CN109606734A - A kind of master-slave mode space micro air vehicle - Google Patents
A kind of master-slave mode space micro air vehicle Download PDFInfo
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- CN109606734A CN109606734A CN201811459745.9A CN201811459745A CN109606734A CN 109606734 A CN109606734 A CN 109606734A CN 201811459745 A CN201811459745 A CN 201811459745A CN 109606734 A CN109606734 A CN 109606734A
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- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 238000013461 design Methods 0.000 claims abstract description 8
- 238000004891 communication Methods 0.000 claims description 8
- 230000015572 biosynthetic process Effects 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims description 2
- 235000006508 Nelumbo nucifera Nutrition 0.000 claims 1
- 240000002853 Nelumbo nucifera Species 0.000 claims 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000011160 research Methods 0.000 description 3
- 238000010146 3D printing Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/002—Launch systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/40—Arrangements or adaptations of propulsion systems
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- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Astronomy & Astrophysics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention discloses a kind of master-slave mode space micro air vehicles, including a main aircraft and multiple micro air vehicles, main aircraft includes laser control module and main control module, micro air vehicle initially passes through retaining mechanism and is mounted on main aircraft, is discharged micro air vehicle along perpendicular to main aircraft axial direction by relieving mechanism；The laser beam that laser control module issues covers micro air vehicle region, after space micro air vehicle is released, receives the command information that main aircraft is sent by detecting module；The present invention realizes the modularization of spacecraft, miniaturization using engine and structure-integrated form finding design, modular electrical system and integrated configuration mode, reaches centimeter scale, hectogram magnitude.
Description
Technical field
The present invention relates to a kind of master-slave mode space micro air vehicles, belong to spacecraft general technical field.
Background technique
With the rapid development of information technology, new material and advanced manufacturing technology, space micro air vehicle becomes future
The important trend of space flight development, space micro air vehicle can pass through formation networking so that small in size, low in energy consumption, the development cycle is short
Mode, which is realized, completes complex space task dispatching advantage with lower cost, plays in fields such as scientific research, national defence and commercializations important
Effect.Foreign countries are more early to the research starting of space micro air vehicle, and many countries and university successfully transmit oneself
Space micro air vehicle.The U.S., Russia, Europe, Canada, the Japanese space micro air vehicle for all having had oneself
Platform, the country such as India, South Korea, Singapore also all with the research of space micro air vehicle be opportunity drive national space technology and
The development and construction of national economy.
Traditional micro air vehicle design and manufacture mode multiplicity, production cycle be long, between various microreactor technologies component without
Method replacement, is unable to satisfy current micro air vehicle modularization, standardization, unitized growth requirement.
Summary of the invention
Technical problem solved by the invention is: in order to overcome the deficiencies of the prior art, it is micro- to propose a kind of master-slave mode space
Small aircraft, it is real using engine and structure-integrated form finding design, modular electrical system and integrated configuration mode
The modularization of existing spacecraft, miniaturization, reach centimeter scale, hectogram magnitude.
Technical solution of the invention:
A kind of master-slave mode space micro air vehicle,
Including a main aircraft and multiple micro air vehicles,
Main aircraft includes laser control module and main control module,
Micro air vehicle include GPS receiver module, MEMS gyro module, wireless communication module, from control module and dynamic
Power module,
Micro air vehicle initially passes through retaining mechanism and is mounted on main aircraft, and microminiature is flown by relieving mechanism
Device is discharged along perpendicular to main aircraft axial direction；
The laser beam that laser control module issues covers micro air vehicle region, space micro air vehicle quilt
After release, the command information that main aircraft is sent is received by detecting module；
MEMS gyro module acquires micro air vehicle acceleration and angle variable rate information in real time, and passes information to
From control module, by the position and the posture information that determine micro air vehicle from control module；
GPS receiver module receives and demodulates GPS information, and GPS information is passed to from control module, by from control module
The location information for determining micro air vehicle realizes micro air vehicle position by the integrated navigation with MEMS gyro module
Determination；
Main control module controls laser control module and tracks multiple micro air vehicles at a distance, with pulse modulated side
Formula is sent information is controlled on micro air vehicle, and micro air vehicle carries out maneuver autopilot after receiving instruction, passes through nothing
Line communication module realizes the data interaction between the micro air vehicle of space, and power plant module adjusts the posture and rail of micro ohm resistance
The formation flight of multiple micro air vehicles is realized in road.
