CN207008412U - A kind of four rotor multi-mode aircraft - Google Patents
A kind of four rotor multi-mode aircraft Download PDFInfo
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- CN207008412U CN207008412U CN201720881303.8U CN201720881303U CN207008412U CN 207008412 U CN207008412 U CN 207008412U CN 201720881303 U CN201720881303 U CN 201720881303U CN 207008412 U CN207008412 U CN 207008412U
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Abstract
The present utility model provides a kind of four rotor multi-mode aircraft, and the aircraft has monitoring pattern, pattern of taking photo by plane and communication pattern function, for environmental monitoring, take photo by plane investigation and emergency communication.Waken up and dormancy difference in functionality sensor by remote control, complete the multi-mode switching of aircraft, and monitoring information, Aerial Images information are sent to by remote control and ground monitoring station by wireless transmission method, and WiFi wireless communication interfaces and TD LTE air interfaces are provided, earthward it can provide wireless access and mobile communication function by communication terminal.The utility model realizes stable spiral and accurate flying by balancing lift caused by four propellers, simple in construction, manipulation is conveniently, there is vertical lift, system power dissipation is low and traffic rate is high, possess the functions such as aerial monitoring, captured in real-time, independent navigation, ground alarm and emergency communication, be adapted under complex environment or narrow regions VTOL, target is detected and emergency communication.
Description
Technical field
The utility model belongs to electronic communication and the solar energy model plane or unmanned air vehicle technique of field of new energy technologies, specifically relates to
A kind of and four rotor multi-mode aircraft.
Background technology
Remote-controlled robot has been widely used for the tasks such as seismic survey and fire rescue.Due in these special environment
It is lower many X factors to be present, and interior is without GPS location signal, it is therefore desirable to obtained by advanced science and technology and instrument
Take the navigation information of remote-controlled robot.The navigation sensing mode mainly used at present has vision, photoelectricity, ultrasound and odometer etc.,
But above-mentioned navigation sensing mode is easily by external environmental interference, and judgement of the aircraft in navigation procedure to barrier and keep away
Barrier control is faced with many problems, and especially, aircraft electrical can supply and cruising time is shorter, can not follow-on mission and execution times
Business, it is difficult to meet the application demand under specific environment.Therefore, design and develop and be a kind of logical with independent navigation, avoidance and movement
The aircraft of telecommunication function, it is significant.
With the continuous progress of electronic information technology and new energy technology, independent navigation aircraft is developed rapidly.
MEMS (MEMS) inertial navigation technologies and solar battery technology extensively should in unmanned plane or flying robot in recent years
With it is arranged in unmanned plane or aircraft carrier, independent of GPS location information during work, can provide more sufficient flight
Power and charging endurance, can meet unmanned plane or aircraft independent navigation and long-time navigation demand substantially.Therefore, send out
Bright and design is a kind of to have manipulation convenience, maneuverability, independent navigation, is adapted in complicated urban environment or mountain area environment and narrow
The aircraft of zonule VTOL, for solving the environmental monitoring such as pollutant and pernicious gas in air, entering to ground scene
Row aerial photographing, and emergency communication is provided for disaster region or specific environment, there is theory innovation meaning and practical value.
Utility model content
To achieve the above object, a kind of four rotor multi-mode aircraft of the present utility model.
