CN106882364A - Accurate intelligent four rotor wing unmanned aerial vehicle of one kind control - Google Patents
Accurate intelligent four rotor wing unmanned aerial vehicle of one kind control Download PDFInfo
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- CN106882364A CN106882364A CN201710152561.7A CN201710152561A CN106882364A CN 106882364 A CN106882364 A CN 106882364A CN 201710152561 A CN201710152561 A CN 201710152561A CN 106882364 A CN106882364 A CN 106882364A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C19/00—Aircraft control not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
- B64C27/14—Direct drive between power plant and rotor hub
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D43/00—Arrangements or adaptations of instruments
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
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Abstract
The present invention relates to accurate intelligent four rotor wing unmanned aerial vehicle of one kind control,Including deflection measuring mechanism and some flying units,Deflection measuring mechanism includes reflector and deflection measurement assembly,Deflection measurement assembly includes driver element,Movable block,Hinged block,Rotating bar,Sleeve pipe and the first photoelectric sensor,Flying unit includes the deceleration unit that the auxiliary on side lever tests the speed on unit and the first drive shaft,Auxiliary tests the speed unit including pole,Drag strut,Cross bar and the second photoelectric sensor,Accurate intelligent four rotor wing unmanned aerial vehicle of the control is by being partial to the angle of inclination of measuring mechanism accurate measurement unmanned plane,The rotating speed of the first drive shaft in each flying unit is detected by the auxiliary unit that tests the speed,Different degrees of deceleration is carried out using deceleration unit,So as to adjust each flying unit,Make unmanned plane holding level,Detect that the wind-force in all directions is strong and weak by wind-force detection unit,And the rotating speed of blade in each flying unit is adjusted again,Realize the precise manipulation of unmanned plane.
Description
Technical field
The present invention relates to unmanned plane field, more particularly to a kind of accurate intelligent four rotor wing unmanned aerial vehicle of control.
Background technology
UAV, abbreviation unmanned plane (UAV) is a kind of new concept weapon equipment being in developing rapidly, its
Have the advantages that maneuverability, reaction quick, unmanned flight, operation are required low.Unmanned plane, can be with by carrying multiclass sensor
Image real-time Transmission, high-risk areas detecting function are realized, is the strong supplement of satellite remote sensing and traditional air remote sensing.At present, nothing
Man-machine use scope has widened military affairs, scientific research, civilian three big field, specifically in electric power, communication, meteorology, agricultural, sea
Ocean, explore, photograph, preventing and reducing natural disasters, Crop Estimation, drug law enforcement anti-smuggling, border patrol, the field such as public security anti-terrorism apply very wide.
Existing unmanned plane generally has that control accuracy is low, main reason is that nothing as a kind of flight instruments
In man-machine flight course out of doors, it will usually by the interference effect of wind-force, wind-force in the horizontal direction, can be produced to unmanned plane
Active force, influences the operation such as advance, translation of unmanned plane, and in vertical direction, wind-force produces upward buoyancy to unmanned plane
Or downward active force, make unmanned plane be difficult to keep level angle flight operation, moreover, during unmanned plane during flying generally according to
Driving blade to rotate by motor produces buoyancy, existing unmanned plane to be usually four rotor wing unmanned aerial vehicles, by controlling four sides
The rotating speed of upward motor drives so as to realize the vertical of unmanned plane, pitching, rolling, driftage, front and rear, lateral movement in motor
During, there is requirement higher to the driving precision of motor needed for, it is necessary to the rotating speed of precise control rotor could complete user
Action, be difficult to correctly ensure the rotating speed of rotor due to motor, so as in actual mechanical process, user is difficult to accurate control
The action of unmanned plane processed.
The content of the invention
The technical problem to be solved in the present invention is：In order to overcome the deficiencies in the prior art, there is provided the accurate intelligence of one kind control
Can the rotor wing unmanned aerial vehicle of type four.
