WO2023207169A1 - 一种航行灯系统、旋翼飞行器及航行灯控制系统 - Google Patents

一种航行灯系统、旋翼飞行器及航行灯控制系统 Download PDF

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Publication number
WO2023207169A1
WO2023207169A1 PCT/CN2022/141682 CN2022141682W WO2023207169A1 WO 2023207169 A1 WO2023207169 A1 WO 2023207169A1 CN 2022141682 W CN2022141682 W CN 2022141682W WO 2023207169 A1 WO2023207169 A1 WO 2023207169A1
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Prior art keywords
light
navigation
rotorcraft
lights
navigation light
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PCT/CN2022/141682
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English (en)
French (fr)
Inventor
胡华智
贾宗林
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亿航智能设备（广州）有限公司
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Publication of WO2023207169A1 publication Critical patent/WO2023207169A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/02—Arrangements or adaptations of signal or lighting devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for

Definitions

  • the invention relates to the technical field of aircraft, and in particular to a navigation light system, a rotorcraft and a navigation light control system.
  • the flight management policy requires aircraft to have navigation lights, usually red on the left and green on the right, and multi-rotor aircraft are widely used in a wide range of application scenarios, such as for cargo transportation. Since logistics scenarios require automation, automatic airports can interact with aircraft loading and unloading, charging and replacing batteries, etc.
  • the aircraft is required to land in a preset designated direction; and, the flight management policy requires the aircraft to have navigation lights to indicate the flight direction rather than the nose direction.
  • the body becomes larger, and the airflow has a greater impact on flight.
  • the flight direction needs to be combined with the shape of the aircraft to meet the needs of forward movement and wind resistance.
  • the direction of the nose there will be a relationship between the direction of the nose and the heading. At a certain angle, that is, the nose of the aircraft will tilt to a certain extent relative to the heading.
  • the present invention proposes a navigation light system, a rotorcraft and a navigation light control system.
  • the present invention provides a navigation light system for a rotorcraft.
  • the navigation light system includes a left navigation light assembly and a right navigation light assembly opposite to the left navigation light assembly.
  • Light assembly Along the direction from the nose to the tail of the rotorcraft, the left navigation light assembly and the right navigation light assembly each include a plurality of navigation lights; when the rotorcraft is in the first state, The center line from the nose to the tail of the rotorcraft has an included angle with the heading line of the rotorcraft. In the direction perpendicular to the heading line, the left navigation light assembly and the right navigation light assembly There is a gap between them; the corresponding two first navigation lights at the maximum distance position are lit.
  • a second navigation light is further included, the second navigation light is close to the first navigation light, and when the rotorcraft is in the first state, the second navigation light is lit.
  • it also includes a transverse axis passing through the intersection point of the centerline and the heading line, the transverse axis being perpendicular to the heading line, and the transverse axis extending to both sides of the rotorcraft;
  • the position where the horizontal axis intersects the left navigation light assembly and the left navigation light assembly respectively is the first navigation light.
  • the navigation lights include a rotor light and an auxiliary light.
  • the center line from the nose to the tail of the rotorcraft is collinear with the heading line of the rotorcraft, so The rotor light lights up, and the auxiliary light lights up or goes out.
  • the auxiliary light is a light strip or a plurality of lights arranged at intervals.
  • the rotorcraft is a quadcopter or an octocopter.
  • the navigation lights include a rotor light provided at the end of the rotor arm.
  • the rotorcraft is in the first position, status, the rotor light close to the extension line of the rotorcraft's heading line goes out.
  • the light of the left navigation light assembly is red light and/or green light
  • the light of the right navigation light assembly is green light and/or red light
  • the left navigation light assembly is in contact with the right navigation light assembly.
  • the lights illuminated in the side navigation light assemblies are of different colors.
  • the auxiliary light is provided on a bracket between the two rotors.
  • a rotorcraft includes the navigation light system.
  • a navigation light control system for controlling the navigation lights of the rotorcraft.
  • the center line from the nose to the tail of the rotorcraft is consistent with the heading of the rotorcraft.
  • the lines are collinear, and the control system is used to control the rotor light to light up and the auxiliary light to turn on or off; and/or, when the rotor aircraft is in the first state, the nose of the rotor aircraft reaches The center line of the tail and the heading line of the rotorcraft have an included angle, and there is a gap between the left navigation light assembly and the right navigation light assembly in a direction perpendicular to the heading line; the control The system is used to control the lighting of the corresponding two first navigation lights at the maximum spacing position.
  • the beneficial effects of the present invention are: when the rotorcraft is in the first state, that is, when it is flying at an angle, the navigation lights with the largest distance in the direction perpendicular to the heading line are lit, and the lighting rules of the two first navigation lights follow the navigation rules.
