CN110515317B - Coaxial water-air hybrid unmanned aerial vehicle control system - Google Patents
Coaxial water-air hybrid unmanned aerial vehicle control system Download PDFInfo
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- CN110515317B CN110515317B CN201910843423.2A CN201910843423A CN110515317B CN 110515317 B CN110515317 B CN 110515317B CN 201910843423 A CN201910843423 A CN 201910843423A CN 110515317 B CN110515317 B CN 110515317B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 69
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- 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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Abstract
The invention discloses a coaxial type water-air double-power unmanned aerial vehicle control system, which belongs to the technical field of unmanned aerial vehicles and is characterized by at least comprising the following components in parts by weight: the device comprises a master controller, a slave controller, an electric tuning controller and an IMU (inertial measurement Unit), wherein the master controller is electrically connected with the slave controller through an interface, and the master controller acquires depth information of a depth sensor through the slave controller; the slave controller and the master controller are respectively provided with a PWM control end, the slave controller and the master controller are respectively electrically connected with the electric tuning controller through respective PWM control ends, and the slave controller and the master controller respectively realize the switching of the work of the unmanned aerial vehicle body in water and in the air by controlling the work of an overwater motor and an underwater motor which are electrically connected with the electric tuning controller; the main controller is electrically connected with the IMU through the SPI, self acceleration and angular velocity information are obtained through the IMU, and the posture of the machine body is calculated. The invention realizes stable water-air transition through the control of the water-air overlapping area, and improves the flexibility and stability of the unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a coaxial type water-air hybrid unmanned aerial vehicle control system.
Background
The development and application of the unmanned aerial vehicle have attracted high attention from various countries, and people put forward higher requirements on the environmental adaptability and the working field of the unmanned aerial vehicle. Common unmanned aerial vehicles can only work in the air, and the diversified movable space of the water-air amphibious unmanned aerial vehicle greatly enriches the application possibility of the unmanned aerial vehicle. The water-air hybrid unmanned aerial vehicle is different from a water unmanned aerial vehicle which can only float on the water surface and a submarine-launched unmanned aerial vehicle which needs to realize underwater launching by means of other devices, is an unmanned system which can really realize underwater diving and aerial flying, and has stronger independence and autonomous operation capability.
The invention patent of 'a water-air amphibious unmanned aerial vehicle' disclosed in Chinese patent, which is application number 201710556614.1 and has application date of 10.07 months in 2017, specifically describes a driving process of a water-air amphibious unmanned aerial vehicle product. It can be seen that the underwater propeller is difficult to submerge by being driven only, and the control from the water surface to the underwater is difficult. The underwater motion driving mode which is independent of buoyancy and completely autonomous is adopted, and the defects are effectively overcome.
And china patent discloses "an adopt rotor to vert self-adaptation water-air amphibious unmanned aerial vehicle of mechanism" its application number is: 201910248361.0, the invention patent with the application date of 2019, 03, 29 and adopts a rotor wing tilting mechanism to improve the stability of the unmanned aerial vehicle during movement and medium switching in different water and air media, but the unmanned aerial vehicle does not consider that the difference of the applicable propellers in the water and air media is very large, and the unmanned aerial vehicle designed by the unmanned aerial vehicle is poor in stability.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a water idle exchange method based on a coaxial water-air dual-power unmanned aerial vehicle, which has stable performance and strong independent and autonomous operation capability. The unmanned aerial vehicle is stable in water-air transition and flexible underwater and aerial attitude control and operation capacity.
In order to achieve the above purpose, the technical scheme of the invention is as follows: the utility model provides a double dynamical unmanned aerial vehicle control system of coaxial water-air, characterized by includes at least: the device comprises a master controller, a slave controller, an electric tuning controller and an IMU (inertial measurement Unit), wherein the master controller is electrically connected with the slave controller through an interface, and the master controller acquires depth information of a depth sensor through the slave controller; the slave controller and the master controller are respectively provided with a PWM control end, the slave controller and the master controller are respectively electrically connected with the electric tuning controller through respective PWM control ends, and the slave controller and the master controller respectively realize the switching of the work of the unmanned aerial vehicle body in water and in the air by controlling the work of an overwater motor and an underwater motor which are electrically connected with the electric tuning controller; the main controller is electrically connected with the IMU through the SPI, self acceleration and angular velocity information are obtained through the IMU, and the posture of the machine body is calculated.
The main controller is electrically connected with the image display through a serial port or a USB interface, and image information is displayed on the image display.
