CN108622398A - A kind of oil electricity is mixed to move multi-rotor unmanned aerial vehicle control system and control method - Google Patents

A kind of oil electricity is mixed to move multi-rotor unmanned aerial vehicle control system and control method Download PDF

Info

Publication number
CN108622398A
CN108622398A CN201810565826.0A CN201810565826A CN108622398A CN 108622398 A CN108622398 A CN 108622398A CN 201810565826 A CN201810565826 A CN 201810565826A CN 108622398 A CN108622398 A CN 108622398A
Authority
CN
China
Prior art keywords
control
mainboard
unmanned plane
power supply
engine
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.)
Pending
Application number
CN201810565826.0A
Other languages
Chinese (zh)
Inventor
罗之洪
李奔
夏烨
罗强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangzhou City Huakeer Polytron Technologies Inc
Original Assignee
Guangzhou City Huakeer Polytron Technologies Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Guangzhou City Huakeer Polytron Technologies Inc filed Critical Guangzhou City Huakeer Polytron Technologies Inc
Priority to CN201810565826.0A priority Critical patent/CN108622398A/en
Publication of CN108622398A publication Critical patent/CN108622398A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C27/00Rotorcraft; Rotors peculiar thereto
    • B64C27/04Helicopters
    • B64C27/08Helicopters with two or more rotors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C1/00Fuselages; Constructional features common to fuselages, wings, stabilising surfaces and the like
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C1/00Fuselages; Constructional features common to fuselages, wings, stabilising surfaces and the like
    • B64C1/30Parts of fuselage relatively movable to reduce overall size for storage
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/02Unmanned aerial vehicles; Equipment therefor characterized by type of aircraft
    • B64C2201/024Helicopters, or autogiros

Abstract

A kind of oil electricity is mixed to move multi-rotor unmanned aerial vehicle control system and control method, including fuselage and the multiple rotors for being disposed in an evenly spaced relation in fuselage side, and the bottom of the fuselage is equipped with engine module, generator module and head assembly, and the fuselage top is equipped with fuel tank;The fuselage interior is equipped with control system, the fuselage includes the first fixed plate and the second fixed plate, the engine module, generator module and head assembly are set to the first fixed plate lower end, the engine module is connect with generator, the engine module can drive generator operation, the generator and head assembly to be electrically connected respectively with control system;The control system includes the multiple control mainboards being set between the first fixed plate and the second fixed plate, the control mainboard includes power supply mainboard, and the power supply mainboard is equipped with and plane where power supply mainboard figure hero of biography plate, engine and generator control mainboard disposed in parallel, winged control mainboard, remote control motherboard and multiple control interfaces.

