CN204021249U - The soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle - Google Patents

The soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle Download PDF

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Publication number
CN204021249U
CN204021249U CN201420416096.5U CN201420416096U CN204021249U CN 204021249 U CN204021249 U CN 204021249U CN 201420416096 U CN201420416096 U CN 201420416096U CN 204021249 U CN204021249 U CN 204021249U
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cabin
unmanned plane
fixed
wing unmanned
multipurpose
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CN201420416096.5U
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韩建达
齐俊桐
宋大雷
梅森
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Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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Abstract

The utility model relates to the soft wing unmanned plane of a kind of high-mobility, multipurpose, wheeled vehicle, comprises paraglider system and nacelle system; The bottom of paraglider system hangs nacelle system by hanging rope; Described paraglider system comprises parafoil and connected umbrella rope; Described nacelle system comprises cabin and is fixed on pitot, The Cloud Terrace, fuel tank, driving engine and the screw propeller on cabin; Described cabin is connected with umbrella rope by hanging rope; Described pitot is fixed on front portion, cabin, and the The Cloud Terrace that pick up camera is housed is fixed on middle part, cabin and camera lens vertically downward; Driving engine is fixed on rear end, cabin, and is connected with screw propeller, and protective cover is equipped with in screw propeller outside.The utility model is simple in structure, volume is little, lightweight, cost is low, flight range is wide, easy, program-controlled autonomous flight is controlled in operation, the thrust being produced by driven by engine screw propeller is in ground taxi, and with less speed, can realize and taking off in calm or gentle breeze situation, for taking off, landing place requires very low, safe and reliable, occupation mode is various.

