CN111377055A - Unmanned aerial vehicle releasing device and releasing method - Google Patents

Abstract

The invention relates to a throwing device and a throwing method for an unmanned aerial vehicle, wherein the system comprises a receiver arranged on the unmanned aerial vehicle, a throwing controller connected with the receiver and a plurality of steering engines in communication connection with the throwing controller; the receiver receives the SBUS signal from the remote controller, and the throwing controller converts and separates the SBUS signal into at least one path of PWM signal to respectively control a plurality of steering engines. By implementing the invention, the remote controller is separated from the flight control platform to directly control the steering engine, so that the invention is suitable for various occasions needing the remote controller to control the steering engine, the links involved in the transmission process of the whole control signal are reduced, and the more accurate and stable throwing control effect can be realized.

Description

Unmanned aerial vehicle releasing device and releasing method

Technical Field

The invention relates to an unmanned aerial vehicle technology, in particular to an unmanned aerial vehicle launching device and a launching method.

Background

At present unmanned aerial vehicle is by wide application in a plurality of fields, puts in through unmanned aerial vehicle and carries on article, if put in express delivery etc. is a common application in present unmanned aerial vehicle field. At present, when the unmanned aerial vehicle puts articles in, the control of the steering engine is realized, and the control of the steering engine needs to be realized through a flight control platform of the unmanned aerial vehicle. The main flow adopting the scheme is as follows: and a signal is sent to the receiver from the transmitting end of the remote controller, the receiver transmits the remote control signal to the flight control platform, and the flight control platform outputs a signal through analysis and calculation to control the movement of the steering engine, so that the throwing control of the loaded articles is realized.

Firstly, a signal transmission path is long, links are excessive, reliability is reduced, and an error part in any link possibly causes that the steering engine cannot be effectively controlled; secondly, the method depends on a flight control platform, is not beneficial to secondary development, and the change part of each launching scheme needs to modify a flight control program, so that the method is relatively complicated; and thirdly, the number of steering engines cannot be expanded.

Therefore, the optimal putting scheme is needed at present, the independent and flight control platform can be realized, the signal transmission links are reduced, the control stability is higher, and the secondary development can be facilitated, so that the number of the steering engines is easy to realize.

Disclosure of Invention

The invention provides an unmanned aerial vehicle throwing device and a throwing method aiming at the defects in the prior art, the device and the method realize the respective control of a plurality of steering engines by analyzing a specific control signal and separating the specific control signal into a multi-channel steering engine control signal, the whole signal process is independent of a flight control platform, and the number of the steering engines can be expanded as required.

The scheme for realizing the above effects of the invention is as follows: the utility model provides a unmanned aerial vehicle puts in device includes: the system comprises a receiver arranged on the unmanned aerial vehicle, a throwing controller connected with the receiver and a plurality of steering engines in communication connection with the throwing controller; the receiver receives the SBUS signal from the remote controller, and the throwing controller converts and separates the SBUS signal into at least one path of PWM signal to respectively control a plurality of steering engines.

Preferably, the launch controller comprises an STM32F103C8T6 chip, and the SBUS signal is input to the STM32F103C8T6 chip and then outputs at least one PWM signal.

Preferably, the launch controller further comprises a power supply voltage reduction circuit connected with the STM32F103C8T6 chip, the power supply voltage reduction circuit comprises a NCP1117ST50T3G chip, and the power supply voltage reduction circuit reduces the 5V current into 3.3V current and inputs the 3.3V current to the STM32F103C8T6 chip.

Preferably, the launch controller comprises a first crystal oscillator circuit connected with an STM32F103C8T6 chip, and the first crystal oscillator circuit comprises a crystal oscillator element with the oscillation frequency of 32.768 KHz.

Preferably, the launch controller comprises a second crystal oscillator circuit connected to the STM32F103C8T6 chip, the second crystal oscillator circuit comprising a crystal oscillator element having an oscillation frequency of 8 MHz.

Preferably, the launch controller comprises a reset circuit connected with the STM32F103C8T6 chip, and after the reset circuit is connected, the STM32F103C8T6 initial segment is reset to be in a fixed state.

Preferably, the launch controller comprises a start circuit connected with the STM32F103C8T6 chip, and the start circuit controls the STM32F103C8T6 chip to start from Flash, RAM or system memory.

Preferably, the PA10 pin of the STM32F103C8T6 chip inputs the SBUS signal, and the PA0, PA1, PA2, PA3, PA6, PA7, PB0, PB1, PB6, PB7, PB8, and PB9 of the STM32F103C8T6 chip output the PWM signal.

