CN106849911A - A kind of unmanned aerial vehicle onboard overload measurement trigger with control interface - Google Patents
A kind of unmanned aerial vehicle onboard overload measurement trigger with control interface Download PDFInfo
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- CN106849911A CN106849911A CN201710132986.1A CN201710132986A CN106849911A CN 106849911 A CN106849911 A CN 106849911A CN 201710132986 A CN201710132986 A CN 201710132986A CN 106849911 A CN106849911 A CN 106849911A
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- 238000001914 filtration Methods 0.000 claims description 15
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K3/00—Circuits for generating electric pulses; Monostable, bistable or multistable circuits
- H03K3/01—Details
- H03K3/014—Modifications of generator to ensure starting of oscillations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/26—Auxiliary measures taken, or devices used, in connection with the measurement of force, e.g. for preventing influence of transverse components of force, for preventing overload
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03L—AUTOMATIC CONTROL, STARTING, SYNCHRONISATION OR STABILISATION OF GENERATORS OF ELECTRONIC OSCILLATIONS OR PULSES
- H03L3/00—Starting of generators
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Abstract
The present invention relates to a kind of unmanned aerial vehicle onboard overload measurement trigger with control interface, the measurement of unmanned plane overload signal is realized by signal condition from acceleration sensor, employ the trigger with control interface simultaneously, in the case where the validity of signal triggering is ensured, thresholding is set according to overload to judge to carry out overload triggering automatically, simultaneously and with the holding (or change) according to control signal, trigger signal keeps (or treating retriggered) function.Reasonable in design, simple structure of the invention, reduces the burden of the timely collection of Upper Processor, is adapted to unmanned plane low cost multitask system.
Description
Technical field
The invention belongs to overload measurement triggering technique, it is related to a kind of unmanned aerial vehicle onboard mistake with control interface
Carry measurement triggering device.
Background technology
At present, known overload measurement equipment is to carry out signal acquisition by acceleration sensor, or overload signal has
Certain duration, or overload signal is specially gathered in real time using processor high speed.And the known patent (patent No.
CN105173958A it is to be applied to civilian elevator executing agency) based on acceleration analysis, requirement of real-time is relatively low, while not
With control interface, it is impossible to meet transient response requirement of real-time, it is impossible to suitable for unmanned aerial vehicle onboard multitask use requirement.
The content of the invention
Present invention solves the technical problem that being：In order to overcome unmanned plane overload twinkling signal continue it is short (generally 1 millisecond~
3 milliseconds), Upper Processor task is heavy to be difficult to collect overload signal in time, or cannot determine the instantaneous of time to gather
Overload signal and tasks carrying, greatly improve Upper Processor performance, increase the problem of cost.This on-duty invention provides a kind of tool
There is the unmanned aerial vehicle onboard overload measurement trigger of control interface, on the basis of overload measurement precision and triggering validity is ensured,
By remote control, thresholding is set according to overload and judges to carry out overload triggering automatically, while simultaneously having according to the guarantor of control signal
(or change) is held, trigger signal keeps (or treating retriggered) function.
The technical scheme is that：A kind of unmanned aerial vehicle onboard overload measurement trigger with control interface, including electricity
Source driving circuit 1, power reference circuit 2, overload sensitive circuit 3, signal conditioning circuit 4, signal comparator circuit 5, control triggering
Circuit 6 and power supply 7；After external power source 7 is through the conversion voltage of drive circuit 1, power output is overload sensitive circuit 3, signal all the way
Modulate circuit 4, signal comparator circuit 5 and control triggers circuit 6 are powered, and power output changes electricity through power reference circuit 2 all the way
It is that signal conditioning circuit 4 is powered after pressure；Day from unmanned plane is passed to overload after overloading sensitive circuit sensing conversion and filtering
Enter signal conditioning circuit 4；Input signal comparison circuit 5 after amplifying signal through signal conditioning circuit 4, in signal comparator circuit 5
Amplify signal to be compared with threshold value；When signal value is more than threshold value, the output level of signal comparator circuit 5 is changed into from low level
High level, now controls triggers circuit 6 to collect the level saltus step；If control instruction 8 is high level, control triggers circuit 6 is adopted
Effectively, the control output high level of triggers circuit 6, UAS performs throwing umbrella instruction to the level skip signal for collecting；If control
Instruction 8 is low level, and the level skip signal that control triggers circuit 6 is collected is invalid, and it be still low electricity that control triggers circuit 6 is exported
Flat, UAS does not perform throwing umbrella instruction；When signal value is less than or equal to threshold value, the output of signal comparator circuit 5 is remained
Low level, now controls triggers circuit 6 not collect level saltus step；No matter control instruction 8 is high level or low level, control
Triggers circuit 6 exports low level all the time, and UAS does not perform throwing umbrella instruction.
