CN103861291B - The four-axle aircraft toy of automatic omnidirectional tracking target and control method thereof - Google Patents
The four-axle aircraft toy of automatic omnidirectional tracking target and control method thereof Download PDFInfo
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Abstract
A kind of four-axle aircraft toy of automatic omnidirectional tracking target, include framework, framework is provided with four rotor unit, each rotor unit includes rotor, drives the motor of rotor rotational, framework is also provided with the vertical rangefinder that is detected distance perpendicular to the ground, central controller controls aircraft vertical motion according to the signal of vertical rangefinder; Framework is also provided with eight each horizontal signal receivers of horizontal rangefinder and is connected to central controller, central controller controls the yawing rotation of aircraft according to the orientation of the horizontal signal receiver the shortest with object horizontal range and moves horizontally.The present invention can automatically track target thing, and no matter how object converts its orientation, and four-axle aircraft toy all can not be got rid of.The present invention also provides a kind of control method of four-axle aircraft toy of automatic omnidirectional tracking target.
Description
Technical field
The invention belongs to the technical field of aerobat toy, particularly relate 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, and each rotor unit includes rotor, drives the motor of rotor rotational; From floor projection position, the vertical rotating shaft of four rotors lays respectively on the four direction all around of frame center point, and they are equal to the distance of frame center point.In present specification, will be initial end points and horizontal rays through the vertical rotating shaft of rotor is called " trunk ray " with frame center point, whole four-axle aircraft toy has four such trunk rays.
Four-axle aircraft toy entreats position to be provided with the central controller controlling each motor speed in the frame.During four-axle aircraft toy flying, a part of rotor rotates clockwise, and another part rotor rotates counterclockwise, the rotating speed of each motor of central controller coordinates and control the flare maneuver of whole aircraft.Different conditions between each rotor can form a variety of combination, makes the offline mode of aircraft rich and varied, can freely make various flare maneuver.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 by four gyroplane rotate speeds or reduce to realize.When four gyroplane rotate speed increases make total pulling force be greater than the weight of complete machine, whole aircraft just vertically rises; Otherwise then vertically decline.
So-called yawing rotation, is commonly called as turning, and when four motor speeds are incomplete same, the reaction torque that four rotors produce fuselage is inconsistent, uneven, and unbalanced reaction torque can cause whole aircraft to rotate around frame center point, namely realizes turning going off course.Turning both can be clockwise turning, also can be counterclockwise turning.In present specification, judge, along time counterclockwise, to be as the criterion from overlooking the result seen in direction with observer.
What is called moves horizontally, be commonly called as and advance or retreat, as long as make the rotating speed of the rotor of two the trunk rays be located along the same line inconsistent, lift is uneven, just there is inclination to a certain degree in aircraft, thus make rotor thrust produce horizontal component, aircraft just can be made to move horizontally along the direction of this two trunks ray.Because four trunk ray groups synthesize cross, symmetrical configuration in X-axis, Y-axis two vertical direction, in fact four kinds of directions are all around had to select so move horizontally, namely advance, retreat, left, right translation, the operation principle of four kinds of directions of motion is just the same, when advancing along the direction of a certain bar trunk ray indication, also the direction that can be understood as along another relative trunk ray indication retreats simultaneously, or is interpreted as the oriented radial left and right translation along two other trunk ray indication.
Although existing four-axle aircraft toy action style is a lot, various action all needs artificial manipulation, lacks interesting, more lack can comprehensive, from the function of a certain specific objective thing of motion tracking.
