CN205656467U

CN205656467U - Unmanned aerial vehicle based on singlechip and GPRS module and gyroscope equipment

Info

Publication number: CN205656467U
Application number: CN201620309444.8U
Authority: CN
Inventors: 杨志豪
Original assignee: Nanchang Hangkong University
Current assignee: Nanchang Hangkong University
Priority date: 2016-04-14
Filing date: 2016-04-14
Publication date: 2016-10-19
Anticipated expiration: 2026-04-14

Abstract

The utility model discloses an unmanned aerial vehicle based on singlechip and GPRS module and gyroscope equipment, on arranging the GPRS module in four rotor unmanned aerial vehicle, utilize microprocessor technology, equipment such as GPRS network technique and gyroscope and accelerometer make operating personnel long -rangely to utilize the network to control unmanned aerial vehicle, to control end GPRS module reaches the server on through the network with the signal, by the server through removing data network with the GPRS module of signal transmission to the unmanned aerial vehicle, then it turns into the signal of telecommunication with the signal to carry the GPRS module through the machine, make unmanned aerial vehicle to make the complicated action of each item superior difficulty according to the instruction that operating personnel sent, if there is not signal input in the short time, then unmanned aerial vehicle gives tacit consent to for the state of hovering, if do not have signal input in long -time set, then the unmanned aerial vehicle acquiescence is for safe landing and carry out, as long as there is the removal data network signal of operator can normal operating, accomplish that unmanned aerial vehicle breaks away from the restriction of controlling the distance to control terminal.

Description

A kind of based on single-chip microcomputer and GPRS Module and the unmanned plane of gyroscope equipment

Technical field

This utility model relates to a kind of unmanned plane operating system and GPRS data flow control, a kind of based on single-chip microcomputer and GPRS module with the unmanned plane of gyroscope equipment.

Background technology

Along with science and technology, automatic technology and the development of flight manufacturing technology, various unmanned planes have been come in our life the most gradually.The most military Drones for surveillance or the unmanned plane of taking photo by plane of business, unmanned plane has played indispensable role in our life.The birth of unmanned plane makes the mankind that unmanned plane can be utilized to go to the place that some manned aircrafts cannot arrive, the birth of unmanned plane simultaneously also makes the mankind have the breakthrough of matter in aircraft control, can complete the aerial mission that human pilot cannot complete, the birth of unmanned plane can also exempt the high expense that pilot cultivates.

But, it is short generally to there is operating distance in the unmanned plane of present stage, it is difficult to strange land operates, it is difficult to use the modernization common equipment manipulations such as Computerized intelligent phone, handles the variety of problems such as terminal versatility can differ from.

Single-chip microcomputer is the basic chips of a lot of automation equipment, can easily be programmed by realization computer, then it is downloaded in single-chip microcomputer, as core, single-chip microcomputer is controlled unit be controlled making to unmanned plane and transmit a signal to GPRS module, the associated component of the information transmission of GPRS module transmission to unmanned plane is made and such as hovers, automatically start landing procedure, advance, the action such as retrogressing.

GPRS module is widely used on various wireless terminal, can be the most connected to the network thus realize the transmission of signal and the exchange of data, also being transmitted back at manipulator by the flying quality of unmanned plane by the information transmission handling terminal to unmanned plane, GPRS module also has where is it signal and the most just can receive the significant advantage of signal simultaneously.

And gyroscope and accelerometer are widely used on various unmanned plane so that unmanned plane accomplishes that direction injustice revises direction time horizontal in time, accomplishes level, adjusts body in time and revolution speed of propeller makes unmanned plane avoid stall etc. during stall.The operation making hovering simultaneously as assisted control is the easiest so that aircraft is made hovering action and is possibly realized the when of cannot receiving signal.

Common aeromodelling airplane command range is limited, and GPRS network whole nation coverage rate has reached 92%, except the most each place, the remote districts such as Tibet can receive to GPRS network signal, each operation commercial city is carrying out 4G network energetically now, once after utilizing GPRS network to control the technology maturation of unmanned plane, we can rotate into 4G network and plus an airborne high definition Flying Camera head on unmanned plane, 4G network speed of download is up to 100Mbps, uploading speed is up to 20Mbps, and this speed has met require that of transmission HD video.So, control unmanned plane once rotating into 4G network, as long as in the case of battery meets, unmanned plane everywhere can fly.

