JP2022540940A - Rotorless fly disc powered by electromagnetic field and its flight method - Google Patents

Abstract

Kind Code: A1 The present invention discloses a rotorless fly disc powered by an electromagnetic field and a method of flight thereof. The flydisk includes a control unit, an analysis unit and an execution unit. The control unit of the flydisk is used to input commands. The analysis unit of the flydisk is used to analyze and output commands to the execution unit and feed back the flydisk flight status to the control unit. The execution unit of the fly disk includes a lift module that provides lift to the fly disk and a horizontal plane power module that provides forward power to the fly disk in each direction. The lift module can generate an ion flow by an ion generator and generate a changing magnetic field by passing a changing current through the coil, the ion flow generates rotation in the changing magnetic field, and this rotating ion flow is applied to the fly disk. It can supply stable lift. The horizontal plane power module can generate ion streams in different directions by uniformly distributed ion generators to power the fly disc in each direction in the horizontal plane. The execution unit can coordinate the lift module and the horizontal plane power module to realize the flying task of the fly disk in three-dimensional space. [Selection drawing] Fig. 5

Description

The present invention relates to the field of flying vehicles, and more particularly to electromagnetic field powered rotorless fly discs and methods of flight thereof.

Aircraft manufactured in almost all applications today need to fly with moving parts such as propellers, turbine blades or fans, and these parts need to be powered by fossil fuel combustion or battery packs in the aircraft. Therefore, large amounts of pollutant emissions and noise are generated during the entire flight process. Flying in a manner powered by burning fossil fuels is highly environmentally unfriendly. The fact that many airports are built far from urban areas is a factor of noise. Rotation is also prone to injury to researchers. In the process of the flying object flying outdoors, the presence of the blades may injure a person, or the flying object may be damaged by being blocked by other objects such as trees. Therefore, in today's world of increasing air and noise pollution, an aircraft that produces power without using rotating moving parts and burning fossil fuels will revolutionize aircraft and open a new chapter in aircraft. , has great value in the military and commercial fields.

SUMMARY OF THE INVENTION It is an object of the present invention to overcome the deficiencies of the prior art by providing an electromagnetically powered rotorless fly disc and method of flight thereof, wherein the air vehicle is powered using fossil fuel combustion. It solves the problem of environmental pollution caused by blade rotation, as well as noise pollution and safety concerns caused by blade rotation.

上式において、Ｔはフライディスクの推力であり、Ｐはイオン発生器の電力であり、ρは電荷密度を代表し、

は平均電界強度であり、Ａはイオン流の運動中に接触する面積であり、Ｌは２つのイオン発生器の電極間の距離であり、Ｖは２つのイオン発生器の電極間の電位を代表し、ｊは電流密度であり、

はイオン遷移率であり、ｖ_０は粒子初期速度であり、
所要の推力電力に基づいて平均電界強度

を算出することができ、さらに適切なイオン発生器を選択することができ、以下の式に基づいてフライディスクの揚力を取得することができ、
（数７）
Ｐ’＝ Ｆ×Ｖ ’
式において、Ｆはフライディスクの揚力であり、Ｖ’は上昇フライディスク速度であり、Ｐ’はフライディスクの頂部と底部の一対のイオン発生器の総電力であり、Ｐ’は選択されたイオン発生器により取得されることができ、
所要のフライディスクの速度に応じて、対応するフライディスクの揚力を取得することができ、さらにフライディスクの最大重力を取得し、フライディスクの重力に基づいて水平方向のイオン発生器の数を取得することができる、電磁界による動力供給のロータ無しのフライディスク。 The object of the present invention is achieved by the following technical means.
An electromagnetic field powered rotorless fly disc comprising:
the fly disk comprises a control unit, an analysis unit and an execution unit;
The control unit is installed on the ground and is used to transmit flight task information and receive fly disk current flight status information;
The analysis unit is integrated in the fly disk, receives and processes the flight task information sent from the control unit, and then sends it to the execution unit, analyzes the fly disk flight status information, and analyzes the fly disk current flight information. used to transmit status information back to the control unit;
the execution unit is used to control the flight state of the fly disk, the execution unit includes a fly disk flight lift module and a horizontal plane power module;
Said fly disk flight lift module includes a pair of ion generators mounted on the top and bottom of the fly disk and an energized coil mounted inside the fly disk, wherein the ion generator at the bottom of the fly disk is an energized coil. , the ion generator on the top of the fly disk is located on the top of the energized coil, the fly disk flight lift module can generate a rotating ion flow, the air pressure above the fly disk is low, and the negative pressure A region and thus a vacuum is created, air moves from a normal pressure region to a negative pressure or vacuum region, lift is generated, and is used to control the speed and stability of the vertical flight of the fly disc,
Said horizontal plane power module includes a pair of ion generators evenly mounted on the edge of the fly disk, ion generators ionizing the air to generate an ion stream, the air pressure at the point of high speed ion movement is low, A negative pressure area and thus a vacuum appears, the air moves from the normal pressure area to the negative pressure area or vacuum area, the reaction force provides horizontal power to the fly disc, and the horizontal plane power module causes the fly disc to move in the horizontal plane. It is used to control to fly according to the specified speed in the direction,

