CN116300995B - Multifunctional flying platform with A-plane and B-plane flying capabilities and control method - Google Patents
Multifunctional flying platform with A-plane and B-plane flying capabilities and control method Download PDFInfo
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- CN116300995B CN116300995B CN202310070269.6A CN202310070269A CN116300995B CN 116300995 B CN116300995 B CN 116300995B CN 202310070269 A CN202310070269 A CN 202310070269A CN 116300995 B CN116300995 B CN 116300995B
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- 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- 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
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
本发明涉及一种具有A、B面飞行能力的多功能飞行平台及控制方法，使用具有A、B面飞行能力的多功能飞行平台；控制方法具体如下：飞行前根据任务需求通过飞行模式选择开关选择飞行以机体A面或机体B面模式起飞，变更飞行模式时，通过飞行模式选择开关控制电流正负极转换器进而控制动力系统正转或反转。本发明模式选择装置的电流正负极转换器与飞行器的动力系统连接，通过改变电流方向控制飞行器的动力系统正转和反转，进而使飞行器能够以机体A面或机体B面模式起飞、或者从机体A面调整为机体B面模式飞行或者从机体B面调整为机体A面模式飞行，从而完成不同种类工作任务需求，达到了全方位、多角度、立体性一机多用使用需要。
The present invention relates to a multifunctional flight platform with A-side and B-side flight capabilities and a control method, using a multifunctional flight platform with A-side and B-side flight capabilities; the control method is specifically as follows: before the flight, the flight mode selection switch is used to select the flight to take off in the A-side or B-side mode of the body according to the mission requirements, and when the flight mode is changed, the current positive and negative pole converter is controlled by the flight mode selection switch to control the power system to rotate forward or reverse. The current positive and negative pole converter of the mode selection device of the present invention is connected to the power system of the aircraft, and the power system of the aircraft is controlled to rotate forward and reverse by changing the current direction, so that the aircraft can take off in the A-side or B-side mode of the body, or adjust from the A-side of the body to the B-side mode of the body to fly, or adjust from the B-side of the body to the A-side mode of the body to fly, thereby completing different types of work task requirements and meeting the all-round, multi-angle, and three-dimensional one-machine multi-purpose use needs.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a multifunctional flight platform with A, B-plane flight capability and a control method.
Background
Unmanned aerial vehicles are widely used in various industries, and bring new ideas for the development of various industries. The unmanned aerial vehicle systems used at present are all single-person single-machine or special-machine special modes, and the purposes of multiple purposes and even one machine are not really realized. The existing unmanned aerial vehicle system can improve the original pure manual work efficiency, but has limitations. The original mode is only point-to-point, and the face-to-face solution problem is not solved in a three-dimensional view. Therefore, the invention provides the primary-secondary type multipurpose unmanned aerial vehicle flight platform with A, B-plane flight capability.
Disclosure of Invention
Aiming at the problems, the invention provides a multi-rotor functional mother type unmanned aerial vehicle flight platform with A, B-plane flight capability, wherein a multi-frame machine can be placed on a plane of a flight opportunity with an upward plane A normally, and a son machine can take off and land in the air in a mother plane in a task area so as to realize multi-machine operation by mother machine linkage. When the lifting stop platform flies upwards with the B surface, the lifting stop platform can be hung on large-scale equipment or placed with goods. The invention realizes one-machine multi-purpose of the unmanned aerial vehicle through the multi-purpose and multi-angle concept and provides a new thought for the development of the unmanned aerial vehicle industry.
The technical scheme of the invention is as follows:
the invention provides a multifunctional flight platform with A, B-plane flight capability.
A multifunctional flight platform with A, B-plane flight capability comprises an unmanned mother aircraft, wherein the unmanned mother aircraft comprises an aircraft body and an intelligent control system, the aircraft body comprises an aircraft body A plane and an aircraft body B plane, the intelligent control system comprises a mode selection device, the mode selection device is arranged on the side face of the aircraft body, the mode selection device comprises a current positive-negative electrode converter and a flight mode selection switch which are connected with each other, and the current positive-negative electrode converter is connected to a power system of the aircraft.
The intelligent control system further comprises a central control system and a monitoring device, wherein the mode selection device and the monitoring device are both connected with the central control system, the monitoring device comprises a signal transceiver, a positioning device, a gyroscope, an acceleration sensor, a barometer and a wind speed sensor, the positioning device, the gyroscope, the acceleration sensor, the barometer and the wind speed sensor are respectively connected with the signal transceiver, the signal transceiver is connected with the central control system, the positioning device and the signal transceiver are arranged on a plane arm of an aircraft, the gyroscope, the acceleration sensor and the barometer are arranged inside a plane A of the aircraft, and the wind speed sensor is arranged on the plane A of the aircraft.
The remote control device is connected with the signal transceiver.
The machine body A is provided with a folding cover, a bearing platform is arranged at the opening of the machine body A, a lifting stopping table is arranged in the bearing platform, a sub machine is arranged on the lifting stopping table, the machine body A is also provided with a first expansion platform, the first expansion platform is provided with monitoring equipment, the machine body B is also provided with a second expansion platform, and the folding cover, the power system, the lifting stopping table, the first expansion platform and the second expansion platform are all connected with a central control system.
The four corners of the aircraft body are provided with telescopic foot rests.
The power system is a motor, the number of the motors is more than 1, and the motor is a rainproof motor and is provided with a rotor wing.
The folding cover is a two-section folding cover.
The lifting stopping tables are provided with 4, and each lifting stopping table is provided with a sub-machine.
The invention provides a control method of a multi-rotor functional mother unmanned aerial vehicle with A, B-plane flight capability.
A control method of a multifunctional female unmanned aerial vehicle with A, B-plane flight capability uses the multifunctional flight platform with A, B-plane flight capability, and specifically comprises the following steps of selecting to fly in a mode of taking off of an engine body A-plane or an engine body B-plane through a flight mode selection switch according to task requirements before flying, and controlling a current positive-negative converter to control positive rotation or negative rotation of a power system through the flight mode selection switch when changing the flight mode.
The invention has the technical effects that:
1. The current positive-negative electrode converter of the mode selection device is connected with the power system of the aircraft, and the forward rotation and the reverse rotation of the power system of the aircraft are controlled by changing the current direction, so that the aircraft can take off in a mode of the machine body A surface or the machine body B surface, or fly in a mode of the machine body B surface or fly in a mode of the machine body A surface from the machine body A surface, thereby completing the requirements of different kinds of work tasks and achieving the requirements of all-dimensional, multi-angle and three-dimensional one-machine multipurpose use;
2. According to the invention, the attitude of the aircraft is controlled by the positioning device, the gyroscope, the acceleration sensor and the barometer to monitor the safe and rapid movement of the aircraft to a mission place, and whether the environment where the aircraft is positioned allows the folding cover to be opened or not is detected by the wind speed sensor so as to finish the take-off and landing operation in the air;
3. The aircraft is also provided with a first expansion platform on the plane A of the aircraft body, and a second expansion platform on the plane B of the aircraft body, so that the requirements of all-dimensional multi-angle processing tasks are met;
4. The sub-aircraft carried on the aircraft can work cooperatively with the unmanned mother aircraft body to realize multi-task processing work.
Drawings
FIG. 1 is a schematic structural view of a multifunctional flying platform with A, B-plane flying capability according to the present invention.
Fig. 2 is a front view of the multifunctional flying platform with A, B-plane flying capability of the present invention with the body a facing upward.
Fig. 3 is a top view of the multifunctional flying platform with A, B-plane flying capability according to the present invention with the machine body a facing upward.
Fig. 4 is a front view of the multi-functional flight platform with A, B-plane flight capability of the present invention with body B facing upward.
Fig. 5 is a top view of the multifunctional flying platform with A, B-plane flying capability according to the present invention with body B facing upward.
FIG. 6 is a schematic diagram of the system connection of the multi-functional flying platform with A, B flight capability of the present invention.
The aircraft is characterized by comprising the following components of a reference numeral 1, an aircraft, a2, a folding cover, a 3, a bearing platform, a 4, a first lifting stopping platform, a5, a second lifting stopping platform, a 6, a third lifting stopping platform, a 7, a fourth lifting stopping platform, a 8, a first expanding platform, a 9, a second expanding platform, a 10, a telescopic foot rest, a 11, a positioning device, a 12, a signal transceiver, a 13, a wind speed sensor, a 14, a motor, a 15, a rotor wing, a 16 and a flight mode selection switch.
