CN106585966A - Electromechanical integration unmanned aerial vehicle device capable of smoothly taking off and landing - Google Patents
Electromechanical integration unmanned aerial vehicle device capable of smoothly taking off and landing Download PDFInfo
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- CN106585966A CN106585966A CN201611144121.9A CN201611144121A CN106585966A CN 106585966 A CN106585966 A CN 106585966A CN 201611144121 A CN201611144121 A CN 201611144121A CN 106585966 A CN106585966 A CN 106585966A
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- 230000010354 integration Effects 0.000 title claims abstract description 18
- 238000012545 processing Methods 0.000 claims description 46
- 238000007405 data analysis Methods 0.000 claims description 21
- 238000012216 screening Methods 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000004458 analytical method Methods 0.000 claims description 9
- 239000011521 glass Substances 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 238000013016 damping Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 14
- 238000006243 chemical reaction Methods 0.000 description 6
- 238000013500 data storage Methods 0.000 description 5
- 210000000352 storage cell Anatomy 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 230000001747 exhibiting effect Effects 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
- B64C25/60—Oleo legs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
- B64C2027/8236—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft including pusher propellers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (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
The invention discloses an electromechanical integration unmanned aerial vehicle device capable of smoothly taking off or landing, and belongs to the technical field of electromechanical integration. A wind power sensor is arranged on the surface of an unmanned aerial vehicle body; supporting frames are separately arranged on the left side and the right side of the unmanned aerial vehicle body; damping cushions are arranged at the bottom of each of the supporting frames; a posture detecting device is arranged in the center of the bottom of the unmanned aerial vehicle body; a rotor bracket is arranged at the top of the unmanned aerial vehicle body; compensation propellers are separately arranged on the left side and the right side of the bottom of the rotor bracket; and propellers are separately arranged on the left side and the right side of the surface of the rotor bracket. Compared with a conventional unmanned aerial vehicle device capable of smoothly taking off and landing, the unmanned aerial vehicle device disclosed by the invention is simple in structure and convenient to operate; and according to the unmanned aerial vehicle disclosed by the invention, a control system is also additionally arranged based on a conventional unmanned aerial vehicle device capable of smoothly taking off or landing, so that smooth control on the unmanned aerial vehicle can be realized when the unmanned aerial vehicle takes off or lands, and the taking off and the landing of the unmanned aerial vehicle are more smooth.
Description
Technical field
The present invention relates to field of electromechanical integration technical field, the unmanned plane that specially a kind of electromechanical integration is steadily lifted
Device.
Background technology
UAV referred to as " unmanned plane ", is manipulated using radio robot and the presetting apparatus provided for oneself
Not manned aircraft, this be one it is extensive define, present unmanned plane is referred to by operator on ground mostly in the face of flying
Row device carries out the device of flight operation, and it includes aircraft and ground operating equipment, and unmanned plane Jing is commonly used for outdoor shooting work
Make, unmanned plane when outdoor is taken off or is landed, due to outdoor environment it is more complicated, when being lifted, unmanned plane
In in-plane due to being affected by wind-force, it is difficult to realize the steady lifting of unmanned plane vertical direction, especially in adverse circumstances
Under when carrying out takeoff and landing, the capacity of resisting disturbance of unmanned plane is worse, and unmanned plane suffers from dry on horizontal plane direction
The phenomenon disturbed and shift or even smash, for this purpose, a kind of it is proposed that unmanned plane device of the steady lifting of electromechanical integration.
The content of the invention
It is an object of the invention to provide the unmanned plane device that a kind of electromechanical integration is steadily lifted, to solve above-mentioned background
Propose in technology when being lifted, unmanned plane is in in-plane due to being affected by wind-force, it is difficult to realize unmanned plane hang down
Nogata to steady lifting problem.
For achieving the above object, the present invention provides following technical scheme：The unmanned plane that a kind of electromechanical integration is steadily lifted
Device, including unmanned plane main body, the surface of the unmanned plane main body are provided with wind sensor, the left and right of the unmanned plane main body
Both sides are provided with bracing frame, and the bottom of support frame as described above is provided with cushion, sets at the bottom centre of the unmanned plane main body
Attitute detecting device is equipped with, rotor support, bottom of the rotor support or so two at the top of the unmanned plane main body, is provided with
Side is provided with compensation propeller, and the surface left and right sides of the rotor support is provided with propeller, the unmanned plane main body
Surface be provided with slant angle sensor and wireless data transmitter, and wireless data transmitter is located under slant angle sensor
Side, the wireless data transmitter electrically export connection central processing unit, and the wireless data transmitter is electrically input into connection number
According to acquisition system, the central processing unit is electrically two-way respectively to connect data analysis system and remote control system, the centre
Reason device is electrically input into connection input block, and the central processing unit electrically exports connection display unit.
Preferably, the inner chamber left side wall center of the Attitute detecting device is provided with the first attitude transducer,
The inner cavity top and bottom symmetrical of the Attitute detecting device is provided with the second attitude transducer and the 3rd attitude transducer, described
The intracavity bottom of Attitute detecting device is provided with velocity sensor, and velocity sensor is located at the left side of the 3rd attitude transducer,
Transparency glass plate is provided with the right side of the inner chamber of the Attitute detecting device.
Preferably, first attitude transducer, the second attitude transducer and the 3rd attitude transducer are infrared posture
Sensor, and the infrared launcher of the first attitude transducer, the second attitude transducer and the 3rd attitude transducer is same flat
In face.
Preferably, the data collecting system includes data acquisition unit, and the data acquisition unit is electrically exported respectively
Connection wind sensor, slant angle sensor and Attitute detecting device, the data acquisition unit electrically export connection processor,
The processor electrically exports connection filter unit, and the filter unit electrically exports connection A/D converting units, and the A/D turns
Change unit and electrically export connection data storage cell.
Preferably, the data analysis system includes data extracting unit, and the data extracting unit electrically exports connection
Data screening unit, the data screening unit electrically export connection data processing unit, and the data processing unit is electrically defeated
Go out connection server, the server is electrically bi-directionally connected mathematical operation unit, and the server electrically exports connection data point
Analysis unit, the data analysis unit electrically export connection data feedback unit.
Preferably, the remote control system includes control information input block, and the control information input block is electrical
Output connection wireless data processing unit, the wireless data processing unit electrically export connection wireless data transmission unit, institute
State wireless data transmission unit and electrically export connection wireless data receiving unit, the electrical company of output of the wireless data receiving unit
Connect unmanned aerial vehicle control system chip.
Preferably, the rotor support is mutually isostructural two groups, and two groups of rotor supports are located at unmanned plane main body respectively
Top and bottom, the top left and right sides of rotor support described in two groups is provided with propeller, and four groups of propeller rectangle battle arrays
Column-shaped is arranged in the surface of two groups of rotor supports, and described in two groups, the bottom of rotor support is provided with compensation propeller.
Preferably, amortisseur is provided with two groups of support frames as described above.
Compared with prior art, the invention has the beneficial effects as follows：Compared with the unmanned plane device of existing steady lifting, this
Inventive structure is simple, easy to operate, and the present invention also increased control on the basis of the unmanned plane device of existing steady lifting
System, when unmanned plane is lifted can with unmanned plane steadily controlled so that unmanned plane lifting it is more steady.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is top view of the present invention；
Fig. 3 is principle of the invention block diagram；
Fig. 4 is Attitute detecting device structural representation of the present invention；
Fig. 5 is data collecting system theory diagram of the present invention；
Fig. 6 is data analysis system theory diagram of the present invention；
Fig. 7 is remote control system theory diagram of the present invention.
In figure：1 unmanned plane main body, 2 wind sensors, 3 bracing frames, 4 cushions, 5 Attitute detecting devices, 51 first attitudes
Sensor, 52 second attitude transducers, 53 the 3rd attitude transducers, 54 velocity sensors, 55 transparency glass plates, 6 rotor supports,
7 compensation propellers, 8 propellers, 9 gradient sensors, 10 wireless data transmitters, 11 central processing units, 12 data acquisitions
System, 121 data acquisition units, 122 processors, 123 filter units, 124A/D converting units, 125 data storage cells, 13
Data analysis system, 131 data extracting units, 132 data screening units, 133 data processing units, 134 servers, 135 numbers
Learn arithmetic element, 136 data analysis unit, 137 data feedback units, 14 remote control systems, 141 control information input list
Unit, 142 wireless data processing units, 143 wireless data transmission units, 144 wireless data receiving units, 145 unmanned aerial vehicle (UAV) controls
System on Chip/SoC, 15 input blocks, 16 display units, 17 amortisseurs.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1-7 are referred to, the present invention provides a kind of technical scheme：The unmanned plane dress that a kind of electromechanical integration is steadily lifted
Put, including unmanned plane main body 1, the surface of unmanned plane main body 1 is provided with wind sensor 2, and the left and right sides of unmanned plane main body 1 is equal
Bracing frame 3 is provided with, the bottom of bracing frame 3 is provided with cushion 4, at the bottom centre of unmanned plane main body 1, is provided with attitude inspection
Device 5 is surveyed, the top of unmanned plane main body 1 is provided with rotor support 6, and the bottom left and right sides of rotor support 6 is provided with compensation
Propeller 7, the surface left and right sides of rotor support 6 are provided with propeller 8, and the surface of unmanned plane main body 1 is provided with inclination angle
Sensor 9 and wireless data transmitter 10, and wireless data transmitter 10 is located at the lower section of slant angle sensor 9, wireless data
Electrically output connects central processing unit 11 to transmitter 10, and wireless data transmitter 10 is electrically input into connection data collecting system 12,
Electrically output connects data analysis system 13 and remote control system 14 to central processing unit 11 respectively, and central processing unit 11 is electrically input into
Connection input block 15, electrically output connects display unit 16 to central processing unit 15, and bracing frame 3 carries out propping up to unmanned plane main body 1
Support is acted on, and cushion 4 carries out cushioning effect to bracing frame 3 so that the amplitude of vibrations when unmanned plane rises or declines is less,
Attitute detecting device 5 detected to the attitude of unmanned plane, and rotor support 6 is by propeller 8, compensation propeller 7 and unmanned owner
Body 1 links together, when unmanned plane is taken off or is landed, when unmanned plane is disturbed by parallel wind-force, unmanned owner
Body 1 can carry out power compensation to deflection side by compensating propeller 7, so that unmanned plane main body 1 keeps to side deflection
Steadily, data when data collecting system 12 is taken off or landed to unmanned plane main body 1 are acquired, and gather the data come and pass through
Wireless data transmission device 10 passes to central processing unit 11 and is processed, and the data that 13 pairs of collections of data analysis system come are carried out
Analyzing and processing, the data feedback after analysis carry out subsequent treatment, 11 control display unit of central processing unit to central processing unit 11
16 will analysis gained data exhibiting out, by the reference value needed during 15 input data computing of input block.
Wherein, the inner chamber left side wall center of Attitute detecting device 5 is provided with the first attitude transducer 51, attitude detection dress
The inner cavity top and bottom symmetrical for putting 5 is provided with the second attitude transducer 52 and the 3rd attitude transducer 53, Attitute detecting device 5
Intracavity bottom be provided with velocity sensor 54, and velocity sensor 54 is located at the left side of the 3rd attitude transducer 53, attitude inspection
Transparency glass plate 55, the first attitude transducer 51, the second attitude transducer 52 and the 3rd appearance are provided with the right side of the inner chamber for surveying device 5
State sensor 53 is infrared posture sensor, and the first attitude transducer 51, the second attitude transducer 52 and the 3rd attitude are passed
The infrared launcher of sensor 53 in the same plane, the infra-red radiation of the infrared posture sensor of employing to 8～15 mu m wavebands
Sensitivity, the transmission error of this ripple are less and with stronger penetrance and heat stability, thus sensor will not by overheated or
The object contributions of low temperature are crossed, is amplified through amplifier by the backward voltage that a pair of thermoelectric piles are produced, then through analog digital conversion, i.e.,
Can be shown as representing the numerical value of unmanned plane a direction attitude angle, typically adopt three pairs of infrared posture sensors, the second attitude to pass
