本實用新型涉及一種垂直起(qi)飛供電(dian)系(xi)統、固定翼無人機。

背景技術：

由于無人機(ji)具有機(ji)動快(kuai)速、使(shi)用(yong)成本低、維護使(shi)用(yong)簡單等特點(dian)，因此在國內外已經(jing)廣泛被運用(yong)。

但是傳統的(de)無(wu)人(ren)機(ji)(ji)在垂(chui)直(zhi)起飛過(guo)程中，需要(yao)消耗大量(liang)的(de)電(dian)能(neng)，大量(liang)電(dian)能(neng)被消耗，會嚴重影響無(wu)人(ren)機(ji)(ji)的(de)巡航(hang)里程和時(shi)間。

因此，如何降低或避免(mian)無人(ren)機在垂(chui)直起飛(fei)時的電能消耗是本領(ling)域的技術(shu)難題。

技術實現要素：

本(ben)實(shi)用新型的目的是提供(gong)一種垂(chui)直起飛供(gong)電(dian)系統(tong)，以有效降低無人(ren)機在(zai)垂(chui)直起飛時的自身電(dian)能消耗。

為了(le)解(jie)決(jue)上述技(ji)術問題，本實(shi)用新型(xing)提供(gong)(gong)了(le)一種垂直(zhi)起飛(fei)供(gong)(gong)電(dian)(dian)(dian)系(xi)統，包括：位于地面的電(dian)(dian)(dian)源(yuan)(yuan)供(gong)(gong)電(dian)(dian)(dian)裝(zhuang)置；所述電(dian)(dian)(dian)源(yuan)(yuan)供(gong)(gong)電(dian)(dian)(dian)裝(zhuang)置適(shi)于在無人機垂直(zhi)起飛(fei)時，保持對無人機供(gong)(gong)電(dian)(dian)(dian)；以及(ji)當無人機達到預定高度后，無人機脫離(li)電(dian)(dian)(dian)源(yuan)(yuan)供(gong)(gong)電(dian)(dian)(dian)裝(zhuang)置供(gong)(gong)電(dian)(dian)(dian)。

進一步(bu)，所述(shu)垂(chui)直起飛(fei)供電(dian)(dian)(dian)(dian)系統還包括(kuo)：吸附裝(zhuang)置(zhi)和充(chong)電(dian)(dian)(dian)(dian)端；所述(shu)吸附裝(zhuang)置(zhi)適于使充(chong)電(dian)(dian)(dian)(dian)端的插頭(tou)插入無(wu)人(ren)機(ji)充(chong)電(dian)(dian)(dian)(dian)接口(kou)，且(qie)當無(wu)人(ren)機(ji)達到預定高度后，吸附裝(zhuang)置(zhi)帶(dai)動充(chong)電(dian)(dian)(dian)(dian)端脫(tuo)(tuo)落，使無(wu)人(ren)機(ji)脫(tuo)(tuo)離電(dian)(dian)(dian)(dian)源供電(dian)(dian)(dian)(dian)裝(zhuang)置(zhi)供電(dian)(dian)(dian)(dian)；以及所述(shu)電(dian)(dian)(dian)(dian)源供電(dian)(dian)(dian)(dian)裝(zhuang)置(zhi)處設有(you)用于盤繞輸電(dian)(dian)(dian)(dian)導線的線輪。

進一步，所(suo)述(shu)(shu)電(dian)(dian)(dian)(dian)源供電(dian)(dian)(dian)(dian)裝(zhuang)置(zhi)(zhi)(zhi)包括(kuo)：主處(chu)(chu)理(li)器(qi)(qi)模(mo)塊(kuai)(kuai)，與該主處(chu)(chu)理(li)器(qi)(qi)模(mo)塊(kuai)(kuai)相(xiang)連的(de)主電(dian)(dian)(dian)(dian)力(li)線載波(bo)模(mo)塊(kuai)(kuai)；所(suo)述(shu)(shu)吸附(fu)裝(zhuang)置(zhi)(zhi)(zhi)內包括(kuo)：從處(chu)(chu)理(li)器(qi)(qi)模(mo)塊(kuai)(kuai)，與該從處(chu)(chu)理(li)器(qi)(qi)模(mo)塊(kuai)(kuai)相(xiang)連的(de)從電(dian)(dian)(dian)(dian)力(li)線載波(bo)模(mo)塊(kuai)(kuai)，由(you)所(suo)述(shu)(shu)從處(chu)(chu)理(li)器(qi)(qi)控(kong)制得電(dian)(dian)(dian)(dian)或(huo)失(shi)電(dian)(dian)(dian)(dian)的(de)電(dian)(dian)(dian)(dian)磁(ci)鐵；并且所(suo)述(shu)(shu)從處(chu)(chu)理(li)器(qi)(qi)模(mo)塊(kuai)(kuai)還(huan)適于獲取無(wu)(wu)人(ren)(ren)機(ji)的(de)實時高度(du)(du)數據，且無(wu)(wu)人(ren)(ren)機(ji)達到預(yu)定高度(du)(du)后，由(you)從處(chu)(chu)理(li)器(qi)(qi)模(mo)塊(kuai)(kuai)控(kong)制電(dian)(dian)(dian)(dian)磁(ci)鐵失(shi)電(dian)(dian)(dian)(dian)，實現充(chong)電(dian)(dian)(dian)(dian)端與無(wu)(wu)人(ren)(ren)機(ji)自動分離(li)；所(suo)述(shu)(shu)吸附(fu)裝(zhuang)置(zhi)(zhi)(zhi)還(huan)適于將實時高度(du)(du)數據通過電(dian)(dian)(dian)(dian)力(li)線載波(bo)方式(shi)發送至電(dian)(dian)(dian)(dian)源供電(dian)(dian)(dian)(dian)裝(zhuang)置(zhi)(zhi)(zhi)；若在無(wu)(wu)人(ren)(ren)機(ji)達到預(yu)定高度(du)(du)后，充(chong)電(dian)(dian)(dian)(dian)端與無(wu)(wu)人(ren)(ren)機(ji)未分離(li)，則(ze)通過電(dian)(dian)(dian)(dian)源供電(dian)(dian)(dian)(dian)裝(zhuang)置(zhi)(zhi)(zhi)發送使電(dian)(dian)(dian)(dian)磁(ci)鐵失(shi)電(dian)(dian)(dian)(dian)的(de)電(dian)(dian)(dian)(dian)力(li)線載波(bo)信(xin)號至吸附(fu)裝(zhuang)置(zhi)(zhi)(zhi)，使充(chong)電(dian)(dian)(dian)(dian)端與無(wu)(wu)人(ren)(ren)機(ji)人(ren)(ren)工分離(li)。

所(suo)述垂直起飛供(gong)電(dian)(dian)(dian)系統(tong)包(bao)括：位于(yu)地面的電(dian)(dian)(dian)源(yuan)供(gong)電(dian)(dian)(dian)裝置；所(suo)述工(gong)作方(fang)法包(bao)括：在無(wu)人(ren)(ren)機(ji)(ji)(ji)垂直起飛時(shi)，所(suo)述電(dian)(dian)(dian)源(yuan)供(gong)電(dian)(dian)(dian)裝置適于(yu)保持對無(wu)人(ren)(ren)機(ji)(ji)(ji)供(gong)電(dian)(dian)(dian)；以及當無(wu)人(ren)(ren)機(ji)(ji)(ji)達到預定(ding)高度后(hou)，無(wu)人(ren)(ren)機(ji)(ji)(ji)脫離電(dian)(dian)(dian)源(yuan)供(gong)電(dian)(dian)(dian)裝置供(gong)電(dian)(dian)(dian)。

