CN204028701U - A kind of miniature four-rotor aircraft control system - Google Patents
A kind of miniature four-rotor aircraft control system Download PDFInfo
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- CN204028701U CN204028701U CN201420375545.6U CN201420375545U CN204028701U CN 204028701 U CN204028701 U CN 204028701U CN 201420375545 U CN201420375545 U CN 201420375545U CN 204028701 U CN204028701 U CN 204028701U
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model provides a kind of miniature four-rotor aircraft control system, comprises integrated positioning communication module, central controller, flight control modules, screw propeller drive motor, three-axis gyroscope, power supply energy-saving module, charge management module, battery, charge port and magnetic field orientation sensor; The data output end of described integrated positioning communication module, three-axis gyroscope, power supply energy-saving module, magnetic field orientation sensor is all connected with the input end of central controller, and the output terminal of described central controller is connected through the input end of flight control modules with screw propeller drive motor.The utility model takes the mode of GSM/GPS Dual positioning simultaneously, can extensively utilize internet or other mobile networks etc. to carry out the transmission of information, signal, for location and flight control bring conveniently; Its effective distribution energy, meets the theory of modern low-carbon environment-friendly, and cost is low, efficient energy-conservation again.
Description
Technical field
The utility model relates to a kind of miniature four-rotor aircraft control system.
Background technology
As far back as mid-term in last century, the parent that microminiature multi-rotor aerocraft has been subjected to more overseas research institutions looks at, but multi-rotor aerocraft stock size is less, and load capacity is poor, cannot carry traditional high-precision sensor.Until the beginning of this century, the development of MEMS sensor technology makes the research of microminiature multi-rotor aerocraft be broken through.
Quadrotor four screw propellers are divided into two groups, and sense of rotation is contrary, must complete various flare maneuver by the speed changing each screw propeller.After traditional quadrotor installs various scientific instrument, can be applicable to scientific research and other field, the collection, forest resourceies exploration, disaster relief etc. of such as agricultural land information, under this kind of environment, the distance of quadrotor is by far beyond limited remote control distance, cannot complete effective control.And for the equilibrium problem of aircraft, if the patent No. is three gyroscopes that ZL201220557994.3 adopts, 3-axis acceleration is added for speeds control simultaneously, add the weight of aircraft itself so undoubtedly, be unfavorable for long-distance flight; The bluetooth module that patent No. ZL201320303844.4 adopts controls the flight of quadrotor, and this kind of mode needs bluetooth to dock, and communication distance is limited; The gsm communication mode that patent No. ZL201320029529.7 adopts is connected to mobile phone, realized the Long-distance Control of quadrotor, but this kind of mode live effect is poor, and all reckons without energy-conservation problem by mobile phone.
Summary of the invention
For solving the problems of the technologies described above, the utility model provides a kind of miniature four-rotor aircraft control system, and the weight that this miniature four-rotor aircraft control system solves aircraft itself by integrated positioning communication module, central controller, flight control modules, screw propeller drive motor, three-axis gyroscope, power supply energy-saving module etc. is large, the problem of communication distance finite sum live effect difference.
The utility model is achieved by the following technical programs.
The miniature four-rotor aircraft control system of the one that the utility model provides, comprises integrated positioning communication module, central controller, flight control modules, screw propeller drive motor, three-axis gyroscope, power supply energy-saving module, charge management module, battery, charge port and magnetic field orientation sensor; The data output end of described integrated positioning communication module, three-axis gyroscope, power supply energy-saving module, magnetic field orientation sensor is all connected with the input end of central controller, and the output terminal of described central controller is connected through the input end of flight control modules with screw propeller drive motor; Described integrated positioning communication module is all connected with the output terminal of charge management module with the input end of power supply energy-saving module, and described charge management module, battery, charge port are linked in sequence successively.
Described integrated positioning communication module is GSM/GPRS/GPS module, the network communication mode that two locator meamss that described GSM/GPRS/GPS module adopts GPS/GSM to combine, GPRS/GSM combine.