Relieving mechanism is spring load or Pneumatic ejection mechanism.
Power plant module is miniature solid pulsed motor, is arranged symmetrically in four quadrants of micro air vehicle cabin.
The igniting of engine is controlled by the intracorporal flexible circuit board in micro air vehicle cabin, is flown for realizing microminiature
The track and pose adjustment of row device cabin.
Micro air vehicle further includes interface modular converter, realizes the conversion of the interface of each module of micro air vehicle.
Interface modular converter successively leads to from control module, MEMS gyro module, GPS receiver module and wireless communication module
Connector is attached between crossing plate, forms cylindrical circuit module.
Laser control module includes laser, light beam localizer, infrared remote receiver and controller, and the control of light beam localizer swashs
The visual field of light device, to cover micro air vehicle region.
Controller controls laser and tracks multiple micro air vehicles at a distance, and the position of micro air vehicle is believed
Breath passes to main control module.
Infrared remote receiver receives the signal returned from micro air vehicle, and signal is passed to main control module, master control
The positioning of molding block realization micro air vehicle.
Micro air vehicle is engine and cabin integrated design, and detector is located at the upper cover on micro air vehicle head
On plate, circuit module is located on the lower cover plate of micro air vehicle bottom, and cabin is cylindrical or cuboidal hollow structure.
The present invention compared with prior art the advantages of:
(1) present invention is by using compact overall configuration scheme, modularized circuit and simple trim designs, structural dynamic
The methods of integrated 3D printing figuration manufacture, using engine and structure-integrated form finding design, modular electrical system and
Integrated configuration mode realizes the modularization of spacecraft, miniaturization, reaches centimeter scale, hectogram magnitude, realizes
The microminaturization of spacecraft；
(2) present invention is flown using the formation that master-slave mode configuration and las er-guidance technology realize space micro air vehicle
Row.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is circuit module assembling figure of the present invention.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.
A kind of master-slave mode space micro air vehicle, as shown in Figure 1, including that a main aircraft and multiple microminiatures are flown
Device,
Main aircraft includes laser control module and main control module,
Micro air vehicle include GPS receiver module, MEMS gyro module, wireless communication module, from control module and dynamic
Power module,
Micro air vehicle initially passes through retaining mechanism and is mounted on main aircraft, and microminiature is flown by relieving mechanism
Device is discharged along perpendicular to main aircraft axial direction, and relieving mechanism is spring load or Pneumatic ejection mechanism.
The laser beam that laser control module issues covers micro air vehicle region, space micro air vehicle quilt
After release, the command information that main aircraft is sent is received by detecting module；
MEMS gyro module acquires micro air vehicle acceleration and angle variable rate information in real time, and passes information to
From control module, by the position and the posture information that determine micro air vehicle from control module；
GPS receiver module receives and demodulates GPS information, and GPS information is passed to from control module, by from control module
The location information for determining micro air vehicle realizes micro air vehicle position by the integrated navigation with MEMS gyro module
Determination；
Main control module controls laser control module and tracks multiple micro air vehicles at a distance, with pulse modulated side
Formula is sent information is controlled on micro air vehicle, and micro air vehicle carries out maneuver autopilot after receiving instruction, passes through nothing
Line communication module realizes the data interaction between the micro air vehicle of space, and power plant module adjusts the posture and rail of micro ohm resistance
The formation flight of multiple micro air vehicles is realized in road.
Power plant module is miniature solid pulsed motor, is arranged symmetrically in four quadrants of micro air vehicle cabin, is sent out
The igniting of motivation is controlled by the intracorporal flexible circuit board in micro air vehicle cabin, for realizing micro air vehicle cabin
Track and pose adjustment.
Micro air vehicle further includes interface modular converter, realizes the conversion of the interface of each module of micro air vehicle,
Interface modular converter, to pass sequentially through plate from control module, MEMS gyro module, GPS receiver module and wireless communication module indirect
Plug-in unit is attached, as shown in Fig. 2, circuit module, having a size of φ 28mm × 35mm, battery is located at the lower layer of circuit module, shape
At cylindrical circuit module.
Laser control module includes laser, light beam localizer, infrared remote receiver and controller, and the control of light beam localizer swashs
The visual field of light device, to cover micro air vehicle region, controller controls laser and tracks multiple microminiatures at a distance
Aircraft, and the location information of micro air vehicle is passed into main control module.Infrared remote receiver is received to fly from microminiature
The signal that device returns, and signal is passed into main control module, main control module realizes the positioning of micro air vehicle.
Micro air vehicle is engine and cabin integrated design, and cabin uses 3D printing technique, effectively saves hair
The weight of motivation shell, detector are located on the upper cover plate on micro air vehicle head, and circuit module is located at micro air vehicle
On the lower cover plate of bottom, cabin is cylindrical or cuboidal hollow structure.
The space micro air vehicle that this programme is related to has total arrangement clear, installs feature easy to operate.Flight
After device each section completes, assembling process is as follows:
1) engine and structure-integrated cabin and flexible circuit board are subjected to Matching installation；
2) circuit module, battery and lower cover plate are assembled；
3) circuit module, battery and lower cover plate are inserted into intermediate cabin, related connector consolidates lower cover plate after connecting
It is scheduled in cabin；
4) detector is fixed on upper cover plate, after related connector connects, upper cover plate and cabin is fixed.
The assembly of entire aircraft can be completed through the above steps, aircraft can be replaced according to different mission modes
Internal circuit blocks, to realize the quick change of aircraft function.
Through the above description, relevant staff completely can be in the range without departing from this item patented technology thought
It is interior, carry out various changes and amendments.The technical scope of this item patent is not limited to the contents of the specification, it is necessary to
The technical scope thereof is determined according to the scope of the claim.
The content that description in the present invention is not described in detail belongs to professional and technical personnel in the field's well-known technique.
Claims (10)
1. a kind of master-slave mode space micro air vehicle, which is characterized in that
Including a main aircraft and multiple micro air vehicles,
Main aircraft includes laser control module and main control module,
Micro air vehicle include GPS receiver module, MEMS gyro module, wireless communication module, from control module and power mould
Block,
Micro air vehicle initially passes through retaining mechanism and is mounted on main aircraft, by relieving mechanism by micro air vehicle edge
It is discharged perpendicular to main aircraft axial direction；
The laser beam that laser control module issues covers micro air vehicle region, and space micro air vehicle is released
Afterwards, the command information that main aircraft is sent is received by detecting module；
MEMS gyro module acquires micro air vehicle acceleration and angle variable rate information in real time, and passes information to from control
Molding block, by the position and the posture information that determine micro air vehicle from control module；
GPS receiver module receives and demodulates GPS information, and GPS information is passed to from control module, by determining from control module
The location information of micro air vehicle realizes micro air vehicle position really by the integrated navigation with MEMS gyro module
It is fixed；
Main control module controls laser control module and tracks multiple micro air vehicles at a distance, will in a manner of pulse modulated
Control information is sent on micro air vehicle, and micro air vehicle carries out maneuver autopilot after receiving instruction, passes through channel radio
Believe that module realizes the data interaction between the micro air vehicle of space, power plant module adjusts the posture and track of micro ohm resistance, real
The formation flight of existing multiple micro air vehicles.
