CN206096947U - Four rotor crafts suitable for indoor autonomous flight - Google Patents
Four rotor crafts suitable for indoor autonomous flight Download PDFInfo
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- CN206096947U CN206096947U CN201621088192.7U CN201621088192U CN206096947U CN 206096947 U CN206096947 U CN 206096947U CN 201621088192 U CN201621088192 U CN 201621088192U CN 206096947 U CN206096947 U CN 206096947U
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- autonomous flight
- quadrotor
- flight
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- indoor autonomous
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Abstract
The utility model relates to a four rotor crafts suitable for indoor autonomous flight, including four rotor frames, set up in the controlling the driving unit of this four rotors frame fuselage up end, set up in the ultrasonic detection unit of this four rotors frame fuselage side with the light stream sensor and set up respectively in the brushless motor of four gyroplane booster arm tip, controlling the driving unit includes consecutive microprocessor, PPM encoder, flight control board and electronic speed regulating unit, the ultrasonic detection unit links to each other with microprocessor, the flight control board links to each other with the light stream sensor, electronic speed regulating ware in the electronic speed regulating unit corresponds respectively and links to each other with brushless motor. The utility model provides a four rotor crafts suitable for indoor autonomous flight has the control accuracy of higher high control accuracy and horizontal direction flight, and is especially adapted in the aircraft system who uses autonomous flight outside indoor, has realized effectively that the key under the indoor environment takes off, spot hover and autonomous flight.
Description
Technical field
This utility model is related to a kind of flight control system, particularly a kind of four rotors suitable for indoor autonomous flight
Aircraft.
Background technology
The application of quadrotor is widely.In enemy's situation investigation, geographical information collection, mapping, agricultural plant protection
Etc. aspect provide very big facility.With the continuous expansion of quadrotor range of application, indoor autonomous flight also into
Be application focus, such as interior rescue award, indoor objects image processor, indoor objects tracking etc..And realize quadrotor
Indoor hovering, fixed high, autonomous flight be exactly to realize the basis of indoor flight.Row device autonomous flight indoors, first has to solve
Problem be exactly navigation and orientation problem.At present, quadrotor adopts Remote, small part to adopt at aspect of taking photo by plane mostly
Outdoor autonomous flight, the application of quadrotor is used greatly to improve the safety taken photo by plane while reducing the cost taken photo by plane.
Aircraft is substantially in outdoor autonomous flight by GPS location and navigation, and no gps signal or letter at all indoors
, there is a difficult problem for autonomous flight in quadrotor room in number extreme difference.
The content of the invention
The purpose of this utility model is to provide a kind of quadrotor suitable for indoor autonomous flight, existing to overcome
There is defect present in technology.
For achieving the above object, the technical solution of the utility model is：A kind of four rotors suitable for indoor autonomous flight
Aircraft, including one or four rotor frames, be arranged at the four rotors frame fuselage upper surface control driver element, be arranged at this four
The ultrasonic detection unit of rotor frame fuselage side and light flow sensor and it is respectively arranged at the four gyroplanes booster arm
The brushless electric machine of end；Micro-control processor that the control driver element includes being sequentially connected, PPM encoders, flight panel
And electronic speed regulation unit；The ultrasonic detection unit is connected with the micro-control processor；The flight panel with it is described
Light flow sensor is connected；Electron speed regulator in the electronic speed regulation unit is corresponded to respectively and is connected with the brushless electric machine.
In one embodiment of this utility model, also including the air spiral being respectively arranged on the brushless electric machine output shaft
Oar；The air propeller adopts 1047 propellers of ATG.
In one embodiment of this utility model, the ultrasonic detection unit includes a HY-SRF05 ultrasonic ranging moulds
Block.
In one embodiment of this utility model, the smooth flow sensor includes a PX4FLOW light flow modules.
In one embodiment of this utility model, the brushless electric machine includes a new west up to A2212 outer rotor brushless motors.
In one embodiment of this utility model, the micro-control processor includes a STM32F103RBT6 chips.
In one embodiment of this utility model, the flight panel includes a Pixhawk flight panels.
