CN106882364B - It is a kind of to control accurate intelligent quadrotor drone - Google Patents
It is a kind of to control accurate intelligent quadrotor drone Download PDFInfo
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- CN106882364B CN106882364B CN201710152561.7A CN201710152561A CN106882364B CN 106882364 B CN106882364 B CN 106882364B CN 201710152561 A CN201710152561 A CN 201710152561A CN 106882364 B CN106882364 B CN 106882364B
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- 238000005259 measurement Methods 0.000 claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 238000012360 testing method Methods 0.000 claims abstract description 17
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- 239000007864 aqueous solution Substances 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 4
- 239000010687 lubricating oil Substances 0.000 claims description 3
- 230000002459 sustained effect Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 6
- 230000003287 optical effect Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000013519 translation Methods 0.000 description 3
- 239000004744 fabric Substances 0.000 description 2
- 230000005622 photoelectricity Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
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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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- 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
-
- 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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- Aviation & Aerospace Engineering (AREA)
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Abstract
Accurate intelligent quadrotor drone is controlled the present invention relates to a kind of, including being biased to measuring mechanism and several flying units, measuring mechanism is biased to include reflector and be biased to measure component, being biased to measurement component includes driving unit, movable block, hinged block, rotating bar, casing 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, the auxiliary unit that tests the speed includes strut, drag strut, cross bar and the second photoelectric sensor, the control tilt angle that accurately intelligent quadrotor drone passes through deviation measuring mechanism precise measurement unmanned plane, the revolving speed of 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, to adjust each flying unit, keep unmanned plane holding horizontal, all directions are detected by wind-force detection unit On wind-force it is strong and weak, and adjust the revolving speed of blade in each flying unit again, realize the precise manipulation of unmanned plane.
Description
Technical field
The present invention relates to unmanned plane fields, in particular to a kind of to control accurate intelligent quadrotor drone.
Background technique
UAV, abbreviation unmanned plane (UAV) are a kind of new concept weapon equipments being in rapid development,
It is low to have the advantages that maneuverability, rapid reaction, unmanned flight, operation require.Unmanned plane, can be with by carrying multiclass sensor
It realizes image real-time Transmission, high-risk areas detecting function, is the strong supplement of satellite remote sensing and traditional air remote sensing.Currently, nothing
Man-machine use scope has widened military affairs, scientific research, civilian three big field, specifically in electric power, communication, meteorology, agricultural, sea
Ocean, he explores, photographs, preventing and reducing natural disasters, Crop Estimation, drug law enforcement anti-smuggling, border patrol, the fields application such as public security anti-terrorism it is very wide.
Existing unmanned plane usually has that control precision is low, main reason is that nothing as a kind of flight instruments
In man-machine flight course outdoors, it will usually which, by the interference effect of wind-force, wind-force in the horizontal direction, can generate unmanned plane
Active force influences the operation such as advance, translation of unmanned plane, and in vertical direction, wind-force generates upward buoyancy to unmanned plane
Or downward active force, so that unmanned plane is difficult to keep the flight operation of level angle, moreover, when unmanned plane during flying usually according to
Blade rotation is driven to generate buoyancy by driving motor, existing unmanned plane is usually quadrotor drone, by controlling four sides
The revolving speed of upward motor is to realize the vertical of unmanned plane, pitching, rolling, yaw, front and back, lateral movement, but in motor driven
In the process, to the driving precision of motor there are higher requirement, need the revolving speed for accurately controlling rotor that could complete needed for user
Movement, due to driving motor be difficult to correctly guarantee rotor revolving speed, so that in the actual operation process, user is difficult to accurately control
The movement of unmanned plane processed.
Summary of the invention
The technical problem to be solved by the present invention is for overcome the deficiencies in the prior art, providing a kind of accurate intelligence of control
It can type quadrotor drone.
