CN108177767A - A kind of multi-rotor unmanned aerial vehicle - Google Patents
A kind of multi-rotor unmanned aerial vehicle Download PDFInfo
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- CN108177767A CN108177767A CN201711262180.0A CN201711262180A CN108177767A CN 108177767 A CN108177767 A CN 108177767A CN 201711262180 A CN201711262180 A CN 201711262180A CN 108177767 A CN108177767 A CN 108177767A
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- 238000000034 method Methods 0.000 claims description 31
- 238000004891 communication Methods 0.000 claims description 22
- 230000011664 signaling Effects 0.000 claims description 22
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- 229920000642 polymer Polymers 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 238000012545 processing Methods 0.000 abstract description 8
- 230000008439 repair process Effects 0.000 abstract description 5
- 238000003860 storage Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 7
- 238000004590 computer program Methods 0.000 description 6
- 241000883966 Astrophytum capricorne Species 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
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- 230000002093 peripheral effect Effects 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 240000002853 Nelumbo nucifera Species 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D43/00—Arrangements or adaptations of instruments
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/02—Arrangements or adaptations of signal or lighting devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Toys (AREA)
Abstract
An embodiment of the present invention provides a kind of multi-rotor unmanned aerial vehicles, and including even number horn, spider, undercarriage and propeller, and horn is equipped with motor, the propeller rotation that motor drive is connect with horn；Spider includes center disk casing, battery and flight control system；Center disk casing is that an outer surface with head cover is smooth fairshaped plate-like housing, and multiple hollow connectors are equipped with through the side of housing；Battery and flight control system are built in the disk casing of center, and battery is connect with flight control system；Undercarriage includes arch bar and two undercarriage cross bars, the end of undercarriage cross bar is equipped with screens, the end of arch bar is equipped with mounting hole, and card slot is equipped in the side wall of mounting hole, and card slot corresponding with the arch bar locks respectively for the screens of two undercarriage cross bars；Unmanned plane provided in an embodiment of the present invention solves the problems, such as that mold repair efficiency of the prior art is low and processing cost is higher.
Description
Technical field
The present invention relates to space flight and aviation vehicle technology field, more particularly to a kind of multi-rotor unmanned aerial vehicle.
Background technology
Along with wireless communication technique, air remote sensing surveying and mapping technology, GPS (Global Positioning System, entirely
Ball alignment system) navigator fix technology and automatic control technology development, the air remote sensing surveying and mapping technology of unmanned plane more can be very
Good completion is patrolled electric power and the task of construction plan, can also reduce the economic loss of country to a certain extent.Nobody
Machine can be applied to the fields such as infrastructure planning, circuit inspection, emergency response, topographic survey, disaster searching.With technology
It is continuously improved, unmanned plane will give play to more powerful advantage in the construction of following every field.
But as unmanned plane future is in the effect played needed for every field, the requirement to unmanned plane is also higher and higher,
And more rotation unmanned planes of unmanned plane currently on the market use fixed horn more, fixed horn is using integrally formed entirety
Structure, since the rigorous of convection current line style fuselage cover is higher, so usually before the formal volume production of product, for fuselage, all
The repair of a few wheel molds can be undergone, mold repair efficiency is low and processing cost is higher so as to cause.
Invention content
The embodiment of the present invention is designed to provide a kind of multi-rotor unmanned aerial vehicle, to solve mold repair of the prior art
Efficiency is low and the problem of processing cost is higher.Specific technical solution is as follows：
In a first aspect, the embodiment of the present invention provides a kind of multi-rotor unmanned aerial vehicle, the multi-rotor unmanned aerial vehicle includes：Even number number
Amount horn, spider, undercarriage and the propeller being connected on the horn, wherein, at interval of a horn corresponding two
A horn is identical, and identical horn is the anti-paddle horn equipped with motor, which rotates counterclockwise, drives and the horn pair
The propeller answered rotates counterclockwise and the positive paddle horn equipped with motor, the motor rotate clockwise, and drives corresponding with the horn
Propeller rotate clockwise；
The spider includes center disk casing, battery and flight control system；The center disk casing is a band head cover
Outer surface for smooth fairshaped plate-like housing, through the side of the plate-like housing be equipped with identical with horn quantity it is hollow
Connector；The battery and flight control system are built in the center disk casing, the battery and flight control system
Connection；
The undercarriage includes arch bar and two undercarriage cross bars, and the end of the undercarriage cross bar is equipped with screens, institute
The end for stating arch bar is equipped with mounting hole, and card slot is equipped in the side wall of the mounting hole, the screens point of two undercarriage cross bars
Card slot not corresponding with the arch bar locks；
The spider fixation is placed in the center position of the upper end of undercarriage, and each horn is corresponding with the horn
Connector connection, and connector and flight control system of the motor on each horn by being correspondingly connected with horn
Connection.
