CN109933084A - A kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device - Google Patents
A kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device Download PDFInfo
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Abstract
The present invention relates to a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane devices, including power module, control module, motor drive module, wireless communication module, attitude measurement module, anti-collision structure, ultrasonic distance measuring module, peripheral auxiliary equipment interface module, the power module respectively with control module, motor drive module is connected, control module respectively with power module, motor drive module, wireless communication module, attitude measurement module, anti-collision structure, ultrasonic distance measuring module, peripheral auxiliary equipment interface module is connected, the control module further includes environmental information real-time detection module, barrier Data Analysis Services module and avoidance decision-making module are according to barrier Data Analysis Services module.The present invention improves mobility, portability, the operability that unmanned plane itself carries, and can preferably realize, complete, solving the various practical problems of existing unmanned plane application field.
Description
Technical field
The present invention relates to air vehicle technique field more particularly to a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane devices.
Background technique
By the technical research and practical application of many years, unmanned plane inspection has developed into a kind of efficient, inexpensive aerial
Inspection technology is to solve one of the important means of power transmission line intelligent inspection, failure is prevented greatly mention in the hidden danger stage
It is horizontal to rise electric system power transmission and distribution Operations, Administration and Maintenance.For unmanned plane, automatic obstacle-avoiding system is that unmanned plane smoothly completes
The important safety guarantee of aerial mission plays a crucial role the flight path planning ability of unmanned plane, very great Cheng
The intelligence and safety of unmanned plane are reflected on degree.
For the unmanned plane obstacle avoidance apparatus of the prior art for the avoidance of unmanned plane inspection operation, effect is not very ideal,
Still there are many problems to need to solve.
Summary of the invention
The purpose of the invention is to overcome the deficiencies of the prior art and provide a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision nobody
Machine device.
The present invention is achieved through the following technical solutions:
A kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device, including power module, control module, motor drive module,
Wireless communication module, attitude measurement module, anti-collision structure, ultrasonic distance measuring module, peripheral auxiliary equipment interface module, the electricity
Source module is connected with control module, motor drive module respectively, control module respectively with power module, motor drive module,
Wireless communication module, attitude measurement module, anti-collision structure, ultrasonic distance measuring module, peripheral auxiliary equipment interface module are connected,
The control module further includes environmental information real-time detection module, barrier Data Analysis Services module and avoidance decision model root tuber
According to barrier Data Analysis Services module, the environmental information real-time detection module is realized using multi-sensor fusion technology to week
The environment enclosed is measured in real time and the information that will test is transmitted to barrier Data Analysis Services module, the barrier number
Environmental structure perception, which is carried out, according to environmental information of the analysis and processing module to received surrounding constructs the barrier locating for determining, it is described
Avoidance decision-making module determines avoidance decision according to the output result of barrier Data Analysis Services module, is driven by flight control system
Power plant module realizes that unmanned plane hides peripheral obstacle.
Further, the power module include 3S polymer Li-ion battery (from charged pool eliminate circuit BEC,
Battery Eliminating Circuit), 5V-3.3V conversion circuit, flow distribution plate；Wherein, 3S polymer Li-ion battery point
It is not connected with 5V-3.3V conversion circuit, flow distribution plate, 5V-3.3V conversion circuit is connected with one-chip computer module in control module 2, is
It provides working power, and flow distribution plate is directly connected with motor drive module 3, provides power supply for motor work, the 5V-3.3V turns
Changing circuit includes linear power supply voltage stabilizing chip AMS1117, capacitor C1, C2, C3, C4；Wherein led to by 3S polymer Li-ion battery
Cross+VIN the pin of included BEC direct current output 5V voltage and linear power supply voltage stabilizing chip AMS1117, one end of capacitor C1 with linearly
+ VIN the pin of power supply voltage stabilizing chip AMS1117 is connected；The other end of capacitor C1 is directly accessed the earth GND；One end of capacitor C2
It is connected with+VIN the pin of linear power supply voltage stabilizing chip AMS1117, the other end of capacitor C2 is directly accessed the earth GND；Linear electricity
The GND pin of source voltage stabilizing chip AMS1117 is directly accessed the earth GND；One end of capacitor C3 and linear power supply voltage stabilizing chip
The OUT pin of AMS1117 is connected, and the other end of capacitor C3 is directly accessed the earth GND；One end of capacitor C4 and linear power supply pressure stabilizing
The OUT pin of chip AMS1117 is connected, and the other end of capacitor C4 is directly accessed the earth GND；Linear power supply voltage stabilizing chip
Positive VCC of the OUT pin of AMS1117 directly as 3.3V voltage.
Further, the control module 2 includes amplifying circuit 12, booster circuit 13, drive control circuit, filter circuit
15,5V-3.3V conversion circuit, one-chip computer module；Wherein, one-chip computer module respectively with amplifying circuit 12, booster circuit 13, driving
Control circuit, filter circuit 15,5V-3.3V conversion circuit be connected, the amplifying circuit 12 include 74HC04 amplifier Q7, Q9,
Q10, Q11, Q12, pull-up resistor R13, R14；Wherein, the input terminal of 74HC04 amplifier Q7 and 74HC04 amplifier Q11's is defeated
It is in parallel to enter end, and the input terminal as amplifying circuit 12, and defeated with the P1.0 square-wave pulse signal of single-chip microcontroller in one-chip computer module
Exit port is connected, and the output end of 74HC04 amplifier Q7 is connected with the input terminal of 74HC04 amplifier Q9,74HC04 amplification
The output end of device Q9 is connected with one end of pull-up resistor R13, and the other end of the R13 of pull-up resistor is connected with power supply VCC,
The input terminal of 74HC04 amplifier Q10 is connected with the input terminal of 74HC04 amplifier Q9, the output end of 74HC04 amplifier Q10
It is connected with one end of ultrasonic transmitter 19, the other end of 74HC04 amplifier Q11 is connected with ultrasonic transmitter 19,
The input terminal of 74HC04 amplifier Q12 is connected with the input terminal of 74HC04 amplifier Q11, and 74HC04 amplifier Q12's is another
End is connected with one end of pull-up resistor R14, ultrasonic transmitter 19, and the other end of pull-up resistor R14 is connected with power supply VCC
It connects, power supply VCC is 3.3V voltage source.
