TWI767297B - Flight vehicle system and control method thereof - Google Patents

Abstract

An air vehicle system and a control method thereof include a carrier unit, an active unit detachably connected to the carrier unit, and a buoyancy unit for providing a buoyancy of the carrier unit. The active unit includes a bracket and a plurality of driving components arranged on the bracket and used to provide power. The control method of the flight vehicle system is to provide longitudinal power through the active unit, provide the buoyancy of the carrier unit in cooperation with the buoyancy unit, lift the carrier unit to a predetermined height, and then use the active unit to provide the horizontal direction to the carrier unit. Power, after the carrier unit reaches the set speed, the active unit and the levitation unit are separated from the carrier unit and the carrier unit is allowed to fly autonomously, thereby achieving the effect of saving energy and taking off without setting an acceleration runway.

Description

Flight vehicle system and control method thereof

The present invention relates to a control method of an aircraft and related devices, in particular to an aircraft system and a control method thereof.

When most aircrafts want to take off, they must go through a process of acceleration on land, and take off only when the speed reaches a certain level. In the process, not only a certain length of runway is required, but compared with flying in the air supplemented by air buoyancy and taxiing In other words, a considerable proportion of the energy consumption will occur in the process of take-off acceleration. Moreover, in terms of the application of the aircraft or the dexterity of control, the environmental conditions are not necessarily sufficient to set up the runway. If a breakthrough in the application of the aircraft is desired, other solutions are necessary.

Therefore, the purpose of the present invention is to provide an air vehicle system and a control method thereof that does not need to cooperate with the runway to accelerate takeoff and can effectively save energy.

Therefore, the flight vehicle system of the present invention includes a carrier unit, a detachable An active unit connected to the carrier unit, and a buoyancy unit detachably connected to the carrier unit and used to provide a buoyancy of the carrier unit. The carrier unit includes a carrier and an automatic force mounted on the carrier. The active unit includes a bracket connected below the carrier unit, and a plurality of driving components arranged on the bracket and used for providing longitudinal and lateral power to drive the carrier unit.

In addition, the control method of the flight vehicle system of the present invention includes a pre-step, a start-up step, an acceleration step, and an independent step.

The pre-processing step is to prepare the flight vehicle system, which includes a carrier unit, an active unit detachably connected to the carrier unit and used to drive the carrier unit, and an active unit detachably connected to the carrier The unit's buoyancy unit.

In the starting step, the active unit provides longitudinal power to drive the carrier unit, and cooperates with the buoyancy unit to provide a buoyancy force for the carrier unit to lift the carrier unit to a predetermined height.

The acceleration step is to use the active unit to provide lateral power to the carrier unit and to fly together with the carrier unit.

In the independent step, after the carrier unit reaches a set speed, the active unit and the levitation unit are separated from the carrier unit, so that the carrier unit can fly autonomously.

The effect of the present invention is that the carrier unit can lift the carrier unit to a certain height by utilizing the longitudinal power provided by the active unit and the buoyancy generated by the buoyancy unit without power, and then use the power provided by the active unit. Lateral dynamics, you can The carrier unit has a speed sufficient for autonomous flight, so that the carrier unit can take off and fly autonomously without setting an acceleration runway and relatively saving energy.

1: carrier unit

11: Vehicle

12: Automatic power

13: Speed sensor

2: Active unit

21: Bracket

22: Drive components

221: Action Department

222: Bearing Department

23: Bonding pieces

3: Floating unit

31: Float

310: Channel

32: Power source

33: Connectors

39: Bleed valve

51: Preliminary steps

52: Start step

53: Speed Up Steps

54: Independent Steps

541: Separation substep

542: Remove substep

55: Recycling step

Other features and effects of the present invention will be clearly presented in the embodiments with reference to the drawings, wherein: FIG. 1 is an exploded perspective view illustrating a first device embodiment of the flying vehicle system of the present invention; FIG. 2 is a A partially enlarged schematic diagram illustrating a driving component of an active unit of the first device embodiment; FIG. 3 is a step flow chart illustrating a first method embodiment of a control method for an aircraft system of the present invention; FIG. 4 3 is a schematic diagram illustrating the control of the first device embodiment by the first method embodiment; FIG. 5 is a perspective exploded view illustrating a second device embodiment of the aircraft system of the present invention; FIG. 6 is a flow chart of steps, illustrating a second method embodiment of the control method of the aircraft system of the present invention; and FIG. 7 is a flow chart illustrating controlling the second method by the second method embodiment in conjunction with FIG. 6 . The case of the device embodiment.