  • the light standard that is, the connection between the two first navigation lights, which are red on the left and green on the right, is perpendicular to the heading line and is located at the maximum distance. Therefore, it can be ensured that the two first navigation lights are located respectively.
  • the opposite aircraft can determine whether the aircraft's flight direction is forward or backward according to the rules of left red and right green; at the same time, the vertical direction of the connection between the two first navigation lights is the heading of the aircraft. Accordingly, the same Other aircraft within the preset range of the airspace or ground personnel can accurately obtain the aircraft's heading to avoid collisions.
  • Figure 1 is a schematic structural diagram of an embodiment (when the quadcopter is in the first state);
  • Figure 2 is a schematic structural diagram of another embodiment (when the quadcopter is in the second state);
  • Figure 3 is a schematic structural diagram of another embodiment (when the eight-rotor aircraft is in the first state);
  • Figure 4 is a schematic structural diagram of another embodiment (when the eight-rotor aircraft is in the second state);
  • Figure 5 is a schematic structural diagram of the quadcopter when the tilt angle is zero
  • Figure 6 is a schematic structural diagram of the six-rotor aircraft when the tilt angle is zero;
  • Figure 7 is a schematic structural diagram of the eight-rotor aircraft when the tilt angle is zero.
  • a navigation light system is used for a rotorcraft.
  • the navigation light system includes a left navigation light assembly and a right navigation light assembly opposite to the left navigation light assembly; along the nose of the rotorcraft 3 to the direction of the tail 4, the left navigation light assembly and the right navigation light assembly both include multiple navigation lights; when the rotorcraft is in the first state, the centerline 10 from the nose 3 to the tail 4 of the rotorcraft is in line with The heading line 2 of the rotorcraft has an included angle. In the direction perpendicular to the heading line 2, there is a gap between the left navigation light assembly and the right navigation light assembly; the corresponding two first navigation lights at the maximum distance position are 1 o'clock. Bright.
  • the navigation lights with the largest distance in the direction perpendicular to the heading line 2 are lit, and the lighting rules of the two first navigation lights 1 follow the navigation lights.
  • Standard that is, the connection between the two first navigation lights 1, which are red on the left and green on the right, is perpendicular to the heading line 2 and is located at the maximum distance, so the two first navigation lights 1 can be guaranteed
  • other aircraft or ground personnel can determine whether the aircraft's flight direction is forward or backward according to the rules of left red and right green; at the same time, the vertical direction of the connection between the two first navigation lights 1 is the direction of the aircraft. Based on this, other aircraft within the preset range of the same airspace or ground personnel can accurately obtain the aircraft's heading to avoid collisions.
  • the tilted flight mentioned in this embodiment refers to a certain angle between the nose direction and the heading of the aircraft.
  • the nose direction mentioned here means that the tail 4 points along the center line 10 In the direction of nose 3, the aircraft flies tilted because when the multi-rotor aircraft is loaded, the body becomes larger and the airflow has a greater impact on the flight.
  • the flight direction needs to be combined with the shape of the aircraft to meet the needs of forward movement and wind resistance.
  • there will be a certain angle between the direction of the aircraft's nose and the heading that is, the aircraft's nose will tilt to a certain extent relative to the heading.
  • left navigation light assembly and “right navigation light assembly” mentioned in this embodiment refer to the heading line 2 of the rotorcraft when viewed along the heading direction of the rotorcraft.
  • the navigation light assembly on the left side of line 2 is the left navigation light assembly
  • the navigation light assembly on the right side of heading line 2 is the right navigation light assembly;
  • the rule for lighting left red and right green lights means that along the heading of the rotorcraft, the navigation light located on the left side of heading line 2 lights up red, and the navigation light located on the right side of heading line 2 lights up green.
  • multiple navigation lights can be lit simultaneously on each side of the rotorcraft. Specifically, the number of navigation lights illuminated at the same time on each side of the rotorcraft can be increased. It also includes a second navigation light. The second navigation light is close to the first navigation light 1. When the rotorcraft is in the first state, the second navigation light is on. The "close” mentioned here refers to: the second navigation light. They are other navigation lights or auxiliary lights located within an area with the first navigation light 1 as the center point and a certain distance as the radius. Of course, this area does not exceed the heading line 2.
  • the rotorcraft is a quadcopter, and a bracket 6 is connected between the rotors on each side of the rotorcraft.
  • a heading light can be provided on the rotors and the bracket 6 .
  • the navigation lights include a rotor light 7 and an auxiliary light 8.
  • the auxiliary light 8 is installed on the bracket 6 between the two rotors. Specifically, it can be installed on the outside of the bracket 6.
