CN102424112A - Three-layer airborne flight control device for micro four-rotor aerial vehicle - Google Patents
Three-layer airborne flight control device for micro four-rotor aerial vehicle Download PDFInfo
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Abstract
The invention relates to a three-layer airborne flight control device for a micro four-rotor aerial vehicle, and belongs to the technical field of micro aerial vehicles. A navigation control layer consists of a navigation controller, an inertial measurement unit, a micro laser distance measuring sensor, a micro vision sensor and a wireless fidelity (WiFi) wireless network; an attitude control layer consists of an attitude controller, a gyroscope, an accelerometer, a magnetometer, a pressure sensor, an ultrasonic sensor, a remote controller and receiver unit and a ZigBee wireless communication unit; and a motor speed regulation control layer consists of four brushless motor speed regulators and four actuator units. The attitude controller is added, so that the whole flight device becomes intelligent, can perform autonomous navigation positioning, can avoid obstacles, is independent of manual operation of a remote controller, and becomes an intelligent robot in the real sense.
Description
Technical field
The invention belongs to the minute vehicle technical field, three layers of particularly a kind of microminiature four rotor crafts are airborne to fly to control device.
Background technology
Minute vehicle (MAV:Micro Aerial Vehicle) has characteristics such as volume is little, in light weight, easy to carry, simple to operate, good concealment, maneuverability; There is very wide application prospect the military and civilian aspect in modern times, causes the more and more many researchers' of the field of controlling in the world, robot field and aviation field concern.In the military affairs, minute vehicle can be used for enemy's situation scouting, target tracking, electro countermeasure, lesion assessment, the biochemical sampling of nuclear, disposes sensor, trunking traffic even active attack and defense; On civilian, minute vehicle can be used for all kinds of monitorings, monitoring, tour, search and rescue, photography, mapping, investigation and investigation.
Though initial unmanned plane market mainly is towards the military affairs utilization and costs an arm and a leg, in recent years because the development of micro-miniaturisation, electromechanical integration and microelectronic technique, make the commercial applications microminiature, UAS becomes possibility cheaply.This microminiature unmanned plane can be applicable to indoor and outdoor surroundings simultaneously, therefore has and the diverse new application of traditional unmanned plane.Yet indoor flight has also brought the challenge of unmanned plane volume, weight and dynamic role aspect, makes the aircraft of a lot of types all can't satisfy above requirement.Wherein a kind of aircraft that can be applicable to simultaneously extensively that indoor and outdoor surroundings uses is exactly rotary wind type, particularly microminiature four rotor crafts.But microminiature four rotor crafts are a kind of aircraft that four rotor oars drive vertical lift that pass through, and are widely used in the design of minute vehicle.Four rotors belong to non co axial formula disc-shaped flying craft on total arrangement, compare with conventional rotor craft, can produce bigger lift.The other four rotors reactive torque moment of can cancelling each other does not need special reactive torque oar.In addition, it realizes stable spiraling and accurate flying through the power that four rotors of balance produce, and adopts littler screw propeller, and then makes flight become safer.
But microminiature four rotor flying robots that present most researchers is proposed all are to be intended for open outdoor environment, adopt the GPS position fixing system to realize the autonomous flight of robot more.Yet the particularity of GPS position signal depends on the number of the satellite that is used for calculating location to a great extent and receives quality of signals.Owing to electromagnetic multipath propagation characteristic, all can make the GPS locate failure with the electromagnetic interference of airborne equipment and artificial interference etc., therefore in urban district that high building towers, environment such as indoor often can not get failure-free GPS positioning signal.In addition, because present most microminiature flying machine robot system lacks mileage system, therefore when no gps signal or gps signal mistake, will produce catastrophic consequence.So, present microminiature four rotor flying robots also can't be applicable to fields such as urban district that indoor, dangerous mine, tunnel, building are dense from main search, rescue, environment detection and monitoring etc.
Summary of the invention
To the deficiency that existing apparatus exists, the present invention proposes that three layers of a kind of microminiature four rotor crafts are airborne to fly to control device, to reach the purpose that autonomous navigation is located under the situation of no GPS location.
Technical scheme of the present invention is achieved in that three layers of a kind of microminiature four rotor crafts are airborne and flies to control device; Comprise: attitude controller, gyroscope, accelerometer, magnetometer, pressure sensor, ultrasonic transduter, remote controller and acceptor unit, ZigBee radio communication unit, brushless motor governor, actuator unit and supplying cell comprise navigation controller, Inertial Measurement Unit, miniature laser distance measuring sensor, miniature vision sensor, WiFi wireless network in addition;
Described navigation controller, Inertial Measurement Unit, miniature laser distance measuring sensor, miniature vision sensor and WiFi wireless network are formed the Navigation Control layer, realize the accurate location in no gps signal zone;
Described attitude controller, gyroscope, accelerometer, magnetometer, pressure sensor, ultrasonic transduter, remote controller and acceptor unit and ZigBee radio communication unit are formed the attitude key-course;
Four brushless motor governors and four actuator units are formed the electric machine speed regulation key-course;
Navigation Control layer, attitude key-course and electric machine speed regulation key-course are formed three layers of airborne control structure; Wherein, Navigation Control layer and attitude key-course carry out communication through the USB serial ports, and the Navigation Control layer is handled the signal that the self-sensor device collects, and the result is passed to the attitude key-course;
The signal that described attitude key-course collects the self-sensor device handle or with its sensor acquisition to signal send to the Navigation Control layer, return the attitude key-course again after by the Navigation Control layer signal that collects being handled;
Described attitude key-course provides the work of 4 road pwm signals control electric machine speed regulation key-course;
Described Inertial Measurement Unit is integrated gyroscope, accelerometer and the magneticintensity meter sensor that is used for Measuring Object angular rate and acceleration/accel in one, and it guarantees that after removing the Navigation Control layer attitude key-course is still controlled electric machine speed regulation key-course normal operation;
The velocity of rotation that described brushless motor governor is accepted the control signal of attitude key-course and regulated brushless motor in the actuator unit;
Described actuator unit comprises brushless motor and supporting with it screw propeller, is produced lift and is driven the aircraft operation by it.
Advantage of the present invention: increased the Navigation Control layer among the present invention; After the Navigation Control layer passes through serial ports and the attitude key-course is connected; Realize the intercommunication of each layer upper sensor information data; Navigation controller can transfer control signal be given attitude controller; Sensor information on the attitude controller also can be uploaded to the navigation controller computing, whole flight instruments become intelligence, can autonomous navigation the location, evade obstacle and the M/C abandoned remote controller relies on, become the intelligent robot on the meaning.
Description of drawings
Fig. 1 flies to control device general construction block diagram for three layers of a kind of microminiature four rotor crafts of the present invention are airborne;
Fig. 2 is three layers of airborne structural representation that flies to control device Navigation Control layer of a kind of microminiature four rotor crafts of the present invention;
Fig. 3 is three layers of airborne structural representation that flies to control device attitude key-course of a kind of microminiature four rotor crafts of the present invention;
Fig. 4 flies to control device electric machine speed regulation key-course structural frames scheme drawing for three layers of a kind of microminiature four rotor crafts of the present invention are airborne;
Fig. 5 flies to control device brushless motor and screw propeller scheme drawing for three layers of a kind of microminiature four rotor crafts of the present invention are airborne.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is done further explain.
Three layers of microminiature four rotor crafts are airborne, and to fly to control the integral structure of device as shown in Figure 1, and in the present embodiment, the model of navigation controller is M-PMI2-1.5; The model of Inertial Measurement Unit is MTi_AHRS, and the model of miniature laser distance measuring sensor is URG-04LX, and the model of miniature vision sensor is FFMU-03MTM/C; The model of attitude controller is Arduino MEGA2560, and gyrostatic model is I TG-3200, and the model of accelerometer is BMA180; The model of magnetometer is HMC5843,, the model of pressure sensor is BMP085; The model of ultrasonic transduter is PING, and the model of remote controller is FT06-C, and the receptor model is FRP06-P; The model of wireless communication module expansion board is XBee Shield V1.0; The model of wireless communication module is XBee Pro XBP24-AWI-001, and the model of wireless communication module USB adapter is XBee USB Adapter, and the model of 4 brushless motor governors is HOBBYWING PENTIUM-30A; 4 actuator units adopt brushless motor, and its model is A2212KV1000.
Three layers of a kind of microminiature four rotor crafts airbornely fly to control device in the present embodiment, and the annexation of each parts is:
The Navigation Control layer: the data input pin of navigation controller connects mouth, the mouth of miniature laser distance measuring sensor and the mouth of miniature vision sensor of Inertial Measurement Unit, and the wireless signal input/output terminal of navigation controller connects the input/output terminal of WiFi wireless network;
The attitude key-course: the data input pin of attitude controller connects the mouth of gyrostatic mouth, accelerometer, the mouth of magnetometer, the mouth of pressure sensor and the mouth of ultrasonic transduter; Attitude controller is connected with the signal output part of remote controller and acceptor unit, and the wireless communication port of attitude controller connects the input/output terminal of ZigBee radio communication unit;
The electric machine speed regulation key-course: the mouth of brushless motor governor connects the input end of actuator unit;
Supplying cell is that airborne each parts that flies to control in the device of three layers of microminiature four rotor crafts are supplied power.
Fig. 2 is the structural representation of Navigation Control layer; Navigation controller is the whole airborne brain that flies to control device; Its receives by what Inertial Measurement Unit collected and airbornely flies to control setting angle speed, three-dimensional acceleration and geomagnetic field intensity real time data, the view data that is collected by miniature vision sensor; The miniature laser distance measuring sensor collect aircraft and all around between object apart from real time data; Location, navigation and the map building of realization to flying to control device realized the precision navigation location in no gps signal zone, environment such as solved in urban district that high building towers, indoor; Owing to the electromagnetic interference of electromagnetic multipath propagation characteristic and other electronic machines, can not get the difficult problem of failure-free GPS positioning signal.
The navigation controller M-PMI2-1.5 that present embodiment adopted is a single board computer, meets PC/104 protocol specification (PC/104, PC/104-Plus; PCI/104 and PCI/104-Express), M-PMI2-1.5 is an embedded main board, above integrated treater; Chipset and peripheral interface adaptor union are used its 4 USB ports and 1 COM1 serial ports, wherein in the present embodiment; 4 USB2.0 sockets are provided on the embedded main board, and each USB2.0 socket all has 4 contact pins, representation signal USBVcc, USB-, USB+, GND; First subsidiary wiring one end that producer is provided inserts on 4 contact pins of USB2.0 socket, and the first subsidiary wiring other end is exactly normal USB output interface, and embedded main board has 4 USB mouths; Be USB1, USB2, USB3 and USB4, the COM1 serial ports on the embedded main board meets the RS232 agreement; It is 10 cushion holes; Wherein 9 contact pins have signal definition, and second subsidiary wiring one end that producer provides inserts the COM1 serial ports, and the second subsidiary wiring other end is as mouth; Whole navigation controller is operated in+5V voltage under, two power interface Power1 and Power2 are arranged on the mainboard, all be 10 cushion holes, 1; 7,9 contact pins are represented ground connection GND, 2; 8,10 contact pins represent+5V that present embodiment uses one of them power port Power1; Subsidiary wiring with producer provides is drawn, and receives in the switch, is connected on the power supply lithium cell;
The model that Inertial Measurement Unit is measured is IMU; It is a kind of integrated sensor of gyroscope, accelerometer and magnetometer; The mouth of the second subsidiary wiring of navigation controller connects the 7 cores circle socket of Inertial Measurement Unit; The USB1 end of navigation controller connects the MinUSB1 end of miniature vision sensor; The USB2 port of navigation controller connects the MiniUSB2 port of miniature laser distance measuring sensor, and the USB3 port of navigation controller connects the mouth of wireless network card WLG-12254M, and the USB4 port of navigation controller changes the USB end through the USB connection lead and the serial ports of attitude controller and is connected; The Power1 port of navigation controller is drawn+5V and GND signal, connect respectively miniature laser distance measuring sensor Power end+5V and GND signal, reconnect layer switch and the lithium cell of supplying power; Wherein, described miniature laser distance measuring sensor impassabitity USB direct supply;
The block diagram of attitude key-course is as shown in Figure 3; Attitude controller adopts chip microcontroller, and the aircraft record device of generally being built by attitude key-course and electric machine speed regulation key-course also can be realized the attitude flight of aircraft, but needs remote controller to control manually; And attitude controller needs an extra PC support; Increase the Navigation Control layer in the present embodiment, after the Navigation Control layer passes through serial ports and the attitude key-course is connected, realized the intercommunication of each layer upper sensor information data; Navigation controller can transfer control signal be given attitude controller; Sensor information on the attitude controller also can be uploaded to the navigation controller computing, whole flight instruments become intelligence, can autonomous navigation the location, evade obstacle and the M/C abandoned remote controller relies on, become the intelligent robot on the meaning.
