CN108525316A - The method of autonomous flight system and control autonomous flight system - Google Patents
The method of autonomous flight system and control autonomous flight system Download PDFInfo
- Publication number
- CN108525316A CN108525316A CN201810606941.8A CN201810606941A CN108525316A CN 108525316 A CN108525316 A CN 108525316A CN 201810606941 A CN201810606941 A CN 201810606941A CN 108525316 A CN108525316 A CN 108525316A
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- China
- Prior art keywords
- aircraft
- flight
- power supply
- autonomous
- overhead rail
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Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
- A63G21/00—Chutes; Helter-skelters
- A63G21/20—Slideways with movably suspended cars, or with cars moving on ropes, or the like
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63G—MERRY-GO-ROUNDS; SWINGS; ROCKING-HORSES; CHUTES; SWITCHBACKS; SIMILAR DEVICES FOR PUBLIC AMUSEMENT
- A63G21/00—Chutes; Helter-skelters
- A63G21/22—Suspended slideways
Abstract
The invention discloses a kind of autonomous flight systems, include the sling system of aircraft, overhead rail, the connection aircraft and the overhead rail；Wherein, aircraft includes fuselage, and the rotor system in duct is arranged in duct, and cockpit drives the flight control system of aircraft for driver's autonomous control；The current electrode of promising aircraft power supply is set on overhead rail；Sling system includes power supply cable, and in aircraft flight, sling system can be slided along overhead rail with the aircraft；Sling system can adjust the length of the power supply cable between sling system and aircraft by folding and unfolding power supply cable within the scope of preset length.Autonomous flight system provided by the present invention, user security can either be ensured by having provided to the user, and user experience can be allowed truly to drive an airplane the equipment of enjoyment, improve recreation experience of the user to airflight equipment.A kind of control autonomous flight systems approach is additionally provided in the present invention, and there is above-mentioned advantageous effect.
Description
Technical field
The present invention relates to amusement equipment fields, more particularly to a kind of autonomous flight system and control autonomous flight system
Method.
Background technology
As the improvement of people's living standards, more and more people like attempting various more stimulating and fresh entertainment item
Mesh.However, to ensure that safety, current entertainment selection often all has some limitations, such as roller-coaster, although track
Height turning is changeable, but it can only be slided on planned orbit, and only by staff, and such as dodgem is a kind of sets
It is standby, although user's autonomous control can be allowed to drive, has and lack excitement caused by aerial device.
Invention content
The object of the present invention is to provide a kind of autonomous flight system and a kind of methods of control autonomous flight system, solve
It the problem of limitation of current amusement equipment, improves user and voluntarily drives the enjoyment of aircraft, and ensure the safety of flight
Property.
In order to solve the above technical problems, the present invention provides a kind of autonomous flight system, including aircraft, overhead rail, company
Connect the sling system of the aircraft and the overhead rail；Wherein, the aircraft includes fuselage, is arranged in the fuselage two
The rotor system in each duct is arranged in the duct of side, and the cockpit being set on the fuselage is set to the cockpit
Flight control system interior, that aircraft is driven for driver's autonomous control；The promising flight is set on the overhead rail
Device flight provides the current electrode of electric energy；The sling system includes that one end is connected with the aircraft, the other end and described
The power supply cable of the current electrode electrical connection of overhead rail；The sling system is set on the overhead rail, and described
When aircraft flight, it can be slided with the aircraft along the overhead rail；The sling system can be by powering described in folding and unfolding
Cable adjusts the length of the power supply cable between the sling system and the aircraft within the scope of preset length.
Wherein, further include controlling machine in the ground that is communicated to connect with the flight control system of each aircraft, with toilet
It states and controls the state of flight information that machine obtains the aircraft in real time in ground；
The flight control system further include for controlled in driver and the ground voice device that interacts of machine and
Display device.
Wherein, the flight control system is additionally operable to control the flight shape that machine sends the aircraft into the ground in real time
State information judges that the aircraft whether there is hazardous flight to control machine in the ground according to the state of flight information.
Wherein, the fuselage both sides of the aircraft are respectively at least provided with two groups of ducts, the rotor system in every group of duct
Rotor wing rotation speed within the scope of pre-set velocity, can be adjusted by the flight control system independent control.
Wherein, the overhead rail is the track with inverted T shaped cross section, and the overhead rail both sides have sliding rail,
The current electrode is located at the lower surface of the overhead rail；The sling system includes that can be slided on the overhead rail sliding rail
The pantograph of capable pulley blocks and current electrode electrical connection, and the gear train for cable of powering described in folding and unfolding.
