioned at ground;The power supply device is suitable for when unmanned plane takes off vertically, and keeps powering to unmanned plane;And after unmanned plane reaches predetermined altitude, unmanned plane is detached from power supply device power supply;Through power supply device when unmanned plane takes off vertically, persistently unmanned plane is powered, meets the electrical energy demands that take off vertically, greatly reduces the power consumption of unmanned plane itself, extends unmanned plane cruise mileage and time.

Description

Take off vertically power supply system, fixed-wing unmanned plane and working method
Technical field
It takes off vertically power supply system, fixed-wing unmanned plane and working method the present invention relates to one kind.
Background technique
Due to unmanned plane have the characteristics that it is motor-driven quickly, use cost is low, maintenance is using simple, at home and abroad It is employed extensively.
But traditional unmanned plane needs to consume a large amount of electric energy during taking off vertically, a large amount of electric energy are consumed, meeting Seriously affect cruise mileage and the time of unmanned plane.
Therefore, how to reduce or avoid power consumption of the unmanned plane when taking off vertically is the technical problem of this field.
Summary of the invention
It takes off vertically power supply system and working method the object of the present invention is to provide one kind, is being hung down so that unmanned plane is effectively reduced Power consumption of powdered when directly taking off.
It takes off vertically power supply system in order to solve the above-mentioned technical problems, the present invention provides one kind, comprising: positioned at ground Power supply device;The power supply device is suitable for when unmanned plane takes off vertically, and keeps powering to unmanned plane;And work as nothing It is man-machine reach predetermined altitude after, unmanned plane be detached from power supply device power supply.
Further, the power supply system that takes off vertically further include: adsorbent equipment and charging end;The adsorbent equipment is suitable for making The plug of charging end is inserted into unmanned plane charging interface, and after unmanned plane reaches predetermined altitude, and adsorbent equipment drives charging end de- It falls, unmanned plane is made to be detached from power supply device power supply;And it is equipped at the power supply device for coiling transmission pressure Line wheel.
Further, the power supply device includes: main processor modules, the main electric power being connected with the main processor modules Line carrier module;It include: the slave power line carrier that is connected with this from processor module from processor module in the adsorbent equipment Module controls electric or power loss electromagnet by described from processor;And it is described to be further adapted for obtaining nobody from processor module The real-time altitude information of machine, and after unmanned plane reaches predetermined altitude, by controlling electromagnet power loss from processor module, realize charging End is automatically separated with unmanned plane;The adsorbent equipment is further adapted for real-time altitude information being sent to electricity by power line carrier mode Source power supply unit;If charging end does not separate with unmanned plane after unmanned plane reaches predetermined altitude, then sent out by power supply device Sending makes the power line carrier signal of electromagnet power loss to adsorbent equipment, separates charging end manually with unmanned plane.
Another aspect, the present invention also provides a kind of working methods of power supply system that takes off vertically.
The power supply system that takes off vertically includes: the power supply device positioned at ground;
The working method includes: when unmanned plane takes off vertically, and the power supply device is suitable for keeping to unmanned plane Power supply;And after unmanned plane reaches predetermined altitude, unmanned plane is detached from power supply device power supply.
Further, the power supply system that takes off vertically further include: adsorbent equipment and charging end;The adsorbent equipment is suitable for making The plug of charging end is inserted into unmanned plane charging interface, and after unmanned plane reaches predetermined altitude, and adsorbent equipment drives charging end de- It falls;Unmanned plane is detached from power supply device power supply;The line wheel for coiling transmission pressure is equipped at the power supply device;Institute Stating power supply device includes: main processor modules, the main power line carrier module being connected with the main processor modules;The suction It include: the slave power line carrier module being connected with this from processor module from processor module in adsorption device, by described from processing Device controls electric or power loss electromagnet;And it is described to be further adapted for obtaining the real-time altitude information of unmanned plane from processor module, And after unmanned plane reaches predetermined altitude, by controlling electromagnet power loss from processor module, realize that charging end is divided automatically with unmanned plane From;The adsorbent equipment is further adapted for real-time altitude information being sent to power supply device by power line carrier mode;If After unmanned plane reaches predetermined altitude, charging end does not separate with unmanned plane, then makes electromagnet power loss by power supply device transmission Power line carrier signal to adsorbent equipment, separate charging end manually with unmanned plane.