where T is the thrust of the flydisk, P is the power of the ion generator, ρ represents the charge density,

is the average electric field strength, A is the area in contact during the motion of the ion stream, L is the distance between the two ion generator electrodes, and V represents the potential between the two ion generator electrodes. and j is the current density,

is the ion transition rate, v ₀ is the particle initial velocity,
Average field strength based on required thrust power

can be calculated, a suitable ion generator can be selected, and the lift force of the fly disk can be obtained based on the following formula,
(Number 7)
P' = F x V'
where F is the lift force of the flydisk, V′ is the ascending flydisk velocity, P′ is the total power of the ion generator pair at the top and bottom of the flydisk, and P′ is the selected ion can be obtained by the generator,
Depending on the required flydisk speed, we can get the corresponding flydisk lift, we can also get the flydisk maximum gravity, and based on the flydisk gravity we get the number of horizontal ion generators. A fly disc without a rotor powered by an electromagnetic field, which can be.

Further, said horizontal ion generators are at least two pairs.

Further, the ion generator includes two electrodes with different voltages, both of which can ionize air molecules into charged particles, an electric field exists between the two electrodes, and an electric field force Under the action of , the charged particles in the air move from the low voltage electrode side to the high voltage electrode side, generating an ion flow. Air moves from a normal pressure region to a negative pressure or vacuum region, creating a reaction force against the fly disc and powering the fly disc.

Further, the fly disk flight state information indicates the magnitude and direction of the vertical flight speed of the fly disk, the magnitude and direction of the horizontal flight speed of the fly disk, and the current position of the fly disk. .

Further, the control unit is a mobile smart terminal and includes an input module, a route planning module, an output module, a receiving module and a judging module;
the input module is used to input user outgoing flight task information;
the path planning module is used to plan a path between the start point and the end point of the fly disc;
The output module is used to output flight task information, wireless output is selected, and any one or more of wireless communication devices such as WiFi, Bluetooth (registered trademark), zigbee can be selected. , the flight task information is to reach a specified location within a specified time according to the route planned by the route planning module;
the receiving module is used to receive fly disk current flight status information, including current flight speed and position information of the fly disk, returned from the analysis unit;
The judging module is used for judging whether the fly disk current flight state information returned from the analysis unit is correct, ie whether it deviates from the planned route.

Further, the route plan refers to an array of points or curves that connect the starting point position and the ending point position according to a certain policy, and the specific method includes the following steps (1) and (2),
In step (1), the position of the starting point and the target point and a 3D map of a certain area including the starting point and the target point are obtained by a GPS positioning system or other positioning system;
In step (2), the information obtained in step (1) is processed by a route planning module in the control unit to obtain a flightable route between the start point and the end point.

Further, the specific procedure for judging whether the fly disk current flight state information is correct in the judging module includes the following steps (1) and (2),
In step (1), the control unit integrates the fly disk current flight status information returned from the analysis unit, and determines by the judging module whether the current fly disk is flying according to the planned route;
In step (2), if the flydisk deviates from the planned path, resend the planned path to the analysis unit.

Further, said analysis unit includes an on-board central processor, a data acquisition module, and a signal interface module;
said on-board central processor receiving flight task information from the control unit, processing the flight task information and then sending it to the execution unit, selecting and operating the required ion generator based on the flight task information; further used to control the fly disk flight speed and direction and to transmit back to the control unit the fly disk current flight state information collected by the data collection module;
Said data collection module includes gyro (i.e. angular velocity meter for flight attitude detection), accelerometer, geomagnetic induction, barometric sensor (for roughly calculating hover height), ultrasonic sensor (low altitude precision for control and obstacle avoidance), light current sensors (for accurately measuring hovering horizontal position), GPS modules and/or other coarse positioning modules such as Beidou positioning system (for fly disk horizontal position ), which is used to collect all data about flydisk flight conditions.

Said signal interface module refers to a signal input/output device, which is used to transmit and receive signals.

Further, the data interaction method between each unit and each module may be either one of wireless communication method and wired communication method or a combination of two, and the wireless communication method may be infrared communication or Bluetooth communication. , wifi, 3/4G network, zigbee communication, GSM, CDMA.

