CN109760851A - A kind of quadrotor test adjusting bracket - Google Patents
A kind of quadrotor test adjusting bracket Download PDFInfo
- Publication number
- CN109760851A CN109760851A CN201910202506.3A CN201910202506A CN109760851A CN 109760851 A CN109760851 A CN 109760851A CN 201910202506 A CN201910202506 A CN 201910202506A CN 109760851 A CN109760851 A CN 109760851A
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- Prior art keywords
- quadrotor
- adjusting bracket
- master control
- control borad
- power supply
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- 238000012360 testing method Methods 0.000 title claims abstract description 79
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims abstract description 23
- 229910052782 aluminium Inorganic materials 0.000 claims abstract description 23
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 20
- 238000012545 processing Methods 0.000 claims abstract description 8
- 230000033001 locomotion Effects 0.000 claims abstract description 6
- 230000005611 electricity Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 4
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 230000006837 decompression Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 239000003990 capacitor Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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- Force Measurement Appropriate To Specific Purposes (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The invention belongs to aircraft manufacture technical fields, provide a kind of quadrotor test adjusting bracket, including quadrotor test adjusting bracket master control borad, power supply, master control borad power supply erection support, pedestal, aluminum corner brace, vertical rack, crossbeam, thrust bearing, axis, photoelectric measure speeding sensor, the bracket that tests the speed, nut, washer, tension sensor, straight-bar bulb joint bearing and host computer.The movement of quadrotor is limited by thrust bearing and straight-bar bulb joint bearing, it measures the operation data of quadrotor by tension sensor and photoelectric measure speeding sensor and adjusting bracket master control borad is tested by quadrotor and issue host computer, the data that host computer processing receives and display.The present invention limits the movement of quadrotor, can provide the debugging enironment of safety；Power supply is directly the power supply of quadrotor aircraft device, reduces battery loss；And the operation data of quadrotor is measured, to regulate and control the parameter of quadrotor, ensure man-machine safety.
Description
Technical field
The present invention relates to a kind of quadrotors to test adjusting bracket, can especially mention when quadrotor control parameter is not excellent enough
For stable debugging bracket and assistant adjustment, belong to aircraft manufacture technical field.
Background technique
Currently, with the quantum jump of microcontroller technology, new material, MEMS, inertial navigation technique development and
Flight control theory constantly improve, and quadrotor has entered into people's lives gradually.Major colleges and universities, enterprise put into
Many manpower and material resources are conducted in-depth research and are developed to quadrotor, but to the auxiliary tool for carrying out quadrotor exploitation
Research and development it is seldom.Most of enterprise, school carry out quadrotor exploitation when still using need using when set up bracket again
The mode be designed, manufactured, such way cause the waste of huge people, material resources, and working efficiency is difficult to improve, to setting
The judgment criteria of standby operating status is fuzzy.And rotor high-speed rotation when due to quadrotor operation, if steady without safety
Fixed debugging bracket, easily generation safety accident, when outdoor test, since existing commissioning device cannot be utilized in the ring of safety
Flight simulation test is carried out in border, and since the bad caused air crash accident of control parameter is very common, airborne equipment is caused sternly
The damage of weight, model plane service life of lithium battery is limited, and cumbersome debugging process consumes the service life of model airplane battery.
Summary of the invention
It is supported to solve to lack in quadrotor debugging process stable bracket, and thus the adjustment of bring parameter is tired
The problem of difficult, man-machine safety cannot be guaranteed, and quadrotor operation conditions is difficult to judge, model plane TV life consumption, is specifically designed
This quadrotor tests adjusting bracket.