Further technical scheme of the invention is：The power driving circuit 1 includes DC-DC module, some electric capacity, inductance
L1 and inductance L2；Vin is external power source signal, used as input voltage；GNDin is, from unmanned aerial vehicle onboard electric network source ground, to make
It is input ground；Vin, GNDin are after electric capacity C1, electric capacity C2 are filtered, then eliminate common mode disturbances, Ran Houjing by common mode inductance L1
Electric capacity C3, electric capacity C4 filtering are crossed, as input power and the input power ground of DC-DC module 11；DC-DC module 11 exports+5V
With out-put supply ground, after electric capacity C5, electric capacity C6 are filtered, then common mode disturbances are eliminated by common mode inductance L2, then by electricity
Hold C7, electric capacity C8 filtering, as output voltage 5Vout and output ground GNDout.
Further technical scheme of the invention is：The overload sensitive circuit include resistance R1, acceleration sensor 12,
Electric capacity C9 and concomitant circuit 13；The one end of acceleration sensor 12 mutually concatenates with resistance R1, concomitant circuit 13, through concomitant circuit
13 output overloading primary signals；And be grounded between acceleration sensor 12 and resistance R1 and after meeting C9.
Further technical scheme of the invention is：The signal conditioning circuit 4 of the signal conditioning circuit 4 includes that zero-bit adjusts electricity
Road, amplifying circuit and filter circuit；R2, R3 connect and R4 constitutes zero-bit regulation circuit；R2 mono- terminates+5V power supplys, and R3 mono- is terminated
Ground, R2 and R3 series connection nodes feed back to opamp input terminal by resistance R4；Input R5 and R6 constitute amplifying circuit；R5
Take over load primary signal Ua, the input of a termination operational amplifier in one end；R6 is used as backfeed loop concatenation operation amplifier
Input and output end；R7 and C2 constitutes first-order low-pass wave circuit, the output end of R7 one end concatenation operation amplifier, C2 one end
Ground connection, R2 and R3 series connection nodes are the overload signal of the output of signal conditioning circuit 4.
Further technical scheme of the invention is：Control triggers circuit 6 trigger, control input/PR, signal source
CLK；Control input/PR control instructions 8 of the connection from host computer, and be grounded by pull down resistor R9 so that control input/PR
Acquiescence level is low level, and when the control instruction of host computer is high level, control input/PR is high level, when the control of host computer
Control input/PR is low level when system instruction 8 is low level；It is more electric that signal source (CLK) connects signal by isolation resistance R8
The level signal of the output of road 5；Trigger /CLR ends high level 5V all the time, the ID ends of trigger are grounded all the time；Trigger /Q
End exports trigger signal 9 by isolation resistance R9, used as the output of control triggers circuit 6.
Further technical scheme of the invention is：The original letter of overload that signal conditioning circuit 4 is exported to overload sensitive circuit 3
After number carrying out zero-bit regulation and amplifying filtering process, it is available for outside AD to gather.
Further technical scheme of the invention is：The trigger selection 74HC74 series.
Invention effect
The technical effects of the invention are that：Due to realizing unmanned plane mistake by signal condition from acceleration sensor
The measurement of information carrying number, while the trigger with control interface is employed, in the case where the validity of signal triggering is ensured, root
Thresholding is set according to overload to judge to carry out overload triggering automatically, while simultaneously having according to the holding (or change) of control signal, triggering
Signal keeps (or treating retriggered) function.Reasonable in design, simple structure of the invention, reduces the Real-time Collection of Upper Processor
The burden for the treatment of, is adapted to unmanned plane low cost multitask system.
Brief description of the drawings
Description of reference numerals：
Fig. 1 is schematic diagram of the invention
Fig. 2 is power driving circuit schematic diagram.
Fig. 3 is the schematic diagram of overload sensitive circuit.
Fig. 4 is the schematic diagram of signal conditioning circuit
Fig. 5 is control triggers circuit.
