CN104773289A - Internet-of-things-based micro four-rotor aircraft - Google Patents
Internet-of-things-based micro four-rotor aircraft Download PDFInfo
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- CN104773289A CN104773289A CN201510180608.1A CN201510180608A CN104773289A CN 104773289 A CN104773289 A CN 104773289A CN 201510180608 A CN201510180608 A CN 201510180608A CN 104773289 A CN104773289 A CN 104773289A
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Abstract
The invention discloses an Internet-of-things-based micro four-rotor aircraft. The Internet-of-things-based micro four-rotor aircraft comprises an X-shaped hollow designed flight control plate, wherein four vertex angles of the flight control plate are provided with round holes; the four round holes are respectively provided with rotors; the flight control plate is provided with a circuit system comprising a main controller MCU, a three-axis gyroscope sensor, a three-axis acceleration sensor, a three-axis magnetometer sensor, a Bluetooth communication module, a hollow cup motor, a USB interface voltage-stabilizing power supply and a status display LED. The Internet-of-things-based micro four-rotor aircraft has the beneficial effects that 'X'-shape design is adopted, the flight control plate is hollow in large area, the area of the flight control PCB is reduced greatly under the condition of not reducing the flight control stress, and the flight control weight is lightened; the Internet-of things-based micro four-rotor aircraft is suitable for being used in complex terrain environments, especially the severe environment where people can not easily enter or even can not enter, and has wide application value.
Description
Technical field
The invention belongs to vehicle technology field, relate to a kind of miniature quadrotor based on Internet of Things.
Background technology
Quadrotor (Quad-rotor Aircraft) is driven, can realize the aircraft of vertical takeoff and landing by quadruple screw propeller, be made up of front and back and two groups, left and right rotor, during rotation, on correspondence direction, motor hand of rotation is contrary.Quadrotor can realize vertical takeoff and landing and freedom of the air hovering, and its maneuvering performance is far superior to fixed-wing type unmanned vehicle.And volume is little, quality is light, easy to carry, compare and be adapted at using in the narrow space such as complex-terrain environment, avenue, especially quadrotor can enter easily and people not easily or inaccessiable harsh environment.Also can in environment near the ground the task such as execution monitoring and scouting, there is wide civilian and military application prospect.Meanwhile, quadrotor has the advantages such as structure is simple, volume is little, with low cost, is just receiving the concern of domestic and international scientific research institution and colleges and universities, is becoming the study hotspot in SUAV (small unmanned aerial vehicle) field.
In China, up to now, also be in the starting stage for the basic theory of quadrotor and Applied experimental study, it relates to the fusion of many gordian techniquies, as manufacturing technology, structure design, material engineering, aerodynamics, autonomous flight control and navigation, image procossing and ACT, high efficient energy sources, micro-electromechanical technology, sensor technology etc.Quadrotor can be widely used in multiple fields such as military affairs, national defence, cosmic space exploration, rescue and relief work, geography information mapping, environmental surveillance, agriculture and forestry application, pipeline inspection and production of film and TV, therefore has wide using value.
Along with computer technology, manufacturing technology and the communication technology develop rapidly and various digitalisation, the novel sensor that lightweight, volume is little, precision is high continuous appearance, the performance of quadrotor thus be constantly improved, just towards microminiaturization, intellectuality, autonomous navigation and multifunction, low cost and the future development such as easy to use.Along with the development of technology of Internet of things, be applied in quadrotor, the very suitable the needs of the times of the miniature quadrotor based on Internet of Things formed and trend, its R&D process not only solves the problems that self exists, and what is more important is that it also actively promotes and has promoted the development of many correlative technology fields.
Summary of the invention
The object of this invention is to provide a kind of miniature quadrotor based on Internet of Things, structure is simple, volume is little, with low cost, and vertical takeoff and landing and freedom of the air hovering can be realized, be adapted at using in complex-terrain environment, especially people is not easily or inaccessiable harsh environment.
