CN108121361A - A kind of quadrotor automated spacecraft - Google Patents
A kind of quadrotor automated spacecraft Download PDFInfo
- Publication number
- CN108121361A CN108121361A CN201810138447.3A CN201810138447A CN108121361A CN 108121361 A CN108121361 A CN 108121361A CN 201810138447 A CN201810138447 A CN 201810138447A CN 108121361 A CN108121361 A CN 108121361A
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- China
- Prior art keywords
- module
- quadrotor
- main control
- ultrasonic wave
- automated spacecraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
Abstract
The invention belongs to vehicle technology fields, and in particular to a kind of quadrotor automated spacecraft.The technical problems to be solved by the invention are to propose a kind of quadrotor automated spacecraft, solve the problems, such as that aircraft is unable to automatically track target.In order to solve the above-mentioned technical problem, the present invention proposes such a quadrotor automated spacecraft, including main control module, posture sensing module, detection tracking module, flight control modules, power set and power module.The present invention has automatically track target, the effect of automatic pathfinding.
Description
Technical field
The invention belongs to vehicle technology fields, and in particular to a kind of quadrotor automated spacecraft.
Background technology
Aircraft is more than 80 years existing so far from succeeding in developing, and the actual combat of five local wars is lived through using test, because of it
With the features such as of low cost, operation is flexible, does not fear injures and deaths, and operation is flexible, and vitality is strong, all competitively research and development use for each state, most
Early unmanned plane is just commonly used by people for military surveillance, and aircraft has had developed to the every field of society so far.
For aircraft because its manufacture difficulty is relatively low, acquisition channel is extensive, scouts more convenient.Such as in crimes rows such as robberies
During to occur, criminal begins to run away after crime is implemented, and tracking is pretty troublesome, and if directly employs the facilities such as satellite
If, cost is very high, consumes substantial amounts of manpower and materials, and allocating time is also long, often misses optimal opportunity, this
When aircraft effect with regard to apparent.
However, traditional aircraft does not have tracking function mostly, a small number of traditional aircraft have traceable mesh in time
Target function can not detect it with tracking the distance between target, it has not been convenient to comprehensive tracking work.
The content of the invention
According to more than the deficiencies in the prior art, the technical problems to be solved by the invention are to propose that a kind of quadrotor independently flies
Row device, by using OpenMV machine vision modules and the technology of ultrasonic wave cognitive disorders object, solving aircraft cannot be automatic
The problem of tracking target has automatically track target, the effect of automatic pathfinding.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：
A kind of quadrotor automated spacecraft, including main control module, posture sensing module, detection tracking module, flight control
Module, power set and power module；
Power module fills respectively with main control module, posture sensing module, detection tracking module, flight control modules and power
Put it is connected, for each consuming parts power；
Main control module is connected respectively with posture sensing module and detection tracking module, and passes through power set and controlled with flight
Module is connected；
The quadrotor automated spacecraft further includes remote control and wireless communication module, and remote control passes through wireless telecommunications
Module is communicated with main control module；
The detection tracing module uses OpenMV machine vision modules.
Preferably, the posture sensing module uses 9 axis combination sensors, and the 9 axis combination sensor uses GY-
8610DOF fly control sensor assembly, the GY-8610DOF fly control sensor assembly include axis gyroscope, three axis accelerometer,
Three-axle magnetic field, barometer and GPS module.
Preferably, the power set, which include unpowered device, includes brushless motor and propeller, and propeller is mounted on nothing
In brush motor, brushless motor is connected with flight control modules.
Preferably, the motor of 2212 model of model of the brushless motor.
Preferably, the quadrotor automated spacecraft further includes obstacle avoidance module, for automatic dodging barrier；It is described
Obstacle avoidance module includes launch driving circuit and the ultrasonic wave transmitting probe to connect with launch driving circuit output terminal, further includes
For wireless receiving ultrasonic wave transmitting probe transmitting signal ultrasonic wave receiving transducer and with ultrasonic wave receiving transducer output terminal phase
The ultrasonic wave receiving processing circuit connect, the ultrasonic wave receiving processing circuit include the level-one amplifying circuit to connect successively, two level
Amplifying circuit, filter circuit and comparison circuit, the level-one amplifying circuit connect with ultrasonic wave receiving transducer, the transmitting driving
The input terminal of circuit connects with the output terminal of main control module, the output terminal of the comparison circuit and the input terminal phase of main control module
It connects；The ultrasound measurement module further includes timer, and timer is connected with main control module, for counting ultrasonic wave transmitting probe hair
Penetrate time and the time difference of ultrasonic wave receiving transducer receiving time.