Further, the booster circuit 13 includes inductance L1, VNPN type triode Q8, diode B1, capacitor C5；Its
In, one end of inductance L1 is connected as the input terminal of booster circuit 13 with the output end of filter circuit 15, and inductance L1's is another
End is connected with the base stage of VNPN type triode Q8；The emitter of VNPN type triode Q8 is connected with the anode of diode B1,
The collector of VNPN type triode Q8 is directly accessed the earth GND；The cathode of diode B1 is connected with one end of capacitor C5, and
Output end as booster circuit 13 is connected with the one-chip computer module in control module 2；The other end of capacitor C5 is directly accessed
The earth GND, the drive control circuit include fixed value resistance R1, R2, R3, R4, R5, R6, R7, R8, R9, R10, R11, R12,
PNP transistor T1, T2, T3, NPN type triode Q1, Q2, Q3, PNP type triode Q4, Q5, Q6；Wherein fixed value resistance R1
One end is the end A1 of drive control circuit A, and the other end accesses the base stage of PNP transistor T1, the collector of PNP transistor T1
The constant voltage dc source VCC of power module 1, positive-negative-positive are connected to by the parallel circuit of fixed value resistance R2 and NPN type triode Q1
The emitter of transistor T1 directly enters the earth GND, and one end of fixed value resistance R3 is the end B1 of drive control circuit A, the other end with
The parallel circuit in series of fixed value resistance R4 and PNP type triode Q4, the collector and NPN type triode Q1 of PNP type triode Q4
Emitter be connected, the emitter of PNP type triode Q4 is directly accessed the earth GND；One end of fixed value resistance R5 is driving control
The end A2 of circuit B processed, the other end access the base stage of PNP transistor T2, and the collector of PNP transistor T2 passes through fixed value resistance
The parallel circuit of R6 and NPN type triode Q2 is connected to the constant voltage dc source VCC of power module 1, the hair of PNP transistor T2
Emitter-base bandgap grading directly enters the earth GND, one end of fixed value resistance R7 be the end B2 of drive control circuit B, the other end and fixed value resistance R8 and
The collector of the parallel circuit in series of PNP type triode Q5, PNP type triode Q5 is connected with the emitter of NPN type triode Q2
It connects, the emitter of PNP type triode Q5 is directly accessed the earth GND；One end of fixed value resistance R9 is the A3 of drive control circuit C
End, the other end access the base stage of PNP transistor T3, and the collector of PNP transistor T3 passes through fixed value resistance R10 and NPN type
The parallel circuit of triode Q3 is connected to the constant voltage dc source VCC of power module 1, and the emitter of PNP transistor T3 is direct
Enter the earth GND, one end of fixed value resistance R11 is the end B3 of drive control circuit C, the other end and fixed value resistance R12 and positive-negative-positive three
The collector of the parallel circuit in series of pole pipe Q6, PNP type triode Q6 is connected with the emitter of NPN type triode Q3, positive-negative-positive
The emitter of triode Q6 is directly accessed the earth GND；A1 pin, A2 pin, A3 pin and control mould in drive control circuit
PWM drive signal in block 2 in one-chip computer module connects, single-chip microcontroller mould in B1 pin, B2 pin, B3 pin and control module 2
I/O mouth in block is connected.
Further, the filter circuit 15 includes resistance R15, R16, R17, R18, R19, capacitor C6, C7, C8, amplification
Device Q13；The wherein input terminal that the one end resistance R15 is connected with one end of capacitor C6 as filter circuit 15, with ultrasonic distance measurement
The output end of ultrasonic receiver 20 is connected in module 7, and 15 other end of resistance is connected with one end of resistance R16, resistance R16's
The other end is connected with the "-" grade of amplifier Q13, the other end and one end of resistance R17, one end phase of capacitor C7 of capacitor C6
Even, the other end of capacitor C7 is connected with " one " grade of the other end of resistance R16, amplifier Q13, the other end of resistance R17 and
One end of resistance R19 is connected, and the other end of resistance R19 is connected with the "+" grade of one end of resistance R18, amplifier Q13, electricity
The other end of resistance R18 is directly accessed the earth GND, and one end of capacitor C8 is connected with one end of one end of resistance R15, resistance R16, electricity
The other end for holding C8 is directly accessed the earth GND, output end and control module 2 of the base stage of amplifier Q13 as filter circuit 15
Middle one-chip computer module is connected, and the wireless communication module 4 uses general 2.4G wireless communication module.
Further, the attitude measurement module 5 uses MPU6050 sensor, tri- axis geomagnetic sensor sieve of HMC5883L
Disk, MPU6050 sensor incorporate six axis motion tracking devices, including three-axis gyroscope, 3-axis acceleration sensor.
Further, the anti-collision structure 6 includes shield 17, protective net 18；Wherein shield 17, which uses, contains 1-3%
The core of the plastic shell of valine diosgenin ester, cable used in protective net 18 uses special synthesizing multi-path fibre bundle, net
Line outer layer works out synthetic fibers using special spiral, and the coiling of anti-collision structure is with the racket string of racket and racket body coiling
Mode coiling.
Further, the ultrasonic distance measuring module 7 includes ultrasonic transmitter 19, amplifying circuit 12, ultrasonic wave reception
Device 20, booster circuit 13, filter circuit 15, ultrasonic distance measuring module shell 21；Wherein, the bottom of ultrasonic transmitter 19 passes through
It has a dinner party acid esters and silica gel and ultrasonic distance measuring module shell 21 is seamlessly connected, the bottom of ultrasonic receiver 20 passes through acid esters of having a dinner party
It connect with silica gel with ultrasonic distance measuring module shell 21 and is seamlessly connected again with 19 place same plane of ultrasonic transmitter, ultrasonic wave
19 transmitting terminal of transmitter is vertical outside at an angle of 90 degrees with the receiving end of ultrasonic receiver 20 with place plane；Ultrasonic transmitter
19 lower section is equipped with amplifying circuit 12, and ultrasonic transmitter 19 is connected with 12 input terminal of amplifying circuit, amplifying circuit 12
Output end is connected with one-chip computer module in control module 2；Booster circuit 13, filter circuit are equipped with below ultrasonic receiver 20
15, and ultrasonic receiver 20 is connected with 13 input terminal of booster circuit, output end and the filter circuit 15 of booster circuit 13
Input terminal is connected, and the output end of filter circuit 15 is connected with one-chip computer module in control module 2.
