CN207367056U - A kind of fire-fighting unmanned plane based on Mega2560 - Google Patents
A kind of fire-fighting unmanned plane based on Mega2560 Download PDFInfo
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- CN207367056U CN207367056U CN201720903018.1U CN201720903018U CN207367056U CN 207367056 U CN207367056 U CN 207367056U CN 201720903018 U CN201720903018 U CN 201720903018U CN 207367056 U CN207367056 U CN 207367056U
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Abstract
The utility model, which provides a kind of fire-fighting unmanned plane based on Mega2560, mainly includes fuselage, propeller blade, undercarriage, control system；Control system connects inertial navigation module respectively including main control module, electron speed regulator, DC brushless motor, power module, remote control module, figure transmission module, GPS module, magnetometer, barometer, remote control module, photographing module, inertial navigation module is used for Navigation of Pilotless Aircraft, power module provides power supply for unmanned plane, remote control module is used for receiving the signal of ground remote control device, figure transmission module is responsible for image captured during aircraft flight to pass earth station back, photographing module is responsible for imaging ground during unmanned plane during flying, the unmanned function crosses carry out autonomous flight and flight manually, grown with cruising time, shooting image is clear, the features such as image is analyzed can be passed back in real time.
Description
Technical field
The design belongs to unmanned aerial vehicle (UAV) control field, more specifically to a kind of fire-fighting unmanned plane and its control system neck
Domain.
Background technology
As reaching its maturity for unmanned air vehicle technique is expanded with the further of air photo technique, the civilian unmanned plane application in China
Field is increasingly extensive, including photogrammetric, emergency disaster relief, public safety, resource exploration, environmental monitoring, Natural calamity monitoring with
Assessment, urban planning and municipal administration, the protection of forest fires pest and disease damage and monitoring etc..How effectively to implement fire-fighting early warning and scene is detectd
Survey, and rapidly, accurately disposal the condition of a disaster is particularly important；The ripe fortune of China's unmanned plane application technology and system scheme
With so that monitoring and the transmission equipment such as scounting aeroplane platform combination video, infrared, by the air to complicated landform and complicated knot
Structure, which is built, to carry out fire hazard inspection, field rescue commander, fire behavior detecting and prevention and control and becomes the new selection in fire brigade, but mesh
The preceding existing fire-fighting unmanned aerial vehicle (UAV) control pattern of in the market is single, it is impossible to carries out prolonged monitoring of leaving blank, it is impossible to which realization is led automatically
Navigate positioning function, the utility model provide one kind can self-navigation flight, can also control the fire-fighting unmanned plane of flight manually.
The content of the invention
The utility model mainly solving the technical problems that：For in the prior art the defects of, the purpose of this utility model
It is to provide a kind of fire-fighting unmanned plane based on Mega2560.
The utility model that solves the above problems is achieved through the following technical solutions：The fire-fighting unmanned plane includes spiral shell
Revolve paddle blade 3, fuselage 4, undercarriage 6, control system；The fuselage 4 is circular configuration, passes through spiral shell in the periphery of fuselage
It is provided with four rotor connecting rods 5, rotor connecting rod 5 is integrally formed by a root long bar and two quarter butts, two the arc distances such as bolt
Quarter butt angle is 120 °, and the end of every quarter butt is mounted on a brshless DC motor 11, the power of brshless DC motor 11
Output terminal is connected with propeller blade 3, and the bottom symmetrical of fuselage 4 is provided with two undercarriages 6；The control system includes master
Control module 1, GPS module 7, magnetometer module 8, barometer module 9, inertial navigation module 10, brshless DC motor 1, electronics tune
Fast device 12, remote control module 13, figure transmission module 14, photographing module 15 and for it is each with electric unit power power module 2；It is described
Main control module 1, power module 2, GPS module 7, magnetometer module 8, barometer module 9, inertial navigation module 10, figure pass mould
Block 14 is placed in inside unmanned aerial vehicle body 4, and photographing module 15 is installed on 4 lower part of unmanned aerial vehicle body；；GPS module 7, magnetometer die
The signal input part of block 8, barometer module 9, the output terminal of inertial navigation module 10 respectively with main control module 1 is connected；Figure passes mould
The signal input part of block 14 is connected with the signal output part of main control module 1, and electron speed regulator 12 and brshless DC motor 11 are supporting
Set, the signal input part of electron speed regulator 12 is connected with the signal output part of main control module 1, and the power supply of electron speed regulator 12 is defeated
Outlet is connected with DC brushless motor.
