CN204197284U - A kind of miniature hovering four rotor wing unmanned aerial vehicle - Google Patents
A kind of miniature hovering four rotor wing unmanned aerial vehicle Download PDFInfo
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- CN204197284U CN204197284U CN201420667571.6U CN201420667571U CN204197284U CN 204197284 U CN204197284 U CN 204197284U CN 201420667571 U CN201420667571 U CN 201420667571U CN 204197284 U CN204197284 U CN 204197284U
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- hovering
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Abstract
A kind of miniature hovering four rotor wing unmanned aerial vehicle, its composition mainly comprises: main body 1, control system 2, gesture drive module 3, attitude measurement system 4, form regulation system 5, action adjusting module 6, wherein: control system 2 is connected with gesture drive module 3, attitude measurement system 4 is connected with form regulation system 5, and form regulation system 5 is connected with action adjusting module 6.Wherein: attitude measurement system 4 is formed primarily of acceleration/accel measuring and calculating sensor, main gyroscope, accelerometer and the magnetometer composition of attitude measurement system 5, form regulation system 5 according to the calculation of measured data of attitude measurement system 4, can adjust the torque center of each rotor.The main accelerometer of action adjuster 6 and electromagnetic switch composition.The utility model compact conformation, volume is little, lightweight, can vertical takeoff and landing and hovering, and be applicable to the working environment of small space, actv. solves prior art problem.
Description
Technical field
The utility model relates to a kind of four rotor wing unmanned aerial vehicles, belongs to automation field, is specifically related to a kind of miniature hovering four rotor wing unmanned aerial vehicle.
Background technology
At present, unmanned plane equipment is widely used in multiple field, for the technical need such as data acquisition, fixed point input, Aerial photography in each field has made tremendous contribution, but because the volume of current unmanned plane equipment is general larger, cannot be applied to that some is specific, the investigation of narrow space and exploration task, such as: the underground burial chamber exploration in archaeology, to the measuring and calculating etc. in underground karst cavity or crack in geology, this just needs minute vehicle to realize, and will have steadily hovering ability and manoevreability flexibly.
Utility model content
For solving the problems of the technologies described above, the utility model devises a kind of miniature hovering four rotor wing unmanned aerial vehicle, use gyroscope, accelerometer and magnetometer composition attitude measurement system, carry out attitude algorithm, by gyroscope and miniature motor, the torque axis of adjustment rotor to, thus the attitude of aircraft to be adjusted.
Particular content is as follows:
A kind of miniature hovering four rotor wing unmanned aerial vehicle, its composition mainly comprises: main body 1, control system 2, gesture drive module 3, attitude measurement system 4, form regulation system 5, action adjusting module 6, wherein: control system 2 is connected with gesture drive module 3, attitude measurement system 4 is connected with form regulation system 5, and form regulation system 5 is connected with action adjusting module 6.
Described one miniature hovering four rotor wing unmanned aerial vehicle, is characterized in that described attitude measurement system 4 is formed primarily of acceleration/accel measuring and calculating sensor.
Described one miniature hovering four rotor wing unmanned aerial vehicle, is characterized in that main gyroscope, accelerometer and the magnetometer composition of described attitude measurement system 5
Described one miniature hovering four rotor wing unmanned aerial vehicle, is characterized in that described form regulation system 5 according to the calculation of measured data of attitude measurement system 4, can adjust the torque center of each rotor.
Described one miniature hovering four rotor wing unmanned aerial vehicle, is characterized in that the main accelerometer of described action adjuster 6 and electromagnetic switch composition.
The mode of the utility model hover action and principle:
Form regulation system is calculated hovering position and attitude, keep and adjustment, the cross framework that rotor forms, coordinate accelerometer and miniature motor, rotor deflection can be controlled, produce side direction control effort, utilize gyroscope to lateral resistance and self lift make a concerted effort carry out axial rectification, adjust the direction of lateral resistance simultaneously, with in applicable equipment running process, external factor, such as: air-flow, deadweight etc. on gravity axis to impact, just as hummingbird aloft hover time, constantly to adjust the direction that wing brandishes the same to control self hovering with the swing before and after head, or even the flight that falls back.
The beneficial effects of the utility model:
1, compact conformation, volume is little, lightweight.
2, can vertical takeoff and landing and hovering, be applicable to the working environment of small space.
