阅读说明：本技术 自动收放机翼、无人机及其控制方法 (Automatic deploying and retracting wing, unmanned plane and its control method ) 是由 黄黎明 张焱 于 2019-08-21 设计创作，主要内容包括：本申请实施例提供一种自动收放机翼,涉及飞行技术领域,该自动收放机翼包括机翼支架、驱动装置、丝杆和机翼滑片组,该机翼支架包括顶端平台和底端,该底端固定在该飞行器的上表面,该驱动装置安装在该机翼支架上,该丝杆与该驱动装置轴线锁附,该机翼滑片组包括多个机翼滑片,该多个机翼滑片上下叠加覆盖在该顶端平台的上表面,各该机翼滑片之间具有预设距离,各该机翼滑片与该丝杆轴线连接,与所述丝杆平行联动。本申请还提供了一种无人机及其控制方法,上述自动收放机翼、无人机及其控制方法可以减小无人机上升阻力,降低功耗。(The embodiment of the present application provides a kind of automatic deploying and retracting wing, it is related to airmanship field, the automatic deploying and retracting wing includes wing frame, driving device, screw rod and wing slide plate group, the wing frame includes tip platform and bottom end, the bottom end is fixed on the upper surface of the aircraft, the driving device is mounted on the wing frame, the screw rod is locked with the driving device axis, the wing slide plate group includes multiple wing slide plates, multiple wing slide plate is superimposed the upper surface for being covered on the tip platform up and down, respectively there is between the wing slide plate pre-determined distance, respectively the wing slide plate is connect with the screw rod axis, it is parallel with the screw rod to link.Present invention also provides a kind of unmanned plane and its control method, above-mentioned automatic deploying and retracting wing, unmanned plane and its control method can reduce unmanned plane and rise resistance, reduce power consumption.)

1. a kind of automatic deploying and retracting wing is used for aircraft characterized by comprising

Wing frame, driving device, screw rod and wing slide plate group；

The wing frame includes tip platform and bottom end, and the bottom end is fixed on the upper surface of the aircraft；

The driving device is mounted on the wing frame, and the screw rod is locked with the driving device axis；

The wing slide plate group includes multiple wing slide plates, and the multiple wing slide plate is superimposed is covered on the tip platform up and down Upper surface, there is pre-determined distance, each wing slide plate is connect with the screw rod axis, with institute between each wing slide plate Screw rod is stated to link in parallel.

2. the wing of automatic deploying and retracting as described in claim 1, which is characterized in that among the lower surface of each wing slide plate Position is provided with screw hole, and there is screw thread on the surface of the screw rod, and one end of the screw rod is locked with the driving device, the other end according to It is secondary to pass through each screw hole, under the driving of the driving device, drive each screw hole parallel motion.

3. the wing of automatic deploying and retracting as claimed in claim 1 or 2, which is characterized in that the top flat of the wing frame A sliding slot is provided among the upper surface of platform, the lower surface of each wing slide plate is provided with the fixed device of protrusion, described prominent It plays fixed device and is embedded in the sliding slot, be slidably connected with the sliding slot.

4. the wing of automatic deploying and retracting as claimed in claim 3, which is characterized in that the tip platform of the wing frame Upper surface is additionally provided with a plurality of sliding slot in the other positions in addition to centre.

5. the wing of automatic deploying and retracting as claimed in claim 4, which is characterized in that the both ends of each wing slide plate are provided with card Button, the neighbouring wing slide plate of every two panels are slidably connected after being fastened by buckle.

6. the wing of automatic deploying and retracting as claimed in claim 5, which is characterized in that further include protective shell；

The protective shell is set to the lower surface of the tip platform, position corresponding with the screw rod have it is outwardly protruding, The screw rod is accommodated in the protrusion.

7. a kind of unmanned plane, which is characterized in that described including automatic deploying and retracting wing such as described in any one of claims 1 to 6 Automatic deploying and retracting wing is mounted on the upper surface of the unmanned plane.

8. a kind of unmanned aerial vehicle (UAV) control method, which is characterized in that the unmanned plane includes as described in any one of claims 1 to 6 Automatic deploying and retracting wing, which comprises

Before the unmanned plane takes off or in take-off process, the driving device receives the first control that flight console is sent Instruction controls each wing slide plate and shrinks to the tip platform direction of the wing frame；

When the unmanned plane enters mission phase, the driving device receives the second control that the flight console is sent and refers to It enables, controls each wing slide plate and be all unfolded.

