CN110015430A - The fixed wing machine and its method for having landing mechanism - Google Patents
The fixed wing machine and its method for having landing mechanism Download PDFInfo
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- CN110015430A CN110015430A CN201910017016.6A CN201910017016A CN110015430A CN 110015430 A CN110015430 A CN 110015430A CN 201910017016 A CN201910017016 A CN 201910017016A CN 110015430 A CN110015430 A CN 110015430A
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- fixed wing
- wing machine
- hatchcover
- propeller
- parachute
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- 238000000034 method Methods 0.000 title claims description 24
- 230000007423 decrease Effects 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 4
- 239000011469 building brick Substances 0.000 description 3
- KAATUXNTWXVJKI-UHFFFAOYSA-N cypermethrin Chemical compound CC1(C)C(C=C(Cl)Cl)C1C(=O)OC(C#N)C1=CC=CC(OC=2C=CC=CC=2)=C1 KAATUXNTWXVJKI-UHFFFAOYSA-N 0.000 description 3
- 241000208340 Araliaceae Species 0.000 description 2
- 208000033748 Device issues Diseases 0.000 description 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 235000008434 ginseng Nutrition 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 230000001771 impaired effect Effects 0.000 description 2
- 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 1
- 210000001015 abdomen Anatomy 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000003365 glass fiber Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/10—All-wing aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D17/00—Parachutes
- B64D17/80—Parachutes in association with aircraft, e.g. for braking thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/80—Vertical take-off or landing, e.g. using rockets
- B64U70/83—Vertical take-off or landing, e.g. using rockets using parachutes, balloons or the like
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
Abstract
A kind of fixed wing machine having landing mechanism, it includes: ventral；Propeller；Parachute compartment is set to the ventral, and the parachute compartment is equipped with hatchcover；And parachute, it is set in the parachute compartment, the parachute has umbrella portion and at least one umbrella rope, and the umbrella portion connects the hatchcover, and the umbrella rope is fixed on the fixed wing machine；Wherein when the fixed wing machine meets drop conditions, the fixed wing machine reduces flying height to door sill height；Wherein after the fixed wing machine is reduced to the door sill height, the propeller is made to stop operating；Wherein the hatchcover is opened after the propeller stops operating, and the parachute is pulled.
Description
Technical field
The present invention relates to a kind of fixed wing machines and its landing method for having landing mechanism, especially with regard to one kind for surveying
Draw the unmanned fixed wing machine and its landing method with landing mechanism of landform.
Background technique
Fixed wing machine is widely used to landform at present, landforms are detectd and surveyed and drawn according to landform, landforms, is primarily due to fixed wing machine
It is more suitable for large range of landform compared to more rotation unmanned planes, landforms are detectd and shone and mapping.Existing fixed wing machine is with machine in landing
The mode that abdomen lands slides landing, however, the downhill race mode that such ventral lands is easy to make the flight control computer of fixed wing machine, phase
The electronic building bricks such as machine, sensor are thus impaired.Therefore in order to avoid fixed wing machine, camera and electronic building brick are damaged because high speed is landed
It is bad, it needs separately to install screening glass additional at ventral, this causes the weight increase of fixed wing machine to shorten the flight time.In addition, using
When downhill race mode, user may be injured by the fixed wing machine in high speed downhill race.
In view of this, need a kind of fixed wing machine for having safe falling mechanism, in landing be using relative low speeds and
It can avoid the mode that fixed wing machine, camera and electronics pass component are damaged to land.
Summary of the invention
To solve the above-mentioned problems, of the invention one conception is to provide a kind of tool to land in a manner of relative low speeds
The fixed wing machine and its method for the mechanism that falls of making preparation for dropping.
Another conception of the invention be to provide it is a kind of when landing using avoidable fuselage and the electronic building brick of inside
What impaired mode was landed has the fixed wing machine and its method of landing mechanism.
Based on aforementioned conception, the present invention provides a kind of fixed wing machine for having landing mechanism, it includes: ventral；Propeller；Landing
Umbrella cabin is set to the ventral, and the parachute compartment is equipped with hatchcover；And parachute, it is set in the parachute compartment, it is described
Parachute has umbrella portion and at least one umbrella rope, and the umbrella portion connects the hatchcover, and the umbrella rope is fixed on the fixed wing machine；
Wherein when the fixed wing machine meets drop conditions, the fixed wing machine reduces flying height to door sill height；Wherein when described fixed
After wing machine is reduced to the door sill height, the propeller is made to stop operating；Wherein the hatchcover is after the propeller stops operating
It opens, and the parachute is pulled.
In a preferred embodiment of the invention, the umbrella rope of the parachute is fixed on the ventral.
In a preferred embodiment of the invention, there are the fixed wing machine at least three umbrella ropes to be fixed on the ventral.
It is described to make the spiral shell after the fixed wing machine is reduced to the door sill height in a preferred embodiment of the invention
Paddle stops operating, and is to make the propeller when the fixed wing machine is reduced to the door sill height and flight to default depression area
It stops operating.
It is described to make the propeller stop operating to stop the propeller by brake gear in a preferred embodiment of the invention
Rotation stop is dynamic.
It in a preferred embodiment of the invention, is set forth in after the propeller stops operating and opens the hatchcover, be in institute
When stating propeller and stopping operating, the hatchcover is opened after preset time.
In a preferred embodiment of the invention, the drop conditions be it is following at least one: the fixed wing machine reaches pre-
The depression area first set；The flight time of the fixed wing machine reaches pre-set flight time value；The fixed wing machine, which receives, to be come from
The input instruction of user requires to open the hatchcover or requires the fixed wing machine that lands；The fixed wing machine is in landing mode；Institute
The voltage of the battery of fixed wing machine is stated lower than voltage threshold value；And the fixed wing machine does not receive navigation signal.
In a preferred embodiment of the invention, the fixed wing machine is operated by user by remote control apparatus, the drop
Falling condition is that the fixed wing machine flies in the signal for not receiving the remote control apparatus sending in the first preset time to silent
Recognize and goes home a little.
In a preferred embodiment of the invention, the fixed wing machine is operated by user by remote control apparatus, the drop
Falling condition is that the fixed wing machine flies in the signal for not receiving the remote control apparatus sending in the first preset time to silent
Recognize and go home a little, and goes home described in the arrival and not receive the long-range control in the second preset time after point (home point)
The instruction that device issues.
In a preferred embodiment of the invention, when the fixed wing machine does not meet the drop conditions, the fixed wing machine
It detours in range of going home.
In a preferred embodiment of the invention, when the fixed wing machine meets the drop conditions, the fixed wing machine around
Row descent path simultaneously gradually decreases flying height, and the fixed wing machine is in the level point (landing on the descent path
Point the hatchcover) is opened.
In a preferred embodiment of the invention, when the fixed wing machine meets the drop conditions, the fixed wing machine around
Row descent path simultaneously gradually decreases flying height, and the fixed wing machine opens the hatchcover in level point, wherein the level point
Position determined according to wind direction.
Purpose according to the present invention, then a kind of fixed wing machine landing method is provided, wherein the fixed wing machine includes: ventral；Spiral shell
Paddle；Parachute compartment is set to the ventral, and the parachute compartment is equipped with hatchcover；And parachute, it is set to the parachute compartment
In, the parachute has umbrella portion and at least one umbrella rope, and the umbrella portion connects the hatchcover, and it is described fixed that the umbrella rope is fixed on
On wing machine；The method includes: when the fixed wing machine meets drop conditions, the fixed wing machine reduces flying height to threshold height
Degree；After the fixed wing machine is reduced to the door sill height, the propeller is made to stop operating；It is opened after the propeller stops operating
The hatchcover is opened, pulls the hatchcover by the parachute.
It is described to make the spiral shell after the fixed wing machine is reduced to the door sill height in a preferred embodiment of the invention
Paddle stops operating, and is to make the propeller when the fixed wing machine is reduced to the door sill height and flight to default depression area
It stops operating.
It is described to make the propeller stop operating to stop the propeller by brake gear in a preferred embodiment of the invention
Rotation stop is dynamic.