A method of flight for a rotorless flydisk powered by an electromagnetic field, comprising:
The flight method includes the following steps (1) to (3),
In step (1), the user generates a planned route by means of a route planning module in the control unit on the ground and sends the route as a flight task command to the analysis unit;
In step (2), after the analysis unit processes the task command, it sends it to the execution unit, and the execution unit controls the energization and deenergization of the electrodes of each ion generator, and the magnitude and on/off of the current of the energization coil. allows the fly disk to fly according to the task command,
In step (3), the analysis unit, through the data collection module, collects the fly disk flight status information in real time, returns the information to the control unit on the ground, and determines whether the fly disk has deviated from the planned path. , a method of flight for an electromagnetic field-powered rotorless flydisk that retransmits flight task commands to an analysis unit if the flydisk deviates from its planned path.

An advantageous effect of the present invention is that
(1) The present invention can realize a fly disk that controls flight by an electromagnetic field.
(2) The fly disk in the present invention can realize no emission of pollutants during flight.
(3) The fly disc in the present invention can realize no noise during flight, no noise for researchers during research and development, and no noise pollution during application.
(4) The fly disc in the present invention has higher safety because it does not have rotating blades such as blades, and can be used for tasks such as surveillance, tracking, and delivery in places with many people such as urban areas. to avoid being blocked by other objects such as trees and causing damage to the aircraft.

1 is a schematic view of the appearance of a fly disc of the present invention; FIG. FIG. 4 is a schematic diagram of vertical charged particle motion of the fly disc of the present invention; 1 is a cross-sectional view of a fly disc of the present invention; FIG. 1 is a cross-sectional view of a fly disc of the present invention; FIG. 1 is a block diagram of the fly disk control system of the present invention; FIG. 4 is a flow chart of the fly disk flight control of the present invention;

Specific embodiments of the present invention will be described in more detail below with reference to the drawings.

As shown in FIG. 1, a rotorless fly disc powered by an electromagnetic field according to the present invention is:
a ground-mounted control unit for transmitting flight tasks and receiving flydisk current flight status information;
It is integrated in the fly disk, receives the flight task information sent from the control unit, processes it and then sends it to the execution unit, analyzes the fly disk flight status, and sends the fly disk current flight status information to the control unit an analysis unit for returning;
The control unit and analysis unit perform data interaction.
It further comprises an execution unit for controlling flight conditions of the fly disc.
The fly disk flight state refers to the magnitude and direction of the vertical flight velocity of the fly disk, the magnitude and direction of the horizontal flight velocity of the fly disk, and the current position of the fly disk.
The analysis unit and execution unit can transmit information via hardware circuit connections.

The control unit is
an input module for detecting an input command from a user, from which one or a plurality of keyboards, microphones, etc. can be selected;
a route planning module for route planning between the start and end points of the fly disc with the aid of the GPS system. Said path plan refers to an array of points or curves connecting start and end locations according to a certain policy. The specific method is as follows,
(1) Obtaining the position of the starting point and the target point and a 3D map of a certain area containing the starting point and the target point by a GPS positioning system or other positioning method;
(2) processing the information obtained in step (1) by a route planning module in the control unit to obtain a flightable route between the start point and the end point;
For outputting flight task information, a wireless output module is selected, and any one or more of wireless communication devices such as WiFi, Bluetooth, zigbee, etc. further has a selectable output module.
The flight task information refers to reaching a certain specified location within a specified time according to the route planned by the route planning module.
It further comprises a receiving module for receiving data information returned from the analysis unit.
The data information returned from the analysis unit refers to the current flight speed and position information of the fly disc.
It further comprises a judgment module for judging whether the data information returned from the analysis unit is correct, i.e. deviates from the route planned by the route planning module. The specific procedure for judging whether the flydisk current flight status information is correct is as follows:
(1) the control unit integrates the fly disk current flight status information returned from the analysis unit, and determines by the judgment module whether the current fly disk is flying according to the planned route;
(2) If the flydisk deviates from the planned path, resend the planned path to the analysis unit.

The control unit may be a mobile smart terminal, which is capable of capturing, calculating, analyzing and processing external information, has a signal generation function, and has a wireless communication function. , refers to a mobile device capable of transmitting information between different terminals, and may be one or more of a mobile phone and a computer.

The analysis unit is
for coordinating the operations of data processing and task command transmission of said fly disk, receiving flight task commands from the control unit, processing the flight task information and then transmitting it to the execution unit; an on-board central processor that selects and operates the required ion generators based on the data acquisition module, and also controls fly-disk flight speed and direction, and returns fly-disk current flight state information collected by the data acquisition module back to the control unit; ,
Gyro (i.e., angular velocity meter for flight attitude detection), accelerometer, geomagnetic induction, barometric sensor (for roughly calculating hovering height), ultrasonic sensor (for low-altitude precision control and obstacle avoidance) ), light current sensor (to accurately measure hovering horizontal position), GPS module and/or other coarse positioning modules such as Beidou positioning system (to roughly position fly disk horizontal position). ), wherein said sensors are capable of monitoring all data relating to fly disk flight conditions;
Refers to a signal input/output device, including a signal interface module for transmitting and receiving signals.

