CN108069045A - Propelled method, assist device and the pending flight device system of pending flight device - Google Patents
Propelled method, assist device and the pending flight device system of pending flight device Download PDFInfo
- Publication number
- CN108069045A CN108069045A CN201611027754.1A CN201611027754A CN108069045A CN 108069045 A CN108069045 A CN 108069045A CN 201611027754 A CN201611027754 A CN 201611027754A CN 108069045 A CN108069045 A CN 108069045A
- Authority
- CN
- China
- Prior art keywords
- flight device
- pending
- pending flight
- horizontal displacement
- aerial mission
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000006073 displacement reaction Methods 0.000 claims abstract description 69
- 238000010586 diagram Methods 0.000 description 5
- 241000208340 Araliaceae Species 0.000 description 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 235000008434 ginseng Nutrition 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000000052 comparative effect Effects 0.000 description 1
- 230000002153 concerted effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0866—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft specially adapted to captive aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F3/00—Ground installations specially adapted for captive aircraft
- B64F3/02—Ground installations specially adapted for captive aircraft with means for supplying electricity to aircraft during flight
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F3/00—Ground installations specially adapted for captive 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of propelled method of pending flight device provided by the invention, assist device and pending flight device system, during control pending flight device performs aerial mission, judge whether to need to provide horizontal displacement thrust in aerial mission for pending flight device according to the current location information of pending flight device and flight parameter, if desired, control signal is then generated according to current location information and flight parameter, and then pending flight device is controlled to generate horizontal displacement thrust, it overcomes for pulling force of the cord to pending flight device in the horizontal direction, so that pending flight device can supply the pulling force of cord in the horizontal direction during aerial mission is performed by overcoming, arrive at the target location in aerial mission, improve the ability that pending flight device performs aerial mission.
Description
Technical field
The present invention relates to pending flight device technical field more particularly to a kind of propelled method of pending flight device, boosting dresses
It puts and pending flight device system.
Background technology
As the use of aircraft or unmanned plane tends to popular and entertainment orientation, more and more aircraft or nothing in the market
Man-machine product receives consumers and pursues.Pending flight device be it is a kind of include aircraft body, for cord and surface power supply and
The aircraft of control device.It is connected by one end for cord with aircraft body, the other end and surface power supply and control device
It is connected, surface power supply and control device for aircraft body for cord by providing electric energy.Although existing pending flight device leads to
It crosses surface power supply and control device is pullled for cord, and then control the flying height and flight range of aircraft body, but from
For some angle, the scope of activities of the aircraft master of pending flight device also when for the pulling force in the horizontal direction of cord by
To limitation.
The content of the invention
It is an object of the invention to provide a kind of propelled methods of pending flight device, are existed with solving existing pending flight device
When performing aerial mission because for during cord pulling force in the horizontal direction destination locations can not be arrived at the problem of.
The present invention is achieved in that a kind of propelled method of pending flight device, and the pending flight device is by supplying cord
Connection surface power supply and control device, the propelled method comprise the following steps：
The pending flight device is controlled to perform aerial mission；
Judge whether that needs are in aerial mission according to the current location information of the pending flight device and flight parameter
Pending flight device provides horizontal displacement thrust；
If so, control signal is generated according to the current location information and the flight parameter, it is winged to be tethered at described in control
Row device generates horizontal displacement thrust, and then overcomes described for pulling force of the cord to the pending flight device in the horizontal direction.
Another object of the present invention is to provide a kind of assist device of pending flight device, the pending flight device passes through confession
Cord, which connects surface power supply and control device, the assist device, to be included：
Control module, for the pending flight device to be controlled to perform aerial mission；
Judgment module judges whether to need for the current location information according to the pending flight device and flight parameter
In aerial mission horizontal displacement thrust is provided for pending flight device；
Horizontal displacement push module, for the judgement result of the judgment module for be when, according to the current location
Information and flight parameter generation control signal, the pending flight device to be controlled to generate horizontal displacement thrust, and then overcome
It is described for pulling force of the cord to the pending flight device in the horizontal direction.
Another object of the present invention is to provide a kind of pending flight device system, including pending flight device, it is described be tethered at it is winged
Row device system further includes the assist device of pending flight device as described above.