Accompanying drawing explanation
Fig. 1 is the utility model structural representation;
Fig. 2 is the utility model attitude control system schematic diagram;
Detailed description of the invention
Below in conjunction with accompanying drawing, this unmanned plane is illustrated:
A kind of miniature hovering four rotor wing unmanned aerial vehicle, its composition mainly comprises: main body 1, control system 2, gesture drive module 3, attitude measurement system 4, form regulation system 5, action adjusting module 6, wherein: control system 2 is connected with gesture drive module 3, attitude measurement system 4 is connected with form regulation system 5, and form regulation system 5 is connected with action adjusting module 6.
Above-mentioned attitude measurement system 4 is formed primarily of acceleration/accel measuring and calculating sensor.
Main gyroscope, accelerometer and the magnetometer composition of above-mentioned attitude measurement system 5
Above-mentioned form regulation system 5 according to the calculation of measured data of attitude measurement system 4, can adjust the torque center of each rotor.
The main accelerometer of above-mentioned action adjuster 6 and electromagnetic switch composition.
Form regulation system is calculated hovering position and attitude, keep and adjustment, the cross framework that rotor forms, coordinate accelerometer and miniature motor, rotor deflection can be controlled, produce side direction control effort, utilize gyroscope to lateral resistance and self lift make a concerted effort carry out axial rectification, adjust the direction of lateral resistance simultaneously, with in applicable equipment running process, external factor, such as: air-flow, deadweight etc. on gravity axis to impact, just as hummingbird aloft hover time, constantly to adjust the direction that wing brandishes the same to control self hovering with the swing before and after head, or even the flight that falls back.
The utility model compact conformation, volume is little, lightweight, can vertical takeoff and landing and hovering, and be applicable to the working environment of small space, actv. solves prior art problem.
Claims (5)
1. miniature hovering four rotor wing unmanned aerial vehicle, its composition mainly comprises: main body (1), control system (2), gesture drive module (3), attitude measurement system (4), form regulation system (5), action adjuster (6), wherein: control system (2) is connected with gesture drive module (3), attitude measurement system (4) is connected with form regulation system (5), and form regulation system (5) is connected with action adjuster (6).
2. one according to claim 1 miniature hovering four rotor wing unmanned aerial vehicle, is characterized in that described attitude measurement system (4) is formed primarily of acceleration/accel measuring and calculating sensor.
3. one according to claim 1 miniature hovering four rotor wing unmanned aerial vehicle, is characterized in that main gyroscope, accelerometer and the magnetometer composition of described attitude measurement system (5).
4. one according to claim 1 miniature hovering four rotor wing unmanned aerial vehicle, is characterized in that described form regulation system (5) according to the calculation of measured data of attitude measurement system (4), can adjust the torque center of each rotor.
5. one according to claim 1 miniature hovering four rotor wing unmanned aerial vehicle, is characterized in that main accelerometer, electromagnetic switch and the miniature motor composition of described action adjuster (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420667571.6U CN204197284U (en) | 2014-11-10 | 2014-11-10 | A kind of miniature hovering four rotor wing unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420667571.6U CN204197284U (en) | 2014-11-10 | 2014-11-10 | A kind of miniature hovering four rotor wing unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204197284U true CN204197284U (en) | 2015-03-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420667571.6U Expired - Fee Related CN204197284U (en) | 2014-11-10 | 2014-11-10 | A kind of miniature hovering four rotor wing unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204197284U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106143888A (en) * | 2016-07-08 | 2016-11-23 | 李须真 | A kind of multi-rotor aerocraft during long boat |
| CN106422358A (en) * | 2016-12-19 | 2017-02-22 | 深圳高灿科技有限公司 | Suspension and near-distance tracking device and method based on vision control, as well as electronic toy |
| CN112224366A (en) * | 2020-11-10 | 2021-01-15 | 东莞小豚智能技术有限公司 | Zero-power hovering system and method for small underwater equipment |
-
2014
- 2014-11-10 CN CN201420667571.6U patent/CN204197284U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106143888A (en) * | 2016-07-08 | 2016-11-23 | 李须真 | A kind of multi-rotor aerocraft during long boat |
| CN106422358A (en) * | 2016-12-19 | 2017-02-22 | 深圳高灿科技有限公司 | Suspension and near-distance tracking device and method based on vision control, as well as electronic toy |
| CN112224366A (en) * | 2020-11-10 | 2021-01-15 | 东莞小豚智能技术有限公司 | Zero-power hovering system and method for small underwater equipment |
| CN112224366B (en) * | 2020-11-10 | 2022-04-15 | 东莞小豚智能技术有限公司 | Zero-power hovering system and method for small underwater equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150311 Termination date: 20151110 |