CN116520751A - Intelligent unmanned patrol aircraft - Google Patents
Intelligent unmanned patrol aircraft Download PDFInfo
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- CN116520751A CN116520751A CN202310532432.6A CN202310532432A CN116520751A CN 116520751 A CN116520751 A CN 116520751A CN 202310532432 A CN202310532432 A CN 202310532432A CN 116520751 A CN116520751 A CN 116520751A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention relates to the technical field of aircrafts and provides an intelligent unmanned on duty patrol aircraft, which comprises a state detection circuit, a GPS navigation circuit, a 4G wireless communication circuit, a main control circuit and a four-rotor motor driving circuit, wherein the output end of the state detection circuit is connected with the input end of the main control circuit, the state and surrounding environment information of the main control circuit are fed back to the main control circuit, the input end of the main control circuit is connected with the output end of the GPS navigation circuit and used for positioning the position of the main control circuit and ensuring the accuracy of a flight route, the communication end of the main control circuit is connected with the data end of the 4G wireless communication circuit, receives planned continuous point position flight information, and the aircraft group with the same structure is in turn flown and sends flight data in real time through the communication circuit, and the driving end of the main control circuit is connected with the input end of the fourth-rotor motor driving circuit so as to control the flight direction in combination with the planned flight route; the intelligent unattended patrol aircraft can be realized.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to an intelligent unattended patrol aircraft.
Background
Along with the development of society, intelligent equipment has more improved work efficiency when alleviateed people's work burden, but in some areas that need to patrol and supervise, like topography is looked over, sand wind is administered, for it establishes fixed video monitoring system and patrol and look over, often pays more manual work and higher expense, and the scope of patrolling is little inflexible moreover.
Disclosure of Invention
The invention solves the problem of providing an intelligent unmanned patrol aircraft which is simple in arrangement, flexible and portable.
In order to solve the problems, the invention provides an intelligent unmanned aerial vehicle which is characterized by comprising a state detection circuit, a GPS navigation circuit, a 4G wireless communication circuit, a main control circuit and a four-rotor motor driving circuit, wherein the output end of the state detection circuit is connected with the input end of the main control circuit, the state and surrounding environment information of the state detection circuit are fed back to the main control circuit, the input end of the main control circuit is connected with the output end of the GPS navigation circuit and used for positioning the position of the main control circuit and ensuring the accuracy of a flight route, the communication end of the main control circuit is connected with the data end of the 4G wireless communication circuit, the communication end of the main control circuit is used for receiving planned continuous point position flight information, the unmanned aerial vehicle is assembled for taking turns and flying data are transmitted in real time through the communication circuit, and the driving end of the main control circuit is connected with the input end of the fourth rotor motor driving circuit so as to control the flight direction in combination with the planned flight route.
Further, the detection circuit comprises an environment detection circuit and a motion sensor circuit, wherein the output end of the environment detection circuit is connected with the input end of the main control circuit, temperature, air pressure and magnetic field information of the surrounding environment of the aircraft are sent, the output end of the main control circuit is connected with the input end of the motion sensor circuit, acceleration and gyroscope data of the aircraft are received, and the flying is smooth and stable through data correction in advance of the surrounding environment information.
Further, the GPS navigation circuit comprises a first positioning navigation chip, a first RC filter circuit, a first light emitting diode, a first pull-up resistor, a first LC filter circuit, a first RF antenna, a second RC filter circuit, a second light emitting diode, a first diode and a second filter capacitor, wherein a working end of the first positioning navigation chip is connected with an anode of the first light emitting diode through the first RC filter circuit, a power supply is connected with a reset end of the first positioning navigation chip through the first pull-up resistor, a positioning end of the first positioning navigation chip is connected with the first RF antenna through the first LC filter circuit, a positioning end of the first positioning navigation chip is connected with an anode of the second light emitting diode through the second RC filter circuit, and a power supply is connected with a power supply end of the first positioning navigation chip through the anode of the first diode.
Further, the 4G wireless communication circuit comprises a 4G network circuit and a 4G image transmission circuit, the data end of the 4G network circuit is connected with the data end of the main control circuit, information processed and received by the main control circuit is sent to a user, the user can control the flight track of the aircraft through the 4G network circuit, the image output end of the 4G image transmission circuit is connected with the input end of the main control circuit, and image information recorded by the aircraft is sent in real time.