In one embodiment of this utility model, the electron speed regulator includes a new west up to HW30A brushless electronic speed regulators.
In one embodiment of this utility model, the PPM encoders include a FOX MC6 remote control receivers.
In one embodiment of this utility model, the four rotors frame adopts big boundary F450 frames.
Compared to prior art, this utility model has the advantages that：
（1）The utility model proposes the quadrotor suitable for indoor autonomous flight, by with reference to existing software,
Can realize that aircraft does not rely on a key of remote control and takes off, autonomous flight performs specific aerial mission, such as before and after, it is left
Right, elevating movement and specific coordinate etc. is flown to, and being capable of discretionary security landing.
（2）The utility model proposes the quadrotor suitable for indoor autonomous flight, in the good interior of light
Environment and outdoor environment, can be by intelligent light flow sensor and microcontroller to completing good fixed point, Ding Gao and independently
Flight effect.The overall balance control performance of aerocraft system is stable, and the construction cycle is short, low cost, highly reliable.
（3）The utility model proposes the quadrotor suitable for indoor autonomous flight, determining in autonomous flight
High control precision is higher.When such as fixed a height of 60 centimetres, within 4 centimetres, the precision of control is up within 7% for error control.
Around during autonomous flight, the precision of flight control is higher.Such as in autonomous reciprocal flight, i.e., flight forward is before 4 seconds
Enter 4 meters, and 4 meters of retrogressing in 4 seconds of flying backward, within 16 centimetres, the precision of control reaches the error control of the former starting point of distance
Within 2%.
（4）The utility model proposes the quadrotor suitable for indoor autonomous flight, be suitable for indoor and outdoor autonomous
The development and application of aerocraft system subsequent product, with very high practical value and large market prospect.
Description of the drawings
Fig. 1 is the structural representation of the quadrotor for being applied to indoor autonomous flight in this utility model.
Fig. 2 is brushless electric machine numbering schematic diagram in one embodiment of this utility model.
Fig. 3 is hardware circuit diagram in one embodiment of this utility model.
Fig. 4 is the overall software flow pattern of system in one embodiment of this utility model.
Specific embodiment
Below in conjunction with the accompanying drawings and existing software or control method, the technical solution of the utility model is carried out specifically
It is bright.In the declarative procedure, involved existing software and control method are not the object protected by this utility model, this
Utility model only protects the structure and its annexation of the device.
This utility model provides a kind of quadrotor suitable for indoor autonomous flight, as shown in figure 1, including one or four
Rotor frame, the control driver element 2 for being arranged at four rotors frame fuselage, 1 upper surface, it is arranged at the four rotors frame fuselage
The ultrasonic detection unit 3 of side is with light flow sensor 4 and is respectively arranged at the brushless electric machine of four gyroplane booster arms, 5 end
6；Control driver element includes micro-control processor, PPM encoders, flight panel and the electronic speed regulation unit being sequentially connected；
Ultrasonic detection unit is connected with micro-control processor；Flight panel is connected with light flow sensor；Electricity in electronic speed regulation unit
Sub- speed regulator is corresponded to respectively and is connected with brushless electric machine.
Further, also including the air propeller 7 being respectively arranged on brushless electric machine output shaft；The air propeller is adopted
All compare 1047 propellers that the high ATG of outstanding and cost performance produces with using static equilibrium performance and dynamic equilibrium performance.
Further, ultrasonic detection unit includes a HY-SRF05 ultrasonic distance measuring modules.
Further, light flow sensor includes a PX4FLOW light flow modules, and its calculating speed reaches 250Hz, possesses very
High light sensitivitys.
Further, brushless electric machine includes a new west up to A2212 outer rotor brushless motors, and the KV values of brushless electric machine are
1000KV。
Further, micro-control processor using operating frequency it is high, the speed of service is fast, good stability, I/O numbers are more, on piece
Peripheral hardware is abundant, the STM32F103RBT6 chips that power attenuation is little.