Description

The soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle
Technical field
The utility model relates to unmanned plane field, low latitude, is the soft wing unmanned plane of a kind of high-mobility, multipurpose, wheeled vehicle specifically.
Background technology
In order to be applicable to many-sided application requirements, people have developed a kind of ram air parachute that can active flight.By people's stay cord under umbrella, the flight of umbrella is controlled, be used for demonstration flight, advertising, frontier defense patrol and amusement flight.In propeller-parachuting airflight process, if be subject to the impact of air disturbance, very easily there is falling accident, aviator's security presence some problems.Nowadays, remote operation mechanism, on the basis of propeller-parachuting, has been equipped by some research institution, develops drone version propeller-parachuting.It has replaced the mankind with mechanical controllable device controls umbrella, has solved aviator's safety problem, and compares with traditional unmanned plane, has the advantages such as lightweight, cost is low, stock is convenient.It can pull and take off from ground by people or vehicle, low to take-off venue and landing site requirements; Also can, from aerial input, in combined type transport systems, complete vital task; Can and scout ground situation for prospecting in addition, carry out aerial atmospheric contamination sampling and volcano monitoring etc.
But because remote controlled powered umbrella can only fly in visual range, flying distance is shorter, executable mission payload function is limited, can not be applied to the task fields such as terrain prospecting, disaster area search and rescue or goods and materials input that need long-distance large-range to cruise.
Utility model content
The problem existing in order to solve propeller-parachuting, the utility model provides a kind of novel high-mobility, multipurpose, wheeled vehicle soft wing unmanned plane.The unmanned function of the soft wing of this high-mobility, multipurpose, wheeled vehicle realizes the autonomous flight under multiple-task, simple to operate, safe and reliable, cost is low.
The technical scheme that the utility model adopted is for achieving the above object: the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle, comprises paraglider system and nacelle system; The logical hanging rope in bottom of paraglider system hangs nacelle system;
Described paraglider system comprises parafoil and connected umbrella rope;
Described nacelle system comprises cabin and is fixed on pitot, The Cloud Terrace, fuel tank, driving engine and the screw propeller on cabin; Described cabin is connected with umbrella rope by hanging rope; Described pitot is fixed on front portion, cabin, and the The Cloud Terrace that pick up camera is housed is fixed on middle part, cabin and camera lens vertically downward; Driving engine is fixed on rear end, cabin, and is connected with screw propeller, and protective cover is equipped with in screw propeller outside.
Described protective cover is the guard that metal solder forms.
At least one rice of head distance protective cover of described pitot.
Described nacelle system also comprises that receiving rope machine is arranged on nacelle rear, is connected with parafoil by the control wire connecting.
Described nacelle system also comprises three wheels, and first wheel is fixed on the below of front portion, cabin, and two other is fixed on the below of nacelle rear and symmetrical with respect to first wheel.
Described nacelle system also comprises GPS and magnetic compass module, wireless data transfer module, flight controller, Inertial Measurement Unit, tachometric survey unit; Described GPS and magnetic compass module are fixed on the front end of engine room inside; Wireless data transfer module, flight controller, Inertial Measurement Unit are fixed on engine room inside; Described flight controller and Inertial Measurement Unit are all arranged on body middle part, cabin by four groups of steel cable vibration isolators; Described tachometric survey cellular installation is in driving engine rotating disk side.
Described GPS with the X-axis line of magnetic compass module and Inertial Measurement Unit, the axis of pitot is all parallel with the line of thrust of screw propeller.
Described paraglider system also comprises two Inertial Measurement Units and is integrated in GPS module, data acquisition plate module, wireless data transfer module, a magnetic compass on circuit card; Described circuit card is positioned at the center of parafoil lower floor, and two Inertial Measurement Units are fixed on circuit card both sides and symmetry, and in chord length direction, is positioned at same straight line with circuit card.
The utlity model has following beneficial effect and advantage:
1. the utility model is simple in structure, volume is little, lightweight, cost is low, flight range is wide, operation is controlled easily, can realize the autonomous navigation flight under multiple-task.
2. the utility model can independently be struck sparks, the thrust being produced by motivity and screw propeller is in ground taxi, and with less speed, can realize and taking off in calm or gentle breeze situation, for taking off, landing place requires very low, safe and reliable, occupation mode is various, can be used as the scouting search and rescue that aerial platform carries out disaster, also can be used as target drone, real-time Communication for Power relaying etc.
3. by installation of sensors, on parafoil, be to change for the attitude of measuring parafoil more promptly and accurately, reduce the attitude estimated bias and the departure that due to flexibly connecting between umbrella body and cabin, cause, thereby make to control more promptly and accurately, strengthen the stability of soft wing unmanned plane during flying.
4. use pitot can measure the atmospherical drag that soft wing unmanned plane runs in flight course, the wind in automatic decision autonomous flight is disturbed power size, improves countermeasures, improves the safety of soft wing unmanned plane during flying.
The parallel accuracy that can guarantee that navigation information measurement is obtained of X-axis line, the axis of pitot and the line of thrust of screw propeller of 5.GPS and magnetic compass module and Inertial Measurement Unit, reduces the coupling of three axis informations.
Accompanying drawing explanation
Fig. 1 is the structural representation of the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle of the present utility model.
Fig. 2 is paraglider system structural representation of the present utility model.
Fig. 3 is nacelle system structural representation of the present utility model.
