CN204489171U - A kind of monitoring exploration aircraft - Google Patents
A kind of monitoring exploration aircraft Download PDFInfo
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- CN204489171U CN204489171U CN201520149875.8U CN201520149875U CN204489171U CN 204489171 U CN204489171 U CN 204489171U CN 201520149875 U CN201520149875 U CN 201520149875U CN 204489171 U CN204489171 U CN 204489171U
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- micro controller
- controller system
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- buoyancy
- module
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Abstract
The utility model discloses a kind of monitoring exploration aircraft, object is: can as geophysical surveying amusement aircraft, the technical scheme adopted is: comprise the buoyant air bag of tool, the afterbody of air bag is provided with steering wheel and power motor, steering wheel can control heading, power motor is provided with tail undercarriage, and power motor drives tail undercarriage can produce the power of advance; Described air bag is provided with micro controller system, and described steering wheel is connected to micro controller system, and micro controller system can control beating angle thus controlling heading of steering wheel; Described micro controller system is connected with GPS module and wireless serial module, and GPS module can send locating information to micro controller system, and micro controller system can send state of flight and locating information to upper computer by wireless serial module, and receives the control command of upper computer transmission; Described micro controller system, GPS module and power motor are all connected with power supply.
Description
Technical field
The utility model belongs to microcontroller embedded field, is specifically related to a kind of monitoring exploration aircraft.
Background technology
Along with the progress of modern science and technology, microrobot obtains fast development in production and military field.The requirement of low cost low-power consumption is also more and more harsher.As the flight instruments of a kind of small size, low-power consumption, high maneuverability, dirigible fish can utilize buoyancy to reduce certain power consumption, realize requiring that production time is long, scope is wide and people's turnover place is not easily detected and explored, as being applied to the aspects such as geographical monitoring, military investigation, particularly military with amusement in.In military, because dirigible fish cost is low, volume is little, manoevreability good, a large amount of production, in groups operation can be realized, in addition due to dirigible fishing gear have volume little, not easily the feature such as to be detected, breaking the whole up into parts at ordinary times, it is aerial to be suspended in, and can assemble fast, emphasis attacks, can shroud the grand strategy places such as warship, aircraft carrier, adrm when running into unfriendly target, thus will play a great role in investigation, attack etc., and there is grand strategy and be worth.In amusement, current robot is more for high-end Toy Industry, external relevant enterprise and products thereof, " Aibo " robot dog that such as Sony corporation of Japan is released and the ornamental machine carp etc. that Mitsubishi heavy industry is released, all in the certain share of market share, and home market is still in the starting stage, thus there is high commercial application value.
Summary of the invention
In order to solve the problems of the prior art, the utility model proposes a kind of can as geophysical surveying amusement aircraft monitoring exploration aircraft.
In order to realize above object, the technical scheme that the utility model adopts is: comprise the buoyant air bag of tool, the afterbody of air bag is provided with steering wheel and power motor, steering wheel can control heading, power motor is provided with tail undercarriage, and power motor drives tail undercarriage can produce the power of advance; Described air bag is provided with micro controller system, and described steering wheel is connected to micro controller system, and micro controller system can control beating angle thus controlling heading of steering wheel; Described micro controller system is connected with GPS module and wireless serial module, and GPS module can send locating information to micro controller system, and micro controller system can send state of flight and locating information to upper computer by wireless serial module, and receives the control command of upper computer transmission; Described micro controller system, GPS module and power motor are all connected with power supply.
The lower end of described air bag is provided with buoyancy motor, buoyancy motor is provided with buoyancy screw propeller, and buoyancy driven by motor buoyancy screw propeller can overcome gravity.
Described buoyancy motor is connected to micro controller system, and micro controller system can control rotating speed and the blowing direction of buoyancy motor.
Described buoyancy motor is connected to micro controller system by motor drive module.
Described motor drive module is BTS7970 driver module.
Described buoyancy motor is provided with 4, adopts M20 DC micromotor.
Described micro controller system adopts STM32F103ZET6 micro controller system.