Description of reference numerals：1- power driving circuits, 2- power reference circuits, 3- overload sensitive circuits, 4- signals
Modulate circuit, 5- signal comparator circuits, 6- control triggers circuits, 7- power supplys 28V, 8- control instruction, 9- trigger signals,
10- overload signals, 11-28V turns the DC-DC module of 5V, common mode inductances of the L1- not less than 1mH, L2- being total to not less than 1mH
Mould inductance, C1- low frequency filtering electric capacity, C2- high-frequency filter capacitors, C3- low frequency filtering electric capacity, C4- high-frequency filter capacitors,
C5- low frequency filtering electric capacity, C6- high-frequency filter capacitors, C7- low frequency filtering electric capacity, C8- high-frequency filter capacitors, Vin- inputs
Voltage 28V, GNDin- input ground, Vout- output voltages 5V, GNDout- ground.12- acceleration sensors, 13- is adjoint
Circuit, R1- is not more than the isolation resistance of 100 Ω, and C9- is not more than the low frequency filtering electric capacity of 0.1uF, and Ua- overloads original letter
Number.
N1-low noise, the operational amplifier of track to track, R2- resistances are the zero-bit build-out resistor of 10K,
R3- zero-bits adjust resistance, isolation resistances of the R4- not less than 1M Ω, and R5- resistances are 10K Ω gain match electricity
Resistance, R6- gain setting resistors, R7- is not more than the filter resistance of 100 Ω, and C2- is not more than the low frequency filtering electric capacity of 0.1uF,
Vref- power reference circuit outputs 2.5V；The output signal of 15-signal comparator circuit, 16-control signal, 17- triggering letters
Number, N2- triggering turners, R8- is not more than the isolation resistance of 100 Ω, and pull down resistors of the R9- not less than 1K, R10- is little
In the isolation resistance of 100 Ω.
Specific embodiment
Referring to the drawings, it is further elaborated for concrete technical scheme of the present invention
Referring to Fig. 1-Fig. 5, the technical solution adopted for the present invention to solve the technical problems includes：Power driving circuit, electricity
Source reference circuit, overload sensitive circuit, signal conditioning circuit, signal comparator circuit, control triggers circuit.
Power driving circuit 1 is input with power supply 28V7, and out-put supply 5V is power reference circuit 2, overload sensitive circuit
3, signal conditioning circuit 4, signal comparator circuit 5, control triggers circuit 6 provides operating voltage.Power reference circuit 2 is driven with power supply
The power supply 5V of the dynamic output of circuit 1 is input, output reference voltage 2.5V.Overload sensitive circuit 3 is exported with power driving circuit 1
Power supply 5V is operating voltage, output overloading primary signal.Signal conditioning circuit 4 is with the power supply 5V that power driving circuit 1 is exported
Operating voltage, the overload that the reference voltage 2.5V for being exported with power reference circuit 2 respectively is with overload sensitive circuit 3 is exported is original
Signal is input, output overloading signal 10.The power supply 5V that signal comparator circuit 5 is exported with power driving circuit 1 as operating voltage,
Overload signal with the output of signal conditioning circuit 4 is input, outputs level signals.Control triggers circuit 6 is with power driving circuit 1
The power supply 5V of output is operating voltage, and the level signal with the output of signal comparator circuit 5 is input, is control with control instruction 8
Input, exports trigger signal 9.Control instruction 8 is the control input of control triggers circuit 6, and default value is TTL low levels no matter
Whether the level signal of the output of signal comparator circuit 5 has level to change, and control triggers circuit output keeps TTL low levels；When
When control instruction 8 is TTL high level, the level signal of signal comparator circuit output 5 has jump of the TTL low levels to TTL high level
Become, the trigger signal 9 of control triggers circuit output 6 is just changed into TTL high level from TTL low levels, and trigger signal 9 is always maintained at
Until control instruction 8 is TTL low levels.
