CN108983811A - A kind of dual-purpose unmanned plane device based on FPGA - Google Patents
A kind of dual-purpose unmanned plane device based on FPGA Download PDFInfo
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- CN108983811A CN108983811A CN201810817036.7A CN201810817036A CN108983811A CN 108983811 A CN108983811 A CN 108983811A CN 201810817036 A CN201810817036 A CN 201810817036A CN 108983811 A CN108983811 A CN 108983811A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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Abstract
The invention discloses a kind of dual-purpose unmanned plane device based on FPGA, including power module, main control unit, SDRAM module, AS configuration circuit module, direction rotary module, motor module, Anneta module；Power module, SDRAM module, AS configuration circuit module, direction rotary module, motor module, Anneta module are connected with main control module respectively.The present invention not only has the function of flight, can also can carry out one key switching flight/ground mode by remote controler in ground moving.The present invention it is small in size, noise is small, it is feature-rich, be easy to move under water.
Description
Technical field
The invention belongs to air vehicle technique fields, and in particular to a kind of dual-purpose unmanned plane device based on FPGA.
Background technique
Military, police strength the rapid development along with China, various high-tech devices, weapon are already equipped in army and police
Side, and unmanned plane also becomes the indispensable device of investigation.Currently, unmanned plane device is many kinds of in the market, e.g., greatly
The smart serial unmanned plane of boundary, the imperial serial unmanned plane of big boundary, Haikang prestige regard sparrow hawk series unmanned plane etc..In these devices, have
It has a single function, some flight noises are big, and some volumes are excessive.In order to enrich function, reduce noise, reduction volume, one kind is designed
The novel dual-purpose unmanned plane device based on FPGA is necessary.
Summary of the invention
In order to solve the above-mentioned technical problems, the present invention provides a kind of dual-purpose unmanned plane device based on FPGA.
In order to achieve the above object, technical scheme is as follows:
The present invention provides a kind of dual-purpose unmanned plane device based on FPGA, including main control unit, power module, SDRAM mould
Block, AS configuration circuit module, direction rotary module, motor module, Anneta module；Wherein power module, SDRAM module, AS match
Circuits module, direction rotary module, motor module, Anneta module are connected with main control module respectively.
As a preferred option, the power module is connect with main control unit, for powering to master chip.
As a preferred option, the SDRAM module is connect with main control unit, for temporarily storing number to be processed
According to.
As a preferred option, the AS configuration circuit module is connect with main control unit, is flown for storing control unmanned plane
Capable program.
As a preferred option, the direction rotary module is connect with main control unit, for by unmanned plane motor module into
The rotation that 90 degree of row.
As a preferred option, the motor module is connect with main control unit, for driving unmanned plane device to fly in the sky
It goes or in ground motion.
As a preferred option, the Anneta module is connect with main control unit, for receiving the signal of remote controler to control
Flight/athletic posture.
As a preferred option, the main control unit includes fpga chip, oscillating circuit and reset circuit.
As a preferred option, the power module includes transformation chip and decoupling circuit, using two different transformations
Chip AMS1117-3.3, AMS1117-1.2 provide the voltage of 3.3V, 1.2V respectively as master chip power supply.
As a preferred option, the SDRAM module uses chip MT48LC4M16A2, and the interface A0~A11 is respectively connected to
N9, R10, T10, R11, T11, R12, T12, P9, P11, R13, T13, M10 pin of FPGA；The interface DQ0~DQ15 connects respectively
N14, P15, P16, R16, N16, N15, L14, L13, L16, L15, K16, K15, J16, J15, J14, the J13 for entering FPGA draw
Foot；Control port CS, CLK, RAS, CAS, WE, CKE, BA1, BA0, LDQM, UDQM be respectively connected to T6, L7 of FPGA, R7, T7,
L8, M8, N8, P8, N11, T14 pin.
As a preferred option, the AS configuration circuit module use chip EPCS64SI16N, DATA, DCLK, nCS,
The interface ASDI is respectively connected to H2, H1, D2, C1 pin of FPGA.
