CN204623845U - Be applicable to the sky eye aircraft investigated - Google Patents
Be applicable to the sky eye aircraft investigated Download PDFInfo
- Publication number
- CN204623845U CN204623845U CN201520302455.9U CN201520302455U CN204623845U CN 204623845 U CN204623845 U CN 204623845U CN 201520302455 U CN201520302455 U CN 201520302455U CN 204623845 U CN204623845 U CN 204623845U
- Authority
- CN
- China
- Prior art keywords
- aircraft
- signal
- axle
- microprocessor
- wireless device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The utility model relates to a kind of aircraft of field of taking photo by plane, particularly relate to the sky eye aircraft being applicable to investigate, described terminal sends the flight of signal control four-axle aircraft by wireless device III, the longitude and latitude data that GPS locator I is measured by wireless device I by four-axle aircraft are sent to signal aircraft, signal aircraft will detect four-axle aircraft position, signal aircraft will follow four-axle aircraft flight, transfer mode two: terminal detects four-axle aircraft position by wireless device III, when exceeding setpoint distance, terminal is sent by zigbee transmitter module and controls signal to signal aircraft, indirectly control signal is sent to four-axle aircraft by signal aircraft again, increase the scope of aircraft investigation, by cooperatively interacting of multiple sensors and embedded system, thus optimize the overall hierarchy of control, image acquisition is carried out in the place that the utility model not easily can arrive people, transmission, process and control, make monitoring information very clear.
Description
Technical field
The utility model relates to a kind of aerial photography aircraft of moving communicating field, particularly relates to the sky eye aircraft being applicable to investigate.
Background technology
Now along with the fast development of science and technology, people are increasingly deep for the research of aircraft, and all kinds of aircraft is applied in increasing occasion.Four rotor unmanned aircrafts are compared with other aircraft, and its physical construction is simply compact, and take action more flexible, landing environmental requirement is lower, has good operating characteristic, can realize among a small circle taking off, hover, landing.Due to these features, the numerous areas such as quadrotor has been widely used in taking photo by plane, monitor, investigate, search and rescue, control of agricultural pest.
Four-axle aircraft R & D design relates to numerous areas, such as: the supporting technology of flush bonding module, picture imaging module, sensor network nodes system and GSM.Four-axle aircraft is a kind of common pattern of Multi-axis aircraft in small aircraft, because of the feature that it is dexterous, motor-driven, is widely used in low latitude and takes photo by plane, the aerial mission activity under the MODEL OVER COMPLEX TOPOGRAPHY such as disaster area exploration.And four-axle aircraft performs the ability of aerial mission under MODEL OVER COMPLEX TOPOGRAPHY, demarcated by flare maneuver executable in its flight course, the airflight attitude of conventional four-axle aircraft needs to keep fuselage overall close to level mostly, and degree of freedom is low, and operability is little.
Summary of the invention
The purpose of this utility model is for the existing state of the art, provides the sky eye aircraft being applicable to investigate.
For achieving the above object, the utility model adopts following technical scheme:
Be applicable to the sky eye aircraft investigated, mainly comprise: terminal, four-axle aircraft and signal aircraft, described four-axle aircraft is primarily of microprocessor I, wireless device I, GPS locator I, filming apparatus, engine installation I forms, microprocessor I and wireless device I, GPS locator I, filming apparatus, engine installation I is electrically connected mutually, and wireless device I received signal controls engine installation I, and described signal aircraft is primarily of microprocessor II, wireless device II, GPS locator II, engine installation II and zigbee receiver module composition, microprocessor II and wireless device II, GPS locator II, engine installation II is electrically connected mutually, controls engine installation II, the microprocessor III of described terminal and controller by wireless device II received signal, wireless device III, GPS locator III, zigbee transmitter module, PID controller and read-out are electrically connected, and microprocessor III receives the position of four-axle aircraft and signal aircraft by wireless device III, thus selects different transfer modes,
Transfer mode one: described terminal sends the flight of signal control four-axle aircraft by wireless device III, the longitude and latitude data that GPS locator I is measured by wireless device I by four-axle aircraft are sent to signal aircraft, thus signal aircraft will detect four-axle aircraft position, signal aircraft will follow four-axle aircraft flight
Transfer mode two: described terminal detects four-axle aircraft position by wireless device III, when exceeding setpoint distance, terminal is sent by zigbee transmitter module and controls signal to signal aircraft, more indirectly control signal is sent to four-axle aircraft by signal aircraft.
