CN209790775U

CN209790775U - Novel fitness aircraft

Info

Publication number: CN209790775U
Application number: CN201822096408.XU
Authority: CN
Inventors: 雷瑶; 石亭太; 程明鑫
Original assignee: Fuzhou University
Current assignee: Fuzhou University
Priority date: 2018-12-13
Filing date: 2018-12-13
Publication date: 2019-12-17
Anticipated expiration: 2028-12-13

Abstract

the utility model provides a novel body-building aircraft, a serial communication port, include: the four-rotor aircraft comprises a spherical framework of a latticed shell structure and four-rotor aircrafts arranged inside the spherical framework; the four-rotor aircraft is fixed in the center of the spherical framework. The track of the ball in the traditional ball sports is determined by aerodynamics and gravity, and the utility model and the optimal proposal thereof greatly expand the playing space of the ball sports as completely different variables by increasing the autonomous maneuverability of the ball per se, and enrich the extension of the ball sports; simultaneously through increasing the mode that the health gesture (including the gesture) was controlled to and combine four rotor crafts to be convenient for fly to control and hover's characteristics, can make the body-building place demand of this novel device reduce, also can make things convenient for greatly to carry out motion and body-building through this kind of device in old and weak sick and disabled children crowd, possess very high social public value.

Description

Novel fitness aircraft

Technical Field

the utility model relates to a motion body-building apparatus field especially relates to a novel body-building aircraft.

Background

in the field of sports, balls are used in many sports and are a popular sport device. The traditional ball games mostly follow the basic physical motion law, and have mature playing methods such as throwing, beating, kicking and the like on the basis of the basic physical motion law. Most sports projects comprise large amount of exercise to resist the body, and the speed of the ball is high in the process of exercise, such as basketball, football, tennis and the like, and the sports are not suitable for most groups such as old, weak, sick, disabled and young with the purpose of body building; however, some sports which are easy and do not need physical countermeasures, such as billiards, golf, bowling, etc., are often restricted by the field, and the stadiums are not popular enough, so that it is inconvenient to perform one sport.

SUMMERY OF THE UTILITY MODEL

The importance of fitness to maintaining physical fitness is self evident. At present, the existing body-building modes are various, but no proper ball game can be selected by the old, the weak, the sick, the disabled and the young.

in order to overcome the not enough of above-mentioned prior art, the utility model provides a novel body-building aircraft adopts the scheme that miniature four rotor crafts and spherical reticulated shell combined together, carries out image acquisition and through loading the camera on the miniature four rotor crafts to realize gesture control. The utility model provides a novel body-building aircraft scheme has solved the too big and too restricted problem in place of traditional ball sports intensity, has given a practical body-building of old and weak sick and disabled children group to select. The technical scheme is as follows:

a novel fitness flight ware which characterized in that includes: the four-rotor aircraft comprises a spherical framework of a latticed shell structure and four-rotor aircrafts arranged inside the spherical framework; the four-rotor aircraft is fixed in the center of the spherical framework.

preferably, the included angle between the adjacent rotor arms of the four-rotor aircraft is 90 degrees, four rotors are arranged on the same horizontal plane, and the rotation directions of the adjacent rotors are opposite.

preferably, the center of gravity of the quadrotor aircraft is fixed at the center of the spherical skeleton.

Preferably, four of the rotors are mounted on the plane of the great circle of the spherical skeleton.

Preferably, the quad-rotor aircraft comprises: the motor, the rotor wing arm, the rotor wing and the machine body; the aircraft body is fixed at the center of the spherical framework and is provided with a power supply, a sensor, a flight control module and a camera.

The track of the ball in the traditional ball sports is determined by aerodynamics and gravity, and the utility model and the optimal proposal thereof greatly expand the playing space of the ball sports as completely different variables by increasing the autonomous maneuverability of the ball per se, and enrich the extension of the ball sports; simultaneously through increasing the mode that the health gesture (including the gesture) was controlled to and combine four rotor crafts to be convenient for fly to control and hover's characteristics, can make the body-building place demand of this novel device reduce, also can make things convenient for greatly to carry out motion and body-building through this kind of device in old and weak sick and disabled children crowd, possess very high social public value.

Drawings

The invention will be described in further detail with reference to the following drawings and detailed description:

FIG. 1 is a schematic front view of an embodiment of the present invention;

Fig. 2 is a schematic top view of an embodiment of the present invention;

FIG. 3 is a schematic view of a spherical skeleton according to an embodiment of the present invention;

fig. 4 is a perspective view of the overall structure of the embodiment of the present invention;

fig. 5 is a schematic view of a rotor layout according to an embodiment of the present invention;

Fig. 6 is a schematic diagram of a manipulation gesture according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of an embodiment of the present invention;

In the figure: 1-motor, 2-rotor arm, 3-rotor, 4-rotating shaft, 5-body.

Detailed Description

In order to make the features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail as follows:

As shown in fig. 4, the apparatus of the present embodiment includes: the four-rotor aircraft comprises a spherical framework of a latticed shell structure and four-rotor aircrafts arranged inside the spherical framework; the four-rotor aircraft is fixed in the center of the spherical framework.

As shown in fig. 1 and 2, the four-rotor aircraft mainly includes a motor 1, a rotor arm 2, a rotor 3, a rotating shaft 4, and a body 5. Wherein, the body 5 is fixed at the center of the spherical skeleton and is provided with a power supply, a sensor, a flight control module and a camera. One end of each adjacent rotor arm is connected to the machine body 5, and the other end of each adjacent rotor arm is connected to the motor 1, wherein the included angle of each adjacent rotor arm is 90 degrees. Four rotors are installed on the same horizontal plane, as shown in fig. 5, the rotor layout is: the rotation directions of the symmetrical rotors are the same, and the rotation directions of the adjacent rotors are opposite.

In order to make the center of gravity and the structure of this embodiment more stable, it may be arranged that: the center of gravity of the four-rotor aircraft is fixed at the center of the spherical framework. Four rotors are arranged on the plane where the great circle of the spherical framework is located.

As shown in fig. 3, in the present embodiment, the spherical skeleton adopts a double-ring interactive structure, which ensures normal flight capability while protecting the internal aircraft portion from collision. The spherical skeleton material adopts a polystyrene foam plastic shell with the diameter of 16cm so as to realize good anti-collision effect.

as shown in fig. 6 and 7, in the aspect of the use and control method of the device of the present embodiment, the posture of the quadrotor is controlled according to the body posture of the user acquired by the camera.

The user controls the operation of the device of the embodiment through the body posture mainly comprising gestures and dynamic changes (such as hovering, approaching, weakness or antigravity, remote pushing or pulling and the like), and the device of the embodiment controls the response to the acquired image through comparing the body posture of the user acquired by the camera with a preset control posture. As shown in fig. 6, the device floats when the user lifts his or her hand. When the user recruits himself, the device will return to the player

Furthermore, in this embodiment, for controlling the attitude of the quadrotor aircraft under the influence of disturbance factors, a system attitude tracking control is performed by using an approximation law sliding mode, which specifically includes the following steps:

step S1: when influences of factors such as interference of atmosphere on the propeller, friction between bearings, gyroscopic effect and the like are neglected, a dynamic system model of the four-rotor aircraft can be obtained through stress analysis on the propeller:

In the formula: x, y and z are inertial coordinates of a reference point of the quadrotor; phi, theta and psi are respectively a rolling angle, a pitch angle and a yaw angle; m is the mass of the four-rotor aircraft; l is the distance from the center of the rotor to the origin of coordinates of the body; k is a radical of_x,k_y,k_z,k_φ,k_θ,k_ψIs the resistance coefficient of each channel; d_x,d_y,d_z,d_φ,d_θ,d_ψRepresenting the interference signal of each channel; i.e. i_x,i_y,i_zis the moment of inertia; g is the acceleration of gravity; u. of₁,u₂,u₃,u₄Is a control signal;

step S2: obtaining a four-rotor aircraft attitude control system equation through an equation (1):

Step S3: let X₁＝[φ θ ψ]^T,Meanwhile, part of system dynamic and external disturbance in the attitude control system equation are uniformly considered as disturbance terms of the system, and the four-rotor aircraft attitude control system equation (2) can be rewritten into the following form:

In the formula: attitude control input vector u ═ u₂ u₃ u₄]；d＝[d₂ d₃ d₄]and B is a system input matrix. d, B is in a specific form:

Step S4: assuming that the d norm is bounded, i.e., satisfying | | | d | | | is less than or equal to f, wherein f is a certain positive number. At this time, the control targets of the apparatus of the present embodiment are: attitude control based on an approach rule sliding mode is performed when system disturbance exists in the four-rotor aircraft, so that the system can achieve satisfactory control performance under the action of control input signals.

Preferably, the approach law sliding mode is an index approach law sliding mode, and the quality of an approach stage in sliding mode control can be effectively improved and the system buffeting phenomenon is weakened by adopting the index approach law sliding mode. The reason is that the exponential approach rule synovial membrane has the characteristics of faster convergence rate when the system state is far away from the synovial membrane and slower convergence rate when the system state is close to the synovial membrane. Wherein:

Assume a desired attitude of the quad-rotor aircraft is [ phi ]_d θ_d ψ_d]^TThen the attitude tracking error can be defined as:

Defining the linear slide film surface of the system asWherein s ═ s₁ s₂ s₃]^T；λ＝diag[λ₁ λ₂ λ₃]，λ₁＞0,λ₂＞0,λ₃＞0；

Consider the following exponential approach law:

s＝-τs-δsign(s) (7)

wherein τ is diag [ τ ]₁ τ₂ τ₃]，τ_i＞0(i＝1,2,3)；δ＝diag[δ₁ δ₂ δ₃],δ_i＞0(i＝1,2,3)；

sign(s)＝[sign(s₁) sign(s₂) sign(s₃)]^TThen the system control input vector may be set to;

the present invention is not limited to the above preferred embodiments, and any person can derive other novel fitness aircrafts in various forms according to the teaching of the present invention, and all equivalent changes and modifications made according to the claims of the present invention shall fall within the scope of the present invention.

Claims

1. A novel fitness flight ware which characterized in that includes: the four-rotor aircraft comprises a spherical framework of a latticed shell structure and four-rotor aircrafts arranged inside the spherical framework; the four-rotor aircraft is fixed in the center of the spherical framework.

2. the novel fitness aircraft of claim 1, wherein: the contained angle is 90 between the adjacent rotor arm of four rotor crafts, and four rotors are installed at same horizontal plane, and adjacent rotor revolves to the opposite direction.

3. the novel fitness aircraft of claim 1, wherein: the center of gravity of the four-rotor aircraft is fixed at the center of the spherical framework.

4. the novel fitness aircraft of claim 2, wherein: four rotor wings are installed on the plane where the great circle of spherical skeleton is located.

5. The novel fitness aircraft of claim 1, wherein: the quad-rotor aircraft includes: the motor, the rotor wing arm, the rotor wing and the machine body; the aircraft body is fixed at the center of the spherical framework and is provided with a power supply, a sensor, a flight control module and a camera.