CN205540289U - Many rotor unmanned aerial vehicle with light stream sensor - Google Patents
Many rotor unmanned aerial vehicle with light stream sensor Download PDFInfo
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- CN205540289U CN205540289U CN201620283197.9U CN201620283197U CN205540289U CN 205540289 U CN205540289 U CN 205540289U CN 201620283197 U CN201620283197 U CN 201620283197U CN 205540289 U CN205540289 U CN 205540289U
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Abstract
The utility model provides a many rotor unmanned aerial vehicle with light stream sensor, its includes signal acquisition part, signal processor branch, remote control navigation part, action executing part, the signal acquisition part is including three -axis gyroscope, triaxial accelerometer, image acquisition device, barometric height meter, light stream sensor, the analog signal of magnetic heading appearance, GPS antenna, doppler radar, three -axis gyroscope, triaxial accelerometer, barometric height meter, light stream sensor converts data signal into through signaling conversion circuit and offers the main control computer, and then reachs unmanned aerial vehicle's gesture, position, position and speed, provide modulation drive signal control electronic governor to the PWM driver behind data processing, electronic governor and the electrical machine who installs the rotor are connected, control the rotational speed of rotor.
Description
Technical field
This utility model relates to a kind of unmanned plane, a kind of many rotor wing unmanned aerial vehicles with light flow sensor.
Background technology
At present, under conditions of technology is not reaching to autonomy, most unmanned planes take the mode of remote-controlled landing, this mode depend heavilys on technology and the experience of remote manipulation hands, not only safety coefficient is low, and cost of use is the highest, limits the range of application of depopulated helicopter.
Utility model content
In order to solve above-mentioned technical problem, this utility model provides a kind of many rotor wing unmanned aerial vehicles with light flow sensor, thus the autonomous grounding for unmanned plane provides hardware guarantee.
The technical solution of the utility model is: a kind of many rotor wing unmanned aerial vehicles with light flow sensor, and it includes signals collecting part, signal processing, remote navigation part, action executing part,
Signal acquisition part divides and includes three-axis gyroscope, three axis accelerometer, image collecting device, barometertic altimeter, light flow sensor；
Signal processing includes signaling conversion circuit, main control computer, signal input circuit；
Remote navigation part includes magnetic heading, gps antenna, Doppler radar, wireless data transfer module, remote-control receiver；
Action executing part includes rotor, motor, electron speed regulator, pwm driver, flusher；
Magnetic heading, gps antenna, Doppler radar, three-axis gyroscope, three axis accelerometer, barometertic altimeter, the analogue signal of light flow sensor are converted to digital signal by signaling conversion circuit and are supplied to main control computer, and then draw the attitude of unmanned plane, position, orientation and speed, processing backward pwm driver through data provides modulated drive signal to control electron speed regulator, electron speed regulator is connected with the electromechanics being provided with rotor, thus controls the rotating speed of rotor；
Light flow sensor includes image module and processor two parts, split-type structural, size 21mm of image module × 12.5mm, lens focus 4.49mm, the angle of visual field 67 °, pixel 640 × 480.The integrated digital utilizing camera interface of processor, is connected with image module by digital camera interface, and processor has the RAM of 128kB, thus without extending out data storage, beneficially miniaturized design；Processor has the clock of 120MHz frequency, meets the demand of Real-Time Optical stream calculation.
The beneficial effects of the utility model: due to the light flow sensor stayed of use, it is achieved thereby that the autonomous grounding of unmanned plane, and automatic obstacle avoiding, and the microsize of light flow sensor and split-type design are also provided convenience for installation.
Accompanying drawing explanation
Fig. 1 is system block diagram of the present utility model.
Detailed description of the invention
With embodiment, this utility model is further described below in conjunction with the accompanying drawings.
