CN106227228A - A kind of many rotor wing unmanned aerial vehicles based on Bluetooth transmission control device - Google Patents

A kind of many rotor wing unmanned aerial vehicles based on Bluetooth transmission control device Download PDF

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Publication number
CN106227228A
CN106227228A CN201610764470.4A CN201610764470A CN106227228A CN 106227228 A CN106227228 A CN 106227228A CN 201610764470 A CN201610764470 A CN 201610764470A CN 106227228 A CN106227228 A CN 106227228A
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CN
China
Prior art keywords
module
bluetooth
unmanned aerial
aerial vehicles
wing unmanned
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Pending
Application number
CN201610764470.4A
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Chinese (zh)
Inventor
刘春焕
刘秀云
刘春香
何春华
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Qingdao University
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Qingdao University
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Publication date
Application filed by Qingdao University filed Critical Qingdao University
Priority to CN201610764470.4A priority Critical patent/CN106227228A/en
Publication of CN106227228A publication Critical patent/CN106227228A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft

Abstract

The invention belongs to many rotor wing unmanned aerial vehicles and control technical field, relate to a kind of many rotor wing unmanned aerial vehicles based on Bluetooth transmission and control device, power module respectively with+3.3 ports of main control module, VCC and the VCC3.3 port of bluetooth module connects to provide power supply, main control module is connected with the UART_RXD port in bluetooth module and UART_TXD port by two PORT COM of PA9 and PA10 in its single-chip microcomputer, in order to receive and to process the data message from bluetooth module, bluetooth module is responsible for transmitting control information, complete the data exchange controlling between device and many rotor wing unmanned aerial vehicles, carried out data transmission by serial communication mode between main control module and bluetooth module, to realize the control to the multi-rotor aerocraft equipped with bluetooth communication module;Distinctive Bluetooth transmission mode, has the advantages such as nothing postpones, speed is fast, low in energy consumption, degree of stability is high, safety coefficient is high.

