Flight-control integrated four-wing miniature aircraft

Abstract

The utility model discloses a flight control integrated four-wing micro aircraft which comprises 34mm paddles, a 612 hollow cup motor, a first motor fixing seat, a second motor fixing seat and a flight control panel, the 612 coreless motor is used for providing thrust required by the micro aircraft; the first motor fixing base and the second motor fixing base are used for fixing the 612 coreless motor, and the flight control panel is used for controlling the rotating speed of the 612 coreless motor. According to the four-rotor aircraft, a flight control-rack-power system integrated scheme is adopted, the size of an existing four-rotor aircraft is effectively reduced, the weight of the four-rotor aircraft is reduced to 16g, meanwhile, staggered motor arrangement is adopted, so that the four-rotor aircraft can use paddles larger than the four-rotor aircraft in size to provide stronger power, and miniature four-rotor large-attitude flight is achieved.

Description

Technical Field

[0001] The utility model relates to the field of multi-rotor unmanned aerial vehicle control, in particular to a four-wing micro aerial vehicle with integrated flight control. Background Art

[0002] After years of development, multi-rotor drones are widely used in many fields such as aerial photography, performances, mapping, exploration, search and rescue, etc. At the same time, the related technologies are also improved. In terms of multi-rotor unmanned aerial vehicle control, the current mainstream control method is the cascade proportional-integral-differential (PID) controller to control the drone's attitude and motor speed, but this method has serious assumptions - small angle assumptions, such as when the angle is less than 3°. Therefore, when the attitude of the multi-rotor aircraft is too large, such as greater than 3°, its control accuracy is poor, and it is difficult to achieve the desired attitude of the multi-rotor aircraft.

[0003] In order to improve its control effect, the multi-rotor controller updates the attitude error as an error on a special Euclidean group (), and controls the multi-rotor UAV motor by solving the Newton-Euler equation. This method can better track the desired attitude of the multi-rotor UAV and achieve higher-precision control. However, the rotor UAV is easily disturbed by external forces during flight, such as wind resistance, which in turn causes the control performance of the rotor UAV to deteriorate.

[0004] The existing micro-aircraft platforms or micro-aircraft flight controls have defects such as large size and low integration. For example, the AutoQuad M4 flight controller integrates the arm and the flight controller through PCB technology, but its size is still 80mm. At the same time, it still needs to add additional devices to fix the aircraft motor, which has the defect of low integration.

[0005] Crazyflie2.1 uses a mold-opening method to design the motor mount, which further improves the integration of the micro-drone and reduces its installation difficulty, but its motor and micro-flight controller are still separate designs, not integrated. At the same time, its size is 92*92*29mm, which is still a certain distance from true miniaturization.

[0006] The Pixhawk Mini, with only the flight control, is 38*55*15.5mm in size, and requires additional structures such as the frame and power unit. At the same time, its size is unknown, which makes it difficult for this solution to meet the integration requirements. For the common integrated toy drones on the market, although they meet the needs of miniature and integrate the power system, frame and flight control, they lack intelligence, have weak power, a flight time of only 1-2 minutes, and poor control performance.

[0007] In addition, in the field of unmanned aerial vehicle design, the current design is to connect the frame to the flight control, the arm to the frame, and the motor to the arm to achieve the unmanned aerial vehicle design. Its design structure is complex and the operation is cumbersome, making it difficult to deploy quickly. At the same time, its structure is interconnected, making it difficult to miniaturize its size.

[0008] In addition, for the power of unmanned aerial vehicles, most of the current unmanned aerial vehicles use brushless motors + electronic speed regulators + large power batteries. Although this solution can achieve high-speed flight of unmanned aerial vehicles, its weight and size are difficult to reduce. Utility Model Content

[0009] In view of the deficiencies in the prior art, the utility model provides a micro-aircraft with integrated flight control, which is designed by adopting a flight control-frame-power system integration scheme.

[0010] The utility model is realized by the following technical solutions:

[0011] A four-wing micro-aircraft with integrated flight control, comprising a 34mm propeller blade, a 612 coreless motor, a first motor fixing seat, a second motor fixing seat and a flight control board;

[0012] The four 34mm propeller blades are respectively and centrally symmetrically arranged on the four 612 coreless motors, and the four 612 coreless motors are respectively arranged in the four motor through holes of the flight control board, and the four motor through holes 5 of the flight control board are respectively used to insert the two first motor fixing seats and the two second motor fixing seats;

