CN108622398B - Oil-electricity hybrid multi-rotor unmanned aerial vehicle control system and control method - Google Patents
Oil-electricity hybrid multi-rotor unmanned aerial vehicle control system and control method Download PDFInfo
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- CN108622398B CN108622398B CN201810565826.0A CN201810565826A CN108622398B CN 108622398 B CN108622398 B CN 108622398B CN 201810565826 A CN201810565826 A CN 201810565826A CN 108622398 B CN108622398 B CN 108622398B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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Abstract
The control system comprises a machine body and a plurality of rotors uniformly arranged on the side surface of the machine body at intervals, wherein an engine module, a generator module and a cradle head assembly are arranged at the bottom of the machine body, and an oil tank is arranged at the top end of the machine body; the engine module is connected with the generator, the engine module can drive the generator to operate, and the generator and the cradle head assembly are respectively and electrically connected with the control system; the control system comprises a plurality of control mainboards arranged between a first fixed board and a second fixed board, wherein the control mainboards comprise a power supply main board, and a picture transmission main board, an engine and generator control main board, a flight control main board, a remote control main board and a plurality of control interfaces which are arranged parallel to the plane where the power supply main board is arranged are arranged on the power supply main board.
Description
Technical Field
The invention relates to the technical field of oil-electricity hybrid unmanned aerial vehicles, in particular to an oil-electricity hybrid multi-rotor unmanned aerial vehicle control system and a control method.
Background
With the development of high and new technologies, unmanned aerial vehicle technologies are continuously developed in a breakthrough manner, and unmanned aerial vehicles are surely developed rapidly and widely applied. In the unmanned plane field, although a series of advanced technologies such as visual positioning, gao Qingtu transmission and perception barrier are continuously developed, the fundamental problem of cruising is not solved effectively all the time.
The multi-rotor unmanned aerial vehicle balances the gravity of the aircraft by means of the lifting force generated by a plurality of rotors, so that the aircraft can fly, and the stability and the gesture of the aircraft are controlled by changing the rotating speed of each rotor. Therefore, the multi-rotor aircraft can hover and fly at any speed within a certain speed range, basically is a platform flying in the air, and can be additionally provided with devices such as a sensor, a positioning instrument and the like, and even instruments such as a manipulator and the like. The aircraft can be lifted vertically without a runway, and can hover in the air after taking off. The control principle is simple, and four remote sensing operations of the controller correspond to the motions of the aircraft in the front-back, left-right, up-down and yaw directions. In the aspect of autopilots, the control method of the multi-rotor autopilot is simple, and the parameter adjustment of the controller is also simple. The whole operation is simple, and the operator can operate the multi-rotor-wing brushless motor through simple training, in addition, the multi-rotor-wing brushless motor has no movable parts, and the reliability of the multi-rotor-wing brushless motor basically depends on the reliability of the brushless motor, so that the reliability is higher. In contrast, stationary wings and helicopters have movable mechanical connection parts that wear during flight, resulting in reduced reliability. And the multi-rotor wing can hover, the flight range is controlled, and the multi-rotor wing is safer than a fixed wing.
Common unmanned aerial vehicle in the market is with electric unmanned aerial vehicle at first, and secondly oil moves unmanned aerial vehicle. Wherein electric unmanned aerial vehicle: the lithium battery is used for providing power. The device has the advantages of simple structure and easy maintenance; the requirements on the fly are low, and the purchase price is low; meanwhile, the transportation and transfer are convenient and quick because of being portable and flexible. But has the disadvantage that under the limit of lithium battery technology, the load and the duration are smaller, and a large number of batteries and even generators are required to be carried out for flying. Oil moves unmanned aerial vehicle: the fuel oil is used for providing power, and the fuel oil is of a pure oil power type and a fuel oil electric type. Of these two types of unmanned aerial vehicles, the hybrid type of the oil-motor is the most complex. The oil-driven unmanned aerial vehicle has the advantages that the load and the endurance are both larger than those of the electric unmanned aerial vehicle, and the technical content is higher. The defects are obvious, and particularly aiming at the multi-rotor oil-electricity hybrid unmanned aerial vehicle, the related motors are more, and the control program is more complex. It is particularly difficult for novice to read a thick piece of this specification to ascertain how to control the flight, and once operated, errors may result in damage to the drone, causing loss to the user.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle control system with a compact structure, and provides a convenient and simple unmanned aerial vehicle control method which can realize various flight functions through simple operation.
In order to solve the problems, the invention provides a control system of an oil-electricity hybrid multi-rotor unmanned aerial vehicle, which comprises a machine body and a plurality of rotors uniformly arranged on the side surface of the machine body at intervals, wherein an engine module, a generator module and a cradle head assembly are arranged at the bottom of the machine body, and an oil tank is arranged at the top end of the machine body; the engine module is connected with the generator, the engine module can drive the generator to operate, and the generator and the cradle head assembly are respectively and electrically connected with the control system;
the control system comprises a plurality of control mainboards arranged between a first fixed board and a second fixed board, wherein the control mainboards comprise a power supply main board, and a picture transmission main board, an engine and generator control main board, a flight control main board, a remote control main board and a plurality of control interfaces are arranged on the power supply main board and are parallel to the plane where the power supply main board is located.
The oil-electricity hybrid unmanned aerial vehicle is provided with six rotary wings, and the six rotary wings are uniformly arranged on the side face of the vehicle body and are symmetrically arranged with each other, so that the vehicle body is in a self-balancing state under natural conditions. Because engine module and generator can produce stronger vibrations at the during operation, consequently locate engine module and generator the bottom of fuselage, simultaneously, because engine module and generator weight are great, set up the focus that can make whole fuselage in the fuselage bottom and lean on down for the flight is more steady. In order to ensure that the camera has the widest shooting range, the cradle head assembly is arranged at the bottom of the machine body, and in order to keep the shooting stability of the cradle head assembly, the cradle head buffer frame is arranged at the joint of the cradle head and the machine body, so that shooting is more stable, and shaking caused by flying, an engine module and vibration of the engine module is reduced.
The oil tank is arranged at the top end of the machine body, and the engine module and the generator are arranged at the bottom of the machine body, so that the machine body is compact, mutual interference is avoided, the oil tank is kept to be fixed as much as possible and is more stable, and the oil tank, the engine module and the generator are arranged at intervals, so that the volume of the whole device is not influenced, the compact structure is achieved, and meanwhile, the whole machine is more stable in operation. The oil tank is connected with the engine module through an oil way, so that oil in the oil tank can be normally conveyed to the engine module for the operation of the engine module.