Fig. 4 is the control system functional block diagram of the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle.
Fig. 5 is fundamental diagram of the present utility model.
In figure: 1 parafoil, 2-1GPS and magnetic compass module, 2-2 data acquisition board, 2-3 wireless data transfer module, 3,4 Inertial Measurement Units, 5-1 umbrella rope, 5-2 hanging rope, 5-3 control wire, 6GPS and magnetic compass module, 7 fuel tanks, 8-1 pitot, 8-2 atmosphere computing machine, 9 wireless data transfer modules, 10 flight controllers, 11 Inertial Measurement Units, 12 The Cloud Terraces, 13 receive rope machine, 14 wheels, 15 tachometric survey unit, 16 driving engines, 17 screw propellers, 18 protective covers, 20 cabins.
The specific embodiment
Below in conjunction with drawings and Examples, the utility model is described in further detail.
As shown in Figure 1, the utility model structure mainly comprises substantially: flexible ram air parachute system, nacelle system.Wherein the bottom of flexible ram air parachute is connected and is hung cabin by umbrella rope.
The attitude data of parafoil is aloft important parameter, and the utility model is provided with two Inertial Measurement Units on parafoil, a GPS positioning unit, a magnetic compass unit, a data acquisition board, a data transmission module.By installation of sensors, on parafoil, be to change for the attitude of measuring parafoil more promptly and accurately, reduce the attitude estimated bias and the departure that due to flexibly connecting between umbrella body and cabin, cause, thereby make to control more promptly and accurately, strengthen the stability of soft wing unmanned plane during flying.Data acquisition board is for gathering the data of Inertial Measurement Unit, GPS and magnetic compass, and packing sends to data transmission module, is wirelessly sent to flight control system, to carry out data processing through data transmission module.
Cabin is machine body frame shelf structure; this structure decrease the soft wing unmanned plane possibility that inner important devices is damaged because collision causes; various kinds of sensors, driving circuit, receipts rope machine, flight control system, driving engine and The Cloud Terrace etc. are installed in frame inside, and frame can be protected device in cabin by actv..Cabin periphery is mainly provided with wheel, pitot, fuel tank etc.Driving engine and screw propeller are arranged on the afterbody of cabin body, for cabin provides thrust forward, are the power that soft wing unmanned plane aloft flies.Wheel is arranged on bottom, cabin, when autonomous sparking is taken off, works on the ground the effect of sliding.Driving circuit is for the signal to control circuit amplifies, and drives the rope machine of receiving.After receipts rope machine connection propeller-parachuting, the control wire on edge, receives rope machine and pulls control wire to make parafoil produce deformation, changes aerodynamic parameter, reaches the object of control propeller-parachuting yaw angle pitch angle and flying speed.
Various kinds of sensors comprises: pitot, Inertial Measurement Unit, GPS, magnetic compass, tachometric survey unit.Pitot points to dead ahead, cabin, at the state of stabilized flight, can accurately measure the air speed in cabin, and the measurement in conjunction with GPS to propeller-parachuting ground velocity can calculate size and the direction of wind speed, thereby change control policy, to reduce the impact of wind on powered paragliding.The Cloud Terrace, applicable to carrying out scanning monitoring on a large scale, can expand the visual range of pick up camera, and when disaster area is searched and rescued, the interior target of finding plays vital effect on a large scale.The rotation of pick up camera is realized by the electrical motor in The Cloud Terrace, and electrical motor accepts the signal of self-controller accurately to move location, thus lock onto target.Inertial Measurement Unit in cabin, GPS and magnetic compass sensing unit can calculate by flight controller attitude and the location information in cabin.Tachometric survey unit, for motor speed is measured, forms closed loop control.Load on cabin is used for soft wing unmanned plane to carry out counterweight, the balance when guaranteeing to fly, and be conducive to the fast and stable landing of soft wing unmanned plane.
Unmanned plane is also furnished with surface control station.Surface control station can real-time monitored propeller-parachuting every data, comprise aloft various attitude information, velocity information, position coordinate, Fuel Oil Remaining, flight path etc.In addition, by surface control station, the soft wing unmanned plane of manipulation that can be artificial.
Flexible ram air parachute takes full advantage of aerodynamic force, make himself to have the feature that load carrying ability is large, for example, for the small-sized soft wing unmanned plane in the utility model, the ratio of its Maximum Loading Capacity and fuselage weight can reach 1:1 nearly, and this is that other aircraft are very inaccessible.
As shown in Figure 2,2-1GPS module, 2-2 data acquisition plate module, 2-3 wireless data transfer module, four module integrations of 2-4 magnetic compass, on a circuit card, are arranged on parafoil center-of-gravity position.Be on the line of centers that straight line is arranged on flexible ram air parachute below with two Inertial Measurement Units, two Inertial Measurement Units are equidistantly placed on center of gravity both sides, make an appointment 0.5 meter.Mounting means is fixing for sewing.
Umbrella rope 5-1, the part umbrella rope that is connected to ram air parachute leading edge and centre is in order to have hung cabin, the rope of the bottom being connected with this part umbrella rope is hanging rope 5-2, the part umbrella rope that is connected to ram air parachute trailing edge is in order to control parafoil form, and the rope of the bottom being connected with this part umbrella rope is control wire 5-3.
As shown in Figure 3, nacelle system comprises some spaces, be convenient to hold GPS and magnetic compass module 6 are installed, and fuel tank 7, pitot 8-1, atmosphere computing machine 8-2, wireless data transfer module 9, flight controller 10, Inertial Measurement Unit 11, The Cloud Terrace 12, receives rope machine 13.The installation site of GPS and magnetic compass module 6, pitot 8-1, Inertial Measurement Unit 11 must be parallel with the line of thrust of screw propeller.GPS and magnetic compass module 6 are as far as possible away from protective cover and the cabin body dividing plate of magnetic material, and the head of pitot 8-1 must lean out at least 1 meter of shelter-clad.
