CN109334968A - Can aerial Real-time Reconstruction duct aircraft, docking separation method and system - Google Patents
Can aerial Real-time Reconstruction duct aircraft, docking separation method and system Download PDFInfo
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- CN109334968A CN109334968A CN201810118279.1A CN201810118279A CN109334968A CN 109334968 A CN109334968 A CN 109334968A CN 201810118279 A CN201810118279 A CN 201810118279A CN 109334968 A CN109334968 A CN 109334968A
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 32
- 238000000926 separation method Methods 0.000 title claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 65
- 238000000034 method Methods 0.000 claims description 30
- 238000004891 communication Methods 0.000 claims description 15
- 238000012360 testing method Methods 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 4
- 241000208340 Araliaceae Species 0.000 claims 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims 1
- 235000003140 Panax quinquefolius Nutrition 0.000 claims 1
- 235000008434 ginseng Nutrition 0.000 claims 1
- 150000001875 compounds Chemical class 0.000 abstract description 7
- 230000008569 process Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 6
- 238000013461 design Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000178 monomer Substances 0.000 description 3
- 230000006798 recombination Effects 0.000 description 3
- 238000005215 recombination Methods 0.000 description 3
- 230000032258 transport Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000001464 adherent effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000010006 flight Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
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- 238000006049 ring expansion reaction Methods 0.000 description 1
- 238000007363 ring formation reaction Methods 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
Classifications
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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
- B64U10/13—Flying platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C37/00—Convertible aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C37/00—Convertible aircraft
- B64C37/02—Flying units formed by separate aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/70—Constructional aspects of the UAV body
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
- B64U30/26—Ducted or shrouded rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/13—Propulsion using external fans or propellers
- B64U50/14—Propulsion using external fans or propellers ducted or shrouded
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- B64U2201/102—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] adapted for flying in formations
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- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides it is a kind of can aerial Real-time Reconstruction duct aircraft, docking separation method and system.Wherein, duct aircraft includes: the first duct aircraft, the second duct aircraft and reconfigurable controller.First duct aircraft is provided with the first bindiny mechanism, and the second duct aircraft is provided with the second bindiny mechanism；Reconfigurable controller is used to control the first bindiny mechanism when the first duct aircraft and the second duct aircraft are in state of flight and the second bindiny mechanism is connected to each other or separates.The present invention makes the independent duct aircraft of two framves have the ability for being reconstructed into integrated mode progress work compound under flight operating condition in the sky.In addition, reconfigurable controller can also be in the docked first duct aircraft of state of flight with real-time control and the second duct aircraft is separated into the independent duct aircraft of two framves.
Description
Technical field
The present invention relates to vehicle technology field, in particular to it is a kind of can aerial Real-time Reconstruction duct aircraft,
Dock separation method and system.
Background technique
Under highly complex urban environment, mountain area environment, machine of the unmanned vehicle as detection equipment and operating equipment
Carrying platform, often it is emphasised that the performance in low latitude, low-speed stable flight.Compared to traditional open rotor craft, duct
Formula aircraft can with VTOL and hovering, and take off space and safe flight space requirement it is small, especially suitable for city housing-group,
Flight operation after calamity in all kinds of complex environments such as ruins, narrow lane；The lift-rising effect of duct is in low latitude, low-speed operations timeliness
Fruit is significant, so that culvert type aircraft is smaller in identical paddle disk diameter and power required under same lift, has and hovers for a long time
The ability of monitoring objective and Fixed Point Operation；Since the ring expansion of duct acts on, the culvert type aircraft flight margin of safety is substantially reduced,
Building even adherent flight can be approached, is suitable for completing environmental interaction formula job task；In addition, culvert type aircraft has
Lower noise, to have better concealment.
