CN201035405Y - Independent flight controller of low-altitude flight robot - Google Patents
Independent flight controller of low-altitude flight robot Download PDFInfo
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- CN201035405Y CN201035405Y CNU2007200630764U CN200720063076U CN201035405Y CN 201035405 Y CN201035405 Y CN 201035405Y CN U2007200630764 U CNU2007200630764 U CN U2007200630764U CN 200720063076 U CN200720063076 U CN 200720063076U CN 201035405 Y CN201035405 Y CN 201035405Y
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Abstract
The utility model relates to an independent flying controller of a low-altitude flying robot, in particular to a flyer capable of independently flying; the utility model comprises a model helicopter. The independent flying controller of the low-altitude flying robot also comprises a flying controller for controlling the motion of the model helicopter, a radio electric network communication device, a ground monitoring computer and an engineering operation task device. The independent flying controller of the low-altitude flying robot has the beneficial effects of unpiloted flying, safe and reliable, being capable of substituting the manned flyer to implement dangerous tasks, and promising no direct personal casualty even in flying accident, thereby being extensively applicable to the fields of geo information, environmental protection, disaster prevention and disaster reducing, ecology construction, information construction, scientific research, etc.
Description
Technical field
The utility model relates to a kind of low flyer that can control autonomous flight, refers more particularly to a kind of model copter that can autonomous flight.
Background technology
Along with the sustainable development with scientific and technological level of improving constantly of living standard, the remote control distributor activity has become a kind of emerging high-tech activity of China and other various countries, the world, has attracted thousands of remote control distributor fan to participate in.In the technical development of flight remote control, also obtained very large progress, the autonomous flight control device that does not but but also have a kind of autonomous low-latitude flying robot that can combine now with Robot Control Technology, if the remote control distributor technology can be combined with robot system, that just can realize unmanned flight, safe and reliable, and the alternative people's of having aircraft go to finish certain dangerous tasks.For these reasons, the inventor has designed the utility model autonomous flight control device of robot " a kind of low-latitude flying "
The utility model content
The utility model at above-mentioned the deficiencies in the prior art technical matters to be solved is: the autonomous flight control device that a kind of unmanned autonomous low-latitude flying robot is provided.
The technical scheme that its technical matters that solves the utility model adopts is:
The autonomous flight control device of a kind of low-latitude flying robot, comprise a model copter, the autonomous flight control device of described low-latitude flying robot also comprise one be used for the action of controlling models helicopter fly to control controller, a radio net communication device, a ground monitoring computing machine and an engineer operation task device.
Described model copter is equipped with infrared ray self-poise instrument, and this infrared ray self-poise instrument is equiped with one and is used for sensor model helicopter sidesway and pitching and feeds back to elevating rudder and the aileron rudder is revised the diaxon infrared inductor of flight attitude.Described infrared ray self-poise instrument model is CPD4.
Describedly fly to control controller and form by central flight control computer, flight attitude sensor, flight position sensor and robot steering wheel driver.Central authorities' flight control computer is an embedded controller, and model is great lattice I-7188EX, and the flight attitude sensor is electronic compass Honeywell HMR3300, and the flight position sensor is the aerial rover station of GPS receiver Crescent OEM.
Described radio net communication device is the enterprise-level wireless bridge of a pair of point-to-point communication.Described enterprise-level wireless bridge is Ai Kesaier AX7000BG.
Described ground monitoring computing machine is equiped with the GPS receiver.
Described engineer operation task device is the video network video camera.Described video network video camera model is SONY SNC-RZ30P.
Operating process of the present utility model is:
The ground monitoring computing machine sends the instruction of taking off, and the height that allows model copter fly to appointment hovers.If change has taken place for the sidesway of model copter and pitching, the infrared heat equilibristat of a diaxon will provide signal to relevant steering wheel model copter is returned to equilibrium state on the model copter; If model copter is under the influence of external meteorological factor, the locus changes (break away or raise or reduce), GPS on the model copter of low latitude will be sent to this delta data and fly to control central computer, fly to control central computer and will allow relevant steering wheel action, it is returned to locus when hovering; If change has taken place in its heading, electronic compass Honeywell HMR3300 in the autonomous flight control device of low-latitude flying robot, will change data to this is sent to and flies to control central computer, fly to control central computer and will allow relevant steering wheel action, its heading is returned to its original orientation when hovering.
The ground monitoring computing machine sends airline operation instruction, and model copter will according to predefined flight path, be finished autonomous flight under the control of the autonomous flight control device of low-latitude flying robot.
Low latitude model copter after returning is taken over its safe landing of hand control by radio remote controller.