Summary of the invention

The purpose of this utility model is to provide a kind of based on single-chip microcomputer and GPRS module with the unmanned plane of gyroscope equipment, there is simple in construction, have durable in use, over the horizon can manipulate unmanned plane, making a response in time when unmanned plane cannot receive signal, the manipulation of unmanned plane becomes the advantage such as simple and convenient.

This utility model solves its technical problem and be the technical scheme is that a kind of based on single-chip microcomputer and GPRS module with the unmanned plane of gyroscope equipment, and including motor, electricity is adjusted, gyroscope, accelerometer, model airplane battery, airborne GPRS module, airborne single-chip microcomputer, four axle frames, control end, rocking bar；Described control end includes GPRS module, single-chip microcomputer, rocking bar；It is characterized in that: gyroscope and accelerometer are scheduled on four axle machine frame inside centers, airborne single-chip microcomputer and airborne GPRS module are fixed on the position on side before gyroscope and accelerometer, gyroscope and accelerometer connect airborne single-chip microcomputer, airborne single-chip microcomputer connects airborne GPRS module, and four axle frames are provided with four horns, and electricity is adjusted and is fixed on horn centre position, motor is placed in horn end, motor connects electricity by wire and adjusts, and electricity is adjusted and connected airborne single-chip microcomputer, and model airplane battery is arranged on below four axle frames；Controlling end and be built-in with single-chip microcomputer, single-chip microcomputer connects with GPRS module and two rocking bars respectively；Single-chip microcomputer, GPRS module and rocking bar are placed on same pcb board.

Gyroscope model described in the utility model is L3G4200D.

Gyroscope model described in the utility model is adxl345.

This utility model additionally provides the full duplex transmission realizing signal based on GPRS network technical operation technology, and content is as follows:

(1) manipulation personnel can directly adjust rudder amount and the throttle of aircraft, is aided with gyroscope and unmanned plane manually handled by accelerometer；

(2) read rocking bar amplitude of fluctuation by single-chip microcomputer output order is converted into signal and is transferred to manipulation end GPRS module, uploaded onto the server by GPRS network, use mobile data network to transfer signals to the GPRS module above unmanned plane；

(3) signal of telecommunication is converted the signal to by GPRS module so that unmanned plane can make corresponding action according to instruction；

(4) coordinate residing for unmanned plane and the peripheral information collected by high-definition camera are uploaded onto the server again by the process of single-chip microcomputer and airborne GPRS module；

(5) by the computing again of single-chip microcomputer, it is thus achieved that information can be read, it is achieved two-way communication is carried out simultaneously.

According to described in the utility model, unmanned plane emergency measure feature done by the case of signal input is obstructed is as follows:

(1) when in the short time, (one second) cannot receive input signal, unmanned plane according to the emergent instruction of the EEPROM that single-chip microcomputer is external and can accomplish hovering according to gyroscope and other induction apparatus systems, both direction was revised in time when unmanned plane direction of motion injustice is horizontal, holding level, adjust body and revolution speed of propeller during stall in time, reach effect of hovering；

(2), when in long-time, (ten minutes) cannot receive input signal, unmanned plane can automatically turn on emergency protection, force-land.Concrete operations, for flicking parachute, are cut off power output and rotor are shut down, and sent an SOS by ultrasound wave so that operator are convenient after entering search and rescue scope to be found.

According to described in the utility model, the various kinds of sensors such as data three-axis gyroscope that investigation and exploration requires, gravity sensor, GPS geophysical sensor, digital compass, barometer and high definition Flying Camera is first-class can be attached with airborne GPRS module, measure pitching and the roll angle obtaining aircraft respectively, geographical position, course, height above sea level and real time video image, realize real-time Data Transmission, concrete operations are that all kinds of sensed data are converted into the signal of telecommunication and are transferred to airborne GPRS module by induction apparatus, the most thus transfer data to neighbouring signal tower, signal tower transfers data to GPRS module, by the computing of single-chip microcomputer, data are converted into and can read information.

The beneficial effects of the utility model are: the birth of unmanned plane makes the mankind that unmanned plane can be utilized to go to the place that some manned aircrafts cannot arrive, the birth of unmanned plane simultaneously also makes the mankind have the breakthrough of matter in aircraft control, can complete the aerial mission that human pilot cannot complete, the birth of unmanned plane can also exempt the high expense that pilot cultivates.

