CN110040246A - Uniaxial DCB Specimen unmanned flight device, the system and remote control method for having the device - Google Patents
Uniaxial DCB Specimen unmanned flight device, the system and remote control method for having the device Download PDFInfo
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- CN110040246A CN110040246A CN201810035359.0A CN201810035359A CN110040246A CN 110040246 A CN110040246 A CN 110040246A CN 201810035359 A CN201810035359 A CN 201810035359A CN 110040246 A CN110040246 A CN 110040246A
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- 230000000712 assembly Effects 0.000 claims abstract description 25
- 238000000429 assembly Methods 0.000 claims abstract description 25
- 230000005520 electrodynamics Effects 0.000 claims abstract description 18
- 238000004146 energy storage Methods 0.000 claims abstract description 16
- 230000000284 resting effect Effects 0.000 claims abstract description 8
- 230000002441 reversible effect Effects 0.000 claims abstract description 8
- 230000033001 locomotion Effects 0.000 claims description 21
- 230000003028 elevating effect Effects 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 12
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- 230000001965 increasing effect Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C9/00—Adjustable control surfaces or members, e.g. rudders
- B64C9/02—Mounting or supporting thereof
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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
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- 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
- B64U30/24—Coaxial rotors
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
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Abstract
One along an axially extending upright casing, has energy storage mould group in the upright casing, wireless telecommunications mould group and telecommunications connect the control mould group of aforementioned wireless telecommunications mould group；One electrodynamic element axially extended includes a pair of of inner stator；And two groups of axially spaced rotor assemblies, each rotor assemblies respectively correspond one of aforementioned inner stator, and each rotor assemblies include an outer rotor, at least one pivot member between outer rotor and inner stator, and it is connected to the rotor ontology of outer rotor, wherein two rotor ontologies are in reverse rotation；And course unit includes the rudder piece that plural number is hubbed at upright casing or inner stator independently of one another, each rudder piece pivots between the resting position close to upright casing and the traversing position far from upright casing respectively；And one group of actuating mould group.
Description
Technical field
A kind of a kind of unmanned flight's device with uniaxial DCB Specimen, and have the system and remote control method of the device.
Background technique
Unmanned vehicle (Unmanned Aerial Vehicle) development history underwent the world big by balloon kenel in 1783
The baptism of war and the industrial revolution, the pilot for operating aircraft is gradually detached, in military training purposes, create unmanned target
Machine, the now application of military unmanned air vehicle are even more to extend to remote control to hit with carrying out third.Present unmanned plane application, then not
Again it is only military use, is more to distinguish for other purposes such as amusement and recreation or logistics in conjunction with scientific equipment and machine learning
Be applied to aerial photographing, multiply loading product, extension signal and environment detecting etc., along with the development of integrated circuit, chip volume
It reduces and function enhancing, the volume of unmanned plane entirety is miniaturized further with weight in this, more conducively prolongs on multiple utilities
Stretch out hair.
For device, scientific and technological progress creates many derivative applications of unmanned plane, but in four-axle aircraft or single shaft
Still there is identical limitation and application difficult in aircraft, when unmanned plane is applied to aerophotography by one, in multiaxis or single shaft
Photographic equipment is mostly set to below fuselage by aircraft, its right fuselage is mostly surrounded by propeller and fuselage adjutage, so that when moving
When dynamic offset greatly must rapidly increase or decrease particular orientation elevation angles, it is easy also to clap said spiral paddle and adjutage
Enter picture, causes the result of sky shooting shadow to cover, the puzzlement of derivative subsequent production；Secondly being asked to solve aforementioned masking
Video camera is mostly extended using holder and increases fuselage distance as in response to but also increasing the weight of fuselage itself, make endurance by topic
It declines to a great extent；Thirdly the phtographic lens of configuration more has replacement demand and considers to pursue the fineness of high image quality and imaging, this in
The mechanical structure of uniaxial unmanned plane changes with greater need for the counterweight that video camera is set on uniaxial unmanned plane is considered, so that uniaxial nothing
Man-machine is flight of aspiring for stability, and undoubtedly improves the complicated in mechanical structure degree of uniaxial unmanned plane, increases the difficulty that uniaxial unmanned plane manufactures
Degree, improves the cost of manufacture.
The mechanical structure of the uniaxial unmanned plane before accepting, especially when moving horizontally, to change offset, whether with
Inclinator (Swashplate) allows track-height to particular orientation overturning angle, makes uniaxial unmanned plane mobile to particular orientation, or with
The counterweight mode for changing horizontal plane tilts track-height, and the solution mobile as uniaxial unmanned plane can all face inclination
There is device the knots modification of complicated mechanical structure or counterweight to be difficult to be accurately controlled, and other than increasing weight, more improve system
It makes and operational degree of difficulty；And be to ask to be precisely controlled, structure just must be increasingly complex, and labyrinth is more brought in manufacture
Degree of difficulty, padded whole production cost.
