CN108974340A - A kind of miniature quadrotor - Google Patents
A kind of miniature quadrotor Download PDFInfo
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- CN108974340A CN108974340A CN201810619366.5A CN201810619366A CN108974340A CN 108974340 A CN108974340 A CN 108974340A CN 201810619366 A CN201810619366 A CN 201810619366A CN 108974340 A CN108974340 A CN 108974340A
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- cylindrical body
- square department
- flight
- motor
- fixing sleeve
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- 238000012360 testing method Methods 0.000 claims abstract description 46
- 230000003028 elevating effect Effects 0.000 claims description 17
- 230000006698 induction Effects 0.000 claims description 13
- 230000033228 biological regulation Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 4
- 239000000443 aerosol Substances 0.000 claims description 3
- 239000003550 marker Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 2
- NOQGZXFMHARMLW-UHFFFAOYSA-N Daminozide Chemical group CN(C)NC(=O)CCC(O)=O NOQGZXFMHARMLW-UHFFFAOYSA-N 0.000 claims 1
- 238000005259 measurement Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 8
- 230000000087 stabilizing effect Effects 0.000 description 4
- 238000011160 research Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000013480 data collection Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 208000035473 Communicable disease Diseases 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 235000019504 cigarettes Nutrition 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
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- 239000007787 solid Substances 0.000 description 1
- 239000012780 transparent material Substances 0.000 description 1
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
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/028—Micro-sized aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
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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
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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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
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
Abstract
The invention discloses a kind of miniature quadrotors, belong to air vehicle technique field.Including flight mainboard, including a square department and four wing portions that square department side is arranged in, wing section does not connect with the end angle of square department and to form through-hole between wing portion and square department, wing portion with respect to square department one end semicircular in shape structure, and be located at semicircular structure be provided centrally with flight motor installing hole；Motor fixing sleeve, motor fixing sleeve one end, which can be fixed, to be set in flight motor installing hole, and the other end is stretched out with respect to wing portion upper surface side；Flight motor is fixed in motor fixing sleeve relative extension one end；Propeller is arranged in flight motor output shaft one end；Power supply fixing sleeve is arranged below square department.The present invention can provide a kind of economic, multiple functional, convenient for test miniature quadrotor to beginner, and satisfaction begins to learn exploitation needs.
Description
Technical field
The present invention relates to air vehicle technique field, especially a kind of miniature quadrotor.
Background technique
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, is using radio robot and to provide for oneself
The not manned aircraft of presetting apparatus manipulation.From technical standpoint definition can be divided into: unmanned fixed-wing aircraft, nobody vertically
Drop, unmanned airship, unmanned helicopter, unmanned multi-rotor aerocraft, unmanned parasol etc..
Unmanned plane press application field, can be divided into it is military with it is civilian.Military aspect, unmanned plane are divided into reconnaissance plane and target drone.The people
With aspect, unmanned plane+industrial application is that unmanned plane has really just needed；At present take photo by plane, agricultural, plant protection, self-timer, express transportation,
Disaster relief, observation wild animal, monitoring infectious disease, mapping, news report, electric inspection process, the disaster relief, movies-making, manufacture wave
The application in unrestrained etc. field, has greatly expanded the purposes of unmanned plane itself, developed country also actively extension industrial application with
Develop unmanned air vehicle technique.Nowadays unmanned air vehicle technique development is more rapid, using it is relatively broad be more rotor types electric power
Unmanned plane.With demand increase and using field expansion, more and more people want study, research unmanned air vehicle technique.But
The problems such as exploitation and study of unmanned plane always exist threshold height, at high cost, high to developer's electrical type technical requirements.
Summary of the invention
Goal of the invention of the invention is, in view of the above-mentioned problems, providing a kind of miniature quadrotor, can give beginner
A kind of economic, multiple functional, convenient for test miniature quadrotor is provided, satisfaction begins to learn exploitation needs.
