CN104802991A - Micro single board type UAV (unmanned aerial vehicle) system with suction function and control method thereof - Google Patents
Micro single board type UAV (unmanned aerial vehicle) system with suction function and control method thereof Download PDFInfo
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Abstract
The invention discloses a micro single board type UAV (unmanned aerial vehicle) system with a suction function and a control method thereof. The UAV system comprises a micro single board type UAV and a ground monitoring station, wherein the micro single board type UAV comprises a single-PCB type vehicle body, a flight control module, a vehicle-mounted radio frequency communication module, a knob type suction cup and at least four groups of flight mechanisms, the flight control module, the vehicle-mounted radio frequency communication module and the flight mechanisms are fixed on the single-PCB type vehicle body, and a knob of the knob type suction cup is fixed on the upper end surface of the single-PCB type vehicle body. The micro single board type UAV firstly flies vertically upwards until a suction cup body of the knob type suction cup sucks a plane where the suction cup body is required to be fixed and then clockwise yaws for 180 degrees when receiving a suction command; the micro single board type UAV counterclockwise yaws for 180 degrees when receiving a release command. The system is simple in structure and convenient to use, the UAV can finish operations such as suction, release and the like by yawing for the certain angle only, and mechanisms such as a steering engine, a mechanical arm and the like are not required to be operated.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, particularly relate to a kind of miniature one-board Unmanned Aircraft Systems (UAS) and the control method thereof with adsorption function.
Background technology
Many rotor wing unmanned aerial vehicles due to its structure more compact, the lift of generation is larger, and stability is also better, and airworthiness is remarkable, so have broad application prospects in a lot of field.And conventional rotary wind type unmanned plane volume is comparatively large, cruise duration is short, is unfavorable for that the long-time fixed point scouting in the field such as national defence, public safety is intercepted and the task such as flight.
Under the support of NASA, it is foursquare Mesicopter that Stanford University professor Friz Prinz and Ilan professor Kroo have developed profile.Fuselage is the square frame of 16mm*16mm, and a micro-motor is equipped with at each angle respectively, rotor diameter 1.5cm, motor and each heavy 0.3g of propeller, and can operate with the speed of 50000r/min.This aircraft causes researchist's greatly interest from the beginning, has completed liftoff on a pole arm of experimental prototype at present and has taken off.Compared extensive research to quadrotor abroad at present, domestic Ji Suo colleges and universities and correlative study unit also following closely, and have produced the prototype machine of miniature four rotor wing unmanned aerial vehicles, but lag behind America and Europe in general.
Miniature four rotor small volumes, mean that motor is less, capacity of cell is also little equally, cause cruise duration shorter, although practicality is very high, cannot work long hours.
If install shooting on common unmanned plane body, unmanned plane also certainly exists in suspension and waves, and this will make image quality extremely low; And if sound-recording function is installed on unmanned plane body, the recording of gained must be full of the noise of motor.
Application number 201110322551.6 discloses a kind of airflight and comprehensive absorption microrobot, but aircraft is oversize, center-of-gravity regulating balance difficulties, cause mechanism stressed unreasonable, when robot carries out side draught, support place is a support, causes the problem that there will be structural instability when wall adsorption.
Application number 201410734767.7 discloses a kind of adsorbable multifunction micro flight instruments, but this unmanned plane volume is larger, manoevreability is not enough, structure is too complicated simultaneously, the use extremely consume electric power of vacuum pump, and there is no ground monitoring station, disguised and practicality is difficult to practical requirement.
Summary of the invention
Technical matters to be solved by this invention is for defect involved in background technology, a kind of miniature one-board Unmanned Aircraft Systems (UAS) and the control method thereof with adsorption function are provided, unmanned plane in absorption does not consume any energy, stability is high, structure is more simple simultaneously, the volume of unmanned plane is less, more hidden.
The present invention is for solving the problems of the technologies described above by the following technical solutions:
There is a miniature one-board Unmanned Aircraft Systems (UAS) for adsorption function, comprise miniature one-board unmanned plane and ground monitoring station; Described ground monitoring station comprises Terrestrial Radio communication module;
Described miniature one-board unmanned plane comprises single pcb board formula body, flight control modules, airborne radio-frequency communication module, knob sucker and at least four group aviation mechanisms; Described aviation mechanism, airborne radio-frequency communication module are all electrically connected with flight control modules;
Described flight control modules, airborne radio-frequency communication module, aviation mechanism are all fixed on single pcb board formula body, and the knob of described knob sucker is fixed on the upper surface of pcb board formula body;
Described flight control modules is used for the operation controlling aviation mechanism according to the instruction received, and flight condition is fed back to ground monitoring station;
Described aviation mechanism comprises electric mechanical, electrical mediation screw propeller, and described motor is used for carrying screws and rotates, and described electricity calls the rotating speed in adjustment motor;
Described airborne radio-frequency communication module and Terrestrial Radio communication module radio communication.
