CN206193541U - All -round automation keeps away four shaft air vehicle of barrier system - Google Patents
All -round automation keeps away four shaft air vehicle of barrier system Download PDFInfo
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- CN206193541U CN206193541U CN201621257799.3U CN201621257799U CN206193541U CN 206193541 U CN206193541 U CN 206193541U CN 201621257799 U CN201621257799 U CN 201621257799U CN 206193541 U CN206193541 U CN 206193541U
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- chip microcomputer
- axle aircraft
- automatic obstacle
- annulus
- frame
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Abstract
The utility model relates to an all -round automation keeps away four shaft air vehicle of barrier system, including frame, motor, rotor, this frame periphery evenly sets up four rotors and dispose a motor bottom every rotor, ya keli ring of frame top installation, four ultrasonic sensor of this yakeli ring upper surface symmetric distribution set up an ultrasonic sensor up at the ring upper surface in addition, ultrasonic sensor down of surface mounting under the ring. The utility model discloses beneficial effect does: form the ultrasonic sensor development and keep away the barrier system, effectively reduce development cost, help improving four shaft air vehicle to dynamic environment's adaptability and the application development who promotes four shaft air vehicle, the stability of keeping away the barrier system is stronger, and the system receives the factor of interference less, the sensitivity of keeping away the barrier system is higher, automatically, it is controllable to keep away the barrier system, does not influence normally to take off and descend, be favorable to follow -up development to realize scanning of indoor flight map and path planning's effect.
Description
Technical field
The utility model vehicle technology field, more particularly to a kind of comprehensive automatic obstacle-avoiding system four-axle aircraft.
Background technology
Four-axle aircraft, also known as quadrotor, four-rotor helicopter, is a kind of multi-rotor aerocraft.Four propellers
All it is the simple mechanism of motor direct-connected, criss-cross layout allows aircraft to obtain main body turning by changing motor speed
Power, so as to adjust itself attitude.
To keep the stabilized flight of aircraft, equipped with three gyroscopes and 3-axis acceleration in direction on four-axle aircraft
Sensor group can calculate aircraft now with respect to attitude and acceleration, the angular speed on ground into inertial navigation module；Flight
Controller calculates revolving force and lift required when keeping motion state by algorithm, ensures motor by electronic adjusting controller defeated
Go out suitable power.
Four-axle aircraft future thrust mainly has the following aspects：Can be used as the new ideas vehicles；With people
Continuing to develop for work intelligence, is equipped with high-definition camera, the four-axle aircraft of various security facilities and can be widely used in public security, disappears
Anti-, family and unit security field, four axles will turn into extremely intelligence, the electronic police of Quick off the mark, electronics fireman, electronics to be protected
Peace, electronics house keeper；Building field and other high-risk operations environment.
There is researcher to develop unmanned plane vision obstacle avoidance system both at home and abroad, there is larger defect：
(1) the use of camera, relatively costly；
(2) easily influenceed by illuminance, there is larger dependence to working environment；
(3) vision obstacle avoidance system is sometime going up the barrier that can only be detected on single direction, there is very big safety
Hidden danger.
As can be seen here, problem above lacks safety guarantee to crowd, aircraft and surrounding enviroment, largely limits
The many development of four-axle aircraft and application are made.
Therefore, for the above, it is necessary to reasonably be improved prior art.
Utility model content
For disadvantages described above, the utility model provides a kind of effective safety, system for reducing development cost, ensureing aircraft
Stability is relatively strong, the sensitivity of obstacle avoidance system is higher, be conducive to subsequent development to realize indoor flight Scaned map and path planning
The comprehensive automatic obstacle-avoiding system four-axle aircraft of effect, to solve many deficiencies of prior art.
To achieve the above object, the utility model uses following technical scheme：
A kind of comprehensive automatic obstacle-avoiding system four-axle aircraft, including frame, motor, rotor, frame periphery uniformly set
Put four rotors and each rotor bottom configures a motor, an acrylic annulus, the Asia gram are installed in the frame top
Symmetrical four ultrasonic sensors in power annulus upper surface and four ultrasonic sensors are respectively facing front, rear, left and right four
Individual direction, a ultrasonic sensor upward is separately set up in annulus upper surface, and annulus lower surface installs a ultrasound directed downwardly
Wave sensor；Both sides are respectively provided with single-chip microcomputer before and after the frame central position sets flight controller and the flight controller
Ith, single-chip microcomputer II, is powered by flight controller to one piece of single-chip microcomputer I, and the serial ports of the flight controller control panel connects another piece
Single-chip microcomputer II, makes flight controller and the serial communication of single-chip microcomputer II.
