CN109606734B - Master-slave type space microminiature aircraft - Google Patents
Master-slave type space microminiature aircraft Download PDFInfo
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- CN109606734B CN109606734B CN201811459745.9A CN201811459745A CN109606734B CN 109606734 B CN109606734 B CN 109606734B CN 201811459745 A CN201811459745 A CN 201811459745A CN 109606734 B CN109606734 B CN 109606734B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
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- B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
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Abstract
The invention discloses a master-slave type space microminiature aircraft, which comprises a main aircraft and a plurality of microminiature aircraft, wherein the main aircraft comprises a laser control module and a main control module; laser beams emitted by the laser control module cover the area where the micro aircraft is located, and after the space micro aircraft is released, the detection module receives instruction information sent by the main aircraft; the invention adopts the integrated forming design of the engine and the structure, the modularization of the electric system and the integrated layout mode to realize the modularization and the miniaturization of the spacecraft, so that the spacecraft reaches the centimeter scale and the hectogram magnitude.
Description
Technical Field
The invention relates to a master-slave type space microminiature aircraft, belonging to the general technical field of space aircrafts.
Background
With the rapid development of information technology, new materials and advanced manufacturing technology, the space microminiature aircraft becomes an important trend of future aerospace development, has the advantages of small size, low power consumption, short development period, capability of completing complex space tasks at lower cost by a formation networking mode and the like, and plays an important role in the fields of scientific research, national defense, commercial use and the like. The research on the space microminiature aircraft is relatively early in foreign countries, and a plurality of countries and universities successfully launch the space microminiature aircraft. The United states, Russia, Europe, Canada and Japan all have own space microminiature aircraft platform, and countries such as India, Korea and Singapore take the space microminiature aircraft research as the trigger to drive the development and construction of the aerospace technology and national economy of China.
The traditional micro aircraft has various design and manufacturing modes and long production period, and various parts among the micro aircraft cannot be replaced, so that the development requirements of modularization, standardization and universalization of the current micro aircraft cannot be met.
Disclosure of Invention
The technical problem solved by the invention is as follows: in order to overcome the defects of the prior art, a master-slave type space microminiature aircraft is provided, and the modularization and the miniaturization of the space aircraft are realized by adopting an engine and structure integrated forming design, an electric system modularization and an integrated layout mode, so that the space aircraft reaches a centimeter scale and a hectogram magnitude.
The technical solution of the invention is as follows:
a master-slave type space microminiature aircraft,
comprises a main aircraft and a plurality of microminiature aircraft,
the main aircraft comprises a laser control module and a main control module,
the microminiature aircraft comprises a GPS receiving module, an MEMS gyroscope module, a wireless communication module, a slave control module and a power module,
the micro aircraft is initially installed on the main aircraft through a locking mechanism, and is released along the direction perpendicular to the axial direction of the main aircraft through a release mechanism;
laser beams emitted by the laser control module cover the area where the micro aircraft is located, and after the space micro aircraft is released, the detection module receives instruction information sent by the main aircraft;
the MEMS gyro module collects acceleration and angle change rate information of the micro aircraft in real time, transmits the information to the slave control module, and determines the position and attitude information of the micro aircraft by the slave control module;
the GPS receiving module receives and demodulates GPS information, transmits the GPS information to the slave control module, determines the position information of the microminiature aircraft by the slave control module, and realizes the determination of the position of the microminiature aircraft through the combined navigation with the MEMS gyro module;
the main control module controls the laser control module to track a plurality of remote micro aircrafts and sends control information to the micro aircrafts in a pulse modulation mode, the micro aircrafts are subjected to maneuvering control after receiving instructions, data interaction among the space micro aircrafts is realized through the wireless communication module, and the power module adjusts the postures and the tracks of the micro aircrafts to realize formation flight of the micro aircrafts.
The release mechanism is a spring loaded or pneumatic ejection mechanism.
The power modules are miniature solid pulse engines and are symmetrically arranged in four quadrants of the cabin body of the miniature aircraft.
Ignition of the engine is controlled by a flexible circuit board in the cabin body of the micro aircraft, and the ignition is used for realizing adjustment of the track and the posture of the cabin body of the micro aircraft.
The microminiature aircraft also comprises an interface conversion module, and the conversion of interfaces among the modules of the microminiature aircraft is realized.
The interface conversion module, the slave control module, the MEMS gyroscope module, the GPS receiving module and the wireless communication module are connected through connectors between the plates in sequence to form a cylindrical circuit module.
The laser control module comprises a laser, a light beam director, an infrared receiver and a controller, wherein the light beam director controls the view field of the laser so as to cover the area where the micro aircraft is located.
The controller controls the laser to track a plurality of remote microminiature aircrafts and transmits the position information of the microminiature aircrafts to the main control module.
The infrared receiver receives a signal returned from the micro aircraft and transmits the signal to the main control module, and the main control module realizes the positioning of the micro aircraft.