As a preferred option, the direction rotary module uses chip 1203BS.The module shares 4 chips
1203BS1,1203BS2,1203BS3,1203BS4,4 push-rod electric machines B1, B2, B3, B4 control 4 of motor module respectively
Rotary drive motor.The power supply of chip 1203BS1 terminates VCC, and the end GND is grounded GND, the positive and negative termination push rod of rotary drive motor
The both ends of motor B1, IN1 connect the J2 pin of FPGA, and IN2 connects the J1 pin of FPGA；The power supply of chip 1203BS2 terminates VCC,
The end GND is grounded GND, the both ends of the positive and negative termination push-rod electric machine B2 of rotary drive motor, and IN1 connects the N3 pin of FPGA, and IN2 connects
The P3 pin of FPGA；The power supply of chip 1203BS3 terminates VCC, and the end GND is grounded GND, the positive and negative termination push rod of rotary drive motor
The both ends of motor B3, IN1 connect the G15 pin of FPGA, and IN2 connects the F16 pin of FPGA；The power supply of chip 1203BS4 terminates
The end VCC, GND is grounded GND, the both ends of the positive and negative termination push-rod electric machine B4 of rotary drive motor, and IN1 meets the C14 pin of FPGA, IN2
Connect the D14 pin of FPGA；Hinge is loaded on each rotary drive motor, to control direction, is placed in four endpoints of device.
As a preferred option, the motor module uses A2212 and circular blade mechanism.The module shares 4 rotations
Driving motor B5, B6, B7, B8 are placed on the hinge of direction rotary module；The B12 pin of the control termination FPGA of B5,
Remaining two termination VCC and GND；The A10 pin of the control termination FPGA of B6, remaining two termination VCC and GND；The control of B7
The C8 pin of FPGA is terminated, remaining two termination VCC and GND；The F8 pin of the control termination FPGA of B8, remaining two termination
VCC and GND.
As a preferred option, the Anneta module uses GT-433M antenna.The pin A3 connection of the antenna and FPGA.
As a preferred option, hinge includes the first connecting plate, the second connecting plate and shaft, and the first connecting plate is installed on master
On machine fuselage, the second connecting plate is connect by shaft with the first connecting plate, and push-rod electric machine is connect with the second connecting plate for driving
Second connecting plate rotate to be parallel to the horizontal plane and drive the second connecting plate rotate to horizontal plane.
As a preferred option, circular blade mechanism includes circular wheel, blade and installation axle, and installation axle is vertical and rotation is set
It is placed on the second connecting plate, rotary drive motor and installation axis connection, the both ends in length of blade direction are respectively arranged at installation axle
On the inner ring of circular wheel, the axis direction of circular wheel and the axis direction of installation axle are mutually perpendicular to.
As a preferred option, it is additionally provided with close to inductor, is set on main machine body close to inductor, when sensing nothing
When human-machine interface is near the ground, unmanned plane is switched to ground run mode.
As a preferred option, it when the program of fpga chip operation control unmanned plane during flying, performs the steps of
When receiving offline mode instruction, push-rod electric machine, which stretches out, drives hinge rotation, so that circular blade mechanism rotates
To its axle center and horizontal plane, unmanned plane during flying is carried out；
When receiving ground running mode instruction, push-rod electric machine, which is shunk, drives hinge rotation, so that circular blade mechanism
It turns to its axle center to be parallel to the horizontal plane, carries out unmanned plane in ground running.
As a preferred option, it when the program of fpga chip operation control unmanned plane during flying, also performs the steps of
Flight path picture is obtained when unmanned plane during flying mode in real time, judges whether to need to switch ground when encountering flight obstacle
Face walking mode, if desired, then unmanned plane lands and enters ground running mode.
The invention has the following advantages: power of motor is small when device flight in the sky, therefore noise is smaller, and
It is easy to carry and carry out investigations in narrow area without high capacity cell；When pressing the landing key on remote controler, FPGA can be controlled
The push-rod electric machine of 4 direction rotary modules makes its retraction, causes hinge perpendicular to the ground, at this time the round leaf in the 4 of motor module
Piece mechanism can be used as 4 wheels, device can be made in ground moving in this way；Press on remote controler take off key when, FPGA can be controlled
The push-rod electric machine for making 4 direction rotary modules makes its stretching, causes hinge parallel to the ground, at this time the 4 of motor module blade
It can be parallel to ground, device can be made to fly in the sky in this way.The present invention is powerful, noise is small, small in size, is easy to move under water.
Detailed description of the invention
Fig. 1 is that the present invention is based on the overall structure block diagrams of the dual-purpose unmanned plane device of FPGA.
Fig. 2 (a)-(h) is the pinouts of fpga chip EP4CE22F17C8；Wherein, Fig. 2 (a) is that the BNK1 of the chip draws
Foot figure；Fig. 2 (b) is the BANK2 pinouts of the chip；Fig. 2 (c) is the BANK3 pinouts of the chip；Fig. 2 (d) is the chip
BANK4 pinouts；Fig. 2 (e) is the BANK5 pinouts of the chip；Fig. 2 (f) is the BANK6 pinouts of the chip；Fig. 2 (g) is
The BANK7 pinouts of the chip；Fig. 2 (h) is the BANK8 pinouts of the chip.