In order to achieve the above objectives, the technical scheme adopted by the invention is that:
A kind of miniature quadrotor, including
Flight mainboard is circuit board, including a square department and four wing portions that square department side is arranged in, the wing
Portion connect with the end angle of square department respectively and to be formed between wing portion and square department through-hole, and the wing portion is with respect to square department
One end semicircular in shape structure, and be located at semicircular structure be provided centrally with flight motor installing hole；The square department is equipped with
STC15W4K32S4 main control chip, six axle sensor of mpu6050, tps9926b motor drive ic, bmp180 baroceptor,
Nrf24L01 wireless module；The STC15W4K32S4 main control chip acquires data simultaneously by six axle sensor of mpu6050
Operation is carried out to drive the tps9926b motor drive ic；The nrf24L01 wireless module passes through the round on square department
It is connect with the square department, the STC15W4K32S4 main control chip is located at below the nrf24L01 wireless module；It is described
STC15W4K32S4 main control chip calculates current flight device by reading the collected atmospheric pressure value of the bmp180 baroceptor
Height, and carry out fixed high control；The STC15W4K32S4 main control chip passes through the nrf24L01 wireless module and remote control
Device end carries out data communication, obtains the movement instruction sent from the remote controler, executes corresponding motor performance；It is described
Tps9926b motor drive ic is arranged in wing portion and square department junction；
Motor fixing sleeve, motor fixing sleeve one end, which can be fixed, to be set in flight motor installing hole, other end phase
Wing portion upper surface side is stretched out；
Flight motor is fixed in motor fixing sleeve relative extension one end；
Propeller is arranged in flight motor output shaft one end；
Power supply fixing sleeve is arranged below square department, is used for fixed power source；
Power supply is arranged in power supply fixing sleeve.
Of the invention focuses on providing a miniature quadrotor miniature and for teaching, accomplishes in structure
It assembles in module, manipulation test is steady, data collection is convenient, is suitble to beginner's introduction, and to test stability contorting, control is calculated
Method test etc. provides good test platform.The simple flow of its structure is at low cost, can satisfy beginner's developmental research use.
Preferably, the power supply is wireless induction coil.Wireless power is achieved, mitigates weight for it and makes guarantee.
It preferably, further include transmitting induction coil corresponding with wireless induction coil, transmitting induction coil setting is being tested
On platform, and it is connect with external power supply；The testing stand includes cylindrical body, lifting platform, infrared distance sensor and elevating control
Device；The lower part in cylindrical body, including elevating lever and disk is arranged in the lifting platform, and the disk is arranged on elevating lever
Side, and gone up and down by elevating lever along cylindrical body inner wall；The transmitting induction coil is arranged in disk；The disk upper surface
It is provided with spongy layer；The disk upper surface is provided with several infrared distance sensors；The cylindrical body is by transparent material system
At intracavity diameter size is 5-8 times of aircraft maximum gauge；The disk and cylindrical body intracavity diameter are in the same size；
The lifting controller is connect with elevating lever and infrared distance sensor respectively, and according to the sensing data of infrared distance sensor
Adjust the adjustable height of elevating lever.Here the place of taking a flight test of a desktop grade is provided, is used as power supply to connect without wired,
It is that but can preferably be tested for developer just in flight test in state, such as manipulation test, stationarity
Test etc., user more intuitive can observe, and not have to concern not enough power supply, can not test balance for a long time
The problem of property, stability；Also accidents various in test are preferably minimized simultaneously, facilitates beginner to test and uses, reduce loss.
Preferably, it is provided with the filament for connecting aircraft on the inside of the cylindrical body, and is at least arranged 4, filament
Length is 2/3rds of cylindrical body intracavity diameter size.
It preferably, further include the remote controler being wirelessly connected with aircraft, the remote controler is made by STC15F2K60S2 chip
For main controller, the ADC on 8 tunnels is used to acquire, has passed through 4 road rocker regulation resistance voltages of acquisition, 3 trimmer potentiometer voltages, all the way
Supply voltage obtains the remote-control data of input.
Preferably, at least two air outlets are set in the middle part of the cylindrical body, and the air outlet connects outer fan；It is described
Air outlet installs adjustable blinds.
Preferably, the cylindrical body inner sidewall is equipped with several LED light being embedded in side wall.
Preferably, it is provided with the smog mouth for connecting external aerosol producer in the middle part of the cylindrical body, the smog mouth leans on
Nearly air outlet.
