KR101872295B1 - Apparatus for attitude stabilization of small unmanned aerial vehicle - Google Patents
Apparatus for attitude stabilization of small unmanned aerial vehicle Download PDFInfo
- Publication number
- KR101872295B1 KR101872295B1 KR1020150056088A KR20150056088A KR101872295B1 KR 101872295 B1 KR101872295 B1 KR 101872295B1 KR 1020150056088 A KR1020150056088 A KR 1020150056088A KR 20150056088 A KR20150056088 A KR 20150056088A KR 101872295 B1 KR101872295 B1 KR 101872295B1
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- KR
- South Korea
- Prior art keywords
- unmanned aerial
- aerial vehicle
- small unmanned
- blade
- blades
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
- B64C13/18—Initiating means actuated automatically, e.g. responsive to gust detectors using automatic pilot
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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- B64C2201/024—
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- B64C2201/141—
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- B64C2700/6283—
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
The present invention relates to a system for stabilizing the flight attitude of a small unmanned aerial vehicle mounted on a blade-based small unmanned aerial vehicle, and more particularly to a system for stabilizing the flight attitude of the small unmanned aerial vehicle, And a control module for controlling the RPM of the blade motor for driving the blades so that the small unmanned aerial vehicle automatically maintains a predetermined distance from the structure by receiving a signal from the sensor to grasp the distance to the structure in real time, . In addition, the control module controls the RPM of the blade motor by controlling the RPM of the blade motor so as to maintain a slope of the small unmanned aerial vehicle by receiving a signal from the ultrasonic sensor and grasping the inclination angle with the structure in real time.
Description
The present invention relates to a flight attitude stabilization system for a small unmanned aerial vehicle, and more particularly, to a system for stabilizing the flight attitude of a small unmanned aerial vehicle when a structure is monitored using a small unmanned aerial vehicle, And to a flight attitude stabilization system of a small UAV.
In recent years, a helicopter has been used to detect the situation of a forest fire or a disaster. However, intelligent flying robots are being actively studied to monitor the situation in real time by installing a wireless transceiver in a small unmanned aerial vehicle instead of a helicopter.
A small unmanned aerial vehicle (UAV) is a non-aviation aircraft that is called a drone, meaning that there is a person who adjusts remotely from the ground and is humming. These unmanned aerial vehicles are conventionally used as reconnaissance tables or used for military purposes, but recently they have been widely used for civilian and research purposes.
Various researches are currently underway to apply the unmanned aerial vehicle control technology to various fields such as document shooting and pesticide spraying. In the image analysis technology, development of technologies for replacing physical sensors such as fire monitoring and motion monitoring is proceeding to a considerable extent. Particularly, it is attracting attention as a multi-use monitoring and monitoring technology such as traffic control, weather information collection, forest fire prevention monitoring, and crackdown on illegal buildings. Therefore, in order to monitor using a small unmanned aerial vehicle, the importance of stable image and data collection without vibration is highlighted by operating the air vehicle wirelessly even if the monitoring personnel have no expert knowledge or experience.
The present invention has been made in view of the above points, and it is an object of the present invention to provide a method and apparatus for detecting a distance between a small unmanned aerial vehicle and a structure to be monitored in real time using an ultrasonic sensor, automatically maintaining the set altitude and distance, And to provide a flight attitude stabilization system of a small unmanned aerial vehicle for maintaining the same.
In order to achieve the above object, the present invention provides a system for stabilizing a flight attitude of a small unmanned aerial vehicle mounted on a blade-based small unmanned aerial vehicle, Ultrasonic sensors; And a controller for controlling the RPM of the blade motor to control the flight attitude by receiving the signal from the ultrasonic sensor and grasping the distance to the structure in real time to automatically maintain the distance set from the structure by the small unmanned aerial vehicle Module.
In addition, the control module receives a signal from the ultrasonic sensor, grasps the tilt angle with the structure in real time, and controls the RPM of the blade motor so as to maintain the tilt of the small unmanned aerial vehicle.