進一(yi)步，所(suo)(suo)(suo)述(shu)垂直起飛供(gong)電(dian)(dian)(dian)(dian)系統還包括：吸(xi)(xi)(xi)附(fu)裝(zhuang)(zhuang)(zhuang)(zhuang)置(zhi)(zhi)(zhi)(zhi)和充(chong)(chong)電(dian)(dian)(dian)(dian)端(duan)；所(suo)(suo)(suo)述(shu)吸(xi)(xi)(xi)附(fu)裝(zhuang)(zhuang)(zhuang)(zhuang)置(zhi)(zhi)(zhi)(zhi)適于(yu)使充(chong)(chong)電(dian)(dian)(dian)(dian)端(duan)的(de)(de)插頭插入無(wu)人機(ji)(ji)(ji)充(chong)(chong)電(dian)(dian)(dian)(dian)接(jie)口(kou)，且當無(wu)人機(ji)(ji)(ji)達(da)到(dao)預定(ding)高度(du)(du)后，吸(xi)(xi)(xi)附(fu)裝(zhuang)(zhuang)(zhuang)(zhuang)置(zhi)(zhi)(zhi)(zhi)帶動充(chong)(chong)電(dian)(dian)(dian)(dian)端(duan)脫落(luo)；無(wu)人機(ji)(ji)(ji)脫離(li)電(dian)(dian)(dian)(dian)源供(gong)電(dian)(dian)(dian)(dian)裝(zhuang)(zhuang)(zhuang)(zhuang)置(zhi)(zhi)(zhi)(zhi)供(gong)電(dian)(dian)(dian)(dian)；所(suo)(suo)(suo)述(shu)電(dian)(dian)(dian)(dian)源供(gong)電(dian)(dian)(dian)(dian)裝(zhuang)(zhuang)(zhuang)(zhuang)置(zhi)(zhi)(zhi)(zhi)處(chu)(chu)(chu)(chu)設(she)有用(yong)于(yu)盤(pan)繞輸(shu)電(dian)(dian)(dian)(dian)導線(xian)的(de)(de)線(xian)輪；所(suo)(suo)(suo)述(shu)電(dian)(dian)(dian)(dian)源供(gong)電(dian)(dian)(dian)(dian)裝(zhuang)(zhuang)(zhuang)(zhuang)置(zhi)(zhi)(zhi)(zhi)包括：主(zhu)處(chu)(chu)(chu)(chu)理器(qi)模塊(kuai)(kuai)，與該(gai)主(zhu)處(chu)(chu)(chu)(chu)理器(qi)模塊(kuai)(kuai)相(xiang)連(lian)(lian)的(de)(de)主(zhu)電(dian)(dian)(dian)(dian)力線(xian)載波模塊(kuai)(kuai)；所(suo)(suo)(suo)述(shu)吸(xi)(xi)(xi)附(fu)裝(zhuang)(zhuang)(zhuang)(zhuang)置(zhi)(zhi)(zhi)(zhi)內包括：從處(chu)(chu)(chu)(chu)理器(qi)模塊(kuai)(kuai)，與該(gai)從處(chu)(chu)(chu)(chu)理器(qi)模塊(kuai)(kuai)相(xiang)連(lian)(lian)的(de)(de)從電(dian)(dian)(dian)(dian)力線(xian)載波模塊(kuai)(kuai)，由(you)所(suo)(suo)(suo)述(shu)從處(chu)(chu)(chu)(chu)理器(qi)控(kong)制得(de)電(dian)(dian)(dian)(dian)或失(shi)電(dian)(dian)(dian)(dian)的(de)(de)電(dian)(dian)(dian)(dian)磁(ci)鐵(tie)；并(bing)且所(suo)(suo)(suo)述(shu)從處(chu)(chu)(chu)(chu)理器(qi)模塊(kuai)(kuai)還適于(yu)獲取無(wu)人機(ji)(ji)(ji)的(de)(de)實(shi)時高度(du)(du)數(shu)據，且無(wu)人機(ji)(ji)(ji)達(da)到(dao)預定(ding)高度(du)(du)后，由(you)從處(chu)(chu)(chu)(chu)理器(qi)模塊(kuai)(kuai)控(kong)制電(dian)(dian)(dian)(dian)磁(ci)鐵(tie)失(shi)電(dian)(dian)(dian)(dian)，實(shi)現充(chong)(chong)電(dian)(dian)(dian)(dian)端(duan)與無(wu)人機(ji)(ji)(ji)自動分離(li)；所(suo)(suo)(suo)述(shu)吸(xi)(xi)(xi)附(fu)裝(zhuang)(zhuang)(zhuang)(zhuang)置(zhi)(zhi)(zhi)(zhi)還適于(yu)將實(shi)時高度(du)(du)數(shu)據通過電(dian)(dian)(dian)(dian)力線(xian)載波方式發送(song)至電(dian)(dian)(dian)(dian)源供(gong)電(dian)(dian)(dian)(dian)裝(zhuang)(zhuang)(zhuang)(zhuang)置(zhi)(zhi)(zhi)(zhi)；若在無(wu)人機(ji)(ji)(ji)達(da)到(dao)預定(ding)高度(du)(du)后，充(chong)(chong)電(dian)(dian)(dian)(dian)端(duan)與無(wu)人機(ji)(ji)(ji)未(wei)分離(li)，則通過電(dian)(dian)(dian)(dian)源供(gong)電(dian)(dian)(dian)(dian)裝(zhuang)(zhuang)(zhuang)(zhuang)置(zhi)(zhi)(zhi)(zhi)發送(song)使電(dian)(dian)(dian)(dian)磁(ci)鐵(tie)失(shi)電(dian)(dian)(dian)(dian)的(de)(de)電(dian)(dian)(dian)(dian)力線(xian)載波信號至吸(xi)(xi)(xi)附(fu)裝(zhuang)(zhuang)(zhuang)(zhuang)置(zhi)(zhi)(zhi)(zhi)，使充(chong)(chong)電(dian)(dian)(dian)(dian)端(duan)與無(wu)人機(ji)(ji)(ji)人工分離(li)。

本實用新(xin)型的種垂(chui)直起飛(fei)供(gong)電系統的有益效果：通過電源供(gong)電裝置在無(wu)人(ren)(ren)機垂(chui)直起飛(fei)時，持續對無(wu)人(ren)(ren)機進行(xing)供(gong)電，滿(man)足垂(chui)直起飛(fei)電能需(xu)求，大大降低了無(wu)人(ren)(ren)機自身(shen)的電能消耗，延長(chang)了無(wu)人(ren)(ren)機巡航里程(cheng)和時間。