  • the auxiliary light 8 is a light strip without intervals or a light strip. Multiple lights are arranged at a certain distance, so that there is a certain continuity between adjacent auxiliary lights 8 and the position of the lights is more accurate, that is, the navigation lights can be centered on the heading line 2 and the horizontal axis 9 According to the vertical line rules, other aircraft or ground personnel can use this rule to determine the heading more accurately, as follows:
  • the transverse axis 9 passes through the intersection point of the center line 10 and the heading line 2.
  • the transverse axis 9 is perpendicular to the heading line 2 and extends to both sides of the rotorcraft; the transverse axis 9 is connected to the left side respectively.
  • the intersection of the navigation light assembly and the left navigation light assembly is the first navigation light 1. That is to say, the heading line 2 is the mid-perpendicular line of the transverse axis 9.
  • the aircraft on the opposite side can accurately determine the heading of the rotorcraft according to this rule and through the positions of the two illuminated navigation lights. Specifically, between the two Draw a center vertical line on the connection between the illuminated navigation lights. This center vertical line is the heading line 2. Combined with the standards of left red and right green, the heading can be determined.
  • the rotorcraft is a four-rotor aircraft, a six-rotor aircraft, or an eight-rotor aircraft. Especially for a six-rotor aircraft or an aircraft with a larger number of rotors, there is no bracket 6 between adjacent rotors, and the rotors are connected through the arm 11 Directly connected to the fuselage, the rotor is installed at the end of the arm 11.
  • the navigation lights include a rotor light 7 located at the end of the rotor arm.
  • the rotor light 7 close to the extension of the heading line 2 of the rotorcraft goes out.
  • two rotor lights 7 will be extinguished.
  • the two rotor lights 7 extinguished are the third navigation lights 5, and the remaining rotor lights 7 are all lit.
  • the heading needs to be determined by the rotor lights 7. Moreover, the distance between the rotor lights 7 close to the extension line of the heading line 2 is small, and the light emitted may affect the acquisition The position will cause interference and reduce the accuracy of heading calculation. Therefore, it is necessary to turn off the rotor lights 7 close to the extension line of the rotorcraft heading line 2, and the other rotor lights 7 will light up according to the rules of left red and right green.
  • the navigation lights of the rotorcraft always follow the rule of left red and right green, that is, looking along the heading direction of the rotorcraft, the navigation light on the left side of heading line 2 lights up red, and the navigation light on the right side of heading line 2 lights up red. The light turns green and the navigation light near heading line 2 goes out.
  • the number of rotors of the rotorcraft is n, that is, the number of rotor lights is n, then when the rotorcraft is flying at an angle, let the angle between the line connecting the navigation lights and the rotation center of the rotorcraft and the heading line 2 be a, and the rotation here The center is the intersection point of the rotorcraft's centerline 10 and heading line 2. If the angle a corresponding to one of the navigation lights is greater than -360°/(4n) and less than or equal to 360°/(4n), that is If the navigation light is close to heading line 2, the navigation light will go out.
  • FIG. 5 to 7 show the rotorcraft. Schematic diagram of a top view projection. When the tilt angle is a positive value, the rotorcraft rotates a certain angle in the counterclockwise direction. When the tilt angle is a negative value, the rotorcraft rotates a certain angle in the clockwise direction.
  • the navigation lights numbered 103 and 104 light up red
  • the navigation lights numbered 101 and 102 light up green
  • the navigation lights numbered 101 and 104 light up red
  • the navigation lights numbered 102 and 103 light up green
  • the navigation light numbered 104 lights up red
  • the navigation light numbered 102 lights up green
  • the other lights go out.
  • the navigation lights numbered 204, 205, and 206 light up red
  • the navigation lights numbered 201, 202, and 203 light up green
  • the navigation lights numbered 205, 206, and 201 light up red
  • the navigation lights numbered 202, 203, and 204 light up green
  • the navigation lights numbered 305, 306, 307, and 308 light up red
  • the navigation lights numbered 301, 302, 303, and 304 light up green
  • the navigation lights numbered 301, 306, 307, and 308 light up red
  • the navigation lights numbered 302, 303, 304, and 305 light up green
  • the navigation lights numbered 306, 307, and 308 light up red
  • the navigation lights numbered 302, 303, and 304 light up green
  • the other lights go out.
  • the lights of the left navigation light assembly are red light and/or green light
  • the lights of the right navigation light assembly are green light and/or red light
  • the lights of the left navigation light assembly are green light and/or red light. A different color than the illuminated light in the right navigation light assembly.
  • the left navigation light assembly and the right navigation light assembly are both color-changeable navigation lights. When the lights are on, they can switch between red light, green light and white light. Two lights can also be installed at the same position. Bright red light and green light respectively.
  • the rotorcraft lights up according to the rules of left red and right green that is, the lighting colors of the navigation lights set on the left and right sides of the rotorcraft basically do not change. Change.
  • the navigation lights are installed with color-changing navigation lights in order to ensure safe flight when the aircraft is flying upside down. , for example, under normal circumstances, the left navigation light component lights up green, and the right navigation light component lights up green.
