CN213168530U - Many rotor crafts control system of medium is striden to empty amphibious of water - Google Patents
Many rotor crafts control system of medium is striden to empty amphibious of water Download PDFInfo
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- CN213168530U CN213168530U CN202021939908.6U CN202021939908U CN213168530U CN 213168530 U CN213168530 U CN 213168530U CN 202021939908 U CN202021939908 U CN 202021939908U CN 213168530 U CN213168530 U CN 213168530U
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Abstract
The utility model discloses a water-air amphibious cross-medium multi-rotor aircraft control system, which comprises a main controller, a driving subsystem, a monitoring subsystem, a counterweight subsystem, a communication subsystem and a sensor subsystem, which are arranged on the aircraft body; the driving subsystem comprises a first electric controller, a waterproof steering engine, a duct propeller and a waterproof brushless motor; the monitoring subsystem comprises a temperature and humidity sensor and a battery electric quantity detection module; the counterweight subsystem comprises a second electric controller and a pumping and drainage device connected with the second electric controller; the communication subsystem comprises a wireless communication module and a wired communication interface; the sensor subsystem comprises an inertial measurement sensor, a positioning module, a camera sensor and an underwater acoustic positioning module. The utility model discloses can control empty amphibious many rotors of medium aircraft of water in the flight of aerial steady, stable navigation under water and realize the transition of water-empty and empty-two kinds of motion media of water, it is strong to have control ability, advantages such as system structure is simple.
Description
Technical Field
The utility model relates to a many rotor unmanned aerial vehicle and underwater robot control system technical field, concretely relates to many rotor aircraft control system of medium are striden to empty amphibious of water.
Background
The water-air amphibious robot fully utilizes the advantages of high speed, wide detection coverage, strong timeliness and rapid response of the aircraft, simultaneously overcomes the problem that the unmanned aerial vehicle cannot finish navigation on the water surface or even in water, can quickly fly to an operation area, submerges into water to finish corresponding commands, and can be parked for standby or carry acquired data for return navigation after the task is finished, so that the task efficiency is improved, and the success rate of the task is increased. The water-air amphibious robot is applied to military affairs in that: the device can sail in two media of water and air, combines high maneuverability in the air with concealment in the water, and is suitable for marine anti-terrorism investigation, patrol and monitoring. In the civil field, the application scene of the water-air machine is wider, and a robot group consisting of a plurality of robots can be used for underwater searching and rescuing tasks and can also be used for remotely surveying water quality of rivers and oceans, exploring underwater topography and observing an ecological system. Although many relevant researches have been carried out domestically, most of the current researches are still in theoretical aspects.
Disclosure of Invention
To the above-mentioned not enough among the prior art, the utility model provides a many rotor crafts control system of medium is striden to empty amphibious of water.
In order to achieve the purpose of the invention, the utility model adopts the technical scheme that:
a water-air amphibious cross-medium multi-rotor aircraft control system comprises a main controller, a driving subsystem, a monitoring subsystem, a counterweight subsystem, a communication subsystem and a sensor subsystem, wherein the main controller, the driving subsystem, the monitoring subsystem, the counterweight subsystem, the communication subsystem and the sensor subsystem are arranged on an aircraft body;
the driving subsystem comprises a first electric controller connected with the main controller, waterproof steering engines fixed on the inner sides of the left and right end faces of the aircraft body and connected with the main controller, a duct propeller connected to the waterproof steering engines and a waterproof brushless motor arranged in a motor groove and connected with the first electric controller;
the monitoring subsystem comprises a temperature and humidity sensor and a battery electric quantity detection module which are respectively connected with the main controller;
the counterweight subsystem comprises a second electric controller connected with the main controller and a pumping and drainage device connected with the second electric controller;
the communication subsystem comprises a wireless communication module and a wired communication interface which are respectively connected with the main controller;
the sensor subsystem comprises an inertial measurement sensor, a positioning module, a camera sensor and an underwater acoustic positioning module which are respectively connected with the main controller.
Preferably, the main controller adopts STM32F407 micro control chip.
Preferably, the first electrically-controlled and waterproof steering engine in the driving subsystem is electrically connected with the power supply and the main controller through an aviation plug.
Preferably, the temperature and humidity sensor in the monitoring subsystem and the battery power detection module are electrically connected with the main controller through an IIC interface respectively.
Preferably, the second electricity in the counterweight subsystem is electrically connected with the power supply and the main controller through an aviation plug.
Preferably, the inertial measurement sensor in the sensor subsystem is electrically connected with the main controller through an IIC interface, and the positioning module, the camera sensor and the underwater acoustic positioning module are electrically connected with the main controller through serial ports.
Preferably, the inertial measurement sensor employs an MPU6050 gyroscope.