Further, the peripheral auxiliary equipment interface module 8 uses four-wire system I2C expansion board.
Further, the environmental information real-time detection module includes ultrasonic unit, millimetre-wave radar, inertial sensor
And binocular machine vision system.
Compared with prior art, the beneficial effects of the present invention are: the present invention can give full play to the high property of STM32 single-chip microcontroller
Energy, resourceful feature, the design of peripheral circuit structure is simple, greatly improves the speed regulation of quadrotor drone brshless DC motor
And control performance, solve available circuit structure is complicated at high cost, the deficiencies of lacking economy；Secondly by ultrasonic distance measurement mould
Block, real-time monitoring unmanned plane are realized automatic obstacle avoidance functions when unmanned plane main flight of leisure, are solved existing at a distance from barrier
There is unmanned plane in the market to cannot achieve the barrier automatic dodging problem of autonomous flight, further improves unmanned plane itself and carry
Mobility, portability, operability, can preferably realize, complete, solving the various reality of existing unmanned plane application field
Problem.
Detailed description of the invention
Fig. 1 is the device of the invention structure chart；
Fig. 2 is the device of the invention top view；
Fig. 3 is the device of the invention side view；
Fig. 4 is 5V-3.3V conversion circuit schematic diagram of the invention；
Fig. 5 is RC annular oscillation circuit schematic diagram of the invention；
Fig. 6 is ultrasonic distance measuring module device figure of the invention；
Fig. 7 is amplifying circuit schematic diagram of the invention；
Fig. 8 is control module structure chart of the invention；
Fig. 9 is filter circuit schematic diagram of the invention；
Figure 10 is booster circuit schematic diagram of the invention；
Figure 11-13 is drive control circuit schematic diagram of the invention.
In figure: 1, power module, 2, control module, 3, motor drive module, 4, wireless communication module, 5, attitude measurement mould
Block, 6, anti-collision structure, 7, ultrasonic distance measuring module, 8, peripheral auxiliary equipment interface module, 12, amplifying circuit, 13, boosting electricity
Road, 15, filter circuit, 17, shield, 18, protective net, 19, ultrasonic transmitter, 20, ultrasonic receiver, 21, ultrasonic wave
Range finder module shell.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Embodiment 1: a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device shown in Fig. 1-Figure 13, including power supply are please referred to
Module 1, control module 2, motor drive module 3, wireless communication module 4, attitude measurement module 5, anti-collision structure 6, ultrasound
Away from module 7, peripheral auxiliary equipment interface module 8；Wherein power module 1 is connected with control module 2, motor drive module 3 respectively
Connect, control module 2 respectively with power module 1, motor drive module 3, wireless communication module 4, attitude measurement module 5, anticollision knot
Structure 6, ultrasonic distance measuring module 7, peripheral auxiliary equipment interface module 8 are connected, and the control module 2 further includes environmental information reality
When detection module, barrier Data Analysis Services module and avoidance decision-making module according to barrier Data Analysis Services module, institute
Environmental information real-time detection module is stated to be measured in real time the environment of surrounding using multi-sensor fusion technology realization and will examine
The information measured is transmitted to barrier Data Analysis Services module, and the barrier Data Analysis Services module is to received surrounding
Environmental information carry out environmental structure perception building and determine locating barrier, the avoidance decision-making module is according to barrier data
The output result of analysis and processing module determines avoidance decision, drives power plant module to realize that unmanned plane hinders surrounding by flight control system
Hinder hiding for object.
Embodiment 2: as shown in figures 1-13, a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS,
Including power module 1, control module 2, motor drive module 3, wireless communication module 4, attitude measurement module 5, anti-collision structure 6,
Ultrasonic distance measuring module 7, peripheral auxiliary equipment interface module 8；Wherein power module 1 respectively with control module 2, motor driven mould
Block 3 is connected, control module 2 respectively with power module 1, motor drive module 3, wireless communication module 4, attitude measurement module 5,
Anti-collision structure 6, ultrasonic distance measuring module 7, peripheral auxiliary equipment interface module 8 are connected, and the control module 2 further includes environment
Information real-time detection module, barrier Data Analysis Services module and avoidance decision-making module are according to barrier Data Analysis Services mould
Block, the environmental information real-time detection module are measured in real time simultaneously the environment of surrounding using multi-sensor fusion technology realization
The information that will test is transmitted to barrier Data Analysis Services module, and the barrier Data Analysis Services module is to received
The environmental information of surrounding carries out environmental structure perception and constructs the barrier locating for determining, the avoidance decision-making module is according to barrier
The output result of Data Analysis Services module determines avoidance decision, drives power plant module to realize unmanned plane to week by flight control system
Enclose hiding for barrier.
The power module 1 includes that 3S polymer Li-ion battery (eliminates circuit BEC, Battery from charged pool
Eliminating Circuit), 5V-3.3V conversion circuit, flow distribution plate；Wherein, 3S polymer Li-ion battery respectively with 5V-
3.3V conversion circuit, flow distribution plate are connected, and 5V-3.3V conversion circuit is connected with one-chip computer module in control module 2, provides work for it
Make power supply, flow distribution plate is directly connected with motor drive module 3, provides power supply for motor work.
Embodiment 3: as shown in figures 1-13, a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS,
The present embodiment is same as Example 2, wherein
The 5V-3.3V conversion circuit includes linear power supply voltage stabilizing chip AMS1117, capacitor C1, C2, C3, C4；Wherein by
3S polymer Li-ion battery is drawn by included BEC direct current output 5V voltage and the+VIN of linear power supply voltage stabilizing chip AMS1117
One end of foot, capacitor C1 is connected with+VIN the pin of linear power supply voltage stabilizing chip AMS1117；The other end of capacitor C1 is directly accessed
The earth GND；One end of capacitor C2 is connected with+VIN the pin of linear power supply voltage stabilizing chip AMS1117, and the other end of capacitor C2 is straight
Access the earth GND；The GND pin of linear power supply voltage stabilizing chip AMS1117 is directly accessed the earth GND；One end of capacitor C3 with
The OUT pin of linear power supply voltage stabilizing chip AMS1117 is connected, and the other end of capacitor C3 is directly accessed the earth GND；The one of capacitor C4
End is connected with the OUT pin of linear power supply voltage stabilizing chip AMS1117, and the other end of capacitor C4 is directly accessed the earth GND；Linear electricity
Positive VCC of the OUT pin of source voltage stabilizing chip AMS1117 directly as 3.3V voltage.
