CN205608525U - Last internet unmanned aerial vehicle of continuation of journey - Google Patents

Abstract

The utility model is suitable for a telerobotics field provides a last internet unmanned aerial vehicle of continuation of journey, include flying device, continuation of the journey cable, have the spiral device and the remote controller that receive and release the cable function, the remote controller passes through radio communication and connects flying device, the remote controller is still connected through radio communication the spiral device, flying device's power supply unit's input is connected the one end of continuation of the journey cable, the other end of continuation of the journey cable is connected the spiral device. This unmanned aerial vehicle can continuously continue a journey, has realized lasting power supply for unmanned aerial vehicle can be in operating condition always, and the anti -wind ability higher than the rotor of having more unmanned aerial vehicle, including rain -proof protection, and just can be at the continued work except that the bad weather extremely. This unmanned aerial vehicle simple structure, convenient to use has realized the operation of long -range internet, the cable is receive and release to automatic intelligence, uses manpower sparingly, saves the difficult problem solving high altitude construction, supervision etc. Low -costly and use someone aircraft to realize at ordinary times.

Description

A kind of the Internet unmanned plane persistently continued a journey

Technical field

This utility model belongs to teleoperator field, particularly relates to a kind of the Internet unmanned plane persistently continued a journey.

Background technology

The kind person of attacking, moves in up in the ninth heaven！Aerial advantage is bigger more than ground.Therefore unmanned plane becomes current heat for the moment Point, it is simply that because the aerial visual field is wider, can keep the most aerial high-order, set up Air Operation Center, and the overall situation is control.As unmanned The height of machine 1000 meters, records various equipment, as 3D models, and high power camera, infrared night vision, laser light filling, can be to 10 kilometers Radius region is monitored.

As military: military investigation, information acquisition, individual combat investigation, border patrol, forbidden zone；

Police: special policeman's anti-terrorism, People's Armed Police, fire-fighting monitoring, large-scale security, traffic police, at a high speed, Forest Police, rescue and relief work, sea Pass, environmental protection (such as haze), ocean, municipal administration's application；

Civilian: meteorology, water conservancy, electric power, communication, logistics, warehouse, territory, real estate, mining industry, oil, oil and gas pipeline, port The application such as mouth, mapping archaeology, video display, scenic spot, fishing ground, farm, pasture, industry, agricultural, business；

Many rotor wing unmanned aerial vehicles are small and exquisite, with low cost.But it has fatal defects, it is simply that cruising time is short, at more than 10 minutes.Separately The structure of many rotors, the wind resistance causing it is the poorest, and once the weather wind more than such as more than 4 grades, cannot fly, and cannot adapt to big Part weather.

Utility model content

The purpose of this utility model is to provide a kind of the Internet unmanned plane persistently continued a journey, it is intended to solve above-mentioned technology Problem.

This utility model is achieved in that a kind of the Internet unmanned plane persistently continued a journey, and described unmanned plane includes flight Device, cable of continuing a journey, the coiling apparatus with folding and unfolding cable function and remote controller, described remote controller connects institute by radio communication Stating flight instruments, described remote controller connects described coiling apparatus also by radio communication, the electric supply installation of described flight instruments Input connects one end of described continuation of the journey cable, and the other end of described continuation of the journey cable connects described coiling apparatus.

Further technical scheme of the present utility model is: described coiling apparatus includes control system, base, winder, change Speed case, thread tension sensor and have circumference rotate contact conductive contact, juxtaposition on base is located in one end of described winder Being connected with gear in described change speed gear box, the other end of described winder connects described contact conductive contact, and described line tension passes Sensor is located at the top being placed in described winder on described base, described control system be located on described base and with described change Speed case connects, and the outfan of described contact conductive contact is electrically connected with the other end of described continuation of the journey cable.

Further technical scheme of the present utility model is: described control system include power subsystem, microprocessor, first lead to Letter unit, the first electron speed regulator, thread tension sensor and motor (such as motor), the outfan of described microprocessor passes through Described first electron speed regulator connects the control end of described motor (such as motor), and the outfan of described first communication unit is even Connecing the input of described microprocessor, described first communication unit connects described flight instruments by radio communication, and described line is opened The outfan of force transducer connects the input of described microprocessor, and described thread tension sensor is located on described winder, institute The outfan stating power subsystem is electrically connected with described microprocessor, the first communication unit, the first electron speed regulator and motor (such as motor), the outfan of described power subsystem is also connected with the input of described contact conductive contact.