As a kind of further prioritization scheme of miniature one-board Unmanned Aircraft Systems (UAS) with adsorption function of the present invention, described flight control modules comprises control chip, three-axis gyroscope sensor, 3-axis acceleration flowmeter sensor, GPS chip and weather gauge, and described control chip is electrically connected with three-axis gyroscope sensor, 3-axis acceleration flowmeter sensor, GPS chip, weather gauge respectively.
As a kind of further prioritization scheme of miniature one-board Unmanned Aircraft Systems (UAS) with adsorption function of the present invention, described control chip STM32 family chip.
As a kind of further prioritization scheme of miniature one-board Unmanned Aircraft Systems (UAS) with adsorption function of the present invention, described airborne radio-frequency communication module, Terrestrial Radio communication module all adopt 2.4G radio communication chip.
As a kind of further prioritization scheme of miniature one-board Unmanned Aircraft Systems (UAS) with adsorption function of the present invention, the sucker of described knob sucker adopts TPUE rubber to make.
The invention also discloses a kind of control method based on this with the miniature one-board Unmanned Aircraft Systems (UAS) of adsorption function, comprise following steps:
Step 1), the coordinate of target, height and flight track are sent to miniature one-board unmanned plane by ground monitoring station;
Step 2), flight control modules controls aviation mechanism and runs, and makes miniature one-board unmanned plane during flying to appointed place, and feeds back to ground monitoring station;
Step 3), when miniature one-board unmanned plane receives absorption order that is that ground monitoring station sends or that specify in flight path, carry out following steps:
Step 3.1), flight control modules controls aviation mechanism and runs, and miniature one-board unmanned plane is flown vertically upward, until the sucker suction of knob sucker is in required fixing plane;
Step 3.2), flight control modules controls aviation mechanism and runs, and makes miniature one-board unmanned plane cw go off course 180 °;
Step 4), when miniature one-board unmanned plane receives disengaging order that is that ground monitoring station sends or that specify in flight path, flight control modules controls aviation mechanism and runs, and makes miniature one-board unmanned plane conter clockwise go off course 180 °.
The present invention adopts above technical scheme compared with prior art, has following technique effect:
1. sucker material is TPUE rubber, and its load-carrying capacity, impact resistance and damping performance are outstanding, and the maximum 10kg that can bear bears a heavy burden;
2. the structure of knob sucker is very simple, and unmanned plane certain angle of only need going off course can complete absorption with departing from and the operation such as adsorb, without the need to operating the mechanism such as steering wheel, mechanical arm;
3. the control chip of flight control modules is STM32 family chip, and calculation processing power is stronger, and responding ability is faster, and peripheral hardware is horn of plenty more, can support that the carry of more equipment is to meet the different demands of all trades and professions;
4. because unmanned plane body is made by PCB, make unmanned plane volume less, the centre distance of two relative aviation mechanisms only 9 centimetres, manoevreability is better, and weight is lighter, and has more disguise, to scout, intercept etc. in special duty more practical;
5. ground monitoring station can be unmanned plane setting flight path and task, make unmanned plane can complete flight, absorption and the task such as scouting and monitoring by right place, and unmanned plane state is monitored in real time in ground station, with civil area, there is more wide application prospect military.
Accompanying drawing explanation
Fig. 1 is module diagram of the present invention;
Fig. 2 is the birds-eye view of miniature one-board unmanned plane;
Fig. 3 is the module diagram of flight control modules;
Fig. 4 is the structural representation of knob sucker.
In figure, 1-aviation mechanism, 2-magnetism-free stainless steel knob, 3-rubber suction cups.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:
As shown in Figure 1, the invention discloses a kind of miniature one-board Unmanned Aircraft Systems (UAS) with adsorption function, comprise miniature one-board unmanned plane and ground monitoring station; Described ground monitoring station comprises Terrestrial Radio communication module;
Described miniature one-board unmanned plane comprises single pcb board formula body, flight control modules, airborne radio-frequency communication module, lithium cell, knob sucker and four groups of aviation mechanisms; Described four groups of aviation mechanisms, airborne radio-frequency communication module, lithium cell are all electrically connected with flight control modules;
Described flight control modules, airborne radio-frequency communication module, aviation mechanism are all fixed on single pcb board formula body, and the knob of described knob sucker is fixed on the upper surface of pcb board formula body;
Described flight control modules is used for the operation controlling aviation mechanism according to the instruction received, and flight condition is fed back to ground monitoring station;
Described aviation mechanism comprises electric mechanical, electrical mediation screw propeller, and described motor is used for carrying screws and rotates, and described electricity calls the rotating speed in adjustment motor;
Described airborne radio-frequency communication module and Terrestrial Radio communication module radio communication.
