CN112173104A - Inspection robot based on four-rotor aircraft - Google Patents
Inspection robot based on four-rotor aircraft Download PDFInfo
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- CN112173104A CN112173104A CN202010913245.9A CN202010913245A CN112173104A CN 112173104 A CN112173104 A CN 112173104A CN 202010913245 A CN202010913245 A CN 202010913245A CN 112173104 A CN112173104 A CN 112173104A
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- 238000007689 inspection Methods 0.000 title description 4
- 230000003287 optical effect Effects 0.000 claims abstract description 14
- 239000003381 stabilizer Substances 0.000 claims abstract description 12
- 229910052782 aluminium Inorganic materials 0.000 claims description 7
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 5
- 230000003993 interaction Effects 0.000 claims description 5
- 230000000087 stabilizing effect Effects 0.000 claims description 4
- 230000006641 stabilisation Effects 0.000 claims description 2
- 238000011105 stabilization Methods 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 4
- 230000005856 abnormality Effects 0.000 abstract description 2
- 230000001133 acceleration Effects 0.000 description 3
- 230000002567 autonomic effect Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- AZDRQVAHHNSJOQ-UHFFFAOYSA-N alumane Chemical compound [AlH3] AZDRQVAHHNSJOQ-UHFFFAOYSA-N 0.000 description 2
- 239000004411 aluminium Substances 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Gyroscopes (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a line patrol robot based on a four-rotor aircraft, which comprises a power supply module, a switching power supply, a linear voltage stabilizer, a TI single chip microcomputer, a six-axis attitude module, an optical flow fixed point module, a laser height fixing module, a vision module, an electronic speed regulator and a brushless motor. The invention adopts laser ranging and optical flow positioning, and the laser has good monochromaticity and strong directivity, and the laser is used as a light source for ranging, thereby obviously reducing the weight and the power consumption and improving the ranging precision; the optical flow velocity measurement and integral positioning are utilized, the high-precision positioning of the aircraft can be realized indoors, the whole system can patrol and examine the states of the power line and the tower, shooting and storage are carried out when an abnormality is found, and the task is finished and transmitted to the ground device to be displayed.
Description
Technical Field
The invention relates to a line patrol robot based on a four-rotor aircraft, and belongs to the field of unmanned aerial vehicles.
Background
In recent decades, with the progress of science and technology and the continuous improvement of living standard, people have started to change from research ground robots to air Unmanned Aerial Vehicles (UAVs). With the development of unmanned aerial vehicle technology, people are pursuing to realize more functions such as taking pictures, agricultural spraying machine, line patrol flight, etc. The quad-rotor unmanned aerial vehicle is a micro aircraft with good practicability and development prospect, and can realize automatic hovering, forward flying, backward flying and other operations. The high-speed high. Just because four rotor unmanned aerial vehicle is at national defense, civilian, commercial development potential is huge, has carried out a large amount of research and development to four rotor unmanned aerial vehicle at present, and the research mainly embodies in these three aspects of autonomic flight based on inertial navigation, autonomic flight based on vision and autonomic aircraft system design. In recent years, inspection flight of a four-rotor aircraft becomes a hot topic of research of researchers.
Disclosure of Invention
The invention provides a line patrol robot based on a four-rotor aircraft, which is used for applying the advantages of the four rotors to the line patrol field and realizing line patrol of power lines and the like through the structure constructed by the application.
The technical scheme of the invention is as follows: a line patrol robot based on a four-rotor aircraft comprises a power supply module, a switching power supply, a linear voltage stabilizer, a TI single chip microcomputer, a six-axis attitude module, an optical flow fixed point module, a laser height fixing module, a vision module, an electronic speed regulator and a brushless motor; the power supply module supplies power and is stepped down by the switching power supply, the linear voltage stabilizer outputs the voltage input by the switching power supply after stabilizing the voltage to the TI singlechip and the six-axis attitude module for power supply, the TI singlechip is respectively connected with the six-axis attitude module, the optical flow fixed point module, the laser height fixing module, the vision module and the electronic speed regulator, and the electronic speed regulator is connected with the brushless motor.
The TI singlechip is characterized by also comprising an interaction module connected with the TI singlechip.
The power supply module adopts a 3S aluminum battery, the 3S aluminum battery provides 11.1V voltage, the voltage is reduced to 5V by a switching power supply, and the 3.3V voltage is output through the voltage stabilization of the linear voltage stabilizer to supply power to the TI singlechip and the six-axis attitude module.
The linear voltage stabilizer is RT 9013.
The TI singlechip is TM4C 123G.
The six-axis attitude module is an MPU 6000.
The optical flow pointing module is LC 30X.
The laser height-fixing module is TFMW.
The vision module is an OpenMV 4H7 Cam intelligent camera.
The brushless motor is a brushless direct current motor.