Described wireless serial module adopts NRF2401 wireless module.
Described GPS module adopts U-blox GPS module.
Described air bag is fish shape, is inside filled with helium.
Compared with prior art, the utility model take micro controller system as master controller, and steering wheel and GPS module are control object, carry out radio communication between upper computer and micro controller system by wireless serial module, carry out remote pilot to air bag, realize the function of free flight.Micro controller system is programmed by using C language, realizes the control in the speed to air bag, height and direction, realizes to micro controller system transmission control command with upper computer, and shows the functions such as the state of flight of air bag and locating information.Steering wheel and power motor are placed on air bag afterbody, wherein beat angle by Single-chip Controlling steering wheel, thus control the heading of air bag, and power motor drives a screw propeller to provide onward impulse.The utility model structure is simple, can be applicable to the aspect such as geophysical surveying or amusement, is suitable for promoting.
Further, because dirigible fish natural buoyancy is limited, therefore buoyancy driven by motor buoyancy screw propeller generation application force is upwards adopted, overcome the gravity of whole aircraft self, buoyancy screw propeller is placed on air bag end face, adopt buoyancy driven by motor, change buoyancy component and powertrain components by control rotating speed and blowing direction.
Further, utilize rotating speed and the blowing direction of Single-chip Controlling buoyancy motor, can control more accurately, and adopt motor drive module to control more accurately.
Further, adopt four buoyancy motors, maximum ensure that overcomes buoyancy, by changing rotating speed, controls the different state of flight of aircraft.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the motor-driven schematic diagram of buoyancy;
Fig. 3 is the outside connection diagram of wireless serial module and micro controller system;
Fig. 4 is Control System Software design flow diagram.
Detailed description of the invention
Below in conjunction with embodiment, the utility model is described in further detail.
See Fig. 1, the utility model comprises the buoyant air bag of tool, and air bag is fish shape, is inside filled with helium.The afterbody of air bag is provided with steering wheel and power motor, and steering wheel can control heading, and power motor is provided with tail undercarriage, and power motor drives tail undercarriage can produce the power of advance; Air bag is provided with micro controller system, and micro controller system adopts STM32F103ZET6 micro controller system, and steering wheel is connected to micro controller system, and micro controller system can control beating angle thus controlling heading of steering wheel; Micro controller system is connected with GPS module and wireless serial module, wireless serial module adopts NRF2401 wireless module, GPS module adopts U-blox GPS module, GPS module can send locating information to micro controller system, micro controller system can send state of flight and locating information to upper computer by wireless serial module, and receives the control command of upper computer transmission; Micro controller system, GPS module and power motor are all connected with power supply, and 7.4V direct supply, by being 5V after stable-pressure device voltage stabilizing, supplies micro controller system, power motor and GPS module.
The lower end of air bag is provided with buoyancy motor, buoyancy motor is provided with buoyancy screw propeller, buoyancy driven by motor buoyancy screw propeller can overcome gravity, buoyancy motor is connected to micro controller system by motor drive module, micro controller system can control rotating speed and the blowing direction of buoyancy motor, and motor drive module is BTS7970 driver module.Buoyancy motor is provided with 4, adopts M20 DC micromotor.
The utility model comprise be filled with helium fish shape air bag (fish body), STM32F103ZET6 micro controller system, produce overcome the buoyancy motor of buoyancy, buoyancy screw propeller, power motor, change fish body heading steering wheel, for the NRF2401 wireless serial module of controlled in wireless and the GPS module for locating.
Communication part uses the upper computer of VB programming to communicate with micro controller system.Wherein, the data that micro controller system sends to upper computer comprise: current motor controls dutycycle, locating information longitude, locating information latitude value, current time, current date, the speed of a ship or plane.The control command that upper computer sends to micro controller system comprises: the reduction that steering wheel plays the increase at angle, steering wheel beats angle, the increase of motor speed, the reduction of motor speed, craspedodrome, left-hand rotation, right-hand rotation.
