CN108033008A - One kind is herded with bionic mechanical bird and its flight control method - Google Patents
One kind is herded with bionic mechanical bird and its flight control method Download PDFInfo
- Publication number
- CN108033008A CN108033008A CN201711353780.8A CN201711353780A CN108033008A CN 108033008 A CN108033008 A CN 108033008A CN 201711353780 A CN201711353780 A CN 201711353780A CN 108033008 A CN108033008 A CN 108033008A
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- China
- Prior art keywords
- bionic mechanical
- micromotor
- bird
- mechanical bird
- herded
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K29/00—Other apparatus for animal husbandry
- A01K29/005—Monitoring or measuring activity, e.g. detecting heat or mating
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K3/00—Pasturing equipment, e.g. tethering devices; Grids for preventing cattle from straying; Electrified wire fencing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
-
- 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
Abstract
Herded the invention discloses one kind and receive transmitter, Microspeaker, carbon nano cell, miniature webcam with bionic mechanical bird, including body, flight wing, membranaceous solar panel, the first micromotor, the second micromotor, gyroscope, one chip microcomputer, signal；Body is imitative bird figure carbon fiber compound frame；Flight wing is imitative bird wing type flapping wing, and is hinged with body；Membranaceous solar panel is laid in the outer surface of body and flight wing；First micromotor is located at the lower end of flight wing；Second micromotor is located at the rear end of body.To be herded in addition, present invention also offers one kind with bionic mechanical bird flying control method.The present invention compared to traditional aircraft more lightweight, grow without airfield runway, cruising time, be a kind of bionic mechanical bird that can be used for the people, realize it is long-range it is unattended herd, reduce the input of manpower, and reduce the action effect of the amount of labour.
Description
Technical field
The present invention relates to aircraft field, more particularly to one kind to herd with bionic mechanical bird and its flight control method.
Background technology
With the birth of bionic mechanical bird, the function of itself loading and also expanded using field constantly, it is military,
Protection birds have use in field.But when bionic mechanical bird is set, there are own wt is big, the flight time is short, Bu Nengan
Full the problems such as recycling, cannot applying in common people's daily life, therefore, those skilled in the art need to develop a kind of light weight
Change, without airfield runway, bionic mechanical bird safe for operation, that the people can be used for.
The content of the invention
The present invention is according to above-mentioned technical background, there is provided one kind is herded with bionic mechanical bird and its flight control method.
To solve the above problems, the technical solution adopted in the present invention is：
One kind is herded with bionic mechanical bird,
Including：
Body：The body is imitative bird figure carbon fiber compound frame, and the overall weight for mitigating bionic mechanical bird, reduces energy consumption,
Can persistently it continue a journey.
Flight wing：The flight wing is imitative bird wing type flapping wing, and is respectively articulated with the front end both sides of the body,
This flapping wing can provide for bionic mechanical bird rises kinetic energy.
Membranaceous solar panel：The membranaceous solar panel is laid in the appearance of the body and flight wing
Face.The membranaceous solar panel can receive solar energy during bionic mechanical bird flying, convert solar energy into electric energy.
First micromotor：First micromotor is located at the lower end of the flight wing, and the motor machine
The drive shaft through first micromotor is equipped with it, and the both ends of the drive shaft are separately installed with cam, positioned at same
First connecting rod is connected between the cam and flight wing of side.First micromotor drives flight wing flapping wing up and down, carries
For power.
Second micromotor：Second micromotor is located at the rear end of the body, the motor back body
Equipped with gear one is provided with drive shaft and the drive shaft axially outer end, the rear end of the body is located at second miniature electric
The empennage of the free activity of energy is provided with the rear portion of machine, second connecting rod, one end of the second connecting rod are provided with the empennage
It is fixedly connected with empennage, the gear two being adapted with the gear one of second micromotor is provided with the other end, it is described
Gear one and the intermeshing connection of gear two.The front end of empennage sets the second micromotor control empennage and swings, and plays and flew
The effect of heading is controlled in journey.