Wherein, the gear train includes spur gear, transition guide wheel, transmission gear, driving motor；Wherein, the power supply
Cable part is wound on the wheel shaft of the spur gear, and another part is connected around the transition guide wheel with the aircraft；Institute
It states and is additionally provided on the wheel shaft of transition guide wheel by detecting the power supply cable to the pressure of the transition guide wheel wheel shaft, determine institute
State the pressure sensor that power supply cable bears the aircraft pulling force size；The driving motor 36 according to the pulling force size,
The spur gear rotation is driven by the transmission gear, to realize the folding and unfolding to the power supply cable.
Wherein, the power supply cable includes the steel of power transmission line, at least two wireropes, the package power transmission line and the wirerope
Silk braiding layer and the insulating coating being wrapped in outside the steel wire braid, wherein the steel wire braid package is described defeated
Insulating layer is filled in the inner space of electric wire and the wirerope.
The present invention also provides a kind of methods of control autonomous flight system, are applied to described in any one of the above embodiments autonomous winged
Row system, including：
The current location information and present speed information of each aircraft on the overhead rail are obtained in real time, wherein
The aircraft is the aircraft driven for driver's autonomous control；
It is determined in the preset time period from current time according to the current location information and the present speed information
Each aircraft estimates flight path；
Judge any time in the preset time period of aircraft described in any two according to the flight path of estimating
Flight spacing whether be less than default distance values；
If it is, being adjusted to the flight path of two aircraft, aircraft described in any two is avoided to send out
Raw collision.
Wherein, if the flight of any time in the preset time period of aircraft described in any two be smaller than it is pre-
If distance values, then to the flight path of two aircraft be adjusted including：
It flies in the preset time period if there is two aircraft and is smaller than the first default spacing and is more than
Second default spacing then sends out detour alarm prompt by the flight control system of two aircraft to driver, so as to
Around the point of impingement；
It flies in the preset time period if there is two aircraft and is smaller than the second default spacing and is more than
Third presets spacing, then sends out alarm prompt to driver, and provide and instruct flight path；
It flies in the preset time period if there is two aircraft and is smaller than the default spacing of third, then connect
Pipe drives the permission of two aircraft, and according to the present speed information and estimates flight path, to the aircraft
Flight path be adjusted；Wherein, the described first default spacing is more than the described second default spacing, the second default spacing
Spacing is preset more than the third.
Wherein, in real time obtain overhead rail on each aircraft current location information and present speed information it
Before, further include：
Receive the instruction for abandoning autonomous driving that driver is sent by the flight control system of the aircraft；
Multiple flight paths planned in advance are sent by the flight control system；
After the selected flight path instruction for receiving driver's selection；
The aircraft is controlled to fly according to the selected flight path.
Automated spacecraft system provided by the present invention can voluntarily control the aircraft of flight with driver, simultaneously
Further through power supply cable be connected with overhead rail, in certain space so that driver be free to according to oneself
Wish controls aircraft flight, can either ensure the flight safety of teacher personnel, has at the same time let user experiencing again aerial
The enjoyment of flight.Secondly, power supply cable connection overhead rail and aircraft, is a kind of flexible attachment components, and cable of powering
It is scalable, while avoiding power supply cable that unexpected winding occurs, big flight space is provided as much as possible for aircraft.Separately
Outside, it is powered for the normal flight of aircraft by overhead rail and power supply cable, it is larger to avoid installation quality in aircraft
Accumulator controls the more difficult problem of aircraft flight for driver；And the rotor system in aircraft is set to duct
Interior, the components such as not exposed propeller ensure that the safety of surrounding people.
In conclusion autonomous flight system provided by the present invention, having provided one kind to the user can either ensure that user pacifies
Entirely, and the enjoyment truly to drive an airplane can be let user experiencing, improves recreation experience of the user to airflight equipment.
A kind of control autonomous flight systems approach is additionally provided in the present invention, and there is above-mentioned advantageous effect.