Sensor 52 and the 3rd attitude transducer 53 keep vertical, when unmanned plane main body is glanced off, the first attitude transducer 51 and water
An angle can be produced between plane, this angle is the angle of pitch, the second attitude transducer 52 and the 3rd attitude transducer 53 with
An angle can be also produced between horizontal plane, this angle is tumbler angle, and velocity sensor 54 rises to unmanned plane or declines
Data sensed；
Data collecting system 12 includes data acquisition unit 121, and electrically output connects wind-force to data acquisition unit 121 respectively
Sensor 2, slant angle sensor 9 and Attitute detecting device 5, electrically output connects processor 122, place to data acquisition unit 121
Electrically output connects filter unit 123,123 electrical output connection A/D converting units 124 of filter unit, A/D conversions to reason device 122
Electrically output connects data storage cell 125 to unit 124, and data acquisition unit 121 is to wind sensor 2, slant angle sensor
9th, the sensed data of Attitute detecting device 5 is acquired, and the data after collection are passed to filter unit 123 by processor 122 and entered
Row Filtering Processing so that the data that collection comes have more accuracy, and filtered data carry out data by A/D converting units 124
Conversion so that the data of collection are converted into the data form for being easy to store and transmit, finally by data storage cell 125 pairs
The data that collection comes are stored；
Data analysis system 13 includes data extracting unit 131, and electrically output connects data screening to data extracting unit 131
Unit 132, electrically output connects data processing unit 133 to data screening unit 132, and electrically output connects data processing unit 133
Server 134 is connect, server 134 is electrically bi-directionally connected mathematical operation unit 135, and server 134 electrically divide by output connection data
Analysis unit 136, electrically output connects data feedback unit 137 to data analysis unit 136, and 131 pairs of collections of data extracting unit come
Data and input block 15 input data extracted, the data after extraction carry out data by data screening unit 132
Screening, the data after screening carry out data processing by data processing unit 132, and the mode of data processing is to carry out multi collect
Data carry out meansigma methodss computing, obtaining its meansigma methods carries out subsequent data analysis work, the data transfer after process to service
Device 134, inclination angular data, the angle of pitch, roll angle and the input that 134 mathematics of control arithmetic element of server, 135 pairs of collections come are single
The data of 15 input of unit carry out computing, calculate the deflection inclination angle of unmanned plane main body 1, and the data after computing pass through data analysiss list
The speed data that 136 pairs of deflection inclination datas for calculating gained of unit and collection come carries out comprehensive analysis, and analysis unmanned plane is on this
Under the speed for rising or declining, whether angle of deviation is being increased, and the data after analysis are fed back to by data feedback unit 137
Central processing unit 11；
Remote control system 14 includes control information input block 141, the electrically output connection of control information input block 141
Wireless data processing unit 142, electrically output connects wireless data transmission unit 143 to wireless data processing unit 142, without line number
According to transmitter unit 143, electrically output connects wireless data receiving unit 144, the electrically output connection of wireless data receiving unit 144
Unmanned aerial vehicle control system chip 145, central processing unit 11 is according to 13 feedback data of data analysis system come by Remote system
14 pairs of unmanned planes of system are controlled, and are input into control information by control information input block 141, and the adjustment control information of input is led to
Crossing wireless data processing unit 142 carries out data processing, and the mode of process is to enter row format conversion and signal to the information being input into
Strengthen so that the data message of input becomes to be more convenient for being wirelessly transferred, the data after process pass through wireless data transmission
Unit 143 is transmitted, and 144 pairs of data for sending of the wireless data receiving unit on unmanned plane are received, and by its
Pass to unmanned aerial vehicle control system chip 1455 and be adjusted process；
Rotor support 6 is mutually isostructural two groups, and two groups of rotor supports 6 respectively positioned at the top of unmanned plane main body 1 and
Bottom, the top left and right sides of two groups of rotor supports 6 are provided with propeller 8, and four groups of 8 rectangular array shapes of propeller are arranged in
The surface of two groups of rotor supports 6, the bottom of two groups of rotor supports 6 are provided with compensation propeller 7, and four groups of compensation propellers 7 can
To carry out power compensation to four groups of propellers 8 respectively so that unmanned plane main body 1 reaches lifting steadily by compensating power, two groups
Amortisseur 17 is provided with bracing frame 3, amortisseur 17 is played damping effect when unmanned plane lifts to unmanned plane main body 1
Really.
Operation principle：The reference value needed during 15 input data computing of input block is first passed through, bracing frame 3 enters in unmanned plane
Unmanned plane main body 1 is played a supporting role during row lifting, the amortisseur 17 on bracing frame 3 is when unmanned plane is lifted to nobody
Owner's body 1 plays damping effect, and cushion 4 carries out cushioning effect to bracing frame 3 so that shake when unmanned plane rises or declines
Dynamic amplitude is less, and Attitute detecting device 5 is detected to the attitude of unmanned plane, attitude of the Attitute detecting device 5 to unmanned plane
When being detected, three pairs of infrared posture sensors, the second attitude transducer 52 and the 3rd attitude transducer 53 is typically adopted to keep
Vertically, when unmanned plane main body is glanced off, an angle, this angle can between the first attitude transducer 51 and horizontal plane, be produced
As the angle of pitch, can also produce an angle between the second attitude transducer 52 and the 3rd attitude transducer 53 and horizontal plane, this
Angle is tumbler angle, can thus measure the data of the pitch angle and roll angle of unmanned plane, rotor support 6 by propeller 8,
Compensation propeller 7 and unmanned plane main body 1 link together, when unmanned plane is taken off or is landed, when unmanned plane is subject to flat
The interference of sector-style power, unmanned plane main body 1 can carry out power compensation to deflection side by compensating propeller 7 to side deflection, from
And 1 held stationary of unmanned plane main body is caused, data when data collecting system 12 is taken off or landed to unmanned plane main body 1 are carried out
Collection, data acquisition unit 121 is to wind sensor 2, slant angle sensor 9, velocity sensor 54 and Attitute detecting device 5
Sensed data is acquired, and the data after collection are passed to filter unit 123 by processor 122 and are filtered process so that adopt
The data that collection comes have more accuracy, and filtered data carry out data conversion by A/D converting units 124 so that the number of collection
According to the data form that is easy to store and transmit is converted into, the data come finally by 125 pairs of collections of data storage cell are carried out
Storage, the data that collection comes pass to central processing unit 11 by wireless data transmission device 10 and are processed, data analysiss system
The data that 13 pairs of collections of system come are analyzed process, and the data and input block 15 that 131 pairs of collections of data extracting unit come are input into
Data extracted, the data after extraction carry out data screening by data screening unit 132, the data after screening by number
Data processing is carried out according to processing unit 132, the mode of data processing is that the data that multi collect comes are carried out meansigma methodss computing, is taken
Obtaining its meansigma methods carries out subsequent data analysis work, and the data transfer after process is to server 134,134 mathematics of control of server
The data of inclination angular data, the angle of pitch, roll angle and the input of input block 15 that 135 pairs of collections of arithmetic element come carry out computing,
The deflection inclination angle of unmanned plane main body 1 is calculated, deflection of the data after computing as obtained by 136 pairs of calculating of data analysis unit is inclined
The speed data that angular data and collection come carries out comprehensive analysis, analyzes unmanned plane angle of deviation under the speed of the rising or decline
Whether increased, the data after analysis feed back to central processing unit 11, central processing unit 11 by data feedback unit 137
By the data exhibiting for analyzing gained out, and central processing unit 11 is according to 13 feedback coefficient of data analysis system for control display unit 16
According to being controlled to unmanned plane by remote control system 14, control information is input into by control information input block 141, it is defeated
The adjustment control information for entering carries out data processing by wireless data processing unit 142, and the mode of process is the information to being input into
Enter row format conversion and signal is strengthened so that the data message of input becomes to be more convenient for being wirelessly transferred, the number after process
According to being transmitted by wireless data transmission unit 143,144 pairs of data for sending of the wireless data receiving unit on unmanned plane
Received, and passed it to unmanned aerial vehicle control system chip 145 and be adjusted process, unmanned aerial vehicle control system chip
145 compensate propeller 7 by constantly control deflection side carries out discontinuity compensation work, by repeatedly compensation cause unmanned plane from
Newly reach and be steadily further continued for being declined or being risen.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding can carry out various changes, modification, replacement to these embodiments without departing from the principles and spirit of the present invention
And modification, the scope of the present invention be defined by the appended.