Preferably, the 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 terminal.
Preferably, the remote control module 13 uses 9 passage 2.4G Digiplexs of Fuji FS-TH9X, the remote control module
13 carry receiving terminal and hand-held transmitting terminal, and the receiving terminal of remote control module 13 is arranged on the remote control inside unmanned plane with main control module 1
Signal input part connects.
The utility model beneficial effect：
Its layout structure of the fire-fighting unmanned plane of eight rotor of the utility model is novel, and flying method is unique, eight rotor structure energy
It is enough that unmanned plane is adjusted from eight directions in unmanned plane turns to flight course, than ever the quadrotor of normal arrangement nobody
Machine is more accurate and smoothly adjusts unmanned plane during flying state, can cross the prolonged flight of leaving blank of progress, be carried by unmanned plane
Multiple module and the rotor structure of new shape enable to the flight of unmanned plane more steady, to greatest extent close to scene of a fire week
Enclose so that the camera carried can shoot scene of fire and be become apparent from than conventional unmanned plane imaging effect, and have hand
Dynamic and automatic two kinds of offline mode.
Brief description of the drawings
Fig. 1 is the utility model top view；
Fig. 2 is the utility model control system block diagram；
Fig. 3 is master control modular circuit connection figure；
Fig. 4 connects for inertial navigation module circuit；
Fig. 5 is magnetometer circuit connection diagram.
In figure, 1- main control modules, 2- power modules, 3- propeller blades, 4- fuselages, 5- rotors connecting rod, 6- undercarriages,
7-GPS modules, 8- magnetometers, 11- barometers, 10- inertial navigation modules, 11- brshless DC motors, 12- electron speed regulators,
13- remote control modules, 14- figures transmission module, 15- photographing modules.
Specific embodiment
In order to make the purpose of this utility model technical solution and beneficial effect clearer, below in conjunction with attached drawing, to this
The preferred embodiment of utility model is described in detail, to facilitate the technical staff to understand.
As shown in Figs. 1-5, the fire-fighting unmanned plane includes propeller blade 3, fuselage 4, rotor connecting rod 5, undercarriage
6th, control system；The fuselage 4 is circular configuration, is provided with four rotations in the periphery of fuselage by arc distances such as bolts
Wing connecting rod 5, rotor connecting rod 5 are integrally formed by a root long bar and two quarter butts, and two quarter butt angles are 120 °, every quarter butt
End be mounted on a brshless DC motor 11, the power output end of brshless DC motor 11 is connected with propeller blade 3,
By setting the small quarter butt that two angles are 120 ° in four rotor connecting rods 5, the end of each small quarter butt is mounted on one
A brshless DC motor 11 and propeller blade 3 so that unmanned plane can be adjusted winged in flight course from eight directions
Row posture, the quadrotor unmanned plane of normal arrangement is more accurate than ever and smoothly adjusts unmanned plane during flying state, can into
The prolonged flight of leaving blank of row, the multiple module carried by unmanned plane is to greatest extent close to around the scene of a fire.The bottom of fuselage 4
It is symmetrically arranged with two undercarriages 6；The control system includes main control module 1, GPS module 7, magnetometer module 8, barometer
Module 9, inertial navigation module 10, brshless DC motor 1, electron speed regulator 12, remote control module 13, figure transmission module 14, shooting mould
Block 15 and for it is each with electric unit power power module 2；The main control module 1, power module 2, GPS module 7, magnetic force
Meter module 8, barometer module 9, inertial navigation module 10, figure transmission module 14 are placed in inside unmanned aerial vehicle body 4, photographing module 15
It is installed on 4 lower part of unmanned aerial vehicle body；GPS module 7, magnetometer module 8, barometer module 9, the output terminal of inertial navigation module 10
The signal input part with main control module 1 is connected respectively；The signal input part of figure transmission module 14 and the signal output part of main control module 1
Connection, electron speed regulator 12 and 11 supporting setting of brshless DC motor, signal input part and the main control module 1 of electron speed regulator 12
Signal output part connection, the power output end of electron speed regulator 12 is connected with DC brushless motor.