The main control chip of described central controller is the R5F100LE of RL78 series.
The master chip of described three-axis gyroscope is MPU-6050.
The beneficial effects of the utility model are: the mode simultaneously taking GSM/GPS Dual positioning, effectively accomplish the reception of indoor and outdoors and the other locating information of high-lager building, and only need set up wireless network by the function of GPRS/GSM network service and mobile phone and be connected, just can realize long-range in real time by the multi-functional control of mobile phone to quadrotor, also internet or other mobile networks etc. can be extensively utilized to carry out the transmission of information, signal, for location and flight control bring more convenience; By the electric power energy-saving device that arranges and charging controller, can effective distribution energy, and it is energy-conservation to ensure that all devices operate, meet the theory of modern low-carbon environment-friendly, cost is low, improves the live effect of system data communication, reduction energy consumption.
Accompanying drawing explanation
Fig. 1 is the control block diagram of the miniature four-rotor aircraft control system of the utility model;
In figure: 1-integrated positioning communication module, 2-central controller, 3-flight control modules, 4-screw propeller drive motor, 5-three-axis gyroscope, 6-power supply energy-saving module, 7-charge management module, 8-battery, 9-charge port, 10-magnetic field orientation sensor.
Embodiment
Further describe the technical solution of the utility model below, but described in claimed scope is not limited to.
The miniature four-rotor aircraft control system of one as shown in Figure 1, comprises integrated positioning communication module 1, central controller 2, flight control modules 3, screw propeller drive motor 4, three-axis gyroscope 5, power supply energy-saving module 6, charge management module 7, battery 8, charge port 9 and magnetic field orientation sensor 10; The data output end of described integrated positioning communication module 1, three-axis gyroscope 5, power supply energy-saving module 6, magnetic field orientation sensor 10 is all connected with the input end of central controller 2, and the output terminal of described central controller 2 is connected through the input end of flight control modules 3 with screw propeller drive motor 4; Described integrated positioning communication module 1 is all connected with the output terminal of charge management module 7 with the input end of power supply energy-saving module 6, and described charge management module 7, battery 8, charge port 9 are linked in sequence successively.
By two locator meamss that GPS/GSM combines, effectively accomplish the reception of indoor and outdoors and the other locating information of high-lager building, adopt the communication mode of GPRS/GSM simultaneously, compared to four traditional rotor device control system, better can realize the real-time control to quadrotor; By the electric power energy-saving device that arranges and charging controller, can effective distribution energy, and it is energy-conservation to ensure that all devices operate, and meets the theory of modern low-carbon environment-friendly.
Described integrated positioning communication module 1 is GSM/GPRS/GPS module, the network communication mode that two locator meamss that described GSM/GPRS/GPS module adopts GPS/GSM to combine, GPRS/GSM combine.Compared to traditional locator meams, avoid the limitation that single main frame accepts locating information, can extensively utilize internet, mobile network etc. to carry out the transmission of information, signal, for location and flight control bring more convenience.
The main control chip of described central controller 2 is the R5F100LE of RL78 series.
The master chip of described three-axis gyroscope 5 is MPU-6050.Can be used for measurement of angle and angular acceleration detects, and together with creationary realization is integrated with three orthogonal axes acceleration transducer six degree of freedoms by the gyro sensor of three orthogonal axes, ensure that the trimmed flight of aircraft.
The control method of described miniature four-rotor aircraft control system, comprises the following steps:
A, system initialization operate;
B, be communicated with the communication between mobile phone and aircraft by GPRS network, and by AT instruction and corresponding command instruction corresponding stored in the software code of the central controller 2 of quadrotor;
The realization of c, integrated positioning communication module 1 positioning function:
Under indoor or large obstacle, the GSM/GPRS part that system can start integrated positioning communication module 1 positions data receiver and transmission;
At outdoor field, when GPS locating effect is better, then system positions data receiver and transmission by the GPS part of enabling integrated positioning communication module 1;
D, locator data carry out analyzing and processing through central controller 2, utilize the GSM/GPRS of integrated positioning communication module 1 to be sent to presetting alarm number, internet the current location information of collection, inform the current location information of user's aircraft;
E, Long-distance Control person use mobile phone via GPSR communication window, send after corresponding AT instruction receives command adapted thereto to the integrated positioning communication module 1, GPRS of quadrotor, command instruction are delivered in central controller 2;
The control command of effector is obtained after f, central controller 2 analyzing and processing, and the data of the locator data obtained according to integrated positioning communication module 1 in step c and magnetic field orientation sensor 10, generate the control command of the flight control modules 3 to quadrotor, closely control the flare maneuver of quadrotor.