Description

A kind of oil electricity is mixed to move multi-rotor unmanned aerial vehicle control system and control method
Technical field
The present invention relates to the mixed dynamic air vehicle technique fields of oily electricity, and in particular to a kind of mixed dynamic multi-rotor unmanned aerial vehicle control of oil electricity System and control method.
Background technology
With the development of new and high technology, the progress of unmanned air vehicle technique constantly making a breakthrough property, unmanned plane will obtain rapidly Development and widely application.In unmanned plane field, although a series of advanced skills such as vision positioning, high definition figure pass, perception obstacle Art continues to develop, this root problem of continuing a journey is not solved effectively but always.
Multi-rotor unmanned aerial vehicle is the lift that is generated by multiple rotors to balance the gravity of aircraft, and aircraft can be flown Get up, the steady and posture of aircraft is controlled by changing the rotating speed of each rotor.So multi-rotor aerocraft can hover, It is flown with arbitrary speed in certain speed range, is basically the platform of an airflight, can add on platform Fill the instrument of the devices such as sensor, the position indicator of oneself or even manipulator etc.It does not need runway can VTOL, It can hover in the air after taking off.Its manipulating principle is simple, around four corresponding aircraft of remote sensing operation of control device, Upper and lower and yaw direction movement.In terms of automatic pilot, more rotor autopilot control methods are simple, and controller parameter is adjusted Also very simple.Integrated operation is simple, can be operated by simply training everybody, in addition, more rotors do not have movable part, it Reliability be substantially dependent on the reliability of brushless motor, therefore reliability is higher.In comparison, fixed-wing and helicopter There is movable mechanical connecting element, abrasion is will produce in flight course, leads to reliability decrease.And more rotors can hover, Flight range is controlled, and it is safer to be relatively fixed the wing.
Common unmanned plane is in the majority with electronic unmanned plane in the market, followed by the dynamic unmanned plane of oil.Wherein electronic unmanned plane:With Lithium battery provides power.Advantage is simple in structure, is easy maintaining;Relatively low to flying hand requirement, purchasing price is cheap;While because To compare light and flexible, transport transition is more convenient quick.But a disadvantage is that under lithium battery technology limitation, load-carrying and continuation of the journey ratio Smaller, outgoing flight needs to carry a large amount of batteries even generator.The dynamic unmanned plane of oil:There is provided power with fuel oil, have pure oil dynamic and Oily electricity mixing two types.Among the unmanned plane of both types, but it is the most complicated with oily electricity mixing type.The dynamic unmanned plane of oil Advantage is load-carrying and all bigger than electronic unmanned plane, technology content higher of continuing a journey.Disadvantage is also it will be apparent that especially for more rotors The oily mixed dynamic unmanned plane of electricity, the motor being related to is more, and control program is more complicated.Especially for new hand, thick one is read Specification is difficult to understand how to control to fly, and makes a fault when operation, unmanned plane may be caused to damage, User is caused to lose.
Invention content
The purpose of the present invention is to provide a kind of compact-sized unmanned aerial vehicle control system, and provide a kind of convenience, simple Unmanned aerial vehicle (UAV) control method, a variety of flight functions can be realized by shirtsleeve operation.
To solve the above-mentioned problems, the present invention provides a kind of mixed dynamic multi-rotor unmanned aerial vehicle control system of oil electricity, including fuselage With the multiple rotors for being disposed in an evenly spaced relation in fuselage side, the bottom of the fuselage be equipped with engine module, generator module and Head assembly, the fuselage top are equipped with fuel tank;The fuselage interior is equipped with control system, and the fuselage includes the first fixed plate With the second fixed plate, the engine module, generator module and head assembly are set to the first fixed plate lower end, described to start Machine module is connect with generator, and the engine module can drive generator operation, the generator and head assembly difference It is electrically connected with control system;
The control system includes the multiple control mainboards being set between the first fixed plate and the second fixed plate, the control mainboard Including power supply mainboard, the power supply mainboard be equipped with the figure hero of biography plate disposed in parallel of plane where power supply mainboard, engine and Generator control mainboard, winged control mainboard, remote control motherboard and multiple control interfaces, the control interface are arranged in power supply mainboard Side, interface are oriented parallel to plane where power supply mainboard.
The mixed dynamic unmanned plane of oil electricity of the present invention is set there are six rotor, and six rotors are uniformly arranged on the side of fuselage, It is symmetrically set so that fuselage is in Equilibrium state in natural conditions.Since engine module and generator are in work As when will produce than stronger vibrations, therefore engine module and generator are set to the bottom of fuselage, simultaneously as starting Machine module and generator weight are larger, and the center of gravity of entire fuselage can be made on the lower in fuselage bottom by being arranged so that flight is more flat Surely.In order to enable camera to have most wide coverage, equally head assembly is arranged in the bottom of fuselage by the present invention, in order to protect The shooting stability of head assembly is held, the present invention is equipped with holder bumper bracket in the junction of holder and fuselage so that shooting is more Stablize, is shaken caused by reducing flight and engine module, the vibrations of engine module.
The fuel tank is set to the top of fuselage, since engine module and generator is arranged in fuselage bottom, in order to enable machine Body is compact, while avoiding mutual interference, and keeps fuel tank to fix as possible and more stablize, and the present invention is by fuel tank and engine mould Group, generator are spaced apart, and on the one hand do not influence the volume of whole device, are on the other hand whole while reaching compact-sized Machine operation is more stablized.The fuel tank is connect by oil circuit with engine module so that the oil in fuel tank can be normally delivered to Engine module is operated for engine module.
The control system is mainly used for controlling outputting and inputting for electric energy so that electric energy can be different according to being allocated to Mechanism uses.
While in order to keep unmanned plane total compacter, each actuating unit of unmanned plane influences each other minimum, The fuselage of unmanned plane is divided into several different levels by the present invention.And separated by the first fixed plate and the second fixed plate, Reduce the interference between different institutions, overall structure is made more to stablize.
First fixed plate and the second fixed plate are arranged in parallel, wherein the setting of the first fixed plate is fixed in lower layer, second Plate setting on upper layer, to the middle level that is divided under the first fixed plate that be between low layer, the first fixed plate and the second fixed plate be and Second fixed plate, three different levels of upper top layer make unmanned plane integrally tie wherein in order to reduce the focus point of whole device Structure is more stablized, and the engine module, generator and head assembly are arranged in low layer.
In order to enable the mixed dynamic unmanned plane structure of oil electricity is compacter, also the winged of unmanned plane stops more stablizing, and the present invention is by nothing Man-machine rotor is arranged in the first fixed plate side, can reduce the center of gravity of unmanned plane entirety, in addition, the rotor and first is fixed Plate is hinged at, and can realize the folding of rotor, and folding direction is fold-down, wherein distal end is equipped with motor and rotation paddle, When not in use, rotation paddle can be removed.
Since the mixed dynamic unmanned plane of oil electricity of the present invention is related to multigroup electric elements, including realize cradle head control, image Transmission, engine, generator control, the control of unmanned plane itself flight, the control of power supply, the control of rotor motor, remote controler With the control etc. of unmanned plane wireless control and entire power supply, therefore be provided with polylith mainboard, realize different functions.The control Mainboard processed includes power supply mainboard, and the power supply mainboard is used to provide electric energy to each electronic component so that each device is normal Operation.
The power supply mainboard is equipped with to be used with plane figure hero of biography plate disposed in parallel where power supply mainboard, the figure hero of biography plate It is sent to user in the picture for shooting holder and uses end;The engine and generator control mainboard for control engine and The start and stop of generator and rotating speed;The remote control motherboard is used for the telecommand by user, controls unmanned plane during flying, the control Interface is arranged in the side of power supply mainboard, and interface is oriented parallel to plane where power supply mainboard.The winged control mainboard is for stablizing Unmanned plane during flying posture, and can control that unmanned plane is autonomous or semi-autonomous flight;It is provided with each mainboard on power supply mainboard It is electrically connected respectively at power supply mainboard, realizes the various operations of unmanned plane.
Multiple control interfaces are additionally provided on the power supply mainboard, the control interface is arranged in the side of power supply mainboard, connects Mouth is oriented parallel to plane where power supply mainboard, and the setting of control interface can be such that unmanned plane realizes external with other elements, Or realize various other functions, the access of external connecting function line can be convenient for by parallel setting, avoid the winding of electric wire And folding.