Further include：
Carbon nano cell, gyroscope, miniature webcam, one chip microcomputer, signal receive transmitter and Microspeaker；
The Microspeaker is installed on the head of the body, and the miniature webcam is multiple, multiple miniature video cameras
Head distributing installation is on the body, and the carbon nano cell, gyroscope, one chip microcomputer, that signal receives transmitter is equal
It is fixed on internal body；
The gyroscope, signal receive transmitter, Microspeaker, the first micromotor, the second micromotor, miniature take the photograph
As head is electrically connected with the one chip microcomputer respectively；
The gyroscope, one chip microcomputer, signal receive transmitter, Microspeaker, membranaceous solar panel, first
Micromotor, the second micromotor, miniature webcam are connected with the nanometer lithium battery respectively.
The present invention is simplified bionic mechanical bird structure, entirety using the use of a variety of microsensors and mechanical equipment
Quality lightweight, can flying for long time, and can utilize miniature webcam, one chip microcomputer realize to presumptive area
Tour, predetermined object cattle and sheep etc. can be kept an eye on using Microspeaker, and can without using predetermined runway rise
Fly, landing.
Further, it is described to herd with center of gravity of bionic mechanical bird when static in the middle of body, it is ensured that to herd with imitative
Life tool bird flying is more steady.
Further, the sounding end of the Microspeaker is located at the bionical beak portion of body.What Microspeaker produced
The sound of driveing recorded in advance is sent by the bionical beak portion of body, can produce boundling effect, sound transmission it is farther.
Further, the one chip microcomputer includes BEI-DOU position system used for positioning, herds with bionical machine
Tool bird can determine monitored position by BEI-DOU position system, and error is small, and position is accurate, allows to herd region and realizes crop rotation
Herd, the phenomenon arbitrarily herded without definite position will not be produced.
Further, the one chip microcomputer receives transmitter by signal and is connected with ground base station, i.e., information is handed over
Change.Ground base station will herd the position time by presetting, and be dealt into and herd with bionic mechanical bird, and bionic mechanical bird can be by
According to default operation, and it can also be upgraded by this setting and herded with bionic mechanical bird software control system, realized further
Optimization.
Further, the membranaceous solar panel is bonded with the empennage, forms skin covering of the surface, that is, forms surface knot
Structure, so can also collect solar energy and convert solar energy into electric energy, and electric energy is stored in carbon nano cell
Further, the present invention is automatic to maintain flight steady using the gyroscope, one chip microcomputer composition electric-control system
It is fixed.
Present invention also offers a kind of flight control method herded with bionic mechanical bird, comprise the following steps：
Take off and drive：Holding herds horizontal positioned with bionic mechanical bird and starts its power supply, and gyroscope locks reference coordinate parameter,
One chip microcomputer receives transmitter and ground base station information exchange by signal, determines to drive position using BEI-DOU position system
Put；Meanwhile the first micromachine work, drive flight wing to move up and down by cam and first connecting rod, produce lift, take off
Complete；Miniature webcam works after the completion of taking off, and by image collection into one chip microcomputer, determines to drive object cattle and sheep
Position, and driven by Microspeaker；
Turn and nurse：After ground base station pre-sets flight range by BEI-DOU position system, herd with bionic mechanical bird
Cattle and sheep are driven to above-mentioned zone, when needing around turning, herds and is worked with the second micromachine of bionic mechanical bird, pass through tooth
Wheel adjustment is herded deviates air-flow with bionic mechanical bird empennage direction, generation, realizes and is nursed in presumptive area inside turn；Miniature video camera
Head collects cattle and sheep position, when beyond position is located at presumptive area, is driven by Microspeaker；
Return landing：After ground base station pre-sets the flight time, herd with bionic mechanical bird in the given time according to
Projected route drives cattle and sheep loop, and receives transmitter and ground base station information exchange by signal, reminds user to return；Treat
Cattle and sheep return to presumptive area, herd the operating rate that the first micromachine is gradually reduced with bionic mechanical bird, herd with bionical machine
Tool bird slowly lands, and operating personnel are in time collected it after landing, supplements electricity.
Beneficial effects of the present invention are：Compared to traditional aircraft more lightweight, without airfield runway, cruising time
It is long, it is a kind of bionic mechanical bird that can be used for the people, realizes the long-range unattended input herded, reduce manpower, and
And reduce the action effect of the amount of labour.
The invention will be further described with reference to the accompanying drawings and detailed description at the same time.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the specific embodiment of the invention.
Fig. 2 is the electric signal connection figure of the specific embodiment of the invention.