Preferably, several scale markers being vertically arranged are arranged in interval on the cylindrical body inner wall；The cylindrical body
It is uniformly arranged on outer wall several for placing the rack of video camera.The cylindrical body is corresponded to and is equipped at rack for imaging
The shooting mouth of machine shooting；The shooting mouth and scale marker position face are arranged.
Preferably, the cylindrical body side wall locally has several through-holes.
Due to the adoption of the above technical scheme, the invention has the following advantages:
1. the configuration of the present invention is simple, basic function is complete, can satisfy beginner's introduction and uses and carry out various algorithms
Test.
2. a hair provides the place of taking a flight test of bright desktop grade, without wired as power supply connection, in state
Flight test, but can preferably be tested for developer, such as manipulation test, stationarity test etc. makes
User more intuitive can observe, and do not have to concern not enough power supply, can not test balance for a long time, stability is asked
Topic；Also accidents various in test are preferably minimized simultaneously, facilitates beginner to test and uses, reduce loss.
Detailed description of the invention
Fig. 1 is unmanned plane top view of the present invention.
Fig. 2 is testing stand illustrative view of functional configuration of the present invention.
In attached drawing, 1- flight mainboard, 2- testing stand, 3- square department, 4- wing portion, 5- through-hole, 6-STC15W4K32S4 master
Control chip, six axle sensor of 7-mpu6050,8-tps9926b motor drive ic, 9-bmp180 baroceptor, 10-
Nrf24L01 wireless module, 11- motor fixing sleeve, 12- flight motor, 13- propeller, 14- power circuit, 15- cylindrical body,
16- elevating lever, 17- disk, 18- emit induction coil, 19- infrared distance sensor, 20- spongy layer, 21- filament.
Specific embodiment
It is further illustrated below in conjunction with specific implementation of the attached drawing to invention.
As described in Fig. 1-2, the invention discloses a kind of miniature quadrotor, specifically a kind of miniature quadrotor flight
Device and its platform of taking a flight test.Aircraft is equipped with corresponding controller, acts for wireless controller.Aircraft includes flight mainboard
1, motor fixing sleeve 11, flight motor 12, propeller 13, power supply fixing sleeve and power supply composition.
As shown in Figure 1, flight mainboard 1, for for X-type circuit board, by including a square department 3 and being arranged in 3 side of square department
Four wing portions 4, the wing portion 4 connect with the end angle of square department 3 respectively and makes shape between wing portion 4 and square department 3
At through-hole 5, one end semicircular in shape structure of the opposite square department 3 in the wing portion 4, and be located at semicircular structure be provided centrally with it is winged
12 mounting hole of row motor.Square department 3 is equipped with STC15W4K32S4 main control chip 6, six axle sensor 7 of mpu6050, tps9926b
Motor drive ic 8, bmp180 baroceptor 9, nrf24L01 wireless module 10.STC15W4K32S4 main control chip 6 passes through
Six axle sensor 7 of mpu6050 acquisition data simultaneously carry out operation to drive tps9926b motor drive ic 8.Nrf24L01 is wireless
Module 10 is connect by the round on square department 3 with square department 3, and it is wireless that STC15W4K32S4 main control chip 6 is located at nrf24L01
10 lower section of module.STC15W4K32S4 main control chip 6 is worked as by reading the calculating of the collected atmospheric pressure value of bmp180 baroceptor 9
The height of preceding aircraft, and carry out fixed high control.STC15W4K32S4 main control chip 6 by nrf24L01 wireless module 10 with it is distant
It controls device end and carries out data communication, obtain the movement instruction sent from remote controler, execute corresponding motor performance；Tps9926b electricity
Machine driving chip 8 is arranged in wing portion 4 and 3 junction of square department.
11 one end of motor fixing sleeve, which can be fixed, to be set on 12 mounting hole of flight motor, and the other end is with respect in wing portion 4
End face side is stretched out；Flight motor 12 is fixed in 11 relative extension one end of motor fixing sleeve；Propeller 13 is arranged in flight motor
12 output shaft one end.Power supply is fixed to be set on 3 lower section of square department, is used for fixed power source；Here power supply can for lithium battery or
Person's wireless power source coil, wireless power source coil, that is, wireless induction coil.
