CN105151288A - Four-rotor aircraft and control device thereof - Google Patents
Four-rotor aircraft and control device thereof Download PDFInfo
- Publication number
- CN105151288A CN105151288A CN201510653936.9A CN201510653936A CN105151288A CN 105151288 A CN105151288 A CN 105151288A CN 201510653936 A CN201510653936 A CN 201510653936A CN 105151288 A CN105151288 A CN 105151288A
- Authority
- CN
- China
- Prior art keywords
- mouth
- input end
- rotor
- controller
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
The invention provides a four-rotor aircraft and a control device thereof. The four-rotor aircraft comprises a four-rotor body, a photographic device and a controller, wherein the body is connected with the photographic device through a photographic base; the controller realizes both-way connection with the four-rotor body through a wireless information transmission module. Compared with the prior art, the four-rotor aircraft disclosed by the invention has the following benefits that when the four-rotor aircraft approaches to an object or a human, a warning lamp on the controller and a warning horn on the controller can automatically send out warnings so as to warn a user; when the four-rotor aircraft has a fault, and the four-rotor aircraft urgently falls or cannot fly due to other problems, the user can restart the four-rotor aircraft by a restart button or restore factory settings by a restoration button, so that the four-rotor aircraft is protected; when the user needs to find the controller, the user can adopt specific intelligent mobile equipment or application software on a computer to send out a finding instruction, and then the warning lamp on the controller and the warning horn on the computer can automatically send out warnings so as to warn the user where the controller is.
Description
Technical field
The present invention is a kind of quadrotor and its control setup, belongs to quadrotor apparatus field.
Background technology
Quadrotor adopts four rotors as the direct driving force source of flight, rotor is symmetrically distributed in all around four direction of body, four rotors are in sustained height plane, and the structure of four rotors and radius are all identical, two rotor left-hand revolutions, two rotor clickwises, the bracket end being arranged on aircraft of four motor symmetries, support intermediate space lays flight-control computer and external device.
Typical conventional helicopters is equipped with a master rotor and a tail slurry.They are the propeller pitch angles changing screw propeller by controlling steering wheel, thus control attitude and the position of helicopter.Quadrotor unlike this, is by regulating four motor speeds to change gyroplane rotate speed, realizing the change of lift, thus controls attitude and the position of aircraft.
Growing along with science and technology, because quadrotor can on high in the characteristic that flies, quadrotor is more and more used in scientific research aspect, but when reality uses, because the most build of controller is small and exquisite, when user after a procedure, probably arbitrarily place, when it wants to find again, extremely bother.
General user is at operation quadrotor, it is all remote servicing, situation around quadrotor can only be understood by camera, sight line has certain limitation, when quadrotor is near object or person class, user is very possible be cannot see because the blind area at visual angle, thus causes unnecessary quadrotor to damage or personal security problem.
Because general user operation quadrotor, be all remote servicing, when quadrotor et out of order fall or other problems time, user be difficult to feels timely near quadrotor, it is keeped in repair.
Summary of the invention
For the deficiency that prior art exists, the object of the invention is to provide a kind of quadrotor and its control setup, and to solve the problem proposed in above-mentioned background technology, the present invention is easy to use, convenient operation, good stability, and reliability is high.
To achieve these goals, the present invention realizes by the following technical solutions: a kind of quadrotor and its control setup, comprise four rotor main bodys, camera and controller, described four rotor body surfaces are provided with rotor and are arranged on the guard rail outside rotor, the inside of described main body is provided with control unit, described control unit comprises restarts module, recovery is dispatched from the factory module, laser range sensor, infrared human body sensor and miniature process chip, described body surfaces is provided with photography base, described main body connects camera by photography base, described camera inside is provided with ccd image sensor, coder, digital information processing chip, holder and wireless video transmission module, the bilateral symmetry of described controller is provided with left rocking bar, right rocking bar, left control button and right control button, the centre of described controller is provided with read-out, the below of described read-out is provided with warning light and alarming horm, the below of described warning light and alarming horm is provided with reset switch, switch and recovery switch, the inside of described controller is provided with wireless information transfer module, microprocessor and alarm switch control module.
Further, be provided with the micromotor with its electric connection below described rotor, described micromotor is arranged on body interior, and described rotor and micromotor are provided with four altogether, and four rotors and micromotor are symmetricly set on main body surrounding.
Further, described controller realizes being bi-directionally connected between four rotor main bodys by wireless information transfer module.
Further, described wireless information transfer module mouth is connected with microprocessor input, and output end of microprocessor is connected with alarm switch control module input end, and alarm switch control module mouth is connected with warning light input end and alarming horm input end.
Further, the mouth of described camera is connected with ccd image sensor input end, ccd image sensor mouth is connected with coder input end, encoder output is connected with digital signal processing chip input end, digital signal processing chip mouth is connected with holder input end and wireless video transmission module input, and wireless video transmission module mouth is connected with read-out input end.
Further, described laser range sensor mouth is connected with miniature process chip input end, and described miniature process chip input end is also connected with infrared human body sensor output, and miniature process chip mouth is connected with wireless information transfer module input.
Further, the mouth of described reset switch is connected with wireless information transfer module input, described wireless information transfer module input is also connected with recovery output switching terminal, wireless information transfer module mouth is connected with miniature process chip input end, miniature process chip mouth with restart module input and the recovery module input that dispatches from the factory and be connected.
Further, described microprocessor carries out bi-directional data by wireless information transfer module and the application software on Intelligent mobile equipment or computer and is connected.
Beneficial effect of the present invention: a kind of quadrotor of the present invention and its control setup, when quadrotor is near object or person class, warning light on controller and alarming horm meeting automatic alarm, with reminding user, when quadrotor breaks down, promptly fall or other problems can not circle in the air time, user is by reboot button or recovery button, quadrotor is restarted or factory reset, to protect quadrotor, when user needs to find controller, searching instruction is sent by the application software on specific Intelligent mobile equipment or computer, after this warning light on controller and alarming horm meeting automatic alarm, with the position of reminding user controller.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is the structural representation of a kind of quadrotor of the present invention and its control setup;
Fig. 2 is the left view of a kind of quadrotor of the present invention and its control setup;
Fig. 3 is the controller architecture schematic diagram of a kind of quadrotor of the present invention and its control setup;
Fig. 4 be a kind of quadrotor of the present invention and its control setup show a functional block diagram;
Fig. 5 is the shooting functional block diagram of a kind of quadrotor of the present invention and its control setup;
Fig. 6 is the autoalarm functional block diagram of a kind of quadrotor of the present invention and its control setup;
Fig. 7 is the long-distance service functional block diagram of a kind of quadrotor of the present invention and its control setup;
In figure: 1-tetra-rotor main body, 2-photographs base, 3-controller, 11-rotor, 12-guard rail, 13-restarts module, 14-recovers to dispatch from the factory module, 15-laser range sensor, 16-infrared human body sensor, the miniature process chip of 17-, 21-camera, 22-CCD imageing sensor, 23-coder, 24-digital signal processing chip, 25-holder, 26-wireless video transmission module, the left rocking bar of 31-, the right rocking bar of 32-, the left control button of 33-, the right control button of 34-, 35-read-out, 36-warning light, 36a-alarming horm, 37-reset switch, 38-switch, 39-recovers switch, 311-wireless information transfer module, 312-microprocessor, 313-alarm switch control module.
Detailed description of the invention
The technological means realized for making the present invention, creation characteristic, reaching object and effect is easy to understand, below in conjunction with detailed description of the invention, setting forth the present invention further.
Refer to Fig. 1 and Fig. 7, the invention provides a kind of technical scheme: a kind of quadrotor and its control setup, comprise four rotor main bodys 1, camera 21 and controller 3, the guard rail 12 that four rotor main body 1 surfaces are provided with rotor 11 and are arranged on outside rotor 11, the inside of main body 1 is provided with control unit, control unit comprises restarts module 13, recovery is dispatched from the factory module 14, laser range sensor 15, infrared human body sensor 16 and miniature process chip 17, main body 1 surface is provided with photography base 2, main body 1 connects camera 21 by photography base 2, camera 21 inside is provided with ccd image sensor 22, coder 23, digital information processing chip 24, holder 25 and wireless video transmission module 26, the bilateral symmetry of controller 3 is provided with left rocking bar 31, right rocking bar 32, left control button 33 and right control button 34, the centre of controller 3 is provided with read-out 35, the below of read-out 35 is provided with warning light 36 and alarming horm 36a, the below of warning light 36 and alarming horm 36a is provided with reset switch 37, switch 38 and recovery switch 39, the inside of controller 3 is provided with wireless information transfer module 311, microprocessor 312 and alarm switch control module 313.
Be provided with the micromotor with its electric connection below rotor 11, it is inner that micromotor is arranged on main body 1, and rotor 11 and micromotor are provided with four altogether, and four rotors 11 and micromotor are symmetricly set on main body 1 surrounding.
Controller 3 realizes being bi-directionally connected between four rotor main bodys 1 by wireless information transfer module 311.
Refer to Fig. 4, wireless information transfer module 311 mouth is connected with microprocessor 312 input end, microprocessor 312 mouth is connected with alarm switch control module 313 input end, alarm switch control module 313 mouth is connected with warning light 36 input end and alarming horm 36a input end, microprocessor 312 carries out bi-directional data by wireless information transfer module 311 and the application software on Intelligent mobile equipment or computer and is connected, when user needs to find controller 3, searching instruction is sent by the application software on specific Intelligent mobile equipment or computer, after this warning light 36 on controller 3 and alarming horm 36a meeting automatic alarm, with the position of reminding user controller 3.
Refer to Fig. 5, the mouth of camera 21 is connected with ccd image sensor 22 input end, ccd image sensor 22 mouth is connected with coder 23 input end, coder 23 mouth is connected with digital signal processing chip 24 input end, digital signal processing chip 24 mouth is connected with holder 25 input end and wireless video transmission module 26 input end, wireless video transmission module 26 mouth is connected with read-out 35 input end, ccd image sensor 22 is according to the electric charge of the power accumulation corresponding proportion of light, the electric charge of each pixel accumulation is under the control of video sequential, pointwise moves outward, through filtering, after amplifying process, form vision signal and export coder 23 to, coder 23 converts analog video signal to digital signal, digital signal processing chip 24 is after receiving this digital signal, further calculating and process, and be stored in holder 25, pass through wireless video transmission module 26 simultaneously and be sent to read-out 35.
Refer to Fig. 6, laser range sensor 15 mouth is connected with miniature process chip 17 input end, miniature process chip 17 input end is also connected with infrared human body sensor 16 mouth, miniature process chip 17 mouth is connected with wireless information transfer module 311 input end, when quadrotor is near object or person class, the information detected can be sent in miniature process chip 17 by laser range sensor 15 and infrared human body sensor 16, miniature process chip 17 is after further processing, sending instruction is sent in microprocessor 312 by wireless information transfer module 311, microprocessor 312 is by controlling alarm switch control module 313, thus make the warning light 36 on controller 3 and alarming horm 36a meeting automatic alarm, with reminding user.
Refer to Fig. 7, the mouth of reset switch 37 is connected with wireless information transfer module 311 input end, wireless information transfer module 311 input end is also connected with recovery switch 39 mouth, wireless information transfer module mouth 311 is connected with miniature process chip 17 input end, miniature process chip 17 mouth with restart module 13 input end and recovery module 14 input end that dispatches from the factory and be connected, quadrotor breaks down, promptly fall or other problems can not circle in the air time, user is by reboot button 37 or recovery button 39, quadrotor is restarted or factory reset, to protect quadrotor.
More than show and describe groundwork of the present invention and principal character and advantage of the present invention, to those skilled in the art, obviously the invention is not restricted to the details of above-mentioned one exemplary embodiment, and when not deviating from spirit of the present invention or essential characteristic, the present invention can be realized in other specific forms.Therefore, no matter from which point, all should embodiment be regarded as exemplary, and be nonrestrictive, scope of the present invention is limited by claims instead of above-mentioned explanation, and all changes be therefore intended in the implication of the equivalency by dropping on claim and scope are included in the present invention.Any Reference numeral in claim should be considered as the claim involved by limiting.
In addition, be to be understood that, although this specification sheets is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of specification sheets is only for clarity sake, those skilled in the art should by specification sheets integrally, and the technical scheme in each embodiment also through appropriately combined, can form other embodiments that it will be appreciated by those skilled in the art that.