Further, described microprocessor I and microprocessor II all adopts STM64F103RGT6 main control chip, and is all electrically connected at baroceptor, gathers pressure information change, by information transmission main control chip, thus judge aircraft altitude by baroceptor.
Further, described microprocessor I and microprocessor II is electrically connected at electronic compass separately, and electronic compass all adopts LSM303DLHC, by the identification of electronic compass travel direction, determines aircraft orientation.
Further, described microprocessor I and microprocessor II is electrically connected at six axle gyroscopic instruments separately, and six axle gyroscopic instruments form primarily of six axle sensor sum counter two parts, and six axle sensors are connected to microprocessor I and microprocessor II by counting machine.
Further, described wireless device I, wireless device II, wireless device III all adopt RTC6705 transmitting chip, the realtime graphic taken are transferred on the read-out of terminal by four-axle aircraft.
Further, described controller is primarily of the distant rod controller of 3D and keyboard input module composition, and the distant rod controller energizing signal of 3D controls path and the direction of four-axle aircraft flight.
Further, described four-axle aircraft is provided with the infrared induction device for hiding preceding object thing, and infrared induction device is electrically connected at microprocessor I.
Further, described four-axle aircraft is at least provided with LED flash light, and the LED flash light that convenience shows four-axle aircraft position at night is electrically connected at microprocessor I.
Further, described engine installation I and engine installation II all adopts brushless motor plate to control brushless motor and screw propeller.
The beneficial effects of the utility model are:
1, the utility model adopts multiple GPS locator to detect the distance of four-axle aircraft and signal aircraft, when being convenient to complicated rural atmosphere flight investigation, by remote sensing image processing and analysis software technology, real-time monitoring is carried out to target of investication, be convenient to signal aircraft can teaching display stand motion dynamic following, manipulate two frame aircraft without the need to many people simultaneously, while saving manpower, increase work efficiency;
2, when reaching the wireless transmission range of terminal at four-axle aircraft, changeable different signal transmission pattern, indirectly control signal is sent to four-axle aircraft by signal aircraft, by technology such as mobile communications networks, thus increase the transmission range of control signal, realize monitoring at a distance and investigation;
3, four-axle aircraft inside is provided with infrared induction device and baroceptor, and outside line induction installation effectively can obtain the object in explorer vehicle front, thus the track collision free of change of flight is to object, when complex-terrain is investigated, and convenient operation; Baroceptor determines flying height by detecting air pressure numerical value, improves four-axle aircraft positional precision, can control the distance of aircraft and terminal accurately, and whether the speed being also conducive to sense aircraft decline is suitable.
accompanying drawing illustrates:
Accompanying drawing 1 is schematic circuit diagram of the present utility model;
Accompanying drawing 2 is program flow diagram of the present utility model;
Accompanying drawing 3 is the schematic circuit diagram of the utility model terminal;
Accompanying drawing 4 is the schematic circuit diagram of the utility model four-axle aircraft;
Accompanying drawing 5 is the schematic circuit diagram of the utility model signal aircraft;
Accompanying drawing 6 is the block diagram of the utility model terminal;
Accompanying drawing 7 is the front view of the utility model four-axle aircraft;
Accompanying drawing 8 is the structural blast figure of the utility model signal aircraft.
detailed description of the invention:
Can have the object of the utility model, feature and function to make juror and further understand, hereby lift preferred embodiment and coordinate graphic being described in detail as follows:
Referring to shown in Fig. 1 ~ 2, is the schematic diagram of the preferred embodiment of the utility model, is applicable to the sky eye aircraft investigated, mainly comprises: terminal 1, four-axle aircraft 2 and signal aircraft 3, described four-axle aircraft 2 is primarily of microprocessor I21, wireless device I22, GPS locator I23, filming apparatus 24, engine installation I25 forms, microprocessor I21 and wireless device I22, GPS locator I23, filming apparatus 24, engine installation I25 is electrically connected mutually, and wireless device I22 received signal controls engine installation I25, and described signal aircraft 3 is primarily of microprocessor II31, wireless device II32, GPS locator II33, engine installation II34 and zigbee receiver module 35 form, microprocessor II31 and wireless device II32, GPS locator II33, engine installation II34 is electrically connected mutually, and control engine installation II34 by wireless device II32 received signal, described terminal 1 is primarily of microprocessor III11, controller 12, wireless device III13, GPS locator III14, zigbee transmitter module 15, PID controller 16 and read-out 17 form, PID controller carries out attitude algorithm according to the signal received, and after the deviate obtained being carried out series conversion, obtains the controlling quantity for deviation of signal, regulate the boat warp of flight, the microprocessor III11 of described terminal 1 and controller 12, wireless device III13, GPS locator III14, zigbee transmitter module 15, PID controller 16 and read-out 17 are electrically connected, and microprocessor III11 receives the position of four-axle aircraft 2 and signal aircraft 3 by wireless device III13, thus selects different transfer modes,
