CN103861291A - Quadcopter toy capable of automatically tracking target in omni-directional mode and control method of quadcopter toy - Google Patents
Quadcopter toy capable of automatically tracking target in omni-directional mode and control method of quadcopter toy Download PDFInfo
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Abstract
A quadcopter toy capable of automatically tracking a target in an omni-directional mode comprises a frame. Four rotor units are arranged on the frame. Each rotor unit comprises rotors and a motor driving the rotors to rotate. A vertical distance meter used for detecting the perpendicular distance between the quadcopter toy and the ground is further arranged on the frame. A central control unit controls vertical movement of the quadcopter toy according to signals of the vertical distance meter. Eight horizontal distance meters are further arranged on the frame. All horizontal signal receivers are connected to the central control unit. The central control unit controls the yawning movement and the horizontal moving of the quadcopter toy according to the direction of the horizontal signal receiver which is closest to the target. The quadcopter toy can automatically track the target, and the quadcopter toy can not run away from the target no matter how the target changes the direction. The invention further provides a control method of the quadcopter toy capable of automatically tracking the target in the omni-directional mode.
Description
Technical field
The invention belongs to the technical field of aerobat toy, relate in particular to a kind of four-axle aircraft toy of automatic omnidirectional tracking target.
Background technology
Four-axle aircraft toy is provided with framework and four rotor unit, the motor that each rotor unit includes rotor, drives rotor to rotate; From floor projection position, the vertical rotating shaft of four rotors lays respectively on the four direction all around of frame center point, and the distance of they and frame center point is equal to.In present specification, by take frame center point as initial end points, and be called " trunk ray " through the horizontal rays of rotor vertical rotating shaft, whole four-axle aircraft toy has four such trunk rays.
Four-axle aircraft toy is provided with the central controller of controlling each motor speed at framework central part.When four-axle aircraft toy flying, a part of rotor clockwise rotates, and another part rotor rotates counterclockwise, and central controller is coordinated the rotating speed of each motor and controlled the flare maneuver of whole aircraft.Different conditions between each rotor can form a variety of combinations, makes the offline mode of aircraft rich and varied, can freely make various flare maneuvers.Common action moves both vertically, yawing rotation, horizontal axis motion etc.
What is called moves both vertically, and is commonly called as and rises or decline, and can synchronously be increased or be reduced by four gyroplane rotate speeds and realize.In the time that four gyroplane rotate speed increases make total pulling force be greater than the weight of complete machine, just vertical lifting of whole aircraft; Otherwise vertically decline.
So-called yawing rotation, is commonly called as turning, and in the time that four motor speeds are incomplete same, four rotors are inconsistent, uneven to the reaction torque of fuselage generation, and unbalanced reaction torque can cause that whole aircraft rotates around frame center point, realizes the driftage of turning.Turning can be both clockwise turning, can be also counterclockwise turning.In present specification, judgement along counterclockwise time, is as the criterion from the result of overlooking direction and seeing with observer.
What is called moves horizontally, be commonly called as and advance or retreat, as long as make the rotating speed of rotor of two trunk rays that are located along the same line inconsistent, lift imbalance, just there is inclination to a certain degree in aircraft, thereby make rotor thrust produce horizontal component, just can make aircraft move horizontally along the direction of this two trunks ray.Because four trunk ray groups synthesize cross, symmetrical configuration in X-axis, two vertical direction of Y-axis, in fact there are four kinds of directions all around to select so move horizontally, advance, retreat, left, right translation, the operation principle of four kinds of directions of motion is just the same, in the time advancing along the direction of a certain trunk ray indication, also can be understood as along the direction of another relative trunk ray indication and retreat, or be interpreted as along the oriented radial left and right translation of two other trunk ray indication simultaneously.
Although existing four-axle aircraft toy action style is a lot, exercises all need artificial manipulation, lack interestingly, and more lacking can be comprehensive, from the function of a certain specific objective thing of motion tracking.
Summary of the invention
The four-axle aircraft toy that the object of the invention is to overcome above-mentioned shortcoming and provide a kind of automatic omnidirectional tracking target, it can automatically track target thing, and no matter how object converts its orientation, four-axle aircraft toy all can not be got rid of.
