CN108298070A - A kind of long battery life aircraft and control method suitable for narrow space - Google Patents
A kind of long battery life aircraft and control method suitable for narrow space Download PDFInfo
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- CN108298070A CN108298070A CN201810202916.3A CN201810202916A CN108298070A CN 108298070 A CN108298070 A CN 108298070A CN 201810202916 A CN201810202916 A CN 201810202916A CN 108298070 A CN108298070 A CN 108298070A
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- 238000000034 method Methods 0.000 title claims abstract description 10
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 7
- 238000012545 processing Methods 0.000 claims description 11
- 230000004888 barrier function Effects 0.000 claims description 4
- 230000011218 segmentation Effects 0.000 claims description 4
- 238000013461 design Methods 0.000 abstract description 4
- 230000008094 contradictory effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000002420 orchard Substances 0.000 description 2
- 241000272194 Ciconiiformes Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
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- 230000005611 electricity Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 125000000623 heterocyclic group Chemical group 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of long battery life aircraft and control method suitable for narrow space, aircraft include body, positioned at internal body flight control system, be set to the PU Payload Unit of organism bottom and be connected to around body and in six support arms of same level；Six support arms include two big support arm and four small support arms, two big support arm is located at opposite side before and after body, and in line, four small support arms are symmetrically disposed on body or so opposite side two-by-two, and it is vertical with big support arm, each big support arm end is equipped with a lifting rotor, and each small support arm end is equipped with a control rotor, the direction of rotation of two lifting rotors is on the contrary, the direction of rotation of two neighboring control rotor is opposite.The present invention is used for through narrow space flight, and design combines limited width, and agility is high, the strong contradictory requirements of cruising ability, while carrying important payload, is suitable for indoor and outdoors.
Description
Technical field
The present invention relates to vehicle technology field, more particularly to a kind of long battery life aircraft suitable for narrow space
And control method.
Background technology
Unmanned plane has various sizes, fixed-wing or rotation, for executing various task applications, mainly in remote sensing fields.Mesh
Before, the interest applied in the confined space to rotation unmanned plane is growing, more specifically, corridor, indoor and outdoors.Potentially
Using including searching for collapsed building, search criminal of the police in house, and check the orchard between fruit tree and orchard and
Vineyard.It is limited width and required flexibility to rotate unmanned plane by the significant challenge that corridor is flown, especially in wind
Under the open-air conditions for causing aircraft to drift about with fitful wind.In order to check that the upper zone of narrow space, video camera are necessarily connected to
Above surface car on several meters of bar.This just needs a system to offset inclining by landform ground robot caused by coarse
Tiltedly, to keep camera stabilization（And except trees）.And aircraft can not be influenced by landform（Hillside, hillside, hole
Low-lying area, the landform ... of rainy season miriness）.
It is controlled in order to which aircraft flies in narrow space, is by the major defect that corridor is flown using multifunction aircraft,
Although it is very compact, width limitation forces the use of small propeller compared with the weight that they must be carried.This leads
Cause control efficiency relatively low, cruising ability is poor, and the typical four-axle aircraft Pelican AscTec of such as less than 1m can only navigate by water 20
Minute is shorter.
Invention content
In view of the above shortcomings of the prior art, the present invention proposes a kind of long battery life aircraft suitable for narrow space
And control method, it is configured by rational rotor, so that aircraft agility is maximized, by giving each rotor different letters
Number, any desired lift and torque combinations can be obtained.
To achieve the above object, the technical scheme is that：A kind of long battery life suitable for narrow space flies
Device, including body, positioned at internal body flight control system, be set to the PU Payload Unit of organism bottom and be connected to machine
Around body and in six support arms of same level；Six support arms include two big support arm and four small supports
Arm, two big support arm are located at opposite side before and after body, and in line, and four small support arms are symmetrically disposed on a body left side two-by-two
Right opposite side, and it is vertical with big support arm, each big support arm end directly drives lifting rotor equipped with a lifting rotor and one
DC brushless motor, each small support arm end is equipped with the brush DC electricity of a control rotor and a direct drive control rotor
Machine；The flight control system includes flight controller, data acquisition unit, image processing unit, front video, before described
It sets video camera and is installed on centre position on front side of body, the data acquisition unit is connect with flight controller, for acquiring flight
Altitude information, attitude data and the position data of device, described image processing unit respectively with flight controller and front video
Connection, for being handled in real time the image that front video is shot according to color and Texture Segmentation, to search ground, obstacle
Object and sky, to estimate aircraft relative to the relative position among narrow space.