第(di)三方(fang)面，本(ben)實用新型(xing)還提供(gong)(gong)(gong)(gong)了一種(zhong)固定翼(yi)無(wu)人機，包括(kuo)：機載(zai)處(chu)理(li)器(qi)模(mo)塊，由(you)該機載(zai)處(chu)理(li)器(qi)模(mo)塊控制的無(wu)人機動(dong)力(li)系統，以及所述垂直(zhi)起飛(fei)供(gong)(gong)(gong)(gong)電系統；當無(wu)人機脫離電源供(gong)(gong)(gong)(gong)電裝(zhuang)置供(gong)(gong)(gong)(gong)電后(hou)，切(qie)換無(wu)人機內供(gong)(gong)(gong)(gong)電系統供(gong)(gong)(gong)(gong)電。

進(jin)一步，所(suo)(suo)述無(wu)人機(ji)(ji)(ji)動(dong)力(li)系統包括(kuo)：由機(ji)(ji)(ji)載(zai)(zai)處(chu)(chu)(chu)理器模塊(kuai)控制的(de)水(shui)(shui)平(ping)動(dong)力(li)子(zi)(zi)系統和垂(chui)直動(dong)力(li)子(zi)(zi)系統；其中所(suo)(suo)述水(shui)(shui)平(ping)動(dong)力(li)子(zi)(zi)系統位于(yu)機(ji)(ji)(ji)身處(chu)(chu)(chu)，且包括(kuo)：水(shui)(shui)平(ping)螺旋槳機(ji)(ji)(ji)構(gou)(gou)；所(suo)(suo)述垂(chui)直動(dong)力(li)子(zi)(zi)系統包括(kuo)：對(dui)稱設于(yu)左、右機(ji)(ji)(ji)翼處(chu)(chu)(chu)的(de)垂(chui)直螺旋槳機(ji)(ji)(ji)構(gou)(gou)；以及所(suo)(suo)述機(ji)(ji)(ji)載(zai)(zai)處(chu)(chu)(chu)理器模塊(kuai)還(huan)與用于(yu)檢測無(wu)人機(ji)(ji)(ji)飛(fei)行姿態的(de)陀(tuo)螺儀、用于(yu)對(dui)無(wu)人機(ji)(ji)(ji)進(jin)行定位的(de)GPS模塊(kuai)相連。

進(jin)一(yi)步，所(suo)述垂(chui)直(zhi)螺旋(xuan)(xuan)槳(jiang)(jiang)(jiang)機(ji)(ji)(ji)構包括(kuo)至少一(yi)垂(chui)直(zhi)螺旋(xuan)(xuan)槳(jiang)(jiang)(jiang)，用(yong)于(yu)將垂(chui)直(zhi)螺旋(xuan)(xuan)槳(jiang)(jiang)(jiang)機(ji)(ji)(ji)構懸掛于(yu)機(ji)(ji)(ji)翼下方的懸掛裝(zhuang)置，所(suo)述垂(chui)直(zhi)螺旋(xuan)(xuan)槳(jiang)(jiang)(jiang)適于(yu)通過相應微型(xing)電機(ji)(ji)(ji)驅動(dong)轉動(dong)；所(suo)述懸掛裝(zhuang)置包括(kuo)：適于(yu)使垂(chui)直(zhi)螺旋(xuan)(xuan)槳(jiang)(jiang)(jiang)向前或(huo)向后(hou)傾斜的第一(yi)角度(du)(du)微調(diao)電機(ji)(ji)(ji)，以及使垂(chui)直(zhi)螺旋(xuan)(xuan)槳(jiang)(jiang)(jiang)向左或(huo)向右傾斜的第二角度(du)(du)微調(diao)電機(ji)(ji)(ji)；其中所(suo)述第一(yi)、第二角度(du)(du)微調(diao)電機(ji)(ji)(ji)和微型(xing)電機(ji)(ji)(ji)均(jun)由機(ji)(ji)(ji)載(zai)處理器模塊控(kong)制，以根據飛(fei)行姿態調(diao)節垂(chui)直(zhi)螺旋(xuan)(xuan)槳(jiang)(jiang)(jiang)的傾角和垂(chui)直(zhi)螺旋(xuan)(xuan)槳(jiang)(jiang)(jiang)的轉速。

進(jin)一步(bu)，所述無人機還(huan)設有用(yong)于檢測飛(fei)行(xing)過程中側風(feng)(feng)(feng)的(de)風(feng)(feng)(feng)向(xiang)傳(chuan)感(gan)(gan)器(qi)(qi)(qi)和(he)(he)風(feng)(feng)(feng)速(su)傳(chuan)感(gan)(gan)器(qi)(qi)(qi)，所述風(feng)(feng)(feng)向(xiang)傳(chuan)感(gan)(gan)器(qi)(qi)(qi)和(he)(he)風(feng)(feng)(feng)速(su)傳(chuan)感(gan)(gan)器(qi)(qi)(qi)適于將當前(qian)無人機所受(shou)側風(feng)(feng)(feng)的(de)風(feng)(feng)(feng)向(xiang)和(he)(he)風(feng)(feng)(feng)速(su)數據發送至機載處理(li)器(qi)(qi)(qi)模塊；所述機載處理(li)器(qi)(qi)(qi)模塊適于根據側風(feng)(feng)(feng)的(de)風(feng)(feng)(feng)向(xiang)和(he)(he)風(feng)(feng)(feng)速(su)數據，調節垂直(zhi)螺旋槳的(de)傾(qing)角和(he)(he)垂直(zhi)、水平螺旋槳的(de)轉速(su)，以(yi)穩定(ding)當前(qian)飛(fei)行(xing)姿態。

第四方面，本實(shi)用新型還提供了一種無人機的工作方法。

當所(suo)述(shu)無(wu)(wu)人機(ji)(ji)(ji)垂直起飛時，該無(wu)(wu)人機(ji)(ji)(ji)通(tong)過電(dian)源供(gong)電(dian)裝置保持對無(wu)(wu)人機(ji)(ji)(ji)供(gong)電(dian)；以及當無(wu)(wu)人機(ji)(ji)(ji)達(da)到預(yu)定高度后，無(wu)(wu)人機(ji)(ji)(ji)脫離電(dian)源供(gong)電(dian)裝置供(gong)電(dian)。

本實用新型(xing)的無人機及其工(gong)(gong)作方法的有益效(xiao)果：本無人機及其工(gong)(gong)作方法，能(neng)夠(gou)在起飛或巡航過程中，穩(wen)定(ding)無人機飛行姿(zi)態(tai)，并且在遇到側風時，通(tong)過調(diao)節垂(chui)直(zhi)螺旋(xuan)(xuan)槳的傾(qing)角和(he)垂(chui)直(zhi)、水(shui)平螺旋(xuan)(xuan)槳的轉速，以穩(wen)定(ding)當前飛行姿(zi)態(tai)，該(gai)功能(neng)特別(bie)適合航拍。

