CN110683072A - Rocket-borne rotor unmanned aerial vehicle projection method - Google Patents
Rocket-borne rotor unmanned aerial vehicle projection method Download PDFInfo
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- CN110683072A CN110683072A CN201810726164.0A CN201810726164A CN110683072A CN 110683072 A CN110683072 A CN 110683072A CN 201810726164 A CN201810726164 A CN 201810726164A CN 110683072 A CN110683072 A CN 110683072A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/04—Ground or aircraft-carrier-deck installations for launching aircraft
- B64F1/06—Ground or aircraft-carrier-deck installations for launching aircraft using catapults
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Abstract
The invention discloses a method for projecting an rocket-borne rotor unmanned aerial vehicle, which comprises the steps of firstly starting a carrying device to enable the carrying device to fly to a preset airspace, unfolding a fairing on the carrying device after the carrying device arrives at the preset airspace, exposing a rotor unmanned aerial vehicle below the fairing, then popping up the rotor unmanned aerial vehicle confined on the carrying device, finally rebounding a cantilever of the rotor unmanned aerial vehicle to a horizontal position, starting the rotor unmanned aerial vehicle, enabling the rotor unmanned aerial vehicle to reach a task place and carrying out related work after the unmanned aerial vehicle flies for a short distance, such as photographing, detecting, infrared positioning and the like.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a projection method of an rocket-borne rotor unmanned aerial vehicle.
Background
With the increasing improvement of unmanned aerial vehicle technology, unmanned aerial vehicles are introduced into more and more fields, and people can conveniently and quickly complete tasks which are seemingly difficult to complete by using the unmanned aerial vehicles; wherein, rotor unmanned aerial vehicle is a comparatively important branch in the unmanned aerial vehicle, rotor unmanned aerial vehicle can hover, the volume is less, can carry out special operation such as fixed point shooting, but receive the structural characteristic influence of its self, current rotor unmanned aerial vehicle also has its distinctive defect, for example because adopt screw power, its flying speed is slower than wing type unmanned aerial vehicle, its flying height also can receive very big restriction, can not climb to higher height fast, be difficult to satisfy special task requirement, in addition, because the problem of volume and power, energy such as battery that rotor unmanned aerial vehicle can carry is more limited, its working radius is less, be difficult to compete remote reconnaissance, observe the task.
Due to the reasons, the inventor carries out deep research on the existing rotor unmanned aerial vehicle, puts the rotor unmanned aerial vehicle into a specific airspace by arranging the carrying equipment matched with the rotor unmanned aerial vehicle, and specifically creates an rocket-borne rotor unmanned aerial vehicle projection method.
Disclosure of Invention
In order to overcome the problems, the inventor of the invention has conducted intensive research and designed a method for projecting a rocket-borne rotor unmanned aerial vehicle, in which a carrier device is first started to fly to a predetermined airspace, a fairing on the carrier device is deployed after the carrier device arrives at the predetermined airspace to expose the rotor unmanned aerial vehicle below the fairing, the rotor unmanned aerial vehicle confined on the carrier device is then ejected, finally a cantilever of the rotor unmanned aerial vehicle rebounds to a horizontal position, the rotor unmanned aerial vehicle starts to work, and the unmanned aerial vehicle can reach a mission site and carry out related work such as photographing, detection, infrared positioning and the like after flying for a short distance, so that the rotor unmanned aerial vehicle can quickly reach an operation airspace which is difficult to reach without energy consumption, thereby greatly improving the operation efficiency of the rotor unmanned aerial vehicle, expanding the operation capability and enabling the rotor unmanned aerial vehicle to have the capability of executing more missions, thus, the present invention has been completed.
Specifically, the invention aims to provide a projection method for an arrow-mounted rotor unmanned aerial vehicle, wherein the arrow-mounted rotor unmanned aerial vehicle comprises carrying equipment and a rotor unmanned aerial vehicle confined in the carrying equipment; in the method, a rotor unmanned aerial vehicle is confined in a carrying device, and the rotor unmanned aerial vehicle is released from the inside of the carrying device after reaching a preset airspace;
specifically, the method comprises the following steps:
and 4, rebounding the cantilever of the rotor unmanned aerial vehicle to the horizontal position, and starting to work.