Further technical scheme of the present utility model is: a length of 10-3000 rice of described continuation of the journey cable, described continuation of the journey electricity Cable uses extremely low resistivity, the line footpath cable less than 3 square millimeters.

Further technical scheme of the present utility model is: described flight instruments includes frame, electric control system, vertically moves Power apparatus and some rotor power devices, described electrical control gear is located in described frame, and described Vertical Dynamic device is located at The end face of described frame, some described rotor power devices connect in described frame respectively, two adjacent described rotor power Spacing between device is equal.

Further technical scheme of the present utility model is: described Vertical Dynamic device includes connecting rod, coaxial rotating electricity Machine, coaxial rotating propeller and support up and down, one end of described connecting rod connects described support, the other end of described connecting rod Connecting described frame, described coaxial clockwise and anticlockwise motor is located on described support, and described coaxial rotating propeller up and down is located at institute State on the arbor of coaxial clockwise and anticlockwise motor.The wind loading rating of integrated airplane is promoted by Vertical Dynamic device.

Further technical scheme of the present utility model is: described rotor power device includes connecting rod, installs support, motor Or steering wheel and propeller, one end of described connecting rod connects described installation support, and described motor or steering wheel are installed on described installation On support, described propeller is located on the arbor of described motor or steering wheel.

Further technical scheme of the present utility model is: described electric control system includes that central processing unit, remote controller connect Receive module, gyroscope, global position system, the second communication unit, electric supply installation and some electron speed regulators or passage, described distant The outfan of control device receiver module connects the input of described central processing unit, and described global position system connects described centre Reason device two-way communication, the outfan of described gyroscope connects the input of described central processing unit, and described central processing unit connects Described second communication unit two-way communication, one end of some described electron speed regulators or passage connects described central processing unit respectively Outfan, the other end of some described electron speed regulators or passage connects the control end of described motor or steering wheel respectively.Described Electric supply installation be electrically connected with central processing unit, remote control module, gyroscope, global position system and second communication Unit.

Further technical scheme of the present utility model is: described electric supply installation includes power distribution unit and DC decompression mould Block, the input of described power distribution unit connects the outfan of described DC decompression module；Described global position system includes Positioning unit and antenna, the input of described positioning unit connects the outfan of described antenna；Described second communication unit includes Radio communication circuit, connects the Internet.

Further technical scheme of the present utility model is: described second communication unit also includes wireless communications relay circuit, Described wireless communications relay circuit connects described radio communication circuit by radio communication, connects the Internet；Described first communication Unit and the second communication unit all use wireless telecommunications；Described antenna uses big-dipper satellite antenna or gps satellite antenna.

The beneficial effects of the utility model are: this unmanned plane can persistently be continued a journey, it is achieved that continued power so that unmanned plane Duty, and wind loading rating more higher than many rotor wing unmanned aerial vehicles can be constantly in, add rainproof protection, just can be at depolarization Continuous firing outside its vile weather.This unmanned plane simple in construction, easy to use, it is achieved that Long-range links net operation, automatization Intelligence folding and unfolding cable, solving work high above the ground, supervision etc. at low cost at ordinary times can only be by the difficult problem having people's aircraft to realize.

Accompanying drawing explanation

Fig. 1 is the structure chart of the Internet unmanned plane of the lasting continuation of the journey that this utility model embodiment provides.

Fig. 2 is the structured flowchart of the electrical control that this utility model embodiment provides.

Detailed description of the invention

Reference: 10-flight instruments 20-coiling apparatus 30-continuation of the journey cable 101-Vertical Dynamic device 102-rotation Wing power set 103-frame 201-winder 202-contact conductive contact 203-base 204-power subsystem 205-is micro- Processor 206-the first electron speed regulator 207-change speed gear box 208-thread tension sensor

As shown in Figure 1-2, a kind of the Internet unmanned plane persistently continued a journey that this utility model provides, described unmanned plane includes Flight instruments 10, continuation of the journey cable 30, the coiling apparatus 20 with folding and unfolding cable function and remote controller, described remote controller is by wireless Communicating to connect described flight instruments 10, described remote controller connects described coiling apparatus 20, described flight dress also by radio communication The input of the electric supply installation putting 10 connects one end of described continuation of the journey cable 30, and the other end of described continuation of the journey cable 30 connects described Coiling apparatus 20.Wherein coiling apparatus 20 can be automatization, it is also possible to be mechanical, it is also possible to be manual.

