CN203780798U - Quadrocopter-based air quality detector - Google Patents
Quadrocopter-based air quality detector Download PDFInfo
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- CN203780798U CN203780798U CN201420176849.XU CN201420176849U CN203780798U CN 203780798 U CN203780798 U CN 203780798U CN 201420176849 U CN201420176849 U CN 201420176849U CN 203780798 U CN203780798 U CN 203780798U
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- air quality
- quality detector
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- microcontroller
- axle aircraft
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Abstract
The utility model discloses a quadrocopter-based air quality detector comprising a quadrocopter and a control system, wherein the quadrocopter mainly comprises a mechanical arm, a main machine body, an installation platform, a machine body cavity, a propeller, a foot stool, a camera cradle head and the like, wherein the control system comprises an onboard control system and a ground control system; the onboard control system comprises a gesture measurement unit, an application measurement unit and an onboard microcontroller; the ground control system comprises a manual control unit and an automatic driving control center. The camera and the detector are carried by adopting the quadrocopter which is stable to fly and good in maneuverability, an air vehicle can be controlled by the ground remote controller, meanwhile, automatic control can be achieved, the detection range can be expanded, a plurality of indicators for air quality are detected at different heights and positions in low altitude and returned to the ground to receive. Thus, the quadrocopter-based air quality detector has the characteristics of being small in volume, light in weight, low in cost, low in demands on flight space, safe and reliable, flexible and efficient.
Description
Technical field
The present invention relates to air quality detector technology field, particularly a kind of air quality detector based on four-axle aircraft.
Background technology
Aerial contamination is more and more serious in recent years, the air quality of urban has become the healthy maximum hidden danger of people, particularly nearly PM2.5 that appears at urban for 2 years in pairs people live and produce the maximum harm of puzzlement, so detect in time the performance figure of air, people understood better own ambient air index or contamination level and take prevention and cure measures timely and people's living arrangement is significant.Especially the mensuration to PM2.5, due to detecting devices costliness, can not be at each local check point of setting.Go aerial reconnaissance if employ helicopter carrying equipment, Expenses Cost is larger.
Four axle rotor aircrafts are one of multi-rotor aerocraft, mainly realize movement and the rolling of aircraft by the rotation of four driven by motor blades.The feature of this quadrotor maximum is that cost is lower, and self flight stability is good, and controllability is good, can hover, and can bear certain load etc., is applicable to carrying camera and air detectors fixed point detecting air index.
Summary of the invention
In order to overcome above-mentioned the deficiencies in the prior art, the object of the invention is to propose a kind of air quality detector based on four-axle aircraft, can be below 300 meters in the air air quality index is fixed a point to survey, have the advantages that cost is low, energy consumption is low, controllability is good, alerting ability is high.
To achieve these goals, the technical solution used in the present invention is:
A kind of air quality detector based on four-axle aircraft, comprise four-axle aircraft and control system, described four-axle aircraft comprises into four mechanical arms 3 of right-angled crossing, intersecting angle is 90 °, the point of crossing of mechanical arm 3 is provided with main body 5, connect and fix four mechanical arms 3, main body 5 tops are provided with lays platform 1, main body 5 inside are provided with body chamber 10, the end of four mechanical arms 3 is fixed with respectively motor 6, screw propeller 4 is installed on motor 6, and two screw propellers 4 forward-reverse spiral oar each other point-blank, on mechanical arm 3, be fixed with and revolve oar cover 2, foot rest 7 is fixedly mounted on the below of main body 5 by foot rest gland 8, one side of foot rest 7 is provided with camera The Cloud Terrace 11, the below of foot rest 7 is provided with battery 9.
Described control system comprises aircraft mounted control system and ground control system, and described aircraft mounted control system comprises Attitude Measuring Unit, application measuring unit, airborne microcontroller 18, is all fixedly installed in body chamber 10; Described ground control system comprises manual control unit and automatic Pilot control center.
In described body chamber 10, be also provided with GPS sensor assembly 23, air quality detector 24, motor-drive circuit 25, the input end of airborne microcontroller 18 is electrically connected with the mouth of GPS sensor assembly 23, air quality detector 24, the antenna of described GPS sensor assembly 23 is arranged on to be laid on platform 1, airborne microcontroller 18 is electrically connected and accepts its control with motor-drive circuit 25, and motor-drive circuit 25 connects and drive motor 6.
Described Attitude Measuring Unit comprises three-axis gyroscope 15, triaxial accelerometer 16 and magnetic resistance 17, is connected to respectively corresponding SDA and the SCL pin of IIC of airborne microcontroller 18 by its data line SDA and clock line SCL.
Described application measuring unit comprises digital camera 12, weather gauge 13, ultrasonic transduter 14, digital camera 12 is mounted on camera The Cloud Terrace 11, and be electrically connected with airborne microcontroller 18, weather gauge 13 and ultrasonic transduter 14 are connected to respectively corresponding data SDA and the clock SCL pin of IIC of airborne microcontroller 18 by its data line SDA and clock line SCL.
Described manual control unit comprises remote controller 26 and airboarne receiver 21, and airboarne receiver 21 is arranged in body chamber 10, is connected with airborne microcontroller 18, and remote controller 26 communicates by wireless connections mode with airboarne receiver 21.
The priority of described remote controller 26 remote control controls is higher than automatic Pilot.
Described automatic Pilot control center comprises ground microcontroller 22, upper computer 27, ground microcontroller 22 is electrically connected with upper computer 27, and carries out radio communication by the first wireless radio-frequency communication module 19 and the second wireless radio-frequency communication module 20 with airborne microcontroller 18.
Beneficial effect of the present invention:
1, the present invention adopts the four-axle aircraft that flight stability, controllability are good to carry camera and detector, can expand investigative range, carries out air quality detection and pass ground back receiving at low latitude differing heights, diverse location, has safe and reliable feature.
2, aircraft can be subject to the control of ground remote control device, also can realize automatic control simultaneously, can carry out many index measurements, completes flexibly, efficiently detection mission.
3, aircraft can be determined the hovering of high location, several spatial point can be set in a space and realize differing heights air quality measurement contrast as detection mission point, and sustained height diverse location air quality Information Statistics pass ground back, the substance indexs such as pellet (PM10), fine particle (PM2.5), nitrogen dioxide, sulphur dioxide, carbonic oxide are surveyed, thereby science is measured certain vicinal air quality exactly.
4, the present invention has overcome the deficiencies such as traditional airplane sounding cost stationarity, message sample high and traditional detection are few, representativeness is poor, have that volume is little, lightweight, cost is low, making is simple, be easy to carry, to the less demanding feature in flying area, have a good application prospect and be worth.
Brief description of the drawings
Fig. 1 is the structural representation of four-axle aircraft.
Fig. 2 is the structural representation of four-axle aircraft side.
Fig. 3 is control system functional block diagram.
Fig. 4 is microcontroller peripheral circuit schematic diagram.
Fig. 5 is attitude detection and measurement module circuit.
Fig. 6 is wireless radio-frequency communication module circuit.
Fig. 7 is GPS sensor circuit schematic diagram.
Fig. 8 is air quality detector module circuit schematic diagram.
Fig. 9 is motor execution module schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Referring to Fig. 1, Fig. 2, a kind of air quality detector based on four-axle aircraft, comprise four-axle aircraft and control system, described four-axle aircraft comprises into four mechanical arms 3 of right-angled crossing, intersecting angle is 90 °, the point of crossing of mechanical arm 3 is provided with main body 5, connect and fix four mechanical arms 3, main body 5 tops are provided with lays platform 1, main body 5 inside are provided with body chamber 10, the end of four mechanical arms 3 is fixed with respectively motor 6, screw propeller 4 is installed on motor 6, and two screw propellers 4 forward-reverse spiral oar each other point-blank, on mechanical arm 3, be fixed with and revolve oar cover 2, be used for preventing that screw propeller from encountering object and causing danger, foot rest 7 is fixedly mounted on the below of main body 5 by foot rest gland 8, support and buffer action for rising in the time that aircraft lands, one side of foot rest 7 is provided with camera The Cloud Terrace 11, the below of foot rest 7 is provided with battery 9.
Referring to Fig. 3, control system comprises aircraft mounted control system and ground control system, and aircraft mounted control system comprises Attitude Measuring Unit, application measuring unit, airborne microcontroller 18, is all fixedly installed in body chamber 10, wherein, airborne microcontroller 18 adopts STM32F103RBT6, Attitude Measuring Unit comprises three-axis gyroscope 15, adopt MPU6050 chip, the data line SDA of MPU6050 and clock line SCL are connected on the SDA and SCL that the IIC of airborne microcontroller 18 is corresponding, airborne data back microcontroller 18 and by its internal calculation, angled cireular frequency Integral Transformation, magnetic resistance 17 adopts HMC5883L chip, the data line SDA of triaxial accelerometer 16 and magnetic resistance 17 is connected with clock line SCL on the corresponding SDA and SCL of IIC of airborne microcontroller 18, pass airborne microcontroller 18 back detecting three dimensions stressed, be converted to attitude of flight vehicle angle (PITCH by quaternion and Eulerian angles, ROLL, YAW), airborne microcontroller 18 carries out filtering processing by Kalman filtering algorithm to original data, in the current attitude of by blending algorithm, the attitude angle of two kinds of modes being carried out fusion treatment and obtained aircraft, and the conversion of 4 road PWM pulsewidths by pid algorithm regulation output is controlled motor speed and is realized attitude correction.