Summary of the invention
The object of the invention is to overcome above-mentioned shortcoming and the four-axle aircraft toy that provides a kind of automatic omnidirectional tracking target, it can automatically track target thing, and no matter how object converts its orientation, and 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, includes framework, framework is provided with four rotor unit, and each rotor unit includes rotor, drives the motor of rotor rotational; From floor projection position, the vertical rotating shaft of four rotors lays respectively on the four direction all around of frame center point, and they are equal to the distance of frame center point; In the middle of framework, central controller is installed, the motor speed of each rotor unit of central controller controls and realizing moves both vertically, yawing rotation, move horizontally, it is characterized in that: framework is also provided with the vertical rangefinder that is detected distance perpendicular to the ground, vertical rangefinder is provided with vertical signal projector and vertical signal receiver, the ground downward, direction of vertical signal projector and vertical signal receiver; Vertical rangefinder is connected to central controller, and central controller controls aircraft vertical motion according to the signal of vertical rangefinder, makes the vertical distance on vertical rangefinder and ground remain in setting range; Framework is also provided with eight horizontal rangefinders, 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 horizontal signal receiver of wherein two horizontal rangefinders is installed on the side of every bar 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 controls the yawing rotation of aircraft according to the orientation of the horizontal signal receiver the shortest with object horizontal range, when the horizontal signal receiver the shortest with object horizontal range is positioned at the clockwise side of corresponding trunk ray, centralized controller commands aircraft is gone off course clockwise, otherwise then order aircraft is gone off course counterclockwise, until the distance signal that two horizontal signal receivers on this corresponding trunk ray side record is in equivalency range; Central controller also according to should with the shortest horizontal signal receiver of object distance signal control aircraft and 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 ultrasound signal receipt device, 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 central controller judges this horizontal signal receiver and object distance according to the intensity that infrared emitting back reflection is returned.
Each horizontal signal receiver cooperation is provided with a horizontal signal transmitter; Two horizontal signal transmitters are installed on the side of every bar trunk ray symmetrically.
Two horizontal rangefinders on every bar 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 the four-axle aircraft toy adopting automatic omnidirectional tracking target according to 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 controls aircraft vertical motion according to the signal of vertical rangefinder, makes the vertical distance on vertical rangefinder and ground remain in setting range; (2), each measurement of each horizontal rangefinder and object horizontal range, and signal is transported to central controller, central controller controls the yawing rotation of aircraft according to the orientation of the horizontal signal receiver the shortest with object horizontal range, when the horizontal signal receiver the shortest with object horizontal range is positioned at the clockwise side of corresponding trunk ray, centralized controller commands aircraft is gone off course clockwise, otherwise then 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 should with the shortest horizontal signal receiver of object distance signal control aircraft and move horizontally along the direction of the corresponding trunk ray of this horizontal signal receiver, make the horizontal range of this horizontal signal receiver and object remain in setting range; Constantly repeat above-mentioned (1), (2), (3) step, tracking target thing can be kept thus.
The present invention has the following advantages and effect:
One, central controller controls aircraft vertical motion according to the signal of vertical rangefinder, the vertical distance on vertical rangefinder and ground is made to remain in setting range, aircraft can be made to remain on setting height scope, when aircraft side has object, no matter object is positioned at any orientation, aircraft can detect and obtain, central controller calculates this horizontal signal receiver and object distance according to the signal of each horizontal signal receiver, and judge the orientation (being positioned at the clockwise side of corresponding trunk ray or counterclockwise side) of the horizontal signal receiver the shortest with object distance, then order aircraft is gone off course clockwise or is gone off course counterclockwise, until the distance signal that two horizontal signal receivers on this trunk ray side record is in equivalency range, aircraft so just can be made to be positioned at the dead astern (direction from this trunk ray) of object, and central controller also carries out the adjustment of horizontal range, central controller controls aircraft is retreated along the direction 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 unexpected significantly changing location, such as orientation converts suddenly about 180 °, or about 90 °, the signal weaker of the horizontal signal receiver reception that then original distance is the shortest or disappearance (or could not receive for a long time), and the signal of horizontal signal receiver on other other trunk ray becomes the strongest (or receiving the shortest time of reflected signal), 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 then tracing control.Therefore how the whereabouts regardless of object convert, and direction transformation speed how soon, and aircraft all 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 resolves 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.
