CN104875890B - Quadrotor - Google Patents
Quadrotor Download PDFInfo
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- CN104875890B CN104875890B CN201510292297.8A CN201510292297A CN104875890B CN 104875890 B CN104875890 B CN 104875890B CN 201510292297 A CN201510292297 A CN 201510292297A CN 104875890 B CN104875890 B CN 104875890B
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Abstract
The invention discloses a kind of quadrotor, and it includes body, motor and circuit board；Flight control system is provided with the circuit board, the flight control system includes main control computer and attitude controller；The main control computer is onboard computer.The present invention on the attitude controller of quadrotor by installing one piece of onboard computer of low performance additional, the wireless network that wireless router establishment is connected by Wi Fi modules by it builds a network frame for being based on robot operating system (ROS), all kinds of flying qualities are sent in ROS networks again, earth station PC is transferred to again, substantial amounts of data are handled by earth station PC, and calculate the flight that corresponding control instruction controls four rotors, therefore, the operand of the onboard computer is smaller, can meet the autonomous flight requirement of the quadrotor.
Description
Technical field
The present invention relates to a kind of aircraft, more particularly to a kind of quadrotor.
Background technology
The autonomous flight of microminiature quadrotor is one of Hot Contents of current research.But due to microminiature four
The payload of rotor craft is low, and the high performance onboard computer weight of in general can all exceed its maximum load, low property
Can although onboard computer weight is low but its process performance can not meet the requirement of its autonomous flight.
The content of the invention
It is an object of the present invention to provide a kind of quadrotor, and it uses the relatively low onboard computer of weight, and can be full
Its autonomous flight of foot.
The present invention solves technical problem and adopted the following technical scheme that：A kind of quadrotor, it include body, motor and
Circuit board；
The circuit board is fixed on the body；The quantity of the motor is 4, and four motors are individually fixed in
On four corners of the body, propeller blade is installed on the output shaft of the motor；
Flight control system is provided with the circuit board, the flight control system includes main control computer, posture control
Device, light stream sensor, Inertial Measurement Unit, infrared range-measurement system, remote control and electron speed regulator processed；
The main control computer is onboard computer；
The attitude controller is serially logical including processor, A/D modular converters, pulse capture unit, PWM module, first
Believe interface, the second serial communication interface and the 3rd serial communication interface；The A/D modular converters, pulse capture unit, PWM moulds
Block, the first serial communication interface, the second serial communication interface and the 3rd serial communication interface are connected with the processor signal；
The main control computer is connected by the third communication interface with the attitude controller signal；
The light stream sensor is connected by first serial communication interface with the processor signal；
The Inertial Measurement Unit is connected by the second serial communication interface with the processor signal；
The infrared range-measurement system is connected by A/D modular converters with the processor signal of the attitude controller；
The remote control is connected by the pulse capture unit with the processor signal of the attitude controller；
The motor is connected by electron speed regulator with the PWM module.
Optionally, the body is centrosymmetric structure, and it includes carbon fiber board, carbon fiber bar and undercarriage, described
Being shaped as carbon fiber board is square, and its four corners are connected with four circular carbon fiber bars respectively, and undercarriage is fixed on the carbon
The bottom of fiberboard；Four motors are individually fixed in the other end of four carbon fiber bars.
Optionally, the undercarriage is prepared using engineering plastics.
Optionally, the undercarriage includes two semicircular buffer bars and four cross bars；It is described two semicircular slow
It is parallel to each other between jumper bar, two cross bars are fixed on the middle part of described two semicircular buffer bars, the carbon fiber board
It is fixed on two in the middle part of buffer bar cross bars, and causes the carbon fiber board to be located at body center, another two horizontal strokes
Bar is individually fixed in the bottom of described two buffer bars, and is parallel to each other between four cross bars.
Optionally, the quadrotor also includes GPS module, Wi-Fi module and camera；The GPS module,
Wi-Fi module and camera are connected by USB interface with the main control computer.
The present invention has the advantages that：The present invention on the attitude controller of quadrotor by installing one piece additional
The onboard computer of low performance, build one by its wireless network set up by Wi-Fi module connection wireless router and be based on machine
The network frame of device people operating system (ROS), then all kinds of flying qualities are sent in ROS networks, then earth station PC is transferred to,
Substantial amounts of data are handled by earth station PC, and calculate the flight that corresponding control instruction controls four rotors, it is therefore, described onboard
The operand of computer is smaller, can meet the autonomous flight requirement of the quadrotor.
Brief description of the drawings
Fig. 1 is the structural representation of the quadrotor of the present invention；
Fig. 2 is the electrical block diagram of the quadrotor of the present invention；
Mark is illustrated as in figure：1- bodies；2- motors；3- circuit boards；4- main control computers；5- light stream sensors；6- is used to
Property measuring unit；7- infrared range-measurement systems；8- remote controls；9- electron speed regulators；10- processors；11-A/D modular converters；12- arteries and veins
Rush capturing unit；13-PWM modules；The serial communication interfaces of 14- first；The serial communication interfaces of 15- second；The serial communications of 16- the 3rd
Interface；17-GPS modules；18-Wi-Fi modules；19- cameras.
Embodiment
Technical scheme is further elaborated with reference to embodiment.
Embodiment 1
A kind of quadrotor is present embodiments provided, it includes body 1, motor 2 and circuit board 3.
The body is centrosymmetric structure, and it includes carbon fiber board, carbon fiber bar and undercarriage, the carbon fiber board
For two layers, being shaped as the carbon fiber board is square, and its four corners are connected with four circular carbon fiber bars respectively, and undercarriage is solid
Due to the bottom of the carbon fiber board, in the present embodiment, the undercarriage can use engineering plastics to prepare, and use engineering
Undercarriage very light in weight prepared by plastics, pliability is good, can bear very large deformation, and substantial amounts of impact is alleviated in landing
Power.
The undercarriage includes two semicircular buffer bars and four cross bars；Between described two semicircular buffer bars
It is parallel to each other, two cross bars are fixed on the middle part of described two semicircular buffer bars, and the carbon fiber board is fixed on institute
State on two cross bars in the middle part of buffer bar, and cause the carbon fiber board to be located at body center, another two cross bars are solid respectively
Due to the bottom of described two buffer bars, and it is parallel to each other between four cross bars.
The motor is four, and four motors are individually fixed in the other end of four carbon fiber bars, and described
Propeller blade is respectively and fixedly provided with the output shaft of motor.
The circuit board is fixed on the carbon fiber board, and is provided with flight control system on the circuit board, described
Flight control system include main control computer 4, attitude controller, light stream sensor 5, Inertial Measurement Unit 6, infrared range-measurement system 7,
Remote control 8 and electron speed regulator 9.
The main control computer is the onboard computers of BeagleBone Black, and certain main control computer can also be
Raspberry Pi；The main control computer is communicated by serial communication interface with the attitude controller, i.e., described master control calculates
Machine includes computer serial communication interface, and the attitude controller includes the 3rd serial communication interface, and the computer serially leads to
Letter interface is connected with the 3rd serial communication interface signal.In the present embodiment, fly to develop the autonomous of quadrotor
Row ability, the main control computer are received with the flying quality of MAVLink protocol encapsulations, and by the data transfer to the posture
The processor of controller.
The attitude controller includes processor 10, A/D modular converters 11, pulse capture unit 12, PWM module 13, the
Serial commu-nication interface 14, the second serial communication interface 15 and the 3rd serial communication interface 16；The A/D modular converters, pulse
Capturing unit, PWM module, the first serial communication interface, the second serial communication interface and the 3rd serial communication interface with it is described
Processor signal connects.
The light stream sensor is connected by first serial communication interface with the processor signal, and the light stream passes
Sensor can use PX4FLOW intelligence light stream sensors, and it is based on ARM Cortex M4, be passed using a CMOS machine vision
Sensor catches image with 64 × 64 pixel resolution, and calculates light stream value with the sample frequency of the frame of highest 250 per second；The light
Flow sensor is connected by the first serial communication interface with the processor of the attitude controller, exports the flat of quadrotor
Velocity component (translational velocity component (x-axis, y-axis direction) for measuring current body) is moved, can be used to overcome Inertial Measurement Unit to float
The problem of hovering is unstable caused by shifting.
The Inertial Measurement Unit is connected by the second serial communication interface with the processor signal, the inertia measurement
Unit can select Dutch Xsens companies production model MTi-G Inertial Measurement Unit, its have small volume, it is low in energy consumption,
The advantages of cost is low, in light weight, three-axis attitude data, three axis angular rates and three shaft angles when it can detect body movement accelerate
Degree, wherein attitude data is represented with Eulerian angles or quaternary number.It passes through the second serial communication interface and the attitude controller
Processor connection, output yaw angle, the angle of pitch, roll angle and corresponding angular speed.
The infrared range-measurement system is connected by A/D modular converters with the processor signal of the attitude controller, exports mould
Intend signal, data signal is converted into by A/D modular converters and obtains height value；In the present embodiment, the infrared range-measurement system can be adopted
With the model GP2Y0A02YK0F of SHARP productions infrared distance sensor.
The remote control is connected by the pulse capture unit with the processor signal of the attitude controller, described distant
Control device be mainly used in assigning take off, rise, declining, advancing, retreating, moving to left, moving to right, be left-handed, dextrorotation, landing etc. are ordered；This reality
Apply in example, the remote control exports 4 road pwm signals using the passage FUTABA remote manipulators of 2.4GHz six, by attitude controller
Pulse capture unit (eCAP) obtain and be scaled desired height, the angle of pitch, roll angle and yaw angle.
The motor is connected by electron speed regulator with the PWM module, and the motor is straight using X2216 external rotor brushless
Motor is flowed, the processor of the attitude controller is according to light stream sensor, Inertial Measurement Unit, infrared range-measurement system and the remote control
The data that device is detected, control PWM module, and the dutycycle that the PWM module output is calculated is adjusted to electron speed regulator, electronics
Fast device exports corresponding voltage controlled motor and rotated.The brushless electricity of the outer rotor brushless DC motor collocation 10A is adjusted, and it passes through anti-
Potential detection zero crossing carries out electronics commutation, therefore has higher efficiency and reliability.Electricity is adjusted and uses Micrecopter
Adjusted exclusively for the brushless dc of quadrotor design, the electricity is adjusted by 500Hz pwm pulse come controlled motor.
In the present embodiment, the quadrotor also includes GPS module 17, Wi-Fi module 18 and camera 19；It is described
GPS module, Wi-Fi module and camera are connected by USB interface with the main control computer, by the GPS module institute
The position data of the quadrotor of detection is sent to the main control computer, and the Wi-Fi module is used for and ground
The PC that stands is communicated, to be controlled by the earth station PC to the rotor craft；The camera can be to described
The surrounding environment of quadrotor is shot.
In the present embodiment, the processor is the model TMS320F28335 of TI companies production DSP.
In the present embodiment, the quadrotor also includes power supply, and the power supply uses the chargeable lithium electricity of 12.5V
Pond, battery capacity 4500mAh, it can maintain quadrotor to fly 30 minutes or so.
The present invention passes through Wi- by installing one piece of onboard computer additional on the attitude controller of quadrotor by it
The wireless network that Fi modules connection wireless router is set up builds a network frame for being based on robot operating system (ROS),
All kinds of flying qualities are sent in ROS networks again, then are transferred to earth station PC, substantial amounts of data are handled by earth station PC, and
Calculate the flight that corresponding control instruction controls four rotors.
The main control computer of the quadrotor of the present invention can gather video flowing by camera, and be adopted by GPS
Collect positional information；The control instruction from attitude controller and parsing can be received, and can be received from earth station PC's
Control instruction is simultaneously sent to attitude controller with MAVLink protocol encapsulations；The attitude controller receives and comes from main control computer
Control instruction, including desired attitude angle and throttle (controlling desired height), and pass through the PWM module controlled motor and transport
It is dynamic, to perform above-mentioned instruction.