Here aircraft is mainly used for the miniature quadrotor of teaching, accomplishes to assemble in module in structure, manipulation
Test is steady, data collection is convenient, is suitble to beginner's introduction, provides to test stability contorting, control algolithm test etc.
Good test platform.The simple flow of its structure is at low cost, can satisfy beginner's developmental research use.The big face of flight mainboard 1
Product hollow out, while PCB surface product is greatly reduced in the case where not reducing and flying control stress again, mitigate and flies control weight.Here pass through
Setting motor fixing sleeve 11 can make aircraft be applicable in various types of flight motors 12.
As shown in Fig. 2, being the structural solid figure of testing stand 2；Testing stand 2 is used for the flight test of aircraft, while logical
One configuration in news, forms a good teaching platform in this way, and beginner is suitble to learn to use.Testing stand 2 includes tubular master
Body 15, lifting platform, infrared distance sensor 19 and lifting controller.The lower part in cylindrical body 15 is arranged in lifting platform, including
Elevating lever 16 and disk 17, disk 17 are arranged above elevating lever 16, and are gone up and down by elevating lever 16 along 15 inner wall of cylindrical body；
Emit induction coil 18 to be arranged in disk 17.17 upper surface of disk is provided with spongy layer 20；If 17 upper surface of disk is provided with
Dry infrared distance sensor 19.Infrared distance sensor 19 is controlled for measuring the distance between disk 17 and aircraft
Lifting of lifting table can keep maintaining a certain distance between disk 17 and aircraft in this way so that aircraft wireless charging is kept
Stablize.Here, disk 17 can be to be arranged multiple through-holes, and for reducing the influence to unmanned plane, wherein spongy layer 20 is equally set
Set corresponding through-hole.
Here, cylindrical body 15 is made of clear material, and intracavity diameter size is 7 times of aircraft maximum gauge；Circle
Disk 17 and 15 intracavity diameter of cylindrical body are in the same size.Lifting controller connects with elevating lever 16 and infrared distance sensor 19 respectively
It connects, and adjusts the adjustable height of elevating lever 16 according to the sensing data of infrared distance sensor 19.Lifting controller be specifically be
51 single-chip microcontrollers, for adjusting lifting of lifting table according to 19 data of infrared distance sensor.Here the examination of a desktop grade is provided
Fly place, connect without wired as power supply, in state be just in flight test, but can be more for developer
Good test, such as manipulation test, and stationarity test etc., user more intuitive can observe, and need not
The problem of worrying not enough power supply, balance, stability can not be tested for a long time；Also accidents various in test are dropped to most simultaneously
It is low, facilitate beginner to test and use, reduces loss.
To ensure that aircraft is taken a flight test safety, the filament for connecting aircraft is provided on the inside of cylindrical body 15 here
21, and at least it is arranged 4,21 length of filament is 2/3rds of 15 intracavity diameter size of cylindrical body.
Here remote controler and aircraft are corresponding, and have used 8 tunnels as main controller using STC15F2K60S2 chip
ADC acquisition obtains the distant of input by acquiring 4 road rocker regulation resistance voltages, 3 trimmer potentiometer voltages, all the way supply voltage
Control data.
In order to further strengthen the performance for platform of taking a flight test, at least two air outlets, outlet air are set in the middle part of cylindrical body 15 here
Mouth connection outer fan；Air outlet installs adjustable blinds.The cigarette for connecting external aerosol producer is provided in the middle part of cylindrical body 15
Mist mouth, smog mouth facilitate look at airflow condition close to air outlet in this way, can be used as small-sized wind tunnel use.Cylindrical body 15
Several scale markers being vertically arranged are arranged in interval on inner wall；It is uniformly arranged on 15 outer wall of cylindrical body several for placing camera shooting
The rack of machine.The shooting mouth for video camera shooting is equipped at the corresponding rack of cylindrical body 15；Shoot mouth and scale marker
The setting of position face.Setting can monitor the state of flight of aircraft, in the prior art, flight by placing picture pick-up device in this way
The state of device is mostly determined by sensor mounted thereto, but needs a large amount of sensor can not simultaneously for posture judgement
Comprehensively accurately, multiple scale markers are set here and camera position can be more objective in order to the state of monitoring camera-shooting aircraft
Observation is conducive to teaching expansion and beginner's introduction.