Further, the spider is additionally provided with nine core communication interfaces, four core functional interfaces and five core functional interfaces；
The nine cores communication interface is power output interface, electric wire is grounded end interface, F1 signaling interfaces, flies control bus signals
High position data line interface, fly control bus signals low data line interface, F4 signaling interfaces, signal ground interface, F2 signals connect
Mouth and F3 signaling interfaces；
The power output interface supplies the output terminal of holder component power supply for battery, and the electric wire ground connection end interface is flight
The port that control system is connected to ground, the F1 signaling interfaces are the F1 signal output ends of flight control system, for controlling cloud
Platform pitch angle；The F4 signaling interfaces are the reserved control interface of flight control system；The F2 signaling interfaces are controlled for flight
The connectivity port of system control camera lens zoom processed；The F3 signaling interfaces control video switching for flight control system or cast control
The connectivity port of system；The high position data line interface of the winged control bus signals is connected for the high position data line of flight control system
Mouthful, the low data line interface of the winged control bus signals is the low data line connector of flight control system；
The four cores functional interface is for reserving power supply interface, for when the plug-in function load of unmanned plane, being carried for load
Power supply source exports；
The five cores functional interface is reserved function interface, for external control device, with flight control system into line number
According to communication.
Further, the spider further includes global position system GPS, and the GPS is connect with flight control system.
Further, the spider is additionally provided with Light-emitting diode LED (Light-Emitting Diode Light)
Indicator light, the LED light are connect with flight control system, for showing current unmanned plane GPS states, battery status.
Further, the unmanned plane further includes remote controler, and the remote controler is connect with flight control system.
Further, the unmanned plane further includes figure and passes pendant, and the figure passes the bottom that pendant is placed in the center disk casing
End, connect for the holder component with firm camera.
Further, the unmanned plane further includes ground control system, camera, and the camera is fixed on holder component
In and pendant passed by figure be placed in the bottom end of the center disk casing, the camera and the ground control system with flight
Control system connects, and the ground control system, which is used to implement, receives the unmanned plane image of flight control system transmission, to nobody
The planning of machine track and to unmanned plane set task.
Further, the battery is lighium polymer power battery.
Second aspect, the embodiment of the present invention provide a kind of control method of making a return voyage applied to any unmanned plane, applied to winged
Row control system, the method include：
In the case where not receiving remote controller signal and ground control system signal, calculating do not receive remote controller signal and
The time of ground control system signal；
In the case where the time for not receiving remote controller signal and ground control system signal is more than preset time, judge
Whether currently setting for task is completed；
If not completing, continue the tasks carrying according to setting, until the task of setting is completed, according to making a return voyage a little for record
It makes a return voyage；
If completion, a little make a return voyage according to making a return voyage for record.
Further, it is described according to the making a return voyage and a little make a return voyage of record after, the method further includes：
It a little makes a return voyage to apart from position of the initial position less than the first preset value according to making a return voyage for record, judges that place height is
It is no to be less than the second preset value；
If it is, being first increased to the second preset value, then perform landing；
If it has not, perform landing in present level.
The third aspect, an embodiment of the present invention provides a kind of unmanned planes, including processor, communication interface, memory and lead to
Believe bus, wherein, processor, communication interface, memory completes mutual communication by bus；Memory, based on storing
Calculation machine program；Processor for performing the program stored on memory, realizes the method and step described in second aspect.
Fourth aspect, an embodiment of the present invention provides a kind of computer readable storage medium, the storage medium memory storage
There is computer program, the step described in second aspect is realized when the computer program is executed by processor.