Preferably, the underwater acoustic positioning module comprises an underwater sensor integration module and a transponder.
Preferably, the underwater sensor integrated module comprises an 8-channel hydrophone, an inertial navigation system and a pressure sensor.
The utility model discloses following beneficial effect has:
the utility model discloses can control empty amphibious many rotor crafts of medium of striding of water at aerial steady flight, stable navigation under water and realize the transition of two kinds of motion media of water-empty and empty-water, it is stable to have the medium to stride across, and system structure is simple, advantages such as the program easily develops.
Drawings
Fig. 1 is the structure schematic diagram of the water-air amphibious multi-rotor aircraft control system.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and various changes may be made apparent to those skilled in the art within the spirit and scope of the present invention as defined and defined by the appended claims.
As shown in FIG. 1, the embodiment of the utility model provides a many rotor crafts control system of medium is striden to empty amphibious of water, including main control unit, the driver subsystem, monitoring subsystem, counter weight subsystem, communication subsystem and the sensor subsystem of setting on the aircraft fuselage.
The utility model discloses a main control unit is used for handling the data that the sensor obtained and accomplishes the control of various function actions, and the realization of this function can adopt STM32F407 microcontrol chip.
The driving subsystem of the utility model comprises a first electric controller connected with the main controller, a waterproof steering engine fixed on the inner sides of the left and right end faces of the aircraft body and connected with the main controller, a duct propeller connected on the waterproof steering engine and a waterproof brushless motor arranged in a motor groove and connected with the first electric controller; specifically, the first electrically-controlled and waterproof steering engine is electrically connected with the power supply and the main controller through the aviation plug. The main controller changes the duty ratio of the PWM wave input to the electric regulation to realize the control of the rotating speed of the waterproof brushless motor and the ducted propeller; when the main control board outputs PWM waves with different duty ratios to the waterproof steering engine, the PWM waves can rotate by different angles, and when the rotation angles of the waterproof steering engine are different, the thrust directions provided for the engine body by the duct propeller are also different. And the waterproof brushless motors with certain rotating speeds are mutually matched to realize stable flight of the aircraft body in the air and stable navigation in water.
The monitoring subsystem of the utility model comprises a temperature and humidity sensor and a battery power detection module which are respectively connected with a main controller; specifically, the temperature and humidity sensor is electrically connected with the main controller through the IIC interface, and the temperature and humidity sensor can monitor the humidity inside the control box and the temperature of the main controller in real time, so that whether water leaks inside the control box or not is judged, and the running state of the main controller is monitored; the battery power detection module is electrically connected with the main controller through the IIC interface, and through the battery power monitoring module, an operator can monitor the condition of the aircraft battery and collect battery states such as battery voltage, current, power and residual power.
The counterweight subsystem of the utility model comprises a second electricity adjusting device connected with the main controller and a water pumping and draining device connected with the second electricity adjusting device; specifically, the second electrical trim is electrically connected to the power supply and the main controller via an aviation plug. The counterweight subsystem can rapidly change the weight of the machine body in the process of water-air and air-water motion medium conversion of the machine body, so that the machine body can rapidly ascend and descend, and the stability of the machine body in the motion medium conversion process is ensured.
The communication subsystem of the utility model comprises a wireless communication module and a wired communication interface which are respectively connected with a main controller; the wireless communication module can receive command information from the outside and transmit information such as body posture, position, battery power, humidity in the control box, temperature of the main controller and the like to the outside. The communication subsystem enables the machine body to be compatible with wired communication by reserving a wired communication interface, so that the machine body can communicate in a wired mode and a wireless mode.
The sensor subsystem of the utility model comprises an inertial measurement sensor, a positioning module, a camera sensor and an underwater acoustic positioning module which are respectively connected with a main controller; specifically, an inertial measurement sensor in the sensor subsystem is electrically connected with a main controller through an IIC interface, and a positioning module, a camera sensor and an underwater acoustic positioning module are electrically connected with the main controller through serial ports.
The inertial measurement sensor adopts an MPU6050 gyroscope, and the main controller acquires self acceleration and angular velocity information through the inertial measurement sensor, so that the posture of the machine body is calculated.
The camera sensor collects an environmental picture in front of the body, the environmental picture is processed by the main controller and then transmitted to the remote receiving end by the communication system, and the remote receiving end generates an image according to the received picture information and displays the image in front of an operator by the LCD. The camera module can provide video acquisition function for unmanned aerial vehicle, and this will help operator's direction adjustment and video information record.
The positioning module adopts a GPS positioning module, and can obtain the position information of the machine body in the air.
The main controller realizes Ethernet connection through a serial port to communicate with the USBL underwater acoustic positioning module, and the Subsonnus is composed of an underwater sensor integration module and an transponder. The underwater sensor integration module comprises 8-channel hydrophones, an inertial navigation system and a pressure sensor, and the USBL underwater acoustic positioning module susonus can provide accurate acoustic course, absolute position and underwater speed for an underwater organism.
The working principle of the control system of the present invention will be described in detail below.
When flying in the air, the MPU6050 inertial measurement sensor senses the state of the aircraft, and transmits the angular speed and the acceleration of the current body to the main controller STM32F407 through IIC communication; the GPS positioning module provides position information including height for the machine body and transmits the position information to the main controller STM32F407 through the serial port. After obtaining the information, the main controller STM32F407 calculates the current posture of the machine body, so that the rotating speed of the motor is adjusted according to the state of the machine body, and self posture correction is completed. When an operator sends an instruction to the main controller STM32F407 through the communication system, the main controller reads attitude instruction information by combining the current machine body attitude and calculates the duty ratio of the PWM wave required by the power regulation input end connected with each motor, the rotating speed of the waterproof brushless motor is controlled by the PWM waves with different duty ratios, the stress condition on the machine body is changed, and therefore the corresponding action instruction is completed. The PWM control end is connected with the input end of the electric regulator, and the electric regulator provides different power for the waterproof brushless motor according to different input PWM duty ratios. Therefore, the water-air amphibious cross-medium multi-rotor aircraft can be controlled to finish actions such as hovering, ascending and descending, advancing and retreating, yawing and the like in the air by changing the output duty ratio of the PWM control end.
When the machine body transits from air flight to underwater navigation, the main controller STM32F407 combines the position information provided by the GPS positioning module and the machine body attitude information measured by the MPU6050 inertial measurement sensor to enable the machine body to be quickly stabilized at a fixed height of 5-10 meters away from the sea surface according to the control mode during air flight. The main controller STM32F407 then controls the body to slowly descend to the surface at a fixed speed. When a pressure sensor in the underwater integrated sensor module monitors that the aircraft body stops on the water surface, the main controller STM32F407 controls the water suction and discharge device to start sucking a large amount of water into the aircraft body, the weight of the aircraft is increased, and the aircraft sinks quickly. In the middle of the sinking process of the machine body, the main controller can control the waterproof brushless motor according to the attitude information provided by the MPU6050 inertia measurement sensor, and the waterproof steering engine and the duct propeller keep the self attitude stable. When a pressure sensor in the underwater integrated sensor module monitors that the machine body is sunk into the water, the main controller STM32F407 controls the water suction and drainage device to stop working, the waterproof brushless motor rotates reversely, and the waterproof steering engine rotates to enable the duct propeller to be perpendicular to the machine body to provide power for the machine body to sink.
When the organism navigates underwater, the MPU6050 inertial measurement sensor measures the posture of the organism, and the USBL underwater acoustic positioning module susonus provides the underwater acoustic course, absolute position and underwater speed of the organism for the main controller STM32F 407. The water depth of the body can be obtained by a pressure sensor in the USBL underwater acoustic positioning module Subsonnus; the USBL acoustic positioning system composed of the hydrophone, the transponder and the receiver provides the position, the speed and the heading of the machine body on an underwater plane coordinate (in the specific working process, the hydrophone sends out an acoustic pulse, the acoustic pulse is sent back after the transponder fixed on the water surface receives the acoustic pulse, the receiver receives the acoustic pulse, the phase difference of X, Y in two directions is measured, the distance R from the transponder to the underwater integrated sensor module is calculated according to the arrival time of the acoustic wave, and the position of the machine body on the plane coordinate and the speed and the heading of the underwater machine body are calculated and obtained). When an operator sends a control instruction to the main controller STM32F407 through the communication system, the main controller STM32F407 combines the posture, the position and the navigation of the machine body in the current water to read the posture instruction information and calculate the PWM wave duty ratio of the corresponding electric regulation of the waterproof brushless motor and the culvert propeller and the corresponding input of the waterproof steering engine, so that the stress condition of the machine body in the water is changed, and the actions of ascending, descending, hovering, advancing, retreating, steering and the like are completed.
When the organism was excessive to air flight by navigation under water, main control unit STM32F407 control duct propeller and waterproof brushless motor all provided the decurrent thrust of perpendicular fuselage, let the organism arrive the surface of water fast, when pressure sensor in the integrated sensor module under water detected the organism top when the surface of water, main control unit STM32F407 control was inhaled the water in the drainage device outside discharge organism to the organism can float in the surface of water fast. In the process, the main controller STM32F407 controls the waterproof brushless motor, and the waterproof steering engine and the duct propeller cooperate together to keep the body posture of the water-proof brushless motor stable. After arriving the surface of water, main control unit STM32F407 control duct propeller stop work, and waterproof steering wheel resets, and 6 waterproof brushless motor simultaneous working drive organism take off perpendicularly from the surface of water.