  • the originally bright green navigation light switches to bright red. Light, the navigation light that originally glowed red glowed green.
  • the invention also discloses a rotorcraft, including the above-mentioned navigation light system.
  • the invention also discloses a navigation light control system for controlling the navigation lights of a rotorcraft.
  • the centerline 10 from the nose 3 to the tail 4 of the rotorcraft is in line with the heading of the rotorcraft.
  • Line 2 is collinear, and the control system is used to control the rotor light 7 to light up and the auxiliary light 8 to turn on or off; and/or, when the rotor aircraft is in the first state, the center line from the nose 3 to the tail 4 of the rotor aircraft 10 has an angle with the heading line 2 of the rotorcraft.
  • the control system is used to control the corresponding two corresponding navigation light components at the maximum distance position.
  • the first navigation light 1 is on.
  • control system includes a controller and a wind direction sensing device.
  • the controller is used to obtain the navigation direction.
  • the controller is connected to the navigation light.
  • the controller controls the navigation light to turn on the red light, turn on the green light, or turn off.
  • the wind direction sensing device is used to obtain the wind direction angle between the wind direction and the heading.
  • first and second are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Therefore, features defined as “first” and “second” may explicitly or implicitly include at least one of these features.
  • “plurality” means at least two, such as two, three, etc., unless otherwise expressly and specifically limited.

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Abstract

一种航行灯系统、旋翼飞行器及航行灯控制系统，航行灯系统包括左侧航行灯组件和与左侧航行灯组件相对的右侧航行灯组件；沿旋翼飞行器的机头（3）到机尾（4）的方向，左侧航行灯组件、右侧航行灯组件均包括多个航行灯；当旋翼飞行器处在第一状态，旋翼飞行器的机头（3）到机尾（4）的中心线（10）与旋翼飞行器的航向线（2）具有夹角，沿垂直于航向线（2）的方向，左侧航行灯组件与右侧航行灯组件之间具有间距；最大间距位置处的相应地两个第一航行灯（1）点亮。