Application measuring unit comprises digital camera 12, weather gauge 13, ultrasonic transduter 14, digital camera 12 is mounted on camera The Cloud Terrace 11, and be electrically connected with airborne microcontroller 18, photographic images or photo transfer back on airborne microcontroller 18 and carry out auxiliary positioning, weather gauge 13 adopts BMP085 chip, ultrasonic transduter 14 adopts HC-SR04, weather gauge 13 and ultrasonic transduter 14 are connected to respectively corresponding data SDA and the clock SCL pin of IIC of airborne microcontroller 18 by its data line SDA and clock line SCL, airborne microcontroller 18 merges data, calculate aircraft place elevation information, auxiliary positioning is fixed high.
Body chamber 10 is also provided with GPS sensor assembly 23, air quality detector 24, motor-drive circuit 25, the input end of airborne microcontroller 18 is electrically connected with the mouth of GPS sensor assembly 23, air quality detector 24, and the antenna of described GPS sensor assembly 23 is arranged on to be laid on platform 1.
Body chamber 10 is also provided with GPS sensor assembly 23, air quality detector 24, motor-drive circuit 25, the input end of airborne microcontroller 18 is electrically connected with the mouth of GPS sensor assembly 23, air quality detector 24, the antenna of described GPS sensor assembly 23 is arranged on to be laid on platform 1, airborne microcontroller 18 is electrically connected and accepts its control with motor-drive circuit 25, and motor-drive circuit 25 connects and drive motor 6.
Manually control unit comprises remote controller 26 and airboarne receiver 21, and airboarne receiver 21 is arranged in body chamber 10, is connected with airborne microcontroller 18, and remote controller 26 communicates by wireless connections mode with airboarne receiver 21.Remote controller 26 sends 5-7 road pwm signal by airboarne receiver 21, airborne microcontroller 18 detects the pwm signal of each passage, and the 4 road PWM control motors speed of exporting by pid algorithm control are realized attitude control and the airline operation of aircraft, Long-distance Control aircraft location is fixed high, and the priority of remote controller 26 remote control controls is higher than automatic Pilot, can realizes and control safely and reliably aircraft and complete detection mission.
Automatic Pilot control center comprises ground microcontroller 22, upper computer 27, ground microcontroller 22 adopts STM32F103RBT6 chip, the first wireless radio-frequency communication module 19 and the second wireless radio-frequency communication module 20 all adopt NRF24L01, ground microcontroller 22 is electrically connected with upper computer 27, and carry out radio communication by the first wireless radio-frequency communication module 19 and the second wireless radio-frequency communication module 20 with airborne microcontroller 18, move instruction, realize automatic Pilot, the fixed high location of fixed point, upper computer 27 Real-Time Monitoring aircraft flight attitudes and air detection mission simultaneously, and can send planned position instruction and control by the first wireless radio-frequency communication module 19 and the second wireless radio-frequency communication module 20 aerial mission and the detection mission of aircraft.
Referring to Fig. 4, the peripheral circuit module of airborne microcontroller 18: airborne microcontroller 18 is STM32F103RBT6(U1), power pins 1 is connected with power supply, the corresponding connection of other power ports, between its pin 12 and 13, connect 2 capacitor filterings, between pin 3 and 4, connect clock crystal oscillator, frequency is 32.768KHz, pin 60 and 28 is respectively BOOT0, BOOT1, for program downloading mode is selected port, with short circuit cap short circuit selection downloading mode, pin 8, 9, 10, 11, 24 is AD input port, connect the PWM_IN1-PWM_IN5 of the output signal CH1-CH5 of remote control receiver (P3), pin 34, 35, 58, the output port of 59 timers, 4 road pwm signals of output connect the electric tonal signal entrance of motor electricity tune group (P2), pin 44 is connected with the USB interface of Fig. 4 with 45 USB interface, pin 42 and 43 is received on the pin 1 and 5 of PL2302 of Fig. 5.The digital output pin 2 of air quality detector module (P4) is received on the pin 20 of MCU, transmits the air quality data detecting.The data that the data transmit-receive pin 2 and 3 of GPS sensor assembly 23 is added to respectively MCU are sent out spasm pin 17 and 16.
