CN109407693A - Unmanned plane and unmanned flight's system - Google Patents
Unmanned plane and unmanned flight's system Download PDFInfo
- Publication number
- CN109407693A CN109407693A CN201710706896.9A CN201710706896A CN109407693A CN 109407693 A CN109407693 A CN 109407693A CN 201710706896 A CN201710706896 A CN 201710706896A CN 109407693 A CN109407693 A CN 109407693A
- Authority
- CN
- China
- Prior art keywords
- chip
- motor
- flight
- unmanned plane
- core processor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical group C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 22
- 238000012545 processing Methods 0.000 claims description 21
- 238000003860 storage Methods 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 11
- 238000002604 ultrasonography Methods 0.000 claims description 10
- 230000004888 barrier function Effects 0.000 claims description 4
- 238000009826 distribution Methods 0.000 claims description 3
- 238000007726 management method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 4
- 238000004590 computer program Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- 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)
- Toys (AREA)
Abstract
The invention discloses a kind of unmanned planes and unmanned flight's system.The unmanned plane includes: fuselage main body, the integrated manipulator being separately positioned in fuselage main body, motor and sensor, motor is connected with integrated manipulator respectively with sensor, integrated manipulator includes: printing board PCB, core processor chip, core processor chip is arranged on PCB, sensor, core processor chip is sent to for obtaining the flight sensing data in the specified region of fuselage main body, and by flight sensing data；Flight control signal for generating flight control signal based on flight sensing data, and is sent to motor by core processor chip；Motor may be implemented to be uniformly controlled unmanned plane by integrated manipulator for the rotor based on flight control signal rotation motor, not only can simplify the structure of unmanned plane, simplify program debugging operation, and can reduce computing cost.
Description
Technical field
The present invention relates to network communication technology field more particularly to a kind of unmanned plane and unmanned flight's systems.
Background technique
With science and technology fast development, UAV (abbreviation unmanned plane) due to maneuverability, rapid reaction,
Unmanned flight, operation require low advantage and the favor by people.Unmanned plane is using radio robot and to provide for oneself
The not manned aircraft of presetting apparatus manipulation.Currently, unmanned plane is widely used in agricultural, explores, takes the photograph using the technology of taking photo by plane
The fields such as shadow, border patrol.
Nowadays unmanned plane various types in the market, but the structure of most of unmanned planes is more complicated.In general, in order to ensure
Unmanned plane normal flight is not only configured with more set flight control systems on the fuselage of unmanned plane, also remotely located to have server.
In unmanned plane during flying, server sends control instruction to each set flight control system respectively, and coordinates each set flight control system
The operative relationship of system.Since the system quantity that server matched with unmanned plane needs to control is more, program debugging complexity causes to count
Calculation expense is big, and therefore, structure is complicated and computing cost is big for existing unmanned plane.
The structure for how simplifying unmanned plane optimizes the operation of unmanned plane, is industry technical problem urgently to be resolved.
Summary of the invention
In order to solve the problems, such as unmanned plane, structure is complicated and complicated for operation, the embodiment of the invention provides it is a kind of nobody
Machine and unmanned flight's system.
In a first aspect, providing a kind of unmanned plane.The unmanned plane includes:
Fuselage main body, the integrated manipulator being separately positioned in fuselage main body, motor and sensor, motor and sensor point
It is not connected with integrated manipulator, integrated manipulator includes: PCB (Printed Circuit Board, printed circuit board), core
Processor chips, core processor chip are arranged on PCB,
Sensor is used to obtain the flight sensing data in the specified region of fuselage main body, and flight sensing data is sent to
Core processor chip；
Core processor chip is used for based on flight sensing data generation flight control signal, and flight control signal is sent out
Give motor；
Motor is used for the rotor based on flight control signal rotation motor.
Second aspect provides a kind of unmanned flight's system.The system includes:
Above-mentioned unmanned plane；
Remote control device, for sending telecommand, or the number of reception core processor chip to core processor chip
It is believed that breath.