Embodiment 4: as shown in figures 1-13, a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS,
The present embodiment is same as Example 3, wherein
The control module 2 includes amplifying circuit 12, booster circuit 13, drive control circuit, filter circuit 15,5V-
3.3V conversion circuit, one-chip computer module；Wherein, one-chip computer module is electric with amplifying circuit 12, booster circuit 13, drive control respectively
Road, filter circuit 15,5V-3.3V conversion circuit are connected.
The amplifying circuit 12 includes 74HC04 amplifier Q7, Q9, Q10, Q11, Q12, pull-up resistor R13, R14；Wherein,
The input terminal of 74HC04 amplifier Q7 is in parallel with the input terminal of 74HC04 amplifier Q11, and the input terminal as amplifying circuit 12,
And be connected with the P1.0 square-wave pulse signal output port of single-chip microcontroller in one-chip computer module, the output end of 74HC04 amplifier Q7
It is connected with the input terminal of 74HC04 amplifier Q9, the output end of 74HC04 amplifier Q9 is connected with one end of pull-up resistor R13
It connects, the other end of the R13 of pull-up resistor is connected with power supply VCC, the input terminal and 74HC04 amplifier of 74HC04 amplifier Q10
The input terminal of Q9 is connected, and the output end of 74HC04 amplifier Q10 is connected with one end of ultrasonic transmitter 19, and 74HC04 is put
The other end of big device Q11 is connected with ultrasonic transmitter 19, the input terminal and 74HC04 amplifier of 74HC04 amplifier Q12
The input terminal of Q11 is connected, one end with pull-up resistor R14 of the other end of 74HC04 amplifier Q12,19 phase of ultrasonic transmitter
Connection, the other end of pull-up resistor R14 are connected with power supply VCC, and power supply VCC is 3.3V voltage source.
Embodiment 5: as shown in figures 1-13, a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS,
The present embodiment is same as Example 4, wherein
The booster circuit 13 includes inductance L1, VNPN type triode Q8, diode B1, capacitor C5；Wherein, inductance L1
One end is connected as the input terminal of booster circuit 13 with the output end of filter circuit 15, the other end and VNPN type three of inductance L1
The base stage of pole pipe Q8 is connected；The emitter of VNPN type triode Q8 is connected with the anode of diode B1, VNPN type triode
The collector of Q8 is directly accessed the earth GND；The cathode of diode B1 is connected with one end of capacitor C5, and as booster circuit
13 output end is connected with the one-chip computer module in control module 2；The other end of capacitor C5 is directly accessed the earth GND.
Embodiment 6: as shown in figures 1-13, a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS,
The present embodiment is same as Example 5, wherein
The drive control circuit includes fixed value resistance R1, R2, R3, R4, R5, R6, R7, R8, R9, R10, R11, R12,
PNP transistor T1, T2, T3, NPN type triode Q1, Q2, Q3, PNP type triode Q4, Q5, Q6；Wherein fixed value resistance R1
One end is the end A1 of drive control circuit A, and the other end accesses the base stage of PNP transistor T1, the collector of PNP transistor T1
The constant voltage dc source VCC of power module 1, positive-negative-positive are connected to by the parallel circuit of fixed value resistance R2 and NPN type triode Q1
The emitter of transistor T1 directly enters the earth GND, and one end of fixed value resistance R3 is the end B1 of drive control circuit A, the other end with
The parallel circuit in series of fixed value resistance R4 and PNP type triode Q4, the collector and NPN type triode Q1 of PNP type triode Q4
Emitter be connected, the emitter of PNP type triode Q4 is directly accessed the earth GND；One end of fixed value resistance R5 is driving control
The end A2 of circuit B processed, the other end access the base stage of PNP transistor T2, and the collector of PNP transistor T2 passes through fixed value resistance
The parallel circuit of R6 and NPN type triode Q2 is connected to the constant voltage dc source VCC of power module 1, the hair of PNP transistor T2
Emitter-base bandgap grading directly enters the earth GND, one end of fixed value resistance R7 be the end B2 of drive control circuit B, the other end and fixed value resistance R8 and
The collector of the parallel circuit in series of PNP type triode Q5, PNP type triode Q5 is connected with the emitter of NPN type triode Q2
It connects, the emitter of PNP type triode Q5 is directly accessed the earth GND；One end of fixed value resistance R9 is the A3 of drive control circuit C
End, the other end access the base stage of PNP transistor T3, and the collector of PNP transistor T3 passes through fixed value resistance R10 and NPN type
The parallel circuit of triode Q3 is connected to the constant voltage dc source VCC of power module 1, and the emitter of PNP transistor T3 is direct
Enter the earth GND, one end of fixed value resistance R11 is the end B3 of drive control circuit C, the other end and fixed value resistance R12 and positive-negative-positive three
The collector of the parallel circuit in series of pole pipe Q6, PNP type triode Q6 is connected with the emitter of NPN type triode Q3, positive-negative-positive
The emitter of triode Q6 is directly accessed the earth GND；A1 pin, A2 pin, A3 pin and control mould in drive control circuit
PWM drive signal in block 2 in one-chip computer module connects, single-chip microcontroller mould in B1 pin, B2 pin, B3 pin and control module 2
I/O mouth in block is connected.
Embodiment 7: as shown in figures 1-13, a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS,
The present embodiment is same as Example 6, wherein
The filter circuit 15 includes resistance R15, R16, R17, R18, R19, capacitor C6, C7, C8, amplifier Q13；Wherein
It is ultrasonic in the input terminal that the one end resistance R15 is connected with one end of capacitor C6 as filter circuit 15, with ultrasonic distance measuring module 7
The output end of wave receiver 20 is connected, and 15 other end of resistance is connected with one end of resistance R16, the other end of resistance R16 with put
The "-" grade of big device Q13 is connected, and the other end of capacitor C6 is connected with one end of one end of resistance R17, capacitor C7, capacitor C7's
The other end is connected with the "-" grade of the other end of resistance R16, amplifier Q13, the other end of resistance R17 and one end of resistance R19
It is connected, the other end of resistance R19 is connected with the "+" grade of one end of resistance R18, amplifier Q13, the other end of resistance R18
It is directly accessed the earth GND, one end of capacitor C8 is connected with one end of one end of resistance R15, resistance R16, the other end of capacitor C8
It is directly accessed the earth GND, the base stage of amplifier Q13 is as one-chip computer module in the output end and control module 2 of filter circuit 15
It is connected.