The technical solution adopted by the present invention is to provide a kind of four rotor multi-mode aircraft, for environmental monitoring, takes photo by plane and detects
Look into and emergency communication.The aircraft is by main control unit, drive module, navigation module, sensing module, wireless communication module, too
Positive energy battery component and remote control are formed, wherein,
The main control unit is used for collecting sensor information, storage aircraft navigational record and in real time collection information, receives
Remote signal and return state of flight information etc., and pass through remote control capture instruction, real-time tracking and sense aircraft state；
The drive module is made up of drive circuit and motor, and drive module is connected by motor control port and main control unit
Connect, and flying power is provided for aircraft by motor and rotor；
Navigation module integrated electronic compass, three axis MEMS gyro and the 3 axis MEMS accelerometer, pass through SPI interface
It is connected with main control unit, and passes through I2C interface carries out multiaxis data fusion with three axle magnetometer, realizes the balance control of aircraft
System, attitude regulation and it is accurately positioned；
The sensing module uses integrated structure, includes temperature sensor, humidity sensor, Smoke Sensor, PM2.5
Sensor, CCD vision sensors and ultrasonic distance-measuring sensor, are connected with main control unit, for the temperature in target environment,
Humidity, smog, PM2.5 concentration monitors and scene capture, and realize aircraft altitude detection and avoidance obstacle；
The wireless communication module is equipped with dual-mode antenna, is connected by SPI interface with main control unit, realization and ground monitoring
The radio communication stood, and by the state of flight and monitoring information of aircraft, with wireless transmission method be sent to remote control and
Ground monitoring station；
The solar cell module is thin film solar photovoltaic cell, and solar energy is converted into by it using photovoltaic cell
Electric energy, drive propeller to produce flying power by motor, can both maintain the normal work of aircraft, can also pass through energy storage member
Part, which charges to airborne power supply and continued a journey to aircraft, powers；
The remote control is used for aircraft remote control and pattern switching.
The multiple-working modes such as the aircraft has monitoring pattern, pattern of taking photo by plane and communication pattern, and pass through and be remotely controlled dress
Put and complete mode switch function.
In monitoring pattern, the aircraft is sensed by temperature sensor, humidity sensor, Smoke Sensor and PM2.5
Temperature, humidity, smog and the PM2.5 concentration of device monitoring objective environment, and be sent to monitoring information by wireless transmission method
Remote control and ground monitoring station；In the field that the pattern of taking photo by plane, the aircraft pass through CCD vision sensor photographic subjects environment
Scape, and Aerial Images information is sent to by remote control and ground monitoring station by wireless transmission method；It is described in communication pattern
Aircraft provides wireless access and mobile communication function by WiFi wireless communication interfaces and LTE air interfaces, earthward terminal.
The aircraft is light material quadrotor, wherein, adjacent propeller blade is in opposite direction, relative
Propeller blade direction is identical, to offset turning moment during aircraft motion；The aircraft is by adjusting the PWM ripples of motor
Output signal, its translational motion forward, backward, to the left and to the right is realized, and complete pitch orientation, roll direction and driftage
Rotary motion on direction.
The aircraft has RS232 interface, USB interface, ADC interface, SPI interface, I2C interface, WiFi interfaces and LTE
Interface.
The aircraft has solar array voltage automatic detection function, if cell voltage is too low in flight course,
By remote control carry out sound, light and SMS alarm and aircraft is forced to land.
The remote control is by TFT formulas display screen, USB serial port circuits, remote control circuit, radio circuit and power supply circuit group
Into, and be connected by USB interface with mobile phone, there is provided visualization panorama display function.
The beneficial effects of the utility model are：
A kind of four rotor multi-mode aircraft flight devices are provided, the aircraft has environment sense mode, pattern of taking photo by plane
And communication pattern, by different task sensor in sensing module described in remote control wake-up and dormancy, complete the more of aircraft
Pattern switching；The aircraft by wireless transmission method monitoring information, Aerial Images information can be sent to remote control and
Ground monitoring station, and WiFi wireless communication interfaces and LTE air interfaces are provided, earthward communication terminal offer can also wirelessly it connect
Enter and mobile communication function.The present invention is simple in construction, manipulation is convenient, maneuverability, has vertical lift, system power dissipation low and high
The features such as speed transmission, possess the functions such as aerial monitoring, captured in real-time, ground alarm and radio communication, be adapted in complex environment
The detecting of lower or narrow regions environment and emergency communication.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding to of the present utility model, forms the part of the application,
Do not form to restriction of the present utility model.In the accompanying drawings：
Fig. 1 is a kind of four rotor multi-mode Flight Vehicle Structure block diagrams.
Fig. 2 is aircraft navigation modular structure schematic diagram.
Fig. 3 is aircraft solar cell module schematic diagram.
Fig. 4 is aircraft remote control structural circuit block diagram.
Embodiment
For the purpose of this utility model, technical scheme and advantage is more clearly understood, with reference to embodiment and attached
Figure, is described in further details to the utility model.
Shown in reference picture 1, a kind of four rotor multi-mode Flight Vehicle Structure block diagrams, aircraft includes main control unit 1, driving mould
Block 2, navigation module 3, sensing module 4, wireless communication module 5, solar cell module 6 and remote control 7.Main control unit 1 is
The central control unit of aircraft, using SMT32F103RBT6 single-chip microcomputers, have RS232 interface, USB interface, ADC interface,
SPI interface, I2C interface, WiFi interfaces and LTE interface, for collecting sensor information, storage aircraft navigational record and in real time
Information is gathered, receive remote signal and returns to state of flight information etc., the co-ordination of unit on responsible aircraft, and with
Remote control 7, ground monitoring carry out data transmission between station, while according to the order at remote control 7 and ground detection station, keep
Aircraft is flown with certain posture, and passes through the capture of remote control device 7 instruction, real-time tracking and sense aircraft state.It is dynamic
Power drive module 2 is made up of drive circuit and motor, and drive circuit is connected by motor control port with main control unit 1 respectively,
For controlling the lifting of aircraft and adjusting its flight attitude, and motor and rotor provide flying power.Location navigation
Module 3 uses Inertial Measurement Unit MPU6050, has numerical digit motion process function, integrates three axis MEMS gyro and three axles
MEMS accelerometers, it is connected by SPI interface with main control unit 1, and passes through I2C interface carries out more number of axle with three axle magnetometer
According to fusion, realize the balance control of aircraft, attitude regulation and be accurately positioned.Sensing module 4, using integrated structure, comprising
Temperature sensor, humidity sensor, Smoke Sensor, PM2.5 sensors, CCD vision sensors and ultrasonic distance-measuring sensor,
It is connected with main control unit 1, for the temperature in target environment, humidity, smog, PM2.5 concentration monitors and scene capture, and
Aircraft altitude detection and avoidance obstacle are realized, and can measure, analyze and record many kinds of parameters simultaneously；Wherein, ultrasonic wave
Distance measuring sensor employs URM37V3.2 ultrasonic distance-measuring sensors, and it has two probes, is respectively used to send and receives super
Sound wave, for by remote manipulator receiver input capture instruct, detection and control aircraft flying height and avoidance away from
From its measurement range is 4~50cm, is communicated using serial ports and master controller.Wireless communication module 5 uses NRF24L01
Communication module, modulated using GFSK, communication frequency is 2.4~2.5GHz of ISM band, is connected by SPI interface and main control unit 1
Connect, realize the radio communication with ground monitoring station, and the state of flight and monitoring information of aircraft, wireless transmission method are sent out
It is sent to remote control and ground monitoring station.Solar cell module 6, flying power energy is generated electricity and provides for receiving solar energy
Source, charge to energy storage original element and powered to the motor of rotor craft, motor driving propeller rotation is made aircraft in sky
Middle flight.Carry-on power consumption and use are extremely important, therefore are considered as solar cell module power supply, and pass through
Monitor power consumption, it is ensured that aircraft battery charges and the safety of electrical fault detection.
It is aircraft navigation modular structure schematic diagram shown in reference picture 2.Aircraft navigation module 3 is integrated with electronic compass
31st, three axis MEMS gyro 32,3 axis MEMS accelerometer 33 and three axle magnetometer 34.Navigation module uses the three of ADI companies
Axle inertia measurement sensors A DIS16355, it is the inertia sense of complete three-axis gyroscope and three axis accelerometer a composition
System is answered, its kernel uses iMEMS sensor technologies, and built-in embeded processor is used to calibrate and tune, connect by SPI numerals
Mouth output data.ADIS16355 has the characteristics that 14 bit resolutions, 350Hz bandwidth, sensitivity calibration and the orthogonal calibration of three axles,
And temperature drift can be compensated, it has been internally integrated three axis MEMS gyro and 3 axis MEMS accelerometer, passes through SPI interface
It is connected with master controller MCU, and passes through I2C interface carries out multiaxis data fusion with three axle magnetometer, tracks and catches three-dimensional space
Between motion state, and export attitude of flight vehicle.Electronic compass provides critical inertial navigation and the letter of direction alignment system
Breath, central processing unit is sent data to by perceived direction, so as to direction indication and speed, and during with high accuracy, response
Between it is short, low in energy consumption the advantages that, be highly suitable for the application of aircraft.