Description

一种航行灯系统、旋翼飞行器及航行灯控制系统 技术领域
本发明涉及飞行器技术领域，特别是涉及一种航行灯系统、旋翼飞行器及航行灯控制系统。
 背景技术
飞行管理政策要求飞行器有航行灯，一般是左红右绿，且多旋翼飞行器的应用场景广泛，比如用于货物运输，由于物流场景需要自动化，自动机场对飞行器的装卸货、充电换电池等交互需要飞行器保持预设的指定方向落地；并且，飞行管理政策要求飞行器有航行灯表征飞行方向而不是机头朝向。
但是，当多旋翼飞行器装货时，导致机体变大，气流对飞行的影响更大，飞行航向需要结合飞行器外形满足前进和抗风的需要，飞行过程中，机头方向与航向之间会呈一定夹角，即飞行器的机头相对于航向会产生一定倾斜。
此时，由于现有的多旋翼飞行器航行灯表征方式固定，当飞行器斜飞时，航行灯不能精准表征飞行器的实际飞行方向。
为了解决上述问题，本发明提出一种航行灯系统、旋翼飞行器及航行灯控制系统。
 技术解决方案
为了解决上述技术问题中的至少一个，本发明提供了一种航行灯系统，用于旋翼飞行器，所述航行灯系统包括左侧航行灯组件和与所述左侧航行灯组件相对的右侧航行灯组件；沿所述旋翼飞行器的机头到机尾的方向，所述左侧航行灯组件、所述右侧航行灯组件均包括多个航行灯；当所述旋翼飞行器处在第一状态，所述旋翼飞行器的机头到机尾的中心线与所述旋翼飞行器的航向线具有夹角，沿垂直于所述航向线的方向，所述左侧航行灯组件与所述右侧航行灯组件之间具有间距；最大间距位置处的相应地两个第一航行灯点亮。
优选地，还包括第二航行灯，所述第二航行灯靠近所述第一航行灯，当所述旋翼飞行器处在第一状态，所述第二航行灯点亮。
优选地，还包括穿过所述中心线与所述航向线的相交点的横轴线，所述横轴线垂直于所述航向线，所述横轴线向所述旋翼飞行器的两侧延伸；所述横轴线分别与所述左侧航行灯组件和所述左侧航行灯组件相交位置处为所述第一航行灯。
优选地，所述航行灯包括旋翼灯和辅助灯，当所述旋翼飞行器处在第二状态，所述旋翼飞行器的机头到机尾的中心线与所述旋翼飞行器的航向线共线，所述旋翼灯点亮，所述辅助灯点亮或熄灭。
优选地，所述辅助灯为灯带或间隔设置的多个灯。
优选地，所述旋翼飞行器为四旋翼飞行器或八旋翼飞行器，当所述旋翼飞行器为八旋翼飞行器，所述航行灯包括设在旋翼机臂末端的旋翼灯，当所述旋翼飞行器处在第一状态，靠近所述旋翼飞行器的航向线的延长线的旋翼灯熄灭。
优选地，所述左侧航行灯组件的灯为红光和/或绿光，所述右侧航行灯组件的灯为绿光和/或红光，所述左侧航行灯组件与所述右侧航行灯组件中点亮的灯的颜色不同。
优选地，当所述旋翼飞行器为四旋翼飞行器，所述辅助灯设在所述两个旋翼之间的支架上。
一种旋翼飞行器，包括所述航行灯系统。
一种航行灯控制系统，用于所述旋翼飞行器的航行灯的控制，当所述旋翼飞行器处在第二状态，所述旋翼飞行器的机头到机尾的中心线与所述旋翼飞行器的航向线共线，所述控制系统用于控制所述旋翼灯点亮，所述辅助灯点亮或熄灭；和/或，当所述旋翼飞行器处在第一状态，所述旋翼飞行器的机头到机尾的中心线与所述旋翼飞行器的航向线具有夹角，沿垂直于所述航向线的方向，所述左侧航行灯组件与所述右侧航行灯组件之间具有间距；所述控制系统用于控制最大间距位置处的相应地两个第一航行灯点亮。
本发明的有益效果是：当旋翼飞行器处于第一状态，也即是倾斜飞行时，与航向线垂直的方向上的最大间距的航行灯点亮，两个第一航行灯的亮灯规则遵循航行灯标准，也即是左红右绿，点亮的两个第一航行灯之间的连线，与航向线相互垂直，同时位于最大间距的位置，故可以保证两个第一航行灯分别位于航向线的两侧，对面飞机即可根据左红右绿的规则判定飞行器的飞行方向为前进或后退；同时两个第一航行灯连线的垂直线方向即为飞行器的航向，据此，同一空域的预设范围内的其他飞行器，或者是地面人员可精准获取该飞行器的航向，避免撞击。
 附图说明
附图示出了本发明的示例性实施方式，并与其说明一起用于解释本发明的原理，其中包括了这些附图以提供对本发明的进一步理解，并且附图包括在本说明书中并构成本说明书的一部分。
图1是一种实施例的结构示意图(四旋翼飞行器处于第一状态时)；
图2是另一种实施例的结构示意图(四旋翼飞行器处于第二状态时)；
图3是另一种实施例的结构示意图(八旋翼飞行器处于第一状态时)；
图4是另一种实施例的结构示意图(八旋翼飞行器处于第二状态时)；
图5为四旋翼飞行器倾斜角度为零时的结构示意图；
图6为六旋翼飞行器倾斜角度为零时的结构示意图；
图7为八旋翼飞行器倾斜角度为零时的结构示意图。
图中：1-第一航行灯，2-航向线，3-机头，4-机尾，5-第三航行灯，6-支架，7-旋翼灯，8-辅助灯，9-横轴线，10-中心线，11-机臂。
 本发明的实施方式