Ground monitoring station comprises Terrestrial Radio communication module, flight path programming module and navigation map module, operating personal can carry out trajectory planning and mission planning in navigation map, sends task terminal, flight path and absorption owing to departing from absorption instruction to unmanned plane.
Fig. 2 is the birds-eye view of miniature one-board unmanned plane, and single pcb board formula body is formed by PCB print circuit plates making, and structural strength meets flight requirement.
As shown in Figure 3, described flight control modules comprises control chip, three-axis gyroscope sensor, 3-axis acceleration flowmeter sensor, GPS chip and weather gauge, and described control chip is electrically connected with three-axis gyroscope sensor, 3-axis acceleration flowmeter sensor, GPS chip, weather gauge respectively.
Three-axis gyroscope sensor, 3-axis acceleration flowmeter sensor, GPS chip and weather gauge are collectively referred to as sensor assembly.
Described control chip STM32 family chip, preferential employing STM32 F103 chip.
Described airborne radio-frequency communication module, Terrestrial Radio communication module all adopt 2.4G radio communication chip.
As shown in Figure 4, knob sucker is mainly divided into elastic caoutchouc sucker and magnetism-free stainless steel knob two parts.The diameter of elastic caoutchouc sucker is 68 millimeters, its material is TPUE rubber, its load-carrying capacity, impact resistance and damping performance are very outstanding, magnetism-free stainless steel knob is a diameter to be 65 millimeters high the be cylinder of 15 millimeters, because knob and embedded chip are apart from too near, non-magnetic material is used to avoid electromagnetic interference.When by rubber suction cups by comparatively smooth plane and clickwise knob time, the extruding module of knob suction cup interior is followed knob and is moved inward, and extrudes the air in suction dish side by side, sucker is fixed on plane firmly.And when left-hand revolution knob, the extruding module of knob suction cup interior follows knob outwards movement, rubber suction cups loosens, and inner inflow air, makes rubber suction cups depart from plane.
Host computer monitoring software has been write at ground monitoring station, Terrestrial Radio communication module, flight path programming module and navigation map module is contained in software, pass through RF receiving/transmission device, not only can monitor unmanned plane state in real time, can also plan the aerial mission of unmanned plane and absorption task, also can adjust flight and the adsorbed state of unmanned plane in real time.
The present invention can dispose autotask to unmanned plane, ground monitoring station is used to plan the aerial mission of unmanned plane and absorption task, make unmanned plane according to place cruising flight in order indicated in map, if be provided with absorption task at attachment point, then unmanned plane will by GPS navigation to specified point, and by weather gauge flight to setting height, then fly vertically upward, sucker is upwards fixed on top planes, discharge air in sucker, after completing aforesaid operations, body cw is gone off course 180 ° is rotatable knobs, sucker and unmanned plane is made to be adsorbed in top planes securely, finally stop four aviation mechanisms, complete the apex suction of unmanned plane.And after ground station sends the instruction of disengaging absorption and control, unmanned plane opens four aviation mechanisms at once, and rotating speed is increased to maximum, then oppositely go off course body 180 °, air is flowed in sucker, sucker and unmanned plane depart from top planes at once, and last unmanned plane reduces rotating speed to suspended state, and continue to perform aerial mission.If hang with video recording equipment upright under unmanned plane to working direction, the direction after completing adsorption operations pointed by video recording equipment is still direction pointed before carrying out adsorption operations, can not have any interference to record task; And if above specified point unmanned plane allow height in there is no adsorbable plane, unmanned plane will earthward monitor station send warning instruction, if ground monitoring station is without any new instruction in specific time, unmanned plane is by original for continuation task or make a return voyage.
Those skilled in the art of the present technique are understandable that, unless otherwise defined, all terms used herein (comprising technical term and scientific terminology) have the meaning identical with the general understanding of the those of ordinary skill in field belonging to the present invention.Should also be understood that those terms defined in such as general dictionary should be understood to have the meaning consistent with the meaning in the context of prior art, unless and define as here, can not explain by idealized or too formal implication.