[0013] The flight control board is a centrally symmetrical structure, on which four motor through holes, four motor drive units, an aircraft power switch, a ceramic antenna, an inertial measurement unit, an IPEX1 generation antenna interface, a computing chip program burning contact, a 2.4G communication module, a USB contact, a 2.4G communication module program burning contact, a communication indicator light, a signal indicator light, an ultraviolet lamp and a computing chip are fixedly arranged;

[0014] The four motor drive units are fixed at the four motor through holes and are used to drive the 612 hollow cup motor;

[0015] The aircraft power switch is used to cut off the aircraft power or turn on the aircraft; the ceramic antenna is used for the aircraft to communicate with the outside;

[0016] The inertial measurement unit is used to obtain the acceleration and angular velocity of the aircraft; the IPEX1 generation antenna interface is used to connect an external antenna to improve communication quality;

[0017] The computing chip program burning contacts are power supply-ground-SWCL-SWDIO from left to right in each row, which are used for main control chip program burning, with a spacing of 1.25mm;

[0018] The 2.4G communication module is used for the aircraft to communicate with the outside world. The USB contacts are ground-ID-DP-DM-power from top to bottom, and use a 1.25mm pitch, eliminating the traditional USB interface.

[0019] The 2.4G communication module program burning contacts are power supply-ground-SWCL-SWDIO from top to bottom, which are used for communication module program burning and adopt 1.25mm spacing;

[0020] The communication indicator light (15) is used to indicate the battery level of the aircraft and the external communication status; the signal indicator light indicates the flight control operation status of the aircraft; the ultraviolet light is used for aircraft identification and positioning;

[0021] The computing chip is arranged on the back of the flight control board, and is used to control the motor drive unit, obtain data from the inertial measurement unit, and calculate the aircraft attitude.

[0022] Specifically, the two first motor fixing seats and the two second motor fixing seats are respectively diagonally embedded in the four motor through holes of the flight control board.

[0023] Specifically, the height of the two first motor fixing seats is set to 8.81 mm, and the height of the two second motor fixing seats is set to 3.81 mm.

[0024] Specifically, for the first motor fixing seat, from top to bottom are the first through hole and the second through hole, which are used to install the 612 hollow cup motor, and the interval between the first through hole and the second through hole is used to fix it on the flight control board; the diameter of the third through hole is larger than the diameter of the first through hole and the second through hole, but smaller than the diameter of the 612 hollow cup motor, and is used to receive the 612 hollow cup motor. The third through hole has two U-shaped grooves for the leads of the 612 hollow cup motor.

[0025] Specifically, for the second motor fixing seat, there are a first through hole and a second through hole from top to bottom, which are used to install the motor, and the interval between the first through hole and the second through hole is used to fix it on the flight control board; the diameter of the second through hole is larger than the diameter of the first through hole and smaller than the diameter of the motor, and is used to receive the motor. The second through hole has two U-shaped grooves for the leads of the 612 hollow cup motor.

[0026] Specifically, the 612 coreless cup motors at two diagonal angles are fixedly connected to the flight control board using a first motor fixing seat and a second motor fixing seat respectively, and the size of the flight control board is 31.82 mm*31.82 mm.

[0027] Specifically, the four-wing micro-aircraft adopts a staggered motor arrangement to ensure the power performance of the micro quad-rotor.

[0028] Specifically, the four-wing micro-aircraft is designed by combining cascade PID,control and INDI control, so that it can switch the aircraft control method in different scenarios to obtain the required control performance.

[0029] The beneficial effects of the utility model are as follows:

[0030] The utility model adopts an integrated solution of flight control-frame-power system, which effectively reduces the size of existing quad-rotor aircraft and reduces its weight to 16g. At the same time, it adopts a staggered motor arrangement, so that it can use blades larger than its own size to provide more powerful power, thereby realizing large-attitude flight of micro quad-rotor. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for use in the description of the embodiments are briefly introduced below. It is obvious that the drawings described below are only specific embodiments recorded in this application, and they are not limitations on the protection scope of the present utility model. For those of ordinary skill in the art, without paying creative work, of course, some other embodiments and drawings can be obtained according to the following embodiments of the present utility model and their drawings.

[0032] Figure 1 It is an exploded view of the utility model;

[0033] Figure 2 This is a top view of the flight control panel of the utility model;

[0034] Figure 3 This is a back view of the flight control panel of the utility model;

[0035] Figure 4 These are two cross-sectional views of the motor fixing seat of the present utility model; (a) is a cross-sectional view of a motor fixing seat with a height of 8.81 mm, and (b) is a cross-sectional view of a motor fixing seat with a height of 3.81 mm;

[0036] Figure 5 This is a three-dimensional diagram of the first motor fixing seat of the utility model;

[0037] Figure 6 It is a three-dimensional diagram of the second motor fixing seat of the utility model;

[0038] Figure 7 It is the overall assembly drawing of the utility model.