Accompanying drawing explanation

Fig. 1 is structural representation of the present utility model.

Fig. 2 is control end structure schematic diagram of the present utility model.

Fig. 3 is the unmanned plane operating system operation principle schematic diagram that the utility model proposes.

In the drawings, 1 is motor, and 2 is that electricity is adjusted, and 3 be gyroscope, and 4 be accelerometer, and 5 is model airplane battery, and 6 is airborne GPRS module, and 7 is airborne single-chip microcomputer, and 8 is four axle frames, and 9 is control end, and 10 is rocking bar, 11, GPRS module, 12, single-chip microcomputer.

Detailed description of the invention

As shown in Figure 1 and Figure 2, this utility model is such to work, and based on single-chip microcomputer and GPRS module and the unmanned plane of gyroscope equipment, it mainly includes that motor 1, electricity adjust 2, gyroscope (3), accelerometer (4), model airplane battery 5, GPRS module 6, single-chip microcomputer 7, four axle frames 8, control end 9, rocking bar 10；It is characterized in that: this device gyroscope (3) and accelerometer (4) are scheduled on four axle frame 8 inner hub location, airborne single-chip microcomputer 7 and airborne GPRS module 6 are fixed on the position near above both sides, electricity adjusts 2 to be fixed on horn centre position, motor 1 is placed in horn end, and model airplane battery 5 band is fixed on below four axle frames 8.Airborne single-chip microcomputer 7, electricity tune 2, motor 1, gyroscope 3, accelerometer 4 and airborne GPRS module 6 is connected with wire；Airborne single-chip microcomputer 7 reads aircraft 3 axle yaw rate and 3 axle accelerations by accelerometer 4 and gyroscope 3, airborne single-chip microcomputer 7 merges accelerometer 4 by algorithm computing and gyroscope 3 data obtain the attitude that aircraft is real-time, and the most airborne single-chip microcomputer 7 sends pwm signal according to the enforcement attitude of aircraft to electricity tune 2 and by the rotating speed of electricity tune 2 four motors 1 of control thus controls aircraft balanced；Control the single-chip microcomputer 12 of end 9, GPRS module 11 and rocking bar 10 to be placed on same pcb board, connect with wire between them.Single-chip microcomputer 12 reads rocking bar 10 amplitude of fluctuation by AD conversion and determines speed, angle and the yawing moment that aircraft will fly.Then control end GPRS module 11 is issued in instruction by single-chip microcomputer 12, controls end GPRS module 11, by network, instruction is issued airborne GPRS module 6, and airborne single-chip microcomputer 7 is issued in order by airborne GPRS module 6 again.Airborne single-chip microcomputer 7 adjusts aircraft flight attitude according to order.Flight attitude real time information reverse transfer can also be returned control end 9 by the most airborne single-chip microcomputer 7.

Claims

1. based on single-chip microcomputer and GPRS module and a unmanned plane for gyroscope equipment, including motor, electricity is adjusted, gyroscope, accelerometer, model airplane battery, airborne GPRS module, airborne single-chip microcomputer, and four axle frames control end, rocking bar；Described control end includes GPRS module, single-chip microcomputer, rocking bar；It is characterized in that: gyroscope and accelerometer are scheduled on four axle machine frame inside centers, airborne single-chip microcomputer and airborne GPRS module are fixed on the position on side before gyroscope and accelerometer, gyroscope and accelerometer connect airborne single-chip microcomputer, airborne single-chip microcomputer connects airborne GPRS module, and four axle frames are provided with four horns, and electricity is adjusted and is fixed on horn centre position, motor is placed in horn end, motor connects electricity by wire and adjusts, and electricity is adjusted and connected airborne single-chip microcomputer, and model airplane battery is arranged on below four axle frames；Controlling end and be built-in with single-chip microcomputer, single-chip microcomputer connects with GPRS module and two rocking bars respectively；Single-chip microcomputer, GPRS module and rocking bar are placed on same pcb board.

It is the most according to claim 1 a kind of based on single-chip microcomputer and GPRS module with the unmanned plane of gyroscope equipment, it is characterised in that: described gyroscope model is L3G4200D.

It is the most according to claim 1 a kind of based on single-chip microcomputer and GPRS module with the unmanned plane of gyroscope equipment, it is characterised in that: described gyroscope model is adxl345.