Description of the drawings
It, below will be to embodiment or existing for the clearer technical solution for illustrating the embodiment of the present invention or the prior art
Attached drawing is briefly described needed in technology description, it should be apparent that, the accompanying drawings in the following description is only this hair
Some bright embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
The partial structural diagram for the autonomous flight system that Fig. 1 is provided by the embodiment of the present invention；
The structural schematic diagram for the aircraft that Fig. 2 is provided by the embodiment of the present invention；
The overhead rail partial structural diagram that Fig. 3 is provided by the embodiment of the present invention；
The internal structure schematic diagram for the sling system that Fig. 4 is provided by the embodiment of the present invention；
Fig. 5 is the cross-sectional view that the sling system in overhead rail and Fig. 4 in Fig. 3 is connected；
Fig. 6 is power supply cable horizontal direction force schematic diagram provided in an embodiment of the present invention；
The power supply cable diagrammatic cross-section that Fig. 7 is provided by the embodiment of the present invention；
Fig. 8 is the method flow schematic diagram of control autonomous flight system provided in an embodiment of the present invention；
The method flow schematic diagram for the control autonomous flight system that Fig. 9 is provided by another embodiment of the present invention.
Specific implementation mode
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.Obviously, described embodiments are only a part of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, shall fall within the protection scope of the present invention.
As shown in FIG. 1, FIG. 1 is the partial structural diagrams for the autonomous flight system that the embodiment of the present invention is provided, at this
In a kind of specific embodiment of invention, which may include：
Aircraft 1, overhead rail 2, the sling system 3 for connecting aircraft 1 and overhead rail 2；
Specifically, Fig. 2, the structural schematic diagram for the aircraft 1 that Fig. 2 is provided by the embodiment of the present invention, the flight be can refer to
Device 1 includes：
The duct 12 in 11 both sides of fuselage is arranged in fuselage 11, the rotor system 13 being arranged in each duct 12, and setting exists
Cockpit 14 on fuselage 11 is set in cockpit 14, controls system for the flight of driver's autonomous control driving aircraft 1
System.
Aircraft 1 provided in the present embodiment is a kind of aircraft 1 with 12 formula propeller of duct, larger providing
Flight lift while, also can preferably ensure the safety of periphery personnel, the people on periphery or object is avoided surprisingly to touch rotation
Rotor the problem of.In addition, be provided with cockpit 14 in aircraft 1, it is provided in the cockpit 14 and is taken for driver
Seat, and be provided in front of seat and control the flight control system that aircraft 1 flies.1 structure of aircraft of this and routine
It is similar, it is that a kind of driver can be with the aircraft 1 of autonomous driving.
Further, in order to avoid the overweight accumulator of setting quality in aircraft 1, track 2 in the air in the present embodiment
Upper setting current electrode 21, which keeps electrical connection by the dynamical system of aircraft 1 and external power supply, to be winged
The flight of row device 1 provides electric energy.
Further, the sling system 3 in this life embodiment includes power supply cable 31,31 one end of power supply cable and flight
Device 1 is connected, and one end is connected with the current electrode 21 of overhead rail 2, in other words the current electrode 21 of overhead rail 2 and fly
It is that electrical connection is kept by cable 31 of powering between row device 1.
But the power supply cable 31 in the present embodiment is not merely only used as the effect of electrified wire, the power supply cable 31
A part is shunk inside sling system 3, and part stretching, extension connects sling system 3 and aircraft 1 in the air；Again because of hoist cable system
System 3 is arranged on track 2 in the air, and can be slided along overhead rail 2, then when 1 flight of aircraft, you can passes through cable of powering
31 drive sling system 3 to be slided with aircraft 1 along overhead rail 2, conversely, as the limited length of power supply cable 31, also can
The flight range for limiting aircraft 1 to a certain extent, avoids aircraft 1 from carrying out dangerous driving.
Further, in this embodiment sling system 3 can by folding and unfolding power cable 31, adjusted within the scope of preset length
Save the length of the power supply cable 31 between sling system 3 and aircraft 1.
It should be noted that in order to provide larger flight space for aircraft 1 as far as possible, used in the present embodiment
Power supply cable 31 flexible.And at the same time also bring along another problem, if power supply cable 31 hoist cable and aircraft 1 it
Between partial-length it is excessive, although can be aircraft 1 larger flight space be provided, can also exist aircraft 1 and supply
Between cable rope 31, the problem of winding between power supply cable 31.
Therefore, sling system 3 can carry out contraction adjusting to power supply cable 31 in the present invention, when aircraft 1 and sling system 3
The distance between it is too small when, sling system 3 to power supply cable 31 shrink so that the confession between sling system 3 and aircraft 1
31 length of cable rope reduces, and approximately shows the state of straight line；Conversely, when between aircraft 1 and sling system 3 away from
From it is excessive when, can with sling system 3 to power supply cable 31 over so that the current supply cable between aircraft 1 and sling system 3
31 length increase of rope.