The technical solution adopted by the present invention to solve the technical problems is: it is a kind of control accurate intelligent quadrotor nobody
Machine, including main body, the deviation measuring mechanism and several flying units that are arranged in below main body, the flying unit is circumferential uniformly to be divided
Cloth is in the periphery of main body；
The deviation measuring mechanism includes shell, and the bottom in the shell is equipped with aqueous solution, is equipped in the shell anti-
Tabula rasa and deviation measurement component, the reflector are swum on aqueous solution, and the upper of reflector is arranged in the deviation measurement component
Side, the deviation measurement component includes driving unit, movable block, hinged block, rotating bar, casing and the first photoelectric sensor, institute
The top that hinged block is fixed on shell is stated, the top of the rotating bar and hinged block are hinged, and first photoelectric sensor is fixed
In the bottom end of rotating bar, described sleeve pipe is set in rotating bar and, the driving unit and movable block transmission hinged with movable block
Connection；
The flying unit includes side lever, the first driving motor, the first drive shaft and several blades, and the side lever is fixed on
In main body, first driving motor is fixed on side lever and is sequentially connected with the first drive shaft, and the blade is circumferential uniformly to be divided
Cloth is equipped with reflective sheeting in the periphery of the first drive shaft, first drive shaft；
The side lever is equipped with auxiliary and tests the speed unit, and the auxiliary unit that tests the speed includes strut, drag strut, cross bar and second
The bottom end of photoelectric sensor, the strut is fixed on side lever, and the drag strut and cross bar are each attached to the side of strut and lean on
The top of strut is arranged in nearly first drive shaft, the cross bar, and second photoelectric sensor is fixed on cross bar, and described second
The height of photoelectric sensor and the height of reflective sheeting are identical；
Deceleration unit is additionally provided in first drive shaft, the deceleration unit includes third driving motor, third driving
Axis, casing, the second frame and second spring, the third driving motor are fixed in the first drive shaft and pass with third drive shaft
Dynamic connection, described sleeve pipe are set in third drive shaft, and the periphery of the third drive shaft is equipped with the second external screw thread, described sleeve pipe
It is inside equipped with the second internal screw thread, the second internal screw thread in described sleeve pipe matches with the second external screw thread in third drive shaft, described
The shape of the vertical cross-section of second frame is U-shaped, and second frame is fixed on casing, and the second spring is arranged second
In frame, the both ends of the second spring are connect with the inner wall of the second frame two sides respectively.
Preferably, the translation in order to realize movable block, the driving unit includes the second driving motor, buffer stopper and the
Two drive shafts, second driving motor and buffer stopper are separately fixed on the inner wall of shell two sides, and second drive shaft is set
It sets between the second driving motor and buffer stopper, second driving motor and the second drive shaft are sequentially connected, and described second drives
The periphery of moving axis is equipped with the first external screw thread, and the movable block is set in the second drive shaft, is equipped in first in the movable block
Screw thread, the internal screw thread in the movable block match with the external screw thread in the second drive shaft.
Preferably, in order to obtain the moving distance of movable block, to obtain the angle of rotating bar rotation, the shifting
The top of motion block is equipped with baffle, and the top of the buffer stopper is equipped with range sensor, and the baffle and range sensor are located at same
One height.
Preferably, the side lever is far from main body in order to detect wind-force size suffered on each flying unit direction
One end be equipped with wind-force measuring unit, the wind-force measuring unit include the first frame, pressure sensor, the first spring, movement
The vertical cross-section of bar and wind deflector, first frame is U-shaped, and first frame is fixed on side lever, the pressure sensing
Device is fixed on the bottom in the first frame, and one end of the mobile bar is connect by the first spring with pressure sensor, the shifting
The other end of lever is fixedly connected with wind deflector.
Preferably, in order to fix the moving direction of mobile bar, the wind-force measuring unit further includes stop collar and two
Gag lever post, two gag lever posts are separately positioned on the two sides of stop collar, and the stop collar is set in mobile bar and passes through limit
Position bar is fixedly connected with the inner wall of the first frame.
Preferably, in order to guarantee that mobile bar is successfully translated in stop collar, the internal diameter of the stop collar and mobile bar
Radius is equal, is coated with lubricating oil in the stop collar.
Preferably, using the feature that black light-absorbing ability is strong and white reflection ability is strong, in order to guarantee the second light
The precise measurement of electric transducer, the color of first drive shaft are black, and the color of the reflective sheeting is white.