A kind of multi-rotor unmanned aerial vehicle provided in an embodiment of the present invention, including even number horn, spider, undercarriage and
The propeller being connected on the horn, spider include center disk casing, battery and flight control system；Outside the spider
Shell is an outer surface with head cover for smooth fairshaped plate-like housing, is equipped with through the side of plate-like housing and horn quantity phase
With a hollow connector；The central battery and flight control system it is built-in in the center disk casing, the battery and
Remote control receiver is connect with flight control system；Undercarriage includes arch bar and two undercarriage cross bars, the undercarriage
The end of cross bar is equipped with screens, and the end of the arch bar is equipped with mounting hole, and card slot is equipped in the side wall of the mounting hole, and two
Card slot corresponding with the arch bar locks respectively for the screens of undercarriage cross bar；Spider fixation is placed in the upper of undercarriage
The center position of end, each horn connector connection corresponding with the horn, and the motor on horn is logical
It crosses and is connect with the connector that horn is correspondingly connected with flight control system.The unmanned plane solves mold repair of the prior art
Efficiency is low and the problem of processing cost is higher.Certainly, it implements any of the products of the present invention or method must be not necessarily required to reach simultaneously
To all the above advantage.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described.
Fig. 1 is a kind of multi-rotor unmanned aerial vehicle schematic diagram provided in an embodiment of the present invention；
Fig. 2 is spider schematic diagram provided in an embodiment of the present invention；
Fig. 3 is position of source schematic diagram provided in an embodiment of the present invention；
Fig. 4 is the control method schematic diagram that makes a return voyage that the first is applied to above-mentioned multi-rotor unmanned aerial vehicle；
Fig. 5 is second of control method schematic diagram that makes a return voyage for being applied to above-mentioned multi-rotor unmanned aerial vehicle；
Fig. 6 is a kind of control device schematic diagram that makes a return voyage applied to above-mentioned multi-rotor unmanned aerial vehicle；
Fig. 7 is a kind of unmanned plane schematic diagram provided in an embodiment of the present invention.
1- horns；2- spiders；3- undercarriages；4- propellers；11- head covers；21- connectors；12- battery bandages；13-
One piece of battery；Second piece of battery of 14-；15- battery plugs；16- buttons.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
In order to solve prior art problem, in a first aspect, an embodiment of the present invention provides a kind of multi-rotor unmanned aerial vehicle, now with
For six rotation unmanned planes, as described in Figure 1, six rotor wing unmanned aerial vehicle includes：
Six rotor wing unmanned aerial vehicle includes six horns 1, spider 2, the propeller being connected on the horn and rises and falls
Frame 3, wherein, it is the anti-paddle horn equipped with motor at interval of the identical and identical horn of corresponding two horns of a horn, it should
Motor rotates counterclockwise, drives propeller 4 corresponding with the horn rotation and the positive paddle horn equipped with motor counterclockwise, should
Motor rotates clockwise, and propeller 4 corresponding with the horn is driven to rotate clockwise；
As shown in Fig. 2, the spider 2 includes center disk casing, battery and flight control system；The center disk casing
It is an outer surface with head cover 11 for smooth fairshaped plate-like housing, sets that there are six hollow through the side of the plate-like housing
Connector 22；The battery and flight control system are built in the center disk casing, the battery and flight control system
System connection；
The undercarriage 3 includes arch bar and two undercarriage cross bars, and the end of the undercarriage cross bar is equipped with screens, institute
The end for stating arch bar is equipped with mounting hole, and card slot is equipped in the side wall of the mounting hole, the screens point of two undercarriage cross bars
Card slot not corresponding with the arch bar locks；
The spider 2 fixes the center position for the upper end for being placed in undercarriage 3, each horn 1 and the horn 1
The corresponding connector 22 connects, and the motor on each horn 1 by the connector 22 that is correspondingly connected with horn 1 with flying
Row control system connects.
Wherein, the installation steps of above-mentioned undercarriage 3 can be：Two undercarriage cross bars are respectively penetrated to the installation of arch bar
In hole, the card slot in the screens alignment arch bar on undercarriage cross bar slides into, then rotate release.
A kind of embodiment that above-mentioned spider 2 fixes the center position for the upper end for being placed in undercarriage 3 is：By center
Disk 2 is placed on assembled undercarriage 3, one end of four goat's horn screws respectively by the edge of arch bar closely spider 2,
And tightened the other end of goat's horn screw using the buckle at lanyard end, wherein, buckle lanyard is to lose in order to prevent.
A kind of connection mode that each horn is connect with connecting rod can be：Different numbers is equipped on each horn 1,
It is to rotate counterclockwise that the number, which is the corresponding horn 1 of odd number for the corresponding propeller 4 of anti-paddle horn, motor equipped with motor,
It is described number be the corresponding horn 1 of even number be the corresponding propeller 4 of positive paddle horn, motor equipped with motor be rotate clockwise；
Then horn 1 is connected by the corresponding connector 22 of number identical with horn 1.
