CN208086005U - A kind of quadrotor of traceable ground target - Google Patents
A kind of quadrotor of traceable ground target Download PDFInfo
- Publication number
- CN208086005U CN208086005U CN201820369065.7U CN201820369065U CN208086005U CN 208086005 U CN208086005 U CN 208086005U CN 201820369065 U CN201820369065 U CN 201820369065U CN 208086005 U CN208086005 U CN 208086005U
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- CN
- China
- Prior art keywords
- microprocessor
- quadrotor
- stm32f4
- mounting plate
- traceable
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
The utility model discloses a kind of quadrotors of traceable ground target, it is to be equipped with connecting rod in tripod lower middle position, mounting plate is provided in connecting rod, microprocessor Raspberry Pi, microprocessor stm32F4, camera and ultrasonic sensor are embedded on mounting plate, wherein between microprocessor Raspberry Pi and microprocessor stm32F4 communicate through a serial port, camera is connected with microprocessor Raspberry Pi, and ultrasonic sensor is connected with microprocessor stm32F4.It is provided with washer between connecting rod and mounting plate, the position of mounting plate is adjusted by washer, and then ultrasonic sensor and camera is made to be maintained at immediately below body center.Advantageous effect：Compared to manually controlling, the precision of tracking is improved, operation difficulty is reduced；Cell voltage compensation is used, the stability of take-off process is effectively improved；Aircraft is realized to automatically control in roll, pitching, yaw, throttle four postures.
Description
Technical field
The utility model is related to a kind of quadrotor, more particularly to the quadrotor of a kind of traceable ground target is flown
Device.
Background technology
Currently, quadrotor is that most simple most popular one kind, four rotors symmetrically divide in multi-rotor aerocraft
Cloth is in " ten " type or " X " type.Because space needed for its takeoff and landing is less, maneuverability is higher under the intensive environment of barrier,
The features such as posture holding capacity is stronger, and maneuverability is strong, simple in structure, and operation is easy, quadrotor is as a kind of emerging
Aerial mobile platform, carry various corresponding task loads, be widely used in video display take photo by plane, electric power cruise, information monitoring, war
All various aspects such as damage assessment, and to automatically control, many technical fields such as advanced sensors technology and computer science are melted
Conjunction provides a platform.
Vision tracking is that the foreground moving object in sequence of video images is detected, extracts, identifies and is tracked, and is obtained
Position, speed, acceleration and movement locus of target etc., then be further analyzed and handle to complete more higher leveled task,
Vision tracking has important realistic function in many fields, therefore is widely used.It is existing based on aircraft
Mobile-object tracking system, is all utilized in fixing camera on body, and operator is manually controlled winged by the image sent back
Row device completes the tracking to target, and tracking accuracy is poor, increases the difficulty of operator.Lack a kind of tracking accuracy at present
It is high, easy to operate, lower-cost to be ground for elementary teaching and theory with the quadrotor system of Tracking Ground Targets
Study carefully.
Invention content
Purpose of the utility model is to solve lacking at this stage, tracking accuracy is high, easy to operate and cost is relatively low
Quadrotor tracking system the problem of, and provide a kind of traceable ground target quadrotor.
The quadrotor of traceable ground target provided by the utility model is assembled in tripod lower middle position
There is connecting rod, mounting plate is provided in connecting rod, microprocessor Raspberry Pi is embedded on mounting plate, microprocessor stm32F4, is taken the photograph
As head and ultrasonic sensor wherein between microprocessor Raspberry Pi and microprocessor stm32F4 are communicate through a serial port taken the photograph
As head is connected with microprocessor Raspberry Pi, ultrasonic sensor is connected with microprocessor stm32F4.
It is provided with washer between connecting rod and mounting plate, the position of mounting plate is adjusted by washer, and then makes ultrasonic wave
Sensor and camera are maintained at immediately below body center.