Preferably, the cruising ability in order to guarantee unmanned plane, the top of the main body is equipped with solar panels.
Preferably, the feature strong using DC servo motor driving force, in order to guarantee the flight performance of flying unit, institute
Stating the first driving motor is DC servo motor.
Preferably, the deceleration unit further includes two guide rods, described in two for the motion track of fixed sleeving
Guide rod is separately positioned on the two sides of third drive shaft and is fixed on third driving motor, and described sleeve pipe is set in guide rod
On.
The unmanned plane is affected by the wind in flight course, unmanned plane run-off the straight, in order to detect the inclination journey of unmanned plane
Degree facilitates it to restore level angle, is measured by the biasing mechanism below main body to whole tilt angle, passes through first
Photoelectric sensor emits optical signal, and when baffle is in rotating bar vertical plane, optical signal returns to the first photoelectric sensor.
It is located on the aqueous solution in shell due to baffle, baffle is in level angle always, and the angle of the first photoelectric sensor is with nothing
Man-machine tilt angle changes, and when the first photoelectric sensor does not receive optical signal, is driven by second in driving unit
Dynamic motor drives the second drive shaft turns, moves movable block in the second drive shaft, by hinged, makes lantern ring in rotating bar
Sliding changes the first photoelectric sensor angle, makes its face baffle, at this time the first photoelectric transfer so that rotating bar be made to rotate
Sensor receives signal, detects baffle distance by range sensor, so that it is determined that the moving distance of movable block, and then by dividing
Analysis can determine the rotational angle of rotating bar, so that it is determined that the tilt angle of unmanned plane.The accurate intelligent quadrotor of the control
The tilt angle that unmanned plane is capable of precise measurement unmanned plane by being biased to measuring mechanism.
After determining unmanned plane tilt angle, the first driving motor in each flying unit adjusts the revolving speed to blade first
Coarse adjustment is carried out, while the revolving speed of the first drive shaft is measured using the unit that tests the speed of the auxiliary on side lever, the first drive shaft turn
When dynamic, reflective sheeting follows rotation, and when reflective sheeting the second photoelectric sensor of face, the second photoelectric sensor detects a pulse
Signal, after machine-glazed paper turns over, the first drive shaft of black absorbs optical signal, by detect the time interval of two pulse signals to
It is capable of the revolving speed of the first drive shaft of precise measurement.Accurately intelligent quadrotor drone passes through the unit inspection that assists testing the speed for the control
Survey the revolving speed of the first drive shaft in each flying unit.
When the relative rotation speed of the first drive shaft in some flying unit is excessively high, in order to accurately adjust turning for the first drive shaft
Speed, reduces revolving speed by the deceleration unit in the first drive shaft, drives third drive shaft turns by third driving motor, is leading
To under the position-limiting action of bar, it is mobile to the direction far from the first drive shaft to make casing, to make to drive the second frame mobile, when the
When second spring and drag strut in one frame contact, drag strut prevents second spring along the first drive shaft turns, due at this time
The centripetal force of second spring and angular speed it is square directly proportional, with be inversely proportional at a distance from the first drive shaft, when being gradually distance from
When one drive shaft, centripetal force is smaller, and the resistance of second spring is overcome to immobilize, therefore, when second spring is gradually distance from
When one drive shaft, slowing effect is weaker, reduces the revolving speed of the first drive shaft by controlling the moving distance of second spring, leads to
Each flying unit is overregulated to make unmanned plane keep horizontal position.Accurately intelligent quadrotor drone passes through for the control
Deceleration unit reduces revolving speed, to adjust each flying unit, keeps unmanned plane holding horizontal.
When unmanned plane restores horizontal position, the wind-force detection unit on each side lever detects the wind-force size in all directions,
Wind blows wind deflector, by mobile bar, under the action of stop collar, mobile bar compression second spring detects pressure sensor
To pressure data, according to pressure data to judge wind-force size in this direction, to realize that the corresponding operating of unmanned plane provides
Reference data, to adjust the revolving speed of blade in each flying unit.Accurately intelligent quadrotor drone passes through wind for the control
Power detection unit detects the wind-force power in all directions, to adjust the revolving speed of blade in each flying unit, guarantees unmanned plane
Precise manipulation.