The control system is mainly used for controlling the input and output of electric energy, so that the electric energy can be used by different institutions according to configuration.
In order to make the whole structure of the unmanned aerial vehicle more compact and simultaneously minimize the mutual influence of all power mechanisms of the unmanned aerial vehicle, the unmanned aerial vehicle is divided into a plurality of different layers by the unmanned aerial vehicle body. And the first fixing plate and the second fixing plate are separated, so that interference among different mechanisms is reduced, and the whole structure is more stable.
The first fixed plate and the second fixed plate parallel arrangement, wherein first fixed plate sets up in the lower floor, and the second fixed plate sets up on the upper strata to divide into be the lower floor under the first fixed plate, be middle level and the three different layers in second fixed plate upper strata between first fixed plate and the second fixed plate, wherein in order to reduce the focus point of whole device, make unmanned aerial vehicle overall structure more stable, engine module, generator and cloud platform subassembly set up in the lower floor.
In order to enable the structure of the oil-electricity hybrid unmanned aerial vehicle to be more compact and the flight stop of the unmanned aerial vehicle to be more stable, the rotor wing of the unmanned aerial vehicle is arranged on the side face of the first fixing plate, so that the integral gravity center of the unmanned aerial vehicle can be reduced, in addition, the rotor wing is hinged with the side face of the first fixing plate, the rotor wing can be folded, the folding direction is downwards folding, a motor and a propeller are arranged at the far end, and when the unmanned aerial vehicle is not used, the propeller can be detached.
The invention relates to a hybrid unmanned aerial vehicle with oil and electricity, which relates to a plurality of groups of electrical elements, and comprises a plurality of main boards for realizing control of a cradle head, image transmission, control of an engine and a generator, control of self-flight of the unmanned aerial vehicle, control of a power supply, control of a rotor motor, wireless control of a remote controller and the unmanned aerial vehicle, control of the whole power supply and the like. The control main board comprises a power main board, and the power main board is used for providing electric energy for all electric components and parts so that all the components and parts can normally operate.
The power supply main board is provided with a picture transmission main board which is arranged in parallel with the plane of the power supply main board, and the picture transmission main board is used for transmitting pictures shot by the cradle head to a user end; the engine and generator control main board is used for controlling the start and stop and the rotating speed of the engine and the generator; the remote control main board is used for controlling the unmanned aerial vehicle to fly through a remote control instruction of a user, the control interface is arranged on the side face of the power supply main board, and the direction of the interface is parallel to the plane where the power supply main board is located. The flight control main board is used for stabilizing the flight attitude of the unmanned aerial vehicle and controlling the unmanned aerial vehicle to fly autonomously or semi-autonomously; wherein each mainboard that sets up on the power mainboard is connected in power mainboard electricity respectively, realizes unmanned aerial vehicle's various operations.
The power supply main board is further provided with a plurality of control interfaces, the control interfaces are arranged on the side face of the power supply main board, the directions of the interfaces are parallel to the plane where the power supply main board is located, the unmanned aerial vehicle can be externally connected with other elements or various other functions are realized through the arrangement of the control interfaces, the access of external functional wires can be facilitated through the parallel arrangement, and the winding and folding of the wires are avoided.
Therefore, the control module of each driving function of the unmanned aerial vehicle is compactly arranged on the power supply module, so that the structure is more compact, and the occupied space of the control system is reduced. And the reasonable setting of interface direction can reduce occupation space and volume to a certain extent, makes the structure more reasonable, and the overall arrangement of the circuit and control system's maintenance and maintenance of being convenient for.
Further, the power supply main board is in a triangular hexagon shape and comprises six sides, namely a first side, a second side, a third side, a fourth side, a fifth side and a sixth side, wherein the first side is close to the front side of the machine body, the fourth side is close to the rear side of the machine body, and the image transmission main board is arranged on the first side; the engine and generator control main board is arranged on a second side edge adjacent to the first side edge; the flight control main board is arranged in the middle of the power supply main board in parallel; the remote control main board is arranged on a sixth side edge adjacent to the first side edge.
The main board of picture is mainly used for the transmission of cloud platform camera image, main board lower part of picture still is equipped with expands power port and other interfaces, can be used for expanding other power, increases navigation time, and other interfaces can be the USB interface, can be used for picture to pass or data transmission. The picture transmission main board is square, one end is fixed in the power main board edge, and the other end is in the suspension state for other mainboard devices are installed to the sufficient space on the power main board.
The flight control main board is also rectangular, one end of the rectangular main board faces the first side edge, and the other end of the rectangular main board faces the fourth side edge, so that other main boards and interfaces are arranged on the power supply main board in enough space.
Because the oil-electricity hybrid unmanned aerial vehicle is provided with more electrical components and the control system is complex, the power supply main board is arranged into a polygonal shape, so that the power supply main board can be connected with more electrical components, each main board has a compact structure, the occupied space is minimum, and the electrical components arranged on the main boards have a compact structure, so that the overall structure is more stable, and the function of mutual support is realized.
Further, the control interface comprises a main power supply interface for opening and closing a main power supply and playing a role in protection, an electric regulating board interface and a battery interface for battery power supply charging, and the orientations of the control interfaces are parallel to the plane of a power supply main board where the control interfaces are located.
The control interface comprises a plurality of types of interfaces to realize multifunctional control, the main power interface can be electrically connected with the control main board, and the interfaces are used for realizing the functions when the power supply of the whole machine needs to be turned off or the power supply of the whole machine needs to be turned off in an emergency.
The electric adjusting plate interface is also electrically connected with the control main board, the electric adjusting plate interface is connected with the rotor motor, and the oil-electricity hybrid unmanned aerial vehicle is provided with six rotors, and each rotor is correspondingly provided with one electric adjusting plate interface, so that six electric adjusting plate interfaces are distributed on the side face of a power source host, and the control of each rotor is realized.
In order to facilitate connection of lines and external wiring and maintenance, the interface direction of the control interface provided by the invention is parallel to the plane of the power supply main board.
Therefore, the invention is provided with a plurality of interfaces, can realize a plurality of functions of the unmanned aerial vehicle, and can realize some expansion functions. And interface direction and power mainboard parallel arrangement can reduce the winding of electric wire, and also be convenient for overhaul when the interface goes wrong.
Furthermore, the control interface also comprises an expansion power port and other interfaces which are arranged on the lower side of the image transmission main board.
