CN206421231U - A kind of four axle automated spacecraft autonomous classification devices - Google Patents

Abstract

The utility model discloses a self-identifying device for a four-axis autonomous aircraft, which comprises a single-chip microcomputer, and the input end of the single-chip microcomputer is arranged in parallel with a wireless communication module, a power supply, an MPU, a GPS module and an ultrasonic module, and the single-chip microcomputer is used for processing through the wireless communication module, The GPS module and the ultrasonic module receive the information and transmit the information to the ESC at the output end, and the output end of the ESC is electrically connected with the first motor, the second motor, the third motor and the fourth motor. The four-axis autonomous aircraft autonomous identification device is composed of GPS, ultrasonic sensors and other modules. The absolute position detection unit can accurately calculate the aircraft's current parameters such as latitude and longitude, heading, speed, and flight altitude, and can accurately determine the aircraft's position in absolute space. The position enables the aircraft to achieve autonomous flight and positioning cruise, and the use of the aircraft flight control algorithm enables the aircraft to have attitude control with strong anti-interference and environmental adaptive capabilities.

Description

A self-identifying device for a four-axis autonomous aircraft

technical field

The utility model relates to the technical field of four-axis aircraft, in particular to an autonomous identification device for four-axis autonomous aircraft.

Background technique

At present, the image-based automatic target recognition and tracking technology is an important problem that needs to be solved urgently in the field of visual navigation of quadcopters, and it is also a research hotspot in the field of computer vision. To complete various tasks, the quadcopter needs manual radio remote control navigation or autonomous navigation. The manual remote control navigation flight can only be carried out within the field of vision. If the quadcopter wants to perform tasks outside the field of view, it must navigate autonomously. Inertial navigation equipment or Doppler ground speed equipment is used, but due to factors such as huge size and expensive price, it is difficult to apply to light and cheap quadcopters. Today's global positioning system GPS has all-weather, global, Continuous precision three-dimensional navigation and positioning capabilities, and the weight and volume are also very suitable for unmanned quadcopters, and the price is also quite cheap.

Utility model content

The purpose of this utility model is to provide a four-axis autonomous aircraft autonomous identification device to solve the problem that the four-axis aircraft currently on the market are difficult to navigate autonomously proposed by the above-mentioned background technology.

In order to achieve the above object, the utility model provides the following technical solutions: a four-axis autonomous aircraft autonomous identification device, including a single-chip microcomputer, the input end of the single-chip microcomputer is arranged in parallel with a wireless communication module, a power supply, an MPU, a GPS module and an ultrasonic module, and the single-chip microcomputer It is used to process the information received through the wireless communication module, the GPS module and the ultrasonic module, and transmit the information to the ESC at the output end, and the output end of the ESC is electrically connected with the first motor, the second motor, the third motor and the The fourth motor, the MPU is used to process the acceleration of gravity data of the aircraft, and transmit the information to the single-chip microcomputer.

Preferably, the model of the single-chip microcomputer is STM32F103 single-chip microcomputer, and the model of the MPU is MPU6050.

Preferably, the data information connection between the single-chip microcomputer, the wireless communication module and the MPU is a two-way connection.

Preferably, the first motor, the second motor, the third motor and the fourth motor are all brushless motors.

Compared with the prior art, the utility model has the beneficial effects that: the four-axis autonomous aircraft autonomous identification device is composed of GPS, ultrasonic sensors and other modules, and the absolute position detection unit can accurately calculate the current latitude and longitude, course, speed and flight Altitude and other parameters, and can accurately determine the position of the aircraft in absolute space, so that the aircraft can achieve autonomous flight and positioning cruise, and the use of the flight control algorithm of the aircraft makes the aircraft have a strong anti-interference and environmental adaptive attitude Control, and can achieve hovering accuracy within the range of 2.0 meters. The single-chip microcomputer model of the device is STM32F103 single-chip microcomputer, and the MPU model is MPU6050, so that the device can accurately track fast and slow movements, and use more powerful data The processing capability enables the aircraft to better adjust the flight attitude and make the flight more stable.

Description of drawings

Fig. 1 is a schematic flow chart of the working principle of the utility model structure;

Fig. 2 is the internal schematic diagram of the structure power supply of the present utility model;

Fig. 3 is a schematic diagram of the interior of the electric regulator with the structure of the utility model.

In the figure: 1. SCM, 2. Wireless communication module, 3. First motor, 4. Second motor, 5. ESC, 6. Power supply, 7. MPU, 8. Third motor, 9. GPS module, 10 . Ultrasonic module, 11. The fourth motor.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. example. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

Please refer to Fig. 1-3, the utility model provides a kind of technical proposal: a kind of self-recognition device of four-axis autonomous aircraft, comprises single-chip microcomputer 1, and the input end of single-chip microcomputer 1 is arranged side by side with wireless communication module 2, power supply 6, MPU7, GPS module 9 and Ultrasonic module 10, single-chip microcomputer 1 is STM32F103 single-chip microcomputer, and MPU7 is MPU6050, which can accurately track fast and slow movements, and has more powerful data processing capabilities, so that the aircraft can better adjust the flight attitude and fly more stable. The single-chip microcomputer 1 is used to process the information received through the wireless communication module 2, the GPS module 9 and the ultrasonic module 10, and transmit the information to the ESC 5 at the output end. The data information connection between the single-chip microcomputer 1, the wireless communication module 2 and the MPU7 is The two-way connection can carry out real-time information transmission and feedback, so that the aircraft can fly better autonomously. The output terminal of the ESC 5 is electrically connected to the first motor 3, the second motor 4, the third motor 8 and the fourth motor 11. The first motor 3, the second motor 4, the third motor 8 and the fourth motor 11 all adopt brushless motors, so that the speed regulation of the aircraft is wider, the volume is smaller and the steady-state speed error is smaller, which is convenient for better flight. MPU7 is used for processing the acceleration of gravity data of the aircraft, and transmits the information to the single-chip microcomputer 1.

Working principle: When using the self-identification device of the four-axis autonomous aircraft, the whole process can be artificially intervened except for take-off and landing, and during the stable flight of the aircraft, if the autopilot mode is turned on, it will be fully automatic control, the single-chip microcomputer 1 through Kalman The algorithm filters the output data of the inertial unit and uses the direction cosine and quaternion algorithm to process the filtered data twice to obtain the current flight state of the quadcopter, and uses the three-axis magnetic compass to measure the absolute direction, and at the same time, the flight state Carry out trimming, when aircraft carries out directional control, single-chip microcomputer 1 utilizes the coordinate data output in the GPS module 9, calculates the azimuth difference between the coordinate at this moment and the target coordinate, and trajectory direction, and single-chip microcomputer 1 utilizes the direction data output in MPU7 again, calculates The direction of time, at this time, through the control of Yaw (Z-axis rotation), the direction of the quadcopter is locked in the direction of the track. When the direction is locked, the single-chip microcomputer 1 will control the direction of the quadcopter’s X-axis translation and give it a positive direction. The power is used to move forward. The single-chip microcomputer 1 uses the speed data output in the GPS module 9 to calculate the flight speed at this moment. By setting the highest speed in the program (about no more than 10km/h), it is controlled within a certain speed range. In order to prevent the system from crashing due to excessive forward tilt due to unrestricted acceleration, in the entire translation system, the quadcopter will use the ultrasonic module 10 as a height-fixing device, and compare the relative height data output by the ultrasonic module 10 at this moment with the target height set by the program. In comparison, the throttle difference is calculated by the single-chip microcomputer 1, so that the aircraft reaches the target altitude, and the above steps will be repeated indefinitely during the entire flight process, but when the GPS module 9 detects that the quadcopter has reached the target coordinate point, the system will automatically Cancel the cyclic program operation of "flying to the target", and automatically jump into and run the "hovering process" cyclical program. After reaching the target point, the hovering process uses the GPS module 9 to specify the target coordinates and proceed within the correctable range. Correction, so as to complete a series of autonomous flight tasks.

Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art can modify the technical solutions described in the aforementioned embodiments, or perform equivalent replacements for some of the technical features. Within the spirit and principles of the utility model, any modification, equivalent replacement, improvement, etc., should be included in the protection scope of the utility model.

Claims (4)

1. A self-identifying device for a four-axis autonomous aircraft, comprising a single-chip microcomputer (1), characterized in that: the input end of the single-chip microcomputer (1) is paralleled with a wireless communication module (2), a power supply (6), an MPU (7), and a GPS module (9) and ultrasonic module (10), the single chip microcomputer (1) is used to process the information received through the wireless communication module (2), GPS module (9) and ultrasonic module (10), and transmit the information to the output The ESC (5) at the end, the output end of the ESC (5) is electrically connected with the first motor (3), the second motor (4), the third motor (8) and the fourth motor (11), the The MPU (7) is used to process the gravity acceleration data of the aircraft, and transmit the information to the single-chip microcomputer (1). 2. The autonomous identification device for four-axis autonomous aircraft according to claim 1, characterized in that: the model of the single-chip microcomputer (1) is STM32F103 single-chip microcomputer, and the model of the MPU (7) is MPU6050. 3. A self-identifying device for four-axis autonomous aircraft according to claim 1, characterized in that: the data information connection between the single-chip microcomputer (1) and the wireless communication module (2) and MPU (7) is a two-way connection . 4. A self-identifying device for four-axis autonomous aircraft according to claim 1, characterized in that: the first motor (3), the second motor (4), the third motor (8) and the fourth motor ( 11) Both adopt brushless motors.