CN103345255A

Movatterモバイル変換

Info

Publication number: CN103345255A
Application number: CN2013102396329A
Authority: CN
Inventors: 冯秀芳; 宋恺; 张羽; 郑靖宇; 解国栋; 王日升
Original assignee: Taiyuan University of Technology
Current assignee: Taiyuan University of Technology
Priority date: 2013-06-17
Filing date: 2013-06-17
Publication date: 2013-10-09

Abstract

本发明提供了一种四旋翼航拍定位无人飞行器，本发明采用四轴电动飞行器作为空中作业平台，包括飞行器、航拍系统、3G网络系统、GPS系统。飞行器包括飞行器机架、支撑梁、飞行控制器、4个起落缓冲块。飞行控制器安装在飞行器机架上，4个起落缓冲块与机架直接连接。支撑梁上装有电机、调速器，螺旋桨安装在电机上并位于飞行器架的上方。航拍系统安装在飞行器的上部，航拍系统包括USB摄像头、3G网络系统，电机的电源线连接到调速器的输出端，调速器的电源输入端通过飞行器的电源端子、电源导线与飞机上的锂电池连接。提高了获取现场信息的工作效率和安全性，降低了人类的劳动强度和获取信息的费用。

The invention provides a four-rotor aerial photography and positioning unmanned aircraft. The invention uses a four-axis electric aircraft as an aerial work platform, including the aircraft, an aerial photography system, a 3G network system, and a GPS system. The aircraft includes an aircraft frame, a support beam, a flight controller, and 4 landing buffer blocks. The flight controller is installed on the frame of the aircraft, and the 4 landing buffer blocks are directly connected with the frame. Motor, governor are housed on the supporting beam, and propeller is installed on the motor and is positioned at the top of aircraft frame. The aerial photography system is installed on the upper part of the aircraft. The aerial photography system includes a USB camera and a 3G network system. The power cord of the motor is connected to the output end of the governor. Lithium battery connection. The work efficiency and safety of obtaining on-site information are improved, and the labor intensity of human beings and the cost of obtaining information are reduced.

Description

Translated fromChinese

四旋翼航拍定位无人飞行器Quadrotor aerial photography positioning unmanned aerial vehicle

技术领域technical field

本发明涉及一种四旋翼航拍定位无人飞行器，属于电学部分，电通信技术分部。The invention relates to a four-rotor aerial photography and positioning unmanned aerial vehicle, which belongs to the electric part and the electric communication technology branch.

背景技术Background technique

现今随着科学技术的快速发展，人们对于飞行器的研究日趋深入，各类飞行器在越来越多的场合得以应用。四旋翼无人飞行器与其他飞行器相比，其机械结构简单紧凑，行动更为灵活，起降环境要求较低，具有良好的操作性能，可以在小范围实现起飞、悬停、降落。由于这些特点，四旋翼飞行器已广泛应用于航拍、监视、侦查、搜救、农业病虫害防治等诸多领域。Nowadays, with the rapid development of science and technology, people's research on aircraft is becoming more and more in-depth, and various aircrafts are applied in more and more occasions. Compared with other aircraft, the quadrotor unmanned aerial vehicle has a simple and compact mechanical structure, more flexible actions, lower environmental requirements for takeoff and landing, and good operational performance. It can take off, hover, and land in a small area. Due to these characteristics, quadrotor aircraft has been widely used in many fields such as aerial photography, surveillance, investigation, search and rescue, and agricultural pest control.

现有的基于四旋翼飞行器的航拍方法，所搭载的航拍设备价格高昂，不适合构建低成本的四旋翼航拍系统；航拍设备重量较重、耗能极大且容易损毁，对四旋翼飞行器的载重能力及其搭载的电池能力提出了较高要求，影响了四旋翼飞行器的性能；航拍设备所拍摄的图像缺乏有效的实时传送方式，需要在飞行结束、飞行器返航后人工进行图像、视频采集，操作繁琐，不能查看飞行器周围实时的图像信息，缺乏时效性。现有的基于2.4GHz模拟信号通讯的视频传输方案，虽能传回PAL/NTSC格式的模拟视频信号，但所传输的视频信号既容易干扰各类飞行遥控器、汽车防盗器等使用2.4GHz信号通信的设备，又容易在多路视频信号间相互干扰，而且模拟信号的质量也难以满足如今的需求；传统的2.4GHz无线遥控技术遥控距离有限，限制了四旋翼飞行器的航拍距离。这些都影响了四旋翼飞行器航拍的成本与推广。The existing aerial photography method based on quadrotor aircraft, the aerial photography equipment carried is expensive, and is not suitable for building a low-cost quadrotor aerial photography system; Higher requirements are put forward for the capability and battery capacity of the quadrotor aircraft, which affects the performance of the quadrotor aircraft; the images captured by the aerial photography equipment lack an effective real-time transmission method, and it is necessary to manually collect images and videos after the flight ends and the aircraft returns. It is cumbersome, cannot view real-time image information around the aircraft, and lacks timeliness. The existing video transmission scheme based on 2.4GHz analog signal communication can transmit back the analog video signal in PAL/NTSC format, but the transmitted video signal is easy to interfere with the 2.4GHz signal used by various flight remote controllers and car anti-theft devices, etc. Communication equipment is easy to interfere with each other between multiple video signals, and the quality of analog signals is difficult to meet today's needs; the traditional 2.4GHz wireless remote control technology has a limited remote control distance, which limits the aerial photography distance of the quadrotor aircraft. All of these have affected the cost and promotion of quadrotor aerial photography.

发明内容Contents of the invention

本发明的目的是提供一种结构简单、操作方便、适用范围广的智能航拍定位无人飞行器，以克服现有技术的不足。可以获取现场的GPS位置，实时视频等信息，并且可以通过互联网、局域网控制飞行器的运动，用以提高获取现场信息的工作效率和安全性，降低人类的劳动强度和获取信息的费用。The object of the present invention is to provide an intelligent aerial photography and positioning unmanned aerial vehicle with simple structure, convenient operation and wide application range, so as to overcome the deficiencies in the prior art. The on-site GPS position, real-time video and other information can be obtained, and the movement of the aircraft can be controlled through the Internet and LAN to improve the work efficiency and safety of obtaining on-site information, reduce human labor intensity and the cost of obtaining information.

本发明采用四轴电动飞行器作为空中作业平台，包括飞行器、航拍系统、3G网络系统、GPS系统。飞行器包括飞行器机架、支撑梁、飞行控制器、4个起落缓冲块。飞行控制器安装在飞行器机架上，4个起落缓冲块与机架直接连接。支撑梁上装有电机、调速器，螺旋桨安装在电机上并位于飞行器架的上方。航拍系统安装在飞行器的上部，航拍系统包括USB摄像头、3G网络系统，电机的电源线连接到调速器的输出端，调速器的电源输入端通过飞行器的电源端子、电源导线与飞机上的锂电池连接。GPS模块连接无线数传模块。地面站包括数传电台、导航监控及影像显示计算机、无线网络接收机、无线电遥控发射机。The invention uses a four-axis electric aircraft as an aerial work platform, including the aircraft, an aerial photography system, a 3G network system, and a GPS system. The aircraft includes an aircraft frame, a support beam, a flight controller, and 4 landing buffer blocks. The flight controller is installed on the frame of the aircraft, and the 4 landing buffer blocks are directly connected with the frame. Motor, governor are housed on the supporting beam, and propeller is installed on the motor and is positioned at the top of aircraft frame. The aerial photography system is installed on the upper part of the aircraft. The aerial photography system includes a USB camera and a 3G network system. The power cord of the motor is connected to the output end of the governor. Lithium battery connection. The GPS module is connected to the wireless data transmission module. The ground station includes a data transmission station, a navigation monitoring and image display computer, a wireless network receiver, and a radio remote control transmitter.