The invention has the advantages that accurately intelligent quadrotor drone is accurate by being biased to measuring mechanism for the control
The tilt angle for measuring unmanned plane detects the revolving speed of the first drive shaft in each flying unit by the auxiliary unit that tests the speed, utilizes deceleration
Unit carries out different degrees of deceleration, to adjust each flying unit, keeps unmanned plane holding horizontal, is examined by wind-force detection unit
The wind-force surveyed in all directions is strong and weak, and adjusts the revolving speed of blade in each flying unit again, realizes the precise manipulation of unmanned plane.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the structural schematic diagram of the accurate intelligent quadrotor drone of control of the invention；
Fig. 2 is the top view of the accurate intelligent quadrotor drone of control of the invention；
Fig. 3 is the structural schematic diagram of the deviation measuring mechanism of the accurate intelligent quadrotor drone of control of the invention；
Fig. 4 is the structural schematic diagram of the wind-force measurement of the accurate intelligent quadrotor drone of control of the invention；
Fig. 5 is that the auxiliary of the accurate intelligent quadrotor drone of control of the invention tests the speed the structural schematic diagram of unit；
Fig. 6 is the structural schematic diagram of the deceleration unit of the accurate intelligent quadrotor drone of control of the invention；
In figure: 1. main bodys, 2. are biased to measuring mechanism, and 3. solar panels, 4. side levers, 5. first driving motors, 6. first drive
Moving axis, 7. blades, 8. wind-force measuring units, 9. reflective sheetings, 10. auxiliary test the speed unit, 11. deceleration units, 12. flying units,
13. shell, 14. reflectors, 15. second driving motors, 16. buffer stoppers, 17. second drive shafts, 18. movable blocks, 19. is hinged
Block, 20. rotating bars, 21. lantern rings, 22. first photoelectric sensors, 23. baffles, 24. second springs, 25. range sensors, 26.
First frame, 27. pressure sensors, 28. first springs, 29. mobile bars, 30. stop collars, 31. gag lever posts, 32. wind deflectors,
33. strut, 34. drag struts, 35. cross bars, 36. second photoelectric sensors, 37. third driving motors, 38. third drive shafts, 39.
Guide rod, 40. casings, 41. second frames.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
As shown in figs 1 to 6, a kind of accurate intelligent quadrotor drone, including main body 1, setting of controlling is in main body 1
The deviation measuring mechanism 2 and several flying units 12 of lower section, the circumferential periphery for being evenly distributed on main body 1 of the flying unit 12；
The deviation measuring mechanism 2 includes shell 13, and the bottom in the shell 13 is equipped with aqueous solution, in the shell 13
Equipped with reflector 14 and it is biased to measurement component, the reflector 14 is swum on aqueous solution, and the deviation measurement component setting exists
The top of reflector 14, the deviation measurement component includes driving unit, movable block 18, hinged block 19, rotating bar 20, casing 21
With the first photoelectric sensor 22, the hinged block 19 is fixed on the top of shell 13, the top of the rotating bar 20 and hinged block
19 is hinged, and first photoelectric sensor 22 is fixed on the bottom end of rotating bar 20, described sleeve pipe 21 be set in rotating bar 20 and
Hinged with movable block 18, the driving unit and movable block 18 are sequentially connected；
The flying unit 12 includes side lever 4, the first driving motor 5, the first drive shaft 6 and several blades 7, the side lever
4 fix on the body 1, and first driving motor 5 is fixed on side lever 4 and is sequentially 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 are equipped with reflective sheeting 9；
The side lever 4 is equipped with auxiliary and tests the speed unit 10, the auxiliary test the speed unit 10 include strut 33, drag strut 34,
Cross bar 35 and the second photoelectric sensor 36, the bottom end of the strut 33 are fixed on side lever 4, and the drag strut 34 and cross bar 35 are equal
It is fixed on the side of strut 33 and the top of strut 33, second photoelectricity is arranged in close first drive shaft 6, the cross bar 35
Sensor 36 is fixed on cross bar 35, and the height of second photoelectric sensor 36 is identical as the height of reflective sheeting 9；
It is additionally provided with deceleration unit 11 in first drive shaft 6, the deceleration unit 11 includes third driving motor 37, the
Three drive shafts 38, casing 40, the second frame 41 and second spring 24, the third driving motor 37 are fixed on the first drive shaft 6
It above and with third drive shaft 38 is sequentially connected, described sleeve pipe 40 is set in third drive shaft 38, the third drive shaft 38
Periphery is equipped with the second external screw thread, and the second internal screw thread, the second internal screw thread and third in described sleeve pipe 40 are equipped in described sleeve pipe 40
The second external screw thread in drive shaft 38 matches, and the shape of the vertical cross-section of second frame 41 is U-shaped, second frame
41 are fixed on casing 40, and the second spring 24 is arranged in the second frame 41, the both ends of the second spring 24 respectively with
The inner wall of second frame, 41 two sides connects.