A kind of propelled method of pending flight device provided by the invention, pending flight device for cord by connecting surface power supply
And control device, during control pending flight device performs aerial mission, according to the current location information of pending flight device
Judge whether to need to provide horizontal displacement thrust in aerial mission for pending flight device with flight parameter, if desired, then basis
Current location information and flight parameter generation control signal, and then pending flight device is controlled to generate horizontal displacement thrust, it overcomes
For pulling force of the cord to pending flight device in the horizontal direction so that pending flight device can lead to during aerial mission is performed
The pulling force overcome for cord in the horizontal direction is crossed, arrives at the target location in aerial mission, improves the execution of pending flight device
The ability of aerial mission.
Description of the drawings
Fig. 1 is the flow chart of the propelled method for the pending flight device that first embodiment of the invention provides；
Fig. 2 is the flow chart of the propelled method for the pending flight device that second embodiment of the invention provides；
Fig. 3 be second embodiment of the invention provide pending flight device propelled method in step S240 idiographic flow
Figure；
Fig. 4 is the structure diagram of the assist device for the pending flight device that third embodiment of the invention provides；
Fig. 5 is the relation schematic diagram between angle theta and trigger angle β in second embodiment of the invention；
Fig. 6 is the present invention Flight Vehicle Structure schematic diagram that first preferred embodiment is provided.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
It is an object of the invention to provide a kind of propelled methods of pending flight device, are existed with solving existing pending flight device
When performing aerial mission because for during cord pulling force in the horizontal direction destination locations can not be arrived at the problem of.
The realization of the present invention is described in detail below in conjunction with specific attached drawing：
Fig. 1 shows the flow chart of the propelled method of pending flight device provided in this embodiment, for convenience of description, only shows
Go out part related to the present embodiment.
A kind of propelled method of pending flight device, pending flight device connect surface power supply and control device by confession cord,
The propelled method comprises the following steps：
S110：The pending flight device is controlled to perform aerial mission；
S120：Judge whether to need in aerial mission according to the current location information of the pending flight device and flight parameter
In for pending flight device provide horizontal displacement thrust；
S130：If so, control signal is generated according to the current location information and the flight parameter, to control the system
Aircraft is stayed to generate horizontal displacement thrust, and then is overcome described for drawing of the cord to the pending flight device in the horizontal direction
Power.
In step s 110, surface power supply and control device control pending flight device perform aerial mission.Wherein, flight is appointed
Business can include：It goes up to the air, decline, spiral and is resident.
In the step s 120, judge whether to need according to the current location information of the pending flight device and flight parameter
In aerial mission horizontal displacement thrust is provided for pending flight device.
It should be noted that flight parameter includes flight path letter of the pending flight device when performing aerial mission
Breath.Step S120 is specially：Judged whether according to the current location information and the flight path information to pending flight device
Horizontal displacement thrust is provided.
It is understood that horizontal displacement thrust is related with flight path information, performed for describing pending flight device
During aerial mission, displacement thrust in the horizontal direction.
In step s 130, horizontal displacement thrust is less than the attachment force for cord and surface power supply and control device, horizontal
Displacement thrust is less than the attachment force with pending flight device for cord, and horizontal displacement thrust, which is less than, supplies the maximum of cord to bear pulling force,
I.e. pending flight device will not occur under the horizontal displacement thrust power supply rope be pulled off, pending flight device with for cord depart from or supply
The phenomenon that cord departs from surface power supply and control device.
Fig. 6 shows the present invention Flight Vehicle Structure schematic diagram that first preferred embodiment is provided, as shown in fig. 6, this reality
A kind of propelled method of pending flight device of example offer is applied based at least one horizontal boost motor being arranged on pending flight device 1
2 realizations.
Specifically, judge whether to need flying in the current location information according to the pending flight device 1 and flight parameter
When providing horizontal displacement thrust in row task for pending flight device, current location information and the flight of pending flight device 1 are first determined
Trace information adjusts the flight direction of pending flight device in the horizontal plane, so that horizontal boost motor 2 according to flight path information
Target location is directed toward in the direction of the horizontal displacement thrust of offer, then provides horizontal displacement from horizontal boost motor 2 to pending flight device
Thrust so that pending flight device 1 flies to target location.