Therefore, the present invention by the control module of each driving function of unmanned plane it is compact be arranged on power module so that knot Structure is compacter, reduces the occupied space of control system.And the reasonable setting in interface direction, it can reduce account for a certain extent With space and volume, keep structure more reasonable, convenient for the maintenance and maintenance of the layout and control system of circuit.
Further, the power supply mainboard is in the hexagon of triangular shape, including six sides, respectively first side, the Dual side-edge, third side, four side, the 5th side and the 6th side, wherein first side are on front side of fuselage, four side On rear side of fuselage, the figure hero of biography plate is arranged on first side;The engine and generator control mainboard are set to and the On the adjacent second side of a side;The winged control mainboard is parallel to be set in the middle part of power supply mainboard;The remote control motherboard is set to and the On the 6th adjacent side of a side.
Figure hero of biography plate is mainly used for the transmission of cradle head camera image, and the figure hero of biography plate lower part is additionally provided with expansion power end Mouth and other interfaces can be used for expanding other power supplys, increase hours underway, other interfaces can be USB interface, can be used for Figure passes or data transmission.Figure hero of biography plate is square, and power supply board edges are fixed in one end, and the other end is in suspension status, makes Obtaining on power supply mainboard has enough spaces to install other mainboard devices.
The winged control mainboard is equally in rectangular shape, elongated one end towards first side, the other end towards four side, So that other mainboards and interface are arranged by enough spaces on power supply mainboard.
Since the electric elements being arranged on the mixed dynamic unmanned plane of oily electricity are more, control system is also more complicated, therefore, the present invention Power supply mainboard is arranged to multilateral shape so that the mainboard of more electric elements, and each master can be connected on power supply mainboard Plate is compact-sized between, and occupied space is minimum, and the electric elements being arranged on mainboard are compact-sized so that overall structure is more Stablize, plays the role of mutually relying on.
Further, the control interface includes the general supply interface to shield for opening and closing general supply, electric tuned plate Interface and the battery interface to charge for battery powered, the direction of the multiple control interface is each parallel to the control interface institute Power supply mainboard plane.
The control interface includes the interface of multiple types, realizes multi-functional control, and the general supply interface can be with It is electrically connected control mainboard, when needing emergency power off or needing to close power of the whole machine, above-mentioned function is realized using the interface.
The electricity tuned plate interface is equally electrically connected with control mainboard, and the electricity tuned plate interface connects rotor motor, and this hair The bright mixed dynamic unmanned plane of the oil electricity is set there are six rotor, and each rotor is correspondingly arranged an electric tuned plate interface, therefore in power supply There are six electric tuned plate interfaces for the side distribution sponsored, to realize the control of each rotor.
In order to facilitate the connection of circuit, and facilitate external wiring and maintenance, the interface for the control interface that the present invention is arranged Direction is each parallel to the plane residing for power supply mainboard.
Therefore, the present invention is provided with multiple interfaces, can realize the multiple functions of unmanned plane, and can realize some extensions Function.And interface direction is arranged in parallel with power supply mainboard, can reduce the winding of electric wire, and interface also allows for examining when something goes wrong It repaiies.
Further, the control interface further includes the expansion power port and other interfaces being set on the downside of figure hero of biography plate.
Further, the electric tuned plate interface is six, and is set to first side, third side and the 5th side in pairs.
The purpose that is arranged in pairs of electricity tuned plate interface be in order to which electric tuned plate interface can be relatively concentrated in three sides, Other interfaces are set convenient for the other three side, and electric tuned plate interface concentration setting also allows for daily maintenance and maintenance.
Further, the general supply interface is set to the 6th side of power supply mainboard, and opposite 6th side extends outwardly; The battery interface is set to four side, and opposite four side extends outwardly so that four side and the 6th side constitute three Corner structure.
The general supply interface is mainly used for unmanned plane and promptly flies the power down process stopped.In order to make unmanned aerial vehicle control system Total is compacter, and the present invention sets power supply mainboard to hexagon, and the general supply interface has certain length, therefore The general supply interface extends outwardly with respect to the 6th side so that has enough positions to install other components on power supply mainboard.Together Sample, the battery interface are arranged in four side, equally extend outwardly, and three-legged structure is constituted with four side so that whole knot Compacter cut of structure is more stablized.
Further, the level sensing mainboard for detecting oil mass, the level sensing are additionally provided on the power supply mainboard Mainboard is set on four side.
Due to the present invention is directed the mixed dynamic unmanned plane of oil electricity, it is therefore desirable to level sensing mainboard is set, for examining in real time Survey the oil mass of remaining unmanned plane.The level sensing mainboard equally occupies larger space, therefore in order to save space, described Level sensing mainboard is aerial to be arranged on the electric tuned plate interface of the side so that structure is compacter, easy access and later stage It safeguards.
Further, the rotor and the first fixed plate are hinged at, and can realize the folding of rotor, the rotor It is proximal end close to fuselage one end, is distal end far from fuselage one end, the distal end of the rotor is equipped with motor and rotation paddle, the motor electricity Control system and rotation paddle are connected, and rotation paddle rotation can be driven.
In order to enable the mixed dynamic unmanned plane structure of oil electricity is compacter, also the winged of unmanned plane stops more stablizing, and the present invention is by nothing Man-machine rotor is arranged in the first fixed plate side, can reduce the center of gravity of unmanned plane entirety, in addition, the rotor and first is fixed Plate is hinged at, and can realize the folding of rotor, and folding direction is fold-down, wherein distal end is equipped with motor and rotation paddle, When not in use, rotation paddle can be removed.
Further, a kind of control method of the mixed dynamic multi-rotor unmanned aerial vehicle of oil electricity, the method utilize claim 1 ~ 8 times Unmanned aerial vehicle control system described in one, specifically includes following steps:
The startup of engine:
A1:Engine power is connected, engine is made to be in idling mode;
A2:Start engine using engine primer, starter is removed after sparking;
A3:Generator Control Switch is pushed " RUN " position by remote control end;
A4:Stable operation about 1min warm-up the engines;
In step A1, the power supply is the accumulator being arranged on unmanned plane, in order not to additionally increase the weight of unmanned plane, institute The startup that accumulator is mainly used for unmanned plane is stated, therefore volume and weight is smaller.The startup of engine can by be remotely controlled end into The control that row starts, by the way that the control handle of remote controler is gone to running position, you can realize the startup of engine.
In order to ensure the stable of engine, need to carry out subsequent behaviour again after engine stabilizer is first preheated 1min Make.
Motor-locking controls:
B1:Unmanned plane lands;
B2:It shifts throttle push rod in remote controler onto extreme lower position, and keeps 5s;Or left rocker is placed in extreme lower position simultaneously, And it is dialled outward simultaneously maintained until indicator light extinguishing, motor-locking;
After the locking of the motor lands for unmanned plane, motor is stopped, and is determined, maloperation can be prevented and Start unmanned plane, causes out of control.Therefore, after unmanned plane lands, motor is locked by being remotely controlled end.
The remote controler is equipped with throttle push rod, shifts throttle push rod onto extreme lower position, is equivalent to power of motor and is adjusted to most Low-power keeps its rotating speed minimum, and after retaining a period of time, motor can be stopped, and realizes locking.
The remote controler of unmanned plane be equipped with left and right push rod, can realize different control functions, by by left rocker simultaneously It is placed in extreme lower position, then outer simultaneously group, is kept, the final locking for realizing motor.
Since the locking of motor makes motor be stopped completely, when controlling the operation of motor-locking, in order to keep away Exempt from maloperation, need to keep some operating procedure so that operation is more secure.
The solution lock control of battery:
C1:Left rocker is placed in extreme lower position, and outer simultaneously group simultaneously;
C2:The step C1 is kept to act, until indicator light lights;
C3:When motor starts rotation, rocking bar is unclamped, realizes unlock;
The unlock of motor is the process for making motor be restored to working condition by halted state, equally, in order to avoid maloperation needs Multiple steps realize the unlock of motor, therefore the present invention utilizes the control of the multiple steps of remote controler rocking bar, realizes the unlock of motor.