Oil mass in fuel tank 7 can reach 5L left and right, due to the fuel-efficient characteristic of propeller-parachuting, can be for flight about 2 hours in full oil mass situation, and the flight time under equal oil mass, 7 fuel tanks were fixed in cabin far above the aircraft of other types.
Pitot 8-1 is arranged on body the place ahead, cabin, front-wheel top, and 8-2 is connected with air data computer, supports the use.Air data computer is connected with flight controller 10, to flight controller, provides air speed data accurately.Wireless data transfer module 9 is responsible for and ground station's communication, is arranged in the body of cabin.Flight controller 10 and Inertial Measurement Unit 11 are used four groups of spring shock absorption links to be arranged on body middle part, cabin.The accelerometer that Inertial Measurement Unit has comprised three single shafts and the gyro of three single shafts, accelerometer is the acceleration signal for detection of object independent three axles in carrier coordinate system system, and gyro is the angular velocity signal with respect to navigation coordinate system for detection of carrier, the attitude that the cireular frequency with the object measured in three dimensional space and acceleration/accel calculate object.
The Cloud Terrace 12 is arranged on cabin body medium position, and camera alignment ground direction, when carrying out disaster search and rescue, for making a terrain reconnaissance, is found terrain object.Receive rope machine 13 and be arranged on body rear portion, cabin, 5-3 is connected with control wire.14 3 of wheels, front-wheel is without turning to, and two of trailing wheels, have cushioning effect.Tachometric survey unit 15 Hall components and parts, are arranged on and start rotating disk side.Driving engine 16 is direct-connected with screw propeller 17, rotating speed probably at 5000 revs/min within the scope of 7000 revs/min, the thrust that the soft wing unmanned plane of the soft wing produces by driving engine 16 rotating screws 17 and the lift of flexible ram air parachute 1 fly.The protective cover 18 that all-metal is made welding can prevent because staff enters unintentionally the accident that the screw propeller in rotation causes, and has also effectively prevented that the screw propeller of rotation from meeting other objects simultaneously, safety control is all provided to people and screw propeller.
As shown in Figure 4, control system consists of parafoil sensing acquisition part, airborne Flight Control Section, ground control part.
Wherein, parafoil sensing acquisition partly comprises GPS and magnetic compass module 2-1, data acquisition board 2-2, wireless data transfer module 2-3, Inertial Measurement Unit 3, Inertial Measurement Unit 4.Data acquisition board 2-2 is connected with magnetic compass module 2-1, Inertial Measurement Unit 3 and 4, wireless data transfer module 2-3 with GPS.
Airborne Flight Control Section comprises GPS and magnetic compass module 6, pitot 8-1, and atmosphere computing machine 8-2, wireless data transfer module 9, flight controller 10, Inertial Measurement Unit 11, receives rope machine 13, tachometric survey unit 15.Flight controller 10 is connected with magnetic compass module 2-1, pitot 8-1, atmosphere computing machine 8-2, Inertial Measurement Unit 11, wireless data transfer module 9, tachometric survey unit 15, The Cloud Terrace 12, receipts rope machine 13 with GPS.
Ground control part comprises that surface control station, number pass link.
Parafoil sensing acquisition partial function: the data of data acquisition board Real-time Collection Inertial Measurement Unit, GPS, magnetic compass transmitter, and by wireless data sending link transmission to the flight controller being arranged on umbrella car, flight controller will utilize these data analyses to obtain three-axis attitude information, three axle velocity informations and three axis angular rate information, the longitude and latitude height and position information of parafoil.
Airborne Flight Control Section function: flight controller Real-time Collection is arranged on the data of Inertial Measurement Unit on umbrella car, GPS, magnetic compass, pitot sensor, and analysis obtains three-axis attitude information, three axle velocity informations and the three axis angular rate information of umbrella car, longitude and latitude height and position information is analyzed the wind speed information that obtains heading simultaneously.Simultaneously, three-axis attitude information, three axle velocity informations and three axis angular rate information, longitude and latitude height and position information in conjunction with parafoil, by controller, calculated the output of throttle rudder amount, left and right receipts rope machine actr, thereby control the state of flight of soft wing unmanned plane.
Ground control part function: surface control station carries out data interaction by wireless data link and on-board controller.The data messages such as flight path that can be by surface control station Real Time Observation unmanned vehicle, flight attitude, flying speed, and the video pictures of can Real Time Observation airborne tripod head shooting with video-corder etc.And people can send instruction by surface control station and set the parameters such as the flight path of aircraft, flying speed, air objective position, control the flight of aircraft.
As shown in Figure 5, this soft wing unmanned plane can be realized two kinds of offline mode: remote control distributor pattern and autonomous flight pattern.
Remote control distributor pattern: by remote controller and receiving wire, people carries out controlling of powered paragliding.
Autonomous flight pattern: pass through flight controller, complete resolving parafoil state transducing part, umbrella car state transducing part, air speed transducing part sensor parameters, according to attitude and location information, control the driving circuit of flight and receive rope machine, guiding unmanned plane aloft flies automatically.
This soft wing unmanned plane is controlled flow process and is probably: first, under remote control distributor pattern, the upwind takeoff of soft wing unmanned plane, wait flying after predetermined altitude, switch to autonomous flight pattern, and then by flight controller according to desired trajectory route, adjust in real time automatically attitude, carry out tracking flight.During flight, ground station carries out real-time, interactive by wireless transmission link and soft wing unmanned plane, can give different control task instructions.After airflight finishes, first soft wing unmanned plane arrives overhead, level point, spirals and cuts height, and when highly suitable, selected position against the wind, carries out contrary wind sparrow and fall, thereby complete all aerial missions.