As the mode of the alternatively possible realization of the present embodiment, a kind of boosting side of pending flight device provided in this embodiment
Method is realized based on the multiple horizontal boost motors being arranged on pending flight device.
Specifically, judging to need to provide horizontal displacement thrust in aerial mission for pending flight device according to control signal
When, determine the current location information and flight path information of pending flight device, according to the current location information of pending flight device with
Flight path information selects one or more horizontal boost motors, so that the horizontal displacement that one or more horizontal boost motors provide
Target location is directed toward in the direction of thrust, then provides horizontal displacement thrust to pending flight device from one or more horizontal boost motors
With joint efforts so that pending flight device flies to target location.
By taking the horizontal boost motor being provided on pending flight device on four direction as an example, the horizontal boost motor on four direction
It is respectively used to provide the horizontal displacement thrust on East, West, South, North four direction for pending flight device, the level on four direction
Boost motor is respectively first level boost motor, the second horizontal boost motor, the 3rd horizontal boost motor and the 4th horizontal boost motor.
When judging to need to provide horizontal displacement thrust in aerial mission for pending flight device according to control signal, according to
Control signal determines the target location of pending flight device in the horizontal plane, for example, arrive at the displacement of targets need pending flight device to
First level boost motor is selected in east to horizontally advancing 0.5 meter, according to the target location, and controls first level boost motor to being
The horizontal displacement thrust that aircraft offer is stayed to horizontally advance 0.5 meter so that pending flight device flies to target location.
For another example arriving at the displacement of targets needs pending flight device direction horizontally advances 0.3 meter northeastward, according to the target
First level boost motor and the 4th horizontal boost motor are selected in position, and control first level boost motor and the 4th horizontal boost motor to
Pending flight device provides a horizontal resultant, should make a concerted effort to enable pending flight device that direction horizontally advances 0.3 meter northeastward so that
Pending flight device flies to target location.
In the present embodiment, during control pending flight device performs aerial mission, according to working as pending flight device
Front position information and flight parameter judge whether to need to provide horizontal displacement thrust in aerial mission for pending flight device, if needing
Will, then control signal is generated according to current location information and flight parameter, and then pending flight device is controlled to generate horizontal displacement and is pushed away
Power is overcome for pulling force of the cord to pending flight device in the horizontal direction so that pending flight device is performing aerial mission mistake
The pulling force of cord in the horizontal direction can be supplied in journey by overcoming.
Based on above-described embodiment, second embodiment is proposed.
Fig. 2 shows the flow chart of the propelled method of pending flight device provided in this embodiment, for convenience of description, only shows
Go out part related to the present embodiment.
A kind of propelled method of pending flight device, propelled method comprise the following steps：
S210：The pending flight device is controlled to perform aerial mission；
S220：It is set in the trigger angle β that horizontal displacement thrust is provided in aerial mission to pending flight device；
S230：Judged whether to provide water to pending flight device according to the current location information and the flight path information
Prosposition moves thrust；
S240：If so, control signal is generated according to the current location information and the flight parameter, to control the system
Aircraft is stayed to generate horizontal displacement thrust, and then is overcome described for drawing of the cord to the pending flight device in the horizontal direction
Power.
In step S220, trigger angle β provides horizontal displacement thrust to be triggered in aerial mission to pending flight device
Threshold angle.Specifically can specifically it be set according to aerial mission in practical applications.
In step S230, flight path information includes at least one target position information, which is used for
Pending flight device is described during aerial mission is performed, using the subpoint of pending flight device flight starting point in the horizontal plane as ginseng
According to origin, compared with the resident or flight position of the origin.
Fig. 3 shows the particular flow sheet of step S240 in the propelled method of pending flight device provided in this embodiment, such as
Shown in Fig. 3, step S240 comprises the following steps：
S241：Target location is determined according to the target position information；
S242：Obtain line between start position subpoint in the horizontal plane and the target location and
The angle theta of the line and vertical direction；
S243：When the angle theta is greater than or equal to the trigger angle β, judge to need in aerial mission to be to be tethered at
Aircraft provides horizontal displacement thrust.
In step S241, target location is for the flight starting point of pending flight device, is winged except being tethered at
The resident or flight position of other pending flight devices beyond the flight starting point of row device.