The embodiment of the present invention can be by arranging integrated manipulator, motor and biography in the fuselage main body of unmanned plane as a result,
Sensor, motor and sensor are connected with integrated manipulator respectively, and integrated manipulator includes: PCB, core processor chip, core
Processor chips are arranged on PCB, the flight sensing data in the specified region of fuselage main body are obtained using sensor, and will flight
Sensing data is sent to core processor chip；Flight sensing data, which is based on, using core processor chip generates flight control letter
Number, and flight control signal is sent to motor；Rotor using motor based on flight control signal rotation motor, may be implemented
Unmanned plane is uniformly controlled by integrated manipulator, not only can simplify the structure of unmanned plane, simplifies program debugging operation, and
And computing cost can be reduced.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will make below to required in the embodiment of the present invention
Attached drawing is briefly described, it should be apparent that, drawings described below is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the structural schematic diagram of the unmanned plane of one embodiment of the invention；
Fig. 2 is the structural schematic diagram of the integrated manipulator of one embodiment of the invention；
Fig. 3 is the structural schematic diagram of the integrated manipulator of another embodiment of the present invention；
Fig. 4 is the structural representation figure of unmanned flight's system of one embodiment of the invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 is the structural schematic diagram of the unmanned plane of one embodiment of the invention.
As shown in Figure 1, unmanned plane may include: fuselage main body 100, the integrated control that is separately positioned in fuselage main body 100
Device (inside of fuselage main body 100 is set, and is not labeled), motor 200 and sensor 300 processed.Motor 200 and sensor
300 connect with integrated manipulator respectively.
In some embodiments, the quantity of motor and sensor is N (such as N=6), and i-th of sensor is arranged with i-th
In the range of the pre-set radius of a motor round (section of such as radius is [30cm, 100cm]), N and i are natural number, N >=4
And i≤N.It is by the accurate control to different motors come real because of the flight attitude of unmanned plane and balance, the stability of flight
Existing.The embodiment of the present invention by by sensor be arranged near motor can with the sensing data around precise acquisition to motor,
Data are provided for the subsequent accurate control to motor to support.
In the present embodiment, sensor 300 can be arranged in pairs with motor 200.Sensor 300 and totally 6 pairs of motor 200.
3 pairs of sensors and motor can be set on the left of unmanned plane: sensor 310 and motor 210, sensor 320 and motor 220 pass
Sensor 330 and motor 230.3 pairs of sensors and motor: sensor 340 and motor 240, sensing can be set on the right side of unmanned plane
Device 350 and motor 250, sensor 360 and motor 260.
It will be understood to those skilled in the art that sensor 300 and motor 200 can also be with 4 pairs or 8 pairs even 1 equities.
But show by a large amount of experimental data: when pre-set radius circle is in the range of [30cm, 100cm] and the number of motor 200
When amount is 6, flight effect reaches best.When the logarithm of sensor 300 and motor 200 is very few, the sensing data of acquisition is insufficient,
The control ability of motor is insufficient, will lead to the reduction of unmanned aerial vehicle (UAV) control precision.When the logarithm of sensor 300 and motor 200 is excessive,
The control ability of the sensing data amount of money motor of acquisition all can be very strong, however, this will increase the hardware complexity of unmanned plane, not only
It will increase the cost of unmanned plane, and increase the complexity of control.The embodiment of the present invention passes through 6 pairs of sensors 300 of setting as a result,
The structure and computational complexity of unmanned plane can be simplified under the premise of ensuring to control precision with motor 200, and directly reduced
The manufacturing cost of unmanned plane.
In the present embodiment, integrated manipulator may include: PCB and core processor chip.Core processor chip can
To be arranged on PCB.At this point, integrated manipulator can guarantee basic flight control function.If necessary to increase for unmanned plane
Other functional modules or functional chip can be arranged in other functions on PCB, can also be in core processor chip
The specific function program of burning, for realizing corresponding function.
In the present embodiment, sensor 300 can be used for obtaining the flight sensing data in the specified region of fuselage main body, and
Flight sensing data is sent to core processor chip.Wherein, flight sensing data is mainly determined by specific sensor.It passes
Sensor may include: barometer and/or compass.Wherein, barometer can be Baro sensor, can be used for obtaining specified area
The barometric information in domain；Compass can be compass (compass) sensor, can be used for obtaining the bearing data in specified region.
In addition, sensor can also include the conventional inertial measurement component etc. for obtaining the inertial data in specified region.