Above-described detailed description of the invention; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only the specific embodiment of the present invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. there is a miniature one-board Unmanned Aircraft Systems (UAS) for adsorption function, it is characterized in that, comprise miniature one-board unmanned plane and ground monitoring station; Described ground monitoring station comprises Terrestrial Radio communication module;
Described miniature one-board unmanned plane comprises single pcb board formula body, flight control modules, airborne radio-frequency communication module, knob sucker and at least four group aviation mechanisms; Described aviation mechanism, airborne radio-frequency communication module are all electrically connected with flight control modules;
Described flight control modules, airborne radio-frequency communication module, aviation mechanism are all fixed on single pcb board formula body, and the knob of described knob sucker is fixed on the upper surface of pcb board formula body;
Described flight control modules is used for the operation controlling aviation mechanism according to the instruction received, and flight condition is fed back to ground monitoring station;
Described aviation mechanism comprises electric mechanical, electrical mediation screw propeller, and described motor is used for carrying screws and rotates, and described electricity calls the rotating speed in adjustment motor;
Described airborne radio-frequency communication module and Terrestrial Radio communication module radio communication.
2. the miniature one-board Unmanned Aircraft Systems (UAS) with adsorption function according to claim 1, it is characterized in that, described flight control modules comprises control chip, three-axis gyroscope sensor, 3-axis acceleration flowmeter sensor, GPS chip and weather gauge, and described control chip is electrically connected with three-axis gyroscope sensor, 3-axis acceleration flowmeter sensor, GPS chip, weather gauge respectively.
3. the miniature one-board Unmanned Aircraft Systems (UAS) with adsorption function according to claim 2, is characterized in that, described control chip STM32 family chip.
4. the miniature one-board Unmanned Aircraft Systems (UAS) with adsorption function according to claim 1, it is characterized in that, described airborne radio-frequency communication module, Terrestrial Radio communication module all adopt 2.4G radio communication chip.
5. the miniature one-board Unmanned Aircraft Systems (UAS) with adsorption function according to claim 1, is characterized in that, the sucker of described knob sucker adopts TPUE rubber to make.
6., based on the control method with the miniature one-board Unmanned Aircraft Systems (UAS) of adsorption function according to claim 1, it is characterized in that, comprise following steps:
Step 1), ground monitoring station is by the coordinate of target, highly, the task of assigned address and flight track send to miniature one-board unmanned plane;
Step 2), flight control modules controls aviation mechanism and runs, and makes miniature one-board unmanned plane during flying to appointed place, and feeds back to ground monitoring station;
Step 3), when miniature one-board unmanned plane receives absorption order that is that ground monitoring station sends or that specify in flight path task, carry out following steps:
Step 3.1), flight control modules controls aviation mechanism and runs, and miniature one-board unmanned plane is flown vertically upward, until the sucker suction of knob sucker is in required fixing plane;
Step 3.2), flight control modules controls aviation mechanism and runs, and makes miniature one-board unmanned plane cw go off course 180 °;
Step 4), when miniature one-board unmanned plane receives disengaging order that is that ground monitoring station sends or that specify in flight path, flight control modules controls aviation mechanism and runs, and makes miniature one-board unmanned plane conter clockwise go off course 180 °.
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| CN201510167653.3A CN104802991A (en) | 2015-04-10 | 2015-04-10 | Micro single board type UAV (unmanned aerial vehicle) system with suction function and control method thereof |
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| CN201510167653.3A CN104802991A (en) | 2015-04-10 | 2015-04-10 | Micro single board type UAV (unmanned aerial vehicle) system with suction function and control method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107380424A (en) * | 2017-07-31 | 2017-11-24 | 张家港致盈电子技术有限公司 | Negative-pressure adsorption stops formula unmanned plane |
| 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 |
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| US20140140871A1 (en) * | 2012-11-22 | 2014-05-22 | Eurocopter Deutschland Gmbh | Power plant, an application of such a power plant and a method of operating such a power plant |
| CN104044734A (en) * | 2014-06-20 | 2014-09-17 | 中国科学院合肥物质科学研究院 | Multi-rotor unmanned airplane with inclined wings and rotors and control system and method |
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Patent Citations (5)
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| CN101491898A (en) * | 2009-03-09 | 2009-07-29 | 北京航空航天大学 | Multi-rotor wheel-leg type multifunctional air robot and sports programming method thereof |
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| US20140140871A1 (en) * | 2012-11-22 | 2014-05-22 | Eurocopter Deutschland Gmbh | Power plant, an application of such a power plant and a method of operating such a power plant |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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