Wherein, the embodiment that horn 1 is connected by the corresponding connector 22 of number identical with the horn 1 can be with
Positioning pin is set on horn 1, and connector 22 is equipped with location hole, it is first determined the number of horn 1 and the number one of connector 22
It causes, secondly, is aligned the positioning pin of horn 1 and the location hole of connector 22, parallel push-in.
The connection mode is not only easy for installation, but also the mark numbered can explicitly grasp the situation of each horn,
It is provided a convenient for subsequent maintenance, simultaneously because horn 1 is on corresponding 2 connector 22 of spider for being mounted on and being evenly distributed, because
This is in highly difficult operation, and each 1 integrated level of horn is high, and motor is also uniformly to be placed in 1 end of horn so that unmanned plane weight
The heart is consistent, reduces the security risk of unmanned plane.
The smooth streamlined wind resistant property that can increase unmanned plane that above-mentioned spider 2 uses.
Above-mentioned battery is lighium polymer power battery, and mode connected in series or in parallel may be used in spider 2 and put
In two pieces of batteries, head cover 21 is assembled with spider housing using button 16, as shown in figure 3, during two pieces of lithium batteries are put into
Cartridge pays attention to the position of first piece of battery 13 and second piece of battery 14, by battery plug 15 according to being installed to preinstalled circuit plate phase
Position is answered, is fixed battery with battery bandage 12, put down head cover 21 and is buckled.
It should be noted that 1 all same of horn in the embodiment of the present invention, that is to say, that location layout, the horn 1 of motor
Length and horn 1 weight all same.
In addition, the spider 2 is additionally provided with nine core communication interfaces, four core functional interfaces and five core functional interfaces.
The nine cores communication interface is power output interface, electric wire is grounded end interface, F1 signaling interfaces, flies control bus signals
High position data line interface, fly control bus signals low data line interface, F4 signaling interfaces, signal ground interface, F2 signals connect
Mouth and F3 signaling interfaces；The power output interface supplies the output terminal of holder component power supply, the electric wire ground connection termination for battery
The port that mouth is connected to ground for flight control system, the F1 signaling interfaces are the F1 signal output ends of flight control system, are used
In control holder pitch angle；The F4 signaling interfaces are the reserved control interface of flight control system；The F2 signaling interfaces
The connectivity port of camera lens zoom is controlled for flight control system；The F3 signaling interfaces control video switching for flight control system
Or cast the connectivity port of control；The high position data line interface of the winged control bus signals is the high position data of flight control system
Line connector, the low data line interface of the winged control bus signals is the low data line connector of flight control system；
Above-mentioned camera lens is the camera lens of camera.
It should be noted that power supply for the path walked primarily directed to electric power loop electric current, it is in general electric
The electric current flowed through to source is larger, and signal ground is flowed primarily directed to the reflux of the signal of communication between two chips or module
The path crossed, the electric current very little that in general signal ground flows through.
In addition, power output interface can be connect with battery plug 15.
The four cores functional interface is for reserving power supply interface, for when other plug-in function load of unmanned plane, to carry
Lotus provides power supply output；Multiple-task is performed for unmanned plane and has done adequate preparation so that the functional diversities of unmanned plane.
The five cores functional interface is reserved function interface, for other external control devices, with flight control system into
Row data communication.The application mode of five core functional interfaces is：Increase avoidance component fixed seat on unmanned plane, i.e., when unmanned plane makes
During with barrier avoiding function, avoidance component can be fixed in avoidance component fixed seat using a goat's horn screw, then will
On the socket that the five core functional interfaces that 5 core plugs of avoidance module data line are connected to 2 bottom of spider are formed, avoidance component is
For evading the component of unmanned plane danger.
The spider 2 further includes GPS, and the GPS is connect with flight control system, can be with by the location technology of GPS
In high precision, the position of round-the-clock, efficient positioning unmanned plane.
The spider is additionally provided with LED light, and the LED light is connect with flight control system, for showing
Current unmanned plane GPS states, battery status.
It should be noted that LED light can be also used for the low electric protection of battery, user is reminded to return and land in time
Unmanned plane avoids performing mission failure and the damage to unmanned plane.Low-voltage is to cause to fall machine along with dangerous flight attitude
Most important reason, so, when unmanned plane have low pressure warning remind when please make a return voyage immediately, so as to avoid an accident, LED refers to
Show that different colors may be used for alerting different situations in lamp.