Further, the number of the electric adjusting plate interfaces is six, and the electric adjusting plate interfaces are arranged on the first side edge, the third side edge and the fifth side edge in pairs.
The purpose that the electric regulating board interface set up in pairs is in order that electric regulating board interface can concentrate on three side relatively, and the other interfaces of three side setting of being convenient for in addition, and electric regulating board interface concentrate on and set up also be convenient for daily maintenance and overhaul.
Further, the total power interface is arranged on the sixth side edge of the power main board and extends outwards relative to the sixth side edge; the battery interface is arranged on the fourth side edge and extends outwards relative to the fourth side edge, so that the fourth side edge and the sixth side edge form a triangular structure.
The main power interface is mainly used for power-off processing of the unmanned aerial vehicle emergency flight stop. In order to make the whole structure of the unmanned aerial vehicle control system more compact, the power supply main board is arranged in a hexagon, and the total power supply interface has a certain length, so that the total power supply interface extends outwards relative to the sixth side edge, and other components are arranged at enough positions on the power supply main board. And the battery interface is arranged on the fourth side edge and extends outwards, and forms a triangular structure with the fourth side edge, so that the whole structure is more compact and stable.
Further, the power supply main board is further provided with a liquid level detection main board for detecting oil quantity, and the liquid level detection main board is arranged on the fourth side edge.
Because the invention aims at the oil-electricity hybrid unmanned aerial vehicle, a liquid level detection main board is required to be set for detecting the oil quantity of the residual unmanned aerial vehicle in real time. The liquid level detection main board occupies a larger space as well, so that the liquid level detection main board is overhead arranged on the electric adjusting board interface of the side edge so as to save space, and the structure is more compact, and is convenient to overhaul and maintain in the later period.
Further, the rotor is articulated with the side of first fixed plate to can realize the folding of rotor, the rotor is close to fuselage one end and is the proximal end, keeps away from fuselage one end and is the distal end, the distal end of rotor is equipped with motor and screw, control system and screw are connected to the motor electricity, and can drive the screw rotation.
In order to enable the structure of the oil-electricity hybrid unmanned aerial vehicle to be more compact and the flight stop of the unmanned aerial vehicle to be more stable, the rotor wing of the unmanned aerial vehicle is arranged on the side face of the first fixing plate, so that the integral gravity center of the unmanned aerial vehicle can be reduced, in addition, the rotor wing is hinged with the side face of the first fixing plate, the rotor wing can be folded, the folding direction is downwards folding, a motor and a propeller are arranged at the far end, and when the unmanned aerial vehicle is not used, the propeller can be detached.
Further, the control method of the oil-electricity hybrid multi-rotor unmanned aerial vehicle utilizes the unmanned aerial vehicle control system, and specifically comprises the following steps:
starting the engine:
a1: connecting an engine power supply to enable the engine to be in an idle state;
a2: starting the engine by using an engine starter, and removing the starter after striking fire;
a3: the remote control end dials the engine control switch to an operating position;
a4: stably operating the engine for about 1min to preheat the engine;
in step A1, the power supply is a battery disposed on the unmanned aerial vehicle, and in order to not increase the weight of the unmanned aerial vehicle, the battery is mainly used for starting the unmanned aerial vehicle, so that the volume and the weight are smaller. The engine can be started through the control of starting by the remote control end, and the engine can be started by rotating the control knob of the remote controller to the running position.
In order to ensure stable operation of the engine, the engine needs to be stably preheated for 1min and then subjected to subsequent operation.
Motor locking control:
b1: the unmanned aerial vehicle lands;
b2: pushing the throttle push rod in the remote controller to the lowest position and keeping the throttle push rod at the lowest position for 5s; or the left rocker and the right rocker are simultaneously arranged at the lowest position and simultaneously are outwards dialed and kept until the indicator lights are extinguished, and the motor is locked;
After the unmanned aerial vehicle lands, the motor stops working and is determined, so that the unmanned aerial vehicle can be prevented from being started by misoperation, and the unmanned aerial vehicle is prevented from being out of control. Therefore, after the unmanned aerial vehicle lands, the motor is locked through the remote control end.
The remote controller is provided with an accelerator push rod, the accelerator push rod is pushed to the lowest position, the power of the motor is adjusted to the lowest power, the rotating speed of the motor is the lowest, and after a period of time is reserved, the motor stops working, so that locking is realized.
The remote controller of the unmanned aerial vehicle is provided with the left push rod and the right push rod, so that different control functions can be realized, the left rocker and the right rocker are simultaneously arranged at the lowest position, and then are simultaneously pulled outwards and kept, and finally the locking of the motor is realized.
Since the motor is locked to stop the motor completely, when the motor is controlled to be locked, a certain operation step needs to be maintained to avoid misoperation, so that the operation is more ensured.
Unlocking control of the battery:
c1: the left rocker and the right rocker are simultaneously arranged at the lowest position and simultaneously pulled out;
c2: maintaining the action of the step C1 until the indicator lights are turned on;
and C3: when the motor starts to rotate, the rocker is loosened to realize unlocking;
the unlocking of the motor is a process of enabling the motor to return to the working state from the stopping state, and likewise, a plurality of steps are needed to achieve unlocking of the motor in order to avoid misoperation, so that the unlocking of the motor is achieved by utilizing control of a plurality of steps of a remote controller rocker.
The super headless flying mode control, in the super headless flying mode, the flying direction of the unmanned aerial vehicle is only related to the position of the GPS signal which is initially received, and is irrelevant to the aircraft nose direction of the aircraft, and the method specifically comprises the following steps:
d1: dialing a remote control end switch key to a locking position;
d2: entering a headless flying mode by pressing a confirmation key for a short time;
under the control of the super headless flight mode, the flight direction of the unmanned aerial vehicle is not influenced by the heading direction of the unmanned aerial vehicle, so that the unmanned aerial vehicle can fly in all directions. In the step D1, the remote control end switch key is firstly dialed to the locking position to realize the emission of the instruction, and then the mode is confirmed through the confirmation key, so that the misoperation can be avoided.
GPS mode control:
e1: dialing the remote control switch to a 'GPS' position;
e2: short pressing of a confirmation key causes the unmanned aerial vehicle to enter a fixed point and/or fixed height mode;
in the GPS mode, the unmanned aerial vehicle can achieve fixed-point and fixed-height related operations.
One-key take-off mode:
f1: dialing the remote control switch to a take-off key position;
f2: short pressing of the confirmation key realizes automatic take-off; in order to realize the efficient operation of the unmanned aerial vehicle, the unmanned aerial vehicle is provided with a one-key take-off mode, and the control is realized at a remote control end, so that the operation is simple and the user can easily grasp the unmanned aerial vehicle.
One-key drop mode:
g1: dialing the remote control switch to a landing position;
and G2: the unmanned aerial vehicle automatically descends by pressing a confirmation key for a short time;
and the one-key landing mode is also set, and the operation is convenient through the control of the remote control end.
One-key return mode:
h1: pressing the return key for 3-5 s at the remote control end;
h2: the unmanned aerial vehicle automatically returns to the home;
the one-key return mode is used for realizing automatic return of the unmanned aerial vehicle under the condition that the return route does not need to be manually controlled. Or under the condition that the unmanned aerial vehicle is insufficient in power, the unmanned aerial vehicle can automatically return to the home through preset settings, such as setting when the power is lower than 30%, and under the condition, the unmanned aerial vehicle can be controlled without a remote control terminal. In another case, the user controls the automatic return of the unmanned aerial vehicle by using the remote control terminal according to the flight condition and the requirement.
Therefore, no matter what way, the unmanned aerial vehicle can automatically return, the operation is simple, and the user can easily learn and master.
Ending the flight control:
j1: remotely controlled landing or one-key return or one-key landing;
j2: the engine control switch is moved to an idle speed position to run for 30s;
j3: disconnecting the power supply of the engine;
j4: disconnecting the power supply of the unmanned aerial vehicle;
J5: and closing the power supply of the remote controller.
After the unmanned aerial vehicle finishes the flight task, except that can automatic navigation, or a key operation that falls, after unmanned aerial vehicle falls, need to end unmanned aerial vehicle's flight. It is therefore necessary to control the switching off of the electrical components of the unmanned aerial vehicle in steps. After the engine is completely operated, if the engine is directly stopped, the engine is worn, so that the engine is firstly idling for a period of time, then the engine power supply is turned off, then the unmanned aerial vehicle power supply is turned off, the unmanned aerial vehicle is turned off, finally, the remote controller power supply is turned off, the electric elements are turned off gradually, the components can be protected better, and the service life is prolonged.
Further, the control switch of the engine comprises a left-hand throttle and a right-hand throttle which are arranged at the remote control end, and the closing, idling and running of the engine are realized through the mutual coordination of the two throttles;
in the super headless flying mode, the unmanned aerial vehicle can fly to the initial position by pressing a backward rocker of a left-hand throttle or a right-hand throttle;
in the one-key return mode,
when the horizontal distance between the unmanned aerial vehicle and the return point is more than 30m,
when the flying height of the unmanned aerial vehicle is more than 25m, the unmanned aerial vehicle keeps the original flying height and automatically returns to the position above the required return point and then vertically drops; when the flight height of the unmanned aerial vehicle is less than 25m, the unmanned aerial vehicle vertically climbs to 25m, automatically returns to the position above a required return point and vertically drops;
When the horizontal distance between the unmanned aerial vehicle and the return point is less than 30m, the unmanned aerial vehicle keeps the original flying height, automatically returns to the position above the required return point and then vertically drops;
in the one-key take-off mode, the default take-off height is 3-4 m.
3-4 m, and is convenient for a user to better adjust the flight state of the unmanned aerial vehicle.
The invention has the beneficial effects that:
(1) According to the invention, the control modules of the driving functions of the unmanned aerial vehicle are compactly arranged on the power supply module, so that the structure is more compact, and the occupied space of the control system is reduced. And the reasonable setting of interface direction can reduce occupation space and volume to a certain extent, makes the structure more reasonable, and the overall arrangement of the circuit and control system's maintenance and maintenance of being convenient for.
(2) The invention is provided with a plurality of interfaces, can realize a plurality of functions of the unmanned aerial vehicle, and can realize some expansion functions. And interface direction and power mainboard parallel arrangement can reduce the winding of electric wire, and also be convenient for overhaul when the interface goes wrong.
(3) The battery interface is arranged on the fourth side edge, extends outwards as well, and forms a triangular structure with the fourth side edge, so that the whole structure is more compact and stable.
(4) The unmanned aerial vehicle control system is compact in structure, small in occupied space and convenient to overhaul and maintain in the later period due to the arrangement of the interface direction. And the unmanned aerial vehicle control method is simple to operate, and a user can realize multifunctional control of the unmanned aerial vehicle by using a remote control terminal.
Drawings
Fig. 1 is a perspective view of a drone of the present invention.
Fig. 2 is a schematic illustration of the unmanned aerial vehicle of the present invention with the outer casing removed.
Fig. 3 is a schematic illustration of the unmanned aerial vehicle of the present invention with the outer shell and the oil tank removed.
Fig. 4 is a schematic diagram of a control motherboard.
Fig. 5 is a schematic diagram of a power motherboard.
Fig. 6 is a schematic diagram of a control motherboard.
FIG. 7 is a schematic diagram of an engine starting method.
Fig. 8 is a schematic diagram of a motor locking method.
Fig. 9 is a schematic diagram of a motor unlocking method.
Fig. 10 is a schematic diagram of the ending flight method.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention become more apparent, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the invention. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Example 1
The compact multi-rotor-wing oil-electricity hybrid unmanned aerial vehicle is shown in fig. 1, and comprises a machine body 1 and a plurality of rotors 2 which are uniformly arranged on the side surface of the machine body at intervals, wherein an engine module 3, a generator module 4 and a holder module 5 are arranged at the bottom of the machine body 1, and an oil tank 6 is arranged at the top end of the machine body 1 as shown in fig. 2; a control system (not shown in the figure) is arranged in the machine body 1, the machine body 1 comprises a first fixing plate 11 and a second fixing plate 12, the engine module 3, the generator module 4 and the cradle head assembly 5 are arranged at the lower end of the first fixing plate 11, the engine module 3 is connected with the generator module 4, the engine module 3 can drive the generator module 4 to operate, and the generator module 4 and the cradle head assembly 5 are respectively and electrically connected with the control system;
as shown in fig. 2, the rotor 2 is hinged to the side of the first fixing plate 11, and can fold the rotor 2, one end of the rotor 2 close to the body 1 is a proximal end, one end far away from the body 1 is a distal end, the distal end of the rotor 2 is provided with a motor 22 and a propeller 21, and the motor is electrically connected with the control system and the propeller 21, and can drive the propeller 21 to rotate.