Detailed description of the invention
Embodiment one
Shown in Fig. 1, Fig. 2, Fig. 3, the four-axle aircraft toy of this automatic omnidirectional tracking target includes framework, framework comprises the fuselage 5 and four support bars 4, bracing rings 6 that are positioned at central authorities, every root support bar 4 is provided with a rotor unit, and each rotor unit includes rotor 1, drives the motor of rotor rotational; From horizontal level, the vertical rotating shaft 11 of four rotors lays respectively on the four direction all around of frame center point, and they are equal to the horizontal range of frame center point.When whole aircraft is in front position, trunk ray is just formed as with the horizontal rays of frame center point (in Fig. 2 O point) for initial end points and through the vertical rotating shaft 11 of rotor, whole four-axle aircraft toy has four such trunk rays, as shown in OA, OB, OC, OD in Fig. 2, every root support bar 4 lays respectively on a corresponding trunk ray; Fuselage is provided with central controller, and the motor speed of each rotor unit of central controller controls and realizing moves both vertically, yawing rotation, move horizontally.In embodiment one, framework is also provided with the vertical rangefinder that is detected distance perpendicular to the ground, vertical rangefinder is provided with vertical signal projector and vertical signal receiver, the ground downward, direction of vertical signal projector and vertical signal receiver, vertical signal receiver is connected to central controller, central controller controls aircraft vertical motion according to the signal of vertical rangefinder, and the vertical distance on vertical rangefinder and ground is remained in setting range.
In addition, as shown in Figure 3, framework is also provided with eight horizontal rangefinders, horizontal rangefinder includes horizontal signal receiver 32, horizontal signal transmitter 31, and the horizontal signal receiver 32 of wherein two horizontal rangefinders is installed on the side of every bar 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 bar 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 corresponding trunk ray, the installation direction of each horizontal signal transmitter 31, horizontal signal receiver 32 is all the middle section of framework dorsad, therefore, whole framework is also provided with eight horizontal signal receivers 32, four horizontal signal transmitters 31, wherein horizontal signal transmitter 31 is ultrasonic signal emitters, horizontal signal receiver 32 is ultrasound signal receipt device, 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 controls the yawing rotation of aircraft according to the orientation of the horizontal signal receiver the shortest with object horizontal range, when the horizontal signal receiver the shortest with object horizontal range is positioned at the clockwise side of corresponding trunk ray, centralized controller commands aircraft is gone off course clockwise, otherwise then 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 should with the shortest horizontal signal receiver of object distance signal control aircraft and 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 mode, central controller is connected with the signal of each rangefinder can temporarily disconnected, changes into and flying according to remote signal.
Embodiment two
In this embodiment two, two horizontal signal transmitters 31 are installed on the side of every bar trunk ray symmetrically, each horizontal signal receiver 32 cooperation is 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 two, 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 three
A kind of control method of four-axle aircraft toy of automatic omnidirectional tracking target, adopt the four-axle aircraft toy of the automatic omnidirectional tracking target described in embodiment one, comprise the following steps: the distance on (1), vertical stadia surveying and ground, below, and signal is transported to central controller, central controller controls aircraft vertical motion according to the signal of vertical rangefinder, makes the vertical distance on vertical rangefinder and ground remain in setting range; (2), each measurement of each horizontal rangefinder and object horizontal range, and signal is transported to central controller, central controller controls the yawing rotation of aircraft according to the orientation of the horizontal signal receiver the shortest with object horizontal range, when the horizontal signal receiver the shortest with object horizontal range is positioned at the clockwise side of corresponding trunk ray, centralized controller commands aircraft is gone off course clockwise, otherwise then 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 the distance signal having two horizontal signal receivers on a certain bar trunk ray side to record at the very start is in the special circumstances of equivalency range, then the yaw angle of centralized controller commands is zero; (3), central controller moved horizontally along the direction of the corresponding trunk ray of this horizontal signal receiver according to controlling aircraft with the signal of the shortest horizontal signal receiver of object distance, made the horizontal range of this horizontal signal receiver and object remain in setting range; Certainly, in this step, if the distance that records of this horizontal signal receiver is just in setting range at the beginning, then the amount of moving horizontally of centralized controller commands 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, and no matter how performer moves before the lights, and around it, all-the-way tracking has aerobat toy all automatically, strengthens dance & art effect.
