CN203816218U - Four-axis aircraft toy capable of automatically tracking target in all directions - Google Patents
Four-axis aircraft toy capable of automatically tracking target in all directions Download PDFInfo
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- CN203816218U CN203816218U CN201420150652.9U CN201420150652U CN203816218U CN 203816218 U CN203816218 U CN 203816218U CN 201420150652 U CN201420150652 U CN 201420150652U CN 203816218 U CN203816218 U CN 203816218U
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Abstract
Afour-axis aircraft toy capable of automatically tracking a target in all directions comprises a frame, wherein four rotor units are mounted on the frame; each rotor unit comprises a rotor and a moor driving the rotor to rotate; a verticaldistance measuring instrument for detecting theperpendicular distance to the ground is also mounted on the frame; a central controller controls the aircraft to move perpendicularly according to signals of the verticaldistance measuring instrument; eight horizontal distance measuring instruments are also mounted on the frame; each horizontal signal receiver is connected to the central controller; the central controller controls theyawing movement and the horizontal movement of the aircraft according to the direction of the horizontal signal receiver which is closest to the target in the horizontal direction. The four-axis aircraft toy can track the target automatically and cannot losethe target no matter how the target changes directions.
Description
Technical field
The utility model belongs to the technical field of aerobat toy, relates in particular to a kind of four-axle aircraft toy of automatic omnidirectional tracking target.
Background technology
Four-axle aircraft toy is provided with framework and four rotor unit, the motor that each rotor unit includes rotor, drives rotor to rotate; From floor projection position, the vertical rotating shaft of four rotors lays respectively on the four direction all around of frame center point, and the distance of they and frame center point is equal to.In present specification, by take frame center point as initial end points, and be called " trunk ray " through the horizontal rays of rotor vertical rotating shaft, whole four-axle aircraft toy has four such trunk rays.
Four-axle aircraft toy is provided with the central controller of controlling each motor speed at framework central part.During four-axle aircraft toy flying, a part of rotor clockwise rotates, and another part rotor rotates counterclockwise, and central controller is coordinated the rotating speed of each motor and controlled the flare maneuver of whole aircraft.Different conditions between each rotor can form a variety of combinations, makes the offline mode of aircraft rich and varied, can freely make various flare maneuvers.Common action moves both vertically, yawing rotation, horizontal axis motion etc.
What is called moves both vertically, and is commonly called as and rises or decline, and can synchronously be increased or be reduced by four gyroplane rotate speeds and realize.When four gyroplane rotate speed increases make total pulling force be greater than the weight of complete machine, whole aircraft is vertical lifting just; Otherwise vertically decline.
So-called yawing rotation, is commonly called as turning, and when four motor speeds are incomplete same, four rotors are inconsistent, uneven to the reaction torque of fuselage generation, and unbalanced reaction torque can cause that whole aircraft rotates around frame center point, realizes the driftage of turning.Turning can be both clockwise turning, can be also counterclockwise turning.In present specification, judgement along counterclockwise time, is as the criterion from the result of overlooking direction and seeing with observer.
What is called moves horizontally, be commonly called as and advance or retreat, as long as make the rotating speed of rotor of two trunk rays being located along the same line inconsistent, lift is uneven, just there is inclination to a certain degree in aircraft, thereby make rotor thrust produce horizontal component, just can make aircraft move horizontally along the direction of this two trunks ray.Because four trunk ray groups synthesize cross, symmetrical configuration in X-axis, two vertical direction of Y-axis, so move horizontally, in fact there are four kinds of directions all around to select, advance, retreat, left, right translation, the operation principle of four kinds of directions of motion is just the same, when advancing along the direction of a certain trunk ray indication, also can be understood as along the direction of another relative trunk ray indication and retreat, or be interpreted as along the oriented radial left and right translation of two other trunk ray indication simultaneously.
Although existing four-axle aircraft toy action style is a lot, exercises all need people for controlling, and lack interestingly, and more lacking can be comprehensive, from the function of a certain specific objective thing of motion tracking.
Utility model content
The purpose of this utility model is to overcome above-mentioned shortcoming and four-axle aircraft toy that a kind of automatic omnidirectional tracking target is provided, and it can automatically track target thing, and no matter how object converts its orientation, four-axle aircraft toy all can not got rid of.
Its object can realize by following scheme: the four-axle aircraft toy of this automatic omnidirectional tracking target, include framework, and four rotor unit are installed, the motor that each rotor unit includes rotor, drives rotor to rotate on framework; From floor projection position, the vertical rotating shaft of four rotors lays respectively on the four direction all around of frame center point, and the distance of they and frame center point is equal to; Central controller is installed in the middle of framework, the motor speed of each rotor unit of central controller controls and realizing moves both vertically, yawing rotation, move horizontally, it is characterized in that: a vertical rangefinder that detects distance perpendicular to the ground is also installed on framework, vertical rangefinder is provided with vertical signal projector and vertical signal receiver, the direction of vertical signal projector and vertical signal receiver ground downward; Vertical rangefinder is connected to central controller, and central controller moves both vertically according to the signal controlling aircraft of vertical rangefinder, and the vertical distance on vertical rangefinder and ground is remained in setting range;
Eight horizontal rangefinders are also installed on framework, and horizontal rangefinder includes horizontal signal receiver, horizontal signal transmitter, and the installation direction of horizontal signal transmitter, horizontal signal receiver is all the middle section of framework dorsad; The wherein horizontal signal receiver of two horizontal rangefinders is installed on the side of every trunk ray symmetrically, and one of them horizontal signal receiver is positioned at the clockwise side of this trunk ray, and another horizontal signal receiver is positioned at the counterclockwise side of this trunk ray; Each horizontal signal receiver is connected to central controller, central controller is controlled the yawing rotation of aircraft according to the orientation with the shortest horizontal signal receiver of object horizontal range, when the horizontal signal receiver the shortest with object horizontal range is positioned at the clockwise side of corresponding trunk ray, central controller order aircraft is gone off course clockwise, otherwise order aircraft to be gone off course counterclockwise, until the distance signal that two horizontal signal receivers on this correspondence trunk ray side record is in equivalency range; Central controller also according to horizontal signal receiver that should be the shortest with object distance signal controlling aircraft along the direction of the corresponding trunk ray of this horizontal signal receiver, move horizontally, the horizontal range of this horizontal signal receiver and object is remained in setting range.
Horizontal signal transmitter is ultrasonic signal emitters, and horizontal signal receiver is ultrasonic signal receiver, and the time that central controller is returned according to ultrasonic wave transmitting back reflection judges this horizontal signal receiver and object distance.
Horizontal signal transmitter is Infrared Projector, and horizontal signal receiver is infrared signal receiver, and the intensity that central controller is returned according to infrared emitting back reflection judges this horizontal signal receiver and object distance.
Each horizontal signal receiver cooperation is provided with a horizontal signal transmitter; Two horizontal signal transmitters are installed on the side of every trunk ray symmetrically.
Two horizontal rangefinders on every trunk ray side share a horizontal signal transmitter, and this horizontal signal transmitter arrangement is on corresponding trunk ray and towards the place ahead of this trunk ray.
The utlity model has following advantage and effect:
One, central controller moves both vertically according to the signal controlling aircraft of vertical rangefinder, the vertical distance on vertical rangefinder and ground is remained in setting range, can make aircraft remain on setting height scope, when aircraft side has object, no matter object is positioned at any orientation, aircraft can detect and obtain, central controller is calculated this horizontal signal receiver and object distance according to the signal of each horizontal signal receiver, and judgement and the orientation (be positioned at clockwise side or the counterclockwise side of corresponding trunk ray) of object apart from the shortest horizontal signal receiver, then order aircraft driftage or driftage counterclockwise clockwise, until the distance signal that two horizontal signal receivers on this trunk ray side record is in equivalency range, so just can make aircraft be positioned at the dead astern (from the direction of this trunk ray) of object, and central controller also carries out the adjusting of horizontal range, central controller controls aircraft is along the direction advance and retreat of above-mentioned trunk ray, the horizontal range of this horizontal signal receiver and object is remained in setting range.