Embodiment 8: as shown in figures 1-13, a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS,
The present embodiment is same as Example 7, wherein
The wireless communication module 4 uses general 2.4G wireless communication module.
The attitude measurement module 5 uses MPU6050 sensor, tri- axis geomagnetic sensor compass of HMC5883L, MPU6050
Sensor incorporates six axis motion tracking devices, including three-axis gyroscope, 3-axis acceleration sensor.
Embodiment 9: as shown in figures 1-13, a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS,
The present embodiment is same as Example 8, wherein
The anti-collision structure 6 includes shield 17, protective net 18；Wherein shield 17, which uses, contains 1-3% valine potato
The core of the plastic shell of Chinese yam sapogenin ester, cable used in protective net 18 uses special synthesizing multi-path fibre bundle, and cable outer layer is adopted
Work out synthetic fibers with special spiral, the coiling of anti-collision structure in a manner of the racket string of racket and racket body coiling around
System.
Embodiment 10: as shown in figures 1-13, a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane dress based on embedded type C PS
It sets, the present embodiment is same as Example 9, wherein
The ultrasonic distance measuring module 7 includes ultrasonic transmitter 19, amplifying circuit 12, ultrasonic receiver 20, boosting
Circuit 13, filter circuit 15, ultrasonic distance measuring module shell 21；Wherein, the bottom of ultrasonic transmitter 19 passes through acid esters of having a dinner party
Be seamlessly connected with silica gel and ultrasonic distance measuring module shell 21, the bottom of ultrasonic receiver 20 by have a dinner party acid esters and silica gel with
The connection of ultrasonic distance measuring module shell 21 is seamlessly connected with 19 place same plane of ultrasonic transmitter again, ultrasonic transmitter 19
Transmitting terminal is vertical outside at an angle of 90 degrees with the receiving end of ultrasonic receiver 20 with place plane；The lower section of ultrasonic transmitter 19
Equipped with amplifying circuit 12, and ultrasonic transmitter 19 is connected with 12 input terminal of amplifying circuit, the output end of amplifying circuit 12 with
One-chip computer module is connected in control module 2；Booster circuit 13, filter circuit 15 are equipped with below ultrasonic receiver 20, and super
Acoustic receiver 20 is connected with 13 input terminal of booster circuit, the input terminal phase of the output end and filter circuit 15 of booster circuit 13
Connection, the output end of filter circuit 15 are connected with one-chip computer module in control module 2.
Embodiment 11: as shown in figures 1-13, a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane dress based on embedded type C PS
It sets, including power module 1, control module 2, motor drive module 3, wireless communication module 4, attitude measurement module 5, anti-collision structure
6, ultrasonic distance measuring module 7, peripheral auxiliary equipment interface module 8；Wherein power module 1 respectively with control module 2, motor driven
Module 3 is connected, control module 2 respectively with power module 1, motor drive module 3, wireless communication module 4, attitude measurement module
5, anti-collision structure 6, ultrasonic distance measuring module 7, peripheral auxiliary equipment interface module 8 are connected.
The power module 1 includes that 3S polymer Li-ion battery (eliminates circuit BEC, Battery from charged pool
Eliminating Circuit), 5V-3.3V conversion circuit, flow distribution plate；Wherein, 3S polymer Li-ion battery respectively with 5V-
3.3V conversion circuit, flow distribution plate are connected, and 5V-3.3V conversion circuit is connected with one-chip computer module in control module 2, provides work for it
Make power supply, flow distribution plate is directly connected with motor drive module 3, provides power supply for motor work.
The 5V-3.3V conversion circuit includes linear power supply voltage stabilizing chip AMS1117, capacitor C1, C2, C3, C4；Wherein by
3S polymer Li-ion battery is drawn by included BEC direct current output 5V voltage and the+VIN of linear power supply voltage stabilizing chip AMS1117
One end of foot, capacitor C1 is connected with+VIN the pin of linear power supply voltage stabilizing chip AMS1117；The other end of capacitor C1 is directly accessed
The earth GND；One end of capacitor C2 is connected with+VIN the pin of linear power supply voltage stabilizing chip AMS1117, and the other end of capacitor C2 is straight
Access the earth GND；The GND pin of linear power supply voltage stabilizing chip AMS1117 is directly accessed the earth GND；One end of capacitor C3 with
The OUT pin of linear power supply voltage stabilizing chip AMS1117 is connected, and the other end of capacitor C3 is directly accessed the earth GND；The one of capacitor C4
End is connected with the OUT pin of linear power supply voltage stabilizing chip AMS1117, and the other end of capacitor C4 is directly accessed the earth GND；Linear electricity
Positive VCC of the OUT pin of source voltage stabilizing chip AMS1117 directly as 3.3V voltage.
The control module 2 includes amplifying circuit 12, booster circuit 13, drive control circuit, filter circuit 15,5V-
3.3V conversion circuit, one-chip computer module；Wherein, one-chip computer module is electric with amplifying circuit 12, booster circuit 13, drive control respectively
Road, filter circuit 15,5V-3.3V conversion circuit are connected.