Preferably, the translation in order to realize movable block 18, the driving unit includes the second driving motor 15, buffer stopper
16 and second drive shaft 17, second driving motor 15 and buffer stopper 16 be separately fixed on the inner wall of 13 two sides of shell, institute
It states the second drive shaft 17 to be arranged between the second driving motor 15 and buffer stopper 16, second driving motor 15 and the second driving
Axis 17 is sequentially connected, and the periphery of second drive shaft 17 is equipped with the first external screw thread, and the movable block 18 is set in the second driving
On axis 17, it is equipped with the first internal screw thread in the movable block 18, on the internal screw thread and the second drive shaft 17 in the movable block 18
External screw thread matches.
Preferably, in order to obtain the moving distance of movable block 18, to obtain the angle of the rotation of rotating bar 20, institute
The top for stating movable block 18 is equipped with baffle 23, and the top of the buffer stopper 16 is equipped with range sensor 25, the baffle 23 and away from
It is located at sustained height from sensor 25.
Preferably, the side lever 4 is far from main in order to detect wind-force size suffered on each 12 direction of flying unit
One end of body 1 is equipped with wind-force measuring unit 8, and the wind-force measuring unit 8 includes the first frame 26, pressure sensor 27, first
The vertical cross-section of spring 28, mobile bar 29 and wind deflector 32, first frame 26 is U-shaped, and first frame 26 is fixed on
On side lever 4, the pressure sensor 27 is fixed on the bottom in the first frame 26, and one end of the mobile bar 29 passes through the first bullet
Spring 28 is connect with pressure sensor 27, and the other end of the mobile bar 29 is fixedly connected with wind deflector 32.
Preferably, in order to fix the moving direction of mobile bar 29, the wind-force measuring unit 8 further includes 30 He of stop collar
Two gag lever posts 31, two gag lever posts 31 are separately positioned on the two sides of stop collar 30, and the stop collar 30 is set in movement
It is fixedly connected on bar 29 and by gag lever post 31 with the inner wall of the first frame 26.
Preferably, in order to guarantee that mobile bar 29 is successfully translated in stop collar 30, the internal diameter of the stop collar 30 and shifting
The radius of lever 29 is equal, is coated with lubricating oil in the stop collar 30.
Preferably, using the feature that black light-absorbing ability is strong and white reflection ability is strong, in order to guarantee the second light
The precise measurement of electric transducer 36, the color of first drive shaft 6 are black, and the color of the reflective sheeting 9 is white.
Preferably, the cruising ability in order to guarantee unmanned plane, the top of the main body 1 is equipped with solar panels 3.
Preferably, the feature strong using DC servo motor driving force, in order to guarantee the flight performance of flying unit 12,
First driving motor 5 is DC servo motor.
Preferably, for the motion track of fixed sleeving 40, the deceleration unit 11 further includes two guide rods 39, two
A guide rod 39 is separately positioned on the two sides of third drive shaft 38 and is fixed on third driving motor 37, described sleeve pipe 40
It is set on guide rod 39.
The unmanned plane is affected by the wind in flight course, unmanned plane run-off the straight, in order to detect the inclination journey of unmanned plane
Degree facilitates its to restore level angle, is measured by the tilt angle of 2 pairs of entirety of biasing mechanism of the lower section of main body 1, by the
One photoelectric sensor 22 emits optical signal, and when baffle 23 is in 20 vertical plane of rotating bar, optical signal returns to the first light
Electric transducer 22.It is located on the aqueous solution in shell 13 due to baffle 23, baffle 23 is in level angle, and the first photoelectricity always
The angle of sensor 22 changes with the tilt angle of unmanned plane, when the first photoelectric sensor 22 does not receive optical signal,
It drives the second drive shaft 17 to rotate by the second driving motor 15 in driving unit, moves up movable block 18 in the second drive shaft 17
It is dynamic, by hinged, slide lantern ring 21 in rotating bar 20, so that rotating bar 20 be made to rotate, change the first photoelectric sensing
22 angle of device makes its face baffle 23, and the first photoelectric sensor 22 receives signal at this time, is detected and is kept off by range sensor 25
23 distance of plate, so that it is determined that the moving distance of movable block 18, and then pass through analysis and can determine the rotational angle of rotating bar 20, from
And determine the tilt angle of unmanned plane.Accurately intelligent quadrotor drone being capable of essence by being biased to measuring mechanism 2 for the control
The really tilt angle of measurement unmanned plane.
After determining unmanned plane tilt angle, the first driving motor 5 in each flying unit 12 is adjusted to blade 7 first
Revolving speed carries out coarse adjustment, while being measured using the unit 10 that tests the speed of the auxiliary on side lever 4 to the revolving speed of the first drive shaft 6, first
When drive shaft 6 rotates, reflective sheeting 9 follows rotation, when 9 the second photoelectric sensor 36 of face of reflective sheeting, the second photoelectric sensor
36 detect a pulse signal, and after machine-glazed paper 9 turns over, the 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 precise measurement 6 revolving speed.The control accurately intelligent quadrotor nobody
Machine passes through the revolving speed that the unit 10 that assists testing the speed detects the first drive shaft 6 in each flying unit 12.
When the relative rotation speed of the first drive shaft 6 in some flying unit 12 is excessively high, in order to accurately adjust the first drive shaft 6
Revolving speed, revolving speed is reduced by deceleration unit 11 in the first drive shaft 6, passes through third driving motor 27 and drives third drive shaft
38 rotations keep casing 40 mobile to the direction far from the first drive shaft 6, to make to drive under the position-limiting action of guide rod 39
Second frame 41 is mobile, and when the second spring 24 in the first frame 41 is contacted with drag strut 34, drag strut 34 prevents the second bullet
Spring 24 is rotated along the first drive shaft 6, square directly proportional due to the centripetal force of second spring 24 at this time and angular speed, and with first
The distance of drive shaft 6 is inversely proportional, and when being gradually distance from the first drive shaft 6, centripetal force is smaller, and overcomes the resistance of second spring 24
It immobilizes, therefore, when second spring 24 is gradually distance from the first drive shaft 6, slowing effect is weaker, by controlling second spring
24 moving distance is to reduce the revolving speed of the first drive shaft 6, by adjusting each flying unit 12 to make unmanned plane keep
Horizontal position.Accurately intelligent quadrotor drone is by the reduction revolving speed of deceleration unit 11 for the control, to adjust each flight
Unit 12 keeps unmanned plane holding horizontal.
When unmanned plane restores horizontal position, the wind-force that the wind-force detection unit 8 on each side lever 4 detects in all directions is big
Small, wind blows wind deflector 31, by mobile bar 29, under the action of stop collar 30, mobile bar 29, which compresses second spring 24, to be made
Pressure sensor 27 detects pressure data, the wind-force size according to pressure data to judgement in this direction, to realize nobody
The corresponding operating of machine provides reference data, to adjust the revolving speed of blade 7 in each flying unit 12.The control is accurately intelligent
Quadrotor drone detects the wind-force power in all directions by wind-force detection unit 8, to adjust paddle in each flying unit 12
The revolving speed of leaf 7 guarantees the precise manipulation of unmanned plane.
Compared with prior art, accurately intelligent quadrotor drone is accurately surveyed by being biased to measuring mechanism 2 for the control
The tilt angle for measuring unmanned plane detects the revolving speed of the first drive shaft 6 in each flying unit 12 by the auxiliary unit 10 that tests the speed, using subtracting
Fast unit 11 carries out different degrees of deceleration, to adjust each flying unit 12, keeps unmanned plane holding horizontal, is detected by wind-force
It is strong and weak that unit 8 detects the wind-force in all directions, and adjusts the revolving speed of blade 7 in each flying unit 12 again, realizes unmanned plane
Precise manipulation.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above 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 range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (10)
1. a kind of control accurate intelligent quadrotor drone, which is characterized in that including main body (1), be arranged under main body (1)
The deviation measuring mechanism (2) and several flying units (12) of side, the flying unit (12) are circumferentially evenly distributed on main body (1)
Periphery；
The deviation measuring mechanism (2) includes shell (13), and the bottom in the shell (13) is equipped with aqueous solution, the shell
(13) it is equipped with reflector (14) in and is biased to measurement component, the reflector (14) swims on aqueous solution, the deviation measurement
In the top of reflector (14), the deviation measurement component includes driving unit, movable block (18), hinged block for component setting
(19), rotating bar (20), casing (21) and the first photoelectric sensor (22), the hinged block (19) are fixed on the top of shell (13)
Portion, hingedly, first photoelectric sensor (22) is fixed on rotating bar on the top and hinged block (19) of the rotating bar (20)
(20) bottom end, described sleeve pipe (21) be set on rotating bar (20) and with movable block (18) hingedly, the driving unit and move
Motion block (18) transmission connection；
The flying unit (12) includes side lever (4), the first driving motor (5), the first drive shaft (6) and several blades (7), institute
Side lever (4) is stated to be fixed on main body (1), first driving motor (5) be fixed on side lever (4) and with the first drive shaft (6)
Transmission connection, the blade (7) are circumferentially evenly distributed on the periphery of the first drive shaft (6), and first drive shaft (6) is equipped with
Reflective sheeting (9)；
The side lever (4) is equipped with auxiliary and tests the speed unit (10), and the auxiliary unit (10) that tests the speed includes strut (33), drag strut
(34), the bottom end of cross bar (35) and the second photoelectric sensor (36), the strut (33) is fixed on side lever (4), the resistance
Bar (34) and cross bar (35) are each attached to the side of strut (33) and close to the first drive shaft (6), and cross bar (35) setting exists
The top of strut (33), second photoelectric sensor (36) are fixed on cross bar (35), second photoelectric sensor (36)
Height it is identical as the height of reflective sheeting (9)；
It is additionally provided with deceleration unit (11) on first drive shaft (6), the deceleration unit (11) includes third driving motor
(37), third drive shaft (38), casing (40), the second frame (41) and second spring (24), the third driving motor (37)
It is fixed on the first drive shaft (6) and is sequentially connected with third drive shaft (38), described sleeve pipe (40) is set in third drive shaft
(38) on, the periphery of the third drive shaft (38) is equipped with the second external screw thread, is equipped with the second internal screw thread, institute in described sleeve pipe (40)
The second internal screw thread stated in casing (40) matches with the second external screw thread on third drive shaft (38), second frame (41)
The shape of vertical cross-section be U-shaped, second frame (41) is fixed on casing (40), and second spring (24) setting exists
In second frame (41), the both ends of the second spring (24) are connect with the inner wall of the second frame (41) two sides respectively.
2. as described in claim 1 control accurate intelligent quadrotor drone, which is characterized in that the driving unit packet
Include the second driving motor (15), buffer stopper (16) and the second drive shaft (17), second driving motor (15) and buffer stopper
(16) be separately fixed on the inner wall of shell (13) two sides, second drive shaft (17) setting in the second driving motor (15) and
Between buffer stopper (16), second driving motor (15) and the second drive shaft (17) are sequentially connected, second drive shaft
(17) periphery is equipped with the first external screw thread, and the movable block (18) is set on the second drive shaft (17), the movable block (18)
It is inside equipped with the first internal screw thread, the internal screw thread in the movable block (18) matches with the external screw thread on the second drive shaft (17).