In the present embodiment, core processor chip can be used for generating flight control signal based on flight sensing data,
And flight control signal is sent to motor 200；Motor 200 can be used for turning based on flight control signal rotation motor 200
Son.The revolving speed that wherein flight control signal can be the rotor of motor 210 is the first revolving speed, and the revolving speed of the rotor of motor 220 is
Second revolving speed, the revolving speed of the rotor of motor 230 are third revolving speed, and the revolving speed of the rotor of motor 220 is the 4th revolving speed, motor 220
The revolving speed of rotor be the 5th revolving speed, the revolving speed of the rotor of motor 220 is the 6th revolving speed.Wherein, the first revolving speed to the 6th revolving speed
It may be the same or different.In general, weather conditions are well calm, and when unmanned plane rectilinear flight, all motors can be kept
Consistent revolving speed.
The embodiment of the present invention can be by arranging integrated manipulator, motor and biography in the fuselage main body of unmanned plane as a result,
Sensor, motor and sensor are connected with integrated manipulator respectively, and integrated manipulator includes: PCB, core processor chip, core
Processor chips are arranged on PCB, the flight sensing data in the specified region of fuselage main body are obtained using sensor, and will flight
Sensing data is sent to core processor chip；Flight sensing data, which is based on, using core processor chip generates flight control letter
Number, and flight control signal is sent to motor；Rotor using motor based on flight control signal rotation motor, may be implemented
Unmanned plane is uniformly controlled by integrated manipulator, not only can simplify the structure of unmanned plane, simplifies program debugging operation, and
And computing cost can be reduced.
In some embodiments, unmanned plane can also include: power supply.Power supply 100 be arranged in fuselage main body, respectively with collection
It is connected at controller, motor 200 and sensor 300.Power supply 100 can power for all parts of unmanned plane.
Fig. 2 is the structural schematic diagram of the integrated manipulator of one embodiment of the invention.
With reference to Fig. 1 and Fig. 2, integrated manipulator may include: PCB400, core processor chip 401 and power management core
Piece 402.Core processor chip 401 and power management chip 402 are separately positioned on PCB401.Core processor chip 401
It is connected with power management chip 402.Core processor chip 401 can connect with external motor 200 and sensor 300 respectively
It connects.
Power management chip 402 can be used for obtaining flight sensing data, judge flight environment of vehicle based on flight sensing data
Grade, and according to flight environment of vehicle hierarchical selection powering mode, the electric power distribution instruction under powering mode is sent to power supply.Wherein,
Flight sensing data can be the sensing data that Baro sensor in sensor 300 and compass sensor acquire in real time.
Flight environment of vehicle grade and powering mode can carry out customized setting according to actual needs, and by flight environment of vehicle grade
Mapping relations are established with powering mode, it specifically can be as shown in following table (1):
(table 1)
When a certain flight environment of vehicle grade has been determined, it can execute power supply mould corresponding with a certain flight environment of vehicle grade
Formula.
In the present embodiment, the quantity of motor and sensor is N, and i-th of sensor is arranged in the pre- of i-th motor
If in the range of radius circular, N and i are natural number, N >=4 and i≤N.At this point, power management chip is also used to based on flight
When sensing data judges that flight environment of vehicle grade reaches pre-set level, power saving powering mode is selected according to predetermined level, and to power supply
The electric power distribution only powered to M motor and M sensor sent under power saving powering mode instructs, and M is natural number, M≤N.
Influenced especially greatly, when flight environment of vehicle is poor, such as have deviation when due to unmanned plane during flying by weather environment factor
When wind, flight attitude, direction, speed of unmanned plane etc. can is affected by wind direction, at this time, it may be necessary to the control system of unmanned plane into
The accurate control of row.However, the premise accurately controlled is barometric information, the bearing data etc. for obtaining each position of unmanned plane.
In the present embodiment, when the data similarity for 6 sensors acquisition that unmanned plane surrounding is arranged in is very high and winged
When row sensing data indicates flight environment of vehicle good (such as air pressure is normal, calm), so that it may confirm that flight environment of vehicle grade is first winged
Row environmental rating, and the power supply of operative sensor and/or motor can be closed, execute power saving powering mode.When flight senses
When data indicate flight environment of vehicle bad (such as air pressure somewhat high or relatively low etc.), so that it may confirm that flight environment of vehicle grade is
Second flight environment of vehicle grade executes conventional electron mode, and reverts to the power supply of the operative sensor and/or motor of closing.Example
Such as, it only powers to motor 220, sensor 320 and motor 250, sensor 360.Due to more than the quantity of motor and sensor and consuming
Electricity is big, so executing power saving powering mode when flight environment of vehicle is good, only powers to part motor and sensor, can be substantially
Degree reduces the power consumption of power supply, and cruise duration is greatly improved.