Described coiling apparatus 20 includes control system, base 203, winder 201, change speed gear box 207, thread tension sensor 208 and there is the contact conductive contact 202 that circumference rotates, one end of described winder 201 be located on base 203 be placed in described Being connected with gear in change speed gear box 207, the other end of described winder 201 connects described contact conductive contact 202, described line tension The top being placed in described winder 201 on described base 203 is located at by sensor 208, and described control system is located at described base Being connected on 203 and with described change speed gear box 207, the outfan of described contact conductive contact 202 is electrically connected with described continuation of the journey cable 30 The other end.Control system can utilize remote controller to control retractable cable, it is also possible to unmanned plane with remote controller by radio communication Central processing unit carry out communication, the data message obtaining central processing unit automatically controls folding and unfolding cable, total in reality application Which kind of type can freely to adjust it flexibly according to on-the-spot demand uses control the process of folding and unfolding cable.

Described control system includes power subsystem 204, microprocessor the 205, first communication unit, the first electron speed regulator 206, thread tension sensor and motor (such as motor), the outfan of described microprocessor 205 is adjusted by described first electronics Speed device 206 connects the control end of described motor (such as motor), and the outfan of described first communication unit connects described micro-place The input of reason device, described first communication unit connects described flight instruments by radio communication, described thread tension sensor Outfan connects the input of described microprocessor, and described thread tension sensor is located on described winder, described power subsystem The outfan of 204 is electrically connected with described microprocessor the 205, first communication unit, the first electron speed regulator 206 and motor (such as motor), the outfan of described power subsystem 204 is also connected with the input of described contact conductive contact 202.

The a length of 10-3000 rice of described continuation of the journey cable, the described continuation of the journey cable extremely low resistivity of employing (such as gold, silver etc.), The line footpath cable less than 3 square millimeters.

Described flight instruments includes frame 103, electric control system, Vertical Dynamic device 101 and some rotor power dress Putting 102, the end face of described frame 103 is located at by described electrical control gear, and described Vertical Dynamic device 102 is located at described frame The end face of 103, some described rotor power devices 102 connect described frame 102, two adjacent described rotor power dresses respectively Put the spacing between 102 equal.

Described Vertical Dynamic device includes connecting rod, coaxial clockwise and anticlockwise motor, coaxial rotating propeller and support up and down, One end of described connecting rod connects described support, and the other end of described connecting rod connects described frame, described coaxial rotating electricity Machine is located on described support, and described coaxial rotating propeller up and down is located on the arbor of described coaxial clockwise and anticlockwise motor.Pass through Vertical Dynamic device promotes the wind loading rating of integrated airplane.

Described Vertical Dynamic device includes 101, three connecting rods of positioning set square, coaxial clockwise and anticlockwise motor, the most upper and lower Rotating propeller and support, three described connecting rod cross section settings triangular in shape, one end of three described connecting rods connects institute Stating support, the other end of three described connecting rods connects described frame, three summits of described positioning set square respectively with three Described connecting rod connects, and described coaxial clockwise and anticlockwise motor is located on described support, and described coaxial rotating propeller up and down is located at On the arbor of described coaxial clockwise and anticlockwise motor.

Described rotor power device includes connecting rod, installs support, motor or steering wheel and propeller, the one of described connecting rod End connects described installation support, and described motor or steering wheel are installed on described installation support, and described propeller is located at described motor Or on the arbor of steering wheel.

Described electric control system include central processing unit, remote control module, gyroscope, global position system, Two communication units, electric supply installation and some electron speed regulators or passage, the outfan of described remote control module connects described The input of central processing unit, described global position system connects described central processing unit two-way communication, described gyroscope defeated Going out end and connect the input of described central processing unit, described central processing unit connects described second communication unit two-way communication, if One end of dry described electron speed regulator or passage connects the outfan of described central processing unit, some described electron speed regulators respectively Or the other end of passage connects the control end of described motor or steering wheel respectively.Described electric supply installation is electrically connected with central authorities' process Device, remote control module, gyroscope, global position system and the second communication unit.

Described electric supply installation includes power distribution unit and DC decompression module, and the input of described power distribution unit is even Connect the outfan of described DC decompression module.

Described global position system includes positioning unit and antenna, and the input of described positioning unit connects described antenna Outfan.

Described second communication unit includes radio communication circuit, connects the Internet.

Described second communication unit also includes that wireless communications relay circuit, described wireless communications relay circuit pass through channel radio Letter connects described radio communication circuit.