The spider 2 is additionally provided with sparkproof switch, and the sparkproof switch is connect with battery, for controlling unmanned plane total
The switch of power supply.
It is noted that the setting of sparkproof switch for controlling the general supply of unmanned plane, plays the power supply of unmanned plane
It is acted on to a key protection.
The unmanned plane further includes remote controler, and the remote controler is connect with flight control system.
The setting of remote controler can play remote control unmanned plane, strengthen unmanned plane and the interactive capability of people.
It is noted that the spider 2 of unmanned plane can connect two sets of horns 1, and a set of M horns 1, a set of L horns 1,
During using remote controler, it is necessary to the current state for flying control is confirmed, with the horn 1 of the different size used.
The unmanned plane further includes figure and passes pendant, and the figure passes the bottom end that pendant is placed in 2 shell of spider, for
The holder component connection of firm camera.
Wherein, holder component is used exclusively for consolidating the pendant of camera on unmanned aerial vehicle or other equipment.
The unmanned plane further includes ground control system, camera, and the camera is fixed in holder component and passes through
Figure passes pendant and is placed in the bottom end of the center disk casing, and the camera and the ground control system are and flight control system
Connection, the ground control system, which is used to implement, receives the unmanned plane image of flight control system transmission, to unmanned plane track
It plans and task is set to unmanned plane.
The setting of camera is to shoot one in landforms or the execution task where current unmanned plane
Divide, especially earthquake disaster area or conflagration area etc..The main function of ground control system controls system to the flight of unmanned plane
System is controlled, more accurate in order to position, and outer in ground control system can add antenna.
Therefore compared to existing six wings unmanned plane for, the especially setting of horn 1, the embodiment of the present invention provide
Unmanned plane using modularized design, all parts are separately formed, so having broken away from and the integrally formed mould structure of housing
Limitation, not only reduces cost, and easy to carry.
Second aspect, Fig. 4 are the control method schematic diagram that makes a return voyage that the first is applied to above-mentioned multi-rotor unmanned aerial vehicle, are applied to
Flight control system, this method include：
S101 in the case where not receiving remote controller signal and ground control system signal, starts LED light, and
Calculate the time for not receiving remote controller signal and ground control system signal；
Wherein, LED light is out of touch simultaneously for display remote controller and earth station.
S102 is more than the situation of preset time in the time for not receiving remote controller signal and ground control system signal
Under, whether the judging currently to set of the task is completed；If not completing, S103 is performed, if completion, performs S104；
Wherein, preset time can be 5S.
S103 continues the tasks carrying according to setting, until the task of setting is completed, a little makes a return voyage according to making a return voyage for record；
In this step in unfinished setting task, it is still to after continuing to complete setting task, can just makes a return voyage, to have ensured
Into the purpose of this flight.
It should be noted that making a return voyage for record herein a little can be understood as unmanned plane and fly to current location record according to rising
Path coordinate.
S104 a little makes a return voyage according to making a return voyage for record.
From the foregoing, it will be observed that the first control method of making a return voyage provided in an embodiment of the present invention is not by receiving remote controller signal
Unmanned plane is set to make a return voyage in the case of being more than preset time with the time of ground control system signal, lost contact has been carried out to unmanned plane
Protection avoids unmanned plane from losing or do not complete task, and also ensuring the task of setting can smoothly complete.
Fig. 5 is second of control method schematic diagram that makes a return voyage for being applied to above-mentioned multi-rotor unmanned aerial vehicle, is controlled applied to flight
System, this method include：
S201 in the case where not receiving remote controller signal and ground control system signal, starts LED light, and
Calculate the time for not receiving remote controller signal and ground control system signal；
Wherein, step S201-S204 is identical with the method that the step S101-S104 in Fig. 4 embodiments is performed respectively.Cause
This, all embodiments in Fig. 4 are suitable for Fig. 5, and can reach the same or similar advantageous effect, and details are not described herein.
S202 is more than the situation of preset time in the time for not receiving remote controller signal and ground control system signal
Under, whether the judging currently to set of the task is completed；If not completing, S203 is performed, if completion, performs S204；
S203 continues the tasks carrying according to setting, until the task of setting is completed, a little makes a return voyage according to making a return voyage for record；
S204 a little makes a return voyage according to making a return voyage for record；
S205, according to record make a return voyage a little make a return voyage to apart from initial position be less than the first preset value position, judge institute
Highly whether it is being less than the second preset value；If it is, S206 is performed, if it has not, performing S207；
Wherein, above-mentioned first preset value can be 3 meters.