At present it is existing can vertical take-off and landing drone platform include helicopter type, more rotary wind types, culvert type etc., no matter use
Which kind of structure type, structure are monomer-type.In order to meet the mobility under complex environment, unmanned aerial vehicle platform generally requires to have
Standby lesser structure size, however this necessarily brings being greatly reduced for system load ability, limits the practicality；In order to have more
Strong work capacity, unmanned aerial vehicle platform must have bigger structure size again, cause it that can not use under complex environment.Separately
On the one hand, the load arrangement of monomer-type aircraft is strong by machine gravity restrict, is unable to satisfy under certain particular surroundings
Job requirements.Currently, a kind of more conventional multi-hull type aircraft splicing thinking is ground spliced formula, i.e., cyclization is combined on ground
After the flying platform of shape or rectangle, then the task of fulfiling assignment of going up to the air, the drawbacks of this method, is to complete to dock on ground
With separate, on the one hand, ground operation efficiency is low, and must artificially participate in；On the other hand, the aircraft after docking is not in the sky
Has good passability again.
Summary of the invention
The invention proposes it is a kind of can aerial Real-time Reconstruction duct aircraft, docking separation method and system, overcome
The contradiction of conventional aircraft field mobility and load-carrying ability, it is intended to which solving current combined aircraft must return to ground
Docking separation and bring operating efficiency is low and suitable environment is limited problem.
On one side, the invention proposes it is a kind of can aerial Real-time Reconstruction duct aircraft, which includes:
First duct aircraft, the second duct aircraft and reconfigurable controller；Wherein, the first duct aircraft is provided with the first company
Connection mechanism, the second duct aircraft are provided with the second bindiny mechanism, and second bindiny mechanism is used to connect with described first
Connection mechanism is connected；Reconfigurable controller, for being in flight in the first duct aircraft and the second duct aircraft
First bindiny mechanism is controlled when state and second bindiny mechanism is connected to each other or separates.
Further, above-mentioned duct aircraft further include: the first testing agency is set to the first duct aircraft,
For detecting the first parameter preset of the first duct aircraft；Second testing agency is set to the second duct flight
Device, for detecting the second parameter preset of the second duct aircraft；The reconfigurable controller and first testing agency
It is connected with second testing agency, for receiving first parameter preset and second parameter preset, and described
First parameter preset and second parameter preset control first bindiny mechanism and described second and connect when meeting preset condition
Connection mechanism is connected to each other or separates.
Further, in above-mentioned duct aircraft, the first communication link junctor is provided in first bindiny mechanism；It is described
The second communication link junctor is provided in second bindiny mechanism；The first communication link junctor and the second communication link junctor are in institute
Conducting when the first bindiny mechanism is connected with second connection is stated, so that the first duct aircraft and second duct
Aircraft realizes the shared transmission with signal data of the energy.
Further, above-mentioned duct aircraft, first bindiny mechanism are connecting shaft, and second bindiny mechanism is to connect
Hole is connect, the connecting shaft and the connecting hole are plugged and locked by locking mechanism；Alternatively, first bindiny mechanism is to connect
Hole is connect, second bindiny mechanism is connecting shaft, and the connecting shaft and the connecting hole are plugged and locked by locking mechanism.
On the other hand, the invention also provides can aerial Real-time Reconstruction duct aircraft interconnection method, this method packet
It includes following steps: obtaining the parameter preset of the first duct aircraft and the second duct aircraft in flight course；Described pre-
When setting parameter meets preset condition, controls the first duct aircraft and the second duct aircraft is connected to each other.
Further, in the interconnection method of above-mentioned duct aircraft, the parameter preset includes flying height and flight side
Position.
Further, in the interconnection method of above-mentioned duct aircraft further include: the first duct aircraft and the second duct fly
After the docking of row device, the control of two duct aircraft after the adapter tube docking of the first duct aircraft flight controller, second contains
The onboard flight controller of road aircraft enters spare state of a control.
Another aspect, the invention also provides it is a kind of can aerial Real-time Reconstruction duct aircraft docking system, this is
System includes: the first acquisition module, default in flight course for obtaining the first duct aircraft and the second duct aircraft
Parameter；To connection module, for when the parameter preset meets preset condition, controlling the first duct aircraft and described the
Two duct aircraft are connected to each other.
Another aspect, the invention also provides it is a kind of can aerial Real-time Reconstruction duct aircraft separation method, the party
Method includes the following steps: to obtain the first duct aircraft for being in connection status and the second duct aircraft in flight course
Parameter preset；When the parameter preset meets preset condition, controls the first duct aircraft and second duct flies
Row device mutually separates.