During the exercise, the communication system uses radio communication when the body flies in the air; and when the organism navigates in water, the voice communication module is used for communication. For the camera sensor, images of the surrounding environment of the body can be collected at any time according to commands of an operator and sent to the main controller STM32F407 through a serial port, and the images are processed by the main controller STM32F407 and then sent to the remote operator through a communication system. Temperature and humidity sensor is responsible for the humidity in the whole monitoring control box and main control unit's temperature, and data pass through IIC and pass to main control unit STM32F407, so main control unit STM32F407 can be based on how much the judgement control box of humidity leaks in the control box, if the organism appears leaking, main control unit STM32F407 sends corresponding warning to remote operating personnel through communication module. And the battery electric quantity monitoring module transmits battery state information such as battery voltage, current, power and residual electric quantity to the main controller through the IIC, and the information is processed by the main controller STM32F407 and then transmitted to a remote operator through the communication module.
The present invention has been explained by using specific embodiments, and the explanation of the above embodiments is only used to help understand the method and the core idea of the present invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the specific implementation and application scope, to sum up, the content of the present specification should not be understood as the limitation of the present invention.
It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention, and it is to be understood that the scope of the invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific modifications and combinations based on the teachings of the present invention without departing from the spirit of the invention, and such modifications and combinations are still within the scope of the invention.
Claims (9)
1. A water-air amphibious cross-medium multi-rotor aircraft control system is characterized by comprising a main controller, a driving subsystem, a monitoring subsystem, a counterweight subsystem, a communication subsystem and a sensor subsystem, wherein the main controller, the driving subsystem, the monitoring subsystem, the counterweight subsystem, the communication subsystem and the sensor subsystem are arranged on an aircraft body;
the driving subsystem comprises a first electric controller connected with the main controller, waterproof steering engines fixed on the inner sides of the left and right end faces of the aircraft body and connected with the main controller, a duct propeller connected to the waterproof steering engines and a waterproof brushless motor arranged in a motor groove and connected with the first electric controller;
the monitoring subsystem comprises a temperature and humidity sensor and a battery electric quantity detection module which are respectively connected with the main controller;
the counterweight subsystem comprises a second electric controller connected with the main controller and a pumping and drainage device connected with the second electric controller;
the communication subsystem comprises a wireless communication module and a wired communication interface which are respectively connected with the main controller;
the sensor subsystem comprises an inertial measurement sensor, a positioning module, a camera sensor and an underwater acoustic positioning module which are respectively connected with the main controller.
2. A water-air amphibious cross-medium multi-rotor aircraft control system according to claim 1, wherein the master controller employs an STM32F407 micro-control chip.
3. An air-water amphibious cross-medium multi-rotor aircraft control system according to claim 1, wherein the first electrically-controlled and waterproof steering engine in the drive subsystem is electrically connected with a power supply and a main controller through an aviation plug.
4. The water-air amphibious cross-medium multi-rotor aircraft control system according to claim 1, wherein the temperature and humidity sensor in the monitoring subsystem and the battery power detection module are electrically connected with the main controller through IIC interfaces respectively.
5. A water-air amphibious cross-medium multi-rotor aircraft control system according to claim 1, wherein the second electricity in the counterweight subsystem is electrically connected with a power supply and a main controller through an aviation plug.
6. An air-water amphibious cross-medium multi-rotor aircraft control system according to claim 1, wherein an inertial measurement sensor in the sensor subsystem is electrically connected with a main controller through an IIC interface, and a positioning module, a camera sensor and an underwater acoustic positioning module are electrically connected with the main controller through serial ports.
7. A water-air amphibious cross-medium multi-rotor aircraft control system according to claim 1 or 6, wherein the inertial measurement sensor employs an MPU6050 gyroscope.
8. An amphibious cross-media multi-rotor aircraft control system according to claim 1 or claim 6, wherein the underwater acoustic positioning module comprises an underwater sensor integration module and a transponder.
9. An air-water amphibious cross-media multi-rotor aircraft control system according to claim 8, wherein the underwater sensor integration module comprises an 8-channel hydrophone, an inertial navigation system, and a pressure sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021939908.6U CN213168530U (en) | 2020-09-08 | 2020-09-08 | Many rotor crafts control system of medium is striden to empty amphibious of water |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021939908.6U CN213168530U (en) | 2020-09-08 | 2020-09-08 | Many rotor crafts control system of medium is striden to empty amphibious of water |
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| CN213168530U true CN213168530U (en) | 2021-05-11 |
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| CN202021939908.6U Active CN213168530U (en) | 2020-09-08 | 2020-09-08 | Many rotor crafts control system of medium is striden to empty amphibious of water |
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