Wherein, before the carrying equipment is started in the step 1, the setting parameters of the control module are filled in the carrying equipment,
the control module is used for generating and sending out a unfolding instruction for controlling the unfolding of the fairing.
The control module generates and sends out a development instruction when the carrying equipment meets one or more preset conditions;
the preset conditions include:
the starting flight time of the carrying device reaches the time value in the set parameters,
the carrying equipment flies to the longitude and latitude coordinate position in the set parameters and the tolerance error thereof,
the flying height of the carrying equipment reaches the height value in the set parameters,
the flight speed of the carrying equipment reaches the speed value in the set parameters;
the carrier receives an immediate deployment command from a ground station.
And setting the set parameters to enable the fairing to be unfolded when the carrying equipment reaches a preset airspace.
Wherein, the fairing 7 comprises at least 3 arc-shaped cover sheets 71 with the same external dimension, each arc-shaped cover sheet 71 is hinged with the shell of the carrying equipment,
in step 2, the fairing on the deployment vehicle, including each arcuate shroud segment 71, is rotated relative to the vehicle enclosure.
Wherein, step 3 is executed when the arc-shaped cover sheets 71 are all rotated by more than 90 degrees.
The rotor unmanned aerial vehicle comprises a rack 1 and a rotary arm 2 which can be bent downwards relative to the rack 1; wherein the radial arm 2 can automatically rebound from a downward bending state to a horizontal position;
the carrying device comprises a support base 8 which,
the bearing seat 8 comprises a limiting cylinder 81 and a bearing plate 82 positioned at the inner side of the limiting cylinder 81;
when the swing arm 2 is bent downward relative to the frame 1, the swing arm 2 is fitted into the stopper cylinder 81, and the swing arm 2 abuts against the inner wall surface of the stopper cylinder 81.
In step 3, the support plate 82 is controlled to move upwards, and the swing arm 2 of the unmanned aerial vehicle is pushed out from the limiting cylinder 81.
Wherein, a driving motor 5 and a propeller 6 are arranged at the end part of the spiral arm 2;
when the radial arm 2 is pushed out from the limiting cylinder 81, the radial arm automatically rebounds to the horizontal position;
after the swing arm 2 automatically rebounds to the horizontal position, the driving motor 5 starts to work to drive the propeller 6 to rotate.
The invention has the advantages that:
(1) according to the rocket-borne rotor unmanned aerial vehicle projection method provided by the invention, the rotor unmanned aerial vehicle can be conveyed to a designated area through the carrying equipment, the capability of quickly reaching a remote operation site is achieved, the working efficiency is high, and tasks such as fire reconnaissance, target positioning and the like with special requirements on reaction speed and starting time can be executed;
(2) according to the rocket-borne rotor unmanned aerial vehicle projection method provided by the invention, the rotor unmanned aerial vehicle can be quickly transported to a specific height which is difficult for a conventional rotor unmanned aerial vehicle to reach through carrying equipment, so that the rotor unmanned aerial vehicle has the capability of executing special tasks;
(3) according to the rocket-borne rotor unmanned aerial vehicle projection method provided by the invention, the rotor unmanned aerial vehicle in the method does not consume energy carried by the unmanned aerial vehicle before arriving at an operation place, so that the rotor unmanned aerial vehicle has longer working duration and can execute a long-distance operation task.