S206 is first increased to the second preset value, then performs landing；
Wherein, the second above-mentioned preset value can be 20 meters.If less than 20 meters, be easy to causeing cannot make under present level
Speed after deceleration reaches safety value, be easy to cause the crash or damage of unmanned plane.
S207 performs landing in present level.
It should be noted that the height higher than 20 meters can give unmanned plane one ideal landing cushion space.
Therefore second provided in an embodiment of the present invention control method of making a return voyage be not by receiving remote controller signal
Unmanned plane is set to make a return voyage in the case of being more than preset time with the time of ground control system signal, lost contact has been carried out to unmanned plane
Protection avoids unmanned plane from losing or do not complete task, and also ensuring the task of setting can smoothly complete, also by unmanned plane
Descent altitude and jump area point have carried out safe falling setting, further ensure the safety of unmanned plane.
Flight control system automatically controls unmanned plane and is performing described in present level, makes a return voyage to returning waypoint location longitude and latitude
Degree after performing landing, is automatically closed the sparkproof switch of unmanned plane, further extends the service life of battery, make unmanned plane
It is more intelligent.
Corresponding with above-mentioned control of making a return voyage, the embodiment of the present application additionally provides one kind and makes a return voyage control device.
Fig. 6 is a kind of control device schematic diagram that makes a return voyage applied to above-mentioned multi-rotor unmanned aerial vehicle, applied to flight control system
System, the device include：
LED starting modules 301, in the case where not receiving remote controller signal and ground control system signal, opening
Dynamic LED light, and calculate the time for not receiving remote controller signal and ground control system signal；
Judgment module 302, it is default for being more than in the time for not receiving remote controller signal and ground control system signal
In the case of time, whether the judging currently to set of the task is completed；If not completing, triggering task continues to execute module 303, if
To complete, triggering returns to module 304；
The task continues to execute module 303, for continuing the tasks carrying according to setting, until the task of setting is complete
Into a little making a return voyage according to making a return voyage for record.
The return module 304, for a little making a return voyage according to making a return voyage for record.
Wherein, which further includes：
Second judgment module, for according to the making a return voyage and be less than first preset value to apart from initial position a little of making a return voyage of record
Position, whether height is less than the second preset value where judging；If it is, triggering raising module, if it has not, triggering landing module；
The raising module, for being first increased to the second preset value, then perform landing；
The landing module, for performing landing in present level.
From the foregoing, it will be observed that one kind provided in an embodiment of the present invention is maked a return voyage control device by do not receive remote controller signal and
The time of ground control system signal sets unmanned plane to make a return voyage in the case of being more than preset time, and lost contact guarantor has been carried out to unmanned plane
Shield avoids unmanned plane from losing or do not complete task, and also ensuring the task of setting can smoothly complete.
The third aspect, an embodiment of the present invention provides a kind of unmanned plane, as shown in fig. 7, comprises processor 401, communication connect
Mouthfuls 402, memory 403 and communication bus 404, wherein, processor 401, communication interface 402, memory 403 passes through communication bus
404 complete mutual communication,
Memory 403, for storing computer program；
Processor 401 during for performing the program stored on memory 403, realizes provided in an embodiment of the present invention one
Plant control method of making a return voyage.
The control method specifically, above-mentioned one kind is maked a return voyage, including：
In the case where not receiving remote controller signal and ground control system signal, calculating do not receive remote controller signal and
The time of ground control system signal；
In the case where the time for not receiving remote controller signal and ground control system signal is more than preset time, judge
Whether currently setting for task is completed；
If not completing, continue the tasks carrying according to setting, until the task of setting is completed, according to making a return voyage a little for record
It makes a return voyage.
If completion, a little make a return voyage according to making a return voyage for record.
It can be seen that unmanned plane provided in this embodiment is performed, by not receiving remote controller signal and ground control
The time of system signal sets unmanned plane to make a return voyage in the case of being more than preset time, has carried out lost contact protection to unmanned plane, has avoided
Unmanned plane is lost or is not completed task, and also ensuring the task of setting can smoothly complete.
Above-mentioned related content is maked a return voyage the control of making a return voyage that embodiment and the preceding method embodiment part of control method provide
Mode processed is identical, and which is not described herein again.
The communication bus that above-mentioned electronic equipment is mentioned can be Peripheral Component Interconnect standard (Peripheral Pomponent
Interconnect, abbreviation PCI) bus or expanding the industrial standard structure (Extended Industry Standard
Architecture, abbreviation EISA) bus etc..The communication bus can be divided into address bus, data/address bus, controlling bus etc..