Its object can realize by following scheme: the four-axle aircraft toy of this automatic omnidirectional tracking target, include framework, and four rotor unit are installed, the motor that each rotor unit includes rotor, drives rotor to rotate on framework; From floor projection position, the vertical rotating shaft of four rotors lays respectively on the four direction all around of frame center point, and the distance of they and frame center point is equal to; Central controller is installed in the middle of framework, the motor speed of the each rotor of central controller controls unit and realizing moves both vertically, yawing rotation, move horizontally, it is characterized in that: a vertical rangefinder that detects distance perpendicular to the ground is also installed on framework, vertical rangefinder is provided with vertical signal projector and vertical signal receiver, the direction of vertical signal projector and vertical signal receiver ground downward; Vertical rangefinder is connected to central controller, and central controller moves both vertically according to the signal controlling aircraft of vertical rangefinder, and the vertical distance on vertical rangefinder and ground is remained in setting range; Eight horizontal rangefinders are also installed on framework, and horizontal rangefinder includes horizontal signal receiver, horizontal signal transmitter, and the installation direction of horizontal signal transmitter, horizontal signal receiver is all the middle section of framework dorsad; The wherein horizontal signal receiver of two horizontal rangefinders is installed on the side of every trunk ray symmetrically, and one of them horizontal signal receiver is positioned at the clockwise side of this trunk ray, and another horizontal signal receiver is positioned at the counterclockwise side of this trunk ray; Each horizontal signal receiver is connected to central controller, central controller according to the yawing rotation of the orientation control aircraft of the shortest horizontal signal receiver of object horizontal range, when the horizontal signal receiver the shortest with object horizontal range is positioned at the clockwise side of corresponding trunk ray, central controller order aircraft is gone off course clockwise, otherwise order aircraft is gone off course counterclockwise, until the distance signal that two horizontal signal receivers on this correspondence trunk ray side record is in equivalency range; Central controller also according to horizontal signal receiver that should be the shortest with object distance signal controlling aircraft move horizontally along the direction of the corresponding trunk ray of this horizontal signal receiver, the horizontal range of this horizontal signal receiver and object is remained in setting range.
Horizontal signal transmitter is ultrasonic signal emitters, and horizontal signal receiver is ultrasonic signal receiver, and the time that central controller is returned according to ultrasonic wave transmitting back reflection judges this horizontal signal receiver and object distance.
Horizontal signal transmitter is Infrared Projector, and horizontal signal receiver is infrared signal receiver, and the intensity that central controller is returned according to infrared emitting back reflection judges this horizontal signal receiver and object distance.
Each horizontal signal receiver cooperation is provided with a horizontal signal transmitter; Two horizontal signal transmitters are installed on the side of every trunk ray symmetrically.
Two horizontal rangefinders on every trunk ray side share a horizontal signal transmitter, and this horizontal signal transmitter arrangement is on corresponding trunk ray and towards the front of this trunk ray.
A kind of control method of four-axle aircraft toy of automatic omnidirectional tracking target, it is characterized in that adopting the four-axle aircraft toy of automatic omnidirectional tracking target claimed in claim 1, comprise the following steps: the distance on (1), vertical stadia surveying and ground, below, and signal is transported to central controller, central controller moves both vertically according to the signal controlling aircraft of vertical rangefinder, and the vertical distance on vertical rangefinder and ground is remained in setting range; (2), each horizontal rangefinder is measured and object horizontal range separately, and signal is transported to central controller, central controller according to the yawing rotation of the orientation control aircraft of the shortest horizontal signal receiver of object horizontal range, when the horizontal signal receiver the shortest with object horizontal range is positioned at the clockwise side of corresponding trunk ray, central controller order aircraft is gone off course clockwise, otherwise order aircraft is gone off course counterclockwise, until the distance signal that two horizontal signal receivers on this trunk ray side record is in equivalency range; (3), central controller according to horizontal signal receiver that should be the shortest with object distance signal controlling aircraft move horizontally along the direction of the corresponding trunk ray of this horizontal signal receiver, the horizontal range of this horizontal signal receiver and object is remained in setting range; Constantly repeat above-mentioned (1), (2), (3) step, can keep thus tracking target thing.
The present invention has the following advantages and effect:
One, central controller moves both vertically according to the signal controlling aircraft of vertical rangefinder, the vertical distance on vertical rangefinder and ground is remained in setting range, can make aircraft remain on setting height scope, in the time that aircraft side has object, no matter object is positioned at any orientation, aircraft can detect and obtain, central controller is calculated this horizontal signal receiver and object distance according to the signal of each horizontal signal receiver, and judgement and the orientation (be positioned at clockwise side or the counterclockwise side of corresponding trunk ray) of object apart from the shortest horizontal signal receiver, then order aircraft driftage or driftage counterclockwise clockwise, until the distance signal that two horizontal signal receivers on this trunk ray side record is in equivalency range, so just can make aircraft be positioned at the dead astern (from the direction of this trunk ray) of object, and central controller also carries out the adjusting of horizontal range, central controller controls aircraft is along the direction advance and retreat of above-mentioned trunk ray, the horizontal range of this horizontal signal receiver and object is remained in setting range.
Two, if the unexpected changing location of object, even suddenly changing location significantly, for example 180 ° of left and right of conversion suddenly, orientation, or 90 ° of left and right, signal weaker or disappearance (or could not receive for a long time) that the shortest horizontal signal receiver of original distance receives, and that the signal of horizontal signal receiver on other other trunk ray becomes is the strongest the shortest time of reflected signal (or receive), central controller judges that object is away from first horizontal signal receiver thus, and change by the horizontal signal transmitter on an other trunk ray, horizontal signal receiver is then followed the tracks of and is controlled.Therefore no matter how the whereabouts of object convert, direction transformation speed how soon, and aircraft can not be got rid of.
Accompanying drawing explanation
Fig. 1 is the perspective view of four-axle aircraft toy.
Fig. 2 is that the construction geometry of four-axle aircraft toy is resolved schematic diagram.
Fig. 3 is the plan structure schematic diagram of the first specific embodiment of the present invention.
Fig. 4 is the plan structure schematic diagram of the second specific embodiment of the present invention.
The specific embodiment
Embodiment mono-
Shown in Fig. 1, Fig. 2, Fig. 3, the four-axle aircraft toy of this automatic omnidirectional tracking target includes framework, framework comprises and is positioned at central fuselage 5 and four support bars 4, bracing ring 6, every support bar 4 is provided with a rotor unit, the motor that each rotor unit includes rotor 1, drives rotor to rotate; From horizontal level, the vertical rotating shaft 11 of four rotors lays respectively on the four direction all around of frame center point, and the horizontal range of they and frame center point is equal to.When whole aircraft is during in front position, take frame center point (O point in Fig. 2) as initial end points, and be just formed as trunk ray through the horizontal rays of rotor vertical rotating shaft 11, whole four-axle aircraft toy has four such trunk rays, as shown in OA, OB, OC, OD in Fig. 2, every support bar 4 lays respectively on a corresponding trunk ray; Fuselage is provided with central controller, and the motor speed of the each rotor of central controller controls unit and realizing moves both vertically, yawing rotation, move horizontally.In embodiment mono-, a vertical rangefinder that detects distance perpendicular to the ground is also installed on framework, vertical rangefinder is provided with vertical signal projector and vertical signal receiver, the direction of vertical signal projector and vertical signal receiver ground downward, vertical signal receiver is connected to central controller, central controller moves both vertically according to the signal controlling aircraft of vertical rangefinder, and the vertical distance on vertical rangefinder and ground is remained in setting range.
