CN106155080A - Unmanned plane - Google Patents
Unmanned plane Download PDFInfo
- Publication number
- CN106155080A CN106155080A CN201610310519.9A CN201610310519A CN106155080A CN 106155080 A CN106155080 A CN 106155080A CN 201610310519 A CN201610310519 A CN 201610310519A CN 106155080 A CN106155080 A CN 106155080A
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- Prior art keywords
- propeller
- unmanned plane
- tumbler
- rotary shaft
- arm
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- 238000000034 method Methods 0.000 claims description 29
- 210000000323 shoulder joint Anatomy 0.000 claims description 16
- 230000001141 propulsive effect Effects 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 11
- 230000001681 protective effect Effects 0.000 description 15
- 241000883990 Flabellum Species 0.000 description 7
- 230000008859 change Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 240000001439 Opuntia Species 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 239000011469 building brick Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000009975 flexible effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
-
- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H7/00—Propulsion directly actuated on air
- B63H7/02—Propulsion directly actuated on air using propellers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/006—Safety devices
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- B64U2201/104—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] using satellite radio beacon positioning systems, e.g. GPS
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Ocean & Marine Engineering (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of unmanned plane comprises carrier body and at least one arm component.Arm component couples carrier body.Arm component comprises the first tumbler, the second tumbler and propeller.Second tumbler is coupled to the first tumbler.Propeller comprises frame and rotary shaft.Frame is around the outer rim of propeller.Rotary shaft is coupled to the second tumbler.Rotary shaft extends along pivot center.Second tumbler configures with by making rotary shaft rotate propeller around pivot axis.First tumbler configuration to rotate and to affect the movement of the second tumbler, and then optionally adjust rotary shaft so that pivot center at least aligns first axle direction and the second axis direction.
Description
Technical field
The invention relates to a kind of unmanned plane.
Background technology
In recent years, unmanned vehicle (unmanned aerial vehicles, UAVs) has been widely used for respectively
Plant field, such as Aerial photography, investigation, scientific research, geologic survey and remote sensing.In general, in unmanned vehicle
Build various electronic building brick, in order to control unmanned vehicle in many operations.Meanwhile, in order to navigate, investigate or remote sensing
Etc. purpose, unmanned vehicle the most also needs to have one or more sensor.
But, traditional unmanned vehicle is aerial carrier and can only aloft move.When weather is the best or is navigating
When having barrier in dead circuit way, traditional unmanned vehicle just cannot normally work.It is to say, traditional is unmanned
Aircraft is unable to cope with the route of various weather conditions or complexity.
Summary of the invention
According to one embodiment of the present invention, the present invention provides a kind of unmanned plane.Unmanned plane comprises carrier body and extremely
A few arm component.Arm component couples carrier body.Arm component comprises the first tumbler, the second tumbler and propeller.Second
Tumbler is coupled to the first tumbler.Propeller comprises frame.Frame is around the outer rim of propeller.Propeller also comprises rotary shaft
It is coupled to the second tumbler.Rotary shaft extends along pivot center.Second tumbler configures with by making rotary shaft around rotation
Axis rotates and drives propeller.First tumbler configuration is to rotate and to affect the movement of the second tumbler and then alternative
Ground adjustment rotary shaft is first axle direction or the second axis direction so that pivot center at least aligns.
According to another embodiment of the present invention, the present invention provides a kind of unmanned plane.Unmanned plane comprise carrier body and
At least one arm component.Arm component comprises arm, propeller rotational part, propeller and frame.Arm couples carrier rotationally
Body.Propeller rotational part is arranged at the surface of arm.Propeller is coupled to propeller rotational part.Propeller has rotary shaft.
Rotary shaft extends along the pivot center on the surface being perpendicular to arm.Frame is coupled to the outer rim of propeller.Propeller rotational part
Configuration is with by making rotary shaft rotate propeller around pivot axis.Arm configures to rotate relative to carrier body, enters
And optionally adjust pivot center and at least align first axle direction or the second axis direction.
According to a further embodiment of the present invention, the present invention provides a kind of control method, in order to control unmanned plane.Unmanned plane
Comprise carrier body and at least one arm component.Arm component has propeller.Propeller comprises propeller frame and rotary shaft.
Propeller frame is around propeller.Rotary shaft extends along pivot center.Control method comprises at least one of: adjusts and rotates
Axle and make rotation axis and align with the first axle direction of the end face being substantially perpendicular to carrier body, in order to by unmanned plane configure
For the aerial carrier that can be flown by the propulsive force of propeller；And adjust rotary shaft and make rotation axis and be substantially orthogonal to
The second axis direction alignment in first axle direction, can pass through land, propeller bezel contact ground row in order to being configured to by unmanned plane
Land carrier.