Ultrasonic sensor upward is arranged at the annulus upper surface in 45 ° of heading direction to the left.
The 5V delivery outlets of the single-chip microcomputer I are connected to the normally opened port of relay, the 5V ports of single-chip microcomputer II be connected to after
The public port of electrical equipment, the GND ports of single-chip microcomputer I connect the GND ports of single-chip microcomputer II, then digital port by single-chip microcomputer I and
GND ports connect the two ends of relay coil respectively.
The single-chip microcomputer I is connected by serial ports with wireless module；Wireless module sends instruction control relay to single-chip microcomputer
II power supply.
Comprehensive automatic obstacle-avoiding system four-axle aircraft described in the utility model has the beneficial effect that：
(1) by setting six sensors of fixed position, ultrasonic sensor exploitation obstacle avoidance system is formed, effectively reduced
Development cost；
(2), using ultrasonic sensor good directionality and the characteristics of be easy to directional transmissions, the ultrasound of four-axle aircraft is designed
Ripple obstacle avoidance system, can realize automatic obstacle-avoiding in the six direction front and rear up and down of four-axle aircraft, more fully ensure flight
The safety of device, is favorably improved adaptability and the application development that promotes four-axle aircraft of the four-axle aircraft to dynamic environment；
(3) ultrasonic sensor is based on, and the stability of the obstacle avoidance system is stronger, and the factor that system is disturbed is less；
(4) the sensitivity of the obstacle avoidance system is higher, and six direction is taken in the obstacle that only some direction occurs less than 50cm
During thing, it is detected from barrier finally realizes avoidance effect each time, spends deficiency of time 1.2s；
(5) the automatic obstacle-avoiding system is controllable, does not influence normally to take off and landing；
(6) the aircraft obstacle avoidance system of ultrasonic sensor is carried based on six direction, by the range finding of Different Plane, is had
The effect of indoor flight Scaned map and path planning is realized beneficial to subsequent development.
Brief description of the drawings
The utility model is described in further detail below according to accompanying drawing.
Fig. 1 is the schematic top plan view of comprehensive automatic obstacle-avoiding system four-axle aircraft described in the utility model embodiment；
Fig. 2 is the axle side schematic diagram of comprehensive automatic obstacle-avoiding system four-axle aircraft described in the utility model embodiment；
Fig. 3 is the circuit connection signal of comprehensive automatic obstacle-avoiding system four-axle aircraft described in the utility model embodiment
Figure.
In figure：
1st, frame；2nd, motor；3rd, rotor；4th, annulus；5th, relay；6th, ultrasonic sensor；7th, single-chip microcomputer I；8th, fly
Controller；9th, single-chip microcomputer II；10th, wireless module；11st, ultrasonic sensor upward；12nd, heading.
Specific embodiment
Embodiment 1
As Figure 1-3, the comprehensive automatic obstacle-avoiding system four-axle aircraft described in the utility model embodiment, including machine
Frame 1, motor 2, rotor 3, the periphery of frame 1 is uniformly arranged four rotors 3 and each bottom of rotor 3 configures a motor 2, institute
State the top of frame 1 and one acrylic annulus 4 be installed and between the acrylic annulus 4 and the upper surface of frame 1 with certain distance,
Meanwhile, the front with heading 12 as aircraft, symmetrical four ultrasonic sensors 6 in the upper surface of acrylic annulus 4
And four ultrasonic sensors 6 are respectively facing front, rear, left and right four direction, in 45 ° of the circle in the direction to the left of heading 12
One ultrasonic sensor 11 upward is installed, based on the ultrasonic sensor 6 facing forward of heading 12 at the upper surface location of ring 4
At position, a ultrasonic sensor directed downwardly just is installed to the lower surface of annulus 4.