The technical solution adopted for the present invention to solve the technical problems is：Accurate intelligent four rotor of one kind control nobody
Machine, including main body, the deflection measuring mechanism and some flying units that are arranged on below main body, circumferential uniform point of the flying unit
Cloth is in the periphery of main body；
The deflection measuring mechanism includes shell, and the bottom in the shell is provided with the aqueous solution, is provided with anti-in the shell
Tabula rasa and deflection measurement assembly, the reflector are swum on the aqueous solution, and the deflection measurement assembly is arranged on the upper of reflector
Side, the deflection measurement assembly includes driver element, movable block, hinged block, rotating bar, sleeve pipe and the first photoelectric sensor, institute
The top that hinged block is fixed on shell is stated, the top of the rotating bar is hinged with hinged block, and first photoelectric sensor is fixed
In the bottom of rotating bar, described sleeve pipe is set in rotating bar and is hinged with movable block, and the driver element is driven with movable block
Connection；,
The flying unit includes side lever, the first motor, the first drive shaft and some blades, and the side lever is fixed on
In main body, first motor is fixed on side lever and is connected with the first drive shaft, circumferential uniform point of the blade
Cloth is provided with reflective sheeting in the periphery of the first drive shaft, first drive shaft；
The auxiliary that the side lever is provided with tests the speed unit, and the auxiliary unit that tests the speed includes pole, drag strut, cross bar and second
Photoelectric sensor, the bottom of the pole is fixed on side lever, and the drag strut and cross bar are each attached to the side of pole and lean on
Nearly first drive shaft, the cross bar is arranged on the top of pole, and second photoelectric sensor is fixed on cross bar, and described second
The height of photoelectric sensor is highly identical with reflective sheeting；
Deceleration unit is additionally provided with first drive shaft, the deceleration unit includes that the 3rd motor, the 3rd drive
Axle, sleeve pipe, the second framework and second spring, the 3rd motor are fixed in the first drive shaft and are passed with the 3rd drive shaft
Dynamic connection, described sleeve pipe is set in the 3rd drive shaft, and the periphery of the 3rd drive shaft is provided with the second external screw thread, described sleeve pipe
The second internal thread is inside provided with, the second internal thread in described sleeve pipe matches with the second external screw thread in the 3rd drive shaft, described
The vertical cross-section of the second framework is shaped as U-shaped, and second framework is fixed on sleeve pipe, the second spring is arranged on second
In framework, the inwall of the two ends of the second spring respectively with the second framework both sides is connected.
Preferably, the translation in order to realize movable block, the driver element includes the second motor, buffer stopper and the
Two drive shafts, second motor and buffer stopper are separately fixed on the inwall of shell both sides, and second drive shaft sets
Put between the second motor and buffer stopper, second motor and the second drive shaft are connected, described second drives
The periphery of moving axis is provided with the first external screw thread, and the movable block is set in the second drive shaft, is provided with first in the movable block
Screw thread, the internal thread in first movable block matches with the external screw thread in the second drive shaft.
Preferably, in order to obtain the displacement of movable block, so as to obtain the angle of rotating bar rotation, the shifting
Baffle plate is provided with above motion block, range sensor is provided with above the buffer stopper, the baffle plate and range sensor are located at same
One height.
Preferably, in order to detect wind-force size suffered on each flying unit direction, the side lever is away from main body
One end be provided with wind-force measuring unit, the wind-force measuring unit includes the first framework, pressure sensor, the first spring, movement
Bar and deep bead, the vertical cross-section of first framework is U-shaped, and first framework is fixed on side lever, the pressure sensing
Device is fixed on the bottom in the first framework, and one end of the mobile bar is connected by the first spring with pressure sensor, the shifting
The other end of lever is fixedly connected with deep bead.
Preferably, the moving direction in order to fix mobile bar, the wind-force measuring unit is also including spacing ring and two
Gag lever post, two gag lever posts are separately positioned on the both sides of spacing ring, and the spacing ring is set in mobile bar and by limit
Position bar is fixedly connected with the inwall of the first framework.
Preferably, in order to ensure that mobile bar is successfully translated in spacing ring, internal diameter and the mobile bar of the spacing ring
Radius is equal, and lubricating oil is scribbled in the spacing ring.
Preferably, using black light-absorbing ability is strong and the characteristics of strong white reflection ability, in order to ensure the second light
The accurate measurement of electric transducer, the color of first drive shaft is black, and the color of the reflective sheeting is white.
Preferably, the endurance in order to ensure unmanned plane, solar panels are provided with above the main body.
Preferably, using DC servo motor driving force it is strong the characteristics of, in order to ensure the flight performance of flying unit, institute
The first motor is stated for DC servo motor.
Preferably, for the motion track of fixed sleeving, the deceleration unit also includes two guide posts, described in two
Guide post is separately positioned on the both sides of the 3rd drive shaft and is fixed on the 3rd motor, and described sleeve pipe is set in guide post
On.
The unmanned plane in flight course, by windage, unmanned plane run-off the straight, in order to detect the inclination journey of unmanned plane
Degree, facilitates it to recover level angle, overall angle of inclination is measured by the biasing mechanism below main body, by first
Photoelectric sensor launches optical signal, and when baffle plate is in rotating bar vertical plane, optical signal returns to the first photoelectric sensor.
Because baffle plate is located on the aqueous solution in shell, baffle plate is in level angle all the time, and the angle of the first photoelectric sensor is with nothing
Man-machine angle of inclination changes, when the first photoelectric sensor does not receive optical signal, by the second drive in driver element
Dynamic motor drives the second drive shaft turns, movable block is moved in the second drive shaft, by being hinged, makes the collar in rotating bar
Slide, so that rotating bar rotates, change the first photoelectric sensor angle, make it just to baffle plate, now the first photoelectric transfer
Sensor receives signal, and baffle plate distance is detected by range sensor, so that it is determined that the displacement of movable block, and then by dividing
Analysis can determine the rotational angle of rotating bar, so that it is determined that the angle of inclination of unmanned plane.Accurate intelligent four rotor of the control
Unmanned plane is capable of the angle of inclination of accurate measurement unmanned plane by being partial to measuring mechanism.
It is determined that behind unmanned plane angle of inclination, the first motor in each flying unit adjusts the rotating speed to blade first
Coarse adjustment is carried out, while being measured to the rotating speed of the first drive shaft using the unit that tests the speed of the auxiliary on side lever, the first drive shaft turns
When dynamic, reflective sheeting follows rotation, and when reflective sheeting is just to the second photoelectric sensor, the second photoelectric sensor detects a pulse
Signal, after machine-glazed paper is turned over, the first drive shaft of black absorbs optical signal, by detect two time intervals of pulse signal so as to
It is capable of the rotating speed of the drive shaft of accurate measurement first.Accurate intelligent four rotor wing unmanned aerial vehicle of the control is examined by the auxiliary unit that tests the speed
Survey the rotating speed of the first drive shaft in each flying unit.
When the relative rotation speed of the first drive shaft in certain flying unit is too high, for turning for the drive shaft of accurate adjustment first
Speed, by the deceleration unit reduction rotating speed in the first drive shaft, the 3rd drive shaft turns is driven by the 3rd motor, is being led
Under to the position-limiting action of bar, sleeve pipe is set to be moved to the direction away from the first drive shaft, so that the movement of the second framework is driven, when the
When second spring in one framework is contacted with drag strut, drag strut prevents second spring along the first drive shaft turns, due to now
Square being directly proportional for the centripetal force of second spring and angular speed, is inversely proportional with the distance with the first drive shaft, when being gradually distance from
During one drive shaft, centripetal force is smaller, and overcomes the resistance of second spring to immobilize, therefore, when second spring is gradually distance from
During one drive shaft, slowing effect is weaker, by the rotating speed for controlling the displacement of second spring so as to reduce the first drive shaft, leads to
Each flying unit is overregulated so that unmanned plane keeps horizontal level.Accurate intelligent four rotor wing unmanned aerial vehicle of the control passes through
Deceleration unit reduction rotating speed, so as to adjust each flying unit, makes unmanned plane holding level.
When unmanned plane recovers horizontal level, the wind-force size in wind-force detection unit detection all directions on each side lever,
Wind blows deep bead, by mobile bar, in the presence of spacing ring, mobile bar compression second spring detects pressure sensor
To pressure data, according to pressure data so as to judge wind-force size in this direction, for the corresponding operating for realizing unmanned plane is provided
Reference data, so as to adjust the rotating speed of blade in each flying unit.Accurate intelligent four rotor wing unmanned aerial vehicle of the control passes through wind
Wind-force in power detection unit detection all directions is strong and weak, so as to adjust the rotating speed of blade in each flying unit, it is ensured that unmanned plane
Precise manipulation..
The beneficial effects of the invention are as follows accurate intelligent four rotor wing unmanned aerial vehicle of the control is accurate by being partial to measuring mechanism
The angle of inclination of unmanned plane is measured, the rotating speed of the first drive shaft in each flying unit is detected by the auxiliary unit that tests the speed, using deceleration
Unit carries out different degrees of deceleration, so as to adjust each flying unit, makes unmanned plane holding level, is examined by wind-force detection unit
The wind-force surveyed in all directions is strong and weak, and adjusts the rotating speed of blade in each flying unit again, realizes the precise manipulation of unmanned plane.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the structural representation of accurate intelligent four rotor wing unmanned aerial vehicle of control of the invention；
Fig. 2 is the top view of accurate intelligent four rotor wing unmanned aerial vehicle of control of the invention；
Fig. 3 is the structural representation of the deflection measuring mechanism of accurate intelligent four rotor wing unmanned aerial vehicle of control of the invention；
Fig. 4 is the structural representation of the wind-force measurement of accurate intelligent four rotor wing unmanned aerial vehicle of control of the invention；
Fig. 5 is that the auxiliary of accurate intelligent four rotor wing unmanned aerial vehicle of control of the invention tests the speed the structural representation of unit；
Fig. 6 is the structural representation of the deceleration unit of accurate intelligent four rotor wing unmanned aerial vehicle of control of the invention；
In figure：1. main body, is 2. partial to measuring mechanism, 3. solar panels, 4. side lever, 5. the first motor, 6. first drives
Moving axis, 7. blade, 8. wind-force measuring unit, 9. reflective sheeting, 10. auxiliary test the speed unit, 11. deceleration units, 12. flying units,
13. shells, 14. reflectors, 15. second motors, 16. buffer stoppers, 17. second drive shafts, 18. movable blocks, 19. are hinged
Block, 20. rotating bars, 21. collars, 22. first photoelectric sensors, 23. baffle plates, 24. second springs, 25. range sensors, 26.
First framework, 27. pressure sensors, 28. first springs, 29. mobile bars, 30. spacing rings, 31. gag lever posts, 32. deep beads,
33. poles, 34. drag struts, 35. cross bars, 36. second photoelectric sensors, 37. the 3rd motors, 38. the 3rd drive shafts, 39.
Guide post, 40. sleeve pipes, 41. second frameworks.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant with the present invention.
As shown in figs 1 to 6, a kind of accurate intelligent four rotor wing unmanned aerial vehicle of control, including main body 1, it is arranged on main body 1
The deflection measuring mechanism 2 and some flying units 12 of lower section, the circumferential periphery for being evenly distributed on main body 1 of the flying unit 12；
The deflection measuring mechanism 2 includes shell 13, and the bottom in the shell 13 is provided with the aqueous solution, in the shell 13
Reflector 14 and deflection measurement assembly are provided with, the reflector 14 is swum on the aqueous solution, the deflection measurement assembly is arranged on
The top of reflector 14, the deflection measurement assembly includes driver element, movable block 18, hinged block 19, rotating bar 20, sleeve pipe 21
With the first photoelectric sensor 21, the hinged block 19 is fixed on the top of shell 13, the top of the rotating bar 20 and hinged block
19 are hinged, and first photoelectric sensor 22 is fixed on the bottom of rotating bar 20, described sleeve pipe 21 be set in rotating bar 20 and
It is hinged with movable block 18, the driver element is connected with movable block 18；,
The flying unit 12 includes side lever 4, the first motor 5, the first drive shaft 6 and some blades 7, the side lever
4 fix on the body 1, and first motor 5 is fixed on side lever 4 and is connected with the first drive shaft 6, the blade
The 7 circumferential peripheries for being evenly distributed on the first drive shaft 6, first drive shaft 6 is provided with reflective sheeting 9；
The auxiliary that the side lever 4 is provided with tests the speed unit 10, the auxiliary test the speed unit 10 including pole 33, drag strut 34,
The photoelectric sensor 36 of cross bar 35 and second, the bottom of the pole 33 is fixed on side lever 4, and the drag strut 34 and cross bar 35 are equal
It is fixed on the side of pole 33 and near the first drive shaft 6, the cross bar 35 is arranged on the top of pole 33, second photoelectricity
Sensor 36 is fixed on cross bar 35, and the height of second photoelectric sensor 36 is highly identical with reflective sheeting 9；
It is additionally provided with deceleration unit 11 in first drive shaft 6, the deceleration unit 11 includes the 3rd motor 37, the
Three drive shafts 38, sleeve pipe 40, the second framework 41 and second spring 24, the 3rd motor 37 are fixed on the first drive shaft 6
It is connected above and with the 3rd drive shaft 38, described sleeve pipe 40 is set in the 3rd drive shaft 38, the 3rd drive shaft 38
Periphery is provided with the second external screw thread, described sleeve pipe 40 and is provided with the second internal thread, the second internal thread and the 3rd in described sleeve pipe 40
The second external screw thread in drive shaft 38 matches, and the vertical cross-section of second framework 41 is shaped as U-shaped, second framework
41 are fixed on sleeve pipe 40, and the second spring 24 is arranged in the second framework 41, the two ends of the second spring 24 respectively with
The inwall connection of the both sides of the second framework 41.
Preferably, the translation in order to realize movable block 18, the driver element includes the second motor 15, buffer stopper
16 and second drive shaft 17, second motor 15 and buffer stopper 16 are separately fixed on the inwall of the both sides of shell 13, institute
State the second drive shaft 17 to be arranged between the second motor 15 and buffer stopper 16, second motor 15 and second drives
Axle 17 is connected, and the periphery of second drive shaft 17 is provided with the first external screw thread, and the movable block 18 is set in the second driving
On axle 17, the first internal thread is provided with the movable block 18, internal thread and the second drive shaft 17 in first movable block 18
On external screw thread match.
Preferably, in order to obtain the displacement of movable block 18, so as to obtain the angle of the rotation of rotating bar 20, institute
The top for stating movable block 18 is provided with baffle plate 23, and the top of the buffer stopper 16 is provided with range sensor 25, the baffle plate 23 and away from
Sustained height is located at from sensor 25.
Preferably, in order to detect wind-force size suffered on the direction of each flying unit 12, the side lever 4 is away from master
One end of body 1 is provided with wind-force measuring unit 8, and the wind-force measuring unit 8 includes the first framework 26, pressure sensor 27, first
Spring 28, mobile bar 29 and deep bead 32, the vertical cross-section of first framework 26 is U-shaped, and first framework 26 is fixed on
On side lever 4, the pressure sensor 27 is fixed on the bottom in the first framework 26, and one end of the mobile bar 29 passes through the first bullet
Spring 28 is connected with pressure sensor 27, and the other end of the mobile bar 29 is fixedly connected with deep bead 32.
Preferably, the moving direction in order to fix mobile bar 29, the wind-force measuring unit 8 is also including the He of spacing ring 30
Two gag lever posts 31, two gag lever posts 31 are separately positioned on the both sides of spacing ring 30, and the spacing ring 30 is set in movement
It is fixedly connected with the inwall of the first framework 26 on bar 29 and by gag lever post 31.
Preferably, in order to ensure that mobile bar 29 is successfully translated in spacing ring 30, internal diameter and the shifting of the spacing ring 30
The radius of lever 29 is equal, and lubricating oil is scribbled in the spacing ring 30.
Preferably, using black light-absorbing ability is strong and the characteristics of strong white reflection ability, in order to ensure the second light
The accurate measurement of electric transducer 36, the color of first drive shaft 6 is black, and the color of the reflective sheeting 9 is white.
Preferably, the endurance in order to ensure unmanned plane, the top of the main body 1 is provided with solar panels 3.
Preferably, using DC servo motor driving force it is strong the characteristics of, in order to ensure the flight performance of flying unit 12,
First motor 5 is DC servo motor.
Preferably, for the motion track of fixed sleeving 40, the deceleration unit 11 also includes two guide posts 39, two
The individual guide post 39 is separately positioned on the both sides of the 3rd drive shaft 38 and is fixed on the 3rd motor 37, described sleeve pipe 40
It is set on guide post 39.
The unmanned plane in flight course, by windage, unmanned plane run-off the straight, in order to detect the inclination journey of unmanned plane
Degree, facilitates its to recover level angle, is measured by the angle of inclination of 2 pairs of entirety of biasing mechanism of the lower section of main body 1, by the
One photoelectric sensor 22 launches optical signal, and when baffle plate 23 is in 20 vertical plane of rotating bar, optical signal returns to the first light
Electric transducer 22.Because baffle plate 23 is located on the aqueous solution in shell 13, baffle plate 23 is all the time in level angle, and the first photoelectricity
The angle of sensor 22 changes with the angle of inclination of unmanned plane, when the first photoelectric sensor 22 does not receive optical signal,
Drive the second drive shaft 17 to rotate by the second motor 15 in driver element, movable block 18 is moved in the second drive shaft 17
It is dynamic, by being hinged, the collar 21 is slided in rotating bar 20, so that rotating bar 20 rotates, change the first photoelectric sensing
The angle of device 22, makes it just to baffle plate 23, and now the first photoelectric sensor 22 receives signal, is detected by range sensor 25 and kept off
The distance of plate 23, so that it is determined that the displacement of movable block 18, and then can determine the rotational angle of rotating bar 20 by analysis, from
And determine the angle of inclination of unmanned plane.Accurate intelligent four rotor wing unmanned aerial vehicle of the control being capable of essence by being partial to measuring mechanism 2
Really measure the angle of inclination of unmanned plane.
