KR20120081500A - The aerial device having rotors and the control method - Google Patents

Abstract

The present invention relates to a flying device using a rotorcraft. The flying device includes a main body unit having a plurality of rotor blades with the same radius, a sensor unit measuring a change amount according to the tilting of the main body during flight, and a horizontal angle according to the change amount so as to keep the main body horizontal, A control unit for controlling the rotational speed of each rotor blade correspondingly, or for controlling the angle of the camera provided to correspond to the horizontal angle.

Description

Flying device having a plurality of rotor blades and its control method

The present invention relates to a flying device having a plurality of rotor blades by applying a sensor having a different characteristic to the filter can be utilized to fit the sensor attached according to the control and use of the camera and the horizontal control and detachable after calculating the angle for accurate horizontal control The method relates to a camera using a moving average calculation and a proportional expression based on a horizontal control algorithm and a calculated angle so as to control the angle according to the state of a flying device that is changed due to external factors at every instant. The position of the camera attached to the camera can be controlled automatically.

The conventional unmanned helicopter according to the prior art is composed of a main rotor portion for thrust, a tail rotor portion for offsetting the rotational force of the aircraft due to the main rotor portion, and performs the purpose through control by the user on the ground. .

However, such a conventional unmanned helicopter can not be greatly expected in terms of maneuverability because it relies only on the main rotor in terms of thrust and direction change, there is a vulnerability to the wind in terms of. In addition, because the control is only controlled by the user, there is a disadvantage that the use range of the flying device is small and the aircraft may become unstable due to wind or other disturbance.

Since such conventional unmanned helicopters rely solely on the main rotor, they cannot be greatly expected in terms of safety and also maneuverability. In addition, since it can be controlled only in the user's field of view, the role of the unmanned aerial vehicle is limited. The technical problem to be achieved by the present invention is to have a plurality of rotor blades to compensate for vulnerabilities caused by external factors such as maneuverability and wind and provide a safety device with improved safety, and the technical problem that is different from the conventional method, flight and improved safety It is to present a control method of the device.

According to an aspect of the invention, the flying device using a rotorcraft,

A main body having a plurality of rotary blades having the same radius;

Sensor unit for measuring the amount of change according to the body tilts during flight; And

And a control unit for calculating a horizontal angle according to the amount of change so that the main body is horizontal, controlling a rotation speed of each rotor blade to correspond to the horizontal angle, or controlling an angle of a camera provided to correspond to the horizontal angle.

Preferably, the plurality of rotor blades of the body portion,

And clockwise vanes rotating clockwise and counterclockwise vanes rotating counterclockwise, wherein the clockwise vanes and the counterclockwise vanes are each plural in number.

Preferably,

The sensor unit includes a multi-axis gravity acceleration sensor and a multi-axis angular velocity sensor, and the control unit calculates the horizontal angle from data by the multi-axis gravity acceleration sensor and data by the multi-axis angular velocity sensor.

Preferably, the flight apparatus further comprises a camera motor control unit for controlling the camera motor.

Preferably, the flight device includes a camera stabilizer for controlling the angle of the camera provided to respond to the horizontal angle.

Preferably, the camera stabilizer,

A camera for viewing a place where the user wants at the user's location;

 Camera connections for attaching front / back, left / right, up / down; And

Three camera motors control the angle of the camera.

Preferably,

The sensor unit includes an ultrasonic sensor, and the ultrasonic sensor measures obstacles before / after, left / right and up / down of the flying device to prevent damage to the gas.

According to another aspect of the invention the horizontal control method in a flying device having a plurality of rotor blades,

Sensing gravity acceleration and angular velocity to measure the directionality of the X, Y, and Z axes of the aircraft;

Calculating an inclination angle of the flying device according to the sensed acceleration and acceleration; And

And controlling the rotational speeds of the respective rotor blades so that the flying device is leveled according to the calculated tilt angle.

Preferably,

Controlling the rotational speeds of the respective rotor blades is performed by generating individual control signals to the respective rotor blade drive motors using a PID controller which is a proportional, derivative, and integral controller using a horizontal angle corresponding to the inclined angle. .