Super winged scheme control without a head, under super winged pattern without a head, the heading of unmanned plane only with originally receive GPS The position of signal is related and the heading of aircraft is unrelated, specifically includes following steps:
D1:Remote control end switch key is pushed into latched position;
D2:Short-press acknowledgement key enters winged pattern without a head;
Under super winged scheme control without a head, the heading of the unmanned plane is not influenced by unmanned plane head direction, therefore can be with It flies towards all directions.In the wherein described step D1, remote control end switch key is first pushed into latched position, realizes the hair of instruction It penetrates, then by acknowledgement key, confirms that the pattern equally can avoid maloperation.
GPS scheme controls:
E1:Remote control switch is pushed into the position " GPS ";
E2:Short-press acknowledgement key, unmanned plane enter fixed point and/or determine height mode;
In gps mode, unmanned plane can realize fixed point and fixed high relevant operation.
One key takes off pattern:
F1:Remote control switch is pushed into the key position that takes off;
F2:Short-press acknowledgement key realizes automatic takeoff;
In order to realize the efficient operation of unmanned plane, unmanned plane of the present invention takes off pattern equipped with a key, also in remote control Control is realized at end, and easy to operate, user is easily mastered.
One key landing mode:
G1:Remote control switch is pushed into landing place;
G2:Short-press acknowledgement key realizes that unmanned plane lands automatically;
Equally, it is also provided with a key landing mode, it is easy to operate by being remotely controlled the control at end.
One key makes a return voyage pattern:
H1:It makes a return voyage 3 ~ 5s of key in remote control end long-press;
H2:Unmanned plane makes a return voyage automatically;
One key make a return voyage pattern be in order to realize unmanned plane in the case where return route need not be manually controlled, realization return automatically Boat., can be by advance setting or in the case of unmanned plane not enough power supply, such as setting is when electricity is less than 30%, unmanned plane Automatically it makes a return voyage, in this case, the control that need not be remotely controlled end can be realized.Another situation is, user according to flight progress, According to demand, the automatic of unmanned plane is controlled using remote control end to make a return voyage.
Therefore, no matter which kind of mode, can realize that the automatic of unmanned plane is maked a return voyage, it is easy to operate, user be easy to study and It grasps.
Terminate flight control:
J1:Remote control landing or a key make a return voyage or key landing;
J2:Generator Control Switch is pushed into " idling " position, runs 30s;
J3:Disconnect engine power;
J4:Disconnect unmanned electromechanical source;
J5:Close power supply of remote controller.
When unmanned plane complete aerial mission after, in addition to can with self-navigation other than or a key landing operation, unmanned plane drop Fall behind, needs the flight for terminating unmanned plane.Therefore it needs gradually to control the closing of unmanned plane electric elements.Since engine is run After complete, if directly stopped, the abrasion of engine can be led to, therefore engine idle a period of time is first turned off into hair Motivation power supply, then unmanned electromechanical source is closed, it realizes unmanned plane shutdown, finally, turns off power supply of remote controller, realize multiple electric appliances The gradually closing of element, can preferably protect component, prolong the service life.
Further, the control switch of the engine includes the left hand throttle and right hand throttle being arranged at remote control end, is led to Closing, idling and the operation of engine are realized in the mutual cooperation for crossing two throttles;
Under the super winged pattern without a head, the retrogressing rocking bar by pinning left hand throttle or right hand throttle can be realized unmanned plane and fly It goes to Initial Azimuth;
One key makes a return voyage under pattern,
When unmanned plane and make a return voyage horizontal distance > 30m when,
And when drone flying height > 25m, unmanned plane will keep former flying height, make a return voyage automatically to a required top of making a return voyage Vertical landing;As drone flying height < 25m, unmanned plane vertically rises to 25m, is maked a return voyage automatically to a required top of making a return voyage Vertical landing afterwards;
When unmanned plane and make a return voyage horizontal distance < 30m when, unmanned plane will keep former flying height, be maked a return voyage automatically to required and be maked a return voyage Vertical landing behind point top;
One key takes off under pattern, and the default height to take off is 3 ~ 4m.
The flying height of 3 ~ 4m preferably adjusts unmanned plane during flying state convenient for user.
Beneficial effects of the present invention:
(1)The present invention is by the compact setting of the control module of each driving function of unmanned plane on power module so that structure is more It is compact, reduce the occupied space of control system.And the reasonable setting in interface direction, occupied space can be reduced to a certain extent And volume, keep structure more reasonable, convenient for the maintenance and maintenance of the layout and control system of circuit.
(2)The present invention is provided with multiple interfaces, can realize the multiple functions of unmanned plane, and can realize some extension work( Energy.And interface direction is arranged in parallel with power supply mainboard, can reduce the winding of electric wire, and interface also allows for examining when something goes wrong It repaiies.
(3)The battery interface is arranged in four side, equally extends outwardly, and constitutes three-legged structure with four side, makes Compacter cut of overall structure is obtained more to stablize.
(4)Unmanned aerial vehicle control system of the present invention is compact-sized, occupies little space, and the setting in interface direction is convenient for The maintenance and maintenance in later stage.And the unmanned aerial vehicle (UAV) control method is easy to operate, user can utilize remote control end to realize the more of unmanned plane The control of function.
Description of the drawings
Fig. 1 is unmanned plane stereogram of the present invention.
Fig. 2 is that unmanned plane of the present invention removes shell schematic diagram.
Fig. 3 is that unmanned plane of the present invention removes shell and fuel tank schematic diagram.
Fig. 4 mainboard schematic diagrames in order to control.
Fig. 5 is power supply mainboard schematic diagram.
Fig. 6 another schematic diagrames of mainboard in order to control.
Fig. 7 is engine startup method schematic diagram.
Fig. 8 is motor-locking method schematic diagram.
Fig. 9 is motor unlocking method schematic diagram.
Figure 10 is to terminate flying method schematic diagram.
Specific implementation mode
To keep the purpose, technical scheme and advantage that the present invention is implemented clearer, below in conjunction in the embodiment of the present invention Attached drawing, technical solution in the embodiment of the present invention is further described in more detail.In the accompanying drawings, identical from beginning to end or class As label indicate same or similar element or element with the same or similar functions.Described embodiment is the present invention A part of the embodiment, instead of all the embodiments.The embodiments described below with reference to the accompanying drawings are exemplary, it is intended to use It is of the invention in explaining, and be not considered as limiting the invention.Based on the embodiments of the present invention, ordinary skill people The every other embodiment that member is obtained without making creative work, shall fall within the protection scope of the present invention.Under Face is described in detail the embodiment of the present invention in conjunction with attached drawing.
Embodiment 1
A kind of mixed dynamic unmanned plane of the more rotor fuel-electrics of compact, as shown in Figure 1, including fuselage 1 and being disposed in an evenly spaced relation in fuselage side The bottom of multiple rotors 2 in face, the fuselage 1 is equipped with engine module 3, generator module 4 and head assembly 5, such as Fig. 2 institutes Show, 1 top of the fuselage is equipped with fuel tank 6;The fuselage 1 is internally provided with control system(It is not identified in figure), the packet of the fuselage 1 The first fixed plate 11 and the second fixed plate 12 are included, the engine module 3, generator module 4 and head assembly 5 are set to first 11 lower end of fixed plate, the engine module 3 are connect with generator module 4, and the engine module 3 can drive generator mould 4 operating of group, the generator module 4 and head assembly 5 are electrically connected with control system respectively;
As shown in Fig. 2, the rotor 2 and the first fixed plate 11 are hinged at, and it can realize the folding of rotor 2, the rotation The wing 2 is proximal end close to 1 one end of fuselage, is distal end far from 1 one end of fuselage, and the distal end of the rotor 2 is equipped with motor 22 and rotation paddle 21, The motor be electrically connected connected control system and rotation paddle 21, and can drive rotation paddle 21 rotate.
The mixed dynamic unmanned plane of oil electricity of the present invention is set there are six rotor 2, and six rotors 2 are uniformly arranged on the side of fuselage 1 Face is symmetrically set so that fuselage 1 is in Equilibrium state in natural conditions.Due to engine module 3 and generator Module 4 is will produce at work than stronger vibrations, therefore engine module 3 and generator module 4 are set to the bottom of fuselage 1 Portion, simultaneously as engine module 3 and 4 weight of generator module are larger, entire fuselage 1 can be made in 1 bottom of fuselage by being arranged Center of gravity is on the lower so that flight is more steady.In order to enable camera to have most wide coverage, the present invention is equally by head assembly 5 are arranged in the bottom of fuselage 1, and in order to keep the shooting stability of head assembly 5, the present invention is in the junction of holder and fuselage 1 Equipped with holder bumper bracket so that shooting is more stablized, and reduces flight and engine module 3, engine module 3 shake caused rolling It is dynamic.