Fig. 3 is oscillating circuit and FPGA connection figure.
Fig. 4 is reset circuit and FPGA connection figure.
Fig. 5 is SDRAM module circuit diagram.
Fig. 6 (a)-(b) is AS configuration circuit module circuit diagram；Wherein, Fig. 6 (a) is storage chip EPCS64SI16N connection
Figure；Fig. 6 (b) is burning program interface connection figure.
Fig. 7 (a)-(d) is direction rotary module circuit diagram；Wherein, Fig. 7 (a) is push-rod electric machine chip 1203BS1 and push rod
Motor B1 connection figure；Fig. 7 (b) is push-rod electric machine chip 1203BS2 and push-rod electric machine B2 connection figure；Fig. 7 (c) is push-rod electric machine
Chip 1203BS3 and push-rod electric machine B3 connection figure；Fig. 7 (d) is push-rod electric machine chip 1203BS4 and push-rod electric machine B4 connection figure.
Fig. 8 (a)-(d) is motor module circuit diagram；Wherein, Fig. 8 (a) is A2212 motor B5 connection figure；Fig. 8 (b) is
A2212 motor B6 connection figure；Fig. 8 (c) A2212 motor B7 connection figure；Fig. 8 (d) A2212 motor B8 connection figure.
Fig. 9 is Anneta module circuit diagram.
Figure 10 (a)-(b) is power module circuitry figure；Wherein, Figure 10 (a) is transformation chip connection figures；Figure 10 (b) is mould
Quasi- ground and digitally connection figure.
Figure 11 is that the present invention is based on the overall structure diagrams of the dual-purpose unmanned plane device of FPGA.
Specific embodiment
The preferred embodiment that the invention will now be described in detail with reference to the accompanying drawings.
In order to reach the purpose of the present invention, as shown in Figure 1, providing a kind of base in one of embodiment of the invention
In the dual-purpose unmanned plane device of FPGA include main control unit, power module, SDRAM module, AS configuration circuit module, direction revolve
Revolving die block, motor module, Anneta module；Wherein power module, SDRAM module, AS configuration circuit module, direction rotary module,
Motor module, Anneta module are connected with main control module respectively.
Main control unit includes fpga chip EP4CE22F17C8, oscillating circuit, reset circuit.FPGA chip
The pinouts of EP4CE22F17C8, as shown in Fig. 2 (a)-(h).It (a) is the BNK1 pinouts of the chip；It (b) is the chip
BANK2 pinouts；It (c) is the BANK3 pinouts of the chip；It (d) is the BANK4 pinouts of the chip；It (e) is the chip
BANK5 pinouts；It (f) is the BANK6 pinouts of the chip；It (g) is the BANK7 pinouts of the chip；It (h) is the chip
BANK8 pinouts.FPGA is control and the calculating section of whole device, controls each section co-ordination.
Oscillating circuit is as shown in figure 3, its CLK is connected by the M15 pin of resistance R22 and FPGA.
Reset circuit is as shown in figure 4, the M16 pin of its Reset and FPGA connects.
SDRAM module as shown in figure 5, using chip MT48LC4M16A2, the interface A0~A11 be respectively connected to FPGA N9,
R10, T10, R11, T11, R12, T12, P9, P11, R13, T13, M10 pin；The interface DQ0~DQ15 is respectively connected to FPGA's
N14, P15, P16, R16, N16, N15, L14, L13, L16, L15, K16, K15, J16, J15, J14, J13 pin；Control port
CS, CLK, RAS, CAS, WE, CKE, BA1, BA0, LDQM, UDQM be respectively connected to T6, L7 of FPGA, R7, T7, L8, M8, N8,
P8, N11, T14 pin.SDRAM is synchronous with cpu frequency, shares a clock cycle.SDRAM includes two staggered storage numbers
Group, while CPU accesses data from a storage array, another is ready for reading/writing document, passes through two storage arrays
Close switching, reading efficiency significantly improved.
Shown in AS configuration circuit module such as Fig. 6 (a)-(b), it uses chip EPCS64SI16N, DATA, DCLK, nCS,
The interface ASDI is respectively connected to H2, H1, D2, C1 pin of FPGA.For storing the program of control unmanned plane during flying.