Micro controller system adopts STM32F103ZET6 micro controller system, buoyancy motor is M20 DC micromotor, and motor drives and selects BTS7970, and steering wheel selects the 9g steering wheel of minimum model, power motor selects the permanent magnet DC motor of 9*15 and supporting screw propeller, and rotating speed reaches 20000r/min.That wireless serial module adopts is NRF2401.The U-blox GPS module that GPS module adopts volume and weight all smaller.
The utility model with STM32F103Z micro controller system for master controller, steering wheel, the buoyancy motor wearing buoyancy screw propeller and GPS module are control object, carry out radio communication between upper computer and micro controller system, remote pilot is carried out to the fish body air bag being filled with helium, realizes the function of free flight.Aircraft is that inside filling helium, take STM32F103Z as main control chip with the fish shape air bag of 0.4 cubic meter for fish body, carries out the control of programming realization to the speed of dirigible fish, height and direction by using C language.Realize sending the functions such as the state of flight of control command and display dirigible fish and locating information to micro controller system with upper computer.Communication between micro controller system and upper computer uses wireless serial communication.Because dirigible fish natural buoyancy is limited, so with buoyancy driven by motor buoyancy screw propeller generation application force upwards, overcome the gravity of aircraft self.Steering wheel and power motor are placed on after fish body, wherein steering gear electric-machine be used for controlling party to, power motor drives a tail undercarriage to provide onward impulse.Buoyancy screw propeller is placed below fish body, adopts buoyancy driven by motor, changes buoyancy component and powertrain components by control rotating speed and blowing direction.
Be main control unit MCU of the present utility model see Fig. 1, STM32F103ZET6, comprise main program, main program flow is as Fig. 4, and serial ports initialization, namely baud rate and the setting of serial ports pattern need consistent with wireless communication module, the PWM ripple that generation makes machine fish fly.No matter in what state, as long as serial ports receives order will produce interruption, and change the dutycycle of PWM ripple according to order, realize the change that buoyancy motor and steering wheel are rotated, thus the flying speed of change of flight device and direction.These control realization are all be based upon on the communication infrastructure of STM32 and wireless module and GPS, and therefore the design has used the upper computer software of VB programming.
See Fig. 2, use STM32F103ZET6 to produce 4 road PWM ripples, because micro controller system dominant frequency is 72MHz, after frequency division, make PWM export the square wave of 50Hz, PWM0 and the PWM1 cascade Mach-Zehnder interferometer afterbody steering wheel wherein produced, bottom PWM2 and PWM3 cascade Mach-Zehnder interferometer, steering wheel makes control more accurate.Detecting according to reality, in order to overcome the gravity of this hardware circuit, needing use four M20 DC micromotor to work simultaneously.This motor-driven chip is BTS7960, provides a kind of when less circuit board space takies, and the PWM motor for big current protection drives the solution of cost optimization, and motor driving principle figure as shown in Figure 2.Control buoyancy motor at the 5th road PWM produced, frequency is 1KHZ.Buoyancy driven by motor buoyancy screw propeller produces application force upwards, overcomes the gravity of aircraft self.A steering wheel and a power motor after fish body, wherein steering wheel be used for controlling party to, power motor drives a screw propeller to provide onward impulse.Be the minor spiral oar of row's buoyancy driven by motor below fish body, change buoyancy component and powertrain components by control rotating speed and blowing direction.The control of buoyancy motor needs to use wireless module NRF2401.In the design, the effect of wireless serial transceiver module is the medium communicated with upper computer as micro controller system, communicated by the SPI2 interface of STM32F103ZET6, micro controller system sends the gps data after resolving by this interface to upper computer, and upper computer sends control command by this interface to micro controller system.
See Fig. 3, NRF2401 and micro controller system connection diagram as Fig. 3, GPS is used to position aircraft, on upper computer, display longitude and latitude.The effect of GPS receiver module in the design is the data that reception gps satellite sends, and then sends to micro controller system with serial data form, shows in host computer interface.