Drawings
Fig. 1 shows a flow chart of a working process in a method of launching a rocket-borne rotary-wing drone according to a preferred embodiment of the invention;
fig. 2 is a schematic view showing the overall structure of a rotary-wing drone in the rocket-borne rotary-wing drone projection method according to a preferred embodiment of the present invention;
fig. 3 is a schematic view showing a configuration of a rotary-wing drone in an arrow-mounted rotary-wing drone projection method according to a preferred embodiment of the present invention, when the rotary-wing drone is locked in a carrying device;
fig. 4 is a schematic structural view showing the deployment of a cowling on a carrier device in a rocket-borne rotary-wing drone projection method according to a preferred embodiment of the present invention;
figure 5 shows a cross-section of a support shoe in a method of launching an rocket-borne rotary-wing drone according to a preferred embodiment of the invention.
The reference numbers illustrate:
1-frame
2-rotating arm
21-polished rod section
22-Ring Sleeve
3-connecting disc
4-connecting rod
5-drive motor
6-propeller
7-fairing
71-arc cover sheet
72-support bar
8-bearing seat
81-limiting cylinder
82-bearing plate
Detailed Description
The invention is explained in more detail below with reference to the figures and examples. The features and advantages of the present invention will become more apparent from the description.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The carrier equipment comprises a rocket or a rocket projectile, wherein the rocket is an aircraft propelled forwards by the counterforce generated by working medium sprayed by a rocket engine, the rocket projectile is an ammunition launched by a rocket barrel or a rocket gun, and the fighting part of the ammunition is replaced by the rotor unmanned aerial vehicle.
The rotor unmanned aerial vehicle is a four-rotor unmanned aerial vehicle, a six-rotor unmanned aerial vehicle or an eight-rotor unmanned aerial vehicle;
the hinge joint of the invention is a connection relationship which has enough strength and is not easy to break, and the connection allows the relative rotation between the two connected with each other; the articulation is generally achieved in the present invention by a rotating shaft or hinge.
According to the projection method of the rocket-borne rotor unmanned aerial vehicle provided by the invention, the rocket-borne rotor unmanned aerial vehicle comprises carrying equipment and a rotor unmanned aerial vehicle confined in the carrying equipment; in the method, a rotor unmanned aerial vehicle is confined in a carrying device, and the rotor unmanned aerial vehicle is released from the inside of the carrying device after reaching a preset airspace; specifically, as shown in fig. 1, the method comprises the steps of:
and 4, rebounding the cantilever of the rotor unmanned aerial vehicle to the horizontal position, and starting to work.
The rotor unmanned aerial vehicle is confined in the carrying equipment when the rotary arm 2 of the rotor unmanned aerial vehicle bends downwards relative to the frame 1, and preferably, the unmanned aerial vehicle can be confined in the carrying equipment when the bending angle is about 90 degrees; the most preferred bend angle in the present invention is 95 degrees.
When the carrying equipment releases the confinement on the unmanned aerial vehicle, the rotating arm 2 of the unmanned aerial vehicle automatically rebounds to the horizontal position and starts working; specifically, when the swing arm 2 rebounds to the horizontal position automatically under the action of the elastic force, the motor on the swing arm starts to work at the moment to drive the propeller to rotate, so that the unmanned aerial vehicle hovers in the airspace as soon as possible, and meanwhile, other related devices on the unmanned aerial vehicle start to work, such as a navigation system, a GPS (global positioning system) and the like, so that the unmanned aerial vehicle determines the position as soon as possible, moves to a target position and starts to execute a preset operation task.
In a preferred embodiment, the carrying device releases the drone when reaching a predetermined airspace, and the drone is at a smaller distance from the predetermined working area and can arrive quickly; therefore, the preparation and navigation time from the moment when the unmanned aerial vehicle is in place and starts to work after receiving the task instruction and the related target information is greatly shortened, the fast response and the fast maneuver of the rotor unmanned aerial vehicle are realized, and the unmanned aerial vehicle can be used for handling emergent emergency tasks.
The releasing of the unmanned aerial vehicle comprises two steps, wherein the fairing is unfolded, and the unmanned aerial vehicle is ejected out of the carrying equipment/bearing seat 8 through the bearing plate 82.
In a preferred embodiment, as shown in fig. 2 and 3, the rotorcraft further comprises a connecting disc 3 arranged directly below the airframe 1,
the reciprocating movement of the connecting disc 3 in the vertical direction controls the radial arm 2 to bend downwards or rebound to the horizontal position. When the connecting disc 3 moves downwards, the spiral arm 2 is driven to bend downwards, and when the connecting disc 3 moves upwards, the spiral arm 2 is driven to rebound to a horizontal position; similarly, when the radial arm 2 bends downward, the connecting disc 3 can be driven to move downward, and when the radial arm 2 rebounds to a horizontal position, the connecting disc 3 can be driven to move upward.
In particular, preferably, a connecting rod 4 is provided on said connecting disc 3,
one end of the connecting rod 4 is hinged with the connecting disc 3,
the other end of the connecting rod 4 is hinged with the radial arm 2. The number of the connecting rods 4 is consistent with that of the radial arms 2, and the connecting rods correspond to the radial arms one to one.
Further preferably, said radial arm 2 comprises a polished rod segment 21,
an annular sleeve 22 is sleeved on the polished rod section 21, and the annular sleeve 22 can slide back and forth along the polished rod section 21, or the annular sleeve 22 is fixed on the polished rod section 21;
the connecting rod 4 is hinged to the ring 22, i.e. the connecting rod 4 is hinged to the radial arm 2 via the ring sleeve 22.
Preferably, a limiting mechanism is arranged on the connecting disc 3 and the rack 1, so that the radial arm can only swing back and forth between the horizontal direction and the downward bending of 95 degrees.
Preferably, a stretching mechanism is arranged between the connecting disc 3 and the frame 1,
the stretching mechanism is used for pulling the connecting disc 3 to be close to the rack 1 upwards, and then the rotating arm 2 is driven to rebound to the horizontal position. The stretching mechanism comprises a vertically arranged spring which is always in a stretching state; when the swing arm 2 bends downwards, the stretching mechanism stores larger elastic potential energy, so that the swing arm 2 has a tendency of returning to a horizontal position, and when the external force for limiting and closing the swing arm 2 disappears, the swing arm 2 can accelerate and rotate from a static state at a larger acceleration under the action of the stretching mechanism, and rebounds to the horizontal position from a downward bending state.
Further preferably, torsion springs are arranged at two hinged positions of one end of the connecting rod 4 hinged with the connecting disc 3 and the connecting rod 4 hinged with the annular sleeve 22, the torsion springs are also part of the stretching mechanism, the torsion springs are used for increasing the elastic force which needs to be overcome when the radial arm 2 is bent from the horizontal position to the bending state, and further increasing the elastic potential energy stored in the stretching mechanism when the radial arm 22 is bent downwards; this torsion spring can also make connecting rod 4 and swing arm 2 on receive the effort of a plurality of directions, ensures that connecting rod 4 and swing arm 2 remove according to setting for the orbit, and then strengthens this system's reliability, in predetermined airspace, when releasing the confinement to unmanned aerial vehicle, unmanned aerial vehicle's swing arm must can kick-back to horizontal position.
In a preferred embodiment, as shown in fig. 2 and fig. 3, a driving motor 5 and a propeller 6 are provided at an end of the swing arm 2, the driving motor 5 is used for controlling the propeller 6 to rotate, and when the unmanned aerial vehicle is locked in the carrying device, a control circuit of the motor 5 is in a standby state; an induction switch is arranged at the joint of the swing arm and the rack, the induction switch is triggered when the swing arm returns to the horizontal position, and after the induction switch is triggered, a control circuit of the motor 5 is switched on, and the motor 5 starts to work. The inductive switch can be an electromagnetic inductive switch, also can be a mechanical contact switch, can be arranged at will, and can realize the functions.
Wherein, a preset gap is reserved between the radial arm 2 and the propeller 6, one part of the motor 5 is embedded in the radial arm 2, the other part is exposed outside, and the end part of the exposed outside is provided with the propeller 6.