The amplifying circuit 12 includes 74HC04 amplifier Q7, Q9, Q10, Q11, Q12, pull-up resistor R13, R14；Wherein,
The input terminal of 74HC04 amplifier Q7 is in parallel with the input terminal of 74HC04 amplifier Q11, and the input terminal as amplifying circuit 12,
And be connected with the P1.0 square-wave pulse signal output port of single-chip microcontroller in one-chip computer module, the output end of 74HC04 amplifier Q7
It is connected with the input terminal of 74HC04 amplifier Q9, the output end of 74HC04 amplifier Q9 is connected with one end of pull-up resistor R13
It connects, the other end of the R13 of pull-up resistor is connected with power supply VCC, the input terminal and 74HC04 amplifier of 74HC04 amplifier Q10
The input terminal of Q9 is connected, and the output end of 74HC04 amplifier Q10 is connected with one end of ultrasonic transmitter 19, and 74HC04 is put
The other end of big device Q11 is connected with ultrasonic transmitter 19, the input terminal and 74HC04 amplifier of 74HC04 amplifier Q12
The input terminal of Q11 is connected, one end with pull-up resistor R14 of the other end of 74HC04 amplifier Q12,19 phase of ultrasonic transmitter
Connection, the other end of pull-up resistor R14 are connected with power supply VCC, and power supply VCC is 3.3V voltage source.
The booster circuit 13 includes inductance L1, VNPN type triode Q8, diode B1, capacitor C5；Wherein, inductance L1
One end is connected as the input terminal of booster circuit 13 with the output end of filter circuit 15, the other end and VNPN type three of inductance L1
The base stage of pole pipe Q8 is connected；The emitter of VNPN type triode Q8 is connected with the anode of diode B1, VNPN type triode
The collector of Q8 is directly accessed the earth GND；The cathode of diode B1 is connected with one end of capacitor C5, and as booster circuit
13 output end is connected with the one-chip computer module in control module 2；The other end of capacitor C5 is directly accessed the earth GND.
The drive control circuit includes fixed value resistance R1, R2, R3, R4, R5, R6, R7, R8, R9, R10, R11, R12,
PNP transistor T1, T2, T3, NPN type triode Q1, Q2, Q3, PNP type triode Q4, Q5, Q6；Wherein fixed value resistance R1
One end is the end A1 of drive control circuit A, and the other end accesses the base stage of PNP transistor T1, the collector of PNP transistor T1
The constant voltage dc source VCC of power module 1, positive-negative-positive are connected to by the parallel circuit of fixed value resistance R2 and NPN type triode Q1
The emitter of transistor T1 directly enters the earth GND, and one end of fixed value resistance R3 is the end B1 of drive control circuit A, the other end with
The parallel circuit in series of fixed value resistance R4 and PNP type triode Q4, the collector and NPN type triode Q1 of PNP type triode Q4
Emitter be connected, the emitter of PNP type triode Q4 is directly accessed the earth GND；One end of fixed value resistance R5 is driving control
The end A2 of circuit B processed, the other end access the base stage of PNP transistor T2, and the collector of PNP transistor T2 passes through fixed value resistance
The parallel circuit of R6 and NPN type triode Q2 is connected to the constant voltage dc source VCC of power module 1, the hair of PNP transistor T2
Emitter-base bandgap grading directly enters the earth GND, one end of fixed value resistance R7 be the end B2 of drive control circuit B, the other end and fixed value resistance R8 and
The collector of the parallel circuit in series of PNP type triode Q5, PNP type triode Q5 is connected with the emitter of NPN type triode Q2
It connects, the emitter of PNP type triode Q5 is directly accessed the earth GND；One end of fixed value resistance R9 is the A3 of drive control circuit C
End, the other end access the base stage of PNP transistor T3, and the collector of PNP transistor T3 passes through fixed value resistance R10 and NPN type
The parallel circuit of triode Q3 is connected to the constant voltage dc source VCC of power module 1, and the emitter of PNP transistor T3 is direct
Enter the earth GND, one end of fixed value resistance R11 is the end B3 of drive control circuit C, the other end and fixed value resistance R12 and positive-negative-positive three
The collector of the parallel circuit in series of pole pipe Q6, PNP type triode Q6 is connected with the emitter of NPN type triode Q3, positive-negative-positive
The emitter of triode Q6 is directly accessed the earth GND；A1 pin, A2 pin, A3 pin and control mould in drive control circuit
PWM drive signal in block 2 in one-chip computer module connects, single-chip microcontroller mould in B1 pin, B2 pin, B3 pin and control module 2
I/O mouth in block is connected.
The filter circuit 15 includes resistance R15, R16, R17, R18, R19, capacitor C6, C7, C8, amplifier Q13；Wherein
It is ultrasonic in the input terminal that the one end resistance R15 is connected with one end of capacitor C6 as filter circuit 15, with ultrasonic distance measuring module 7
The output end of wave receiver 20 is connected, and 15 other end of resistance is connected with one end of resistance R16, the other end of resistance R16 with put
The "-" grade of big device Q13 is connected, and the other end of capacitor C6 is connected with one end of one end of resistance R17, capacitor C7, capacitor C7's
The other end is connected with the "-" grade of the other end of resistance R16, amplifier Q13, the other end of resistance R17 and one end of resistance R19
It is connected, the other end of resistance R19 is connected with the "+" grade of one end of resistance R18, amplifier Q13, the other end of resistance R18
It is directly accessed the earth GND, one end of capacitor C8 is connected with one end of one end of resistance R15, resistance R16, the other end of capacitor C8
It is directly accessed the earth GND, the base stage of amplifier Q13 is as one-chip computer module in the output end and control module 2 of filter circuit 15
It is connected.
The wireless communication module 4 uses general 2.4G wireless communication module.
The attitude measurement module 5 uses MPU6050 sensor, tri- axis geomagnetic sensor compass of HMC5883L, MPU6050
Sensor incorporates six axis motion tracking devices, including three-axis gyroscope, 3-axis acceleration sensor.
The anti-collision structure 6 includes shield 17, protective net 18；Wherein shield 17, which uses, contains 1-3% valine potato
The core of the plastic shell of Chinese yam sapogenin ester, cable used in protective net 18 uses special synthesizing multi-path fibre bundle, and cable outer layer is adopted
Work out synthetic fibers with special spiral, the coiling of anti-collision structure in a manner of the racket string of racket and racket body coiling around
System.
The ultrasonic distance measuring module 7 includes ultrasonic transmitter 19, amplifying circuit 12, ultrasonic receiver 20, boosting
Circuit 13, filter circuit 15, ultrasonic distance measuring module shell 21；Wherein, the bottom of ultrasonic transmitter 19 passes through acid esters of having a dinner party
Be seamlessly connected with silica gel and ultrasonic distance measuring module shell 21, the bottom of ultrasonic receiver 20 by have a dinner party acid esters and silica gel with
The connection of ultrasonic distance measuring module shell 21 is seamlessly connected with 19 place same plane of ultrasonic transmitter again, ultrasonic transmitter 19
Transmitting terminal is vertical outside at an angle of 90 degrees with the receiving end of ultrasonic receiver 20 with place plane；The lower section of ultrasonic transmitter 19
Equipped with amplifying circuit 12, and ultrasonic transmitter 19 is connected with 12 input terminal of amplifying circuit, the output end of amplifying circuit 12 with
One-chip computer module is connected in control module 2；Booster circuit 13, filter circuit 15 are equipped with below ultrasonic receiver 20, and super
Acoustic receiver 20 is connected with 13 input terminal of booster circuit, the input terminal phase of the output end and filter circuit 15 of booster circuit 13
Connection, the output end of filter circuit 15 are connected with one-chip computer module in control module 2.
The peripheral auxiliary equipment interface module 8 uses four-wire system I2C expansion board.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device, it is characterised in that: including power module, control module, motor
Drive module, wireless communication module, attitude measurement module, anti-collision structure, ultrasonic distance measuring module, peripheral auxiliary equipment interface mould
Block, the power module are connected with control module, motor drive module respectively, control module respectively with power module, motor
Drive module, wireless communication module, attitude measurement module, anti-collision structure, ultrasonic distance measuring module, peripheral auxiliary equipment interface mould
Block is connected, and the control module further includes environmental information real-time detection module, barrier Data Analysis Services module and avoidance
Decision-making module uses Multi-sensor Fusion skill according to barrier Data Analysis Services module, the environmental information real-time detection module
Art realizes that the information that the environment of surrounding is measured in real time and be will test is transmitted to barrier Data Analysis Services module, institute
State barrier Data Analysis Services module to the environmental information around received carry out environmental structure perception building determine it is locating
Barrier, the avoidance decision-making module determine avoidance decision according to the output result of barrier Data Analysis Services module, pass through
Flight control system driving power plant module realizes that unmanned plane hides peripheral obstacle.
2. a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device according to claim 1, it is characterised in that: the power supply
Module include 3S polymer Li-ion battery (from charged pool eliminate circuit BEC, Battery Eliminating Circuit),
5V-3.3V conversion circuit, flow distribution plate；Wherein, 3S polymer Li-ion battery respectively with 5V-3.3V conversion circuit, flow distribution plate phase
Even, 5V-3.3V conversion circuit is connected with one-chip computer module in control module 2, provides working power for it, flow distribution plate directly with electricity
Machine drive module 3 is connected, and provides power supply for motor work, the 5V-3.3V conversion circuit includes linear power supply voltage stabilizing chip
AMS1117, capacitor C1, C2, C3, C4；Included BEC direct current output 5V voltage and line are wherein passed through by 3S polymer Li-ion battery
+ VIN the pin of property power supply voltage stabilizing chip AMS1117, one end of capacitor C1 and the+VIN of linear power supply voltage stabilizing chip AMS1117 draw
Foot is connected；The other end of capacitor C1 is directly accessed the earth GND；One end of capacitor C2 and linear power supply voltage stabilizing chip AMS1117+
VIN pin is connected, and the other end of capacitor C2 is directly accessed the earth GND；The GND pin of linear power supply voltage stabilizing chip AMS1117 is straight
Access the earth GND；One end of capacitor C3 is connected with the OUT pin of linear power supply voltage stabilizing chip AMS1117, and capacitor C3's is another
End is directly accessed the earth GND；One end of capacitor C4 is connected with the OUT pin of linear power supply voltage stabilizing chip AMS1117, capacitor C4's
The other end is directly accessed the earth GND；Anode of the OUT pin of linear power supply voltage stabilizing chip AMS1117 directly as 3.3V voltage
VCC。
3. a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device according to claim 2, it is characterised in that: the control
Module 2 includes amplifying circuit 12, booster circuit 13, drive control circuit, filter circuit 15,5V-3.3V conversion circuit, single-chip microcontroller
Module；Wherein, one-chip computer module respectively with amplifying circuit 12, booster circuit 13, drive control circuit, filter circuit 15,5V-
3.3V conversion circuit be connected, the amplifying circuit 12 include 74HC04 amplifier Q7, Q9, Q10, Q11, Q12, pull-up resistor R13,
R14；Wherein, the input terminal of 74HC04 amplifier Q7 is in parallel with the input terminal of 74HC04 amplifier Q11, and as amplifying circuit 12
Input terminal, and be connected with the P1.0 square-wave pulse signal output port of single-chip microcontroller in one-chip computer module, 74HC04 amplifier
The output end of Q7 is connected with the input terminal of 74HC04 amplifier Q9, the output end and pull-up resistor R13 of 74HC04 amplifier Q9
One end be connected, the other end of the R13 of pull-up resistor is connected with power supply VCC, the input terminal of 74HC04 amplifier Q10 with
The input terminal of 74HC04 amplifier Q9 is connected, one end phase of the output end and ultrasonic transmitter 19 of 74HC04 amplifier Q10
Connection, the other end of 74HC04 amplifier Q11 is connected with ultrasonic transmitter 19, the input terminal of 74HC04 amplifier Q12 and
The input terminal of 74HC04 amplifier Q11 is connected, the other end of 74HC04 amplifier Q12 and one end, the ultrasound of pull-up resistor R14
Wave launcher 19 is connected, and the other end of pull-up resistor R14 is connected with power supply VCC, and power supply VCC is 3.3V voltage source.