Aerial amusement equipment, such as ferris wheel, cableway etc. conventional at present, are that user rides in equipment, and equipment
The gliding motility on planned orbit, user can not voluntarily control.The entertainment experience of user there is certain limitation.
In addition, for being similar to the aircraft such as aircraft 1, because its flight is controlled by driver completely, it is desirable to drive
Member received the training of profession so that most of people for not receiving professional training can not driving experience aircraft 1 enjoyment.
Therefore, the autonomous flight system provided in the present invention also may be used even for the driver for not receiving professional training
It voluntarily to attempt to drive, and defines the range that aircraft 1 flies, ensure that the flight safety of aircraft 1.Can not only it make
For a kind of amusement equipment in the places such as recreation ground, the exerciser of the beginner to drive an airplane is can also be used as, makes driver's body
While testing a kind of true driving experience completely, ensure the safety of driver.
Based on above-described embodiment, in order to further ensure the flight safety of aircraft 1, in another specific reality of the present invention
It applies in example, can include further：
Machine is controlled in the ground communicated to connect with the flight control system of each aircraft 1.It can be with by controlling machine in the ground
The state of flight information of aircraft 1 is obtained in real time, for example, the rotating speed of each rotor, driver control the flight of aircraft 1
The state of a control of system and the information such as the flight position of aircraft 1 and speed.
Further, voice device and display device can also be set in flight control system, and control machine can lead in ground
It crosses the voice device and display device is used cooperatively to send out to driver and instructs steering instructions, to help driver safety to drive
Aircraft 1；And when driver meets difficulty, can also by voice device or display device earthward in control machine send out help
Request.The information that control machine is sent to flight control system in certain ground can be sent by preset program,
Can be that ground-based administrators are sent by the judgement to 1 state of aircraft.
Further, in order to ensure aircraft 1 is in safe flight state, the flight control system of aircraft 1 can be real
When earthward hollow machine send aircraft 1 state of flight information, the state of flight information include aircraft flight position, fly
The information of scanning frequency degree etc. etc..Specifically, can be arranged on board the aircraft the positioning device that is connected with flight control system and
Velocity sensor, in real time obtain aircraft 1 location information and velocity information, and by flight control system in real time earthward in
Empty machine sends the location information and velocity information.Machine is controlled in ground to determine that this flies according to the location information and velocity information
Whether whether row device 1 flies in safe range, whether cable 31 of powering extends speed that is long, determining aircraft 1 too fast very
To being more than safety traffic degree, note abnormalities flight progress in time；It can be combined with location information and velocity information simulate flight
The flight path of device determines between two aircraft 1 there is the state of collision etc. hazardous flight, to adopt in time
Counter-measure is taken, accident is to avoid.
Based on above-mentioned any embodiment, in another embodiment of the present invention, may include：
11 both sides of fuselage of aircraft 1 are respectively at least provided with two groups of ducts 12, the rotation of rotor system 13 in every group of duct 12
Wing rotary speed can be adjusted within the scope of pre-set velocity by flight control system independent control.
It should be noted that two groups of ducts 12 are at least arranged in 11 both sides of fuselage of aircraft 1, then just to aircraft 1
With at least four groups of ducts 12, it is to be understood that each group duct 12 should be symmetrically disposed on 11 both sides of fuselage.When each culvert
When rotor wing rotation speed difference in road 12, so that it may so that the pitching and deflection in all directions all around of fuselage 11, is
Driver provides the flight experience of the most true aircraft 1.But in order to avoid driver drive aircraft 1 operate it is not yet done
Practice, and when adjusting 1 pitching of aircraft and deflection, the range of adjustment is excessive, leads to that aircraft accident occurs, can be by each rotor
Rotary speed control within the scope of pre-set velocity, both limit the pitch rate of fuselage 11 to a certain extent, also limit
The flying speed of aircraft 1, to ensure that the flight safety of aircraft 1.