Preferably, the radial arm 2 is provided with a plurality, preferably 4-8,
when the unmanned aerial vehicle is confined in the carrying equipment, a plurality of preset gaps corresponding to the swing arm 2 are circularly arranged; the carrying equipment is confined in through this space unmanned aerial vehicle, imbeds in this space promptly and hinders 2 baffles that kick-backs to horizontal position of spiral arm, under the effect of the elasticity on the spiral arm, unmanned aerial vehicle is whole promptly fixed, confined in carrying equipment. The baffle is the limiting cylinder in the invention.
In a preferred embodiment, as shown in figures 2, 3 and 4, the vehicle comprises a fairing 7 that is external to the drone and a support base 8 that is internal and underneath the fairing 7.
Preferably, the fairing 7 is used for protecting the unmanned aerial vehicle inside and is unfolded when reaching a predetermined airspace so as to expose the unmanned aerial vehicle inside;
the bearing seat 8 is used for restraining the unmanned aerial vehicle by matching with the preset gap and ejecting the unmanned aerial vehicle from the bearing seat 8 when reaching a preset airspace.
Specifically, as shown in fig. 5, the bearing block 8 includes a limiting cylinder 81 and a bearing plate 82 located inside the limiting cylinder 81,
the size of the limiting cylinder 81 is basically consistent with the size of a circle defined by the preset gap, so that the limiting cylinder 81 can be just embedded into the circular space defined by the gap, the end part of the swing arm 2 abuts against the wall surface of the inner ring of the limiting cylinder 81, the limiting cylinder 81 can block the swing arm 2 from rotating, the swing arm 2 is further prevented from rebounding to the horizontal position, and the unmanned aerial vehicle is restrained; the height of the limiting cylinder 81 is 30-50mm, i.e. the distance between the highest position of the limiting cylinder and the supporting plate 82 is 30-50mm, and since the supporting plate 82 can move in the vertical direction, the supporting plate 82 is at the lowest possible position when calculating the height/distance.
When carrying equipment is locked up unmanned aerial vehicle, bearing board 82 is located the below of spiral arm 2, and the distance between bearing board 82 and the spiral arm is less, is less than 10mm generally, just bearing board 82 can move in vertical direction, and its removal stroke is 30-50mm at least, along with the removal of bearing board 82, bearing board 82 can be released unmanned aerial vehicle's spiral arm from bearing seat 8 promptly, because bearing board 82's translation rate is higher, when unmanned aerial vehicle breaks away from with bearing seat 8, unmanned aerial vehicle has certain initial speed, can continue to remove certain distance along this direction.
The repulsion that bearing board 82 can produce through the electro-magnet is as power, also can be as power through compression spring, can select by oneself according to actual conditions, can realize above-mentioned reciprocating motion and promote unmanned aerial vehicle's function can.
In a preferred embodiment, as shown in fig. 2, 3 and 4, the fairing 7 comprises at least 3 arc-shaped cover sheets 71 with the same external dimension, and each arc-shaped cover sheet 71 is hinged with the outer shell of the carrying equipment and can form a closed shell structure after being tightly attached to each other;
preferably, the exterior of the vehicle of the present invention comprises a vehicle housing and a fairing, wherein the fairing is located at the front end/top and is connected to the vehicle housing;
the fairing 7 is provided with a locking mechanism, when the arc-shaped cover pieces 71 are tightly attached to each other, the locking mechanism locks the arc-shaped cover pieces 71 to prevent the arc-shaped cover pieces 71 from being separated from each other, the locking mechanism can be automatically released, and when the locking mechanism receives an unfolding instruction, the locking mechanism automatically releases the locking of the arc-shaped cover pieces 71, so that the arc-shaped cover pieces 71 can be separated from each other and rotate, and the unmanned aerial vehicle in the fairing is exposed; the locking mechanism can be an electromagnetic lock or a mechanical lock, can be set to any form, and only needs to meet the requirements.
Preferably, a control module is further arranged in the carrying device and used for sending a unfolding instruction to the locking mechanism;
preferably, before the carrying device is started in the step 1, the setting parameters of the control module are filled into the carrying device; the control module is used for generating and sending out a unfolding instruction for controlling the unfolding of the fairing.
The control module can generate and send a development instruction based on the time information, can also generate and send a development instruction based on the detected state information, and can also generate and send a development instruction based on the ground instruction;
the time information refers to that a preset unfolding instruction is generated and sent after a preset time, and the unfolding instruction is generated and sent after the preset time is filled, such as 40 seconds, generally before the carrying equipment is started;
the detected state information refers to the position information and the speed information of the carrying equipment, which are detected by the carrying equipment, and the related information such as the position information and the speed information of the carrying equipment is mainly detected and obtained through a satellite positioning module such as a GPS receiving module and a Beidou receiving module, and when the detected state information meets the preset condition, a unfolding instruction is generated and sent, for example, when the height reaches 800m, the unfolding instruction is generated and sent, or when the height reaches 116.3 degrees of east longitude and is near 39.95 degrees of northern latitude, the unfolding instruction is generated and sent, or when the vertical direction speed value is 0, the unfolding instruction is generated and sent, and the like;
the ground instruction refers to a control instruction sent by a ground control station and received by the carrying equipment in real time, the carrying equipment can be controlled in all directions through the control instruction, the control instruction comprises a command for controlling the control module to immediately control the fairing to be unfolded, and the command comprises a command for calibrating and changing a flight target, a flight speed and the like of the carrying equipment and an immediate unfolding instruction. The ground station in the present invention is preferably the transmitting base of the carrier, carrying a wireless transmission system capable of maintaining a radio connection with the carrier.
The control module generates and sends out a deployment instruction when the carrying equipment meets one or more preset conditions; the specific requirements are that which preset conditions are required to be met, and the fuel can be filled in a carrying device before starting;
the preset conditions include:
the starting flight time of the carrying device reaches the time value in the set parameters,
the carrying equipment flies to a longitude and latitude coordinate position in the set parameters and an allowable error of the longitude and latitude coordinate position, wherein the allowable error refers to a circular area 200-300 meters away from the longitude and latitude coordinate position; by setting the allowable error, the rotor unmanned aerial vehicle can enter the allowable error range of a place even if a rocket cannot accurately reach the place with the specified longitude and latitude in the throwing process, so that the fairing can be ensured to be smoothly unfolded; in addition, the predetermined airspace in the invention comprises the longitude and latitude coordinate position and the allowable error thereof, and also comprises a neighboring area outside the area limited by the allowable error.
The flying height of the carrying equipment reaches the height value in the set parameters,
the flight speed of the carrying equipment reaches the speed value in the set parameters;
the carrier receives an immediate deployment command from a ground station.
Namely, the setting parameters comprise time values, longitude and latitude coordinate positions, height values, speed values and the like. Preferably, the fairing is deployed when the vehicle reaches a predetermined airspace by setting the setting parameters.
In a preferred embodiment, a second type of inductive switch is arranged at the hinged connection of each arc-shaped cover piece 71 and the carrying equipment, and the second type of inductive switch is connected with the bearing plate 82 and used for controlling the bearing plate 82 to start working;
when the arc-shaped cover piece 71 rotates by a preset angle, the corresponding second-class induction switch can be triggered, and preferably, the preset angle value is more than 90 degrees;
the second type inductive switch has a plurality ofly, and when all second type inductive switches all triggered back control bearing board 82 start-up work, pop out unmanned aerial vehicle from delivery device/bearing seat 8.
In a preferred embodiment, as shown in fig. 3, a support rod 72 is further disposed inside the fairing 7, one end of the support rod 72 is fixedly connected to the inner wall of the arc-shaped cover piece 71, and the other end of the support rod 72 is in contact with the polished rod section 21 of the unmanned aerial vehicle locked in the carrying device to support/limit the unmanned aerial vehicle and prevent the unmanned aerial vehicle from vibrating or swinging in the carrying device, and when the locking mechanism releases the locking of the arc-shaped cover piece 71, the support rod 72 is disengaged from the polished rod section 21 along with the rotation of the arc-shaped cover piece 71.
The present invention has been described above in connection with preferred embodiments, but these embodiments are merely exemplary and merely illustrative. On the basis of the above, the invention can be subjected to various substitutions and modifications, and the substitutions and the modifications are all within the protection scope of the invention.
Claims (10)
1. The method is characterized in that the rotor unmanned aerial vehicle is confined in a carrying device, and is released from the inside of the carrying device after reaching a preset airspace.
2. Method according to claim 1, characterized in that it comprises the following steps:
step 1, a rotor unmanned aerial vehicle is confined in a carrying device, the carrying device is started, and the carrying device is enabled to reach a preset airspace;
step 2, unfolding a fairing (7) on the carrying equipment;
step 3, popping up the locked rotor unmanned aerial vehicle on the carrying equipment;
and 4, rebounding the cantilever of the rotor unmanned aerial vehicle to the horizontal position, and starting to work.
3. The method of claim 2,
before the carrying equipment is started in the step 1, the setting parameters of the control module are filled into the carrying equipment,
the control module is used for generating and sending out a unfolding instruction for controlling the unfolding of the fairing.
4. The method of claim 3,
the control module generates and sends out a deployment instruction when the carrying equipment meets one or more preset conditions;
the preset conditions include:
the starting flight time of the carrying device reaches the time value in the set parameters,
the carrying equipment flies to the longitude and latitude coordinate position in the set parameters and the tolerance error thereof,
the flying height of the carrying equipment reaches the height value in the set parameters,
the flight speed of the carrying equipment reaches the speed value in the set parameters;
the carrier receives an immediate deployment command from a ground station.
Preferably, the first and second electrodes are formed of a metal,
and setting the set parameters to enable the fairing to be unfolded when the carrying equipment reaches a preset airspace.
5. The method according to claim 1, wherein, in step 2,
the fairing (7) comprises at least 3 arc-shaped cover sheets (71) with the same external dimension, each arc-shaped cover sheet (71) is hinged with the shell of the carrying equipment,
unfolding the fairing (7) on the carrier comprises rotating each arcuate shroud segment (71) relative to the carrier shell, preferably rotating each arcuate shroud segment (71) more than 90 degrees.
6. The method according to one of claims 1 to 5,
the rotor unmanned aerial vehicle comprises a rack (1) and a rotary arm (2) which can be bent downwards relative to the rack (1); the swing arm (2) can automatically rebound from a downward bending state to a horizontal position;
the carrying device comprises a bearing seat (8),
the bearing seat (8) comprises a limiting cylinder (81) and a bearing plate (82) positioned on the inner side of the limiting cylinder (81).
7. Method according to claim 6, characterized in that the radial arm (2) is inserted into a stop cylinder (81) when the radial arm (2) is bent downwards relative to the machine frame (1), and the radial arm (2) abuts against the inner wall surface of the stop cylinder (81).
8. The method according to claim 6 or 7,
in the step 3, the supporting plate (82) is controlled to move upwards, and the swing arm (2) of the unmanned aerial vehicle is pushed out from the limiting cylinder (81).
9. The method of claim 8,
a driving motor (5) and a propeller (6) are arranged at the end part of the spiral arm (2);
when the radial arm (2) is pushed out of the limiting cylinder (81), the radial arm automatically rebounds to the horizontal position.
10. The method of claim 9,
after the swing arm (2) automatically rebounds to the horizontal position, the driving motor (5) starts to work to drive the propeller (6) to rotate.
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| CN201810726164.0A CN110683072A (en) | 2018-07-04 | 2018-07-04 | Rocket-borne rotor unmanned aerial vehicle projection method |
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| CN201810726164.0A CN110683072A (en) | 2018-07-04 | 2018-07-04 | Rocket-borne rotor unmanned aerial vehicle projection method |
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