So far, the personage for manipulating unmanned plane is mostly still based on professional remotely-piloted vehicle player, because being limited to three axis or four axis
The structure complexity of aircraft, but also present unmanned plane manipulates, the control mode complexity compared with passing remotely-piloted vehicle is permitted
It is more.Even the user of past usual remotely-piloted vehicle, also not necessarily can smoothly manipulate unmanned plane, in addition for not passing through
The new user tested, it is more difficult to light easy to get started.In particular, no matter the manipulation of three axis or four axis unmanned vehicles, not meet intuition
Steer mode, in addition the feedback of remote controler is easy to make manipulation to deviate, undoubtedly also increase unmanned plane manipulation strides into threshold, leisure
By inherently complicated flight path and angle is carried out, to reach desired operation purpose.
Another aspect, the unmanned plane of today is more for example, by wireless radio-frequency, by the screen of image transmission to remote control device
On, or can be in the communication device of unmanned plane line, such as mobile phone or tablet computer progress instant video transmission, whereby by other
Attempt to allow operating process more intuition and hommization, but such steer mode is also only the substitution of original remote control device, but
It is that traditional control interface is transferred on mobile communication device, but is not the manipulation scheme for meeting mankind's intuition.
Converge it is whole aforementioned, how during unmanned plane micromation, on the one hand using uniaxial DCB Specimen unmanned flight's device,
Whole flight instruments size is smoothly reduced, while simplifying control structure and reducing manufacturing cost, another aspect promotes the convenience of manipulation
Property and reduce the difficulty started with, and the control mode for meeting Human Engineering is provided and manipulation is allowed more to meet intuition, allow unmanned flight
The complicated applications of device are easy to upper hand, the purpose as of the invention to be reached.
Summary of the invention
One of present invention purpose is to provide a kind of uniaxial DCB Specimen unmanned flight's device, be set to uprightly by multi-disc
The pivot rudder piece of casing controls heading, and upright casing deflection when steering is greatly decreased.
It is another object of the present invention to provide a kind of uniaxial DCB Specimen unmanned flight's device wireless remote-control systems, pass through
The polar coordinates control unit for exporting one group of planar movement signal enables the manipulation of remote control device more meet human nature operation intuition.
It is a further object of the present invention to provide a kind of uniaxial DCB Specimen unmanned flight's apparatus systems, by upright casing
Video camera is arranged in one of both ends, excludes the possibility that pick-up image is covered by screw wing and adjutage.
It is still a further object of the present invention is to provide a kind of uniaxial DCB Specimen unmanned flight's apparatus systems, by upright casing
Both ends are respectively provided with wide-angle camera, and the full-view image through capturing allows remote control device control mode to meet human factor engineering design.
Disclosed herein uniaxial DCB Specimen unmanned flight device, which includes one axially extending straight along one
Casing is found, an energy storage mould group is had in the upright casing, a wireless telecommunications mould group and telecommunications connect aforementioned wireless telecommunications mould group
Control mould group；One along it is above-mentioned axially extending and by above-mentioned control mould group drive electrodynamic element, comprising a pair along upper
State inner stator that is axially extending and being set in above-mentioned upright casing；And two groups of rotor groups being arranged along above-mentioned axially spaced-apart
Part, each aforementioned rotor assemblies respectively correspond one of aforementioned inner stator, and each aforementioned rotor assemblies include an outer rotor, until
A few pivot member between aforementioned outer rotor and inner stator, and it is connected to the rotor ontology of above-mentioned outer rotor, wherein on
Stating two rotor ontologies is in reverse rotation；And a course unit, comprising plural number be hubbed at independently of one another above-mentioned upright casing or
The rudder piece of above-mentioned inner stator, each rudder piece respectively one close to the resting position of above-mentioned upright casing and one far from above-mentioned upright machine
It is pivoted between the traversing position of shell；And one group driven by above-mentioned control mould group and open and close the actuating mould group that above-mentioned rudder piece pivots.
According to above-mentioned unmanned flight's device, uniaxial DCB Specimen unmanned flight device remote control system of the invention can be built up
System, which includes: uniaxial DCB Specimen unmanned flight's device should including one along an axially extending upright casing
An energy storage mould group is had in upright casing, a wireless telecommunications mould group and telecommunications connect the control mould of aforementioned wireless telecommunications mould group
Group；One, along electrodynamic element above-mentioned axially extending and by the driving of above-mentioned control mould group, is prolonged comprising a pair along above-mentioned axial direction
The inner stator stretched and be set in above-mentioned upright casing；And two groups of rotor assemblies being arranged along above-mentioned axially spaced-apart, Mei Yiqian
It states rotor assemblies and respectively corresponds one of aforementioned inner stator, and each aforementioned rotor assemblies include an outer rotor, at least one Jie
Pivot member between aforementioned outer rotor and inner stator, and it is connected to the rotor ontology of above-mentioned outer rotor, wherein above-mentioned two rotor
Ontology is in reverse rotation；And a course unit, it is hubbed at above-mentioned upright casing or above-mentioned default independently of one another comprising plural number
Son rudder piece, each rudder piece respectively one close to the resting position of above-mentioned upright casing and one far from the traversing of above-mentioned upright casing
It is pivoted between position；And one group driven by above-mentioned control mould group and open and close the actuating mould group that above-mentioned rudder piece pivots；An and remote control
Device, including a polar coordinates control unit, for exporting one group of planar movement signal；One elevating control unit, for exporting one group of liter
Signal drops；And a proximal end communication unit, for exporting above-mentioned planar movement signal and lifting signal to above-mentioned wireless telecommunications mould group.