Kind of the invention take off vertically power supply system and its working method the utility model has the advantages that by power supply device in nothing Man-machine to be persistently powered to unmanned plane when taking off vertically, satisfaction takes off vertically electrical energy demands, greatly reduces unmanned plane itself Power consumption, extend unmanned plane cruise mileage and time.
The third aspect, the present invention also provides a kind of unmanned planes, comprising: airborne processor module, by the airborne processor The unmanned plane dynamical system and the power supply system that takes off vertically of module control;It is supplied when unmanned plane is detached from power supply device After electricity, switch power supply system power supply in unmanned plane.
Further, the unmanned plane dynamical system include: the horizontal power subsystem controlled by airborne processor module and Vertical Dynamic subsystem;Wherein the horizontal power subsystem is located at fuselage, and includes: flat spin paddle mechanism;It is described to hang down Straight power sub-system includes: the vertical spin paddle mechanism being symmetrically set at left and right wing;And the airborne processor module is also It is connected with the gyroscope for detecting unmanned plane during flying posture, the GPS module for being positioned to unmanned plane.
Further, the vertical spin paddle mechanism includes an at least vertical spin paddle, for hanging vertical spin paddle mechanism The suspension arrangement being hung below wing, the vertical spin paddle are suitable for through the driving rotation of corresponding micromotor;The suspension dress Setting includes: the first angle fine tuning motor for being suitable for tilting forward or backward vertical spin paddle, and makes vertical spin paddle to the left Or the second angle fine tuning motor being tilted to the right;Wherein the first, second angle adjustment motor and micromotor are by airborne Processor module control, to adjust the inclination angle of vertical spin paddle and the revolving speed of vertical spin paddle according to flight attitude.
Further, the unmanned plane is additionally provided with wind transducer and wind speed sensing for detecting flight course moderate crosswind Device, the wind transducer and air velocity transducer are suitable for the wind direction of crosswind suffered by current unmanned plane and air speed data being sent to machine Borne processor module;The airborne processor module is suitable for wind direction and air speed data according to crosswind, adjusts vertical spin paddle Inclination angle and vertical, horizontal propeller revolving speed, to stablize current flight posture.
Fourth aspect, the present invention also provides a kind of working methods of unmanned plane.
When the unmanned plane takes off vertically, which keeps powering to unmanned plane by power supply device;And After unmanned plane reaches predetermined altitude, unmanned plane is detached from power supply device power supply.
Unmanned plane and its working method of the invention the utility model has the advantages that this unmanned plane and its working method, can take off Or during cruise, stablize unmanned plane during flying posture, and when encountering crosswind, by adjusting the inclination angle of vertical spin paddle and hanging down Directly, the revolving speed of horizontal propeller, to stablize current flight posture, which is particularly suitable for taking photo by plane.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the operation schematic diagram of the power supply system that takes off vertically of the invention;
Fig. 2 is the functional block diagram of the power supply system that takes off vertically of the invention;
Fig. 3 is the control principle drawing of unmanned plane of the invention;
Fig. 4 is the structural schematic diagram of unmanned plane of the invention;
Fig. 5 is the structural block diagram of vertical spin paddle mechanism of the invention.
In figure: power supply device 1, adsorbent equipment 101, plug 102, transmission pressure 103, line wheel 104, unmanned plane 2, water Flat power sub-system 3, horizontal propeller 301, Vertical Dynamic subsystem 4, vertical spin paddle 401, micromotor 402, wing 5, Suspension arrangement 6, first angle fine tuning motor 601, second angle finely tune motor 602.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
Embodiment 1
It takes off vertically power supply system as shown in Figure 1, the present embodiment 1 provides one kind, comprising: the power supply power supply positioned at ground Device 1;The power supply device 1 is suitable for when unmanned plane 2 takes off vertically, and keeps powering to unmanned plane 2;And work as unmanned plane After 2 reach predetermined altitude, unmanned plane 2 is detached from power supply device 1 and powers.
As a kind of optional embodiment for the power supply system that takes off vertically, the power supply system that takes off vertically further include: inhale Adsorption device and charging end;The adsorbent equipment is suitable for making the plug 102 of charging end to be inserted into unmanned plane charging interface, and works as unmanned plane After reaching predetermined altitude, adsorbent equipment drives charging end to fall off, and unmanned plane is made to be detached from power supply device power supply;And the electricity The line wheel 104 for coiling transmission pressure 103 is equipped at source power supply unit 1.
Specifically, the power supply device includes: main processor modules, the main electric power being connected with the main processor modules Line carrier module;It include: the slave power line carrier that is connected with this from processor module from processor module in the adsorbent equipment Module controls electric or power loss electromagnet by described from processor.
After making unmanned plane reach predetermined altitude, it can be separated automatically with charging end, it is described also suitable from processor module In the real-time altitude information for obtaining unmanned plane, and after unmanned plane reaches predetermined altitude, by being lost from processor module control electromagnet Electricity realizes that charging end is automatically separated with unmanned plane.
If occurring after being automatically separated unsuccessfully, corresponding emergency measure need to be used, the adsorbent equipment is further adapted for real-time height Data are sent to power supply device by power line carrier mode;If after unmanned plane reaches predetermined altitude, charging end and nothing It is man-machine not separate, then make the power line carrier signal of electromagnet power loss to adsorbent equipment by power supply device transmission, makes to fill Electric end is manually separated with unmanned plane.
For example, the adsorbent equipment is equipped with emergency escape button, after emergency escape button is pressed, the primary processor mould Block, which is suitable for sending, makes the power line carrier signal of electromagnet power loss to adsorbent equipment.
The real-time altitude information of the unmanned plane is suitable for obtaining flight by MS5540C number barometric pressure sensor high It spends, includes carrying out the data communication mouth of data communication with unmanned plane, and carry out by the data communication mouth in the adsorbent equipment Data transmission, when adsorbent equipment and aircraft separate type, which also disconnects therewith, further, passes through the data communication Mouth can make power supply device obtain aircraft relevant parameter, and which is more relatively reliable than wireless mode, guarantee that unmanned plane is hanging down It can stablize when directly taking off, reliably reach predetermined altitude.The flight corresponding data includes but is not limited to: flying height flies Machine current electric quantity, flight attitude, high-altitude wind direction and wind speed (can be discussed in detail in embodiment 3 and embodiment 4).
Adsorbent equipment and charging end power supply are suitable for using direct current mode or exchange way as power supply device.
Wherein, according to direct current transportation mode, then the power supply device is suitable for line voltage being converted to direct current It is sent to adsorbent equipment and charging end by boost module afterwards, the electromagnet in the adsorbent equipment is suitable for using direct solenoid Iron and the charging end include boost module, for promoting the DC voltage after transmission pressure is depressured, are connected by plug Connect the charge and discharge control module in unmanned plane.
According to exchange way, according to ac transmission mode, then AD-DC module is equipped in charging end and converts alternating current Non- unmanned plane charge and discharge control module is provided for direct current;And the electromagnet is suitable for using alternating electromagnet.
The master and slave power line carrier module such as, but not limited to uses SENS-00 power line carrier module, the master, STC series monolithic is such as, but not limited to used from processor module, embeded processor can be using by controlling electromagnet The mode of the electronic switch of feeder ear controls electromagnet and obtains electric or power loss.
Embodiment 2
On that basis of example 1, the present embodiment 2 additionally provides a kind of working method of power supply system that takes off vertically, that is, exists When unmanned plane takes off vertically, the power supply device is suitable for keeping powering to unmanned plane;And when unmanned plane reaches predetermined height After degree, unmanned plane is detached from power supply device power supply.
The power supply system that takes off vertically further include: adsorbent equipment and charging end;The adsorbent equipment is suitable for making charging end Plug be inserted into unmanned plane charging interface, and when unmanned plane reaches predetermined altitude after, adsorbent equipment drive charging end falls off;Nobody Machine is detached from power supply device power supply;The line wheel for coiling transmission pressure is equipped at the power supply device.
The power supply device includes: main processor modules, the main power line carrier wave being connected with the main processor modules Module;It include: the slave power line carrier module being connected with this from processor module from processor module in the adsorbent equipment, Control electric from processor or power loss electromagnet by described;And it is described to be further adapted for obtaining the reality of unmanned plane from processor module When altitude information, and after unmanned plane reaches predetermined altitude, by controlling electromagnet power loss from processor module, realize charging end and nothing It is man-machine to be automatically separated;The adsorbent equipment is further adapted for real-time altitude information being sent to power supply power supply by power line carrier mode Device;If charging end does not separate with unmanned plane after unmanned plane reaches predetermined altitude, then electricity is made by power supply device transmission The power line carrier signal of magnet power loss separates charging end manually with unmanned plane to adsorbent equipment.