Description

A kind of many rotor wing unmanned aerial vehicles based on Bluetooth transmission control device
Technical field:
The invention belongs to many rotor wing unmanned aerial vehicles and control technical field, relate to a kind of many rotor wing unmanned aerial vehicles based on Bluetooth transmission Control device, use Bluetooth wireless transmission technology to realize controlling the data communication between device and many rotor wing unmanned aerial vehicles.
Background technology:
Many rotor wing unmanned aerial vehicles are a kind of high-freedom degree VUAV aircraft, and it can complete hovering, low speed flies The multi-task that the fixed-wing unmanned planes such as row, VTOL and indoor flight cannot complete.The overall structure of many rotor wing unmanned aerial vehicles Including dynamical system, main body (frame, foot rest and The Cloud Terrace etc.), control system and other auxiliary equipments (radio station, gain antenna, with Track antenna etc.) etc., wherein control system be ensure aircraft can smooth flight or the vitals of VTOL, and control be In system transmission means about flight parameter Yu telecommand be then aircraft can the premise of stabilized flight and cruise, therefore one Plant stable wireless transmission method particularly important to the control of aircraft.In practice, the parameter of many rotor wing unmanned aerial vehicles is adjusted by people Whole mostly realized by signal projector and receptor, on many rotor wing unmanned aerial vehicles, i.e. increase wireless communication apparatus and join Standby corresponding sender unit completes the transmission of the information to many rotor wing unmanned aerial vehicles and receives, with reach to control many rotors without Man-machine attitude and the purpose of running orbit.
In prior art, one disclosed in such as Chinese patent ZL201520951955.5 is taken photo by plane with burnt control system and flies Row device, a kind of aircraft remote control rod disclosed in Chinese patent ZL201610104033.X and the method controlling aircraft flight, in The rotor craft etc. of a kind of multi-communication mode disclosed in state's patent ZL201520824198.5, all simply simply discloses such as The technology contents such as communication connection, aircraft transceiver, wireless communication module, not interior about data transfer mode of detailed disclosure Hold.Moreover the remote control of the most most many rotor wing unmanned aerial vehicles is all multichannel model airplane remote controller at present, although performance is steady Fixed but expensive, and along with the integrated level of many rotor wing unmanned aerial vehicles is more and more higher, himself volume is more and more less, existing greatly The remote controller of volume, quality weight cannot be matched, and therefore the application research design goes out a kind of many based on Bluetooth transmission Rotor wing unmanned aerial vehicle controls device, has that volume is little, light weight, Parameter adjustable and cost not high.
Summary of the invention:
It is an object of the invention to the shortcoming overcoming prior art to exist, design a kind of many rotors based on Bluetooth transmission without Human-machine Control device, using STM32F103RBT6 chip is master control core, it is achieved the control to many rotor wing unmanned aerial vehicles.
To achieve these goals, the many rotor wing unmanned aerial vehicles that the present invention relates to control the agent structure of device and include master control mould Block, power module and bluetooth module, power module respectively with+3.3 ports, VCC and VCC3.3 of bluetooth module of main control module Port connects to provide power supply, and main control module is by two PORT COM of PA9 and PA10 in its single-chip microcomputer and bluetooth module UART_RXD port and UART_TXD port connect, in order to receive and to process the data message from bluetooth module, bluetooth mould Block is responsible for transmitting control information, completes the data exchange controlling between device and many rotor wing unmanned aerial vehicles, main control module and bluetooth mould Carried out data transmission by serial communication mode between block, to realize the multi-rotor aerocraft equipped with bluetooth communication module Control;Its transmission control principle is: the normal work that power module is modules after system electrification provides suitable power supply, Main control module initializes each module and is zeroed out each depositor after powering on, then attempted and many rotors by bluetooth module On unmanned plane, the bluetooth module of coupling matches, and i.e. realizes carrying out data transmission with many rotor wing unmanned aerial vehicles after successful matching;Main Control module first passes through bluetooth and is corrected the takeoff condition of many rotor wing unmanned aerial vehicles, and by pre-defining corresponding to control information Good parameter is sent to many rotor wing unmanned aerial vehicles by bluetooth module;Then main control module receives the control number that user remote controller sends According to, and interpretation go out to control data whether contain instruction and will instruction corresponding to predefined parameter sent by bluetooth module To many rotor wing unmanned aerial vehicles;Many rotor wing unmanned aerial vehicles produce corresponding actions and form action running parameter again by indigo plant after receiving parameter Tooth sends the bluetooth module controlled in device to, and bluetooth module transmits respective counts according to the data message produced to user remote controller According to, to change the rotating speed of all rotors of many rotor wing unmanned aerial vehicles, it is achieved control the attitude of many rotor wing unmanned aerial vehicles.
Further, described main control module uses STM32F103RBT6 as master control core;Described power module is arranged There is LM1117-3.3V blood pressure lowering chip, realizing the power supply to modules, fall for external+5V voltage being converted to+3.3V voltage Decoupling capacitor it is parallel with to reduce the ripple of input voltage between input and output side and the ground of pressure chip;Described bluetooth module is