Wherein, in figure：1 is body；2 be flight wing；3 be membranaceous solar panel；4 be the first micromachine；5 are
Second micromachine；6 be carbon nano cell；7 be gyroscope；8 be miniature webcam,；9 be one chip microcomputer；10 be letter
Number receive transmitter；11 be Microspeaker；12 be cam；13 be first connecting rod；14 be empennage；15 be second connecting rod.
Embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although the disclosure is shown in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
Limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.
Embodiment：
One kind is herded with bionic mechanical bird,
Including：
Body 1, body 1 are imitative bird figure carbon fiber compound frame, and frame can integrally mitigate the weight of bionic mechanical bird, reduce energy
Consumption, can persistently continue a journey.
Flight wing 2, flight wing 2 is imitative bird wing type flapping wing, and is respectively articulated with the front end both sides of body, this flapping wing
It can be provided for bionic mechanical bird and rise kinetic energy.
Membranaceous solar panel 3：Membranaceous solar panel 3 is laid in the outer surface of body 1 and flight wing 2；
Appearance facial mask is formed on body 1 and flight wing 2, the weight herded with bionic mechanical bird had both been alleviated, and had also made to herd with bionical
Solar energy can be received in mechanical bird flight course, electric energy use is converted solar energy into, when the flight of mechanical bird is herded in raising
Between.
First micromotor 4：First micromotor 4 is located at the lower end of flight wing 2, and is set on the motor fuselage
There is the drive shaft through the first micromotor 4, the both ends of drive shaft are separately installed with cam 12, the cam on the same side
First connecting rod 13 is connected between 12 and flight wing 2.First micromotor 4 drive flight wing flapping wing about 2, is whole
Herd and provide power with bionic mechanical bird.
Second micromotor 5：Second micromotor 5 is located at the rear end of body 1, which, which is equipped with, drives
Gear one is provided with moving axis and the drive shaft axially outer end, the rear end of body 1, which is located on the rear portion of the second micromotor 5, to be set
The empennage 14 of the free activity of energy is equipped with, the front end of empennage 14 is provided with second connecting rod 15.One end of second connecting rod 15 and empennage 14
Connect, be provided with the gear two being adapted with the gear one of the second micromotor 5 on the other end, gear one and gear two are mutual
Engagement connection；Second micromotor 5 drives empennage 14 to swing, plays and flying by controlling gear and second connecting rod 15
The effect of heading is controlled in journey.
Specifically, the power switch herded with bionic mechanical bird is opened, due to herding weight when using bionic mechanical bird static
The heart makes its center more steady in the middle of body 1, and herding can keep positive with bionic mechanical bird.First micro electric at this time
Motivation 4 rotates, and drives flight wing 2 to move up and down, produces lift upwardly and forwardly, herd and taken off with bionic mechanical bird；
In flight course, the second micromotor 5 plays flight course by controlling gear and second connecting rod 15 to drive empennage 14 to swing
The effect of middle control heading.
In the present embodiment, herd and further included with bionic mechanical bird：
Carbon nano cell 6, gyroscope 7, miniature webcam 8, one chip microcomputer 9, signal receive transmitter 10, miniature raise one's voice
Device 11；Microspeaker 11 is installed on the head of body 1, and miniature webcam 8 is two, is separately mounted to the head two of body 1
Side, carbon nano cell 6, gyroscope 7, one chip microcomputer 9, signal receive transmitter 10 and are each attached to inside body 1；
Wherein, gyroscope 7, one chip microcomputer 9, signal receive transmitter 10, Microspeaker 11, membranaceous solar cell
Plate 3, the first micromotor 4, the second micromotor 5, miniature webcam 8 are electrically connected with nanometer lithium battery 6 respectively；Gyroscope
7th, signal receives transmitter 10, Microspeaker 11, the first micromotor 4, the second micromotor 5, miniature webcam 8 and divides
It is not electrically connected with one chip microcomputer 9.
The present invention utilizes multiple sensors intelligent set, and can ensure to herd has acquisition external information with bionic mechanical bird
Ability, the present invention using gyroscope 7, one chip microcomputer 9 form electric-control system, maintain flight stability automatically.It is miniature to take the photograph
As first 8 can obtain external image, prevent from herding with trees or other shelters are collided during bionic mechanical bird flying, can also receive
Collect image information, monitoring effect is produced to presumptive area or things；The use of carbon nano cell 6 and membranaceous solar panel 3
It can ensure to herd with bionic mechanical bird flying for long time；The present invention is a kind of lightweight, without airfield runway, cruising time
Length, be the bionic mechanical bird that can be used for the people.