The present invention solves technical solution used by above-mentioned technical problem:
A kind of quadrotor test adjusting bracket, including quadrotor test adjusting bracket master control borad 1, power supply 2, master control borad power supply
Erection support 3, pedestal 4, aluminum corner brace 5, vertical rack 6, crossbeam 7, thrust bearing 8, axis 9, photoelectric measure speeding sensor 10, test the speed bracket
11, nut 12, washer 13, tension sensor 14, straight-bar bulb joint bearing 15 and host computer；
Wherein, pedestal 4, vertical rack 6 and crossbeam 7 form the base carrier of quadrotor test adjusting bracket；Two perpendicular
Straight bracket 6 is vertically fixed on two pedestals 4 by the correspondence of aluminum corner brace 5, and crossbeam 7 is fixed on two vertical racks 6；Master control borad electricity
Source erection support 3 is fixed on two pedestals 4；One end of axis 9 is fixed on crossbeam 7 by thrust bearing 8, and other end installation is straight
Bar bulb joint bearing 15；Tension sensor 14 is mounted on straight-bar bulb joint bearing 15, and tension sensor 14 passes through nut
12 and washer 13 cooperate the affixed bracket 11 that tests the speed；The bracket 11 that tests the speed is four branch stents, is equipped with light in each branch stent end
Electric velocity sensor 10 is equipped with hole corresponding with the fixation hole in quadrotor rack on the bracket 11 that tests the speed, to fly quadrotor
Row device, which is fixed on, to test the speed on bracket 11；It is positive and negative that thrust bearing 8 and straight-bar bulb joint bearing 15 do quadrotor around axis 9
Pitching within the scope of 15 °, it is 15 ° positive and negative within the scope of roll, the yawing rotation within the scope of 360 °, to limit quadrotor
Movement；
Power supply 2 and quadrotor test adjusting bracket master control borad 1 are mounted on master control borad power supply erection support 3, and quadrotor is surveyed
Trying adjusting bracket master control borad 1 is pulling force and Rotating speed measring master control borad based on STM32F103ZET6 microprocessor；Power supply 2 is
12V-15A Switching Power Supply, the output all the way of power supply 2 are directly powered to quadrotor；It is connected in the another output of power supply 2
One LM2596 voltage reduction module after 12V power voltage step down is 5V by the LM2596 voltage reduction module, is connected to quadrotor test and adjusts
In 1 supply port of bracket master control borad, quadrotor tests 1 supply port of adjusting bracket master control borad and tests adjusting bracket master to quadrotor
Plate 1, photoelectric measure speeding sensor 10, tension sensor 14 is controlled to power；On quadrotor test adjusting bracket master control borad 1
ASM1117-3.3V is depressured chip for the 5V voltage step-down from quadrotor test 1 supply port of adjusting bracket master control borad
3.3V, the bluetooth serial ports power supply on STM32F103ZET6 microprocessor and quadrotor test adjusting bracket master control borad 1；
Host computer realizes the regulation and processing of data based on the master control borad of STM32F103C8T6 microprocessor, independent solid
It is scheduled in quadrotor test adjusting bracket；Host computer is mainly by acrylic shell, the master based on STM32F103C8T6 microprocessor
Control plate, 2.8 cun of TFT touch screens, bluetooth serial ports, capacitance switch and battery composition；Cell voltage is 7.4V, on host computer master control borad
LM2596 chip the 7.4V voltage of power supply be converted into 3.3V opened to STM32F103C8T6 microprocessor power supply, and to capacitor
It closes, the bluetooth serial ports of host computer and 2.8 cun of TFT touch screens are powered；The bluetooth string of STM32F103C8T6 microprocessor and host computer
It is communicated between mouthful with UART serial ports, STM32F103C8T6 microprocessor and 2.8 cun of TFT touch screens utilize SPI communications protocol
Carry out data transmission；
After quadrotor is fixed in quadrotor test adjusting bracket, tension sensor 14 and photoelectric velocity measurement sensing
The data that device 10 measures test adjusting bracket master by being mounted on quadrotor after quadrotor test adjusting bracket master control borad 1 is handled
Bluetooth serial ports on control plate transfers data to the bluetooth serial ports on host computer；After the data that host computer processing receives and show
Show.
Beneficial effects of the present invention: quadrotor test adjusting bracket of the invention provides surely for the debugging of quadrotor
Fixed support limits the motion range of quadrotor, ensures man-machine safety, accurately measures quadrotor and work as
Preceding operating status provides accurate reference for parameter adjustment, accelerates parameter and regulate the speed, improve working efficiency；It is comprehensive
Debugging bracket reduces each company and R&D institution repeats to set up the manpower and material resources for adjusting all kinds of special stands by parameter
Waste；It is directly powered with power supply to quadrotor, reduces loss of the debugging process to lithium battery.
Detailed description of the invention
Fig. 1 is that the positive of quadrotor test adjusting bracket waits shaft side figures.
Fig. 2 is the front view of quadrotor test adjusting bracket.
Fig. 3 is the circuit connection diagram of host computer.
Fig. 4 is the circuit connection diagram of quadrotor test adjusting bracket.
Fig. 5 is 12V-15A power supply schematic diagram.
In figure: 1 quadrotor tests adjusting bracket master control borad；2 power supplys；3 master control borad power supply erection supports；4 pedestals；5 aluminum corner braces；
6 vertical racks；7 crossbeams；8 thrust bearings；9 axis；10 photoelectric measure speeding sensors；11 test the speed bracket；12 nuts；13 washers；14 draw
Force snesor；15 straight-bar bulb joint bearings.
Specific embodiment
Below in conjunction with technical solution and the attached drawing specific embodiment that the present invention will be described in detail.
A kind of quadrotor test adjusting bracket, including quadrotor test adjusting bracket master control borad 1, power supply 2, master control borad power supply
Erection support 3, pedestal 4, aluminum corner brace 5, vertical rack 6, crossbeam 7, thrust bearing 8, axis 9, photoelectric measure speeding sensor 10, test the speed bracket
11, nut 12, washer 13, tension sensor 14, straight-bar bulb joint bearing 15 and host computer；
Wherein, pedestal 4 is barricaded as in parallel by the industrial aluminum of two a length of 600mm at a distance of 280mm；Vertical rack 6 is by vertical
The industrial aluminum that two root longs for being mounted on the middle of the base are 300mm forms；Crossbeam 7 is fixed on a length of on vertical rack 6 for one
The industrial aluminum of 400mm；Pedestal 4, vertical rack 6 and crossbeam 7 form the base carrier of quadrotor test adjusting bracket；Two perpendicular
Straight bracket 6 is vertically fixed on two pedestals 4 by the correspondence of aluminum corner brace 5, and crossbeam 7 is fixed on two vertical racks 6；Master control borad electricity
Source erection support 3 is fixed on two pedestals 4；One end of axis 9 is fixed on crossbeam 7 by thrust bearing 8, and other end installation is straight
Bar bulb joint bearing 15；Tension sensor 14 is mounted on straight-bar bulb joint bearing 15, and tension sensor 14 passes through nut
12 and washer 13 cooperate the affixed bracket 11 that tests the speed；The bracket 11 that tests the speed is four branch stents, is equipped with light in each branch stent end
Electric velocity sensor 10 is equipped with hole corresponding with the fixation hole in quadrotor rack on the bracket 11 that tests the speed, to fly quadrotor
Row device, which is fixed on, to test the speed on bracket 11；It is positive and negative that thrust bearing 8 and straight-bar bulb joint bearing 15 do quadrotor around axis 9
Pitching within the scope of 15 °, it is 15 ° positive and negative within the scope of roll, the yawing rotation within the scope of 360 °, to limit quadrotor
Movement；
Tension sensor 14 measures current application using change in resistance of the resistance strain type sensor when deformation occurs
Pulling force on a sensor；Photoelectric measure speeding sensor 10 is made of photoelectric tube and comparator, and quadrotor, which is fixed on, to test the speed
When on bracket, photoelectric measure speeding sensor 10 is located at below the blade of quadrotor, when blade goes to photoelectric measure speeding sensor
When 10 top, the infrared ray that blade issues reflective sensor, photoelectric tube will receive this root signal, and comparator is according to signal
Relationship between intensity and the threshold value of setting judges whether blade passes through STM32F103ZET6 microprocessor, counts 100ms
Number that interior blade passes through measures current rotating speed；
Power supply 2 and quadrotor test adjusting bracket master control borad 1 are mounted on master control borad power supply erection support 3, and quadrotor is surveyed
Trying adjusting bracket master control borad 1 is pulling force and Rotating speed measring master control borad based on STM32F103ZET6 microprocessor；The one of power supply 2
Road output is directly powered to quadrotor；A LM2596 voltage reduction module is connected in the another output of power supply 2, it is described
After 12V power voltage step down is 5V by LM2596 voltage reduction module, it is connected in quadrotor test 1 supply port of adjusting bracket master control borad,
Quadrotor tests 1 supply port of adjusting bracket master control borad and tests adjusting bracket master control borad 1, photoelectric measure speeding sensor to quadrotor
10, tension sensor 14 is powered；ASM1117-3.3V decompression chip on quadrotor test adjusting bracket master control borad 1 will come from
Quadrotor test 1 supply port of adjusting bracket master control borad 5V voltage step-down be 3.3V, to STM32F103ZET6 microprocessor with
And the bluetooth serial ports power supply on quadrotor test adjusting bracket master control borad 1；
Host computer realizes the regulation and processing of data based on the master control borad of STM32F103C8T6 microprocessor, independent solid
It is scheduled in quadrotor test adjusting bracket；Host computer is mainly by acrylic shell, the master based on STM32F103C8T6 microprocessor
Control plate, 2.8 cun of TFT touch screens, bluetooth serial ports, capacitance switch and battery composition；Cell voltage is 7.4V, on host computer master control borad
LM2596 chip the 7.4V voltage of power supply be converted into 3.3V opened to STM32F103C8T6 microprocessor power supply, and to capacitor
It closes, the bluetooth serial ports of host computer and 2.8 cun of TFT touch screens are powered；The bluetooth string of STM32F103C8T6 microprocessor and host computer
It is communicated between mouthful with UART serial ports, STM32F103C8T6 microprocessor and 2.8 cun of TFT touch screens utilize SPI communications protocol
Carry out data transmission；
After quadrotor is fixed in quadrotor test adjusting bracket, tension sensor 14 and photoelectric velocity measurement sensing
The data that device 10 measures test adjusting bracket master control borad 1 by quadrotor after quadrotor test adjusting bracket master control borad 1 is handled
On bluetooth serial ports send the bluetooth serial ports of host computer to；After the data that host computer processing receives, data are decoded and passed
STM32F103C8T6 microprocessor is given, STM32F103C8T6 microprocessor shows data in 2.8 cun of TFT touch screens.
Claims (8)
1. a kind of quadrotor tests adjusting bracket, which is characterized in that the quadrotor test adjusting bracket includes that quadrotor is surveyed
Try adjusting bracket master control borad (1), power supply (2), master control borad power supply erection support (3), pedestal (4), aluminum corner brace (5), vertical rack
(6), crossbeam (7), thrust bearing (8), axis (9), photoelectric measure speeding sensor (10), the bracket that tests the speed (11), nut (12), washer
(13), tension sensor (14), straight-bar bulb joint bearing (15) and host computer；
The pedestal (4), vertical rack (6) and crossbeam (7) composition quadrotor test the base carrier of adjusting bracket；Two perpendicular
Straight bracket (6) is vertically fixed on two pedestals (4) by aluminum corner brace (5) correspondence, and crossbeam (7) is fixed on two vertical racks (6)
On；The master control borad power supply erection support (3) is fixed on two pedestals (4)；
One end of the axis (9) is fixed on crossbeam (7) by thrust bearing (8), and the other end installs straight-bar bulb joint bearing
(15)；The tension sensor (14) is mounted on straight-bar bulb joint bearing (15), and tension sensor (14) passes through nut
(12) and washer (13) cooperates the affixed bracket that tests the speed (11)；
The bracket that tests the speed (11) is four branch stents, is equipped with photoelectric measure speeding sensor (10) in each branch stent end, is surveyed
It is equipped with hole corresponding with the fixation hole in quadrotor rack on fast bracket (11), so that quadrotor to be fixed on to the branch that tests the speed
On frame (11)；
The power supply (2) and quadrotor test adjusting bracket master control borad (1) are mounted on master control borad power supply erection support (3), institute
Stating quadrotor test adjusting bracket master control borad (1) is pulling force and Rotating speed measring master control based on STM32F103ZET6 microprocessor
Plate；
The host computer realizes the regulation and processing of data based on the master control borad of STM32F103C8T6 microprocessor, independent solid
It is scheduled in quadrotor test adjusting bracket；
After quadrotor is fixed in the quadrotor test adjusting bracket, the tension sensor (14) and photoelectric measuring
The data that fast sensor (10) measures are tested by quadrotor after quadrotor test adjusting bracket master control borad (1) processing and adjust branch
Bluetooth serial ports on frame master control borad (1) sends host computer to, after the data that host computer processing receives and shows.
2. quadrotor according to claim 1 tests adjusting bracket, which is characterized in that the thrust bearing (8) and straight-bar
Bulb joint bearing (15) make quadrotor done around axis (9) pitching within the scope of positive and negative 15 °, it is 15 ° positive and negative within the scope of cross
It rolls, the yawing rotation within the scope of 360 °, to limit the movement of quadrotor.
3. quadrotor according to claim 1 or 2 tests adjusting bracket, which is characterized in that the power supply (2) is 12V, electricity
The output all the way in source (2) is directly powered to quadrotor；A LM2596 decompression is connected in the another output of power supply (2)
Module is connected to quadrotor test adjusting bracket master control borad (1) after 12V power voltage step down is 5V by the LM2596 voltage reduction module
In supply port, quadrotor test adjusting bracket master control borad (1) supply port to quadrotor test adjusting bracket master control borad (1),
Photoelectric measure speeding sensor (10) and tension sensor (14) power supply；In quadrotor test adjusting bracket master control borad (1)
ASM1117-3.3V is depressured chip for the 5V voltage step-down from quadrotor test adjusting bracket master control borad (1) supply port
3.3V, and the bluetooth serial ports on STM32F103ZET6 microprocessor and quadrotor test adjusting bracket master control borad (1) supplies
Electricity.
4. quadrotor according to claim 1 or 2 tests adjusting bracket, which is characterized in that the host computer is mainly by Asia
Gram force shell, the master control borad based on STM32F103C8T6 microprocessor, 2.8 cun of TFT touch screens, bluetooth serial ports, capacitance switch and
Battery composition；Cell voltage is 7.4V, and the 7.4V voltage of power supply is converted to 3.3V by the LM2596 chip on host computer master control borad
It is supplied to STM32F103C8T6 microprocessor power supply, and to capacitance switch, the bluetooth serial ports of host computer and 2.8 cun of TFT touch screens
Electricity；It is communicated between STM32F103C8T6 microprocessor and the bluetooth serial ports of host computer with UART serial ports,
STM32F103C8T6 microprocessor is carried out data transmission with 2.8 cun of TFT touch screens using SPI communications protocol.
5. quadrotor according to claim 3 tests adjusting bracket, which is characterized in that the host computer is mainly by acrylic
Shell, the master control borad based on STM32F103C8T6 microprocessor, 2.8 cun of TFT touch screens, bluetooth serial ports, capacitance switch and battery
Composition；Cell voltage is 7.4V, the LM2596 chip on host computer master control borad by the 7.4V voltage of power supply be converted to 3.3V to
STM32F103C8T6 microprocessor power supply, and power to capacitance switch, the bluetooth serial ports of host computer and 2.8 cun of TFT touch screens；
It is communicated between STM32F103C8T6 microprocessor and the bluetooth serial ports of host computer with UART serial ports, STM32F103C8T6 is micro-
Processor is carried out data transmission with 2.8 cun of TFT touch screens using SPI communications protocol.
6. according to claim 1, quadrotor described in 2 or 5 tests adjusting bracket, which is characterized in that pedestal (4) You Lianggen
Industrial aluminum at a distance of a length of 600mm of 280mm is barricaded as in parallel；The vertical rack (6) is by being vertically mounted on the two of the middle of the base
The industrial aluminum that root long is 300mm forms；Aluminum corner brace (5) is used to reinforce the connection of vertical rack (6) and pedestal (4)；The crossbeam (7)
The industrial aluminum for a length of 400mm being fixed on vertical rack (6) for one.
