CN113184186A - Four rotor unmanned aerial vehicle snatch and put in control circuit - Google Patents
Four rotor unmanned aerial vehicle snatch and put in control circuit Download PDFInfo
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- CN113184186A CN113184186A CN202110589353.XA CN202110589353A CN113184186A CN 113184186 A CN113184186 A CN 113184186A CN 202110589353 A CN202110589353 A CN 202110589353A CN 113184186 A CN113184186 A CN 113184186A
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- 101000972637 Homo sapiens Protein kintoun Proteins 0.000 claims description 3
- 102100022660 Protein kintoun Human genes 0.000 claims description 3
- 210000000078 claw Anatomy 0.000 claims description 3
- 101100136063 Mycobacterium tuberculosis (strain ATCC 25618 / H37Rv) PE11 gene Proteins 0.000 claims description 2
- 101100136064 Mycobacterium tuberculosis (strain ATCC 25618 / H37Rv) PE13 gene Proteins 0.000 claims description 2
- 101100136061 Mycobacterium tuberculosis (strain ATCC 25618 / H37Rv) PE9 gene Proteins 0.000 claims description 2
- 239000003990 capacitor Substances 0.000 claims 32
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- 238000010586 diagram Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/12—Releasing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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Abstract
The invention discloses a four-rotor unmanned aerial vehicle grabbing and throwing control circuit which comprises a main control chip STM32F407ZGT6 with a 32-bit high-performance ARMCortex-M4 kernel, a gyroscope data acquisition circuit, a voltage acquisition circuit, a resistance wire heating circuit, a motor PWM signal output circuit, an OLED display circuit, a 12V-5V voltage stabilizing circuit, a 5V-3.3V voltage stabilizing circuit, a Bluetooth module, an optical flow module and a steering engine control circuit. The STM32F407ZGT6 communicates with a gyroscope data acquisition circuit through an SPI interface and controls an OLED display circuit to display, the STM32F407ZGT6 controls a motor PWM signal output circuit and a steering engine control circuit through outputting a PWM signal, the STM32F407ZGT6 acquires voltage of the voltage acquisition circuit through an analog-to-digital converter (ADC), the STM32F407ZGT6 communicates with a Bluetooth module and an optical flow module through a UART interface, and a 12V-5V voltage stabilizing circuit and a 5V-3.3 voltage stabilizing circuit are responsible for supplying power to the STM32F407ZGT6 chip.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a four-rotor unmanned aerial vehicle grabbing and throwing control circuit.
Background
With the continuous development of integrated circuit technology, precision machining technology and computer technology, various control devices using STM32 as a main control chip are emerging. With the continuous in-depth development of four rotor unmanned aerial vehicle in each fields such as aerial photography, military affairs, agriculture, the low cost, the simplicity and the functionality to four rotor unmanned aerial vehicle have provided higher requirement, and it is functional and reliability problem to be paid close attention to wherein. In some fields, like unmanned aerial vehicle delivery, if can use the good reliability, functional four rotor unmanned aerial vehicle then will be by extensive popularization.
Unmanned aerial vehicle is a device of aerial operation, like being used for the unmanned aerial vehicle that sprays in the agricultural, the unmanned aerial vehicle that is used for reconnaissance in the military, the unmanned aerial vehicle that is used for shooting in the aerial photography. Unmanned aerial vehicle is categorised according to the flight platform configuration, and unmanned aerial vehicle can divide into fixed wing unmanned aerial vehicle, rotor unmanned aerial vehicle, unmanned airship, umbrella wing unmanned aerial vehicle, flapping wing unmanned aerial vehicle etc. and wherein rotor unmanned aerial vehicle has simple structure, advantage such as with low costs and by extensive application. Quad-rotor unmanned aerial vehicles rely on the lift generated by a plurality of rotors to balance the gravity of the aircraft, and the stability and attitude of the aircraft are controlled by changing the rotating speed of each rotor.
Stability and the reliability of four rotor unmanned aerial vehicle flight have all reached more ripe stage at present, therefore people are satisfying four rotor unmanned aerial vehicle flight stable condition under, have proposed higher requirement in four rotor unmanned aerial vehicle functions, and unmanned aerial vehicle functionality obtains continuous expansion in recent years, the unmanned aerial vehicle of taking photo by plane, agricultural unmanned aerial vehicle and so on. However, few unmanned planes which can be used commercially at the present stage of unmanned plane grabbing and throwing are available, so the invention provides a four-rotor unmanned plane grabbing and throwing control circuit.
Disclosure of Invention
The purpose of the invention is as follows: the utility model provides a four rotor unmanned aerial vehicle snatchs and puts in control circuit, this circuit uses STM32F407ZGT6(11) as main control chip respectively with gyroscope data acquisition circuit (1), voltage acquisition circuit (2), resistance wire heating circuit (3), motor PWM signal output circuit (4), OLED display circuit (5), bluetooth module (8), light stream module (9), steering wheel control circuit (10) realize the communication, 12V-5V voltage stabilizing circuit (6), 5V-3.3V voltage stabilizing circuit (7) are responsible for supplying power for STM32F ZGT6(11) main control chip.
In order to realize the invention, the technical scheme is as follows: the four-rotor unmanned aerial vehicle grabbing and throwing control circuit is characterized in that PB14 and PB15 pins of an STM32F407ZGT6(11) are respectively used as an input signal port and an output signal port of an SPI bus to carry out data transmission with the ICM20602 (12), PD0 pins of the STM32F407ZGT6(11) are used as chip selection pins of the ICM20602 (12) to control whether the ICM20602 (12) is selected for communication, and PB13 pins of the STM32F407ZGT6(11) output clock signals to control communication of the STM32F407ZGT6(11) and the ICM20602 (12). A PD7 pin of the STM32F407ZGT6(11) is used as an interrupt receiving pin to receive an interrupt signal generated by the ICM20602 (12), a PF13 pin of the STM32F407ZGT6(11) is used as a chip selection signal of the OLED display screen (13) to control the chip selection state of the OLED display screen (13), a RES pin of the STM32F407ZGT6(11) is used to realize the reset of the OLED display screen (13), a PF13 pin of the STM32F407ZGT6(11) is connected with a data command control pin of the OLED display screen (13) to control whether the transmitted signal is data or a control signal, a PG0 pin of the STM32F407ZGT6(11) is used as a clock signal pin of the STM32F407ZGT6(11) and the OLED display screen (13) to transmit a clock signal required by communication, a PB 407 PB 464 pin of the STM32F 4611 is used as an interrupt signal 8 pin to receive the interrupt signal, and the STM32F 4611 is used to realize the one-way communication with the OLED display screen communication output pin of the OLED display screen (13) and the OLED display screen (13) to receive the interrupt signal SPI 1, and receive the OLED display screen interrupt signal output by the STM32F display screen (8) output pin of the single-direction (1) and the single-direction communication, the PC5 pin of the STM32F407ZGT6(11) collects the divided power supply voltage by using an internal ADC, the PE9, PE11, PE13 and PE14 pins of the STM32F407ZGT6(11) output PWM signals to an electronic speed regulator (38) so as to control the rotation of the brushless motor (39), and the PE5, PE6, PC8 and PC9 pins of the STM32F407ZGT6(11) output the PWM signals to control the rotation of a steering engine (36), and the steering engine (36) controls the movement of a mechanical claw (37).
The invention has the beneficial effects that:
1. the integration level is high: the invention integrates an OLED display circuit, a gyroscope data reading circuit, a voltage acquisition circuit and the like, and has high integration level.
2. The efficiency is high: the four-rotor unmanned aerial vehicle comprises a 12V-5V stabilized power supply and a 5V-3.3V stabilized power supply, and compared with the traditional four-rotor unmanned aerial vehicle, the power supply conversion efficiency of the 12V-3.3V stabilized power supply is higher.
3. The application range is wide: the invention realizes a four-rotor unmanned plane grabbing and throwing control circuit. Be applicable to most occasions that need unmanned aerial vehicle to snatch and put in the function in the life, application range is extensive.
Drawings
Fig. 1 is a general block diagram of a grab and launch control circuit of the present invention.
Fig. 2 is a schematic diagram of a general circuit of the pick-up and launch control circuit of the present invention.
Fig. 3 is a schematic diagram of a gyroscope data acquisition circuit of a control circuit for grabbing and releasing a quad-rotor unmanned aerial vehicle according to the invention.
Fig. 4 is a schematic diagram of an OLED display circuit of a control circuit for grabbing and releasing a quad-rotor unmanned aerial vehicle according to the present invention.