Reference picture 3, it is aircraft solar cell module, by solar panel, charge controller and energy-storage travelling wave tube group
Into.Solar panel uses thin-film solar cells, has the advantages that stronger space radiation resistance, especially, its is weak
Optical property and lower temperature coefficient are with the obvious advantage, no matter can be sent out under the low light environments such as daytime, dusk, or rainy weather
Electricity, and the actual power generation of solar cell will not have big difference with the change of temperature, and this characteristic causes aircraft
Either in hot still extremely cold weather, aircraft steady operation can be ensured and continued a journey for a long time.Charge controller is the sun
The control section of energy photovoltaic power supply, using high-speed CPU microprocessor and high-precision A/D analog-digital converters, by switching circuit, charging
Circuit, discharge circuit three parts composition, its charge and discharge to battery are controlled, and according to aircraft power demand modeling
Solar cell and energy-storage travelling wave tube are to load supplying.Energy-storage travelling wave tube is chargeable storage, and energy-storage travelling wave tube is arranged on aircraft rotor
With fuselage junction, and in aircraft fuselage and rotor film laying solar panel, thin-film solar cell panel is set to inhale
The wide spectrum of wave-length coverage is received, improves that light absorpting ability is strong and energy conversion efficiency.Thin-film solar cell panel has preferable
Flexible feature, under identical power conditions, it is necessary to erection space and cost will be low, with the other crystal silicon of same power level
Solar cell is compared, and generating efficiency is with the obvious advantage.
Reference picture 4, it is aircraft remote control structural circuit block diagram.Aircraft remote control 7 by TFT formulas display screen 71,
USB serial port circuits 72, remote control circuit 73, radio circuit 74, power supply circuit 75 form, and realize to aircraft flight landing, flight
The distant control functions such as direction, flight attitude and pattern switching.Remote control has audible alarm, LED light alarm and SMS alarm
Function, and aircraft monitoring information and state of flight information etc. can be shown；Remote control can also be connected by USB interface and mobile phone
Connect, aircraft motion state and Aerial Images etc. can be provided to visualization panorama display function.
Obviously, those skilled in the art should be understood that above-mentioned involved each functions of modules, except as aircraft applications in
Environmental monitoring, take photo by plane outside investigation and emergency communication, by it is suitably integrated or be also applied for after improving unmanned plane to mobile target with
Track and positioning.So the utility model do not limit except applied to environmental monitoring, investigation and emergency communication and the mobile target of taking photo by plane with
The communication technical field such as track and positioning.
Above example is only the utility model compared with the example for having representative.But the scope of protection of the utility model is not limited to
In this, any one skilled in the art is in the change that in technical scope, can be readily occurred in disclosed in the utility model
Method or replacement, all it is considered as belonging within the scope of protection of the utility model.
Claims (4)
- A kind of 1. four rotor multi-mode aircraft, for environmental monitoring, take photo by plane investigation and emergency communication, it is characterised in that described Aircraft is by main control unit (1), drive module (2), navigation module (3), sensing module (4), wireless communication module (5), the sun Energy battery component (6) and remote control (7) are formed, wherein,The main control unit (1) is used for collecting sensor information, storage aircraft navigational record and in real time collection information, receives distant Control signal and return to state of flight information, and pass through remote control (7) capture instruction, real-time tracking and sense aircraft state；The drive module (2) is made up of drive circuit and motor, and drive module passes through motor control port and main control unit (1) Connection, and provide flying power by motor and rotor for aircraft；Navigation module (3) integrated electronic compass, three axis MEMS gyro and the 3 axis MEMS accelerometer, pass through SPI interface It is connected with main control unit (1), and passes through I2C interface carries out multiaxis data fusion with three axle magnetometer, realizes the balance of aircraft Control, attitude regulation and it is accurately positioned；The sensing module (4) uses integrated structure, includes temperature sensor, humidity sensor, Smoke Sensor, PM2.5 Sensor, CCD vision sensors and ultrasonic distance-measuring sensor, it is connected with main control unit (1), for the temperature in target environment Degree, humidity, smog, PM2.5 concentration monitors and scene capture, and realize aircraft altitude detection and avoidance obstacle；The wireless communication module (5) is equipped with dual-mode antenna, is connected by SPI interface with main control unit (1), realizes and is supervised with ground The radio communication of survey station, and by the state of flight and monitoring information of aircraft, remote control is sent to wireless transmission method And ground monitoring station；The solar cell module (6) is thin film solar photovoltaic cell, and solar energy is converted into by it using photovoltaic cell Electric energy, drive propeller to produce flying power by motor, can both maintain the normal work of aircraft, can also pass through energy storage member Part, which charges to airborne power supply and continued a journey to aircraft, powers；The remote control (7) is used for aircraft remote control and pattern switching；It is further characterized in that,The aircraft has monitoring pattern, pattern of taking photo by plane and communication pattern, and completes mode switch function by remote control；The aircraft is light material quadrotor, and adjacent propeller blade is in opposite direction, relative propeller oar Leaf direction is identical, to offset turning moment during aircraft motion；AndThe aircraft realizes its translation fortune forward, backward, to the left and to the right by adjusting the PWM wave output signals of motor It is dynamic, and complete the rotary motion on pitch orientation, roll direction and yaw direction.
- 2. a kind of four rotors multi-mode aircraft according to claim 1, it is characterised in that the aircraft has RS232 interface, USB interface, ADC interface, SPI interface, I2C interface, WiFi interfaces and LTE interface.
- 3. a kind of four rotors multi-mode aircraft according to claim 1, it is characterised in that the aircraft has the sun Can cell voltage automatic detection function.
- A kind of 4. four rotors multi-mode aircraft according to claim 1, it is characterised in that the remote control (7) by TFT formulas display screen (71), USB serial port circuits (72), remote control circuit (73), radio circuit (74) and power supply circuit (75) composition, And it is connected by USB interface with mobile phone.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720881303.8U CN207008412U (en) | 2017-07-20 | 2017-07-20 | A kind of four rotor multi-mode aircraft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720881303.8U CN207008412U (en) | 2017-07-20 | 2017-07-20 | A kind of four rotor multi-mode aircraft |
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| CN207008412U true CN207008412U (en) | 2018-02-13 |
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| CN201720881303.8U Active CN207008412U (en) | 2017-07-20 | 2017-07-20 | A kind of four rotor multi-mode aircraft |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108454831A (en) * | 2018-05-03 | 2018-08-28 | 苏州柯谱瑞欣通信科技有限公司 | One kind is taken photo by plane unmanned plane Intelligence Feedback control system |
| CN110687887A (en) * | 2019-09-24 | 2020-01-14 | 蚌埠和能信息科技有限公司 | Remote control testing device of aircraft |
| CN115963764A (en) * | 2023-01-12 | 2023-04-14 | 中国地质调查局水文地质环境地质调查中心 | Monitoring data acquisition method and device, electronic equipment and storage medium |
-
2017
- 2017-07-20 CN CN201720881303.8U patent/CN207008412U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108454831A (en) * | 2018-05-03 | 2018-08-28 | 苏州柯谱瑞欣通信科技有限公司 | One kind is taken photo by plane unmanned plane Intelligence Feedback control system |
| CN110687887A (en) * | 2019-09-24 | 2020-01-14 | 蚌埠和能信息科技有限公司 | Remote control testing device of aircraft |
| CN115963764A (en) * | 2023-01-12 | 2023-04-14 | 中国地质调查局水文地质环境地质调查中心 | Monitoring data acquisition method and device, electronic equipment and storage medium |
| CN115963764B (en) * | 2023-01-12 | 2023-06-02 | 中国地质调查局水文地质环境地质调查中心 | Method and device for collecting monitoring data, electronic equipment and storage medium |
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