In step S242, the subpoint of start position in the horizontal plane is one of pending flight device on horizontal plane
Point.One line of angle theta is vertical direction, and another line is the subpoint of start position in the horizontal plane and the target
Line between position.
In step S243, angle theta is greater than or equal to trigger angle β, refers to that target location has deviated in the vertical direction
Behind point position, target location and start position do straight line to the angle formed after the subpoint in the horizontal plane of initial position respectively
θ is greater than or equal to trigger angle β.
In the present embodiment, whether the comparative result of angle theta and trigger angle β are used as needs to be to be tethered in aerial mission
Aircraft provides the Rule of judgment of horizontal displacement thrust.When angle theta is greater than or equal to trigger angle β, then it is judged to needing
In aerial mission horizontal displacement thrust is provided for pending flight device.
Fig. 5 shows the relation between angle theta and trigger angle β in the present embodiment.It is also simultaneously using point A as start position
On vertical direction a bit, point O be the subpoint of start position in the horizontal plane, point C be target location, point B be trigger position
Exemplified by, the size that angle theta is is the angle of ∠ COA, the angle that the size that angle β is is ∠ BOA.Phantom line segments CO is start position
The angle of line between A subpoint O in the horizontal plane and target location C, the line and vertical direction is θ, and angle theta is more than
Trigger angle β is judged to needing to provide horizontal displacement thrust in aerial mission for pending flight device.
The propelled method of pending flight device provided in this embodiment performs the process of aerial mission in control pending flight device
In, it is pending flight device to judge whether to need in aerial mission according to the current location information of pending flight device and flight parameter
There is provided horizontal displacement thrust, if desired, control signal is then generated according to current location information and flight parameter, and then controls and is tethered at
Aircraft generates horizontal displacement thrust, overcomes for pulling force of the cord to pending flight device in the horizontal direction so that be tethered at winged
Row device can supply the pulling force of cord in the horizontal direction during aerial mission is performed by overcoming, and arrive in aerial mission
Target location improves the ability that pending flight device performs aerial mission.
It is corresponding with above-described embodiment, propose 3rd embodiment.
Fig. 4 shows the structure diagram of the assist device of pending flight device provided in this embodiment, for convenience of description,
Part related to the present embodiment is only shown.
A kind of assist device 100 of pending flight device, assist device 100 include：
Control module 110, for the pending flight device to be controlled to perform aerial mission.
Wherein, surface power supply and control device control pending flight device perform aerial mission.Wherein, aerial mission can wrap
It includes：It goes up to the air, decline, spiral and is resident.
Judgment module 120 judges whether need for the current location information according to the pending flight device and flight parameter
In aerial mission horizontal displacement thrust is provided for pending flight device.
It should be noted that flight parameter includes flight path letter of the pending flight device when performing aerial mission
Breath.Judgment module 120 is specifically used for, and is judged whether according to the current location information with the flight path information winged to being tethered at
Row device provides horizontal displacement thrust.
Horizontal displacement push module 130, for when the judgement result of the judgment module 120 is to be, being worked as according to described
Front position information and flight parameter generation control signal, the pending flight device to be controlled to generate horizontal displacement thrust, into
And overcome described for pulling force of the cord to the pending flight device in the horizontal direction.
Wherein, horizontal displacement thrust is less than the attachment force for cord and surface power supply and control device, horizontal displacement thrust
Less than the attachment force for cord and pending flight device, horizontal displacement thrust, which is less than, supplies the maximum of cord to bear pulling force, that is, is tethered at winged
Row device will not occur under the horizontal displacement thrust power supply rope be pulled off, pending flight device with for cord depart from or for cord with ground
The phenomenon that face powers and control device departs from.
In other embodiments of the invention, assist device 100 further includes：
Trigger angle setting module 140 provides horizontal displacement thrust for being set in aerial mission to pending flight device
Trigger angle β.
Wherein, trigger angle β provides the threshold angle of horizontal displacement thrust to pending flight device to be triggered in aerial mission
Degree.Specifically can specifically it be set according to aerial mission in practical applications.
It should be noted that flight path information includes at least one target position information, which is used for
Pending flight device is described during aerial mission is performed, using the subpoint of pending flight device flight starting point in the horizontal plane as ginseng
According to origin, compared with the resident or flight position of the origin.