According to a preferred embodiment of the present invention, the ultrasonic sensor is preferably installed on a lower surface of the blade.
In addition, it is preferable that the small unmanned aerial vehicle is applied to any one of a quadcopter having four blades, a hexacopter having six blades, and a octocopter having eight blades.
According to the present invention, the ultrasonic sensor is used to control the RPM of the airplane blade according to the distance from the structure and the slope of the airplane, thereby achieving a stable autonomous flight.
1 is a block diagram of a flight attitude stabilization system for a small unmanned aerial vehicle according to an embodiment of the present invention;
2 is a view showing an inclination test of a small unmanned aerial vehicle according to an embodiment of the present invention.
These and other objects, features and other advantages of the present invention will become more apparent by describing in detail preferred embodiments of the present invention with reference to the accompanying drawings. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a detailed description will be made of a flight attitude stabilization system for a small unmanned aerial vehicle according to an embodiment of the present invention with reference to the accompanying drawings.
Referring to FIG. 1, a system for controlling a small unmanned aerial vehicle includes a
On the ground, the pilot uses the
In the embodiment of the present invention, the multi-copter is applied to the small unmanned
The multi-copter was developed by complementing the shortcomings of the helicopter, so that each of the neighboring props can be rotated in the opposite direction, so that stable posture control is possible without rotating the body. The more the number of plop, the stronger the power can be obtained, the takeoff and landing is very easy, and the stable flight control is also available. Multi-copter is divided into multi-copter and micro-copter according to the size, and it is divided into dual copter, tric copter, quad copter, hexacopter and octocopter according to the number of rotors that obtain lift and propulsion.
In the case of a typical airplane, the blades (blades) serve as a propeller to enable the helicopter to take off and land, while allowing a large space to remain in one place to stay within a space. Stable flight and various tasks can be performed.
It is possible to induce the rise and fall of the flying body by changing the intensity of the entire blade rotation speed according to the rotation method of the blade (Blade), and to change the blade speed of the front and rear (the front direction is X Axis), causing the pitch moment, and the roll moment by the left and right blade speed change, and the velocity change by bundling the left, right and front and back pairs at the same time, causes the yaw moment. In other words, compared to the conventional helicopter, the quadcopter like the UAV has a very simple operation principle, and basically has a gyro sensor for the attitude control, a terrestrial magnetism sensor for the adjuster-centric control, and a barometric pressure sensor for the altitude hold And can be skillfully controlled without expert knowledge of the attitude control of the aircraft,
The small unmanned
The
Also, the control module is connected to the various sensors to send image data and various sensor data to the terrestrial base station through wireless communication.
The
According to a preferred embodiment of the present invention, the
The small unmanned aerial vehicle may be a quad copter with four blades, a hexacopter with six blades, or an octopocor with eight blades, and the
Microsonic
The
The
FIG. 2 is a graph showing the inclination of a flying object according to the inclination angles of 0 °, 5 °, 10 °, and 15 ° of the ground with a distance of 100 cm from the obstacle on the wall, which is a structure of the small unmanned aerial vehicle according to the embodiment of the present invention It is appearance.
In Table 1, it can be seen that stable control of the inclination of the vehicle body is possible by maintaining the distance from the obstacle and using the inclination angle of the ground using the ultrasonic sensor. Therefore, it is possible to utilize the control of the motor rotational speed of the blade. In order to accurately measure the angles, there is a problem that the angles between the ultrasonic sensors must be exactly matched. However, due to the low-cost observation equipments currently available, the reliability of the accuracy values may be somewhat lowered. However, Since the experiment was conducted through the same method five times, the reliability of the objective to be tested is considered to be sufficient.
In this experiment, it was fixed so as to be able to maintain within 100Cm height from the ground while maintaining a distance of 100Cm from the obstacle such as the wall of the structure, and it was possible to control the inclination of the object by only the ultrasonic sensor.