It in a preferred embodiment of the invention, is set forth in after the propeller stops operating and opens the hatchcover, be in institute
When stating propeller and stopping operating, the hatchcover is opened after preset time.
In a preferred embodiment of the invention, the drop conditions be it is following one of them: the fixed wing machine reaches pre-
The depression area first set；The flight time of the fixed wing machine reaches pre-set flight time value；The fixed wing machine, which receives, to be come from
The input instruction of user requires to open the hatchcover or requires the fixed wing machine that lands；The fixed wing machine is in landing mode；Institute
The voltage of the battery of fixed wing machine is stated lower than voltage threshold value；And the fixed wing machine does not receive navigation signal.
In a preferred embodiment of the invention, the fixed wing machine is operated by user by remote control apparatus, the drop
Falling condition is that the fixed wing machine flies to default to return in the signal for not receiving the remote control apparatus sending in preset time
Destination.
In a preferred embodiment of the invention, the fixed wing machine is operated by user by remote control apparatus, the drop
Falling condition is that the fixed wing machine flies in the signal for not receiving the remote control apparatus sending in the first preset time to silent
Recognize and go home a little, and does not receive the finger that the remote control apparatus issues after going home a little described in the arrival in the second preset time
It enables.
In a preferred embodiment of the invention, when the fixed wing machine does not meet the drop conditions, the fixed wing machine
It detours in range of going home.
In a preferred embodiment of the invention, when the fixed wing machine meets the drop conditions, the fixed wing machine around
Row descent path simultaneously gradually decreases flying height, and the fixed wing machine opens the cabin in the level point on the descent path
Lid.
In a preferred embodiment of the invention, when the fixed wing machine meets the drop conditions, the fixed wing machine around
Row descent path simultaneously gradually decreases flying height, and the fixed wing machine opens the hatchcover in level point, wherein the level point
Position determined according to wind direction.
Aforementioned aspects and other aspects of the present invention are described in detail according to following non-limiting specific embodiments and ginseng
It will more tend to be illustrated according to attached drawing.
Detailed description of the invention
Fig. 1 is the top view for one specific embodiment of fixed wing machine that the present invention has landing mechanism.
Fig. 2 is the schematic diagram of a specific embodiment of the fixed wing machine exhibition ripcord that the present invention has landing mechanism.
Fig. 3 is that the fixed wing machine that the present invention has landing mechanism opens hatchcover in descent and pulls parachute and go out
A specific embodiment schematic diagram.
Fig. 4 is the flow chart of one specific embodiment of fixed wing machine landing method of the present invention.
Fig. 5 is the schematic diagram of point (home point) and level point (landing point) specific embodiment of going home.
Fig. 6 is the schematic diagram of descent path and level point specific embodiment.
[reference signs list]
100 fixed wing machines
110 ventrals
122 hatchcovers
130 propellers
142 umbrella ropes
150 cameras
160 ventral lids
170 pitots
200 fixed wing machines
210 ventrals
220 hatchcovers
230 propellers
240 parachutes
242,243,244 umbrella rope
246 umbrella portions
270 machines back
300 fixed wing machines
310 ventrals
320 hatchcovers
330 propellers
346 umbrella portions
400 fixed wing machine landing methods
410-430 step
510 user locations
520 go home range
530 go home a little
540 descent paths
550 level points
640 descent paths
650 level points
662 positions
664 wind directions
672 positions
674 wind directions
682 positions
684 wind directions
692 positions
694 wind directions
Specific embodiment
Referring to Fig. 1, it has illustrated the top view that the present invention has one specific embodiment of fixed wing machine of landing mechanism.
As shown in Figure 1, fixed wing machine 100 includes ventral 110；Propeller 130；And it is set to the parachute compartment of ventral 110, wherein parachute
Cabin is equipped with hatchcover 122.Camera 150 is arranged in ventral 110 in fixed wing machine 100.Fixed wing machine 100 additionally comprises parachute, is set to drop
It falls in umbrella cabin, parachute has umbrella portion and umbrella rope 142.In one embodiment, ventral 110 is fixed in the umbrella rope system of parachute
On, when so opening up ripcord in descent when fixed wing machine 100, it is to carry ground with machine, thus avoids camera 150 in landing
It is damaged in journey.In one embodiment, fixed wing machine 100 has ventral lid 160,160 part of ventral lid cladding at ventral 110
Firmly pitot 170, while ventral lid 160 covers the antenna for being used to establish communication, so in addition to pitot 170 and day can be protected
Outside line, it also can avoid pitot 170 and antenna be exposed and increase windage.In one embodiment, ventral lid 160 is made for streamline
Type, therefore windage can be reduced.In one embodiment, ventral lid 160 is glass (glass fibre) material, will not influence antenna
Reception.
In one embodiment, to keep the flight time of fixed wing machine 100 longer, the position of centre of gravity of fixed wing machine 100 is located at
Between 21~25%MAC (Mean Aerodynamic Chord, Average aerodynamic string).In a particular embodiment, the weight of fixed wing machine 100
Heart position is located at 23.5%MAC.
Referring to Fig. 2, it has illustrated fixed wing machine exhibition one specific embodiment of ripcord that the present invention has landing mechanism.
As shown, the parachute 240 of fixed wing machine 200 has umbrella portion 246 and umbrella rope 242,243,244.Wherein umbrella portion 246 connects hatchcover
220.Umbrella rope 242,243,244 is fixed on ventral 210 so that fixed wing machine 200 in landing when with machine back 270 downwards and ventral 210
Upward mode is landed.When the area of parachute can be according to fuselage weight and/or landing speed and/or 200 parachute-opening of fixed wing machine
Height is set.In this particular embodiment, parachute 240 have three umbrella ropes, in landing when enable fixed wing machine 200 compared with
For stable landing.So it will be appreciated that Fig. 2 is only to illustrate herein, the fixed wing machine for having landing mechanism of the invention is not limited only
Can have three umbrella ropes, but visual demand has one or more umbrella rope.
Referring to Fig. 3, it has illustrated the fixed wing machine that the present invention has landing mechanism opens hatchcover in descent
And the specific embodiment for going out parachute towing.As shown in figure 3, umbrella portion 346 connects hatchcover 320.In this way, working as fixed wing machine
300 when opening hatchcover 320 after propeller 330 stops operating, the umbrella portion that hatchcover 320 will fall downwards, and will be connected to hatchcover
346 pull and go out.
Referring to Fig. 4, it has illustrated the flow chart of one specific embodiment of fixed wing machine landing method of the present invention.It is wherein fixed
Wing machine includes: ventral；Propeller；It is set to ventral and is equipped with the parachute compartment of hatchcover；And parachute, it is set to parachute compartment
In.Wherein parachute has umbrella portion and umbrella rope, and umbrella portion is connected to hatchcover, and umbrella rope is fixed on fixed wing machine.Fixed wing machine landing side
Method 400 comprises the steps of: that, when fixed wing machine meets drop conditions, fixed wing machine reduces flying height firstly, carrying out step 410
To door sill height.In one embodiment, door sill height can be inputted before flight task starts by control interface for user
To the door sill height of fixed wing machine.
In one embodiment, drop conditions are that fixed wing machine reaches preset depression area, wherein depression area
The depression area of fixed wing machine can be input to through control interface before flight task starts for user.It will be appreciated that depression area is also
It can be specific landing place.
Referring to Fig. 5, in one embodiment, fixed wing machine is in mission mode (mission mode).In this mode
Under, after fixed wing machine completes the task of the given task or default of user, or when meeting with the disconnected news of fixed wing machine, i.e., it can fly to model of going home
Enclose, and a little 530 spiral in range 520 around going home going home, at the same wait user give next task or wait user to
Give landing instruction.At this point, if fixed wing machine can first fly when fixed wing machine receives input instruction requirement landing fixed wing machine from the user
Toward the level point 550 on descent path 540, then detour descent path 540 and flying height is gradually decreased, until fixed wing machine
After flying height is reduced to door sill height, propeller can be made to stop operating.Fixed wing machine simultaneously then continues after propeller stops operating
Detour descent path 540 makes hatchcover pull parachute and go out until fixed wing machine opens hatchcover when reaching level point 550.Its
In, range of going home 520, go home a little 530, descent path 540 and level point 550 can all fly preceding i.e. by user in fixed wing machine
It presets in advance.In addition, in this particular embodiment, user location 510 is not necessarily in range 520 of going home, also without landing
In path 540.Injured by a crashing object when fixed wing machine lands by fixed wing machine in this way, can avoid user.In one embodiment, Yong Huwei
Set 510 with to go home a little be about 300 meters at a distance from 530.
Referring to Fig. 6, in typical circumstances, level point 650 ties up on descent path 640.However, due to the influence in wind
Under, fixed wing machine can be blown when landing toward different directions.Therefore, in different embodiments, can also be adjusted according to wind direction and wind speed
The position in whole level point, at this point, level point can need not be on descent path.For example, can will land in the case where wind direction 664
Point is adjusted to position 662.In the case where wind direction 674, level point can be adjusted to position 672.In the case where wind direction 684,
Level point can be adjusted to position 682.In the case where wind direction 694, level point can be adjusted to position 692.In this way, can enable
The closer level point 650 of the practical landing place of fixed wing machine.
In another embodiment, drop conditions reach pre-set flight time value for the flight time of fixed wing machine, wherein
Pre-set flight time value can be input to the time-of-flight values of fixed wing machine for user before flight task starts through control interface.
In still another embodiment, drop conditions be fixed wing machine be in landing mode (landingmode), such as by with
Family input instruction is to require fixed wing machine to switch to landing mode.The level point on descent path at this point, fixed wing machine can first fly to, and
Detour descent path and flying height is gradually decreased afterwards, until can make after the flying height of fixed wing machine is reduced to door sill height
Propeller stops operating.Fixed wing machine simultaneously then continues to detour to level point after propeller stops operating, and opens when reaching level point
Hatchcover is opened, hatchcover is made to pull parachute and go out.
In another embodiment, fixed wing machine system is in automatic shooting mode (auto-photo mode).At this point, fixed
Wing machine can sets itself shooting area and/or sets itself shooting course line and/or sets itself shooting time interval.Fixed wing machine
And landing mode can be automatically switched to after the end point for completing shooting navigation channel.
In another embodiment, fixed wing machine system is in silent mode (silence mode).In such a mode, when fixed
When the disconnected news of wing machine, after first completing current task (having flown destination set in task), just returns to and go home a little, and returning
It a little spirals in boat range around going home, while waiting user to give next task or user is waited to give landing instruction.
In still another embodiment, fixed wing machine system is in director mode (controller mode).In this mode
In, user can be used controller (such as hand-held controller) to control fixed wing machine.When user uses controller pair
When fixed wing machine is controlled, ground control system (Ground Control system, GCS), which can pass through, leads control with antenna
Control instruction is transmitted to fixed wing machine by box.And in the specific embodiment that fixed wing machine is in director mode, drop conditions can be
Fixed wing machine receives input instruction from the user and requires to open hatchcover.It goes home a little or drops at this point, no matter whether fixed wing machine is located at
Drop point can instruct according to the input of user and stop propeller and later on hatchcover to land.
In another embodiment, drop conditions be fixed wing machine battery voltage lower than voltage threshold value (such as
10.8V).It is not suitable for continuing to fly due to the brownout of battery at this time, fixed wing machine will reduce flying height to threshold
Height simultaneously prepares to land.In still another embodiment, drop conditions are that fixed wing machine does not receive navigation signal.Another specific
In embodiment, fixed wing machine is operated by user by remote control apparatus, and wherein drop conditions are fixed wing machine in preset time
Remote control apparatus is not received to issue signal and fly to default to go home a little.In still another embodiment, fixed wing machine by with
Family is operated by remote control apparatus, and wherein drop conditions are fixed wing machine in not receiving long-range control dress in the first preset time
It sets the signal of sending and flies to default to go home a little, and do not receive long-range control in the second preset time after arrival is gone home a little
The instruction that device issues.In another embodiment, drop conditions detect for fixed wing machine can not leave particular space.
Then ginseng Fig. 4 please be return, after completing step 410, carry out step 420 makes after fixed wing machine is reduced to door sill height
Propeller stops operating.Then, carry out step 430, open hatchcover after propeller stops operating, make hatchcover by parachute towing and
Out.Hatchcover wherein is opened after propeller stops operating completely, hatchcover is made to pull parachute and go out, can avoid the propeller in rotation
It touches parachute and parachute is caused to can not be successfully unlatching.In one embodiment, fixed wing machine makes propeller by brake gear
It stops operating.In one embodiment, fixed wing machine is to make spiral shell when being reduced to door sill height and flight to default depression area
Paddle stops operating.In one embodiment, fixed wing machine is that the cabin is opened after preset time when propeller stops operating
Lid.In one embodiment, fixed wing machine is to continue detour descent path after propeller stops operating, until fixed wing machine reaches
Hatchcover is opened when level point.
So far, the fixed wing machine for having landing mechanism of the invention and its method are said via above description and attached drawing
It is bright.So it will be appreciated that each specific embodiment of the present invention only serves as purposes of discussion, do not depart from claims of the present invention range with
Various changes can be carried out under spirit, and are intended to be limited solely by the scope of the patents of the invention.Therefore, respectively have described in this specification
Body embodiment is not intended to limit the invention, and true scope of the invention and spirit are disclosed in following claims.
Claims (22)
1. a kind of fixed wing machine for having landing mechanism, characterized by comprising:
Ventral；
Propeller；
Parachute compartment is set to the ventral, and the parachute compartment is equipped with hatchcover；And
Parachute is set in the parachute compartment, and the parachute has umbrella portion and at least one umbrella rope, the umbrella portion connection
The hatchcover, the umbrella rope are fixed on the fixed wing machine；
Wherein when the fixed wing machine meets drop conditions, the fixed wing machine reduces flying height to door sill height；
Wherein after the fixed wing machine is reduced to the door sill height, the propeller is made to stop operating；
Wherein the hatchcover is opened after the propeller stops operating, and the parachute is pulled.
2. fixed wing machine as described in claim 1, which is characterized in that the umbrella rope of the parachute is fixed on the ventral
On.
3. fixed wing machine as described in claim 1, which is characterized in that it is described that there are the fixed wing machine at least three umbrella ropes to be fixed on
On ventral.
4. fixed wing machine as described in claim 1, which is characterized in that described after the fixed wing machine is reduced to the door sill height
So that the propeller is stopped operating, is made when the fixed wing machine is reduced to the door sill height and flight to default depression area
The propeller stops operating.
5. fixed wing machine as described in claim 1, which is characterized in that described so that the propeller is stopped operating made by brake gear
The propeller stops operating.
6. fixed wing machine as described in claim 1, which is characterized in that be set forth in after the propeller stops operating and open the cabin
Lid, is that the hatchcover is opened after preset time when the propeller stops operating.
7. fixed wing machine as described in claim 1, which is characterized in that the drop conditions be it is following at least one:
The fixed wing machine reaches preset depression area；
The flight time of the fixed wing machine reaches pre-set flight time value；
The fixed wing machine receives input instruction from the user and requires to open the hatchcover or require the fixed wing machine that lands；
The fixed wing machine is in landing mode；
The voltage of the battery of the fixed wing machine is lower than voltage threshold value；And
The fixed wing machine does not receive navigation signal.
8. fixed wing machine as described in claim 1, which is characterized in that the fixed wing machine is grasped by user by remote control apparatus
Make, the drop conditions are the fixed wing machine in the signal for not receiving the remote control apparatus sending in the first preset time
And fly to default to go home a little.
9. fixed wing machine as described in claim 1, which is characterized in that the fixed wing machine is grasped by user by remote control apparatus
Make, the drop conditions are the fixed wing machine in the signal for not receiving the remote control apparatus sending in the first preset time
And fly to default to go home a little, and do not receive the remote control apparatus in the second preset time after going home a little described in the arrival
The instruction of sending.
10. fixed wing machine as described in claim 1, which is characterized in that when the fixed wing machine does not meet the drop conditions, institute
Fixed wing machine is stated to detour in range of going home.
11. fixed wing machine as described in claim 1, which is characterized in that described when the fixed wing machine meets the drop conditions
Fixed wing machine detour descent path simultaneously gradually decreases flying height, and the fixed wing machine is opened in the level point on the descent path
The hatchcover.
12. fixed wing machine as described in claim 1, which is characterized in that described when the fixed wing machine meets the drop conditions
Fixed wing machine detour descent path simultaneously gradually decreases flying height, and the fixed wing machine opens the hatchcover in level point, wherein institute
The position for stating level point is determined according to wind direction.
13. a kind of fixed wing machine landing method, which is characterized in that the fixed wing machine includes: ventral；Propeller；Parachute compartment is set to
The ventral, the parachute compartment are equipped with hatchcover；And parachute, it is set in the parachute compartment, the parachute has
Umbrella portion and at least one umbrella rope, the umbrella portion connect the hatchcover, and the umbrella rope is fixed on the fixed wing machine；The method packet
Contain:
When the fixed wing machine meets drop conditions, the fixed wing machine reduces flying height to door sill height；
After the fixed wing machine is reduced to the door sill height, the propeller is made to stop operating；
The hatchcover is opened after the propeller stops operating, pulls the hatchcover by the parachute.
14. method as claimed in claim 13, which is characterized in that described after the fixed wing machine is reduced to the door sill height
So that the propeller is stopped operating, is made when the fixed wing machine is reduced to the door sill height and flight to default depression area
The propeller stops operating.
15. the method as described in claim 13, which is characterized in that described so that the propeller is stopped operating be by brake gear
The propeller is set to stop operating.
16. method as claimed in claim 13, which is characterized in that be set forth in after the propeller stops operating and open the cabin
Lid, is that the hatchcover is opened after a preset time when the propeller stops operating.
17. method as claimed in claim 13, which is characterized in that the drop conditions be it is following one of them:
The fixed wing machine reaches preset depression area；
The flight time of the fixed wing machine reaches pre-set flight time value；
The fixed wing machine receives input instruction from the user and requires to open the hatchcover or require the fixed wing machine that lands；
The fixed wing machine is in landing mode；
The voltage of the battery of the fixed wing machine is lower than voltage threshold value；And
The fixed wing machine does not receive navigation signal.
18. method as claimed in claim 13, which is characterized in that the fixed wing machine is grasped by user by remote control apparatus
Make, the drop conditions are that the fixed wing machine flies in the signal for not receiving the remote control apparatus sending in preset time
It goes home a little to default.
19. method as claimed in claim 13, which is characterized in that the fixed wing machine is grasped by user by remote control apparatus
Make, the drop conditions are the fixed wing machine in the signal for not receiving the remote control apparatus sending in the first preset time
And fly to default to go home a little, and do not receive the remote control apparatus in the second preset time after going home a little described in the arrival
The instruction of sending.
20. fixed wing machine as claimed in claim 13, which is characterized in that when the fixed wing machine does not meet the drop conditions,
The fixed wing machine detours in range of going home.
21. method as claimed in claim 13, which is characterized in that described when the fixed wing machine meets the drop conditions
Fixed wing machine detour descent path simultaneously gradually decreases flying height, and the fixed wing machine is opened in the level point on the descent path
The hatchcover.
22. method as claimed in claim 13, which is characterized in that described when the fixed wing machine meets the drop conditions
Fixed wing machine detour descent path simultaneously gradually decreases flying height, and the fixed wing machine opens the hatchcover in level point, wherein institute
The position for stating level point is determined according to wind direction.
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| TW107100689 | 2018-01-08 | ||
| TW107100689 | 2018-01-08 |
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| CN110015430A true CN110015430A (en) | 2019-07-16 |
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| CN201910017016.6A Pending CN110015430A (en) | 2018-01-08 | 2019-01-08 | The fixed wing machine and its method for having landing mechanism |
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| TW (1) | TWI688520B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2754278C1 (en) * | 2020-12-17 | 2021-08-31 | Юрий Иванович Малов | Unmanned aircraft with parachute landing system |
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Also Published As
| Publication number | Publication date |
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| TWI688520B (en) | 2020-03-21 |
| TW201930148A (en) | 2019-08-01 |
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