AU2019100363A4 - Unmanned Aerial Vehicle And Its Program Control Device Unmanned Aerial Vehicle And Its Program Control Device - Google Patents

Abstract

Abstract The present application relates to unmanned aerial vehicle and its program control device. First, characteristics of cross two-rotor UAV. The UAV designed in this paper is a cross two-rotor UAV powered by electricity. This product is mainly referred to the United States K-MAX and other cross two-rotor manned helicopter, so it has the theoretical guarantee of the prototype helicopter in reality, to ensure that it can achieve take-off, landing, hovering, rolling and steering of the basic flight action. This product can achieve vertical take-off and landing, so it is not limited by the take-off and landing site. The biggest advantage of this product is that it combines the characteristics of the cross two-rotor UAV, it is light, but at the same time has a large load, flight stability is very high, which makes it as a means of transport, the ability to load heavy objects is stronger, And its flight systems and structures support it through complex terrain. Second, the electrical structure of the cross two-rotor UAV. This product is powered by the power supply system to support the operation of the entire UAV system. The GPS circuit and Beidou circuit in the navigation system provide positioning for the automatic obstacle avoidance system and the main control system. Among them, the automatic obstacle avoidance system through positioning operation electronic map and route planning module, through ultrasonic sensors and infrared sensors to avoid obstacles at close range. The main control circuit is transmitted from Pixhawk to flight control circuit and recorded and stored by navigation. In addition, the image recording system records or captures and transmits back the image through a camera, memory, bracket head and image transmission module. Then, the image recording system, the main control circuit and the automatic obstacle avoidance system are integrated into the flight control circuit through the wireless transceiver circuit. finally, the control of the cross double rotor UAV is realized by the electrical regulation circuit. Third, two important innovations of cross two-rotor UAV. This product has two important innovative design points compared to other drones: 1. the common speed power transmission system, which is responsible for the transmission between the motor and the rotor, effectively ensures the cross double rotor to maintain the common speed at all times to avoid mutual interference; 2. the ducted tail jet steering mechanism replaces the tail wing and realizes the flexible steering of the cross double rotor UAV. simtuct Powe Cmsstemp Rwd Taok Module Iknod LO Iooan n Im Bammate hhgtowoe onl mg Figure Figure 1 Figure 2

Description

Unmanned Aerial Vehicle And Its Program Control Device

FIELD OF THE INVENTION

With the advent of the industrial 4.0 era, the UAV market has become more and more mature, at the same time, China's market and its vast and diverse, coupled with the vast territory of our country, the overall terrain is diverse.

Therefore, UAV is more and more widely used in military, fire, power line patrol, aerial photography, logistics and other fields in China and has solved a lot of problems.

BACKGROND OF THE INVENTION

Compared with ordinary aircraft, UAV can be used as a supplement to aircraft to complete some simple and dangerous tasks.

It involves sensor technology, communication technology, information processing technology, intelligent control technology and aeronautical power propulsion technology, it is the product of high-tech content in the information age.

The value of UAV lies in the formation of air platform, combined with other components to expand the application, instead of human beings to complete air operations.

In recent years, with the rapid development of UAV related technology at home and abroad, UAV systems are of many kinds and widely used.

As a result, there are great differences in size, mass, range, flight time, flight altitude, flight speed, performance and mission.

The wide range of UAV applications in military, fire, power cruise, aerial photography, logistics and other fields is unpredictable.

In our country, UAV has been widely used in military, fire, power patrol, aerial photography, logistics and other fields.

With the rapid development of UAV control technology, UAV will become a research hotspot in the field of science.

Second, the characteristics and existing problems of all kinds of unmanned aerial vehicles (UAV).

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1, fixed-wing UAV.

Fixed-wing UAV has long flight distance and strong endurance, but its shortcomings can not be ignored:

(1) take-off and landing subject to site restrictions.

(2) Safety has contingency.

(3) not easy to carry and transport.

These shortcomings limit the application of fixed-wing UAV in reality to a great extent.

2, rotor drones.

Rotor UAV is divided into multi-axis UAV, helicopter UAV and rotor UAV.

Rotor UAV has good stability and can remain stationary in space, but there are also some problems:

(1) short duration of multi-axis UAV.

(2) most helicopter drones have low load.

(3) rotor drones are also subject to site restrictions.

It can be seen that rotor drones also have some inevitable weaknesses when they are used.

3, other types of drones.

Of course, there are still some UAV that are very novel in structure, but they do not have the theoretical support of prototype aircraft, and find another way, resulting in extremely high speed requirements and very difficult to maintain.

For example, an unmanned airship is huge and stable, so it is easy to monitor, however, slow movement only allows it to carry people sightseeing.

SUMMARY OF THE INVENTION

INTRODUCTION TO INVENTIONS

The main goal of this electric cross-rotor UAV is to improve mission efficiency, so that it can not only reduce the cost, but also make maintenance easier.

Among them, heavy load and electric drive are the two characteristics of the UAV.

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Compared with other types of helicopters, the cross twin rotor has a larger deadweight, a longer lag time, mainly acts as a means of transport, and has a better ability to load heavy objects.