The utility model beneficial effect is that volume is little, energy-efficient, be skillfully constructed, take the mode of GSM/GPS Dual positioning simultaneously, effectively accomplish the reception of indoor and outdoors and the other locating information of high-lager building, and only need set up wireless network by the function of GPRS/GSM network service and mobile phone and be connected, just can realize long-range in real time by the multi-functional control of mobile phone to quadrotor, by electric power energy-saving device and the charging controller of setting, can effective distribution energy, and it is energy-conservation to ensure that all devices operate, meet the theory of modern low-carbon environment-friendly, cost is low, thus expanded the application prospect of quadrotor.
Claims (4)
1. a miniature four-rotor aircraft control system, comprise integrated positioning communication module (1), central controller (2), flight control modules (3), screw propeller drive motor (4), three-axis gyroscope (5), power supply energy-saving module (6), charge management module (7), battery (8), charge port (9) and magnetic field orientation sensor (10), it is characterized in that: described integrated positioning communication module (1), three-axis gyroscope (5), power supply energy-saving module (6), the data output end of magnetic field orientation sensor (10) is all connected with the input end of central controller (2), the output terminal of described central controller (2) is connected through the input end of flight control modules (3) with screw propeller drive motor (4), described integrated positioning communication module (1) is all connected with the output terminal of charge management module (7) with the input end of power supply energy-saving module (6), and described charge management module (7), battery (8), charge port (9) are linked in sequence successively.
2. miniature four-rotor aircraft control system as claimed in claim 1, it is characterized in that: described integrated positioning communication module (1) is GSM/GPRS/GPS module, the network communication mode that two locator meamss that described GSM/GPRS/GPS module adopts GPS/GSM to combine, GPRS/GSM combine.
3. miniature four-rotor aircraft control system as claimed in claim 1, is characterized in that: the main control chip of described central controller (2) is the R5F100LE of RL78 series.
4. miniature four-rotor aircraft control system as claimed in claim 1, is characterized in that: the master chip of described three-axis gyroscope (5) is MPU-6050.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420375545.6U CN204028701U (en) | 2014-07-08 | 2014-07-08 | A kind of miniature four-rotor aircraft control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420375545.6U CN204028701U (en) | 2014-07-08 | 2014-07-08 | A kind of miniature four-rotor aircraft control system |
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| Publication Number | Publication Date |
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| CN204028701U true CN204028701U (en) | 2014-12-17 |
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| CN201420375545.6U Expired - Fee Related CN204028701U (en) | 2014-07-08 | 2014-07-08 | A kind of miniature four-rotor aircraft control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104133483A (en) * | 2014-07-08 | 2014-11-05 | 遵义师范学院 | Minisize quadrotor-aircraft control system based on integrated positioning communication module and control method thereof |
| WO2017031945A1 (en) * | 2015-08-21 | 2017-03-02 | 河南三和航空工业有限公司 | Multi-shaft manned aircraft |
-
2014
- 2014-07-08 CN CN201420375545.6U patent/CN204028701U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104133483A (en) * | 2014-07-08 | 2014-11-05 | 遵义师范学院 | Minisize quadrotor-aircraft control system based on integrated positioning communication module and control method thereof |
| WO2017031945A1 (en) * | 2015-08-21 | 2017-03-02 | 河南三和航空工业有限公司 | Multi-shaft manned aircraft |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141217 Termination date: 20150708 |
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| EXPY | Termination of patent right or utility model |