If the aircraft is equipped with a quad-copter, four ultrasonic sensors will be installed on the front, rear, left and right blades of the quad-copter. The ultrasonic sensor alternately detects four ultrasonic sensors once every 0.1 second, and the
In addition, when octopus is applied to the aircraft, eight ultrasonic sensors are mounted, and four sensors are alternately sensed one at a time for 0.1 second to specify the distances of the obstacles to the front, rear, left and right, and control the blade motor 10 times per second At the same time, the remaining four ultrasonic sensors for tilt measurement were alternately sensed once every 0.1 second, and the system was programmed to control the blade motor 10 times per second. In this case, among the continuously measured values considering the size of the flying body for filtering, the reliability of the measured values below a certain size and over a certain size is filtered out from the ground.
The
That is, the
The RPM of the
Although the preferred embodiments of the present invention have been described, the present invention is not limited to the specific embodiments described above. It will be apparent to those skilled in the art that numerous modifications and variations can be made in the present invention without departing from the spirit or scope of the appended claims. And equivalents should also be considered to be within the scope of the present invention.
100.
200. Small unmanned
220.
Claims (4)
An ultrasonic sensor provided on a lower surface of the blade; And
The RPM of a blade motor that drives the blades is controlled to receive a signal from the ultrasonic sensor and to grasp the distance to the structure in real time so that the small unmanned aerial vehicle automatically maintains a predetermined distance from the structure, And controlling the RPM of the blade motor so as to maintain the slope of the tilt of the small unmanned aerial vehicle,
The small unmanned aerial vehicle includes four quadruple blades, six hexa-coaxial blades and eight octa-coaxial blades. In the case of the quad-copter, four ultrasonic sensors are alternately arranged one for one second for 0.1 second The two ultrasonic sensors measure the distance of the obstacle object in the front and rear, and the remaining two ultrasonic sensors are used for the tilt measurement. The control module controls the blade motor 10 times per second. In the case of the octocopter, Eight ultrasonic sensors are alternately sensed for each 0.1 second, four ultrasonic sensors measure the distance of the obstacle object on the front and rear, left and right, and the remaining four ultrasonic sensors are used for tilt measurement, and the control module controls the blade motor And controlling the RPM of each of the blades by controlling the rotor at 10 times per second. System.
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Families Citing this family (4)
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KR101707865B1 (en) * | 2016-11-28 | 2017-02-27 | 한국건설기술연구원 | Unmanned air vehicle system for approaching to photograph facility, and closeup method using the same |
CN108168522A (en) * | 2017-12-11 | 2018-06-15 | 宁波亿拍客网络科技有限公司 | A kind of unmanned plane observed object method for searching and correlation technique again |
CN108706096A (en) * | 2018-04-02 | 2018-10-26 | 夏贵荣 | A kind of holder by adjusting the movement of rotor distance controlling quadrotor drone |
CN111932812A (en) * | 2020-07-28 | 2020-11-13 | 东北林业大学 | Intelligent forest fire prevention system based on unmanned aerial vehicle |
Citations (2)
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JP2008290704A (en) * | 2007-05-23 | 2008-12-04 | Honeywell Internatl Inc | Method for vertical takeoff from and landing on inclined surfaces |
JP2015024705A (en) * | 2013-07-25 | 2015-02-05 | 有限会社Gen Corporation | Automatic landing/taking-off control method of small electric helicopter |
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KR20120081500A (en) | 2011-01-11 | 2012-07-19 | 유세혁 | The aerial device having rotors and the control method |
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Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008290704A (en) * | 2007-05-23 | 2008-12-04 | Honeywell Internatl Inc | Method for vertical takeoff from and landing on inclined surfaces |
JP2015024705A (en) * | 2013-07-25 | 2015-02-05 | 有限会社Gen Corporation | Automatic landing/taking-off control method of small electric helicopter |
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