Here, 15 inner sidewall of cylindrical body is equipped with several LED light being embedded in side wall, convenient for can also compared under dark situation
To be tested.Wherein, 15 side wall of cylindrical body locally has several through-holes so that it is convenient to install various external test elements, benefit
In the Function Extension of testing stand 2.
Specifically, the present invention is a kind of microminiature quadrotor and its testing stand 2 based on 51 single-chip microcontrollers.Aircraft
Part, as main controller, passes through reading collected 3 axle acceleration of six axle sensor of mpu6050 7 by STC15W4k32S4 chip
With 3 axis angular rate data, attitude algorithm is carried out, the current attitude angle of aircraft is obtained.And it is carried out using cascade PID algorithm from steady
Control, calculates the corresponding throttle value of four motors, and tps9926b motor drive ic is driven in the form of adjusting PWM duty cycle
8 are realized with the corresponding lift of four hollow-cup motors generations of driving and torque from steady.It is adopted by reading bmp180 baroceptor 9
The atmospheric pressure value collected calculates the height of current flight device, and carries out fixed high control, so that aircraft is able to maintain in constant height
Degree flight.Data communication is carried out by nrf24L01 wireless module 10 and remote controler end, obtains the movement sent from remote controler
Instruction, executes corresponding motor performance.Power unit, by booster circuit by the cell voltage of 3.3V-4.2V boost to 5V to
Main control chip power supply, reuse ASM1117 voltage stabilizing chip by 5V pressure stabilizing go out 3.3V to each sensor power supply.By four motor positions
Respectively there is a programmable LED light on side, and customized state available for display uses.
Remote controler part, as main controller, has used the ADC on 8 tunnels to acquire, by acquiring 4 tunnels by STC15F2K60S2 chip
Rocker regulation resistance voltage, 3 trimmer potentiometer voltages are used for fine adjustment of attitude, all the way supply voltage, are used for remote controler low-voltage report
Alert protection, obtains the remote-control data of input.By reading collected 3 axle acceleration of six axle sensor of mpu6050 7 and 3 shaft angles
Speed data carries out attitude algorithm, obtains the current attitude angle of remote controler, is remotely controlled for physically sensitive mode.OLED display screen is used for
The various parameters of display remote controller, and corresponding parameter setting is carried out by 8 keys.Finally collected remote-control data is led to
It crosses nrf24L01 wireless module 10 and is sent to aircraft end.Remote controler has a power supply indicator and two programmable LED light,
It can be used for showing customized state.The cell voltage of 3.3V-4.2V is boosted to 5V to master by booster circuit by power circuit 14
Control chip power supply, reuse ASM1117 voltage stabilizing chip by 5V pressure stabilizing go out 3.3V to each sensor power supply.
Above description is the detailed description for the present invention preferably possible embodiments, but embodiment is not limited to this hair
Bright patent claim, it is all the present invention suggested by technical spirit under completed same changes or modifications change, should all belong to
In the covered the scope of the patents of the present invention.