Fig. 5 is a schematic diagram of a voltage acquisition circuit of a control circuit for grabbing and releasing a quad-rotor unmanned aerial vehicle according to the invention.
Fig. 6 is a schematic diagram of a 12V-5V voltage stabilizing circuit and a 5V-3.3V voltage stabilizing circuit of a control circuit for grabbing and releasing of a quad-rotor unmanned aerial vehicle according to the invention.
Fig. 7 is a schematic diagram of a control circuit motor control circuit and a steering engine control circuit for grabbing and releasing of a quad-rotor unmanned aerial vehicle provided by the invention.
1: a gyroscope data acquisition circuit; 2: a voltage acquisition circuit; 3: a resistance wire heating circuit; 4: motor PWM signal output circuit 5: an OLED display circuit; 6: a 12-5V voltage stabilizing circuit; 7: a 5V-3.3V voltage stabilizing circuit; 8: a Bluetooth module; 9: an optical flow module; 10: a steering engine control circuit; 11: the main control chip STM32F407ZGT6 of the 32-bit high-performance ARMCortex-M4 kernel; 12: an ICM20602 chip; 13: an OLED display screen; 14: a resistor R1; 15: a capacitance C1; 16: a capacitance C2; 17: a capacitance C3; 18: a capacitance C4; 19: a capacitance C5; 20: a resistor R2; 21: a resistor R3; 22: a resistor R4; 23: a capacitance C3; 24: a diode D1; 25: a diode D2; 26: a resistor R5; 27: a resistor R6; 28: a capacitance C7; 29: a capacitance C8; 30: a capacitance C9; 31: TPS5430 chip; 32: an inductance L1; 33: a capacitance C10; 34: a capacitance C11; 35: an LDO9013 chip; 36: a steering engine module; 37: a gripper; 38: an electronic governor; 39: a brushless motor.
Detailed Description
The utility model provides a four rotor unmanned aerial vehicle snatchs and puts in control circuit, main control chip STM32F407ZGT6(11) including 32 high performance ARMCortex-M4 kernels, gyroscope data acquisition circuit (1), voltage acquisition circuit (2), resistance wire heating circuit (3), motor PWM signal output circuit (4), OLED display circuit (5), 12V-5V voltage stabilizing circuit (6), 5V-3.3V voltage stabilizing circuit (7), bluetooth module (8), light stream module (9), steering wheel control circuit (10). The STM32F407ZGT6(11) is communicated with a gyroscope data acquisition circuit (1) through an SPI interface and controls an OLED display circuit (5) to display, the STM32F407ZGT6(11) controls a motor PWM signal output circuit (4) and a steering engine control circuit (10) through outputting PWM signals, the STM32F407ZGT6(11) is used for collecting voltage through a voltage acquisition circuit (2), the STM32F407ZGT6(11) is communicated with a Bluetooth module (8) and an optical flow module (9) through a UART interface, and a 12V-5V voltage stabilizing circuit (6) and a 5V-3.3V voltage stabilizing circuit (7) are responsible for supplying power to the STM32F407ZGT6(11) chip.
The STM32F407ZGT6(11) is communicated with the ICM20602 (12) through an SPI bus to acquire the angle and the angular speed of the current four-rotor unmanned aerial vehicle, the STM32F407ZGT6(11) calculates the PWM signal of the current attitude adjustment through a PID algorithm and transmits the PWM signal to a motor PWM signal output circuit (4), the STM32F407ZGT6(11) acquires the current power supply voltage value through a voltage acquisition circuit (2) and transmits the acquired voltage value to a Bluetooth module (8), the STM32F407ZGT6(11) is communicated with an OLED display circuit (5) through the SPI bus to control the OLED display circuit (5) to display the current acquired voltage value, angle and angular speed, a 12V-5V voltage stabilizing circuit (6) converts the input 12V voltage into 5V voltage to supply power to a 5V-3.3V voltage stabilizing power supply (7), and the 5V-3.3V voltage stabilizing power supply to the STM32F 6(11), the resistance wire heating circuit (3) heats the gyroscope data acquisition circuit (1) to inhibit the temperature drift of the gyroscope data acquisition circuit (1), and the STM32F407ZGT6(11) controls the steering engine control circuit (10) to grab and release an object by outputting a PWM signal.