附圖說明

下面結合附(fu)圖和實施例對本實用新型(xing)進一步說(shuo)明。

圖1是本(ben)實用新型的(de)(de)垂(chui)直起飛供(gong)電系統的(de)(de)工作示意圖；

圖2是本實(shi)用(yong)新型的(de)垂直(zhi)起飛供電(dian)系統的(de)原(yuan)理框圖；

圖3是(shi)本(ben)實(shi)用新型(xing)的固(gu)定翼無(wu)人機(ji)的控制原理圖；

圖(tu)4是本實用(yong)新型(xing)的無人(ren)機的結構示意(yi)圖(tu)；

圖(tu)5是(shi)本實用(yong)新型的垂直螺旋槳機構(gou)的結(jie)構(gou)框圖(tu)。

圖中：電源供電裝置(zhi)1、吸(xi)附裝置(zhi)101、插(cha)頭(tou)102、輸電導線103、線輪104、無人機2、水平動力子(zi)系(xi)統3、水平螺(luo)旋(xuan)槳(jiang)301、垂直動力子(zi)系(xi)統4、垂直螺(luo)旋(xuan)槳(jiang)401、微(wei)(wei)型電機402、機翼5、懸掛裝置(zhi)6、第(di)一(yi)角(jiao)度微(wei)(wei)調電機601、第(di)二角(jiao)度微(wei)(wei)調電機602。

具體實施方式

現在結合附圖對本(ben)實用新型作進一步詳細的說(shuo)明。這些附圖均為簡(jian)化的示意圖，僅(jin)以示意方式(shi)說(shuo)明本(ben)實用新型的基本(ben)結構，因此(ci)其僅(jin)顯示與本(ben)實用新型有關的構成。

實施例1

如圖1所(suo)示(shi)，本實施(shi)例1提供(gong)了(le)一種垂(chui)直起(qi)(qi)飛供(gong)電(dian)系統(tong)，包(bao)括：位于地面的電(dian)源(yuan)供(gong)電(dian)裝(zhuang)置(zhi)1；所(suo)述(shu)電(dian)源(yuan)供(gong)電(dian)裝(zhuang)置(zhi)1適于在無人機2垂(chui)直起(qi)(qi)飛時(shi)，保持對無人機2供(gong)電(dian)；以及當無人機2達到預定高(gao)度后，無人機2脫離電(dian)源(yuan)供(gong)電(dian)裝(zhuang)置(zhi)1供(gong)電(dian)。

作為垂直(zhi)起飛(fei)供(gong)電(dian)系統的一種可選實施方(fang)式，所述(shu)(shu)垂直(zhi)起飛(fei)供(gong)電(dian)系統還包括：吸(xi)附裝(zhuang)置(zhi)(zhi)和充電(dian)端；所述(shu)(shu)吸(xi)附裝(zhuang)置(zhi)(zhi)適(shi)于使充電(dian)端的插頭102插入無人(ren)機(ji)充電(dian)接口，且(qie)當無人(ren)機(ji)達到預定高度后，吸(xi)附裝(zhuang)置(zhi)(zhi)帶動充電(dian)端脫(tuo)落，使無人(ren)機(ji)脫(tuo)離電(dian)源(yuan)供(gong)電(dian)裝(zhuang)置(zhi)(zhi)供(gong)電(dian)；以(yi)及所述(shu)(shu)電(dian)源(yuan)供(gong)電(dian)裝(zhuang)置(zhi)(zhi)1處(chu)設(she)有用于盤繞輸(shu)電(dian)導線103的線輪(lun)104。

具體(ti)的(de)，所述(shu)電(dian)(dian)源供(gong)電(dian)(dian)裝置(zhi)(zhi)包括：主(zhu)處(chu)(chu)理(li)(li)(li)器(qi)(qi)模(mo)(mo)塊，與該(gai)主(zhu)處(chu)(chu)理(li)(li)(li)器(qi)(qi)模(mo)(mo)塊相連的(de)主(zhu)電(dian)(dian)力線載波模(mo)(mo)塊；所述(shu)吸附裝置(zhi)(zhi)內包括：從(cong)處(chu)(chu)理(li)(li)(li)器(qi)(qi)模(mo)(mo)塊，與該(gai)從(cong)處(chu)(chu)理(li)(li)(li)器(qi)(qi)模(mo)(mo)塊相連的(de)從(cong)電(dian)(dian)力線載波模(mo)(mo)塊，由所述(shu)從(cong)處(chu)(chu)理(li)(li)(li)器(qi)(qi)控制(zhi)得(de)電(dian)(dian)或失電(dian)(dian)的(de)電(dian)(dian)磁鐵。

為了(le)使無(wu)人(ren)(ren)(ren)(ren)機到(dao)達預定高(gao)度(du)后(hou)，能夠自(zi)動(dong)與(yu)充電(dian)(dian)端分離(li)，所(suo)述從處(chu)理器模塊還適于獲取無(wu)人(ren)(ren)(ren)(ren)機的實時高(gao)度(du)數(shu)據，且無(wu)人(ren)(ren)(ren)(ren)機達到(dao)預定高(gao)度(du)后(hou)，由從處(chu)理器模塊控制電(dian)(dian)磁鐵失電(dian)(dian)，實現充電(dian)(dian)端與(yu)無(wu)人(ren)(ren)(ren)(ren)機自(zi)動(dong)分離(li)。

若(ruo)出現自動分離失敗后(hou)，需(xu)采用相應應急措(cuo)施，所(suo)述吸附裝置(zhi)(zhi)還適(shi)于將實時(shi)高度數據通(tong)過(guo)電(dian)(dian)力線(xian)載(zai)波(bo)方(fang)式發送至(zhi)電(dian)(dian)源(yuan)(yuan)供(gong)電(dian)(dian)裝置(zhi)(zhi)；若(ruo)在無人機達到預(yu)定高度后(hou)，充電(dian)(dian)端與(yu)無人機未分離，則通(tong)過(guo)電(dian)(dian)源(yuan)(yuan)供(gong)電(dian)(dian)裝置(zhi)(zhi)發送使電(dian)(dian)磁(ci)鐵失電(dian)(dian)的電(dian)(dian)力線(xian)載(zai)波(bo)信號至(zhi)吸附裝置(zhi)(zhi)，使充電(dian)(dian)端與(yu)無人機人工(gong)分離。

例如，所(suo)述吸附裝置(zhi)設有應急脫(tuo)(tuo)離按鈕，當應急脫(tuo)(tuo)離按鈕按下后(hou)，所(suo)述主處理器(qi)模塊適于發送使電(dian)磁(ci)鐵失電(dian)的電(dian)力線載波(bo)信(xin)號(hao)至吸附裝置(zhi)。

所述(shu)無(wu)(wu)人機(ji)的實時(shi)高(gao)度(du)數(shu)(shu)(shu)據(ju)適于(yu)通(tong)(tong)(tong)過MS5540C數(shu)(shu)(shu)字(zi)大(da)氣壓(ya)力傳(chuan)感器獲得飛行(xing)高(gao)度(du)，所述(shu)吸附裝(zhuang)置內(nei)包(bao)括(kuo)(kuo)與無(wu)(wu)人機(ji)進行(xing)數(shu)(shu)(shu)據(ju)通(tong)(tong)(tong)訊的數(shu)(shu)(shu)據(ju)通(tong)(tong)(tong)訊口(kou)，且通(tong)(tong)(tong)過該數(shu)(shu)(shu)據(ju)通(tong)(tong)(tong)訊口(kou)進行(xing)數(shu)(shu)(shu)據(ju)傳(chuan)輸，當(dang)吸附裝(zhuang)置與飛機(ji)分離式，該數(shu)(shu)(shu)據(ju)通(tong)(tong)(tong)訊口(kou)也隨(sui)之斷開(kai)，進一步，通(tong)(tong)(tong)過該數(shu)(shu)(shu)據(ju)通(tong)(tong)(tong)訊口(kou)可以使(shi)電源供電裝(zhuang)置獲得飛機(ji)相(xiang)應參數(shu)(shu)(shu)，該方(fang)式比無(wu)(wu)線方(fang)式更(geng)加可靠(kao)，保(bao)證無(wu)(wu)人機(ji)在(zai)垂(chui)直起飛時(shi)可以穩定(ding)、可靠(kao)的達到預(yu)定(ding)高(gao)度(du)。所述(shu)飛行(xing)相(xiang)應數(shu)(shu)(shu)據(ju)包(bao)括(kuo)(kuo)但(dan)不限于(yu)：飛行(xing)高(gao)度(du)、飛機(ji)當(dang)前電量、飛行(xing)姿態、高(gao)空風向和風速（在(zai)實施(shi)(shi)例3和實施(shi)(shi)例4中(zhong)會詳細介(jie)紹）。