For ease of representing, only represented in figure with a thick line, it is not intended that an only bus or a type of bus.
Communication interface is for the communication between above-mentioned electronic equipment and other equipment.
Memory can include random access memory (Random Access Memory, abbreviation RAM), can also include
Nonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.Optionally, memory may be used also
To be at least one storage device for being located remotely from aforementioned processor.
Above-mentioned processor can be general processor, including central processing unit (Central Processing Unit,
Abbreviation CPU), network processing unit (Ne twork Processor, abbreviation NP) etc.；It can also be digital signal processor
(Digital Signal Processing, abbreviation DSP), application-specific integrated circuit (Applica tion Specific
Integrated Circuit, abbreviation ASIC), field programmable gate array (Field-Programmable Gate Array,
Abbreviation FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components.
Fourth aspect, an embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage mediums
Instruction is stored in matter, when run on a computer so that one kind that computer is performed in above-described embodiment is maked a return voyage control
Method.
The control method specifically, above-mentioned one kind is maked a return voyage, including：
In the case where not receiving remote controller signal and ground control system signal, calculating do not receive remote controller signal and
The time of ground control system signal；
In the case where the time for not receiving remote controller signal and ground control system signal is more than preset time, judge
Whether currently setting for task is completed；
If not completing, continue the tasks carrying according to setting, until the task of setting is completed, according to making a return voyage a little for record
It makes a return voyage.
If completion, a little make a return voyage according to making a return voyage for record.
It can be seen that when performing the application program stored in computer readable storage medium provided in this embodiment, pass through
Unmanned plane is set to return in the case of being more than preset time in the time for not receiving remote controller signal and ground control system signal
Boat, lost contact protection has been carried out to unmanned plane, and unmanned plane is avoided to lose or do not complete task, also ensures that the task of setting can be smoothly
It completes.
Above-mentioned related content is maked a return voyage the control of making a return voyage that embodiment and the preceding method embodiment part of control method provide
Mode processed is identical, and which is not described herein again.
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or its arbitrary combination real
It is existing.When implemented in software, it can entirely or partly realize in the form of a computer program product.The computer program
Product includes one or more computer instructions.When loading on computers and performing the computer program instructions, all or
It partly generates according to the flow or function described in the embodiment of the present invention.The computer can be all-purpose computer, special meter
Calculation machine, computer network or other programmable devices.The computer instruction can be stored in computer readable storage medium
In or from a computer readable storage medium to another computer readable storage medium transmit, for example, the computer
Instruction can pass through wired (such as coaxial cable, optical fiber, number from a web-site, computer, server or data center
User's line (DSL)) or wireless (such as infrared, wireless, microwave etc.) mode to another web-site, computer, server or
Data center is transmitted.The computer readable storage medium can be any usable medium that computer can access or
It is the data storage devices such as server, the data center integrated comprising one or more usable mediums.The usable medium can be with
It is magnetic medium, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state disk
Solid State Disk (SSD)) etc..
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any this practical relationship or sequence.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only will including those
Element, but also including other elements that are not explicitly listed or further include as this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
Also there are other identical elements in process, method, article or equipment including the element.
Each embodiment in this specification is described using relevant mode, identical similar portion between each embodiment
Point just to refer each other, and the highlights of each of the examples are difference from other examples.Especially for equipment,
For method, apparatus embodiment, since it is substantially similar to embodiment of the method, so description is fairly simple, related part is joined
See the part explanation of embodiment of the method.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of multi-rotor unmanned aerial vehicle, which is characterized in that the multi-rotor unmanned aerial vehicle includes：Even number horn (1), center
Disk (2), undercarriage (3) and the propeller (4) being connected on the horn (1),
Wherein, it is equipped with the anti-of motor at interval of the identical and identical horn (1) of corresponding two horns (1) of a horn (1)
Paddle horn, the motor rotate counterclockwise, and propeller (4) corresponding with the horn (1) is driven to rotate counterclockwise and equipped with motor
Positive paddle horn, which rotates clockwise, and propeller (4) corresponding with the horn (1) is driven to rotate clockwise；
The spider (2) includes center disk casing, battery and flight control system；Spider (2) shell is a band top
The outer surface for covering (21) is smooth fairshaped plate-like housing, is equipped with and horn (1) quantity through the side of the plate-like housing
Identical hollow connector (22)；The battery and the flight control system are built in the center disk casing, described
Battery is connect with the flight control system；
The undercarriage (3) includes arch bar and two undercarriage cross bars, and the end of the undercarriage cross bar is equipped with screens, described
The end of arch bar is equipped with mounting hole, and card slot is equipped in the side wall of the mounting hole, the screens difference of two undercarriage cross bars
Card slot corresponding with the arch bar locks；
The center position of the fixed upper end for being placed in undercarriage (3) of the spider (2), each horn (1) and the machine
Arm (1) the corresponding connector (22) connection, and the motor on each horn (1) with horn (1) by being correspondingly connected with
Connector (22) is connect with the flight control system.