The fuel tank 6 is set to the top of fuselage 1, due to 1 bottom of fuselage setting engine module 3 and generator module 4, is So that fuselage 1 is compact, while mutual interference is avoided, and keep fuel tank 6 to fix as possible and more stablize, the present invention is by fuel tank 6 It is spaced apart with engine module 3, generator module 4, does not on the one hand influence the volume of whole device, reach compact-sized same When, on the other hand it is that complete machine operation is more stablized.The fuel tank 6 passes through oil circuit(It is not indicated in figure)Connect with engine module 3 It connects so that the oil in fuel tank 6 can normally be delivered to engine module 3, be operated for engine module 3.
While in order to keep unmanned plane total compacter, each actuating unit of unmanned plane influences each other minimum, The fuselage 1 of unmanned plane is divided into several different levels by the present invention.And divided by the first fixed plate 11 and the second fixed plate 12 It cuts open, reduces the interference between different institutions, overall structure is made more to stablize.
First fixed plate, 11 and second fixed plate 12 is arranged in parallel, wherein the first fixed plate 11 is arranged in lower layer, the The setting of two fixed plates 12 is on upper layer, to be divided into the first fixed plate 11 times for low layer, the first fixed plate 11 and the second fixed plate 12 Between be middle level and the second fixed plate 12 upper top layer, three different levels, wherein in order to reduce the center of gravity of whole device Point makes unmanned plane overall structure more stablize, and the engine module 3, generator module 4 and head assembly 5 are arranged low Layer.
In order to enable the mixed dynamic unmanned plane structure of oil electricity is compacter, also the winged of unmanned plane stops more stablizing, and the present invention is by nothing Man-machine rotor 2 is arranged in 11 side of the first fixed plate, the center of gravity of unmanned plane entirety can be reduced, in addition, the rotor 2 and first Fixed plate 11 is hinged at, and can realize the folding of rotor 2, and folding direction is fold-down, wherein distal end is equipped with motor Rotation paddle 21 can be removed when not in use with rotation paddle 21.
If Fig. 3 ~ 4 show, the control system includes the multiple controls being set between the first fixed plate 11 and the second fixed plate 12 Mainboard 7 processed, the control mainboard 7 include power supply mainboard 71, and the power supply mainboard 71 is equipped with and 71 place plane of power supply mainboard Figure hero of biography plate 72, engine and generator control mainboard 73 disposed in parallel fly control mainboard 74, remote control motherboard 75 and multiple controls Interface 100 processed, the control interface 100 are arranged in the side of power supply mainboard 71, and interface is oriented parallel to where power supply mainboard 71 Plane.
The control system is mainly used for controlling outputting and inputting for electric energy so that electric energy can be different according to being allocated to Mechanism uses.Since the mixed dynamic unmanned plane of oil electricity of the present invention is related to multigroup electric elements, including realize cradle head control, image Transmission, engine, generator control, the control of unmanned plane itself flight, the control of power supply, the control of rotor motor, remote controler With the control etc. of unmanned plane wireless control and entire power supply, therefore be provided with polylith mainboard, realize different functions.The control Mainboard 7 processed includes power supply mainboard 71, and the power supply mainboard 71 is used to provide electric energy to each electronic component so that each device Normal operation.
The power supply mainboard 71 is equipped with to be passed with 71 place plane of power supply mainboard figure hero of biography plate 72 disposed in parallel, the figure Mainboard 72, which is used to the picture that holder is shot being sent to user, uses end;The engine and generator control mainboard 73 are for controlling The start and stop of engine and generator processed and rotating speed;The remote control motherboard 75 is used for the telecommand by user, controls unmanned plane Flight, the control interface 100 are arranged in the side of power supply mainboard 71, and interface is oriented parallel to 71 place plane of power supply mainboard. The winged control mainboard 74 can control that unmanned plane is autonomous or semi-autonomous flight for stablizing unmanned plane during flying posture;It is provided with Each mainboard on power supply mainboard 71 is electrically connected respectively at power supply mainboard 71, realizes the various operations of unmanned plane.
Multiple control interfaces 100 are additionally provided on the power supply mainboard 71, the control interface 100 is arranged in power supply mainboard 71 Side, interface is oriented parallel to 71 place plane of power supply mainboard, the setting of control interface 100, can make unmanned plane realize with Other elements it is external, or realize various other functions, the access of external connecting function line can be convenient for by parallel setting, kept away The winding and folding of electric wire are exempted from.
Therefore, the present invention by the control module of each driving function of unmanned plane it is compact be arranged on power supply mainboard 71 so that Structure is compacter, reduces the occupied space of control system.And the reasonable setting in interface direction, it can reduce to a certain extent Occupied space and volume keep structure more reasonable, convenient for the maintenance and maintenance of the layout and control system of circuit.
Further, as shown in figure 5, the power supply mainboard 71 is in the hexagon of triangular shape, including six sides, respectively First side 10, second side 20, third side 30, four side 40, the 5th side 50 and the 6th side 60, wherein the first side Side 10 is arranged close to 1 rear side of fuselage, the figure hero of biography plate 72 on first side 10 close to 1 front side of fuselage, four side 40;Institute It states engine and generator control mainboard 73 is set on the second side 20 adjacent with first side 10;The winged control mainboard 74 is flat Row is set to 71 middle part of power supply mainboard;The remote control motherboard 75 is set on the 6th side 60 adjacent with first side 10.
As shown in Fig. 4 ~ 5, the figure hero of biography plate 72 is mainly used for the transmission of cradle head camera image, the figure hero of biography plate 72 Lower part, which is additionally provided with, expands power port and other interfaces, can be used for expanding other power supplys, increases hours underway, other interfaces can To be USB interface, it can be used for figure biography or data transmission.Figure hero of biography plate 72 is square, and 71 side of power supply mainboard is fixed in one end Edge, the other end are in suspension status so that have enough spaces to install other mainboard devices on power supply mainboard 71.
The winged control mainboard 74 is same in rectangular shape, and elongated one end is towards first side 10, and the other end is towards the 4th Side 40 so that other mainboards and interface are arranged by enough spaces on power supply mainboard 71.
Since the electric elements being arranged on the mixed dynamic unmanned plane of oily electricity are more, control system is also more complicated, therefore, the present invention Power supply mainboard 71 is arranged to multilateral shape so that the mainboard of more electric elements can be connected on power supply mainboard 71, and each A mainboard is compact-sized between, and occupied space is minimum, and the electric elements being arranged on mainboard are compact-sized so that overall structure More stablize, plays the role of mutually relying on.
Further, as shown in Fig. 5 ~ 6, the control interface 100 includes for opening and closing general supply, and what is shielded is total Power interface 110, electric tuned plate interface 120 and the battery interface 130 for battery powered charging, the multiple control interface Plane of 100 direction each parallel to the power supply mainboard 71 where the control interface 100.
The control interface 100 includes the interface of multiple types, realizes multi-functional control, the general supply interface 110 can be electrically connected control mainboard 7, when needing emergency power off or needing to close power of the whole machine, be realized using the interface State function.
The electricity tuned plate interface 120 is equally electrically connected with power supply mainboard, and the electricity tuned plate interface 120 connects rotor motor, And the mixed dynamic unmanned plane of oil electricity of the present invention is set there are six rotor, each rotor is correspondingly arranged an electric tuned plate interface 120, because In the side that power supply is sponsored distribution, there are six electric tuned plate interfaces 120 for this, to realize the control of each rotor.
In order to facilitate the connection of circuit, and facilitate external wiring and maintenance, the control interface 100 that the present invention is arranged connects Mouth direction is each parallel to the plane residing for power supply mainboard 71.
Therefore, the present invention is provided with multiple interfaces, can realize the multiple functions of unmanned plane, and can realize some extensions Function.And interface direction is arranged in parallel with power supply mainboard 71, can reduce the winding of electric wire, and interface also allows for when something goes wrong Maintenance.
Further, as shown in fig. 6, the control interface 100 further includes the expansion power supply for being set to 72 downside of figure hero of biography plate Interface 140 and other interfaces.
Further, as shown in fig. 6, the electricity tuned plate interface 120 is six, and it is set to first side 10, third in pairs Side 30 and the 5th side 50.
The purpose that the electricity tuned plate interface 120 is arranged in pairs is in order to which electric tuned plate interface 120 can be relatively concentrated in three Other interfaces are arranged convenient for the other three side in a side, and electric 120 concentrated setting of tuned plate interface also allow for daily maintenance and Maintenance.
Further, as shown in figure 5, the general supply interface 110 is set to the 6th side 60 of power supply mainboard 71, and it is opposite 6th side 60 extends outwardly;The battery interface 130 is set to four side 40, and opposite four side 40 extends outwardly, and makes It obtains four side 40 and the 6th side 60 constitutes three-legged structure.