Preferably, the method further comprises:

Adjusting the number of rotation of the motor attached to the camera using a moving average filter.

The present invention proposes a solution to the problems of the existing helicopter and a new angle calculation algorithm through the configuration as described above, and the flying device having a plurality of rotor blades of the present invention is inexperienced in fast maneuverability and helicopter control by individual motor control. Even the user can easily control due to the automatic control by the control unit.Also, the aircraft can automatically fly by itself using GPS, azimuth sensor and altimeter sensor according to the situation. It can measure the appearance of the building in detail and can understand the shape of the building in 3D form based on the pictures taken at a certain altitude, and these features enable economic and efficient work.

1 is a view from above of an aircraft having a plurality of rotor blades;
2 is a side view of a vehicle having a plurality of rotor blades.
3 shows a processor and each sensor placed in the center of the vehicle;
Figure 4 is an overall algorithm diagram from the start stage before the flight to the motor control.
5 is a flowchart of PID control applied in flight.
Figure 6 is a motor device for rotating the camera attached to the vehicle.
7 is an algorithm diagram attached to the vehicle to automatically control the camera.
8 is an algorithm diagram for avoiding obstacles using an ultrasonic sensor.

1 is a view from the top down of an aircraft having a plurality of rotor blades. As shown in FIG. 1, a flying device having a plurality of rotor blades includes a main body 400, a sensor 190, a controller 180, and a camera stabilizer 602. As follows.

The main body 400 has a plurality of rotor blades with the same radius, each of the rotor blade driving motor, and according to the rotation direction of the rotor blades to rotate the plane based on the horizontal direction of the aircraft through the rotor blades of the opposite direction Use anti-torque type to offset rotation to prevent rotation of the aircraft.

At this time, the number of rotor blades used in the flight device to match the number of rotor blades to be offset should be composed of an even number. To this end, the rotor blade has a clockwise wing that rotates in a clockwise direction, and a counterclockwise wing that rotates counterclockwise in a number corresponding to the clockwise wing, wherein the clockwise wing and the counterclockwise wing are Each of them is plural and has the same number.

In addition, the sensor unit 190 and the controller 180 which are fixed and coupled to the center of the main body unit 400 are used to maintain the level of the aircraft having the plurality of rotor blades, the sensor unit 190 is a flying device The amount of change in the movement of the vehicle with respect to the horizontal plane is measured based on two axes that intersect each other, and the camera motor control unit 150 of the controller 180 calculates an angle by using the two change amounts calculated by the sensor unit. It will generate a signal to control the.

In this case, the sensors of the sensor unit 190 use the multi-axis angular velocity sensor 110 and the multi-axis gravity acceleration sensor 130, the multi-axis angular velocity sensor 110 measures the amount of change in the angle of the movement change of the object over time , The multi-axis gravity acceleration sensor 130 is a sensor for measuring the acceleration of the object based on the gravity, the two axes to set the reference can be used on the other axis, additional sensing, flight when using a plurality of sensing values Attitude control, horizontal control can be controlled quickly or accurately.

2 is a side view of a vehicle having a plurality of rotor blades. As shown in FIG. 2, the flying device having a plurality of rotor blades also includes a camera stabilizer 602, which will be described in more detail below.

The camera stabilization unit 602 includes a camera 607 attached to a plurality of rotor blades for viewing a picture or video of a desired place at a user's location; Motors 603, 604, and 605 connected in three axes for the user to control a camera attached to the plurality of rotor blades through a remote control of a computer or a remote controller; And camera connection device 600 provided to be attached to the top or bottom of the flight device.

3 is a diagram in which a processor and each sensor are placed in the center of the vehicle. As shown in FIG. 3, the ultrasonic sensor 120 included in a flying device having a plurality of rotor blades includes a transmitter and a receiver. The transmitter emits ultrasonic waves, and the receiver collects the emitted ultrasonic waves and transmits the ultrasonic waves transmitted from the transmitter. It is designed to change or stop the flight by detecting the presence of obstacles in the moving direction of the vehicle by measuring the position and distance of the object through reflection and equipping it in four directions of the same direction of the flying device having a plurality of rotor blades. It protects you.

4 is an overall algorithm diagram from the start stage before the flight to the motor control. FIG. 4 uses the gravity acceleration sensor 130 and the angular velocity sensor 110 representing a plurality of axes with different characteristics to compensate for the disadvantages of the two different characteristics sensors. 130 is vulnerable to vibration, but can measure the data of the exact acceleration, but the data is not linear, the angular velocity sensor 110 can measure the data linearly, but at a finite time due to the characteristics of the camera motor controller 150 Because of the integral error, which cannot be ignored, each individual sensor cannot measure the attitude information of the aircraft. For this reason, the data of the gravity acceleration sensor 130 is input as a measurement model by applying a discrete Kalman filter that is most suitable to compensate for the disadvantages of the acceleration of the gravity acceleration sensor 130 and the angular velocity sensor 110 and to acquire the advantages. By applying the data of the angular velocity sensor 110 as a system model, the direction of the X-axis, Y-axis, Z-axis of the flying device is measured and calculated accurately for the movement of the aircraft. By correcting the unstable output values of the sensors through the filtering to calculate the correct horizontal angle and the inclined angle (S181), each of the rotor blade motors installed in the plurality of rotor blades for flight control by PID control (S182) to individually control each By controlling the rotational speed of the rotor blades, respectively, the horizontal control of the flying device is performed (S184). By using the moving average filter (S183), the individual control (S185) to each motor installed in the camera stabilizer is controlled by controlling the angle of the camera can obtain a more stable image information of the camera. In addition, when the ultrasonic sensor 160 recognizes the obstacle, the stabilization of the flying apparatus can be enhanced by giving a compensation signal that can avoid the obstacle to the motor installed in the rotor blade.

5 is a flowchart illustrating PID control applied in flight. 5 is a method of applying PID control, which is a proportional, derivative, and integral controller, based on angle information (S181). PID control is performed by inputting measured values to three directions of X, Y, and Z. After calculating the current error rate through the calculation with the calculated angle of the flying device, and adding the corrected value (S186), the integral control is instantaneous by applying anti-windup PID control that limits the range of the error (S187) It is used to prevent the problem of sudden increase and decrease of error in the integral controller. In addition, the process of applying the error (S189) to the next angle at the same time as the individual motor control (S191) through the correction value calculated from the PID control while continuously performing the correction (S190) for the error. Thus, by automatically calculating the PID control signal and the numerical value of the control signal of the user through the remote control of the user of the ground can also control the automatic horizontal control of the flight device and the movement by the user.

6 is a diagram of a motor device for rotating a camera attached to a vehicle. In the motor attached to the camera made to always look at a certain point according to the calculated angle, the motor 605 for rotating the camera in the X-axis, the motor 604 for rotating the camera in the Y-axis, the camera in the Z-axis direction Equipped with a rotating motor 606 to individually control the user can shoot the image of the desired position, and can be mounted on the lower portion of the aircraft 602 when shooting the building and appearance objects at high altitude according to the user's purpose In the low-flying, the exterior of the building and other low-air shooting can be used to see the front of the aircraft by mounting (601) on the upper part of the aircraft, and the part to which the camera is attached can be adjusted in size. 606 is to make it possible to attach and detach a number of cameras of different sizes.

7 is an algorithm attached to the aircraft to automatically control the camera. The position control for the camera is controlled by the flow as shown in FIG. 7 and by applying two sensors and a discrete Kalman filter to control the user to look at the desired position irrespective of the movement of the flying device, Regardless of the angle of movement, use the moving average filter to add the values X, Y, and Z (S181) for a certain period of time and divide them according to the sample (S182). By calculating the average value and applying the proportional formula suitable for the system and the intended use (S184), the position of the camera can be automatically changed.The user applies the signal S183 for controlling the camera directly to the proportional formula according to the intended use. Digitizes the location information sent for camera movement and rotates the attached motor (S185). The.

8 is an algorithm for avoiding obstacles using an ultrasonic sensor. 8 is used for observing unexpected obstacles using six ultrasonic sensors attached to a vehicle. Obstacles are observed when obstacles are observed in the ultrasonic sensors attached to the front, back, left, and right sides of the aircraft. The algorithm which avoids obstacles by increasing the output value of the motor at the correct position is presented, and each motor control value according to the PID control described above is added to the obstacles by the observation output value. (S163) If an obstacle is observed on the upper surface, it means that the flight is under a building and an object, so that the output of the motor can be avoided by putting a difference between the PID value of each motor and a specific value (S165). When the obstacle signal of the ultrasonic sensor comes in, it is a signal to land, so send information about the landing to the user. And (S166) and so landing of flying material limiting the instantaneous power reduction in accordance with the height includes a method to prevent damage to the substrate due to a sharp drop (S167).

In the present invention, a stable leveling method and a use method of the aircraft having a four-axis rotorcraft can obtain accurate image information by the stable leveling and fast turning flight and camera stabilizer by using a gas supplementing the disadvantages of the existing helicopter And it can be mounted where the user wants to obtain the image information of the desired position. In addition, it is easier to operate than conventional helicopters by automatic horizontal control, and it improves safety by measuring obstacles during flight caused by ultrasonic sensors, and improves versatility and expandability by additionally installing various sensors in the controller.

The specific parts of the present invention have been described in detail above, and for those skilled in the art, these specific descriptions are merely preferred embodiments, and the scope of the present invention is not limited thereto. Will be obvious. Therefore, the substantial scope of the present invention will be defined by the appended claims and their equivalents.

Claims (10)

In a flying device using a rotorcraft,
A main body having a plurality of rotary blades having the same radius;
Sensor unit for measuring the amount of change according to the body tilts during flight; And
Comprising a control unit for calculating a horizontal angle according to the amount of change so that the main body is horizontal, controlling the rotational speed of each rotor blade to correspond to the horizontal angle, or controls the angle of the camera provided to correspond to the horizontal angle. The method according to claim 1, wherein the plurality of rotor blades of the body portion,
And a clockwise wing that rotates clockwise and an anticlockwise wing that rotates counterclockwise, wherein the clockwise wing and the counterclockwise wing each have the same number. The method according to claim 1,
The sensor unit includes a multi-axis gravity acceleration sensor and a multi-axis angular velocity sensor, the control unit calculates the horizontal angle from the data by the multi-axis gravity acceleration sensor and the data by the multi-axis angular velocity sensor. The method according to claim 1,
And a camera motor controller for controlling the camera motor. The method according to claim 1,
And a camera stabilizer for controlling an angle of a camera provided to respond to the horizontal angle. The method of claim 5, wherein the camera stabilizer,
A camera for viewing a place where the user wants at the user's location;
Camera connections for attaching front / back, left / right, up / down; And
An aircraft comprising three camera motors controlling the angle of the camera. The method of claim 1,
The sensor unit includes an ultrasonic sensor, wherein the ultrasonic sensor to prevent the damage to the gas by measuring the obstacles before / after, left / right, up / down of the flight device. In the horizontal control method in a flying device having a plurality of rotor blades,
Sensing gravity acceleration and angular velocity to measure the directionality of the X, Y, and Z axes of the aircraft;
Calculating an inclination angle of the flying device according to the sensed acceleration and acceleration; And
And controlling the rotational speeds of the respective rotor blades so that the aircraft is horizontal in accordance with the calculated inclination angle. The method of claim 8,
The step of controlling the rotation speed of each rotor blade, respectively, is performed by generating a separate control signal to each rotor blade motor using a PID controller which is a proportional, derivative, and integral controller using a horizontal angle corresponding to the inclined angle. Horizontal control method in flight system. The method of claim 8,
And adjusting the number of rotations of the motor attached to the camera by using a moving average filter.

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