Microprocessor I21 in such scheme and microprocessor II31 all adopts STM64F103RGT6 main control chip, and be all electrically connected at baroceptor 4, pressure information change is gathered by baroceptor 4, by information transmission main control chip, thus judgement aircraft altitude, described microprocessor I21 and microprocessor II31 is electrically connected at electronic compass 5 separately, and electronic compass 5 all adopts LSM303DLHC, by the identification of electronic compass 5 travel direction, determine aircraft orientation.Described microprocessor I21 and microprocessor II31 is electrically connected at six axle gyroscopic instruments 6 separately, six axle gyroscopic instruments 6 form primarily of six axle sensor sum counter two parts, six axle sensors are connected to microprocessor I21 and microprocessor II31 by counting machine, six axle gyroscopic instruments 6 are by the moving calculation of six axle sensor sum counters, meet the operation requirements of user, can allow the flight of aircraft held stationary, compare and conventional aircraft, not only simply easy to operate, be applicable to various age level, and shooting effect is strengthened very well.Described wireless device I22, wireless device II32, wireless device III13 all adopt RTC6705 transmitting chip, the realtime graphic taken by four-axle aircraft 2 is transferred on the read-out 17 of terminal 1, its read-out 17 adopts and uses 4K cmos image inductor, there are high definition and very fast imaging function, 172 degree of wide viewing angle, and use remote sensing image processing and analysis software technology, monitoring at a distance and investigation can be realized.
Controller 12 in such scheme forms primarily of the distant rod controller 121 of 3D and keyboard input module 122, and 3D distant rod controller 12 energizing signal controls path and the direction of four-axle aircraft 2 flight.Described four-axle aircraft 2 is provided with the infrared induction device 7 for hiding preceding object thing, and infrared induction device 7 is electrically connected at microprocessor I21.Described four-axle aircraft 2 is at least provided with LED flash light 9, the LED flash light 9 that convenience shows four-axle aircraft 2 position at night is electrically connected at microprocessor I21, its LED flash light 9 convenient operation person finds target, engine installation I25 and engine installation II34 all adopts brushless motor plate 8 to control brushless motor 81 and screw propeller 82, brushless motor 81 makes the flying power of aircraft and flight life-span increase substantially, the protective case of aircraft four horn ends can not only protect screw propeller and body by actv., and avoid the screw propeller of aircraft in flight course rotates to collide other objects, cause air crash out of control.
Transfer mode one: described terminal 1 sends signal control four-axle aircraft 2 by wireless device III13 and flies, the longitude and latitude data that GPS locator I23 is measured by wireless device I22 by four-axle aircraft 2 are sent to signal aircraft 3, thus signal aircraft 3 will detect four-axle aircraft 2 position, the microprocessor II31 of signal aircraft 3 will detect self longitude and latitude by GPS locator II33, sending control signals to engine installation II34, the dynamic following of teaching display stand motion, manipulate two frame aircraft without the need to many people simultaneously, while saving manpower, increase work efficiency,
Transfer mode two: described terminal 1 detects four-axle aircraft 2 position by wireless device III13, when exceeding setpoint distance, indirectly control signal is sent to four-axle aircraft 2 by signal aircraft 3, the microprocessor III11 of terminal 1 changes the mode of emission signal, its control signal is sent to signal aircraft 3 by zigbee, four-axle aircraft 2 is sent to by wireless device II32 again by signal aircraft 3, thus control aircraft flight, and by technology such as mobile communications networks, thus increase the transmission range of control signal, realize monitoring at a distance and investigation.
One key makes a return voyage function: operator to be maked a return voyage pattern by terminal 1 actuation signal aircraft 3 and four-axle aircraft 2, operator carry terminal 1 static time, the microprocessor III11 of terminal 1 inside reads GPS locator III14 internal data, and longitude and latitude signal is sent to signal aircraft 3 and four-axle aircraft 2, signal aircraft 3 and four-axle aircraft 2 receive longitude and latitude signal, and this signal is sent to inner microprocessor I21 and microprocessor II31, send signal control engine installation I25 and engine installation II34 again to adjust the direction of flight, until GPS locator I23 and GPS locator II33 to measure longitude and latitude with GPS locator III14 respectively consistent, complete and do dropping action.