The general supply interface 110 is mainly used for unmanned plane and promptly flies the power down process stopped.In order to make unmanned aerial vehicle (UAV) control system The total of system is compacter, and the present invention sets power supply mainboard 71 to hexagon, and the general supply interface 110 has certain Length, therefore the general supply interface 110 extends outwardly with respect to the 6th side 60 so that there are enough positions on power supply mainboard 71 Other components are installed.Equally, the battery interface 130 is arranged in four side 40, equally extends outwardly, with 40 structure of four side At three-legged structure so that compacter cut of overall structure is more stablized.
Further, as shown in fig. 6, being additionally provided with the level sensing mainboard for detecting oil mass on the power supply mainboard 71 76, the level sensing mainboard 76 is set on four side 40.
Due to the present invention is directed the mixed dynamic unmanned plane of oil electricity, it is therefore desirable to level sensing mainboard 76 is set, for real-time The oil mass of the remaining unmanned plane of detection.The level sensing mainboard 76 equally occupies larger space, therefore in order to save space, The level sensing mainboard 76 is aerial to be arranged on the electric tuned plate interface 120 of the side so that structure is compacter, easy access With the maintenance in later stage.
Embodiment 2
The present invention also provides a kind of control method of the mixed dynamic multi-rotor unmanned aerial vehicle of oil electricity, the method specifically includes following steps:
The startup of engine, as shown in fig. 7, comprises following steps:
A1:Engine power is connected, engine is made to be in idling mode;
A2:Start engine using engine primer, starter is removed after sparking;
A3:Generator Control Switch is pushed " RUN " position by remote control end;
A4:Stable operation about 1min warm-up the engines;
In step A1, the power supply is the accumulator being arranged on unmanned plane, in order not to additionally increase the weight of unmanned plane, institute The startup that accumulator is mainly used for unmanned plane is stated, therefore volume and weight is smaller.The startup of engine can by be remotely controlled end into The control that row starts, by the way that the control handle of remote controler is gone to running position, you can realize the startup of engine.
In order to ensure the stable of engine, need to carry out subsequent behaviour again after engine stabilizer is first preheated 1min Make.
Motor-locking controls, as shown in figure 8, including the following steps:
B1:Unmanned plane lands;
B2:It shifts throttle push rod in remote controler onto extreme lower position, and keeps 5s;Or left rocker is placed in extreme lower position simultaneously, And it is dialled outward simultaneously maintained until indicator light extinguishing, motor-locking;
After the locking of the motor lands for unmanned plane, motor is stopped, and is determined, maloperation can be prevented and Start unmanned plane, causes out of control.Therefore, after unmanned plane lands, motor is locked by being remotely controlled end.
The remote controler is equipped with throttle push rod, shifts throttle push rod onto extreme lower position, is equivalent to power of motor and is adjusted to most Low-power keeps its rotating speed minimum, and after retaining a period of time, motor can be stopped, and realizes locking.
The remote controler of unmanned plane be equipped with left and right push rod, can realize different control functions, by by left rocker simultaneously It is placed in extreme lower position, then outer simultaneously group, is kept, the final locking for realizing motor.
Since the locking of motor makes motor be stopped completely, when controlling the operation of motor-locking, in order to keep away Exempt from maloperation, need to keep some operating procedure so that operation is more secure.
As shown in figure 9, the solution lock control of battery includes the following steps:
C1:Left rocker is placed in extreme lower position, and outer simultaneously group simultaneously;
C2:The step C1 is kept to act, until indicator light lights;
C3:When motor starts rotation, rocking bar is unclamped, realizes unlock;
The unlock of motor is the process for making motor be restored to working condition by halted state, equally, in order to avoid maloperation needs Multiple steps realize the unlock of motor, therefore the present invention utilizes the control of the multiple steps of remote controler rocking bar, realizes the unlock of motor.
Super winged scheme control without a head, under super winged pattern without a head, the heading of unmanned plane only with originally receive GPS The position of signal is related and the heading of aircraft is unrelated, specifically includes following steps:
D1:Remote control end switch key is pushed into latched position;
D2:Short-press acknowledgement key enters winged pattern without a head;
Under super winged scheme control without a head, the heading of the unmanned plane is not influenced by unmanned plane head direction, therefore can be with It flies towards all directions.In the wherein described step D1, remote control end switch key is first pushed into latched position, realizes the hair of instruction It penetrates, then by acknowledgement key, confirms that the pattern equally can avoid maloperation.
GPS scheme controls:
E1:Remote control switch is pushed into the position " GPS ";
E2:Short-press acknowledgement key, unmanned plane enter fixed point and/or determine height mode;
In gps mode, unmanned plane can realize fixed point and fixed high relevant operation.
One key takes off pattern:
F1:Remote control switch is pushed into the key position that takes off;
F2:Short-press acknowledgement key realizes automatic takeoff;
In order to realize the efficient operation of unmanned plane, unmanned plane of the present invention takes off pattern equipped with a key, also in remote control Control is realized at end, and easy to operate, user is easily mastered.
One key landing mode:
G1:Remote control switch is pushed into landing place;
G2:Short-press acknowledgement key realizes that unmanned plane lands automatically;
Equally, it is also provided with a key landing mode, it is easy to operate by being remotely controlled the control at end.
One key makes a return voyage pattern:
H1:It makes a return voyage 3 ~ 5s of key in remote control end long-press;
H2:Unmanned plane makes a return voyage automatically;
One key make a return voyage pattern be in order to realize unmanned plane in the case where return route need not be manually controlled, realization return automatically Boat., can be by advance setting or in the case of unmanned plane not enough power supply, such as setting is when electricity is less than 30%, unmanned plane Automatically it makes a return voyage, in this case, the control that need not be remotely controlled end can be realized.Another situation is, user according to flight progress, According to demand, the automatic of unmanned plane is controlled using remote control end to make a return voyage.
Therefore, no matter which kind of mode, can realize that the automatic of unmanned plane is maked a return voyage, it is easy to operate, user be easy to study and It grasps.
As shown in Figure 10, further include terminating flight control:
J1:Remote control landing or a key make a return voyage or key landing;
J2:Generator Control Switch is pushed into " idling " position, runs 30s;
J3:Disconnect engine power;
J4:Disconnect unmanned electromechanical source;
J5:Close power supply of remote controller.
When unmanned plane complete aerial mission after, in addition to can with self-navigation other than or a key landing operation, unmanned plane drop Fall behind, needs the flight for terminating unmanned plane.Therefore it needs gradually to control the closing of unmanned plane electric elements.Since engine is run After complete, if directly stopped, the abrasion of engine can be led to, therefore engine idle a period of time is first turned off into hair Motivation power supply, then unmanned electromechanical source is closed, it realizes unmanned plane shutdown, finally, turns off power supply of remote controller, realize multiple electric appliances The gradually closing of element, can preferably protect component, prolong the service life.
Further, the control switch of the engine includes the left hand throttle and right hand throttle being arranged at remote control end, is led to Closing, idling and the operation of engine are realized in the mutual cooperation for crossing two throttles;
Under the super winged pattern without a head, the retrogressing rocking bar by pinning left hand throttle or right hand throttle can be realized unmanned plane and fly It goes to Initial Azimuth;
One key makes a return voyage under pattern,
When unmanned plane and make a return voyage horizontal distance > 30m when,
And when drone flying height > 25m, unmanned plane will keep former flying height, make a return voyage automatically to a required top of making a return voyage Vertical landing;As drone flying height < 25m, unmanned plane vertically rises to 25m, is maked a return voyage automatically to a required top of making a return voyage Vertical landing afterwards;
When unmanned plane and make a return voyage horizontal distance < 30m when, unmanned plane will keep former flying height, be maked a return voyage automatically to required and be maked a return voyage Vertical landing behind point top;
One key takes off under pattern, and the default height to take off is 3 ~ 4m.
The flying height of 3 ~ 4m preferably adjusts unmanned plane during flying state convenient for user.
Embodiment of above is merely illustrative of the technical solution of the present invention and unrestricted, although with reference to the above preferable embodiment party Formula describes the invention in detail, it will be understood by those of ordinary skill in the art that, it can be to technical scheme of the present invention It modifies or equivalent replacement should not all be detached from the spirit and scope of technical solution of the present invention.Those skilled in the art can also be at this The design that other variations etc. are used in the present invention is done in spirit, without departing from the technique effect of the present invention.These The variation that spirit is done according to the present invention all should include within scope of the present invention.