The D2 of attitude controller～D7 end connects THRO (throttle) end, ALLE (aileron) end, ELEV (up-down) end, RUDO (direction) end, GEAR (alighting gear/gyroscope) end and AUX (wing flap/pitch) end of receptor successively; SDA-H end that the SDA serial data end A4 of attitude controller, serial clock terminal A5 connect logic level translator respectively and SCL-H end; The SDA end of logic level translator connects the data terminal of magneticintensity meter, the SDA end of accelerometer, the SDA end of gyro meter and the SDA end of pressure sensor respectively; The SCL end of logic level translator connects the SCL end of magneticintensity meter, the SCL end of accelerometer, the SCL end of gyro meter and the SCL end of pressure sensor respectively; Logic level translator+3.3V end connect respectively the magneticintensity meter+3.3V end, accelerometer+3.3V end, gyro meter+3.3V end and pressure sensor+the 3.3V end, the GND end of logic level translator connect respectively the GND end of magneticintensity meter, accelerometer+GND end, the GND end of gyro meter and the GND end of pressure sensor; The D20 port of attitude controller connects the SIG end of ultrasonic transduter; The D8-D11 end of attitude controller connects the input end of four brushless motor governors through 1～No. 4 pin on its interface card; The TX end of the I/O of attitude controller end and RX end are connected the DI end and DOUT end of a ZigBee wireless communication module through the Xbee expansion board, attitude controller+3.3V end and GND hold through the Xbee expansion board be connected a ZigBee wireless communication module+3.3V holds and GND holds; The DI end of second Zigbee, DOUT end connect DI end, the DOUT end of USB adapter, and the USB adapter is connected with ground station through the USB end;
The Inertial Measurement Unit on upper strata is integrated, and gyroscope, accelerometer, magnetometer act on the sensor of one; Its survey precision is higher than this layer; The introducing of Inertial Measurement Unit is not unnecessary; Its precision is high, and the compensation of integrated temperature, three installation errors and the influence of sensor cross axle can contrast correction data information; The use of the single gyroscope in middle level, accelerometer, magnetometer makes aircraft after laying down upper strata Navigation Control layer, still can the attitude real time data be provided for system.
Working sensor voltage in the attitude key-course is at 3.3V; And the micro controller system operating voltage that attitude controller uses is 5V; Need to carry the 5V-3.3V logic level translator; Therefore the analog input end A4 of attitude controller and A5 as serial digital SDA and serial clock SCL signal end, and add level+3.3V and the ground connection GND after the conversion, be connected with mode and gyroscope, accelerometer, magnetometer sensor, the pressure sensor correspondence of bus.
Encode circuit is arranged in the remote controller, electromagnetic wave is modulated, make password on the electromagnetism wavestrip, after receptor is received signal; Password is differentiated, controlled signal, for receptor, its working frequency range is at 72MHz; Operating voltage range 4.8-6V, six passages, the antenna of receptor preferably are wrapped on the little plastic pin about 30cm, receive in order to guarantee good radiofrequency signal; As for remote controller, be the PPM coded system, use the lithium battery power supply of 9.6-12V; When remote controller was worked, emissive power was smaller or equal to 100mW, and working current is smaller or equal to 160mA.
The Zigbee radio communication unit comprises Zigbee wireless communication module and corresponding expansion board and USB adapter; Ground station can transmit control command and task to attitude controller, and information such as while receiving sensor real time data are not when aircraft has upper strata Navigation Control layer; More precisely be when not having the WiFi wireless network; Then mainly rely on radio communication unit to carry out communication, when aircraft is far away away from ground distance, then need be by means of the WiFi wireless network of Navigation Control layer.
