CN204613745U - A multifunctional small quadrotor aircraft - Google Patents
A multifunctional small quadrotor aircraft Download PDFInfo
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- CN204613745U CN204613745U CN201520028807.6U CN201520028807U CN204613745U CN 204613745 U CN204613745 U CN 204613745U CN 201520028807 U CN201520028807 U CN 201520028807U CN 204613745 U CN204613745 U CN 204613745U
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- 238000001514 detection method Methods 0.000 claims abstract description 20
- 238000004891 communication Methods 0.000 claims abstract description 10
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- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
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Abstract
本实用新型涉及一种基于STM32ZET6处理器实现GPS定位、航向检测及控制、气压检测、温湿度检测、图像采集、无线通讯、数据存数功能的多功能小型四旋翼飞行器，包括一个单片机控制器、四个无刷电机、加速度传感器、陀螺仪传感器、温湿度传感器、GPS模块、气压传感器、磁场传感器和液晶显示。我们设计的小型四旋翼飞行器可实现农田的大面积温湿度测量、气压测量，也可实现校园、农田航拍，利用磁场传感器及GPS亦可实现导航的功能。
The utility model relates to a multifunctional small four-rotor aircraft based on the STM32ZET6 processor to realize GPS positioning, heading detection and control, air pressure detection, temperature and humidity detection, image acquisition, wireless communication, and data storage functions, including a single-chip controller, Four brushless motors, acceleration sensor, gyro sensor, temperature and humidity sensor, GPS module, air pressure sensor, magnetic field sensor and LCD display. The small quadrotor aircraft we designed can realize large-area temperature and humidity measurement and air pressure measurement of farmland, and can also realize aerial photography of campuses and farmland, and can also realize navigation functions by using magnetic field sensors and GPS.
Description
Technical field
The present invention is a kind of multifunctional small-size quadrotor, relates to sensor detecting, mathematics, Theory of Automatic Control, navigational system, wireless transmission and field of computer technology.
Background technology
In the last few years, unmanned vehicle was more and more subject to the favor of people.Unmanned vehicle compares with manned vehicle that to have volume less, maneuverability is stronger, the features such as flight performance is more remarkable, and is applicable to multiple rugged surroundings, most importantly be that of avoiding the operation of driver under hazardous environment, therefore it militarily all has good using value with commercial.
Unmanned vehicle typically refers to unmanned and can the aircraft of autonomous flight.Unmanned vehicle can be divided into rotor unmanned aircraft and fixed-wing unmanned vehicle two kinds.The time that fixed-wing unmanned vehicle occurs, comparatively early and technology was quite ripe, but very harsh to conditional requests such as places, and rotor unmanned aircraft compensate for the defect of fixed-wing because of advantages such as its volume is little, mobility strongs.Quadrotor belongs to the one in rotor unmanned aircraft, it can when place is limited vertical takeoff and landing.Quadrotor mainly utilize four independently motor drive and take full advantage of positive and negative oar and counteract anti-twisted moment, by regulating motor speed just can realize the gesture stability of quadrotor, thus realize quadrotor rising, spiral or the action such as landing.For traditional rotary aircraft, quadrotor has structure more closely, and the lift that can provide is also larger.Along with micron science and technology and the upgrading of various sensor (as MEMS) and miniaturization, quadrotor is more and more miniaturization and practical also, and its value contained also highlights all the more.
Current, quadrotor still there is a lot of gordian technique and a scientific research difficult problem needs to solve, and wherein some problem may all be difficult to solve with existing condition.Therefore, how can design and to meet quadrotor flight requirement and the control system with good stability, be the subject matter that current control field faces.Quadrotor is particularly suitable for flying in environment near the ground, and this rotor craft can carry video camera, instrument of surveying and mapping etc., carries out monitoring, the task such as investigation under special environment.Unique profile, simple mechanism, cheap cost has made quadrotor become as new study hotspot.The research field of quadrotor is very wide, the present invention meets quadrotor flight and requires by designing and have the control system of good stability, in conjunction with GPS location and navigation, Heading control, air pressure detection, Temperature and Humidity, take photo by plane, wireless communication function realizes a kind of multifunctional small-size quadrotor.
Summary of the invention
The present invention be take photo by plane to realize campus, farmland investigation, disaster are searched and rescued, GPS location, the integrated system of climatic environment monitoring several functions, the present invention proposes a kind of multifunctional small-size quadrotor.
The present invention realizes electric quantity detection function, the AD acquisition function carried by STM32 processor, though gather the voltage after supply voltage little ten times, to be combined with four motor speeds and to obtain the actual electricity of battery amplifying ten times of reduction through program, when electricity deficiency, automatic steady lands.
The present invention realizes GPS positioning function, and the UART serial port resource carried by STM32 processor in real time and GPS sensor communication, is obtained coordinate data, sends to ground remote control part, obtain real-time positional information.
The present invention realizes barometric surveying function, reads the data that BMP08 baroceptor records in real time, convert air pressure to by STM32 processor by IIC agreement.
The present invention realizes Temperature and Humidity function, is read the data of DS18B20 temperature sensor and DHT11 humidity sensor, convert the data read to temperature and humidity by STM32 processor.
The present invention realizes video acquisition function, and read OV7670 camera data by STM32 processor, data are returned ground remote control part in real time, and ground remote control part says that video information is presented on color screen.