The terms "and/or", only a kind of incidence relation for describing affiliated partner, indicates that there may be three kinds of passes
System, for example, A and/or B, can indicate: individualism A exists simultaneously A and B, these three situations of individualism B.
In some embodiments, unmanned plane can also include: holder and camera.Holder can be set in fuselage main body
On, for installing camera；Camera can be used for acquiring picture.Holder can be according to the instruction of core processor chip 401
The processing such as 360 degree rotation is carried out, to increase the visual angle of camera.Camera can shoot the picture during unmanned plane during flying
Perhaps the video picture or video can be received by the operator of unmanned plane, and can be further processed for it.
Fig. 3 is the structural schematic diagram of the integrated manipulator of another embodiment of the present invention.
Referring to figs. 2 and 3, Fig. 3 embodiment increases on PCB on the basis of Fig. 2 embodiment: storage chip 403,
Energy supply control module 404, motor-driven control chip provided 405, GPS chip 406, picture handle chip 407, Wireless Fidelity (WIreless-
FIdelity, WIFI) module 408 and ultrasound chip 409.
Wherein, storage chip 403, energy supply control module 404, motor-driven control chip provided 405, global positioning system (Global
Positioning System, GPS) chip 406, picture processing chip 407 and ultrasound chip 409 respectively with power management core
Piece 402 connects.Storage chip 403, energy supply control module 404, motor-driven control chip provided 405, GPS chip 406, picture handle chip
407 and ultrasound chip 409 connect respectively with core processor chip 401.Ultrasound chip 409 and picture handle chip 407
It is connect respectively with WIFI module 408.In addition, external holder 500, motor 200, sensor 300 respectively can be with core processings
Device chip 401 connects.Holder 500, motor 200, the sensor 300 of outside can be connect respectively with power management chip 402.
In the present embodiment, picture processing chip 407 can be used for receiving picture, and carry out clarity processing to picture,
The picture for generating specified clarity, is sent to core processor chip 401 for the picture of specified clarity.Picture handles chip
407 received pictures are usually from holder 500.The picture arrived by the video capture on holder 500 is using core processing
Device 401 is sent to picture processing chip 407 and does carry out data processing.
The implementation of clarity processing, which may is that, deletes clarity very low picture or video, retains clarity and reaches
Perhaps video can also be turned the picture or video that the clarity of reservation reaches a certain level picture to a certain extent
Change processing generates the higher picture of clarity or video.It is complete that specific picture processing can handle HD400 chip by picture
At.The clarity of picture after picture handles HD400 chip processing can achieve 4K.
In the present embodiment, storage chip 403 can be used for storing the picture of specified clarity.The picture of specified clarity
It can be picture processing chip 407 treated picture.Storage chip 403 can be third generation double data rate memory
(Double-Date-Rate Three MEMORY, DDR3MEMORY), for the storage of data, such as storage image data.
In the present embodiment, energy supply control module 404 can respectively with power management chip 402 and motor-driven control chip provided
405 connections.Energy supply control module 404 can be used for controlling the power energy allocation of power supply, provide power supply to modules or chip.
For example, distributing 5V voltage for holder, 3V voltage etc. is distributed for storage chip 403, can be specifically configured according to actual needs
With optimization.Motor-driven control chip provided 405 revolving speeds that can be used for controlling motor (can be divided into the first revolving speed, the second revolving speed, minimum turn
Speed etc.), for example, the revolving speed that can control motor is the first revolving speed when unmanned plane heavier loads.In another example when unmanned plane is negative
When carrying lighter, the revolving speed that can control motor is minimum speed.
In the present embodiment, wireless communication chips 408 can be used for establishing wireless communication connection, and receives and/or send
Data information.Wireless communication chips 408 can be WIFI module.WIFI module can control 4K high definition picture transfer to ground
Platform (can be remote controler or server).The wireless control distance of about 5KM may be implemented in WIFI module.
In the present embodiment, ultrasound chip 409 can be used for emitting ultrasonic wave, and receive the echo of ultrasonic wave, be based on
The information of echo acquired disturbance object, and the information of barrier is sent to core processor chip 401.Ultrasound chip 409
The signal that can directly perceive is sent to core processor 401, handles for 401 analysis of core processor, obtains the letter of barrier
Breath.The information of barrier can be sent to ground control cabinet by WIFI module.Ultrasound chip 409 can be used to implement nobody
The processing such as avoidance of machine.
In the above-described embodiments, unmanned plane can carry INTEL AERO platform to realize the conventional application of unmanned plane.?
It in one simple unmanned plane scheme, can specifically include: by core processor Z8350, figure transmission module HD400, power management
Chip, 32G DDR3MEMORY composition nucleus module, along with WIFI module, GPS chip, Compass chip, Baro pass
Sensor adds energy supply control module, motor drive control module, ultrasonic sensor modules.These modules or chip can
It is connected in a manner of using CAN bus, USD bus or UART bus.
Wherein, motor drive control module can be used for drive motor, it is ensured that pass through this communication to the data of motor control
The network of agreement accurately controls motor.Energy supply control module may be implemented to control to motor drive control module power supply,
Guarantee that motor is normally started by control instruction.GPS chip can be used for the positioning and navigation of unmanned plane.Compass chip can be with
The heading for ensureing unmanned plane, is unlikely to fly off course.Baro sensor can guarantee the stabilization of unmanned plane during flying, make it not
It is influenced by air-flow.In addition, Z8350 is core CPU, it is the core of control system.WIFI module, GPS module, motor fly
Control control module, ultrasonic sensor require the processing by Z8350.Power module can be supplied to all parts of unmanned plane
Electricity.HD400 can be used for image procossing, and the processing speed of the processor is carried out than very fast for connecting Z8350 and WIFI module
The transmission and processing of picture.Z8350 is used in conjunction with each other with each functional module or chip, and image transmitting may be implemented, fly
The processing such as control, avoidance.
Fig. 4 is the schematic figure of unmanned flight's system of one embodiment of the invention.
As shown in figure 4, unmanned flight's system may include above-mentioned unmanned plane 1000, remote controler 2000 and server
3000。
Remote control device 2000 can be used for sending telecommand to the core processor chip of unmanned plane 1000, or receive
The data information of core processor chip.For example, remote control device 2000 can be also possible to the mobile phone of user with remote controler.
In some embodiments, server 3000 can be used for cloud service, and user can be remotely directly to unmanned plane 1000
Control instruction is sent, or first sends control instruction to remote control device 2000, then passes through remote control device 2000 to unmanned plane 1000
Send control instruction.User can also watch picture captured by the camera of unmanned plane 1000 etc. on server 3000.When
So, server 3000 is not necessarily present in the unmanned plane during flying system.Unmanned plane during flying system can only include: for nobody
Machine 1000 and remote controler 2000.
In addition, the system can also include some ancillary equipments, such as network.Network is in unmanned plane 1000, remote control
The medium of communication link is provided between device 2000 and server 3000.Specifically, network may include various connection types, such as
Wired, wireless communication link or fiber optic cables etc..
Above-described embodiment module or chip can wholly or partly by software, hardware, firmware or its
Meaning combination is to realize.When implemented in software, it can entirely or partly realize in the form of a computer program product.It is described
Computer program product includes one or more computer instructions, when run on a computer, so that computer executes
State operation described in each embodiment.It is all or part of when loading on computers and executing the computer program instructions
Ground is generated according to process or function described in the embodiment of the present invention.The computer can be general purpose computer, special purpose computer,
Computer network or other programmable devices.The computer instruction may be stored in a computer readable storage medium, or
Person is transmitted from a computer readable storage medium to another computer readable storage medium, for example, the computer instruction
Wired (such as coaxial cable, optical fiber, digital subscriber can be passed through from a web-site, computer, server or data center
Line (DSL)) or wireless (such as infrared, wireless, microwave etc.) mode to another web-site, computer, server or data
It is transmitted at center.The computer readable storage medium can be any usable medium that computer can access and either wrap
The data storage devices such as server, the data center integrated containing one or more usable mediums.The usable medium can be magnetic
Property medium, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state hard disk
Solid State Disk (SSD)) etc..
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case where, it can understand and implement.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (12)
1. a kind of unmanned plane characterized by comprising fuselage main body, the integrated control being separately positioned in the fuselage main body
Device, motor and sensor, the motor and the sensor are connected with the integrated manipulator respectively, the integrated manipulator packet
Include: printing board PCB, core processor chip, the core processor chip are arranged on the pcb,
The sensor is used to obtain the flight sensing data in the specified region of the fuselage main body, and the flight is sensed number
According to being sent to the core processor chip；
The core processor chip is used to generate flight control signal based on the flight sensing data, and the flight is controlled
Signal processed is sent to the motor；
The motor is used for the rotor based on motor described in the flight control signal rotation.