9. method according to claim 8, which is characterized in that the unmanned plane further includes control chip and is electrically connected at The positioning device of the control chip, first control instruction and second control that the flight console is sent refer to Enable, be transmitted to the driving device via the control chip, then the method also includes:

After powering on, the control chip monitors the distance change on the unmanned plane and ground by the positioning device；

After receiving the lift-off instruction that the flight console is sent, if the control chip is more than that the first preset duration does not have First control instruction that the flight console is sent is received, then the control chip is to driving device transmission the Three control instructions, so that the driving device controls each wing slide plate to the wing according to the third control instruction It shrinks in the tip platform direction of bracket；

When by the positioning device to monitor that the unmanned plane is persistently greater than at a distance from the ground pre- for the control chip If the time of distance is more than the second preset duration, if the control chip is not received by the institute that the flight console is sent The second control instruction is stated, then the control chip sends the 4th control instruction to the driving device, so that the driving fills It sets and is all unfolded according to each wing slide plate of the 4th control instruction control.

10. method as claimed in claim 9, which is characterized in that the positioning device is satellite positioning device, alternatively, at least One is arranged in the range sensor of the uav bottom；

When the quantity of the range sensor is greater than 1, the control chip takes the distance value of each range sensor acquisition Mean value, as the unmanned plane at a distance from the ground.

Technical field

This application involves vehicle technology field more particularly to a kind of automatic deploying and retracting wings, unmanned plane and its control method.

Background technique

Traditional increased aircraft wing of more gyroplanes is typically all integral type, in the more rotations for being placed on VTOL Above wing unmanned plane, both unsightly, the resistance of air in rising also greatly is increased, also affect the mobility of aircraft and resisted Wind energy power, and due to consuming many kinetic energy to cause the waste of the energy in rising.

Summary of the invention

The embodiment of the present application provides a kind of automatic deploying and retracting wing, unmanned plane and its control method, can pull machine by screw rod The folding and unfolding of wing slip piece group solves the problems, such as that integrated wing unsightly and excessively consumes energy.

The embodiment of the present application provides a kind of automatic deploying and retracting wing, comprising:

Wing frame, driving device, screw rod and wing slide plate group；

The wing frame includes tip platform and bottom end, and the bottom end is fixed on the upper surface of the aircraft；

The driving device is mounted on the wing frame, and the screw rod is locked with the driving device axis；

The wing slide plate group includes multiple wing slide plates, and the multiple wing slide plate is superimposed is covered on the top up and down The upper surface of platform has pre-determined distance between each wing slide plate, and each wing slide plate is connect with the screw rod axis, It is parallel with the screw rod to link.

The embodiment of the present application also provides a kind of unmanned planes, are equipped with above-mentioned automatic deploying and retracting wing.

The embodiment of the present application also provides a kind of unmanned aerial vehicle (UAV) control method, the unmanned plane is equipped with above-mentioned automatic deploying and retracting machine The wing, which comprises

Before the unmanned plane takes off or in take-off process, the driving device receives first that flight console is sent Control instruction controls each wing slide plate and shrinks to the tip platform direction of the wing frame；

When the unmanned plane enters mission phase, the driving device receives the second control that the flight console is sent System instruction controls each wing slide plate and is all unfolded.

In above-described embodiment, wing includes wing frame, driving device, screw rod and wing slide plate group, and the wing frame is solid It is scheduled on the upper surface of aircraft, driving device is mounted on wing frame, and screw rod is locked with driving device axis, and multiple wings are sliding Piece is superimposed the upper surface for being covered on tip platform up and down, and has pre-determined distance between each wing slide plate, does not interfere wing slide plate Between opposite sliding, each wing slide plate is parallel with screw rod to link, under the drive of the drive, screw rod rotation, drive screw hole Mobile, so that each wing slide plate be driven to link along the direction perpendicular to screw rod, contraction or expansion wing be can reduce on aircraft Resistance is risen, lowers energy consumption, and reduce influence of the aerial beam wind to aircraft, so that aircraft controls posture more during in the sky Add flexibly, flight endurance is effectively improved after expansion wing.

Detailed description of the invention

Fig. 1 is the sectional view for the automatic deploying and retracting wing that one embodiment of the application provides；

Fig. 2 is the sectional view for the automatic deploying and retracting wing that one embodiment of the application provides；

Fig. 3 is that the automatic deploying and retracting wing that one embodiment of the application provides is mounted on carry-on schematic diagram；

Fig. 4 is the part isometric structure chart for the automatic deploying and retracting wing that one embodiment of the application provides；

Fig. 5 is the part-structure enlarged diagram of Fig. 4；

Fig. 6 is the perspective view for the automatic deploying and retracting wing that another embodiment of the application provides；

Fig. 7 is the implementation flow chart of unmanned aerial vehicle (UAV) control method provided by the embodiments of the present application.