Furthermore, the input end of the main control circuit and the output end of the state detection circuit receive various data of the machine and control the data in advance in time, the output end of the GPS navigation circuit is connected with the input end of the main control circuit, and position information of each aircraft is sent, so that the main control circuit can conveniently position and flight plan each aircraft.
Further, the four-rotor motor driving circuit comprises a driving circuit and a control circuit, wherein the input end of the driving circuit is connected with the output end of the main control circuit, receives a main control signal and sends out a corresponding driving signal, and the signal output end of the driving circuit is respectively connected with the output ends of the 3 paths of control circuits to send out driving information in 3 directions.
Further, the control circuit comprises a first field effect tube, a first switch circuit, a second field effect tube and a second switch circuit, wherein the signal input end of the drive circuit is connected with the grid electrode of the first field effect tube through the first switch circuit, the source electrode of the first field effect tube is grounded, the drain electrode of the first field effect tube is respectively connected with the source electrode of the second field effect tube and the motor interface, the drain electrode of the second field effect tube is connected with the power supply, and the signal input end of the drive circuit is connected with the grid electrode of the second field effect tube through the second switch circuit.
Further, the intelligent charging system further comprises a power supply charging circuit, wherein the signal input end of the power supply charging circuit is connected with the output end of the main control circuit, and the power supply output end of the power supply charging circuit is respectively connected with the battery end and the input end of the power supply circuit to charge and supply power to the battery and the system.
Further, the intelligent power supply system further comprises a power supply detection circuit, wherein the input end of the power supply detection circuit is connected with the power supply end of the battery, the electric quantity of the battery is detected in real time, the input end of the main control circuit is connected with the output end of the power supply detection circuit, and the intelligent power supply system receives battery electric quantity information and plans a drop point.
Further, the power supply circuit comprises a first DC chip, a seventh power supply filter circuit, a second LC filter circuit, a sixth diode, a third voltage stabilizing diode and a third LC filter circuit, a battery power supply is connected with the power supply input end of the first DC chip through the seventh power supply filter circuit, a power supply is connected with the power supply input end of the first DC chip through the anode of the sixth diode and the second LC filter circuit, the feedback end of the first DC chip is connected with the output end of the first DC chip, the output end of the first DC chip is connected with the ground through the cathode of the third voltage stabilizing diode, and the output end of the first DC chip is output to the equipment through the third LC filter circuit for supplying power.
Compared with the prior art, the invention has the beneficial effects that:
the utility model provides a set up simple, nimble portable intelligent unmanned on duty inspection aircraft, the state detection circuit of this aircraft can give main control circuit feedback aircraft self gesture situation and surrounding environment's magnetic field, atmospheric pressure, temperature in real time, GPS navigation circuit can feedback self positional information constantly, can fix a position the aircraft position when finding unusually fast, and accessible main control circuit sets up the flight and patrol the inspection route, alleviate the manual burden, main control circuit passes through 4G wireless communication circuit and transmits the server through real-time picture, the user can look over and control the aircraft and carry out careful investigation wherever, combine the data information that state detection circuit provided, main control circuit control four rotor motor drive circuit makes the aircraft faster, more steady, safer flight, aircraft accessible 4G wireless communication circuit receives the flight position that plans in the long-range cell phone APP and the continuous point position of planning fly, set up simply and the aircraft is small carries conveniently, this inspection aircraft also can be by the aircraft group team of many consistent structures and keep on duty, increase the scope of patrol the aircraft.
Drawings
FIG. 1 is a schematic diagram of the principle and structure of an intelligent unattended patrol aircraft according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a motion sensor circuit according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a three-axis magnetic field sensor circuit according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a circuit schematic of an air pressure sensor according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of the principle and structure of a GPS navigation circuit according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a principle structure of a 4G wireless communication circuit according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a main control circuit according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a driving circuit according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a control circuit according to an embodiment of the present invention;
FIG. 10 is a schematic diagram of a power charging circuit according to an embodiment of the present invention;
FIG. 11 is a schematic diagram of a power detection circuit according to an embodiment of the present invention;
FIG. 12 is a schematic diagram of a power circuit according to an embodiment of the present invention;
1-a state detection circuit; 11-a motion sensor circuit; 12-a triaxial magnetic field sensor circuit; 13-an air pressure sensor circuit; a 2-GPS navigation circuit; a 3-4G wireless communication circuit; 31-4G network circuitry; a 32-4G image transmission circuit; 4-a master control circuit; a 5-four wing motor drive circuit; 51-a driving circuit; 52-a control circuit; a 6-power supply charging circuit; 7-a power supply detection circuit; an 8-power supply circuit;
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
In the description of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be a mechanical connection; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the description of the present specification, the descriptions of the terms "embodiment," "one embodiment," and the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or embodiment is included in at least one embodiment or illustrated embodiment of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same examples or implementations. Furthermore, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or implementations.
