CN204302801U - Aerocraft system - Google Patents
Aerocraft system Download PDFInfo
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- CN204302801U CN204302801U CN201420738458.2U CN201420738458U CN204302801U CN 204302801 U CN204302801 U CN 204302801U CN 201420738458 U CN201420738458 U CN 201420738458U CN 204302801 U CN204302801 U CN 204302801U
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Abstract
The utility model discloses a kind of aerocraft system, it comprises Navigation Control Unit, for realizing navigation feature; Flight control assemblies, data interaction is carried out by Serial Peripheral Interface (SPI) with described Navigation Control Unit, wherein, mutual data content comprises pitching, roll, throttle, course etc. and controls rod volume, motor open and close Status Flag and task order code, controls for carrying out flight to aircraft; And storage device, carry out data interaction with described Navigation Control Unit by Serial Peripheral Interface (SPI), mutual data content comprises the data of flight state, for storing the data obtained from described Navigation Control Unit.Can realize in the process that the utility model aerocraft system transmits in mass data stablely transmitting fast, even if namely make the utility model aircraft also can stabilized flight at complex condition.
Description
Technical field
The utility model relates to vehicle technology field, particularly relates to aerocraft system.
Background technology
Four rotor wing unmanned aerial vehicles be a kind of can VTOL, many rotary wind types front type aircraft.Compared with conventional rotary wind type, the structure of four rotor wing unmanned aerial vehicles is more compact, can produce greater lift, has that manipulation convenience, maneuverability, noise are little, the feature of good concealment, no matter be in military field or in civil field, all there is very wide application prospect.
But because most of four rotor wing unmanned aerial vehicle volumes are little, lightweight, when controlling aircraft flight, there are the technological difficulties of three aspects: one, it is not only subject to the effect of various physical effect in flight course, also be easy to the interference being subject to the external environment conditions such as air-flow, be difficult to obtain its performance parameter accurately; Two, miniature quadrotor is one and has six-freedom degree, and only has the under-actuated systems of four control inputs.It has the characteristic of multivariable, non-linear, close coupling and interference sensitivity, makes the design of flight control system become very difficult.
Utility model content
Main purpose of the present utility model is to ensure the stabilized flight of aircraft at complex condition.
For achieving the above object, the utility model provides a kind of aerocraft system, and described aerocraft system comprises: Navigation Control Unit, for realizing navigation feature; Flight control assemblies, data interaction is carried out by Serial Peripheral Interface (SPI) with described Navigation Control Unit, wherein, mutual data content comprises pitching, roll, throttle, course etc. and controls rod volume, motor open and close Status Flag and task order code, controls for carrying out flight to aircraft; And storage device, carry out data interaction with described Navigation Control Unit by Serial Peripheral Interface (SPI), mutual data content comprises the data of flight state, for storing the data obtained from described Navigation Control Unit.
Preferably, also the cradle head device of described aerocraft system, positioner, barometer, data radio station, coulometric detector and system running state indicator lamp carry out data interaction to described Navigation Control Unit.
Preferably, described Navigation Control Unit carries out data interaction by Serial Peripheral Interface (SPI) and described cradle head device, and drives the steering wheel of described cradle head device by PWM square wave, to regulate the shooting angle of described cradle head device.
Preferably, described Navigation Control Unit carries out data interaction by USB and described positioner, obtains the speed in warp, latitude value, current horizontal location direction and direction, upright position, and search star number from described positioner.
Preferably, described Navigation Control Unit carries out data interaction by Serial Peripheral Interface (SPI) and described barometer, obtains the barometric information detected by barometer, and is converted into elevation information by calculating.
Preferably, described Navigation Control Unit carries out data interaction by USB and described data radio station, obtains remote-control data from described data radio station, and by the flight information data telemetry of self to ground.
Preferably, described Navigation Control Unit carries out data interaction by analog-digital converter and coulometric detector, obtains the current electric quantity data of aircraft from described coulometric detector.
Preferably, described flight control assemblies also carries out data interaction with the gyroscope of described aerocraft system, accelerometer, compass, electron speed regulator and system state indicator.
Preferably, described flight control assemblies carries out data interaction by twin wire universal serial bus and described gyroscope and accelerometer, obtains angular speed and acceleration, and calculate flight attitude angle by the mode of attitude algorithm from described gyroscope and accelerometer; Described Navigation Control Unit also carries out thermostatic control by PWM square wave to described gyroscope.
Preferably, described flight control assemblies carries out data interaction by twin wire universal serial bus and described compass, from compass, obtain the magnetic induction data on current vertical direction and present level direction in the body axis system detected, and calculate the actual heading angle of aircraft.
The utility model aerocraft system comprises three main control chips, be respectively Navigation Control Unit, flight control assemblies and storage device, respectively Navigation Control carried out to aircraft by these three main control chips, flight controls and record-setting flight device status information data.Can realize in the process that the utility model aerocraft system transmits in mass data stablely transmitting fast, even if namely make the utility model aircraft also can stabilized flight at complex condition.
Accompanying drawing explanation
Fig. 1 is the high-level schematic functional block diagram of the utility model aerocraft system preferred embodiment.
The realization of the utility model object, functional characteristics and advantage will in conjunction with the embodiments, are described further with reference to accompanying drawing.
Detailed description of the invention
Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.
The utility model provides a kind of aerocraft system.
With reference to the high-level schematic functional block diagram that Fig. 1, Fig. 1 are the utility model aerocraft system preferred embodiment.
In one embodiment, flight control comprises Navigation Control Unit, flight control assemblies and storage device, Navigation Control Unit, for realizing navigation feature; Flight control assemblies, controls for carrying out flight to aircraft; Storage device, for storing the data obtained from described Navigation Control Unit.Navigation Control Unit carries out data interaction by Serial Peripheral Interface (SPI) and flight control assemblies and storage device, wherein, Navigation Control Unit carries out data interaction by a road Serial Peripheral Interface (SPI) (as SPI) and flight control assemblies, and mutual data content comprises pitching, roll, throttle, course etc. and controls rod volume, motor open and close Status Flag, task order code etc.; Navigation Control Unit carries out data interaction by a road Serial Peripheral Interface (SPI) (as SPI) and storage device, and mutual data content comprises the data of flight state.
In the present embodiment, aerocraft system comprises three main control chips, be respectively Navigation Control Unit, flight control assemblies and storage device, respectively Navigation Control carried out to aircraft by these three main control chips, flight controls and record-setting flight device status information data.Can realize in the process that the utility model aerocraft system transmits in mass data stablely transmitting fast, even if namely make the utility model aircraft also can stabilized flight at complex condition.Wherein:
Navigation Control Unit, carries out data interaction with The Cloud Terrace, positioner, barometer, data radio station, coulometric detector and system running state indicator lamp, for carrying out Navigation Control to aircraft.
Flight control assemblies, carries out data interaction with gyroscope, accelerometer, compass, electron speed regulator and system state indicator, controls for carrying out flight to aircraft.
Storage device, obtains data from Navigation Control Unit, and stores the data obtained, for record-setting flight device status information data.
Navigation Control Unit carries out data interaction by Serial Peripheral Interface (SPI) (as SPI) and The Cloud Terrace, and mutual data content comprises: take pictures, record a video, Nonlinear magnify, image down, set of time, to arrange airborne (comprising: the selection of photographed images resolution ratio, camera angle, bit rate of making a video recording, picture size of taking pictures, exposal model, burst mode, metering mode etc.) etc.; Meanwhile, Navigation Control Unit drives steering wheel, to regulate the shooting angle of The Cloud Terrace by PWM square wave.
Navigation Control Unit carries out data interaction by USB (as UART) and positioner, warp, latitude value is obtained from positioner, and the speed in current horizontal location direction and direction, upright position, when positioner is GPS, from GPS, also obtain the GPS star number that it is searched for.
Navigation Control Unit carries out data interaction by Serial Peripheral Interface (SPI) (as SPI) and barometer, obtains the barometric information detected by barometer, and is converted into elevation information by calculating.
Navigation Control Unit carries out data interaction by USB (as UART) and data radio station, and Navigation Control Unit can obtain remote-control data from data radio station, also can by the flight information data telemetry of self to ground.
Navigation Control Unit carries out data interaction by analog-digital converter and coulometric detector, Navigation Control Unit can obtain the current electric quantity data of aircraft from coulometric detector, and can according to the size of electricity, export one-level to report to the police and secondary alarm, wherein, one-level has been reported to the police suggesting effect, and secondary alarm is used for inspiring low electricity landing.
Navigation Control Unit can also pass through system running state indicator lamp real-time report system running state, the running statuses such as normal in system cloud gray model, exception, calibration (gyro calibiatio i, accelerometer calibration, compass calibration), this system running state indicator lamp can be two LED, and one is red, one is green.