Preferably, the control device is equipped with display, for showing the image letter of the detection tracing module detection
Breath.
Preferably, the power module uses solar cell, to enhance cruising ability.
Preferably, the electron speed regulator that the flight control modules can be controlled individually by 4 forms, electron speed regulator
One end is connected with main control module, and the other end is connected with power set.
Present invention has the advantages that:It is shot by detecting tracking module and identifies target object, and can be according to target object
Movement automatically generate path of navigation, can be in the feelings of no human intervention to control aircraft along path of navigation autonomous flight
Real-time tracking target object under condition, intelligence degree are higher.
Description of the drawings
The content expressed by this specification attached drawing and the mark in figure are briefly described below：
Fig. 1 is the structure diagram of the specific embodiment of the present invention.
Specific embodiment
Below by the description to embodiment, the shape of for example involved each component of specific embodiment of the invention, structure
It makes, the mutual alignment between each several part and connection relation, the effect of each several part and operation principle, manufacturing process and the side of operating with
Method etc., is described in further detail, completeer those skilled in the art to be helped to have inventive concept of the invention, technical solution
Whole, accurate and deep understanding.
As shown in Figure 1, a kind of quadrotor automated spacecraft, including main control module, posture sensing module, detection tracking mould
Block, flight control modules, power set and power module.Power module respectively with main control module, posture sensing module, detection with
Track module, flight control modules are connected with power set, power for each consuming parts.Main control module respectively with posture sensing module
It is connected with detection tracking module, and passes through power set and be connected with flight control modules.The quadrotor automated spacecraft also wraps
Remote control and wireless communication module are included, wireless communication module is connected with main control module, and remote control passes through wireless communication module
It is communicated with main control module.
Main control module uses STM32 processors, is responsible for processing, the generation of control instruction of data, coordinates other modules and be total to
With operation, the model STM32F407 series that the present embodiment uses.
Posture sensing module uses 9 axis combination sensors, for perceiving the flight attitude of quadrotor, real-time low noise
It obtains the attitude information of aircraft sound, and sends flight attitude data to microcontroller, microcontroller is by the flight of acquisition
Attitude data exports final carriage angle after treatment, controls the rotating speed of brushless motor, keeps stabilized flight.
The 9 axis combination sensor flies to control sensor assembly using GY-8610DOF, and GY-8610DOF flies to control sensor die
Block includes axis gyroscope, three axis accelerometer, three-axle magnetic field, barometer and GPS module.This sensor assembly include MPU6050,
Tri- sensors of HMC5883 and MS5611.Wherein, HMC5883 is a kind of surface-pasted highly integrated module, and is connect with number
The weak magnetic sensor chip of mouth, applied to inexpensive compass and magnetic field detection field.MS5611 baroceptors be set SPI and
I2The high-resolution baroceptor of C (up to 20MHz) bus interface, resolution ratio can reach 10cm.
Detection tracing module is OpenMV.Detecting module selected by detecting the functional requirement of tracking can quickly detect tracking
The position coordinates of object, and need with certain data are stored, for the function that chip is controlled to be handled.OpenMV is one
It increases income, low cost, powerful machine vision module, can easily realize that searching color lump, face are examined by simply developing
It surveys, eyeball tracking, edge detection, mark tracking etc..OpenMV possesses abundant hardware resource, can draw UART.I2C、SPI、
The interfaces such as PWM, ADC, DAC and GPIO facilitate extension peripheral function.
Power set include brushless motor and propeller, and propeller is mounted on brushless motor, and 4 brushless motors drive
Propeller generates lift and torsion, and for lift with offsetting aircraft self gravitation, torsion is used to offset the gyroscopic effect of aircraft, when
Lift balances each other with power, and when torsion mutually balances, aircraft is stabilized hovering, can control torsion difference and lift difference control
Aircraft moves.
The electron speed regulator that flight control modules can be controlled individually by 4 forms, one end of electron speed regulator and master control
Module connects, and for receiving the PWM pulse-width signals that main control module is sent, the other end is connected with brushless motor.Master control mould
Block by PWM pulse-width signals through electron speed regulator for controlling brushless motor speed, by adjust four motor speeds come
Change variable rotor speed, realize the variation of lift and torsion, and then control posture and the position of aircraft.