作為電源供電裝置(zhi)對(dui)吸(xi)附裝置(zhi)和充電端供電適(shi)于(yu)采用直(zhi)流(liu)方式(shi)或者(zhe)交流(liu)方式(shi)。

其中(zhong)，若采(cai)用(yong)(yong)直流(liu)輸電(dian)(dian)(dian)(dian)方式，則所述(shu)電(dian)(dian)(dian)(dian)源供電(dian)(dian)(dian)(dian)裝(zhuang)置適(shi)于(yu)將市電(dian)(dian)(dian)(dian)電(dian)(dian)(dian)(dian)壓(ya)(ya)轉換為直流(liu)電(dian)(dian)(dian)(dian)后經過升(sheng)壓(ya)(ya)模塊(kuai)發送至吸附裝(zhuang)置和充電(dian)(dian)(dian)(dian)端，所述(shu)吸附裝(zhuang)置中(zhong)的(de)電(dian)(dian)(dian)(dian)磁鐵(tie)適(shi)于(yu)采(cai)用(yong)(yong)直流(liu)電(dian)(dian)(dian)(dian)磁鐵(tie)，以(yi)及所述(shu)充電(dian)(dian)(dian)(dian)端包括升(sheng)壓(ya)(ya)模塊(kuai)，用(yong)(yong)于(yu)提升(sheng)經過輸電(dian)(dian)(dian)(dian)導(dao)線(xian)降壓(ya)(ya)后的(de)直流(liu)電(dian)(dian)(dian)(dian)壓(ya)(ya)，通過插頭(tou)連(lian)接無人機內的(de)充放電(dian)(dian)(dian)(dian)控制模塊(kuai)。

若采(cai)(cai)用(yong)交流方(fang)式(shi)，若采(cai)(cai)用(yong)交流輸電(dian)方(fang)式(shi)，則在充電(dian)端設有AD-DC模(mo)塊將(jiang)交流電(dian)轉換為直流電(dian)提供非無人機充放(fang)電(dian)控制模(mo)塊；以及所(suo)述電(dian)磁(ci)鐵(tie)適于采(cai)(cai)用(yong)交流電(dian)磁(ci)鐵(tie)。

所(suo)述主、從電力線載波(bo)模(mo)塊(kuai)例如但不(bu)限(xian)于采(cai)用(yong)(yong)SENS-00電力線載波(bo)模(mo)塊(kuai)，所(suo)述主、從處(chu)(chu)理器(qi)模(mo)塊(kuai)例如但不(bu)限(xian)于采(cai)用(yong)(yong)STC系列單片(pian)機，嵌入(ru)式處(chu)(chu)理器(qi)，可以(yi)采(cai)用(yong)(yong)通(tong)過控制(zhi)電磁(ci)(ci)鐵(tie)供電端的電子開關的方式控制(zhi)電磁(ci)(ci)鐵(tie)得電或失電。

實施例2

在實(shi)施例(li)(li)1基礎上，本實(shi)施例(li)(li)2還提供了一種垂直起(qi)飛(fei)(fei)供電(dian)(dian)(dian)(dian)(dian)系統的工作方法，即(ji)在無人(ren)機垂直起(qi)飛(fei)(fei)時，所述電(dian)(dian)(dian)(dian)(dian)源供電(dian)(dian)(dian)(dian)(dian)裝(zhuang)置(zhi)適(shi)于保持對(dui)無人(ren)機供電(dian)(dian)(dian)(dian)(dian)；以及當(dang)無人(ren)機達(da)到預(yu)定高度后(hou)，無人(ren)機脫離電(dian)(dian)(dian)(dian)(dian)源供電(dian)(dian)(dian)(dian)(dian)裝(zhuang)置(zhi)供電(dian)(dian)(dian)(dian)(dian)。

所述垂直起飛(fei)供(gong)(gong)電(dian)系(xi)統(tong)還包括：吸(xi)(xi)附(fu)裝(zhuang)置(zhi)(zhi)(zhi)(zhi)和充(chong)(chong)電(dian)端(duan)；所述吸(xi)(xi)附(fu)裝(zhuang)置(zhi)(zhi)(zhi)(zhi)適于(yu)使充(chong)(chong)電(dian)端(duan)的插頭插入無(wu)人機充(chong)(chong)電(dian)接口(kou)，且(qie)當無(wu)人機達(da)到預定高度后(hou)，吸(xi)(xi)附(fu)裝(zhuang)置(zhi)(zhi)(zhi)(zhi)帶動充(chong)(chong)電(dian)端(duan)脫(tuo)落；無(wu)人機脫(tuo)離電(dian)源(yuan)供(gong)(gong)電(dian)裝(zhuang)置(zhi)(zhi)(zhi)(zhi)供(gong)(gong)電(dian)；所述電(dian)源(yuan)供(gong)(gong)電(dian)裝(zhuang)置(zhi)(zhi)(zhi)(zhi)處(chu)設有用于(yu)盤繞(rao)輸電(dian)導線(xian)的線(xian)輪(lun)。

