CN107284666A - It is a kind of to be suitable to avoid the unmanned plane and its method of work that influence aviation safety - Google Patents
It is a kind of to be suitable to avoid the unmanned plane and its method of work that influence aviation safety Download PDFInfo
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- CN107284666A CN107284666A CN201710582605.XA CN201710582605A CN107284666A CN 107284666 A CN107284666 A CN 107284666A CN 201710582605 A CN201710582605 A CN 201710582605A CN 107284666 A CN107284666 A CN 107284666A
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- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
- B64C33/02—Wings; Actuating mechanisms therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
It is suitable to avoid the unmanned plane and its method of work that influence aviation safety the present invention relates to a kind of, unmanned plane includes:Central control unit, the GPS module being connected with the central control unit, wireless communication module, and the remote control for being communicated with wireless communication module;Be stored with the GPS information of no-fly zone in central control unit;Described method of work includes:GPS position information where central control unit measures current unmanned plane by GPS module is in the no-fly zone, then central control unit sends no-fly prompt message by wireless communication module to remote control.
Description
Technical field
It is suitable to avoid the unmanned plane and its method of work that influence aviation safety the present invention relates to a kind of.
Background technology
Existing unmanned plane is flown by remote control device, if near airports flight, necessarily affecting aviation safety.And show
Some surveillance and control measures, it is often more delayed, it is impossible to which that effectively control unmanned plane flies near airports.
The content of the invention
The technical problem to be solved in the present invention is effectively to control unmanned plane near airports flight, suitable for avoiding influence from navigating
The unmanned plane and its method of work of empty safety.
In order to solve the above technical problems, the method for work for the unmanned plane that the application is used, unmanned plane includes:Center control is single
Member, the GPS module being connected with the central control unit, wireless communication module, and for being communicated with wireless communication module
Remote control;Be stored with the GPS information of no-fly zone in central control unit;Described method of work includes:When center, control is single
Member measures position where current unmanned plane by GPS module in the no-fly zone, then by wireless communication module to remote control
Device sends no-fly prompt message.
Above-mentioned unmanned plane also includes the driver for being used to drive the unmanned plane during flying;The driver includes:Housing, it is left and right
Side flying wing;Wherein, left and right side flying wing stretches out from the side window of housing two;Left and right side flying wing passes through corresponding electromagnetic drive machine
Structure driving realizes that flapping wing is acted.
Further, the driver also includes:X-shaped interlinked mechanism for connecting left and right side flying wing;The X-shaped connects
Motivation structure includes:Two portable plates of left and right flying wing are connected by end respectively, and the middle part of two portable plates is set provided with activity
In a rotating shaft;The two ends of neighbouring each portable plate are equipped with a permanent magnet as dynamic magnetic pole, and the line of the magnetic pole of each permanent magnet two
It is vertical with respective activity plate, and two magnetic pole distribution modes of each permanent magnet are identical;The electromagnetic drive mechanism includes:For respectively
The two magnetostatic unit groups coordinated with two portable plates;Each magnetostatic unit group include be used for respectively with two permanent magnets on a portable plate
Symmetrically arranged magnetostatic unit coordinate and upper and lower;The magnetostatic unit includes:Magnetic pole magnetic core and the line being around on magnetic pole magnetic core
Circle;During work, in same magnetostatic unit group, the moment magnetic pole distribution of two magnetostatic units of left and right adjacent distributions is opposite;Together
When, two magnetostatic unit moment magnetic pole distributions of upper and lower Relative distribution are identical;In each magnetostatic unit group, each magnetostatic cell operation
When the synchronous checker of pole polarity, replaced with to produce opposite, timed delivery on the permanent magnet at the two ends of each portable plate
The active force of conversion, so cause two portable plates around the rotating shaft it is synchronous, rotate reversely and repeatedly, that is, control flying wing action.
Further, the magnetic pole magnetic core using sloping magnetic poles design, i.e., described magnetic pole magnetic core with the dynamic magnetic on portable plate
The contact surface of pole is inclined-plane, and moves parallel both when magnetic pole is contacted with contact surface, and covered with beam on contact surface.