Further, the data acquisition unit includes Inertial Measurement Unit, GPS unit, baroceptor, is mounted on machine
The ultrasonic height sensors of body bottom.
Further, the size of the lifting rotor is more than the size of control rotor.
Further, the PU Payload Unit has undercarriage.
Further, the body is cuboid.
Based on the control method of above-mentioned long battery life aircraft, the direction of rotation of two lifting rotors is on the contrary, adjacent
The direction of rotation of two control rotors is on the contrary, two lifting rotors are rotated with constant speed, to keep body in-flight outstanding
Stop, the relative position estimation that flight controller is generated according to image processing unit is acquired with track and in conjunction with data acquisition unit
Data calculating aircraft currently and desired position, posture and speed, control four control rotors DC brushless motors turn
Speed realizes flight of the aircraft in narrow space to control position of aircraft and posture.
Further, in the flight that aircraft is hovered and is advanced slowly, the lift of each rotor generationEqual to every
A rotor weight W,, the speed of rotor, whereinIt is diametrically opposite mass flow,It is atmospheric density, DL is the ratio of rotor weight and rotor area, and R is rotor half
Diameter, required power are。
Compared with prior art, the present invention has advantageous effect：
（1）The present invention is at low cost, and there is completely new rotor cellular construction to be laid out, and control is simple, and rational rotor is selected to configure, and leads to
It crosses and gives each rotor different signals, any desired lift and torque combinations can be obtained, aircraft agility is made to maximize；
（2）The present invention is exclusively used in through narrow space flight, its design combines limited width, and agility is high, energy of continuing a journey
The strong contradictory requirements of power, while important payload can be carried, it is various multiple that this configuration can be adapted for indoor and outdoors
The application in heterocycle border.
（3）The present invention by the different rotor of combined size, more stablize by aircraft, and can be simpler control bit
It sets and posture, to realize faults-tolerant control；
（4）Due to the direction of rotation of adjacent four small-sized control rotors and large-scale lifting rotor on the contrary, each rotor body applies
Reaction torque and rotor turn to also on the contrary, the torque that therefore body is subject to can cancel out each other；Each rotor is by respective direct current
Brushless motor directly drives, and eliminates the loss in efficiency of transmission system；The aircraft can separate the liter of the big rotor of independent control
Power and the gesture stability torque of small rotor are so that it can which spatially upper realize independent control, and elimination conventional aircraft is narrow
Drive lacking weakness spatially；
（5）With it is traditional（Main rotor and tail rotor）Aircraft is compared, and aircraft of the invention is by two lift rotors and four
A small-sized control rotor combines rectangular shaped and is more suitable for flying in closed narrow space, can also zoom to preferred
Size.
（6）The present invention two lifting rotors of aircraft only need provide a constant thrust, therefore with standard hex rotor
It compares, installed power can be much smaller with hovering power ratio, and can reduce the weight of motor, is particularly suitable for narrow
Corridor is flown, although limited width, complex configuration realizes the agility and durability of height.
（7）The aircraft of the present invention has the ability for independently executing actual task, and control method is in dual-use neck
Domain has boundless application prospect.
Description of the drawings
Fig. 1 is the structural schematic diagram for the long battery life aircraft that the present invention is suitable for narrow space；
Fig. 2 is the schematic diagram of PU Payload Unit in one embodiment of the invention；
Fig. 3 is the structural schematic diagram of control system in one embodiment of the invention.
Specific implementation mode
The present invention will be further described with reference to the accompanying drawings and embodiments.
Include body in cuboid, position as shown in Figure 1, a kind of long battery life aircraft suitable for narrow space
In internal body flight control system, be set to the PU Payload Unit of organism bottom and be connected to around body and same
Six support arms of horizontal plane；Six support arms include two big support arm and four small support arms, two big support arms
The opposite side before and after body, and in line, four small support arms are symmetrically disposed on body or so opposite side two-by-two, and with it is big
Support arm is vertical, and each big support arm end is equipped with a lifting rotor and one and directly drives the DC brushless motor of lifting rotor,
Each small support arm end is equipped with the DC brushless motor of control a rotor and a direct drive control rotor；The lifting rotor
Size be more than the size of control rotor, the PU Payload Unit has undercarriage；
Aircraft body is cuboid, and combines lift rotor and small-sized control rotor, expands generation and it is expected needed for lift
The useful space, to obtain long battery life and high quick performance.