HC-05 principal and subordinate one bluetooth serial ports module, draws interface and includes VCC pin, GND pin, TXD pin, RXD pin With KEY pin and bluetooth connection status leading foot, export low signal when bluetooth connection status leading foot is not connected with, when bluetooth connects Connect when state leading foot connects and export high signal.
Compared with prior art, the control chip of selection is STM32F103RBT6 to the present invention, effectively reduces and is manufactured into This, the overall independent detachable maintaining using modular design pattern to be easy to each module, the user for different demands provides many Plant selection scheme;Distinctive Bluetooth transmission mode, have without postpone, speed is fast, low in energy consumption, degree of stability is high, safety coefficient is high Advantage.
Accompanying drawing illustrates:
Fig. 1 is the agent structure module diagram that the many rotor wing unmanned aerial vehicles that the present invention relates to control device.
Fig. 2 is the structural principle schematic diagram of the main control module related in the present invention.
Fig. 3 is the structural principle schematic diagram of the power module related in the present invention.
Fig. 4 is the structural principle schematic diagram of the bluetooth module related in the present invention.
Detailed description of the invention:
Below by embodiment and combine accompanying drawing the present invention will be further described.
Embodiment:
Many rotor wing unmanned aerial vehicles that the present embodiment relates to control the agent structure of device and include main control module 1, power module 2 and Bluetooth module 3, power module 2 be connected with+3.3 ports of main control module 1, VCC and the VCC3.3 port of bluetooth module 3 respectively with Thering is provided power supply, main control module 1 is by two PORT COM of PA9 and PA10 in its single-chip microcomputer and the UART_ in bluetooth module 3 RXD port and UART_TXD port connect, and in order to receive and to process the data message from bluetooth module 3, bluetooth module 3 is responsible for Transmission control information, completes the data exchange controlling between device and many rotor wing unmanned aerial vehicles, main control module 1 and bluetooth module 3 it Between carried out data transmission by serial communication mode, to realize control to the multi-rotor aerocraft equipped with bluetooth communication module System;Its transmission control principle is: the normal work that power module 2 is modules after system electrification provides suitable power supply, Main control module 1 initializes each module and is zeroed out each depositor after powering on, then attempted and many rotations by bluetooth module 3 On wing unmanned plane, the bluetooth module of coupling matches, and i.e. realizes carrying out data transmission with many rotor wing unmanned aerial vehicles after successful matching; Main control module 1 first passes through bluetooth and is corrected the takeoff condition of many rotor wing unmanned aerial vehicles, and by corresponding to control information in advance The parameter defined is sent to many rotor wing unmanned aerial vehicles by bluetooth module 3;Then main control module 1 receives what user remote controller sent Control data, and interpretation goes out to control whether data contain instruction and by the predefined parameter corresponding to instruction by bluetooth mould Block 3 is sent to many rotor wing unmanned aerial vehicles;Many rotor wing unmanned aerial vehicles produce corresponding actions after receiving parameter and form action running parameter Send, by bluetooth, the bluetooth module 3 controlled in device to again, bluetooth module 3 according to the data message produced to user remote controller Transmission corresponding data, to change the rotating speed of all rotors of many rotor wing unmanned aerial vehicles, it is achieved control the attitude of many rotor wing unmanned aerial vehicles.
Main control module 1 (as shown in Figure 2) described in the present embodiment uses STM32F103RBT6 as master control core, and it has Abundant peripheral hardware resource can fully meet the requirement of systematic function;Described power module 2 (as shown in Figure 3) is provided with LM1117-3.3V blood pressure lowering chip, realizes the power supply to other modules, blood pressure lowering for external+5V voltage is converted to+3.3V voltage Decoupling capacitor it is parallel with to reduce the ripple of input voltage between input and output side and the ground of chip;Described bluetooth module 3 (as Shown in Fig. 4) it is HC-05 principal and subordinate one bluetooth serial ports module, draw interface and include that VCC pin, GND pin, TXD pin, RXD draw Foot and KEY pin and bluetooth connection status leading foot (STATE), export low letter when bluetooth connection status leading foot is not connected with Number, export high signal when bluetooth connection status leading foot connects, after successful connection to be paired when full duplex serial ports uses, nothing Need to understand any Bluetooth protocol can support 8 bit data positions, 1 stop position, the communication format of even-odd check be set.
In the present embodiment, data transmission uses Bluetooth technology, supports the shortest Datagram, and transmission speed can reach 1Mb/ S, all connected modes all use the sniff time rated functional pattern of advanced person, to realize ultralow load cycle;Online foundation Only need 3ms to complete, linker can be started rapidly with application program simultaneously, complete through accreditation in transmission speed in milliseconds Data transmission after close connection immediately;The circulation using 24 repeats to examine ring (CRC), can ensure that all packages are when being disturbed Maximum stable degree;The AES-128 using CCM encrypts completely, provides height encryption and certification degree for data packet.