The execution unit is
A fly disk flight lift module including a pair of ion generators mounted on the top and bottom of the fly disk and an energized coil mounted inside the fly disk, wherein the ion generator at the bottom of the fly disk is the energized coil. , the ion generator on the top of the fly disk is located on the top of the energized coil, the fly disk flight lift module can generate a rotating ion flow, the air pressure above the fly disk is low, and the negative pressure A flydisk flight lift module for controlling the velocity and stability of the flydisk in vertical flight, creating lift, creating a region and thus a vacuum, moving air from a normal pressure region to a negative pressure or vacuum region. When,
A horizontal power module including pairs of ion generators evenly attached to the edge of a fly disk, the ion generators ionizing air to generate an ion stream, the air pressure at the point of high speed ion movement being low, A negative pressure area and then a vacuum appears, the air moves from the normal pressure area to the negative pressure area or vacuum area, the reaction force supplies the horizontal power to the fly disk, and the fly disk moves in each direction in the horizontal plane according to the specified speed. a horizontal plane power module for controlling flight.

Said ion generator comprises two electrodes with different voltages, when the electrode voltage is sufficiently high, it is usually on the order of tens of thousands of volts, and both of the two electrodes are capable of ionizing air molecules into charged particles. There is an electric field between the two electrodes, and under the action of the electric field force, the charged particles in the air move from the low voltage electrode side to the high voltage electrode side, generating ion flow, and the ion flow high speed movement point When the air pressure is low, a negative pressure area and thus a vacuum appears, and air moves from the normal pressure area to the negative pressure or vacuum area, creating a reaction force against the fly disk and powering the fly disk.

（１）
式において、

は、荷電粒子が電界で受ける電界力であり、ｑは、粒子に帯電された電荷数であり、

は、電界強度である。 The electric field forces experienced by charged particles in the fly disk are:

(1)
In the formula,

is the electric field force experienced by the charged particle in the electric field, q is the number of charges on the particle,

is the electric field strength.

The energized coil can generate different magnetic fields by controlling the current energized in the spiral energized coil, according to the Ampere rule, also called the right-handed spiral rule, the relationship between the direction of the magnetic field lines of the current and the current-excited magnetic field is a rule indicating If the energized solenoid is held in the right hand and the four fingers are directed in the direction of the current, one end pointed by the thumb is the N pole of the energized solenoid.

（２）
式において、

は、荷電粒子が磁界で受ける磁界力であり、ｑは、粒子に帯電された電荷数であり、

は、荷電粒子が磁界にするときの速度であり、

は、磁界強度である。 The magnetic field forces experienced by the charged particles in the flywheel are:

(2)
In the formula,

is the magnetic field force experienced by the charged particle in the magnetic field, q is the number of charges on the particle,

is the velocity of a charged particle in a magnetic field, and

is the magnetic field strength.

As shown in FIG. 2, the magnetic field in the current-carrying coil is non-uniform, the magnitude of the Lorentz force varies, and the charged particles undergo circular motion with gradually increasing radii.

As shown in FIGS. 3 and 4, a pair of ion generators are attached to the top and bottom of the fly disk, and multiple pairs of ion generators are mounted around the fly disk to provide power in each direction. is uniformly distributed. A set of current-carrying coils are arranged vertically within the fly disc. Due to the vertical direction of the ion generator and the energized coil of the fly disk, there are rotating charged particles around the fly disk, and a negative pressure area and even a vacuum appear at the high speed rotation point of the particles, and the air changes from the normal pressure area to the negative pressure. When the fly disk moves to the area or vacuum area, the reaction force generates lift, and the rotation makes it easier to hold the fly disk more stably, and at the same time, when the fly disk changes direction, if it tilts in a certain direction, a rotating particle is generated. force can keep the fly disc stable. When the rotational force interferes with the normal flight of the flydisk, a pair of ion generators evenly distributed around the flydisk can generate a force that opposes that rotation, keeping the flydisk stable. can be flown

As for the motor voltage, a constant voltage can be obtained by carrying the battery pack with a fly disk. Considering that, choose a battery pack that can always supply low voltage, connect it to a transformer to get high voltage, and install a control circuit to ensure safety.

The transformer refers to a device that uses the principle of electromagnetic induction to change alternating voltage, and its main components are a primary coil, a secondary coil and an iron core (magnetic core). Main functions include voltage conversion, current conversion, impedance conversion, isolation, and voltage stabilization (magnetic saturation transformer). The coupling inductance can be selected to achieve the function of a transformer.