Detailed Description
Example 1
A multifunctional flight platform with A, B-plane flight capability comprises an unmanned mother aircraft, wherein the unmanned mother aircraft comprises an aircraft 1 and an intelligent control system, an aircraft body of the aircraft 1 comprises an aircraft body A plane and an aircraft body B plane, the intelligent control system comprises a mode selection device, the mode selection device is arranged on the side face of the aircraft body of the aircraft 1, the mode selection device comprises a current positive-negative electrode converter and a flight mode selection switch 16 which are connected with each other, and the current positive-negative electrode converter is connected to a power system of the aircraft 1.
The specific implementation process of the embodiment is as follows:
The current anode-cathode converter of the mode selection device is connected with the power system of the aircraft 1, and the forward rotation and the reverse rotation of the power system of the aircraft 1 are controlled by changing the current direction, so that the aircraft 1 can take off in a mode of the machine body A surface or the machine body B surface, or fly in a mode of the machine body B surface or fly in a mode of the machine body A surface from the machine body B surface, thereby completing the requirements of different kinds of work tasks and achieving the requirements of all-dimensional, multi-angle and three-dimensional one-machine multipurpose use.
Example 2
On the basis of the embodiment 1, the method further comprises the following steps:
The intelligent control system further comprises a central control system and a monitoring device, wherein the mode selection device and the monitoring device are connected with the central control system, the monitoring device comprises a signal transceiver 12, a positioning device 11, a gyroscope, an acceleration sensor, a barometer and a wind speed sensor 13 which are respectively connected with the signal transceiver 12, the signal transceiver 12 is connected with the central control system, the positioning device 11 and the signal transceiver 12 are arranged on a plane arm of the aircraft 1, the gyroscope, the acceleration sensor and the barometer are arranged in a machine body of the aircraft 1, and the wind speed sensor 13 is arranged on the plane A of the machine body.
Example 3
On the basis of embodiment 2, further comprising:
And a remote control device, which is a hand-held remote control device, is connected with the signal transceiver 12.
Example 4
On the basis of embodiment 3, further comprising:
The machine body A is provided with a folding cover 2, a bearing platform 3 is arranged at the opening of the machine body A, a lifting stopping table is arranged in the bearing platform 3, a sub machine is arranged on the lifting stopping table, the machine body A is also provided with a first expansion platform 8, the first expansion platform 8 is provided with monitoring equipment, and the machine body B is also provided with a second expansion platform 9. The folding cover 2, the power system, the lifting stopping table, the first expansion platform 8 and the second expansion platform 9 are all connected with the central control system. Four corners of the aircraft 1 body are provided with telescopic foot rests 10. The power system is provided with motors 14, the number of the motors 14 is more than 1, and the motors 14 are rainproof motors 14 and are provided with rotary wings 15. The folding cover 2 is a two-section folding cover 2. The lifting stopping tables are provided with 4 lifting stopping tables, namely a first lifting stopping table 4, a second lifting stopping table 5, a third lifting stopping table 6 and a fourth lifting stopping table 7, and each lifting stopping table is provided with a sub-machine.
The specific implementation process of the embodiment is as follows:
The unmanned mother aircraft comprises an aircraft 1 and an intelligent control system, wherein the aircraft 1 is selected to take off in a machine body A surface or a machine body B surface mode through a flight mode selection switch 16 before flying according to task requirements, a current positive-negative electrode converter is connected with a power system of the aircraft 1, forward rotation and reverse rotation of the power system of the aircraft 1 are controlled through changing current directions, a gyroscope monitors the real-time placing gesture of the aircraft 1, and whether the gesture of the aircraft 1 accords with a preset mode is judged through a central control system. The remote control device sends a task instruction, the signal receiving and transmitting device receives the task instruction and then drives the rotor 15 to rotate through the central control system allocation motor 14, so that the aircraft 1 ascends and goes to a task area, then the positioning device 11, the gyroscope, the acceleration sensor and the barometer work cooperatively to monitor the position and the flight attitude of the aircraft 1 in real time, the real-time monitoring data are uploaded to the central control system, the central control system corrects navigation at any time and allocates the motor 14, and the aircraft 1 safely and efficiently reaches the task area.
1. Machine body A-plane flight mode
After the aircraft arrives at the mission area in the plane A flight mode, the wind speed sensor 13 monitors the external wind speed of the aircraft 1 in real time, the central control system judges whether the aerial lift operation of the sub aircraft is allowed to be completed or not, and the judging result is returned to the remote control device through the signal receiving and transmitting device, or the remote control device can send a mission command to the signal receiving and transmitting device to instruct the central control system whether to execute the aerial lift operation or not. After the aerial lifting operation is allowed, the central control system controls the folding cover 2 to be automatically opened, then the lifting stop table is controlled to be lifted to the outside of the machine belly to finish the release of the sub-machine, and then the central control system controls the lifting stop table to be lifted to the machine belly and closes the folding cover 2. The task flight central control system controls the first expansion platform 8 and the second expansion platform 9 to operate the carried equipment according to the preloaded task, and can also send task instructions to the signal transceiver 12 through the remote control device to hit the control system to finish the operation of the first expansion platform 8 and the second expansion platform 9;
After the task is completed, the sub-aircraft can automatically return to the area where the unmanned mother aircraft is located according to the task setting, at the moment, the monitoring device controls the aircraft 1 to hover in the air by the central control system after monitoring the real-time placement posture of the aircraft 1 in real time, the wind speed sensor 13 monitors the external wind speed and uploads the external wind speed to the central control system, the central control system judges whether to open the folding cover 2 to allow the sub-aircraft to land or not, the central control system controls the folding cover 2 to open during landing, and the central control system controls the lifting shutdown platform to retract after the lifting shutdown platform is lifted to complete the sub-aircraft recovery and simultaneously closes the folding cover 2 to complete the sub-aircraft recovery. When the air landing condition is not met, a command can be sent to the sub-machine through the remote control device to remotely control the sub-machine to automatically land.
2. Body B-plane flight mode
After the machine body B-side flight mode reaches the task area, the central control system controls the first expansion platform 8 and the second expansion platform 9 to operate carried equipment according to preset tasks, controls lifting equipment of the lifting stop platform or carries out goods throwing, and can also send task instruction commands to the signal transceiver 12 through the remote control device to complete control operations of the first expansion platform 8, the second expansion platform 9, the folding cover 2 and the bearing platform 3.
Claims (6)
1. A multifunctional flight platform with A, B-plane flight capability comprises an unmanned mother aircraft, wherein the unmanned mother aircraft comprises an aircraft (1) and an intelligent control system, and is characterized in that a machine body of the aircraft (1) comprises a machine body A plane and a machine body B plane, the intelligent control system comprises a mode selection device, the mode selection device is arranged on the side surface of the machine body of the aircraft (1), the mode selection device comprises a current positive-negative electrode converter and a flight mode selection switch (16) which are connected with each other, and the current positive-negative electrode converter is linked to a power system of the aircraft (1);
The intelligent control system further comprises a central control system and a monitoring device, wherein the mode selection device and the monitoring device are both connected with the central control system, the monitoring device comprises a signal transceiver (12) and a positioning device (11), a gyroscope, an acceleration sensor, a barometer and a wind speed sensor (13) which are respectively connected with the signal transceiver (12), the signal transceiver (12) is connected with the central control system, the positioning device (11) and the signal transceiver (12) are arranged on a horn of the aircraft (1), the gyroscope, the acceleration sensor and the barometer are arranged in a machine body of the aircraft (1), and the wind speed sensor (13) is arranged on the surface A of the machine body;
The remote control device is connected with the signal transceiver (12);
The machine body A is provided with a folding cover (2), a bearing platform (3) is arranged at an opening of a machine abdomen of the machine body A, a lifting stopping platform is arranged in the bearing platform (3), a sub machine is arranged on the lifting stopping platform, the machine body A is also provided with a first expansion platform (8), the first expansion platform (8) is provided with monitoring equipment, the machine body B is also provided with a second expansion platform (9), and the folding cover (2), a power system, the lifting stopping platform, the first expansion platform (8) and the second expansion platform (9) are all connected with a central control system;