Claims (10)

1. a kind of mixed dynamic multi-rotor unmanned aerial vehicle control system of oil electricity, including fuselage and it is disposed in an evenly spaced relation in the multiple of fuselage side Rotor, the fuselage are equipped with shell, and the bottom of the fuselage is equipped with engine module, generator module and head assembly, described Fuselage top is equipped with fuel tank;The fuselage interior is equipped with control system, and the fuselage includes the first fixed plate and the second fixed plate, The engine module, generator module and head assembly are set to the first fixed plate lower end, the engine module and power generation Machine connects, and the engine module can drive generator operation, the generator and head assembly electric with control system respectively Connection;
It is characterized in that, the control system includes the multiple control mainboards being set between the first fixed plate and the second fixed plate, The control mainboard includes power supply mainboard, and the power supply mainboard is equipped with and the plane figure hero of biography disposed in parallel where power supply mainboard Plate, engine and generator control mainboard fly control mainboard, remote control motherboard and multiple control interfaces, the control interface setting In the side of power supply mainboard, interface is oriented parallel to plane where power supply mainboard.
2. unmanned aerial vehicle control system according to claim 1, which is characterized in that the power supply mainboard is in six sides of triangular shape Shape, including six sides, respectively first side, second side, third side, four side, the 5th side and the 6th side, Wherein first side on front side of the fuselage, four side on rear side of fuselage,
The figure hero of biography plate is arranged on first side;
The engine and generator control mainboard are set on the second side adjacent with first side;
The winged control mainboard is parallel to be set in the middle part of power supply mainboard;
The remote control motherboard is set on the 6th side adjacent with first side.
3. unmanned aerial vehicle control system according to claim 2, which is characterized in that the control interface includes total for opening and closing Power supply, the general supply interface to shield, electric tuned plate interface and the battery interface for battery powered charging, it is the multiple Plane of the direction of control interface each parallel to the power supply mainboard where the control interface.
4. unmanned aerial vehicle control system according to claim 3, which is characterized in that the control interface further includes being set to figure to pass Expansion power port on the downside of mainboard and other interfaces.
5. unmanned aerial vehicle control system according to claim 3, which is characterized in that the electricity tuned plate interface is six, and at To being set to first side, third side and the 5th side.
6. unmanned aerial vehicle control system according to claim 3, which is characterized in that the general supply interface is set to power supply mainboard The 6th side, and opposite 6th side extends outwardly;The battery interface is set to four side, and opposite four side is outside Extend so that four side and the 6th side constitute three-legged structure.
7. unmanned aerial vehicle control system according to claim 2, which is characterized in that be additionally provided on the power supply mainboard for examining The level sensing mainboard of oil mass is surveyed, the level sensing mainboard is set on four side.
8. unmanned aerial vehicle control system according to claim 1, which is characterized in that the side of the rotor and the first fixed plate It is hinged, and can realize the folding of rotor, the rotor is proximal end close to fuselage one end, is distal end far from fuselage one end, described The distal end of rotor be equipped with motor and rotation paddle, the motor be electrically connected connected control system and rotation paddle, and can drive rotation paddle rotation.
9. a kind of control method of the mixed dynamic multi-rotor unmanned aerial vehicle of oil electricity, the method utilize claim 1 ~ 8 any one of them Unmanned aerial vehicle control system specifically includes following steps:
The startup of engine:
A1:Engine power is connected, engine is made to be in idling mode;
A2:Start engine using engine primer, starter is removed after sparking;
A3:Generator Control Switch is pushed " RUN " position by remote control end;
A4:Stable operation about 1min warm-up the engines;
Motor-locking controls:
B1:Unmanned plane lands;
B2:It shifts throttle push rod in remote controler onto extreme lower position, and keeps 5s;Or left rocker is placed in extreme lower position simultaneously, And it is dialled outward simultaneously maintained until indicator light extinguishing, motor-locking;
The solution lock control of battery:
C1:Left rocker is placed in extreme lower position, and outer simultaneously group simultaneously;
C2:The step C1 is kept to act, until indicator light lights;
C3:When motor starts rotation, rocking bar is unclamped, realizes unlock;
Super winged scheme control without a head, under super winged pattern without a head, the heading of unmanned plane only with originally receive GPS signal Position is related and the heading of aircraft is unrelated, specifically include following steps:
D1:Remote control end switch key is pushed into latched position;
D2:Short-press acknowledgement key enters winged pattern without a head;
GPS scheme controls:
E1:Remote control switch is pushed into the position " GPS ";
E2:Short-press acknowledgement key, unmanned plane enter fixed point and/or determine height mode;
One key takes off pattern:
F1:Remote control switch is pushed into the key position that takes off;
F2:Short-press acknowledgement key realizes automatic takeoff;
One key landing mode:
G1:Remote control switch is pushed into landing place;
G2:Short-press acknowledgement key realizes that unmanned plane lands automatically;
One key makes a return voyage pattern:
H1:It makes a return voyage 3 ~ 5s of key in remote control end long-press;
H2:Unmanned plane makes a return voyage automatically;
Terminate flight control:
J1:Remote control landing or a key make a return voyage or key landing;
J2:Generator Control Switch is pushed into " idling " position, runs 30s;
J3:Disconnect engine power;
J4:Disconnect unmanned electromechanical source;
J5:Close power supply of remote controller.
10. control method according to claim 9, which is characterized in that
The control switch of the engine includes the left hand throttle and right hand throttle being arranged at remote control end, passes through the phase of two throttles Mutually closing, idling and the operation of engine are realized in cooperation;
Under the super winged pattern without a head, the retrogressing rocking bar by pinning left hand throttle or right hand throttle can be realized unmanned plane and fly It goes to Initial Azimuth;
One key makes a return voyage under pattern,
When unmanned plane and make a return voyage horizontal distance > 30m when,
And when drone flying height > 25m, unmanned plane will keep former flying height, make a return voyage automatically to a required top of making a return voyage Vertical landing;As drone flying height < 25m, unmanned plane vertically rises to 25m, is maked a return voyage automatically to a required top of making a return voyage Vertical landing afterwards;
When unmanned plane and make a return voyage horizontal distance < 30m when, unmanned plane will keep former flying height, be maked a return voyage automatically to required and be maked a return voyage Vertical landing behind point top;
One key takes off under pattern, and the default height to take off is 3 ~ 4m.
CN201810565826.0A 2018-06-04 2018-06-04 A kind of oil electricity is mixed to move multi-rotor unmanned aerial vehicle control system and control method Pending CN108622398A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810565826.0A CN108622398A (en) 2018-06-04 2018-06-04 A kind of oil electricity is mixed to move multi-rotor unmanned aerial vehicle control system and control method