附图说明：Description of drawings:

通过参照附图更详细地描述本发明的示例性实施例，本发明的以上和其它方面及优点将变得更加易于清楚，在附图中：The above and other aspects and advantages of the invention will become more readily apparent by describing in more detail exemplary embodiments of the invention with reference to the accompanying drawings, in which:

图1为本发明的系统结构图。Fig. 1 is a system structure diagram of the present invention.

具体实施方式Detailed ways

在下文中，现在将参照附图更充分地描述本发明，在附图中示出了各种实施例。然而，本发明可以以许多不同的形式来实施，且不应该解释为局限于在此阐述的实施例。相反，提供这些实施例使得本公开将是彻底和完全的，并将本发明的范围充分地传达给本领域技术人员。Hereinafter, the invention will now be described more fully with reference to the accompanying drawings, in which various embodiments are shown. However, this invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

在下文中，将参照附图更详细地描述本发明的示例性实施例。Hereinafter, exemplary embodiments of the present invention will be described in more detail with reference to the accompanying drawings.

如图1所示，本发明的静态结构：本发明的新型智能航拍定位无人飞行器，主要由：1、飞行机器架；2、支撑梁；3、4个起落缓冲块；4、4个电机；5、4个调速器；6、4个螺旋桨；7、飞行控制器；8、USB摄像头；9、GPS模块；10、无线数传模块；11、锂电池；12、3G路由器；13、AVR单片机；14、PC-无线网卡；15、数传电台；16、地面站监控系统(软件系统)这些模块组成。电机和调速器装在支撑梁上，螺旋桨安装在电机上并位于飞行器机架的上方；4个起落缓冲块与机架直接连接；飞行控制器安装在飞行器机架上并与调速器连接；电机的电源线连接到调速器的输出端；调速器的电源输入端通过飞行器的电源端子、电源导线与飞机上的锂电池连接；USB摄像头、3G路由器安装在飞行器的上部，3G路由器通过和AVR单片机从而间接与飞行控制器连接；GPS模块连接无线数传模块；PC-无线网卡和数传电台连接在PC机上与地面站监控系统进行通信；地面站监控系统所实现的功能包括：Google Earth电子地图、无人机状态参数显示、航迹跟踪、航路绘制和图像显示。As shown in Figure 1, the static structure of the present invention: the novel intelligent aerial photography positioning unmanned aerial vehicle of the present invention mainly is by: 1, aircraft frame; 2, support beam; 3,4 landing buffer blocks; 4,4 motors ;5, 4 governors; 6, 4 propellers; 7, flight controller; 8, USB camera; 9, GPS module; 10, wireless data transmission module; 11, lithium battery; 12, 3G router; 13, AVR single-chip microcomputer; 14. PC-wireless network card; 15. Digital radio station; 16. Ground station monitoring system (software system) These modules are composed. The motor and governor are installed on the support beam, the propeller is installed on the motor and located above the frame of the aircraft; 4 landing buffer blocks are directly connected to the frame; the flight controller is installed on the frame of the aircraft and connected to the governor ; The power line of the motor is connected to the output end of the governor; the power input end of the governor is connected to the lithium battery on the aircraft through the power terminal of the aircraft and the power wire; the USB camera and the 3G router are installed on the top of the aircraft, and the 3G router It is indirectly connected to the flight controller through the AVR microcontroller; the GPS module is connected to the wireless data transmission module; the PC-wireless network card and the digital transmission station are connected to the PC to communicate with the ground station monitoring system; the functions realized by the ground station monitoring system include: Google Earth electronic map, UAV status parameter display, track tracking, route drawing and image display.