所(suo)述(shu)(shu)(shu)電(dian)(dian)(dian)(dian)(dian)(dian)源供電(dian)(dian)(dian)(dian)(dian)(dian)裝(zhuang)置(zhi)包(bao)括：主處理(li)器(qi)模(mo)塊(kuai)，與(yu)該主處理(li)器(qi)模(mo)塊(kuai)相(xiang)(xiang)連的(de)主電(dian)(dian)(dian)(dian)(dian)(dian)力(li)線(xian)載(zai)波(bo)模(mo)塊(kuai)；所(suo)述(shu)(shu)(shu)吸附(fu)(fu)裝(zhuang)置(zhi)內包(bao)括：從(cong)(cong)處理(li)器(qi)模(mo)塊(kuai)，與(yu)該從(cong)(cong)處理(li)器(qi)模(mo)塊(kuai)相(xiang)(xiang)連的(de)從(cong)(cong)電(dian)(dian)(dian)(dian)(dian)(dian)力(li)線(xian)載(zai)波(bo)模(mo)塊(kuai)，由所(suo)述(shu)(shu)(shu)從(cong)(cong)處理(li)器(qi)控制得電(dian)(dian)(dian)(dian)(dian)(dian)或(huo)失電(dian)(dian)(dian)(dian)(dian)(dian)的(de)電(dian)(dian)(dian)(dian)(dian)(dian)磁(ci)鐵；并且所(suo)述(shu)(shu)(shu)從(cong)(cong)處理(li)器(qi)模(mo)塊(kuai)還適于獲取無(wu)(wu)(wu)人(ren)(ren)機(ji)(ji)的(de)實(shi)(shi)時(shi)高(gao)(gao)度(du)數(shu)(shu)據，且無(wu)(wu)(wu)人(ren)(ren)機(ji)(ji)達(da)到(dao)預(yu)定高(gao)(gao)度(du)后，由從(cong)(cong)處理(li)器(qi)模(mo)塊(kuai)控制電(dian)(dian)(dian)(dian)(dian)(dian)磁(ci)鐵失電(dian)(dian)(dian)(dian)(dian)(dian)，實(shi)(shi)現(xian)充(chong)電(dian)(dian)(dian)(dian)(dian)(dian)端與(yu)無(wu)(wu)(wu)人(ren)(ren)機(ji)(ji)自動分(fen)離(li)；所(suo)述(shu)(shu)(shu)吸附(fu)(fu)裝(zhuang)置(zhi)還適于將實(shi)(shi)時(shi)高(gao)(gao)度(du)數(shu)(shu)據通過電(dian)(dian)(dian)(dian)(dian)(dian)力(li)線(xian)載(zai)波(bo)方(fang)式發送至電(dian)(dian)(dian)(dian)(dian)(dian)源供電(dian)(dian)(dian)(dian)(dian)(dian)裝(zhuang)置(zhi)；若在無(wu)(wu)(wu)人(ren)(ren)機(ji)(ji)達(da)到(dao)預(yu)定高(gao)(gao)度(du)后，充(chong)電(dian)(dian)(dian)(dian)(dian)(dian)端與(yu)無(wu)(wu)(wu)人(ren)(ren)機(ji)(ji)未分(fen)離(li)，則通過電(dian)(dian)(dian)(dian)(dian)(dian)源供電(dian)(dian)(dian)(dian)(dian)(dian)裝(zhuang)置(zhi)發送使電(dian)(dian)(dian)(dian)(dian)(dian)磁(ci)鐵失電(dian)(dian)(dian)(dian)(dian)(dian)的(de)電(dian)(dian)(dian)(dian)(dian)(dian)力(li)線(xian)載(zai)波(bo)信號(hao)至吸附(fu)(fu)裝(zhuang)置(zhi)，使充(chong)電(dian)(dian)(dian)(dian)(dian)(dian)端與(yu)無(wu)(wu)(wu)人(ren)(ren)機(ji)(ji)人(ren)(ren)工分(fen)離(li)。

實施例3

在(zai)實(shi)施(shi)例1基礎上(shang)，本實(shi)施(shi)例2還提供了一種固(gu)定(ding)翼無人機。

所(suo)(suo)述(shu)無(wu)(wu)(wu)人機(ji)(ji)包括：機(ji)(ji)載處(chu)理(li)器模塊，由該機(ji)(ji)載處(chu)理(li)器模塊控制的(de)無(wu)(wu)(wu)人機(ji)(ji)動力(li)系統，以(yi)及所(suo)(suo)述(shu)的(de)垂(chui)直起飛(fei)供電(dian)系統；當無(wu)(wu)(wu)人機(ji)(ji)脫(tuo)離電(dian)源供電(dian)裝置供電(dian)后，切(qie)換無(wu)(wu)(wu)人機(ji)(ji)內供電(dian)系統供電(dian)。

所述無人(ren)機內供電系(xi)統包括：充(chong)放電控(kong)制模塊(kuai)和鋰電池。

所述(shu)無人機(ji)(ji)動(dong)(dong)力(li)系(xi)(xi)統(tong)(tong)包括(kuo)(kuo)：由機(ji)(ji)載(zai)處理(li)器模塊(kuai)控(kong)制的(de)(de)(de)水(shui)平動(dong)(dong)力(li)子系(xi)(xi)統(tong)(tong)3和垂直動(dong)(dong)力(li)子系(xi)(xi)統(tong)(tong)4；其中所述(shu)水(shui)平動(dong)(dong)力(li)子系(xi)(xi)統(tong)(tong)3位(wei)于機(ji)(ji)身處，且包括(kuo)(kuo)：水(shui)平螺旋(xuan)槳機(ji)(ji)構；所述(shu)垂直動(dong)(dong)力(li)子系(xi)(xi)統(tong)(tong)4包括(kuo)(kuo)：對稱設(she)于左(zuo)、右機(ji)(ji)翼5處的(de)(de)(de)垂直螺旋(xuan)槳401機(ji)(ji)構；以及(ji)所述(shu)機(ji)(ji)載(zai)處理(li)器模塊(kuai)還與用于檢測(ce)無人機(ji)(ji)飛行(xing)姿(zi)態的(de)(de)(de)陀螺儀、用于對無人機(ji)(ji)進(jin)行(xing)定位(wei)的(de)(de)(de)GPS模塊(kuai)相連。

所(suo)(suo)述(shu)垂(chui)直(zhi)(zhi)螺(luo)(luo)旋(xuan)槳(jiang)(jiang)401機(ji)(ji)(ji)(ji)構包括至(zhi)少一垂(chui)直(zhi)(zhi)螺(luo)(luo)旋(xuan)槳(jiang)(jiang)401，用于(yu)將垂(chui)直(zhi)(zhi)螺(luo)(luo)旋(xuan)槳(jiang)(jiang)401機(ji)(ji)(ji)(ji)構懸掛于(yu)機(ji)(ji)(ji)(ji)翼5下(xia)方(fang)(fang)的(de)懸掛裝置6，所(suo)(suo)述(shu)垂(chui)直(zhi)(zhi)螺(luo)(luo)旋(xuan)槳(jiang)(jiang)401適(shi)(shi)于(yu)通(tong)過(guo)相(xiang)應微(wei)型電(dian)機(ji)(ji)(ji)(ji)402驅(qu)動(dong)(dong)轉(zhuan)(zhuan)動(dong)(dong)；所(suo)(suo)述(shu)懸掛裝置6包括：適(shi)(shi)于(yu)使垂(chui)直(zhi)(zhi)螺(luo)(luo)旋(xuan)槳(jiang)(jiang)401向(xiang)(xiang)前或(huo)向(xiang)(xiang)后傾(qing)斜的(de)第(di)一角(jiao)(jiao)度(du)微(wei)調電(dian)機(ji)(ji)(ji)(ji)601（如圖5中(zhong)F1方(fang)(fang)向(xiang)(xiang)），以(yi)及使垂(chui)直(zhi)(zhi)螺(luo)(luo)旋(xuan)槳(jiang)(jiang)401向(xiang)(xiang)左或(huo)向(xiang)(xiang)右傾(qing)斜的(de)第(di)二(er)角(jiao)(jiao)度(du)微(wei)調電(dian)機(ji)(ji)(ji)(ji)602（如圖5中(zhong)F2方(fang)(fang)向(xiang)(xiang)）；其中(zhong)所(suo)(suo)述(shu)第(di)一、第(di)二(er)角(jiao)(jiao)度(du)微(wei)調電(dian)機(ji)(ji)(ji)(ji)和(he)微(wei)型電(dian)機(ji)(ji)(ji)(ji)402均(jun)由機(ji)(ji)(ji)(ji)載(zai)處理器(qi)模塊(kuai)控制，以(yi)根(gen)據(ju)飛行姿態(tai)調節(jie)垂(chui)直(zhi)(zhi)螺(luo)(luo)旋(xuan)槳(jiang)(jiang)401的(de)傾(qing)角(jiao)(jiao)和(he)垂(chui)直(zhi)(zhi)螺(luo)(luo)旋(xuan)槳(jiang)(jiang)401的(de)轉(zhuan)(zhuan)速(su)。