（３）
式において、Ｅは電界強度であり、ｘは２つの電極間の距離であり、Ｖは２つの電極間の電位であり、ρは電荷密度であり、εは誘電率であることを代表する。 The most important limiting parameter for air vehicle flight is the quality factor of the propulsion system, i.e. the thrust power ratio, which is the amount of static propulsion efficiency, the thrust/power ratio of a conventional helicopter rotor is 50N KW ⁻¹ , the higher the thrust power, the higher the propulsion effect, and to ensure safety, the thrust power ratio should be higher than 50N KW ⁻¹ .
Based on the Gaussian law between the two high electrodes can be obtained as

(3)
In the equation, E is the electric field strength, x is the distance between the two electrodes, V is the potential between the two electrodes, ρ is the charge density, and ε is the dielectric constant.

（４）
式において、Ｅは電界強度、ｘは２つの電極間の距離、ρは電荷密度、Ｐはフライディスクが受ける圧力を代表する。
同時に、電流密度ｊ＝ρ（μＥ＋ｖ_０）であるから、μはイオン遷移率であり、ｖ_０は初期ドリフト速度である。 According to the fluid momentum equation,

(4)
In the equation, E represents the electric field strength, x the distance between the two electrodes, ρ the charge density, and P the pressure experienced by the fly disc.
At the same time, current density j=ρ(μE+v ₀ ), so μ is the ion transition rate and v ₀ is the initial drift velocity.

（５）
上式において、Ｔはフライディスクの推力であり、Ｐはイオン発生器の電力であり、ρは電荷密度を代表し、

は平均電界強度であり、Ａはイオン流の運動中に接触する面積であり、Ｌは電極間距離であり、Ｖは２つの電極間の電位であり、ｊは電流密度であり、

はイオン遷移率であり、ｖ_０は粒子初期速度である。 The formula for the thrust power ratio of this fly disk is deduced as follows,

(5)
where T is the thrust of the flydisk, P is the power of the ion generator, ρ represents the charge density,

is the average electric field strength, A is the area in contact during the motion of the ion stream, L is the distance between the electrodes, V is the potential between the two electrodes, j is the current density,

is the ion transition rate and _v0 is the particle initial velocity.

（６）
理想条件下で、正、負極性の重イオン遷移率が、それぞれ、１．５×１０^−２ｃｍ^２／（Ｖ·ｓ）、２．０×１０^−２ｃｍ^２／（Ｖ·ｓ）であり、正、負極性の軽イオン遷移率が、それぞれ、１．５ ｃｍ^２／（Ｖ·ｓ）、２．０ ｃｍ^２／（Ｖ·ｓ）である。

が成り立つことを保証するために、

は１００ＫＶ／ｍよりも小さいことを保証するべきである。 Assuming an initial velocity of 0, the equation simplifies to

(6)
Under ideal conditions, the positive and negative heavy ion transition rates are 1.5×10 2 cm ^{2 /(V&middot;s) and 2.0×10 2 cm 2 /} (V ^& middot ^; s), respectively. (V&middot;s), and the positive and negative light ion transition rates are 1.5 cm< ² >/(V&middot;s) and 2.0 cm< ² >/(V&middot;s), respectively.

to ensure that

should be guaranteed to be less than 100 KV/m.

According to the fly disk lift and rate of climb equations,
(Number 7)
P′=F×V′ (7)
where F is the lift force of the flydisk, V′ is the ascending flydisk velocity, P′ is the total power of the ion generator pair at the top and bottom of the flydisk, and P′ is the selected ion Can be obtained by a generator.

Depending on the desired flydisk speed, we can get the corresponding flydisk lift, we can also get the maximum gravity of the flydisk, and the number of horizontal ion generators based on the flydisk gravity. can do.

Assuming that the electrode distance of the ion generator is 1 m, the potential between the two electrodes is less than 100 KV. Normally, when ionizing air, the electrode voltage should be tens of thousands of volts. Taking the current commercial 15KV ion generator as an example, each mass is 10kg, the power can reach up to 100w,
(Number 8)
G=mg (8)
In the formula, G is gravity, g is the acceleration due to gravity, 10 N/kg, m is the fly disk mass, and the total weight of the ion generator is less than 2000 N to enable the fly disk to take off. should be small, at this time the number should be less than 20, and at the same time there is a certain weight on the outer shell of the coil and fly disk, so the number of ion generators is reduced to 16, where , requires two in the vertical direction of the fly disc, the number uniformly distributed in the horizontal direction must be less than 14, and in order to ensure adjustability in each direction, the horizontal ion generator is at least Two pairs.

With the development of technology, the mass of the ion generator can be continuously reduced, gradually increasing the flight speed of the aircraft and reducing the size of the aircraft.

As shown in FIG. 5, the data interaction method between each unit and each module according to the present invention may be one or a combination of wireless communication method and wired communication method. The wireless communication method may be one or more of infrared communication, Bluetooth communication, wifi communication, 3/4G network, zigbee communication, GSM, and CDMA.