Another aspect, the invention also provides it is a kind of can aerial Real-time Reconstruction duct aircraft separation system, this is
System includes: the second acquisition module, obtains the first duct aircraft and the second duct aircraft in connection status and was flying
Parameter preset in journey；Separation module, for when the parameter preset meets preset condition, controlling the first duct flight
Device is mutually separated with the second duct aircraft.
As seen from the above technical solution, provided by the invention can the duct aircraft of aerial Real-time Reconstruction, docking separation side
In method and system, reconfigurable controller can be in the first duct aircraft and the second duct aircraft of state of flight with real-time control
It carries out docking and is reconstructed into integrated mode.As can be seen that the design that can be reconstructed in real-time empty, makes the independent duct flying instrument of two framves
Have under flight operating condition in the sky, the ability that integrated mode carries out work compound is reconstructed into, by the way that different sensors will be carried
With the first duct aircraft of operating apparatus and the second duct aircraft is skyborne reconfigures, can complete jointly more multiple
Miscellaneous work.In addition, reconfigurable controller can also be in real-time control state of flight docked first duct aircraft and
Second duct aircraft is separated into the independent duct aircraft of two framves, can Airborne pollen make aircraft to complex environment have more
Good adaptability, for example, the structure size of two aircraft after docking can increased, it, can for narrow working space
To separate the docked duct aircraft of two framves, respectively enters narrow space and carry out operation, the scope of application is wider.This
Outside, detachable, recombination characteristic is also more convenient the carrying of aircraft and transports and mass, modularized production and assembly.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in inventive embodiments can also obtain according to these attached drawings for those of ordinary skill in the art
Obtain other attached drawings.
Fig. 1 be it is provided in an embodiment of the present invention can aerial Real-time Reconstruction duct aircraft structural schematic diagram；
Fig. 2 is the structural schematic diagram of the single duct aircraft provided in the embodiment of the present invention；
Fig. 3 is the side view of the single duct aircraft provided in the embodiment of the present invention；
Fig. 4 is the direction of motion schematic diagram of the single duct aircraft provided in the embodiment of the present invention；
Fig. 5 be it is provided in an embodiment of the present invention can aerial Real-time Reconstruction duct aircraft interconnection method flow chart；
Fig. 6 be it is provided in an embodiment of the present invention can aerial Real-time Reconstruction duct aircraft interconnection method another process
Figure；
Fig. 7 be one kind provided in an embodiment of the present invention can aerial Real-time Reconstruction duct aircraft docking system structure
Block diagram；
Fig. 8 be one kind provided in an embodiment of the present invention can aerial Real-time Reconstruction duct aircraft separation method process
Figure；
Fig. 9 be one kind provided in an embodiment of the present invention can aerial Real-time Reconstruction duct aircraft separation system structure
Block diagram.
Specific embodiment
Certainly, implement any technical solution of the embodiment of the present invention it is not absolutely required to and meanwhile reach above all excellent
Point.
In order to make those skilled in the art more fully understand the technical solution in the embodiment of the present invention, below in conjunction with the present invention
Attached drawing in embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described reality
Applying example only is a part of the embodiment of the embodiment of the present invention, instead of all the embodiments.Based on the implementation in the embodiment of the present invention
The range of protection of the embodiment of the present invention all should belong in example, those of ordinary skill in the art's every other embodiment obtained.
Below with reference to attached drawing of the embodiment of the present invention the embodiment of the present invention will be further explained specific implementation.
File culvert type aircraft embodiment
Referring to Fig. 1 and Fig. 2, shown in figure can aerial Real-time Reconstruction duct aircraft preferred structure.As shown,
The duct aircraft includes: the first duct aircraft 1, the second duct aircraft 2 and reconfigurable controller.
Wherein, the structure that the first duct aircraft 1 and the second duct aircraft 2 are well known to the skilled person,
Specific structure is described in detail by taking the first duct aircraft as an example below with reference to Fig. 2.
Referring to fig. 2, the first duct aircraft 1 generally comprises duct body 4, propeller 5, motor 6, airborne equipment cabin and pitch
Steering engine 8.Propeller 5 is arranged in duct body, and motor 6 is connected with propeller 5, provides lift, pitch steering engine 8 for propeller 5
Total pitch of change propeller 5, can by way of changing pitch and adjusting lift to the lift of the first duct aircraft of change
The problem of to avoid bring low-response excessive due to propeller rotational inertia, improves the operating characteristics of the first duct aircraft.
For double duct aircraft, former and later two propeller turning directions are on the contrary, offset the reaction torque generated due to propeller rotational.First
The bottom of duct aircraft is provided with rudder face 9, rocker arm 10 and rudder face steering engine 11.Rudder face steering engine 11 passes through rocker arm 10 and 9 phase of rudder face
Connection, rudder face steering engine 11 drives rudder face 9 to vert by rocker arm 10, to control the steering of duct purling to control the first duct
The rolling and yaw of aircraft.Rolling, yaw, the pitching of above-mentioned aircraft are respectively aircraft around body coordinate system shown in Fig. 4
X-axis, y-axis, z-axis rotation.In addition, should also be provided with airborne equipment cabin on the first duct aircraft 1.
It should be noted that the first duct aircraft 1 and the second duct aircraft 2 mentioned in the present embodiment can be
Single duct aircraft, or double duct aircraft, it is of course also possible to be more duct aircraft, the present embodiment flies to single
The particular number and form for the duct being arranged on row device do not do any restrictions.
It is provided with the first bindiny mechanism on first duct aircraft 1, the second connection machine is provided on the second duct aircraft 2
Structure, the second bindiny mechanism with the first bindiny mechanism for being detachably connected.Reconfigurable controller is used to fly in the first duct
Device 1 and the second duct aircraft 2 control the first bindiny mechanism when being in state of flight and the second bindiny mechanism is connected to each other or separates.
Wherein, reconfigurable controller can be the controller being separately provided, and also can use the first duct aircraft 1 or the second duct flies
The flight controller in airborne flight control system on row device 2 realizes that the present embodiment does not do the specific implementation form of controller
Any restriction.The lateral wall in the first aircraft can be set in first bindiny mechanism, and the second bindiny mechanism can be set second
The lateral wall of aircraft, wherein the specific implementation form of the first bindiny mechanism and the second bindiny mechanism multiplicity, the present embodiment is to it
Any restriction is not done.
In the present embodiment, reconfigurable controller can be in the first duct aircraft 1 and second of state of flight with real-time control
Duct aircraft 2 carries out docking and is reconstructed into integrated mode, it can be seen that the design that can be reconstructed in real-time empty keeps two framves independent
Duct aircraft is provided under flight operating condition in the sky, the ability that integrated mode carries out work compound is reconstructed into, by that will carry
First duct aircraft 1 of different sensors and operating apparatus and the second duct aircraft 2 is skyborne reconfigures, can be with
Increasingly complex work is completed jointly.In addition, reconfigurable controller can also be in docked the of state of flight with real-time control
One duct aircraft 1 and the second duct aircraft 2 are separated into the independent duct aircraft of two framves, can Airborne pollen make aircraft
There is better adaptability to complex environment, for example, the structure size of two aircraft after docking can increased, for meeting
To narrow use environment, the docked duct aircraft of two framves can be separated, respectively enter narrow space and made
Industry improves applicability.In addition, detachable, recombination characteristic is also more convenient the carrying of aircraft and transports and mass, modularization
Production and assembly.
In the present embodiment, the culvert type aircraft in discrete state has the ability that can pass through narrow complex space, machine
Dynamic property and passability are high；Culvert type aircraft in engagement state can be obviously improved anti-interference ability and system stability,
And there is bigger payload, increasingly complex work can be completed.Can the duct aircraft of aerial Real-time Reconstruction can root
It needs freely to dock and separate under state of flight according to actual condition, carries out independence or work compound, fly to overcome tradition
The contradiction of row device field mobility and load-carrying ability has both the two advantage, significantly enhances adaptation of the aircraft to complex environment
Property.
For the docking being better achieved between the first duct aircraft 1 and the second duct aircraft 2, need to detect docking
When two duct aircraft parameter, for this purpose, can also include: in above-described embodiment first testing agency's (not shown) and
Second testing agency's (not shown).Wherein, the first testing agency is set on the first duct aircraft 1, for detecting the
First parameter preset of one duct aircraft 1.Second testing agency is set on the second duct aircraft 2, for detecting second
Second parameter preset of duct aircraft.Reconfigurable controller is connected with the first testing agency and the second testing agency, for connecing
Receive the first parameter preset and the second parameter preset, and the control when the first parameter preset and the second parameter preset meet preset condition
First bindiny mechanism and the second bindiny mechanism are connected to each other or separate.Wherein, the first parameter preset can be the first duct aircraft 1
Height, orientation etc., similarly, the second parameter preset may be height, the orientation etc. of the second duct aircraft 2.Specific implementation
When, preset condition can determine according to the actual situation, for example, when the height of the first duct aircraft 1 and the second duct aircraft 2
Degree difference within a preset range, meanwhile, orientation angles difference also within a preset range when, determination can control the first duct aircraft 1
It is docked with the second duct aircraft 2.It should be noted that when it is implemented, the preset range and orientation angles of difference in height
The preset range of difference can determine that the present embodiment does not do any restriction to it according to the actual situation.
After the first duct aircraft 1 and the second duct aircraft 2 are docked, two duct aircraft want same time control
System, work compound, so, the transmitting of signal and data is carried out between two duct aircraft, realized information sharing, be
This, is provided with the first communication link junctor in the first bindiny mechanism, be provided with the second communication link junctor in the second bindiny mechanism, and first
Communication link junctor and second communication link junctor conducting when the first bindiny mechanism is connected with the second bindiny mechanism, so that first contains
Road aircraft and the second duct aircraft realize the shared transmission with signal data of the energy.Specifically, it is transmitted by electric current, two
Aircraft can share electric energy.When the first aircraft is out of power, power supply system parallel connection can be formed by engagement, second is shared and flies
The electric energy of row device is powered by the second aircraft to the first aircraft.Similarly, can also be flown by the first aircraft to second
The power supply of row device.
Referring to fig. 4, in above-described embodiment, the first bindiny mechanism can be connecting shaft, and the second bindiny mechanism can be connection
Hole, connecting shaft and connecting hole are plugged and are locked by locking mechanism.Specifically, it can be disposed on connecting shaft 12 and connecting hole 13
Electromagnet is located by connecting come what is both assisted.It include conductive core and communication cable, the two in connecting shaft 12 and connecting hole 13
It is attached by the contact chip being arranged on ring wall, to realize the shared energy of two frame aircraft, signal communication and data
Transmission.Preferably, after successful connection, connecting hole 13 can be rotated by actuation mechanism, so that connecting shaft is mechanically locked,
Prevent the disengaging of the two.When it is implemented, it can be convexly equipped with limited block on the outer wall of connecting shaft and the inner wall of connecting hole, when
After connecting shaft rotates an angle in connecting hole 13, the limited block on connecting hole and connecting shaft is located at same axial position and mutual
It compresses, to carry out axial limiting to the two.Certainly, connecting hole and connecting shaft can also use well-known to those skilled in the art
Other locking mechanisms, the present embodiment do not do any restriction to its concrete form.
Certainly, when it is implemented, the first bindiny mechanism may be the combination of connecting hole and connecting shaft, similarly, second connects
Connection mechanism may be the combination of connecting hole and connecting shaft, and the first bindiny mechanism and the second bindiny mechanism pass through connecting hole and connection
Connection is realized in the engagement of axis, and the present embodiment does not do any restriction to the specific setting form of connecting hole and connecting shaft.
It should be noted that saying of being carried out by taking the docking and separation of the duct aircraft of two frame monomers as an example of above-described embodiment
It is bright, when it is implemented, can be two framves, or more than three framves or three framves, the particular number of duct aircraft can basis
Actual conditions determine that the present embodiment do not do any restriction to it.
To sum up, the duct aircraft of two frame monomers can be carried out combined in real time by the present embodiment in the sky, work compound, together
When, the aerial real-time separation of combined two duct aircraft also may be implemented, two duct aircraft is made to carry out independent work
Industry has effectively widened the application scenarios of unmanned plane.
Interconnection method embodiment:
Referring to Fig. 5, Fig. 5 be one kind provided in an embodiment of the present invention can aerial Real-time Reconstruction duct aircraft docking side
The flow chart of method.As shown, this method comprises the following steps:
Step S510 obtains the parameter preset of the first duct aircraft and the second duct aircraft in flight course.Its
In, parameter preset may include flying height and flight orientation etc..
Specifically, the docking posture of the first duct aircraft and the second duct aircraft is prepared, in docking procedure
After starting, earth station can acquire the flying quality of the first duct aircraft and the second duct aircraft, judge two by GPS data
The position of a duct aircraft, the two duct aircraft of data point reuse acquired by sensors such as barometer, ultrasonic wave modules
Height.After two duct aircraft are in sustained height, same orientation, the sensors such as vision, laser radar start to acquire
Data transfer to controller to resolve the marker that identification is located on body, adjust the posture of two duct aircraft, carry out two (or it is more
It is a) direction calibration of aircraft bindiny mechanism.
Step S520 controls the first duct aircraft and the second duct aircraft when parameter preset meets preset condition
It is connected to each other.
Specifically, two duct aircraft of data calculation that controller is acquired according to the equidistant sensor of ultrasonic wave module
Theoretical spacing controls two duct aircraft and constantly approaches, and is entering in bindiny mechanism's efficient working range, two ducts flights
Electromagnet starting in the bindiny mechanism of device, auxiliary connecting shaft are docked with connecting hole, and after contact chip connection is upper, system determines
The two aircraft energy and communicate to connect successfully, the mechanical structure on actuation mechanism rotation connecting hole, locked connecting shaft.
In the present embodiment, reconfigurable controller can be in the first duct aircraft 1 and second of state of flight with real-time control
Duct aircraft 2 carries out docking and is reconstructed into integrated mode, it can be seen that the design that can be reconstructed in real-time empty keeps two framves independent
Duct aircraft is provided under flight operating condition in the sky, the ability that integrated mode carries out work compound is reconstructed into, by that will carry
The the first duct aircraft 1 and the second duct aircraft 2 of different sensors and operating apparatus are reconfigured in the sky, can
To complete increasingly complex work jointly.
Referring to Fig. 6, Fig. 6 is the another flow chart of the interconnection method of duct aircraft provided in an embodiment of the present invention.Such as figure
Shown, this method comprises the following steps:
Step S610 obtains the parameter preset of the first duct aircraft and the second duct aircraft in flight course.
Step S620 controls the first duct aircraft and the second duct aircraft when parameter preset meets preset condition
It is connected to each other.Wherein, the specific implementation process of step S610 and step S620 are referring to step S510, S520 in above-described embodiment
Can, details are not described herein for the present embodiment.
After step S630, the first duct aircraft and the docking of the second duct aircraft, the flight control of the first duct aircraft
The control of two duct aircraft after system adapter tube docking processed, control system are switched to more bulk-modes by monomer mode.The
The flight control system of two duct aircraft enters spare state of a control.
Specifically, after the bindiny mechanism of the first duct aircraft and the second duct aircraft is successfully connected, two ducts fly
The energy of row device is connect with connection setup, and the flight control system of the second duct aircraft disconnects the communication with earth station, is moved
The control information of power, sensor, Work machine etc. transfers the control of the first duct aircraft, the winged control system of the second duct aircraft to
System enters auxiliary state of a control, by the main of the duct aircraft after the entire reconstruct of flight control system adapter tube of the first duct aircraft
Control.It at this point, the second duct aircraft is in stand-by state, or is auxiliary state of a control, under this state, the first duct flies
The flight controller operation control main program of row device, the controller of the second duct aircraft, which does not rerun, controls program, but when the
When the operation demand of one duct controller of aircraft is larger, the controller hardware of the second duct aircraft can also provide additional
Computing capability assists the calculating of master controller (i.e. the first controller), improves system computing capacity.Auxiliary control in this example
State refers to the auxiliary in computing capability, rather than controls the auxiliary in content.
The control of two duct aircraft after reconstruct has been placed on the first duct aircraft by the present embodiment, is avoided
The interference control of the flight control systems of two duct aircraft, causes system perturbations.
Docking system embodiment:
Referring to Fig. 7, Fig. 7 be one kind provided in an embodiment of the present invention can aerial Real-time Reconstruction duct aircraft docking system
The structural block diagram of system.As shown, the system includes:
First obtains module 710, for obtaining the first duct aircraft and the second duct aircraft in flight course
Parameter preset.The specific implementation process of the module is referring to step S510, and details are not described herein for the present embodiment.
To connection module 720, for when the parameter preset meets preset condition, control the first duct aircraft and
Second duct aircraft is connected to each other.For the specific implementation process of the module referring to step S520, the present embodiment is no longer superfluous herein
It states.
Separation method embodiment:
Referring to Fig. 8, Fig. 8 be one kind provided in an embodiment of the present invention can aerial Real-time Reconstruction duct aircraft separation side
The flow chart of method.As shown, this method comprises the following steps:
Step S810 obtains the first duct aircraft for being in connection status and the second duct aircraft in flight course
Parameter preset.When it is implemented, the first duct aircraft and the second duct aircraft is default referring to referring to above-mentioned docking side
Method embodiment, details are not described herein for the present embodiment.
Step S820 controls the first duct aircraft and the second duct aircraft when parameter preset meets preset condition
Mutually separate.When it is implemented, separation when the first duct aircraft and the second duct aircraft meet preset condition can with it is right
Identical when connecing, specific implementation process is referring to above description, and details are not described herein for the present embodiment.
In addition, reconfigurable controller can also be in docked first duct aircraft, 1 He of state of flight with real-time control
Second duct aircraft 2 is separated into the independent duct aircraft of two framves, can Airborne pollen aircraft has complex environment
Better adaptability, for example, the structure size of two aircraft after docking can increased, for narrow working space,
The docked duct aircraft of two framves can be separated, respectively enter narrow space and carry out operation, effectively improve its environment
Adaptability.In addition, it is detachable, recombination characteristic also be more convenient aircraft carrying and transport with mass, modularized production and
Assembly.
Embodiment separation system:
Referring to Fig. 9, Fig. 9 be one kind provided in an embodiment of the present invention can aerial Real-time Reconstruction duct aircraft segregative line
The structural block diagram of system, as shown, the system includes:
Second obtains module 910, obtains the first duct aircraft and the second duct aircraft in connection status and is flying
Parameter preset during row.Second specific implementation process for obtaining module 910 participates in above-mentioned steps S810, the present embodiment
Details are not described herein.
Separation module 920, for when the parameter preset meets preset condition, control the first duct aircraft and
The second duct aircraft mutually separates.The specific implementation process of separation module 920 participates in above-mentioned steps S820, this implementation
Details are not described herein for example.
As above, embodiments of the present invention are described in detail, as long as but of the invention essentially without being detached from
Inventive point and effect, can there is many deformations, this will be readily apparent to persons skilled in the art.Therefore, in this way
Variation be integrally incorporated within protection scope of the present invention.
Claims (10)
1. one kind can aerial Real-time Reconstruction duct aircraft characterized by comprising the first duct aircraft, the second duct
Aircraft and reconfigurable controller；Wherein,
The first duct aircraft is provided with the first bindiny mechanism, and the second duct aircraft is provided with the second connection machine
Structure, second bindiny mechanism with first bindiny mechanism for being connected；
Reconfigurable controller, for being controlled when the first duct aircraft and the second duct aircraft are in state of flight
First bindiny mechanism and second bindiny mechanism are connected to each other or separate.
2. it is according to claim 1 can aerial Real-time Reconstruction duct aircraft, which is characterized in that further include:
First testing agency is set to the first duct aircraft, and first for detecting the first duct aircraft is pre-
Setting parameter；
Second testing agency is set to the second duct aircraft, and second for detecting the second duct aircraft is pre-
Setting parameter；
The reconfigurable controller is connected with first testing agency and second testing agency, for receiving described first
Parameter preset and second parameter preset, and meet preset condition in first parameter preset and second parameter preset
When control first bindiny mechanism and second bindiny mechanism is connected to each other or separates.