Further, as a kind of preferred scheme, two magnetic pole magnetic cores of left and right adjacent distributions pass through respective magnetic circuit phase
Connect, and the series connection of two coil different name ends;Alternating current control circuit is additionally provided with the housing, i.e., electricity is controlled by alternating current
Road adjusts direction, pulsewidth and the amplitude of the driving current in each coil.Alternatively, left and right adjacent distributions
Two magnetic pole magnetic cores are independent of one another, and the series connection of two coil different name ends;Alternating current control circuit is additionally provided with the housing, i.e.,
Direction, pulsewidth and the amplitude of the driving current in each coil of circuit regulation are controlled by alternating current.
Secondly, present invention also offers a kind of method of work of the bionical driver of X-shaped.
The method of work of the bionical driver of X-shaped includes:Left and right side flying wing stretches out from the side window of housing two, and leads to
Cross corresponding electromagnetic drive mechanism driving and realize that flapping wing is acted.
Further, the invention provides a kind of unmanned plane, it uses above-mentioned driver.
The beneficial effects of the invention are as follows, it is of the invention compared with existing known technology, with following remarkable result:
(1)Be stored with the GPS information of no-fly zone in the central control unit of the present invention;When central control unit passes through GPS module
The position where current unmanned plane is measured in the no-fly zone, then no-fly carry is sent to remote control by wireless communication module
Show information.
(2)Electromagnet efficient resource is taken full advantage of from design feature, magnetic pole is moved with acting on the sky of its electromagnetic pole
Air gap is close to zero, and theoretical value active force tends to be infinitely great(Electromagnetic force is multiplied by square being inversely proportional for air-gap with 8), at this moment move magnetic pole
The repulsive force for obtaining maximum is left into electromagnetic pole;Therefore larger active force can just be obtained using less electric current;From another
Angle is seen, although repulsive force reduces after dynamic magnetic pole is left electromagnetic pole by repulsive interaction, again by the suction to crossing magnetic pole
Act on and be quickly moved to suction magnetic pole, and effect all makes full use of two magnetic poles to the present invention every time, therefore with higher work
Make efficiency, obtain bigger power output.The bionical driver of X-shaped and its method for work electromagnetism different from traditional approach of the present invention
Vibrational structure, using electromagnetic drive characteristic, fully excavates power resource, improves energy utilization rate, and improve bearing capacity
On the basis of alleviator weight, to improve small-sized and subminiature bionic aircraft endurance;The technical side that the present invention is used
Case, rationally designs magnetic pole, and reasonable utilization magnetic pole resource, the structure combination of optimization fixed magnetic pole and motion magnetic pole makes using smaller
Electric power resource reach the maximization of driving force so that aircraft long-distance flight on the basis of finite energy resource.This X-shaped is imitated
Raw driver, no matter its dynamic magnetic pole is in that position, during movement, starts mobile and terminates to obtain before movement
Maximum active force so that it is more reasonable that motion process Billy becomes reciprocating motion with motor rotation by eccentric wheel, more saves
The energy, structure is also simpler, and documents are acted on by transmission mechanism.
(3)The bionical driver of this X-shaped can just result in very big propulsive force in the case of driving current is less, reduce
Discharge and recharge time of inductance coil, therefore the reciprocating motion of higher frequency can be realized, closer to the flapping wing frequency of insect.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the structural representation of the bionical driver of X-shaped of the present invention;
Fig. 2 is the magnetic pole magnetic core of the present invention and the stereogram of magnetic circuit;
Fig. 3 is the configuration diagram of the portable plate of the present invention;
Fig. 4 is the lateral plan of the portable plate of the present invention;
Fig. 5 is the corresponding magnetostatic unit arrangement schematic diagram of left and right side flying wing difference of the present invention;
Fig. 6 is cross section view of the bionical driver of X-shaped in A-A positions in corresponding diagram 1;
Fig. 7(a)And Fig. 7(b)It is portable plate activity chart up or down respectively;
Fig. 8 is the structural representation of the raw driver of unmanned plane of embodiment 3;
Fig. 9(a)And Fig. 9(b)It is the schematic diagram of two moving positions of portable plate in embodiment 1 respectively;
Figure 10 is the circuit block diagram of the unmanned plane of embodiment 1.