Described first communication unit and the second communication unit all use wireless telecommunications.

Described antenna uses big-dipper satellite antenna or gps satellite antenna.

(1), master-plan

A kind of the Internet unmanned plane persistently continued a journey, takes into full account aerodynamic and motor technology, particularly as follows:

1, fuselage: increase load-carrying, improves cruising time, it is necessary to reduce the weight of the machine.First fuselage ring design, material Use high-strength carbon fiber structure, aircraft aluminum CNC, light material.

2, the energy: unmanned aerial vehicle power is broadly divided into fuel power, electronic and other three class.Other mainly has jet to send out Motivation, turbogenerator and rocket engine etc. are several；And fuel power refers to engine fuels such as gasoline, kerosene and methanol Do power；Electronic, refer to promote motor to do the dynamical system of power with battery.Comparatively speaking, front two classes are traditional moving Force system, it develops several last 100 yearses, electronic, be that recent years just grows up and be due to mobile phone producer for increase Stand-by time and alleviate mobile phone weight, constantly releases that capacity is big, volume is little, promotes premised on lightweight lithium battery 's.Therefore, basic characteristics advantage based on accumulator and easily rechargeable pattern, reliable, convenient, volume is little, therefore selects Accumulator is exactly that this utility model designs a kind of power used, and provides energy to component workings such as motors.

3, dynamical system: at present, the wing of the power set of minute vehicle mainly has: motor or internal-combustion engine drives spiral shell Rotation oar driving, micro turbine engine driving etc..Although internal combustion engine has the features such as fuel efficiency is high, output is big, but The shortcomings such as its speed governing inconvenience, difficulty in starting limit its application on minute vehicle.Micro turbine engine is from reason Say it is optimal selection in opinion, but the research in the world to micro turbine engine is also not enough to reach the water of actual application Flat.Although and motor due to battery capacity restriction, there is the features such as the flight time is short, but it has high reliable Property, the advantage such as low noise and price economy, make motor dress propeller use in the wing of the power set of minute vehicle The most universal.

4, flight control system: by remote control (being controlled by earth station's telecommand) and autonomous flight control (two dimension, three Dimension or four-dimensional) two kinds.Under remote control mode, terrestrial operation hands controls unmanned plane according to status information and the mission requirements of unmanned plane Flight.Under Autonomous Control mode, aircraft state information that flight control system obtains according to sensor and mission planning Information automatically controls the flight of unmanned plane.Under half Autonomous Control mode, on the one hand flight control system obtains according to sensor Aircraft state information and mission planning information independence control the flight of unmanned plane, on the other hand, receive ground control station Telecommand, change of flight state.

(2), branch's design

Rotor wing unmanned aerial vehicle is that energy is derived from battery, adjusts through electricity, passes to motor, directly drives longer blade high-speed rotary Turn, make air relative vane quick flow, produce pressure differential up and down at aerofoil thus obtain lift, thus resist gravity and flown OK.

1, propeller: heavy－duty use carbon fiber oar.Zelkova schneideriana Hand.-Mazz. oar can be selected if load-carrying is very big, be unlikely to deform.Spiral Oar specification, is typically represented by 4 bit digital, and front two number represents diameter, and latter two represent pitch.As a example by 1060 slurries, 10 represent The diameter of oar is 10 inches, 60 expression blade angles (pitch, 6.0 inches, namely 152.4mm).

Different according to hydrodynamics, air and water, density is different, and the density of water is 800 times of air.Atmospheric density Little, to flow backward the thrust to aircraft to accelerate air, the space of aircraft propeller is bigger.If aircraft Blade is the closeest, and air flow amount backward is the least.The efficiency of SANYE can be high, rises equal two leaves of force rate and wants big, but electromotor horse Power wants big, and paddle balance also is difficult to solve, and two leaf oars do once balance and just can prepare a pair, and SANYE oar does twice balance and just can prepare One group, if 8 axles, two leaves do 8 balances；Hell to pay, therefore typically use two leaf oars.Propeller blade surface area is the biggest, Thrust is the biggest, efficiency is the highest in generation.But relatively large propeller, aircraft flight get up can very power consumption because propeller produce Raw resistance can be bigger.So, select the voltage that the propeller of what model must provide according to motor kV value and accumulator And capacity arranges in pairs or groups, especially can not select the motor of higher kv value, mainly avoid motor to adjust together with electricity and burn.