In addition, as shown in Figure 3, eight horizontal rangefinders are also installed on framework, and horizontal rangefinder includes horizontal signal receiver 32, horizontal signal transmitter 31, and the wherein horizontal signal receiver 32 of two horizontal rangefinders is installed on the side of every trunk ray symmetrically, in two horizontal signal receivers 32 on the side of each trunk ray, one of them horizontal signal receiver is positioned at the clockwise side of this trunk ray, and another horizontal signal receiver is positioned at the counterclockwise side of this trunk ray, two horizontal signal receivers 32 on every trunk ray side share a horizontal signal transmitter 32, this horizontal signal transmitter arrangement is on corresponding trunk ray and towards the front of this correspondence trunk ray, and the installation direction of each horizontal signal transmitter 31, horizontal signal receiver 32 is all the middle section of framework dorsad, therefore, eight horizontal signal receivers 32 are also installed on whole framework, four horizontal signal transmitters 31, wherein horizontal signal transmitter 31 is ultrasonic signal emitters, horizontal signal receiver 32 is ultrasonic signal receiver, central controller is launched according to each horizontal signal transmitter 31 time that ultrasonic wave back reflection comes back to corresponding horizontal signal receiver 32 and is judged this horizontal signal receiver and object distance, each horizontal signal receiver 32 is connected to central controller, central controller according to the yawing rotation of the orientation control aircraft of the shortest horizontal signal receiver of object horizontal range, when the horizontal signal receiver the shortest with object horizontal range is positioned at the clockwise side of corresponding trunk ray, central controller order aircraft is gone off course clockwise, otherwise order aircraft is gone off course counterclockwise, until the distance signal that two horizontal signal receivers on this trunk ray side record is in equivalency range, central controller also according to horizontal signal receiver that should be the shortest with object distance signal controlling aircraft move horizontally along the direction of the corresponding trunk ray of this horizontal signal receiver, the horizontal range of this horizontal signal receiver and object is remained in setting range.
It is selective that the four-axle aircraft toy of above-described embodiment can arrange two kinds of offline mode, and the first is from motion tracking offline mode; The second is traditional remote control distributor pattern, and in this pattern, central controller is connected with the signal of each rangefinder can temporarily disconnected, changes into according to remote signal and flying.
Embodiment bis-
In this embodiment bis-, two horizontal signal transmitters 31 are installed on the side of every trunk ray symmetrically, each horizontal signal receiver 32 cooperations are provided with a horizontal signal transmitter 31, each horizontal signal transmitter 31 abuts against together with corresponding horizontal signal receiver 32, two horizontal signal transmitters 31 that same trunk ray is corresponding are arranged in the both sides of this trunk ray symmetrically, as shown in Figure 4.In addition, in embodiment bis-, horizontal signal transmitter 31 is Infrared Projector, horizontal signal receiver 32 is infrared signal receiver, and central controller is launched according to horizontal signal transmitter 31 intensity (being received by horizontal signal receiver 32) that infrared ray back reflection returns and judged this horizontal signal receiver and object distance.
Embodiment tri-
A kind of control method of four-axle aircraft toy of automatic omnidirectional tracking target, the four-axle aircraft toy of the automatic omnidirectional tracking target described in employing embodiment mono-, comprise the following steps: the distance on (1), vertical stadia surveying and ground, below, and signal is transported to central controller, central controller moves both vertically according to the signal controlling aircraft of vertical rangefinder, and the vertical distance on vertical rangefinder and ground is remained in setting range; (2), each horizontal rangefinder is measured and object horizontal range separately, and signal is transported to central controller, central controller according to the yawing rotation of the orientation control aircraft of the shortest horizontal signal receiver of object horizontal range, when the horizontal signal receiver the shortest with object horizontal range is positioned at the clockwise side of corresponding trunk ray, central controller order aircraft is gone off course clockwise, otherwise order aircraft is gone off course counterclockwise, until the distance signal that two horizontal signal receivers on this trunk ray side record is in equivalency range; Certainly, in this step, if there are at the very start distance signal that two horizontal signal receivers on a certain trunk ray side the record special circumstances in equivalency range, the yaw angle of central controller order is zero; (3), central controller move horizontally along the direction of the corresponding trunk ray of this horizontal signal receiver according to the signal controlling aircraft of horizontal signal receiver that should be the shortest with object distance, and the horizontal range of this horizontal signal receiver and object is remained in setting range; Certainly, in this step, if the distance that this horizontal signal receiver records at the beginning just in setting range, the amount of moving horizontally of central controller order is zero; Constantly repeat above-mentioned (1), (2), (3) step.