The technical solution adopted in the present invention is, a kind of miniature quadrotor based on Internet of Things, comprise miniature quadrotor and Intelligent flight control system (a management software be arranged on smart mobile phone), carry out data communication by bluetooth (BlueTooth) therebetween.Intelligent flight control system was both used as smart mobile phone as remote controller, was also used as receptor.User is by operative intelligence flight control system; manage, control the flight of miniature quadrotor: vertical uplift, vertically decline, be moved to the left, move right, move forward, move backward, hovering, emergency engine kill etc., and the flight attitude data of miniature quadrotor also can be presented in Intelligent flight control system simultaneously in real time.What the X-type hollow out that comprises miniature quadrotor designed flies to control plate, and four corner positions flying to control plate are provided with circular hole, and four circular holes install rotor respectively, flies control plate is provided with Circuits System.
Feature of the present invention is also, Circuits System comprises master controller MCU, three-axis gyroscope sensor, 3-axis acceleration sensor, three axle magnetometer sensor, bluetooth communication, hollow-cup motor, USB interface constant voltage power suspply, state display light-emitting diode.
Master controller MCU adopts STM32F103CBT6.
Three-axis gyroscope sensor, 3-axis acceleration sensor adopt MPU6050.
Three axle magnetometer sensor adopt HMC5883.
Bluetooth communication adopts BF4030 module.
USB interface constant voltage power suspply adopts TP4056.
The invention has the beneficial effects as follows: in hardware design, adopt the design of " X " type, fly control plate large area hollow out, both attractive in appearance, fly significantly to reduce and fly control PCB surface and amass control is stressed when not reducing again simultaneously, alleviate and fly to control weight.In Software for Design, adopt quaternion to calculate and fly to control attitude angle, there is the advantages such as operand is little, precision is high, renewal speed is fast; Use cascade PID, conservative control is carried out to multiple control quantity of state that flies, obtains more stable flight attitude and attitude response more rapidly.Because miniature quadrotor volume is little, quality is light, easy to carry, be adapted at using in complex-terrain environment, especially people is not easily or inaccessiable harsh environment.Miniature quadrotor can be widely used in multiple fields such as military affairs, national defence, cosmic space exploration, rescue and relief work, geography information mapping, environmental surveillance, agriculture and forestry application, pipeline inspection and production of film and TV, therefore has wide using value.
Accompanying drawing explanation
Fig. 1 is the functional block diagram of the miniature quadrotor based on Internet of Things of the present invention.
Fig. 2 is miniature quadrotor of the present invention constructional drawing when not being with screw propeller.
Fig. 3 is the circuit system structure block diagram of miniature quadrotor of the present invention.
In figure, 1. fly to control plate, 2. circular hole, 3. Circuits System, 4. master controller MCU, 5. three-axis gyroscope sensor, 6. 3-axis acceleration sensor, 7. three axle magnetometer sensor, 8. bluetooth communication, 9. hollow-cup motor, 10.USB interface constant voltage power suspply, 11. state display light-emitting diodes.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
A kind of miniature quadrotor based on Internet of Things, functional structure as shown in Figure 1, comprise miniature quadrotor and Intelligent flight control system (a management software be arranged on smart mobile phone), carry out RFDC by bluetooth (BlueTooth) therebetween.Intelligent flight control system was both used as smart mobile phone as remote controller, was also used as receptor.User is by operative intelligence flight control system; manage, control the flight of miniature quadrotor: vertical uplift, vertically decline, be moved to the left, move right, move forward, move backward, hovering, emergency engine kill etc., and the flight attitude data of miniature quadrotor also can be presented in Intelligent flight control system simultaneously in real time.
As shown in Figure 2, what comprise the design of X-type hollow out flies control plate 1 to the physical construction of miniature quadrotor, and four corner positions flying to control plate 1 are provided with circular hole 2, and four circular holes 2 install rotor respectively, flies control plate 1 is provided with Circuits System 3.
The structure of Circuits System 3 as shown in Figure 3, comprise master controller MCU4, three-axis gyroscope sensor 5,3-axis acceleration sensor 6, three axle magnetometer sensor 7, bluetooth communication 8, hollow-cup motor 9, USB interface constant voltage power suspply 10, state display light-emitting diode 11.
Master controller MCU4 adopts STM32F103CBT6, and this controller adopts performance-oriented ARM@Cortex
tMthe RISC kernel of-M332 position, frequency of operation 72MHz, internal high-speed memories, abundant enhancing I/O port and the peripheral hardware being connected to two APB buses.Wherein, containing the ADC of 2 12,3 general 16 bit timing devices and 1 PWM timer, also containing standard and advanced communication interface: nearly 2 I
2c interface and SPI interface, 3 USART interfaces, a USB interface and CAN interfaces.
Three-axis gyroscope sensor 5,3-axis acceleration sensor 6 adopt the MPU6050 of high integration, this device is integrated with 3 axle MEMS gyro instrument, 3 axle mems accelerometers, and an extendible digital moving treater DMP (Digital Motion Processor).MPU6050 has used the ADC of three 16 respectively to gyroscope and accelerometer, and the analog quantity measured is converted into exportable digital quantity.In order to accurate tracking motion fast and at a slow speed, the measurement range of sensor is all that user is controlled, and it is ± 250 that gyroscope can survey scope, ± 500, ± 1000, ± 2000dps, and it is ± 2 that accelerometer can survey scope, ± 4, ± 8, ± 16g.MPU6050 adopts the I of 400kHz
2c interface and MCU carry out data communication.This chip size 4 × 4 × 0.9mm, adopts QFN encapsulation.
Three axle magnetometer sensor 7 adopt HMC5883 chip, and this device is a kind of surface-pasted high integration module, and with the weak magnetic sensor chip of digital interface, are applied to low cost compass and magnetic field detection field.Comprise state-of-the-art fine resolution magnetic resistance sensor, and subsidiary integrated circuit comprises amplifier, autodegauss actuator, deviation calibration, compass precision controlling can be made at 12 A and D converters of 1 ° ~ 2 °, can realize 5 milligauss resolution in the magnetic field of ± 8 Gausses.It adopts I
2c bus and MCU carry out data communication.
Bluetooth communication 8 adopts BF4030 bluetooth module, supports bimodulus (Dual-Mode) the bluetooth module of bluetooth 4.0 standard agreement, supports BT3.0 Classic pattern and BT4.0 BLE pattern simultaneously.Bluetooth communication 8 is based on the HCI chip of Broadcom company of bluetooth leading chip supplier and MCU chip framework, follow BT4.0 Bluetooth specification, there is industrial grade design, long transmission distance, data stabilization, the application simultaneously supporting Android and iOS operating system can be widely used in.The feature of this bluetooth module: support standard BT3.0+EDR, standard BT4.0 BLE agreement, SPP agreement, supports UART, I
2c, SPI communication interface.
USB interface constant voltage power suspply 10 adopts TP4056 chip, is that a complete single-unit lithium ion battery adopts the linear charger of constant current/constant potential.Owing to have employed inner PMOSFET framework, add anti-down charging circuit, so do not need external isolation diode.Thermal feedback can automatically adjust to charging current, to be limited chip temperature under high-power operation or high ambient temperature condition.Charging valtage is fixed on 4.2V, and charging current carries out outer setting by a resistor.When charging current is down to setting value 1/10 after reaching final float charge voltage, TP4056 will stop charging cycle automatically.When input voltage (AC adapter or USB power source) is taken away, battery leakage current, by automatically entering a low current condition, is down to 2 below μ A by TP4056.TP4056 also can be placed in shutdown mode when there being power supply, supply current to be down to 55 μ A.Other features of TP4056 comprise battery temperature detection, undervoltage lockout, automatically to recharge and LED state pin that two are used to indicate charging, terminate.
State display light-emitting diode 11, is used for showing battery electric quantity situation, and as not enough in electricity, electricity normally, is charging and state of flight.
Miniature quadrotor realizes flight also needs Intelligent flight control system; this system is the APP software based on smart mobile phone; be used for four hollow-cup motors realized on controlled in wireless quadrotor, to reach the flight controlling aircraft: vertical uplift, vertically decline, be moved to the left, move right, move forward, move backward, hovering, emergency engine kill etc.Simultaneously the state of flight of miniature quadrotor and parameter send Intelligent flight control system to by bluetooth, and show in real time in Intelligent flight control system.
Claims (7)
1. the miniature quadrotor based on Internet of Things, it is characterized in that, what comprise the design of X-type hollow out flies control plate (1), four corner positions flying to control plate (1) are provided with circular hole (2), four circular holes (2) install rotor respectively, flies control plate (1) is provided with Circuits System (3).
2. a kind of miniature quadrotor based on Internet of Things according to claim 1, it is characterized in that, described Circuits System (3) comprises master controller MCU (4), three-axis gyroscope sensor (5), 3-axis acceleration sensor (6), three axle magnetometer sensor (7), bluetooth communication (8), hollow-cup motor (9), USB interface constant voltage power suspply (10), state display light-emitting diode (11).
3. a kind of miniature quadrotor based on Internet of Things according to claim 2, is characterized in that, described master controller MCU (4) adopts STM32F103CBT6.
4. a kind of miniature quadrotor based on Internet of Things according to claim 2, is characterized in that, described three-axis gyroscope sensor (5), 3-axis acceleration sensor (6) adopt MPU6050.
5. a kind of miniature quadrotor based on Internet of Things according to claim 2, is characterized in that, described three axle magnetometer sensor (7) adopt HMC5883 chip.
6. a kind of miniature quadrotor based on Internet of Things according to claim 2, is characterized in that, described bluetooth communication (8) adopts BF4030 bluetooth module.
7. a kind of miniature quadrotor based on Internet of Things according to claim 2, is characterized in that, described USB interface constant voltage power suspply (10) adopts TP4056 model.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105083124A (en) * | 2015-09-17 | 2015-11-25 | 郭金林 | Integrated dynamic backing track video generation method and system |
| CN105180898A (en) * | 2015-09-29 | 2015-12-23 | 南京工程学院 | Full-automatic topographic map surveying and mapping device and method |
| CN105549609A (en) * | 2016-03-03 | 2016-05-04 | 四川理工学院 | Miniature six-shaft aircraft, air fleet control system composed of same and air fleet control method |
| CN105947201A (en) * | 2016-04-27 | 2016-09-21 | 乐视控股（北京）有限公司 | Modularized unmanned aerial vehicle and use method thereof |
| CN107544533A (en) * | 2017-10-12 | 2018-01-05 | 中国人民解放军国防科技大学 | Multifunctional portable micro unmanned aerial vehicle system |
| CN110209182A (en) * | 2019-05-21 | 2019-09-06 | 云南民族大学 | A kind of quadrotor based on AVR single chip |
| CN111862747A (en) * | 2020-07-31 | 2020-10-30 | 北京韦加科创技术有限公司 | Many rotor unmanned aerial vehicle fly to control teaching development external member |
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| CN104185050A (en) * | 2014-07-30 | 2014-12-03 | 哈尔滨工业大学深圳研究生院 | OTT television based intelligent remote control system and control method thereof |
| CN204250368U (en) * | 2014-11-14 | 2015-04-08 | 北华航天工业学院 | A kind of mini quadrotor of Intelligent aerial photography |
| CN204846364U (en) * | 2015-04-16 | 2015-12-09 | 四川理工学院 | Four miniature rotor crafts |
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2015
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| CN102490896A (en) * | 2011-12-27 | 2012-06-13 | 天津曙光敬业科技有限公司 | Variable-torque four-rotor aircraft with large load capacity |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105083124A (en) * | 2015-09-17 | 2015-11-25 | 郭金林 | Integrated dynamic backing track video generation method and system |
| CN105083124B (en) * | 2015-09-17 | 2018-03-06 | 郭金林 | A kind of integrated dynamic reverse track video generation method and system |
| CN105180898A (en) * | 2015-09-29 | 2015-12-23 | 南京工程学院 | Full-automatic topographic map surveying and mapping device and method |
| CN105180898B (en) * | 2015-09-29 | 2018-11-23 | 南京工程学院 | A kind of full-automatic topographic map plotting board and its mapping method |
| CN105549609A (en) * | 2016-03-03 | 2016-05-04 | 四川理工学院 | Miniature six-shaft aircraft, air fleet control system composed of same and air fleet control method |
| CN105947201A (en) * | 2016-04-27 | 2016-09-21 | 乐视控股（北京）有限公司 | Modularized unmanned aerial vehicle and use method thereof |
| CN107544533A (en) * | 2017-10-12 | 2018-01-05 | 中国人民解放军国防科技大学 | Multifunctional portable micro unmanned aerial vehicle system |
| CN110209182A (en) * | 2019-05-21 | 2019-09-06 | 云南民族大学 | A kind of quadrotor based on AVR single chip |
| CN111862747A (en) * | 2020-07-31 | 2020-10-30 | 北京韦加科创技术有限公司 | Many rotor unmanned aerial vehicle fly to control teaching development external member |
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