下面结合附图和实施方式对本发明作进一步的详细说明。可以理解的是，此处所描述的具体实施方式仅用于解释相关内容，而非对本发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本发明相关的部分。
需要说明的是，在不冲突的情况下，本发明中的实施方式及实施方式中的特征可以相互组合。下面将参考附图并结合实施方式来详细说明本发明。
如图1-图4所示，一种航行灯系统，用于旋翼飞行器，航行灯系统包括左侧航行灯组件和与左侧航行灯组件相对的右侧航行灯组件；沿旋翼飞行器的机头3到机尾4的方向，左侧航行灯组件、右侧航行灯组件均包括多个航行灯；当旋翼飞行器处在第一状态，旋翼飞行器的机头3到机尾4的中心线10与旋翼飞行器的航向线2具有夹角，沿垂直于航向线2的方向，左侧航行灯组件与右侧航行灯组件之间具有间距；最大间距位置处的相应地两个第一航行灯1点亮。
采用上述结构，当旋翼飞行器处于第一状态，也即是倾斜飞行时，与航向线2垂直的方向上的最大间距的航行灯点亮，两个第一航行灯1的亮灯规则遵循航行灯标准，也即是左红右绿，点亮的两个第一航行灯1之间的连线，与航向线2相互垂直，同时位于最大间距的位置，故可以保证两个第一航行灯1分别位于航向线2的两侧，其他飞行器或者地面人员即可根据左红右绿的规则判定飞行器的飞行方向为前进或后退；同时两个第一航行灯1连线的垂直线方向即为飞行器的航向，据此，同一空域的预设范围内的其他飞行器，或者是地面人员可精准获取该飞行器的航向，避免撞击。
值得说明的是，本实施例中所提及的倾斜飞行，是指飞行器的机头方向与航向之间呈一定夹角，此处所说的机头方向是指机尾4沿着中心线10指向机头3的方向，飞行器产生倾斜飞行，是因为当多旋翼飞行器装货时，导致机体变大，气流对飞行的影响更大，飞行航向需要结合飞行器外形满足前进和抗风的需要，飞行过程中，机头方向与航向之间会呈一定夹角，即飞行器的机头相对于航向会产生一定倾斜。
进一步说明的是，本实施例中提及的“左侧航行灯组件”、“右侧航行灯组件”是指沿着旋翼飞行器的航向方向看，以旋翼飞行器的航向线2进行划分，位于航向线2左侧的航行灯组件为左侧航行灯组件，位于航向线2右侧的航行灯组件为右侧航行灯组件；
由此可知，左红右绿的亮灯规则，是指沿着旋翼飞行器航向，位于航向线2左侧的航行灯点亮红灯，位于航向线2右侧的航行灯点亮绿灯。
一种实施方式中，为了便于其他飞行器或地面人员识别，增大航行灯点亮的体积和亮度，可以将旋翼飞行器每一侧同时点亮的航行灯设为多个，具体而言，旋翼飞行器还包括第二航行灯，第二航行灯靠近第一航行灯1，当旋翼飞行器处在第一状态，第二航行灯点亮，此处所提及的“靠近”是指：第二航行灯是位于以第一航行灯1为中心点、以一定距离作为半径的区域内的其他航行灯或辅助灯，当然，该区域不超越航向线2。
一种实施方式中，旋翼飞行器为四旋翼飞行器，且该旋翼飞行器每一侧的旋翼之间连接有支架6，特别是对于四旋翼飞行器，可将航向灯设于旋翼和支架6。
具体而言，航行灯包括旋翼灯7和辅助灯8，辅助灯8设在两个旋翼之间的支架6上，具体可设于支架6的外侧，该辅助灯8为无间隔的灯带或间隔一定距离设置的多个灯，这样，可使得相邻辅助灯8之间具有一定连续性，亮灯的位置更加精准，也即是，可使航行灯遵循航向线2与横轴线9呈中垂线的规则进行亮灯，得其他飞行器或地面人员可通过该规则能够更加精准确定航向，具体如下：
如图1所示，穿过中心线10与航向线2的相交点的横轴线9，横轴线9垂直于航向线2，横轴线9向旋翼飞行器的两侧延伸；横轴线9分别与左侧航行灯组件和左侧航行灯组件相交位置处为第一航行灯1。也即是，航向线2为横轴线9的中垂线，对面飞行器可根据该规律，并通过两个点亮的航行灯的位置，能够精准确定旋翼飞行器的航向，具体而言，在两个点亮的航行灯的连线上做中垂线，该中垂线即为航向线2，再结合左红右绿的标准，即可确定航向。
具体地方案中，如图2所示，当旋翼飞行器处在第二状态时，旋翼飞行器的机头3到机尾4的中心线10与旋翼飞行器的航向线2共线，也即是，旋翼飞行器未发生倾斜，旋翼灯7按照左红右绿的规则点亮，辅助灯8点亮或熄灭，此时可通过旋翼灯7精准计算航向，当然，也可根据上述亮灯规则，使得横轴线9相交的辅助灯8点亮。
一种实施方式中，旋翼飞行器为四旋翼飞行器或六旋翼飞行器或八旋翼飞行器，特别是对于六旋翼飞行器或旋翼数量更多的飞行器，相邻旋翼之间无支架6相连，旋翼通过机臂11直接与机身连接，旋翼安装于机臂11的末端。
航行灯包括设在旋翼机臂末端的旋翼灯7，当旋翼飞行器处在第一状态，也即是倾斜飞行时，靠近旋翼飞行器的航向线2的延长线的旋翼灯7熄灭。比如，对于八旋翼飞行器，会熄灭两个旋翼灯7，如图3所示，熄灭的两个旋翼灯7为第三航行灯5，其余旋翼灯7均点亮。