In another aspect, the present invention also discloses a kind of uniaxial DCB Specimen unmanned flight's device wireless remote control method, nobody flies for this
It includes a uniaxial DCB Specimen unmanned flight device and one group of remote control device that luggage, which sets wireless remote-control system,；It is wherein aforementioned uniaxial double
Rotor unmanned flight's device includes one along an axially extending upright casing, and one along above-mentioned axially extending and by above-mentioned
Control the electrodynamic element and a course unit of the driving of mould group；An energy storage mould group, a wireless telecommunications mould are had in the upright casing
Group and telecommunications connect the control mould group of aforementioned wireless telecommunications mould group；Aforementioned electrodynamic element includes that a pair is prolonged along above-mentioned axial direction
It stretches and the inner stator that is set in above-mentioned upright casing and two groups of rotor assemblies being arranged along above-mentioned axially spaced-apart, Mei Yiqian
It states rotor assemblies and respectively corresponds one of aforementioned inner stator, and each aforementioned rotor assemblies include an outer rotor, at least one Jie
Pivot member between aforementioned outer rotor and inner stator, and it is connected to the rotor ontology of above-mentioned outer rotor, wherein above-mentioned two rotor
Ontology is in reverse rotation；And above-mentioned course unit includes that plural number is hubbed at above-mentioned upright casing or above-mentioned default independently of one another
The rudder piece of son and one group are driven by above-mentioned control mould group and open and close the actuating mould group that above-mentioned rudder piece pivots；Aforementioned remote control device packet
Include a polar coordinates control unit, an elevating control unit and a proximal end communication unit；Above-mentioned wireless remote control method includes following step
It is rapid: a) to start above-mentioned electrodynamic element；B) one group of planar movement news is exported by the above-mentioned polar coordinates control unit of above-mentioned remote control device
Number and/or above-mentioned elevating control unit export one group of lifting signal, through above-mentioned proximal end communication unit and above-mentioned wireless telecommunications mould group
To above-mentioned control mould group；C) by the more above-mentioned wireless telecommunications mould group of above-mentioned control mould group above-mentioned planar movement signal obtained and
Signal power is gone up and down, the close and direction far from above-mentioned remote control device of above-mentioned upright casing is determined and is defined as Radius direction,
And one vertical aforementioned radial direction angle direction, the above-mentioned plane exported for interpretation according to above-mentioned polar coordinates control unit moves
Dynamic signal.D) when it is to transverse shifting that above-mentioned wireless telecommunications mould group, which receives the remote control device to send one group of planar movement signal,
Above-mentioned actuating mould group opens and closes above-mentioned rudder piece and pivots, and above-mentioned remote control device and uniaxial DCB Specimen unmanned flight's device is allowed to maintain aforementioned half
The distance of diameter.
In above-mentioned comprehensive opinion, disclosed herein uniaxial DCB Specimen unmanned flight device, by being set to aforementioned upright machine
The rudder piece that shell pivots controls the heading of aforementioned uniaxial DCB Specimen unmanned flight's device, it is ensured that flight attitude is in change direction
Shi Xuanyi stablizes in face unbiased.And uniaxial DCB Specimen unmanned flight's device remote control system, it is sent by above-mentioned remote control device flat
The mobile signal in face and the intensity value for going up and down signal, it is ensured that above-mentioned remote control device and above-mentioned uniaxial DCB Specimen unmanned plane maintain one section away from
From making detour flight more easy using operating, and reach the projects to be reached of the present invention.
Detailed description of the invention
Fig. 1 is first preferred embodiment single shaft DCB Specimen unmanned flight's schematic device.
Fig. 2 is that prescription block figure is modeled in the upright casing of Fig. 1.
Fig. 3 is the actuating mould group illustrative view of Fig. 1.
Fig. 4 is that the unmanned flight of Fig. 1 is installed on wind-tunnel and rudder piece change in location schematic diagram.
Unmanned flight's device motion direction schematic diagram after the opening and closing rudder piece that Fig. 5 is Fig. 1.
Fig. 6 is the mould group block diagram of the first preferred embodiment of Fig. 1 remote control device.
Fig. 7 is the mobile schematic diagram of unmanned flight's device of Fig. 1 wireless remote-control system.
Fig. 8 is the facedown schematic diagram of remote control device.
Fig. 9 is Fig. 1 remote control system operating method block diagram.
Figure 10 is second preferred embodiment single shaft DCB Specimen unmanned flight's schematic device.
Figure 11 is modeling group and remote control device control unit block diagram in the upright casing of Figure 10.
Figure 12 is the remote control device operation chart of Figure 10.
Figure 13 is the synchronization image first person display area schematic diagram of the remote control device of Figure 10.
Figure 14 is third preferred embodiment single shaft DCB Specimen unmanned flight's device remote control system application schematic diagram.
The first person that Figure 15 is Figure 14 translates steering operation schematic diagram.
Figure 16 is the first person longitudinal direction handover operation schematic diagram of Figure 14.
Symbol description
Unmanned flight's device 1,1 ', 1 "
Upright casing 10
100 main ring field shooting device 101,101 ', 101 " of energy storage mould group
102 subring field shooting device 103,103 " of wireless telecommunications mould group
Control 104 conducting wire 105 of mould group
Bottom end 106 senses mould group 107
Top 108
Electrodynamic element 12
120 rotor assemblies 122 of inner stator
124 pivot member 126 of outer rotor
Rotor ontology 128
Course unit 14
Rudder piece 140,140 ' activates mould group 142,142 '
The traversing position H of resting position S
Remote control device 2,2 ', 2 "
20,20 " inertia sensing unit 21 " of polar coordinates control unit
22,22 " proximal end communication unit 24,24 ' of elevating control unit
Dress 26,26 " display unit 28 ', 28 " of ontology
Step 30-32
Radial direction R angular direction theta
Visual angle P ', P "
Specific embodiment
About aforementioned and other technology contents, feature and effect of the invention, in the preferable reality of following collocation Figure of description
The detailed description for applying example, will be apparent from；In addition, similar elements indicate it with similar label in every embodiment.
Unmanned flight's device 1 of the uniaxial DCB Specimen of first preferred embodiment of the invention please joins assistant Fig. 1 to Fig. 9, packet together
The upright casing 10 extended along vertical direction is included, for purposes of illustration only, vertical direction is defined as axial direction, and this axis herein
To being in most cases substantially orthogonal with horizontal direction.Upright casing 10 is built-in wireless communication module group 102 and control mould
Group 104, aforementioned wireless telecommunications mould group 102 are used as receiving with transmission signal, aforementioned control mould group 104 then with the wireless telecommunications
The connection of 102 telecommunications of mould group is controlled electrodynamic element 12 according further to the received signal of institute, unmanned flight of the invention is controlled with this
Device 1.
In this example, aforementioned electrodynamic element 12 is also along above-mentioned axially extending, wherein including the interior of a pair of of coaxial arrangement
Stator 120 and two groups of rotor assemblies 122.The two groups of interval of rotor assemblies 122 settings, allow each rotor assemblies 122 to respectively correspond
One of aforementioned inner stator 120, each rotor assemblies 122 respectively include an outer rotor 124, at least one pivot member 126 and one
A rotor ontology 128.Pivot member 126 allows outer rotor 124 can be relative between aforementioned outer rotor 124 and inner stator 120
Inner stator 120 is smoothly pivoted.Rotor ontology 128 is then directly linked to outer rotor 124, therefore the company by outer rotor 124
Dynamic rotation, and two rotor ontologies 128 are in reverse rotation, and by the reaction force principle of coaxial anti-paddle, each air passes through
Two rotor ontologies 128, rotor ontology 128 all can generate a reciprocal torque of angular speed to electrodynamic element 12, allow two groups
The reverse rotation of rotor ontology 128 causes torque cancellation, provides the stability of unmanned flight's device 1.
For the Heading control part of unmanned flight's device 1, course unit 14 is hubbed at above-mentioned independently of one another comprising plural number
The actuating mould group 142 that rudder piece 140 and one group of controlled molding group 104 at upright casing 10 or inner stator 120 drive.In this example
In, rudder piece 140 is to be hubbed at upright casing 10, and four rudder pieces 140 are spaced each other an angle of 90 degrees setting, and the actuating mould of this example
It is two tool linear motors that group 142, which releases example, and each linear motor passes through connecting rod (not labeled) respectively, drives opposite two panels rudder piece
140 control its pivot opening and closing actuation, certainly be familiar with the art personage can be readily appreciated that rudder piece is hubbed at it is above-mentioned default
Rudder piece since inner stator is static component, therefore is hubbed at inner stator and had no and implemented for fear of this example by son.
Please also refer to shown in Fig. 4, the rudder piece 140 at left and right sides of schema is by same linear motor driven, and difference can
To be pivoted between the resting position S close to upright casing 10 and the traversing position H far from upright casing 10, due to the company in this example
Pole length be less than upright casing transverse width, therefore when actuating the controlled molding group 104 of mould group 142 driving, allow connecting rod or so not
When contacting two side rudder pieces 140, rudder piece 140 naturally resides in the resting position S of closure, respectively fits in upright casing 10；Conversely,
When connecting rod pushes to the right and opens right side 140 pivot of rudder piece, which will be switched to the traversing position far from upright casing 10
H is set, makes its end far from upright casing 10.
The rudder piece 140 for being opened impact by downdraught (Downwash) caused by top rotor ontology 128, when this
The thrust downward by air-flow, this thrust will generate the component of left direction to rudder piece 140 to upright casing 10 in an inclined state,
And in the case where rotor face level hardly changes angle state, allow unmanned flight's device 1 because open right side rudder piece 140 due to back towards
It moves left, and unmanned flight's device 1 is made substantially to maintain substantive vertical direction without obvious deflection.Therefore such as Fig. 5, if
Be will towards it is oblique mobile when, can be opened simultaneously by the rudder piece of on the left of such as schema and downside, allow unmanned flight's device 1 towards schema
The horizontal direction in upper right side is mobile, can also allow by outer tilt angle of such as reduction left side rudder piece and move horizontally direction
It is biased to the north north east direction at an o'clock.
When remote control device 2 is further added in above-mentioned unmanned flight's device 1, the remote control system of the present embodiment is just constituted, is asked
The mould group block diagram of Fig. 6 is referred to together, and the remote control device 2 in this example includes the polar coordinates of one group of planar movement signal of an output
Control unit 20, the elevating control unit 22 and a proximal end communication unit 24 of one group of lifting signal of an output are as output
Signal is in the wireless telecommunications mould group 102 of aforementioned unmanned flight's device 1, and output signal controls unmanned flight's device 1 progress whereby
Three-dimensional motion including lifting and planar movement.
In this example, remote control device 2 as shown in Figures 7 and 8, is configured to the shape of a ring round, straight for user
It connects and wears in the polar coordinates control on such as index finger, being respectively arranged with a Mini rocker as one group of planar movement signal of output
Unit 20, and elevating control unit of the slide key that in addition one up and down direction of setting is stirred as one group of lifting signal of output
22.Certainly known the art personage can increase other respective operations functions on the remote control device, according to need with bracelet,
Mask or other wear structures, or even remote controler design traditionally, as long as convenient for operation and carrying；In addition, such as nothing
When people's flight instruments are equipped with video camera, it is able in the control unit for increasing corresponding photography on remote control device, or such as fly in nobody
When luggage is set equipped with mechanical arm, more can not all it be hindered in the control unit for increasing corresponding mechanical arm operation on remote control device
Implement in this example.
Even if upright casing 10 remains to substantially remain vertical since unmanned flight's device 1 of the invention is when moving horizontally
Without obviously tilting, therefore in this example, ring field shooting device can be increased, in upright casing 10 to increase the function of image capture
It can apply.For purposes of illustration only, the lower section of upright casing 10 is referred to here as bottom end 106, top is then known as top 108.Due to center of gravity
It considers, the inclined top position of upright casing 10 can be arranged in above-mentioned electrodynamic element 12, and in upright casing 10, is provided with energy storage
Mould group 100 and control mould group 104.Identically as current unmanned vehicle, main ring field shooting device 101 of the invention is preferentially arranged
In aforementioned bottom end 106, for shooting 360 degree of ring field images downwards, then it is slightly above horizontal direction to the elevation angle of photographs, about
The solid angle for covering 210 degree, due to upright casing 10 except rudder piece may in addition to open, no matter any screening is all not present in all directions for remaining
It covers, so that the solid angle of image capture is very broad, is not required to tilt especially because moving horizontally, allow dynamic image to capture smooth
It spends very high.
Stereopsis data to provide three-dimensional is more also equipped with a subring field in above-mentioned top 108 in this example
No matter image pick-up device 103 is to provide the conducting wire 105 of electric energy or the signal line of transmission signal since the position of this image pick-up device is special,
Electrodynamic element 12 is all had to pass through, therefore in inner stator 120 of the invention, is more respectively formed with a upright channels and (does not mark
Number), it allows energy supply to wear to the conducting wire 105 of subring field shooting device 103, is smoothly connected to energy storage mould group 100.Due in this example
Main ring field shooting device 101 and subring field shooting device 103 work as double image pick-up device synchronous operations all with the lens module of wide-angle
When, the height of vertical shell 10 just becomes the interval of two ring field shooting devices, and the image for allowing the two to be captured collectively forms three-dimensional
Three-dimensional data.
In this example, unmanned flight's device 1 can allow operator's hand grip, and dish out unmanned flight's dress in operator
When setting 1, starting flight immediately.Therefore in this example, one group of exportable sensing signal is more provided in upright casing 10 to control
The sensing mould group 107 of molding group 104, releasing example herein is a push switch, since the button of push switch protrudes from upright shell
In vitro, therefore when operator dishes out unmanned flight's device 1, which will be released, control mould group 104 to learning,
And drive 128 spiraling of outer rotor 124 and rotor ontology.Certainly being familiar with the art personage can need according to application easily
It asks and main ring field shooting device and subring field shooting device is replaced with into depth video camera or other image capture units, replacement or collocation
Different environment senses mould group, in response to the different demands using situation, without the implementation for fear of this example.
It is manipulated compared to past Cattell coordinate (Cartesian coordinate system), remote control side of the invention
Rule be by the state modulator of cylinder coordinate (Cylindrical coordinate system), to meet Human Engineering and
Operator is allowed to be easy to upper hand, and it is more handy to manipulate process.This example is to be that movable field domain carries out aerial panorama using situation
Shooting.When user's unmanned flight's device 1 of dishing out passes through the above-mentioned sensing being set in upright casing in initial step 30
Mould group 107 will promote to control the starting electrodynamic element 12 of mould group 104, make two rotor ontologies 128 by one between outer rotor 124
Pivot member 126 between inner stator 120 starts to reversely rotate, and unmanned flight's device 1 is allowed to generate climbing power；In step 31,
Signal control is carried out with remote control device 2 with user, one group of planar movement is exported by the polar coordinates control unit 20 of remote control device 2
Signal, elevating control unit 22 then export one group of lifting signal, supreme by proximal end communication unit 24 and wireless telecommunications mould group 102
Control mould group 104 is stated, the flight of unmanned flight's device 1 is controlled.
It is controlled compared to general Cattell coordinate, unmanned vehicle to be allowed to draw circle flight in sustained height, manipulator is necessary
The increase and decrease for deciding X-direction and Y-direction in its sole discretion is retreated, and is inferred the position of flight instruments in brain without foundation, is not met the mankind completely
Intuition.In this example, in step 32, so-called polar coordinates control unit is as shown in fig. 7, be by wireless telecommunications mould group 102
The signal power from remote control device 2 is obtained as standard then determines upright casing 10 closer to remote control dress when signal enhancing
2 are set, is defined as the Distance Shortened of radial direction R, on the contrary then increase for distance, the direction of vertical aforementioned radial direction R then defines
For angular direction theta, therefore when interpretation and after define radial direction R and angular direction theta, unmanned flight's device 1 will be able to according to
Remote control device 2 maintains the mode of one section of fixed range to complete picture circle flight, especially because being to carry out image with ring field shooting device to pick
It takes, the image data of all directions is all very complete, and user is allowed site of activity can be carried out panorama with empty bat mode easily
Shooting, saves the precious details in the every nook and cranny of site of activity.It especially draws in circle flight course, manipulator only needs simply
Mini rocker is fixed to the left or is fixed to the right by ground, and original state is kept not change.
Certainly it is familiar with the art personage and obtains structure, the dress that course unit is replaced with to other change flight directions easily
It sets or combines, without for fear of this example implementation.And be not limited to will be using signal power as uniquely sentencing for polar coordinates control unit
Disconnected control method can also allow control mould group according to the voluntarily operation of dynamic route, without the implementation for fear of this method.
The uniaxial DCB Specimen unmanned flight device wireless remote-control system of second preferred embodiment of the invention is then such as Figure 10 to 13
Shown, unmanned flight's device 1 ' in this example is provided only with main ring field shooting device 101 ', and activates mould group 142 ' and release example as electricity
Magnet controls mould group, by changing the homopolar-repulsion of magnetic force, the magnetomechanical effects pivotable switch rudder piece 140 ' that there is a natural attraction between the sexes, and is remotely controlled
It is smart phone (Smart Phone) that device 2 ', which releases example, remaining structure is identical as the first preferred embodiment, will no longer go to live in the household of one's in-laws on getting married herein
It states.
Smart phone in this example as remote control device 2 ' has been various application tool software (Application
Software carrier) is able to the picture of display with main ring field shooting device 101 ' with a display unit 28 ', on the one hand considers
Intelligent mobile communication device has Three-Dimensional Dynamic sensor, can obtain easily manipulator towards another aspect display unit 28 '
Also it is limited by area, it can not be by all reduction reproductions of the ring field picture of the picture photographing of main ring field shooting device 101 '.Therefore
In this example, as shown in Figure 12 and 13, the display unit 28 ' that operator both can use touch-control remote control device 2 ' controls nobody and flies
Luggage sets 1 ' above-mentioned and moves horizontally and go up and down, remote control device 2 ' or can also change its pitch angle by rotation, make proximal end logical
It interrogates unit 24 ' and unmanned flight's device 1 ' carries out signal communication, determine that the image data by corresponding orientation is transferred to remote control device
2 ' are shown.
It is, main ring field shooting device 101 ' has been achieved with the complete picture more than 180 degree solid angle in fact, but only need to be according to
According to the direction of operator, the visual angle P ' picture of such as fan-shaped region of bold portion shown in Figure 13 is passed by unmanned flight's device 1 '
Transport to remote control device 2 '；Relatively, unmanned flight's device 1 ' need not at all change in response to the rotation of remote control device 2 ' and pitch angle
And change its motion state, the picture that operator needs can be provided.
As shown in Figure 14 to 16, third preferred embodiment of the invention is then the mask with one including display unit 28 "
The helmet as remote control device 2 ", carry out long distance remote control using virtual reality (Virtual Reality) and carry out empty bat, mainly
User is allowed to be immersed in 1 " main ring field shooting device 101 " of unmanned flight's device and subring field shooting with the visual angle P " of the first person
The acquisition picture of device 103 " is watched and is photographed, and by this example above-mentioned main ring field shooting device 101 " and subring field shooting
It is the wide-angle photography mould group with depth sense device that device 103 ", which releases example, in addition, unmanned flight's device 1 " and previous embodiment knot
Structure and indifference.
In this example, the helmet of the remote control device 2 " includes a wearing ontology 26 " for operator's wearing, is released in this example
A headband and mask, display unit 28 " to allow operator to be worn on the head then are set to above-mentioned mask, in wearing ontology 26 "
Side be then provided with polar coordinates control unit 20 " and elevating control unit 22 ", allow operator to stir control with hand.In mask
Portion is then provided with the inertia sensings units 21 ' such as one group of gyroscope or accelerometer, for exporting one group of inertia signal, makes remote control device
2 " the directions itself faced, it will be included into and consider during image processing, screened whereby in virtual reality (Virtual
Reality Box) in the image data that is presented.By inertia signal, make this example operation flying method more simple.
Certain skilled personage can be by the inertia sensing unit (Inertial as ability of posture control
Measurement Unit) it is set to the remote control device being worn on user, as carrying out, control unmanned flight's device is flat
Face is mobile or the control of lifting, such as the head of user is crooked to the left or to the right, and to facing upward or change to the posture of nutation,
Allow inertia sensing unit output inertia signal in polar coordinates control unit, and one group of polar coordinates control unit output is corresponding flat
The mobile signal in face is in wireless telecommunications mould group, and elevating control unit is by the physical transformations digital signals such as touch panel, output one
Group lifting signal changes the control mode carried out by head pose in wireless telecommunications mould group, or by former, replaces with inertia sense
It surveys unit to be set in the remote control device as being worn on hand, can be changed by hand gesture and carry out flight attitude or view directions
Switching control, illustrate that the planar movement signal exported for polar coordinates control unit carries out corresponding flight path control,
It or is to change visible angle, without for fear of this example implementation.