Further, flight panel includes a Pixhawk flight panels, and the flight panel is suitable two for increasing income
The flight panel of secondary exploitation.
Further, electron speed regulator includes a new west up to HW30A brushless electronic speed regulators, and its highest operating current reaches
30A。
Further, PPM encoders include a FOX MC6 remote control receivers.
Further, four rotor frames adopt big boundary F450 frames.The symmetrical motor shaft of the frame is away from for 450 mm, fuselage
Weight is 282 g, and take-off weight is between 800g ~ 1200g.Intermediate plate is pcb board, it is possible to reduce the line of aircraft, together
When ensure more preferable stability.
As shown in Fig. 2 for the motor being separately mounted on the arm of force of quadrotor, for the ease of description, to four
Individual motor enters line label, respectively M1, M2, M3, M4.And specify in a top view, M1 and M2 rotate counterclockwises, M3 and M4 up times
Pin rotates.
As shown in figure 3, for the hardware circuit design block diagram of system.Single STM32F103 single-chip microcomputers and ultrasonic distance measuring module
The connection of HY-SRF05.The PA3 pins of STM32 are connected to the Trig pins of ultrasonic distance measuring module HY-SRF05, STM32's
PB6 pins are connected to the Echo pins of ultrasonic distance measuring module HY-SRF05.STM32 starts ultrasonic ranging by PA3 pins,
And the signal of ultrasonic distance measuring module feedback is received using PB6 pins.Due to STM32 outputs is pwm control signal, and
Pixhawk can only receive PPM control signals, therefore STM32 and Pixhawk need to turn pwm control signal by PPM encoders
It is changed to PPM control signals.PA6, PA7, PB0, PB1, PA0, PA1 pin of STM32 single-chip microcomputers is connected respectively to PPM encoders
CH1-CH6 input channels.The output channel of PPM encoders is connected to the PPM input channels of Pixhawk, thus realizes STM32
Control Pixhawk flies control plate.Pixhawk is flown control and is connected 4FLOW light flow modules in the way of IIC, is flown control for Pixhawk and is provided real
When optical flow data.Pixhawk flies to control output channel OUT1 of module and is connected to the signal control end that electricity adjusts 1, then electricity tune
Three-phase output lead and brushless electric machine connection.The connected mode of output channel 2-4 is similar with passage 1.
It is channel function table as shown in table 1.
The pwm control signal that 6 tunnel cycles were 20ms is exported simultaneously using the intervalometer TIM2 and TIM3 of STM32 to be respectively
CH1 to CH6, flies control with Pixhawk for single-chip microcomputer and communicates.CH1 is roll passages, for controlling aircraft roll angle or reality
Existing left and right flight；CH2 is pitch passages, for flight before and after controlling the pitching of aircraft or realizing；CH3 is throttle channel,
For controlling the rising or decline of aircraft；CH4 is yaw passages, for controlling the course angle of flight；CH5 is offline mode
Switch in accessory channel；CH6 is that offline mode switches main channel.
Fig. 4 show the overall software flow pattern of system.Initialized in mastery routine first, including：In timing TIM1
Disconnected 20ms initialization, the PWM initialization of TIM2 and TIM3, the capture of intervalometer 4 initialization.Then carry out flying the manual moulds of control
Formula（From steady pattern）, wait to be launched.After starting, first carry out flying to control unlocking, i.e., throttle (thr) arranges minimum
（1157us）, while driftage（yaw）Maximum (1925us), time delay about 10s, in going off course back are set（1518us）.Unblock
Afterwards, winged control is switched to into fixed point mode, i.e. CH5 and is set on, CH6 is set to 1600us, aircraft spot takeoff.Time delay 2 seconds
Open height control afterwards to interrupt.In the case where assigned altitute is kept, predetermined autonomous flight task is performed.Perform flight to appoint
Business, closes height and controls, and aircraft declines, and throttle now is set to 1352us.After aircraft drops to 18cm, switching
Off is set to determine height mode, i.e. CH5, CH6 is set to 1600us, is then shut off main switch.Finally, it is in order to ensure safety, right
Aircraft is locked, i.e., throttle (thr) arranges minimum（1157us）, after time delay 3s, driftage（yaw）Minimum is set
(1070us)。
Wherein, height is controlled per 1 millisecond, the range of tolerable variance of height is set as -20～10cm of set-point.