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201810565826.0A CN108622398A (en) 2018-06-04 2018-06-04 A kind of oil electricity is mixed to move multi-rotor unmanned aerial vehicle control system and control method
PCT/CN2018/118953 WO2019233060A1 (en) 2018-06-04 2018-12-03 Control system and control method for oil-electric hybrid multi-rotor unmanned aerial vehicle

Publications (1)

Publication Number Publication Date
CN108622398A true CN108622398A (en) 2018-10-09

Family

ID=63691370

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810565826.0A Pending CN108622398A (en) 2018-06-04 2018-06-04 A kind of oil electricity is mixed to move multi-rotor unmanned aerial vehicle control system and control method

Country Status (2)

Country Link
CN (1) CN108622398A (en)
WO (1) WO2019233060A1 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109533277A (en) * 2018-12-06 2019-03-29 北京工业大学 It is a kind of interactive with clapping aircraft based on gesture identification
CN110070702A (en) * 2019-04-22 2019-07-30 江苏荣耀天翃航空科技有限公司 Unmanned plane unlocking method and device, storage medium and calculating equipment
WO2019233060A1 (en) * 2018-06-04 2019-12-12 广州市华科尔科技股份有限公司 Control system and control method for oil-electric hybrid multi-rotor unmanned aerial vehicle
CN110658835A (en) * 2019-09-19 2020-01-07 中国航空无线电电子研究所 Unmanned aerial vehicle flight control method and system

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104743107B (en) * 2015-04-24 2017-12-15 北京双飞伟业科技有限公司 Multi-rotor aerocraft
CN204606221U (en) * 2015-05-05 2015-09-02 马鞍山市赛迪智能科技有限公司 A kind of many rotor fuel-electrics energy conversion aircraft
CN205488649U (en) * 2016-03-25 2016-08-17 深圳市子轩玩具有限公司 Unmanned aerial vehicle and mainboard module thereof
CN107466281A (en) * 2016-04-15 2017-12-12 深圳市大疆创新科技有限公司 The frame and unmanned vehicle of unmanned vehicle
CN106428544B (en) * 2016-06-21 2018-12-18 辽宁壮龙无人机科技有限公司 fuel power multi-rotor unmanned aerial vehicle flying platform
CN206171808U (en) * 2016-11-24 2017-05-17 傲飞创新科技(深圳)有限公司 Modularization unmanned aerial vehicle
WO2019030832A1 (en) * 2017-08-08 2019-02-14 中国電力株式会社 Unmanned aerial body and power-receiving coil unit
CN107672795A (en) * 2017-09-25 2018-02-09 安徽瓦尔特机械贸易有限公司 A kind of rotor craft
CN108622398A (en) * 2018-06-04 2018-10-09 广州市华科尔科技股份有限公司 A kind of oil electricity is mixed to move multi-rotor unmanned aerial vehicle control system and control method

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019233060A1 (en) * 2018-06-04 2019-12-12 广州市华科尔科技股份有限公司 Control system and control method for oil-electric hybrid multi-rotor unmanned aerial vehicle
CN109533277A (en) * 2018-12-06 2019-03-29 北京工业大学 It is a kind of interactive with clapping aircraft based on gesture identification
CN110070702A (en) * 2019-04-22 2019-07-30 江苏荣耀天翃航空科技有限公司 Unmanned plane unlocking method and device, storage medium and calculating equipment
CN110658835A (en) * 2019-09-19 2020-01-07 中国航空无线电电子研究所 Unmanned aerial vehicle flight control method and system

Also Published As

Publication number Publication date
WO2019233060A1 (en) 2019-12-12

Similar Documents

Publication Publication Date Title
CN108622398A (en) A kind of oil electricity is mixed to move multi-rotor unmanned aerial vehicle control system and control method
US9162771B2 (en) Hybrid power supply architecture for supplying mechanical power to a rotor and managed from the on-board network of a rotorcraft
CN106414238A (en) UAV configurations and battery augmentation for UAV internal combustion engines, and associated systems and methods
CN202071985U (en) Novel plane symmetrical layout type multi-rotor unmanned air vehicle
CN204606221U (en) A kind of many rotor fuel-electrics energy conversion aircraft
CN108438208A (en) Vertical rise and fall(VTOL)Aircraft
CN205602114U (en) Unmanned aerial vehicle with multiple rotor wings
CN106114853B (en) A kind of push-button aircraft
CN105460212A (en) Oil-electric hybrid power multi-rotor aircraft
CN208248488U (en) Modularized micro unmanned plane
CN104494820A (en) Oil-driven four-rotor-wing unmanned aerial vehicle
CN106564604A (en) Fuel-electric hybrid four-rotor power unit and control method thereof
CN208559750U (en) A kind of mixed dynamic multi-rotor unmanned aerial vehicle control system of oil electricity
CN205707320U (en) Manned vehicle
CN208412154U (en) A kind of more battery pack unmanned plane power supply systems
CN108423153A (en) Modularized micro unmanned plane
CN109131841A (en) Method of supplying power to, device, flight control system and the aircraft of aircraft
CN108791906B (en) Power system used in large-scale multi-rotor aircraft capable of accurately adjusting speed
CN108860623A (en) A kind of more battery pack unmanned plane method of supplying power to
CN206797723U (en) Personnel deliver and the jet-propelled variable vector rotor craft of Material Transportation blade tip
CN205239939U (en) Multi -functional aircraft of hybrid
CN202491918U (en) Fixed wing aircraft capable of vertically taking-off and landing
CN206394895U (en) Oil electric mixed dynamic rotor manned aircraft
CN108945394A (en) A kind of long continuation of the journey multi-rotor aerocraft and its control method having fixed aerofoil and horizontal propeller
CN206087302U (en) All -wing aircraft formula ducted fan VTOL unmanned aerial vehicle

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