CN103287578A - General miniature unmanned aerial vehicle - Google Patents
General miniature unmanned aerial vehicle Download PDFInfo
- Publication number
- CN103287578A CN103287578A CN2012100560377A CN201210056037A CN103287578A CN 103287578 A CN103287578 A CN 103287578A CN 2012100560377 A CN2012100560377 A CN 2012100560377A CN 201210056037 A CN201210056037 A CN 201210056037A CN 103287578 A CN103287578 A CN 103287578A
- Authority
- CN
- China
- Prior art keywords
- aircraft
- camera
- lithium polymer
- polymer battery
- control module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a general miniature unmanned aerial vehicle. The general miniature unmanned aerial vehicle structurally comprises a server (I) and a server (II) which are positioned on left and right wings of the aerial vehicle, wherein wingtips and ailerons are connected with the tail ends of the left and right wings; a brushless electronic speed-regulating module and a flight control module are respectively embedded into a body of an aircraft, and keep sealed; a propeller is arranged on a brushless motor; the flight control module is connected with an air speed sensor which is positioned at the right upper end of the aircraft; a lithium polymer battery is arranged on a nose; a battery compartment cover covers the lithium polymer battery; a camera is adjacent to the lithium polymer battery; a camera compartment cover covers the camera. The general miniature unmanned aerial vehicle is high in self-detectivity on a barrier, small in size, light in weight, waterproof, high in integration degree and easy to take off, and can completely get rid of the intervention control from ground staff.
Description
Technical field
The present invention relates to a kind of micro universal unmanned vehicle, is a kind of autonomous and micro universal aircraft with practicality specifically.
Background technology
The intervention control that active service is small-sized, Micro Aerial Vehicle can not be completely free of the people, take off or the landing process in, what need ground staff's remote control to finish, can not evade vector automatically and on the landing course line autonomous detecting obstacles thing, so there is very big potential safety hazard in the remote task.
Conventional small, Micro Aerial Vehicle mostly have been the tail layout, and thrust-weight ratio is low, and length is many about 2m, and other peripheral attendant equipments are more, not only carry inconvenience, and taking off also needs bigger place, even use the launching cradle catapult-assisted take-off, therefore, the landing place is restricted greatly.
Tradition unmanned plane integrated level is low, inaccurate coordination between the airborne equipment, and the user must check one by one whether each equipment is in mode of operation before taking off, whether each switch correct position etc., has carelessness just can cause this to rise and fall slightly and has an accident.
Summary of the invention
The objective of the invention is to: a kind of micro universal unmanned vehicle is provided, and the detectability of its autonomous obstacle is strong, and volume is little, and quality is light, waterproof, and integrated level is high, and it is simple to operate to take off, and can be completely free of surface work personnel's intervention control.Actv. has solved the many disadvantages that prior art exists.To achieve these goals, the present invention is by the following technical solutions:
A kind of micro universal unmanned vehicle of the present invention, structure comprises servomechanism I, the servomechanism II that is positioned on the wing of the aircraft left and right sides, left and right sides wing tail end is connected with wingtip, aileron, brushless electronic speed adjusting module and flight control module embed in the airframe respectively and keep sealing state, brushless electronic speed adjusting module one end links to each other with the brushless motor that is positioned at airplane tail group, one end is connected with the flight control module, and the other end connects lithium polymer battery; Screw propeller is installed on the brushless motor, and the flight control module links to each other with the airspeed sensor that is positioned at the aircraft upper right side, and two ends directly link to each other with lithium polymer battery, camera respectively in addition; Lithium polymer battery is installed in head, and its outside is covered with the battery compartment cover, and adjacent with lithium polymer battery is camera, and the camera outside is covered with camera storehouse cover.
Described flight control module comprises three axis angular rate sensors, 3-axis acceleration sensor, three magnetoresistive transducers, GPS module, Pitot meter, external ultrasonic transduter, atmospheric-pressure sensor, flight-control computer; Link to each other about three axis angular rate sensors and 3-axis acceleration sensor, link to each other about three magnetoresistive transducers and GPS module, three magnetoresistive transducers, Pitot meter and atmospheric-pressure sensor upper, middle and lowers link to each other.
Described aircraft model structure is triangle all-wing aircraft structure, and body uses material to be EPP, adopts CNC processing.
Described aircraft span 1m, thick 4cm, effectively lift-off mass 500g adopts the brushless power pack of tail pushing-type, and lithium gathers electrical source of power, and the practical ceiling is 2000m, the speed per hour of taking photo by plane 80km, task radius 20km
Beneficial effect of the present invention:
The present invention adopts the simplest and most effective triangle all-wing aircraft structure, the few fault rate of mechanical part is low, body has effectively been taken into account weight and the intensity of aircraft and has been had extremely strong shock resistance, adopt CNC processing, guarantee the working accuracy of aircraft, reduce good streamline moulding and aerodynamic arrangement, guaranteed the demand of quick volume production simultaneously, the aircraft volume is little, and effectively lift-off mass 500g adopts the brushless power pack of tail pushing-type, lithium gathers electrical source of power, the practical ceiling is 2000m, the speed per hour of taking photo by plane 80km, task radius 20km.Carry special-purpose flight controller and sensor and realize flying to landing omnidistance autonomous, by the GPS direction finding course, finish the course line that pre-sets in the flight course, in the process of cruising, can independently judge emergent obstacle and hide.Be equipped with the surface work station, the planning vector, the home position of real time monitoring aircraft, direction, highly, flying speed, battery electric quantity etc.Have the high-mobility, multipurpose, wheeled vehicle mission module, according to the demand of different industries, can carry distinct device at mission module, finish and take photo by plane, atmospheric surveillance, different aerial missions such as signal relaying.The circuit layout of innovation and novel operating mode, entire circuit does not partly have source switch, has saved the hidden danger that the switch bad contact brings, and has saved part weight yet.
Description of drawings
Fig. 1 is three-dimensional structure diagram of the present invention;
Fig. 2 is birds-eye view of the present invention;
Fig. 3 is upward view of the present invention;
Fig. 4 is lateral plan of the present invention;
Fig. 5 is major equipment connection diagram of the present invention;
Fig. 6 is first step application drawing of the present invention;
Fig. 7 is the present invention's second step application drawing;
Fig. 8 flight control module of the present invention constructional drawing.
Numeral is among the figure: the beneficial tip 1, aileron 2, servomechanism I 3, brushless electronic speed adjusting module 4, camera 5, phase cabin cover 6, battery compartment cover 7, lithium polymer battery 8, flight control module 9, airspeed sensor 10, servomechanism II 11, screw propeller 12, brushless motor 13, three axis angular rate sensors 14,3-axis acceleration sensor 15, three magnetoresistive transducers 16, GPS module 17, Pitot meter 18, external ultrasonic transduter 19, atmospheric-pressure sensor 20, flight-control computer 21.
The specific embodiment
Structure of the present invention comprises servomechanism I 3, the servomechanism II 11 that is positioned on the wing of the aircraft left and right sides, left and right sides wing tail end is connected with wingtip 1, aileron 2, brushless electronic speed adjusting module 4 and flight control module 9 embed in the airframe respectively and keep sealing state, brushless electronic speed adjusting module 4 one ends link to each other with the brushless motor 13 that is positioned at airplane tail group, one end is connected with flight control module 9, and the other end connects lithium polymer battery 8; Screw propeller 12 is installed on the brushless motor 13, and flight control module 9 links to each other with the airspeed sensor 10 that is positioned at the aircraft upper right side, and two ends directly link to each other with lithium polymer battery 8, camera 5 respectively in addition; Lithium polymer battery 8 is installed in head, and its outside is covered with battery compartment cover 7, and adjacent with lithium polymer battery 8 is camera 5, and the camera outside is covered with camera storehouse cover 6.
Wherein, flight control module 9 is by three axis angular rate sensors 14,15, three magnetoresistive transducers 16 of 3-axis acceleration sensor, and GPS module 17, Pitot meter 18, external ultrasonic transduter 19, atmospheric-pressure sensor 20, flight-control computer 21 is formed.
Principle of work:
Aircraft is equipped with high-performance flight control computing machine, and carries three axis angular rate sensors, 3-axis acceleration sensor, three magnetoresistive transducers, atmospheric-pressure sensor, Pitot meter, ultrasonic detector and 10hzGPS module.Before the aircraft takeoff, set vector in ground station, the course line will reach the flight-control computer in the aircraft with the numerical value of longitude and latitude in form, simultaneously target flying height and cruising speed will be uploaded in the flight-control computer.After 3-axis acceleration sensor detects body and is rocked three times by level, flight-control computer enters pattern to be taken off, the flight-control computer behind the aircraft of dishing out carries out integral operation with the data that three axis angular rate sensors and 3-axis acceleration sensor collect, draw the attitude information of current aircraft in the space, for aspect being adjusted to correct take-off climb attitude, flight-control computer sends corresponding action command to the steering wheel of each rudder face of control incessantly, up to flight attitude being adjusted to the correct attitude of climbing, the Pitot meter air speed climbing speed up to specification whether that detects aircraft meanwhile, if do not meet, flight-control computer will be controlled electronic governor and accelerate or reduce motor speed to cooperate the needed power of specified speed.
When flight-control computer judges that the detected bar pressure of weather gauge meets task height, stop to send the instruction of climbing to each rudder face and power system.The stabilized flight attitude keeps the flat state that flies under the cooperation of acceleration/accel, angular velocity sensor simultaneously, and weather gauge and Pitot meter keep high speed and the speed of flight to meet the requirement of cruising.
The GPS module collects the current geographic coordinates position of aircraft, and flight-control computer is compared this position and planned the coordinate figure in course line before, and the course information that cooperates three magnetoresistive transducers to collect, and the control aircraft is in strict accordance with airline operation.When ultrasonic detector detected the place ahead, course line 50m and obstacle occurs, flight-control computer will be no longer according to airline operation, but takes avoiding action at once, makes the aircraft avoiding obstacles, continues to return contemplated route cruising flight afterwards.
After finishing all course lines, flight-control computer changes the landing pattern over to, and by the rate of descent of the barometrical information control aircraft that collects, GPS navigation makes aircraft return takeoff point, and acceleration/accel, angular velocity sensor control downslide attitude are with the attitude landing of safety.
The announcement of book and instruction according to the above description, those skilled in the art in the invention can also change and revise above-mentioned embodiment.Therefore, the specific embodiment that discloses and describe above the present invention is not limited to also should fall in the protection domain of claim of the present invention modifications and changes more of the present invention.In addition, although used some specific terms in this specification sheets, these terms do not constitute any restriction to the present invention just for convenience of description.
Claims (4)
1. micro universal unmanned vehicle, it is characterized in that: structure comprises servomechanism I, the servomechanism II that is positioned on the wing of the aircraft left and right sides, left and right sides wing tail end is connected with wingtip, aileron, brushless electronic speed adjusting module and flight control module embed in the airframe respectively and keep sealing state, brushless electronic speed adjusting module one end links to each other with the brushless motor that is positioned at airplane tail group, one end is connected with the flight control module, and the other end connects lithium polymer battery; Screw propeller is installed on the brushless motor, and the flight control module links to each other with the airspeed sensor that is positioned at the aircraft upper right side, and two ends directly link to each other with lithium polymer battery, camera respectively in addition; Lithium polymer battery is installed in head, and its outside is covered with the battery compartment cover, and adjacent with lithium polymer battery is camera, and the camera outside is covered with camera storehouse cover.
2. according to the described a kind of micro universal unmanned vehicle of claim 1, it is characterized in that: described flight control module comprises three axis angular rate sensors, 3-axis acceleration sensor, three magnetoresistive transducers, the GPS module, Pitot meter, external ultrasonic transduter, atmospheric-pressure sensor, flight-control computer; Link to each other about three axis angular rate sensors and 3-axis acceleration sensor, link to each other about three magnetoresistive transducers and GPS module, three magnetoresistive transducers, Pitot meter and atmospheric-pressure sensor upper, middle and lowers link to each other.
3. according to the described a kind of micro universal unmanned vehicle of claim 1, it is characterized in that: described aircraft model structure is triangle all-wing aircraft structure, and body uses material to be EPP, adopts CNC processing.
4. according to the described a kind of micro universal unmanned vehicle of claim 1, it is characterized in that: described aircraft span 1m, thick 4cm, effectively lift-off mass 500g adopts the brushless power pack of tail pushing-type, and lithium gathers electrical source of power, the practical ceiling is 2000m, the speed per hour of taking photo by plane 80km, task radius 20km.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210056037.7A CN103287578B (en) | 2012-03-01 | 2012-03-01 | General miniature unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210056037.7A CN103287578B (en) | 2012-03-01 | 2012-03-01 | General miniature unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103287578A true CN103287578A (en) | 2013-09-11 |
| CN103287578B CN103287578B (en) | 2015-07-01 |
Family
ID=49089237
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210056037.7A Expired - Fee Related CN103287578B (en) | 2012-03-01 | 2012-03-01 | General miniature unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103287578B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104635742A (en) * | 2013-11-13 | 2015-05-20 | 四川豪斯特电子技术有限责任公司 | Unmanned aerial vehicle flight control device |
| CN105129097A (en) * | 2015-09-09 | 2015-12-09 | 天峋创新（北京）科技有限公司 | Unmanned aerial vehicle capable of taking off and landing vertically |
| CN106516083A (en) * | 2016-08-01 | 2017-03-22 | 西北农林科技大学 | Winglet rotation device of minitype fixed wing unmanned aerial vehicle |
| CN107618662A (en) * | 2017-09-27 | 2018-01-23 | 南方科技大学 | Vertical take-off and landing fixed wing aircraft with rear-mounted propeller |
| WO2018076535A1 (en) * | 2016-10-25 | 2018-05-03 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle, battery compartment assembly, and battery compartment |
| WO2019041678A1 (en) * | 2017-08-28 | 2019-03-07 | 深圳市大疆创新科技有限公司 | Control device, photographing device, mobile body, control method and program |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101804865A (en) * | 2010-03-16 | 2010-08-18 | 北京航空航天大学 | Small multi-purpose unmanned aerial vehicle |
| US8123160B2 (en) * | 2003-10-02 | 2012-02-28 | Israel Aerospace Industries Ltd. | Aircraft configuration for micro and mini UAV |
| CN202574623U (en) * | 2012-03-01 | 2012-12-05 | 贵州帝三数字技术有限公司 | Miniature universal unmanned aircraft |
-
2012
- 2012-03-01 CN CN201210056037.7A patent/CN103287578B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8123160B2 (en) * | 2003-10-02 | 2012-02-28 | Israel Aerospace Industries Ltd. | Aircraft configuration for micro and mini UAV |
| CN101804865A (en) * | 2010-03-16 | 2010-08-18 | 北京航空航天大学 | Small multi-purpose unmanned aerial vehicle |
| CN202574623U (en) * | 2012-03-01 | 2012-12-05 | 贵州帝三数字技术有限公司 | Miniature universal unmanned aircraft |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104635742A (en) * | 2013-11-13 | 2015-05-20 | 四川豪斯特电子技术有限责任公司 | Unmanned aerial vehicle flight control device |
| CN105129097A (en) * | 2015-09-09 | 2015-12-09 | 天峋创新（北京）科技有限公司 | Unmanned aerial vehicle capable of taking off and landing vertically |
| CN106516083A (en) * | 2016-08-01 | 2017-03-22 | 西北农林科技大学 | Winglet rotation device of minitype fixed wing unmanned aerial vehicle |
| WO2018076535A1 (en) * | 2016-10-25 | 2018-05-03 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle, battery compartment assembly, and battery compartment |
| WO2019041678A1 (en) * | 2017-08-28 | 2019-03-07 | 深圳市大疆创新科技有限公司 | Control device, photographing device, mobile body, control method and program |
| CN109863460A (en) * | 2017-08-28 | 2019-06-07 | 深圳市大疆创新科技有限公司 | Control device, photographic device, moving body, control method and program |
| CN107618662A (en) * | 2017-09-27 | 2018-01-23 | 南方科技大学 | Vertical take-off and landing fixed wing aircraft with rear-mounted propeller |
| CN107618662B (en) * | 2017-09-27 | 2023-11-14 | 南方科技大学 | Vertical take-off and landing fixed wing aircraft with rear propeller |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103287578B (en) | 2015-07-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10276051B2 (en) | Dynamic collision-avoidance system and method | |
| EP3243749B1 (en) | Unmanned aerial vehicle (uav) having vertical takeoff and landing (vtol) capability | |
| CN107132851B (en) | Unmanned aerial vehicle flight navigation control system | |
| CN103287578B (en) | General miniature unmanned aerial vehicle | |
| CN202574623U (en) | Miniature universal unmanned aircraft | |
| CN111094131B (en) | System for charging an aircraft | |
| CN106945827B (en) | Floating body throwing type amphibious four-rotor unmanned aerial vehicle | |
| CN204229233U (en) | A kind of many rotor wing unmanned aerial vehicles automatic flight control system | |
| CN111132900A (en) | Asymmetric CAN-based communication for aircraft | |
| US9849983B2 (en) | Aerodynamically shaped, active towed body | |
| CN100356281C (en) | Automatic pilot for aircraft | |
| US11851176B1 (en) | Injection molded wing structure for aerial vehicles | |
| AU2019100363A4 (en) | Unmanned Aerial Vehicle And Its Program Control Device Unmanned Aerial Vehicle And Its Program Control Device | |
| CN205168905U (en) | Stationary vane aerial survey unmanned aerial vehicle | |
| JP2015530954A5 (en) | ||
| CN204297114U (en) | A kind of can high-altitude location four-axle aircraft | |
| CN105974494A (en) | Radio-sondage system based on dual-redundancy fixed wing unmanned aerial vehicle | |
| US11307583B2 (en) | Drone with wide frontal field of view | |
| WO2018032430A1 (en) | Intelligent unmanned aerial vehicle system | |
| CN106114817A (en) | A kind of aircraft and flight system | |
| CN206615393U (en) | A kind of floating body casts amphibious four rotor wing unmanned aerial vehicle of formula aside | |
| CN205293058U (en) | Conveniently carry on fixed wing uavs of jumbo size loading device | |
| Tanaka et al. | Development of an autonomous flying robot and its verification via flight control experiment | |
| CN206249103U (en) | A kind of unmanned aerial vehicle control system | |
| US20230264838A1 (en) | Multipurpose and long endurance hybrid unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| DD01 | Delivery of document by public notice |
Addressee: Patent director of Guizhou Didan Digital Technology Co., Ltd Document name: Notice of termination of patent |
|
| DD01 | Delivery of document by public notice | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150701 Termination date: 20200301 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |