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Emergency operation method for composite wing unmanned aerial vehicle

An unmanned aerial vehicle and composite wing technology, applied in the field of aircraft control, can solve problems such as large forced landing losses, difficulty in quantifying flight speed, altitude and multi-rotor voltage, and inability to reasonably select fixed-wing mode emergency remote control, etc. The effect of improving the success rate

Active Publication Date: 2016-11-23
成都纵横大鹏无人机科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of the above-mentioned prior art, when the emergency operation is manually taken over, it is difficult for the operator to quantify important states such as flight speed, altitude and multi-rotor voltage while visually viewing the compound-wing UAV, and it is even more difficult to reasonably choose the fixed-wing mode or the multi-rotor mode. Emergency remote control results in a low success rate of manual emergency operations of compound wing UAVs and a large loss of forced landing, and realizes full-state and fully autonomous route flight of compound wing UAVs

Method used

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  • Emergency operation method for composite wing unmanned aerial vehicle

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Effect test

Embodiment 1

[0028] It is used for the landing control of the compound wing UAV, and is used for the landing control of the compound wing UAV. The emergency operation method is to determine the distance between the compound wing UAV and the ground controller when the compound wing UAV needs to land. , when the above distance exceeds the remote control distance, the composite wing UAV uses its autopilot to complete automatic landing;

[0029] When the above distance is within the remote control distance, the ground controller sends a control mode command to the composite wing UAV, and the control mode command is any one of automatic emergency control and manual emergency control;

[0030] The automatic emergency control is: the compound wing UAV uses the autopilot on it to complete automatic landing;

[0031] The manual emergency control is: the composite wing UAV uses the landing control command sent by the ground controller to complete the manual landing.

[0032] Specifically, the dista...

Embodiment 2

[0035] This embodiment is further limited on the basis of Embodiment 1. When the compound-wing UAV receives the control mode instruction of manual emergency control, the following operations are performed: obtaining the flight speed of the compound-wing UAV, obtaining the The charge of the battery powering the vertical propeller;

[0036]When the flight speed of the compound-wing UAV is greater than the controllable maximum speed of the multi-rotor or the power of the battery is less than the work required to land on the ground according to the preset maximum sinking rate, use the ground controller to switch the compound-wing UAV to fixed-wing flight mode; otherwise, use the ground controller to switch the compound wing UAV to multi-rotor flight mode.

[0037] The maximum controllable speed of the multi-rotor is 0.85 to 0.95 times of the lower value of the stall speed of the fixed wing and the stall speed of the multi-rotor propeller.

[0038] When the flight speed of the com...

Embodiment 3

[0041] This embodiment further defines this case on the basis of any one of the technical solutions provided by any one of the above embodiments: in order to provide a basis for manual emergency control, at the same time conduct human-computer interaction through vision and / or hearing, and avoid single visual interaction As a result, the operator is distracted. When the compound-wing UAV needs to land, the compound-wing UAV sends one or more of the following information to the ground controller: flight speed, altitude, battery voltage, and level flight propeller speed , vertical propeller speed; and after the ground controller receives the information, it outputs to the operator through images and / or voice.

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Abstract

The invention discloses an emergency operation method for a composite wing unmanned aerial vehicle used for controlling landing of the composite wing unmanned aerial vehicle. The emergency operation method comprises the steps that: when the composite wing unmanned aerial vehicle needs to land, a distance of the composite wing unmanned aerial vehicle and a ground controller is judged, when the distance exceeds a remote control distance, the composite wing unmanned aerial vehicle finishes automatic landing by using an autopilot on the composite wing unmanned aerial vehicle; when the distance is within the remote control distance, the ground controller sends a control mode instruction to the composite wing unmanned aerial vehicle, and the control mode instruction is any one of automatic emergency control and hand-operated emergency control. The automatic emergency control is that the composite wing unmanned aerial vehicle finishes the automatic landing by using the autopilot on the composite wing unmanned aerial vehicle, and the hand-operated emergency control is that the composite wing unmanned aerial vehicle finishes hand-operated landing by using the landing control instruction sent by the ground controller. The composite wing unmanned aerial vehicle can effectively improve the success rate of the composite wing unmanned aerial vehicle forced landing.

Description

technical field [0001] The invention relates to the technical field of aircraft control, in particular to an emergency control method for a compound-wing unmanned aerial vehicle. Background technique [0002] The composite wing vertical take-off and landing UAV takes into account the high-speed flight capability and long-lasting capability of the fixed-wing UAV and the vertical take-off and landing capability of the multi-rotor UAV. scope of application. [0003] Compared with existing fixed-wing or rotary-wing UAVs, compound-wing UAVs cover the flight speed range from hovering to the boundary of fixed-wing dynamic performance. The source of power and control torque is not unique throughout the flight process. The vertical multi-rotor in the low-speed state provides power and control torque, the horizontal engine in the high-speed state provides power, and the aerodynamic rudder surface provides the control torque. The above mechanical characteristics make the emergency op...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 王陈王进刘述超
Owner 成都纵横大鹏无人机科技有限公司
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