The invention has the beneficial effects that: the flying height is estimated through the positioning of the barometer and the GPS sensor, the measurement precision is low, the flying height is easily influenced by environmental factors, the GPS positioning precision is limited by the number of satellites and cannot be used indoors, the laser ranging and light stream positioning are adopted in the invention, the monochromaticity of the laser is good, the directivity is strong, the laser is used as a light source for ranging, the weight and the power consumption can be obviously reduced, and the ranging precision is improved; the optical flow velocity measurement and integral positioning are utilized, the high-precision positioning of the aircraft can be realized indoors, the whole system can patrol and examine the states of the power line and the tower, shooting and storage are carried out when an abnormality is found, and the task is finished and transmitted to the ground device to be displayed.
Drawings
FIG. 1 is a block diagram of the present invention.
Detailed Description
Example 1: as shown in fig. 1, a line patrol robot based on a quad-rotor aircraft comprises a power supply module, a switching power supply, a linear voltage stabilizer, a TI single chip microcomputer, a six-axis attitude module, an optical flow fixed point module, a laser height fixing module, a vision module, an electronic speed regulator and a brushless motor; the power supply module supplies power and is stepped down through the switching power supply, the linear voltage stabilizer outputs the voltage input by the switching power supply after stabilizing the voltage to the TI single chip microcomputer and the six-axis attitude module for power supply, the input end of the TI single chip microcomputer is respectively connected with the six-axis attitude module, the light stream fixed point module, the laser height fixing module and the vision module, the output end of the single chip microcomputer is connected with the electronic speed regulator, and the electronic speed regulator is connected with the brushless motor.
Further, an interaction module connected with the TI singlechip can be arranged.
Further, can set up power module adopts 3S aluminium cell, and 3S aluminium cell provides 11.1V voltage, later steps down to 5V with switching power supply, and output 3.3V through linear voltage regulator steady voltage is the TI singlechip and six attitude module power supplies.
Further, the linear regulator may be set to RT 9013.
Further, the TI single chip microcomputer may be set to TM4C 123G. The TM4C123G is a 32-bit microcontroller with ARM Cortex-M4 as an inner core and 80MHZ main frequency, and can be matched with a free open-source real-time operating system to call tasks periodically and accurately, so that more accurate control is realized.
Further, the six-axis attitude module may be provided as the MPU 6000. The three-axis acceleration and three-axis gyroscope sensor adopts an SPI protocol to improve the control precision.
Further, the optical flow pointing module may be provided as LC 30X. The high-precision positioning of the aircraft can be realized indoors by utilizing the light stream speed measurement and integral positioning.
Further, the laser height-setting module can be set to be TFMW. The laser ranging device is good in monochromaticity and strong in directivity, and the laser is used as a light source to carry out ranging, so that the weight and the power consumption can be obviously reduced, and the ranging precision is improved.
Further, the visual module may be an OpenMV 4H7 Cam smart camera. The circuit board is small and exquisite in section, low in power consumption and low in cost, and machine vision application can be easily completed through the MicroPython script.
Further, the brushless motor may be provided as a brushless dc motor. The electronic commutation replaces the mechanical commutation, and has no abrasion, high efficiency, high reliability and long service life, and the brushless electric modulator is matched during working. 4 brushless motor passes through the transmission shaft and is connected respectively with 4 rotors, drives a screw of unmanned aerial vehicle respectively and constitutes 4 rotors for control the inclination of 4 rotors.
The working principle of the invention is as follows: the TI singlechip TM4C123G outputs 4 paths of PWM (pulse width modulation) waves to adjust and control the rotating speed of 4 motors, so that the lifting force generated by the rotation and the steering of two pairs of mutually crossed and symmetrical rotors is changed to realize various flight attitudes. Specifically, the method comprises the following steps: the 3S aluminum battery provides 11.1V voltage, then the voltage is reduced to 5V by using a switching power supply, and finally 3.3V is output by stabilizing the voltage by a linear voltage stabilizer RT9013 to supply power for the TI singlechip TM4C123G and the six-axis attitude module. The six-axis attitude module outputs acceleration and angular velocity information and provides the acceleration and angular velocity information to the TI singlechip TM4C123G so as to control the flight attitude of the four-rotor aircraft, the four-rotor aircraft stably flies on the premise, SPI communication is adopted between the four-rotor aircraft and the four-rotor aircraft, and the six-axis attitude module has the advantage of high communication speed. Still further, can take off as required four rotor crafts to a meter or other height (this height is decided high through laser height-fixing module), and the line inspection is begun to patrol afterwards, and when the vision module detected the foreign matter, TI singlechip TM4C123G controlled four brushless motor's rotational speed: if the lifting force provided by the four brushless motors is just equal to the gravity, the four brushless motors drive the optical flow module to hover at the point so as to prevent the optical flow module from colliding with an obstacle, meanwhile, the data of the vision module is transmitted to the interaction module on the ground, and the interaction module sends a landing instruction to the TI singlechip.
While the present invention has been described in detail with reference to the embodiments, the present invention is not limited to the embodiments and various changes can be made without departing from the spirit and scope of the present invention by those skilled in the art.
Claims (10)
1. The utility model provides a patrol robot based on four rotor crafts which characterized in that: the device comprises a power supply module, a switching power supply, a linear voltage stabilizer, a TI single chip microcomputer, a six-axis attitude module, an optical flow fixed point module, a laser height fixing module, a vision module, an electronic speed regulator and a brushless motor; the power supply module supplies power and is stepped down by the switching power supply, the linear voltage stabilizer outputs the voltage input by the switching power supply after stabilizing the voltage to the TI singlechip and the six-axis attitude module for power supply, the TI singlechip is respectively connected with the six-axis attitude module, the optical flow fixed point module, the laser height fixing module, the vision module and the electronic speed regulator, and the electronic speed regulator is connected with the brushless motor.
2. A patrol robot based on a quad-rotor aircraft according to claim 1, wherein: the TI singlechip is characterized by also comprising an interaction module connected with the TI singlechip.
3. A patrol robot based on a quad-rotor aircraft according to claim 1, wherein: the power supply module adopts a 3S aluminum battery, the 3S aluminum battery provides 11.1V voltage, the voltage is reduced to 5V by a switching power supply, and the 3.3V voltage is output through the voltage stabilization of the linear voltage stabilizer to supply power to the TI singlechip and the six-axis attitude module.
4. A patrol robot based on a quad-rotor aircraft according to claim 1, wherein: the linear voltage stabilizer is RT 9013.
5. A patrol robot based on a quad-rotor aircraft according to claim 1, wherein: the TI singlechip is TM4C 123G.
6. A patrol robot based on a quad-rotor aircraft according to claim 1, wherein: the six-axis attitude module is an MPU 6000.
7. A patrol robot based on a quad-rotor aircraft according to claim 1, wherein: the optical flow pointing module is LC 30X.
8. A patrol robot based on a quad-rotor aircraft according to claim 1, wherein: the laser height-fixing module is TFMW.
9. A patrol robot based on a quad-rotor aircraft according to claim 1, wherein: the vision module is an OpenMV 4H7 Cam intelligent camera.
10. A patrol robot based on a quad-rotor aircraft according to claim 1, wherein: the brushless motor is a brushless direct current motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010913245.9A CN112173104A (en) | 2020-09-03 | 2020-09-03 | Inspection robot based on four-rotor aircraft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010913245.9A CN112173104A (en) | 2020-09-03 | 2020-09-03 | Inspection robot based on four-rotor aircraft |
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| CN112173104A true CN112173104A (en) | 2021-01-05 |
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| CN202010913245.9A Pending CN112173104A (en) | 2020-09-03 | 2020-09-03 | Inspection robot based on four-rotor aircraft |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203084553U (en) * | 2013-01-17 | 2013-07-24 | 中国人民解放军武汉军械士官学校 | Integrated unmanned aerial vehicle avionics system device |
| CN107632615A (en) * | 2017-08-28 | 2018-01-26 | 电子科技大学 | The rotor of autonomous flight four that a kind of view-based access control model is maked an inspection tour walks tunnel approach |
| CN109254587A (en) * | 2018-09-06 | 2019-01-22 | 浙江大学 | Can under the conditions of wireless charging steadily hovering small drone and its control method |
| CN208999805U (en) * | 2018-12-06 | 2019-06-18 | 河池学院 | Quadrotor system based on Embedded micro-system |
| US10640209B2 (en) * | 2016-10-07 | 2020-05-05 | Leica Geosystems Ag | Flying sensor |
-
2020
- 2020-09-03 CN CN202010913245.9A patent/CN112173104A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203084553U (en) * | 2013-01-17 | 2013-07-24 | 中国人民解放军武汉军械士官学校 | Integrated unmanned aerial vehicle avionics system device |
| US10640209B2 (en) * | 2016-10-07 | 2020-05-05 | Leica Geosystems Ag | Flying sensor |
| CN107632615A (en) * | 2017-08-28 | 2018-01-26 | 电子科技大学 | The rotor of autonomous flight four that a kind of view-based access control model is maked an inspection tour walks tunnel approach |
| CN109254587A (en) * | 2018-09-06 | 2019-01-22 | 浙江大学 | Can under the conditions of wireless charging steadily hovering small drone and its control method |
| CN208999805U (en) * | 2018-12-06 | 2019-06-18 | 河池学院 | Quadrotor system based on Embedded micro-system |
Non-Patent Citations (1)
| Title |
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| 走近无人机: "科普|带你了解多旋翼开源飞控及相关外部设备", 《搜狐网》 * |
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