Horizontal displacement push module 130 further includes：Target location acquiring unit 131, angle acquiring unit 132 and judgement
Unit 133.
Target location acquiring unit 131, for determining target location according to the target position information.
Wherein, target location is for the flight starting point of pending flight device, is flown except pending flight device
The resident or flight position of other pending flight devices beyond beginning-of-line.
Angle acquiring unit 132, for obtaining the subpoint of the start position in the horizontal plane and the target location
Between line and the angle theta of the line and vertical direction.Wherein, the subpoint of start position in the horizontal plane is to be tethered at
Aircraft vertical is in a bit on horizontal plane, and a line of angle theta is vertical direction, and another line is start position in water
The line between subpoint and the target location in plane.
Identifying unit 133, for when the angle theta is greater than or equal to the trigger angle β, judging to need to appoint in flight
In business horizontal displacement thrust is provided for pending flight device.
Wherein, angle theta is greater than or equal to trigger angle β, after referring to that target location deviates start position in the vertical direction,
It does straight line respectively with start position and is more than or waits to the angle theta formed after the subpoint in the horizontal plane of initial position in target location
In trigger angle β.
The embodiment of the present invention also resides in a kind of pending flight device system that provides, and pending flight device system includes pending flight
Device, pending flight device system further include the assist device 100 of the pending flight device in above-described embodiment.
By the implementation related to the present invention of pending flight device system in this present embodiment and operation principle upper
It states in embodiment and has been described in detail, therefore details are not described herein again.
Propelled method, the assist device, that is, pending flight device system of a kind of pending flight device provided by the invention, are controlling
During pending flight device performs aerial mission, judged whether according to the current location information of pending flight device and flight parameter
It needs to provide horizontal displacement thrust in aerial mission for pending flight device, if desired, then according to current location information and flight
Parameter generates control signal, and then pending flight device is controlled to generate horizontal displacement thrust, overcomes for cord to pending flight device
Pulling force in the horizontal direction so that pending flight device can supply cord in level during aerial mission is performed by overcoming
Pulling force on direction arrives at the target location in aerial mission, improves the ability that pending flight device performs aerial mission.
One of ordinary skill in the art will appreciate that：The step of realizing above method embodiment or part steps can pass through
The relevant hardware of program instruction is completed, and foregoing program can be stored in computer read/write memory medium, which exists
During execution, execution the step of including above method embodiment, and foregoing storage medium includes：ROM, RAM, magnetic disc or CD
Etc. the various media that can store program code.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of propelled method of pending flight device, the pending flight device for cord by connecting surface power supply and control dress
It puts, which is characterized in that the propelled method comprises the following steps：
The pending flight device is controlled to perform aerial mission；
It is to be tethered to judge whether to need in aerial mission according to the current location information of the pending flight device and flight parameter
Aircraft provides horizontal displacement thrust；
If so, control signal is generated according to the current location information and the flight parameter, to control the pending flight device
Horizontal displacement thrust is generated, and then is overcome described for pulling force of the cord to the pending flight device in the horizontal direction.
2. the propelled method of pending flight device as described in claim 1, which is characterized in that the flight parameter includes the system
Stay flight path information of the aircraft when performing aerial mission, the current location information according to the pending flight device and
Flight parameter judges whether to need to specifically include the step of providing horizontal displacement thrust in aerial mission for pending flight device：
Judge whether that providing horizontal displacement to pending flight device pushes away with the flight path information according to the current location information
Power.
3. the propelled method of pending flight device as claimed in claim 2, which is characterized in that described according to the current location
It is further included before the step of information judges whether to provide horizontal displacement thrust to pending flight device with the flight path information：
It is set in the trigger angle β that horizontal displacement thrust is provided in aerial mission to pending flight device.
4. the propelled method of pending flight device as claimed in claim 3, which is characterized in that the flight path information is included extremely
A few target position information.
5. the propelled method of pending flight device as claimed in claim 4, which is characterized in that described according to the present bit confidence
The step of breath judges whether with the flight path information and provides horizontal displacement thrust to pending flight device specifically includes：
Target location is determined according to the target position information；
Obtain the line and the line between current location information subpoint in the horizontal plane and the target location
With the angle theta of vertical direction；
When the angle theta is greater than or equal to the trigger angle β, it is judged to needing carrying for pending flight device in aerial mission
For horizontal displacement thrust.
