CN104536467A - Beyond visual range aircraft inspection system - Google Patents
Beyond visual range aircraft inspection system Download PDFInfo
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- CN104536467A CN104536467A CN201410834680.7A CN201410834680A CN104536467A CN 104536467 A CN104536467 A CN 104536467A CN 201410834680 A CN201410834680 A CN 201410834680A CN 104536467 A CN104536467 A CN 104536467A
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Abstract
The invention discloses a beyond visual range aircraft inspection system. The beyond visual range aircraft inspection system comprises a power module, a master controller, a rotor motor dragging module, a gesture detection module, a wireless remote control module, a wireless video module and a remote controller. When a route inspector conducts route inspection, the flight conditions (including flight height, the surrounding environment, speed and the like) of an aircraft can be known through display on the remote controller, manual inspection obstacles caused by a complex terrain and other factors are overcome, and the inspector can complete tower route inspection in a complex terrain at the foot of a mountain and other simple terrains. The beyond visual range aircraft inspection system aims to overcome the defects in the prior art, adapts to the complex terrain, is used for inspection of transmission lines in a mountainous area through an unmanned aerial vehicle and forms a system module which is used for ultra-low altitude beyond visual range flight and connects a pilot with the aircraft for real-time delay-free exchange of data image machine operating orders.
Description
Technical field
The present invention relates to a kind of over the horizon aircraft inspection tour system, particularly relate to a kind of over the horizon aircraft inspection tour system adapting to complicated landform.
Background technology
Depopulated zone, transmission line of electricity running environment many places, special south China landform is with mountain range, mountain region virgin forest and hills are main, these regional topographic relieies are frequent, drop is large, unmanned plane completes patrolling transmission line work, extreme low-altitude nap of the earth flight must be completed, (transmission line of electricity on average runs height and the height apart from ground 20-80 rice, extremely big with this altitude difficulty, the spatial domain flight of standard aircraft below 300 meters is hedgehopping, so unmanned plane will really realize practical, namely realizing extreme low-altitude nap of the earth flight is topmost technology barrier, simultaneously small-sized, the span of Micro Aerial Vehicle type and wheelbase are all within 2000mm, be convenient under complex environment, carry out flare maneuver flexibly, this kind of machine cannot install too much complicated equipment, such as high-power ultrasonics radar obstacle device, satellite data transmission and high-power image delivering system.Therefore, golden ratio and rational system configuration meet the very important data qualification of SUAV (small unmanned aerial vehicle) safe flight, artificially manipulates unmanned plane, is present stage cannot go beyond technological means in unmanned plane hedgehopping.
Summary of the invention
The object of the invention is to the deficiency overcoming prior art, a kind of over the horizon aircraft inspection tour system adapting to complicated landform is provided, for being located in the tour of mountain area power transmission line unmanned machine, realize the flight of extreme low-altitude over the horizon with connect pilot and aircraft carry out the real-time system module exchanged without time delay of data plot camera operational order.
The technical solution adopted for the present invention to solve the technical problems is: a kind of over the horizon aircraft inspection tour system, comprises power module, master controller, rotor motor drag module, attitude detection module, wireless remote control module, wireless video module and remote controllers;
Described power module is that the modules of over the horizon aircraft inspection tour system is powered;
Described attitude detection module, comprising: gyro sensor, acceleration transducer and atmosphere pressure sensor; Described gyro sensor is for gathering the angular speed in aircraft pitch rate, rolling angle rate, yawrate three directions; Described acceleration transducer is used for carrying out revising to the measured value of gyro sensor and compensating; Described atmosphere pressure sensor is used for the flying height of sense aircraft; The Flight Condition Data of the aircraft detected is transferred to master controller by described attitude detection module;
Described wireless video module, comprises camera and wireless video processing module; Described camera be used for image scene during aircraft flight is gathered, described wireless video processing module by camera collection to image scene carry out coded treatment and by coding after image scene transfer to remote controllers;
Described wireless remote control module, the data transmit-receive end of described wireless remote control module is for receiving the remote control command of described remote controllers transmission and the state of flight information extremely described remote controllers for sending aircraft; The data transmission terminal of described wireless remote control module is connected with described master controller, and the data transmission terminal of described wireless remote control module is used for the remote control command that data transmit-receive termination receives to be transferred to master controller and the state of flight information being used for the aircraft receiving master controller transmission;
Described rotor motor drag module comprises screw propeller and motor, and described motor controls the rotation status of screw propeller and then the state of flight of adjustment aircraft according to the flight control command that master controller sends;
Described master controller for receiving the Flight Condition Data of the aircraft detected by attitude detection module, and sends flight control command to the motor in rotor motor drag module after carrying out analyzing and processing; Described master controller also sends flight control command to the motor in rotor motor drag module according to the remote control command of wireless remote control module transmission;
Described remote controllers, for receiving the image scene of wireless video transmission module transfer, also for sending remote control command to wireless remote control module.
Preferably, described master controller adopts model to be the chip of STM32F103C8T;
10th pin of described STM32F103C8T chip, the 11st pin, the 12nd pin, the 13rd pin are connected with the controller of the upper and lower, left and right four direction of motor in rotor motor drag module after connecting an on-off circuit respectively more respectively;
32nd pin of described STM32F103C8T chip is connected USB interface with the 33rd pin, and the 34th pin and the 37th pin are debugged (SWD) interface and be connected with string line;
5th pin of described STM32F103C8T chip is connected with external crystal-controlled oscillation with the 6th pin.
Preferably, the gyro sensor in described attitude detection module and acceleration transducer adopt model to be the chip of MPU6050; Described MPU6050 integrated chip has three axis MEMS gyro, 3 axis MEMS acceleration takes into account an extendible digital moving processor (DMP); 24th pin and the described model of described MPU6050 chip are that the 43rd pin of the master controller chip of STM32F103C8T is connected, 23rd pin and the described model of described MPU6050 chip are that the 42nd pin of the master controller chip of STM32F103C8T is connected, and the 12nd pin and the described model of described MPU6050 chip are that the 31st pin of the master controller chip of STM32F103C8T is connected.
Preferably, the atmosphere pressure sensor in described attitude detection module adopts model to be the chip of HMC5883L; 1st pin and the described model of described HMC5883L chip are that the 42nd pin of the master controller chip of STM32F103C8T is connected; 16th pin and the described model of described HMC5883L chip are that the 43rd pin of the master controller chip of STM32F103C8T is connected.
Preferably, described wireless remote control module comprises radio receiving transmitting module, RF front-end module and antenna; The sending and receiving end of described radio receiving transmitting module is connected with described master controller as the data transmit-receive end of described wireless remote control module; The transmission end of described radio receiving transmitting module is connected with the transmission end of described RF front-end module; The sending and receiving end of described RF front-end module is connected with antenna; Described antenna is as the data transmit-receive end of wireless remote control module.
Preferably, the radio receiving transmitting module in described radio receiving transmitting module adopts model to be nRF24L01 chip, and described RF front-end module adopts RFX2401 chip; 9th pin of described nRF24L01 chip and the 10th pin serial connection one crystal oscillator; 13rd pin of described nRF24L01 chip is connected with the 4th pin of described RFX2401 chip after a filtering circuit; Be connected with antenna after 10th pin of described RFX2401 chip connects a harmonic filter.
Preferably, described power module comprises charging module, Voltage stabilizing module and rechargeable battery; The input end of described charging module connects input power, and the output terminal of described power module connects rechargeable battery; Described rechargeable battery is connected with the input end of Voltage stabilizing module; After output voltage is converted to the supply voltage needed for modules of over the horizon aircraft inspection tour system by described Voltage stabilizing module, the modules being over the horizon aircraft inspection tour system by the output terminal of Voltage stabilizing module is powered.
Preferably, the charging module in described power module adopts model to be the chip of TP4056; Described input power is connected with the 4th pin of described TP4056 chip respectively after connecting a diode and is connected with the 8th pin of described TP4056 chip; Be in series with a light emitting diode between the 4th pin of described TP4056 chip and the 7th pin of described TP4056 chip, described light emitting diode is for instruction of charging; 5th pin serial connection one power switch of described TP4056 chip is connected with rechargeable battery with after an inductance.
Preferably, described Voltage stabilizing module is that the SP6205 chip of SP6205 and the 2nd SP6205 chip are formed by model; 1st pin of a described SP6205 chip is connected with rechargeable battery after being connected with the connected node of the 3rd pin with the 1st pin of the 2nd SP6205 chip with the connected node of the 3rd pin; 5th pin of a described SP6205 chip is connected with the power end of the modules of over the horizon aircraft inspection tour system with the 5th pin of described 2nd SP6205 chip, for the modules of over the horizon aircraft inspection tour system is powered.
Preferably, described wireless video processing module comprises image processing module and image transmission module; Described image processing module transfers to described remote controllers by described image transmission module after the image scene of camera collection is carried out coded treatment.
Preferably, described image processing module adopts LPC2144 chip; Described image transmission module adopts nRF24L01 chip and the second antenna; 22nd pin of described LPC2144 chip is connected with the 1st pin of described nRF24L01 chip; 4th pin of described LPC2144 chip is connected with the 2nd pin of described nRF24L01 chip; 27th pin of described LPC2144 chip is connected with the 3rd pin of described nRF24L01 chip; 30th pin of described LPC2144 chip is connected with the 4th pin of described nRF24L01 chip; 29th pin of described LPC2144 chip is connected with the 5th pin of described nRF24L01 chip; 46th pin of described LPC2144 chip is connected with the 6th pin of described nRF24L01 chip; Be connected with the second antenna after 13rd pin of described nRF24L01 chip connects a harmonic filter.
Preferably, described over the horizon aircraft inspection tour system also comprises GPS locating module; Described GPS locating module comprises gps antenna, low noise amplifier, wave filter, GPS RF front-end module, antenna control module and GPS baseband signal processing unit; Described gps antenna is connected with the input end of low noise amplifier; The output terminal of described low noise amplifier is connected with the input end of GPS RF front-end module; The output terminal of described GPS RF front-end module is connected with the input end of GPS baseband signal processing unit; The output terminal of described GPS baseband signal processing unit is connected with described master controller; Normal, the short circuit of described GPS baseband signal processing unit by described antenna control module induction gps antenna, three kinds of states of open circuit.
Preferably, the low noise amplifier in described GPS locating module adopts model to be the chip of MAX2654, and described GPS RF front-end module adopts model to be the chip of MAX2742.
Preferably, the screw propeller of described rotor motor drag module comprises four rotors; Described four rotors all with body plane orthogonal; Described four rotors adopt positive and negative oar to design, and the blade of two rotors on diagonal line is identical, and the blade of two adjacent rotors is contrary; Aircraft is put down two rotors when flying and is rotated forward, and two rotors reversions, avoid aircraft to spin; Aircraft rotate time by motor strengthen two positive switch rotors or two reversion rotors rotating speed change total torque, thus change crab angle aircraft is rotated.
Preferably, the screw propeller of described rotor motor drag module comprises eight rotors.
The invention has the beneficial effects as follows:
When line inspection personnel carry out line inspection, the state of flight (comprising flying height, surrounding enviroment, speed etc.) of aircraft can be understood by the display of remote controllers, solve the manpower caused because of the factor such as with a varied topography and make an inspection tour obstacle, tour personnel can wait simple terrain to complete shaft tower line inspection in complex terrain at the foot of the hill, ensure under the prerequisite completing tour task in high quality, realize the less input of manpower and materials, substantially increase the work efficiency of circuit operation maintenance personnel, ensure that the reliability of electrical network.
Below in conjunction with drawings and Examples, the present invention is described in further detail; But a kind of over the horizon aircraft inspection tour system of the present invention is not limited to embodiment.
Accompanying drawing explanation
Fig. 1 is functional block diagram of the present invention;
Fig. 2 is the pinouts of the STM32F103C8T chip of master controller of the present invention;
Fig. 3 is the MPU6050 chip pin figure of attitude detection module of the present invention;
Fig. 4 is the HMC5883L chip pin figure of attitude detection module of the present invention;
Fig. 5 is wireless remote control module circuit connection diagram of the present invention;
Fig. 6 is the circuit connection diagram of charging module in power module of the present invention;
Fig. 7 is the circuit connection diagram of Voltage stabilizing module in power module of the present invention;
Fig. 8 is the circuit connection diagram of GPS locating module of the present invention;
Fig. 9 is the circuit diagram of rotor motor drag module of the present invention;
Figure 10 is the circuit diagram of wireless video module of the present invention.
Embodiment
Embodiment
Shown in Fig. 1-Figure 10, a kind of over the horizon aircraft inspection tour system of the present invention, comprises power module 10, master controller 20, rotor motor drag module 30, attitude detection module 40, wireless remote control module 50, wireless video module 60 and remote controllers 70;
Described power module 10 is that the modules of over the horizon aircraft inspection tour system is powered;
Described attitude detection module 40, comprising: gyro sensor, acceleration transducer and atmosphere pressure sensor; Described gyro sensor is for gathering the angular speed in aircraft pitch rate, rolling angle rate, yawrate three directions; Described acceleration transducer is used for carrying out revising to the measured value of gyro sensor and compensating; Described atmosphere pressure sensor is used for the flying height of sense aircraft; The Flight Condition Data of the aircraft detected is transferred to master controller by described attitude detection module;
Described wireless video module 60, comprises camera and wireless video processing module; Described camera be used for image scene during aircraft flight is gathered, described wireless video processing module by camera collection to image scene carry out coded treatment and by coding after image scene transfer to remote controllers;
Described wireless remote control module 50, the data transmit-receive end of described wireless remote control module is for receiving the remote control command of described remote controllers transmission and the state of flight information extremely described remote controllers for sending aircraft; The data transmission terminal of described wireless remote control module is connected with described master controller, and the data transmission terminal of described wireless remote control module is used for the remote control command that data transmit-receive termination receives to be transferred to master controller and the state of flight information being used for the aircraft receiving master controller transmission;
Described rotor motor drag module 30 comprises screw propeller and motor, and described motor controls the rotation status of screw propeller and then the state of flight of adjustment aircraft according to the flight control command that master controller sends;
Described master controller 20 for receiving the Flight Condition Data of the aircraft detected by attitude detection module, and sends flight control command to the motor in rotor motor drag module after carrying out analyzing and processing; Described master controller also sends flight control command to the motor in rotor motor drag module according to the remote control command of wireless remote control module transmission;
Described remote controllers 70, for receiving the image scene of wireless video transmission module transfer, also for sending remote control command to wireless remote control module.
The working method of described over the horizon aircraft inspection tour system is: described aircraft is powered by power module; The angular speed in pitch rate when described aircraft gathers aircraft flight by the gyroscope in attitude detection module, rolling angle rate, yawrate three directions, carry out revising and compensates to the measured value of gyro sensor by acceleration transducer, by the flying height of the atmosphere pressure sensor collection aircraft in attitude detection module; The flying quality of the aircraft collected is transferred to master controller by attitude detection module, according to attitude detection module, the flying quality of the aircraft of transmission is sent flight control command to rotor motor drag module by master controller, and then control the state of flight of aircraft; The flying quality of the aircraft collected is transferred to remote controllers 70 by wireless remote control module 50 by attitude detection module by described master controller, the flying quality of the aircraft that user receives from remote controllers 70; Meanwhile, aircraft by image scene during camera collection aircraft flight in described wireless video module 60, by the wireless video transmission module in wireless video module 60 by camera collection to image scene transfer to remote controllers; Described remote controllers receive and the image scene of display wireless video transmission module transfer, and user can by the state of flight of image scene Real-Time Monitoring aircraft that remote controllers show; If user needs to adjust the state of flight of aircraft, flight steering order can be sent by remote controllers to carry-on wireless remote control module 50 and control.
Further, described master controller 20 adopts model to be the chip of STM32F103C8T, as shown in Figure 2; 10th pin of described STM32F103C8T chip, the 11st pin, the 12nd pin, the 13rd pin are connected with the controller of the upper and lower, left and right four direction of motor in rotor motor drag module after connecting an on-off circuit respectively more respectively; 32nd pin of described STM32F103C8T chip connects the negative pole of USB interface, 33rd pin connects the positive pole of USB interface, 34th pin connects the data terminal of string line debugging (SWD) interface, and the 37th pin connects the clock end of string line debugging (SWD) interface; 5th pin of described STM32F103C8T chip is connected with external crystal-controlled oscillation with the 6th pin; 38th pin of described STM32F103C8T chip connects a light emitting diode D1, is used to indicate the power supply state of master controller 20; 30th pin of described STM32F103C8T chip connects debug port.
Further, in attitude detection module 40 gyro sensor and acceleration transducer adopt model be the chip of MPU6050, as shown in Figure 3; Described MPU6050 integrated chip has three axis MEMS gyro, 3 axis MEMS acceleration takes into account an extendible digital moving processor (DMP); 24th pin and the described model of described MPU6050 chip are that the 43rd pin of the master controller chip of STM32F103C8T is connected, 23rd pin and the described model of described MPU6050 chip are that the 42nd pin of the master controller chip of STM32F103C8T is connected, and the 12nd pin and the described model of described MPU6050 chip are that the 31st pin of the master controller chip of STM32F103C8T is connected.
Further, the atmosphere pressure sensor in described attitude detection module 40 adopts model to be the chip of HMC5883L, as shown in Figure 4; 1st pin and the described model of described HMC5883L chip are that the 42nd pin of the master controller chip of STM32F103C8T is connected; 16th pin and the described model of described HMC5883L chip are that the 43rd pin of the master controller chip of STM32F103C8T is connected.
Further, described wireless remote control module 50 comprises radio receiving transmitting module, RF front-end module and antenna; The sending and receiving end of described radio receiving transmitting module is connected with described master controller as the data transmit-receive end of described wireless remote control module; The transmission end of described radio receiving transmitting module is connected with the transmission end of described RF front-end module; The sending and receiving end of described RF front-end module is connected with antenna; Described antenna is as the data transmit-receive end of wireless remote control module.
Further, in described radio receiving transmitting module, the radio receiving transmitting module of 50 adopts model to be nRF24L01 chip, and described RF front-end module adopts RFX2401 chip, as shown in Figure 5; 9th pin of described nRF24L01 chip and the 10th pin serial connection one crystal oscillator; 13rd pin of described nRF24L01 chip is connected with the 4th pin of described RFX2401 chip after a filtering circuit; Be connected with antenna after 10th pin of described RFX2401 chip connects a harmonic filter.
A nearlyer step, described filtering circuit is made up of inductance L 2 and the series resonant circuit shunt inductance L4 of electric capacity C8 and the series resonant circuit of electric capacity C9.
Further, described power module comprises charging module, Voltage stabilizing module and rechargeable battery; The input end of described charging module connects input power, and the output terminal of described power module connects rechargeable battery; Described rechargeable battery is connected with the input end of Voltage stabilizing module; After output voltage is converted to the supply voltage needed for modules of over the horizon aircraft inspection tour system by described Voltage stabilizing module, the modules being over the horizon aircraft inspection tour system by the output terminal of Voltage stabilizing module is powered.
Further, the charging module in described power module 10 adopts model to be the chip of TP4056, as shown in Figure 6; Described input power is connected with the 4th pin of described TP4056 chip respectively after connecting a diode and is connected with the 8th pin of described TP4056 chip; Be in series with a light emitting diode between the 4th pin of described TP4056 chip and the 7th pin of described TP4056 chip, described light emitting diode is for instruction of charging; 5th pin serial connection one power switch of described TP4056 chip is connected with rechargeable battery with after an inductance.
Further, the Voltage stabilizing module in described power module 10 is that the SP6205 chip of SP6205 and the 2nd SP6205 chip are formed by model, as shown in Figure 7; 1st pin of a described SP6205 chip is connected with rechargeable battery after being connected with the connected node of the 3rd pin with the 1st pin of the 2nd SP6205 chip with the connected node of the 3rd pin; 5th pin of a described SP6205 chip is connected with the power end of the modules of over the horizon aircraft inspection tour system with the 5th pin of described 2nd SP6205 chip, for the modules of over the horizon aircraft inspection tour system is powered.
Further, the wireless video processing module in described wireless video module 60 comprises image processing module and image transmission module; Described image processing module transfers to described remote controllers by described image transmission module after the image scene of camera collection is carried out coded treatment.
Further, described image processing module adopts LPC2144 chip; Described image transmission module adopts nRF24L01 chip and the second antenna; 22nd pin of described LPC2144 chip is connected with the 1st pin of described nRF24L01 chip; 4th pin of described LPC2144 chip is connected with the 2nd pin of described nRF24L01 chip; 27th pin of described LPC2144 chip is connected with the 3rd pin of described nRF24L01 chip; 30th pin of described LPC2144 chip is connected with the 4th pin of described nRF24L01 chip; 29th pin of described LPC2144 chip is connected with the 5th pin of described nRF24L01 chip; 46th pin of described LPC2144 chip is connected with the 6th pin of described nRF24L01 chip; Be connected with the second antenna after 13rd pin of described nRF24L01 chip connects a harmonic filter.
Further, described over the horizon aircraft inspection tour system also comprises GPS locating module 80, as shown in Figure 8; Described GPS locating module comprises gps antenna, low noise amplifier, wave filter, GPS RF front-end module, antenna control module and GPS baseband signal processing unit; Described gps antenna is connected with the input end of low noise amplifier; The output terminal of described low noise amplifier is connected with the input end of GPS RF front-end module; The output terminal of described GPS RF front-end module is connected with the input end of GPS baseband signal processing unit; The output terminal of described GPS baseband signal processing unit is connected with described master controller; Normal, the short circuit of described GPS baseband signal processing unit by described antenna control module induction gps antenna, three kinds of states of open circuit.
Further, the low noise amplifier in described GPS locating module adopts model to be the chip of MAX2654, and described GPS RF front-end module adopts model to be the chip of MAX2742.
Above-described embodiment is only used for further illustrating a kind of over the horizon aircraft inspection tour system of the present invention; but the present invention is not limited to embodiment; every above embodiment is done according to technical spirit of the present invention any simple modification, equivalent variations and modification, all fall in the protection domain of technical solution of the present invention.
Claims (15)
1. an over the horizon aircraft inspection tour system, is characterized in that, comprises power module, master controller, rotor motor drag module, attitude detection module, wireless remote control module, wireless video module and remote controllers;
Described power module is that the modules of over the horizon aircraft inspection tour system is powered;
Described attitude detection module, comprising: gyro sensor, acceleration transducer and atmosphere pressure sensor; Described gyro sensor is for gathering the angular speed in aircraft pitch rate, rolling angle rate, yawrate three directions; Described acceleration transducer is used for carrying out revising to the measured value of gyro sensor and compensating; Described atmosphere pressure sensor is used for the flying height of sense aircraft; The Flight Condition Data of the aircraft detected is transferred to master controller by described attitude detection module;
Described wireless video module, comprises camera and wireless video processing module; Described camera be used for image scene during aircraft flight is gathered, described wireless video processing module by camera collection to image scene carry out coded treatment and by coding after image scene transfer to remote controllers;
Described wireless remote control module, the data transmit-receive end of described wireless remote control module is for receiving the remote control command of described remote controllers transmission and the state of flight information extremely described remote controllers for sending aircraft; The data transmission terminal of described wireless remote control module is connected with described master controller, and the data transmission terminal of described wireless remote control module is used for the remote control command that data transmit-receive termination receives to be transferred to master controller and the state of flight information being used for the aircraft receiving master controller transmission;
Described rotor motor drag module comprises screw propeller and motor, and described motor controls the rotation status of screw propeller and then the state of flight of adjustment aircraft according to the flight control command that master controller sends;
Described master controller for receiving the Flight Condition Data of the aircraft detected by attitude detection module, and sends flight control command to the motor in rotor motor drag module after carrying out analyzing and processing; Described master controller also sends flight control command to the motor in rotor motor drag module according to the remote control command of wireless remote control module transmission;
Described remote controllers, for receiving the image scene of wireless video transmission module transfer, also for sending remote control command to wireless remote control module.
2. a kind of over the horizon aircraft inspection tour system according to claim 1, is characterized in that: described master controller adopts model to be the chip of STM32F103C8T;
10th pin of described STM32F103C8T chip, the 11st pin, the 12nd pin, the 13rd pin are connected with the controller of the upper and lower, left and right four direction of motor in rotor motor drag module after connecting an on-off circuit respectively more respectively;
32nd pin of described STM32F103C8T chip is connected USB interface with the 33rd pin, and the 34th pin is connected with string line debugging interface with the 37th pin;
5th pin of described STM32F103C8T chip is connected with external crystal-controlled oscillation with the 6th pin.
3. a kind of over the horizon aircraft inspection tour system according to claim 2, is characterized in that: the gyro sensor in described attitude detection module and acceleration transducer adopt model to be the chip of MPU6050; Described MPU6050 integrated chip has three axis MEMS gyro, 3 axis MEMS acceleration takes into account an extendible digital moving processor; 24th pin and the described model of described MPU6050 chip are that the 43rd pin of the master controller chip of STM32F103C8T is connected, 23rd pin and the described model of described MPU6050 chip are that the 42nd pin of the master controller chip of STM32F103C8T is connected, and the 12nd pin and the described model of described MPU6050 chip are that the 31st pin of the master controller chip of STM32F103C8T is connected.
4. a kind of over the horizon aircraft inspection tour system according to claim 2, is characterized in that: the atmosphere pressure sensor in described attitude detection module adopts model to be the chip of HMC5883L; 1st pin and the described model of described HMC5883L chip are that the 42nd pin of the master controller chip of STM32F103C8T is connected; 16th pin and the described model of described HMC5883L chip are that the 43rd pin of the master controller chip of STM32F103C8T is connected.
5. a kind of over the horizon aircraft inspection tour system according to claim 2, is characterized in that: described wireless remote control module comprises radio receiving transmitting module, RF front-end module and the first antenna; The sending and receiving end of described radio receiving transmitting module is connected with described master controller as the data transmit-receive end of described wireless remote control module; The transmission end of described radio receiving transmitting module is connected with the transmission end of described RF front-end module; The sending and receiving end of described RF front-end module is connected with the first antenna; Described first antenna is as the data transmit-receive end of wireless remote control module.
6. a kind of over the horizon aircraft inspection tour system according to claim 5, is characterized in that: the radio receiving transmitting module in described radio receiving transmitting module adopts model to be nRF24L01 chip, and described RF front-end module adopts RFX2401 chip; 9th pin of described nRF24L01 chip and the 10th pin serial connection crystal oscillator; 13rd pin of described nRF24L01 chip is connected with the 4th pin of described RFX2401 chip after a filtering circuit; Be connected with antenna after 10th pin of described RFX2401 chip connects a harmonic filter.
7. a kind of over the horizon aircraft inspection tour system according to claim 2, is characterized in that: described power module comprises charging module, Voltage stabilizing module and rechargeable battery; The input end of described charging module connects input power, and the output terminal of described power module connects rechargeable battery; Described rechargeable battery is connected with the input end of Voltage stabilizing module; After output voltage is converted to the supply voltage needed for modules of over the horizon aircraft inspection tour system by described Voltage stabilizing module, the modules being over the horizon aircraft inspection tour system by the output terminal of Voltage stabilizing module is powered.