Correspondingly, the centre of the frame 1 sets both sides difference before and after flight controller 8 and the flight controller 8
Single-chip microcomputer I 7, single-chip microcomputer II 9 are set, are powered to one piece of Arduino UNO single-chip microcomputer I 7 by flight controller 8, the flight control
The serial ports of the control panel of device processed 8 connects another piece of single-chip microcomputer II 9 of Arduino 2560 so that flight controller 8 and Arduino
2560 single-chip microcomputers II 9 can carry out serial communication；
Further, the 5V delivery outlets of the single-chip microcomputer I 7 are connected to the normally opened port of relay 5, the 5V of single-chip microcomputer II 9
Port is connected to the public port of relay 5, and the GND ports of single-chip microcomputer I 7 connect the GND ports of single-chip microcomputer II 9, then by monolithic
The digital port of machine I 7 and GND ports connect the two ends of the coil of relay 5 respectively, in addition, single-chip microcomputer I 7 also passes through serial ports and nothing
Wire module 10 is connected.
Programmed by single-chip microcomputer I 7, instruction control relay 5 can be sent by wireless module 10, and then realization is right at any time
Single-chip microcomputer II 9 is powered, that is, the power supply that can at any time open or close obstacle avoidance system, it is therefore an objective to do not influence obstacle avoidance system to flight
The interference of device takeoff and landing；Six ultrasonic sensors are connected by the digital pin of single-chip microcomputer II 9, this six ultrasonic waves are passed
Sensor is arranged in six surfaces front and rear up and down of the aircraft frame shell of annulus 4, toward the write-in range finding journey of single-chip microcomputer II 9
Sequence and avoidance program, single-chip microcomputer II 9 read the obstacle distance of ultrasonic sensor detection on six direction in real time, as certain side
Upward ultrasonic ranging value is less than default avoidance coverage value (effective avoidance distance is set to 50cm), single-chip microcomputer II 9
Will be instructed to the avoidance that flight controller 8 sends the correspondence direction by serial ports, the different arteries and veins of the controlled output of flight controller 8
Width is rushed, to realize changing the rotating speed of two of which motor 2 so that aircraft flies toward rightabout, reaches automatic obstacle avoiding
Effect.
Comprehensive automatic obstacle-avoiding system four-axle aircraft described in above the utility model embodiment, operation principle is：Nothing
Line traffic control opens the power supply of four-axle aircraft obstacle avoidance system, after the completion of obstacle avoidance system initialization, is arranged in super on six direction
The distance of sonic sensor real-time detection barrier simultaneously sends Arduino control centres to, when detecting barrier on certain direction
Distance less than default avoidance coverage in program, Arduino control centres will pass through serial ports and send the corresponding direction
To flight controller, flight controller will control the pulse width output of respective pins to change the rotating speed of motor for avoidance instruction,
Change of flight direction, realizes automatic obstacle-avoiding.
Embodiment 2
As Figure 1-3, the comprehensive automatic obstacle-avoiding system four-axle aircraft described in the utility model embodiment, including machine
Frame 1, the top of the frame 1 is installed by one acrylic annulus 4, the front with heading 12 as aircraft, the acrylic annulus 4
Symmetrical four ultrasonic sensors 6 in upper surface and four ultrasonic sensors 6 are respectively facing the side of front, rear, left and right four
To.
Correspondingly, the centre of the frame 1 sets both sides difference before and after flight controller 8 and the flight controller 8
Single-chip microcomputer I 7, single-chip microcomputer II 9 are set, are powered to single-chip microcomputer I 7 by flight controller 8, the string of the control panel of flight controller 8
Mouth another piece of single-chip microcomputer II 9 of connection so that flight controller 8 can carry out serial communication with single-chip microcomputer II 9；The single-chip microcomputer I 7
5V delivery outlets are connected to the normally opened port of relay 5, and the 5V ports of single-chip microcomputer II 9 are connected to the public port of relay 5, monolithic
The GND ports of machine I 7 connect the GND ports of single-chip microcomputer II 9, then digital port by single-chip microcomputer I 7 and GND ports connect respectively after
The two ends of the coil of electrical equipment 5.