It is determined that behind unmanned plane angle of inclination, the first motor 5 in each flying unit 12 is adjusted to blade 7 first
Rotating speed carries out coarse adjustment, while being measured using the test the speed rotating speed of 10 pairs of the first drive shafts 6 of unit of the auxiliary on side lever 4, first
When drive shaft 6 is rotated, reflective sheeting 9 follows rotation, when reflective sheeting 9 is just to the second photoelectric sensor 36, the second photoelectric sensor
36 detect a pulse signal, and after machine-glazed paper 9 is turned over, first drive shaft 6 of black absorbs optical signal, by detecting two pulses
The time interval of signal so as to the first drive shaft of accurate measurement 6 rotating speed.Accurate intelligent four rotor of the control nobody
Machine by auxiliary test the speed unit 10 detect each flying unit 12 in the first drive shaft 6 rotating speed.
When the relative rotation speed of the first drive shaft 6 in certain flying unit 12 is too high, for the first drive shaft of accurate adjustment 6
Rotating speed, by deceleration unit 11 in the first drive shaft 6 reduction rotating speed, the 3rd drive shaft is driven by the 3rd motor 27
38 rotate, and under the position-limiting action of guide post 39, sleeve pipe 40 is moved to the direction away from the first drive shaft 6, so that driving
Second framework 41 is moved, and when the second spring 24 in the first framework 41 is contacted with drag strut 34, drag strut 34 prevents the second bullet
Spring 24 is rotated along the first drive shaft 6, due to square being directly proportional for the now centripetal force of second spring 24 and angular speed, and with first
The distance of drive shaft 6 is inversely proportional, and when the first drive shaft 6 is gradually distance from, centripetal force is smaller, and overcomes the resistance of second spring 24
Immobilize, therefore, when second spring 24 is gradually distance from the first drive shaft 6, slowing effect is weaker, by controlling second spring
24 displacement so as to reduce the rotating speed of the first drive shaft 6, by adjusting each flying unit 12 so that unmanned plane keeps
Horizontal level.Accurate intelligent four rotor wing unmanned aerial vehicle of the control reduces rotating speed by deceleration unit 11, so as to adjust each flight
Unit 12, makes unmanned plane holding level.
When unmanned plane recovers horizontal level, the wind-force in the detection all directions of wind-force detection unit 8 on each side lever 4 is big
It is small, wind blows deep bead 31, by mobile bar 29, in the presence of spacing ring 30, the compression of mobile bar 29 second spring 24 makes
Pressure sensor 27 detects pressure data, according to pressure data so as to judge wind-force size in this direction, to realize nobody
The corresponding operating of machine provides reference data, so as to adjust the rotating speed of blade 7 in each flying unit 12.The control is accurately intelligent
Four rotor wing unmanned aerial vehicles detect that the wind-force in all directions is strong and weak by wind-force detection unit 8, so as to adjust oar in each flying unit 12
The rotating speed of leaf 7, it is ensured that the precise manipulation of unmanned plane.
Compared with prior art, accurate intelligent four rotor wing unmanned aerial vehicle of the control is accurately surveyed by being partial to measuring mechanism 2
The angle of inclination of unmanned plane is measured, the rotating speed of the first drive shaft 6 in each flying unit 12 is detected by the auxiliary unit 10 that tests the speed, using subtracting
Fast unit 11 carries out different degrees of deceleration, so as to adjust each flying unit 12, makes unmanned plane holding level, is detected by wind-force
Wind-force in the detection all directions of unit 8 is strong and weak, and adjusts the rotating speed of blade 7 in each flying unit 12 again, realizes unmanned plane
Precise manipulation.
With above-mentioned according to desirable embodiment of the invention as enlightenment, by above-mentioned description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property scope is not limited to the content on specification, it is necessary to its technical scope is determined according to right.
Claims (10)
1. it is a kind of to control accurate intelligent four rotor wing unmanned aerial vehicle, it is characterised in that including main body (1), to be arranged under main body (1)
The deflection measuring mechanism (2) and some flying units (12) of side, the flying unit (12) are circumferentially evenly distributed on main body (1)
Periphery；
Deflection measuring mechanism (2) includes shell (13), and the bottom in the shell (13) is provided with the aqueous solution, the shell
(13) reflector (14) and deflection measurement assembly are provided with, the reflector (14) is swum on the aqueous solution, the deflection measurement
Component is arranged on the top of reflector (14), and the deflection measurement assembly includes driver element, movable block (18), hinged block
(19), rotating bar (20), sleeve pipe (21) and the first photoelectric sensor (21), the hinged block (19) are fixed on the top of shell (13)
Portion, top and the hinged block (19) of the rotating bar (20) are hinged, and first photoelectric sensor (22) is fixed on rotating bar
(20) bottom, described sleeve pipe (21) is set in rotating bar (20) and is hinged with movable block (18), the driver element with move
Motion block (18) is connected；,
The flying unit (12) includes side lever (4), the first motor (5), the first drive shaft (6) and some blades (7), institute
Side lever (4) is stated to be fixed in main body (1), first motor (5) be fixed on side lever (4) and with the first drive shaft (6)
Drive connection, the blade (7) is circumferentially evenly distributed on the periphery of the first drive shaft (6), and first drive shaft (6) is provided with
Reflective sheeting (9)；
The side lever (4) is provided with auxiliary and tests the speed unit (10), and the auxiliary unit (10) that tests the speed includes pole (33), drag strut
(34), cross bar (35) and the second photoelectric sensor (36), the bottom of the pole (33) are fixed on side lever (4), the resistance
Bar (34) and cross bar (35) are each attached to the side of pole (33) and near the first drive shaft (6), and the cross bar (35) is arranged on
The top of pole (33), second photoelectric sensor (36) is fixed on cross bar (35), second photoelectric sensor (36)
Height it is highly identical with reflective sheeting (9)；
Deceleration unit (11) is additionally provided with first drive shaft (6), the deceleration unit (11) includes the 3rd motor
(37), the 3rd drive shaft (38), sleeve pipe (40), the second framework (41) and second spring (24), the 3rd motor (37)
It is fixed in the first drive shaft (6) and is connected with the 3rd drive shaft (38), described sleeve pipe (40) is set in the 3rd drive shaft
(38) on, the periphery of the 3rd drive shaft (38) is provided with the second external screw thread, described sleeve pipe (40) and is provided with the second internal thread, institute
The second internal thread stated in sleeve pipe (40) matches with the second external screw thread in the 3rd drive shaft (38), second framework (41)
Vertical cross-section be shaped as U-shaped, second framework (41) is fixed on sleeve pipe (40), the second spring (24) is arranged on
In second framework (41), the inwall of the two ends of the second spring (24) respectively with the second framework (41) both sides is connected.
2. it is as claimed in claim 1 to control accurate intelligent four rotor wing unmanned aerial vehicle, it is characterised in that the driver element bag
Include the second motor (15), buffer stopper (16) and the second drive shaft (17), second motor (15) and buffer stopper
(16) be separately fixed on the inwall of shell (13) both sides, second drive shaft (17) be arranged on the second motor (15) and
Between buffer stopper (16), second motor (15) is connected with the second drive shaft (17), second drive shaft
(17) periphery is provided with the first external screw thread, and the movable block (18) is set in the second drive shaft (17), the movable block (18)
The first internal thread is inside provided with, the external screw thread phase in the internal thread in first movable block (18) and the second drive shaft (17)
Match somebody with somebody.
3. it is as claimed in claim 1 to control accurate intelligent four rotor wing unmanned aerial vehicle, it is characterised in that the movable block (18)
Top be provided with baffle plate (23), range sensor (25), the baffle plate (23) and distance are provided with above the buffer stopper (16)
Sensor (25) is positioned at sustained height.
4. it is as claimed in claim 1 to control accurate intelligent four rotor wing unmanned aerial vehicle, it is characterised in that the side lever (4) is remote
Wind-force measuring unit (8) is provided with from one end of main body (1), the wind-force measuring unit (8) passes including the first framework (26), pressure
Sensor (27), the first spring (28), mobile bar (29) and deep bead (32), the vertical cross-section of first framework (26) is U-shaped,
First framework (26) is fixed on side lever (4), and the pressure sensor (27) is fixed on the bottom in the first framework (26),
One end of the mobile bar (29) is connected by the first spring (28) with pressure sensor (27), the mobile bar (29) it is another
End is fixedly connected with deep bead (32).
5. it is as claimed in claim 4 to control accurate intelligent four rotor wing unmanned aerial vehicle, it is characterised in that the wind-force measurement is single
First (8) also include spacing ring (30) and two gag lever posts (31), and two gag lever posts (31) are separately positioned on spacing ring (30)
Both sides, the spacing ring (30) is set in mobile bar (29) and the inwall by gag lever post (31) and the first framework (26) is consolidated
Fixed connection.
6. it is as claimed in claim 4 to control accurate intelligent four rotor wing unmanned aerial vehicle, it is characterised in that the spacing ring (30)
Internal diameter it is equal with the radius of mobile bar (29), scribbles lubricating oil in the spacing ring (30).
7. it is as claimed in claim 1 to control accurate intelligent four rotor wing unmanned aerial vehicle, it is characterised in that first drive shaft
(6) color is black, and the color of the reflective sheeting (9) is white.
8. it is as claimed in claim 1 to control accurate intelligent four rotor wing unmanned aerial vehicle, it is characterised in that the main body (1)
Top is provided with solar panels (3).
9. it is as claimed in claim 1 to control accurate intelligent four rotor wing unmanned aerial vehicle, it is characterised in that described first drives electricity
Machine (5) is DC servo motor.
10. it is as claimed in claim 1 to control accurate intelligent four rotor wing unmanned aerial vehicle, it is characterised in that the deceleration unit
(11) two guide posts (39) are also included, two guide posts (39) are separately positioned on the both sides of the 3rd drive shaft (38) and consolidate
It is scheduled on the 3rd motor (37), described sleeve pipe (40) is set on guide post (39).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710152561.7A CN106882364B (en) | 2017-03-15 | 2017-03-15 | It is a kind of to control accurate intelligent quadrotor drone |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710152561.7A CN106882364B (en) | 2017-03-15 | 2017-03-15 | It is a kind of to control accurate intelligent quadrotor drone |
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| CN106882364A true CN106882364A (en) | 2017-06-23 |
| CN106882364B CN106882364B (en) | 2019-02-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710152561.7A Expired - Fee Related CN106882364B (en) | 2017-03-15 | 2017-03-15 | It is a kind of to control accurate intelligent quadrotor drone |
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Cited By (6)
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| CN107972868A (en) * | 2017-11-28 | 2018-05-01 | 深圳市雷凌广通技术研发有限公司 | A kind of vehicle-mounted unmanned aerial vehicle for being used for meteorological detection based on Internet of Things |
| CN110001950A (en) * | 2019-04-06 | 2019-07-12 | 胡永星 | A kind of quadrotor drone keeping flight stability in beam wind |
| CN111572767A (en) * | 2020-05-26 | 2020-08-25 | 黄河水利委员会黄河水利科学研究院 | River situation remote sensing monitoring devices based on unmanned aerial vehicle |
| CN111625020A (en) * | 2020-05-28 | 2020-09-04 | 龙刚 | Unmanned aerial vehicle meets and hinders dynamic regulation and control device system based on photoelectric monitoring analysis |
| CN115555320A (en) * | 2022-10-28 | 2023-01-03 | 贵州电网有限责任公司 | Photovoltaic board washs unmanned aerial vehicle for photovoltaic power plant |
| CN115855135A (en) * | 2023-02-21 | 2023-03-28 | 西安感崆电子信息科技有限公司 | Detection equipment for output signal stability of photoelectric sensor |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107972868A (en) * | 2017-11-28 | 2018-05-01 | 深圳市雷凌广通技术研发有限公司 | A kind of vehicle-mounted unmanned aerial vehicle for being used for meteorological detection based on Internet of Things |
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| CN111572767A (en) * | 2020-05-26 | 2020-08-25 | 黄河水利委员会黄河水利科学研究院 | River situation remote sensing monitoring devices based on unmanned aerial vehicle |
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| CN111625020A (en) * | 2020-05-28 | 2020-09-04 | 龙刚 | Unmanned aerial vehicle meets and hinders dynamic regulation and control device system based on photoelectric monitoring analysis |
| CN111625020B (en) * | 2020-05-28 | 2023-11-24 | 国网福建省电力有限公司莆田供电公司 | Unmanned aerial vehicle meets and hinders dynamic regulation and control device system based on photoelectricity monitoring analysis |
| CN115555320A (en) * | 2022-10-28 | 2023-01-03 | 贵州电网有限责任公司 | Photovoltaic board washs unmanned aerial vehicle for photovoltaic power plant |
| CN115855135A (en) * | 2023-02-21 | 2023-03-28 | 西安感崆电子信息科技有限公司 | Detection equipment for output signal stability of photoelectric sensor |
| CN115855135B (en) * | 2023-02-21 | 2023-07-28 | 西安感崆电子信息科技有限公司 | Detection equipment for stability of output signal of photoelectric sensor |
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| CN106882364B (en) | 2019-02-19 |
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