8. a kind of over the horizon aircraft inspection tour system according to claim 7, is characterized in that: the charging module in described power module adopts model to be the chip of TP4056; Described input power is connected with the 4th pin of described TP4056 chip respectively after connecting a diode and is connected with the 8th pin of described TP4056 chip; Be in series with a light emitting diode between the 4th pin of described TP4056 chip and the 7th pin of described TP4056 chip, described light emitting diode is for instruction of charging; 5th pin serial connection one power switch of described TP4056 chip is connected with rechargeable battery with after an inductance.
9. a kind of over the horizon aircraft inspection tour system according to claim 8, is characterized in that: described Voltage stabilizing module is that the SP6205 chip of SP6205 and the 2nd SP6205 chip are formed by model; 1st pin of a described SP6205 chip is connected with rechargeable battery after being connected with the connected node of the 3rd pin with the 1st pin of the 2nd SP6205 chip with the connected node of the 3rd pin; 5th pin of a described SP6205 chip is connected with the power end of the modules of over the horizon aircraft inspection tour system with the 5th pin of described 2nd SP6205 chip, for the modules of over the horizon aircraft inspection tour system is powered.
10. a kind of over the horizon aircraft inspection tour system according to claim 1, is characterized in that: described wireless video processing module comprises image processing module and image transmission module; Described image processing module transfers to described remote controllers by described image transmission module after the image scene of camera collection is carried out coded treatment.
11. a kind of over the horizon aircraft inspection tour systems according to claim 10, is characterized in that: described image processing module adopts LPC2144 chip; Described image transmission module adopts nRF24L01 chip and the second antenna; 22nd pin of described LPC2144 chip is connected with the 1st pin of described nRF24L01 chip; 4th pin of described LPC2144 chip is connected with the 2nd pin of described nRF24L01 chip; 27th pin of described LPC2144 chip is connected with the 3rd pin of described nRF24L01 chip; 30th pin of described LPC2144 chip is connected with the 4th pin of described nRF24L01 chip; 29th pin of described LPC2144 chip is connected with the 5th pin of described nRF24L01 chip; 46th pin of described LPC2144 chip is connected with the 6th pin of described nRF24L01 chip; Be connected with the second antenna after 13rd pin of described nRF24L01 chip connects a harmonic filter.
12. a kind of over the horizon aircraft inspection tour systems according to claim 1, is characterized in that: described over the horizon aircraft inspection tour system also comprises GPS locating module; Described GPS locating module comprises gps antenna, low noise amplifier, wave filter, GPS RF front-end module, antenna control module and GPS baseband signal processing unit; Described gps antenna is connected with the input end of low noise amplifier; The output terminal of described low noise amplifier is connected with the input end of GPS RF front-end module; The output terminal of described GPS RF front-end module is connected with the input end of GPS baseband signal processing unit; The output terminal of described GPS baseband signal processing unit is connected with described master controller; Normal, the short circuit of described GPS baseband signal processing unit by described antenna control module induction gps antenna, three kinds of states of open circuit.
13. a kind of over the horizon aircraft inspection tour systems according to claim 10, is characterized in that: the low noise amplifier in described GPS locating module adopts model to be the chip of MAX2654, and described GPS RF front-end module adopts model to be the chip of MAX2742.
14. a kind of over the horizon aircraft inspection tour systems according to claim 1, is characterized in that: the screw propeller of described rotor motor drag module comprises four rotors; Described four rotors all with body plane orthogonal; Described four rotors adopt positive and negative oar to design, and the blade of two rotors on diagonal line is identical, and the blade of two adjacent rotors is contrary; Aircraft is put down two rotors when flying and is rotated forward, and two rotors reversions, avoid aircraft to spin; Aircraft rotate time by motor strengthen two positive switch rotors or two reversion rotors rotating speed change total torque, thus change crab angle aircraft is rotated.
15. a kind of over the horizon aircraft inspection tour systems according to claim 1, is characterized in that: the screw propeller of described rotor motor drag module comprises eight rotors.
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