Claims (8)

1. the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle, is characterized in that: comprise paraglider system and nacelle system; The logical hanging rope (5-2) in bottom of paraglider system hangs nacelle system;
Described paraglider system comprises parafoil (1) and connected umbrella rope (5-1);
Described nacelle system comprises cabin (20) and is fixed on pitot (8-1), The Cloud Terrace (12), fuel tank (7), driving engine (16) and the screw propeller (17) on cabin (20); Described cabin (20) is connected with umbrella rope (5-1) by hanging rope (5-2); Described pitot (8-1) is fixed on front portion, cabin (20), and the The Cloud Terrace (12) that pick up camera is housed is fixed on middle part, cabin (20) and camera lens vertically downward; Driving engine (16) is fixed on rear end, cabin (20), and is connected with screw propeller (17), and protective cover (18) is equipped with in screw propeller (17) outside.
2. the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle according to claim 1, is characterized in that the guard that described protective cover (18) forms for metal solder.
3. the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle according to claim 1, is characterized in that at least one rice of head distance protective cover (18) of described pitot (8-1).
4. the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle according to claim 1, is characterized in that described nacelle system also comprises that receiving rope machine (13) is arranged on rear portion, cabin (20), is connected with parafoil (1) by the control wire (5-3) connecting.
5. the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle according to claim 1, it is characterized in that described nacelle system also comprises three wheels (14), first wheel is fixed on anterior below, cabin (20), and two other is fixed on the below at rear portion, cabin (20) and symmetrical with respect to first wheel.
6. the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle according to claim 1, is characterized in that described nacelle system also comprises GPS and magnetic compass module (6), wireless data transfer module (9), flight controller (10), Inertial Measurement Unit (11), tachometric survey unit (15); Described GPS and magnetic compass module (6) are fixed on the inner front end in cabin (20); Wireless data transfer module (9), flight controller (10), Inertial Measurement Unit (11) are fixed on inside, cabin (20); Described flight controller (10) and Inertial Measurement Unit (11) are all arranged on body middle part, cabin by four groups of steel cable vibration isolators; Described tachometric survey unit (15) is arranged on driving engine (16) rotating disk side.
7. the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle according to claim 6, it is characterized in that described GPS with magnetic compass module (6) and the X-axis line of Inertial Measurement Unit (11), the axis of pitot (8-1) is all parallel with the line of thrust of screw propeller (17).
8. the soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle according to claim 1, is characterized in that described paraglider system also comprises two Inertial Measurement Units (3,4) and is integrated in GPS module (2-1), data acquisition plate module (2-2), wireless data transfer module (2-3), a magnetic compass (2-4) on circuit card; Described circuit card is positioned at the center of parafoil (1) lower floor, and two Inertial Measurement Units (3,4) are fixed on circuit card both sides and symmetry, and in chord length direction, are positioned at same straight line with circuit card.
CN201420416096.5U 2014-07-28 2014-07-28 The soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle Active CN204021249U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104691788A (en) * 2015-01-23 2015-06-10 北京空间机电研究所 Pop-up parachute capable of realizing self-adaptive equilibrium
CN105292472A (en) * 2014-07-28 2016-02-03 中国科学院沈阳自动化研究所 Multi-purpose flexible-wing unmanned aerial vehicle
CN106005403A (en) * 2016-05-25 2016-10-12 南京航空航天大学 Safe landing system and method for parafoil with flared landing function

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105292472A (en) * 2014-07-28 2016-02-03 中国科学院沈阳自动化研究所 Multi-purpose flexible-wing unmanned aerial vehicle
CN104691788A (en) * 2015-01-23 2015-06-10 北京空间机电研究所 Pop-up parachute capable of realizing self-adaptive equilibrium
CN106005403A (en) * 2016-05-25 2016-10-12 南京航空航天大学 Safe landing system and method for parafoil with flared landing function

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