The oil-electricity hybrid unmanned aerial vehicle is provided with six rotary wings 2, and the six rotary wings 2 are uniformly arranged on the side surface of the body 1 and are symmetrically arranged with each other, so that the body 1 is in a self-balancing state under natural conditions. Because the engine module 3 and the generator module 4 can produce stronger vibrations when working, the bottom of the fuselage 1 is located with the engine module 3 and the generator module 4, simultaneously, because the weight of the engine module 3 and the generator module 4 is great, the gravity center of the whole fuselage 1 can be made to lean on in the bottom of the fuselage 1 to make the flight more steady. In order to enable the camera to have the widest shooting range, the cradle head assembly 5 is arranged at the bottom of the machine body 1, and in order to keep the shooting stability of the cradle head assembly 5, the cradle head buffer frame is arranged at the joint of the cradle head and the machine body 1, so that shooting is more stable, and shaking caused by flying and vibration of the engine module 3 and the engine module 3 is reduced.
The oil tank 6 is arranged at the top end of the machine body 1, and the engine module 3 and the generator module 4 are arranged at the bottom of the machine body 1, so that the machine body 1 is compact, mutual interference is avoided, the oil tank 6 is kept to be fixed as much as possible and is more stable, and the oil tank 6, the engine module 3 and the generator module 4 are arranged at intervals, so that the volume of the whole device is not influenced, the structure is compact, and meanwhile, the whole machine is more stable in operation. The oil tank 6 is connected with the engine module 3 through an oil path (not shown in the figure), so that the oil in the oil tank 6 can be normally conveyed to the engine module 3 for the operation of the engine module 3.
In order to make the whole structure of the unmanned aerial vehicle more compact and simultaneously minimize the mutual influence of all power mechanisms of the unmanned aerial vehicle, the unmanned aerial vehicle is divided into a plurality of different layers by the unmanned aerial vehicle body 1. And the first fixing plate 11 and the second fixing plate 12 are separated, so that interference among different mechanisms is reduced, and the whole structure is more stable.
The first fixed plate 11 and the second fixed plate 12 are arranged in parallel, wherein the first fixed plate 11 is arranged on the lower layer, the second fixed plate 12 is arranged on the upper layer, and therefore the lower layer of the first fixed plate 11, the middle layer between the first fixed plate 11 and the second fixed plate 12 and the upper layer of the second fixed plate 12 are respectively arranged on three different layers, the whole structure of the unmanned aerial vehicle is enabled to be more stable in order to reduce the gravity center of the whole device, and the engine module 3, the generator module 4 and the holder assembly 5 are arranged on the lower layer.
In order to enable the structure of the oil-electricity hybrid unmanned aerial vehicle to be more compact and the flight stop of the unmanned aerial vehicle to be more stable, the unmanned aerial vehicle rotor wing 2 is arranged on the side face of the first fixing plate 11, so that the integral gravity center of the unmanned aerial vehicle can be reduced, in addition, the rotor wing 2 is hinged with the side face of the first fixing plate 11, the rotor wing 2 can be folded, the folding direction is downwards, a motor and a propeller 21 are arranged at the far end, and when the unmanned aerial vehicle is not used, the propeller 21 can be detached.
As shown in fig. 3 to 4, the control system includes a plurality of control boards 7 disposed between the first fixing board 11 and the second fixing board 12, the control boards 7 include a power board 71, the power board 71 is provided with a graphic transmission board 72, an engine and generator control board 73, a flight control board 74, a remote control board 75 and a plurality of control interfaces 100, which are disposed parallel to a plane where the power board 71 is located, the control interfaces 100 are disposed on a side surface of the power board 71, and an interface direction is parallel to the plane where the power board 71 is located.
The control system is mainly used for controlling the input and output of electric energy, so that the electric energy can be used by different institutions according to configuration. The invention relates to a hybrid unmanned aerial vehicle with oil and electricity, which relates to a plurality of groups of electrical elements, and comprises a plurality of main boards for realizing control of a cradle head, image transmission, control of an engine and a generator, control of self-flight of the unmanned aerial vehicle, control of a power supply, control of a rotor motor, wireless control of a remote controller and the unmanned aerial vehicle, control of the whole power supply and the like. The control main board 7 includes a power main board 71, and the power main board 71 is used for providing electric energy for each electric component, so that each component operates normally.
The power supply main board 71 is provided with a picture transmission main board 72 which is arranged in parallel with the plane where the power supply main board 71 is located, and the picture transmission main board 72 is used for transmitting pictures shot by the cradle head to a user end; the engine and generator control main board 73 is used for controlling the start and stop and the rotating speed of the engine and the generator; the remote control main board 75 is used for controlling the unmanned aerial vehicle to fly through a remote control instruction of a user, the control interface 100 is arranged on the side surface of the power supply main board 71, and the interface direction is parallel to the plane where the power supply main board 71 is located. The flight control main board 74 is used for stabilizing the flight attitude of the unmanned aerial vehicle and controlling the unmanned aerial vehicle to fly autonomously or semi-autonomously; wherein, each main board arranged on the power main board 71 is electrically connected with the power main board 71 respectively, so as to realize various operations of the unmanned aerial vehicle.
The power supply main board 71 is further provided with a plurality of control interfaces 100, the control interfaces 100 are arranged on the side face of the power supply main board 71, the interface direction is parallel to the plane where the power supply main board 71 is located, and the arrangement of the control interfaces 100 can enable the unmanned aerial vehicle to achieve external connection with other elements or achieve various other functions, can facilitate access of external connection function wires through parallel arrangement, and avoids winding and folding of the wires.
Therefore, the control modules of the driving functions of the unmanned aerial vehicle are compactly arranged on the power supply main board 71, so that the structure is more compact, and the occupied space of a control system is reduced. And the reasonable setting of interface direction can reduce occupation space and volume to a certain extent, makes the structure more reasonable, and the overall arrangement of the circuit and control system's maintenance and maintenance of being convenient for.
Further, as shown in fig. 5, the power motherboard 71 has a triangular hexagon shape, and includes six sides, namely a first side 10, a second side 20, a third side 30, a fourth side 40, a fifth side 50 and a sixth side 60, wherein the first side 10 is close to the front side of the main body 1, the fourth side 40 is close to the rear side of the main body 1, and the graphics motherboard 72 is disposed on the first side 10; the engine and generator control motherboard 73 is disposed on the second side 20 adjacent to the first side 10; the flight control main board 74 is arranged in parallel in the middle of the power main board 71; the remote control main board 75 is disposed on the sixth side 60 adjacent to the first side 10.