7. quadrotor according to claim 3 tests adjusting bracket, which is characterized in that the pedestal (4) by two apart
The industrial aluminum of a length of 600mm of 280mm is barricaded as in parallel；The vertical rack (6) is by being vertically mounted on two root longs of the middle of the base
It is formed for the industrial aluminum of 300mm；Aluminum corner brace (5) is used to reinforce the connection of vertical rack (6) and pedestal (4)；The crossbeam (7) is one
Root is fixed on the industrial aluminum of a length of 400mm on vertical rack (6).
8. quadrotor according to claim 4 tests adjusting bracket, which is characterized in that the pedestal (4) by two apart
The industrial aluminum of a length of 600mm of 280mm is barricaded as in parallel；The vertical rack (6) is by being vertically mounted on two root longs of the middle of the base
It is formed for the industrial aluminum of 300mm；Aluminum corner brace (5) is used to reinforce the connection of vertical rack (6) and pedestal (4)；The crossbeam (7) is one
Root is fixed on the industrial aluminum of a length of 400mm on vertical rack (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910202506.3A CN109760851B (en) | 2019-03-18 | 2019-03-18 | Four rotor test regulation support |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910202506.3A CN109760851B (en) | 2019-03-18 | 2019-03-18 | Four rotor test regulation support |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109760851A true CN109760851A (en) | 2019-05-17 |
| CN109760851B CN109760851B (en) | 2024-01-02 |
Family
ID=66458419
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910202506.3A Active CN109760851B (en) | 2019-03-18 | 2019-03-18 | Four rotor test regulation support |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101252080B1 (en) * | 2011-11-16 | 2013-04-12 | 김영진 | The apparatus and method of inspecting with flying robot of quad roter |
| CN205121332U (en) * | 2015-10-26 | 2016-03-30 | 上海电力学院 | Four rotor crafts based on host computer regulation and control and demonstration |
| CN105912010A (en) * | 2016-06-24 | 2016-08-31 | 苏州工业职业技术学院 | STM32-based micro four-rotor aircraft and control system thereof |
| CN106516160A (en) * | 2016-12-12 | 2017-03-22 | 哈尔滨理工大学 | Remote control testing device for rotor lift force parameters |
| CN107065915A (en) * | 2017-05-25 | 2017-08-18 | 大连理工大学 | A kind of six degree of freedom rotor craft on-line debugging platform |
| US20170253326A1 (en) * | 2016-03-01 | 2017-09-07 | Joe H. Mullins | Torque and pitch managed quad-rotor aircraft |
| CN108413956A (en) * | 2018-02-06 | 2018-08-17 | 西安工业大学 | Multi-rotor aerocraft stability analysis platform |
| CN209700981U (en) * | 2019-03-18 | 2019-11-29 | 大连理工大学 | A kind of quadrotor test adjusting bracket |
-
2019
- 2019-03-18 CN CN201910202506.3A patent/CN109760851B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101252080B1 (en) * | 2011-11-16 | 2013-04-12 | 김영진 | The apparatus and method of inspecting with flying robot of quad roter |
| CN205121332U (en) * | 2015-10-26 | 2016-03-30 | 上海电力学院 | Four rotor crafts based on host computer regulation and control and demonstration |
| US20170253326A1 (en) * | 2016-03-01 | 2017-09-07 | Joe H. Mullins | Torque and pitch managed quad-rotor aircraft |
| CN105912010A (en) * | 2016-06-24 | 2016-08-31 | 苏州工业职业技术学院 | STM32-based micro four-rotor aircraft and control system thereof |
| CN106516160A (en) * | 2016-12-12 | 2017-03-22 | 哈尔滨理工大学 | Remote control testing device for rotor lift force parameters |
| CN107065915A (en) * | 2017-05-25 | 2017-08-18 | 大连理工大学 | A kind of six degree of freedom rotor craft on-line debugging platform |
| CN108413956A (en) * | 2018-02-06 | 2018-08-17 | 西安工业大学 | Multi-rotor aerocraft stability analysis platform |
| CN209700981U (en) * | 2019-03-18 | 2019-11-29 | 大连理工大学 | A kind of quadrotor test adjusting bracket |
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| Publication number | Publication date |
|---|---|
| CN109760851B (en) | 2024-01-02 |
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