Stable landing pattern: operator is when needs control signal aircraft 3 and four-axle aircraft 2 land, the height of sense aircraft is carried out by baroceptor 4, judge that the speed declined exceedes the numerical value of setting, microprocessor I21 and microprocessor II31 sends the rotating speed that signal control engine installation I25 and engine installation II34 adjusts brushless motor 81, the speed that its signal aircraft 3 and four-axle aircraft 2 are declined slows down, thus guarantee signal aircraft 3 and the safety of four-axle aircraft 2 in descent, avoid damaging ground people simultaneously.
More than show and describe groundwork of the present utility model and principal character and advantage of the present utility model, the technical personnel of the industry should be understood, the utility model is not restricted to the described embodiments, what describe in above-described embodiment and specification sheets just illustrates principle of the present utility model, under the prerequisite not departing from the utility model spirit and scope, the utility model also has various changes and modifications, these changes and improvements all fall within the scope of claimed the utility model, the claimed scope of the utility model is defined by appending claims and equivalent thereof.
Claims (9)
1. be applicable to the sky eye aircraft investigated, mainly comprise: terminal (1), four-axle aircraft (2) and signal aircraft (3), is characterized in that: described four-axle aircraft (2) is primarily of microprocessor I(21), wireless device I(22), GPS locator I(23), filming apparatus (24), engine installation I(25) composition, microprocessor I(21) and wireless device I(22), GPS locator I(23), filming apparatus (24), engine installation I(25) be mutually electrically connected, wireless device I(22) received signal control engine installation I(25), described signal aircraft (3) is primarily of microprocessor II(31), wireless device II(32), GPS locator II(33), engine installation II(34) and zigbee receiver module (35) composition, microprocessor II(31) and wireless device II(32), GPS locator II(33), engine installation II(34) be mutually electrically connected, by wireless device II(32) received signal control engine installation II(34), the microprocessor III(11 of described terminal (1)) and controller (12), wireless device III(13), GPS locator III(14), zigbee transmitter module (15), PID controller (16) and read-out (17) are electrically connected, microprocessor III(11) by wireless device III(13) receive the position of four-axle aircraft (2) and signal aircraft (3), thus select different transfer modes,
Transfer mode one: described terminal (1) is by wireless device III(13) send signal control four-axle aircraft (2) flight, four-axle aircraft (2) is by wireless device I(22) by GPS locator I(23) the longitude and latitude data measured are sent to signal aircraft (3), thus signal aircraft (3) will detect four-axle aircraft (2) position, signal aircraft (3) will follow four-axle aircraft (2) flight
Transfer mode two: described terminal (1) is by wireless device III(13) four-axle aircraft (2) position detected, when exceeding setpoint distance, terminal (1) is sent by zigbee transmitter module (15) and controls signal to signal aircraft (3), more indirectly control signal is sent to four-axle aircraft (2) by signal aircraft (3).
2. the sky eye aircraft being applicable to investigate according to claim 1, it is characterized in that: described microprocessor I(21) and microprocessor II(31) all adopt STM64F103RGT6 main control chip, and be all electrically connected at baroceptor (4), pressure information change is gathered by baroceptor (4), by information transmission main control chip, thus judge aircraft altitude.
3. the sky eye aircraft being applicable to investigate according to claim 2, it is characterized in that: described microprocessor I(21) and microprocessor II(31) be electrically connected at electronic compass (5) separately, electronic compass (5) all adopts LSM303DLHC, by electronic compass (5) travel direction identification, determine aircraft orientation.
4. the sky eye aircraft being applicable to investigate according to claim 2, it is characterized in that: described microprocessor I(21) and microprocessor II(31) be electrically connected at six axle gyroscopic instruments (6) separately, six axle gyroscopic instruments (6) form primarily of six axle sensor sum counter two parts, and six axle sensors are connected to microprocessor I(21 by counting machine) and microprocessor II(31).
5. the sky eye aircraft being applicable to investigate according to claim 2, it is characterized in that: described wireless device I(22), wireless device II(32), wireless device III(13) all adopt RTC6705 transmitting chip, the realtime graphic taken by four-axle aircraft (2) is transferred on the read-out (17) of terminal (1).
6. the sky eye aircraft being applicable to investigate according to claim 1, it is characterized in that: described controller (12) forms primarily of the distant rod controller of 3D (121) and keyboard input module (122), the path that distant rod controller energizing signal control four-axle aircraft (2) of 3D is flown and direction.
7. the sky eye aircraft being applicable to investigate according to claim 1, it is characterized in that: described four-axle aircraft (2) is provided with the infrared induction device (7) for hiding preceding object thing, and infrared induction device (7) is electrically connected at microprocessor I(21).