In another aspect of the present invention, a method for launching an unmanned aerial vehicle is provided, which includes the following steps:

s101, initializing a system;

s102, the system receives a control signal of the remote controller and checks whether the control signal is a complete SBUS signal;

s103, when the received control signal is a complete SBUS signal, analyzing an SBUS data frame into a digital quantity of each channel from the SBUS signal;

s104, converting the analyzed digital quantity into a PWM signal;

s105, separating the PWM signals and sending the PWM signals to the steering engine;

and S106, after the steering engine receives the separated signal, separating the signal operation action.

Preferably, step S101 includes: initializing a system clock, initializing a delay system, initializing a timer and a serial port.

The implementation of the invention has the following beneficial effects: the remote controller breaks away from in the direct control of flying to control the steering wheel of platform, and applicable in multiple field platform that need use the remote controller control steering wheel, the link that whole control signal's transmission process relates to reduces, can realize more accurate stable input control effect.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic diagram of an unmanned aerial vehicle launching device according to a preferred embodiment of the present invention;

FIG. 2 is a schematic diagram of a launch controller in accordance with a preferred embodiment of the present invention;

FIG. 3 is a schematic diagram of a power supply voltage reduction circuit according to a preferred embodiment of the present invention;

FIG. 4a is a schematic diagram of a first crystal oscillator circuit according to a preferred embodiment of the present invention;

FIG. 4b is a schematic diagram of a second oscillator circuit according to a preferred embodiment of the present invention;

FIG. 5 is a schematic diagram of a reset circuit in accordance with a preferred embodiment of the present invention;

FIG. 6 is a schematic diagram of a download circuit according to a preferred embodiment of the present invention;

FIG. 7 is a schematic diagram of a reset circuit in accordance with a preferred embodiment of the present invention;

fig. 8 is a flowchart of a method for launching a drone according to a preferred embodiment of the present invention.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

It is noted that, unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

In the present invention, unless specified to the contrary, use of the terms of orientation such as "upper, lower, top, bottom" or the like, generally refer to the orientation as shown in the drawings, or to the component itself in a vertical, perpendicular, or gravitational orientation; likewise, for ease of understanding and description, "inner and outer" refer to the inner and outer relative to the profile of the components themselves, but the above directional words are not intended to limit the invention.

Fig. 1 is a schematic diagram of a preferred embodiment of the unmanned aerial vehicle launching device according to the present invention. As shown in the figure, the remote controller 400 sends a control signal to the drone, the receiver 300 disposed on the drone transmits the sending signal of the remote controller 400 to the launch controller 100 connected to the receiver 300 after receiving the relevant control signal, the launch controller 100 converts the control signal of the remote controller 400 into a format, and in one example, the launch controller 100 converts an SBUS format signal (Smart-Bus) of the remote controller 400 into a PWM signal. The putting controller 100 is further connected with a plurality of steering engines 200, and the putting controller 100 sends a control signal to the steering engines 200 for controlling the putting effect.

Preferably, in the format conversion process, the SBUS format signal is converted into a PWM signal of multiple channels. So as to realize independent control to a plurality of steering engines.

In a preferred example, a chip STM32F103C8T6 shown in FIG. 2 is used as a core processor of the launch controller. After the SBUS control signal transmitted from the remote controller 400 is received and associated with processing by the receiver 300, the SBUS signal is input from pin 31, i.e., pin PA10, of the chip STM32F103C8T 6. After internal operation of the chip STM32F103C8T6, PWM waves are output from 12 pins including PA0/PA1/PA2/PA3, PA6/PA7/PB0/PB1, PB6/PB7/PB8/PB 9.

The PWM signals output through the 12 pins can be used for controlling the action of the steering engine 200, and are matched with a series of electric actuating components, so that articles carried on the unmanned aerial vehicle can be switched between two states of hanging and releasing. At most, 12 different steering engines 200 can be independently controlled by using the STM32F103C8T6 as a core component, so that the number of carried articles released on the unmanned aerial vehicle, the release time and other schemes can be freely controlled.

Preferably, the launch controller 100 further includes a power supply voltage reduction circuit connected to the chip STM32F103C8T6, and the power supply voltage reduction circuit is shown in fig. 3. The power supply voltage reduction circuit is used for converting externally supplied 5V direct current into 3.3V direct current for the chip to use. The core component of the circuit is a NCP1117ST50T3G chip, the pin 3 of the chip is used for 5V input, and the pins 2 and 4 of the chip output 3.3V current. The 3.3V current of this output may be further connected to pin 9, pin 24, pin 36, and pin 48 of the STM32F103C8T6 chip described above. Those skilled in the art will appreciate that some of the above-mentioned 4 power supply pins may be omitted depending on how many steering engines 200 are actually required to be controlled.

Preferably, the launch controller 100 further comprises a crystal oscillator circuit connected to the chip STM32F103C8T6, as shown in fig. 4a and 4 b. Fig. 4a shows a first crystal oscillator circuit, and fig. 4b shows a second crystal oscillator circuit.

The first crystal oscillator circuit shown in FIG. 4a is an RTC oscillator circuit, in which the Y1 crystal oscillator has an oscillation frequency of 32.768 KHz. The first crystal oscillator circuit is used to provide accurate 1Hz oscillation for the chip STM32F103C8T 6. 32.768KHz equal to about 2¹⁵Hz, the oscillation signal generated by the crystal oscillator is divided by a frequency divider inside the quartz clock for 15 times to obtain a 1Hz signal, namely the second hand moves every second. The first crystal oscillator circuit is connected by pins 3 and 4 of a chip STM32F103C8T 6.

The second crystal oscillator circuit shown in fig. 4b is a main crystal oscillator circuit, the Y2 crystal oscillator has an oscillation frequency of 8MHz, the oscillation circuit is HSE, and the external high frequency is used for PLL frequency doubling. The second crystal circuit is connected by pins 5 and 6 of STM32F103C8T 6.

Preferably, the launch controller 100 further includes a reset circuit connected to the chip STM32F103C8T6, the reset circuit being shown in fig. 5. The reset circuit is controlled by a patch type reset key with the stroke of 0.2mm, and after the chip STM32F103C8T6 is connected, the chip can be reset to an initial fixed state.

Preferably, the launch controller 100 further comprises a download circuit connected to the chip STM32F103C8T6, the download circuit being shown in fig. 6. The downloading circuit is used for burning a launching control program aiming at the unmanned aerial vehicle into a chip STM32F103C8T6, and the burnt chip executes a conversion program for converting the SBUS signal into a corresponding PWM signal.

Preferably, the launch controller 100 further comprises a start circuit connected to the chip STM32F103C8T 6. The start-up circuit is shown in fig. 7. The start-up circuit is used for controlling the chip STM32F103C8T6 to execute different start-up modes: the different high and low levels are input through BOOT1 and BOOT0, and whether the signals are connected or not is switched among 3 different starting modes. I.e. from Flash, from RAM and from system memory. After the Flash is started, namely the program is burnt, the working mode of converting the remote control signal into the corresponding 12 paths of PWM signals is normally executed; starting from the RAM for debugging, and starting related programs by using the built-in RAM of the chip; and starting from a system memory, a Bootloader is preset in the area when the chip leaves a factory, namely an ISP program in general.

By the chip taking the STM32F103C8T6 as the core and matching with peripheral related circuits, an STM32 system is formed, related programs for signal conversion can be burnt to the STM32F103C8T6, programs in the main control chip can read remote controller signals with Rx ports of a plurality of USART1, SBUS signals transmitted by a remote controller are analyzed into PWM signals readable by a steering engine, and then signals of channel No. 13 in 14 channels in total are separated and sent to the steering engine through the Tx port of the USART1, so that the on-off control of the steering engine is realized.

In order to provide the unmanned aerial vehicle launching device according to the above embodiment of the present invention, the present invention provides a set of relevant launching methods, and in a preferred embodiment, the steps are as shown in fig. 8.

First, in step S101, an STM32 system in which a related program has been burned is initialized. The initialization includes initializing a system clock, initializing a delay system, initializing a timer, and associated serial ports. The initialization is to make the drone delivery system enter a state that can accept SBUS signals.

Then, in step 102, the system receives the control signal of the relevant remote controller, and it needs to check whether the received signal is a complete SBUS signal, and only continues the relevant signal conversion operation when a complete frame of SBUS signal is received, and if the received signal is not complete, the received signal is discarded, and the reception of the SBUS signal of the next frame from the receiver is waited again.

In step S103, a parsing operation is performed on the received complete SBUS signal, and the SBUS data frame is parsed into digital values for each channel from the SBUS signal. It should be noted that, in this step, the number of channels analyzed specifically is different according to the configuration of the system actually controlled.

In step S104, the digital value analyzed in the previous step is converted into a PWM signal format.

And S105, separating control signals of a plurality of channels from the converted PWM format signals according to control requirements, and outputting the related separated PWM control signals from related pins according to the connection mode of the STM32F103C8T6 and a steering engine. In the present embodiment, the relevant signals are separated into 12 paths of control signals at most.

And step S106, after the steering engine receives the relevant separated signals, executing the relevant operation of the PWM signals.

In order to more clearly illustrate the practical operation of the invention, the following description takes the case that the unmanned aerial vehicle carries a plurality of fire extinguishing balls as an example:

in the technique in the past, the ball of putting out a fire that unmanned aerial vehicle carried on is controlled by controlling means is unified, can only realize once unified release, can't accomplish to release respectively, release according to specific order to specific scene to control signal can only pass through the flight control platform, and the signal flow is overlength, the secondary development of also being not convenient for. By adopting the scheme in the embodiment, the defect of putting the fire extinguishing ball in the prior art can be overcome.