As shown in FIG. 6, a method of flying a rotorless fly disk powered by electromagnetic fields, the method comprising the following steps.
(1) The user generates a planned route with the route planning module in the control unit on the ground and sends the route as a flight task command to the analysis unit.
(2) After the analysis unit processes the task command, it sends it to the execution unit, and the execution unit controls the energization and deenergization of the electrodes of each ion generator, and the magnitude and on/off of the current of the energization coil, so that the fly Fly the disc according to the task command.
(3) The data collection module enables the analysis unit to collect fly-disk flight status information in real time, send the information back to the control unit on the ground, determine whether the fly-disk has deviated from the planned path, and resend the flight task command to the analysis unit if it deviates from the planned path. Said task instructions refer to the fly disk reaching a designated location within a designated time according to the route planned by the control unit, and can be programmed by the control unit, such as a mobile phone or a laptop.

Example 1 is
In the following, a rotorless fly disk powered by an electromagnetic field will be described in detail, taking late-night delivery or take-out of the fly disk as an example. The fly disk can ensure that late-night deliveries do not cause inconvenience to residents, and that packages can be delivered safely when there are many obstacles in the city.

The specific steps are as follows:
In step 1, first, the customer places an order through the mobile phone platform, sends the necessary package information and delivery address to the background, the background completes the package allocation, and enters the delivery address information in the control unit.
In step 2, the control unit is programmed by a control unit such as a mobile phone or laptop to issue a flight task order, the task order including delivery address and arrival time.
In step 3, this task command program is transmitted to the fly disk on-board analysis unit by wireless communication transmission technology, and after the analysis unit processes the task command, it is transmitted to the execution unit, and the execution unit executes each ion generator. By controlling the energization and deenergization of the electrodes, and the magnitude and on/off of the current of the energized coil, the fly disk is flown according to the task command.

The task command sending step is as follows:
(1) The control unit selects one or more of wireless communication devices such as WiFi, Bluetooth, zigbee, etc. by the wireless output module, and sends the data to the flydisk analysis unit.
(2) The flydisk analysis unit sends the data to the flydisk onboard central processor.
(3) After the flydisk onboard central processor processes the task data, it transfers the command to the flydisk execution unit by wire or wireless communication transmission method.

In step 4 the execution unit changes the flydisk flight state and performs the flight task.
The steps in which the fly disc changes flight conditions are as follows:
(1) Vary the magnitude of the voltage applied to the motor of the ion generator of the lift module of the fly disk, control the number and moving speed of the charged particles in the vertical direction of the fly disk, and change the current of the energizing coil current. , the fly disk lift module can generate a rotating ion flow, the air pressure above the fly disk is low, negative pressure area and thus vacuum appear, the air moves from the normal pressure area to the negative pressure area or vacuum area. , the reaction force generates lift, and by controlling the motion of the charged particles, further controls the vertical motion speed of the fly disk.
(2) By changing the magnitude of the voltage applied to the motor of the ion generator of the horizontal plane power module and the on/off of each electrode, the air pressure at the high-speed ion movement point is low, a negative pressure area and a vacuum appear, and the air is normal pressure. Moving from region to negative pressure or vacuum region, the reaction force powers the fly disc horizontally. Controlling the number and speed of motion of charged particles in each direction in the horizontal plane of the fly disc, and controlling the speed of motion in the planar direction of the fly disc, while simultaneously controlling the reaction force produced by the rotating ion stream when the fly disc does not need to rotate. can be balanced.

In step 5, the analysis unit collects the flydisk current flight status information in real time by said data collection module, and returns the information to the control unit on the ground.

In step 6, the control unit performs analysis processing on the data returned from the analysis unit, and determines by the judgment module whether the current flydisk is flying according to the task specification.
The specific steps of the judgment procedure are as follows,
(1) If the judging module determines that the fly disk will move according to the path planned by the path planning module, the current fly disk will accurately complete the flight task in real time without any operation.
(2) if the judging module judges that the fly disk moves away from the path planned by the path planning module, resend the flight task command to the analyzing unit;

In step 7, the fly disk reaches the destination and transfers the arrival information to the control unit. and return to the starting point.

Example 2 is
Seedling replenishment is the process of completely replenishing seedlings by transplanting or supplementing seedlings when there is always a seedling shortage phenomenon after the seedlings of crops have been unearthed. Supplementary seedlings can damage other crops and blades of the drone when the drone is flying too high, and the seeds will not reach exactly where they are supposed to be. The unmanned aerial vehicle of the present invention has a low flight, can sow seeds accurately, and does not damage other seedlings.

The specific steps are as follows:
In step 1, first, a necessary seedling replenishment position is identified based on an image aerially photographed by an aerial photographing unmanned air vehicle.
In step 2, the control unit is programmed by a control unit such as a mobile phone or laptop to issue a flight task command, the flight task command including all seedling replenishment positions.
In step 3, this task command program is transmitted to the fly disk on-board analysis unit by wireless communication transmission technology, and after the analysis unit processes the task command, it is transmitted to the execution unit, and the execution unit The fly disk is flown according to the task command by controlling the energization and deenergization of the energized coil and the magnitude and on/off of the current of the energized coil.