2. unmanned plane as described in claim 1, which is characterized in that the spider (2) is additionally provided with nine core communication interfaces, four core work(
It can interface and five core functional interfaces；
The nine cores communication interface is power output interface, electric wire is grounded end interface, F1 signaling interfaces, the height for flying control bus signals
Position datawire interface, fly the control low data line interface of bus signals, F4 signaling interfaces, signal ground interface, F2 signaling interfaces and
F3 signaling interfaces；
The power output interface supplies the output terminal of holder component power supply for battery, and the electric wire ground connection end interface is controlled for flight
The port that system is connected to ground, the F1 signaling interfaces are the F1 signal output ends of flight control system, for holder to be controlled to bow
Elevation angle degree；The F4 signaling interfaces are the reserved control interface of flight control system；The F2 signaling interfaces are flight control system
The connectivity port of system control camera lens zoom；The F3 signaling interfaces control video switching for flight control system or cast control
Connectivity port；High position data line connector of the high position data line interface of the winged control bus signals for flight control system, institute
State low data line connector of the low data line interface for flying control bus signals for flight control system；
The four cores functional interface is for reserving power supply interface, for when the plug-in function load of unmanned plane, electricity to be provided for load
Source exports；
The five cores functional interface is reserved function interface, for external control device, carries out data with flight control system and leads to
Letter.
3. unmanned plane as described in claim 1, which is characterized in that the spider (2) further includes global position system GPS, institute
GPS is stated to connect with flight control system.
4. unmanned plane as described in claim 1, which is characterized in that the spider (2) is additionally provided with Light-emitting diode LED instruction
Lamp, the LED light are connect with flight control system, for showing current unmanned plane GPS states, battery status.
5. unmanned plane as described in claim 1, which is characterized in that the unmanned plane further includes remote controler, the remote controler with
Flight control system connects.
6. unmanned plane as described in claim 1, which is characterized in that the unmanned plane further includes figure and passes pendant, and the figure, which passes, to be hung
Part is placed in the bottom end of the center disk casing, is connect for the holder component with firm camera.
7. unmanned plane as claimed in claim 6, which is characterized in that the unmanned plane further includes ground control system, camera,
The camera is fixed in holder component and passes the bottom end that pendant is placed in the center disk casing by figure, the camera and
The ground control system is connect with flight control system, and the ground control system is used to implement reception flight control system
The unmanned plane image of transmission sets task to the planning of unmanned plane track and to unmanned plane.
8. device as claimed in claim 7, which is characterized in that the battery is lighium polymer power battery.
9. a kind of control method of making a return voyage being applied to such as any unmanned planes of claim 1-8, which is characterized in that controlled applied to flight
System processed, the method includes：
In the case where not receiving remote controller signal and ground control system signal, calculating does not receive remote controller signal and ground
The time of control system signal；
In the case where the time for not receiving remote controller signal and ground control system signal is more than preset time, judge current
Whether the task of setting is completed；
If not completing, continue the tasks carrying according to setting, until the task of setting is completed, a little returned according to making a return voyage for record
Boat；
If completion, a little make a return voyage according to making a return voyage for record.
10. method as claimed in claim 9, which is characterized in that it is described according to the making a return voyage and a little make a return voyage of record after, the side
Method further includes：
It a little makes a return voyage to apart from position of the initial position less than the first preset value according to making a return voyage for record, whether height where judging is low
In the second preset value；
If it is, being first increased to the second preset value, then perform landing；
If it has not, perform landing in present level.
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| CN201711262180.0A CN108177767B (en) | 2017-12-04 | 2017-12-04 | Multi-rotor unmanned aerial vehicle |
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|---|---|---|---|
| CN201711262180.0A CN108177767B (en) | 2017-12-04 | 2017-12-04 | Multi-rotor unmanned aerial vehicle |
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