As shown in fig. 4 to 5, the image transmission main board 72 is mainly used for transmitting images of a pan-tilt camera, and an expansion power port and other interfaces are further arranged at the lower part of the image transmission main board 72, so that the image transmission main board can be used for expanding other power supplies and increasing navigation time, and the other interfaces can be USB interfaces and can be used for image transmission or data transmission. The image transmission main board 72 is square, one end of the image transmission main board is fixed on the edge of the power main board 71, and the other end of the image transmission main board is in a hanging state, so that enough space is reserved on the power main board 71 for installing other main board devices.
The flight control board 74 is also rectangular, with one end facing the first side 10 and the other end facing the fourth side 40, so that other boards and interfaces are provided on the power board 71 in sufficient space.
Because the oil-electricity hybrid unmanned aerial vehicle is provided with more electrical components and a control system is complex, the power supply main board 71 is arranged into a polygonal shape, so that the power supply main board 71 can be connected with more electrical components, each main board has a compact structure, the occupied space is minimum, and the electrical components arranged on the main boards have a compact structure, so that the overall structure is more stable, and the function of mutual support is realized.
Further, as shown in fig. 5 to 6, the control interface 100 includes a main power interface 110 for switching on and off a main power supply, a main power interface 110 for protecting, an electric regulator interface 120, and a battery interface 130 for charging a battery, where the control interfaces 100 are all oriented parallel to a plane of the power motherboard 71 where the control interfaces 100 are located.
The control interface 100 includes multiple types of interfaces to realize multifunctional control, and the main power interface 110 may be electrically connected to the control motherboard 7, and the above functions are realized by using the interfaces when emergency power off or complete power off is required.
The electric adjusting plate interface 120 is also electrically connected with the power supply main board, the electric adjusting plate interface 120 is connected with a rotor motor, and the oil-electricity hybrid unmanned aerial vehicle is provided with six rotors, each rotor is correspondingly provided with one electric adjusting plate interface 120, so that six electric adjusting plate interfaces 120 are distributed on the side surface of the power supply host, and the control of each rotor is realized.
In order to facilitate connection of the lines and facilitate external wiring and maintenance, the control interface 100 provided in the present invention has an interface direction parallel to a plane on which the power motherboard 71 is located.
Therefore, the invention is provided with a plurality of interfaces, can realize a plurality of functions of the unmanned aerial vehicle, and can realize some expansion functions. And the interface direction and the power mainboard 71 parallel arrangement can reduce the winding of electric wire, and also be convenient for overhaul when the interface goes wrong.
Further, as shown in fig. 6, the control interface 100 further includes an expansion power interface 140 and other interfaces disposed on the lower side of the graphics motherboard 72.
Further, as shown in fig. 6, the number of the electrical panel interfaces 120 is six, and the electrical panel interfaces are disposed in pairs on the first side 10, the third side 30 and the fifth side 50.
The purpose of the paired arrangement of the electric tuning board interfaces 120 is to relatively concentrate the electric tuning board interfaces 120 on three sides, so that other interfaces are arranged on the other three sides, and the centralized arrangement of the electric tuning board interfaces 120 is also convenient for daily maintenance and overhaul.
Further, as shown in fig. 5, the total power interface 110 is disposed on the sixth side 60 of the power motherboard 71 and extends outwards relative to the sixth side 60; the battery interface 130 is disposed on the fourth side 40 and extends outwardly relative to the fourth side 40, such that the fourth side 40 and the sixth side 60 form a triangle structure.
The main power interface 110 is mainly used for power-off processing of the unmanned aerial vehicle emergency flight stop. In order to make the whole structure of the unmanned aerial vehicle control system more compact, the power main board 71 is arranged in a hexagon shape, and the total power interface 110 has a certain length, so that the total power interface 110 extends outwards relative to the sixth side 60, and enough positions on the power main board 71 are provided for installing other components. Also, the battery interface 130 is disposed on the fourth side 40, and also extends outwards, so as to form a triangle structure with the fourth side 40, so that the overall structure is more compact and stable.
Further, as shown in fig. 6, the power main board 71 is further provided with a liquid level detecting main board 76 for detecting an oil amount, and the liquid level detecting main board 76 is disposed on the fourth side 40.
Since the present invention is directed to a hybrid unmanned aerial vehicle, a liquid level detection main board 76 needs to be set for detecting the amount of oil in the remaining unmanned aerial vehicle in real time. The liquid level detection main board 76 occupies a larger space as well, so that in order to save space, the liquid level detection main board 76 is arranged on the electric adjustment board interface 120 on the side in an overhead manner, so that the structure is more compact, and the maintenance and the later maintenance are convenient.
Example 2
The invention also provides a control method of the oil-electricity hybrid multi-rotor unmanned aerial vehicle, which specifically comprises the following steps:
the engine is started, as shown in fig. 7, including the steps of:
a1: connecting an engine power supply to enable the engine to be in an idle state;
a2: starting the engine by using an engine starter, and removing the starter after striking fire;
a3: the remote control end dials the engine control switch to an operating position;
a4: stably operating the engine for about 1min to preheat the engine;
in step A1, the power supply is a battery disposed on the unmanned aerial vehicle, and in order to not increase the weight of the unmanned aerial vehicle, the battery is mainly used for starting the unmanned aerial vehicle, so that the volume and the weight are smaller. The engine can be started through the control of starting by the remote control end, and the engine can be started by rotating the control knob of the remote controller to the running position.
In order to ensure stable operation of the engine, the engine needs to be stably preheated for 1min and then subjected to subsequent operation.
Motor lock control, as shown in fig. 8, includes the steps of:
b1: the unmanned aerial vehicle lands;
b2: pushing the throttle push rod in the remote controller to the lowest position and keeping the throttle push rod at the lowest position for 5s; or the left rocker and the right rocker are simultaneously arranged at the lowest position and simultaneously are outwards dialed and kept until the indicator lights are extinguished, and the motor is locked;
After the unmanned aerial vehicle lands, the motor stops working and is determined, so that the unmanned aerial vehicle can be prevented from being started by misoperation, and the unmanned aerial vehicle is prevented from being out of control. Therefore, after the unmanned aerial vehicle lands, the motor is locked through the remote control end.
The remote controller is provided with an accelerator push rod, the accelerator push rod is pushed to the lowest position, the power of the motor is adjusted to the lowest power, the rotating speed of the motor is the lowest, and after a period of time is reserved, the motor stops working, so that locking is realized.