Navigation Control Unit is by a road PWM to gyroscope, accelerometer constant temperature, and its thermostat temperature is 70 degrees Celsius.
Flight control assemblies carries out data interaction by twin wire universal serial bus (as I2C) and compass, the magnetic induction data on current vertical direction in the body axis system detected and Z axis are obtained from compass, and the magnetic induction data of present level direction and X-axis and Y-axis, and calculate the actual heading angle of aircraft according to these magnetic induction data;
Flight control assemblies carries out data interaction by twin wire universal serial bus (as I2C) and gyroscope and accelerometer, obtains angular speed and acceleration, and calculate flight attitude angle by the mode of attitude algorithm from gyroscope and accelerometer.
Flight control assemblies drives electron speed regulator by PWM, carries out the driver (four drive motors as four rotors) driving aircraft, for aircraft provides flight motive force.
Flight control assemblies can also pass through system running state indicator lamp real-time report system running state, the running statuses such as normal in system cloud gray model, exception, calibration (gyro calibiatio i, accelerometer calibration, compass calibration), this system running state indicator lamp can be two LED, and one is red, one is green.
These are only preferred embodiment of the present utility model; not thereby the scope of the claims of the present utility model is limited; every utilize the utility model description and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present utility model.
Claims (10)
1. an aerocraft system, is characterized in that, described aerocraft system comprises:
Navigation Control Unit, for realizing navigation feature;
Flight control assemblies, data interaction is carried out by Serial Peripheral Interface (SPI) with described Navigation Control Unit, wherein, mutual data content comprises pitching, roll, throttle, course etc. and controls rod volume, motor open and close Status Flag and task order code, controls for carrying out flight to aircraft;
And storage device, carry out data interaction with described Navigation Control Unit by Serial Peripheral Interface (SPI), mutual data content comprises the data of flight state, for storing the data obtained from described Navigation Control Unit.
2. aerocraft system as claimed in claim 1, is characterized in that, the described Navigation Control Unit also cradle head device of described aerocraft system, positioner, barometer, data radio station, coulometric detector and system running state indicator lamp carries out data interaction.
3. aerocraft system as claimed in claim 2, it is characterized in that, described Navigation Control Unit carries out data interaction by Serial Peripheral Interface (SPI) and described cradle head device, and drives the steering wheel of described cradle head device by PWM square wave, to regulate the shooting angle of described cradle head device.
4. aerocraft system as claimed in claim 2, it is characterized in that, described Navigation Control Unit carries out data interaction by USB and described positioner, from described positioner, obtain the speed in warp, latitude value, current horizontal location direction and direction, upright position, and search star number.
5. aerocraft system as claimed in claim 2, it is characterized in that, described Navigation Control Unit carries out data interaction by Serial Peripheral Interface (SPI) and described barometer, obtains the barometric information detected by barometer, and is converted into elevation information by calculating.
6. aerocraft system as claimed in claim 2, it is characterized in that, described Navigation Control Unit carries out data interaction by USB and described data radio station, obtains remote-control data from described data radio station, and by the flight information data telemetry of self to ground.
7. aerocraft system as claimed in claim 2, it is characterized in that, described Navigation Control Unit carries out data interaction by analog-digital converter and coulometric detector, obtains the current electric quantity data of aircraft from described coulometric detector.
8. aerocraft system as claimed in claim 1, is characterized in that, described flight control assemblies also carries out data interaction with the gyroscope of described aerocraft system, accelerometer, compass, electron speed regulator and system state indicator.
9. aerocraft system as claimed in claim 8, it is characterized in that, described flight control assemblies carries out data interaction by twin wire universal serial bus and described gyroscope and accelerometer, from described gyroscope and accelerometer, obtain angular speed and acceleration, and calculate flight attitude angle by the mode of attitude algorithm; Described Navigation Control Unit also carries out thermostatic control by PWM square wave to described gyroscope.
10. aerocraft system as claimed in claim 8, it is characterized in that, described flight control assemblies carries out data interaction by twin wire universal serial bus and described compass, from compass, obtain the magnetic induction data on current vertical direction and present level direction in the body axis system detected, and calculate the actual heading angle of aircraft.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420738458.2U CN204302801U (en) | 2014-11-28 | 2014-11-28 | Aerocraft system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420738458.2U CN204302801U (en) | 2014-11-28 | 2014-11-28 | Aerocraft system |
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| CN204302801U true CN204302801U (en) | 2015-04-29 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105119552A (en) * | 2015-09-18 | 2015-12-02 | 上海长语信息科技有限公司 | Multi-axis aircraft asynchronous motor parallel speed regulation method and product |
| CN105717930A (en) * | 2016-01-19 | 2016-06-29 | 深圳一电科技有限公司 | Method, device and system for controlling drone |
| WO2016197986A1 (en) * | 2015-06-12 | 2016-12-15 | 北京中飞艾维航空科技有限公司 | High-precision autonomous obstacle-avoidance flying method for unmanned plane |
| WO2017132833A1 (en) * | 2016-02-02 | 2017-08-10 | 深圳市大疆创新科技有限公司 | Control method, system, electronic speed control and power assembly adopting the same, and unmanned aerial vehicle |
| CN107346950A (en) * | 2016-09-27 | 2017-11-14 | 广州亿航智能技术有限公司 | Aircraft motor control method, apparatus and system |
| CN107817824A (en) * | 2017-11-03 | 2018-03-20 | 北京臻迪科技股份有限公司 | Head tranquilizer and method |
| CN108153325A (en) * | 2017-11-13 | 2018-06-12 | 上海顺砾智能科技有限公司 | The control method and device of Intelligent unattended machine |
-
2014
- 2014-11-28 CN CN201420738458.2U patent/CN204302801U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016197986A1 (en) * | 2015-06-12 | 2016-12-15 | 北京中飞艾维航空科技有限公司 | High-precision autonomous obstacle-avoidance flying method for unmanned plane |
| CN105119552A (en) * | 2015-09-18 | 2015-12-02 | 上海长语信息科技有限公司 | Multi-axis aircraft asynchronous motor parallel speed regulation method and product |
| CN105119552B (en) * | 2015-09-18 | 2019-09-17 | 海宁伊满阁太阳能科技有限公司 | Multi-axis aircraft asynchronous machine parallel connection speed regulation method and product |
| CN105717930A (en) * | 2016-01-19 | 2016-06-29 | 深圳一电科技有限公司 | Method, device and system for controlling drone |
| WO2017132833A1 (en) * | 2016-02-02 | 2017-08-10 | 深圳市大疆创新科技有限公司 | Control method, system, electronic speed control and power assembly adopting the same, and unmanned aerial vehicle |
| CN107406146A (en) * | 2016-02-02 | 2017-11-28 | 深圳市大疆创新科技有限公司 | Control method, system, and power suit, the unmanned vehicle that electricity is adjusted and adjusted using the electricity |
| CN107346950A (en) * | 2016-09-27 | 2017-11-14 | 广州亿航智能技术有限公司 | Aircraft motor control method, apparatus and system |
| CN107346950B (en) * | 2016-09-27 | 2020-06-16 | 广州亿航智能技术有限公司 | Aircraft motor control method, device and system |
| CN107817824A (en) * | 2017-11-03 | 2018-03-20 | 北京臻迪科技股份有限公司 | Head tranquilizer and method |
| CN108153325A (en) * | 2017-11-13 | 2018-06-12 | 上海顺砾智能科技有限公司 | The control method and device of Intelligent unattended machine |
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| TR01 | Transfer of patent right |
Effective date of registration: 20160309 Address after: Baoan District Shiyan street Shenzhen city Guangdong province 518108 Songbai road Tangtou junctions electric science and Technology Park Patentee after: Shenzhen Aee Technology Co., Ltd. Address before: Baoan District Shiyan street Shenzhen city Guangdong province 518108 Songbai road Tangtou junctions electric science and Technology Park Patentee before: Shenzhen AEE Technology Co., Ltd. Patentee before: Shenzhen AEE Technology Co., Ltd. |
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| TR01 | Transfer of patent right |
Effective date of registration: 20191212 Address after: Room 812, enterprise service center, No. 17, section 3, west section of Changjiang North Road, Lingang Economic Development Zone, Yibin City, Sichuan Province Patentee after: Sichuan Yidian Aviation Technology Co., Ltd Address before: Baoan District Shiyan street Shenzhen city Guangdong province 518108 Songbai road Tangtou junctions electric science and Technology Park Patentee before: Shenzhen Yidian Aviation Technology Co., Ltd. |
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| TR01 | Transfer of patent right |