Two, if the unexpected changing location of object, even suddenly changing location significantly, for example orientation converts suddenly 180 ° of left and right, or 90 ° of left and right, signal weaker or disappearance (or could not receive for a long time) that the shortest horizontal signal receiver of original distance receives, and that the signal of horizontal signal receiver on other other trunk ray becomes is the strongest the shortest time of reflected signal (or receive), central controller judgement object is away from first horizontal signal receiver thus, and change by the horizontal signal transmitter on an other trunk ray, horizontal signal receiver is then followed the tracks of and is controlled.Therefore no matter how the whereabouts of object convert, direction transformation speed how soon, and aircraft can not got rid of.
Accompanying drawing explanation
Fig. 1 is the perspective view of four-axle aircraft toy.
Fig. 2 is that the construction geometry of four-axle aircraft toy is resolved schematic diagram.
Fig. 3 is the plan structure schematic diagram of the utility model the first specific embodiment.
Fig. 4 is the plan structure schematic diagram of the utility model the second specific embodiment.
The specific embodiment
Embodiment mono-
Shown in Fig. 1, Fig. 2, Fig. 3, the four-axle aircraft toy of this automatic omnidirectional tracking target includes framework, framework comprises and is positioned at central fuselage 5 and four support bars 4, bracing ring 6, every support bar 4 is provided with a rotor unit, the motor that each rotor unit includes rotor 1, drives rotor to rotate; From horizontal level, the vertical rotating shaft 11 of four rotors lays respectively on the four direction all around of frame center point, and the horizontal range of they and frame center point is equal to.When whole aircraft is during in front position, the horizontal rays that the frame center point (O point in Fig. 2) of take is initial end points, the also vertical rotating shaft 11 of process rotor just forms trunk ray, whole four-axle aircraft toy has four such trunk rays, as shown in OA, OB, OC, OD in Fig. 2, every support bar 4 lays respectively on a corresponding trunk ray; Fuselage is provided with central controller, and the motor speed of each rotor unit of central controller controls and realizing moves both vertically, yawing rotation, move horizontally.In embodiment mono-, a vertical rangefinder that detects distance perpendicular to the ground is also installed on framework, vertical rangefinder is provided with vertical signal projector and vertical signal receiver, the direction of vertical signal projector and vertical signal receiver ground downward, vertical signal receiver is connected to central controller, central controller moves both vertically according to the signal controlling aircraft of vertical rangefinder, and the vertical distance on vertical rangefinder and ground is remained in setting range.
In addition, as shown in Figure 3, eight horizontal rangefinders are also installed on framework, and horizontal rangefinder includes horizontal signal receiver 32, horizontal signal transmitter 31, and the wherein horizontal signal receiver 32 of two horizontal rangefinders is installed on the side of every trunk ray symmetrically, in two horizontal signal receivers 32 on the side of each trunk ray, one of them horizontal signal receiver is positioned at the clockwise side of this trunk ray, and another horizontal signal receiver is positioned at the counterclockwise side of this trunk ray, two horizontal signal receivers 32 on every trunk ray side share a horizontal signal transmitter 32, this horizontal signal transmitter arrangement is on corresponding trunk ray and towards the place ahead of this correspondence trunk ray, and the installation direction of each horizontal signal transmitter 31, horizontal signal receiver 32 is all the middle section of framework dorsad, therefore, eight horizontal signal receivers 32 are also installed on whole framework, four horizontal signal transmitters 31, wherein horizontal signal transmitter 31 is ultrasonic signal emitters, horizontal signal receiver 32 is ultrasonic signal receiver, the time that central controller comes back to corresponding horizontal signal receiver 32 according to each horizontal signal transmitter 31 transmitting ultrasonic wave back reflections judges this horizontal signal receiver and object distance, each horizontal signal receiver 32 is connected to central controller, central controller is controlled the yawing rotation of aircraft according to the orientation with the shortest horizontal signal receiver of object horizontal range, when the horizontal signal receiver the shortest with object horizontal range is positioned at the clockwise side of corresponding trunk ray, central controller order aircraft is gone off course clockwise, otherwise order aircraft to be gone off course counterclockwise, until the distance signal that two horizontal signal receivers on this trunk ray side record is in equivalency range, central controller also according to horizontal signal receiver that should be the shortest with object distance signal controlling aircraft along the direction of the corresponding trunk ray of this horizontal signal receiver, move horizontally, the horizontal range of this horizontal signal receiver and object is remained in setting range.