The main controller is electrically connected with the video processor through an spi interface, the video processor acquires image information of the image sensor, and the video processor is electrically connected with the image sensor and the image display through video wires.
The main controller and the slave controller are electrically connected through an interface, and the interface is a serial port or a usb interface.
The main control unit be connected with wireless module through serial ports or usb interface electricity, communicate through wireless module and debugging equipment, main control unit operation software and parameter information of upgrading or debugging unmanned aerial vehicle organism.
The main controller is electrically connected with a GPS \ magnetic sensor through a serial port or a usb interface, and acquires current position and orientation information through the GPS \ magnetic sensor.
The main controller is electrically connected with a barometer through the IIC interface, and the current air pressure information is obtained through the barometer.
The main controller is electrically connected with a wireless remote control receiver through a ppm interface and is in wireless communication with external equipment through the wireless remote control receiver.
The main controller, the slave controller, the electric tuning controller and the IMU obtain required power supply voltage through the battery.
The invention adopts two sets of power systems above and below water to realize high-efficiency flight of the unmanned aerial vehicle in the air and under the water, and the water depth sensor identifies two media, namely water and air; and the stable water-air transition is realized through the control of the water-air overlapping area. Compared with the prior art, the invention has the following advantages:
firstly, the invention realizes stable water-air transition through the control of the water-air overlapping area, and the medium conversion is stable.
Secondly, when the unmanned aerial vehicle jumps out of the water surface, the underwater power unit generates power assistance to the overwater power unit, and the reliability is high during water-air medium conversion.
Thirdly, the unmanned aerial vehicle disclosed by the invention realizes the autonomous movement of the unmanned aerial vehicle under water and on water by respectively adopting the underwater power unit and the overwater power unit, and the movement efficiency of the propeller is high.
Fourthly, the unmanned aerial vehicle adopts the water depth sensor to identify the water and air media, and the control stability is high.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a control flow diagram according to an embodiment of the present invention;
fig. 3 is a control circuit schematic of the present invention.
In the figure: 1. a horn; 2. a marine propeller; 3. an over-water motor; 4. an underwater propeller; 5. an over-water motor; 6. a water depth sensor; 100. a main controller; 101. a slave controller; 102. an electric tuning controller; 103. a depth sensor; 104. a wireless module; 105. a GPS \ magnetic sensor; 106. a barometer; 107. a wireless remote control receiver; 108. an electric tuning controller and an IMU; 109. an image display; 111. an image sensor; 112. a battery.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following description is presented to enable one of ordinary skill in the art to make and use the present invention as provided within the context of a fully functioning computer system. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 3, a coaxial water-air hybrid unmanned aerial vehicle control system at least comprises: the system comprises a master controller 100, a slave controller 101, an electric tuning controller 102 and an IMU108, wherein the master controller 100 is electrically connected with the slave controller 101 through an interface, and the master controller 100 acquires depth information of a depth sensor 103 through the slave controller 101; the slave controller 101 and the master controller 100 are respectively provided with a PWM control end, the slave controller 101 and the master controller 100 are respectively electrically connected with the electric tuning controller 102 through respective PWM control ends, and the slave controller 101 and the master controller 100 respectively work through the overwater motor 3 and the underwater motor 5 which are electrically connected with the electric tuning controller 102 to realize the work switching between the unmanned aerial vehicle body 1 in water and in the air; the main controller 100 is electrically connected to the IMU108 through the SPI, and obtains acceleration and angular velocity information of itself through the IMU108 to calculate the posture of the body.
The main controller 100 is electrically connected to the image display 109 through a serial port or a USB interface, and displays image information on the image display 109.
The main controller 100 is electrically connected to the video processor 110 through the SPI interface, the video processor 110 obtains image information of the image sensor 111, and the video processor 110 is electrically connected to the image sensor 111 and the image display 109 through video lines.
The main controller 100 and the sub-controller 101 are electrically connected through an interface, which is a serial port or a usb interface.
The main controller 100 is electrically connected with a wireless module 104 through a serial port or a USB interface, and is communicated with debugging equipment through the wireless module 104 to upgrade or debug the main controller 100 running software and parameter information of the unmanned aerial vehicle body 1.
The main controller 100 is electrically connected with a GPS \ magnetic sensor 105 through a serial port or a USB interface, and acquires current position and orientation information through the GPS \ magnetic sensor 105.
The main controller 100 is electrically connected to a barometer 106 through an IIC interface, and the current barometric information is acquired by the barometer 106.