The remote controller of the unmanned aerial vehicle is provided with the left push rod and the right push rod, so that different control functions can be realized, the left rocker and the right rocker are simultaneously arranged at the lowest position, and then are simultaneously pulled outwards and kept, and finally the locking of the motor is realized.
Since the motor is locked to stop the motor completely, when the motor is controlled to be locked, a certain operation step needs to be maintained to avoid misoperation, so that the operation is more ensured.
As shown in fig. 9, the unlocking control of the battery includes the steps of:
c1: the left rocker and the right rocker are simultaneously arranged at the lowest position and simultaneously pulled out;
c2: maintaining the action of the step C1 until the indicator lights are turned on;
and C3: when the motor starts to rotate, the rocker is loosened to realize unlocking;
The unlocking of the motor is a process of enabling the motor to return to the working state from the stopping state, and likewise, a plurality of steps are needed to achieve unlocking of the motor in order to avoid misoperation, so that the unlocking of the motor is achieved by utilizing control of a plurality of steps of a remote controller rocker.
The super headless flying mode control, in the super headless flying mode, the flying direction of the unmanned aerial vehicle is only related to the position of the GPS signal which is initially received, and is irrelevant to the aircraft nose direction of the aircraft, and the method specifically comprises the following steps:
d1: dialing a remote control end switch key to a locking position;
d2: entering a headless flying mode by pressing a confirmation key for a short time;
under the control of the super headless flight mode, the flight direction of the unmanned aerial vehicle is not influenced by the heading direction of the unmanned aerial vehicle, so that the unmanned aerial vehicle can fly in all directions. In the step D1, the remote control end switch key is firstly dialed to the locking position to realize the emission of the instruction, and then the mode is confirmed through the confirmation key, so that the misoperation can be avoided.
GPS mode control:
e1: dialing the remote control switch to a 'GPS' position;
e2: short pressing of a confirmation key causes the unmanned aerial vehicle to enter a fixed point and/or fixed height mode;
in the GPS mode, the unmanned aerial vehicle can achieve fixed-point and fixed-height related operations.
One-key take-off mode:
f1: dialing the remote control switch to a take-off key position;
f2: short pressing of the confirmation key realizes automatic take-off;
in order to realize the efficient operation of the unmanned aerial vehicle, the unmanned aerial vehicle is provided with a one-key take-off mode, and the control is realized at a remote control end, so that the operation is simple and the user can easily grasp the unmanned aerial vehicle.
One-key drop mode:
g1: dialing the remote control switch to a landing position;
and G2: the unmanned aerial vehicle automatically descends by pressing a confirmation key for a short time;
and the one-key landing mode is also set, and the operation is convenient through the control of the remote control end.
One-key return mode:
h1: pressing the return key for 3-5 s at the remote control end;
h2: the unmanned aerial vehicle automatically returns to the home;
the one-key return mode is used for realizing automatic return of the unmanned aerial vehicle under the condition that the return route does not need to be manually controlled. Or under the condition that the unmanned aerial vehicle is insufficient in power, the unmanned aerial vehicle can automatically return to the home through preset settings, such as setting when the power is lower than 30%, and under the condition, the unmanned aerial vehicle can be controlled without a remote control terminal. In another case, the user controls the automatic return of the unmanned aerial vehicle by using the remote control terminal according to the flight condition and the requirement.
Therefore, no matter what way, the unmanned aerial vehicle can automatically return, the operation is simple, and the user can easily learn and master.
As shown in fig. 10, the method further includes ending the flight control:
j1: remotely controlled landing or one-key return or one-key landing;
j2: the engine control switch is moved to an idle speed position to run for 30s;
j3: disconnecting the power supply of the engine;
j4: disconnecting the power supply of the unmanned aerial vehicle;
j5: and closing the power supply of the remote controller.
After the unmanned aerial vehicle finishes the flight task, except that can automatic navigation, or a key operation that falls, after unmanned aerial vehicle falls, need to end unmanned aerial vehicle's flight. It is therefore necessary to control the switching off of the electrical components of the unmanned aerial vehicle in steps. After the engine is completely operated, if the engine is directly stopped, the engine is worn, so that the engine is firstly idling for a period of time, then the engine power supply is turned off, then the unmanned aerial vehicle power supply is turned off, the unmanned aerial vehicle is turned off, finally, the remote controller power supply is turned off, the electric elements are turned off gradually, the components can be protected better, and the service life is prolonged.
Further, the control switch of the engine comprises a left-hand throttle and a right-hand throttle which are arranged at the remote control end, and the closing, idling and running of the engine are realized through the mutual coordination of the two throttles;
in the super headless flying mode, the unmanned aerial vehicle can fly to the initial position by pressing a backward rocker of a left-hand throttle or a right-hand throttle;
In the one-key return mode,
when the horizontal distance between the unmanned aerial vehicle and the return point is more than 30m,
when the flying height of the unmanned aerial vehicle is more than 25m, the unmanned aerial vehicle keeps the original flying height and automatically returns to the position above the required return point and then vertically drops; when the flight height of the unmanned aerial vehicle is less than 25m, the unmanned aerial vehicle vertically climbs to 25m, automatically returns to the position above a required return point and vertically drops;
when the horizontal distance between the unmanned aerial vehicle and the return point is less than 30m, the unmanned aerial vehicle keeps the original flying height, automatically returns to the position above the required return point and then vertically drops;
in the one-key take-off mode, the default take-off height is 3-4 m.
3-4 m, and is convenient for a user to better adjust the flight state of the unmanned aerial vehicle.
The above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention. Those skilled in the art can make other changes and modifications within the spirit of the invention, which are intended to be within the scope of the invention, without departing from the technical spirit of the invention. Such variations, which are in accordance with the spirit of the invention, are intended to be included within the scope of the invention as claimed.