The task command sending step is as follows:
(1) The control unit selects one or more of wireless communication devices such as WiFi, Bluetooth, zigbee, etc. by the wireless output module, and sends the data to the flydisk analysis unit.
(2) The flydisk analysis unit sends the data to the flydisk onboard central processor.
(3) After the flydisk onboard central processor processes the task data, it transfers the command to the flydisk execution unit by wire or wireless communication transmission method.

In step 4, the execution unit changes the flydisk flight state and performs the flight task.
The steps by which the fly disc changes flight conditions are as follows:
(1) Varying the magnitude of the voltage applied to the motor of the ion generator of the lift module of the fly disk, controlling the number and speed of movement of the charged particles in the vertical direction of the fly disk, varying the energizing coil current, A disk flight lift module can generate a rotating ion stream, where the air pressure above the fly disk is low, creating a negative pressure region and thus a vacuum, moving air from a normal pressure region to a negative pressure region or a vacuum region, and reversing. The force that produces the lift controls the motion of the charged particles, which in turn controls the speed of vertical motion of the fly disk.
(2) By changing the magnitude of the voltage applied to the motor of the ion generator of the horizontal plane power module and the on/off of each electrode, the air pressure at the high-speed ion movement point is low, a negative pressure area and a vacuum appear, and the air is normal pressure. Moving from region to negative pressure or vacuum region, the reaction force powers the fly disc horizontally. Control the number and speed of motion of charged particles in each direction in the horizontal plane of the fly disc, and control the speed of motion in the horizontal direction of the fly disc, at the same time the reaction force caused by the rotating ion flow when the fly disc does not need to rotate. can be balanced.

In step 5, the analysis unit collects the fly disk flight condition information in real time by said data collection module and sends the information back to the control unit on the ground.

In step 6, the control unit performs analysis processing on the data returned from the analysis unit, and determines by the judgment module whether the current flydisk is flying according to the task specification.
The specific steps of the judgment procedure are as follows,
(1) If the judging module determines that the fly disk will move according to the route planned by the route planning module, the current fly disk will accurately complete the flight task in real time without any operation.
(2) if the judging module judges that the fly disk moves away from the path planned by the path planning module, resend the flight task command to the analyzing unit;

In step 7, return to the starting point after the fly disk completes seedling replenishment in order.

The above examples are intended to illustrate the invention and not to limit the invention, and any modifications and alterations made to the invention within the spirit and scope of the claims may be made. , all belong to the protection scope of the present invention.

Claims (10)

An electromagnetic field powered rotorless fly disc comprising:
the fly disk comprises a control unit, an analysis unit and an execution unit;
The control unit is installed on the ground and is used to transmit flight task information and receive fly disk current flight status information;
The analysis unit is integrated in the fly disk, receives and processes the flight task information sent from the control unit, and then sends it to the execution unit, analyzes the fly disk flight status information, and analyzes the fly disk current flight information. used to transmit status information back to the control unit;
the execution unit is used to control the flight state of the fly disk, the execution unit includes a fly disk flight lift module and a horizontal plane power module;
Said fly disk flight lift module includes a pair of ion generators mounted on the top and bottom of the fly disk and an energized coil mounted inside the fly disk, wherein the ion generator at the bottom of the fly disk is an energized coil. , the ion generator on the top of the fly disk is located above the current-carrying coil, the fly disk flight lift module can generate a rotating ion flow, and the air pressure above the fly disk is higher than the surrounding air pressure A low, negative pressure area and thus a vacuum appears to generate lift and is used to control the speed and stability of the vertical flight of the fly disc,
Said horizontal power module includes a pair of ion generators uniformly mounted on the edge of the fly disc, ion generators ionize the air to generate an ion stream, and the air pressure at the ion high speed movement point is reduced to the surrounding Below the atmospheric pressure, a negative pressure area and even a vacuum appears to provide horizontal power to the fly disk, and the horizontal plane power module is used to control the fly disk to fly in each direction in the horizontal plane according to the specified speed. ,
The formula for the thrust to power ratio of the flydisk is:

where T is the thrust of the flydisk, P is the power of the ion generator, ρ represents the charge density,

is the average electric field strength, A is the area in contact during the motion of the ion stream, L is the distance between the two ion generator electrodes, and V represents the potential between the two ion generator electrodes. and j is the current density,

is the ion transition rate, v ₀ is the particle initial velocity,
Average field strength based on required thrust power