The power driving circuit is known DC-DC module and the known electricity being made up of common mode inductance and ceramic condenser
Source filter, is converted to externally fed+28V power reference circuit, overload sensitive circuit, signal conditioning circuit, signal and compares
Operating voltage 5V needed for circuit, control triggers circuit.The power reference circuit is known reference power supply module, is signal
Modulate circuit provides signal criterion voltage 2.5V.Described overload sensitive circuit is in order to avoid acceleration sensor output impedance
The effect of excessive influence signal condition, the connection of its output end it is known by operational amplifier for core single order concomitant circuit with
Reduce impedance, output overloading primary signal.Described signal conditioning circuit, to improve the sensitivity of signal and ensureing that batch accelerates
The uniformity of degree meter signal output, the regulation of signal zero-bit is carried out to acceleration primary signal, is amplified and filtering process, is put by computing
Big device and Different matching resistance capacitance are constituted.Operational amplifier positive input connects power reference circuit output end, and negative sense leads to
Cross gain match resistance to be connected with overload sensitive circuit output end, while zero-regulator resistor is then connected to by the isolation resistance of big resistance
The negative input of operational amplifier, gain setting resistor as operational amplifier feedback network, and operational amplifier is defeated
Go out the single order RC wave filters that end connection is made up of filter resistance and filter capacitor, the overload signal of output is used as signal conditioning circuit
Output.Described signal comparator circuit is known by the voltage comparator circuit that operational amplifier is core, by setting door
Limit value, threshold value can be set according to different type of machines, and threshold value is the corresponding magnitudes of voltage of 2g, overload signal and the door in this patent
Limit value is compared to realize the conversion of low and high level, and the level signal of output is input into as the clock of control triggers circuit.
Described control triggers circuit is that centered on trigger, control instruction is control input, and signal comparator circuit is defeated
The level signal for going out realizes the conversion of signal as signal source input.The wherein level signal conduct of signal comparator circuit output
Clock signal is connected with CLK pin, and control instruction connects and control end.Output end Q is exported as trigger signal.In order to avoid mistake
Overload triggering, control instruction is to having exported control action.When control instruction is TTL high level, signal comparator circuit output
Level signal controls triggers circuit output to be just changed into TTL electricity high from TTL low levels by the saltus step of TTL low levels to TTL high level
Put down, and the TTL high level is always maintained at turning to TTL low levels until control instruction becomes；But when control signal is TTL low levels
When, no matter whether the level signal of signal comparator circuit output has level to change, and control triggers circuit output keeps the low electricity of TTL
It is flat.
The power driving circuit is known DC-DC module TMR-2E and by 1mH common mode inductances and 0.1uF ceramic condensers
The power-supply filter of composition, by externally fed+28V be converted to power reference circuit, overload sensitive circuit, signal conditioning circuit,
Operating voltage 5V needed for signal comparator circuit and control triggers circuit.The power reference circuit is known ADR03BR bases
Quasi- power module, for signal conditioning circuit provides signal criterion voltage 2.5V.
Selected range is the acceleration sensor of ± 37g to described overload sensitive circuit according to demand, quick in acceleration
Sensing unit output end has the filter resistance of 0.47uF over the ground, and it is adjoint to be then used as known single order by the isolation resistance of 100 Ω
The input of circuit, and known single order concomitant circuit output overloading primary signal.
Described signal conditioning circuit, the regulation of signal zero-bit is carried out to acceleration primary signal, is amplified and filtering process.By
Operational amplifier and Different matching resistance capacitance are constituted.Operational amplifier selects track to track OP295, the positive input of operational amplifier
The reference voltage 2.5V of end connection power reference circuit output, gain match resistance and overload sensitive circuit that negative sense passes through 10K
Output overload primary signal connection, gain setting resistor as operational amplifier feedback network, by adjusting gain-adjusted
Resistance makes up the otherness of batch resistance error, and 2 times of amplifications are carried out to overload primary signal.Meanwhile, by being connected to electricity
Two zero-regulator resistors between source 5V and ground, solve the discreteness of the batch acceleration sensor error of zero, this two zeroings
By being connected to the negative input of operational amplifier not less than 1M isolation resistances between resistance.One selection of the zero-regulator resistor is fixed
Resistance 10K, another resistance is then selected according to different acceleration sensors so that the overload signal zero after regulation
Position is in 2.5V ± 50mV.And the output end connection of operational amplifier is by the filter resistance and the filtered electrical of 0.1uF of known 100 Ω
Hold the single order RC wave filters of composition, the overload signal of output as signal conditioning circuit output.
Described signal comparator circuit be it is known by operational amplifier for core voltage comparator circuit.Operational amplifier
Select the OP295 of track to track, the overload signal of the positive input connection signal conditioning circuit output of operational amplifier；Two doors
Ration the power supply resistance by the partial pressure of right+5V (i.e. two thresholding resistant series one end connect the connection of the 5V other ends " "), between two resistance
As the setting for realizing system overload thresholding of operational amplifier.Overload signal is compared with the overload threshold value, works as overload
Signal exports TTL high level, otherwise output TTL low levels to realize low and high level more than overload threshold value operational amplifier
Conversion, is input into as the clock of control triggers circuit.