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. 1 , it is a first device embodiment of the flying vehicle system of the present invention. The first device embodiment includes a carrier unit 1 , an active unit 2 detachably connected to the lower part of the carrier unit 1 , and a detachable unit 2 . A buoyancy unit 3 is detachably connected to the carrier unit 1 and used to provide a buoyancy of the carrier unit 1 . Among them, the combination of the active unit 2 and the levitation unit 3 and the carrier unit 1 can preferably be achieved by means of magnetic attraction, buckle, etc., and as long as the control of combination or separation can be performed during the flight process Yes, the technical details of this part will not be described in detail later.

The carrier unit 1 includes a carrier 11 , an automatic force 12 mounted on the carrier 11 , and a speed sensor 13 mounted on the carrier 11 and used to detect the moving speed of the carrier 11 . Among them, the vehicle 11 is preferably a fixed-wing aircraft, which can generate enough buoyancy to glide and fly by its own wings under the condition of a certain speed, and can fly autonomously by the automatic power 12, which is also The main body that flies autonomously in this first device embodiment.

Referring to FIG. 1 and FIG. 2 simultaneously, the active unit 2 includes a bracket 21 connected below the carrier unit 1 , and a plurality of brackets 21 are arranged on the bracket 21 to provide longitudinal and lateral power to drive the carrier unit 1 . component 22. Each driving component 22 has an actuating portion 221 for generating power, and an actuating portion 221 fixed to the bracket 21 for supporting The bearing portion 222 supports the actuating portion 221 and can move between a longitudinal position where the actuating portion 221 provides longitudinal power and a lateral position where the actuating portion 221 provides lateral power. Specifically, the actuating portion 221 of each driving component 22 may be a mechanism that operates to generate propulsive power by the reaction force of the air flow, and each bearing portion 222, in addition to carrying the individual actuating portion 221, can be driven by Due to the pivot shaft connected to the bracket 21 , each bearing portion 222 can swing relative to the bracket 21 , thereby changing the direction in which the corresponding actuating portion 221 generates propulsive power. As shown in FIG. 2 , it is a process in which one of the bearing parts 222 is moved from a longitudinal position where the respective actuating part 221 provides longitudinal power to a lateral position where the respective actuating part 221 provides lateral power.

The buoyancy unit 3 includes a floating body 31 preferably filled with helium gas and extending laterally around and defining a laterally through channel 310 , and a floating body 31 disposed in the floating body 31 for draining the floating body 31 Bleed valve 39 for filling gas. The floating body 31 flies in a direction parallel to the extending direction of the channel 310 . During the process of air passing through the channel 310 , in addition to generating air buoyancy that enables the floating body 31 to support the weight of the floating body 31 , it also forms air buoyancy. The lateral support force is beneficial to make the floating body 31 more stable and fly without shaking.

Referring to FIG. 3 in conjunction with FIG. 1 , FIG. 3 shows a first method embodiment of a control method of an aircraft system of the present invention, that is, a method for controlling the first device embodiment, and includes a preparation of the first device The pre-step 51 of the embodiment, one by the active The unit 2 provides longitudinal power to drive the carrier unit 1 to elevate the starting step 52, the active unit 2 provides lateral power to the carrier unit 1 and accelerates the carrier unit 1 and flies together with the carrier unit 1. Step 53, one makes the carrier unit 1 An independent step 54 of autonomous flight, and a recovery step 55 of recovering the active unit 2 and the buoyancy unit 3 . It should be explained first that the operations performed by the first method embodiment are all based on the principle of being able to perform remote remote control operations on the first device embodiment within a certain distance, or setting certain parameter conditions to automatically perform the operations.

Referring to FIG. 3 and FIG. 4 in conjunction with FIG. 1 , FIG. 4 shows the process of using the first method embodiment to control the first device embodiment so that the carrier unit 1 of the first device embodiment flies autonomously. In the starting step 52, when the active unit 2 and the hoisting unit 3 are combined with the carrier unit 1, at least a part of the bearing parts 222 of the driving components 22 are moved to the longitudinal position, thereby The active unit 2 provides longitudinal power to drive the carrier unit 1 , and cooperates with the buoyancy unit 3 to provide the carrier unit 1 with a buoyancy force to lift the carrier unit 1 to a predetermined height. Next, in the acceleration step 53 , at least a part of the bearing parts 222 of the driving components 22 are moved to the lateral position, and the active unit 2 provides lateral power to assist the automatic power 12 of the carrier unit 1 . Propel the vehicle 11 and fly with the carrier unit 1