It is selective that the four-axle aircraft toy of above-described embodiment can arrange two kinds of offline mode, and the first is from motion tracking offline mode; The second is traditional remote control distributor pattern, and in this pattern, central controller is connected with the signal of each rangefinder can temporarily disconnected, changes into according to remote signal and flying.
Embodiment bis-
In this embodiment bis-, two horizontal signal transmitters 31 are installed on the side of every trunk ray symmetrically, each horizontal signal receiver 32 cooperation is provided with a horizontal signal transmitter 31, each horizontal signal transmitter 31 abuts against together with corresponding horizontal signal receiver 32, two horizontal signal transmitters 31 that same trunk ray is corresponding are arranged in the both sides of this trunk ray symmetrically, as shown in Figure 4.In addition, in embodiment bis-, horizontal signal transmitter 31 is Infrared Projector, horizontal signal receiver 32 is infrared signal receiver, and the intensity (being received by horizontal signal receiver 32) that central controller is returned according to horizontal signal transmitter 31 transmitting infrared ray back reflections judges this horizontal signal receiver and object distance.
The control method of above-mentioned two embodiment comprises the following steps: the distance on (1), vertical stadia surveying and ground, below, and signal is transported to central controller, central controller moves both vertically according to the signal controlling aircraft of vertical rangefinder, and the vertical distance on vertical rangefinder and ground is remained in setting range; (2), each horizontal rangefinder is measured and object horizontal range separately, and signal is transported to central controller, central controller is controlled the yawing rotation of aircraft according to the orientation with the shortest horizontal signal receiver of object horizontal range, when the horizontal signal receiver the shortest with object horizontal range is positioned at the clockwise side of corresponding trunk ray, central controller order aircraft is gone off course clockwise, otherwise order aircraft to be gone off course counterclockwise, until the distance signal that two horizontal signal receivers on this trunk ray side record is in equivalency range; Certainly, in this step, if there are at the very start distance signal that two horizontal signal receivers on a certain trunk ray side the record special circumstances in equivalency range, the yaw angle of central controller order is zero; (3), according to the signal controlling aircraft of this horizontal signal receiver the shortest with object distance, the direction along the corresponding trunk ray of this horizontal signal receiver moves horizontally central controller, and the horizontal range of this horizontal signal receiver and object is remained in setting range; Certainly, in this step, if the distance that this horizontal signal receiver records at the beginning just in setting range, the amount of moving horizontally of central controller order is zero; Constantly repeat above-mentioned (1), (2), (3) step.
Said method can be used on stage performance, allows aerobat toy from motion tracking performer, no matter how performer moves before the lights, around it, all all-the-way tracking has aerobat toy automatically, strengthens dance & art effect.