The micro aircraft is designed by integrating an engine and a cabin body, the detector is positioned on an upper cover plate at the head of the micro aircraft, the circuit module is positioned on a lower cover plate at the bottom of the micro aircraft, and the cabin body is of a cylindrical or cubic hollow structure.
Compared with the prior art, the invention has the advantages that:
(1) according to the invention, by adopting a compact overall configuration scheme, a modularized circuit, a simple assembly design, a structural power integrated 3D printing forming manufacturing method and the like, the modularization and the miniaturization of the spacecraft are realized by adopting an engine and structure integrated forming design, an electric system modularization and an integrated layout mode, so that the spacecraft reaches a centimeter scale and a hectogram scale, and the microminiaturization of the spacecraft is realized;
(2) the invention adopts a master-slave configuration and a laser guide technology to realize formation flight of the space microminiature aircraft.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an assembly diagram of a circuit module according to the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
A master-slave space microminiature aircraft is shown in figure 1 and comprises a main aircraft and a plurality of microminiature aircraft,
the main aircraft comprises a laser control module and a main control module,
the microminiature aircraft comprises a GPS receiving module, an MEMS gyroscope module, a wireless communication module, a slave control module and a power module,
the micro aircraft is initially installed on the main aircraft through a locking mechanism, and is released along the direction perpendicular to the axial direction of the main aircraft through a release mechanism, wherein the release mechanism is a spring load or air pressure ejection mechanism.
Laser beams emitted by the laser control module cover the area where the micro aircraft is located, and after the space micro aircraft is released, the detection module receives instruction information sent by the main aircraft;
the MEMS gyro module collects acceleration and angle change rate information of the micro aircraft in real time, transmits the information to the slave control module, and determines the position and attitude information of the micro aircraft by the slave control module;
the GPS receiving module receives and demodulates GPS information, transmits the GPS information to the slave control module, determines the position information of the microminiature aircraft by the slave control module, and realizes the determination of the position of the microminiature aircraft through the combined navigation with the MEMS gyro module;
the main control module controls the laser control module to track a plurality of remote micro aircrafts and sends control information to the micro aircrafts in a pulse modulation mode, the micro aircrafts are subjected to maneuvering control after receiving instructions, data interaction among the space micro aircrafts is realized through the wireless communication module, and the power module adjusts the postures and the tracks of the micro aircrafts to realize formation flight of the micro aircrafts.
The power modules are miniature solid pulse engines which are symmetrically arranged in four quadrants of the cabin body of the miniature aircraft, and the ignition of the engines is controlled by a flexible circuit board in the cabin body of the miniature aircraft, so that the track and the attitude adjustment of the cabin body of the miniature aircraft can be realized.
The microminiature aircraft also comprises an interface conversion module for realizing the conversion of interfaces among the modules of the microminiature aircraft, the interface conversion module, the slave control module, the MEMS gyro module, the GPS receiving module and the wireless communication module are sequentially connected through an inter-board connector, as shown in figure 2, the size of the circuit module is phi 28mm multiplied by 35mm, and the battery is positioned at the lower layer of the circuit module to form a cylindrical circuit module.
The laser control module comprises a laser, a light beam director, an infrared receiver and a controller, wherein the light beam director controls the view field of the laser to cover the area where the micro aircraft is located, and the controller controls the laser to track a plurality of remote micro aircraft and transmits the position information of the micro aircraft to the main control module. The infrared receiver receives a signal returned from the micro aircraft and transmits the signal to the main control module, and the main control module realizes the positioning of the micro aircraft.
The micro aircraft is designed by integrating an engine and a cabin body, the cabin body adopts a 3D printing technology, the weight of an engine shell is effectively saved, a detector is positioned on an upper cover plate at the head of the micro aircraft, a circuit module is positioned on a lower cover plate at the bottom of the micro aircraft, and the cabin body is of a cylindrical or cubic hollow structure.
The space microminiature aircraft has the characteristics of clear overall layout and simple installation and operation. After each part of the aircraft is manufactured, the assembly process is as follows:
1) matching and installing the engine and the cabin body with the structure integrated with the flexible circuit board;
2) assembling the circuit module, the battery and the lower cover plate;
3) inserting the circuit module, the battery and the lower cover plate into the middle cabin body, and fixing the lower cover plate on the cabin body after the relevant connectors are connected;
4) the detector is fixed on the upper cover plate, and after the relevant connector assemblies are connected, the upper cover plate and the cabin body are fixed.
The whole aircraft can be assembled through the steps, and the aircraft can replace the internal circuit module according to different task modes, so that the function of the aircraft can be changed quickly.
From the above description, workers can make various changes and modifications without departing from the scope of the patent idea. The technical scope of the patent is not limited to the content of the specification, and must be determined according to the scope of the claims.