Claims (6)
1. a four-axle aircraft toy for automatic omnidirectional tracking target, includes framework, framework is provided with four rotor unit, and each rotor unit includes rotor, drives the motor of rotor rotational; From floor projection position, the vertical rotating shaft of four rotors lays respectively on the four direction all around of frame center point, and they are equal to the distance of frame center point; In the middle of framework, central controller is installed, the motor speed of each rotor unit of central controller controls and realizing moves both vertically, yawing rotation, move horizontally, it is characterized in that: framework is also provided with the vertical rangefinder that is detected distance perpendicular to the ground, vertical rangefinder is provided with vertical signal projector and vertical signal receiver, the ground downward, direction of vertical signal projector and vertical signal receiver; Vertical rangefinder is connected to central controller, and central controller controls aircraft vertical motion according to the signal of vertical rangefinder, makes the vertical distance on vertical rangefinder and ground remain in setting range; Framework is also provided with eight horizontal rangefinders, 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 horizontal signal receiver of wherein two horizontal rangefinders is installed on the side of every bar 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 controls the yawing rotation of aircraft according to the orientation of the horizontal signal receiver the shortest with object horizontal range, when the horizontal signal receiver the shortest with object distance is positioned at the clockwise side of corresponding trunk ray, centralized controller commands aircraft is gone off course clockwise, otherwise then order aircraft is gone off course counterclockwise, until the distance signal that two horizontal signal receivers on this corresponding trunk ray side record is in equivalency range; Central controller also moved horizontally along the direction of the corresponding trunk ray of this horizontal signal receiver according to controlling aircraft with the signal of the shortest horizontal signal receiver of object distance, and 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 ultrasound signal receipt device, 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 central controller judges this horizontal signal receiver and object distance according to the intensity that infrared emitting back reflection is returned.
4. the four-axle aircraft toy of the automatic omnidirectional tracking target according to claim 1,2 or 3, 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 bar trunk ray symmetrically.
5. the four-axle aircraft toy of the automatic omnidirectional tracking target according to claim 1,2 or 3, it is characterized in that: two horizontal rangefinders on every bar 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 the four-axle aircraft toy adopting automatic omnidirectional tracking target according to 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 controls aircraft vertical motion according to the signal of vertical rangefinder, makes the vertical distance on vertical rangefinder and ground remain in setting range; (2), each measurement of each horizontal rangefinder and object horizontal range, and signal is transported to central controller, central controller controls the yawing rotation of aircraft according to the orientation of the horizontal signal receiver the shortest with object horizontal range, when the horizontal signal receiver the shortest with object horizontal range is positioned at the clockwise side of corresponding trunk ray, centralized controller commands aircraft is gone off course clockwise, otherwise then 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 moved horizontally along the direction of the corresponding trunk ray of this horizontal signal receiver according to controlling aircraft with the signal of the shortest horizontal signal receiver of object distance, made the horizontal range of this horizontal signal receiver and object remain in setting range; Constantly repeat above-mentioned (1), (2), (3) step.
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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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| CN103861291B true CN103861291B (en) | 2016-02-03 |
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| CN104608924B (en) * | 2015-02-12 | 2018-07-06 | 中电科（德阳广汉）特种飞机系统工程有限公司 | Band verts the multi-rotor aerocraft and its control method of fixed-wing |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007130146A (en) * | 2005-11-09 | 2007-05-31 | Taiyo Kogyo Kk | Radio-controlled flying toy |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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