wherein, organism A face flight mode is:
After the aircraft arrives at a mission area in a plane A flight mode, a wind speed sensor (13) monitors the external wind speed of the aircraft (1) in real time, a central control system judges whether to allow the completion of the aerial lift operation of the sub aircraft, and returns a judging result to a remote control device through a signal transceiver (12), or sends a mission command to the signal transceiver (12) through the remote control device to instruct the central control system whether to execute the aerial lift operation;
After the task is completed, the sub-aircraft can automatically return to the area where the unmanned mother aircraft is located according to the task setting, at the moment, the monitoring device controls the aircraft (1) to hover in the air by the central control system after monitoring the real-time placement posture of the aircraft (1), the wind speed sensor (13) monitors the external wind speed and uploads the external wind speed to the central control system, the central control system judges whether to open the folding cover (2) to allow the sub-aircraft to land or not, and the central control system controls the folding cover (2) to open during landing, and controls the lifting shutdown platform to retract after the lifting shutdown platform is lifted to complete the sub-aircraft recovery, and meanwhile, the folding cover (2) is closed to complete the sub-aircraft recovery;
the flight mode of the machine body B surface is as follows:
After the machine body B-surface flight mode reaches the task area, the central control system controls the first expansion platform (8) and the second expansion platform (9) to operate carried equipment according to preset tasks, and controls lifting equipment of a lifting stop platform or goods delivery, or sends task instruction commands to the signal transceiver (12) through the remote control device, and the central control system completes control operation on the first expansion platform (8), the second expansion platform (9), the folding cover (2) and the bearing platform (3).
2. The multifunctional flying platform with A, B-plane flying capability according to claim 1 is characterized in that telescopic foot frames (10) are arranged at four corners of the body of the aircraft (1).
3. The multifunctional flying platform with A, B-plane flying capability according to claim 2, wherein the power system is a motor (14), the number of the motors (14) is more than 1, and the motors (14) are rainproof motors (14) and are provided with rotary wings (15).
4. The multifunctional flying platform with A, B-plane flying capability according to claim 3, wherein the folding cover (2) is a two-section folding cover (2).
5. The multi-purpose flying platform with A, B th flight capability of claim 4 wherein there are 4 lift and stop stations, one sub-station for each lift and stop station.
6. A control method of the multifunctional mother unmanned aerial vehicle with A, B-plane flight capability is characterized by using the multifunctional flight platform with A, B-plane flight capability according to the claim 1, and concretely comprises the following steps of selecting to fly in a plane A or plane B mode of a machine body according to task requirements before flying through a flight mode selection switch (16), and controlling a current positive-negative converter through the flight mode selection switch (16) to further control forward rotation or reverse rotation of a power system when changing the flight mode.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310070269.6A CN116300995B (en) | 2023-02-07 | 2023-02-07 | Multifunctional flying platform with A-plane and B-plane flying capabilities and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310070269.6A CN116300995B (en) | 2023-02-07 | 2023-02-07 | Multifunctional flying platform with A-plane and B-plane flying capabilities and control method |
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| Publication Number | Publication Date |
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| CN116300995A CN116300995A (en) | 2023-06-23 |
| CN116300995B true CN116300995B (en) | 2024-12-10 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112389640A (en) * | 2020-11-27 | 2021-02-23 | 东莞火萤科技有限公司 | Unmanned aerial vehicle control system that stalls |
| CN113386962A (en) * | 2021-07-13 | 2021-09-14 | 北京航空航天大学 | Primary and secondary formula unmanned aerial vehicle system that can release recovery in air |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020095288A1 (en) * | 2018-11-05 | 2020-05-14 | Yoav Netzer | Aircraft rotor protection |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112389640A (en) * | 2020-11-27 | 2021-02-23 | 东莞火萤科技有限公司 | Unmanned aerial vehicle control system that stalls |
| CN113386962A (en) * | 2021-07-13 | 2021-09-14 | 北京航空航天大学 | Primary and secondary formula unmanned aerial vehicle system that can release recovery in air |
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