Wherein, Microspeaker 11 can produce record in advance drive sound, sent by the bionical beak portion of body 1,
Boundling effect can be produced, sound transmission is farther.
Wherein, one chip microcomputer 9 includes BEI-DOU position system used for positioning, herds and is passed through with bionic mechanical bird
BEI-DOU position system can determine monitored position, and error is small, and position is accurate, and making to herd can realize that crop rotation is herded, and will not produce
The raw phenomenon arbitrarily herded without definite position.
Further, 9 machines of single-sheet miniature calculating receive transmitter 10 and ground base station information exchange by signal.Ground base
Stand and can will herd position, the time is herded with bionic mechanical bird by predetermined be dealt into, bionic mechanical bird can be according to default fortune
OK, and cross this setting and can upgrade and herd with bionic mechanical bird software control system, realize further optimization.
Further, membranaceous solar panel 3 is bonded with empennage 14, is formed skin covering of the surface, can also be collected electric energy.
In the present embodiment, herd is included with the flight control method and operation principle of bionic mechanical bird：
1）Take off and drive principle：Start the power supply herded with bionic mechanical bird, and kept horizontal positioned, gyroscope 7 locks
Reference coordinate parameter, one chip microcomputer 9 are received transmitter 10 and ground base station information exchange by signal, are determined using the Big Dipper
Position system determines position；The first micromachine 4 works at the same time, and flight wing 2 is driven by cam 12 and first connecting rod 13
Move up and down, produce lift, completion of taking off；Miniature webcam 8 works after the completion of taking off, and image collection to single-sheet miniature is calculated
In machine 9, determine to drive object cattle and sheep position, and drive by Microspeaker 11；
2）Turn and nurse principle：After ground base station pre-sets flight range by BEI-DOU position system, herd with bionical
Mechanical bird drives cattle and sheep to above-mentioned zone, when needing around turning, herds 5 work of the second micromachine with bionic mechanical bird
Make, herded by gear adjustment and deviated air-flow with bionic mechanical bird empennage direction, generation, then realized in presumptive area inside turn
Nurse；Miniature webcam 8 collects cattle and sheep position, when beyond position is located at presumptive area, is driven by Microspeaker 11；
3）Return landing principle：After ground base station pre-sets the flight time, herd with bionic mechanical bird in the scheduled time
It is interior to drive cattle and sheep loop according to projected route, and transmitter 10 and ground base station information exchange are received by signal, remind and use
Person returns；Treat that cattle and sheep return to presumptive area, herd and gradually reduce 4 operating rate of the first micromachine with bionic mechanical bird, herd
Slowly landed with bionic mechanical bird, operating personnel are in time collected it after landing, supplement electricity.
The present invention be really used for the people, realize remotely it is unattended herd, both reduced the input of manpower, and reduce
The amount of labour, securely and reliably, in addition the present invention also has the advantages that lightweight, without airfield runway, long-endurance.
Specific case is applied in the present invention to be set forth the principle of the present invention and embodiment, above example
Illustrate to be only intended to help the method and its core concept for understanding the present invention；Meanwhile for those of ordinary skill in the art, according to
According to the thought of the present invention, in specific embodiments and applications there will be changes.In conclusion this specification content
It should not be construed as limiting the invention.
The present invention is not limited to above-mentioned preferred embodiment, and anyone should learn that what is made under the enlightenment of the present invention
Structure change, it is every with it is of the invention have it is same or similar as technical solution, belong to protection scope of the present invention.