The above is only in order to illustrate problem that the present invention to be solved, solve the technological means of problem and produce
Effect etc., the detail of the present invention will be discussed in detail in detailed description of the invention below and correlative type.
Accompanying drawing explanation
Figure 1A is the explosive view of the unmanned plane of an embodiment of the present invention.
Figure 1B is the axonometric chart of the unmanned plane in Figure 1A, and wherein the rotary shaft of propeller is parallel to first axle direction.
Fig. 1 C is the axonometric chart of the unmanned plane in Figure 1A, and wherein the rotary shaft of propeller is parallel to the second axis direction.
Fig. 1 D is the axonometric chart of the unmanned plane in Fig. 1 C, and wherein the rotary shaft of propeller deviates the second axis direction.
Fig. 2 is the axonometric chart of the unmanned plane of an embodiment of the present invention.
Fig. 3 A is the part sectioned view along line segment 3A-3A of the unmanned plane in Fig. 2, and wherein Plane of rotation is movable with each
Angle between flabellum is not zero.
Fig. 3 B is another part sectioned view along line segment 3A-3A of the unmanned plane in Fig. 2, wherein Plane of rotation with each can
Angle between dynamic formula flabellum is zero.
Fig. 4 is the axonometric chart according to the unmanned plane in an embodiment of the present invention Figure 1B.
Fig. 5 is the axonometric chart according to the unmanned plane in an embodiment of the present invention Figure 1B.
Fig. 6 is the block chart of the assembly of the unmanned plane of an embodiment of the present invention.
Fig. 7 A is the axonometric chart of the unmanned plane of an embodiment of the present invention, and wherein the rotary shaft of propeller is parallel to the first axle
Line direction.
Fig. 7 B is the axonometric chart of the unmanned plane in Fig. 7 A, and wherein the rotary shaft of propeller is parallel to the second axis direction.
Fig. 7 C is the side view of the unmanned plane in Fig. 7 A.
Fig. 8 is the flow chart of the control method of an embodiment of the present invention, in order to control unmanned plane.
Fig. 9 is the flow chart of the control method of another embodiment of the present invention, in order to control unmanned plane.
Figure 10 is the flow chart of the control method of the unmanned plane of an embodiment of the present invention, refers in order to wirelessly to receive control
Order is to control unmanned plane.
Figure 11 is the flow chart of the control method of the unmanned plane of an embodiment of the present invention, in order to produce and to use navigation road
Line is to control unmanned plane.
Symbol description
1,1 ', 2: unmanned plane
10,20: carrier body
10a: primary module
10b: connector
100: end face
12: arm component
120,220: arm
121: the first tumblers
122: the second tumblers
123,123 ', 223: propeller
123a, 223a: propeller frame
123b, 223b: rotary shaft
123c: angle adjustment part
123d: movable flabellum
124: shoulder joint
14: protective cover
160: controller
161: power unit
162: wireless communication module
163: location positioning module
164: camera
165: mini printed circuit board (PCB)
166: processor module
200: bottom surface
220a: long curved surface
222: propeller rotational part
23: foot rest
θ: angle
A1: first axle direction
A2: the second axis direction
P: Plane of rotation
R: pivot center
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.Want according to following explanation and right
Book, advantages and features of the invention is asked to will be apparent from.It should be noted that, accompanying drawing all uses the form simplified very much and all uses non-
Ratio accurately, only in order to facilitate, to aid in illustrating lucidly the purpose of the embodiment of the present invention.
Refer to Figure 1A to Fig. 1 D.Figure 1A is the explosive view of the unmanned plane 1 illustrating an embodiment of the present invention.Figure 1B is for painting
The axonometric chart of the unmanned plane 1 in diagram 1A, wherein rotary shaft 123b of propeller 123 is parallel to first axle direction A1.Fig. 1 C
For illustrating the axonometric chart of the unmanned plane 1 in Figure 1A, wherein rotary shaft 123b of propeller 123 is parallel to the second axis direction A2.
Fig. 1 C is the axonometric chart illustrating the unmanned plane 1 in Fig. 1 C, and wherein rotary shaft 123b of propeller 123 deviates the second axis direction
A2.Unmanned plane 1 comprises carrier body 10 and arm component 12.Carrier body 10 comprises primary module 10a and connector 10b.Even
Fitting 10b is detachably connected to the two opposite sides of primary module 10a.Each arm component 12 comprises arm 120, first and rotates
Part the 121, second tumbler 122 and propeller 123.Arm 120 is coupled to the connector 10b of correspondence, and configures with around shoulder
Joint 124 is moved.First tumbler 121 is coupled to arm 120 one end away from shoulder joint 124.Second tumbler 122 is coupled to
The first adjacent tumbler 121.Propeller 123 comprises propeller frame 123a and rotary shaft 123b.Propeller frame 123a
Outer rim around propeller 123.Rotary shaft 123b is coupled to the second adjacent tumbler 122.Rotary shaft 123b is along rotary shaft
Line R extends.Second tumbler 122 configures to drive propeller 123 by making rotary shaft 123b rotate around pivot center R.
First tumbler 121 configures to rotate and affect the movement of the second tumbler 122, and then optionally adjusts rotary shaft 123b
The first axle direction A1 (as shown in Figure 1B) or the second axis direction A2 (as shown in Figure 1 C) so that pivot center R at least aligns.
Each propeller frame 123a is arranged at the outer rim of the propeller 123 of correspondence.
Arm component 12 also comprises shoulder joint 124.Arm 120 is connected to the connector of carrier body 10 by shoulder joint 124
10b.The arm 120 of arm component 12 configures to rotate around shoulder joint 124 and relative to carrier body 10.Therefore, wantonly two propellers
Distance between 123 can be adjusted, in order to make propeller 123 avoid constructive interference when operation.
As shown in Figure 1B to Fig. 1 D, primary module 10a has end face 100.First axle direction A1 is substantially perpendicular to end face
100, and the second axis direction A2 is substantially orthogonal to first axle direction A1.In an embodiment, first axle direction A1
It is essentially vertical, and the second axis direction A2 is essentially level.Be adjusted when rotary shaft 123b of propeller 123 and
Substantially pivot center R is alignd first axle direction A1 time, the propulsive force that propeller 123 is provided can make unmanned plane 1 suspend, to
Upper movement or move down, to allow unmanned plane 1 to be configured to fly able aerial carrier.Rotary shaft 123b when propeller 123
Be adjusted and substantially pivot center R is alignd the second axis direction A2 time, the propeller 123 with propeller frame 123a can carry
For the function of wheel, with unmanned plane 1 is configured to can the land carrier of land row, and by contacting ground with propeller frame 123a
And make unmanned plane 1 in land movement.
As shown in Figure 1A to Fig. 1 D, unmanned plane 1 has two connector 10b and four arm components 12, and every a connection piece
10b connects two arm components 12.But, the present invention is not limited thereto.For example, it is contemplated that, unmanned plane 1 can comprise
One or more connector 10b, and often a connection piece 10b connects one or more arm component 12.
In an embodiment, each second tumbler 122 is power motor, and it can be by making rotary shaft 123b around turning
Moving axis line R rotates and drives propeller 123 to provide propulsive force.
As shown in the embodiment in Figure 1B Yu Fig. 6, unmanned plane 1 also comprise controller 160 and power unit 161 (as
Shown in dotted line in Figure 1B).Controller 160 is arranged on primary module 10a, configure with control the movement of the first tumbler 121 with
And second movement of tumbler 122.Power unit 161 is arranged on primary module 10a, and configures and make the first tumbler with power supply
121 move with the second tumbler 122.Alternately, power unit 161 may be disposed on connector 10b, in order to reduce primary module
The weight of 10a, or improve the distribution of weight of whole unmanned plane 1.
In some embodiments, controller 160 be arranged on carrier body 10 (such as, be arranged on primary module 10a or
On connector 10b), and power unit 161 is arranged on arm component 12.In some embodiments, power unit 161 is arranged at
On carrier body 10 (such as, be arranged on primary module 10a or on connector 10b), and controller 160 is arranged at arm component 12
On.In some embodiments, controller 160 and power unit 161 are all arranged on arm component 12.
In some embodiments, controller 160 also configures that individually to control the first tumbler of each arm component 12
121, in order to individually to adjust one of them in each rotary shaft 123b multiple axis directions of alignment.For example, controller
Rotary shaft 123b of 160 two propellers 123 of adjustable and make its pivot center R align first axle direction A1, and adjust it
Rotary shaft 123b of its propeller 123 and make its pivot center R align the second axis direction A2.Further, controller 160 configure with
Control the first tumbler 121 and adjust rotary shaft 123b of propeller 123, and then pivot center R is changed into be different from first
Axis direction A1 and the trend of the second axis direction A2 and angle.Other controls and rotary shaft 123b rotating propeller 123
Be combined as it is envisioned that, to provide unmanned plane 1 different motor capacity.
In some embodiments, shoulder joint 124 provides arm 120 and arm component 12 transverse shifting.Specifically, control
Device 160 configures the rotation individually controlling each arm component 12 around shoulder joint 124, in order to make the alignment of rotary shaft 123b multiple
One of them in axis direction.The rotary shaft of correspondence is adjusted by making arm 120 rotate around corresponding shoulder joint 124
123b, can change the moving direction of unmanned plane 1, as shown in figs 1 c and 1d.