ATmega2560 main control chips have as the winged control plate that current unmanned plane generally uses used by main control module 1
Practicality is extensive, flies the advantages that control program easily obtains（Its circuit connection diagram is as shown in Figure 3）, GPS modules 7 pass gps coordinate
The main control chip of main control module 1 is given, main control module 1 is by double sampling time difference obtained GPS coordinate information, calculating
It can obtain the flying speed and coordinate information of unmanned plane；8 model HMC588CL of magnetometer, for measuring magnetic direction, measurement
Magnetic direction information be transferred to main control module 1, the direction that unmanned plane judges to be flown at present according to magnetic direction information.Air pressure
9 model BMP085 are counted, for collecting temperature and barometric information, the data collected, which pass to, carries out A/D turns in A/D converter
Change, after A/D conversions, temperature and barometric information are transmitted to by I2C buses by main control module 1, main control module 1 carries out correlation and changes again
Calculation can obtain air pressure and temperature value, and nothing is can obtain with contrast standard height above sea level othermohygrometer table according to temperature and atmospheric pressure value
Man-machine current corresponding height above sea level angle value, so as to fulfill elevation carrection.MPU6000 used by the inertial navigation module 10
Inertia gyroscope navigator carries digital moving processor DMP, three axis accelerometer and three-axis gyroscope, can accurately measure
The angular speed rate and acceleration of current unmanned plane, the inertial navigation module 10 be compared in the past without inertial navigation nobody
Machine, can make unmanned plane basis during the flying overhead of the scene of a fire be accurately controlled the flight path of oneself, so that
The imaging effect for the photographing module 15 that unmanned plane is carried is better more clear than conventional.The photographing module 15 is
The airborne camera of ZST-10 models, the camera can carry out infrared imaging and visible image capturing, be compared to for it is single
Imaging pattern, the airborne camera can realize the free switching of a variety of imaging patterns, can help in the event of a fire
Rescue personnel finds ignition point, or carries out infrared imaging, prediction to the fire hazard of key area in the case of dry weather
Whether possibility that fire occur is had.The figure transmission module 14 is made of transmitting terminal and receiving terminal, and transmitting terminal is positioned over nobody
The inside of fuselage 4 of machine is connected with the output terminal of main control module 1, and receiving terminal carries APM planner softwares by interface and ground
Computer connection.
The power module 2 includes model plane lithium battery, alarm, voltage checking chip, and lithium battery is whole unmanned plane
Power supply, lithium battery has the advantages that large capacity, small size, lightweight, unlikely while can ensureing to power to whole unmanned plane
In the weight and volume of increase unmanned plane, voltage checking chip is connected with lithium battery, alarm and voltage checking chip output terminal
Connection, voltage checking chip can detect the voltage of lithium battery, after the voltage of lithium battery is less than the value 2.7V set, voltage inspection
Chip controls alarm equipment alarm is surveyed, prevents unmanned plane from low battery occur in flight course and air crash occurs.
When needing to be monitored a certain region, unmanned plane can be set to carry out self-navigation flight, unmanned plane passes through
The horizontal coordinate information that the GPS module 7 of itself passes back, the earth magnetism north and south information that magnetometer module 8 perceives, barometer module
9 altitude info inations calculated, the spatial coordinated information that main control module 1 is presently in by being calculated；Main control module 1 is logical
Cross the pre-set line of flight and calculate flight optimization path with the spatial coordinated information being presently in, calculate optimal path
The control signal output of main control module 1 exports corresponding control signal to control electronic speed regulation to each electron speed regulator 12 afterwards
The output current size of the power output end of device 12, so as to control turn of corresponding brshless DC motor 11 and propeller blade 3
Speed, uses electron speed regulator 12 to cause when main control module 1 carries out rotational speed regulation to brshless DC motor 11 more
Accurately, moreover it is possible to have the function that to save motor power consumption；Start reception inertial navigation module 10 after unmanned plane takes off to get
Unmanned plane acceleration and angular speed rate, in conjunction with being passed back in real time by GPS module 7, magnetometer module 8,9 module of barometer
The horizontal coordinate information come, earth magnetism north and south information, altitude info ination judge the spatial coordinate location during unmanned plane during flying
With acceleration and angular speed rate, then contrasted with the flight path precomputed, if the deviation from flight optimization route, then
Main control module 1 by control the size of 12 output current of electron speed regulator control the brshless DC motor 11 of different azimuth with it is right
The rotating speed for the propeller blade 3 answered, returns on optimal flight line so as to adjust unmanned plane.When needs are to having occurred and that fire
Scene of a fire when being monitored, remote manual control pattern, receiving terminal chip and 1 remote signal of main control module of remote control module 13 can be used
Input terminal connects, and is transferred to main control module 1 after receiving terminal chip receives remote signal, main control module 1 to remote signal into
Row processing, after drawing the information such as the flight orientation included in signal, height, passes through the control signal output point of main control module 1
Other output control signal gives corresponding electron speed regulator 12, to control the electric current of corresponding 12 power output end of electron speed regulator big
It is small, so that the brshless DC motor 11 in corresponding orientation and the rotating speed of propeller blade 3 are controlled, so as to reach control unmanned plane manually
Purpose.During unmanned plane during flying, main control module 1 sends an enabling signal, photographing module 15 to photographing module 15
Start to carry out infrared photography to ground, the image of shooting is transferred to main control module 1, master control mould by the output terminal of photographing module 15
Block 1 receives the transmitting terminal for image information being transferred to after the image of photographing module 15 figure transmission module 14, and transmitting terminal is again shooting
Scene of a fire infrared image signal be transferred to the receiving terminal on ground, earth station can be real on the computer equipped with APM planner softwares
When the current unmanned plane of display taken by video image, it is convenient that scene of a fire situation is analyzed.Unmanned plane passes through institute's band
This four modules of GPS module 7, magnetometer module 8, barometer module 9, inertial navigation module 10, unmanned plane can fly
More flight parameters are received in journey, main control module 1 can be more accurate steady after calculating a variety of flight parameters
Control unmanned plane state of flight, enable 15 imaging effect of photographing module of unmanned plane more clear accurate.
A kind of fire-fighting unmanned plane of the utility model and its control system operation principle：The utility model unmanned plane has automatic
Offline mode and manual offline mode, under automatic offline mode, pre-set the scene of a fire line of flight, to the whole large-scale scene of a fire into
The continual patrol monitoring of row, photographing module 15 in real time images ground fire behavior, and is transferred to main control module 1, master control mould
The current scene of a fire Video data of unmanned plane is sent to earth station by block 1 by figure transmission module 14, and the staff of earth station can be with
Correct decision-making is carried out by current real-time or situation；Under manual offline mode, unmanned plane is connect by remote control module 13
The flight directive for being transmitted through coming by remote controler, flight directive send main control module 1 to, and main control module 1 passes through the main control that receives
Signal controls the flight of unmanned plane, the work in manual flight course in the working condition of photographing module 15 and automatic flight course
Make that principle is the same, the change differed only in for unmanned aerial vehicle (UAV) control mode of manual mode and automatic mode.
Finally illustrate, preferred embodiment above is merely intended for describing the technical solutions of the present application, but not for limiting the present application, to the greatest extent
Pipe has been described in detail the utility model by above preferred embodiment, but those skilled in the art should manage
Solution, in the form and details can make it various changes, without departing from the utility model claims book institute
The scope of restriction.
Claims (3)
- A kind of 1. fire-fighting unmanned plane based on Mega2560, it is characterised in that：The fire-fighting unmanned plane includes propeller blade （3）, fuselage（4）, rotor connecting rod（5）, undercarriage（6）, control system；The fuselage（4）For circular configuration, the circle of fuselage All outer place are provided with four rotor connecting rods by arc distances such as bolts（5）, rotor connecting rod（5）By a root long bar and two Quarter butt is integrally formed, and two quarter butt angles are 120 °, and the end of every quarter butt is mounted on a brshless DC motor（11）, nothing Brushless motor（11）Power output end and propeller blade（3）Connection, fuselage（4）Bottom symmetrical be provided with two and rise and fall Frame（6）；The control system includes main control module（1）, GPS module（7）, magnetometer module（8）, barometer module（9）, it is used Property navigation module（10）, brshless DC motor（11）, electron speed regulator（12）, remote control module（13）, figure transmission module（14）, shooting Module（15）With for it is each with electric unit power power module（2）；The main control module（1）, power module（2）、GPS Module（7）, magnetometer module（8）, barometer module（9）, inertial navigation module（10）, figure transmission module（14）It is placed in unmanned plane Fuselage（4）Inside, photographing module（15）It is installed on unmanned aerial vehicle body（4）Lower part；GPS module（7）, magnetometer module（8）, air pressure Count module（9）, inertial navigation module（10）Output terminal respectively with main control module（1）Signal input part connection；Figure transmission module （14）Signal input part and main control module（1）Signal output part connection, electron speed regulator（12）With DC brushless motor （11）Supporting setting, electron speed regulator（12）Signal input part and main control module（1）Signal output part connection, electronic speed regulation Device（12）Power output end be connected with DC brushless motor.
- A kind of 2. fire-fighting unmanned plane based on Mega2560 according to claim 1, it is characterised in that：The power supply mould Block（2）Including lithium battery, voltage checking chip, alarm, voltage checking chip is connected to the power output end of lithium battery, alarm Device is connected with voltage checking chip output terminal.
- A kind of 3. fire-fighting unmanned plane based on Mega2560 according to claim 1, it is characterised in that：The control system A remote control module is additionally provided with system（13）, remote control module（13）Using 9 passage 2.4G Digiplexs of Fuji FS-TH9X, The remote control module（13）With receiving terminal and hand-held transmitting terminal, the receiving terminal of remote control module 13 is arranged on inside unmanned plane and master control Module（1）Remote signal input terminal connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720903018.1U CN207367056U (en) | 2017-07-25 | 2017-07-25 | A kind of fire-fighting unmanned plane based on Mega2560 |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720903018.1U CN207367056U (en) | 2017-07-25 | 2017-07-25 | A kind of fire-fighting unmanned plane based on Mega2560 |
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| Publication Number | Publication Date |
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| CN207367056U true CN207367056U (en) | 2018-05-15 |
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| CN201720903018.1U Expired - Fee Related CN207367056U (en) | 2017-07-25 | 2017-07-25 | A kind of fire-fighting unmanned plane based on Mega2560 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110502029A (en) * | 2019-07-02 | 2019-11-26 | 上海鲲哥无人机科技有限公司 | Rope lift control method based on aircraft |
| CN110772728A (en) * | 2019-12-17 | 2020-02-11 | 淮安航空产业研究院有限公司 | Special unmanned aerial vehicle and system for fire fighting and fire fighting method thereof |
| CN111341060A (en) * | 2020-03-24 | 2020-06-26 | 西南民族大学 | Forest fire prevention system based on unmanned aerial vehicle discernment location |
| CN114470556A (en) * | 2020-10-23 | 2022-05-13 | 怀化市兴进消防新材料有限公司 | Fire control unmanned aerial vehicle with listen function |
-
2017
- 2017-07-25 CN CN201720903018.1U patent/CN207367056U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110502029A (en) * | 2019-07-02 | 2019-11-26 | 上海鲲哥无人机科技有限公司 | Rope lift control method based on aircraft |
| CN110772728A (en) * | 2019-12-17 | 2020-02-11 | 淮安航空产业研究院有限公司 | Special unmanned aerial vehicle and system for fire fighting and fire fighting method thereof |
| CN111341060A (en) * | 2020-03-24 | 2020-06-26 | 西南民族大学 | Forest fire prevention system based on unmanned aerial vehicle discernment location |
| CN114470556A (en) * | 2020-10-23 | 2022-05-13 | 怀化市兴进消防新材料有限公司 | Fire control unmanned aerial vehicle with listen function |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180515 Termination date: 20200725 |
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| CF01 | Termination of patent right due to non-payment of annual fee |