Vision in this example is presented, and is changed by the visual angle P " of remote control device 2 ", and this example is allowed to be set to wearing ontology 26 "
Display unit 28 " can be changed simultaneously when head pose is translated and rotated from main ring field shooting device 101 " and subring field shooting
The picture range of device 103 " allows user to obtain the visual angle P " range of the first person of corresponding direction, such as stays skyborne view
Feel impression, be particularly suitable for application to the position that user is difficult to deeply go to, such as road is rugged is difficult to deep mountain and forest region,
Or with unapproachable regions such as the precipitous valleys for being difficult to climb rocks, naturally it is also possible to be by ecological protection region, to make the ground
Area's ecology by artificial destruction, does not allow user that can observe the environment detail of the range in the state of not destroying the region.
Meet intuition to ensure to reach visual angle P " change with flight attitude handover operation, is familiar with the art personage certainly
It can press or touch easily device or mould group carries out the locking of planar movement and lifting moving, be maintained at unmanned flight's device
Hovering situation is seen the picture for regarding each angle by the change rotation first person of posture, or a variety of wearings is combined to fill
It sets and is controlled；In addition to this, depth sense video camera is set in remote control device, can also be distinguished by hand gestures information
Know, further allows polar coordinates control unit or elevating control unit to send out the signal of control planar movement or lifting, and add and pick
The additional functionality for taking the application hand gesture such as picture, without the implementation for fear of this example.
The above is presently preferred embodiments of the present invention, all according to the present invention not to limit to the scope of the present invention
The simple change and conversion that claim and specification are carried out, still in the range of the invention patent covers.
Claims (9)
1. a kind of single shaft DCB Specimen unmanned flight's device, which is characterized in that the device includes
One along an axially extending upright casing, has an energy storage mould group in the upright casing, a wireless telecommunications mould group, with
And telecommunications connects the control mould group of aforementioned wireless telecommunications mould group；
One along it is above-mentioned axially extending and by above-mentioned control mould group drive electrodynamic element, include
A pair is along inner stator that is above-mentioned axially extending and being set in above-mentioned upright casing；And
Two groups along above-mentioned axially spaced-apart be arranged rotor assemblies, each aforementioned rotor assemblies respectively correspond aforementioned inner stator it
One, and each aforementioned rotor assemblies include an outer rotor, at least one pivot member between aforementioned outer rotor and inner stator,
And it is connected to the rotor ontology of above-mentioned outer rotor, wherein above-mentioned two rotors ontology is in reverse rotation；And
One course unit includes
Plural number is hubbed at the rudder piece of above-mentioned upright casing or above-mentioned inner stator independently of one another, and each rudder piece is respectively one close to above-mentioned
It is pivoted between the resting position and a traversing position far from above-mentioned upright casing of upright casing；And one group by above-mentioned control mould group drive
Actuating mould group that is dynamic and opening and closing above-mentioned rudder piece pivot.
2. single shaft DCB Specimen unmanned flight's device as described in claim 1, which is characterized in that wherein above-mentioned upright casing has
A reciprocal bottom end and a top, unmanned flight's device further include at least one and are set to the above-mentioned above-mentioned bottom of upright casing
The main ring field shooting device held and energized by above-mentioned energy storage mould group.
3. single shaft DCB Specimen unmanned flight's device as claimed in claim 2, which is characterized in that further include at least one and be set to
The subring field shooting device above-mentioned upright casing above-mentioned top and energized by above-mentioned energy storage mould group with a conducting wire, and it is above-mentioned default
Son is formed with a upright channels, wears for the above-mentioned conducting wire that above-mentioned energy storage mould group is energized to above-mentioned subring field shooting device.
4. single shaft DCB Specimen unmanned flight's device as claimed in claim 1,2 or 3, which is characterized in that wherein above-mentioned upright machine
In shell, it is more provided with a sensing mould group for one sensing signal of output to the control mould group.
5. the uniaxial double-vane unmanned flight device as described in claim 4, which is characterized in that wherein above-mentioned sensing mould group is one
A push switch.
6. a kind of single shaft DCB Specimen unmanned flight's device wireless remote-control system characterized by comprising
One uniaxial DCB Specimen unmanned flight's device, including
One along an axially extending upright casing, has an energy storage mould group in the upright casing, a wireless telecommunications mould group, with
And telecommunications connects the control mould group of aforementioned wireless telecommunications mould group；
One along it is above-mentioned axially extending and by above-mentioned control mould group drive electrodynamic element, include
A pair is along inner stator that is above-mentioned axially extending and being set in above-mentioned upright casing；And
Two groups along above-mentioned axially spaced-apart be arranged rotor assemblies, each aforementioned rotor assemblies respectively correspond aforementioned inner stator it
One, and each aforementioned rotor assemblies include an outer rotor, at least one pivot member between aforementioned outer rotor and inner stator,
And it is connected to the rotor ontology of above-mentioned outer rotor, wherein above-mentioned two rotors ontology is in reverse rotation；And
One course unit includes
Plural number is hubbed at the rudder piece of above-mentioned upright casing or above-mentioned inner stator independently of one another, and each rudder piece is respectively one close to above-mentioned
It is pivoted between the resting position and a traversing position far from above-mentioned upright casing of upright casing；And one group by above-mentioned control mould group drive
Actuating mould group that is dynamic and opening and closing above-mentioned rudder piece pivot；And
One group of remote control device, including
One polar coordinates control unit, for exporting one group of planar movement signal；
One elevating control unit, for exporting one group of lifting signal；And
One proximal end communication unit, for exporting above-mentioned planar movement signal and lifting signal to above-mentioned wireless telecommunications mould group.