3. as claimed in claim 2 control accurate intelligent quadrotor drone, which is characterized in that the movable block (18)
Top be equipped with baffle (23), the top of the buffer stopper (16) is equipped with range sensor (25), the baffle (23) and distance
Sensor (25) is located at sustained height.
4. as described in claim 1 control accurate intelligent quadrotor drone, which is characterized in that the side lever (4) is remote
One end from main body (1) is equipped with wind-force measuring unit (8), and the wind-force measuring unit (8) includes the first frame (26), pressure biography
Sensor (27), the first spring (28), mobile bar (29) and wind deflector (32), the vertical cross-section of first frame (26) are U-shaped,
First frame (26) is fixed on side lever (4), and the pressure sensor (27) is fixed on the bottom in the first frame (26),
One end of the mobile bar (29) is connect by the first spring (28) with pressure sensor (27), the mobile bar (29) it is another
End is fixedly connected with wind deflector (32).
5. as claimed in claim 4 control accurate intelligent quadrotor drone, which is characterized in that the wind-force measurement is single
First (8) further include stop collar (30) and two gag lever posts (31), and two gag lever posts (31) are separately positioned on stop collar (30)
Two sides, the stop collar (30) is set on mobile bar (29) and solid by the inner wall of gag lever post (31) and the first frame (26)
Fixed connection.
6. as claimed in claim 5 control accurate intelligent quadrotor drone, which is characterized in that the stop collar (30)
Internal diameter it is equal with the radius of mobile bar (29), is coated with lubricating oil in the stop collar (30).
7. as described in claim 1 control accurate intelligent quadrotor drone, which is characterized in that first drive shaft
(6) color is black, and the color of the reflective sheeting (9) is white.
8. as described in claim 1 control accurate intelligent quadrotor drone, which is characterized in that the main body (1)
Top is equipped with solar panels (3).
9. as described in claim 1 control accurate intelligent quadrotor drone, which is characterized in that the first driving electricity
Machine (5) is DC servo motor.
10. as described in claim 1 control accurate intelligent quadrotor drone, which is characterized in that the deceleration unit
It (11) further include two guide rods (39), two guide rods (39) are separately positioned on the two sides of third drive shaft (38) and consolidate
It is scheduled on third driving motor (37), described sleeve pipe (40) is set on guide rod (39).
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| 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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| CN107972868B (en) * | 2017-11-28 | 2019-10-25 | 云南远信科技有限公司 | A kind of vehicle-mounted unmanned aerial vehicle for meteorological detection based on Internet of Things |
| CN110001950B (en) * | 2019-04-06 | 2022-05-20 | 深圳市逗映科技有限公司 | Keep four rotor unmanned aerial vehicle of stable flight in crosswind |
| CN111572767B (en) * | 2020-05-26 | 2021-07-20 | 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 |
| 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 |
| 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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| CN102830622A (en) * | 2012-09-05 | 2012-12-19 | 北京理工大学 | Auto-disturbance-rejection automatic flight control method for four-rotor aircraft |
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| US9448562B1 (en) * | 2015-08-18 | 2016-09-20 | Skycatch, Inc. | Utilizing acceleration information for precision landing of unmanned aerial vehicles |
| CN106314779A (en) * | 2016-09-19 | 2017-01-11 | 深圳电航空技术有限公司 | Drone and drone control method |
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| CN104335128A (en) * | 2012-03-30 | 2015-02-04 | 鹦鹉股份有限公司 | Method for controlling a multi-rotor rotary-wing drone, with cross wind and accelerometer bias estimation and compensation |
| CN102830622A (en) * | 2012-09-05 | 2012-12-19 | 北京理工大学 | Auto-disturbance-rejection automatic flight control method for four-rotor aircraft |
| US9448562B1 (en) * | 2015-08-18 | 2016-09-20 | Skycatch, Inc. | Utilizing acceleration information for precision landing of unmanned aerial vehicles |
| CN106314779A (en) * | 2016-09-19 | 2017-01-11 | 深圳电航空技术有限公司 | Drone and drone control method |
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