2. unmanned plane according to claim 1, which is characterized in that further include: power supply,
The power supply is arranged in the fuselage main body, connects respectively with the integrated manipulator, the motor and the sensor
It connects.
3. unmanned plane according to claim 2, which is characterized in that the integrated manipulator further include: power management chip,
On the pcb, the power management chip is connect with the core processor chip for the power management chip setting,
The power management chip judges flight environment of vehicle for obtaining the flight sensing data, based on the flight sensing data
Grade, and according to the flight environment of vehicle hierarchical selection powering mode, Xiang Suoshu power supply sends the electric power under the powering mode point
With instruction.
4. unmanned plane according to claim 3, which is characterized in that the quantity of the motor and the sensor is N, the
The i sensors are arranged in so that in the range of the pre-set radius circle of i-th of motor, the N and the i are nature
Number, N >=4 and i≤N.
5. unmanned plane according to claim 4, which is characterized in that wherein:
The power management chip is also used to judge that flight environment of vehicle grade reaches pre-set level based on the flight sensing data
When, according to the predetermined level select power saving powering mode, and to the power supply send under the power saving powering mode only to M
The electric power distribution instruction of a motor and the M sensor power supplies, the M are natural number, M≤N.
6. unmanned plane according to claim 1, which is characterized in that further include: holder and camera,
The holder is arranged in the fuselage main body, for installing the camera；
The camera is for acquiring picture.
7. unmanned plane according to claim 6, which is characterized in that the integrated manipulator further include: picture handles chip,
The picture processing chip is connect with the core processor chip,
The picture processing chip carries out clarity processing for receiving the picture, and to the picture, and it is specified clear to generate
The picture of the specified clarity is sent to the core processor chip by the picture of degree.
8. unmanned plane according to claim 7, which is characterized in that the integrated manipulator further include: storage chip, it is described
Storage chip is connect with the core processor chip,
The storage chip is used to store the picture of the specified clarity.
9. unmanned plane according to claim 1, which is characterized in that the integrated manipulator further include: ultrasound chip, institute
Ultrasound chip is stated to connect with the core processor chip,
The ultrasound chip receives the echo of the ultrasonic wave for emitting ultrasonic wave, is based on the echo acquired disturbance
The information of object, and the information of the barrier is sent to the core processor chip.
10. unmanned plane according to claim 1, which is characterized in that the integrated manipulator further include: wireless communication core
Piece, the wireless communication chips are connect with the core processor chip,
The wireless communication chips receive and/or send data information for establishing wireless communication connection.
11. unmanned plane according to claim 1 to 10, which is characterized in that the sensor includes:
Barometer, for obtaining the barometric information in the specified region；
And/or
Compass, for obtaining the bearing data in the specified region.
12. a kind of unmanned flight's system characterized by comprising
- 11 described in any item unmanned planes according to claim 1；
Remote control device, for sending telecommand, or the reception core processor chip to the core processor chip
Data information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710706896.9A CN109407693A (en) | 2017-08-17 | 2017-08-17 | Unmanned plane and unmanned flight's system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710706896.9A CN109407693A (en) | 2017-08-17 | 2017-08-17 | Unmanned plane and unmanned flight's system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109407693A true CN109407693A (en) | 2019-03-01 |
Family
ID=65454997
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710706896.9A Pending CN109407693A (en) | 2017-08-17 | 2017-08-17 | Unmanned plane and unmanned flight's system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109407693A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021078163A1 (en) * | 2019-10-21 | 2021-04-29 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle control method, apparatus and device, and storage medium |