[0039] Figure markings: 1-34mm propeller blade; 2-612 hollow cup motor; 3-1-first motor fixing seat; 3-2-second motor fixing seat; 4-flight control board; 5-motor through hole; 6-motor drive unit; 7-aircraft power switch; 8-ceramic antenna; 9-inertial measurement unit; 10-IPEX1 generation antenna interface; 11-computing chip program burning contact; 12-2.4G communication module; 13-usb contact; 14-2.4G communication module program burning contact; 15-communication indicator light; 16-signal indicator light; 17-ultraviolet lamp; 18-computing chip. DETAILED DESCRIPTION

[0040] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present utility model will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0041] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in a variety of different forms and should not be construed as being limited to the embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of the present application thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art. In the accompanying drawings, for the sake of clarity, the thickness of the layers and regions may be enlarged, and the same reference numerals are used to represent the same devices, and thus their descriptions will be omitted.

[0042] The utility model mainly designs a micro-aircraft with integrated flight control, such as Figure 1 As shown, it includes: 34mm blade 1, 612 hollow cup motor 2, a pair of first motor fixing bases 3-1, a pair of second motor fixing bases 3-2 and a flight control board 4; the 612 hollow cup motor 2 is used to provide the thrust required by the micro-aircraft; the first motor fixing base 3-1 and the second motor fixing base 3-2 are used to fix the 612 hollow cup motor 2, and the flight control board 4 is used to control the speed of the 612 hollow cup motor 2. The size of the aircraft is 31.82*31.82mm.

[0043] like Figure 2 and Figure 3As shown, the flight control board 4 is fixedly provided with four motor through holes 5, four motor drive units 6, an aircraft power switch 7, a ceramic antenna 8, an inertial measurement unit 9, an IPEX1 generation antenna interface 10, a computing chip program burning contact 11, a 2.4G communication module 12, a USB contact 13, a 2.4G communication module program burning contact 14, a communication indicator light 15, a signal indicator light 16, an ultraviolet lamp 17 and a computing chip 18, which includes the four motor drive units 6 fixed on the four motor through holes 5 The aircraft power switch 7 is used to cut off the aircraft power or turn on the aircraft; the ceramic antenna 8 is used for the aircraft to communicate with the outside; the inertial measurement unit 9 obtains the acceleration and angular velocity of the aircraft; the IPEX1 generation antenna interface 10 is used for external antenna to improve the communication quality; the computing chip program burning contact 11, from left to right in each row, is power-ground-SWCL-SWDIO, used for main control chip program burning, with a 1.25mm pitch; The 2.4G communication module 12 is used for external communication of the aircraft; the USB contacts 13 are, from top to bottom, ground-ID-DP-DM-power, and use a 1.25mm pitch, eliminating the traditional USB interface; the 2.4G communication module program burning contacts 14 are, from top to bottom, power-ground-SWCL-SWDIO, used for communication module program burning, and use a 1.25mm pitch; the communication indicator light 15 is used to indicate the battery power of the aircraft and the external communication status; the signal indicator light 16 indicates the flight control operation status of the aircraft, and the ultraviolet lamp 17 is used for aircraft identification and positioning; the computing chip 18 is arranged on the back of the flight control board 4, and is used to control the motor drive unit 6, and obtain data from the inertial measurement unit 9 to solve the aircraft attitude.

[0044] like Figure 4 As shown, (a) shows the first motor fixing seat 3-1, whose height is set to 8.81 mm; (b) shows two second motor fixing seats 3-2, whose height is set to 3.81 mm.

[0045] like Figure 5 As shown, for the first motor fixing seat 3-1, the diameters of the first and second through holes from top to bottom are 3mm, which are used to install the 612 hollow cup motor 2. The interval between the first and second through holes is 1.81mm, which is used to fix it on the flight control 4 board. The diameter of the third through hole is 5mm, which is smaller than the diameter of the 612 hollow cup motor 2 of 6mm, and is used to receive the 612 hollow cup motor 2. It has two 1mm U-shaped grooves for the leads of the 612 hollow cup motor 2.

[0046] like Figure 6As shown, for the second motor fixing base 3-2, for the second type of motor fixing base, its first through hole diameter is 3mm, which is used to install the 612 hollow cup motor 2, the first and second through holes are spaced 1.81mm apart, which are used to fix it on the flight control board 4, and the second through hole diameter is 5mm, which is smaller than the 612 hollow cup motor 2 diameter of 6mm, and is used to receive the 612 hollow cup motor 2, and it has two 1mm U-shaped grooves, which are also used for the 612 hollow cup motor 2 leads.