Claims (8)
1. quadrotor and its control setup, comprises four rotor main bodys, camera and controller, is characterized in that: described four rotor body surfaces are provided with rotor and are arranged on the guard rail outside rotor, and the inside of described main body is provided with control unit, and described control unit comprises restarts module, recovery is dispatched from the factory module, laser range sensor, infrared human body sensor and miniature process chip, described body surfaces is provided with photography base, and described main body connects camera by photography base, and described camera inside is provided with ccd image sensor, coder, digital information processing chip, holder and wireless video transmission module, the bilateral symmetry of described controller is provided with left rocking bar, right rocking bar, left control button and right control button, the centre of described controller is provided with read-out, and the below of described read-out is provided with warning light and alarming horm, and the below of described warning light and alarming horm is provided with reset switch, switch and recovery switch, the inside of described controller is provided with wireless information transfer module, microprocessor and alarm switch control module.
2. a kind of quadrotor according to claim 1 and its control setup, it is characterized in that: below described rotor, be provided with the micromotor with its electric connection, described micromotor is arranged on body interior, described rotor and micromotor are provided with four altogether, and four rotors and micromotor are symmetricly set on main body surrounding.
3. a kind of quadrotor according to claim 1 and its control setup, is characterized in that: described controller realizes being bi-directionally connected between four rotor main bodys by wireless information transfer module.
4. a kind of quadrotor according to claim 1 and its control setup, it is characterized in that: described wireless information transfer module mouth is connected with microprocessor input, output end of microprocessor is connected with alarm switch control module input end, and alarm switch control module mouth is connected with warning light input end and alarming horm input end.
5. a kind of quadrotor according to claim 1 and its control setup, it is characterized in that: the mouth of described camera is connected with ccd image sensor input end, ccd image sensor mouth is connected with coder input end, encoder output is connected with digital signal processing chip input end, digital signal processing chip mouth is connected with holder input end and wireless video transmission module input, and wireless video transmission module mouth is connected with read-out input end.
6. a kind of quadrotor according to claim 1 and its control setup, it is characterized in that: described laser range sensor mouth is connected with miniature process chip input end, described miniature process chip input end is also connected with infrared human body sensor output, and miniature process chip mouth is connected with wireless information transfer module input.
7. a kind of quadrotor according to claim 1 and its control setup, it is characterized in that: the mouth of described reset switch is connected with wireless information transfer module input, described wireless information transfer module input is also connected with recovery output switching terminal, wireless information transfer module mouth is connected with miniature process chip input end, miniature process chip mouth with restart module input and the recovery module input that dispatches from the factory and be connected.
8. a kind of quadrotor according to claim 1 and its control setup, is characterized in that: described microprocessor carries out bi-directional data by wireless information transfer module and the application software on Intelligent mobile equipment or computer and is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510653936.9A CN105151288A (en) | 2015-10-08 | 2015-10-08 | Four-rotor aircraft and control device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510653936.9A CN105151288A (en) | 2015-10-08 | 2015-10-08 | Four-rotor aircraft and control device thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105151288A true CN105151288A (en) | 2015-12-16 |
Family
ID=54792443
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510653936.9A Pending CN105151288A (en) | 2015-10-08 | 2015-10-08 | Four-rotor aircraft and control device thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105151288A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105539852A (en) * | 2016-02-19 | 2016-05-04 | 蒋引 | Multi-rotor UAV (unmanned aerial vehicle) as well as control system and method thereof |
| CN106314782A (en) * | 2016-10-22 | 2017-01-11 | 钟贵洪 | Remote control aerial camera |
| WO2018076467A1 (en) * | 2016-10-31 | 2018-05-03 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and alarm system thereof |
| CN108791880A (en) * | 2018-05-04 | 2018-11-13 | 国电锅炉压力容器检验中心 | A kind of pressure vessel inspection unmanned plane |
| CN108974340A (en) * | 2018-06-15 | 2018-12-11 | 河池学院 | A kind of miniature quadrotor |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101381002A (en) * | 2008-10-24 | 2009-03-11 | 华北电力大学 | Flying robot for detecting transmission line insulator |
| CN201604796U (en) * | 2010-03-23 | 2010-10-13 | 贵阳帝三数字技术有限公司 | Intelligent aerial photography unmanned aerial vehicle |
| US20120232718A1 (en) * | 2011-03-08 | 2012-09-13 | Parrot | Method of piloting a multiple rotor rotary-wing drone to follow a curvilinear turn |
| KR101437323B1 (en) * | 2014-04-01 | 2014-09-02 | 안정철 | Unmanned plane for fire reconnaissance and fire-fighters |
| CN104608928A (en) * | 2014-12-12 | 2015-05-13 | 辽宁石油化工大学 | Multifunctional early-warning type aerial photography aircraft |
-
2015
- 2015-10-08 CN CN201510653936.9A patent/CN105151288A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101381002A (en) * | 2008-10-24 | 2009-03-11 | 华北电力大学 | Flying robot for detecting transmission line insulator |
| CN201604796U (en) * | 2010-03-23 | 2010-10-13 | 贵阳帝三数字技术有限公司 | Intelligent aerial photography unmanned aerial vehicle |
| US20120232718A1 (en) * | 2011-03-08 | 2012-09-13 | Parrot | Method of piloting a multiple rotor rotary-wing drone to follow a curvilinear turn |
| KR101437323B1 (en) * | 2014-04-01 | 2014-09-02 | 안정철 | Unmanned plane for fire reconnaissance and fire-fighters |
| CN104608928A (en) * | 2014-12-12 | 2015-05-13 | 辽宁石油化工大学 | Multifunctional early-warning type aerial photography aircraft |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105539852A (en) * | 2016-02-19 | 2016-05-04 | 蒋引 | Multi-rotor UAV (unmanned aerial vehicle) as well as control system and method thereof |
| CN106314782A (en) * | 2016-10-22 | 2017-01-11 | 钟贵洪 | Remote control aerial camera |
| WO2018076467A1 (en) * | 2016-10-31 | 2018-05-03 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and alarm system thereof |
| CN109564735A (en) * | 2016-10-31 | 2019-04-02 | 深圳市大疆创新科技有限公司 | Unmanned plane and its alarm system |
| CN108791880A (en) * | 2018-05-04 | 2018-11-13 | 国电锅炉压力容器检验中心 | A kind of pressure vessel inspection unmanned plane |
| CN108974340A (en) * | 2018-06-15 | 2018-12-11 | 河池学院 | A kind of miniature quadrotor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105151288A (en) | Four-rotor aircraft and control device thereof | |
| CN104118559B (en) | Scouting virtual mast | |
| US11423792B2 (en) | System and method for obstacle avoidance in aerial systems | |
| CN107925661B (en) | Streamlined video interface for remotely controlled aerial vehicle with camera | |
| US20200277070A1 (en) | Addressing method for functional modules of a movable object | |
| CN204250368U (en) | A kind of mini quadrotor of Intelligent aerial photography | |
| CN105516691B (en) | Long stagnant empty unmanned plane base station communication and monitoring system | |
| CN104176265B (en) | The reversible supporting frame system that a kind of unmanned plane panorama camera uses | |
| WO2018040006A1 (en) | Control method, device and system, aerial vehicle, carrier, and operating device | |
| JP2016180866A (en) | Aerial shoot device | |
| CN103775840A (en) | Emergency lighting system | |
| CN105373137A (en) | Unmanned system | |
| CN103235599A (en) | Smart phone based flight control system | |
| WO2017166080A1 (en) | Method and device for indicating execution state, and unmanned aerial vehicle | |
| KR20150088639A (en) | Unmanned aerial vehicle having a camera | |
| WO2017169841A1 (en) | Display device and display control method | |
| US20170053572A1 (en) | Portable display apparatuses | |
| CN203996916U (en) | The reversible supporting frame system that a kind of unmanned plane panorama camera uses | |
| CN105681746A (en) | Aerial photography device and aerial photography system | |
| WO2020000384A1 (en) | Aircraft night flight control method and apparatus, control apparatus, and aircraft | |
| CN105151289A (en) | Four-rotor aircraft capable of absorbing objects based on vacuum | |
| TW201640451A (en) | Vehicle video recorder and image recording method using the same | |
| US11194120B2 (en) | Lens device, camera device, and movable body | |
| JP7024997B2 (en) | Aircraft Maneuvering System and How to Maneuver an Aircraft Using an Aircraft Maneuvering System | |
| JP6603564B2 (en) | Video display device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20151216 |
|
| WD01 | Invention patent application deemed withdrawn after publication |