The present invention realizes wireless communication function, the master control borad of aircraft and ground remote control part all uses 2.4G principal and subordinate one radio receiving transmitting module, the SPI protocol carried by STM32 processor and NRF24L01 carry out communication, and ground remote control part is defined as main frame, and aircraft section is defined as from machine.
The present invention realizes distant control function, for sending the signal that instruction returns to quadrotor and reception aircraft.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is further illustrated.
Fig. 1 is the design frame chart of quadrotor main control part.
Fig. 2 is quadrotor design overall functional schematic block diagram.
Fig. 3 is the circuit diagram of quadrotor power management section.
Fig. 4 is the circuit diagram that quadrotor four road motor driving part divides.
Fig. 5 is quadrotor attitude detection circuit diagram.
Fig. 6 is quadrotor course testing circuit figure.
Fig. 7 is quadrotor parameter storage circuit figure.
Fig. 8 is the circuit of quadrotor blue tooth interface, baroceptor interface, gyroscope interface, geomagnetic sensor interface, GPS sensor interface, user-machine interface, wireless communication interface.
Fig. 9 is the system circuit diagram of quadrotor main control singlechip STM32.
Embodiment
As Fig. 3,4,5,6 is depicted as core circuit schematic diagram of the present utility model.Can be used as and specifically implement to use.Main display be the circuit diagram of some components and parts that we will use.
Be illustrated in figure 1 the project organization of our main control part, by communication between STM32ZET6 processor and each sensor, application card Kalman Filtering, hypercomplex number scheduling algorithm carry out fusion treatment to sensing data and obtain accurate flight attitude, and control it and can stablize landing, hovering, azimuth motion in a three dimensions, realize the GPS location of Fig. 2, course detects and control, air pressure detection, Temperature and Humidity, image acquisition, wireless telecommunications, data-storage function.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520028807.6U CN204613745U (en) | 2015-01-09 | 2015-01-09 | A multifunctional small quadrotor aircraft |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520028807.6U CN204613745U (en) | 2015-01-09 | 2015-01-09 | A multifunctional small quadrotor aircraft |
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| CN204613745U true CN204613745U (en) | 2015-09-02 |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105319218A (en) * | 2015-12-15 | 2016-02-10 | 广西师范大学 | Unmanned aerial vehicle building flaw detection system based on FPGA |
| CN105466568A (en) * | 2015-12-24 | 2016-04-06 | 何兴扬 | Life entity detector and aircraft with life entity detector |
| CN105510951A (en) * | 2015-11-24 | 2016-04-20 | 中国原子能科学研究院 | Radiation monitoring system |
| CN105974934A (en) * | 2016-06-24 | 2016-09-28 | 天津理工大学 | Air quality intelligent monitoring quadrotor formation system based on pilotage-following method |
| CN106125751A (en) * | 2016-07-21 | 2016-11-16 | 天津津宇凯创航空科技发展有限公司 | A kind of inspection aircraft security control system |
| CN106347683A (en) * | 2016-10-20 | 2017-01-25 | 深圳市道通智能航空技术有限公司 | Method and device for controlling aircraft, and aircraft |
| CN106444888A (en) * | 2016-11-17 | 2017-02-22 | 广西大学 | Humidifying system based on aircraft platform |
| CN106708077A (en) * | 2016-11-14 | 2017-05-24 | 钟玲珑 | Quad-rotor aircraft |
| CN106843070A (en) * | 2017-03-21 | 2017-06-13 | 西北工业大学 | A kind of fixed-wing model plane control system based on half-duplex operation mode |
| WO2018086088A1 (en) * | 2016-11-14 | 2018-05-17 | 钟玲珑 | Quadrotor aircraft |
-
2015
- 2015-01-09 CN CN201520028807.6U patent/CN204613745U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105510951A (en) * | 2015-11-24 | 2016-04-20 | 中国原子能科学研究院 | Radiation monitoring system |
| CN105319218A (en) * | 2015-12-15 | 2016-02-10 | 广西师范大学 | Unmanned aerial vehicle building flaw detection system based on FPGA |
| CN105466568A (en) * | 2015-12-24 | 2016-04-06 | 何兴扬 | Life entity detector and aircraft with life entity detector |
| CN105974934A (en) * | 2016-06-24 | 2016-09-28 | 天津理工大学 | Air quality intelligent monitoring quadrotor formation system based on pilotage-following method |
| CN106125751A (en) * | 2016-07-21 | 2016-11-16 | 天津津宇凯创航空科技发展有限公司 | A kind of inspection aircraft security control system |
| CN106347683A (en) * | 2016-10-20 | 2017-01-25 | 深圳市道通智能航空技术有限公司 | Method and device for controlling aircraft, and aircraft |
| CN106347683B (en) * | 2016-10-20 | 2019-09-27 | 深圳市道通智能航空技术有限公司 | Aircraft control method, device and aircraft |
| CN106708077A (en) * | 2016-11-14 | 2017-05-24 | 钟玲珑 | Quad-rotor aircraft |
| WO2018086088A1 (en) * | 2016-11-14 | 2018-05-17 | 钟玲珑 | Quadrotor aircraft |
| CN106444888A (en) * | 2016-11-17 | 2017-02-22 | 广西大学 | Humidifying system based on aircraft platform |
| CN106843070A (en) * | 2017-03-21 | 2017-06-13 | 西北工业大学 | A kind of fixed-wing model plane control system based on half-duplex operation mode |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150902 Termination date: 20160109 |
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Addressee: Li Jianfei Document name: Notification of Termination of Patent Right |
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| DD01 | Delivery of document by public notice |