CN103287578B - General miniature unmanned aerial vehicle - Google Patents
General miniature unmanned aerial vehicle Download PDFInfo
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- CN103287578B CN103287578B CN201210056037.7A CN201210056037A CN103287578B CN 103287578 B CN103287578 B CN 103287578B CN 201210056037 A CN201210056037 A CN 201210056037A CN 103287578 B CN103287578 B CN 103287578B
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Abstract
The invention relates to a general miniature unmanned aerial vehicle. The general miniature unmanned aerial vehicle structurally comprises a server (I) and a server (II) which are positioned on left and right wings of the aerial vehicle, wherein wingtips and ailerons are connected with the tail ends of the left and right wings; a brushless electronic speed-regulating module and a flight control module are respectively embedded into a body of an aircraft, and keep sealed; a propeller is arranged on a brushless motor; the flight control module is connected with an air speed sensor which is positioned at the right upper end of the aircraft; a lithium polymer battery is arranged on a nose; a battery compartment cover covers the lithium polymer battery; a camera is adjacent to the lithium polymer battery; a camera compartment cover covers the camera. The general miniature unmanned aerial vehicle is high in self-detectivity on a barrier, small in size, light in weight, waterproof, high in integration degree and easy to take off, and can completely get rid of the intervention control from ground staff.
Description
Technical field
The present invention relates to a kind of micro universal unmanned vehicle, is a kind of autonomous and have the micro universal aircraft of practicality specifically.
Background technology
The intervention that active service is small-sized, Micro Aerial Vehicle can not be completely free of people controls, to take off or in descent, how much need ground staff's remote control to complete, automatically can not evade vector and can not autonomous exploration obstacle on landing course line, therefore in remote task, there is very big potential safety hazard.
Conventional small, Micro Aerial Vehicle mostly have been tail layout, and thrust-weight ratio is low, and length is many at about 2m, and other periphery attendant equipments are more, not only carry inconvenience, take off and also need larger place, even use launching cradle catapult-assisted take-off, therefore, landing place is restricted greatly.
Tradition unmanned plane integrated level is low, inaccurate coordination between airborne equipment, and user must check whether each equipment is in mode of operation one by one before take-off, and whether each switch correct position etc., slightly neglects this just can be caused to rise and fall have an accident.
Summary of the invention
The object of the invention is to: provide a kind of micro universal unmanned vehicle, the detectability of its autonomous obstacle is strong, and volume is little, and quality is light, waterproof, and integrated level is high, and takeoff operational is simple, and the intervention being completely free of surface personnel controls.Actv. solves the many disadvantages that prior art exists.To achieve these goals, the present invention is by the following technical solutions:
A kind of micro universal unmanned vehicle of the present invention, structure comprises the servomechanism I, the servomechanism II that are positioned on the wing of aircraft left and right, left and right wing tail end is connected with wingtip, aileron, brushless electronic speed adjusting module and flight control modules to embed respectively in airframe and keep sealing state, brushless electronic speed adjusting module one end is connected with the brushless motor being positioned at airplane tail group, one end is connected with flight control modules, and the other end connects lithium polymer battery; Screw propeller is arranged on brushless motor, and flight control modules is connected with the airspeed sensor being positioned at aircraft upper right side, and two ends are direct respectively is in addition connected with lithium polymer battery, camera; Lithium polymer battery is arranged on head, is covered with battery compartment cover outside it, and adjacent with lithium polymer battery is camera, is covered with camera cabin cover outside camera.
Described flight control modules comprises three axis angular rate sensors, 3-axis acceleration sensor, three axle magnetoresistive transducers, GPS module, Pitot meter, external ultrasonic transduter, atmospheric-pressure sensor, flight-control computer; Three axis angular rate sensors are connected with about 3-axis acceleration sensor, and three axle magnetoresistive transducers are connected with about GPS module, and three axle magnetoresistive transducers, Pitot meter are connected with atmospheric-pressure sensor upper, middle and lower.
Described aircraft model structure is triangle flying wing structure, and body uses material to be EPP, adopts CNC processing.
Described aircraft span 1m, thick 4cm, effective lift-off mass 500g, adopt tail pushing-type brushless power group, lithium gathers electrical source of power, and practical ceiling is 2000m, and take photo by plane speed per hour 80km, task radius 20km
Beneficial effect of the present invention:
The present invention adopts triangle flying wing structure the simplest and most effective, the few failure rate is low of mechanical part, body has effectively been taken into account the weight of aircraft and intensity and has been had extremely strong shock resistance, adopt CNC processing, guarantee the working accuracy of aircraft, reduce good streamline moulding and aerodynamic arrangement, ensure that the demand of quick volume production simultaneously, aircraft volume is little, effective lift-off mass 500g, adopts tail pushing-type brushless power group, lithium gathers electrical source of power, practical ceiling is 2000m, and take photo by plane speed per hour 80km, task radius 20km.Carrying special flight controller and sensor realizes flying to landing omnidistance autonomous, by GPS direction finding course in flight course, completes the course line pre-set, can independently judge emergent obstacle and hide in the process of cruising.Be equipped with surface work station, planning vector, the home position of real time monitoring aircraft, direction, highly, flying speed, battery electric quantity etc.There is high-mobility, multipurpose, wheeled vehicle mission module, according to the demand of different industries, distinct device can be carried at mission module, complete and take photo by plane, atmospheric surveillance, the aerial mission that signal relaying etc. are different.The circuit layout of innovation and novel operating mode, whole circuit part does not have source switch, eliminates the hidden danger that switch bad contact brings, also eliminates moiety by weight.
Accompanying drawing explanation
Fig. 1 is three-dimensional structure diagram of the present invention;
Fig. 2 is birds-eye view of the present invention;
Fig. 3 is upward view of the present invention;
Fig. 4 is lateral plan of the present invention;
Fig. 5 is major equipment connection diagram of the present invention;
Fig. 6 is first step application drawing of the present invention;
Fig. 7 is second step application drawing of the present invention;
Fig. 8 flight control modules constructional drawing of the present invention.
In figure, numeral is: the beneficial tip 1, aileron 2, servomechanism I 3, brushless electronic speed adjusting module 4, camera 5, camera cabin cover 6, battery compartment cover 7, lithium polymer battery 8, flight control modules 9, airspeed sensor 10, servomechanism II 11, screw propeller 12, brushless motor 13, three axis angular rate sensors 14,3-axis acceleration sensor 15, three axle magnetoresistive transducers 16, GPS module 17, Pitot meter 18, external ultrasonic transduter 19, atmospheric-pressure sensor 20, flight-control computer 21.
Detailed description of the invention
Structure of the present invention comprises the servomechanism I 3, the servomechanism II 11 that are positioned on the wing of aircraft left and right, left and right wing tail end is connected with wingtip 1, aileron 2, brushless electronic speed adjusting module 4 and flight control modules 9 to embed respectively in airframe and keep sealing state, brushless electronic speed adjusting module 4 one end is connected with the brushless motor 13 being positioned at airplane tail group, one end is connected with flight control modules 9, and the other end connects lithium polymer battery 8; Screw propeller 12 is arranged on brushless motor 13, and flight control modules 9 is connected with the airspeed sensor 10 being positioned at aircraft upper right side, and two ends are direct respectively is in addition connected with lithium polymer battery 8, camera 5; Lithium polymer battery 8 is arranged on head, is covered with battery compartment cover 7 outside it, and adjacent with lithium polymer battery 8 is camera 5, is covered with camera cabin cover 6 outside camera.
Wherein, flight control modules 9 is by three axis angular rate sensors 14, and 3-axis acceleration sensor 15, three axle magnetoresistive transducers 16, GPS module 17, Pitot meter 18, external ultrasonic transduter 19, atmospheric-pressure sensor 20, flight-control computer 21 forms.
Principle of work:
Aircraft is equipped with high-performance flight computer for controlling, and carries three axis angular rate sensors, 3-axis acceleration sensor, three axle magnetoresistive transducers, atmospheric-pressure sensor, Pitot meter, ultrasonic detector and 10hzGPS module.Before aircraft takeoff, in ground station, set vector, the flight-control computer that course line will be uploaded to the numeric form of longitude and latitude in aircraft, target flight height and cruising speed are uploaded in flight-control computer simultaneously.After 3-axis acceleration sensor detects that body is rocked three times by level, flight-control computer enters pattern to be taken off, the data that three axis angular rate sensors and 3-axis acceleration sensor collect by flight-control computer after aircraft of dishing out carry out integral operation, draw current aircraft attitude information in space, in order to aspect being adjusted to correct take-off climb attitude, flight-control computer sends corresponding action command to the steering wheel controlling each rudder face incessantly, until flight attitude to be adjusted to correct attitude of climbing, the climbing speed whether air speed that meanwhile Pitot meter detects aircraft conforms with the regulations, if do not meet, motor speed is accelerated or reduced to control electronic governor to coordinate the power required for specified speed by flight-control computer.
When flight-control computer judges that the bar pressure that weather gauge detects meets task height, stop sending to each rudder face and power system instruction of climbing.Under the cooperation of acceleration/accel, angular velocity sensor, the maintenance of stabilized flight attitude is flat simultaneously flies state, and weather gauge and Pitot meter keep the high speed of flight and speed to meet requirement of cruising.
GPS module collects the current geographic coordinate position of aircraft, this position of flight-control computer comparison and the coordinate figure in preplanning course line, and coordinate the course information that three axle magnetoresistive transducers collect, control aircraft in strict accordance with airline operation.When ultrasonic detector detect front, course line 50m there is obstacle time, flight-control computer will no longer according to airline operation, but takes avoiding action at once, makes aircraft avoiding obstacles, continues afterwards to return contemplated route cruising flight.