Shown in direction rotary module such as Fig. 7 (a)-(d).The module share 4 chip 1203BS1,1203BS2,
1203BS3,1203BS4,4 push-rod electric machines B1, B2, B3, B4 control 4 rotary drive motors of motor module respectively.Chip
The power supply of 1203BS1 terminates VCC, and the end GND is grounded GND, the both ends of the positive and negative termination push-rod electric machine B1 of rotary drive motor, IN1
The J2 pin of FPGA is connect, IN2 connects the J1 pin of FPGA；The power supply of chip 1203BS2 terminates VCC, and the end GND is grounded GND, rotation
The both ends of the positive and negative termination push-rod electric machine B2 of driving motor, IN1 connect the N3 pin of FPGA, and IN2 connects the P3 pin of FPGA；Chip
The power supply of 1203BS3 terminates VCC, and the end GND is grounded GND, the both ends of the positive and negative termination push-rod electric machine B3 of rotary drive motor, IN1
The G15 pin of FPGA is connect, IN2 connects the F16 pin of FPGA；The power supply of chip 1203BS4 terminates VCC, and the end GND is grounded GND, rotation
Turn the both ends of the positive and negative termination push-rod electric machine B4 of driving motor, IN1 connects the C14 pin of FPGA, and IN2 connects the D14 pin of FPGA；Often
Hinge is all loaded on a rotary drive motor, to control direction, is placed in four endpoints of device.
Shown in motor module such as Fig. 8 (a)-(d).Using A2212 and circular blade mechanism 30.The module shares 4 rotations
Driving motor B5, B6, B7, B8 are placed on the hinge of direction rotary module；The B12 pin of the control termination FPGA of B5,
Remaining two termination VCC and GND；The A10 pin of the control termination FPGA of B6, remaining two termination VCC and GND；B7's
Control terminates the C8 pin of FPGA, remaining two termination VCC and GND；The F8 pin of the control termination FPGA of B8, remaining
Two termination VCC and GND.
Anneta module is as shown in Figure 9.The pin A3 connection of the antenna and FPGA.
Shown in power module such as Figure 10 (a)-(b), (a) is transformation chip connection figures, (b) is to simulate ground and digitally connect
Figure.
As shown in figure 11, hinge includes the first connecting plate 21, the second connecting plate 22 and shaft 20, the installation of the first connecting plate 21
In on main machine body 10, the second connecting plate 22 is connect by shaft 20 with the first connecting plate 21, push-rod electric machine and the second connecting plate
22 connection for drive the second connecting plate 22 rotation to be parallel to the horizontal plane and drive the second connecting plate rotate 22 to water
Plane is vertical.
Circular blade mechanism 30 includes circular wheel, blade and installation axle, and installation axle is vertical and is rotatably dispose in the second connection
On plate, rotary drive motor and installation axis connection, the both ends in length of blade direction are respectively arranged at the interior of installation axle and circular wheel
On circle, the axis direction of circular wheel and the axis direction of installation axle are mutually perpendicular to.
As a preferred option, it is additionally provided with close to inductor, is set on main machine body close to inductor, when sensing nothing
When human-machine interface is near the ground, unmanned plane is switched to ground run mode.
As a preferred option, it when the program of fpga chip operation control unmanned plane during flying, performs the steps of
When receiving offline mode instruction, push-rod electric machine, which stretches out, drives hinge rotation, so that circular blade mechanism rotates
To its axle center and horizontal plane, unmanned plane during flying is carried out；
When receiving ground running mode instruction, push-rod electric machine, which is shunk, drives hinge rotation, so that circular blade mechanism
It turns to its axle center to be parallel to the horizontal plane, carries out unmanned plane in ground running.
As a preferred option, it when the program of fpga chip operation control unmanned plane during flying, also performs the steps of
Flight path picture is obtained when unmanned plane during flying mode in real time, judges whether to need to switch ground when encountering flight obstacle
Face walking mode, if desired, then unmanned plane lands and enters ground running mode.
The course of work of the invention are as follows: when device flight in the sky, power of motor is small, therefore noise is smaller, and is not necessarily to
High capacity cell, it is easy to carry and carry out investigations in narrow area；When pressing the landing key on remote controler, FPGA can control 4
The push-rod electric machine of direction rotary module makes its retraction, causes hinge perpendicular to the ground, at this time the 4 of motor module circular blade
Mechanism can be used as 4 wheels, device can be made in ground moving in this way；Press on remote controler take off key when, FPGA can be controlled
The push-rod electric machine of 4 direction rotary modules makes its stretching, causes hinge parallel to the ground, and the 4 of motor module blade is just at this time
It can be parallel to ground, device can be made to fly in the sky in this way.
What has been described above is only a preferred embodiment of the present invention, it is noted that for those of ordinary skill in the art
For, without departing from the concept of the premise of the invention, various modifications and improvements can be made, these belong to the present invention
Protection scope.