Propeller pulling force computing formula is: diameter (rice) × pitch (rice) × slurry width (rice) × rotating speed such as P(revolutions per second) × 1 atmospheric pressure (1 normal atmosphere) × empirical coefficient (0.25)=pulling force (kilogram), premise is the slurry of general ratio, and precision is relatively Good, atmospheric pressure is 1 normal atmosphere, if highlands, the reduction of atmospheric pressure to be considered, such as Tibet, pressure is at 0.6- 0.7.Less than 1000 meters can take 1 substantially.Such as: the slurry of 100 × 50, Breadth Maximum about 10, propeller-parachuting uses, rotating speed 3000 revs/min, close 50 revolutions per seconds, can be calculated: 100 × 50 × 10 × 50P × 1 × 0.00025=31.25 kilogram.If rotating speed Reach 6000 revs/min, then pulling force is equal to: 100 × 50 × 10 × 100P × 1 × 0.00025=125 kilogram

3, electricity is adjusted: electricity adjusts full name electron speed regulator, English electronic speed controller, is called for short ESC.Pin Different to motor, can be divided into and have brush electron speed regulator and brushless electronic speed regulator.It turns according to control signal regulation motor Speed.This aircraft be through remote control control brushless electronic speed regulator to reach to adjust aircraft various flight attitudes and Action.Electricity tune parameter: fan-out capability, such as: 80A；Electricity is adjusted and be output as three～four steering wheels to be powered is out of question

4, battery: the battery variety of model power is a lot, ni-mh (Ni-MH), nickel manganese (NiOH-MnO2), lithium metal (Li), The batteries such as lighium polymer (Li-Poly) are all right.But in order to reduce weight, improving electricity, we use high-performance lithium ion to be polymerized Thing set of cells；Its parameter: voltage+capacity+discharge-rate, such as: 3S (11.1V), 4200mAh, 30C

A, battery capacity: citing 5200mAh, it is meant that with 5.2A current discharge, 1 hour can be put.

B, discharge capability: 30C battery, refer to the discharge capability of battery.For 30C battery, maximum continuous discharge electric current For: battery capacity X electric discharge C.Such as: 5200MA, 30C battery, then maximum follow current is exactly=5.2X30=156A(ampere). If this battery is for a long time more than 156 peaces or above current work, then the life-span of battery can shorten.

C, voltage: for the monolithic voltage of battery, should be 4.15-4.20 appropriate (3S battery, it is simply that 3 time fully charged Monolithic voltage concatenates, it is simply that 4.20 V * 3, corresponding 12.6V), the minimum voltage after using is that (3S is corresponding for monolithic more than 3.7 11.1V, makes sure to keep in mind not cross to put), long-term no preservation voltage is preferably 3.9(3S correspondence 11.7V).Continue to improve aircraft Boat ability, we can select battery capacity big, but the weight of battery own is the heaviest, reduces cruising time on the contrary.Should be noted that , with parallel connection, the series connection of battery requires that the performance of single battery or set of cells is consistent, if this is because having individual in circuit The brownout of other battery, other battery will charge for it, and that total voltage or total current will be lower than our requirement, simultaneously Will also result in the damage of battery, this is also the reason of why lithium battery equilibrium charging to be used.The charging process longevity to battery Life has considerable influence.In general, the charging interval of battery is that the electric current with charger is associated.So, for The battery of 16000mAH, charging voltage is its rated voltage, and the electric current of charger is 5000 milliamperes, then the charging interval is just etc. In 16000 ÷ 5000=3.2 hour.But this simply says in the case of no-voltage fills up, belong to perfect condition, actual charging The time electricity of time accumulator to be seen.But this can not illustrate to use large current charge just can save the time, it is demonstrated experimentally that greatly The performance of battery can be caused a certain degree of destruction by electric current charging.

5, motor: traditional brush DC motors has brush and changes direction equipment, is mechanically to commutate, and exists The shortcomings such as noise, spark and life-span are short.Micro brushless dc motor uses electronic commutation, and its output and efficiency are relatively Height, noise is little simultaneously, controllability is strong, last a long time and there is no other distinct disadvantage, and what this design was selected is brushless dc Machine.Its parameter: maximum current (A), maximum voltage (V), kV value. such as: 2860, and maximum current 80A, maximum voltage 17V, 3400kV。

Identical motor, different kV values, propeller the most different, each motor can have a spiral recommended Oar.Propeller is joined too small comparatively speaking, it is impossible to play maximum thrust；Propeller is joined too much, and motor can be overheated, can make motor Demagnetization, causes the permanent decline of motor performance；

A, motor kV value: big kV joins little oar, and little kV joins big oar.KV value be every 1V voltage under motor idle running per minute turn Speed, such as kV800, under the voltage of 1V, idler revolutions are 800 rpms.It it is the sky of 8000 rpms under the voltage of 10V Walk around speed.