And its flight systems and structures also support crossing complex terrain.

Accordingly, it can improve the efficiency of the task, and can undertake more important tasks.

Electric drive can ensure a more stable and safe flight state, using electric energy as power energy, compared with the replacement of fuel is easier, maintenance costs can be reduced, at the same time, the use of electric energy can reduce emissions of pollutants, can protect the environment.

The UAV of the invention is self-designed and invented from the shape to the internal structure.

It is divided into two parts: shape design and overall structure.

Among them, the system structure is one of the core parts of this design, according to different components and functions, it is divided into four parts: power system, flight control system, camera system and task module.

The UAV has eight basic movements: ascending, descending, left-leaning, right-leaning, forward-leaning, backward-leaning, left-handed, right-handed, and eight basic movements.

INVENTION AND INNOVATION

The invention has the following innovations:

1. Co-velocity power transfer system.

2. Duct tail jet steering mechanism.

3. Power system based on electromotive force.

4. Using the task module, you can carry a variety of task modules to achieve the ability of task diversification.

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DESCRIPTION OF THE DRAWNING

The appended drawings are only for the purpose of description and explanation but not for limitation, wherein:

Fig.l illustrates the system structure diagram.

Fig.2 illustrates the overall outline of UAV.

Fig.3 illustrates the front view of UAV.

Fig.4 illustrates the top view of UAV.

Fig.5 illustrates the left view of UAV.

Fig.6 illustrates the simulation standstill of a UAV in V-rep.

Fig.7 illustrates the simulation take off standstill of a UAV in V-rep.

Fig.8 illustrates the simulation take off standstill of a UAV in V-rep.

Fig.9 illustrates the Co-velocity power transfer system decorate on UAV.

Fig.10 illustrates the Co-velocity power transfer system chart.

Fig.11 illustrates the Duct tail jet steering mechanism.

Fig.12 illustrates the Details of the duct.

Fig.13 illustrates the details of the duct.

Fig.14 illustrates the brushless motor

Fig.15 illustrates the brushless ESC.

Fig.16 illustrates the lithium polymer battery.

Fig.17 illustrates the PIX flight control(l).

Fig.18 illustrates the PIX flight control(2).

Fig.19 illustrates the GPS module location map.

Fig.20 illustrates the GPS module.

Fig.21 illustrates the Ultrasonic module location map.

Fig.22 illustrates the ultrasonic module.

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Fig.23 illustrates the hd motion camera.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

1. Common speed power transfer system:

According to the basic principle of the cross two rotor, the two propellers must rotate in the opposite two directions.

This system can drive a force generated by the gear through the motor to achieve direction rotation, through a force generated by the engine to achieve direction difference.

In addition, considering navigation, we design a flexible rotor so that the force at any specified position can be changed.

Uneven forces guide the plane back and forth or left and right.

2. Duct tail spray steering mechanism:

Compared with other types of helicopters, the cross double-rotor helicopter lacks the ability of the rotor to rotate at a relative differential speed to make the body rotate in situ, so we designed the duct tail-jet steering mechanism.

The mechanism consists of an electric duct fan, a T-type air duct, a steering gear, and a wind pendulum.

The wind swing is covered with soft rubber to ensure the tightness of the air duct.

When the UAV is ready to turn, the steering gear drives the wind swing in the same direction, and then drives the culvert, and the wind blows in the opposite direction through the vents, and the UAV completes the steering.

3. Power system.

Our power system is composed of motor, electronic governor and battery, which mainly provides power and power supply for the UAV.

(1) Motor: we use a motor with high output power and large torque, taking a 4535 brushless motor as an example for reference.

Motor diameter 56.7mm.

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Motor length 67mm.

Maximum continuous power 6200W.

Maximum instantaneous power 10360 W.

Motor KV value 450KV.

Maximum instantaneous current 216A.

This kind of motor has large torque and suitable speed, so it is suitable for the power output of the UAV.

(2) Electronic governor: because of the high current of the power system, the electric regulation also adopts a higher specification style for 120A brushless electric regulation, which can carry a large working current and provide a guarantee for flight safety.

(3) Battery: due to the need of long voyage and high efficiency, the battery should choose lithium polymer battery with high voltage, high capacity and light weight as far as possible.

Selection of two Grignard 6S22.2V Lithium batteries to provide the required Power.

Battery specifications are.

Battery capacity 22000mAh.

Core combination 6S1P.

Voltage 22.2V.

Discharge rate 25C.

Weight 2530g

4. Flight control system.

The flight control system is the core component of the UAV to carry out each flight attitude adjustment and each function use. it is composed of flight control, GPS, ultrasonic module, air pressure sensor, remote control receiver and so on.

(I) Flight control devices.

In order to control the cost and improve the performance of the UAV as much as possible, the PIXhawh flight control based on STM32 is adopted.

1. It has an advanced 32-bit ARM CortexM4 processor that runs the Nuttx PTOS real-time operating system.

2. 14 PWM/ steering gear output.

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3. It has integrated backup power supply and failure backup controller, which can be safely switched to backup control when the main controller fails.