圖(tu)5中(zhong)一垂直(zhi)螺(luo)旋(xuan)槳401包(bao)括(kuo)兩(liang)個(ge)(ge)垂直(zhi)螺(luo)旋(xuan)槳401，且前后對(dui)稱設(she)置，因此，也同(tong)樣包(bao)括(kuo)兩(liang)個(ge)(ge)第(di)二角度(du)微調電(dian)機(ji)602，該兩(liang)個(ge)(ge)第(di)二角度(du)微調電(dian)機(ji)602由(you)機(ji)載處(chu)理器模塊控制(zhi)適于同(tong)步轉(zhuan)動。

所(suo)(suo)述(shu)無(wu)人機(ji)還設有(you)用于檢測飛(fei)行(xing)過程中側(ce)風(feng)的(de)(de)風(feng)向(xiang)傳(chuan)感器(qi)和(he)(he)(he)風(feng)速傳(chuan)感器(qi)，所(suo)(suo)述(shu)風(feng)向(xiang)傳(chuan)感器(qi)和(he)(he)(he)風(feng)速傳(chuan)感器(qi)適(shi)于將當(dang)前無(wu)人機(ji)所(suo)(suo)受側(ce)風(feng)的(de)(de)風(feng)向(xiang)和(he)(he)(he)風(feng)速數據發送至機(ji)載處(chu)理器(qi)模(mo)塊(kuai)；所(suo)(suo)述(shu)機(ji)載處(chu)理器(qi)模(mo)塊(kuai)適(shi)于根據側(ce)風(feng)的(de)(de)風(feng)向(xiang)和(he)(he)(he)風(feng)速數據，調節垂(chui)直螺旋槳401的(de)(de)傾角(jiao)和(he)(he)(he)垂(chui)直、水(shui)平螺旋槳的(de)(de)轉速，以穩定當(dang)前飛(fei)行(xing)姿態。

具體的(de)(de)(de)，所(suo)述風(feng)(feng)向傳感器和(he)風(feng)(feng)速(su)傳感器用于測得(de)(de)無人機在飛(fei)行(xing)過(guo)程中實際獲(huo)得(de)(de)的(de)(de)(de)側(ce)風(feng)(feng)的(de)(de)(de)風(feng)(feng)向和(he)風(feng)(feng)速(su)數據(ju)，進而通過(guo)垂直螺(luo)(luo)旋(xuan)槳401的(de)(de)(de)傾角，即前或后，左(zuo)或右(you)調節(jie)，并(bing)結合垂直、水平螺(luo)(luo)旋(xuan)槳的(de)(de)(de)轉速(su)，以起到穩定(ding)飛(fei)行(xing)姿態的(de)(de)(de)效果(guo)，并(bing)且若(ruo)側(ce)風(feng)(feng)有利于飛(fei)行(xing)，提高飛(fei)行(xing)效率(lv)。

例如(ru)無(wu)(wu)人(ren)機從東往西飛行，若遇到西南方向(xiang)的側風，則(ze)機載處理器模塊適于調節(jie)垂(chui)(chui)直螺旋槳401的傾(qing)角，即向(xiang)西南方向(xiang)傾(qing)斜，以抵消西南方向(xiang)的側風對無(wu)(wu)人(ren)機飛行路線的影響(xiang)；并且(qie)，根據風速大小，改變垂(chui)(chui)直螺旋槳401的轉速。

其(qi)中，所述機載處(chu)理器(qi)模塊例如但(dan)不(bu)限于采(cai)用單(dan)片(pian)機或者ARM處(chu)理器(qi)。

實施例4

在(zai)實施(shi)例3基礎上，本實用新型還提(ti)供(gong)了一種固(gu)定翼無人機(ji)的(de)工作方(fang)法。

其中，無(wu)(wu)人機(ji)(ji)如實施例3所述，且在無(wu)(wu)人機(ji)(ji)垂直(zhi)起飛時，該無(wu)(wu)人機(ji)(ji)通過(guo)電(dian)源供(gong)電(dian)裝置保持對無(wu)(wu)人機(ji)(ji)供(gong)電(dian)；以及當(dang)無(wu)(wu)人機(ji)(ji)達到預定高度后，無(wu)(wu)人機(ji)(ji)脫離電(dian)源供(gong)電(dian)裝置供(gong)電(dian)。

優選(xuan)的，所(suo)述(shu)(shu)機(ji)(ji)(ji)(ji)(ji)載處理(li)器模(mo)(mo)塊(kuai)(kuai)還與用于(yu)(yu)檢測無人機(ji)(ji)(ji)(ji)(ji)飛(fei)行姿(zi)態(tai)的陀(tuo)螺(luo)(luo)(luo)儀(yi)、用于(yu)(yu)對無人機(ji)(ji)(ji)(ji)(ji)進行定位(wei)的GPS模(mo)(mo)塊(kuai)(kuai)相連；所(suo)述(shu)(shu)無人機(ji)(ji)(ji)(ji)(ji)動(dong)力(li)(li)(li)系(xi)(xi)(xi)統(tong)包(bao)括(kuo)(kuo)：由機(ji)(ji)(ji)(ji)(ji)載處理(li)器模(mo)(mo)塊(kuai)(kuai)控制的水(shui)(shui)平(ping)動(dong)力(li)(li)(li)子系(xi)(xi)(xi)統(tong)3和垂(chui)(chui)直(zhi)動(dong)力(li)(li)(li)子系(xi)(xi)(xi)統(tong)4；其中所(suo)述(shu)(shu)水(shui)(shui)平(ping)動(dong)力(li)(li)(li)子系(xi)(xi)(xi)統(tong)3位(wei)于(yu)(yu)機(ji)(ji)(ji)(ji)(ji)身(shen)處，且包(bao)括(kuo)(kuo)水(shui)(shui)平(ping)螺(luo)(luo)(luo)旋(xuan)(xuan)槳(jiang)(jiang)(jiang)(jiang)機(ji)(ji)(ji)(ji)(ji)構(gou)；所(suo)述(shu)(shu)垂(chui)(chui)直(zhi)動(dong)力(li)(li)(li)子系(xi)(xi)(xi)統(tong)4包(bao)括(kuo)(kuo)：對稱(cheng)設于(yu)(yu)左(zuo)、右(you)機(ji)(ji)(ji)(ji)(ji)翼(yi)5處的垂(chui)(chui)直(zhi)螺(luo)(luo)(luo)旋(xuan)(xuan)槳(jiang)(jiang)(jiang)(jiang)401機(ji)(ji)(ji)(ji)(ji)構(gou)；所(suo)述(shu)(shu)垂(chui)(chui)直(zhi)螺(luo)(luo)(luo)旋(xuan)(xuan)槳(jiang)(jiang)(jiang)(jiang)401機(ji)(ji)(ji)(ji)(ji)構(gou)包(bao)括(kuo)(kuo)至少一垂(chui)(chui)直(zhi)螺(luo)(luo)(luo)旋(xuan)(xuan)槳(jiang)(jiang)(jiang)(jiang)401，用于(yu)(yu)將垂(chui)(chui)直(zhi)螺(luo)(luo)(luo)旋(xuan)(xuan)槳(jiang)(jiang)(jiang)(jiang)401機(ji)(ji)(ji)(ji)(ji)構(gou)懸掛于(yu)(yu)機(ji)(ji)(ji)(ji)(ji)翼(yi)5下方的懸掛裝置6，所(suo)述(shu)(shu)垂(chui)(chui)直(zhi)螺(luo)(luo)(luo)旋(xuan)(xuan)槳(jiang)(jiang)(jiang)(jiang)401適(shi)于(yu)(yu)通過(guo)相應微型電機(ji)(ji)(ji)(ji)(ji)402驅動(dong)轉(zhuan)動(dong)；所(suo)述(shu)(shu)懸掛裝置6包(bao)括(kuo)(kuo)：適(shi)于(yu)(yu)使垂(chui)(chui)直(zhi)螺(luo)(luo)(luo)旋(xuan)(xuan)槳(jiang)(jiang)(jiang)(jiang)401向前或向后傾斜的第一角度微調(diao)(diao)電機(ji)(ji)(ji)(ji)(ji)601，以及使垂(chui)(chui)直(zhi)螺(luo)(luo)(luo)旋(xuan)(xuan)槳(jiang)(jiang)(jiang)(jiang)401向左(zuo)或向右(you)傾斜的第二角度微調(diao)(diao)電機(ji)(ji)(ji)(ji)(ji)602；其中所(suo)述(shu)(shu)第一、第二角度微調(diao)(diao)電機(ji)(ji)(ji)(ji)(ji)和微型電機(ji)(ji)(ji)(ji)(ji)402均由機(ji)(ji)(ji)(ji)(ji)載處理(li)器模(mo)(mo)塊(kuai)(kuai)控制，以根據(ju)飛(fei)行姿(zi)態(tai)調(diao)(diao)節垂(chui)(chui)直(zhi)螺(luo)(luo)(luo)旋(xuan)(xuan)槳(jiang)(jiang)(jiang)(jiang)401的傾角和垂(chui)(chui)直(zhi)螺(luo)(luo)(luo)旋(xuan)(xuan)槳(jiang)(jiang)(jiang)(jiang)401的轉(zhuan)速。