因为该结构的旋翼飞行器不便于安装连续的辅助灯8，需通过旋翼灯7来进行航向的判定，并且，靠近航向线2的延长线的旋翼灯7间距较小，发出的灯光可能会对获取位置产生干扰，降低航向计算精准度，因此，需熄灭靠近旋翼飞行器航向线2的延长线的旋翼灯7，其余旋翼灯7按照左红右绿的规则点亮。
另一种方案中，如图4所示，当该八旋翼飞行器处在第一状态时，也即是飞行器不倾斜时，靠近航向线2的相邻旋翼灯7之间的间距足够大，则所有旋翼灯7按照左红右绿的规则均点亮。
基于上述结构，其他飞行器或地面人员可根据点亮的旋翼灯7的位置，即可计算出飞行器的航向。
总之，旋翼飞行器的航行灯亮灯始终遵循左红右绿的规则，也即是，沿着旋翼飞行器的航向方向看，位于航向线2左侧的航行灯亮红光，位于航向线2右侧的航行灯亮绿光，靠近航向线2的航行灯熄灭。
靠近航向线2的航行灯熄灭遵循如下方法：
设旋翼飞行器的旋翼数量为n，即旋翼灯的数量为n，则当旋翼飞行器倾斜飞行，设航行灯与旋翼飞行器的旋转中心的连线与航向线2的夹角为a，此处的旋转中心为旋翼飞行器的中心线10与航向线2的交点，若其中某个航行灯对应的a的角度为大于-360°/(4n)、并小于或等于360°/(4n)时，即该航行灯靠近了航向线2，则该航行灯熄灭。
进一步举例进行说明，不同旋翼数量的旋翼航行灯在不同倾斜角度时的亮灯示例如下，此处的倾斜角度为旋翼飞行器机头方向与航向线2的夹角，图5-图7为旋翼飞行器的俯视投影图的示意图，倾斜角度为正值时，旋翼飞行器沿逆时针方向旋转一定角度，倾斜角度为负值时，旋翼飞行器沿顺时针方向旋转一定角度。
如图5所示，对于四旋翼飞行器：
当四旋翼飞行器的倾斜角度为大于-22.5°、小于或等于22.5°时，编号为103、104的航行灯亮红光，编号为101、102的航行灯亮绿光；
当四旋翼飞行器的倾斜角度等于90°时，编号为101、104的航行灯亮红光，编号为102、103的航行灯亮绿光；
当四旋翼飞行器的倾斜角度等于45°时，编号为104的航行灯亮红光，编号为102的航行灯亮绿光，其余灯熄灭。
如图6所示，对于六旋翼飞行器：
当六旋翼飞行器的倾斜角度为大于-15°、小于或等于15°时，编号为204、205、206的航行灯亮红光，编号为201、202、203的航行灯亮绿光；
当六旋翼飞行器的倾斜角度等于60°时，编号为205、206、201的航行灯亮红光，编号为202、203、204的航行灯亮绿光；
当六旋翼飞行器的倾斜角度等于30°时，编号为205、206的航行灯亮红光，编号为202、203的航行灯亮绿光，其余灯熄灭。
如图7所示，对于八旋翼飞行器：
当八旋翼飞行器的倾斜角度为大于-11.25°、小于或等于11.25°时，编号为305、306、307、308的航行灯亮红光，编号为301、302、303、304的航行灯亮绿光；
当八旋翼飞行器的倾斜角度等于45°时，编号为301、306、307、308的航行灯亮红光，编号为302、303、304、305的航行灯亮绿光；
当八旋翼飞行器的倾斜角度等于22.5°时，编号为306、307、308的航行灯亮红光，编号为302、303、304的航行灯亮绿光，其余灯熄灭。关于航行灯的灯光颜色，一种实施方式中，左侧航行灯组件的灯为红光和/或绿光，右侧航行灯组件的灯为绿光和/或红光，左侧航行灯组件与右侧航行灯组件中点亮的灯的颜色不同。
具体地，左侧航行灯组件、右侧航行灯组件均为可变色的航行灯，在亮灯时，可在红光、绿光和白光中切换，也可以在同一位置，安装两个灯，分别亮红光和绿光。
一般情况下，只要机头3的方向偏离航向的角度在一定范围内时，旋翼飞行器按照左红右绿的规则进行亮灯，即设置在旋翼飞行器左右两侧的航行灯点亮的颜色基本不变。但是，为了旋翼飞行器在倒飞的情况下仍然能够通过左红右绿的规则识别航向，保证安全飞行，故将航行灯设为可变色的航行灯的安装是为了在飞机倒着飞行的情况下，例如，一般情况下，左侧航行灯组件亮灯的颜色为绿光，右侧航行灯组件亮灯的为绿光，当旋翼飞行器倒飞时，原本亮绿光的航行灯切换为亮红光，原本亮红光的航行灯亮绿光。
本发明还公开了一种旋翼飞行器，包括上述航行灯系统。
本发明还公开了一种航行灯控制系统，用于旋翼飞行器的航行灯的控制，当旋翼飞行器处在第二状态，旋翼飞行器的机头3到机尾4的中心线10与旋翼飞行器的航向线2共线，控制系统用于控制旋翼灯7点亮，辅助灯8点亮或熄灭；和/或，当旋翼飞行器处在第一状态，旋翼飞行器的机头3到机尾4的中心线10与旋翼飞行器的航向线2具有夹角，沿垂直于航向线2的方向，左侧航行灯组件与右侧航行灯组件之间具有间距；控制系统用于控制最大间距位置处的相应地两个第一航行灯1点亮。
具体而言，该控制系统包括控制器和风向感应装置，控制器用于获取航行方向，并且，控制器与航行灯连接，控制器控制航行灯点亮红灯或点亮绿灯或熄灭。