7. single shaft DCB Specimen unmanned flight's device wireless remote-control system as claimed in claim 6, which is characterized in that wherein above-mentioned
Upright casing has a reciprocal bottom end and a top, unmanned flight's device further include at least one be set to it is above-mentioned straight
The vertical above-mentioned bottom end of casing and the main ring field shooting device energized by above-mentioned energy storage mould group；And at least one be set to it is above-mentioned upright
The above-mentioned top of casing and the subring field shooting device energized by above-mentioned energy storage mould group with a conducting wire, and above-mentioned inner stator is formed with
One upright channels are worn for the above-mentioned conducting wire that above-mentioned energy storage mould group is energized to above-mentioned subring field shooting device.
8. single shaft DCB Specimen unmanned flight's device wireless remote-control system as claimed in claim 6, which is characterized in that wherein this is distant
Control device further includes:
One wearing ontology for operator wearing；
At least one is set to the display unit of above-mentioned wearing ontology；And
One is set to above-mentioned wearing ontology and the inertia sensing unit for exporting one group of inertia signal.
9. a kind of single shaft DCB Specimen unmanned flight's device wireless remote control method, which is characterized in that unmanned flight's device wireless remote
Control system includes a uniaxial DCB Specimen unmanned flight device and one group of remote control device；Wherein aforementioned uniaxial DCB Specimen unmanned flight
Device includes one along an axially extending upright casing, and one along above-mentioned axially extending and driven by above-mentioned control mould group
Electrodynamic element and a course unit；An energy storage mould group is had in the upright casing, a wireless telecommunications mould group and telecommunications connect
Connect the control mould group of aforementioned wireless telecommunications mould group；Aforementioned electrodynamic element includes a pair of along above-mentioned axially extending and be set to above-mentioned
Inner stator and two groups of rotor assemblies being arranged along above-mentioned axially spaced-apart in upright casing, each aforementioned rotor assemblies difference
One of corresponding aforementioned inner stator, and each aforementioned rotor assemblies include an outer rotor, at least one between aforementioned outer rotor and
Pivot member between inner stator, and it is connected to the rotor ontology of above-mentioned outer rotor, wherein above-mentioned two rotors ontology is in reversed rotation
Turn；And above-mentioned course unit includes the rudder piece and one that plural number is hubbed at above-mentioned upright casing or above-mentioned inner stator independently of one another
Group is driven and is opened and closed the actuating mould group of above-mentioned rudder piece pivot by above-mentioned control mould group；Aforementioned remote control device is controlled including a polar coordinates
Unit, an elevating control unit and a proximal end communication unit；Above-mentioned wireless remote control method includes the following steps:
A) start above-mentioned electrodynamic element；
B) one group of planar movement signal and/or above-mentioned elevating control are exported by the above-mentioned polar coordinates control unit of above-mentioned remote control device
Unit exports one group of lifting signal, through above-mentioned proximal end communication unit and above-mentioned wireless telecommunications mould group to above-mentioned control mould group；And
C) strong by the more above-mentioned wireless telecommunications mould group of above-mentioned control mould group above-mentioned planar movement signal obtained and lifting signal
It is weak, determine the close and direction far from above-mentioned remote control device of above-mentioned upright casing and be defined as Radius direction and one it is vertical before
The angle direction for stating radial direction, the above-mentioned planar movement signal exported for interpretation according to above-mentioned polar coordinates control unit.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810035359.0A CN110040246B (en) | 2018-01-15 | 2018-01-15 | Single-shaft double-rotor unmanned aerial vehicle device, system with same and remote control method |
| PCT/CN2018/120803 WO2019137146A1 (en) | 2018-01-15 | 2018-12-13 | Uniaxial twin-rotor unmanned aerial-vehicle device, system having the device, and remote control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810035359.0A CN110040246B (en) | 2018-01-15 | 2018-01-15 | Single-shaft double-rotor unmanned aerial vehicle device, system with same and remote control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110040246A true CN110040246A (en) | 2019-07-23 |
| CN110040246B CN110040246B (en) | 2022-05-24 |
Family
ID=67218154
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810035359.0A Expired - Fee Related CN110040246B (en) | 2018-01-15 | 2018-01-15 | Single-shaft double-rotor unmanned aerial vehicle device, system with same and remote control method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110040246B (en) |
| WO (1) | WO2019137146A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110775264A (en) * | 2019-10-28 | 2020-02-11 | 上海交通大学 | Water-air amphibious unmanned aircraft and control method thereof |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US12054252B2 (en) * | 2020-11-06 | 2024-08-06 | Yana SOS, Inc. | Flight-enabled signal beacon |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN110040246B (en) | 2022-05-24 |
| WO2019137146A1 (en) | 2019-07-18 |
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