The technical features mentioned above are combined with each other to form various embodiments which are not listed above, and all of them are regarded as the scope of the present invention described in the specification; also, modifications and variations may be suggested to those skilled in the art in light of the above teachings, and it is intended to cover all such modifications and variations as fall within the true spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. A four-rotor unmanned aerial vehicle grabbing and throwing control circuit comprises a main control chip STM32F407ZGT6(11) with a 32-bit high-performance ARMCortex-M4 core, a gyroscope data acquisition circuit (1), a voltage acquisition circuit (2), a resistance wire heating circuit (3), a motor PWM signal output circuit (4), an OLED display circuit (5), a 12V-5V voltage stabilizing circuit (6), a 5V-3.3V voltage stabilizing circuit (7), a Bluetooth module (8), an optical flow module (9) and a steering engine control circuit (10), wherein the STM32F407ZGT6(11) is communicated with the gyroscope data acquisition circuit (1) through an SPI interface and controls the OLED display circuit (5) to display, the STM32F407ZGT6(11) outputs PWM signals to control the motor PWM signal control circuit (4) and the steering engine control circuit (10), and the STM32F407ZGT6(11) acquires and measures the voltage of the voltage acquisition circuit (2) through an ADC interface, the UART interface of the STM32F407ZGT6(11) is communicated with a Bluetooth module (8) and an optical flow module (9), a 12V-5V voltage stabilizing circuit (6) and a 5V-3.3V voltage stabilizing circuit (7) are responsible for supplying power to the STM32F407ZGT6(11), the OLED display circuit (5) is composed of an OLED display screen (13), a resistor R1 (14), a capacitor C1 (15), a capacitor C2 (16), a capacitor C3 (17), a capacitor C4 (18) and a capacitor C5 (19), the voltage acquisition circuit (2) is composed of a resistor R2 (20), a resistor R3 (21), a resistor R4 (22) and a capacitor C6 (23), the 12V-5V voltage stabilizing circuit (6) is composed of a diode D1 (24), a diode D2 (25), a resistor R5 (26), a resistor R6 (27), a capacitor C356 (28), a capacitor C8), a capacitor C5430 and an inductor TPS 31 (3631), the 5V-3.3V voltage stabilizing circuit (7) is composed of a capacitor C10 (33), a capacitor C11 (34) and an LDO9013 chip (35), the steering engine control circuit (10) is composed of a steering engine (36) and a mechanical claw (37), and the motor PWM signal control circuit (4) is composed of an electronic speed regulator (38) and a brushless motor (39).
2. The four-rotor unmanned aerial vehicle pick-up and drop control circuit according to claim 1, wherein a PB13 pin of the STM32F407ZGT6(11) is connected to an SCL pin of the ICM20602 (12), a PB14 pin of the STM32F407ZGT6(11) is connected to an SDO pin of the ICM20602 (12), a PB15 pin of the STM32F407ZGT6(11) is connected to an SDA pin of the ICM20602 (12), a PD0 pin of the STM32F407ZGT6(11) is connected to a CS pin of the ICM20602 (12), a PD0 pin of the STM32F ZGT6(11) is used as a chip select pin to realize on-off and off control of the ICM20602 (12), a PB15 pin and a PB 36 pin of the STM32F ZGT6(11) are used as two data ports for realizing on-off and on-off control of the STM32F 2068525 and PB 19 (11) of the STM 20619 (11) and the STM32F 20619 (11) as a bidirectional data communication port for realizing on the STM 19 (11) communication of the STM 19 (11) and the STM 20619 (11) communication signal acquisition and the STM 19 (11) communication signal transfer and the SCM 19 (11) communication signal transmission and the STM 19 (11) communication signal transmission and the synchronous signal transmission and the SCM 19 (11) of the SCM 19 (11) and the SCM 19 (11) so as the synchronous communication signal transmission control signal transmission timing synchronization signal transmission, the PD7 pin of the STM32F407ZGT6(11) serves as an interrupt receiving pin that can receive an interrupt signal issued by the ICM20602 (12).