4. a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device according to claim 1, it is characterised in that: the boosting
Circuit 13 includes inductance L1, VNPN type triode Q8, diode B1, capacitor C5；Wherein, one end of inductance L1 is as booster circuit
13 input terminal is connected with the output end of filter circuit 15, and the other end of inductance L1 is connected with the base stage of VNPN type triode Q8
It connects；The emitter of VNPN type triode Q8 is connected with the anode of diode B1, and the collector of VNPN type triode Q8 directly connects
Enter the earth GND；The cathode of diode B1 is connected with one end of capacitor C5, and output end and control as booster circuit 13
One-chip computer module in module 2 is connected；The other end of capacitor C5 is directly accessed the earth GND, and the drive control circuit includes
Fixed value resistance R1, R2, R3, R4, R5, R6, R7, R8, R9, R10, R11, R12, PNP transistor T1, T2, T3, three pole of NPN type
Pipe Q1, Q2, Q3, PNP type triode Q4, Q5, Q6；Wherein one end of fixed value resistance R1 is the end A1 of drive control circuit A, another
The base stage into PNP transistor T1 is terminated, the collector of PNP transistor T1 passes through fixed value resistance R2 and NPN type triode Q1
Parallel circuit be connected to the constant voltage dc source VCC of power module 1, the emitter of PNP transistor T1 directly enters the earth
One end of GND, fixed value resistance R3 are the end B1 of drive control circuit A, and the other end is with fixed value resistance R4's and PNP type triode Q4
The collector of parallel circuit in series, PNP type triode Q4 is connected with the emitter of NPN type triode Q1, PNP type triode Q4
Emitter be directly accessed the earth GND；One end of fixed value resistance R5 is the end A2 of drive control circuit B, and the other end accesses positive-negative-positive
The collector of the base stage of transistor T2, PNP transistor T2 is connected by the parallel circuit of fixed value resistance R6 and NPN type triode Q2
It is connected to the constant voltage dc source VCC of power module 1, the emitter of PNP transistor T2 directly enters the earth GND, fixed value resistance R7
One end be drive control circuit B the end B2, the parallel circuit in series of the other end and fixed value resistance R8 and PNP type triode Q5,
The collector of PNP type triode Q5 is connected with the emitter of NPN type triode Q2, and the emitter of PNP type triode Q5 is direct
Access the earth GND；One end of fixed value resistance R9 is the end A3 of drive control circuit C, and the other end accesses the base of PNP transistor T3
The collector of pole, PNP transistor T3 is connected to power supply mould by the parallel circuit of fixed value resistance R10 and NPN type triode Q3
The constant voltage dc source VCC of block 1, the emitter of PNP transistor T3 directly enter the earth GND, and one end of fixed value resistance R11 is to drive
The end B3 of dynamic control circuit C, the parallel circuit in series of the other end and fixed value resistance R12 and PNP type triode Q6, three pole of positive-negative-positive
The collector of pipe Q6 is connected with the emitter of NPN type triode Q3, and the emitter of PNP type triode Q6 is directly accessed the earth
GND；PWM in A1 pin, A2 pin, A3 pin and control module 2 in drive control circuit in one-chip computer module, which drives, to be believed
Number connect, B1 pin, B2 pin, B3 pin are connected with the I/O mouth in one-chip computer module in control module 2.
5. a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device according to claim 4, it is characterised in that: the filtering
Circuit 15 includes resistance R15, R16, R17, R18, R19, capacitor C6, C7, C8, amplifier Q13；The wherein one end resistance R15 and electricity
The input terminal that is connected as filter circuit 15 of one end for holding C6, in ultrasonic distance measuring module 7 ultrasonic receiver 20 it is defeated
Outlet is connected, and 15 other end of resistance is connected with one end of resistance R16, the other end of resistance R16 and the "-" grade of amplifier Q13
It is connected, the other end of capacitor C6 is connected with one end of one end of resistance R17, capacitor C7, the other end and resistance R16 of capacitor C7
The other end, amplifier Q13 "-" grade be connected, the other end of resistance R17 is connected with one end of resistance R19, resistance R19
The other end be connected with the "+" grade of one end of resistance R18, amplifier Q13, the other end of resistance R18 be directly accessed the earth
One end of GND, capacitor C8 are connected with one end of one end of resistance R15, resistance R16, and the other end of capacitor C8 is directly accessed the earth
The base stage of GND, amplifier Q13 are connected as the output end of filter circuit 15 with one-chip computer module in control module 2, the nothing
Line communication module 4 uses general 2.4G wireless communication module.
6. a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device according to claim 4, it is characterised in that: the posture
Measurement module 5 uses MPU6050 sensor, tri- axis geomagnetic sensor compass of HMC5883L, and MPU6050 sensor incorporates six axis
Motion tracking device, including three-axis gyroscope, 3-axis acceleration sensor.
7. a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device according to claim 4, it is characterised in that: the anticollision
Structure 6 includes shield 17, protective net 18；Wherein shield 17 uses the plastics containing 1-3% valine diosgenin ester
Shell, the core of cable used in protective net 18 use special synthesizing multi-path fibre bundle, and cable outer layer is closed using the establishment of special spiral
At fiber, coiling coiling in a manner of the racket string of racket and racket body coiling of anti-collision structure.
8. a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device according to claim 1, it is characterised in that: the ultrasound
Wave range finder module 7 includes ultrasonic transmitter 19, amplifying circuit 12, ultrasonic receiver 20, booster circuit 13, filter circuit
15, ultrasonic distance measuring module shell 21；Wherein, the bottom of ultrasonic transmitter 19 passes through acid esters and the silica gel and ultrasound of having a dinner party
It is seamlessly connected away from module housing 21, the bottom of ultrasonic receiver 20 is by having a dinner party outside acid esters and silica gel and ultrasonic distance measuring module
The connection of shell 21 is seamlessly connected with 19 place same plane of ultrasonic transmitter again, and 19 transmitting terminal of ultrasonic transmitter connects with ultrasonic wave
The receiving end for receiving device 20 is vertical outside at an angle of 90 degrees with place plane；The lower section of ultrasonic transmitter 19 is equipped with amplifying circuit 12,
And ultrasonic transmitter 19 is connected with 12 input terminal of amplifying circuit, monolithic in the output end and control module 2 of amplifying circuit 12
Machine module is connected；Booster circuit 13, filter circuit 15, and ultrasonic receiver 20 and liter are equipped with below ultrasonic receiver 20
13 input terminal of volt circuit is connected, and the output end of booster circuit 13 is connected with the input terminal of filter circuit 15, filter circuit 15
Output end be connected with one-chip computer module in control module 2.
9. a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device according to claim 1, it is characterised in that: the periphery
Auxiliary device interface module 8 uses four-wire system I2C expansion board.
10. a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device according to claim 1, it is characterised in that: the ring
Border information real-time detection module includes ultrasonic unit, millimetre-wave radar, inertial sensor and binocular machine vision system.
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Application publication date: 20190625 |