Embodiment 3
On that basis of example 1, the present embodiment 2 additionally provides a kind of unmanned plane.
The unmanned plane includes: airborne processor module, the unmanned plane dynamical system controlled by the airborne processor module, And the power supply system that takes off vertically;After unmanned plane is detached from power supply device power supply, power supply system in switching unmanned plane System power supply.
Power supply system includes: charge and discharge control module and lithium battery in the unmanned plane.
The unmanned plane dynamical system includes: the horizontal power subsystem 3 controlled by airborne processor module and vertically moves Power subsystem 4;Wherein the horizontal power subsystem 3 is located at fuselage, and includes: flat spin paddle mechanism;It is described vertical dynamic Power subsystem 4 includes: 401 mechanism of vertical spin paddle being symmetrically set at left and right wing 5;And the airborne processor module Also it is connected with the gyroscope for detecting unmanned plane during flying posture, the GPS module for being positioned to unmanned plane.
401 mechanism of vertical spin paddle includes an at least vertical spin paddle 401, is used for 401 mechanism of vertical spin paddle The suspension arrangement 6 of 5 lower section of wing is hung on, the vertical spin paddle 401 is suitable for through the driving rotation of corresponding micromotor 402; The suspension arrangement 6 includes: first angle the fine tuning motor 601(such as figure suitable for tilting forward or backward vertical spin paddle 401 The direction F1 in 5), and make the side F2 in vertical spin paddle 401 leftward or rightward inclined second angle fine tuning motor 602(such as Fig. 5 To);Wherein the first, second angle adjustment motor and micromotor 402 are controlled by airborne processor module, according to winged The inclination angle of row attitude regulation vertical spin paddle 401 and the revolving speed of vertical spin paddle 401.
A vertical spin paddle 401 includes two vertical spin paddles 401 in Fig. 5, and front and back is symmetrical arranged, therefore, similarly Motor 602 is finely tuned including two second angles, which is suitable for by the control of airborne processor module It rotates synchronously.
The unmanned plane is additionally provided with wind transducer and air velocity transducer for detecting flight course moderate crosswind, the wind It is suitable for the wind direction of crosswind suffered by current unmanned plane and air speed data being sent to airborne processor to sensor and air velocity transducer Module;The airborne processor module be suitable for being adjusted according to the wind direction and air speed data of crosswind vertical spin paddle 401 inclination angle and Vertically, the revolving speed of horizontal propeller, to stablize current flight posture.
Specifically, the wind transducer and air velocity transducer are for measuring what unmanned plane actually obtained in flight course The wind direction and air speed data of crosswind, and then pass through the inclination angle of vertical spin paddle 401, i.e., front or rear, left or right is adjusted, and is combined and hung down Directly, the revolving speed of horizontal propeller, to play the effect of stabilized flight posture, and if crosswind be conducive to fly, improve flight effect Rate.
Such as unmanned plane westerly flies from east, if encountering the crosswind of southwestward, airborne processor module is suitable for adjusting The inclination angle of vertical spin paddle 401, i.e., southwester direction tilts, to offset shadow of the crosswind to unmanned plane during flying route of southwestward It rings;Also, according to wind speed size, change the revolving speed of vertical spin paddle 401.
Wherein, the airborne processor module such as, but not limited to uses single-chip microcontroller or arm processor.
Embodiment 4
On the basis of embodiment 3, the present invention also provides a kind of working methods of unmanned plane.
Wherein, unmanned plane is as described in Example 3, and when unmanned plane takes off vertically, which is filled by power supply power supply Holding is set to power to unmanned plane;And after unmanned plane reaches predetermined altitude, unmanned plane is detached from power supply device power supply.