In the present embodiment, as shown in Fig. 2, PU Payload Unit, which includes 4 1D omnidirectionals, checks video camera, shooting respectively flies
The image of row device left and right sides；The design of side view video camera setting, can be with so that its state for being easily adapted to tilt flight under body
The region of bigger is checked within the shorter time.
As shown in figure 3, flight control system includes flight controller, data acquisition unit, image processing unit, preposition takes the photograph
Camera, the front video are installed on centre position on front side of body, and the data acquisition unit is connect with flight controller, use
In acquisition aircraft altitude information, attitude data and position data, described image processing unit respectively with flight controller and
Front video connects, for being handled in real time the image that front video is shot according to color and Texture Segmentation, to look into
Ground, barrier and sky are looked for, to estimate aircraft relative to the relative position among narrow space.
The data acquisition unit include Inertial Measurement Unit, GPS unit, baroceptor, mounted on organism bottom
Two ultrasonic height sensors.
Based on the control method of above-mentioned long battery life aircraft, the direction of rotation of two lifting rotors is on the contrary, adjacent
The direction of rotation of two control rotors is on the contrary, two lifting rotors are rotated with constant speed, to keep body in-flight outstanding
Stop, the relative position estimation that flight controller is generated according to image processing unit is acquired with track and in conjunction with data acquisition unit
Data calculating aircraft currently and desired position, posture and speed, control four control rotors DC brushless motors turn
Speed realizes flight of the aircraft in narrow space to control position of aircraft and posture.
In the present embodiment, as shown in Figure 1, two lift rotors（L1 and L2）With four small-sized control rotors（C1,
C2, C3 and C4）Around body, L1, C1, C3 are to rotate clockwise for combination, and L2, C2, C4 are counterclockwise to rotate.It is four small
Type control rotor can tilt 10 °, also can be by it in aircraft to improve the yaw control of aircraft in complex environment
It is moved forward and backward to cope with external interference, while needing the rigidity of aircraft sufficiently high, to reach fast and accurately posture response.
In the flight that aircraft is hovered and is advanced slowly, the lift of each rotor generationEqual to each rotor weight W,, the speed of rotor, whereinIt is edge
Diametric mass flow,It is atmospheric density, DL is the ratio of rotor weight and rotor area, and R is rotor radius, institute
Need power be。
Two lifting rotors are reversely rotated with constant speed（L1 and L2）, to keep the in-flight hovering of body, control
Rotor is controlled by flight controller, can be considered the four-axle aircraft with adaptability.With the control rotation of high rotation speed rotation
The wing plays the role of gyroscope in flight, and when aircraft tilts, the thrust vectoring of lifting propeller also tilts, and reduces vertical
Thrust component, four control rotors for gesture stability can be by unwanted control when being combined with suitable controller
Power is preferably minimized.
Control position of aircraft and posture, which rely on, quickly changes the thrust of each rotor combination to realize, mainly by changing
Become rotor rotary speed to complete.Flight controller（FC）From Inertial Measurement Unit（IMU）, GPS, baroceptor（It is absolutely high
Degree）With two ultrasonic height sensors（For measuring the relative altitude relative to ground）Data are collected with outside narrow space
Portion navigates, and IMU highly precisely estimates that posture, GPS realize rational precision（Less than one meter）, determined for absolute position
And offset correction, when by narrow space barrier, forward looking camera is used for offset correction, and front camera image procossing is just
As two image processing units leading, that aircraft loads（IPU）, mainly for the treatment of payload camera images（Often
Two cameras of a IPU）, it is additionally operable to processing front video image, IPU is according to color and Texture Segmentation to front video figure
As executing scan picture, to search ground, barrier and sky, among estimating aircraft relative to narrow space
Therefore relative position also determines track on the middle section of narrow space, and keep being directed toward suitable direction in front of aircraft,
And by payload（Such as camera）Target needed for aiming at.
The ultrasonic sensors of unmanned vehicle both sides can also be increased as spare, to help to avoid obstacle wall, and it is preceding
Setting camera image processing software can be extended with object detection algorithms, to avoid that may extend to the track of narrow space
Branch.
What has been described above is only a preferred embodiment of the present invention, and the present invention is not limited to embodiment of above.It is appreciated that
Those skilled in the art do not depart from the present invention design and under the premise of the oher improvements and changes that directly export or associate,
It is considered as being included within protection scope of the present invention.