6. a kind of assist device of pending flight device, the pending flight device for cord by connecting surface power supply and control dress
It puts, which is characterized in that the assist device includes：
Control module, for the pending flight device to be controlled to perform aerial mission；
Judgment module judges whether to need flying for the current location information according to the pending flight device and flight parameter
In task horizontal displacement thrust is provided for pending flight device；
Horizontal displacement push module, for the judgement result of the judgment module for be when, according to the current location information
Control signal is generated with the flight parameter, the pending flight device to be controlled to generate horizontal displacement thrust, and then is overcome described
For pulling force of the cord to the pending flight device in the horizontal direction.
7. the assist device of pending flight device as claimed in claim 6, which is characterized in that the flight parameter includes the system
Flight path information of the aircraft when performing aerial mission is stayed, the judgment module is specifically used for, according to the current location
Information judges whether to provide horizontal displacement thrust to pending flight device with the flight path information.
8. the assist device of pending flight device as claimed in claim 7, which is characterized in that the assist device further includes：
Trigger angle setting module, for being set in the Trigger Angle for providing horizontal displacement thrust in aerial mission to pending flight device
Spend β.
9. the assist device of pending flight device as claimed in claim 8, which is characterized in that the flight path information is included extremely
A few target position information, the judging unit further include：
Target location acquiring unit, for determining target location according to the target position information；
Angle acquiring unit, for obtaining between current location information subpoint in the horizontal plane and the target location
Line and the angle theta of the line and vertical direction；
Identifying unit, for when the angle theta is greater than or equal to the trigger angle β, being judged to needing in aerial mission
Horizontal displacement thrust is provided for pending flight device.
10. a kind of pending flight device system, including pending flight device, which is characterized in that the pending flight device system further includes
The assist device of pending flight device as described in claim 6-9 any one.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611027754.1A CN108069045B (en) | 2016-11-17 | 2016-11-17 | Boosting method and device for mooring aircraft and mooring aircraft system |
| PCT/CN2017/092050 WO2018090646A1 (en) | 2016-11-17 | 2017-07-06 | Boosting method and boosting device for tethering aircraft, and tethering aircraft system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611027754.1A CN108069045B (en) | 2016-11-17 | 2016-11-17 | Boosting method and device for mooring aircraft and mooring aircraft system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108069045A true CN108069045A (en) | 2018-05-25 |
| CN108069045B CN108069045B (en) | 2021-10-26 |
Family
ID=62146053
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611027754.1A Active CN108069045B (en) | 2016-11-17 | 2016-11-17 | Boosting method and device for mooring aircraft and mooring aircraft system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108069045B (en) |
| WO (1) | WO2018090646A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113885545B (en) * | 2021-10-12 | 2023-10-31 | 天津大学 | Mooring unmanned aerial vehicle control method considering cable tension change |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0771729A1 (en) * | 1995-08-28 | 1997-05-07 | Ian Carwardine | Aerial camera platform and signal transmission and reception system |
| CN103144779A (en) * | 2012-11-30 | 2013-06-12 | 中国电子科技集团公司第七研究所 | Multi-rotor-wing unmanned aerial vehicle mooring system |
| US8544788B1 (en) * | 2010-07-07 | 2013-10-01 | Captures, LLC | Aerostat assembly |
| CN104254480A (en) * | 2012-02-29 | 2014-12-31 | G·H·黑斯廷斯 | Tethered gyroglider control systems |
| US20150274294A1 (en) * | 2014-03-31 | 2015-10-01 | Working Drones, Inc. | Indoor and Outdoor Aerial Vehicles for Painting and Related Applications |
| CN105629995A (en) * | 2016-03-17 | 2016-06-01 | 北京大工科技有限公司 | Mooring following system and method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9718543B2 (en) * | 2014-10-03 | 2017-08-01 | The Boeing Company | Guided lift system |
| WO2016115155A1 (en) * | 2015-01-12 | 2016-07-21 | Ryan Mark A | Tethered flight control system for small unmanned aircraft |
| CN105109704B (en) * | 2015-09-02 | 2018-06-08 | 南京国业科技有限公司 | A kind of mooring system based on more rotor flying platforms |
| CN105516691B (en) * | 2016-02-02 | 2018-11-09 | 中科融通物联科技无锡有限公司 | Long stagnant empty unmanned plane base station communication and monitoring system |
| CN106005462A (en) * | 2016-06-29 | 2016-10-12 | 任雪峰 | Retraction system for mooring unmanned aerial vehicle and method for deploying and retracting mooring unmanned aerial vehicle with same |
-
2016
- 2016-11-17 CN CN201611027754.1A patent/CN108069045B/en active Active
-
2017
- 2017-07-06 WO PCT/CN2017/092050 patent/WO2018090646A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0771729A1 (en) * | 1995-08-28 | 1997-05-07 | Ian Carwardine | Aerial camera platform and signal transmission and reception system |
| US8544788B1 (en) * | 2010-07-07 | 2013-10-01 | Captures, LLC | Aerostat assembly |
| CN104254480A (en) * | 2012-02-29 | 2014-12-31 | G·H·黑斯廷斯 | Tethered gyroglider control systems |
| CN103144779A (en) * | 2012-11-30 | 2013-06-12 | 中国电子科技集团公司第七研究所 | Multi-rotor-wing unmanned aerial vehicle mooring system |
| US20150274294A1 (en) * | 2014-03-31 | 2015-10-01 | Working Drones, Inc. | Indoor and Outdoor Aerial Vehicles for Painting and Related Applications |
| CN105629995A (en) * | 2016-03-17 | 2016-06-01 | 北京大工科技有限公司 | Mooring following system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108069045B (en) | 2021-10-26 |
| WO2018090646A1 (en) | 2018-05-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11511857B2 (en) | Aerial vehicle control method and aerial vehicle | |
| CN105955291A (en) | Unmanned plane flight route track recording and automatic flight control mode | |
| CN105589471A (en) | Unmanned plane flight path drawing method, device and system | |
| US9718543B2 (en) | Guided lift system | |
| CN109116844A (en) | A kind of Intelligent Vehicle Driving System and control method | |
| CN106796728A (en) | Generate method, device, computer system and the mobile device of three-dimensional point cloud | |
| CN107014255B (en) | A kind of method and apparatus of auxiliary unmanned boat capture unmanned plane | |
| CN105953800A (en) | Route planning grid space partitioning method for unmanned aerial vehicle | |
| EP3728025B1 (en) | Fiber sheet stacked rotor design | |
| CN205353767U (en) | Unmanned aerial vehicle | |
| CN104906805A (en) | Safe remote model aerocraft control method and safe remote model aerocraft control system based on active attitude detection | |
| US20190384298A1 (en) | Control method and uav | |
| CN110297501A (en) | Unmanned aerial vehicle (UAV) control method, apparatus and equipment | |
| CN105972763A (en) | Air conditioner system control method and air conditioner system | |
| Rapp et al. | Vertical takeoff and landing of flexible wing kite power systems | |
| CN108069045A (en) | Propelled method, assist device and the pending flight device system of pending flight device | |
| CN107111321A (en) | Control method, control device, flight control system and multi-rotor unmanned aerial vehicle | |
| KR20170030318A (en) | Smart device for controling unmanned moving object and method for controling unmanned moving object and recording medium storing program for executing the same, and recording medium storing program for executing the same | |
| JP2020090396A5 (en) | Control method and goods delivery system | |
| CN113311817A (en) | Vehicle cooperative control test method and device, electronic equipment and storage medium | |
| CN208705727U (en) | Patrolling transmission line unmanned plane avoidance obstacle device | |
| CN206557611U (en) | Unmanned plane | |
| CN104943844A (en) | Robot capable of carrying out indoor floating and flying operations | |
| CN112445242B (en) | Method, device, equipment and storage medium for tracking route | |
| KR102019569B1 (en) | Remote control device and method of uav |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20211011 Address after: 221000 No. 08, south of national highway 311, Shuangtang industrial agglomeration zone, Xinyi City, Xuzhou City, Jiangsu Province Applicant after: Jiangsu Wangzhi UAV Research Institute Co., Ltd Address before: 518000 No.101 (second floor) 201, No.2 workshop, xintianxia Huasai industrial plant, Jihua Road, Bantian street, Longgang District, Shenzhen City, Guangdong Province Applicant before: SHENZHEN KUANG-CHI SPACE TECH. Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |