CN207440620U - A kind of attitude of flight vehicle adjusts system - Google Patents
A kind of attitude of flight vehicle adjusts system Download PDFInfo
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- CN207440620U CN207440620U CN201721632016.XU CN201721632016U CN207440620U CN 207440620 U CN207440620 U CN 207440620U CN 201721632016 U CN201721632016 U CN 201721632016U CN 207440620 U CN207440620 U CN 207440620U
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- microcontroller
- detector
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Abstract
A kind of attitude of flight vehicle adjusts system, and including detector system, microcontroller, servo controller and dynamical system, detector system includes：Gesture detector, including three-axis gyroscope, which is used for the flight attitude of sense aircraft and flight attitude signal is transferred to microcontroller；Speed detector includes GPS module, which is used to monitor aircraft real-time speed and speed signal is transferred to microcontroller；Acceleration transducer obtains the position signal of aircraft for the instantaneous acceleration and combination speed signal of sense aircraft；Infrared detector, infrared intensity on sense aircraft flight path is to generate infrared signal；Visible-light detector, visual intensity on sense aircraft flight path is to generate visible light signal；Microcontroller is connected with detector system, by above-mentioned analysis pose adjustment data, and exports pose adjustment signal；Servo controller controls dynamical system adjustment attitude of flight vehicle according to pose adjustment signal.
Description
Technical field
The utility model is related to flying vehicles control device, particularly a kind of integrated aircraft flight attitude, speed, position
Controller.
Background technology
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, using radio robot and is provided for oneself
The not manned aircraft that presetting apparatus manipulates.It can be divided into from technical standpoint definition：Unmanned helicopter, unmanned fixed-wing aircraft,
Unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc..
Unmanned plane application field is extensive, at present, is applied what is be monitored in transformer equipment and substation's ambient enviroment
Surely navigate in line walking, convenience and accuracy that transformer equipment and substation's ambient enviroment monitor can be improved.Unmanned plane is in power transformation
During equipment and substation's ambient enviroment carry out fixed boat line walking, occasional loads onto winged insect or newly-increased shelter, therefore, how
It is fixed boat line walking during so that unmanned plane can with small range adjust the posture of itself with hide emergent winged insect or
Newly-increased shelter becomes current urgent problem.
Utility model content
To solve the above problems, the utility model provides a kind of attitude of flight vehicle adjustment system, the system can be controlled voluntarily
The flight attitude of aircraft, speed, position.
To achieve the above object, the technical solution adopted in the utility model is：
A kind of attitude of flight vehicle adjusts system, including detector system, microcontroller, servo controller and dynamical system,
The detector system includes：Gesture detector, including three-axis gyroscope, which flies for detecting
Flight attitude signal is simultaneously transferred to microcontroller by the flight attitude of device；
Speed detector includes GPS module, which is used to monitor aircraft real-time speed and transfer speed signal
To microcontroller；
Acceleration transducer obtains the position of aircraft for the instantaneous acceleration and combination speed signal of sense aircraft
Signal, and the position signal is transferred to microcontroller；
Infrared detector, the infrared intensity on sense aircraft flight path are and red by this to generate infrared signal
External signal is transferred to microcontroller；
Visible-light detector, the visual intensity on sense aircraft flight path to generate visible light signal, and
The visible light signal is passed into microcontroller；
The microcontroller is connected with the detector system, by flight attitude signal, speed signal, position signal, red
External signal and visible ray information analysis obstacle information data, and pose adjustment signal is exported to servo controller；
The servo controller is connected with the microcontroller and the dynamical system, is controlled according to pose adjustment signal dynamic
Force system adjusts attitude of flight vehicle.
As preference, the dynamical system is three axis dynamical systems.
As preference, the dynamical system further includes Attitude Controller, which includes pedestal
With power propeller, the pedestal is connected with power propeller by gimbal suspension, and the Attitude Controller is located at aircraft bottom
Portion gravity center of gravity position.
As preference, the acceleration transducer is 3-axis acceleration sensor.
It is using the beneficial effects of the utility model：
Flight attitude operation function is stored in this aircraft microcontroller, according to flight attitude signal, speed signal, position
Signal, infrared signal and visible light signal are calculated, and generate pose adjustment signal, which includes the position of adjustment
Put the information such as coordinate or the inclined angle of body so that aircraft can weaken towards infra-red intensity and visual intensity increases
Strong direction movement, avoids emergent barrier, and then forms the independent flight control system of complete set, realizes autonomous
Intelligent airline operation, so as to possess higher safety and reliability so that its grid equipment and its ambient enviroment for detecting
Data more accurately and reliably.
Description of the drawings
Fig. 1 adjusts system connection diagram for the utility model attitude of flight vehicle.
Specific embodiment
The utility model is described in detail below in conjunction with attached drawing.
As shown in Figure 1, the present embodiment provides a kind of attitude of flight vehicle to adjust system, including detector system 100, microcontroller
200th, servo controller 300 and dynamical system 400, the detector system 100 include：Gesture detector 110, including three axis tops
Spiral shell instrument, the three-axis gyroscope are used for the flight attitude of sense aircraft and flight attitude signal are transferred to microcontroller 200；Speed
Detector 120, including GPS module, which is used to monitor aircraft real-time speed and speed signal is transferred to microcontroller
200；Acceleration transducer 130 obtains the position of aircraft for the instantaneous acceleration and combination speed signal of sense aircraft
Signal, and the position signal is transferred to microcontroller 200；Infrared detector 140, it is red on sense aircraft flight path
The infrared signal is transferred to microcontroller 200 by outer intensity to generate infrared signal；Visible-light detector 150, it is winged for detecting
The visible light signal is passed to microcontroller 200 by the visual intensity on row device flight path to generate visible light signal；Institute
Microcontroller 200 is stated, is connected with the detector system 100, passes through flight attitude signal, speed signal, position signal, infrared letter
Number and visible light signal disturbance of analysis object information data, and export pose adjustment signal to servo controller 300；The servo control
Device 300 processed is connected with the microcontroller 200 and the dynamical system 400, and dynamical system 400 is controlled according to pose adjustment signal
Adjust attitude of flight vehicle.
Gesture detector 100 is set as 1000Hz computings by this attitude of flight vehicle adjustment system, is stored in microcontroller 200
Flight attitude operation function is carried out according to flight attitude signal, speed signal, position signal, infrared signal and visible light signal
It calculates, generates pose adjustment signal, which includes the letters such as position coordinates or the inclined angle of body of adjustment
Breath so that aircraft can weaken towards infra-red intensity and the direction movement of visual intensity enhancing, avoids emergent
Barrier, and then the independent flight control system of complete set is formed, realize autonomous intelligence airline operation, it is higher so as to possess
Safety and reliability so that its transformer equipment detected and substation's ambient data are more accurately and reliably.
Dynamical system 400 is three axis dynamical systems.Acceleration transducer 310 is 3-axis acceleration sensor.
As preference, dynamical system 400 further includes Attitude Controller 410, which includes
Pedestal and power propeller, pedestal and power propeller are connected by gimbal suspension, and Attitude Controller 410 is located at aircraft bottom
Gravity center of gravity position.The flight attitude of power propeller control aircraft is connected by gimbal suspension, it is efficient, be conducive to
Loss of weight enhancing continuation of the journey.
In another implementation, dynamical system 400 further includes the arrangements for speed regulation and rotation direction device set on unmanned plane, servo control
Device processed is connected respectively with arrangements for speed regulation and rotation direction device, servo controller 300 include control chip, control chip respectively with speed governing
Device is connected with rotation direction device.
Arrangements for speed regulation are to be connected the first accelerometer with control chip, for controlling aircraft acceleration or reducing speed.Rotation
Include being connected with control chip to device and be used to control the second accelerometer and motor of rotation direction.
Utility model works principle：Microcontroller 200 is according to flight attitude signal, speed signal, position signal, infrared letter
Number and visible ray information analysis go out pose adjustment data, and export pose adjustment signal.Servo controller 300 gets posture tune
After entire signal, control signal is sent to dynamical system 400.First, control chip passes through arrangements for speed regulation according to pose adjustment signal
Adjust the first acceleration direction of aircraft, control aircraft quickly through or slow-down to pass through after adjusting posture；According to
Pose adjustment signal by the second accelerometer and motor in rotation direction device, can control aircraft to deflect, and generate lateral control
Power processed makes aircraft can be with cut-through object.
Compared with prior art, the utility model has the advantage that：It can measure and adjust in real time unmanned plane during flying
Posture, control stablize, avoid unmanned plane and collide with emergent barrier, ensure unmanned plane during flying stablize and accurately
It takes photo by plane.
Wherein, following technical solution can be used in the dynamical system 400：
Including pedestal, the first revolute pair, the second revolute pair, the 3rd revolute pair, the first tumbler, the second tumbler,
Module and unmanned plane module are installed；Wherein：The pedestal is fixed compared with ground or work top；First tumbler with
It is connected between the pedestal by first revolute pair, so that first tumbler possesses the rotation around X-direction
Turn degree of freedom；It is connected between second tumbler and first tumbler by second revolute pair, so as to
So that second tumbler possesses the rotary freedom around Y direction；The installation module and second tumbler
Between be attached by the 3rd revolute pair so that the installation module possesses the rotary freedom in direction about the z axis；Institute
Unmanned plane module is stated to be installed in the installation module；Pass through above-mentioned connection mode so that be installed in the installation module
The unmanned plane module possesses the rotary freedom around three directions of X, Y, Z axis, i.e. pitching, yaw, roll.
Flight attitude operation function is stored in this aircraft microcontroller, according to flight attitude signal, speed signal, position
Signal, infrared signal and visible light signal are calculated, and generate pose adjustment signal, which includes the position of adjustment
Put the information such as coordinate or the inclined angle of body so that aircraft can weaken towards infra-red intensity and visual intensity increases
Strong direction movement, avoids emergent barrier, and then forms the independent flight control system of complete set, realizes autonomous
Intelligent airline operation, so as to possess higher safety and reliability so that around its transformer equipment detected and substation
Environmental data is more accurately and reliably.
More than content is only the preferred embodiment of the utility model, for those of ordinary skill in the art, according to this reality
It, in specific embodiments and applications can be with many changes may be made, as long as these variations are without departing from this with new thought
The design of utility model, belongs to the scope of protection of the utility model.
Claims (4)
1. a kind of attitude of flight vehicle adjusts system, it is characterised in that：Including detector system, microcontroller, servo controller and move
Force system,
The detector system includes：Gesture detector, including three-axis gyroscope, the three-axis gyroscope is for sense aircraft
Flight attitude signal is simultaneously transferred to microcontroller by flight attitude；
Speed detector includes GPS module, which is used to monitor aircraft real-time speed and speed signal is transferred to list
Piece machine；
Acceleration transducer obtains the position letter of aircraft for the instantaneous acceleration and combination speed signal of sense aircraft
Number, and the position signal is transferred to microcontroller；
Infrared detector, infrared intensity on sense aircraft flight path is to generate infrared signal, and by the infrared letter
Number it is transferred to microcontroller；
Visible-light detector, the visual intensity on sense aircraft flight path, and should to generate visible light signal
Visible light signal passes to microcontroller；
The microcontroller is connected with the detector system, passes through flight attitude signal, speed signal, position signal, infrared letter
Number and visible ray information analysis pose adjustment data, and export pose adjustment signal to servo controller；
The servo controller is connected with the microcontroller and the dynamical system, and dynamical system is controlled according to pose adjustment signal
System adjustment attitude of flight vehicle.
2. attitude of flight vehicle according to claim 1 adjusts system, it is characterised in that：The dynamical system is three axis power
System.
3. attitude of flight vehicle according to claim 1 adjusts system, it is characterised in that：The dynamical system further includes flight
Attitude controller, the Attitude Controller include pedestal and power propeller, and the pedestal and power propeller pass through gimbal suspension
Connection, the Attitude Controller are located at aircraft bottom weight center of gravity position.
4. attitude of flight vehicle according to claim 1 adjusts system, it is characterised in that：The acceleration transducer is three axis
Acceleration transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721632016.XU CN207440620U (en) | 2017-11-29 | 2017-11-29 | A kind of attitude of flight vehicle adjusts system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721632016.XU CN207440620U (en) | 2017-11-29 | 2017-11-29 | A kind of attitude of flight vehicle adjusts system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207440620U true CN207440620U (en) | 2018-06-01 |
Family
ID=62285249
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721632016.XU Expired - Fee Related CN207440620U (en) | 2017-11-29 | 2017-11-29 | A kind of attitude of flight vehicle adjusts system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207440620U (en) |
-
2017
- 2017-11-29 CN CN201721632016.XU patent/CN207440620U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180601 Termination date: 20181129 |
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| CF01 | Termination of patent right due to non-payment of annual fee |