The top of tripod is also installed on central plate and lower central plate, and flight controller and two groups are provided on upper central plate
The outer end of symmetrical horn, each horn is both provided with brushless motor, and brushless motor is connected with carbon fiber propeller, each horn
Lower part is installed on electron speed regulator, and the input terminal of electron speed regulator is connected with flight controller, the output end of electron speed regulator with
Brushless motor is connected, and vibration damper plate is provided between flight controller and upper central plate, encoder and electricity are provided on lower central plate
Pond, encoder input terminal are connected with the output pin of microprocessor stm32F4, and encoder output is connected with flight controller,
Battery provides electric power for whole system, and open-work is arranged at intervals on upper central plate and lower central plate, is also spaced and sets on each horn
It is equipped with open-work.
Mounting plate is pcb board, and the line of aircraft is effectively reduced using pcb board, to make the weight pole of entire body
The earth reduces.
The bottom of tripod is arranged with damping sleeve.
Above-mentioned microprocessor Raspberry Pi, microprocessor stm32F4, camera, ultrasonic sensor, flight controller,
Brushless motor, carbon fiber propeller, electron speed regulator, encoder and battery are the assembling of existing equipment, therefore, concrete model and
Specification is not repeated.
The operation principle of the utility model：
There are four postures altogether for quadrotor provided by the utility model：Roll, pitching, yaw and throttle.System knot
PWM duty cycle described in structure refers to that the value of the control signal corresponding to aforementioned four posture (is next referred to as roll value, pitching
Value, yaw value, throttle value), flight controller adjusts the rotating speed of the brushless motor on four rotors according to this four control signals,
And then adjust the posture of quadrotor.
Take off region and the sustained altitude for setting quadrotor first are selected according to the result of cell voltage compensation
It selects suitable throttle value to take off, the current flying height of aircraft, microprocessor stm32F4 is measured by ultrasonic sensor
PID calculating is carried out according to the difference of Desired Height and present level, obtains a suitable throttle value；What is be fixed on the machine body takes the photograph
As head acquires the image of current field in real time, and it is sent to microprocessor Raspberry Pi, microprocessor Raspberry Pi passes through to figure
Identification, binary conversion treatment, contour detecting and filtering collect the location information of moving target, and its location information are sent to
Microprocessor stm32F4, microprocessor stm32F4 are resolved after receiving the location information of moving target, calculate target
The direction of motion, speed and acceleration etc., and suitable roll value, pitch value, yaw value are obtained by pid control algorithm.Micro- place
The fusion of be calculated four attitude values is sent to encoder by reason device stm32F4, and encoder is by the corresponding PWM of four attitude values
Signal is converted into PPM signal and reaches flight controller, and then flight controller is made to be adjusted on four rotors according to four attitude values
Brushless motor rotating speed, and then adjust quadrotor posture.
It is a common backfeed loop in Industry Control Application that PID control, which adjusts algorithm (proportional-integral-differential),
It is made of proportional unit P, integral unit I and differentiation element D.The basis of PID control is ratio control；Integration control can be eliminated surely
State error, but overshoot may be increased；Differential control can accelerate Great inertia system response speed and weaken overshoot trend.
Cell voltage compensates：Unequal in cell voltage, quadrotor is risen using identical throttle value
Fly, the stablizing effect to take off is mutually far short of what is expected.Cell voltage compensation refers to by emulating and debugging obtains under each voltage gradient
The ideal corresponding throttle value of effect of taking off.Quadrotor automatically selects suitably when taking off according to current battery level
The completion of throttle value is taken off.
The beneficial effects of the utility model：
The quadrotor of traceable ground target provided by the utility model is taken off using a key, it is entirely autonomous from
Dynamic control mode improves the precision of tracking, reduces operation difficulty compared to manually controlling；Cell voltage compensation is used,
It is effectively improved the stability of take-off process；It uses the multiprocessor division of labor and completes the larger image procossing and PID of calculation amount
It calculates, effectively prevents the crash problem that single-processor is likely to occur, improve the stability of system；Use microprocessor
Stm32F4 simulates the working method of remote controler, realize aircraft roll, pitching, yaw, four postures of throttle it is automatic
Control.
Description of the drawings
Fig. 1 is quadrotor overall structure diagram described in the utility model.
Fig. 2 is quadrotor present invention looks up structural representation described in the utility model.