Claims (5)
1. a four-axle aircraft toy for automatic omnidirectional tracking target, includes framework, and four rotor unit are installed on framework, the motor that each rotor unit includes rotor, drives rotor to rotate; From floor projection position, the vertical rotating shaft of four rotors lays respectively on the four direction all around of frame center point, and the distance of they and frame center point is equal to; Be provided with in the middle of framework control the motor speed of each rotor unit and realize move both vertically, yawing rotation, the central controller that moves horizontally, it is characterized in that: a vertical rangefinder that detects distance perpendicular to the ground is also installed on framework, vertical rangefinder is provided with vertical signal projector and vertical signal receiver, the direction of vertical signal projector and vertical signal receiver ground downward; Vertical rangefinder is connected to central controller, and central controller moves both vertically according to the signal controlling aircraft of vertical rangefinder; Eight horizontal rangefinders are also installed on framework, and horizontal rangefinder includes horizontal signal receiver, horizontal signal transmitter, and the installation direction of horizontal signal transmitter, horizontal signal receiver is all the middle section of framework dorsad; The wherein horizontal signal receiver of two horizontal rangefinders is installed on the side of every trunk ray symmetrically, and one of them horizontal signal receiver is positioned at the clockwise side of this trunk ray, and another horizontal signal receiver is positioned at the counterclockwise side of this trunk ray; Each horizontal signal receiver is connected to central controller, and central controller is controlled the yawing rotation of aircraft according to the orientation with the shortest horizontal signal receiver of object horizontal range; Central controller also according to horizontal signal receiver that should be the shortest with object distance signal controlling aircraft along the direction of the corresponding trunk ray of this horizontal signal receiver, move horizontally.
2. the four-axle aircraft toy of automatic omnidirectional tracking target according to claim 1, is characterized in that: horizontal signal transmitter is ultrasonic signal emitters, and horizontal signal receiver is ultrasonic signal receiver.
3. the four-axle aircraft toy of automatic omnidirectional tracking target according to claim 1, is characterized in that: horizontal signal transmitter is Infrared Projector, and horizontal signal receiver is infrared signal receiver.
4. according to the four-axle aircraft toy of the automatic omnidirectional tracking target described in claim 1,2 or 3, it is characterized in that: each horizontal signal receiver cooperation is provided with a horizontal signal transmitter; Two horizontal signal transmitters are installed on the side of every trunk ray symmetrically.
5. according to the four-axle aircraft toy of the automatic omnidirectional tracking target described in claim 1,2 or 3, it is characterized in that: two horizontal rangefinders on every trunk ray side share a horizontal signal transmitter, this horizontal signal transmitter arrangement is on corresponding trunk ray and towards the place ahead of this trunk ray.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420150652.9U CN203816218U (en) | 2014-03-31 | 2014-03-31 | Four-axis aircraft toy capable of automatically tracking target in all directions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420150652.9U CN203816218U (en) | 2014-03-31 | 2014-03-31 | Four-axis aircraft toy capable of automatically tracking target in all directions |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203816218U true CN203816218U (en) | 2014-09-10 |
Family
ID=51471763
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420150652.9U Expired - Lifetime CN203816218U (en) | 2014-03-31 | 2014-03-31 | Four-axis aircraft toy capable of automatically tracking target in all directions |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203816218U (en) |
-
2014
- 2014-03-31 CN CN201420150652.9U patent/CN203816218U/en not_active Expired - Lifetime
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: WANG LIYUN Free format text: FORMER OWNER: SHANTOU BODI TECHNOLOGY CO., LTD. Effective date: 20150508 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20150508 Address after: 515000 Guangdong Province, Shantou city Longhu District Zhuchi Street Changping Road 182, Sunshine Coast Garden six district 20 building 1104 room Patentee after: Wang Liyun Address before: Chenghai District of Guangdong city in Shantou province 515000 Cheng Hua Street South of Cheng Hua Lu Shang Dai Bai Ge Pu Patentee before: SHANTOU BODI TECHNOLOGY Co.,Ltd. |
|
| CX01 | Expiry of patent term |
Granted publication date: 20140910 |
|
| CX01 | Expiry of patent term |