The beneficial effect of the autonomous flight control device of a kind of low-latitude flying of the utility model robot is:
1). can unmanned flight, safe and reliable, the alternative people's of having aircraft goes to finish certain dangerous tasks, also can not cause personnel's direct injures and deaths even inflight emergency has taken place.
2) but. vertical and landing takeoff, need not any servicing unit, do not need special airport and runway, extremely low to environmental requirement, in the open air can take off everywhere and landing, duration of run short.
3). the flight precision height, can hover for a long time, can before fly, after fly, side flies, spiral etc.The speed-controllable scope is big, and high flight quality is arranged.
4). intelligent degree height, can realize over the horizon observing and controlling flight, program control autonomous flight and multiple advanced function such as make a return voyage automatically.Operate very simple and effectively, stronger fault-tolerant ability is arranged.
5). can carry multiple-task equipment, the utilization scope is wide.
6). reliable and stable, the maneuverability of system performance, required crew's number and technical ability require to be less than that people's aircraft is arranged, and long-range transition operation is finished by ground transport, and operation cost is low.
7). because low latitude model copter system biases toward extreme low-altitude operation, the suffered constraint of operation is few.
8). can also manually fly by switching.
Fields such as it can be widely used in geography information, environmental protection, prevents and reduces natural disasters in addition, ecological construction, informatization, scientific research.
Description of drawings
Below in conjunction with drawings and Examples the utility model is further specified.
Fig. 1 is a systematic schematic diagram of the present utility model;
Fig. 2 is the program flow diagram that flies to control of the present utility model;
Fig. 3 is a mobile system circuit diagram of the present utility model;
Fig. 4 is a GPS difference ground system circuit diagram of the present utility model;
Fig. 5 is a ground system circuit diagram of the present utility model.
The drawing reference numeral explanation:
1, model copter 2, fly to control controller 21, central flight control computer
22, flight attitude sensor 23, flight position sensor 24, steering wheel driver element
3, radio net communication device 4, ground monitoring computing machine 5, engineer operation device
Embodiment
Referring to figs. 1 through Fig. 5, the utility model is to implement like this:
The autonomous flight control device of a kind of low-latitude flying robot, comprise a model copter (1), the autonomous flight control device of described low-latitude flying robot also comprise one be used for controlling models helicopter (1) action fly to control controller (2), a radio net communication device (3), a ground monitoring computing machine (4) and an engineer operation device (5).
Model copter (1) is equipped with infrared ray self-poise instrument, this infrared ray self-poise instrument is equiped with one and is used for sensor model helicopter (1) sidesway and pitching and feeds back to elevating rudder and the aileron rudder is revised the diaxon infrared inductor of flight attitude, and this infrared ray self-poise instrument model is CPD4.
Flying to control controller (2) is made up of central flight control computer (21), flight attitude sensor (22), flight position sensor (23) and robot steering wheel driver element (24).Wherein central flight control computer (21) is an embedded controller, and model is great lattice I-7188EX, and flight attitude sensor (22) is electronic compass Honeywell HMR3300, and flight position sensor (23) is the aerial rover station of GPS receiver Crescent OEM.
Radio net communication device (3) is the enterprise-level wireless bridge of a pair of point-to-point communication, and this enterprise-level wireless bridge is Ai Kesaier AX7000BG.
Ground monitoring computing machine (24) is equiped with the GPS receiver.
Engineer operation device (5) is the video network video camera, and video network video camera model is SONY SNC-RZ30P in the present embodiment.
Operating process of the present utility model is:
Ground monitoring computing machine (24) sends the instruction of taking off, and the height that allows model copter (1) fly to appointment hovers.If change has taken place for the sidesway and the pitching of model copter (1), the infrared heat equilibristat of a diaxon will provide signal to relevant steering wheel model copter (1) is returned to equilibrium state on the autonomous flight control device of low-latitude flying robot; If model copter (1) is under the influence of external meteorological factor, the locus changes (break away or raise or reduce), GPS on the model copter of low latitude will be sent to central flight control computer to this delta data, central authorities' flight control computer will allow relevant steering wheel action, and it is returned to locus when hovering; If change has taken place in its heading, electronic compass Honeywell HMR3300 in the autonomous flight control device of low-latitude flying robot, will change data to this and be sent to central flight control computer, central authorities' flight control computer will allow relevant steering wheel action, and its heading is returned to its original orientation when hovering.
Ground monitoring computing machine (24) sends the airline operation instruction, the low latitude model copter will be under the control of the autonomous flight control device of low-latitude flying robot, according to predefined flight path, finish autonomous flight, low latitude model copter after returning, take over its safe landing of hand control by radio remote controller.
The above, it only is the preferred embodiment of the autonomous flight control device of a kind of low-latitude flying of the utility model robot, be not that technical scope of the present utility model is imposed any restrictions, every foundation technical spirit of the present utility model all still belongs in the scope of technical solutions of the utility model above any trickle modification, equivalent variations and modification that embodiment did.
Claims (10)
1. the autonomous flight control device of a low-latitude flying robot, comprise a model copter (1), it is characterized in that: the autonomous flight control device of described low-latitude flying robot also comprise one be used for controlling models helicopter (1) action fly to control controller (2), a radio net communication device (3), a ground monitoring computing machine (4) and an engineer operation device (5).
2. the autonomous flight control device of low-latitude flying according to claim 1 robot, it is characterized in that described model copter (1) is equipped with infrared ray self-poise instrument, this infrared ray self-poise instrument is equiped with one and is used for sensor model helicopter (1) sidesway and pitching and feeds back to elevating rudder and the aileron rudder is revised the diaxon infrared inductor of flight attitude.
3. the autonomous flight control device of low-latitude flying according to claim 2 robot is characterized in that described infrared ray self-poise instrument model is CPD4.
4. the autonomous flight control device of low-latitude flying according to claim 1 and 2 robot is characterized in that describedly flying to control controller (2) and being made up of central flight control computer (21), flight attitude sensor (22), flight position sensor (23) and robot steering wheel driver element (24).
5. the autonomous flight control device of low-latitude flying according to claim 4 robot, it is characterized in that described central flight control computer (21) is an embedded controller, model is great lattice I-7188EX, flight attitude sensor (22) is electronic compass Honeywell HMR3300, and flight position sensor (23) is the aerial rover station of GPS receiver Crescent OEM.
6. the autonomous flight control device of low-latitude flying according to claim 1 robot is characterized in that described radio net communication device (3) is the enterprise-level wireless bridge of a pair of point-to-point communication.
7. the autonomous flight control device of low-latitude flying according to claim 6 robot is characterized in that described enterprise-level wireless bridge is Ai Kesaier AX7000BG.
8. the autonomous flight control device of low-latitude flying according to claim 1 robot is characterized in that described ground monitoring computing machine (4) is equiped with the GPS receiver.
9. the autonomous flight control device of low-latitude flying according to claim 1 robot is characterized in that described engineer operation device (5) is the video network video camera.
10. the autonomous flight control device of low-latitude flying according to claim 1 robot is characterized in that described video network video camera model is SONY SNC-RZ30P.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200630764U CN201035405Y (en) | 2007-04-27 | 2007-04-27 | Independent flight controller of low-altitude flight robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200630764U CN201035405Y (en) | 2007-04-27 | 2007-04-27 | Independent flight controller of low-altitude flight robot |
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| CN201035405Y true CN201035405Y (en) | 2008-03-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNU2007200630764U Expired - Fee Related CN201035405Y (en) | 2007-04-27 | 2007-04-27 | Independent flight controller of low-altitude flight robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102236918A (en) * | 2010-04-26 | 2011-11-09 | 鸿富锦精密工业（深圳）有限公司 | Unmanned aerial vehicle, and method for collecting data by using the same |
| CN102460329A (en) * | 2009-06-05 | 2012-05-16 | 波音公司 | Supervision and control of heterogeneous autonomous operations |
| CN104977912A (en) * | 2015-07-02 | 2015-10-14 | 深圳市蜂鸟智航科技有限公司 | Ethernet-exchange-bus-based unmanned plane flight control system and method |
| CN108839801A (en) * | 2018-05-30 | 2018-11-20 | 佛山市三水区希望火炬教育科技有限公司 | It is a kind of for arresting the bionical eagle of unmanned plane |
-
2007
- 2007-04-27 CN CNU2007200630764U patent/CN201035405Y/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102460329A (en) * | 2009-06-05 | 2012-05-16 | 波音公司 | Supervision and control of heterogeneous autonomous operations |
| CN102460329B (en) * | 2009-06-05 | 2015-03-11 | 波音公司 | Supervision and control of heterogeneous autonomous operations |
| CN102236918A (en) * | 2010-04-26 | 2011-11-09 | 鸿富锦精密工业（深圳）有限公司 | Unmanned aerial vehicle, and method for collecting data by using the same |
| CN102236918B (en) * | 2010-04-26 | 2014-08-20 | 鸿富锦精密工业（深圳）有限公司 | Unmanned aerial vehicle, and method for collecting data by using the same |
| CN104977912A (en) * | 2015-07-02 | 2015-10-14 | 深圳市蜂鸟智航科技有限公司 | Ethernet-exchange-bus-based unmanned plane flight control system and method |
| CN108839801A (en) * | 2018-05-30 | 2018-11-20 | 佛山市三水区希望火炬教育科技有限公司 | It is a kind of for arresting the bionical eagle of unmanned plane |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080312 |