Described control triggers circuit is that centered on trigger, control instruction is control input, and signal comparator circuit is defeated
The level signal for going out realizes the conversion of signal as signal source input.Wherein trigger selection 74HC74 is serial, and signal compares
The level signal of circuit output is connected as clock signal with CLK pin, and control instruction after the pull down resistor of 1K by connecting and control
End (PR pin), CLR ends high level 5V all the time, ID is grounded all the time.Output end Q is exported as trigger signal.In order to avoid mistake
Overload triggering, control instruction is to having exported control action.When control instruction is TTL high level, signal comparator circuit output
Level signal controls the trigger signal of triggers circuit output just by TTL low levels by the saltus step of TTL low levels to TTL high level
It is changed into TTL high level, and the TTL high level is always maintained at until control instruction is TTL low levels；But when control signal is TTL
During low level, no matter whether the level signal of signal comparator circuit output has level to change, and control triggers circuit output keeps
TTL low levels.
The connection of overload sensitive circuit 3 and signal conditioning circuit 4 disclosure satisfy that the requirement of signal Real-time Collection in the present invention；
Overload sensitive circuit 3 and signal conditioning circuit 4, coordinate signal comparator circuit 5 and control triggers circuit 6 to complete signal control
With effective triggering of signal, Multi-Tasking requirement is met.Simple structure, high reliability of the present invention, interface shape is general, implements
Mode is facilitated, without line interface transformation is entered to Upper Processor, while not increasing added burden to Upper Processor, you can complete
Control acquisition tasks, reduce the burden of the timely collection of Upper Processor, are adapted to unmanned plane low cost multitask system.
Claims (7)
1. a kind of unmanned aerial vehicle onboard overload measurement trigger with control interface, it is characterised in that including power driving circuit
(1), power reference circuit (2), overload sensitive circuit (3), signal conditioning circuit (4), signal comparator circuit (5), control triggering
Circuit (6) and power supply (7)；After external power source (7) is through drive circuit (1) conversion voltage, power output is overload sensitive electricity all the way
Road (3), signal conditioning circuit (4), signal comparator circuit (5) and control triggers circuit (6) power supply, power output is through power supply all the way
It is signal conditioning circuit (4) power supply after reference circuit (2) conversion voltage；Day from unmanned plane is to overload through overloading sensitive electrical
Road feel should change and filter after input signal modulate circuit (4)；Input signal compares after amplifying signal through signal conditioning circuit (4)
Circuit (5), the amplification signal in signal comparator circuit (5) is compared with threshold value；When signal value is more than threshold value, signal compares
The output level of circuit (5) is changed into high level from low level, now controls triggers circuit (6) to collect the level saltus step；If control
System instruction (8) is high level, and the level skip signal that control triggers circuit (6) is collected effectively, controls triggers circuit (6) output
High level, UAS is performed throws umbrella instruction；If control instruction (8) is low level, the electricity that control triggers circuit (6) is collected
Flat skip signal is invalid, and control triggers circuit (6) output is still low level, and UAS does not perform throwing umbrella instruction；Work as signal
When value is less than or equal to threshold value, signal comparator circuit (5) output remains low level, now controls triggers circuit (6) not gather
To level saltus step；No matter control instruction (8) is high level or low level, and control triggers circuit (6) exports low level, nothing all the time
Man-machine system does not perform throwing umbrella instruction.
2. a kind of unmanned aerial vehicle onboard overload measurement trigger with control interface as claimed in claim 1, it is characterised in that
The power driving circuit (1) includes DC-DC module, some electric capacity, inductance L1 and inductance L2；Vin is external power source signal, is made
It is input voltage；GNDin is from unmanned aerial vehicle onboard electric network source ground, as input ground；Vin, GNDin are by electric capacity C1, electricity
After holding C2 filtering, then common mode disturbances are eliminated by common mode inductance L1, then filtered by electric capacity C3, electric capacity C4, as DC-DC moulds
Input power and the input power ground of block (11)；DC-DC module (11) exports+5V and out-put supply ground, by electric capacity C5, electric capacity
After C6 filtering, then common mode disturbances are eliminated by common mode inductance L2, then filtered by electric capacity C7, electric capacity C8, as output voltage
5Vout and output ground GNDout.
