MODEL AIRPLANE

Abstract

The invention involves in a control system for a model airplane, in particular, a kind of model airplane whose flight posture can be automatically controlled in real time according to the flight data determined through detection devices and air pressure sensors.

Claims

1. A method for controlling a model airplane comprising: (a) the model airplane comprising a fuselage, an engine, and flight control means comprising wings and control flaps and optionally engine speed; (b) structural flight control means comprising mechanical sections and connections to control engine speed or variable positions of flight control means to result in taking off, stable flight and landing of the model airplane; (c) a control device comprising a processing device operating under a control program, where operation of the control program causes structural flight control means to effect flight control changes for the model airplane by changes in the flight control means; (d) a wireless remote controller is operated by a user to transmit wireless flight control signals received by the processing device to cause the control program to maintain or change flight control means for take off, flight and landing; (e) periodically sensing of a current altitude of the model airplane by way of an altitude sensor and transmitting the current altitude to the processing device, where the current altitude is compared to a stored control altitude value; and (f) a protection mode of the control program operates if the current altitude is control signals from causing travel or operation of flight control means to exceed predetermined limits.

2. The method of claim 1 wherein a first control altitude is less than a second control altitude, where the two are values stored in the processing device.

3. The method of claim 2 wherein a first condition of the protection mode operates to restrict maximum travel ranges of flight control means from a ground level to when the current altitude is less than or equal to the first control altitude.

4. The method of claim 3 wherein a second condition of the protection mode operates to restrict maximum travel ranges of flight control means from the current altitude is greater than the first control altitude to when the current altitude is less than or equal to a third control altitude.

5. The method of claim 5 wherein a second condition of the protection mode operates to restrict maximum travel ranges of flight control means from the current altitude is greater than the second control altitude.

6. The method of claim 3 wherein flight control means are restricted in travel so that a pitch angle is greater than 0 degrees.

7. The method of claim 6 wherein flight control means are restricted in travel so that a roll angle is restricted to between 20 degrees to +20 degrees.

8. The method of claim 7 wherein flight control means are restricted in travel so that a descent speed is less than or equal to 1 m/s.

9. The method of claim 4 wherein flight control means are restricted in travel so that in the second condition a pitch angle is greater than 10 degrees.

10. The method of claim 6 wherein flight control means are restricted in travel so that a roll angle is restricted to between 45 degrees to +45 degrees.

11. The method of claim 7 wherein flight control means are restricted in travel so that a descent speed is less than or equal to 3 m/s.

12. The method of claim 5 wherein flight control means are restricted in travel so that in the second condition a pitch angle is greater than 30 degrees.

13. The method of claim 2 wherein the first control altitude is 10 meters.

14. The method of claim 4 wherein the second control altitude is 30 meters.

15. The method of claim 1 wherein the control device comprises a detection device that detects three-axis angle of angular acceleration and transmits it to the processing device for calculation of real time calculation of angular acceleration of the model airplane, which thereafter results in reduction, maintenance or increase in the angular acceleration of the model airplane to maintain it in a predetermined range of angular acceleration.

16. The method of claim 1 wherein the control device comprises a detection device that detects three-axis angle of gravity acceleration and transmits it to the processing device for calculation of real time calculation of gravity acceleration of the model airplane, which thereafter results in reduction, maintenance or increase in the gravity acceleration of the model airplane to maintain it in a predetermined range of gravity acceleration.

17. The method of claim 1 wherein the control device comprises a magnetic field sensor for detecting a magnetic field direction of the model airplane and transmitting it to the processing device for calculation of real time magnetic direction of travel of the model airplane, which thereafter results in maintenance of or correction in course of the model airplane to maintain it in a predetermined range of magnetic directions.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0045] FIG. 1 is a block diagram of the general operation system of the invention model airplane.