The PA0 feet output of STM32 produces pulse signal of the high level width for 15us by intervalometer TIMER1, for starting ultrasound
Away from.STM32 carries out input pulse width capture using intervalometer TIM4, and the pulse width for capturing is exactly that ultrasound feedback is returned
Elevation information, the actual height of aircraft can be obtained Jing after conversion.If present level is identical with assigned altitute, keep working as
Front height, throttle remain 1500us.If present level is more than assigned altitute, need to reduce throttle decline, now throttle sets
It is set to 1353us.If present level is less than assigned altitute, need to increase throttle rising, now throttle is set as 1721us.
Run-length data table is calibrated for signal control passage as shown in table 2.
Pixhawk flies control using primary firmware, winged control is calibrated and is adjusted using QGroundControl debugging softwares
Examination.Debugging step is：
（1）Housing types select " the DJI F450 10 " under QuadRotor X.
（2）The stroke for carrying out each signal control passage is calibrated, accurate run-length data shown in the table 2 of acquisition, in order to
The control instruction control Pixhawk that correlation is write using STM32 flies the offline mode controlled.
（3）Channel pattern setting is carried out, the 5th passage is set to auxiliary mode（Assist）, i.e., for switching Ding Gaomo
Formula（AltCtl）, remain pattern（Loiter）And fixed point mode（PosCtl）.6th passage is set to from steady pattern（Main
Mode）.
（4）Calibration compass detector.
（5）Calibration gyro sensor.
（6）Calibration acceleration transducer.
（7）Carry out horizontal alignment.
After debugging above, quadrotor can realize indoor fixed point under the manipulation of remote control, substantially
Hovering and flight, are that autonomous flight gets out indispensable signal parameter.
The function data table (FDT) for being used by coding during aircraft autonomous flight as shown in table 3.
According to the data of the function data table (FDT), preferably can be controlled the lifting of aircraft, be flown around with STM32
OK.As a example by flying in front and back, pwm signal of the high-level pulse width for 1500us is sent to Pitch passages, aircraft can be forward
Flight.The speed of advance is relevant with the size of Setting signal.High-level pulse width is sent for 1525us's to Pitch passages
Pwm signal, aircraft halt, and keep fixed point.Setting signal off-center value 1525us is more remote, the speed advanced or retreat
Degree is faster.The principle for moving left and right and moving forward and backward is identical.
Further, the quadrotor is capable of achieving indoor autonomous key flight and spot hover.Suitable for being whether there is
Method receives the environment of gps signal, such as in building, the place such as cavern.Ultrasonic wave module, aircraft are loaded onto respectively in fuselage side
The obstacle of surrounding, ground and ceiling can easily be avoided.Fly to control the base with PX4FLOW light flow modules in the Pixhawk for increasing income
Secondary development is carried out on plinth.It is using the flight directive of one piece of independent STM32 single-chip microcomputer coding analog telecommand device, fully sharp
Fly to control with pixhawk the plurality of flight combined with PX4FLOW light flow modules, aircraft is received and is performed from airborne
The flight directive of single-chip microcomputer.Manual patterns are used on startup, as long as pressing carry-on start button, so that it may realize a key
Start.After one-key start unblock, switch into posctl (fixed point) pattern, with reference to the altitude information of ultrasound wave, in given height
Fixed high hovering can be realized on degree, can realize that all around the autonomous of four aspects flies in given height and flying distance
OK.When height is less than 18cm, it is switched in a program and determines height mode, it is ensured that stable whereabouts.The balance controlling of the aircraft
Can be stable, the development time is short, low cost, highly reliable.It is due in systems using intelligent light stream sensor assembly, good in light
Indoor and outdoor pedestrian's brick road well, meadow, highway and cement flooring etc., the effect stability of fixed point are accurate, autonomous flight
The precision of positioning is also very high.