3. a kind of unmanned aerial vehicle onboard overload measurement trigger with control interface as claimed in claim 1, it is characterised in that
The overload sensitive circuit includes resistance R1, acceleration sensor (12), electric capacity C9 and concomitant circuit (13)；Acceleration sensitive
Element (12) one end mutually concatenates with resistance R1, concomitant circuit (13), through concomitant circuit (13) output overloading primary signal；And
It is grounded between acceleration sensor (12) and resistance R1 and after meeting C9.
4. a kind of unmanned aerial vehicle onboard overload measurement trigger with control interface as claimed in claim 1, it is characterised in that
The signal conditioning circuit (4) signal conditioning circuit (4) includes zero-bit regulation circuit, amplifying circuit and filter circuit；R2, R3 go here and there
Connection and R4 constitute zero-bit regulation circuit；R2 mono- terminates+5V power supplys, and R3 one end ground connection, R2 and R3 series connection nodes are anti-by resistance R4
It is fed to opamp input terminal；Input R5 and R6 constitute amplifying circuit；R5 takes over one end load primary signal Ua, a termination fortune
Calculate the input of amplifier；R6 as backfeed loop concatenation operation amplifier input and output end；R7 and C2 constitutes single order
Low-pass filter circuit, the output end of R7 one end concatenation operation amplifier, C2 one end ground connection, R2 and R3 series connection nodes are signal condition
The overload signal of circuit (4) output.
5. a kind of unmanned aerial vehicle onboard overload measurement trigger with control interface as claimed in claim 1, it is characterised in that
Described control triggers circuit (6) trigger, control input/PR, signal source CLK；Control input/PR controls of the connection from host computer
System instruction (8), and be grounded by pull down resistor R9 so that control input/PR acquiescence level is low level, when the control of host computer
Control input/PR is high level, control input/PR when the control instruction (8) of host computer is for low level when instructing as high level
It is low level；Signal source (CLK) connects the level signal that signal comparator circuit (5) is exported by isolation resistance R8；Trigger/
CLR ends high level 5V all the time, the ID ends of trigger are grounded all the time；Trigger /Q ends by isolation resistance R9 export trigger signal
(9), as the output of control triggers circuit (6).
6. a kind of unmanned aerial vehicle onboard overload measurement trigger with control interface as claimed in claim 1, it is characterised in that
Signal conditioning circuit (4) carries out zero-bit regulation to the overload primary signal that overload sensitive circuit (3) is exported and amplifies filtering process
Afterwards, it is available for outside AD to gather.
7. a kind of unmanned aerial vehicle onboard overload measurement trigger with control interface as claimed in claim 5, it is characterised in that
The trigger selection 74HC74 series.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710132986.1A CN106849911B (en) | 2017-03-08 | 2017-03-08 | A kind of unmanned aerial vehicle onboard overload measurement trigger with control interface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710132986.1A CN106849911B (en) | 2017-03-08 | 2017-03-08 | A kind of unmanned aerial vehicle onboard overload measurement trigger with control interface |
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| Publication Number | Publication Date |
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| CN106849911A true CN106849911A (en) | 2017-06-13 |
| CN106849911B CN106849911B (en) | 2019-07-19 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104615142A (en) * | 2014-12-19 | 2015-05-13 | 重庆大学 | Flight controller for civil small UAV (Unmanned Aerial Vehicle) |
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| WO2017026337A1 (en) * | 2015-08-07 | 2017-02-16 | 株式会社プロドローン | Flight control device and unmanned aircraft provided with same |
-
2017
- 2017-03-08 CN CN201710132986.1A patent/CN106849911B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104615142A (en) * | 2014-12-19 | 2015-05-13 | 重庆大学 | Flight controller for civil small UAV (Unmanned Aerial Vehicle) |
| CN104932521A (en) * | 2015-05-28 | 2015-09-23 | 江西洪都航空工业集团有限责任公司 | Unmanned plane parachute-throwing method based on overload size determination |
| CN204836107U (en) * | 2015-07-17 | 2015-12-02 | 陕西千山航空电子有限责任公司 | Machine carries incident signal acquisition circuit |
| WO2017026337A1 (en) * | 2015-08-07 | 2017-02-16 | 株式会社プロドローン | Flight control device and unmanned aircraft provided with same |
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| Title |
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| 李厚春 等: ""小型无人机机载数据采集系统的设计"", 《机械与电子》 * |
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