Based on above-mentioned any embodiment, as shown in Fig. 3, Fig. 4 and Fig. 5, aerial rail that Fig. 3 is provided by the embodiment of the present invention
2 partial structural diagram of road, the internal structure schematic diagram for the sling system 3 that Fig. 4 is provided by the embodiment of the present invention, Fig. 5 Fig. 3
In overhead rail 2 and Fig. 4 in sling system 3 be connected cross-sectional view, the present invention another specific reality
It applies in example, may include：
Overhead rail 2 is the track with inverted T shaped cross section, and 2 both sides of overhead rail have sliding rail 22, current electrode 21
Positioned at the lower surface of overhead rail 2；
The sling system 3 includes the pulley blocks that can be slided on 2 sliding rail 22 of the overhead rail and the current electrode
The pantograph of 21 electrical connections, and the gear train for cable 31 of powering described in folding and unfolding.
As shown in figure 3,2 or so the outwardly extending position upper and lower surface of overhead rail is both provided with sliding rail 22.Such as Fig. 4 institutes
Show that there are sling system 3 two groups of pulleys 32, one group of pulley 32 to be located at 2 or so extending part upper surface of overhead rail with shown in Fig. 5
Sliding rail 22 slides, and another group of sliding rail 22 along lower surface slides.
Further, current electrode 21 is set to the lower surface of overhead rail 2, by the pantograph of sling system 3 and hangs
One end of the power supply cable 31 of cable system 3 keeps electrical connection, to power for aircraft 1.
Further, the gear train for 31 length of cable of powering for folding and unfolding is additionally provided in sling system 3.
Specifically, in a specific embodiment of the present invention, gear train may include spur gear 33, transition guide wheel 34, pass
Moving gear 35 and driving motor 36.
Wherein, 31 part of power supply cable is wound on the wheel shaft of spur gear 33, and another part bypasses the wheel of transition guide wheel 34
Axis is connected with aircraft 1；The pressure to transition guide wheel 34 by detection power supply cable 31 is additionally provided on the wheel shaft of transition guide wheel 34
Power determines that power supply cable 31 bears the pressure sensor of 1 pulling force size of aircraft；
Driving motor 36 is rotated according to pulling force size by 35 turn spur 33 of transmission gear, to realize to current supply cable
The folding and unfolding of rope 31.
Specifically, as shown in figure 4, spur gear 33 includes being arranged in the gear of end and for winding power supply cable 31
The gear of wheel shaft, the spur gear 33 is connected by transmission gear 35 with driving motor 36, and driving motor 36 drives transmission gear
35 rotation when, you can turn spur 33 rotate, to adjust power supply cable 31 be wound around on the wheel shaft of spur gear 33 still
It overs in aerial.
In addition, there are two the tools of transition guide wheel 34 in Fig. 4, folding and unfolding of the power supply cable 31 from gear shaft is played certain
Cushioning effect.In two transition guide wheels 34, one is stator ring, another is sliding wheel, and pressure sensor can be set
It is placed on the wheel shaft of stator ring, for inductive power supply cable 31 to the pressure of stator ring.
When aircraft 1 increases the pulling force for cable 31 of powering, then the distance between aircraft 1 and sling system 3 need
Increase, when the pressure of pressure sensor detection is more than certain pressure value, driving motor 36 can be driven the rotation of spur gear 33, stretch
The length of power supply cable 31 between long aircraft 1 and sling system 3；When being smaller than between aircraft 1 and sling system 3 is stretched
When opening up the length of skyborne power supply cable 31, power supply cable 31 also can be relatively small to the pressure of stator ring, driving motor
36 can drive 33 hand of spur gear mostly power supply cable 31.
It should be noted that it is understood that aircraft 1 can be decomposed into horizontal direction to the pulling force for cable 31 of powering
Component and vertical direction component, and the component of vertical direction not on sling system 3 in the air track 2 sliding generate
It influences.As shown in fig. 6, Fig. 6 is 31 horizontal direction force schematic diagram of power supply cable provided in an embodiment of the present invention, for aircraft
The component F of 1 pair of 31 horizontal direction of power supply cable can be decomposed into the component of both direction again, and one is perpendicular to overhead rail 2
Direction component F1, the other is parallel or tangential to 2 direction component F2 of overhead rail.When aircraft 1 is to power supply cable 31
Active force is there are when F2 components, since sling system 3 can be slided along overhead rail 2, power supply cable 31 can drive sling system 3 to
The direction of F2 moves, and finally so that F2 is zero, that is to say perpendicular where aircraft 1 and sling system 3 always and in the air
Track 2 is vertical, or is fluctuated in the range of with vertical difference very little.And when F1 increases, it can promote to be located at aerial confession
Cable rope 31 extends, and when F1 reduces even zero, can promote to be located at the aerial contraction of power supply cable 31.