Referring to Fig. 5, attitude passes measuring unit circuit: three-axis gyroscope 15 is selected MPU6050 chip, clock bus SCL and data bus SDA be clock and data bus pins PB6 and the PB7 of the IIC of airborne microcontroller 18 in connection diagram 3 respectively, is built-in with the clock bus SCL of digital compass (HMC5883L) and data bus SDA clock and data bus pins PB6 and the PB7 of the IIC of MCU in connection diagram 4 respectively.The PL2302 that TTl turns USB level signal connects button (BUTTON).
Referring to Fig. 6, wireless radio-frequency communication module circuit: nRF24L01 is the monolithic wireless transceiver chip of the ISM band that is operated in 2.4GHz-2.5GHz of being produced by NORDIC, and mode of operation has sending mode and receiving mode.CE pin 1 is enable transmission or receiving mode, and microprocessor 19 can be by following pin configuration nRF24L01:CSN pin 2, SCK pin 3, MOSI pin 4, MISO pin 5.Pin 9 and 10 is crystal oscillator port, external 16M crystal oscillator.Pin 12 is connected inductance and forms antenna with 13, pin 16 is reference current input port.
Referring to Fig. 7, GPS sensor module circuitry: because the position of satellite is known, first measure ground point A to the distance between satellite, A point be positioned at centered by satellite, measured distance is on the ball of radius.Further, record again the distance of an A to another satellite, A point is necessarily on the crossing annulus of former and later two balls.Record again the distance of the 3rd satellite of A, can determine that A point can only be on two points that intersect at three balls.According to geographical knowledge, can be easy to get rid of one of them irrational position, thereby obtain A point location.
Referring to Fig. 8, the pin 2 of air quality detector module: amplifier LM393 connects the analog output mouth of sensitive detection parts, pin 3 meets rheostat RP, mouth pin 1 meets R3 and C1 forms comparator, analog input is converted to digital output, and air quality detector becomes the detector that has analog quantity and digital output concurrently.
Referring to Fig. 9, motor execution module: this module input is the pwm signal that airborne microcontroller 18 is controlled output, and UPE accepts pwm signal, 12V direct current (DC) is converted to three-phase alternating current electric drive, and controls electric machine rotation or stop simultaneously.
Claims (8)
1. the air quality detector based on four-axle aircraft, comprise four-axle aircraft and control system, it is characterized in that, described four-axle aircraft comprises into four mechanical arms (3) of right-angled crossing, intersecting angle is 90 °, the point of crossing of mechanical arm (3) is provided with main body (5), connect and fix four mechanical arms (3), main body (5) top is provided with lays platform (1), main body (5) inside is provided with body chamber (10), the end of four mechanical arms (3) is fixed with respectively motor (6), screw propeller (4) is installed on motor (6), and two screw propellers (4) forward-reverse spiral oar each other point-blank, on mechanical arm (3), be fixed with and revolve oar cover (2), foot rest (7) is fixedly mounted on the below of main body (5) by foot rest gland (8), one side of foot rest (7) is provided with camera The Cloud Terrace (11), the below of foot rest (7) is provided with battery (9), described control system comprises aircraft mounted control system and ground control system, and described aircraft mounted control system comprises Attitude Measuring Unit, application measuring unit, airborne microcontroller (18), is all fixedly installed in body chamber (10), described ground control system comprises manual control unit and automatic Pilot control center.
2. a kind of air quality detector based on four-axle aircraft according to claim 1, it is characterized in that, in described body chamber (10), be also provided with GPS sensor assembly (23), air quality detector (24), the input end of airborne microcontroller (18) is electrically connected with the mouth of GPS sensor assembly (23), air quality detector (24), and the antenna of described GPS sensor assembly (23) is arranged on to be laid on platform (1).
3. a kind of air quality detector based on four-axle aircraft according to claim 1, it is characterized in that, in described body chamber (10), be also provided with GPS sensor assembly (23), air quality detector (24), motor-drive circuit (25), the input end of airborne microcontroller (18) and GPS sensor assembly (23), the mouth electrical connection of air quality detector (24), the antenna of described GPS sensor assembly (23) is arranged on to be laid on platform (1), airborne microcontroller (18) is electrically connected and accepts its control with motor-drive circuit (25), motor-drive circuit (25) connects and drive motor (6).