Claims (7)
1. one kind is herded with bionic mechanical bird, it is characterised in that
Including：
Body：The body is imitative bird figure carbon fiber compound frame；
Flight wing：The flight wing is imitative bird wing type flapping wing, and is respectively articulated with the front end both sides of the body；
Membranaceous solar panel：The membranaceous solar panel is laid in the outer surface of the body and flight wing；
First micromotor：First micromotor is located at the lower end of the flight wing, and on the motor fuselage
Equipped with the drive shaft through first micromotor, the both ends of the drive shaft are separately installed with cam, positioned at the same side
Cam and flight wing between be connected with first connecting rod；
Second micromotor：Second micromotor is located at the rear end of the body, which is equipped with
Gear one is provided with drive shaft and the drive shaft axially outer end, the rear end of the body is located at second micromotor
The empennage of the free activity of energy is provided with rear portion, second connecting rod, one end of the second connecting rod and tail are provided with the empennage
The wing is fixedly connected, and the gear two being adapted with the gear one of second micromotor, the gear are provided with the other end
One and gear two intermeshing connection；
Further include：
Carbon nano cell, gyroscope, miniature webcam, one chip microcomputer, signal receive transmitter and Microspeaker；
The Microspeaker is installed on the head of the body, and the miniature webcam is multiple, multiple miniature video cameras
Head distributing installation is on the body, and the carbon nano cell, gyroscope, one chip microcomputer, that signal receives transmitter is equal
It is fixed on internal body；
The gyroscope, signal receive transmitter, Microspeaker, the first micromotor, the second micromotor, miniature take the photograph
As head is electrically connected with the one chip microcomputer respectively；
The gyroscope, one chip microcomputer, signal receive transmitter, Microspeaker, membranaceous solar panel, first
Micromotor, the second micromotor, miniature webcam are connected with the nanometer lithium battery respectively.
2. one kind according to claim 1 is herded with bionic mechanical bird, it is characterised in that described to herd with bionic mechanical bird
Center of gravity when static is in the middle of body.
3. one kind according to claim 1 is herded with bionic mechanical bird, it is characterised in that the sounding of the Microspeaker
End is positioned at the bionical beak portion of body.
4. one kind according to claim 1 is herded with bionic mechanical bird, it is characterised in that in the one chip microcomputer
Including BEI-DOU position system used for positioning.
5. one kind according to claim 1 is herded with bionic mechanical bird, it is characterised in that the one chip microcomputer leads to
Cross signal and receive transmitter and be connected with ground base station.
6. one kind according to claim 1 is herded with bionic mechanical bird, it is characterised in that the membranaceous solar panel
Bonded with the empennage, form skin covering of the surface.
7. a kind of flight control method herded with bionic mechanical bird, it is characterised in that comprise the following steps：
Take off and drive：Holding herds horizontal positioned with bionic mechanical bird and starts its power supply, and gyroscope locks reference coordinate parameter,
One chip microcomputer receives transmitter and ground base station information exchange by signal, determines to drive position using BEI-DOU position system
Put；Meanwhile the first micromachine work, drive flight wing to move up and down by cam and first connecting rod, produce lift, take off
Complete；Miniature webcam works after the completion of taking off, and by image collection into one chip microcomputer, determines to drive object cattle and sheep
Position, and driven by Microspeaker；
Turn and nurse：After ground base station pre-sets flight range by BEI-DOU position system, herd with bionic mechanical bird
Cattle and sheep are driven to above-mentioned zone, when needing around turning, herds and is worked with the second micromachine of bionic mechanical bird, pass through tooth
Wheel adjustment is herded deviates air-flow with bionic mechanical bird empennage direction, generation, realizes and is nursed in presumptive area inside turn；Miniature video camera
Head collects cattle and sheep position, when beyond position is located at presumptive area, is driven by Microspeaker；
Return landing：After ground base station pre-sets the flight time, herd with bionic mechanical bird in the given time according to
Projected route drives cattle and sheep loop, and receives transmitter and ground base station information exchange by signal, reminds user to return；Treat
Cattle and sheep return to presumptive area, herd the operating rate that the first micromachine is gradually reduced with bionic mechanical bird, herd with bionical machine
Tool bird slowly lands, and operating personnel are in time collected it after landing, supplements electricity.
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| CN201711353780.8A CN108033008A (en) | 2017-12-15 | 2017-12-15 | One kind is herded with bionic mechanical bird and its flight control method |
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| CN110816806A (en) * | 2019-10-28 | 2020-02-21 | 西北工业大学 | Cluster type bionic solar unmanned aerial vehicle |
| CN113968340A (en) * | 2021-12-08 | 2022-01-25 | 北京航空航天大学 | Use miniature unmanned aerial vehicle of bionical chordwise ripple wing |
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