根據飛行姿態(tai)調節垂直螺(luo)旋(xuan)槳(jiang)401的傾角和轉速(su)的方法(fa)包括：所述機載處理器模塊適于控制(zhi)第(di)一角度(du)微調電機601帶動垂直螺(luo)旋(xuan)槳(jiang)401向前傾斜，同時(shi)控制(zhi)水平(ping)螺(luo)旋(xuan)槳(jiang)機構中水平(ping)螺(luo)旋(xuan)槳(jiang)工作(zuo)，以縮短無人機到達(da)設定的巡航高度(du)的時(shi)間，且(qie)在(zai)無人機在(zai)達(da)到巡航高度(du)的同時(shi)，滿足其(qi)巡航速(su)度(du)。

所(suo)(suo)述(shu)無人機還設有用于檢測(ce)飛(fei)(fei)行過程中(zhong)側風(feng)(feng)的風(feng)(feng)向傳(chuan)(chuan)感器(qi)和(he)風(feng)(feng)速傳(chuan)(chuan)感器(qi)，所(suo)(suo)述(shu)風(feng)(feng)向傳(chuan)(chuan)感器(qi)和(he)風(feng)(feng)速傳(chuan)(chuan)感器(qi)適于將(jiang)當前無人機所(suo)(suo)受側風(feng)(feng)的風(feng)(feng)向和(he)風(feng)(feng)速數據(ju)發送至機載處(chu)理器(qi)模塊(kuai)；所(suo)(suo)述(shu)機載處(chu)理器(qi)模塊(kuai)適于根(gen)據(ju)側風(feng)(feng)的風(feng)(feng)向和(he)風(feng)(feng)速數據(ju)，調節垂(chui)直(zhi)螺(luo)旋槳(jiang)401的傾角和(he)垂(chui)直(zhi)、水平螺(luo)旋槳(jiang)的轉速，以穩定與當前飛(fei)(fei)行姿態(tai)。

具(ju)體的(de)(de)，所述機(ji)載處(chu)(chu)理(li)器(qi)(qi)模(mo)塊(kuai)適(shi)于(yu)(yu)(yu)根據(ju)側風(feng)(feng)的(de)(de)風(feng)(feng)向和(he)(he)(he)風(feng)(feng)速數據(ju)，調節垂(chui)直(zhi)螺(luo)旋(xuan)(xuan)(xuan)槳401的(de)(de)傾角和(he)(he)(he)垂(chui)直(zhi)、水平(ping)螺(luo)旋(xuan)(xuan)(xuan)槳的(de)(de)轉(zhuan)速，以穩定與當前(qian)飛行姿態的(de)(de)方法(fa)包括：若(ruo)無(wu)人(ren)機(ji)在空中懸停(ting)(ting)，則水平(ping)螺(luo)旋(xuan)(xuan)(xuan)槳停(ting)(ting)止工作，且垂(chui)直(zhi)螺(luo)旋(xuan)(xuan)(xuan)槳401工作，所述機(ji)載處(chu)(chu)理(li)器(qi)(qi)模(mo)塊(kuai)適(shi)于(yu)(yu)(yu)根據(ju)側風(feng)(feng)的(de)(de)風(feng)(feng)向和(he)(he)(he)風(feng)(feng)速數據(ju)，改變垂(chui)直(zhi)螺(luo)旋(xuan)(xuan)(xuan)槳401的(de)(de)傾角和(he)(he)(he)轉(zhuan)速，以穩定懸停(ting)(ting)姿態；若(ruo)無(wu)人(ren)機(ji)巡航(hang)，所述機(ji)載處(chu)(chu)理(li)器(qi)(qi)模(mo)塊(kuai)適(shi)于(yu)(yu)(yu)根據(ju)側風(feng)(feng)的(de)(de)風(feng)(feng)向和(he)(he)(he)風(feng)(feng)速數據(ju)，改變垂(chui)直(zhi)螺(luo)旋(xuan)(xuan)(xuan)槳401的(de)(de)傾角和(he)(he)(he)轉(zhuan)速，以保(bao)持巡航(hang)高度。

具體(ti)實施過程：若(ruo)無(wu)人(ren)機在控制懸停，若(ruo)遇到從(cong)東(dong)往西的側(ce)風(feng)，則垂直螺旋槳401的傾(qing)角對(dui)應側(ce)風(feng)方(fang)向，以抵消側(ce)風(feng)對(dui)無(wu)人(ren)機飛行姿態的影響，并且根據側(ce)風(feng)的風(feng)速調(diao)節垂直螺旋槳401的轉速。

所(suo)述機(ji)(ji)載處理器模塊適于判斷側風(feng)的風(feng)向和(he)風(feng)速是否有助于飛行，若有助于飛行，則降低(di)垂直螺旋(xuan)(xuan)槳401和(he)/或水平(ping)螺旋(xuan)(xuan)槳的轉速，提高了(le)無人機(ji)(ji)的巡航里程。