The main controller 100 is electrically connected with a wireless remote control receiver 107 through a ppm interface, and wirelessly communicates with external equipment through the wireless remote control receiver 107.
The master controller 100, the slave controller 101, the electrically tunable controller 102 and the IMU108 obtain required power supply voltage through the battery 112.
As shown in fig. 1, a water-air hybrid unmanned aerial vehicle based on a coaxial water-air hybrid unmanned aerial vehicle comprises: unmanned aerial vehicle organism, horn 1, screw 2 on water, motor 3 on water, screw 4 under water, motor 5 and depth of water sensor 6 under water, wherein:
the unmanned aerial vehicle body is provided with a plurality of booms 1, and the tail end of each boom 1 is symmetrically provided with an overwater power unit and an underwater power unit; the overwater power unit comprises an overwater motor 3 and an overwater propeller 2; the underwater power unit comprises an underwater motor 5 and an underwater propeller 4; the overwater power unit is arranged on the upper side of the machine arm 1, and the underwater power unit is arranged on the lower side of the machine arm 1;
the unmanned aerial vehicle enables the unmanned aerial vehicle body to be in different working states by identifying water and air media, and when the unmanned aerial vehicle identifies that the media are in the air, the water power unit realizes normal flight in the air; when the unmanned aerial vehicle recognizes that the medium is a boundary surface between water and air, the water propeller 2 and the underwater propeller 4 work simultaneously to realize the stable conversion of the boundary surface between water and air; when the unmanned aerial vehicle recognizes that the medium is underwater, the underwater propeller 4 realizes normal movement of the unmanned aerial vehicle underwater.
The unmanned aerial vehicle water-air medium identification is realized through a water depth sensor 6; the water depth sensor 6 is installed in unmanned aerial vehicle organism below for obtain current water depth information in real time, the position prediction result of water depth sensor 6 and inertial sensor carries out data fusion, obtains accurate organism speed and position.
The unmanned aerial vehicle obtains the proportion of a water-air overlapping area through a water depth sensor 6, controls the water motor 3, the water propeller 2, the underwater motor 5 and the underwater propeller 4 to realize stable transition of water and air, and controls the rotating speed ratio of the water motor 3 and the underwater motor 5 to realize the transition stability of an unmanned aerial vehicle body 7;
as shown in fig. 2, when the unmanned aerial vehicle is in water, the underwater propeller 4 rotates, and the overwater propeller 2 stops rotating;
when the unmanned aerial vehicle floats to the water surface from the water, the overwater propeller 2 starts to rotate to provide power for the unmanned aerial vehicle to output water, and the underwater propeller 4 continues to rotate;
when the unmanned aerial vehicle completely goes out of water, the underwater propeller 4 stops rotating, and the overwater propeller 2 controls the aerial posture of the unmanned aerial vehicle.
When the unmanned aerial vehicle falls into water from the air, the underwater propeller 4 starts to rotate, and the overwater propeller 2 continues to rotate; when the unmanned aerial vehicle is completely submerged, the overwater propeller 2 stops rotating, and the underwater propeller 4 controls the underwater posture of the unmanned aerial vehicle.
The direction of rotation of the overwater propeller 2 is the same as that of the underwater propeller 4, and the rotation directions of airflow and water flow generated by the two propellers are overlapped so as to ensure that the interference of the airflow and the water flow at the water-air interface of the unmanned aerial vehicle is minimum.
The whole density of unmanned aerial vehicle is greater than the density of water, and unmanned aerial vehicle relies on power pack to realize the organism independently moving under water completely, relies on the autonomous movement of power pack realization organism on water.
While specific embodiments of the invention have been described above, those portions of the invention not described in detail are not necessarily described in detail, but are merely conventional in the art. The present invention is not limited to the specific embodiments described above, and the above examples do not limit the scope of the present invention, and all modifications or variations that fall within the scope of the claims of the present invention fall within the scope of the present invention.
Claims (6)
1. The utility model provides a double dynamical unmanned aerial vehicle control system of coaxial water-air, characterized by includes at least: the device comprises a master controller (100), a slave controller (101), an electric tilt controller (102) and an IMU (108), wherein the master controller (100) is electrically connected with the slave controller (101) through an interface, and the master controller (100) acquires depth information of a depth sensor (103) through the slave controller (101); the slave controller (101) and the master controller (100) are respectively provided with a PWM control end, the slave controller (101) and the master controller (100) are respectively electrically connected with the electric control controller (102) through the respective PWM control end, and the slave controller (101) and the master controller (100) respectively work through the water motor (3) and the underwater motor (5) which are electrically connected with the electric control controller (102) to realize the switching of the work of the unmanned aerial vehicle body (1) in water and in the air; the main controller (100) is electrically connected with the IMU (108) through the SPI, and the IMU (108) is used for acquiring self acceleration and angular velocity information and calculating the posture of the body; the main controller (100) is electrically connected with the image display (109) through a serial port or a USB interface, and image information is displayed on the image display (109); the main controller (100) is electrically connected with the video processor (110) through a spi interface, image information of the image sensor (111) is acquired through the video processor (110), and the video processor (110) is respectively electrically connected with the image sensor (111) and the image display (109) through video wires; the main controller (100) is electrically connected with a GPS \ magnetic sensor (105) through a serial port or a usb interface, and the current position and direction information is acquired through the GPS \ magnetic sensor (105);
the unmanned aerial vehicle is characterized in that a plurality of arms are arranged on a body of the unmanned aerial vehicle, and an overwater power unit and an underwater power unit are symmetrically arranged at the tail end of each arm; the overwater power unit comprises an overwater motor and an overwater propeller; the underwater power unit comprises an underwater motor and an underwater propeller; the overwater power unit is arranged on the upper side of the machine arm, and the underwater power unit is arranged on the lower side of the machine arm; the unmanned aerial vehicle enables the unmanned aerial vehicle body to be in different working states by identifying water and air media, and when the unmanned aerial vehicle identifies that the media are in the air, the water power unit realizes normal flight in the air; when the unmanned aerial vehicle recognizes that the medium is a boundary surface between water and air, the water propeller and the underwater propeller (4) work simultaneously, and the stable conversion of the water propeller and the underwater propeller on the boundary surface between water and air is realized; when the unmanned aerial vehicle recognizes that the medium is underwater, the underwater propeller realizes the normal motion of the unmanned aerial vehicle underwater; the identification of the water-air medium of the unmanned aerial vehicle is realized through a water depth sensor; the water depth sensor is arranged below the unmanned aerial vehicle body and used for acquiring current water depth information in real time, and data fusion is carried out on position estimation results of the water depth sensor and the inertial sensor to obtain accurate body speed and position; unmanned aerial vehicle passes through depth of water sensor (6) and acquires empty overlapping region proportion of water, and motor, screw on the water, underwater motor, the screw realize the steady transition of empty of water under the control, realizes the stationarity that the unmanned aerial vehicle organism transited through the rotational speed ratio of controlling motor on the water and motor under the water.
2. The coaxial water-air hybrid unmanned aerial vehicle control system of claim 1, wherein: the master controller (100) and the slave controller (101) are electrically connected through an interface, and the interface is a serial port or a usb interface.
3. The coaxial water-air hybrid unmanned aerial vehicle control system of claim 1, wherein: main control unit (100) through serial ports or usb interface electricity be connected with wireless module (104), communicate with debugging equipment through wireless module (105), main control unit (100) operation software and parameter information of upgrading or debugging unmanned aerial vehicle organism (1).
4. The coaxial water-air hybrid unmanned aerial vehicle control system of claim 1, wherein: the main controller (100) is electrically connected with a barometer (106) through an IIC interface, and the current barometric information is acquired through the barometer (106).
5. The coaxial water-air hybrid unmanned aerial vehicle control system of claim 1, wherein: the main controller (100) is electrically connected with a wireless remote control receiver (107) through a PPM interface, and is in wireless communication with external equipment through the wireless remote control receiver (107).
6. The coaxial water-air hybrid unmanned aerial vehicle control system of claim 1, wherein: the main controller (100), the slave controller (101), the electrically-adjustable controller (102) and the IMU (108) obtain required power supply voltage through a battery (112).
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| CN111038695B (en) * | 2019-12-04 | 2022-11-29 | 江西洪都航空工业集团有限责任公司 | Cross-medium aircraft power device |
| CN113753233A (en) * | 2021-08-31 | 2021-12-07 | 南京航空航天大学 | Amphibious unmanned aerial vehicle based on differential transmission system and control method thereof |
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| CN106103274B (en) * | 2015-07-02 | 2017-11-14 | 深圳市大疆创新科技有限公司 | Unmanned plane, its control system and method, and unmanned plane landing control method |
| CN107380423B (en) * | 2017-07-10 | 2023-09-05 | 上海交通大学 | Water-air amphibious unmanned aerial vehicle |
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| CN204568058U (en) * | 2015-03-25 | 2015-08-19 | 朱威 | A kind of submersible many rotor wing unmanned aerial vehicles |
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