Preferably, the airborne processor module also with for detecting unmanned plane during flying posture gyroscope, for nothing The man-machine GPS module positioned is connected;The unmanned plane dynamical system includes: the press horizontal mobile controlled by airborne processor module Power subsystem 3 and Vertical Dynamic subsystem 4;Wherein the horizontal power subsystem 3 is located at fuselage, and including horizontal propeller Mechanism;The Vertical Dynamic subsystem 4 includes: 401 mechanism of vertical spin paddle being symmetrically set at left and right wing 5;It is described vertical 401 mechanism of propeller includes an at least vertical spin paddle 401, for 401 mechanism of vertical spin paddle to be hung on 5 lower section of wing Suspension arrangement 6, the vertical spin paddle 401 are suitable for through the driving rotation of corresponding micromotor 402;The suspension arrangement 6 includes: Suitable for tilt forward or backward vertical spin paddle 401 first angle finely tune motor 601, and make vertical spin paddle 401 to Second angle fine tuning motor 602 that is left or being tilted to the right;Wherein the first, second angle adjustment motor and micromotor 402 It is controlled by airborne processor module, to adjust inclination angle and the vertical spin paddle 401 of vertical spin paddle 401 according to flight attitude Revolving speed.
Method according to the inclination angle of flight attitude adjusting vertical spin paddle 401 and revolving speed includes: the airborne processor die Block is suitable for control first angle fine tuning motor 601 and vertical spin paddle 401 is driven to turn forward, while controlled level propeller mechanism Middle horizontal propeller work to shorten the time that unmanned plane reaches the cruising altitude of setting, and is reaching cruise height in unmanned plane While spending, meet its cruising speed.
The unmanned plane is additionally provided with wind transducer and air velocity transducer for detecting flight course moderate crosswind, the wind It is suitable for the wind direction of crosswind suffered by current unmanned plane and air speed data being sent to airborne processor to sensor and air velocity transducer Module;The airborne processor module be suitable for being adjusted according to the wind direction and air speed data of crosswind vertical spin paddle 401 inclination angle and Vertically, the revolving speed of horizontal propeller, with stable and current flight posture.
Specifically, the airborne processor module is suitable for wind direction and air speed data according to crosswind, vertical spin paddle is adjusted 401 inclination angle and vertical, horizontal propeller revolving speed, if including: unmanned plane in sky in the stable method with current flight posture Middle hovering, then horizontal propeller stops working, and vertical spin paddle 401 works, and the airborne processor module is suitable for according to side The wind direction and air speed data of wind change inclination angle and the revolving speed of vertical spin paddle 401, with steadily hovering posture;If unmanned plane cruises, The airborne processor module is suitable for wind direction and air speed data according to crosswind, changes inclination angle and the revolving speed of vertical spin paddle 401, To keep cruising altitude.
Specific implementation process: if unmanned plane hovers in control, if encountering the crosswind from east westerly, vertical spin paddle 401 Inclination angle correspond to cross-wind direction, to offset influence of the crosswind to unmanned plane during flying posture, and adjusted and hung down according to the wind speed of crosswind The revolving speed of straight propeller 401.
The airborne processor module is suitable for judging whether the wind direction of crosswind and wind speed facilitate to fly, if helping to fly Row, then reduce the revolving speed of vertical spin paddle 401 and/or horizontal propeller, improve the cruise mileage of unmanned plane.
The control system of the unmanned plane includes: the processor module to fly for controlling unmanned plane by respective paths, with The first, second connected GPS module of the processor module, the first, second GPS module pass through corresponding serial ports and processor module phase Even, the processor module is suitable for when the first GPS module can not work, starting the second GPS module work;
The working method of the unmanned plane, further includes: unmanned plane is flown to the path of destination to select, to obtain Optimal path;
Unmanned plane is flown to the path of destination to select, includes: in the method for obtaining optimal path
The real time data of wind between each building is obtained, and establishes air duct net between the building of city;
After unmanned plane sets air objective ground, the processor module passage path optimization subsystem in unmanned plane is suitable for root Fly according to net selection unmanned plane in air duct between the building of city to the optimal path of the destination;And
It is covered with photovoltaic cell on the wing of the unmanned plane, path optimization's subsystem is further adapted for obtaining between each building Real-time lighting intensity;
Path optimization's subsystem is when selecting optimal path, if two or more section has identical data Building between wind, then the section of real-time lighting maximum intensity is selected into optimal path;And
Path optimization's subsystem is further adapted for obtaining the cloud layer data in city overhead, and when selecting optimal path, keeps away Open the section of overcast area;
The unmanned plane is additionally provided with the photographic device for shooting building panorama, the photographic device and processor module phase Connect, and the processor module is suitable for identifying the height of the building according to building panorama;
When unmanned plane flight in rain and snow, the leeward section that path optimization's subsystem is suitably selected for building is made The Path selection for being unmanned plane in optimal path;And the flying height of unmanned plane is set to be lower than the height of the building, with logical It crosses the building and blocks sleet;
The working method further include: the method that the inclination angle and revolving speed of vertical spin paddle are adjusted according to flight attitude, i.e. institute It states processor module and drives vertical spin paddle to turn forward suitable for control first angle fine tuning motor, while controlled level propeller Horizontal propeller works in mechanism, to shorten the time that unmanned plane reaches the cruising altitude of setting, and patrols in unmanned plane reaching While flying height is spent, meet its cruising speed;And
If unmanned plane hovers in the sky, horizontal propeller stops working, and vertical spin paddle works, the processor die Block is suitable for wind direction and air speed data according to crosswind, changes inclination angle and the revolving speed of vertical spin paddle, with steadily hovering posture;
If when unmanned plane cruising flight, the processor module is suitable for wind direction and air speed data according to crosswind, changes and hang down The inclination angle of straight propeller and revolving speed, to keep cruising altitude;
The processor module is connected with the charge and discharge control module in machine, and the charge and discharge control module is suitable for machine It carries battery capacity and is sent to processor module, and when on-board batteries electricity is lower than a setting value, the processor module control Unmanned plane stops the region high to an intensity of illumination, to be charged by the photovoltaic cell to on-board batteries;Or
The processor module control unmanned plane stops to the biggish region of a wind-force, to blow horizontal propeller by wind And/or vertical spin paddle is produced electricl energy and is charged to on-board batteries;Wherein
The vertical spin paddle is suitable for by the first, second angle adjustment motor adjustable inclination, so that vertical spin paddle is met Wind rotation.
The control system of the unmanned plane further include: the path optimization's subsystem being connected with the processor module;The road Diameter optimizes the real time data that subsystem is suitable for obtaining wind between each building, and establishes air duct net between the building of city;It flies when unmanned plane is set Behind destination, path optimization's subsystem is suitable for being flown according to net selection unmanned plane in air duct between the building of city optimal to the destination Path.
Passage path optimization subsystem obtains unmanned plane and flies to the optimal path of destination, makes full use of between each building in air duct The wind direction of wind, improves flying speed between building, reduces flight energy consumption.
Specifically, the real time data of wind is suitable for obtaining by the air duct data acquisition node being distributed between each high building between each building , the air duct data acquisition node includes: between being installed on building for detecting the air velocity transducer and building of wind wind speed between building Between wind wind direction wind transducer, and the modal processor and wireless module being connected with the air velocity transducer and wind transducer (wireless module is preferred: 3G or 4G communication module, and/or, Wifi communication module), i.e., wind speed, wind direction data are passed through into wireless parties Formula is sent to unmanned plane, carries out data analysis with passage path optimization subsystem, and then establish air duct between the building of city.
After setting air objective ground, path optimization's subsystem or remote server analysis flight path are undergone unmanned plane The corresponding building in city between air duct, and cook up most reasonable flight path, as optimal path.
Specifically, the intersection point in air duct is node between the building air duct Wang Yige between the building of city, and according between adjacent two nodes Building between the wind speed in air duct, wind direction data carry out Path selection, i.e. wind between the corresponding building that matches to flight path of selection wind direction Selection section of the road as optimal path, arrives at the destination unmanned plane in the case where with the wind as far as possible, is improved with reaching Flying speed reduces the purpose of fuel consumption;Though selecting the section that against the wind but wind speed is small, distance is short.Can specifically it pass through Corresponding limit value is set, such as when contrary wind state, specific wind speed rank is digitized, such as 1 grade, 2 grades, distance can also With setting 10 meters, 20 meters or 30 meters etc., such as set section alternative condition as no more than 2 grades of wind speed, when distance is no more than 20 meters, It can choose the section, then during optimum path planning, if certain a road section meets above-mentioned condition, can choose the section It is added to optimal path.
Unmanned plane is suitable for receiving the reality of wind between the building that air duct data acquisition node is sent by airborne wireless communication module When data, path optimization's subsystem obtain optimal path, fly unmanned plane to destination address according to above-mentioned path.
The unmanned aerial vehicle control system further include: the map memory module that is connected with processing module and for detecting unmanned plane The gyroscope of flight attitude, and the aircraft power subsystem controlled by the processor module;Specifically, in the unmanned plane Processor module is also connected with map memory module, and processor module is suitable for received optimal path and cartographic information phase Match, so that unmanned plane flies according to optimal path, by corresponding GPS module and gyroscope to flight road in flight course Diameter, flight attitude are modified.
The unmanned plane is additionally provided with wind transducer and air velocity transducer for detecting met crosswind in flight course, institute It states wind transducer and air velocity transducer is suitable for the wind direction of crosswind suffered by current unmanned plane and air speed data being sent to processor Module;The processor module is suitable for wind direction and air speed data according to crosswind, the inclination angle of adjusting vertical spin paddle and vertical, water The revolving speed of flat spin paddle, to stablize current flight posture.
If unmanned plane flies between building in city, crosswind belongs to one kind of wind between building.
Specifically, the wind transducer and air velocity transducer on the unmanned plane are for measuring unmanned plane in flight course The wind direction and air speed data of the crosswind actually obtained, and then pass through the inclination angle of vertical spin paddle, i.e., front or rear, left or right is adjusted, And combine vertical, horizontal propeller revolving speed, to play the effect of stabilized flight posture, and if crosswind be conducive to fly, The revolving speed of horizontal propeller can also be reduced, suitably to save electric energy.
Such as unmanned plane westerly flies from east, if encountering the crosswind of southwestward, processor module is suitable for adjusting vertical The inclination angle of propeller, i.e., southwester direction tilts, to offset influence of the crosswind of southwestward to unmanned plane during flying route;And And according to wind speed size, change the revolving speed of vertical spin paddle.It, can be with by unmanned plane or when using unmanned plane transport express delivery Stable hovering posture is kept, to guarantee that flying height matches with delivery floor, the accuracy of delivery is improved, reduces unmanned plane Collision probability.
It is covered with photovoltaic cell on the wing of the unmanned plane, path optimization's subsystem is further adapted for obtaining between each building Real-time lighting intensity and path optimization's subsystem or remote server when selecting optimal path, if two or two The section of real-time lighting maximum intensity is then selected into optimal path by above section with wind between the building of identical data.Wherein, The real-time lighting intensity of a road section passes through the sun of the period in the section according to the geographic location in the section, unmanned plane The factors such as position and corresponding weather conditions, to be calculated.
Further, path optimization's subsystem is further adapted for obtaining the cloud layer data in city overhead, and is selecting optimal road When diameter, the section of overcast area is avoided;And the processor module also with the photographic device for shooting building panorama It is connected, and the processor module is suitable for identifying the height of the building according to building panorama;When unmanned plane in rain and snow When flight, path optimization's subsystem is suitably selected for path of the leeward section of building as unmanned plane in optimal path Selection;And the flying height of unmanned plane is made to be lower than height (the preferably shorter than headroom height 3-10 of the building of the building Rice, and be 3-5 meters with the spacing of the external wall), to block sleet by building.
Preferably, the processor module is also connected with the charge and discharge control module in machine, and the charge and discharge control mould Block is suitable for for on-board batteries electricity being sent to processor module, and when on-board batteries electricity is lower than a setting value, the processing Device module control unmanned plane stops the region high to an intensity of illumination, to be charged by the photovoltaic cell to on-board batteries; Or the processor module control unmanned plane stops to the biggish region of a wind-force, to blow horizontal propeller by wind and/or hang down Straight propeller, which produces electricl energy, charges to on-board batteries;Wherein the vertical spin paddle is suitable for micro- by the first, second angle Motor adjustable inclination is adjusted, to obtain maximum wind power, improves wind power generation efficiency.Specifically, the unmanned aerial vehicle control system also wraps Include: charge and discharge control module, and the charge and discharge control module be suitable for will electric energy produced by wind-force and solar energy carry out it is complementary after it is right On-board batteries charge, and the charge and discharge control module can be realized by the corresponding wind light mutual complementing module of the prior art.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.