Embodiment of the present utility model with reference to shown in Fig. 1, a kind of many rotor wing unmanned aerial vehicles with light flow sensor, it includes signals collecting part, signal processing, remote navigation part, action executing part,
Signal acquisition part divides and includes three-axis gyroscope, three axis accelerometer, image collecting device, barometertic altimeter, light flow sensor；
Signal processing includes signaling conversion circuit, main control computer, signal input circuit；
Remote navigation part includes magnetic heading, gps antenna, Doppler radar, wireless data transfer module, remote-control receiver；
Action executing part includes rotor, motor, electron speed regulator, pwm driver, flusher；
Magnetic heading, gps antenna, Doppler radar, three-axis gyroscope, three axis accelerometer, barometertic altimeter, the analogue signal of light flow sensor are converted to digital signal by signaling conversion circuit and are supplied to main control computer, and then draw the attitude of unmanned plane, position, orientation and speed, processing backward pwm driver through data provides modulated drive signal to control electron speed regulator, electron speed regulator is connected with the electromechanics being provided with rotor, thus controls the rotating speed of rotor；
Light flow sensor includes image module and processor two parts, split-type structural, size 21mm of image module × 12.5mm, lens focus 4.49mm, the angle of visual field 67 °, pixel 640 × 480.The integrated digital utilizing camera interface of processor, is connected with image module by digital camera interface, and processor has the RAM of 128kB, thus without extending out data storage, beneficially miniaturized design；Processor has the clock of 120MHz frequency, meets the demand of Real-Time Optical stream calculation.
Further, magnetic heading measures the absolute orientation of unmanned plane；Gps antenna obtains gps satellite framing signal, and is converted to position coordinates；The flight speed of Doppler radar measurement unmanned plane；Three-axis gyroscope measures three shaft angle acceleration of unmanned plane；Three axis accelerometers of unmanned plane measured by three axis accelerometer；Relative distance between light stream sensor measurement unmanned plane and ground.
Further, wireless data transfer module, remote-control receiver carry out bidirectional data transfers by CAN and main control computer.
Further, remote controller controls the flight attitude of unmanned plane by remote-control receiver, and the data of unmanned plane collection are sent to earth station, and the control signal of earth station is sent to unmanned plane by wireless data transfer module, controls image collecting device and flusher.
Further, main control computer receives the digital signal of the real time imaging from image collecting device by signaling conversion circuit, carries out image procossing；Image collecting device is made up of The Cloud Terrace, CCD camera and image pick-up card, and The Cloud Terrace is fixed on the front end of unmanned plane, and CCD camera is fixed on The Cloud Terrace, and The Cloud Terrace can regulate the angle of described CCD camera and make camera lens optical axis and the ground keeping parallelism of CCD camera.
Further, rotor is four, six or eight.
The above embodiment only have expressed a kind of embodiment of the present utility model, but therefore can not be interpreted as the restriction to this utility model scope.It should be pointed out that, for the person of ordinary skill of the art, without departing from the concept of the premise utility, it is also possible to make some deformation and improvement, these broadly fall into protection domain of the present utility model.
Claims (5)
1. having many rotor wing unmanned aerial vehicles of light flow sensor, it includes signals collecting part, signal processing, remote navigation part, action executing part, it is characterised in that:
Signal acquisition part divides and includes three-axis gyroscope, three axis accelerometer, image collecting device, barometertic altimeter, light flow sensor；
Signal processing includes signaling conversion circuit, main control computer, signal input circuit；
Remote navigation part includes magnetic heading, gps antenna, Doppler radar, wireless data transfer module, remote-control receiver；
Action executing part includes rotor, motor, electron speed regulator, pwm driver, flusher；
Magnetic heading, gps antenna, Doppler radar, three-axis gyroscope, three axis accelerometer, barometertic altimeter, the analogue signal of light flow sensor are converted to digital signal by signaling conversion circuit and are supplied to main control computer, and then draw the attitude of unmanned plane, position, orientation and speed；Processing backward pwm driver through data provides modulated drive signal to control electron speed regulator, and electron speed regulator is connected with the electromechanics being provided with rotor, controls the rotating speed of rotor；
Light flow sensor includes image module and processor two parts, and the size of image module is 21mm × 12.5mm, lens focus 4.49mm, the angle of visual field 67 °, pixel 640 × 480；
The integrated digital utilizing camera interface of processor, is connected with image module by digital camera interface, and processor has the RAM of 128kB；Processor has the clock of 120MHz frequency.
A kind of many rotor wing unmanned aerial vehicles with light flow sensor the most according to claim 1, it is characterised in that: magnetic heading measures the absolute orientation of unmanned plane；Gps antenna obtains gps satellite framing signal, and is converted to position coordinates；The flight speed of Doppler radar measurement unmanned plane；Three-axis gyroscope measures three shaft angle acceleration of unmanned plane；Three axis accelerometers of unmanned plane measured by three axis accelerometer；Relative distance between light stream sensor measurement unmanned plane and ground.
A kind of many rotor wing unmanned aerial vehicles with light flow sensor the most according to claim 1, it is characterised in that: wireless data transfer module, remote-control receiver carry out bidirectional data transfers by CAN and main control computer.
A kind of many rotor wing unmanned aerial vehicles with light flow sensor the most according to claim 1, it is characterised in that: main control computer receives the digital signal of the real time imaging from image collecting device by signaling conversion circuit, carries out image procossing；Image collecting device is made up of The Cloud Terrace, CCD camera and image pick-up card, and The Cloud Terrace is fixed on the front end of unmanned plane, and CCD camera is fixed on The Cloud Terrace, and the angle of the The Cloud Terrace described CCD camera of regulation makes camera lens optical axis and the ground keeping parallelism of CCD camera.
A kind of many rotor wing unmanned aerial vehicles with light flow sensor the most according to claim 1, it is characterised in that: rotor is four, six or eight.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620283197.9U CN205540289U (en) | 2016-04-07 | 2016-04-07 | Many rotor unmanned aerial vehicle with light stream sensor |
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| CN201620283197.9U CN205540289U (en) | 2016-04-07 | 2016-04-07 | Many rotor unmanned aerial vehicle with light stream sensor |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106708081A (en) * | 2017-03-17 | 2017-05-24 | 北京思比科微电子技术股份有限公司 | Control system for multi-rotor unmanned aerial vehicle |
| CN108298101A (en) * | 2017-12-25 | 2018-07-20 | 上海歌尔泰克机器人有限公司 | The control method and device of holder rotation, unmanned plane |
| CN108521558A (en) * | 2018-04-10 | 2018-09-11 | 深圳慧源创新科技有限公司 | Unmanned plane figure transmission method, system, unmanned plane and unmanned plane client |
| CN108572656A (en) * | 2018-06-08 | 2018-09-25 | 赫星科技有限公司 | Unmanned machine positioning device and unmanned plane |
| CN109324634A (en) * | 2016-09-30 | 2019-02-12 | 广州亿航智能技术有限公司 | A kind of aircraft and its localization method, control method and light stream module |
| CN109634297A (en) * | 2018-12-18 | 2019-04-16 | 辽宁壮龙无人机科技有限公司 | A kind of multi-rotor unmanned aerial vehicle and control method based on light stream sensor location navigation |
| CN109715047A (en) * | 2016-09-07 | 2019-05-03 | 威尔乌集团 | Sensor fusion system and method for eye movement tracking application |
-
2016
- 2016-04-07 CN CN201620283197.9U patent/CN205540289U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109715047A (en) * | 2016-09-07 | 2019-05-03 | 威尔乌集团 | Sensor fusion system and method for eye movement tracking application |
| CN109324634A (en) * | 2016-09-30 | 2019-02-12 | 广州亿航智能技术有限公司 | A kind of aircraft and its localization method, control method and light stream module |
| CN109324634B (en) * | 2016-09-30 | 2021-08-03 | 广州亿航智能技术有限公司 | Aircraft and positioning method, control method and optical flow module thereof |
| CN106708081A (en) * | 2017-03-17 | 2017-05-24 | 北京思比科微电子技术股份有限公司 | Control system for multi-rotor unmanned aerial vehicle |
| CN106708081B (en) * | 2017-03-17 | 2019-06-04 | 北京思比科微电子技术股份有限公司 | More rotor unmanned aircraft control systems |
| CN108298101A (en) * | 2017-12-25 | 2018-07-20 | 上海歌尔泰克机器人有限公司 | The control method and device of holder rotation, unmanned plane |
| CN108521558A (en) * | 2018-04-10 | 2018-09-11 | 深圳慧源创新科技有限公司 | Unmanned plane figure transmission method, system, unmanned plane and unmanned plane client |
| CN108572656A (en) * | 2018-06-08 | 2018-09-25 | 赫星科技有限公司 | Unmanned machine positioning device and unmanned plane |
| CN109634297A (en) * | 2018-12-18 | 2019-04-16 | 辽宁壮龙无人机科技有限公司 | A kind of multi-rotor unmanned aerial vehicle and control method based on light stream sensor location navigation |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Many rotor unmanned aerial vehicle with light stream sensor Effective date of registration: 20190129 Granted publication date: 20160831 Pledgee: Zhongguancun Beijing technology financing Company limited by guarantee Pledgor: BEIJING BOYING TONGHANG TECHNOLOGY CO., LTD. Registration number: 2019990000089 |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20210422 Granted publication date: 20160831 Pledgee: Zhongguancun Beijing technology financing Company limited by guarantee Pledgor: BEIJING BOYING TONGHANG TECHNOLOGY Co.,Ltd. Registration number: 2019990000089 |