It follows that the sling system 3 in the present embodiment, it can be in the base for providing maximum flight space for aircraft 1
On plinth, the length positioned at aerial power supply cable 31 is shortened as far as possible, is largely reduced power supply cable 31 and is twined
Around possibility, improve the safety of 1 autonomous flight of aircraft.
Based on above-mentioned any embodiment, as shown in fig. 7,31 section of power supply cable that Fig. 7 is provided by the embodiment of the present invention
Schematic diagram may include in another embodiment of the present invention：
Cable 31 of powering includes power transmission line 311, at least two wireropes 312, the steel wire for wrapping up power transmission line 311 and wirerope 312
Braiding layer 313 and the insulating coating 314 being wrapped in outside steel wire braid 313, wherein the package transmission of electricity of steel wire braid 313
Insulating layer is filled in the inner space of line 311 and wirerope 312.
Power transmission line 311 is typically provided with two, and the quantity of wirerope 312 can be depending on actual conditions, as long as it holds
It can be reached flight by pulling force to require, that is, maximum pull of the aircraft 1 to cable 31 of powering can be sustained.In order to
The case where preventing the accidental shock of power supply cable 31, steel wire braid 313 can be set outside power transmission line 311 and wirerope 312,
Not only it had been equivalent to one layer of electrostatic screen layer, but also power supply cable can be enhanced integrally to the ability to bear of pulling force；And further in steel
Insulating coating 314 is set again outside silk braiding layer 313, further prevents leaking electricity.
In addition, in order to ensure the normal power supply of power transmission line 311, inside steel wire braid 313, power transmission line 311 and wirerope
Insulating layer 315 is also filled between 312.
A kind of method of control autonomous flight system is additionally provided in the present invention, is provided applied to above-mentioned any embodiment
Autonomous flight system, as shown in figure 8, specifically including step：
Step S11：The current location information and present speed information of each aircraft on overhead rail are obtained in real time.
Specifically, which can be positioning system in aircraft by flight controller in real time earthward
What middle control machine was sent.
Step S12：It is determined in the preset time period from current time according to current location information and present speed information
Each aircraft estimates flight path.
Model can be pre-established, after obtaining current location information and present speed information, automatic mold is drawn up winged
Row device estimates flight path.
Optionally, if in order to estimate more accurate flight path, it is also contemplated that driver is to flight control system
The information of the state of a control of system, the acceleration of aircraft etc. various aspects more accurately estimates flight estimation to estimate, into
One step ensures flight safety.
Step S13：According to estimate flight path judge any two aircraft within a preset period of time any time fly
Whether line space is less than default distance values, if it is, S14 is entered step, if not, entering step S11.
If the spacing within a preset period of time, between two aircraft is too small, then illustrate there is collision between the two
Danger then illustrates that aircraft can be with safe flight, whereas if spacing is larger.
Step S14：The flight path of two aircraft is adjusted, any two aircraft is avoided to collide.
Because the aircraft in autonomous flight system in the present invention provided in above-mentioned any embodiment is autonomous driving
Flight, and by keeping a degree of connection with power supply cable flexible and overhead rail, compared to current routine
Aerial entertainment selection for, flight condition to a greater extent depend on driver, but if driver operation not
When, it is possible to cause unexpected.
Pass through the state of flight of real time monitoring aircraft in the present embodiment, it is ensured that safe flight between each aircraft.When
So the middle control machine in the present invention be also not only between closer two aircraft of monitoring distance whether safety, can be combined with driving
The person of sailing judges whether aircraft breaks down to the state of a control of flight control system and the flight path of aircraft, example
Such as, driver operates flight control system and controls aircraft down, but there is no decelerating flights for aircraft, this means that aircraft
State in failure flight, can find this failure, and take appropriate measures, to ensure the peace of driver in time
Entirely.
In addition, because the power supply cable in autonomous flight system in the above embodiment of the present invention is flexible flexible, it is
It is logical in the present embodiment the problem of winding between the cable that causes to power there may be the position between two aircraft is excessively close
The flight condition for monitoring each aircraft is crossed, can also avoid the winding of power supply cable to a certain extent.
Optionally, in another embodiment of the present invention, above-mentioned steps S13 and step S14 can specifically be wrapped
It includes：
It flies in the preset time period if there is two aircraft and is smaller than the first default spacing more than second
Default spacing, then send out detour alarm prompt by the flight control system of two aircraft to driver, to bypass collision
Point.
At this point, the closer situation of flight path distance is estimated between two aircraft, in order to avoid two aircraft are prominent
Right change of flight direction or flying speed, cause two aircraft to there are problems that risk of collision.
It flies in the preset time period if there is two aircraft and is smaller than the second default spacing more than third
Default spacing then sends out alarm prompt to driver, and provides and instruct flight path.
Machine is controlled in ground rapidly to make corresponding countermeasures according to the flight condition of two aircraft, ensure to drive
As long as the person of sailing flies according to the commander for controlling machine in ground, it will be able to which safe bypasses the possible point of impingement.
It flies within a preset period of time if there is two aircraft and is smaller than the default spacing of third, then take over driving
The permission of two aircraft, and according to present speed information and flight path is estimated, the flight path of aircraft is adjusted.
At this point, two aircraft of explanation can be collided by very big probability, controlling machine in ground at this time can be straight
Take over aircraft no longer allows driver voluntarily to control operation, so as to avoid an accident.After machine take over aircraft being controlled in ground,
Counter-measure can quickly be made according to aircraft current flight situation, for example, emergency stop, shrink power supply cable, change course
Etc..
Optionally, in another embodiment of the present invention, as shown in figure 9, can include further：
Step S21：Receive the instruction for abandoning autonomous driving that driver is sent by the flight control system of aircraft.
Step S22：Multiple flight paths planned in advance are sent by flight control system.
Step S23：After the selected flight path instruction for receiving driver's selection.
Step S24：Control aircraft flies according to selected flight path.
It should be noted that for autonomous flight system provided by the present invention, and not all passenger is all liked
It voluntarily drives, when driver is not desired to autonomous driving aircraft for various reasons, for example, uncomfortable suddenly, it is desirable to arrive as early as possible
Up to terminal, driver can earthward middle control machine sends instruction by flight control system.Machine is controlled in ground to provide to driver
Various selectable path, for example, the path quickly reached home, the path etc. in path, passion stimulation that landscape is gone sightseeing.
After driver chooses path, you can fly according to predefined paths.Certainly, there is still a need for carried out to aircraft in flight course
Such as the policer operation of the step S11 to S14 of above-described embodiment, so as to avoid an accident, but works as and find that the aircraft and other fly
When row device distance is closer, the flight path of the aircraft is directly adjusted, without sending out alarm.
The various situations that aircraft is likely encountered in flight course are adequately taken into account in the present embodiment, and are formulated thus
Corresponding strategy, according to the demand of driver, meets a variety of different flights of driver on the basis of ensureing driver safety
Experience.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with it is other
The difference of embodiment, just to refer each other for same or similar part between each embodiment.
Autonomous flight system provided by the present invention and a kind of method of control autonomous flight system are carried out above
It is discussed in detail.Principle and implementation of the present invention are described for specific case used herein, above example
Illustrate the method and its core concept for being merely used to help understand the present invention.It should be pointed out that for the common skill of the art
, without departing from the principle of the present invention, can be with several improvements and modifications are made to the present invention for art personnel, these change
It is also fallen within the protection scope of the claims of the present invention into modification.
Claims (10)
1. a kind of autonomous flight system, which is characterized in that including aircraft, overhead rail, connect the aircraft and the sky
The sling system of middle orbit；
Wherein, the aircraft includes fuselage, and the duct in the fuselage both sides is arranged, the rotor system being arranged in each duct
System, the cockpit being set on the fuselage are set in the cockpit, drive aircraft for driver's autonomous control
Flight control system；
The current electrode that the promising aircraft flight provides electric energy is set on the overhead rail；
The sling system includes that one end is connected with the aircraft, and the current electrode of the other end and the overhead rail is electrically connected
The power supply cable connect；The sling system is set on the overhead rail, and in the aircraft flight, can be along the sky
Middle orbit is slided with the aircraft；The sling system can be adjusted by cable of powering described in folding and unfolding within the scope of preset length
Save the length of the power supply cable between the sling system and the aircraft.
2. autonomous flight system according to claim 1, which is characterized in that further include the flight with each aircraft
Machine is controlled in the ground of control system communication connection, to control the state of flight letter that machine obtains the aircraft in real time in the ground
Breath；
The flight control system further includes for controlling the voice device and display that machine interacts in driver and the ground
Device.
3. autonomous flight system according to claim 2, which is characterized in that the flight control system be additionally operable in real time to
The state of flight information that machine sends the aircraft is controlled in the ground, to control machine in the ground according to the state of flight
Information judges that the aircraft whether there is hazardous flight.
4. autonomous flight system according to claim 1, which is characterized in that the fuselage both sides of the aircraft are respectively at least set
It is equipped with two groups of ducts, the rotor wing rotation speed of the rotor system, can be by described within the scope of pre-set velocity in every group of duct
Flight control system independent control is adjusted.
5. autonomous flight system according to claim 1, which is characterized in that the overhead rail is with inverted T shaped transversal
The track in face, and there is sliding rail, the current electrode to be located at the lower surface of the overhead rail for the overhead rail both sides；
The sling system includes that the pulley blocks that can be slided on the overhead rail sliding rail and the current electrode are electrically connected
Pantograph, and the gear train for cable of powering described in folding and unfolding.
6. autonomous flight system according to claim 5, which is characterized in that the gear train includes spur gear, transition
Guide wheel, transmission gear, driving motor；
Wherein, the power supply cable part is wound on the wheel shaft of the spur gear, another part around the transition guide wheel and
The aircraft is connected；It is additionally provided on the wheel shaft of the transition guide wheel by detecting the power supply cable to the transition guide wheel
The pressure of wheel shaft determines that the power supply cable bears the pressure sensor of the aircraft pulling force size；The driving motor 36
According to the pulling force size, the spur gear is driven to rotate by the transmission gear, to realize the receipts to the power supply cable
It puts.
7. autonomous flight system according to any one of claims 1 to 6, which is characterized in that the power supply cable includes defeated
Electric wire, at least two wireropes, the steel wire braid for wrapping up the power transmission line and the wirerope and it is wrapped in the braided steel wire
Insulating coating outside layer, wherein the steel wire braid wraps up fills in the inner space of the power transmission line and the wirerope
There is insulating layer.
8. a kind of method of control autonomous flight system, which is characterized in that be applied to described in 1 to 7 any one of the claims
Autonomous flight system, including：
The current location information and present speed information of each aircraft on the overhead rail are obtained in real time, wherein described
Aircraft is the aircraft driven for driver's autonomous control；
It is determined according to the current location information and the present speed information each in the preset time period from current time
The aircraft estimates flight path；
Flying for flight path any time that judges aircraft described in any two in the preset time period is estimated according to described
Whether line space is less than default distance values；
If it is, being adjusted to the flight path of two aircraft, aircraft described in any two is avoided to touch
It hits.
9. according to the method described in claim 8, it is characterized in that, if aircraft described in any two is in the preset time
The flight of any time is smaller than default distance values in section, then is adjusted packet to the flight path of two aircraft
It includes：
It flies in the preset time period if there is two aircraft and is smaller than the first default spacing more than second
Default spacing, then send out detour alarm prompt, to bypass by the flight control system of two aircraft to driver
The point of impingement；
It flies in the preset time period if there is two aircraft and is smaller than the second default spacing more than third
Default spacing then sends out alarm prompt to driver, and provides and instruct flight path；
It flies in the preset time period if there is two aircraft and is smaller than the default spacing of third, then take over and drive
The permission of two aircraft is sailed, and according to the present speed information and estimates flight path, the aircraft is flown
Row track is adjusted；
Wherein, the described first default spacing is more than the described second default spacing, and it is pre- that the second default spacing is more than the third
If spacing.
10. according to the method described in claim 8, it is characterized in that, obtaining each aircraft on overhead rail in real time
Current location information and present speed information before, further include：
Receive the instruction for abandoning autonomous driving that driver is sent by the flight control system of the aircraft；
Multiple flight paths planned in advance are sent by the flight control system；
After the selected flight path instruction for receiving driver's selection；
The aircraft is controlled to fly according to the selected flight path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810606941.8A CN108525316A (en) | 2018-06-13 | 2018-06-13 | The method of autonomous flight system and control autonomous flight system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810606941.8A CN108525316A (en) | 2018-06-13 | 2018-06-13 | The method of autonomous flight system and control autonomous flight system |
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| CN108525316A true CN108525316A (en) | 2018-09-14 |
Family
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| CN201810606941.8A Pending CN108525316A (en) | 2018-06-13 | 2018-06-13 | The method of autonomous flight system and control autonomous flight system |
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| CN110507998A (en) * | 2019-09-26 | 2019-11-29 | 燕山大学 | It is a kind of can autonomous control simulated flight amusement equipment |
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