In figure:Housing 1, window 101, flying wing 2, X-shaped interlinked mechanism 3, portable plate 301, rotating shaft 302, permanent magnet 303,
Magnetostatic unit 4, magnetic pole magnetic core 401, coil 402, magnetic circuit 403, beam 5.
Embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant with the present invention.
Embodiment 1
As shown in Figure 10, the unmanned plane of the present embodiment includes:Central control unit, the GPS moulds being connected with the central control unit
Block, wireless communication module, height sensor, velocity sensor, thermal camera, gyroscope, radar detedtor, alternating current control
Circuit processed, green LED drive circuit, red LED drive circuit, and the remote control for being communicated with wireless communication module
Device;Be stored with the GPS information of no-fly zone in central control unit;The method of work of the unmanned plane, including:When center, control is single
Member measures position where current unmanned plane by GPS module in the no-fly zone, then by wireless communication module to remote control
Device sends no-fly prompt message(Shown using the display screen on voice or remote control), and make the uncontrollable unmanned plane of remote control
Take off, or limit flying height, the speed of unmanned plane etc..
In addition, in unmanned plane normal flight, central control unit is by radar detedtor detection front with the presence or absence of barrier
Hinder, if there is obstacle, avoided automatically according to the size of barrier, mobile status etc.(Including adjustment flying height, and/or a left side
Right avoidance mode, and/or hovering etc. mode).
Wireless communication module selects Wifi modules, or Zigbee module, and central control unit uses arm processor or monolithic
Machine, or valiant imperial 801 processor.
As shown in figure 1, above-mentioned unmanned plane life driver, including:Housing 1, left and right side flying wing 2;Wherein left and right side
Flying wing 2 stretches out from 1 liang of side window 101 of housing;And left and right side flying wing 2 is driven by corresponding electromagnetic drive mechanism and realized
Flapping wing is acted.
Wherein, the A/F of window 101 does not hinder the up and down motion of flying wing 2.
As shown in Figures 2 to 6, the driver also includes:X-shaped interlinked mechanism 3 for connecting left and right side flying wing 2;
The X-shaped interlinked mechanism 3 includes:The portable plate 301 of left and right flying wing 2, and the middle part activity of two portable plates 301 are connected respectively
In a rotating shaft 302;And a permanent magnet 303 is equipped with as dynamic magnetic pole positioned at the two ends of a portable plate 301, and both sides are forever
The magnetic pole distribution mode of magnet 303 is identical(Legend is top S poles, lower section N poles);Such as Fig. 1,3 to 6, the electromagnetic drive mechanism
Including:For the two magnetostatic unit groups coordinated respectively with two portable plates;Each magnetostatic unit group includes being used for respectively with mutually taking on service jobs
Symmetrically arranged magnetostatic unit 4 that two permanent magnets 303 on dynamic plate coordinate and upper and lower;It is left and right right that the magnetostatic unit 4 includes
Claim the magnetic pole magnetic core 401 set and be around in the coil 402 of magnetic pole magnetic core 401, i.e. magnetic pole magnetic core 401 and the corresponding structure of coil 402
Into a magnetostatic pole, therefore, the bionical driver of this X-shaped has eight magnetostatic poles, and the magnetic pole magnetic core 401 of its middle left and right distribution passes through
Respective magnetic circuit 403 is connected, and the series connection of the different name end of two coil 402;When simultaneously upper and lower distribution magnetostatic unit 4 inputs isogonic line
When enclosing 402 driving current, the magnetic pole of the left and right distribution in its corresponding same magnetostatic unit group produces opposite magnetic fields, so that
The both sides permanent magnet 303 of portable plate 301 produce respectively it is attracting, repel each other, and then realize portable plate 301 around the shaft 302 rotate, that is, control
Flying wing 2 processed is acted.
Wherein, the portable plate 301 is for example with plastic structural part, also can using nonmagnetic metal for example copper, aluminium, magnesium and its
Alloy etc.;The magnetic circuit 403 is bonded using permalloy plate and formed.Other optional schemes are:Permanent magnet 303 and magnetic circuit 403
It is integrated part.
The magnetic pole magnetic core 401 is designed using sloping magnetic poles, i.e., be inclined-plane with the contact surface of portable plate 301, and contact surface
Covered with beam 5(Preferred rubber pad, silicagel pad or spring).The bionical driver of this X-shaped is using sloping magnetic poles and mobile magnetic pole
Structure design, maximum electromagnetic force is obtained in the case where not interfering moving movement, mobile magnetic pole can be allowed to have larger turn again
Angle, makes flying wing 2 obtain larger stent.Realize the driving of the significantly bionical wing.
Circuit is controlled provided with above-mentioned alternating current in the housing 1, i.e., circuit regulating winding 402 is controlled by alternating current
Direction, pulsewidth and the amplitude of driving current;Wherein, alternating current control circuit includes switch driving circuit, and for producing
The processor module of pwm signal, the pwm signal is amplified by switch driving circuit, to control the bionical driver of X-shaped
Flight power output.
A kind of unmanned plane, it uses above-mentioned driver.
Embodiment 2
As shown in Figures 1 to 6, on the basis of embodiment 1, there is following modification in the present embodiment 2:
A kind of method of work of the bionical driver of the X-shaped of unmanned plane, wherein left and right side flying wing 2 are from 1 liang of side window 101 of housing
Stretch out, and realize that flapping wing is acted by the driving of corresponding electromagnetic drive mechanism.
The bionical driver of X-shaped also includes:X-shaped interlinked mechanism 3 for connecting left and right side flying wing 2;The X-shaped
Interlinked mechanism 3 includes:The portable plate 301 of left and right flying wing 2 is connected respectively, and the middle part of two portable plates 301 is provided with a rotating shaft
302;And it is equipped with the dynamic magnetic pole of a permanent magnet 303 conduct, and the magnetic of both sides permanent magnet 303 positioned at the both sides of a portable plate 301
It is extremely identical;The electromagnetic drive mechanism includes:Symmetrically arranged magnetostatic unit 4 coordinate with two permanent magnets 303 and upper and lower;Institute
Stating magnetostatic unit 4 includes left and right symmetrically arranged magnetic pole magnetic core 401 and the coil 402 for being around in magnetic pole magnetic core 401, that is, constitutes quiet
Magnetic pole, the magnetic pole magnetic core 401 of its middle left and right distribution is connected by respective magnetic circuit 403, and the series connection of the different name end of two coil 402;When
When upper and lower magnetostatic unit 4 inputs 402 driving current of coil in the same direction simultaneously, the magnetic pole of its corresponding left and right distribution is produced conversely
Magnetic field so that the both sides permanent magnet 303 of portable plate 301 produce respectively it is attracting, repel each other, and then realize portable plate 301 around the shaft 302
Rotate, that is, control flying wing 2 to act.
Alternating current control circuit is additionally provided with the housing, i.e., controls circuit regulating winding to drive electricity by alternating current
Direction, pulsewidth and the amplitude of stream.
The operation principle of the bionical driver of this X-shaped and its method of work is as follows:
The coil 402 of magnetostatic unit 4 corresponding for side flying wing is passed through forward current, such as Fig. 7(a)It is shown, now no matter
Original state move magnetic pole where(The portable plate 301 represented such as dotted line)Will because magnetic pole magnetic core A sucking action and
Magnetic pole magnetic core B repulsive interaction and rest on Fig. 7(a)On shown position(The portable plate 301 that solid line is represented);
Further, coil 402 is passed through reverse current, such as Fig. 7(b)It is shown, due to magnetic pole magnetic core B sucking action and magnetic
The movable Board position represented from such as dotted line is left magnetic pole magnetic core A by pole magnetic core A repulsive interaction, dynamic magnetic pole, that is, rests on Fig. 7
(b)On shown position(The portable plate 301 that solid line is represented);
If adding alternating current on coil 402, the up and down motion that magnetic pole will go round and begin again is determined, driving flying wing shakes about 2
It is dynamic, and then realize bionical flight.
