U.S. patent application number 15/680808 was filed with the patent office on 2019-02-21 for model airplane.
The applicant listed for this patent is Wenyan Jiang, Yu Tian. Invention is credited to Wenyan Jiang, Yu Tian.
Application Number | 20190054386 15/680808 |
Document ID | / |
Family ID | 65360064 |
Filed Date | 2019-02-21 |
United States Patent
Application |
20190054386 |
Kind Code |
A1 |
Tian; Yu ; et al. |
February 21, 2019 |
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.
Inventors: |
Tian; Yu; (Jinxi City,
CN) ; Jiang; Wenyan; (Jinxi City, CN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Tian; Yu
Jiang; Wenyan |
Jinxi City
Jinxi City |
|
CN
CN |
|
|
Family ID: |
65360064 |
Appl. No.: |
15/680808 |
Filed: |
August 18, 2017 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A63H 27/02 20130101;
A63H 29/22 20130101; A63H 30/04 20130101 |
International
Class: |
A63H 30/04 20060101
A63H030/04; A63H 27/00 20060101 A63H027/00; A63H 29/22 20060101
A63H029/22 |
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
FIELD OF THE INVENTION
[0001] The technical field of the invention relates to remote and
on-board control of a model airplane, in particular, a kind of
model airplane whose flight posture can be automatically controlled
wirelessly by a remote user.
BACKGROUND OF THE INVENTION
[0002] With the popularity and promotion of model airplane
movement, there are more and more amateurs purchasing and flying
remote-control model airplanes in recent years, whose control of
existing model airplanes basically is not automatically controlled,
i.e., by automatic attenuating, enhancing, blocking, or
substituting inputs of a user to a wireless remote control device.
Therefore, if beginners practice flight, the plane is very likely
to fall to ground, endanger others, or become damaged due to
improper control when such beginners are controlling the takeoff
and landing of the planes, or in their approach patterns to landing
or from take-off. In this way, flying practice of beginners will be
heavily affected, so that beginners believe that it is difficult to
get started, and further popularity of the model airplane movement
among the public is also affected. There is a need for a system
incorporating digital modification of a beginner's user input (or
lack thereof) into wireless remote control device.
SUMMARY OF THE INVENTION
[0003] 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.
[0004] The technical problem that the invention needs to solve is
to overcome the defect that model airplanes have no automatic
control function in existing technology, and result in the easy
damage of model airplanes on account of improper control by
beginners, thereby provide the model airplanes whose flight
postures can be automatically controlled by the flight data
determined through detection device and air pressure sensors in
real time.
[0005] The invention solves the above technical problems through
the following technical solutions:
[0006] A model airplane provided by the invention is characterized
in that it includes an air pressure sensor and a control device of
air pressure for the model airplane in a real-time detection. The
pressure sensor is used to transmit a signal indicating ambient air
pressure at the model airplane, preferably from a relatively
quiescent location substantially unaffected by air flow around the
model airplane. The air pressure signal is received to a control
device secured to the model airplane, where the control device
comprises input/output circuits (including A/D and D/A elements for
respectively receiving and transmitting analog signals) for a
microprocessor comprising memory, the combination operating under a
control program, all powered by a battery on-board the model
airplane.
[0007] A flight air pressure signal sensed when the model plant is
in flight is transmitted from the pressure sensor to the control
device, where the value of the sensed air pressure is used in the
control program to calculate a flight altitude of the model
airplane. In a preferred embodiment, an air pressure signal is
detected before take-off, wherein the control device assigns to the
ground air pressure value an altitude value of zero for the ground
level sensed air pressure. Preferably, the ground air pressure
value and its zero altitude association are used by the control
program in combination with the flight air pressure signal to
calculate a current altitude of the model airplane nearly
instantly. The calculated altitude of the model airplane is
optionally stored in the memory of the microprocessor.
[0008] A pre-determined control altitude value is stored in the
memory of the microprocessor. If a calculated altitude is greater
than the controlled altitude value, the control program takes no
action to attenuate, enhance, block, or substitute inputs of a user
to a wireless remote control device transmitted to the model
airplane to assist the user in flying the model airplane.
[0009] However, if a calculated altitude is equal to or less than
the controlled altitude value, the control program operates by way
of a protection mode to attenuate, enhance, block, or substitute
inputs of a user to a wireless remote control device transmitted to
the model airplane to assist the user in flying the model airplane.
The intent of the protection mode is to prevent an inexperienced
user from implementing control inputs to the model airplane that
are highly likely to cause the model airplane to become unstable or
crash. In this way, an inexperienced user is protected by
inadvertently causing the model airplane to crash during taking off
and landing steps.
[0010] In other words, the calculated altitude value is compared
with a pre-determined altitude value that may result in the model
airplane entering a protection mode while the flight altitude is
detected smaller or equal to the pre-determined control altitude
value. The purpose of the protection mode is to control the flight
posture of the model airplane and make it keep flying.