Claims (10)
1. a kind of miniature quadrotor, it is characterised in that: including
Flight mainboard is circuit board, including a square department and four wing portions that square department side is arranged in, the wing section
It does not connect and to be formed between wing portion and square department through-hole, one of wing portion with respect to square department with the end angle of square department
Semicircular in shape structure is held, and is located at semicircular structure and is provided centrally with flight motor installing hole；The square department is equipped with
STC15W4K32S4 main control chip, six axle sensor of mpu6050, tps9926b motor drive ic, bmp180 baroceptor,
Nrf24L01 wireless module；The STC15W4K32S4 main control chip acquires data simultaneously by six axle sensor of mpu6050
Operation is carried out to drive the tps9926b motor drive ic；The nrf24L01 wireless module passes through the round on square department
It is connect with the square department, the STC15W4K32S4 main control chip is located at below the nrf24L01 wireless module；It is described
STC15W4K32S4 main control chip calculates current flight device by reading the collected atmospheric pressure value of the bmp180 baroceptor
Height, and carry out fixed high control；The STC15W4K32S4 main control chip passes through the nrf24L01 wireless module and remote control
Device end carries out data communication, obtains the movement instruction sent from the remote controler, executes corresponding motor performance；It is described
Tps9926b motor drive ic is arranged in wing portion and square department junction；
Motor fixing sleeve, motor fixing sleeve one end, which can be fixed, to be set in flight motor installing hole, and the other end is with respect to machine
Alar part upper surface side is stretched out；
Flight motor is fixed in motor fixing sleeve relative extension one end；
Propeller is arranged in flight motor output shaft one end；
Power supply fixing sleeve is arranged below square department, is used for fixed power source；
Power supply is arranged in power supply fixing sleeve.
2. a kind of miniature quadrotor according to claim 1, it is characterised in that: the power supply is wireless induction line
Circle.
3. a kind of miniature quadrotor according to claim 2, it is characterised in that: further include and wireless induction coil
Corresponding transmitting induction coil, transmitting induction coil setting are connect on testing stand, and with external power supply；The testing stand includes
Cylindrical body, lifting platform, infrared distance sensor and lifting controller；The lower part in cylindrical body is arranged in the lifting platform,
Including elevating lever and disk, the disk is arranged above elevating lever, and is gone up and down by elevating lever along cylindrical body inner wall；It is described
Emit induction coil to be arranged in disk；The disk upper surface is provided with spongy layer；The disk upper surface is provided with several
Infrared distance sensor；The cylindrical body is made of clear material, and intracavity diameter size is the 5-8 of aircraft maximum gauge
Times；The disk and cylindrical body intracavity diameter are in the same size；The lifting controller is passed with elevating lever and infrared distance measurement respectively
Sensor connection, and according to the adjustable height of the sensing data of infrared distance sensor adjusting elevating lever.
4. a kind of miniature quadrotor according to claim 2, it is characterised in that: setting on the inside of the cylindrical body
Have a filament for connecting aircraft, and be at least arranged 4, filament length be cylindrical body intracavity diameter size three/
Two.
5. a kind of miniature quadrotor according to claim 1, it is characterised in that: the remote controler by
STC15F2K60S2 chip has used the ADC on 8 tunnels to acquire as main controller, by acquisition 4 road rocker regulation resistance voltages, 3 it is micro-
Potentiometer voltage, all the way supply voltage are adjusted, the remote-control data of input is obtained.
6. a kind of miniature quadrotor according to claim 3, it is characterised in that: setting in the middle part of the cylindrical body
At least two air outlets, the air outlet connect outer fan；The air outlet installs adjustable blinds.
7. a kind of miniature quadrotor according to claim 3, it is characterised in that: the cylindrical body inner sidewall is set
There are several LED light being embedded in side wall.
8. a kind of miniature quadrotor according to claim 3, it is characterised in that: setting in the middle part of the cylindrical body
There is the smog mouth for connecting external aerosol producer, the smog mouth is close to air outlet.
9. a kind of miniature quadrotor according to claim 3, it is characterised in that: between on the cylindrical body inner wall
Every several scale markers being vertically arranged of setting；It is uniformly arranged on the cylindrical body outer wall several for placing putting for video camera
Set frame.The cylindrical body corresponds to the shooting mouth being equipped at rack for video camera shooting；The shooting mouth and scale marker
The setting of position face.
10. a kind of miniature quadrotor according to claim 3, it is characterised in that: cylindrical body side wall office
There are several through-holes in portion.
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|---|---|---|---|
| CN201810619366.5A CN108974340A (en) | 2018-06-15 | 2018-06-15 | A kind of miniature quadrotor |
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| CN201810619366.5A CN108974340A (en) | 2018-06-15 | 2018-06-15 | A kind of miniature quadrotor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111977024A (en) * | 2020-07-28 | 2020-11-24 | 清华大学 | Flight control debugging system of rotor craft |
Citations (12)
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