Said method can be used on stage performance, allows aerobat toy from motion tracking performer, no matter how performer moves before the lights, around it, all all-the-way tracking has aerobat toy automatically, strengthens dance & art effect.
Claims (6)
1. a four-axle aircraft toy for automatic omnidirectional tracking target, includes framework, and four rotor unit are installed on framework, the motor that each rotor unit includes rotor, drives rotor to rotate; From floor projection position, the vertical rotating shaft of four rotors lays respectively on the four direction all around of frame center point, and the distance of they and frame center point is equal to; Central controller is installed in the middle of framework, the motor speed of the each rotor of central controller controls unit and realizing moves both vertically, yawing rotation, move horizontally, it is characterized in that: a vertical rangefinder that detects distance perpendicular to the ground is also installed on framework, vertical rangefinder is provided with vertical signal projector and vertical signal receiver, the direction of vertical signal projector and vertical signal receiver ground downward; Vertical rangefinder is connected to central controller, and central controller moves both vertically according to the signal controlling aircraft of vertical rangefinder, and the vertical distance on vertical rangefinder and ground is remained in setting range; Eight horizontal rangefinders are also installed on framework, and horizontal rangefinder includes horizontal signal receiver, horizontal signal transmitter, and the installation direction of horizontal signal transmitter, horizontal signal receiver is all the middle section of framework dorsad; The wherein horizontal signal receiver of two horizontal rangefinders is installed on the side of every trunk ray symmetrically, and one of them horizontal signal receiver is positioned at the clockwise side of this trunk ray, and another horizontal signal receiver is positioned at the counterclockwise side of this trunk ray; Each horizontal signal receiver is connected to central controller, central controller according to the yawing rotation of the orientation control aircraft of the shortest horizontal signal receiver of object horizontal range, when be positioned at the clockwise side of corresponding trunk ray apart from the shortest horizontal signal receiver with object, central controller order aircraft is gone off course clockwise, otherwise order aircraft is gone off course counterclockwise, until the distance signal that two horizontal signal receivers on this correspondence trunk ray side record is in equivalency range; Central controller also according to horizontal signal receiver that should be the shortest with object distance signal controlling aircraft move horizontally along the direction of the corresponding trunk ray of this horizontal signal receiver, the horizontal range of this horizontal signal receiver and object is remained in setting range.
2. the four-axle aircraft toy four-axle aircraft toy of automatic omnidirectional tracking target according to claim 1, it is characterized in that: horizontal signal transmitter is ultrasonic signal emitters, horizontal signal receiver is ultrasonic signal receiver, and the time that central controller is returned according to ultrasonic wave transmitting back reflection judges this horizontal signal receiver and object distance.
3. the four-axle aircraft toy of automatic omnidirectional tracking target according to claim 1, it is characterized in that: horizontal signal transmitter is Infrared Projector, horizontal signal receiver is infrared signal receiver, and the intensity that central controller is returned according to infrared emitting back reflection judges this horizontal signal receiver and object distance.
4. according to the four-axle aircraft toy of the automatic omnidirectional tracking target described in claim 1,2 or 3, it is characterized in that: each horizontal signal receiver cooperation is provided with a horizontal signal transmitter; Two horizontal signal transmitters are installed on the side of every trunk ray symmetrically.
5. according to the four-axle aircraft toy of the automatic omnidirectional tracking target described in claim 1,2 or 3, it is characterized in that: two horizontal rangefinders on every trunk ray side share a horizontal signal transmitter, this horizontal signal transmitter arrangement is on corresponding trunk ray and towards the front of this trunk ray.