[0011] Air pressure of model airplane can be detected in real time
by utilizing pressure sensor, thus the control device is able to
calculate flight altitude of model airplane on the basis of air
pressure, specifically through comparing the current air pressure
detected by air pressure sensor with the air pressure when the
model airplane exactly takeoff to calculate relative flight
altitude of the model airplane.
[0012] Then, the flight altitude is detected by the control device
which sends control signal to the model airplane according to the
different flight altitude as well as the user's control conditions,
so as to automatically control the model airplane entering into
protection mode and control the flight posture of the model
airplane in real time in order to make it keep flying. The flight
altitude includes ascent, descent and swerve of the flight
altitude, which is the general knowledge in this field, so it won't
be repeated here. The flight altitude enables the model airplane to
refuse to perform the operations in external remote signals that
may cause accidents of the model airplane, to prevent the model
airplane from crashing and guarantee the flight safety of the model
airplane.
[0013] The detailed functions of the microprocessor and memory of
the control device can be served by a single computer chip, which
may also include prior art inputs of flight control commands from a
wireless user controller and outputs to engines, propellers, flaps
and other control features of a model airplane or drone.
[0014] It is preferred that the a first condition of the protection
mode is used to help keep a model airplane flying by moderating
inputs of a wireless remote controller when the flight altitude
calculated by the control device is smaller than or equal to a
first predetermined control altitude through detection of ambient
air pressure at the model airplane.
[0015] When the flight altitude of the control device is larger
than the first control altitude, and smaller than a second
predetermined control altitude threshold, a second condition of the
protection mode is optionally used to keep the model airplane
flying by moderating inputs of a wireless remote controller.
[0016] When the flight altitude of the control device is larger
than the second altitude threshold, a third condition of the
protection mode optionally is used to keep the model airplane
flying by moderating inputs of a wireless remote controller.
[0017] The restrictions on ranges of inputs from the wireless
remote controller permitted to be implemented without moderation by
the control device are relaxed sequentially as the altitude of the
model airplane rises past the first control altitude, the second
control altitude, and the third control altitude, i.e., automatic
control of the model airplane by the control device weakens
successively from the first condition, the second condition to the
third condition.
[0018] In a specific example, when the flight altitude of the
control device is smaller than or equal to the first altitude
threshold through detection, the first condition of the protection
mode is preferably restricts a pitch angle of the entire model
airplane larger than or equal to 0 degrees, a roll angle is
restricted to between -20 degrees to +20 degrees, and the a descent
speed is restricted to be less than or equal to 1 m/s, regardless
of inputs of a user to the wireless remote controller. That is, in
more general terms, the above first condition restricts inputs of a
user of the wireless remote controller to keep the model airplane
flying at the lowest of flight altitudes.
[0019] Therefore, when the flight altitude is low (i.e. smaller
than or equal to the first control altitude threshold), there shall
be strictest control on the model airplane, and the manual control
freedom degree of users will be at its most restrictive. Causing
the model airplane to maintain a pitch angle larger than or equal
to 0 degrees, that is, causing the model airplane to ascend or
maintain horizontal flight without descent, can avoid plane crash
resulting from amateur users forcing the model airplane descend
with wireless remote controller at a steep pitch angle. The largest
value of the pitch angle is the value under the circumstance that
the model airplane can fly normally, which is well known in the
general knowledge in this field. The control device operating in
the model airplane can achieve the above control procedures through
controlling the angular acceleration and gravity acceleration of
the model airplane.
[0020] In another specific example, when the flight altitude of the
control device is higher than the first control altitude threshold
and smaller than or equal to the second control altitude threshold,
a second condition of the protection mode is used to cause the
pitch angle of the entire model airplane be restricted to
positively greater than or equal to -10 degrees, the roll angle
value is caused to be restricted to between -45 degrees to +45
degrees, and the descent speed is restricted by the control device
to be less than or equal to 3 m/s.
[0021] When the flight altitude of the model airplane is larger
than the first control altitude threshold, and smaller 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.
[0022] When the flight altitude of the control device is greater
than the second control altitude threshold, a third condition of
the protection mode is used to restrict the pitch angle of the
model airplane to be greater than or equal to -30 degrees, and the
altitude value be larger than the second altitude threshold. That
is, the above keeps the model airplane safely flying at a second
range of flight altitudes by way of the restrictions of the second
condition.
[0023] When the flight altitude of the model airplane is higher
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 optionally allowed to freely control
the descent angle and descent speed of the model airplane in
relevant larger value scope in the third condition of the
protection mode through remote control. That is, the above keeps
the model airplane safely flying at a second range of flight
altitudes by way of the restrictions of the third condition.