DETAILED DESCRIPTION OF THE INVENTION

[0046] Examples of the invention are provided with reference to the FIGURES in the following, and used to explain the technical solutions for the invention in detail

Example 1

[0047] As shown in FIG. 1, the model airplane in this example contains a detection device 1 which is in the gravity center of the model airplane, an air pressure sensor 2 which is on the belly of the model airplane, processing device 3 and control device 4. The detection device 1 is in the gravity center position, which can detect the flight posture, course data and other various flight data for the model airplane more accurately. Thereinto, the detection device 1 includes an acceleration sensor with three-axis angle 11, gravity sensor 12 and magnetic field sensor 13. The acceleration sensor with three-axis angle 11 can detect the angular acceleration of the model airplane in real time, and send angular acceleration to the processing device 3. Further, the processing device 3 can, based on the angular acceleration, work out the rotation angle of the model airplane in the direction of each coordinate axis; the gravity sensor 12 can timely detect gravity acceleration with three-axis of the model airplane, and send the gravity acceleration with three-axis to the processing device 3. Further, the processing device 3 can, based on the gravity acceleration with three-axis, work out the gravity information of the model airplane in real time; the magnetic field sensor 13 can detect the magnetic direction of the model airplane in real time, and transmit magnetic direction to processing device 3; the processing device 3 can, based on the magnetic direction, work out the nose direction of the model airplane. And then the processing device 3 can gain the real-time flight posture and course data of the model airplane by calculation.

[0048] Meanwhile, air pressure of the model airplane can be detected with the air pressure sensor 2 in real time, and all air pressure can be transmitted to the processing device 3. Further, the processing device 3 can, based on the air pressure, work out the flight altitude of the model airplane. Specifically, relative flight altitude of the model airplane is calculated through the comparison between the present air pressure and air pressure when the model airplane exactly takes off detected by the air pressure sensor 2.

[0049] The control device 4 is used to calculate flight altitude of model airplane by air pressure, compare with an altitude value, and make the model airplane enter a protection mode while the flight altitude is smaller or equal to the altitude value through detection. The purpose of the protection mode is to control the flight posture of the model airplane and make it keep flying.

[0050] Then, the processing device 3 will send the calculated flight information, the course data and the flight altitude to the control device 4. The control device 4 transmits the control signal to the model airplane based on the different flight information, different course data and different flight altitudes with the control condition of users, so as to control and adjust automatically the flight posture of the model airplane in real time. Further, it can prevent the model airplane from crashing and ensure the flight safety of the model airplane.

[0051] The detailed functions of the acceleration sensor with three-axis angle 11, gravity sensor 12 and magnetic field sensor 13 above can be achieved by a highly-integrated sensor with nine-shaft, or three separate single sensor with three-shaft. Therefore, the detection device 1 can be a sensor with nine-shaft in detailed implementation.

[0052] In the example, the control signal can control the control surface of the model airplane, so as to control horizontal takeoff and horizontal landing of the model airplane. Specifically, the detection device 1 uses the acceleration sensor with three-axis angle 11 to detect the angular acceleration of the model airplane in real time when the model airplane takes off. While, the throwing time and direction of model airplane can be obtained through the calculation of angular acceleration by handing device 3. And the flight posture and others of the model airplane can be detected with the detection device 1.

[0053] Then, the control signal transmitted the control device 4 can control the relative control surface and power of the model airplane. The model airplane is laid flatly, and the nose can keep certain angles and take off placidly. Equally, it can use the same principle and way to control the horizontal landing when the model airplane is descending. Using the automatic control way can avoid the model airplane crash caused by the misoperation of user s effectively, thus ensure the flight safety of the model airplane.

[0054] The detailed functions of the processing device 3 and control device 4 can be offered by a single chip.

[0055] But the control related with the flight posture of the model airplane can be prestored in the receiver of the model airplane. Through the communication interface of the receiver, it can be configured and modified by computers, mobile phones and transmitters, etc. The receiver can produce the control signal to control the model airplane to finish the various posture flights after receiving the flight order transmitted by the transmitter.

Example 2

[0056] As shown in FIG. 1, the model airplane in this example contains a detection device 1 which is in the gravity center of model airplane, an air pressure sensor 2 which is in the model airplane belly, the processing device 3 and the control device 4.

[0057] The difference between this example and example 1 is: in this example, the control signal transmitted by the control device 4 can be used to make the model airplane fly through maintaining a fixed flight posture. It can be set as the various modes when the model airplane is flying specifically. For example, the model airplane can be set to find the upflow automatically, and then maintain a fixed flight posture to climb step by step; it can be also set to automatically adjust to the initial state of some acrobatic maneuvers when the model airplane is flying in the sky. In this way, users can concentrate on practicing the fixed acrobatic maneuvers to study flight skills of the model airplane deeply.

Example 3

[0058] As shown in FIG. 1, the model airplane in this example also contains a detection device 1 which is in the gravity center of model airplane, a air pressure sensor 2 which is in the model airplane belly, the processing device 3 and the control device 4.

[0059] The difference between this example and example 1 is: in this example, the control device 4 can detect the received flight altitude, when the flight altitude of the control device 4 is smaller than or equal to first altitude threshold through detection, the protection mode is used to make the model airplane fly in the first condition; when the flight altitude of the control device 4 is larger than the first altitude threshold, and smaller than the second altitude threshold through detection, the protection mode is used to make the model airplane fly in the second condition; when the flight altitude of the control device 4 is higher than the second altitude threshold through detection, the protection mode is used to make the model airplane fly in the third condition;

[0060] The automatic control degree of the model airplane by the control device 4 weakens successively from the first condition, the second condition to the third condition.

[0061] Specifically, in the first condition, the control device 4 makes the descent speed of the model airplane be smaller than or equal to the first speed value.

[0062] In the second condition, the control device 4 makes the descent speed of the model airplane be smaller than or equal to the second speed value.

[0063] The second speed value is larger than the first speed value.

[0064] During the detailed implementation of the invention, when the flight altitude of control device 4 is less than or equal to the first altitude threshold through detection, the protection mode is used to make the pitch angle value be larger than or equal to 0 degrees, and the roll angle value be between 20 degrees and +20 degrees, and descent speed be smaller than or equal to 1 m/s. (i.e. the first speed value above). The foregoing is to keep the model airplane fly in the first condition;

[0065] Thereinto, when the flight altitude is too slow (i.e. smaller than or equal to the first altitude threshold), there shall be strict control on the model airplane, however, the manual control freedom degree of users will largely be reduced. Keeping the pitch angle be larger than or equal to 0 degrees, that is, being capable of making the model airplane ascent or keep horizontal flight without descent, can avoid plane crash resulted from users make the model airplane descend with remote control. The largest value of the pitch angle is the value under the circumstance that the model airplane can fly normally, which is the general knowledge in this field, so it won't be repeated here. The control devices can achieve the above control procedures through controlling the angular acceleration and gravity acceleration of the model airplane.

[0066] When the flight altitude of control device 4 is detected larger than the first altitude threshold, and smaller than or equal to the second altitude threshold, the protection mode is used to make the pitch angle value be larger than or equal to 10 degrees, and the roll angle value be between 45 degrees and 45 degrees, and descent speed be slower than or equal to 3 m/s. (i.e. the second speed value above). The foregoing is to keep the model airplane fly in the second condition;

[0067] When the flight altitude of the model airplane is larger than the first altitude threshold, and less than or equal to the second altitude threshold, then users are allowed to control the flight altitude of the model airplane through remote control and make the plane descend, but there are limitations on the descent angle and descent speed values.

[0068] When the flight altitude of the control device 4 is detected larger than the first altitude threshold, the protection mode is used to make the pitch angle value be larger than or equal to 30 degrees, and the altitude value be larger than the second altitude threshold.

[0069] When the flight altitude of the model airplane is larger than the second altitude threshold, the control freedom degree of the flight posture of the model airplane by users will be largely increased, and the users are allowed to freely control the descent angle and descent speed of the model airplane in relevant larger value scope through remote control. That is, the above keeps the model airplane fly in the third condition.

[0070] Preferably, the first altitude threshold is 10 m, and the second altitude threshold is 30 m.

[0071] Whereas, the detailed class of flight and relevant control authority can be set in advance, and real-time open or close can be also set during flight.

[0072] Though the foregoing describes detailed implementation way of the invention, the technicians in this field shall understand that these are illuminations only.

[0073] The technicians in this field can change or modify these implementation ways on the condition that they don't deviate from the principles and essence of the invention, and any change and modification shall be also within the protection scope of the invention.