Claims (7)
1. a kind of dual-purpose unmanned plane device based on FPGA, which is characterized in that including main control unit, power module, SDRAM mould
Block, AS configuration circuit module, direction rotary module, motor module and Anneta module；
The power module is connect with main control unit, for powering to master chip；
The SDRAM module is connect with main control unit, for temporarily storing data to be processed；
The AS configuration circuit module is connect with main control unit, for storing the program of control unmanned plane during flying；
The direction rotary module is connect with main control unit, for unmanned plane motor module to be carried out to 90 degree of rotation；
The motor module is connect with main control unit, for driving unmanned plane device to fly in the sky or in ground motion；
The Anneta module is connect with main control unit, for receiving the signal of remote controler to control flight/athletic posture.
2. the dual-purpose unmanned plane device according to claim 1 based on FPGA, which is characterized in that the main control unit includes
Fpga chip, oscillating circuit and reset circuit；The power module includes transformation chip and decoupling circuit；The AS configuration circuit
Module includes EPCS64SI16N；The direction rotary module includes push-rod electric machine chip 1203BS, push-rod electric machine and hinge, is total to
There are 4 pairs；The motor module includes rotary drive motor and circular blade mechanism, shares 4 pairs；The Anneta module uses GT-
433M antenna；The fpga chip includes EP4CE22F17C8, and push-rod electric machine is connect for driving circular blade mechanism with hinge
It turns to offline mode and circular blade mechanism is driven to turn to ground running mode.
3. the dual-purpose unmanned plane device according to claim 2 based on FPGA, which is characterized in that hinge includes the first connection
Plate, the second connecting plate and shaft, the first connecting plate are installed on main machine body, and the second connecting plate passes through shaft and the first connecting plate
Connection, push-rod electric machine connect with the second connecting plate to be used for the second connecting plate of drive and rotates to being parallel to the horizontal plane and drive the
Two connecting plates rotate to horizontal plane.
4. the dual-purpose unmanned plane device according to claim 3 based on FPGA, which is characterized in that circular blade mechanism includes
Circular wheel, blade and installation axle, installation axle is vertical and is rotatably dispose on the second connecting plate, and rotary drive motor and installation axle connect
It connects, the both ends in length of blade direction are respectively arranged on the inner ring of installation axle and circular wheel, the axis direction of circular wheel and installation
The axis direction of axis is mutually perpendicular to.
5. the dual-purpose unmanned plane device according to claim 4 based on FPGA, which is characterized in that be additionally provided with close to induction
Device is set on main machine body close to inductor, and when sensing unmanned plane close to ground, unmanned plane is switched to ground run mould
Formula.
6. the dual-purpose unmanned plane device according to claim 2 based on FPGA, which is characterized in that fpga chip operation control
When the program of unmanned plane during flying, perform the steps of
When receiving offline mode instruction, push-rod electric machine, which stretches out, drives hinge rotation, so that circular blade mechanism turns to it
Axle center and horizontal plane carry out unmanned plane during flying；
When receiving ground running mode instruction, push-rod electric machine, which is shunk, drives hinge rotation, so that circular blade mechanism rotates
It is parallel to the horizontal plane to its axle center, carries out unmanned plane in ground running.
7. the dual-purpose unmanned plane device according to claim 2 based on FPGA, which is characterized in that control is deposited in fpga chip operation
When the program of unmanned plane during flying processed, also perform the steps of
Flight path picture is obtained when unmanned plane during flying mode in real time, judges whether to need toggle ground plane row when encountering flight obstacle
Walking modes, if desired, then unmanned plane lands and enters ground running mode.
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| CN201810817036.7A CN108983811A (en) | 2018-07-23 | 2018-07-23 | A kind of dual-purpose unmanned plane device based on FPGA |
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| CN106976367A (en) * | 2016-06-16 | 2017-07-25 | 姜忠昱 | One kind three is dwelt unmanned plane |
| CN207133937U (en) * | 2017-07-26 | 2018-03-23 | 南京信息工程大学 | A kind of forest fire early-warning system based on FPGA and unmanned plane |
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2018
- 2018-07-23 CN CN201810817036.7A patent/CN108983811A/en active Pending
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|---|---|---|---|---|
| US7962252B2 (en) * | 2005-06-20 | 2011-06-14 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Self-contained avionics sensing and flight control system for small unmanned aerial vehicle |
| CN102830708A (en) * | 2012-09-05 | 2012-12-19 | 北京理工大学 | ARM and FPGA (Field Programmable Gate Array) architecture based autopilot of fixed wing unmanned aerial vehicle |
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Application publication date: 20181211 |