The above-mentioned description to embodiment is it will be appreciated that and using this for the ease of those skilled in the art
Case technology, person skilled in the art obviously can make various modifications to these examples easily, and described herein one
As principle be applied in other embodiments without by performing creative labour.Therefore, this case is not limited to above example, ability
The technical staff in domain according to the announcement of this case, for improvement and modification that this case is made, for example, for components such as frame, rotors
Size, the distance between annulus and frame and, arrangement of each exploitation Board position etc., if not producing outside this case
Beneficial effect, then all should be in the protection domain of this case.
Claims (7)
1. a kind of comprehensive automatic obstacle-avoiding system four-axle aircraft, including frame, motor, rotor, the frame periphery is uniformly arranged
One motor of four rotors and the configuration of each rotor bottom, it is characterised in that：
The frame top is installed by one acrylic annulus, symmetrical four ultrasonic sensors in the acrylic annulus upper surface
And four ultrasonic sensors are respectively facing front, rear, left and right four direction, one is separately set up upward in annulus upper surface
Ultrasonic sensor, annulus lower surface installs a ultrasonic sensor directed downwardly；The frame central position sets flight control
Both sides are respectively provided with single-chip microcomputer I, single-chip microcomputer II before and after device processed and the flight controller, by flight controller to one piece of monolithic
Machine I is powered, and the serial ports of the flight controller control panel connects another piece of single-chip microcomputer II, makes flight controller and the serial ports of single-chip microcomputer II
Communication.
2. comprehensive automatic obstacle-avoiding system four-axle aircraft according to claim 1, it is characterised in that：The single-chip microcomputer I
5V delivery outlets be connected to the normally opened port of relay, the 5V ports of single-chip microcomputer II are connected to the public port of relay, monolithic
The GND ports of machine I connect the GND ports of single-chip microcomputer II, then digital port by single-chip microcomputer I and GND ports connect relay respectively
The two ends of device coil.
3. comprehensive automatic obstacle-avoiding system four-axle aircraft according to claim 1 and 2, it is characterised in that：The monolithic
Machine I is connected by serial ports with wireless module.
4. comprehensive automatic obstacle-avoiding system four-axle aircraft according to claim 1 and 2, it is characterised in that：Described sub- gram
Certain distance is carried between power annulus and frame upper surface.
5. comprehensive automatic obstacle-avoiding system four-axle aircraft according to claim 1, it is characterised in that：Upward super
Sonic sensor is arranged at the annulus upper surface in 45 ° of heading direction to the left.
6. comprehensive automatic obstacle-avoiding system four-axle aircraft according to claim 3, it is characterised in that：The wireless module
Instruction control relay is sent to power single-chip microcomputer II.
7. the comprehensive automatic obstacle-avoiding system four-axle aircraft according to any one of claim 1,2,6, it is characterised in that：Institute
The digital pin for stating single-chip microcomputer II connects six ultrasonic sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621257799.3U CN206193541U (en) | 2016-11-23 | 2016-11-23 | All -round automation keeps away four shaft air vehicle of barrier system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621257799.3U CN206193541U (en) | 2016-11-23 | 2016-11-23 | All -round automation keeps away four shaft air vehicle of barrier system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206193541U true CN206193541U (en) | 2017-05-24 |
Family
ID=58723610
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621257799.3U Expired - Fee Related CN206193541U (en) | 2016-11-23 | 2016-11-23 | All -round automation keeps away four shaft air vehicle of barrier system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206193541U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108427431A (en) * | 2018-04-24 | 2018-08-21 | 东莞理工学院 | A kind of four-axle aircraft and its method based on laser scanning map structuring system |
| CN112357073A (en) * | 2020-11-12 | 2021-02-12 | 国家电网有限公司 | Multi-rotor aircraft for power line inspection |
-
2016
- 2016-11-23 CN CN201621257799.3U patent/CN206193541U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108427431A (en) * | 2018-04-24 | 2018-08-21 | 东莞理工学院 | A kind of four-axle aircraft and its method based on laser scanning map structuring system |
| CN112357073A (en) * | 2020-11-12 | 2021-02-12 | 国家电网有限公司 | Multi-rotor aircraft for power line inspection |
| CN112357073B (en) * | 2020-11-12 | 2022-10-11 | 国家电网有限公司 | Multi-rotor aircraft for power line inspection |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170524 Termination date: 20171123 |