Fig. 4 is an electric machine speed regulation key-course structured flowchart; With a brushless motor governor is example; Its annexation is described: the Vdd that the Vdd end of brushless motor governor connects the middle level switch holds the positive pole that connects lithium cell again; The GND that the GND end of brushless motor connects the middle level switch holds the GND end that connects lithium cell again; The S end of No. 1 pin on the interface card of the input end connection attitude controller of brushless motor governor; The brushless motor governor+5V end connection attitude controller+the 5V end, the GND end of brushless motor governor connects the GND end of attitude controller, and the three phasevoltage output terminals A of brushless motor governor, B, C connect the three phase electric machine input end of brushless motor respectively; The method of attachment of four brushless motors is identical therewith;
Fig. 5 is the brushless motor and the corresponding supporting propeller arrangement scheme drawing of miniature four rotor crafts; Four rotors are installed on four vertex positions of brushless motor respectively, are divided into two groups of cw and conter clockwises, be positioned on the same diagonal line two rotors on the same group; Promptly before and after 1; 2 rotors on the same group, about 3,4 rotors on the same group.Because the rotor diagonal angle is fixed, and can only realize the flicon of aircraft through the rotating speed of controlling four rotors.When hovering, the rotating speed of four rotors equates, with the anti-torsional moment of cancelling out each other; Ana increases or reduces the rotating speed of four rotors simultaneously, can cause to rise or descending motion; When increasing the rotating speed of a certain rotor, ana reduces the rotating speed of another rotor on the same group, then can produce pitching or roll and rotate; Increase the rotating speed of a certain group of rotor, and equivalent reduces the rotating speed of another group rotor, will produce yawing rotation.Therefore, otherwise about the selection of screw propeller just branch is arranged, the rotation of brushless motor also has forward and reverse other.In the present embodiment, the model that brushless motor adopts is A2212 KV1000, and wherein KV value size is represented the numerical value that the every rising 1V of voltage brushless motor speed increases, and brushless motor speed is fast, is enough to provide the lift of micro air vehicle.
Claims (4)
1. three layers of microminiature four rotor crafts airbornely fly to control device; Comprise: attitude controller, gyroscope, accelerometer, magnetometer, pressure sensor, ultrasonic transduter, remote controller and acceptor unit, ZigBee radio communication unit, brushless motor governor, actuator unit and supplying cell is characterized in that: also comprise navigation controller, Inertial Measurement Unit, miniature laser distance measuring sensor, miniature vision sensor, WiFi wireless network;
Described navigation controller, Inertial Measurement Unit, miniature laser distance measuring sensor, miniature vision sensor and WiFi wireless network are formed the Navigation Control layer, realize the accurate location in no gps signal zone;
Described attitude controller, gyroscope, accelerometer, magnetometer, pressure sensor, ultrasonic transduter, remote controller and acceptor unit and ZigBee radio communication unit are formed the attitude key-course;
Four brushless motor governors and four actuator units are formed the electric machine speed regulation key-course;
Navigation Control layer, attitude key-course and electric machine speed regulation key-course are formed three layers of airborne control structure; Wherein, Navigation Control layer and attitude key-course carry out communication through the USB serial ports, and the Navigation Control layer is handled the signal that the self-sensor device collects, and the result is passed to the attitude key-course;
The signal that described attitude key-course collects the self-sensor device handle or with its sensor acquisition to signal send to the Navigation Control layer, return the attitude key-course again after by the Navigation Control layer signal that collects being handled;
Described attitude key-course provides the work of 4 road pwm signals control electric machine speed regulation key-course.
2. three layers of a kind of microminiature four rotor crafts according to claim 1 are airborne to fly to control device; It is characterized in that: described Inertial Measurement Unit; It is integrated gyroscope, accelerometer and magneticintensity meter the sensor that is used for Measuring Object angular rate and acceleration/accel in one; It guarantees that after removing the Navigation Control layer attitude key-course is still controlled electric machine speed regulation key-course normal operation.
3. three layers of a kind of microminiature four rotor crafts according to claim 1 are airborne to fly to control device, it is characterized in that: the velocity of rotation that described brushless motor governor is accepted the control signal of attitude key-course and regulated brushless motor in the actuator unit.
4. three layers of a kind of microminiature four rotor crafts according to claim 1 are airborne to fly to control device, and it is characterized in that: described actuator unit comprises brushless motor and supporting with it screw propeller, is produced lift and is driven the aircraft operation by it.
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