2. a kind of master-slave mode space as described in claim 1 micro air vehicle, which is characterized in that relieving mechanism is spring load
Lotus or Pneumatic ejection mechanism.
3. a kind of master-slave mode space as described in claim 1 micro air vehicle, which is characterized in that power plant module is miniature solid
Body pulsed motor is arranged symmetrically in four quadrants of micro air vehicle cabin.
4. a kind of master-slave mode space as claimed in claim 3 micro air vehicle, which is characterized in that the igniting of engine is by micro-
The intracorporal flexible circuit board in small aircraft cabin is controlled, for realizing the track and posture tune of micro air vehicle cabin
It is whole.
5. a kind of master-slave mode space as described in claim 1 micro air vehicle, which is characterized in that micro air vehicle also wraps
Interface modular converter is included, realizes the conversion of the interface of each module of micro air vehicle.
6. a kind of master-slave mode space micro air vehicle as claimed in claim 5, which is characterized in that interface modular converter, from
Connector is attached between control module, MEMS gyro module, GPS receiver module and wireless communication module pass sequentially through plate, shape
At cylindrical circuit module.
7. a kind of master-slave mode space micro air vehicle as described in claim 1, which is characterized in that laser control module includes
Laser, light beam localizer, infrared remote receiver and controller, light beam localizer controls the visual field of laser, to cover microminiature
Aircraft region.
8. a kind of master-slave mode space as claimed in claim 7 micro air vehicle, which is characterized in that controller controls laser
Multiple micro air vehicles at a distance are tracked, and the location information of micro air vehicle is passed into main control module.
9. a kind of master-slave mode space micro air vehicle as claimed in claim 8, which is characterized in that infrared remote receiver receive from
The signal that micro air vehicle returns, and signal is passed into main control module, main control module realizes micro air vehicle
Positioning.
10. a kind of master-slave mode space micro air vehicle as claimed in claim 6, which is characterized in that micro air vehicle is
Engine and cabin integrated design, detector are located on the upper cover plate on micro air vehicle head, and circuit module is located at small
On the lower cover plate of type aircraft bottom, cabin is cylindrical or cuboidal hollow structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811459745.9A CN109606734B (en) | 2018-11-30 | 2018-11-30 | Master-slave type space microminiature aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811459745.9A CN109606734B (en) | 2018-11-30 | 2018-11-30 | Master-slave type space microminiature aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109606734A true CN109606734A (en) | 2019-04-12 |
| CN109606734B CN109606734B (en) | 2021-02-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811459745.9A Active CN109606734B (en) | 2018-11-30 | 2018-11-30 | Master-slave type space microminiature aircraft |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102424112A (en) * | 2011-11-30 | 2012-04-25 | 东北大学 | Three-layer airborne flight control device for micro four-rotor aerial vehicle |
| CN205861063U (en) * | 2016-07-21 | 2017-01-04 | 姚钧天 | A kind of model plane fly automatically with seeking track navigation system |
| CN108557114A (en) * | 2018-04-18 | 2018-09-21 | 上海微小卫星工程中心 | A kind of distribution remote sensing satellite |
-
2018
- 2018-11-30 CN CN201811459745.9A patent/CN109606734B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102424112A (en) * | 2011-11-30 | 2012-04-25 | 东北大学 | Three-layer airborne flight control device for micro four-rotor aerial vehicle |
| CN205861063U (en) * | 2016-07-21 | 2017-01-04 | 姚钧天 | A kind of model plane fly automatically with seeking track navigation system |
| CN108557114A (en) * | 2018-04-18 | 2018-09-21 | 上海微小卫星工程中心 | A kind of distribution remote sensing satellite |
Non-Patent Citations (1)
| Title |
|---|
| 朱莎莎: "微纳飞行器群姿态智能协同控制研究", 《南京航空航天大学硕士论文》 * |
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| CN109606734B (en) | 2021-02-09 |
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