can be calculated, a suitable ion generator can be selected, and the lift force of the fly disk can be obtained based on the following formula,
(Number 7)
P' = F x V'
where F is the lift force of the flydisk, V′ is the ascending flydisk velocity, P′ is the total power of the ion generator pair at the top and bottom of the flydisk, and P′ is the selected ion can be obtained by the generator,
Depending on the desired flydisk speed, we can get the corresponding flydisk lift, we can also get the maximum gravity of the flydisk, and the number of horizontal ion generators based on the flydisk gravity. A rotorless fly disc powered by an electromagnetic field, characterized in that it is capable of: 2. The electromagnetic field powered rotorless fly disc of claim 1, wherein the ion generators in the horizontal power module are at least two pairs. The ion generator includes two electrodes with different voltages, both of which can ionize air molecules into charged particles, an electric field exists between the two electrodes, and the action of the electric field force Underneath, the charged particles in the air move from the low voltage electrode side to the high voltage electrode side, generating an ion flow. The electromagnetic field powered rotor of claim 1, which moves from a normal pressure region to a negative pressure region or a vacuum region to generate a reaction force against the fly disc and to power the fly disc. No fly disc. The fly disk flight state information indicates the magnitude and direction of the vertical flight speed of the fly disk, the magnitude and direction of the horizontal flight speed of the fly disk, and the current position of the fly disk. A rotorless fly disc powered by electromagnetic fields according to claim 1 . the control unit is a mobile smart terminal, including an input module, a route planning module, an output module, a receiving module and a judging module;
the input module is used to input user outgoing flight task information;
the path planning module is used to plan a path between the start point and the end point of the fly disc;
The output module is used to output flight task information, wireless output is selected, and any one or more of wireless communication devices such as WiFi, Bluetooth (registered trademark), zigbee can be selected. , the flight task information is to reach a specified location within a specified time according to the route planned by the route planning module;
the receiving module is used to receive fly disk current flight status information, including current flight speed and position information of the fly disk, returned from the analysis unit;
The judging module is used for judging whether the fly disk current flight state information returned from the analysis unit is correct, i.e. whether it deviates from the planned route. A rotorless fly disc powered by an electromagnetic field according to claim 1. The path plan refers to an array of points or curves that connect the starting point position and the ending point position according to a certain policy, and the specific method includes the following steps (1) and (2),
In step (1), the position of the starting point and the target point and a 3D map of a certain area including the starting point and the target point are obtained by a GPS positioning system or other positioning system;
6. The method of claim 5, wherein in step (2), the information obtained in step (1) is processed by a route planning module in the control unit to obtain a flightable route between the start point and the end point. Rotorless fly disc powered by electromagnetic field. A specific procedure for the judging module to judge whether the fly disk current flight state information is correct includes the following steps (1) and (2),
In step (1), the control unit integrates the fly disk current flight status information returned from the analysis unit, and determines by the judging module whether the current fly disk is flying according to the planned route;
6. An electromagnetic field powered rotorless fly according to claim 5, characterized in that in step (2), if the fly disc deviates from the planned trajectory, it retransmits the planned trajectory to the analysis unit. disk. the analysis unit includes an on-board central processor, a data acquisition module, and a signal interface module;
said on-board central processor receiving flight task information from the control unit, processing the flight task information and then sending it to the execution unit, selecting and operating the required ion generator based on the flight task information; further used to control the fly disk flight speed and direction and to transmit back to the control unit the fly disk current flight state information collected by the data collection module;
Said data collection module includes gyro (i.e. angular velocity meter for flight attitude detection), accelerometer, geomagnetic induction, barometric sensor (for roughly calculating hover height), ultrasonic sensor (low altitude precision for control and obstacle avoidance), light current sensors (for accurately measuring hovering horizontal position), GPS modules and/or other coarse positioning modules such as Beidou positioning system (for fly disk horizontal position 3. An electromagnetic field powered rotorless fly according to claim 1, characterized in that it is used to collect all data about fly disk flight conditions disk. A data interaction method between each unit and each module may be one or a combination of wireless communication method and wired communication method, and the wireless communication method may be infrared communication, Bluetooth communication, or wifi. 3. The electromagnetic field powered rotorless fly disc of claim 1, which can be any one or more of communications, 3/4G network, zigbee communications, GSM, CDMA. A method of flight for a rotorless flydisk powered by an electromagnetic field, comprising:
The flight method includes the following steps (1) to (3),
In step (1), the user generates a planned route by means of a route planning module in the control unit on the ground and sends the route as a flight task command to the analysis unit;
In step (2), after the analysis unit processes the task command, it sends it to the execution unit, and the execution unit controls the energization and deenergization of the electrodes of each ion generator, and the magnitude and on/off of the current of the energization coil. allows the fly disk to fly according to the task command,
In step (3), the analysis unit, through the data collection module, collects the fly disk flight status information in real time, returns the information to the control unit on the ground, and determines whether the fly disk has deviated from the planned path. A method of flying a rotorless flydisk powered by an electromagnetic field, characterized by retransmitting flight task commands to an analysis unit if the flydisk deviates from its planned path.

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