8. the sky eye aircraft being applicable to investigate according to claim 7, it is characterized in that: described four-axle aircraft (2) is at least provided with LED flash light (9), the LED flash light (9) that convenience shows four-axle aircraft (2) position at night is electrically connected at microprocessor I(21).
9. the sky eye aircraft being applicable to investigate according to claim 1, is characterized in that: described engine installation I(25) and engine installation II(34) all adopt brushless motor plate (8) to control brushless motor (81) and screw propeller (82).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520302455.9U CN204623845U (en) | 2015-05-12 | 2015-05-12 | Be applicable to the sky eye aircraft investigated |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520302455.9U CN204623845U (en) | 2015-05-12 | 2015-05-12 | Be applicable to the sky eye aircraft investigated |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204623845U true CN204623845U (en) | 2015-09-09 |
Family
ID=54042898
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520302455.9U Active CN204623845U (en) | 2015-05-12 | 2015-05-12 | Be applicable to the sky eye aircraft investigated |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204623845U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104816829A (en) * | 2015-05-12 | 2015-08-05 | 广东澄星航模科技股份有限公司 | Skyeye aircraft applicable to investigation |
| CN105682158A (en) * | 2016-01-05 | 2016-06-15 | 陈昊 | Communication control method and apparatus for unmanned aerial vehicle |
| CN105947211A (en) * | 2016-05-16 | 2016-09-21 | 苏州金建达智能科技有限公司 | Storage aircraft used in school |
-
2015
- 2015-05-12 CN CN201520302455.9U patent/CN204623845U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104816829A (en) * | 2015-05-12 | 2015-08-05 | 广东澄星航模科技股份有限公司 | Skyeye aircraft applicable to investigation |
| CN105682158A (en) * | 2016-01-05 | 2016-06-15 | 陈昊 | Communication control method and apparatus for unmanned aerial vehicle |
| CN105947211A (en) * | 2016-05-16 | 2016-09-21 | 苏州金建达智能科技有限公司 | Storage aircraft used in school |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104816829A (en) | Skyeye aircraft applicable to investigation | |
| CN107850902B (en) | Camera configuration on a movable object | |
| US10599149B2 (en) | Salient feature based vehicle positioning | |
| CN107209514B (en) | Selective processing of sensor data | |
| CN204452931U (en) | One follows four-axle aircraft | |
| CN105492985B (en) | A kind of system and method for the control loose impediment in environment | |
| CN104685436A (en) | Methods for launching and landing an unmanned aerial vehicle | |
| CN111824406A (en) | Public safety independently patrols four rotor unmanned aerial vehicle based on machine vision | |
| CN105334347B (en) | A kind of particle image velocimetry detection system and method based on unmanned plane | |
| CN106791418A (en) | A kind of free-standing holder for aerial photographing system and its control method | |
| CN110488850A (en) | A kind of quadrotor drone vision navigation system and method based on raspberry pie | |
| CN108803633A (en) | A kind of unmanned plane low latitude monitoring system based on mobile communications network | |
| EP3754302A1 (en) | Flight control and navigation integrated machine | |
| CN204623845U (en) | Be applicable to the sky eye aircraft investigated | |
| WO2020136703A1 (en) | Unmanned aerial vehicle control system, unmanned aerial vehicle control method, and program | |
| CN107466384A (en) | A kind of method and device for following the trail of target | |
| CN110109469A (en) | It is a kind of with color, identification, positioning, following function quadrotor drone control system | |
| CN107942348B (en) | Road law enforcement system based on unmanned aerial vehicle and robot technique | |
| CN205959071U (en) | Unmanned aerial vehicle landing bootstrap system | |
| CN207367056U (en) | A kind of fire-fighting unmanned plane based on Mega2560 | |
| JP2019050007A (en) | Method and device for determining position of mobile body and computer readable medium | |
| CN107256034A (en) | A kind of changed into switchhouse multidrop environment data collecting system based on unmanned plane | |
| WO2018111075A1 (en) | Automatic landing system with high-speed descent for drones | |
| CN109151721A (en) | Node deployment localization method for ecological environment unmanned plane inspection | |
| CN206926823U (en) | A kind of multi-functional unmanned plane device searched and rescued for field |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 515000 Shantou new industrial zone, Chenghai, Guangdong Patentee after: GUANGDONG CHENGXING UNMANNED AERIAL VEHICLE COMPANY LIMITED Address before: 515000 Shantou new industrial zone, Chenghai, Guangdong Patentee before: Guangdong Chengxing Modelairplane Science Company Limted |