TW202227324A - Control apparatus for aerial vehicle including at least three actuation units which are disposed on the ground at intervals - Google Patents

Abstract

Provided is a control apparatus for an aerial vehicle. The control apparatus includes at least three actuation units and the actuation units are disposed on the ground at intervals. Each of the actuation units includes a traction member suitable for connection to the aerial vehicle, a retraction mechanism connected to the end of the traction member that is opposite to the aerial vehicle, and an operation member connected to the retraction mechanism to operate the retraction mechanism for retracting the traction member so as to control the aerial vehicle. When the aerial vehicle deviates from a preset range, at least one of the at least three actuation units may be selected and operated, and an effect of adjusting the aerial vehicle is achieved by retracting the corresponding traction member, so that the stability of the aerial vehicle within a preset range is maintained.

Description

Controls for flight vehicles

The present invention relates to a control device of a vehicle, in particular to a control device of a flying vehicle.

Referring to FIG. 1 , it is an existing inflatable flying vehicle 10 . The inflatable flying vehicle 10 of this type has the advantages of being easily transported after deflation, and being able to be lifted into the air almost at a fixed point in a small area. It is often used as shown in FIG. 1 . It carries a lighting device 19 so as to provide lighting for a specific area in the air. In addition, the inflatable aircraft 10 can also be carried with communication and monitoring equipment to be launched into the air to meet the communication or monitoring requirements of a specific area.

However, although the inflatable flying vehicle 10 generates buoyancy through its mechanism of filling low specific gravity gas, it can produce unique application advantages, but also because of the relatively light overall density, it is also susceptible to airflow disturbance or other factors at high altitudes. Environmental conditions interfere and cannot effectively maintain stability. When the position, height, and orientation of the inflatable vehicle 10 cannot be maintained stably, naturally, the expected lighting, communication, monitoring, and other effects cannot be normally performed.

Therefore, the purpose of the present invention is to provide a control device for an air vehicle that can assist the air vehicle to maintain stability.

Therefore, the control device of the flying vehicle of the present invention includes at least three actuating units, and the actuating units are arranged on the ground spaced apart from each other. Each actuating unit includes a pulling member suitable for connecting to the aircraft, a retracting mechanism connected to an end of the pulling member opposite to the aircraft, and a retracting mechanism connected to the retracting mechanism for operating the aircraft. The retracting mechanism is used to retract the traction member, thereby controlling the operating member of the flying vehicle.

The effect of the present invention is that: when the traction members of the at least three actuating units are connected to the flying vehicle, as long as the three connection points are properly allocated, the actuating units can be responsible for a certain adjustment range and orientation respectively, and jointly It constitutes a control mechanism for maintaining the flying vehicle within a set range. When the flight vehicle is offset due to airflow or other external environmental conditions, as long as at least one actuating unit is operated, the corresponding traction member can be pulled back or lengthened according to the offset, thereby compensating for the generated offset move to keep the flying vehicle at least within the set range.

Before the present invention is described in detail, it should be noted that in the following description, similar elements are designated by the same reference numerals.

Referring to FIG. 2 , it is a first embodiment of the control device of the flying vehicle of the present invention. The first embodiment includes three actuating units 2 . They are arranged on the ground spaced apart from each other. One of the flying vehicles 9 controlled in this first embodiment is an inflatable spaceship with the power to maintain itself at a specific altitude, which is more favorable for applications that maintain a specific range to provide lighting, communication, etc. In the implementation situation, but in the actual implementation, the controlled flying vehicle 9 can also be in the form of a sail, a hot air balloon, etc., which is not limited thereto.

Each actuating unit 2 includes a pulling member 21 suitable for connecting to the flying vehicle 9 , a retracting mechanism 22 connected to an end of the pulling member 21 opposite to the flying vehicle 9 , and a retracting mechanism 22 connected to the retracting member 21 . The mechanism 22 is used to operate the retracting mechanism 22 to retract the traction member 21 , thereby controlling the operating member 23 of the flying vehicle 9 . In the first embodiment, due to the triangular equidistant distribution of the actuating units 2, the traction members 21 are preferably steel cables or ropes, and the end connected to the flying vehicle 9 is also approximately triangularly distributed. In accordance with the specific type of the flying vehicle 9, the principle is that the position of the flying vehicle 9 can be effectively driven during towing. In addition, the specific form of each retracting mechanism 22 can be a shaft roller for winding the individual pulling member 21 and storing a certain length for retracting, and each operating member 23 can drive the individual retracting mechanism 22 Rotate to achieve the purpose of retracting and retracting the pulling member 21 .

Referring to FIG. 3 and in conjunction with FIG. 2 , when the flying vehicle 9 is displaced due to airflow or other external environmental conditions, as long as at least one of the three actuating units 2 is selected to operate according to the direction of the displacement, With respect to the offset, the corresponding traction member 21 is pulled back or lengthened, thereby compensating for the offset and maintaining the flying vehicle 9 at least within a set range. For example, when the flying vehicle 9 generates an offset D1 as shown in FIG. 3 , since the offset D1 directly corresponds to the extension direction of one of the traction members 21 a from the longitudinal view, and the distance away from Therefore, the operating member 23 corresponding to the pulling member 21a can be selectively operated, and the purpose of returning the flying vehicle 9 to the original setting position is achieved by retracting the pulling member 21a.

Referring to FIG. 4 and in conjunction with FIG. 2 , in addition to operating a single actuating unit 2 , if the offset D2 of the flying vehicle 9 does not correspond to the extension direction of any traction member 21 as shown in FIG. 4 , the adjustment can be selected. The operating members 23 corresponding to the two traction members 21b and 21c on the opposite side of the offset direction are retracted at the same time. The purpose of providing compensation correction for the offset D2 is achieved.

It should be noted that, although the adjustment methods shown in FIGS. 3 and 4 are all adjusted by retracting the traction member 21, in actual implementation, of course, it can also be adjusted by releasing more lengths. It can be adjusted in the manner of the traction member 21, or in response to the adjustment of a specific actuating unit 2, and also adjust other actuating units 2 to achieve the effect of the balance position, and is not limited to the implementation scenarios presented in FIGS. 3 and 4. . In addition, if the traction members 21 of all the actuating units 2 are retracted or released at the same time, the operation of steadily descending or ascending the flying vehicle 9 can be achieved, which can be freely adjusted to meet different usage requirements.

Referring to FIG. 5 , it is a second embodiment of the control device of the flying vehicle of the present invention. The difference between the second embodiment and the first embodiment is that the second embodiment includes four actions that are equidistantly distributed at four corners. Unit 2. Compared with the first embodiment, in the second embodiment, the traction members 21 of the four actuating units 2 substantially correspond to the four directions of the vertical coordinate system. When the control adjustment is to be performed, the components corresponding to the two mutually perpendicular axes of the vertical coordinate system can be more intuitively referred to to select the actuating unit 2 to be operated.

Referring to FIG. 6 , it is a third embodiment of the control device of the flying vehicle of the present invention. The difference between the third embodiment and the first embodiment is that the third embodiment further includes an information connection to the three actions Central control unit 3 of unit 2. The central control unit 3 includes a direction sensor 31 suitable for being installed on the aircraft 9 , and an information is connected to the direction sensor 31 and to the operating elements 23 for sensing the direction according to the direction sensor 31 . The sensing information of the detector 31 controls the automatic controller 32 for the operation of the operating elements 23 . The direction sensor 31 of the central control unit 3 of the third embodiment can specifically be a compass, a global positioning system (GPS, Global Positioning System), or a satellite navigation system (GNSS, Global Navigation Satellite System). , gyroscope, or gravimeter, as long as it provides direction, bearing, or location information. With the direction sensor 31, the deflection of the flying vehicle 9 can be accurately sensed, and specific parameters related to the deflection can be provided. Therefore, the automatic controller 32 controls the operating elements 23 by means of objective and accurate actual data, in addition to the advantages of automatic control, of course, it can also exert better adjustment accuracy.

To sum up, the control device of the flying vehicle of the present invention can make the actuating units 2 each It is responsible for a certain adjustment range and orientation, which together constitute a control mechanism to keep the flying vehicle 9 within a set range. When the flying vehicle 9 is offset, at least one actuating unit 2 is adjusted by corresponding The tractor 21 pulls the flying vehicle 9 , so that the flying vehicle 9 can be adjusted to the original preset position, assisting the flying vehicle 9 to maintain the set range, and optimizing the stability of the flying vehicle 9 . Therefore, the object of the present invention can be achieved indeed.

However, the above are only examples of the present invention, and should not limit the scope of the present invention. Any simple equivalent changes and modifications made according to the scope of the application for patent of the present invention and the content of the patent specification are still within the scope of the present invention. within the scope of the invention patent.

2: Action unit 21: Traction 21a: Traction 21b: Traction 21c: Traction 22: retractable mechanism 23: Operating parts 3: Central control unit 31: Direction sensor 32: Automatic controller 9: Flying Vehicle D1: offset D2: offset

Other features and effects of the present invention will be clearly presented in the embodiments with reference to the drawings, wherein: FIG. 1 is a schematic diagram illustrating a conventional inflatable flying vehicle; FIG. 2 is a schematic diagram illustrating a first embodiment of a control device for an aircraft of the present invention; 3 is a schematic top view illustrating the operation of the three actuating units of the first embodiment; Fig. 4 is a schematic diagram similar to Fig. 3, illustrating the adjustment of the flying vehicle when the deviation is different from that of Fig. 3; FIG. 5 is a schematic diagram illustrating a second embodiment of the control device of the flying vehicle of the present invention; and FIG. 6 is a schematic diagram illustrating a third embodiment of a control device for an aircraft of the present invention.

2: Action unit

21: Traction

22: retractable mechanism

23: Operating parts

9: Flying Vehicle

Claims (4)

A control device for a flying vehicle, comprising: At least three actuating units, the actuating units are arranged on the ground spaced apart from each other, each actuating unit includes a traction member suitable for connecting to the flying vehicle, a traction member connected to an end of the traction member opposite to the flying vehicle A retractable mechanism, and an operating element connected to the retractable mechanism and used for operating the retractable mechanism to retract the traction member, thereby controlling the flying vehicle. The control device of the flying vehicle according to claim 1 includes three actuating units, wherein the actuating units are distributed in a triangular and equidistant manner. The control device of the flying vehicle according to claim 1 includes four actuating units, wherein the actuating units are equidistantly distributed at four corners. The control device for an aircraft according to any one of claims 1 to 3, further comprising a central control unit informationally connected to the at least three actuating units, wherein the central control unit includes a A direction sensor on the tool, and an automatic controller with information connected to the direction sensor and to the operating elements for controlling the operation of the operating elements according to the sensing information of the direction sensor.

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