4. a kind of air quality detector based on four-axle aircraft according to claim 1, it is characterized in that, described Attitude Measuring Unit comprises three-axis gyroscope (15), triaxial accelerometer (16) and magnetic resistance (17), is connected to respectively corresponding SDA and the SCL pin of IIC of airborne microcontroller (18) by its data line SDA and clock line SCL.
5. a kind of air quality detector based on four-axle aircraft according to claim 1, it is characterized in that, described application measuring unit comprises digital camera (12), weather gauge (13), ultrasonic transduter (14), digital camera (12) is mounted on camera The Cloud Terrace (11), and be electrically connected with airborne microcontroller (18), weather gauge (13) and ultrasonic transduter (14) are connected to respectively corresponding data SDA and the clock SCL pin of IIC of airborne microcontroller (18) by its data line SDA and clock line SCL.
6. a kind of air quality detector based on four-axle aircraft according to claim 1, it is characterized in that, described manual control unit comprises remote controller (26) and airboarne receiver (21), airboarne receiver (21) is arranged in body chamber (10), be connected with airborne microcontroller (18), remote controller (26) communicates by wireless connections mode with airboarne receiver (21).
7. a kind of air quality detector based on four-axle aircraft according to claim 6, is characterized in that, the priority of described remote controller (26) remote control control is higher than automatic Pilot.
8. a kind of air quality detector based on four-axle aircraft according to claim 1, it is characterized in that, described automatic Pilot control center comprises ground microcontroller (22), upper computer (27), ground microcontroller (22) is electrically connected with upper computer (27), and carries out radio communication by the first wireless radio-frequency communication module (19) and the second wireless radio-frequency communication module (20) with airborne microcontroller (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420176849.XU CN203780798U (en) | 2014-04-11 | 2014-04-11 | Quadrocopter-based air quality detector |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420176849.XU CN203780798U (en) | 2014-04-11 | 2014-04-11 | Quadrocopter-based air quality detector |
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| CN203780798U true CN203780798U (en) | 2014-08-20 |
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| CN201420176849.XU Expired - Fee Related CN203780798U (en) | 2014-04-11 | 2014-04-11 | Quadrocopter-based air quality detector |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149982A (en) * | 2014-04-11 | 2014-11-19 | 陕西科技大学 | Air quality detector based on quadcopter |
| CN104683759A (en) * | 2015-01-23 | 2015-06-03 | 中国计量学院 | Wireless video monitoring equipment and method based on aircraft for chimney inner wall corrosion condition |
| CN106005421A (en) * | 2016-06-24 | 2016-10-12 | 河南沃野智能科技有限公司 | Multifunctional remote control multi-rotor aircraft |
| CN106730639A (en) * | 2016-12-22 | 2017-05-31 | 李峰 | A kind of fitness equipment |
| WO2018090943A1 (en) * | 2016-11-18 | 2018-05-24 | 捷西迪（广州）光学科技有限公司 | Unmanned aerial vehicle for underwater photographing |
| CN111813141A (en) * | 2019-04-11 | 2020-10-23 | 上海交通大学 | Flight mission control system and method for remotely controlling unmanned aerial vehicle |
-
2014
- 2014-04-11 CN CN201420176849.XU patent/CN203780798U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104149982A (en) * | 2014-04-11 | 2014-11-19 | 陕西科技大学 | Air quality detector based on quadcopter |
| CN104683759A (en) * | 2015-01-23 | 2015-06-03 | 中国计量学院 | Wireless video monitoring equipment and method based on aircraft for chimney inner wall corrosion condition |
| CN106005421A (en) * | 2016-06-24 | 2016-10-12 | 河南沃野智能科技有限公司 | Multifunctional remote control multi-rotor aircraft |
| WO2018090943A1 (en) * | 2016-11-18 | 2018-05-24 | 捷西迪（广州）光学科技有限公司 | Unmanned aerial vehicle for underwater photographing |
| CN106730639A (en) * | 2016-12-22 | 2017-05-31 | 李峰 | A kind of fitness equipment |
| CN106730639B (en) * | 2016-12-22 | 2018-09-11 | 李峰 | A kind of fitness equipment |
| CN111813141A (en) * | 2019-04-11 | 2020-10-23 | 上海交通大学 | Flight mission control system and method for remotely controlling unmanned aerial vehicle |
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Granted publication date: 20140820 Termination date: 20150411 |
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