Wherein, the independent step 54 includes a separation sub-step 541 for disengaging the lift unit 3 , and a dismounting sub-step 542 for disengaging the active unit 2 . That is to say, when the lift reaches a sufficient height, in order to avoid the effect of the lifting unit 3 to continue to accelerate forward Therefore, in the separation sub-step 541 , the lifting unit 3 can be disengaged first, and the active unit 2 can continue to drive the carrier unit 1 to accelerate forward. Next, the speed sensor 13 of the carrier unit 1 can be used to detect whether the vehicle 11 has the speed of autonomous flight. As long as the vehicle 11 reaches a certain speed, the removal sub-step 542 can be performed. If the active unit 2 is disengaged, the carrier unit 1 can continue to fly autonomously.

Finally, in order to recover the active unit 2 and the buoyancy unit 3 for continued use, in the recovery step 55 , the buoyancy unit 3 can directly open the air release valve 39 to remove the helium filled in the floating body 31 air, so that the buoyancy unit 3 loses its buoyancy and descends for recovery. In addition, the active unit 2 can preset a return path, and after detaching from the carrier unit 1 , use the power of the driving components 22 to return home autonomously.

In the process of making the carrier unit 1 take off, the active unit 2 is directly used to provide longitudinal power, and the carrier unit 1 is lifted in coordination with the buoyancy of the buoyancy unit 3, not only does not need to set an acceleration runway that must have a certain length Therefore, in addition to optimizing the flexibility of take-off scheduling, the buoyancy of the buoyancy unit 3 can also be utilized to achieve the purpose of saving part of the energy consumption of upward driving. In addition, compared with the acceleration on the land by running on the rollers on the acceleration runway, the resistance in the air is smaller than the friction force. Therefore, under the premise of accelerating to a certain speed and being able to fly autonomously, it is bound to be faster than the acceleration. The way to accelerate on the track is more energy efficient.

Referring to FIG. 5 and FIG. 6 , FIG. 5 shows a second device embodiment of the flight vehicle system of the present invention. The difference between the second device embodiment and the first device embodiment is as follows: In: the buoyancy unit 3 further includes four power sources 32 equiangularly distributed and installed at the lateral rear of the floating body 31 , and two connecting pieces 33 fixed on the floating body 31 at a distance from each other. The active unit 2 further includes two coupling members 23 which are fixed to the bracket 21 at a distance from each other and are respectively used for detachably connecting with the connecting members 33 to each other. Specifically, each power source 32 can be operated to provide a rearward airflow, and thereby generate a forward reaction force, but not limited thereto. The form of each connecting member 23 and each connecting member 33 can be as long as they can be connected to each other, no matter whether it is a magnetic attraction, a clip, or a hook, and the above-mentioned mechanism is not limited.

As shown in FIG. 6 , it is a second method embodiment of a control method for an aircraft system of the present invention, that is, the second device embodiment is used to control the flight vehicle system. The difference between the second method embodiment and the first method embodiment is that the independent step 54 includes a dismounting sub-step 542 for disengaging the active unit 2 , and a separating sub-step for disengaging the hoisting unit 3 unit. 541, that is, the sequence of the two sub-steps in the independent step 54 of the first method embodiment is reversed.

Referring to FIG. 5 to FIG. 7 at the same time, since the hoisting unit 3 of the second device embodiment includes the power sources 32 that can provide power backwards, the dismounting sub-step 542 may be executed first after the acceleration step 53 , that is, the choice is to first disengage the relatively energy-consuming active unit 2 , and rely on the power sources 32 of the hoisting unit 3 to continue to provide forward power to assist the forward acceleration of the carrier unit 1 . Then, also after the speed sensor 13 detects that the vehicle 11 has reached a sufficient speed, the disengagement step can be executed again Step 541 , that is, disengaging the hoisting unit 3 .

Finally, in the recovery step 55 , it is preferable to first make the active unit 2 autonomously follow the hoisting unit 3 to move forward for a certain distance to prevent the active unit 2 from being too far away from the hoisting unit 3 , and then control the active unit 2 . The unit 2 moves toward the hoisting unit 3, so that the coupling piece 23 of the active unit 2 and the connecting piece 33 of the hoisting unit 3 are connected to each other, and the hoisting unit 3 can be recovered by the active unit 2 together. Return.