After completing all course lines, flight-control computer proceeds to landing mode, and controlled the rate of descent of aircraft by the barometrical information collected, GPS navigation makes aircraft return takeoff point, and acceleration/accel, angular velocity sensor control downslide attitude, land with the attitude of safety.
The announcement of book and instruction according to the above description, those skilled in the art in the invention can also change above-mentioned embodiment and revise.Therefore, the present invention is not limited to detailed description of the invention disclosed and described above, also should fall in the protection domain of claim of the present invention modifications and changes more of the present invention.In addition, although employ some specific terms in this specification sheets, these terms just for convenience of description, do not form any restriction to the present invention.
Claims (4)
1. a micro universal unmanned vehicle, it is characterized in that: structure comprises the servomechanism I, the servomechanism II that are positioned on the wing of aircraft left and right, left and right wing tail end is connected with wingtip, aileron, brushless electronic speed adjusting module and flight control modules to embed respectively in airframe and keep sealing state, brushless electronic speed adjusting module one end is connected with the brushless motor being positioned at airplane tail group, one end is connected with flight control modules, and the other end connects lithium polymer battery; Screw propeller is arranged on brushless motor, and flight control modules is connected with the airspeed sensor being positioned at aircraft upper right side, and two ends are direct respectively is in addition connected with lithium polymer battery, camera; Lithium polymer battery is arranged on head, is covered with battery compartment cover outside it, and adjacent with lithium polymer battery is camera, is covered with camera cabin cover outside camera.
2. a kind of micro universal unmanned vehicle according to claim 1, it is characterized in that: described flight control modules comprises three axis angular rate sensors, 3-axis acceleration sensor, three axle magnetoresistive transducers, GPS module, Pitot meter, external ultrasonic transduter, atmospheric-pressure sensor, flight-control computer; Three axis angular rate sensors are connected with about 3-axis acceleration sensor, and three axle magnetoresistive transducers are connected with about GPS module, and three axle magnetoresistive transducers, Pitot meter are connected with atmospheric-pressure sensor upper, middle and lower.
3. a kind of micro universal unmanned vehicle according to claim 1, is characterized in that: described aircraft model structure is triangle flying wing structure, and body uses material to be EPP, adopts CNC processing.
4. a kind of micro universal unmanned vehicle according to claim 1, is characterized in that: described aircraft span 1m, thick 4cm, effective lift-off mass 500g, adopt tail pushing-type brushless power group, lithium gathers electrical source of power, practical ceiling is 2000m, and take photo by plane speed per hour 80km, task radius 20km.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210056037.7A CN103287578B (en) | 2012-03-01 | 2012-03-01 | General miniature unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210056037.7A CN103287578B (en) | 2012-03-01 | 2012-03-01 | General miniature unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN103287578A CN103287578A (en) | 2013-09-11 |
| CN103287578B true CN103287578B (en) | 2015-07-01 |
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| CN201210056037.7A Expired - Fee Related CN103287578B (en) | 2012-03-01 | 2012-03-01 | General miniature unmanned aerial vehicle |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104635742A (en) * | 2013-11-13 | 2015-05-20 | 四川豪斯特电子技术有限责任公司 | Unmanned aerial vehicle flight control device |
| CN105129097A (en) * | 2015-09-09 | 2015-12-09 | 天峋创新（北京）科技有限公司 | Unmanned aerial vehicle capable of taking off and landing vertically |
| CN106516083A (en) * | 2016-08-01 | 2017-03-22 | 西北农林科技大学 | Winglet rotation device of minitype fixed wing unmanned aerial vehicle |
| CN206552279U (en) * | 2016-10-25 | 2017-10-13 | 深圳市大疆创新科技有限公司 | Unmanned vehicle and battery warehouse component and battery compartment |
| JP6496953B2 (en) * | 2017-08-28 | 2019-04-10 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | Control device, imaging device, moving object, control method, and program |
| CN107618662B (en) * | 2017-09-27 | 2023-11-14 | 南方科技大学 | Vertical take-off and landing fixed wing aircraft with rear propeller |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101804865A (en) * | 2010-03-16 | 2010-08-18 | 北京航空航天大学 | Small multi-purpose unmanned aerial vehicle |
| US8123160B2 (en) * | 2003-10-02 | 2012-02-28 | Israel Aerospace Industries Ltd. | Aircraft configuration for micro and mini UAV |
| CN202574623U (en) * | 2012-03-01 | 2012-12-05 | 贵州帝三数字技术有限公司 | Miniature universal unmanned aircraft |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8123160B2 (en) * | 2003-10-02 | 2012-02-28 | Israel Aerospace Industries Ltd. | Aircraft configuration for micro and mini UAV |
| CN101804865A (en) * | 2010-03-16 | 2010-08-18 | 北京航空航天大学 | Small multi-purpose unmanned aerial vehicle |
| CN202574623U (en) * | 2012-03-01 | 2012-12-05 | 贵州帝三数字技术有限公司 | Miniature universal unmanned aircraft |
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| CN103287578A (en) | 2013-09-11 |
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