See Fig. 4, the data message communicated between micro controller system and upper computer comprises:
(1) data that send to upper computer of micro controller system: current motor controls dutycycle, locating information longitude, locating information latitude value, current time, current date, the speed of a ship or plane.
(2) control command that sends to micro controller system of upper computer: the reduction that steering wheel plays the increase at angle, steering wheel beats angle, the increase of motor speed, the reduction of motor speed, craspedodrome, left-hand rotation, right-hand rotation
The above communication information completes by full duplex radio serial ports.The Code And Decode coding related to that communicates adopts following manner: during micro controller system coding, additional beginning flag character before one section of character string, additional end mark character below, the mark attached by different character strings is different, and the character in every section of character string separates with comma.Such as: micro controller system will send character string " abcd " to upper computer, first encodes to it, becomes " *, b, c, d, # " and send after coding.During decoding, upper computer is after the character receiving fixed number, call function Split, and its form is Split (Instring, ", "), effect be by ", " decompose a character string be array.The character string received is resolved into single character and puts into an one digit number group, then this array is operated, decoded.According to the beginning flag position of resolving and end mark position, classification process is carried out to data, is then shown to different text boxes.In the design, upper computer will identify data and classify, then be presented at different text boxes after receiving the data that micro controller system sends over.
Claims (10)
1. a monitoring exploration aircraft, it is characterized in that: comprise the buoyant air bag of tool, the afterbody of air bag is provided with steering wheel and power motor, and steering wheel can control heading, power motor is provided with tail undercarriage, and power motor drives tail undercarriage can produce the power of advance; Described air bag is provided with micro controller system, and described steering wheel is connected to micro controller system, and micro controller system can control beating angle thus controlling heading of steering wheel; Described micro controller system is connected with GPS module and wireless serial module, and GPS module can send locating information to micro controller system, and micro controller system can send state of flight and locating information to upper computer by wireless serial module, and receives the control command of upper computer transmission; Described micro controller system, GPS module and power motor are all connected with power supply.
2. one monitoring exploration aircraft according to claim 1, it is characterized in that: the lower end of described air bag is provided with buoyancy motor, buoyancy motor is provided with buoyancy screw propeller, buoyancy driven by motor buoyancy screw propeller can overcome gravity.
3. one monitoring exploration aircraft according to claim 2, it is characterized in that: described buoyancy motor is connected to micro controller system, micro controller system can control rotating speed and the blowing direction of buoyancy motor.
4. one monitoring exploration aircraft according to claim 3, is characterized in that: described buoyancy motor is connected to micro controller system by motor drive module.
5. one monitoring exploration aircraft according to claim 4, is characterized in that: described motor drive module is BTS7970 driver module.
6. one monitoring exploration aircraft according to claim 4, is characterized in that: described buoyancy motor is provided with 4, adopts M20 DC micromotor.
7. the one monitoring exploration aircraft according to any one of claim 1-6, is characterized in that: described micro controller system adopts STM32F103ZET6 micro controller system.
8. the one monitoring exploration aircraft according to any one of claim 1-6, is characterized in that: described wireless serial module adopts NRF2401 wireless module.
9. the one monitoring exploration aircraft according to any one of claim 1-6, is characterized in that: described GPS module adopts U-blox GPS module.
10. the one monitoring exploration aircraft according to any one of claim 1-6, is characterized in that: described air bag is fish shape, is inside filled with helium.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520149875.8U CN204489171U (en) | 2015-03-16 | 2015-03-16 | A kind of monitoring exploration aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520149875.8U CN204489171U (en) | 2015-03-16 | 2015-03-16 | A kind of monitoring exploration aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204489171U true CN204489171U (en) | 2015-07-22 |
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ID=53568444
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520149875.8U Expired - Fee Related CN204489171U (en) | 2015-03-16 | 2015-03-16 | A kind of monitoring exploration aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204489171U (en) |
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2015
- 2015-03-16 CN CN201520149875.8U patent/CN204489171U/en not_active Expired - Fee Related
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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: 20150722 Termination date: 20170316 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |