CN207173952U - A kind of rotor wing unmanned aerial vehicle and its control system for flying control plate based on APM - Google Patents
A kind of rotor wing unmanned aerial vehicle and its control system for flying control plate based on APM Download PDFInfo
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- CN207173952U CN207173952U CN201720902980.3U CN201720902980U CN207173952U CN 207173952 U CN207173952 U CN 207173952U CN 201720902980 U CN201720902980 U CN 201720902980U CN 207173952 U CN207173952 U CN 207173952U
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Abstract
The utility model provides a kind of rotor wing unmanned aerial vehicle and its control system for flying control plate based on APM, and unmanned plane mainly includes fuselage, propeller blade, undercarriage, rotor connecting rod, undercarriage connecting rod；Control system connects inertial navigation module, electron speed regulator, DC brushless motor, power module, remote control module, number biography transmitter module, GPS module, magnetometer, barometer, remote control module, inertial navigation module including main control module and is used for Navigation of Pilotless Aircraft respectively, power module provides power supply for unmanned plane, remote control module is used for receiving the signal of ground remote control device, and number passes the number transmitting/receiving module that transmitter module is responsible for aircraft flight information to transfer back to earth station；ATmega2560 main control chips correct flight attitude and the line of flight in real time according to pre-set course line and current unmanned plane state of flight and navigation information during unmanned plane autonomous flight, realize autonomous flight.
Description
Technical field
The design belongs to unmanned plane field, it is more specifically to a kind of based on APM fly control plate rotor wing unmanned aerial vehicle and its
Control system.
Background technology
Aircraft can be divided into Fixed Wing AirVehicle and rotor craft according to wing type.In in the past few decades, Gu
Determining wing unmanned vehicle has had more ripe technology, is relatively fixed wing unmanned vehicle, and the development of rotor craft is but more
Slowly, because the control of rotor unmanned aircraft is complicated compared with fixed-wing, the technical merit of early stage can not realize aircraft
Autonomous flight control；However, rotor craft but possesses the advantages of its own is unique：Mechanical structure is relatively simple, easy to disassemble,
Only need the rotating speed for coordinating rotor motor that control can be achieved, flight is more flexible；Do not limited, can be applied by larger wing
In various environment；Possesses the function of autonomous takeoff and landing, system altitude intelligence, it is possible to achieve more flight attitude, example
Such as：Vertical hovering, autonomous landing, navigation flight etc., and attitude of flight vehicle holding capacity is higher, these advantages also just determine rotation
Rotor aircraft will have more wide application prospect in future.
Utility model content
The utility model mainly solving the technical problems that：It is easy to disassemble to design a kind of airframe structure, has self-navigation to fly
Two kinds of mode of operations of row and manually operated flight, being capable of independently landing, hovering, the rotor wing unmanned aerial vehicle of navigation flight.
To solve the above problems, what the utility model was achieved through the following technical solutions：Described flies control plate based on APM
Rotor wing unmanned aerial vehicle includes propeller blade 11, rotor connecting rod 12, undercarriage 13, undercarriage connecting rod 14, fuselage 15, transverse direction and connected
Extension bar 16, control system；Described control system include main control module 1, power module 2, inertial navigation module 3, GPS module 4,
Magnetometer module 5, barometer module 6, electron speed regulator 7, DC brushless motor 8, remote control module 9；Described fuselage 15 is circle
Shape structure, described rotor connecting rod 12 have eight, and eight rotor connecting rods 12 are uniformly arranged on fuselage by screw respectively
On 15 circumferencial direction, the end of each rotor connecting rod 12 is provided with a brshless DC motor 8, brshless DC motor 8
Clutch end is connected with propeller blade 11, and undercarriage 13 is screwed by undercarriage connecting rod 14 and is installed on fuselage 15
Lower section, transverse connecting rod 16, which is screwed, to be connected between two undercarriage connecting rods 14；Described main control module 1,
Power module 2, inertial navigation module 3, GPS module 4, magnetometer module 5, barometer module 6, remote control module 9 are installed on nobody
Inside machine fuselage 15；Power module 2 and main control module 1, inertial navigation module 3, GPS module 4, magnetometer module 5, barometer mould
The power port connection of block 6；Inertial navigation module 3, GPS module 4, magnetometer module 5, the output end difference of barometer module 6
Be connected with the sensor signal input of main control module 1, the signal input parts of eight electron speed regulators 7 respectively with eight master control moulds
The signal output part connection of block 1, the power output end of electron speed regulator 7 are connected with DC brushless motor 8.
Preferably, described power module 2 includes lithium battery, voltage checking chip, alarm, voltage checking chip connection
In the power output end of lithium battery, alarm is connected with voltage checking chip output end.
Preferably, described remote control module 9 uses the passage 2.4G Digiplexs of Fuji FS-TH9X 9, the remote control module
With receiving terminal and hand-held transmitting terminal, the receiving terminal of remote control module 9 is arranged on the remote signal inside unmanned plane with main control module 1
Input connects.
Preferably, described unmanned plane passes transmitter module 10 with number, and described number passes transmitter module 10 and uses 3DR
Radio Telemetry digital transmission modules, by Air modules（Serial ports）With Ground modules（USB）Composition, the defeated number pass transmitting mould
The Air modules of block 10 are arranged on the inside of unmanned aerial vehicle body 15 and are connected with main control module 1 by serial ports, and Ground modules pass through USB
Interface is connected with earth station's computer equipped with APM Planner softwares.
The utility model beneficial effect：
The utility model undercarriage connecting rod and fuselage, rotor connecting rod are fixedly connected using screw with fuselage, had
The function of fast quick-detach, autonomous landing of taking off, automatic flight, hovering function can be realized, can be flown in flight course
The amendment in row course and flight information is transferred to earth station by data transmission module, power module comes with low pressure alarming inspection
Survey can monitor current battery charge in real time, and the utility model unmanned plane also has automatic offline mode and manual offline mode two
Kind flying method.
Brief description of the drawings
A kind of rotor craft outside drawings for flying control plate based on APM of Fig. 1；
Fig. 2 is the control system block diagram for the rotor wing unmanned aerial vehicle for flying control plate based on APM；
Fig. 3 is the pin and power supply diagram of ATmega2560 microprocessors；
Fig. 4 is BMP085 barometer schematic diagrams；
Fig. 5 is HMC5883L magnetometer schematic diagrams；
Fig. 6 is MPU6000 schematic diagrams；
In figure, 1- main control modules, 2- power modules, 3- inertial navigation modules, 4-GPS modules, 5- magnetometer modules, 6- gas
Pressure meter module, 7- electron speed regulators, 8- brshless DC motors, 9- remote control modules, 10- numbers pass transmitting touch, 11- propeller blades,
12- rotor connecting rods, 13- undercarriages, 14- undercarriages connecting rod, 15- fuselages, 16- transverse connecting rods.
Embodiment
In order that the purpose of this utility model, technical scheme and beneficial effect are clearer, below in conjunction with accompanying drawing, to this
The preferred embodiment of utility model is described in detail, to facilitate the technical staff to understand.
As shown in figures 1 to 6, the rotor wing unmanned aerial vehicle for flying control plate based on APM includes propeller blade 11, fuselage 15, rotation
Wing connecting rod 12, undercarriage 13, undercarriage connecting rod 14, transverse connecting rod 16, control system, described rotor connecting rod 12 have
Eight, eight rotor connecting rods 12 are uniformly arranged on the circumferencial direction of fuselage 15 by screw respectively, each rotor connection
The end of bar 12 is provided with a brshless DC motor 8, and clutch end and the propeller blade 11 of brshless DC motor 8 connect
Connect, undercarriage 13 is screwed the lower section for being installed on fuselage 15 by undercarriage connecting rod 14, and transverse connecting rod 16 passes through spiral shell
Silk is fixedly connected between two undercarriage connecting rods 14, and such mounting means is easy to fast quick-detach and the assembling of unmanned plane；
Described control system include main control module 1, power module 2, inertial navigation module 3, GPS module 4, magnetometer 5, barometer 6,
Receiving terminal, the number of remote control module 9 pass the Air modules of transmitter module 10 and are positioned over inside unmanned aerial vehicle body 15.Described electronics
The signal input part of speed regulator 7 is connected with the control signal output of main control module 1, the power input of electron speed regulator 7 with
The output end of lithium battery 14 is connected, and the power output end of electron speed regulator 7 is connected with motor 8.
The rotating shaft connection propeller blade 11 of described DC brushless motor 8, described GPS modules 4, magnetometer 5, gas
Press and count the 6 sensor signal inputs for connecting main control module 1 respectively, ATmega2560 main control chips used by main control module 1
Have the advantages that practicality is extensive, flies control program as the winged control plate that current unmanned plane generally uses easily to obtain, APM flies control plate
Program code of increasing income be known（Refer to, https://www.codeforge.cn/article/312450）, GPS modules
4 gps coordinates send the main control chip of main control module 1 to, by twice when main control module 1 samples to gps signal
GPS coordinate information obtained by sampling time difference, calculate the flying speed and coordinate information that both can obtain unmanned plane；Magnetometer 5 is adopted
With HMC588CL, its output end is connected with the sensor signal input of main control module 1, measures ground as the compass of unmanned plane
Magnetic direction, the magnetic direction information transfer of measurement can learn the direction oneself flown at present to the unmanned plane of main control module 1.Air pressure
Using BMP085, its output end is connected meter 6 with the input of main control module 1, for collecting temperature and barometric information, is collected
Data pass to progress A/D conversions in A/D converter, after barometer 6 converts the data of collection by A/D, pass through I2C buses
Temperature and barometric information are transmitted to main control module 1, main control module 1 carries out related conversion again can obtain air pressure and temperature value, by
Temperature may arrive unmanned plane currently corresponding height above sea level angle value with atmospheric pressure value by contrast standard height above sea level othermohygrometer table,
So as to realize elevation carrection.The output end and main control module of the MPU6000 inertia gyroscope navigators of described inertial navigation module 3
1 input connects, and MPU6000 inertia gyroscopes navigator carries digital moving processor used by inertial navigation module 3
DMP, three axis accelerometer and three-axis gyroscope.The digital moving integrated during unmanned plane during flying by the inertial navigator
Processor DMP can accurately measure the angular speed rate and acceleration of current unmanned plane.
By following control method make the unmanned plane realize autonomous landing, hovering, navigation flight function, before taking off first
Open unmanned plane power module 2 to switch, whether detection current voltage alarms, and in the case of lithium battery voltage is normal, user provides
To one air objective of unmanned plane spatial coordinate location and flight duration, unmanned plane are passed back by the GPS module 4 of itself
Horizontal coordinate information, magnetometer module 5 perceive earth magnetism north and south information, the altitude info ination that barometer module 6 calculates,
The spatial coordinated information that main control module 1 is presently in by being calculated；Main control module 1 passes through the destination space that pre-sets
Coordinate calculates flight optimization path with the spatial coordinated information being presently in, and calculates the control of main control module 1 after optimal path
Signal output part processed exports corresponding control signal to control the power output end of electron speed regulator 7 to each electron speed regulator 7
Output current size, so as to the rotating speed of DC brushless motor 8 corresponding to controlling and propeller blade 11；After unmanned plane takes off
Start to receive unmanned plane acceleration and the angular speed rate that inertial navigation module 3 perceives, in conjunction with passing through GPS module 4, magnetic in real time
Horizontal coordinate information that power meter module 5, barometer module 6 pass back, earth magnetism north and south information, altitude info ination judge nobody
Spatial coordinate location and acceleration and angular speed rate in machine flight course, then the flight optimization route with precomputing are carried out
Contrast；If the deviation from flight optimization route, then main control module 1 is controlled by controlling the size of the output current of electron speed regulator 7
The DC brushless motor 8 of different azimuth and the rotating speed of corresponding propeller blade 11, optimal fly is returned to so as to adjust unmanned plane
In row line.After unmanned plane reaches target location, main control module 1 adjusts the propeller blade 11 of eight different directions to identical
Rotating speed, make unmanned plane hovering to target location；Main control module 1 is receiving different sensings always during unmanned plane is hovered
The data that device transmission is come in, and current unmanned plane locus is calculated, such as running into environment influences after deviateing target hovering position,
Main control module 1 makes unmanned plane return to target hovering point by finely tuning the rotating speed of the propeller blade 11 of different azimuth；After take off
Main control module 1 starts to calculate the flight time, and after the predetermined flight time is reached, main control module 1 reduces eight electricity by controlling
The electric current of the sub- power port of speed regulator 7 is exported to reduce motor 8 and the rotating speed of propeller blade 11, and the rotating speed of propeller blade 11 reduces
Its lift provided reduces, and unmanned plane starts main control module 1 after slowly decline touches ground and controls electron speed regulator 7 to close it
The electric current output of power output end, propeller blade 11 stop operating, and realize the purpose of landing.
The receiving terminal chip of described remote control module 9 is connected with the remote signal input of main control module 1, in receiving terminal chip
Main control module 1 is transferred to after receiving remote signal, processing of the main control module 1 to remote signal draws the flight included in signal
After the information such as azimuth elevation, output control signal is distinguished by the control signal output of main control module 1 and gives corresponding electronics
Speed regulator 7, to control the size of current of the corresponding power output end of electron speed regulator 7, so as to control the brush DC in corresponding orientation
The rotating speed of motor 8 and propeller blade 11, so as to reach the purpose of control unmanned plane manually.Described number pass transmitter modules 10 by
Air modules（Serial ports）With Ground modules（USB）Two parts are formed, and Air modules are positioned over inside the fuselage 15 of unmanned plane,
Ground modules are connected the computer with APM planner by UBS interfaces with ground, pass through serial ports master control mould with Air modules
Block 1 is connected, and after unmanned plane, which is powered, to be started, main control module 1 can pass the height of current unmanned plane, flight course, velocity information
The Air modules that number passes transmitter module 10 are defeated by, Air modules are being transferred to data the Ground modules on ground, it is possible to are filling
Have and show the current height of unmanned plane, flight course, velocity information on the computer of APM planner softwares in real time.Described
Power module 2 includes model plane lithium battery, alarm, voltage checking chip, and lithium battery is powered for whole unmanned plane, and lithium battery has
Large Copacity, small size, it can ensure the advantages that lightweight to be unlikely to the weight for increasing unmanned plane while power supply to whole unmanned plane
Amount and volume, voltage checking chip are connected with lithium battery, and alarm is connected with voltage checking chip output end, voltage checking chip
The voltage of lithium battery can be detected, after the voltage of lithium battery is less than the value 2.7V set, voltage checking chip control alarm
Alarm.
A kind of rotor wing unmanned aerial vehicle and its control system operation principle for flying control plate based on APM of the utility model：Unmanned owner
Control module 1 passes to the ginseng of main control module 1 by GPS module 4, magnetometer module 5, barometer module 6, inertial navigation module 3
Number calculates current residing spatial coordinate location, and main control module 1 can be working as during unmanned plane during flying or hovering
Preceding residing locus is contrasted with flight path set in advance or hovering position, then passes through master if an error occurs
The control signal output output regulation signal of module 1 is controlled, the output current size of each electron speed regulator 7 is adjusted, to control
The size of current of each motor 8, so as to the rotating speed and the rotating speed for the propeller blade 11 being connected of regulation motor 8；So as to correct nothing
Either hovering position levels off to the flight optimization track calculated or hovering position to man-machine flight path；Under manual mode
Main control module 1 draws the information such as flight course and height after the analysis to the remote signal received, pass through the control of main control module 1
Signal output part output processed exports corresponding control signal to adjust the power supply of electron speed regulator 7 to corresponding electron speed regulator respectively
The size of current of output end, so as to control the rotating speed of the DC brushless motor 8 and propeller blade 11 in corresponding orientation, so as to reach
The purpose of control unmanned plane manually.After unmanned plane starts, main control module 1 all can be automatically the state of flight of current unmanned plane
Data pass transmitter module 10 by number and are transferred to the PC earth station equipped with APM Planner software platforms in real time.
Finally illustrate, preferred embodiment above is only unrestricted to illustrate the technical solution of the utility model, to the greatest extent
The utility model has been described in detail by above preferred embodiment for pipe, but those skilled in the art should manage
Solution, can make various changes, without departing from the utility model claims book institute to it in the form and details
The scope of restriction.
Claims (4)
- A kind of 1. rotor wing unmanned aerial vehicle and its control system for flying control plate based on APM, it is characterised in that：Described flies control based on APM The rotor wing unmanned aerial vehicle of plate includes propeller blade（11）, rotor connecting rod（12）, undercarriage（13）, undercarriage connecting rod（14）、 Fuselage（15）, transverse connecting rod（16）, control system；Described control system includes main control module（1）, power module（2）, it is used Property navigation module（3）, GPS module（4）, magnetometer module（5）, barometer module（6）, electron speed regulator（7）, brush DC electricity Machine（8）, remote control module（9）；Described fuselage（15）For circular configuration, described rotor connecting rod（12）There are eight, eight rotations Wing connecting rod（12）Fuselage is uniformly arranged on by screw respectively（15）Circumferencial direction on, each rotor connecting rod（12）'s End is provided with a brshless DC motor（8）, brshless DC motor（8）Clutch end and propeller blade（11）Even Connect, undercarriage（13）With two undercarriage connecting rods（14）Connection, two undercarriage connecting rods（14）It is screwed installation In fuselage（15）Lower section, transverse connecting rod（16）It is screwed and is connected to two undercarriage connecting rods（14）Between；Institute The main control module stated（1）, power module（2）, inertial navigation module（3）, GPS module（4）, magnetometer module（5）, barometer mould Block（6）, remote control module（9）It is installed on unmanned aerial vehicle body（15）It is internal；Power module（2）With main control module（1）, inertial navigation mould Block（3）, GPS module（4）, magnetometer module（5）, barometer module（6）Power port connection；Inertial navigation module（3）、 GPS module（4）, magnetometer module（5）, barometer module（6）Output end respectively with main control module（1）Sensor signal it is defeated Enter end connection, eight electron speed regulators（7）Signal input part respectively with main control module（1）Eight signal output parts connection, Electron speed regulator（7）Power output end and DC brushless motor（8）Connection.
- 2. a kind of rotor wing unmanned aerial vehicle and its control system for being flown control plate based on APM according to claim 1, its feature are existed In：Described power module（2）Including lithium battery, voltage checking chip, alarm, voltage checking chip is connected to lithium battery Power output end, alarm are connected with voltage checking chip output end.
- 3. a kind of rotor wing unmanned aerial vehicle and its control system for being flown control plate based on APM according to claim 1, its feature are existed In：Described remote control module（9）Using the passage 2.4G Digiplexs of Fuji FS-TH9X 9, the remote control module（9）With reception End and hand-held transmitting terminal, remote control module（9）Receiving terminal be arranged on inside unmanned plane and main control module（1）Remote signal input End connection.
- 4. a kind of rotor wing unmanned aerial vehicle and its control system for being flown control plate based on APM according to claim 1, its feature are existed In：The described rotor wing unmanned aerial vehicle for flying control plate based on APM passes transmitter module with number（10）, number biography transmitter module（10）Using 3DR Radio Telemetry digital transmission modules, are made up of Air modules serial ports and Ground modules USB, and the number passes transmitter module （10）Air modules be arranged on fuselage（15）Internal and main control module（1）Connected by serial ports, Ground modules are connect by USB Mouth is connected with earth station's computer equipped with APM Planner softwares.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720902980.3U CN207173952U (en) | 2017-07-25 | 2017-07-25 | A kind of rotor wing unmanned aerial vehicle and its control system for flying control plate based on APM |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720902980.3U CN207173952U (en) | 2017-07-25 | 2017-07-25 | A kind of rotor wing unmanned aerial vehicle and its control system for flying control plate based on APM |
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| Publication Number | Publication Date |
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| CN207173952U true CN207173952U (en) | 2018-04-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720902980.3U Expired - Fee Related CN207173952U (en) | 2017-07-25 | 2017-07-25 | A kind of rotor wing unmanned aerial vehicle and its control system for flying control plate based on APM |
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| CN (1) | CN207173952U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110161533A (en) * | 2019-06-17 | 2019-08-23 | 国家卫星气象中心(国家空间天气监测预警中心) | Unattended satellite optical load intelligence spectral radiometric calibration system |
| CN112373683A (en) * | 2020-11-18 | 2021-02-19 | 国网安徽省电力有限公司检修分公司 | Vision-assisted cleaning unmanned aerial vehicle system |
| CN112394654A (en) * | 2019-08-19 | 2021-02-23 | 华东师范大学 | Unmanned aerial vehicle monitoring system and monitoring method based on Internet of things |
-
2017
- 2017-07-25 CN CN201720902980.3U patent/CN207173952U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110161533A (en) * | 2019-06-17 | 2019-08-23 | 国家卫星气象中心(国家空间天气监测预警中心) | Unattended satellite optical load intelligence spectral radiometric calibration system |
| CN110161533B (en) * | 2019-06-17 | 2024-05-03 | 国家卫星气象中心(国家空间天气监测预警中心) | Unattended satellite optical load intelligent radiation calibration system |
| CN112394654A (en) * | 2019-08-19 | 2021-02-23 | 华东师范大学 | Unmanned aerial vehicle monitoring system and monitoring method based on Internet of things |
| CN112373683A (en) * | 2020-11-18 | 2021-02-19 | 国网安徽省电力有限公司检修分公司 | Vision-assisted cleaning unmanned aerial vehicle system |
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180403 Termination date: 20200725 |
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| CF01 | Termination of patent right due to non-payment of annual fee |