Claims (5)

  1. The power supply system 1. one kind takes off vertically characterized by comprising the power supply device positioned at ground;
    The power supply device is suitable for when unmanned plane takes off vertically, and keeps powering to unmanned plane;And
    After unmanned plane reaches predetermined altitude, unmanned plane is detached from power supply device power supply;
    The power supply system that takes off vertically further include: adsorbent equipment and charging end;
    The adsorbent equipment is suitable for making the plug of charging end to be inserted into unmanned plane charging interface, and when unmanned plane reaches predetermined altitude Afterwards, adsorbent equipment drives charging end to fall off, and unmanned plane is made to be detached from power supply device power supply;And
    The line wheel for coiling transmission pressure is equipped at the power supply device;
    The power supply device includes: main processor modules, the main power line carrier module being connected with the main processor modules;
    It include: the slave power line carrier module being connected with this from processor module from processor module in the adsorbent equipment, by It is described to control electric from processor or power loss electromagnet;And
    It is described to be further adapted for obtaining the real-time altitude information of unmanned plane from processor module, and after unmanned plane reaches predetermined altitude, by Electromagnet power loss is controlled from processor module, realizes that charging end is automatically separated with unmanned plane;
    The adsorbent equipment is further adapted for real-time altitude information being sent to power supply device by power line carrier mode;If After unmanned plane reaches predetermined altitude, charging end does not separate with unmanned plane, then makes electromagnet power loss by power supply device transmission Power line carrier signal to adsorbent equipment, separate charging end manually with unmanned plane.
  2. 2. a kind of working method for the power supply system that takes off vertically, which is characterized in that
    The power supply system that takes off vertically includes: the power supply device positioned at ground;
    The working method includes:
    When unmanned plane takes off vertically, the power supply device is suitable for keeping powering to unmanned plane;And
    After unmanned plane reaches predetermined altitude, unmanned plane is detached from power supply device power supply;
    The power supply system that takes off vertically further include: adsorbent equipment and charging end;
    The adsorbent equipment is suitable for making the plug of charging end to be inserted into unmanned plane charging interface, and when unmanned plane reaches predetermined altitude Afterwards, adsorbent equipment drives charging end to fall off;
    Unmanned plane is detached from power supply device power supply;
    The line wheel for coiling transmission pressure is equipped at the power supply device;
    The power supply device includes: main processor modules, the main power line carrier module being connected with the main processor modules;
    It include: the slave power line carrier module being connected with this from processor module from processor module in the adsorbent equipment, by It is described to control electric from processor or power loss electromagnet;And
    It is described to be further adapted for obtaining the real-time altitude information of unmanned plane from processor module, and after unmanned plane reaches predetermined altitude, by Electromagnet power loss is controlled from processor module, realizes that charging end is automatically separated with unmanned plane;
    The adsorbent equipment is further adapted for real-time altitude information being sent to power supply device by power line carrier mode;If After unmanned plane reaches predetermined altitude, charging end does not separate with unmanned plane, then makes electromagnet power loss by power supply device transmission Power line carrier signal to adsorbent equipment, separate charging end manually with unmanned plane.
  3. 3. a kind of unmanned plane characterized by comprising airborne processor module, controlled by the airborne processor module nobody Motor-driven Force system, and
    Take off vertically power supply system as described in claim 1;
    After unmanned plane is detached from power supply device power supply, switch power supply system power supply in unmanned plane.
  4. 4. unmanned plane according to claim 3, which is characterized in that the unmanned plane dynamical system includes: by airborne processing The horizontal power subsystem and Vertical Dynamic subsystem of device module control;Wherein
    The horizontal power subsystem is located at fuselage, and includes: flat spin paddle mechanism;
    The Vertical Dynamic subsystem includes: the vertical spin paddle mechanism being symmetrically set at left and right wing;And
    The airborne processor module also with for detecting unmanned plane during flying posture gyroscope, for being positioned to unmanned plane GPS module be connected.
  5. 5. a kind of working method of unmanned plane, which is characterized in that
    The unmanned plane uses unmanned plane as claimed in claim 3, and when unmanned plane takes off vertically, which passes through electricity Source power supply unit keeps powering to unmanned plane;And
    After unmanned plane reaches predetermined altitude, unmanned plane is detached from power supply device power supply.
CN201610574007.3A 2016-07-20 2016-07-20 Take off vertically power supply system, fixed-wing unmanned plane and working method Active CN106143913B (en)

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CN110989436A (en) * 2019-12-03 2020-04-10 北京特种机械研究所 Networked ground power supply control take-off system of unmanned aerial vehicle
CN111551108B (en) * 2020-06-18 2021-08-24 杭州浙大东南土地研究所有限公司 Surveying and mapping device and method

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