Claims (7)
1. a kind of long battery life aircraft suitable for narrow space, which is characterized in that including body, positioned at internal body
It flight control system, the PU Payload Unit for being set to organism bottom and is connected to around body and at six of same level
Support arm；Six support arms include two big support arm and four small support arms, and two big support arm is located at before and after body
Opposite side, and in line, four small support arms are symmetrically disposed on body or so opposite side two-by-two, and vertical with big support arm,
Each big support arm end is equipped with a lifting rotor and one directly drives the DC brushless motor of lifting rotor, each small support arm
End is equipped with the DC brushless motor of control a rotor and a direct drive control rotor；The flight control system includes flight
Controller, data acquisition unit, image processing unit, front video, the front video are installed on intermediate on front side of body
Position, the data acquisition unit are connect with flight controller, altitude information, attitude data and position for acquiring aircraft
Data, described image processing unit are connect with flight controller and front video respectively, for according to color and Texture Segmentation
The image of front video shooting is handled in real time, to search ground, barrier and sky, to estimate that aircraft is opposite
Relative position among narrow space.
2. long battery life aircraft according to claim 1, which is characterized in that the data acquisition unit includes inertia
Measuring unit, GPS unit, baroceptor and the ultrasonic height sensors mounted on organism bottom.
3. long battery life aircraft according to claim 1, which is characterized in that the size of the lifting rotor is more than control
The size of rotor processed.
4. long battery life aircraft according to claim 1, which is characterized in that the PU Payload Unit has had
Fall frame.
5. long battery life aircraft according to claim 1, which is characterized in that the body is cuboid.
6. the control method based on long battery life aircraft described in claim 1, which is characterized in that two lifting rotors
Direction of rotation on the contrary, the direction of rotation of two neighboring control rotor on the contrary, two lifting rotors are rotated with constant speed, to keep
The in-flight hovering of body, the relative position estimation that flight controller is generated according to image processing unit and track simultaneously combine number
The data calculating aircraft acquired according to collecting unit is currently and desired position, posture and speed, control four control rotors
Direct current brushless motor speed realize flight of the aircraft in narrow space to control position of aircraft and posture.
7. the control method of long battery life aircraft according to claim 6, which is characterized in that aircraft hovering and
When the flight being advanced slowly, the lift of each rotor generationEqual to each rotor weight W,, the speed of rotor, whereinIt is diametrically
The mass flow in direction,It is atmospheric density, DL is the ratio of rotor weight and rotor area, and R is rotor radius, required
Power is。
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810202916.3A CN108298070A (en) | 2018-03-13 | 2018-03-13 | A kind of long battery life aircraft and control method suitable for narrow space |
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| CN201810202916.3A CN108298070A (en) | 2018-03-13 | 2018-03-13 | A kind of long battery life aircraft and control method suitable for narrow space |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110155314A (en) * | 2019-05-13 | 2019-08-23 | 北京遥感设备研究所 | A kind of six rotor wing unmanned aerial vehicles |
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| JP2014240242A (en) * | 2013-06-12 | 2014-12-25 | 富士重工業株式会社 | Vertical take-off and landing flight vehicle |
| CN105222760A (en) * | 2015-10-22 | 2016-01-06 | 一飞智控(天津)科技有限公司 | The autonomous obstacle detection system of a kind of unmanned plane based on binocular vision and method |
| CN106828945A (en) * | 2017-01-23 | 2017-06-13 | 中国人民解放军防空兵学院 | The decoupling of oily electricity mixing rotor wing unmanned aerial vehicle multi power source and vector control apparatus and method |
-
2018
- 2018-03-13 CN CN201810202916.3A patent/CN108298070A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014240242A (en) * | 2013-06-12 | 2014-12-25 | 富士重工業株式会社 | Vertical take-off and landing flight vehicle |
| CN105222760A (en) * | 2015-10-22 | 2016-01-06 | 一飞智控(天津)科技有限公司 | The autonomous obstacle detection system of a kind of unmanned plane based on binocular vision and method |
| CN106828945A (en) * | 2017-01-23 | 2017-06-13 | 中国人民解放军防空兵学院 | The decoupling of oily electricity mixing rotor wing unmanned aerial vehicle multi power source and vector control apparatus and method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110155314A (en) * | 2019-05-13 | 2019-08-23 | 北京遥感设备研究所 | A kind of six rotor wing unmanned aerial vehicles |
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Application publication date: 20180720 |