First, a receiver for receiving a remote controller signal is provided on the drone, and the chip STM32F103C8T6 and its accompanying respective circuits are provided on a circuit board and fixed to the drone. Still set up a plurality of steering engines on the unmanned aerial vehicle, the steering engine is connected with chip STM32F103C8T 6's PWM signal output pin respectively. A plurality of steering engines joint fire extinguishing bomb respectively.

When fire extinguishing bomb is put in to need control, operating personnel sends corresponding instruction on the remote controller, and the instruction is through SBUS format signal transmission to the receiver on the unmanned aerial vehicle. The receiver transmits control signals to STM32F103C8T6 on the circuit board. After the control signals are subjected to relevant processing of STM32F103C8T6, PWM signals of a plurality of channels are separated, and different steering engines are correspondingly controlled. And after the steering engine receives the PWM signal, releasing the corresponding fire extinguishing ball.

The whole process of releasing the fire extinguishing ball does not need the participation of a flight control platform, the control of an independent steering engine can be realized, the fire extinguishing ball with a specific target can be released, the whole releasing process is more diversified, and the fire extinguishing ball is suitable for the requirements of various different fire extinguishing scenes.

It is to be understood that the above-described embodiments are only a few, but not all, embodiments of the present invention. All other embodiments, which can be derived by one of ordinary skill in the art from the embodiments given herein without making any creative effort, shall fall within the scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise, and it should be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of features, steps, operations, devices, components, and/or combinations thereof.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made without departing from the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims (10)

1. An unmanned aerial vehicle throwing device is characterized by comprising a receiver (300) arranged on an unmanned aerial vehicle, a throwing controller (100) connected with the receiver (300), and a plurality of steering engines (200) in communication connection with the throwing controller (100);

the receiver (300) receives an SBUS signal from a remote controller, and the releasing controller (100) converts and separates the SBUS signal into at least one path of PWM signal to respectively control the steering engines (200).

2. The unmanned aerial vehicle of claim 1, wherein the launch controller (100) comprises an STM32F103C8T6 chip, and the SBUS signal is input to the STM32F103C8T6 chip and then outputs at least one PWM signal.

3. The unmanned aerial vehicle launching device of claim 2, wherein the launch controller (100) further comprises a power supply voltage reduction circuit connected to the STM32F103C8T6 chip, the power supply voltage reduction circuit comprising a NCP1117ST50T3G chip, the power supply voltage reduction circuit reducing a 5V current to a 3.3V current input to the STM32F103C8T6 chip.

4. The unmanned aerial vehicle launching device of claim 2, wherein the launch controller (100) comprises a first crystal oscillator circuit connected to the STM32F103C8T6 chip, the first crystal oscillator circuit comprising a crystal oscillator element having an oscillation frequency of 32.768 KHz.

5. The unmanned aerial vehicle launch device of claim 2, wherein the launch controller (100) comprises a second crystal oscillator circuit connected to the STM32F103C8T6 chip, the second crystal oscillator circuit comprising a crystal oscillator element having an oscillation frequency of 8 MHz.

6. The unmanned aerial vehicle of claim 2, wherein the launch controller (100) comprises a reset circuit connected to the STM32F103C8T6 chip, and the reset circuit resets the STM32F103C8T6 initial set state after being connected.

7. The unmanned aerial vehicle launch device of claim 2, wherein the launch controller (100) comprises a start-up circuit connected to the STM32F103C8T6 chip, the start-up circuit controlling the STM32F103C8T6 chip to start from Flash, from RAM, or from system memory.

8. The unmanned aerial vehicle launching device of claim 2, wherein a PA10 pin of the STM32F103C8T6 chip inputs a SBUS signal, and PA0, PA1, PA2, PA3, PA6, PA7, PB0, PB1, PB6, PB7, PB8, and PB9 of the STM32F103C8T6 chip output PWM signals.

9. An unmanned aerial vehicle launching method is characterized by comprising the following steps:

s101, initializing a system;

s102, a system receives a control signal of a remote controller and checks whether the control signal is a full SBUS signal;

s103, when the received control signal is a complete SBUS signal, analyzing an SBUS data frame into a digital quantity of each channel from the SBUS signal;

s104, converting the analyzed digital quantity into a PWM signal;

s105, separating the PWM signal and sending the PWM signal to a steering engine;

and S106, after the steering engine receives the separated signal, separating the signal operation action.

10. The drone delivery method of claim 9, wherein the step S101 includes: initializing a system clock, initializing a delay system, initializing a timer and a serial port.

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