Those skilled in the art will appreciate that the details of the invention not described in detail in this specification are well within the skill of those skilled in the art.
Claims (7)
1. A master-slave space microminiature aircraft is characterized in that,
comprises a main aircraft and a plurality of microminiature aircraft,
the main aircraft comprises a laser control module and a main control module,
the microminiature aircraft comprises a GPS receiving module, an MEMS gyroscope module, a wireless communication module, a slave control module and a power module,
the micro aircraft is initially installed on the main aircraft through a locking mechanism, and is released along the direction perpendicular to the axial direction of the main aircraft through a release mechanism;
laser beams emitted by the laser control module cover the area where the micro aircraft is located, and after the space micro aircraft is released, the detection module receives instruction information sent by the main aircraft;
the MEMS gyro module collects acceleration and angle change rate information of the micro aircraft in real time, transmits the information to the slave control module, and determines the position and attitude information of the micro aircraft by the slave control module;
the GPS receiving module receives and demodulates GPS information, transmits the GPS information to the slave control module, determines the position information of the microminiature aircraft by the slave control module, and realizes the determination of the position of the microminiature aircraft through the combined navigation with the MEMS gyro module;
the main control module controls the laser control module to track a plurality of remote micro aircrafts and sends control information to the micro aircrafts in a pulse modulation mode, the micro aircrafts are subjected to maneuvering control after receiving instructions, data interaction among the spatial micro aircrafts is realized through the wireless communication module, and the power module adjusts the postures and the tracks of the micro aircrafts to realize formation flight of the micro aircrafts;
the microminiature aircraft also comprises an interface conversion module for realizing the conversion of interfaces among the modules of the microminiature aircraft;
the interface conversion module, the slave control module, the MEMS gyroscope module, the GPS receiving module and the wireless communication module are connected through an inter-board connector in sequence to form a cylindrical circuit module;
the micro aircraft is designed by integrating an engine and a cabin body, the detector is positioned on an upper cover plate at the head of the micro aircraft, the circuit module is positioned on a lower cover plate at the bottom of the micro aircraft, and the cabin body is of a cylindrical or cubic hollow structure.
2. The master-slave space microminiature aircraft as claimed in claim 1, wherein the release mechanism is a spring-loaded or pneumatic ejection mechanism.
3. The master-slave space microminiature aircraft as claimed in claim 1, wherein the power modules are micro solid pulse engines symmetrically arranged in four quadrants of the cabin of the microminiature aircraft.
4. The master-slave space microminiature aircraft as claimed in claim 3, wherein the ignition of the engine is controlled by a flexible circuit board in the microminiature aircraft cabin for realizing the track and attitude adjustment of the microminiature aircraft cabin.
5. The master-slave space microminiature aircraft as claimed in claim 1, wherein the laser control module includes a laser, a beam director, an infrared receiver and a controller, the beam director controlling the field of view of the laser to cover the area where the microminiature aircraft is located.
6. The master-slave space microminiature aircraft as claimed in claim 5, wherein the controller controls the laser to track a plurality of microminiature aircraft at a distance and to transmit position information of the microminiature aircraft to the master control module.
7. The master-slave space microminiature aircraft as claimed in claim 6, wherein the infrared receiver receives signals returned from the microminiature aircraft and transmits the signals to the master control module, and the master control module realizes the positioning of the microminiature aircraft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811459745.9A CN109606734B (en) | 2018-11-30 | 2018-11-30 | Master-slave type space microminiature aircraft |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811459745.9A CN109606734B (en) | 2018-11-30 | 2018-11-30 | Master-slave type space microminiature aircraft |
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| CN109606734A CN109606734A (en) | 2019-04-12 |
| CN109606734B true CN109606734B (en) | 2021-02-09 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102424112A (en) * | 2011-11-30 | 2012-04-25 | 东北大学 | Three-layer airborne flight control device for micro four-rotor aerial vehicle |
| CN205861063U (en) * | 2016-07-21 | 2017-01-04 | 姚钧天 | A kind of model plane fly automatically with seeking track navigation system |
| CN108557114A (en) * | 2018-04-18 | 2018-09-21 | 上海微小卫星工程中心 | A kind of distribution remote sensing satellite |
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2018
- 2018-11-30 CN CN201811459745.9A patent/CN109606734B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102424112A (en) * | 2011-11-30 | 2012-04-25 | 东北大学 | Three-layer airborne flight control device for micro four-rotor aerial vehicle |
| CN205861063U (en) * | 2016-07-21 | 2017-01-04 | 姚钧天 | A kind of model plane fly automatically with seeking track navigation system |
| CN108557114A (en) * | 2018-04-18 | 2018-09-21 | 上海微小卫星工程中心 | A kind of distribution remote sensing satellite |
Non-Patent Citations (1)
| Title |
|---|
| 微纳飞行器群姿态智能协同控制研究;朱莎莎;《南京航空航天大学硕士论文》;20150331 * |
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