下面通过使用方法，更进一步阐述本发明的新型智能航拍定位无人飞行器的动态结构关系：Below by using the method, further set forth the dynamic structural relationship of the novel intelligent aerial photography positioning unmanned aerial vehicle of the present invention:

(1)先启动PC机上的地面站监控系统平台软件，并使飞行器处于就绪状态，建立地面站系统平台软件与飞行器的连接。(1) Start the ground station monitoring system platform software on the PC first, make the aircraft in the ready state, and establish the connection between the ground station system platform software and the aircraft.

(2)通过遥控器或PC机启动飞行器，并实现对飞行器的控制。(2) Start the aircraft through the remote control or PC, and realize the control of the aircraft.

(3)地面站监控系统平台软件通过接收数据来显示无人机的状态参数以及对飞行器航迹的自动绘制。(3) The ground station monitoring system platform software displays the status parameters of the UAV and automatically draws the aircraft track by receiving data.

(4)可以通过连接飞行器上的USB摄像头来了解飞机现场的图像，从而可以制定方案。(4) You can understand the image of the aircraft scene by connecting the USB camera on the aircraft, so that you can make a plan.

本发明的新型智能航拍定位无人飞行器的最大特点是飞行器可通过3G网络系统接入3G网络，可以用PC上的地面站监控系统平台软件来直接控制飞行器，使得控制的范围大大的增大，而且灵活性很高，实用性大大提高。The biggest feature of the novel intelligent aerial photography positioning unmanned aircraft of the present invention is that the aircraft can be connected to the 3G network through the 3G network system, and the ground station monitoring system platform software on the PC can be used to directly control the aircraft, so that the scope of control is greatly increased. Moreover, the flexibility is high, and the practicability is greatly improved.

本发明具有如下技术效果：The present invention has following technical effect:

1、采用创新性的直驱四旋翼结构，无齿轮、无伺服器、无传动杆，机械结构简单，大大减小了因机械故障导致坠机的机率，同时也大大降低了飞行噪音。而传统无人航拍使用普通遥控航模直升机、固定翼模型飞机、系留氢气球等外挂拍摄器材进行拍摄，但是这些方式危险性仍然很高，例如遥控模型直升机和固定翼模型飞机机械结构复杂，操控难度极高且很难掌握，如果机械出现问题或操作稍有不慎，将导致坠机，轻则机毁，重则伤人。切固定翼飞机的速度太快，不能悬停等缺陷些限制了其使用范围。系留氢气更是因为氢气的易燃易爆性，存在着严重的安全隐患。1. Adopting an innovative direct-drive four-rotor structure, no gears, no servos, no transmission rods, and a simple mechanical structure, which greatly reduces the chance of crashes caused by mechanical failures, and also greatly reduces flight noise. Traditional unmanned aerial photography uses external shooting equipment such as ordinary remote control model helicopters, fixed-wing model aircraft, and tethered hydrogen balloons, but these methods are still very dangerous. It is extremely difficult and difficult to master. If there is a problem with the machine or a little careless operation, it will lead to a crash, ranging from destroying the machine to seriously injuring people. The speed of the fixed-wing aircraft is too fast, and defects such as inability to hover limit its scope of use. Tethered hydrogen poses a serious safety hazard because of its flammability and explosiveness.

2、轻盈便携的机体，同时具有超强的载重能力，可以在任何场合随意起降。而传统无人航拍使用普通遥控航模直升机多为90级的油动直升机，重量大，机身长度超过1.5m，不仅携带难，而且必须具备一块篮球场大小的场地才能保证安全的起降，固定翼遥控模型飞机更是需要至少一个足球场大小的场地再能起降。2. The light and portable body has a super load capacity and can be taken off and landed on any occasion. The traditional unmanned aerial photography uses ordinary remote control model aircraft helicopters, which are mostly 90-level oil-powered helicopters. They are heavy and the length of the fuselage exceeds 1.5m. Wing remote control model aircraft needs at least a field the size of a football field to take off and land.