It is more than preferred embodiment of the present utility model, all changes made according to technical solutions of the utility model are produced
Function without departing from technical solutions of the utility model scope when, belong to protection domain of the present utility model.
Claims (10)
1. a kind of quadrotor suitable for indoor autonomous flight, it is characterised in that including one or four rotor frames, be arranged at
The control driver element of the four rotors frame fuselage upper surface, the ultrasound examination list for being arranged at the four rotors frame fuselage side
Unit and light flow sensor and it is respectively arranged at the brushless electric machine of the four gyroplanes booster arm end；The control driver element
Including the micro-control processor, PPM encoders, flight panel and the electronic speed regulation unit that are sequentially connected；The ultrasound examination
Unit is connected with the micro-control processor；The flight panel is connected with the smooth flow sensor；The electronic speed regulation unit
In electron speed regulator respectively correspond to be connected with the brushless electric machine.
2. a kind of quadrotor suitable for indoor autonomous flight according to claim 1, it is characterised in that also wrap
Include the air propeller being respectively arranged on the brushless electric machine output shaft；The air propeller adopts 1047 propellers of ATG.
3. a kind of quadrotor suitable for indoor autonomous flight according to claim 1, it is characterised in that described
Ultrasonic detection unit includes a HY-SRF05 ultrasonic distance measuring modules.
4. a kind of quadrotor suitable for indoor autonomous flight according to claim 1, it is characterised in that described
Light flow sensor includes a PX4FLOW light flow modules.
5. a kind of quadrotor suitable for indoor autonomous flight according to claim 1, it is characterised in that described
Brushless electric machine includes a new west up to A2212 outer rotor brushless motors.
6. a kind of quadrotor suitable for indoor autonomous flight according to claim 1, it is characterised in that described
Micro-control processor includes a STM32F103RBT6 chips.
7. a kind of quadrotor suitable for indoor autonomous flight according to claim 1, it is characterised in that described
Flight panel includes a Pixhawk flight panels.
8. a kind of quadrotor suitable for indoor autonomous flight according to claim 1, it is characterised in that described
Electron speed regulator includes a new west up to HW30A brushless electronic speed regulators.
9. a kind of quadrotor suitable for indoor autonomous flight according to claim 1, it is characterised in that described
PPM encoders include a FOX MC6 remote control receivers.
10. a kind of quadrotor suitable for indoor autonomous flight according to claim 1, it is characterised in that institute
Four rotor frames are stated using big boundary F450 frames.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621088192.7U CN206096947U (en) | 2016-09-29 | 2016-09-29 | Four rotor crafts suitable for indoor autonomous flight |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621088192.7U CN206096947U (en) | 2016-09-29 | 2016-09-29 | Four rotor crafts suitable for indoor autonomous flight |
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| Publication Number | Publication Date |
|---|---|
| CN206096947U true CN206096947U (en) | 2017-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621088192.7U Expired - Fee Related CN206096947U (en) | 2016-09-29 | 2016-09-29 | Four rotor crafts suitable for indoor autonomous flight |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107943064A (en) * | 2017-11-15 | 2018-04-20 | 北京工业大学 | A kind of unmanned plane spot hover system and method |
| CN110209193A (en) * | 2019-06-04 | 2019-09-06 | 北京韦加科创技术有限公司 | A kind of general quadrotor avoidance obstacle method and system |
-
2016
- 2016-09-29 CN CN201621088192.7U patent/CN206096947U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107943064A (en) * | 2017-11-15 | 2018-04-20 | 北京工业大学 | A kind of unmanned plane spot hover system and method |
| WO2019095453A1 (en) * | 2017-11-15 | 2019-05-23 | 北京工业大学 | Unmanned aerial vehicle fixed-point hovering system and method |
| CN110209193A (en) * | 2019-06-04 | 2019-09-06 | 北京韦加科创技术有限公司 | A kind of general quadrotor avoidance obstacle method and system |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170412 Termination date: 20190929 |
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| CF01 | Termination of patent right due to non-payment of annual fee |