3. it is according to claim 1 or 2 can aerial Real-time Reconstruction duct aircraft, which is characterized in that
The first communication link junctor is provided in first bindiny mechanism；
The second communication link junctor is provided in second bindiny mechanism；
The first communication link junctor and the second communication link junctor are in first bindiny mechanism and the second connection phase
It is connected when connection, so that the first duct aircraft and the second duct aircraft realize that the energy is shared and signal data
Transmission.
4. it is according to claim 1 or 2 can aerial Real-time Reconstruction duct aircraft, which is characterized in that described first connects
Connection mechanism is connecting shaft, and second bindiny mechanism is connecting hole, and the connecting shaft and the connecting hole plug and pass through lock
Crash structure is locked；Alternatively,
First bindiny mechanism is connecting hole, and second bindiny mechanism is connecting shaft, the connecting shaft and the connecting hole
It plugs and locked by locking mechanism.
5. one kind can aerial Real-time Reconstruction duct aircraft interconnection method, which comprises the steps of:
Obtain the parameter preset of the first duct aircraft and the second duct aircraft in flight course；
When the parameter preset meets preset condition, the first duct aircraft and the second duct aircraft phase are controlled
Docking.
6. it is according to claim 5 can aerial Real-time Reconstruction duct aircraft interconnection method, which is characterized in that it is described
Parameter preset includes flying height and flight orientation.
7. it is according to claim 5 can aerial Real-time Reconstruction duct aircraft interconnection method, which is characterized in that also wrap
It includes:
After first duct aircraft and the docking of the second duct aircraft, after the flight controller adapter tube docking of the first duct aircraft
Two duct aircraft control, the flight controller of the second duct aircraft enters stand-by state.
8. one kind can aerial Real-time Reconstruction duct aircraft docking system characterized by comprising
First obtains module, for obtaining the default ginseng of the first duct aircraft and the second duct aircraft in flight course
Number；
To connection module, for when the parameter preset meets preset condition, controlling the first duct aircraft and described the
Two duct aircraft are connected to each other.
9. one kind can aerial Real-time Reconstruction duct aircraft separation method, which comprises the steps of:
Obtain the parameter preset of the first duct aircraft and the second duct aircraft in connection status in flight course；
When the parameter preset meets preset condition, the first duct aircraft and the second duct aircraft phase are controlled
Separation.
10. one kind can aerial Real-time Reconstruction duct aircraft separation system characterized by comprising
Second obtains module, obtains the first duct aircraft for being in connection status and the second duct aircraft in flight course
Parameter preset；
Separation module controls the first duct aircraft and described for when the parameter preset meets preset condition
Two duct aircraft mutually separate.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810118279.1A CN109334968A (en) | 2018-02-06 | 2018-02-06 | Can aerial Real-time Reconstruction duct aircraft, docking separation method and system |
| PCT/CN2019/073143 WO2019154118A1 (en) | 2018-02-06 | 2019-01-25 | Ducted aircraft capable of implementing aerial reconstruction in real time, and docking separation method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810118279.1A CN109334968A (en) | 2018-02-06 | 2018-02-06 | Can aerial Real-time Reconstruction duct aircraft, docking separation method and system |
Publications (1)
| Publication Number | Publication Date |
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| CN109334968A true CN109334968A (en) | 2019-02-15 |
Family
ID=65291475
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810118279.1A Pending CN109334968A (en) | 2018-02-06 | 2018-02-06 | Can aerial Real-time Reconstruction duct aircraft, docking separation method and system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109334968A (en) |
| WO (1) | WO2019154118A1 (en) |
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| CN112550695A (en) * | 2020-12-07 | 2021-03-26 | 北京航空航天大学 | Vertical take-off and landing wingtip hinged combined unmanned aerial vehicle |
| CN113428361A (en) * | 2021-07-06 | 2021-09-24 | 中国人民解放军总参谋部第六十研究所 | Intelligent separable variant vertical take-off and landing unmanned platform and control strategy thereof |
| CN114537674A (en) * | 2022-01-25 | 2022-05-27 | 北京理工大学 | Separable aircraft, control method and electronic equipment |
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Also Published As
| Publication number | Publication date |
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| WO2019154118A1 (en) | 2019-08-15 |
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