3、先进的GPS导航系统，能在配套的地面站软件上实时描绘飞行轨迹，清楚的了解现场的地理位置信息，该功能尤其适用于在人不能进入的区域进行航拍，如地震、洪涝灾区的勘查等。传统无人航拍使用普通遥控航模飞机根本不具备导航功能。3. The advanced GPS navigation system can depict the flight trajectory in real time on the supporting ground station software, and clearly understand the geographical location information of the scene. This function is especially suitable for aerial photography in areas where people cannot enter, such as earthquakes and floods. Exploration, etc. Traditional unmanned aerial photography uses ordinary remote-controlled model airplanes that do not have navigation functions at all.

4、飞行器可通过3G网络系统接入3G网络、或用PC直连飞行器，可以实现全球范围的飞行控制，而传统无人航拍使用普通遥控航模飞机根本不能接入互联网，遥控范围有限，使用场合大大受限。4. The aircraft can be connected to the 3G network through the 3G network system, or directly connected to the aircraft with a PC, which can realize flight control on a global scale, while the traditional unmanned aerial photography uses ordinary remote control model aircrafts that cannot access the Internet at all, and the remote control range is limited. greatly restricted.

以上所述仅为本发明的实施例而已，并不用于限制本发明。本发明可以有各种合适的更改和变化。凡在本发明的精神和原则之内所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above descriptions are only examples of the present invention, and are not intended to limit the present invention. Various suitable modifications and variations are possible in the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. rotor location unmanned vehicle of taking photo by plane is characterized in that:

This four rotor location unmanned vehicle of taking photo by plane adopts four Electric aircrafts as the aerial work platform, comprises aircraft, the system that takes photo by plane, 3G network system, gps system.

2. according to described a kind of four rotors of the claim 1 location unmanned vehicle of taking photo by plane, it is characterized in that:

Aircraft comprises aircraft frame, brace summer, flight controller, 4 buffer stoppers that rise and fall, flight controller is installed on the aircraft frame, 4 buffer stoppers that rise and fall directly are connected with aircraft frame, motor, speed regulator are housed on the brace summer, and screw propeller is installed on the motor and is positioned at the top of aircraft frame.

3. according to described a kind of four rotors of the claim 2 location unmanned vehicle of taking photo by plane, it is characterized in that:

The described system of taking photo by plane is installed in the top of aircraft, the system of taking photo by plane comprises USB camera, 3G network system, the power lead of motor is connected to the output terminal of speed regulator, the power supply terminal of the power input of speed regulator by aircraft, power lead are connected with lithium battery on the aircraft, the GPS module connects wireless data transmission module, and land station comprises that data radio station, navigation monitoring and image show computing machine, wireless network receiver, wireless remote control transmitter.

4. according to described a kind of four rotors of the claim 3 location unmanned vehicle of taking photo by plane, it is characterized in that:

Flight controller is installed on the aircraft frame and with speed regulator and is connected; USB camera, 3G router are installed in the top of aircraft, thereby the 3G router is connected with flight controller indirectly by connecting the AVR single-chip microcomputer; PC-wireless network card and data radio station are connected on the PC with the land station supervisory system and communicate; The function that land station's supervisory system realizes comprises: draw in Google Earth electronic chart, the demonstration of unmanned plane state parameter, Track In Track, air route and image shows.

5. take photo by plane according to any described a kind of four rotors of claim 1-4 and locate the using method of unmanned vehicle, it is characterized in that:

(1) starts earlier land station's monitoring system platform software on the PC, and make aircraft be in ready state, set up being connected of earth station system platform software and aircraft;

(2) start aircraft by telepilot or PC, and realize the control to aircraft;

(3) land station's monitoring system platform software is by receiving data and show the state parameter of unmanned plane and to the automatic drafting of aircraft flight path;

(4) understand the image at aircraft scene by connecting carry-on USB camera, thereby can draw up a plan for.