| CN113014150A (en) * | 2019-12-20 | 2021-06-22 | 沃科波特有限公司 | Motor control system, method for operating a motor control system and aircraft |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104615145A (en) * | 2015-02-03 | 2015-05-13 | 深圳市华海技术有限公司 | UAV (unmanned aerial vehicle), and UAV control system and method |
| CN105068551A (en) * | 2015-08-31 | 2015-11-18 | 深圳市飞研智能科技有限公司 | Double-UAV control system with improvement of cruising ability |
| CN105929839A (en) * | 2016-05-23 | 2016-09-07 | 深圳市金鹰悦飞科技有限公司 | Unmanned aerial vehicle flight control method and control system |
| CN106628149A (en) * | 2016-12-30 | 2017-05-10 | 南京灿华光电设备有限公司 | Unmanned aerial vehicle with real-time communication network |
| CN207319073U (en) * | 2017-08-17 | 2018-05-04 | 昊翔电能运动科技(昆山)有限公司 | Unmanned plane and unmanned flight's system |
-
2017
- 2017-08-17 CN CN201710706896.9A patent/CN109407693A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104615145A (en) * | 2015-02-03 | 2015-05-13 | 深圳市华海技术有限公司 | UAV (unmanned aerial vehicle), and UAV control system and method |
| CN105068551A (en) * | 2015-08-31 | 2015-11-18 | 深圳市飞研智能科技有限公司 | Double-UAV control system with improvement of cruising ability |
| CN105929839A (en) * | 2016-05-23 | 2016-09-07 | 深圳市金鹰悦飞科技有限公司 | Unmanned aerial vehicle flight control method and control system |
| CN106628149A (en) * | 2016-12-30 | 2017-05-10 | 南京灿华光电设备有限公司 | Unmanned aerial vehicle with real-time communication network |
| CN207319073U (en) * | 2017-08-17 | 2018-05-04 | 昊翔电能运动科技(昆山)有限公司 | Unmanned plane and unmanned flight's system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021078163A1 (en) * | 2019-10-21 | 2021-04-29 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle control method, apparatus and device, and storage medium |
| CN113014150A (en) * | 2019-12-20 | 2021-06-22 | 沃科波特有限公司 | Motor control system, method for operating a motor control system and aircraft |
| CN113014150B (en) * | 2019-12-20 | 2023-11-07 | 沃科波特有限公司 | Motor control system, method for operating a motor control system and aircraft |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110622088B (en) | Flight path determination method, information processing device, program, and recording medium | |
| CN107977013B (en) | Unmanned aerial vehicle | |
| EP3345832B1 (en) | Unmanned aerial vehicle and method for controlling the same | |
| WO2016138690A1 (en) | Motion sensing flight control system based on smart terminal and terminal equipment | |
| CN207319073U (en) | Unmanned plane and unmanned flight's system | |
| WO2018095158A1 (en) | Flight control method, apparatus and system for use in aircraft | |
| CN105045279A (en) | System and method for automatically generating panorama photographs through aerial photography of unmanned aerial aircraft | |
| US11541996B2 (en) | Unmanned aerial vehicle | |
| CN109976370B (en) | Control method and device for vertical face surrounding flight, terminal and storage medium | |
| CN110244765B (en) | Aircraft route track generation method and device, unmanned aerial vehicle and storage medium | |
| CN110471442A (en) | A kind of target observations method, relevant device and system | |
| US20240176367A1 (en) | Uav dispatching method, server, dock apparatus, system, and storage medium | |
| CN110597287A (en) | Multi-functional portable unmanned aerial vehicle ground satellite station | |
| US20190346842A1 (en) | Transferring annotations to images captured by remote vehicles between displays | |
| CN110187720A (en) | Unmanned plane guidance method, device, system, medium and electronic equipment | |
| US9014967B2 (en) | Airdrop controller system | |
| CN111290417A (en) | Method and device for generating fan inspection route, computer equipment and storage medium | |
| CN109407693A (en) | Unmanned plane and unmanned flight's system | |
| CN111942188B (en) | Unmanned aerial vehicle aerial charging system, charging method, device, equipment and medium | |
| CN104724295A (en) | Universal interface system for unmanned aerial vehicle loads | |
| JP2024009938A (en) | Flight management server and flight management system for unmanned flying body | |
| US20210362877A1 (en) | Two-axis gimbal system for supporting a camera | |
| WO2023082257A1 (en) | Control method and control device for unmanned aerial vehicle, unmanned aerial vehicle, and storage medium | |
| CN107636592B (en) | Channel planning method, control end, aircraft and channel planning system | |
| WO2021097772A1 (en) | Aircraft control method, device and system, and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20230314 Address after: Room No. 388, Zhengwei East Road, Jinxi Town, Kunshan City, Suzhou City, Jiangsu Province, 215324 Applicant after: Kunshan Helang Aviation Technology Co.,Ltd. Address before: 215324 Zhengwei Road, Jinxi Town, Kunshan City, Suzhou City, Jiangsu Province Applicant before: HAOXIANG ELECTRIC ENERGY (KUNSHAN) Co.,Ltd. |
|
| TA01 | Transfer of patent application right |