Specific embodiment

To enable present invention purpose, feature, advantage more obvious and understandable, below in conjunction with the application Attached drawing in embodiment, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described reality Applying example is only some embodiments of the present application, and not all embodiments.Based on the embodiment in the application, those skilled in the art Member's every other embodiment obtained without making creative work, shall fall in the protection scope of this application.

Referring to FIG. 1 to FIG. 6, Fig. 1 is the sectional view for the automatic deploying and retracting wing that one embodiment of the application provides；Fig. 2 is this Shen Please an embodiment provide automatic deploying and retracting wing sectional view；Fig. 3 is the automatic deploying and retracting wing peace that one embodiment of the application provides Mounted in carry-on schematic diagram；Fig. 4 is the part isometric structure chart for the automatic deploying and retracting wing that one embodiment of the application provides；Figure 5 be the part-structure enlarged diagram of Fig. 4；Fig. 6 is the perspective view for the automatic deploying and retracting wing that one embodiment of the application provides.This reality The aircraft that the wing in example is suitable for various VTOL is applied, multi-rotor unmanned aerial vehicle is particularly suitable for.The automatic deploying and retracting wing Include:

Wing frame 10, driving device 20, screw rod 30 and wing slide plate group 40.

Wing frame 10 includes tip platform 11 and bottom end 12, i.e. the top of wing frame 10 is a platform, and bottom end 11 is solid It is scheduled on the upper surface of aircraft 50.

Driving device 20 is specially steering engine or motor, is mounted on wing frame 10, specific mountable on 11 bottom ends and top The junction at end 12.

Screw rod 30 is locked with 20 axis of driving device, and when driving device 20 rotates, screw rod 30 and driving device 20 are coaxial Rotation.Screw rod 30 is specially screw rod, and there is screw thread in outer surface.

Wing slide plate group 40 includes multiple wing slide plates, and the diagram in the present embodiment is practical by taking 3 wing slide plates as an example The wing slide plate of other quantity can be set according to the size and power demand of aircraft, wing and wing slide plate.

Multiple wing slide plates are superimposed are covered on the upper surface of tip platform 11 up and down, have between each wing slide plate it is default away from From so that not contacted between each wing, convenient for sliding independently of one another.Each wing slide plate is parallel with screw rod 30 to link.As shown, Wing slide plate group 40 includes the first wing slide plate 41 for being located at the top, is located in the middle the second wing slide plate 42 and is located at most lower The third wing slide plate 43 of side.

Further, the lower surface middle position of each wing slide plate is provided with screw hole, the screw thread with 30 surface of screw rod Match.One section of screw rod 30 and the drive shaft of driving device 10 lock, and the other end sequentially passes through the screw hole under each wing slide plate, As shown, the screw hole 61 of 41 lower surface of the first wing slide plate is initially passed through, 62 He of screw hole being then passed through under the second wing slide plate 42 Screw hole 63 under third wing slide plate 43.Under the driving of driving device 20, each screw hole parallel motion is driven, to drive each machine Wing slip piece parallel motion, i.e., each wing slide plate are connect with 30 axis of screw rod, parallel to link.

Further, the lower surface of the tip platform 11 of wing frame 10 is provided with shell 60, and shell 60 is fixed on top The lower surface of platform 11, the part in the downside for being located at screw rod 30 is outwardly protruding, and screw rod 30 is accommodated in protrusion, screw rod 30 is surrounded Wherein, screw rod 30 is protected not scratched.

Further, a sliding slot 13 is provided among the upper surface of the tip platform 11 of wing frame 10, each wing is sliding The lower surface of piece is provided with the fixed device 14 of protrusion, and the fixed device 14 of protrusion is embedded in sliding slot 13, is slidably connected with sliding slot 13, i.e., prominent After playing the fixed insertion of device 14 sliding slot 13, the fixed device 14 of protrusion needs plus-pressure that can be embedded in sliding slot 13, therefore can be in cunning It slides and does not deviate from slot 13, thus therefore wing slide plate also can slide in sliding slot 13 and not deviate from, contraction can be improved With the stationarity of expansion.

Further, in addition to the centre of 11 upper surface of tip platform, the other positions of 11 upper surface of tip platform are also provided with There is a plurality of sliding slot, specifically, as shown in fig. 6, the both ends of 11 upper surface of tip platform are also equipped with sliding slot 13, with centre setting Sliding slot 13 it is structurally and functionally identical.Further increase the stationarity of contraction and expansion.

Further, the both ends of each wing slide plate are provided with buckle 70, and the adjacent wing slide plate of every two panels passes through buckle 70 It is slidably connected after fastening, as shown in figure 3, the lower surface at the both ends per a piece of wing slide plate is provided with buckle 70, by current airfoils Slide plate fastens with adjacent wing slide plate, and the sliding that two-chip computer wing slip piece can be relatively smooth after fastening.Both it improved Structural stability between wing slide plate, and do not influence to shrink and expansion wing slide plate.

Wing is shunk and the principle of expansion: before aircraft takeoff or in take-off process, flight console passes through transmission Electric signal is rotated to driving device, i.e. motor or steering engine, the drive shaft of order-driven device, screw rod and drive shaft synchronous rotary, The screw hole of the screw thread of screw rod outer surface and each wing slide plate acts on, so that each wing slide plate is with shrinking direction of rotation, to wing The tip platform direction of bracket is shunk, until shrinking completely.It can reduce the rising resistance of aircraft, lower energy consumption, subtract Influence of the small aerial beam wind to aircraft, it is more flexible that aircraft controls posture in the sky.When aircraft enters mission phase, fly Row console sends electric signal to driving device, and the drive shaft opposite direction of order-driven device rotates, screw rod also opposite direction therewith Rotation, wing slide plate is all taken down the exhibits out.Effectively improve aircraft endurance.

In this implementation, wing includes that wing frame, driving device, screw rod and wing slide plate group, the wing frame are fixed on The upper surface of aircraft, driving device are mounted on wing frame, and screw rod is locked with driving device axis, on multiple wing slide plates It is lower to be superimposed the upper surface for being covered on tip platform, and there is pre-determined distance between each wing slide plate, it does not interfere between wing slide plate Opposite sliding, each wing slide plate is parallel with screw rod to link, and under the drive of the drive, screw rod rotation drives screw hole movement, To drive each wing slide plate to link along the direction perpendicular to screw rod, contraction or expansion wing can reduce aircraft and rise resistance Power lowers energy consumption, and reduces influence of the aerial beam wind to aircraft, so that control posture is cleverer in the process in the sky for aircraft It is living, flight endurance is effectively improved after expansion wing.

Present invention also provides a kind of unmanned plane, the upper surface of the unmanned plane is equipped with automatic receipts described in above-described embodiment Put wing.

The unmanned plane reduces when taking off rises resistance, lowers energy consumption, and can reduce the influence of aerial beam wind, the aircraft Control posture is more flexible during in the sky, and flight endurance is effectively improved after expansion wing.

It is the implementation flow chart of unmanned aerial vehicle (UAV) control method provided by the embodiments of the present application referring to Fig. 7.Nobody in this method It is equipped on machine such as the automatic deploying and retracting wing in above-mentioned Fig. 1 embodiment as shown in Figure 6.Preferably, automatic deploying and retracting wing is mountable In the upper surface of the unmanned plane.Optionally, the automatic deploying and retracting wing also mountable bottom in the unmanned plane.This method mainly includes Following steps:

S701, before unmanned plane takes off or in take-off process, driving device receive flight console send first control System instruction controls each wing slide plate and shrinks to the tip platform direction of wing frame；

S702, when unmanned plane enters mission phase, driving device receive flight console send the second control instruction, Each wing slide plate is controlled all to be unfolded.

Specifically, flight console can be ground control cabinet, alternatively, independently of the remote control device of unmanned plane, alternatively, matching Set the control system inside unmanned plane.Above-mentioned driving device for example can be motor or steering engine.

First control instruction and the second control instruction can by flight console according to user in ground control cabinet or distant Control the operation triggering that the operation interface of the offer of device carries out.Alternatively, the first control instruction and the second control instruction can also be by Flight console is according to the state of flight automatic trigger of unmanned plane.

In the first control instruction and the second control instruction by flight console according to the state of flight automatic trigger of unmanned plane Scene under, flight console is obtained in real time or periodically using winged control devices such as control chip, each sensors configured on unmanned plane The Flight Condition Data of unmanned plane is taken, and determines the state of flight of unmanned plane according to the Flight Condition Data of acquisition.When determining nothing When state in man-machine before take off (i.e. unmanned plane is in the stationary state after powering on) or take-off process, flight console Automatic trigger sends the first control instruction to driving device, is rotated with the drive shaft of order-driven device, screw rod is same with drive shaft The screw hole of step rotation, the screw thread of screw rod outer surface and each wing slide plate acts on, so that each wing slide plate is with shrinking direction of rotation, It shrinks to the tip platform direction of wing frame, until shrinking completely, so as to reduce the rising resistance of unmanned plane, subtracts Low energy consumption reduces influence of the aerial beam wind to unmanned plane, and it is more flexible that unmanned plane controls posture in the sky.When determine unmanned plane into Enter mission phase, when state when in mission phase, flight console automatic trigger sends the second control instruction and gives driving dress It sets, is rotated with the drive shaft opposite direction of order-driven device, also opposite direction rotates screw rod therewith, wing slide plate is all unfolded, To effectively improve unmanned plane endurance.

It should be understood that each sensor configured on unmanned plane can be, but not limited to include: acceleration transducer, magnetic sensing Device, obliquity sensor, current sensor, engine intake airflow sensor, Inertial Measurement Unit and baroceptor etc..

It should be understood that when flight console be ground control cabinet or remote controler when, unmanned plane in real time or regular utilization Flight Condition Data is sent to by internal or external radiofrequency signal R-T unit according to the request of flight console or automatically Flight console.

Optionally, in other embodiments of the application, unmanned plane further includes control chip and is electrically connected at control The positioning device of coremaking piece, the first control instruction and the second control instruction that flight console is sent, via control chip forwarding To driving device, then method further include:

After powering on, control chip monitors the distance change of unmanned plane and ground by positioning device；

After receiving the lift-off instruction of flight console transmission, if control chip is more than that the first preset duration does not receive The first control instruction sent to flight console then controls chip to driving device and sends third control instruction, so that driving Dynamic device controls each wing slide plate according to third control instruction and shrinks to the tip platform direction of wing frame；

When control chip monitors that unmanned plane is persistently greater than the time of pre-determined distance at a distance from ground by positioning device When more than the second preset duration, if control chip is not received by the second control instruction of flight console transmission, core is controlled Piece sends the 4th control instruction to driving device, so that driving device controls each wing slide plate whole according to the 4th control instruction Expansion.

It like this, can be in the control for being not received by the transmission of flight console by utilizing time control and distance controlling System instruction when, automatic trigger control wing pack up and be unfolded according to the state of flight of unmanned plane, thus improve wing control and When property and degree of intelligence.

Further, when control chip monitors unmanned plane at a distance from ground continuously less than default receipts by positioning device Rise distance time be more than third preset duration when, or detect unmanned plane landing when, to driving device send the 5th control Instruction is received so that driving device controls each wing slide plate according to the 5th control instruction to the tip platform direction of wing frame Contracting.

Optionally, in other embodiments of the application, above-mentioned positioning device is satellite positioning device, alternatively, at least One is arranged in the range sensor of uav bottom.Wherein satellite positioning device can be, but not limited to include: to utilize the whole world GPS The device that the satellites such as positioning system or big-dipper satellite are positioned.Range sensor for example can be infrared sensor, ultrasound Wave distance measuring sensor, laser range sensor, radar sensor etc..When range sensor is multiple, can be evenly distributed in The bottom of unmanned plane.

Further, when the quantity of range sensor is greater than 1, control chip takes the distance value of each range sensor acquisition Mean value, as unmanned plane at a distance from ground.In such a way that multiple range sensors are averaged, can be improved away from Accuracy from measurement.

Optionally, in practical applications, control chip, positioning device, sensor etc. involved in above-mentioned the present embodiment nobody The internal structure of machine can be linked together by CAN bus, alternatively, can also according to actual needs, according to it is existing other Connection type links together.Wherein, to reduce cost, above-mentioned control chip can be the control in the control system of unmanned plane Chip；Alternatively, above-mentioned control chip be also possible to independently of unmanned plane control system other be exclusively used in empennage control control Coremaking piece avoids control chip in control system from breaking down or shadow because load is excessive to improve the efficiency of empennage control Ring the flight control of unmanned plane.

In this implementation, by utilizing above-mentioned automatic deploying and retracting wing, before unmanned plane takes off, take off in and in-flight each A stage controls contraction or the expansion wing of the automatic deploying and retracting wing, can reduce aircraft and rises resistance, lowers energy consumption, and Reduce influence of the aerial beam wind to aircraft, so that control posture is more flexible in the process in the sky for aircraft, after expansion wing Effectively improve flight endurance.

The above are the descriptions to automatic deploying and retracting wing provided herein, unmanned plane and its control method, for ability The technical staff in domain, according to the thought of the embodiment of the present application, there will be changes in the specific implementation manner and application range, To sum up, the contents of this specification should not be construed as limiting the present application.