It is understood that stretching out and retracting of arm 120 allows the various operator schemes controlling unmanned plane 1 with flexible
Property.By making arm 120 stretch out/be retracted to different configuration and combination around shoulder joint 124, what unmanned plane 1 can reach improvement can
Operability.Furthermore, it is understood that when the unmanned plane 1 that navigates passes through narrower space, the retraction of arm 120 can be by unmanned plane 1 turn
Become small size carrier and can show that narrow space is passed through in conjunction.Furthermore, when unmanned plane 1 is not used, the arm 120 of retraction
Unmanned plane 1 is allowed to occupy less space, in order to transport or storage.
In some embodiments, in order to control the movement of unmanned plane 1, controller 160 configures individually to control each
The action of the second tumbler 122 of arm component 12, in order to individually to make each propeller 123 with different rotating speeds or with different
Direction rotates.Therefore, when unmanned plane 1 operation is for aerial carrier or land carrier, the moving direction of unmanned plane 1 can be by adjusting
Difference between the rotating speed of propeller 123 and change.In this manner, in any operation of unmanned plane 1 between propeller 123
The constructive interference of period can be contemplated, and shoulder joint 124 can be omitted in some embodiments.
Refer to Fig. 2, Fig. 3 A and Fig. 3 B.Fig. 2 is the axonometric chart of the unmanned plane 1 ' illustrating an embodiment of the present invention.Figure
3A is the part sectioned view illustrating the unmanned plane 1 ' in Fig. 2 along line segment 3A-3A, wherein Plane of rotation P and each movable fan
Angle between leaf 123d is not zero.Fig. 3 B is another part section illustrating the unmanned plane 1 ' in Fig. 2 along line segment 3A-3A
Figure, wherein the angle between Plane of rotation P and each movable flabellum 123d is zero.Each propeller 123 ' has Plane of rotation
P, and comprise propeller frame 123a, rotary shaft 123b, angle adjustment part 123c and multiple movable flabellum 123d.Rotary shaft
123b is coupled to the second tumbler 122 of correspondence.Angle adjustment part 123c is coupled to rotary shaft 123b.Movable flabellum 123d coupling
It is connected to angle adjustment part 123c.Angle adjustment part 123c configuration is to adjust the angle between Plane of rotation P and movable flabellum 123d
Degree θ.When angle, θ is not zero, propeller 123 ' can produce propulsive force, and therefore unmanned plane 1 ' can move because of propulsive force and can be such as
Operate as aerial carrier or marine carrier.When angle, θ is zero, propeller 123 ' does not produce propulsive force.At this under configuration, nothing
Man-machine 1 ' can operate as land carrier, and it can be rotated as wheel rolls on the ground by propeller frame 123a and move
Dynamic.Configure by this, owing to angle, θ is zero, do not have horizontal propulsive force relative to Plane of rotation P, therefore can improve land
Stability when upper carrier is walked on the ground.
Other is identical about the details of the unmanned plane 1 ' of Fig. 2 and the unmanned plane 1 of Figure 1B, therefore to concisely and in this no longer
Repeated description.
Refer to Fig. 4 and Fig. 5.Fig. 4 is the solid illustrating unmanned plane 1 in Figure 1B according to an embodiment of the present invention
Figure.Fig. 5 is the axonometric chart illustrating unmanned plane 1 in Figure 1B according to an embodiment of the present invention.Unmanned plane 1 also comprises protective cover
14.Protective cover 14 is extended by propeller frame 123a, and surrounds whole propeller 123 (as shown in Figure 5).Alternately, citing
For, in the lighter version of unmanned plane, protective cover 14 can only surround a part (as shown in Figure 4) for propeller 123.?
During the rotation of propeller 123, protective cover 14 can protect propeller 123 to avoid the object by being likely to result in damage to damage.Fig. 4
Protective cover 14 is illustrated for network structure with the embodiment of Fig. 5.Alternative form comprises the net with larger or smaller hole
Hole (mesh), and difform hole (such as brilliant, rectangle, circle, ellipse and polyhedron).And, although
Each protective cover 14 is schematically shown as spherical, but other design shape is also it is contemplated that obtain, such as, have irregular, uneven
Even, that have edge or hackly surface.It is preferred that each protective cover 14 has aerodynamic shape and form, with
Air drag is reduced when unmanned plane 1 is displaced into aerial.Furthermore, it is understood that each protective cover 14 preferably have suitable aperture with
Shape is passed through for air-flow, in order to not reduce propulsive force and the efficiency of propeller 123.Therefore, design in conjunction with aforementioned protective cover 14
Different embodiments, at this all can it is envisioned that.