[0047] The overall assembly diagram of the utility model is as follows Figure 7 As shown, the left and right two 612 hollow cup motors 2 are 5mm lower than the front and rear two 612 hollow cup motors 2. The left and right two 612 hollow cup motors 2 are fixed to the flight control board 4 using the first motor fixing seat 3-1, and the front and rear two 612 hollow cup motors 2 are fixed to the flight control board 4 using the second motor fixing seat 3-2. Figure 3 As shown, the flight control board 4 of the present invention has a size of 31.82 mm*31.82 mm, while the blade size is 34 mm. This type of installation method ensures that a 34 mm blade 1 can be used for installation.

[0048] In this quadrotor UAV, a combination of cascade PID,control and INDI control is used to design the quadrotor UAV, so that it can switch the aircraft control method in different,scenarios to obtain better control performance.

[0049] Therefore, the utility model solves the existing key problems such as low integration degree and large size, and further promotes the development of micro-aircraft.

[0050] The above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. For those skilled in the art, the utility model may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A four-wing micro-aircraft with integrated flight control, characterized in that: It includes a 34 mm propeller blade (1), a 612 coreless motor (2), a first motor fixing seat (3-1), a second motor fixing seat (3-2) and a flight control board (4); The four 34 mm propeller blades (1) are respectively and centrally symmetrically arranged on the four 612 coreless cup motors (2); the four 612 coreless cup motors (2) are respectively arranged in four motor through holes (5) of the flight control board (4); the four motor through holes (5) of the flight control board (4) are respectively used for inserting the two first motor fixing seats (3-1) and the two second motor fixing seats (3-2); The flight control board (4) is a centrally symmetrical structure, on which are fixedly arranged four motor through holes (5), four motor drive units (6), an aircraft power switch (7), a ceramic antenna (8), an inertial measurement unit (9), an IPEX1 generation antenna interface (10), a computing chip program burning contact (11), a 2.4G communication module (12), a USB contact (13), a 2.4G communication module program burning contact (14), a communication indicator light (15), a signal indicator light (16), an ultraviolet lamp (17) and a computing chip (18); The four motor drive units (6) are fixed at the four motor through holes (5); The computing chip program burning contacts (11) are arranged from left to right in the order of power supply, ground, SWCL, and SWDIO, with a spacing of 1.25 mm; The USB contacts (13) are ground-ID-DP-DM-power from top to bottom, and have a spacing of 1.25 mm; The 2.4G communication module program burning contacts (14) are, from top to bottom, power supply-ground-SWCL-SWDIO, with a spacing of 1.25 mm; The computing chip (18) is arranged on the back side of the flight control board (4).

2. A four-wing micro-aircraft with integrated flight control according to claim 1, characterized in that: The two first motor fixing seats (3-1) and the two second motor fixing seats (3-2) are respectively diagonally embedded in the four motor through holes (5) of the flight control board (4).

3. The four-wing micro-aircraft with integrated flight control according to claim 1, characterized in that: The height of the two first motor fixing seats (3-1) is set to 8.81 mm, and the height of the two second motor fixing seats (3-2) is set to 3.81 mm.

4. The four-wing micro-aircraft with integrated flight control according to claim 1, characterized in that: The first motor fixing seat (3-1) has, from top to bottom, a first through hole and a second through hole, which are used to install the 612 hollow cup motor (2); the third through hole has a diameter larger than the diameters of the first through hole and the second through hole and smaller than the diameter of the 612 hollow cup motor (2), which is used to receive the 612 hollow cup motor (2); the third through hole has two U-shaped grooves.

5. The four-wing micro-aircraft with integrated flight control according to claim 1, characterized in that: The second motor fixing seat (3-2) has a first through hole and a second through hole from top to bottom, which are used to install the motor; the interval between the first through hole and the second through hole is used to fix it on the flight control board (4); the diameter of the second through hole is larger than the diameter of the first through hole and smaller than the diameter of the motor, and is used to receive the motor; the second through hole has two U-shaped grooves for lead wires of the 612 hollow cup motor (2).

6. The four-wing micro-aircraft with integrated flight control according to claim 1, characterized in that: The 612 coreless cup motors (2) at two diagonal positions are fixedly connected to a flight control board (4) using a first motor fixing seat (3-1) and a second motor fixing seat (3-2), respectively, and the size of the flight control board (4) is 31.82 mm*31.82 mm.

7. The four-wing micro-aircraft with integrated flight control according to claim 1, characterized in that: The four-wing micro-aircraft is designed by combining cascade PID,control and INDI control, so that it can switch the aircraft control method in different scenarios to obtain the required control performance.

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