The brushless motor of the present embodiment uses 2212 motor, and 2212 motor breach determining for conventional motors in structure
The form of minor structure, using the form of three-phase brushless.This novel stator structure will not as under frequency control heavy duty open
Dynamic synchronous motor separately plus starts winding like that on rotor, and vibration and step-out will not be generated in load changing.This knot
The variation of structure, not only has prominent characteristics of energy saving, and what is more important makes control more flexible using brushless electronic governor.
During aircraft stabilized flight, main control module sends attitude transducer module using Quaternion Algorithm
Data are handled, and obtain the current state of flight of aircraft, pass through two kinds of PID controller with changing integration rate control algolithm and LK optical flow algorithms
Control algolithm is realized by the power module drive flight control modules that fly and the pose adjustment of quadrotor and position is controlled.
Continuous speed adjustment is being carried out to motor speed by flight control modules using PWM pulse modulation technologies, so that aircraft is steady
The performances such as qualitative, accuracy are optimal index.It detects tracking module and captured in real-time is carried out to target object, by each frame
Picture is identified, and processing draws the movement locus of tracked target object, sends the data to main control module, master control mould
Block automatically generates path of navigation, then aircraft is controlled to fly along path of navigation, so as to reach the mesh independently followed in real time
's.
Preferably, the control device is equipped with display, for showing the image letter of the detection tracing module detection
Breath.
Preferably, the power module uses solar cell, to enhance cruising ability.
Preferably, the quadrotor automated spacecraft further includes obstacle avoidance module, the obstacle avoidance module respectively with
Power module is connected with main control module.The obstacle avoidance module uses ultrasonic technology cognitive disorders object, is driven including transmitting
Circuit and the ultrasonic wave transmitting probe to connect with launch driving circuit output terminal are further included to emit for wireless receiving ultrasonic wave and visited
The ultrasonic wave receiving processing circuit that hair penetrates the ultrasonic wave receiving transducer of signal and connects with ultrasonic wave receiving transducer output terminal, institute
It is electric including level-one amplifying circuit, second amplifying circuit, filter circuit and the comparison to connect successively to state ultrasonic wave receiving processing circuit
Road, the level-one amplifying circuit connect with ultrasonic wave receiving transducer, the input terminal of the launch driving circuit and main control module
Output terminal connects, and the output terminal of the comparison circuit connects with the input terminal of main control module；The ultrasound measurement module further includes
Timer, timer are connected with main control module, are connect for counting ultrasonic wave transmitting probe launch time and ultrasonic wave receiving transducer
Time difference between time receiving.
Power module is powered for launch driving circuit, meanwhile, main control module controls ultrasonic wave to send out by launch driving circuit
Probe transmitting pulse signal is penetrated, pulse signal reflects when touching testee, and ultrasonic wave receiving transducer receives ultrasound
It is electric by level-one amplifying circuit, second amplifying circuit, filter circuit and comparison successively after the pulse signal of ripple transmitting probe transmitting
After the processing on road, the interference of signal is reduced, and is converted to the range of signal that main control module meets, main control module is sent to, passes through
Timer counts ultrasonic wave transmitting probe launch time and the time difference of ultrasonic wave receiving transducer receiving time, and main control module passes through
Processing obtains obstacle recognition as a result, main control module controls the quadrotor automated spacecraft to carry out obstacle further according to recognition result
Hide.
The present invention is exemplarily described above, it is clear that present invention specific implementation is not subject to the restrictions described above,
As long as it employs the improvement of the various unsubstantialities of inventive concept and technical scheme of the present invention progress or not improved sends out this
Bright design and technical solution directly applies to other occasions, within protection scope of the present invention.The protection of the present invention
Scope should be determined by the scope of protection defined in the claims.
Claims (8)
1. a kind of quadrotor automated spacecraft, which is characterized in that including main control module, posture sensing module, detection tracking module,
Flight control modules, power set and power module；
Power module respectively with main control module, posture sensing module, detection tracking module, flight control modules and power set phase
Even, power for each consuming parts；
Main control module is connected respectively with posture sensing module and detection tracking module, and passes through power set and flight control modules
It is connected；
The quadrotor automated spacecraft further includes remote control and wireless communication module, and remote control passes through wireless communication module
It is communicated with main control module；
The detection tracing module uses OpenMV machine vision modules.
2. quadrotor automated spacecraft according to claim 1, which is characterized in that the posture sensing module uses 9 axis
Combination sensor, the 9 axis combination sensor fly to control sensor assembly using GY-8610DOF, and the GY-8610DOF flies control and passes
Sensor module includes axis gyroscope, three axis accelerometer, three-axle magnetic field, barometer and GPS module.
3. quadrotor automated spacecraft according to claim 1, which is characterized in that the power set include unpowered dress
It puts including brushless motor and propeller, propeller is mounted on brushless motor, and brushless motor is connected with flight control modules.
4. quadrotor automated spacecraft according to claim 3, which is characterized in that the model 2212 of the brushless motor
The motor of model.
5. quadrotor automated spacecraft according to claim 1, which is characterized in that the quadrotor automated spacecraft also wraps
Obstacle avoidance module is included, for automatic dodging barrier；The obstacle avoidance module includes launch driving circuit and is driven with transmitting
The ultrasonic wave transmitting probe that dynamic circuit output end connects is further included for the super of wireless receiving ultrasonic wave transmitting probe transmitting signal
The ultrasonic wave receiving processing circuit that acoustic receiver pops one's head in and connects with ultrasonic wave receiving transducer output terminal, the ultrasonic wave receiving area
Reason circuit includes the level-one amplifying circuit, second amplifying circuit, filter circuit and the comparison circuit that connect successively, the level-one amplification
Circuit connects with ultrasonic wave receiving transducer, and the input terminal of the launch driving circuit connects with the output terminal of main control module, described
The output terminal of comparison circuit connects with the input terminal of main control module；The ultrasound measurement module further includes timer, timer with
Main control module connects, for counting the time difference of ultrasonic wave transmitting probe launch time and ultrasonic wave receiving transducer receiving time.
6. quadrotor automated spacecraft according to claim 1, which is characterized in that the control device is equipped with display
Device, for showing the image information of the detection tracing module detection.
7. quadrotor automated spacecraft according to claim 1, which is characterized in that the power module uses solar-electricity
Pond, to enhance cruising ability.
8. quadrotor automated spacecraft according to claim 1, which is characterized in that the flight control modules can by 4
It is formed with the electron speed regulator individually controlled, one end of electron speed regulator is connected with main control module, and the other end connects with power set
It connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810138447.3A CN108121361A (en) | 2018-02-10 | 2018-02-10 | A kind of quadrotor automated spacecraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810138447.3A CN108121361A (en) | 2018-02-10 | 2018-02-10 | A kind of quadrotor automated spacecraft |
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| Publication Number | Publication Date |
|---|---|
| CN108121361A true CN108121361A (en) | 2018-06-05 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810138447.3A Pending CN108121361A (en) | 2018-02-10 | 2018-02-10 | A kind of quadrotor automated spacecraft |
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| Country | Link |
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| CN (1) | CN108121361A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109521785A (en) * | 2018-12-29 | 2019-03-26 | 西安电子科技大学 | It is a kind of to clap Smart Rotor aerocraft system with oneself |
| CN112513766A (en) * | 2020-02-26 | 2021-03-16 | 深圳市大疆创新科技有限公司 | Method, tracking device, storage medium and computer program product for path planning |
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| CN104898698A (en) * | 2015-05-22 | 2015-09-09 | 中国科学院长春光学精密机械与物理研究所 | Rotor-wing-type unmanned aerial vehicle automatic obstacle-avoiding device |
| KR20160111670A (en) * | 2015-03-17 | 2016-09-27 | 한국생산기술연구원 | Autonomous Flight Control System for Unmanned Micro Aerial Vehicle and Method thereof |
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2018
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Patent Citations (4)
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| KR20160111670A (en) * | 2015-03-17 | 2016-09-27 | 한국생산기술연구원 | Autonomous Flight Control System for Unmanned Micro Aerial Vehicle and Method thereof |
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Non-Patent Citations (1)
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109521785A (en) * | 2018-12-29 | 2019-03-26 | 西安电子科技大学 | It is a kind of to clap Smart Rotor aerocraft system with oneself |
| CN109521785B (en) * | 2018-12-29 | 2021-07-27 | 西安电子科技大学 | Intelligent rotor craft system capable of being shot with oneself |
| CN112513766A (en) * | 2020-02-26 | 2021-03-16 | 深圳市大疆创新科技有限公司 | Method, tracking device, storage medium and computer program product for path planning |
| WO2021168678A1 (en) * | 2020-02-26 | 2021-09-02 | 深圳市大疆创新科技有限公司 | Path planning method, tracking device, storage medium, and computer program product |
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