1, tripod 2, connecting rod 3, mounting plate 4, microprocessor Raspberry Pi
5, microprocessor stm32F4 6, camera 7, ultrasonic sensor 8, upper central plate
9, lower central plate 10, flight controller 11, horn 12, brushless motor
13, carbon fiber propeller 14, electron speed regulator 15, encoder 16, battery
17, damping sleeve.
Specific implementation mode
It please refers to Fig.1 to shown in Fig. 2：
The quadrotor of traceable ground target provided by the utility model is assembled in 1 lower middle position of tripod
There is connecting rod 2, mounting plate 3 is provided in connecting rod 2, microprocessor Raspberry Pi 4, microprocessor are embedded on mounting plate 3
Lead between stm32F4 5, camera 6 and ultrasonic sensor 7, wherein microprocessor Raspberry Pi 4 and microprocessor stm32F4 5
It crosses serial ports to be communicated, camera 6 is connected with microprocessor Raspberry Pi 4, ultrasonic sensor 7 and microprocessor stm32F4
5 are connected.
It is provided with washer between connecting rod 2 and mounting plate 3, the position of mounting plate 3 is adjusted by washer, and then makes ultrasound
Wave sensor 7 and camera 6 are maintained at immediately below body center.
The top of tripod 1 is also installed on central plate 8 and lower central plate 9, and flight controller 10 is provided on upper central plate 8
It is both provided with brushless motor 12 with the outer end of two groups of symmetrical horns 11, each horn 11, brushless motor 12 is connected with carbon fiber spiral shell
Paddle 13 is revolved, the lower part of each horn 11 is installed on electron speed regulator 14, input terminal and the flight controller 10 of electron speed regulator 14
It is connected, the output end of electron speed regulator 14 is connected with brushless motor 12, is provided with and subtracts between flight controller 10 and upper central plate 8
Plate is shaken, is provided with encoder 15 and battery 16 on lower central plate 9,15 input terminal of encoder is defeated with microprocessor stm32F4's 5
Go out pin to be connected, 15 output end of encoder is connected with flight controller 10, and battery 16 provides electric power, upper central plate for whole system
8 and lower central plate 9 on be arranged at intervals with open-work, be also arranged at intervals with open-work on each horn 11.
Mounting plate 3 is pcb board, the line of aircraft is effectively reduced using pcb board, to make the weight pole of entire body
The earth reduces.
The bottom of tripod 1 is arranged with damping sleeve 17.
Above-mentioned microprocessor Raspberry Pi 4, microprocessor stm32F4 5, camera 6, ultrasonic sensor 7, flight control
Device 10, brushless motor 12, carbon fiber propeller 13, electron speed regulator 14, encoder 15 and battery 16 processed are the group of existing equipment
Dress, therefore, concrete model and specification are not repeated.
The operation principle of the utility model：
There are four postures altogether for quadrotor provided by the utility model：Roll, pitching, yaw and throttle.System knot
PWM duty cycle described in structure refers to that the value of the control signal corresponding to aforementioned four posture (is next referred to as roll value, pitching
Value, yaw value, throttle value), flight controller 10 adjusts turning for the brushless motor on four rotors according to this four control signals
Speed, and then adjust the posture of quadrotor.
Take off region and the sustained altitude for setting quadrotor first, according to the result of 16 voltage compensation of battery
It selects suitable throttle value to take off, the current flying height of aircraft, microprocessor is measured by ultrasonic sensor 7
Stm32F4 5 carries out PID calculating according to the difference of Desired Height and present level, obtains a suitable throttle value；It is fixed on
Camera 6 on body acquires the image of current field in real time, and is sent to microprocessor Raspberry Pi 4, microprocessor Raspberry Pi 4
By to the identification of figure, binary conversion treatment, contour detecting and filtering, collecting the location information of moving target, and by its position
Confidence breath is sent to microprocessor stm32F4 5, and microprocessor stm32F4 5 is carried out after receiving the location information of moving target
It resolves, calculates direction of motion, speed and acceleration of target etc., and suitable roll value, pitching are obtained by pid control algorithm
Value, yaw value.Be calculated four attitude value fusions are sent to encoder 15, encoder 15 by microprocessor stm32F4 5
The corresponding pwm signal of four attitude values is converted into PPM signal and reaches flight controller 10, and then makes 10 basis of flight controller
Four attitude values adjust the rotating speed of the brushless motor 12 on four rotors, and then adjust the posture of quadrotor.