Embodiment 3
On the basis of embodiment 1 or 2, the present embodiment has following modification:
Such as Fig. 8, two magnetic pole magnetic cores of left and right adjacent distributions are independent of one another, and the series connection of two coil different name ends;In the housing
Alternating current control circuit is additionally provided with, i.e., direction, the arteries and veins of the driving current in each coil of circuit regulation are controlled by alternating current
Wide and amplitude.
Using the above-mentioned desirable embodiment according to the present invention as enlightenment, by above-mentioned description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property scope is not limited to the content on specification, it is necessary to its technical scope is determined according to right.
Claims (5)
1. a kind of method of work of unmanned plane, it is characterised in that unmanned plane includes:Central control unit, is controlled single with the center
The connected GPS module of member, wireless communication module, and the remote control for being communicated with wireless communication module;Center control
Be stored with the GPS information of no-fly zone in unit;
Described method of work includes:GPS location letter where central control unit measures current unmanned plane by GPS module
Breath is in the no-fly zone, then central control unit sends no-fly prompt message by wireless communication module to remote control.
2. the method for work of unmanned plane according to claim 1, it is characterised in that also including for driving the unmanned plane to fly
Capable driver, the driver includes:
Housing, left and right side flying wing;
Left and right side flying wing stretches out from the side window of housing two;
Left and right side flying wing realizes that flapping wing is acted by the driving of corresponding electromagnetic drive mechanism;
The driver also includes:X-shaped interlinked mechanism for connecting left and right side flying wing;
The X-shaped interlinked mechanism includes:Two portable plates of left and right flying wing are connected by end respectively, and in two portable plates
Portion is movably arranged in a rotating shaft;
The two ends of neighbouring each portable plate are equipped with a permanent magnet as dynamic magnetic pole, and the magnetic pole of each permanent magnet two line with mutually taking on service jobs
Dynamic plate is vertical, and two magnetic pole distribution modes of each permanent magnet are identical;
The electromagnetic drive mechanism includes:For the two magnetostatic unit groups coordinated respectively with two portable plates;Each magnetostatic unit group
Including for symmetrically arranged magnetostatic unit coordinate respectively with two permanent magnets on a portable plate and upper and lower;
The magnetostatic unit includes:Magnetic pole magnetic core and the coil being around on magnetic pole magnetic core, wherein
During work, in same magnetostatic unit group, the moment magnetic pole distribution of two magnetostatic units of left and right adjacent distributions is opposite;Together
When, two magnetostatic unit moment magnetic pole distributions of upper and lower Relative distribution are identical;
In each magnetostatic unit group, the synchronous checker of pole polarity during each magnetostatic cell operation, to cause in each portable plate
The active force of opposite, synchronous checker is produced on the permanent magnet at two ends, so cause two portable plates around the rotating shaft it is synchronous,
Rotate reversely and repeatedly, that is, control flying wing action.
3. the method for work of unmanned plane according to claim 2, it is characterised in that
The magnetic pole magnetic core is inclined-plane with the contact surface of the dynamic magnetic pole on portable plate, and dynamic magnetic pole with contact surface both when contacting
It is parallel, covered with beam on contact surface.
4. the method for work of the unmanned plane according to Claims 2 or 3, it is characterised in that
Two magnetic pole magnetic cores of left and right adjacent distributions are connected by respective magnetic circuit, and the series connection of two coil different name ends;
Alternating current control circuit is additionally provided with the housing, i.e.,
Direction, pulsewidth and the amplitude of the driving current in each coil of circuit regulation are controlled by alternating current.
5. the method for work of the unmanned plane according to Claims 2 or 3, it is characterised in that
Two magnetic pole magnetic cores of left and right adjacent distributions are independent of one another, and the series connection of two coil different name ends;
Alternating current control circuit is additionally provided with the housing, i.e.,
Direction, pulsewidth and the amplitude of circuit regulating winding driving current are controlled by alternating current.
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US20140285035A1 (en) * | 2013-03-19 | 2014-09-25 | Oren Mordechai GERTEL | Ornithopter engine |
CN105247593A (en) * | 2014-04-17 | 2016-01-13 | 深圳市大疆创新科技有限公司 | Flight control for flight-restricted regions |
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Application publication date: 20171024 |