In some embodiments, protective cover 14 is detachably connectable to propeller frame 123a.In some embodiments
In, protective cover 14 is formed in one with propeller frame 123a.In some embodiments, protective cover 14 is coupled to arm component
12 and be not connected to propeller frame 123a.Specifically, protective cover 14 is coupled to the first tumbler 121 of arm component 12, as
Shown in Fig. 4.
Refer to Fig. 6, it is the block chart of assembly of the unmanned plane 1 illustrating an embodiment of the present invention.Unmanned plane 1 also wraps
Containing wireless communication module 162, location positioning module 163 (such as global positioning system), camera 164, mini printed circuit board (PCB)
165 and processor module 166.Although being schematically shown as the unit separated, mini printed circuit board (PCB) 165 is alternatively with controller 160
Same unit.Wireless communication module 162 is arranged on primary module 10a, and is electrically connected to controller 160.Wireless communication module
162 configurations are to receive control instruction, and control instruction is in order to operate controller 160.Location positioning module 163 is arranged at primary module
On 10a, and it is electrically connected to processor module 166.Location positioning module 163 configures to produce position data.Processor module
166 configurations are to produce navigation way according to position data, and produce navigation instruction according to navigation way, and navigation instruction is in order to control
Controller 160 processed goes to affect the movement of unmanned plane 1.Camera 164 is arranged on primary module 10a, and may be disposed at connector 10b
On.Camera 164 configures to produce image data.Mini printed circuit board (PCB) 165 is arranged on primary module 10a.Mini printing electricity
Road plate 165 configures with process image data.Wireless communication module 162 also configures that to transmit treated image data to remotely dress
Put.
According to camera 164, wireless communication module 162 or location positioning module 163 received data, unmanned plane 1 can
Control arm assembly 12 and/or supply power to the power unit 161 of arm component 12, in order to be configured/to be reconfigured in the air by unmanned plane 1
Or land carrier.Unmanned plane 1 power/control its operation or motion then according to this configuration.For example, unmanned plane 1 is being joined
Be set under the situation of aerial carrier that advances in atmosphere to drop to road surface, its can by location positioning module 163 and/or
Camera 164 is detected the most close to road surface, determines that when arriving at road surface, processor module 166 can pass through controller 160 motion arm
Assembly 12, to reconfigure unmanned plane 1 for the land carrier moved with wheel, and continues on planned path and advances.
In another example, location positioning module 163 can analyze the route by narrow space landform, and can be by taking the photograph
Shadow machine 164 vision detecting confirm, when being intended to by narrow space, arm component 12 rotate around shoulder joint 124 and retract with
The size making unmanned plane 1 diminishes.It addition, fltting speed can be reduced, narrow by this with the unmanned plane 1 that more slowly or more carefully navigates
Narrow space.
Refer to Fig. 7 A and Fig. 7 B.Fig. 7 A is the axonometric chart of the unmanned plane 2 illustrating an embodiment of the present invention, wherein spiral shell
Rotary shaft 223b of rotation oar 223 is parallel to first axle direction A1.Fig. 7 B is the axonometric chart illustrating the unmanned plane 2 in Fig. 7 A, its
Rotary shaft 223b of middle propeller 223 is parallel to the second axis direction A2.Unmanned plane 2 comprises arm 220, propeller rotational part
222, propeller 223 and propeller frame 223a.Propeller frame 223a is around the periphery of propeller 223.Arm 220 can turn
Couple carrier body 20 dynamicly.Specifically, each arm 220 is elongated cylinder, and has long curved surface 220a.Long curved surface 220a
A part be rotatably coupled to carrier body 20.In more detail, arm 220 is arranged at the periphery along carrier body 20
In the cavity extended, a ridge, position of the long curved surface 220a of arm 220 is caused to cover in cavity.Propeller rotational part 222 is arranged
Exposure crooked position in the long curved surface 220a of arm 220.Propeller 223 is coupled to adjacent propeller rotational part 222, and has
Rotary shaft 223b is had to extend along pivot center R.Rotary shaft 223b is connected to propeller rotational part 222, and by the long song exposed
Face 220a vertically extends.Propeller rotational part 222 configures to drive by making rotary shaft 223b rotate around pivot center R
Propeller 223.Arm 220 configures to rotate relative to carrier body 20, and then optionally adjustment pivot center R at least aligns
First axle direction A1 or the second axis direction A2.When arm 220 rotates relative to carrier body 20, long curved surface 220a ridge covers in
A position in cavity becomes and exposes, and another position then becomes ridge and covers in cavity.It is to say, arm 220 can be around
The cavity rolling of carrier body 20/turn, and this cavity holds arm 220.Each propeller frame 223a is coupled to the spiral shell of correspondence
The outer rim of rotation oar 223, and form wheel frame.