4. It provides automatic and manual mode.

5. It provides redundant power input and failover capabilities.

6. Micro SD recording flight data (1) GPS automatic navigation function.

This feature has two basic capabilities:

1. High-precision GPS fixed-point function, can automatically record coordinates and is not easy to be affected by the environment in a static environment.

2. Ability to plan automatic flight paths and.

The UAV cooperates with PIX flight control outdoors and requires high precision to achieve the function of fixed-point flight.

(1) Ultrasonic height determination and obstacle avoidance function.

The height determination and obstacle avoidance function of the UAV is a key function of the UAV safety guarantee in low altitude flight.

The principle is that the ultrasonic signal is transmitted through the ultrasonic module, when the ultrasonic wave encounters obstacles, it can transmit back and make the module receive the signal, in order to infer the distance between the UAV and the ground or obstacles.

This feature has two functions:

1. Low altitude height determination function: we can use ultrasonic to measure the height of the ground to ensure that the UAV can accurately maintain the height within the range of 0.1 =¾ 10m from the ground for a long time.

2. Obstacle early warning function: use ultrasonic wave to detect the height below the UAV, accurately sense whether there are approaching obstacles under the UAV, and feedback to the flight control in time, and then issue the corresponding warning by the flight control.

The ultrasonic ranging system is designed and the obstacle avoidance system is improved.

The product can deal with the complex terrain in the process of cargo transportation under the condition that the GPS system can not work properly.

US-100 ultrasonic ranging module.

Operating voltage: DC2.4V-5.5V.

Detection range: 2 cm-450 cm.

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Module size: 45 mm*20 mm*1.6 mm.

US- 100 ultrasonic ranging module can realize the non-contact ranging function of 2m4.5m, the voltage input range is 2.45.5V, the static power consumption is less than 2 mA, and the temperature sensor is equipped to correct the ranging results.

At the same time, it also has GPIO, serial port and other communication methods.

It integrates 6.5m and 6.0m audio input channels to meet the perfect access to a variety of AT on the market

5. Camera system.

Main purpose of camera system.

1. Real-time aerial video during flight.

2. The flight picture can be transmitted back in real time when the over-the-horizon flight is carried out.

The system is transmitted by high definition motion camera and 5.8g diagram as the main hardware equipment.

1. HD motion camera.

The mountain dog motion camera is adopted, the picture quality of the camera is 4K, the image is clear and the angle of view is wide.

A high motion camera that facilitates flight.

1.5.8G HD Picture transfer.

TS800 5.8g was used.

The diagram has strong penetration and long range.

It can ensure the stability of the signal in over-the-horizon flight, as well as the real-time transmission of high-quality images.

Transmission frequency point 5.8g.

Transmission channel 32 channel.

Transmit power 1500mW.

Module net weight 50g.

Operating current 800ma 12V

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This product is powered by a power supply system to support the operation of the entire UAV system.

The GPS circuit and Beidou circuit in the navigation system provide positioning for the automatic obstacle avoidance system and the main control system.

Among them, the automatic obstacle avoidance system through positioning operation electronic map and path planning module, through ultrasonic sensors and infrared sensors to achieve close-range obstacle avoidance.

The main control circuit is transmitted from PICHAWK to the flight control circuit and recorded and stored by navigation.

In addition, the image recording system records or captures and transmits back through a camera, a memory, a head shaking, and an image transmission module.

Then, the image recording system, the main control circuit and the automatic obstacle avoidance system are summarized into the flight control circuit through the wireless transceiver circuit, finally, the control of the cross-rotor UAV is realized by the electrical regulation circuit.

Example

Example 1: the UAV completes the roll to the left.

When the UAV hovers or travels in a straight line in the air, when the blade that controls the left rotor rotates to the left, the rotor drives the blade, increases its wind angle, and resumes the original angle after maintaining this action of about 20 degrees.

In this way, the lift in the direction of about 20 degrees on the left side of the force plane of the whole double rotor power system is less than that of the other parts, so that the aircraft is tilted to the left and the left roll is realized.

Example 2: UAV yaw to the left.

When the UAV hovers or travels in a straight line in the air, it controls the rotor of the motor in the culvert to rotate to the right, drives the sealing cover to close the right culvert, starts the wind turbine, makes the wind blow out of the left culvert, drives the UAV to rotate to the left, and completes the left yaw.

Claims (5)

1. An unmanned aerial vehicle, is characterized in comprising a co-velocity power transfer system which ensures High Precision Co-velocity reverse rotation of two rotor.

2. The unmanned aerial vehicle according to claim 1, is characterized in comprising a ducted tail spray steering mechanism which uses simple principle to Control UAV steering.

3. The unmanned aerial vehicle according to claim 1, is characterized in comprising a power system based on electromotive force.

4. The unmanned aerial vehicle according to claim 1, is characterized in comprising a task module which can be used to achieve the ability of task diversification.

5. The unmanned aerial vehicle according to claim 1, is characterized in comprising an ultrasonic low altitude height determination function, wherein the use of ultrasonic measurement of ground height, to ensure that the UAV can accurately maintain a long time from the ground within 0.1 10m of height.