Claims (2)

1. many rotor wing unmanned aerial vehicles based on Bluetooth transmission control device, it is characterised in that agent structure include main control module, Power module and bluetooth module, power module respectively with+3.3 ports, VCC and the VCC3.3 port of bluetooth module of main control module Connecting to provide power supply, main control module is by two PORT COM of PA9 and PA10 in its single-chip microcomputer and bluetooth module UART_RXD port and UART_TXD port connect, in order to receive and to process the data message from bluetooth module, bluetooth module It is responsible for transmission control information, completes the data exchange controlling between device and many rotor wing unmanned aerial vehicles, main control module and bluetooth module Between carried out data transmission by serial communication mode, to realize control to the multi-rotor aerocraft equipped with bluetooth communication module System;Its transmission control principle is: the normal work that power module is modules after system electrification provides suitable power supply, main Control module initializes each module and is zeroed out each depositor after powering on, then by bluetooth module attempt with many rotors without The bluetooth module of man-machine upper coupling matches, and i.e. realizes carrying out data transmission with many rotor wing unmanned aerial vehicles after successful matching;Master control Module first passes through bluetooth and is corrected the takeoff condition of many rotor wing unmanned aerial vehicles, and by pre-defining corresponding to control information Parameter be sent to many rotor wing unmanned aerial vehicles by bluetooth module;Then main control module receives the control number that user remote controller sends According to, and interpretation go out to control data whether contain instruction and will instruction corresponding to predefined parameter sent by bluetooth module To many rotor wing unmanned aerial vehicles;Many rotor wing unmanned aerial vehicles produce corresponding actions and form action running parameter again by indigo plant after receiving parameter Tooth sends the bluetooth module controlled in device to, and bluetooth module transmits respective counts according to the data message produced to user remote controller According to, to change the rotating speed of all rotors of many rotor wing unmanned aerial vehicles, it is achieved control the attitude of many rotor wing unmanned aerial vehicles.
Many rotor wing unmanned aerial vehicles based on Bluetooth transmission the most according to claim 1 control device, it is characterised in that described master Control module uses STM32F103RBT6 as master control core;Described power module is provided with LM1117-3.3V blood pressure lowering chip, Realize power supply to modules for external+5V voltage being converted to+3.3V voltage, the input and output side of blood pressure lowering chip with Decoupling capacitor it is parallel with to reduce the ripple of input voltage between ground;Described bluetooth module is HC-05 principal and subordinate one bluetooth serial ports Module, draws interface and includes that VCC pin, GND pin, TXD pin, RXD pin and KEY pin and bluetooth connection status are drawn Foot, exports low signal when bluetooth connection status leading foot is not connected with, the output height letter when bluetooth connection status leading foot connects Number.
CN201610764470.4A 2016-08-30 2016-08-30 A kind of many rotor wing unmanned aerial vehicles based on Bluetooth transmission control device Pending CN106227228A (en)

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CN107395293A (en) * 2017-08-09 2017-11-24 西安应用光学研究所 A kind of UAV electro-optical's system serial comm state detection method
CN111710141A (en) * 2020-05-25 2020-09-25 广西恒信博大教育科技集团有限公司 Unmanned aerial vehicle Bluetooth wireless debugging system and method based on arduino

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Cited By (3)

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Publication number Priority date Publication date Assignee Title
CN107395293A (en) * 2017-08-09 2017-11-24 西安应用光学研究所 A kind of UAV electro-optical's system serial comm state detection method
CN107395293B (en) * 2017-08-09 2020-06-16 西安应用光学研究所 Method for detecting serial communication state of photoelectric system of unmanned aerial vehicle
CN111710141A (en) * 2020-05-25 2020-09-25 广西恒信博大教育科技集团有限公司 Unmanned aerial vehicle Bluetooth wireless debugging system and method based on arduino

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Application publication date: 20161214