Compared with the first device embodiment and the first method embodiment, the second device embodiment and the second method embodiment are except that the sub-steps of the independent step 54 are adjusted according to the difference of the hoisting unit 3 . In addition to the sequence, since there is no need to set up an acceleration runway, it can also be accelerated mostly in the air and cooperate with the buoyancy generated by the buoyancy unit 3 to produce an auxiliary lifting effect that does not require additional energy consumption, so it can achieve the same saving in take-off time. able purpose.

To sum up, the flight vehicle system and the control method thereof of the present invention can lift the carrier unit 1 through the cooperation of the active unit 2 with the levitation unit 3 without setting an acceleration runway, and when there is only air The air of resistance assists the carrier unit 1 to accelerate to achieve a speed sufficient for autonomous flight, thereby achieving the purpose of reducing energy consumption during take-off and improving the flexibility of take-off scheduling. 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. The scope of the invention patent Inside.

1: carrier unit

11: Vehicle

12: Automatic power

13: Speed sensor

2: Active unit

21: Bracket

22: Drive components

3: Floating unit

31: Float

310: Channel

39: Bleed valve

Claims (9)

A flying vehicle system, comprising: a carrier unit, including a vehicle, and an automatic force installed on the vehicle; an active unit, detachably connected to the carrier unit, and including a connection to the carrier unit The lower bracket, and a plurality of driving components arranged on the bracket and used to provide longitudinal and lateral power to drive the carrier unit; and a hoisting unit detachably connected to the carrier unit and used to provide the carrier A buoyancy unit, wherein the buoyancy unit includes a floating body filled with gas lighter than air, extending laterally and defining a laterally penetrating channel, and at least one power source installed at the lateral rear of the floating body. The aircraft system according to claim 1, wherein the buoyancy unit further comprises at least one connecting piece fixed on the floating body, and the active unit further comprises at least one connecting piece fixed on the bracket and used for detachment A joint piece connected to the at least one connecting piece with the ground. A flying vehicle system, comprising: a carrier unit, including a vehicle, and an automatic force installed on the vehicle; an active unit, detachably connected to the carrier unit, and including a connection to the carrier unit The lower bracket, and a plurality of driving components arranged on the bracket and used to provide longitudinal and lateral power to drive the carrier unit; and a hoisting unit detachably connected to the carrier unit and used to lift Provide a buoyancy for the carrier unit, wherein the buoyancy unit includes a floating body filled with gas lighter than air and extending laterally and defining a laterally through channel, and a floating body disposed on the floating body and used for discharging A bleed valve to remove the gas filled in the float. The aircraft system according to any one of claims 1 to 3, wherein each driving component of the active unit has an actuating portion for generating power, and an actuating portion fixed to the bracket for carrying the actuating portion The bearing portion can move between a longitudinal position where the actuating portion provides longitudinal power and a lateral position where the actuating portion provides lateral power. A control method of an air vehicle system, comprising: a pre-step, preparing the air vehicle system, the air vehicle system comprising a carrier unit, an active device detachably connected to the carrier unit and used to drive the carrier unit unit, and a buoyancy unit detachably connected to the carrier unit; in an actuating step, the active unit provides longitudinal power to drive the carrier unit, and cooperates with the buoyancy unit to provide a buoyancy of the carrier unit, the The carrier unit is lifted to a predetermined height; an acceleration step, using the active unit to provide lateral power to the carrier unit and fly with the carrier unit; and an independent step, after the carrier unit reaches a set speed, the active unit The carrier unit is disengaged from the buoyancy unit so that the carrier unit flies autonomously. The control method of an aircraft system as claimed in claim 5, wherein the independent step includes a separation sub-step of disengaging the buoyancy unit, and a Dismounting sub-step for active unit disengagement. The control method for an aircraft system according to claim 5, wherein the buoyancy unit comprises a floating body filled with gas lighter than air, and at least one power source installed at the lateral rear of the floating body, the independent step It includes a dismounting sub-step for disengaging the active unit, and a separating sub-step for disengaging the floating unit unit. The control method of an aircraft system according to claim 5 or 6, further comprising a recovery step after the independent step, wherein the buoyancy unit includes a float filled with gas lighter than air, and a setting A vent valve on the floating body and used for venting the gas filled in the floating body, and the recovery step is to open the vent valve to make the floating body descend. The control method for an aircraft system according to claim 5 or 7, further comprising a recovery step after the independent step, wherein the buoyancy unit includes a floating body filled with gas lighter than air, and a fixed The connecting piece on the floating body, the active unit includes a bracket, and a joint piece fixed on the bracket and used for detachably connecting with the connecting piece, the recovery step is to make the active unit The connecting piece is connected with the connecting piece of the hoisting unit, and the hoisting unit is recovered by the active unit.

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