Identical with aforesaid embodiment, it is adjusted when rotary shaft 223b of propeller 223 and generally makes pivot center R
During alignment first axle direction A1, the propulsive force that propeller 223 is provided can make unmanned plane 2 suspend, move up or to moving down
Dynamic, to allow unmanned plane 2 to be configured to fly able aerial carrier.It is adjusted when rotary shaft 223b of propeller 223 and substantially will
Pivot center R align the second axis direction A2 time, the function of wheel can be provided with the propeller 223 of propeller frame 223a,
So that be configured to by unmanned plane 2 can the land carrier of land row.
In some embodiments, unmanned plane 2 also comprises the controller 160 in Figure 1B.Controller 160 is arranged at carrier originally
In body 20, and configure to control arm 220 and propeller rotational part 222.Specifically, as described previously, implement in some
In mode, controller 160 also configures that individually to control arm 220 and rotates relative to carrier body 20, and then optionally adjusts
Whole pivot center R at least aligns first axle direction A1 or the second axis direction A2.Further, in some embodiments, in order to
Controlling the vehicle motion of unmanned plane 2, controller 160 also configures that individually to control propeller rotational part 222 to adjust propeller
The rotating speed of 223.Therefore, when unmanned plane 2 operation is for aerial carrier or land carrier, the moving direction of unmanned plane 2 can be by adjusting
Difference between the rotating speed of whole propeller 223 and change.
In some embodiments, the propeller 223 of unmanned plane 2 can be replaced the propeller shown in Fig. 2, Fig. 3 A Yu Fig. 3 B
123 ', in order to improve stability when land carrier is walked on the ground, as described previously.
As shown in Fig. 7 A and Fig. 7 B, unmanned plane 2 has two arm components 22, and each arm component 22 have two adjacent
Propeller rotational part 222.But, the present invention is not limited thereto.For example, it is envisioned that obtain unmanned plane 2 and can comprise more
Many arm components 22 are arranged at the periphery of carrier body 20, and each arm component 22 adjoins one or more propeller rotational part 222.Also
That is, although carrier body 20 is rectangular, but carrier body 20 can be the polygon with three or more sides.
As shown in Fig. 7 A and Fig. 7 B, unmanned plane 2 also comprises the foot being coupled to carrier body 20, such as foot rest 23.Work as nothing
Man-machine 2 when landing with the configuration of aerial carrier, and foot rest 23 can support carrier body 20, and avoids the bottom surface 200 of carrier body 20
Directly contact face.Refer to Fig. 7 C, it is the side view illustrating the unmanned plane 2 in Fig. 7 A.When unmanned plane 2 is configured to land load
During tool, propeller frame 223a is more than the foot rest 23 height relative to bottom surface 200 relative to the height of the bottom surface 200 of carrier body 20
Degree, therefore foot rest 23 can't hinder unmanned plane 2 using propeller frame 223a as wheel walk time movement.
In some embodiments, unmanned plane 2 also can comprise shown in the power unit 161 shown in Figure 1B, Fig. 4 Yu Fig. 5
Wireless communication module 162 shown in protective cover 14 and Fig. 9, location positioning module 163, camera 164, mini printed circuit board (PCB)
165 with processor module 166.Annexation between the function of these assemblies and these assemblies as described previously, therefore
In order to concisely not repeat them here.
Refer to Fig. 8, it is the flow chart of the control method illustrating an embodiment of the present invention, in order to control unmanned plane.
Unmanned plane comprises carrier body and is coupled at least one arm component of carrier body.Arm component comprises tumbler and spiral
Oar.Tumbler configures with by making rotary shaft drive propeller around pivot axis.Propeller comprises propeller frame
And rotary shaft.Propeller frame is around the outer rim of propeller.The rotary shaft of propeller is coupled to tumbler, and along rotary shaft
Line extends.Tumbler configures with by making rotary shaft drive propeller around pivot axis.This control method can be advanced
Row step S101, wherein tumbler is rotated to adjust rotary shaft and then make pivot center and be substantially perpendicular to carrier body
The first axle direction alignment of end face, in order to be configured to the aerial carrier that can be flown by the propulsive force of propeller by unmanned plane.
This control method then carries out step S102, wherein tumbler be rotated to adjust rotary shaft so that make pivot center with substantially
It is orthogonal to the second axis direction alignment in first axle direction, can be connect by propeller frame in order to unmanned plane is reconfigured for
The land carrier of tread surface land row.It is envisioned that obtain, this control method also can be by being first configured to step by unmanned plane
Land carrier described in S102, is reconfigured for the aerial carrier described in step S101 the most again.
Refer to Fig. 9, it is the flow chart of the control method illustrating another embodiment of the present invention, unmanned in order to control
Machine.Unmanned plane comprises carrier body and is coupled at least one arm component of carrier body.Arm component comprises arm and spiral
Oar.Arm is rotatably connected to carrier body.Propeller comprises propeller frame and rotary shaft.Propeller frame is around spiral shell
The outer rim of rotation oar.The rotary shaft of propeller extends along the pivot center on the surface being perpendicular to arm.This control method can be advanced
Row step S201, wherein arm is rotated to adjust rotary shaft and then make pivot center and be substantially perpendicular to relative to carrier body
The first axle direction alignment of the end face of carrier body, in order to be configured to by unmanned plane can be by the flight of the propulsive force of propeller
Aerial carrier.This control method then carries out step S202, and wherein arm is rotated to adjust rotary shaft relative to carrier body and enters
And make pivot center and align with the second axis direction being substantially orthogonal to first axle direction, in order to unmanned plane is reconfigured
For the land carrier of land, propeller bezel contact ground row can be passed through.Identical with the embodiment of Fig. 8, the step of this control method
Order can be exchanged, and unmanned plane is the most first configured to land carrier, unmanned plane is reconfigured for aerial carrier the most again.
Refer to Figure 10, it is the flow chart of control method of the unmanned plane illustrating an embodiment of the present invention, in order to nothing
Line ground receives control instruction to control unmanned plane.In some embodiments, in addition to carrier body with arm component, unmanned plane
Also comprise controller and wireless communication module.In order to carry out abovementioned steps (that is, the step in Fig. 8 or the step in Fig. 9),
This control method can first carry out step S301, is wherein received by wireless communication module in order to operating the control instruction of controller.This
Control method then carries out step S302, and wherein control instruction is executed by a controller, in order to adjust rotary shaft and to be joined by unmanned plane
It is set to aerial carrier or land carrier.
Refer to Figure 11, it is the flow chart of control method of the unmanned plane illustrating an embodiment of the present invention, in order to produce
Give birth to and use navigation way to control unmanned plane.In some embodiments, in addition to carrier body with arm component, unmanned plane
Also comprise location positioning module.This control method can first carry out step S401, and wherein position data utilizes location positioning module to produce
Raw.This control method then carries out step S402, and wherein navigation way produces at least with position data.This control method is then
Carrying out step S403, wherein unmanned plane is configured to aerial carrier or land carrier (such as, by carrying out according to navigation way
Step in Fig. 8 or the step in Fig. 9).This control method then carries out step S404, and wherein unmanned plane moves according to navigation way
Dynamic.
By the detailed description of the above detailed description of the invention for the present invention, it is apparent that the unmanned plane of the present invention can
For a kind of amphibious carrier (such as, may move in aerial and land).As indicated in the drawings, unmanned plane comprises modular parts/mono-
Unit.Modular design provides transport, storage and part replacement or the convenience of renewal.
Obviously, those skilled in the art can carry out various change and the modification spirit without deviating from the present invention to invention
And scope.So, if the present invention these amendment and modification belong to the claims in the present invention and equivalent technologies thereof scope it
In, then the present invention is also intended to change and including modification include these.
Claims (15)
1. a unmanned plane, it is characterised in that comprise a carrier body and couple at least one arm component of described carrier body,
Described arm component comprises:
One first tumbler；
One second tumbler, is coupled to described first tumbler；And
One propeller, comprises a frame, and described frame also comprises a rotary shaft around the outer rim of described propeller, described propeller
It is coupled to described second tumbler；
Wherein said rotary shaft extends along a pivot center, and described second tumbler configuration with by make described rotary shaft around
Described pivot axis and drive described propeller；And
Wherein said first tumbler configuration is to rotate and to affect the movement of described second tumbler, and then optionally adjusts
Described rotary shaft is so that described pivot center is at least to homogeneous first axle direction or one second axis direction.
2. the unmanned plane as described in claim the 1, it is characterised in that wherein said carrier body comprises:
One primary module；And
A connection piece, is detachably connected to described primary module, and wherein said arm component is connected to described connector.
3. the unmanned plane as described in claim the 1, it is characterised in that also comprise:
One controller, configures the movement to control described first tumbler and the movement of described second tumbler；And
One power unit, configuration makes described first tumbler move with described second tumbler with power supply.
4. the unmanned plane as described in claim the 3, it is characterised in that also comprise this arm component multiple, wherein this controller
The movement of the configuration this first tumbler individually to control those arm components each, rotates in order to individually to adjust each those
One of them in the axle multiple axis directions of alignment.
5. the unmanned plane as described in claim the 3, it is characterised in that also comprise this arm component multiple, wherein this controller
The movement of the configuration this second tumbler individually to control those arm components each, in order to individually to make those propellers each
Rotate with different rotating speeds or with different directions.
6. the unmanned plane as described in claim the 3, it is characterised in that also comprising a shoulder joint, described shoulder joint is by described
Arm component is connected to described carrier body, and wherein said arm component configures with around described shoulder joint the most described carrier body
Rotate.
7. the unmanned plane as described in claim the 6, it is characterised in that also comprise multiple described arm component, wherein said control
Device processed configures individually to control the rotation around described shoulder joint of each described arm component, in order to make each described rotary shaft pair
One of them in neat multiple axis direction.
8. the unmanned plane as described in claim the 1, it is characterised in that wherein said first tumbler is an elongated cylinder,
It is arranged in a cavity of the periphery extension of described carrier body, causes a position of a long curved surface of described elongated cylinder
Ridge covers in described cavity；And wherein said second tumbler is arranged at an exposure curved surface of described elongated cylinder, described rotation
Rotating shaft is connected to described second tumbler, and is extended by described exposure curved vertical.
9. the unmanned plane as described in claim the 1, it is characterised in that wherein said first axle direction is substantially perpendicular to
One end face of described carrier body, and described second axis direction is substantially orthogonal to described first axle direction.
10. a unmanned plane, it is characterised in that comprise:
One carrier body；And
At least one arm component, comprises:
One arm, couples described carrier body rotationally；
One propeller rotational part, is arranged at a surface of described arm；
One propeller, is coupled to described propeller rotational part, and described propeller has a rotary shaft, and described rotary shaft is along vertically
A pivot center in the described surface of described arm extends；And
One frame, is coupled to the outer rim of described propeller；
The configuration of wherein said propeller rotational part is with described by making described rotary shaft rotate around described pivot axis
Propeller, and the configuration of described arm is to rotate relative to described carrier body, and then optionally adjust described pivot center extremely
Alignment first axle direction or the second axis direction less.
11. unmanned planes as described in claim the 10, it is characterised in that also comprise a controller and multiple described arm group
Part, described controller is arranged in described carrier body, and wherein said controller configures individually to control described arm component
Described propeller rotational part, in order to adjust a rotating speed of each described propeller.
12. unmanned planes as described in claim the 11, it is characterised in that wherein said arm is an elongated cylinder, and institute
The described surface stating arm is a long curved surface；And wherein said long curved surface is rotatably coupled to described carrier body.
13. 1 kinds of control methods, in order to control a unmanned plane, it is characterised in that described unmanned plane comprise a carrier body and
At least one arm component, described arm component has a propeller, and described propeller comprises a propeller frame and a rotary shaft, institute
Stating propeller frame to extend around described propeller, described rotary shaft along a pivot center, described control method comprises following
At least one:
Adjust described rotary shaft and make described rotation axis and the one first of the end face being substantially perpendicular to described carrier body
Axis direction aligns, in order to described unmanned plane to be configured to the aerial carrier that can be flown by the propulsive force of described propeller；
And
Adjust described rotary shaft and make described rotation axis and one second axis being substantially orthogonal to described first axle direction
Align in direction, in order to described unmanned plane to be configured to pass through a land carrier of land, described propeller bezel contact ground row.
14. control methods as described in claim the 13, it is characterised in that wherein said unmanned plane also comprises a controller
And a wireless communication module, described control method also comprises:
Receiving a control instruction by described wireless communication module, described control instruction is in order to operate described controller；And
Described control instruction is performed, in order to adjust described rotary shaft and to be configured to by described unmanned plane by described controller
Middle carrier or a land carrier.
15. control methods as described in claim the 13, it is characterised in that it is fixed that wherein said unmanned plane also comprises a position
Position module, described control method also comprises:
Described location positioning module is utilized to produce a position data；
A navigation way is produced at least with described position data；
According to described navigation way, described unmanned plane is configured to aerial carrier or a land carrier；And
Described unmanned plane is moved according to described navigation way.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201562197596P | 2015-07-28 | 2015-07-28 | |
| US62/197,596 | 2015-07-28 | ||
| US14/989,778 US20170029103A1 (en) | 2015-07-28 | 2016-01-06 | Unmanned vehicle |
| US14/989,778 | 2016-01-06 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106155080A true CN106155080A (en) | 2016-11-23 |
| CN106155080B CN106155080B (en) | 2020-04-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610310519.9A Active CN106155080B (en) | 2015-07-28 | 2016-05-11 | Unmanned plane |
| CN201610327865.8A Active CN106143870B (en) | 2015-07-28 | 2016-05-17 | Unmanned aerial vehicle |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610327865.8A Active CN106143870B (en) | 2015-07-28 | 2016-05-17 | Unmanned aerial vehicle |
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| CN (2) | CN106155080B (en) |
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Also Published As
| Publication number | Publication date |
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| CN106155080B (en) | 2020-04-10 |
| CN106143870B (en) | 2020-07-17 |
| CN106143870A (en) | 2016-11-23 |
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