Number of turns is many, and kV value is low, and High Output Current is little, but torsion is big, can the bigger oar of band, shake the least;

Number of turns is few, and kV value is high, and High Output Current is big, but torsion is little, can only carry little oar, but efficiency is high;

B, motor model: stator is thick, and strength is big.Motor model, such as 2212,3508,4010, these numerals represent motor The diameter of stator and height.Above two is stator diameter, after two be stator height, unit is millimeter.Front two is the biggest, Motor is the most fertile, rear two the biggest, motor is the highest.The biggest but also high motor, strength is big, and efficiency is high, price, and motor deadweight Will be the biggest.In order to driving force increases, it is necessary to power a that each unit exports is become n*a, from Ampere force F=BIL, quite In increasing electric current or conductor length, it is contemplated that the magnetization curve of stalloy, in order to export same rotating speed and moment of torsion, reduce The radius of motor, even if adding the stator height of response, will also result in efficiency reduction, electricity that stalloy causes close to magnetic saturation Stream increase causes the problem such as efficiency reduction and coiling difficulty.So we are designed with disc type electric machine (having another name called small bell motor).Electricity The groove number of machine is The more the better in theory.The length of magnetic path of this motor is the shortest, uses flat profile, and stator height is also The least, be so conducive to producing bigger moment of torsion and relatively low rotating speed with less electric current, could be with major diameter slow-speed of revolution spiral shell Rotation oar coupling.

C, electric efficiency: 3 ~ 5A, efficiency is high;The notation methods of efficiency is: the power of g/W (gram/every watt) motor and pulling force It is not be directly proportional, say, that 450g pulling force when of 50W, is not the most 900g when of 100W, may only have 700g. Concrete efficiency looks into the efficiency table of motor.

Energy consumption of electrical machinery manages: for energy efficient, improves efficiency.We use ratio larger diameter propeller, thus improve Propeller efficiency and electric efficiency.Open loop policy that now industry uses (flight control system controls the PWM value of electricity tune by all means, No matter whether motor speed increases, and is simply differentiated the attitude of aircraft by gyroscope), motor frequently does variable motion and draws The additional energy loss risen.Unmanned plane multiaxis dynamical system this partition losses mild wind when is up to about 25% now, wind-force If this partition losses of wind direction acute variation, become much larger.For this, we design the electric wire adjusting output 6, and relatively thick one Point should be power line, and remaining four should be holding wire, uses serial ports or other modes and flight control system to carry out double To communication, flight control system can be readjusted the distribution to electricity and be sent instruction, and electricity is adjusted can also be by information (the turning of such as motor of dynamical system Speed) feed back to flight control system, such flight control system is exactly closed loop control to the control of dynamical system.

6, propulsion system each unit coordinates design:

The design principle that battery and electricity are adjusted:

1) cell voltage not can exceed that electricity adjusts high-mechanic voltage；

2) battery current persistently exports and adjusts sustained ceiling current output more than electricity；

The electric current that motor bears is determined by the load of motor, as long as bearing power is without departing from Rated motor, motor would not Problematic, and battery and electricity adjust the power output being only provided to reach this load, its ability exceedes this power, does not represent Ability adjusts combination to be bound to Maximum Power Output more than the battery electricity of this power.

Battery and the principle of motor:

1) motor operating voltage is adjusted by electricity and is determined, and electricity adjusts voltage to be determined by battery output, so the voltage of battery to wait In or less than the maximum voltage of motor；

2) electricity adjusts maximum voltage not can exceed that the maximum voltage that motor can bear；

7, the design of frame:

The unmanned plane of below 2kg can select glass frame；More than 2kg uses 3K carbon fiber.

Carbon fibre composite is mainly used in opportunity of combat main structure, aggregated(particle) structure part and war on UCAV and helicopter The features parts of machine privileged sites.Abroad carbon fiber/epoxy and carbon fiber/span composite are applied at opportunity of combat machine The positions such as body, main wing, the vertical fin wing, the horizontal tail wing and eyelid covering, serve obvious loss of weight effect, substantially increase resisting fatigue, corrosion resistant The performances such as erosion.Carbon fiber answers aerospace industry to grow up the urgent needs of resistance to ablation and light-weight high-strength material, it mainly by A kind of special fibre of carbon composition, is the second filial generation fibre reinforced composites occurred after glass fibre.Carbon fiber Phosphorus content more than 90%, there is the mechanical property of excellence, there is compared with other high-performance fiber high specific strength and the highest Specific modulus.In 2000 DEG C of high temperature above inert environments, carbon fiber is the material that unique a kind of intensity does not declines, more valuable It is that carbon fiber and other material have the highest compatibility, have both the soft machinability of textile fabric, and are easily combined, There is the biggest design freedom.

By oar length, calculate frame wheelbase=(inch * 25.4/0.8/ radical sign 2 of oar) * 2.

Frame wheelbase calculates size (inch)=(frame wheelbase/2) * radical sign 2*0.8/25.4 of oar.

The collocation that some oars and wheelbase are presented herein below is advised:

10 cun of oar collocation wheelbase 450MM frames

11 cun of oar collocation wheelbase 500MM frames

12 cun of oar collocation wheelbase 550MM frames

13 cun of oar collocation wheelbase 600MM frames

14 cun of oar collocation wheelbase 650MM frames

15 cun of oar collocation wheelbase 680MM frames

16 cun of oar collocation wheelbase 720MM frames

17 cun of oar collocation wheelbase 780MM frames

18 cun of oar collocation wheelbase 820MM frames

19 cun of oar collocation wheelbase 860MM frames

20 cun of oar collocation wheelbase 900MM frames

The balanced design of frame:

The unmanned plane of the highest foot rest, the center of gravity of complete machine must drop into the geometric center of aircraft.

8, the power drive of rotor wing unmanned aerial vehicle and balanced design (illustrating by four axles :)

Its construction features of four-axle aircraft are each equipped with a rotor on its four angles, motor drive respectively, blade Can rotate forward, it is also possible to reversion.In order to keep the stabilized flight of aircraft, equipped with the gyro in 3 directions on four-axle aircraft Instrument and 3 axle acceleration sensors composition inertial navigation module, it transfers to ensure its rapid flight also by electricity.Four motor shafts Distance away from geometric center is equal, ensure that the balance of moment when the lift that two, diagonal angle axle produces is identical, and four axles are not Can vert to any one direction;And a pair rotating forward of four motors, a pair reversion so that rotate around vertical axes direction is anti-twisted Square balances, and ensure that stablizing of four axle courses.The drive lacking kinetics exported according to four input power and six coordinates, four The rotating speed of motor does corresponding change can realize the motion laterally, on longitudinal direction, vertical direction and yaw direction of four axles；Aircraft Realize the motion of 6, space degree of freedom (translating and rotary motion respectively) along 3 coordinate axess.In practical usage situations, have Main movement be to make translational motion along 3 coordinate axess and the rotary motion around vertical axis, elevating movement and tumbling motion are The induced movement of horizontal movement.The thrust that four oars produce, is capable of erecting the when of exceeding or be less than four axle gravity own Nogata ramps up and the motion declined, and i.e. realizes hovering when the lift of oar and the gravity of four axles itself are equal when.

9, the principle of gyroscope be exactly the direction of rotary shaft indication of a rotating object when not affected by external force, use it Keeping direction, the instrument manufactured just is gyroscope.Such as, the most in fact also with this principle.Wheel Turn to be less susceptible to down the soonest, because axletree has the strength of one holding level.It operationally to be given by telecontrolled aircraft gyroscope One power, makes it quickly rotate, and typically can reach hundreds of thousands per minute and turn, can be with work really long days.Then with multiple Method reads the direction indicated by axle, and automatically data signal is passed to control system.

Many rotor wing unmanned aerial vehicles be a kind of installation according to geometrically symmetric figure come the line shaft of quantification and propeller can Unmanned flight's system of VTOL, is also Multi-axis aircraft, common are the unmanned planes such as 4 axles, 6 axles, 8 axles.Determine many rotors Aircraft rotor number, it is simply that stability of aircraft, physical dimension and the balance of single-shot power performance three.Quantity the most more Stable, and can bear double send out/single-shot lost efficacy, but the reducing of the rotor diameter that compares, rotor centers with in aircraft geometry The distance of the heart increases faster, and the size of aircraft also will be made the biggest.This aircraft can with plug-in a lot of equipment, instrument, Instrument, weapon etc. are for various uses.Can certainly our carrier plug-in, such as all kinds of transport goods and materials, liquid medicine etc..

The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all at this Any amendment, equivalent and the improvement etc. made within the spirit of utility model and principle, should be included in this utility model Protection domain within.

Claims (10)

1. the Internet unmanned plane that a kind is persistently continued a journey, it is characterised in that described unmanned plane include flight instruments, continuation of the journey cable, Having coiling apparatus and the remote controller of folding and unfolding cable function, described remote controller connects described flight instruments, institute by radio communication Stating remote controller and connect described coiling apparatus also by radio communication, the input of the electric supply installation of described flight instruments connects described One end of continuation of the journey cable, the other end of described continuation of the journey cable connects described coiling apparatus.

Unmanned plane the most according to claim 1, it is characterised in that described coiling apparatus includes control system, base, spiral Device, change speed gear box, thread tension sensor and have circumference rotate contact conductive contact, one end of described winder is located on base Being connected with gear in being placed in described change speed gear box, the other end of described winder connects described contact conductive contact, and described line is opened The top being placed in described winder on described base is located at by force transducer, described control system be located on described base and with institute Stating change speed gear box to connect, the outfan of described contact conductive contact is electrically connected with the other end of described continuation of the journey cable.

Unmanned plane the most according to claim 2, it is characterised in that described control system include power subsystem, microprocessor, First communication unit, the first electron speed regulator, thread tension sensor and motor, the outfan of described microprocessor is by described the One electron speed regulator connects the control end of described motor, and the outfan of described first communication unit connects the defeated of described microprocessor Entering end, described first communication unit connects described flight instruments by radio communication, and the outfan of described thread tension sensor is even Connecing the input of described microprocessor, described thread tension sensor is located on described winder, the outfan of described power subsystem It is electrically connected with described microprocessor, the first communication unit, the first electron speed regulator and motor, the output of described power subsystem End is also connected with the input of described contact conductive contact.

Unmanned plane the most according to claim 3, it is characterised in that a length of 10-3000 rice of described continuation of the journey cable, described Continuation of the journey cable uses extremely low resistivity, the line footpath cable less than 3 square millimeters.

Unmanned plane the most according to claim 4, it is characterised in that described flight instruments include frame, electric control system, Vertical Dynamic device and some rotor power devices, described electrical control gear is located in described frame, and described Vertical Dynamic fills Being arranged in the end face of described frame, some described rotor power devices connect in described frame respectively, two adjacent described rotations Spacing between wing power set is equal.

Unmanned plane the most according to claim 5, it is characterised in that described Vertical Dynamic device include connecting rod, coaxial the most just Reversion motor, coaxial rotating propeller and support up and down, one end of described connecting rod connects described support, described connecting rod The other end connects described frame, and described coaxial clockwise and anticlockwise motor is located on described support, described coaxial rotating propeller up and down It is located on the arbor of described coaxial clockwise and anticlockwise motor.

Unmanned plane the most according to claim 6, it is characterised in that described rotor power device includes connecting rod, fitting machine Seat, motor or steering wheel and propeller, one end of described connecting rod connects described installation support, and described motor or steering wheel are installed on institute Stating on installation support, described propeller is located on the arbor of described motor or steering wheel.

Unmanned plane the most according to claim 5, it is characterised in that described electric control system includes central processing unit, distant Control device receiver module, gyroscope, global position system, the second communication unit, electric supply installation and some electron speed regulators or passage, The outfan of described remote control module connects the input of described central processing unit, and described global position system connects described Central processing unit two-way communication, the outfan of described gyroscope connects the input of described central processing unit, and described central authorities process Device connects described second communication unit two-way communication, and one end of some described electron speed regulators or passage connects described central authorities respectively The outfan of processor, the other end of some described electron speed regulators or passage connects the control of described motor or steering wheel respectively End, described electric supply installation is electrically connected with central processing unit, remote control module, gyroscope, global position system and the Two communication units.

Unmanned plane the most according to claim 8, it is characterised in that described electric supply installation includes power distribution unit and direct current Voltage reduction module, the input of described power distribution unit connects the outfan of described DC decompression module；Described satellite fix system System includes positioning unit and antenna, and the input of described positioning unit connects the outfan of described antenna；Described second communication unit Unit includes radio communication circuit.

Unmanned plane the most according to claim 9, it is characterised in that described second communication unit also includes in radio communication Relay road, described wireless communications relay circuit connects described radio communication circuit by radio communication；Described first communication unit And second communication unit all use wireless telecommunications；Described antenna uses big-dipper satellite antenna or gps satellite antenna.