Claims (8)
1. the unmanned plane device that a kind of electromechanical integration is steadily lifted, including unmanned plane main body (1), it is characterised in that：The nothing
The surface of man-machine main body (1) is provided with wind sensor (2), and the left and right sides of the unmanned plane main body (1) is provided with support
Frame (3), the bottom of support frame as described above (3) are provided with cushion (4), are provided with the bottom centre of the unmanned plane main body (1)
Attitute detecting device (5), is provided with rotor support (6), the bottom of the rotor support (6) at the top of the unmanned plane main body (1)
The portion left and right sides is provided with compensation propeller (7), and the surface left and right sides of the rotor support (6) is provided with propeller
(8), the surface of the unmanned plane main body (1) is provided with slant angle sensor (9) and wireless data transmitter (10), and without line number
According to transmitter (10) positioned at the lower section of slant angle sensor (9), electrically output connection is central for the wireless data transmitter (10)
Processor (11), the wireless data transmitter (10) electrically input connection data collecting system (12), the central processing unit
(11) electrically two-way respectively to connect data analysis system (13) and remote control system (14), the central processing unit (11) is electrically defeated
Enter to connect input block (15), the central processing unit (15) electrically output connection display unit (16).
2. the unmanned plane device that a kind of electromechanical integration according to claim 1 is steadily lifted, it is characterised in that：The appearance
The inner chamber left side wall center of state detection means (5) is provided with the first attitude transducer (51), the Attitute detecting device (5)
Inner cavity top and bottom symmetrical are provided with the second attitude transducer (52) and the 3rd attitude transducer (53), the attitude detection dress
The intracavity bottom for putting (5) is provided with velocity sensor (54), and velocity sensor (54) positioned at the 3rd attitude transducer (53)
Left side, is provided with transparency glass plate (55) on the right side of the inner chamber of the Attitute detecting device (5).
3. the unmanned plane device that a kind of electromechanical integration according to claim 2 is steadily lifted, it is characterised in that：Described
One attitude transducer (51), the second attitude transducer (52) and the 3rd attitude transducer (53) are infrared posture sensor, and
The infrared launcher of the first attitude transducer (51), the second attitude transducer (52) and the 3rd attitude transducer (53) is same
In plane.
4. the unmanned plane device that a kind of electromechanical integration according to claim 1 is steadily lifted, it is characterised in that：The number
According to acquisition system (12) including data acquisition unit (121), electrically output connects wind-force to the data acquisition unit (121) respectively
Sensor (2), slant angle sensor (9), velocity sensor (54) and Attitute detecting device (5), the data acquisition unit
(121) electrically output connection processor (122), the processor (122) electrically output connection filter unit (123), the filter
Ripple unit (123) electrically output connection A/D converting units (124), the A/D converting units (124) electrically export connection data
Memory element (125).
5. the unmanned plane device that a kind of electromechanical integration according to claim 1 is steadily lifted, it is characterised in that：The number
According to analysis system (13) including data extracting unit (131), electrically output connects data screening to the data extracting unit (131)
Unit (132), the data screening unit (132) electrically output connection data processing unit (133), the data processing unit
(133) connection server (134) is electrically exported, the server (134) is electrically bi-directionally connected mathematical operation unit (135), institute
State server (134) electrically output connection data analysis unit (136), the data analysis unit (136) electrically output connection
Data feedback unit (137).
6. the unmanned plane device that a kind of electromechanical integration according to claim 1 is steadily lifted, it is characterised in that：It is described remote
Journey remote control systems (14) include control information input block (141), the control information input block (141) electrically output connection
Wireless data processing unit (142), electrically output connects wireless data transmission unit to the wireless data processing unit (142)
(143), the wireless data transmission unit (143) electrically output connection wireless data receiving unit (144), the wireless data
Receiving unit (144) electrically output connection unmanned aerial vehicle control system chip (145).
7. the unmanned plane device that a kind of electromechanical integration according to claim 1 is steadily lifted, it is characterised in that：The rotation
Wing support (6) is mutually isostructural two groups, and two groups of rotor supports (6) are respectively positioned at the top and bottom of unmanned plane main body (1),
The top left and right sides of rotor support (6) described in two groups is provided with propeller (8), and four groups of propeller (8) rectangular array shapes
The surface of two groups of rotor supports (6) is arranged in, the bottom of rotor support (6) described in two groups is provided with compensation propeller (7).
8. the unmanned plane device that a kind of electromechanical integration according to claim 1 is steadily lifted, it is characterised in that：Two groups of institutes
State and on bracing frame (3), be provided with amortisseur (17).
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