6. the control method of the four-axle aircraft toy of an automatic omnidirectional tracking target, it is characterized in that adopting the four-axle aircraft toy of automatic omnidirectional tracking target claimed in claim 1, comprise the following steps: the distance on (1), vertical stadia surveying and ground, below, and signal is transported to central controller, central controller moves both vertically according to the signal controlling aircraft of vertical rangefinder, and the vertical distance on vertical rangefinder and ground is remained in setting range; (2), each horizontal rangefinder is measured and object horizontal range separately, and signal is transported to central controller, central controller according to the yawing rotation of the orientation control aircraft of the shortest horizontal signal receiver of object horizontal range, when the horizontal signal receiver the shortest with object horizontal range is positioned at the clockwise side of corresponding trunk ray, central controller order aircraft is gone off course clockwise, otherwise order aircraft is gone off course counterclockwise, until the distance signal that two horizontal signal receivers on this trunk ray side record is in equivalency range; (3), central controller according to horizontal signal receiver that should be the shortest with object distance signal controlling aircraft move horizontally along the direction of the corresponding trunk ray of this horizontal signal receiver, the horizontal range of this horizontal signal receiver and object is remained in setting range; Constantly repeat above-mentioned (1), (2), (3) step.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410124884.1A CN103861291B (en) | 2014-03-31 | 2014-03-31 | The four-axle aircraft toy of automatic omnidirectional tracking target and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410124884.1A CN103861291B (en) | 2014-03-31 | 2014-03-31 | The four-axle aircraft toy of automatic omnidirectional tracking target and control method thereof |
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| CN103861291A true CN103861291A (en) | 2014-06-18 |
| CN103861291B CN103861291B (en) | 2016-02-03 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104608924A (en) * | 2015-02-12 | 2015-05-13 | 中电科（德阳广汉）特种飞机系统工程有限公司 | Multi-rotor-wing craft with tilting fixed wing and control method of multi-rotor-wing craft |
| CN107179538A (en) * | 2017-05-17 | 2017-09-19 | 深圳市元时科技有限公司 | A kind of method and system of panoramic limit ultrasonic wave positioning distance measuring |
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| CN102139164A (en) * | 2011-01-28 | 2011-08-03 | 深圳市格兰之特科技有限公司 | Flying device and method capable of automatically avoiding barrier |
| CN202605730U (en) * | 2012-05-02 | 2012-12-19 | 田瑜 | Multi-rotor aircraft |
| CN202802770U (en) * | 2012-09-05 | 2013-03-20 | 汕头市博迪科技有限公司 | Multi-shaft aircraft toy |
| CN203342370U (en) * | 2013-05-30 | 2013-12-18 | 李策 | Mini-type four-rotor aircraft controlled by Bluetooth |
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2014
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070105474A1 (en) * | 2005-11-09 | 2007-05-10 | Taiyo Kogyo Co., Ltd. | Radio control flying toy |
| CN102139164A (en) * | 2011-01-28 | 2011-08-03 | 深圳市格兰之特科技有限公司 | Flying device and method capable of automatically avoiding barrier |
| CN202605730U (en) * | 2012-05-02 | 2012-12-19 | 田瑜 | Multi-rotor aircraft |
| CN202802770U (en) * | 2012-09-05 | 2013-03-20 | 汕头市博迪科技有限公司 | Multi-shaft aircraft toy |
| CN203342370U (en) * | 2013-05-30 | 2013-12-18 | 李策 | Mini-type four-rotor aircraft controlled by Bluetooth |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104608924A (en) * | 2015-02-12 | 2015-05-13 | 中电科（德阳广汉）特种飞机系统工程有限公司 | Multi-rotor-wing craft with tilting fixed wing and control method of multi-rotor-wing craft |
| CN107179538A (en) * | 2017-05-17 | 2017-09-19 | 深圳市元时科技有限公司 | A kind of method and system of panoramic limit ultrasonic wave positioning distance measuring |
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| CN103861291B (en) | 2016-02-03 |
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Effective date of registration: 20230731 Address after: B1-701-93, Building B, Kexing Science Park, No. 15 Keyuan Road, Science Park Community, Yuehai Street, Nanshan District, Shenzhen City, Guangdong Province, 518057 Patentee after: Shenzhen Feihui Technology Co.,Ltd. Address before: Room 1104, Building 20, Zone 6, Sunshine Coast Garden, No. 182 Changping Road, Zhuchi Street, Longhu District, Shantou City, Guangdong Province, 515800 Patentee before: Wang Liyun |