3. The quad-rotor unmanned aerial vehicle pick-up and drop control circuit according to claim 1, wherein a PF13 pin of the STM32F407ZGT6(11) is connected to a CS pin of the OLED display screen (13) for outputting a chip select signal of the OLED display screen (13), a PF14 pin of the STM32F407ZGT6(11) is connected to an RES pin of the OLED display screen (13) for resetting the OLED display screen (13), a PF15 pin of the STM32F407ZGT6(11) is connected to a DC pin of the OLED display screen (13) for controlling data and commands of the OLED display screen (13), a PG0 pin of the STM32F ZGT6(11) is connected to a D0 pin of the OLED display screen (13) for transmitting a clock signal for both-side communication, a PG1 pin of the STM32F ZGT6(11) is connected to a D1 pin of the OLED display screen (13) for transmitting data, and a PB1 pin of the STM32F ZGT 6311 is connected to the PB1 pin of the OLED display screen (13) for transmitting a clock signal for both-side communication of the STM32F 6313, the device is used for receiving an interrupt signal sent by an OLED display screen (13), an IREF pin of the OLED display screen (13) is connected to one end of a resistor R1 (14), the other end of the resistor R1 (14) is connected to the ground, an IM1 pin of the OLED display screen (13) is connected to the ground, a VDD pin of the OLED display screen (13) is connected to one ends of a capacitor C1 (15) and a capacitor C2 (16), the other ends of the capacitor C1 (15) and a capacitor C2 (16) are connected to the ground, a VCOMH pin of the OLED display screen (13) is connected to one end of a capacitor C3 (17), the other end of the capacitor C3 (17) is connected to the ground, a VPP pin of the OLED display screen (13) is connected to one ends of a 9V power input, a capacitor C4 (18) and a capacitor C5 (19), the other ends of the capacitor C4 (18) and a capacitor C5 (19) are connected to the ground, and an NC pin of the OLED display screen (13) is connected to the ground.
4. The control circuit for grabbing and throwing in a quadrotor unmanned plane according to claim 1, wherein a pin PC5 of the STM32F407ZGT6(11) is connected to one end of a resistor R4 (22) and one end of a capacitor C6 (23), the other end of the capacitor C6 (23) is grounded, the other end of the resistor R4 (22) is connected to one end of a resistor R2 (20) and one end of a resistor R3 (21), the other end of the resistor R2 (20) is connected to a voltage input, and the other end of the resistor R3 (21) is connected to ground.
5. The control circuit for grabbing and throwing in a quad-rotor unmanned aerial vehicle according to claim 1, wherein a BOOT pin of the TPS5430 (31) is connected to one end of a capacitor C7 (28), the other end of the capacitor C7 (28) is connected to one end of an inductor L1 (32) and the cathode of a diode D2 (25), the positive pole of the diode D2 (25) is grounded, the other end of the inductor L1 (32) is connected to the positive pole of a diode D1 (24), the PH pin of the TPS5430 (31) is connected to the cathode of a diode D2 (25), the VSENSE pin of the TPS5430 (31) is connected to one end of a resistor R5 (26) and one end of a resistor R6 (27), the other end of the resistor R5 (26) is connected to the positive pole of a diode D1 (24), the other end of the resistor R6 (27) is grounded, one ends of the capacitors C8 (29) and C9 (30) are connected to the positive pole of a diode D1, the other end of the capacitor C29 and the capacitor C9 (30) are connected to the ground, the ground of TPS5430 and the PwPd pin are connected to the ground, the other end of diode D1 (24) is connected to VIN pin and EN pin of LDO9019 (35) and one end of capacitor C10 (33), the other end of capacitor C10 (33) is connected to the ground, the VOUT pin of LDO9019 (35) is connected to 3.3V output and one end of capacitor C11 (34), the other end of capacitor C11 (34) is connected to the ground, and the GND pin of LDO9019 (35) is connected to the ground.
6. The control circuit for grabbing and throwing in a quadrotor unmanned plane according to claim 1, wherein pins PE9, PE11, PE13 and PE14 of the STM32F407ZGT6(11) output PWM signals to an electronic speed regulator (38), the electronic speed regulator controls the rotation of a brushless motor (39), pins PE5, PE6, PC8 and PC9 of the STM32F407ZGT6(11) output PWM signals to control a steering engine (36) to rotate, and the steering engine (36) controls the mechanical claw (37) to move.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110589353.XA CN113184186A (en) | 2021-05-28 | 2021-05-28 | Four rotor unmanned aerial vehicle snatch and put in control circuit |
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| CN202110589353.XA CN113184186A (en) | 2021-05-28 | 2021-05-28 | Four rotor unmanned aerial vehicle snatch and put in control circuit |
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2021
- 2021-05-28 CN CN202110589353.XA patent/CN113184186A/en active Pending
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Application publication date: 20210730 |