Claims (9)
1. The oil-electricity hybrid multi-rotor unmanned aerial vehicle control system comprises a machine body and a plurality of rotors uniformly arranged on the side surface of the machine body at intervals, wherein the machine body is provided with a shell, the bottom of the machine body is provided with an engine module, a generator module and a cradle head assembly, and the top end of the machine body is provided with an oil tank; the engine module is connected with the generator, the engine module can drive the generator to operate, and the generator and the cradle head assembly are respectively and electrically connected with the control system;
the control system is characterized by comprising a plurality of control mainboards arranged between a first fixed board and a second fixed board, wherein the control mainboards comprise a power supply mainboard, and the power supply mainboard is provided with a picture transmission mainboard, an engine and generator control mainboard, a flight control mainboard, a remote control mainboard and a plurality of control interfaces which are arranged in parallel with the plane of the power supply mainboard, the plurality of control interfaces are arranged on the side surface of the power supply mainboard, and the direction of the interfaces is parallel to the plane of the power supply mainboard;
the power supply main board is in a triangle-shaped hexagon and comprises six side edges, namely a first side edge, a second side edge, a third side edge, a fourth side edge, a fifth side edge and a sixth side edge, wherein the first side edge is close to the front side of the machine body, the fourth side edge is close to the rear side of the machine body,
The image transmission main board is arranged on the first side edge;
the engine and generator control main board is arranged on a second side edge adjacent to the first side edge;
the flight control main board is arranged in the middle of the power supply main board in parallel;
the remote control main board is arranged on a sixth side edge adjacent to the first side edge.
2. The unmanned aerial vehicle control system of claim 1, wherein the plurality of control interfaces comprise a main power interface for switching on and off, a main power interface for protection, an electrically tunable panel interface, and a battery interface for battery-powered charging, and wherein the plurality of control interfaces are oriented parallel to a plane of a power motherboard in which the plurality of control interfaces are located.
3. The unmanned aerial vehicle control system of claim 2, wherein the plurality of control interfaces further comprises an extended power port and other interfaces disposed on the underside of the graphics motherboard.
4. The unmanned aerial vehicle control system of claim 2, wherein the electrically tunable panel interfaces are six and are paired on the first side, the third side, and the fifth side.
5. The unmanned aerial vehicle control system of claim 2, wherein the total power interface is disposed on a sixth side of the power motherboard and extends outwardly relative to the sixth side; the battery interface is arranged on the fourth side edge and extends outwards relative to the fourth side edge, so that the fourth side edge and the sixth side edge form a triangular structure.
6. The unmanned aerial vehicle control system of claim 1, wherein the power supply main board is further provided with a liquid level detection main board for detecting an oil amount, and the liquid level detection main board is arranged on the fourth side edge.
7. The unmanned aerial vehicle control system of claim 1, wherein the rotor is hinged to the side of the first fixed plate and is capable of folding the rotor, the rotor is proximal to one end of the fuselage and distal to one end of the fuselage, the distal end of the rotor is provided with a motor and a propeller, and the motor is electrically connected to the control system and the propeller and is capable of driving the propeller to rotate.
8. A control method of a hybrid electric multi-rotor unmanned aerial vehicle, the method utilizing the unmanned aerial vehicle control system of any one of claims 1 to 7, specifically comprising the following steps:
starting the engine:
a1: connecting an engine power supply to enable the engine to be in an idle state;
a2: starting the engine by using an engine starter, and removing the starter after striking fire;
a3: the remote control end dials the engine control switch to an operating position;
a4: stably operating the engine for about 1min to preheat the engine;
motor locking control:
b1: the unmanned aerial vehicle lands;
b2: pushing the throttle push rod in the remote controller to the lowest position and keeping the throttle push rod at the lowest position for 5s; or the left rocker and the right rocker are simultaneously arranged at the lowest position and simultaneously are outwards dialed and kept until the indicator lights are extinguished, and the motor is locked;
Unlocking control of the battery:
c1: the left rocker and the right rocker are simultaneously arranged at the lowest position and simultaneously pulled out;
c2: maintaining the action of the step C1 until the indicator lights are turned on;
and C3: when the motor starts to rotate, the rocker is loosened to realize unlocking;
the super headless flying mode control, in the super headless flying mode, the flying direction of the unmanned aerial vehicle is only related to the position of the GPS signal which is initially received, and is irrelevant to the aircraft nose direction of the aircraft, and the method specifically comprises the following steps:
d1: dialing a remote control end switch key to a locking position;
d2: entering a headless flying mode by pressing a confirmation key for a short time;
GPS mode control:
e1: dialing the remote control switch to a 'GPS' position;
e2: short pressing of a confirmation key causes the unmanned aerial vehicle to enter a fixed point and/or fixed height mode;
one-key take-off mode:
f1: dialing the remote control switch to a take-off key position;
f2: short pressing of the confirmation key realizes automatic take-off;
one-key drop mode:
g1: dialing the remote control switch to a landing position;
and G2: the unmanned aerial vehicle automatically descends by pressing a confirmation key for a short time;
one-key return mode:
h1: pressing the return key for 3-5 s at the remote control end;
h2: the unmanned aerial vehicle automatically returns to the home;
ending the flight control:
j1: remotely controlled landing or one-key return or one-key landing;
j2: the engine control switch is moved to an idle speed position to run for 30s;
J3: disconnecting the power supply of the engine;
j4: disconnecting the power supply of the unmanned aerial vehicle;
j5: and closing the power supply of the remote controller.
9. The control method according to claim 8, wherein,
the control switch of the engine comprises a left-hand throttle and a right-hand throttle which are arranged at a remote control end, and the closing, idling and running of the engine are realized through the mutual coordination of the two throttles;
in the super headless flying mode, the unmanned aerial vehicle can fly to the initial position by pressing a backward rocker of a left-hand throttle or a right-hand throttle;
in the one-key return mode,
when the horizontal distance between the unmanned aerial vehicle and the return point is more than 30m,
when the flying height of the unmanned aerial vehicle is more than 25m, the unmanned aerial vehicle keeps the original flying height and automatically returns to the position above the required return point and then vertically drops; when the flight height of the unmanned aerial vehicle is less than 25m, the unmanned aerial vehicle vertically climbs to 25m, automatically returns to the position above a required return point and vertically drops;
when the horizontal distance between the unmanned aerial vehicle and the return point is less than 30m, the unmanned aerial vehicle keeps the original flying height, automatically returns to the position above the required return point and then vertically drops;
in the one-key take-off mode, the default take-off height is 3-4 m.
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| CN201810565826.0A CN108622398B (en) | 2018-06-04 | 2018-06-04 | Oil-electricity hybrid 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 |
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| 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 |
| CN108622398B (en) * | 2018-06-04 | 2023-07-25 | 广州市华科尔科技股份有限公司 | Oil-electricity hybrid multi-rotor unmanned aerial vehicle control system and control method |
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2018
- 2018-06-04 CN CN201810565826.0A patent/CN108622398B/en active Active
- 2018-12-03 WO PCT/CN2018/118953 patent/WO2019233060A1/en active Application Filing
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| Publication number | Publication date |
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| CN108622398A (en) | 2018-10-09 |
| WO2019233060A1 (en) | 2019-12-12 |
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