It is a common backfeed loop in Industry Control Application that PID control, which adjusts algorithm (proportional-integral-differential),
It is made of proportional unit P, integral unit I and differentiation element D.The basis of PID control is ratio control；Integration control can be eliminated surely
State error, but overshoot may be increased；Differential control can accelerate Great inertia system response speed and weaken overshoot trend.
16 voltage compensation of battery：Unequal in 16 voltage of battery, quadrotor uses identical throttle
Value is taken off, and the stablizing effect to take off is mutually far short of what is expected.16 voltage compensation of battery refers to by emulating and debugging obtains each voltage
The corresponding throttle value of effect of preferably taking off under gradient.Quadrotor is selected when taking off according to 16 voltage of present battery automatically
Suitable throttle value completion is selected to take off.
Claims (5)
1. a kind of quadrotor of traceable ground target, it is characterised in that：It is to be equipped in tripod lower middle position
Connecting rod is provided with mounting plate in connecting rod, and microprocessor Raspberry Pi, microprocessor stm32F4, camera shooting are embedded on mounting plate
Head and ultrasonic sensor, wherein between microprocessor Raspberry Pi and microprocessor stm32F4 communicate through a serial port, camera shooting
Head is connected with microprocessor Raspberry Pi, and ultrasonic sensor is connected with microprocessor stm32F4.
2. a kind of quadrotor of traceable ground target according to claim 1, it is characterised in that：The company
It is provided with washer between extension bar and mounting plate, the position of mounting plate is adjusted by washer, and then makes ultrasonic sensor and takes the photograph
As head is maintained at immediately below body center.
3. a kind of quadrotor of traceable ground target according to claim 1, it is characterised in that：The foot
The top of frame is also installed on central plate and lower central plate, and flight controller and two groups of symmetrical machines are provided on upper central plate
The outer end of arm, each horn is both provided with brushless motor, and brushless motor is connected with carbon fiber propeller, and the lower part of each horn is installed
There are electron speed regulator, the input terminal of electron speed regulator to be connected with flight controller, the output end and brushless motor of electron speed regulator
It is connected, vibration damper plate is provided between flight controller and upper central plate, encoder and battery, encoder are provided on lower central plate
Input terminal is connected with the output pin of microprocessor stm32F4, and encoder output is connected with flight controller, and battery is entire
System provides electric power, is arranged at intervals with open-work on upper central plate and lower central plate, open-work is also arranged at intervals on each horn.
4. a kind of quadrotor of traceable ground target according to claim 1 or 2, it is characterised in that：It is described
Mounting plate be pcb board.
5. a kind of quadrotor of traceable ground target according to claim 1, it is characterised in that：The foot
The bottom of frame is arranged with damping sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820369065.7U CN208086005U (en) | 2018-03-19 | 2018-03-19 | A kind of quadrotor of traceable ground target |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820369065.7U CN208086005U (en) | 2018-03-19 | 2018-03-19 | A kind of quadrotor of traceable ground target |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208086005U true CN208086005U (en) | 2018-11-13 |
Family
ID=64059380
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820369065.7U Expired - Fee Related CN208086005U (en) | 2018-03-19 | 2018-03-19 | A kind of quadrotor of traceable ground target |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208086005U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111717377A (en) * | 2020-06-24 | 2020-09-29 | 滨州学院 | Four-rotor aircraft frame |
-
2018
- 2018-03-19 CN CN201820369065.7U patent/CN208086005U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111717377A (en) * | 2020-06-24 | 2020-09-29 | 滨州学院 | Four-rotor aircraft frame |
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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: 20181113 Termination date: 20190319 |
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| CF01 | Termination of patent right due to non-payment of annual fee |