The sequencing of above example only for ease of describing, does not represent the quality of embodiment.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (2)
1. a kind of quadrotor, it is characterised in that including body, motor and circuit board；
The circuit board is fixed on the body；The quantity of the motor is 4, and four motors are individually fixed in described
On four corners of body, propeller blade is installed on the output shaft of the motor；
Be provided with flight control system on the circuit board, the flight control system include main control computer, attitude controller,
Light stream sensor, Inertial Measurement Unit, infrared range-measurement system, remote control, electron speed regulator GPS module, Wi-Fi module and shooting
Head；
The main control computer is onboard computer；
The attitude controller connects including processor, A/D modular converters, pulse capture unit, PWM module, the first serial communication
Mouth, the second serial communication interface and the 3rd serial communication interface；The A/D modular converters, pulse capture unit, PWM module,
Serial commu-nication interface, the second serial communication interface and the 3rd serial communication interface are connected with the processor signal；
The main control computer is connected by the 3rd serial communication interface with the attitude controller signal；
The light stream sensor is connected by first serial communication interface with the processor signal；For exporting four rotors
The translational velocity component of aircraft；
The Inertial Measurement Unit is connected by the second serial communication interface with the processor signal；
The infrared range-measurement system is connected by A/D modular converters with the processor signal of the attitude controller；For obtaining height
Angle value；Wherein, the infrared range-measurement system is the model GP2Y0A02YK0F of SHARP productions infrared distance sensor；
The remote control is connected by the pulse capture unit with the processor signal of the attitude controller；
The motor is connected by electron speed regulator with the PWM module；
The body is centrosymmetric structure, and it includes carbon fiber board, carbon fiber bar and undercarriage, the shape of the carbon fiber board
Shape is square, and its four corners are connected with four circular carbon fiber bars respectively, and undercarriage is fixed on the bottom of the carbon fiber board；
Four motors are individually fixed in the other end of four carbon fiber bars；
The undercarriage includes two semicircular buffer bars and four cross bars；Between described two semicircular buffer bars mutually
Parallel, two cross bars in four cross bars are fixed on the middle part of described two semicircular buffer bars, the carbon fiber board
It is fixed on two in the middle part of buffer bar cross bars, and it is central make it that the carbon fiber board be located at the body, described four
Another two cross bars in cross bar are individually fixed in the bottom of described two buffer bars, and are parallel to each other between four cross bars；
The GPS module, Wi-Fi module and camera are connected by USB interface with the main control computer.
2. quadrotor according to claim 1, it is characterised in that the undercarriage is prepared using engineering plastics.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510292297.8A CN104875890B (en) | 2015-06-01 | 2015-06-01 | Quadrotor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510292297.8A CN104875890B (en) | 2015-06-01 | 2015-06-01 | Quadrotor |
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| CN104875890A CN104875890A (en) | 2015-09-02 |
| CN104875890B true CN104875890B (en) | 2017-12-15 |
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| CN201510292297.8A Expired - Fee Related CN104875890B (en) | 2015-06-01 | 2015-06-01 | Quadrotor |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105119552B (en) * | 2015-09-18 | 2019-09-17 | 海宁伊满阁太阳能科技有限公司 | Multi-axis aircraft asynchronous machine parallel connection speed regulation method and product |
| CN106621367A (en) * | 2015-10-29 | 2017-05-10 | 马铿钧 | Internet network control system of unmanned aerial vehicle |
| CN114435611A (en) * | 2016-01-26 | 2022-05-06 | 深圳市大疆创新科技有限公司 | Stability augmentation platform |
| CN105812658B (en) * | 2016-03-11 | 2019-04-23 | 联想(北京)有限公司 | A kind of information processing method and electronic equipment |
| CN105818998B (en) * | 2016-05-24 | 2019-01-08 | 北京小米移动软件有限公司 | Aircraft and its indoor auxiliary locator |
| CN106094847A (en) * | 2016-06-07 | 2016-11-09 | 廖兴池 | A kind of unmanned plane automatic obstacle-avoiding controls technology and device thereof |
| CN105955305A (en) * | 2016-07-07 | 2016-09-21 | 苏州大学 | Four-axis unmanned aerial vehicle |
| CN106314782A (en) * | 2016-10-22 | 2017-01-11 | 钟贵洪 | Remote control aerial camera |
| CN106672224B (en) * | 2016-11-25 | 2024-03-01 | 广州亿航智能技术有限公司 | Unmanned aerial vehicle and control method thereof |
| CN107943102A (en) * | 2017-12-28 | 2018-04-20 | 南京工程学院 | A kind of aircraft of view-based access control model servo and its autonomous tracing system |
| CN111124126A (en) * | 2019-12-25 | 2020-05-08 | 北京航空航天大学 | Unmanned aerial vehicle gesture control method |
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