风向感应装置用于获得风向与航向之间的风向夹角，控制器根据风向夹角控制旋翼飞行器的偏转方向，并且，控制器可根据风向夹角计算旋翼飞行器的偏转方向与航向的偏向夹角；一种实施方式中，设风向夹角的角度为a，设偏向夹角的角度为b，则a＝2b。
在本说明书的描述中，参考术语“一个实施例/方式”、“一些实施例/方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例/方式或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例/方式或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例/方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例/方式或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例/方式或示例以及不同实施例/方式或示例的特征进行结合和组合。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本申请的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
本领域的技术人员应当理解，上述实施方式仅仅是为了清楚地说明本发明，而并非是对本发明的范围进行限定。对于所属领域的技术人员而言，在上述公开的基础上还可以做出其它变化或变型，并且这些变化或变型仍处于本发明的范围内。

Claims (10)

  1. 一种航行灯系统，其特征在于，用于旋翼飞行器，所述航行灯系统包括左侧航行灯组件和与所述左侧航行灯组件相对的右侧航行灯组件；
    沿所述旋翼飞行器的机头(3)到机尾(4)的方向，所述左侧航行灯组件、所述右侧航行灯组件均包括多个航行灯；
    当所述旋翼飞行器处在第一状态，所述旋翼飞行器的机头(3)到机尾(4)的中心线(10)与所述旋翼飞行器的航向线(2)具有夹角，沿垂直于所述航向线(2)的方向，所述左侧航行灯组件与所述右侧航行灯组件之间具有间距；
    最大间距位置处的相应地两个第一航行灯(1)点亮。
  2. 如权利要求1所述一种航行灯系统，其特征在于：还包括第二航行灯，所述第二航行灯靠近所述第一航行灯(1)，当所述旋翼飞行器处在第一状态，所述第二航行灯点亮。
  3. 如权利要求1所述一种航行灯系统，其特征在于：还包括穿过所述中心线(10)与所述航向线(2)的相交点的横轴线(9)，所述横轴线(9)垂直于所述航向线(2)，所述横轴线(9)向所述旋翼飞行器的两侧延伸；
    所述横轴线(9)分别与所述左侧航行灯组件和所述左侧航行灯组件相交位置处为所述第一航行灯(1)。
  4. 如权利要求1所述一种航行灯系统，其特征在于：所述航行灯包括旋翼灯(7)和辅助灯(8)，当所述旋翼飞行器处在第二状态，所述旋翼飞行器的机头(3)到机尾(4)的中心线(10)与所述旋翼飞行器的航向线(2)共线，所述旋翼灯(7)点亮，所述辅助灯(8)点亮或熄灭。
  5. 如权利要求4所述一种航行灯系统，其特征在于：所述辅助灯(8)为灯带或间隔设置的多个灯。
  6. 如权利要求1所述一种航行灯系统，其特征在于：所述旋翼飞行器为四旋翼飞行器或六旋翼飞行器或八旋翼飞行器，当所述旋翼飞行器为六旋翼飞行器或八旋翼飞行器，所述航行灯包括设在旋翼机臂末端的旋翼灯(7)，当所述旋翼飞行器处在第一状态，靠近所述旋翼飞行器的航向线(2)的延长线的旋翼灯(7)熄灭。
  7. 如权利要求1所述一种航行灯系统，其特征在于：所述左侧航行灯组件的灯为红光和/或绿光，所述右侧航行灯组件的灯为绿光和/或红光，所述左侧航行灯组件与所述右侧航行灯组件中点亮的灯的颜色不同。
  8. 如权利要求1所述一种航行灯系统，其特征在于：当所述旋翼飞行器为四旋翼飞行器，所述辅助灯(8)设在所述两个旋翼之间的支架(6)上。
  9. 一种旋翼飞行器，包括如权利要求1-8任一项所述航行灯系统。
  10. 一种航行灯控制系统，用于如权利要求9所述旋翼飞行器的航行灯的控制，
    当所述旋翼飞行器处在第二状态，所述旋翼飞行器的机头(3)到机尾(4)的中心线(10)与所述旋翼飞行器的航向线(2)共线，所述控制系统用于控制所述旋翼灯(7)点亮，所述辅助灯(8)点亮或熄灭；和/或，
    所述控制系统用于控制最大间距位置处的相应地两个第一航行灯(1)点亮。
PCT/CN2022/141682 2022-04-28 2022-12-23 一种航行灯系统、旋翼飞行器及航行灯控制系统 WO2023207169A1 (zh)

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