[0024] Notwithstanding the above specific examples, the
predetermined and stored restriction range values of for pitch
angle and roll angle for the protection mode can be changed in the
control device memory by input from a user interface of the
wireless remote controller or other wireless communication device.
As an amateur user becomes more proficient, the ranges of the
various conditions of the protection mode can be expanded,
optionally by the user.
[0025] It is well known that the model airplane comprises a
fuselage, wings and some form of stabilizer structure, such as a
tail. Flight control means comprise flaps for flight control and
structure of engine speed control and are generally controlled by
signals from the control device by way of signals received from the
wireless remote controller.
[0026] It is preferred that in the first condition, the control
device makes the descent speed of the model airplane be smaller
than or equal to the first speed value.
[0027] In the second condition, the control device makes the
descent speed of the model airplane be smaller than or equal to the
second speed value.
[0028] The second speed value is larger than the first speed
value.
[0029] It is preferred that the first altitude threshold is 10 m,
and the second altitude threshold is 30 m.
[0030] It is preferred that the control device comprises a
detection device operatively connected with the processing device
that comprises the microprocessor and memory. The detection device
comprises an acceleration sensor that detects a three-axis angle of
angular acceleration of the model airplane and outputs to the
microprocessor an acceleration signal incorporating the detected
angular accelerations. The detection device also comprises a
gravity sensor that detects a three-axis angle of gravity
acceleration of the model airplane and outputs to the
microprocessor a gravity signal incorporating the detected gravity
accelerations. The detection device senses and transmits these
acceleration values to the processing device periodically,
preferably at intervals of 0.01 to 1.0 seconds. The processing
device is used to receive acceleration results from the detection
device, and calculate by way of the control program actual values
of the sensed accelerations, which is optionally used to control
flight of the model airplane.
[0031] Other flight information of the model airplane can be
obtained with the acceleration data from the detection device.
Specifically, the acceleration sensor with three-axis angle can
detect the angular acceleration of model airplane in real time, and
based on the angular acceleration, the processing device can
calculate the rotation angle of the model airplane in the direction
of each coordinate axis. The gravity sensor with three-axis can
detect the gravity acceleration of model airplane in real time, and
the processing device can work out the real-time gravity direction
of the model airplane based on gravity acceleration with
three-axis. Finally, based on the calculated rotation angle of the
model airplane in the direction of each coordinate axis and the
real-time gravity direction of the model airplane, the processing
device can obtain real-time flight information of the model
airplane.
[0032] Equally, the handling device transmits the flight
information to the control device, and the control device will
transmit the control signal to the model airplane based on
different flight information and users control condition, so as to
automatic control the flight posture of the model airplane in real
time, and prevent the model airplane from crashing to ensure the
flight safety of the model airplane.
[0033] It is preferred that the control device also include a
magnetic field sensor in magnetic field direction of magnetic field
of the model airplane in a real-time detection.
[0034] The control device is also be used to adjust the magnetic
field direction, so as to control the flight course of the model
airplane and control the flight posture of the model airplane.
[0035] The detailed functions of the acceleration sensor with
three-axis angle, gravity sensor and magnetic field sensor above
can be achieved by a highly-integrated sensor with nine-shaft, or
three separate single sensor with three-shaft.
[0036] It is preferred that the detection device is set in a
central axis line of the fuselage model airplane, preferably near a
center of gravity of the model airplane.
[0037] It is preferred that the detection device is set in the
gravity center position of the model airplane. All gravity centers
of the model airplane are set in the central axis line, so setting
the detection in the gravity center position can more accurately
detect the flight information and flight course data of the model
airplane.
[0038] Certainly, some deviations from the set position of the
above detection device to the above central axis line or gravity
center position are feasible, as long as the accuracy and precision
in the test can be ensured.
[0039] It is preferred that the control device is set on the
central axis line of model airplane.
[0040] It is preferred that the control device is set in the center
of gravity position of the model airplane.
[0041] It is preferred that the air pressure sensor is set in the
belly of the fuselage of the model airplane.
[0042] It is preferred that the air pressure sensor is set on the
detection device.
[0043] The positive progress effect of the invention lies in:
flight information, course data, flight altitude and other flight
data of the model airplane can be detected in real time by the
invention. Further, the control signal is emitted to control model
airplane automatically and adjust flight posture by the invention,
and prevent the model airplane crash caused by the improper control
of users, thus ensure the flight safety of the model airplane,
reduce the difficulty of beginners in practicing the model
airplane, and support the wide popularity and promotion of model
airplane movement in the public.
[0044] Various objects and advantages of the present invention will
become apparent from the following description taken in conjunction
with the accompanying drawings wherein are set forth, by way of
illustration and example, certain embodiments of this invention.
The drawings submitted herewith constitute a part of this
specification, include exemplary embodiments of the present
invention, and illustrate various objects and features thereof.
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.
* * * * *