The embodiment of the invention provides a system comprising a state detection circuit 1, a GPS navigation circuit 2, a 4G wireless communication circuit 3, a main control circuit 4 and a four-rotor motor driving circuit 5, wherein the output end of the state detection circuit 1 is connected with the input end of the main control circuit 4, the state and surrounding environment information of the system are fed back to the main control circuit 4, the input end of the main control circuit 4 is connected with the output end of the GPS navigation circuit 2 and used for positioning the position of the system and ensuring the accuracy of a flight route, the communication end of the main control circuit 4 is connected with the data end of the 4G wireless communication circuit 3 and used for receiving planned continuous point position flight information, the system is in a gatekeeper flight by a plurality of aircrafts with consistent structures and sends flight data in real time through the communication circuit, and the driving end of the main control circuit 4 is connected with the input end of the fourth rotor motor driving circuit 5 so as to control the flight direction in combination with the planned flight route.
It should be noted that, as shown in fig. 1, an intelligent unmanned on duty patrol aircraft is provided, the state detection circuit 1 of the aircraft can feed back the attitude status of the aircraft and the magnetic field, air pressure and temperature of the surrounding environment to the main control circuit 4 in real time, the GPS navigation circuit 2 can feed back the position information of the aircraft at any time, when an abnormality is found, the position of the aircraft can be rapidly positioned, and the flight patrol route can be set through the main control circuit 4, the manual burden is lightened, the main control circuit 4 can transmit to a server through a real-time picture through the 4G wireless communication circuit 3, a user can view and control the aircraft wherever, and the data information provided by the state detection circuit 1 is combined, the main control circuit 4 controls the four-rotor motor driving circuit 5 to enable the aircraft to fly faster, smoother and safer, the aircraft can receive the flight direction in the remote mobile phone APP through the 4G wireless communication circuit 3, and the planned continuous point position flight setting is simple, the aircraft is small and portable, the patrol aircraft can also be formed by a plurality of aircraft with consistent structures, and the patrol range is increased.
In one embodiment of the present invention, the detection circuit 1 includes an environment detection circuit and a motion sensor circuit, wherein an output end of the environment detection circuit is connected with an input end of the main control circuit 4, and sends temperature, air pressure and magnetic field information of the surrounding environment of the aircraft, and an output end of the main control circuit 4 is connected with an input end of the motion sensor circuit, receives acceleration and gyroscope data of the aircraft, and makes the flight smooth and stable through data correction in advance of the surrounding environment information.
As shown in fig. 2, 3 and 4, the flying state detection circuit includes a first motion sensor, a first capacitor, a first power supply filter capacitor, a second capacitor, a first filter capacitor, a first digital compass IC, a second power supply filter capacitor, a first storage capacitor, a third power supply filter capacitor, a first air pressure sensor, and a fourth power supply filter capacitor, where the CPOUT terminal of the first motion sensor U10 is connected to ground through the first capacitor C79, the 3.3V power supply is connected to the VDD terminal of the first motion sensor U10 and is connected to ground through the first power supply filter capacitor C82, the REGOUT terminal of the first motion sensor U10 is connected to ground through the second capacitor C90, the 3.3V power supply is connected to the ADD terminal and the VLOGLC terminal of the first motion sensor U10 and is connected to ground through the first filter capacitor C89, the SDA end of the first motion sensor U10 is connected with the I2C2_SDA end of the main control chip, the SCL end of the first motion sensor U10 is connected with the I2C2_SCL end of the main control chip, the AX_DA end of the first motion sensor U10 is connected with the I2C1_SDA end of the main control chip, the AX_CL end of the first motion sensor U10 is connected with the I2C1_SCL end of the main control chip, the INT end of the first motion sensor U10 is connected with the CAN2_RX end of the main control chip, the FSYNC end of the first motion sensor U10 is connected with the CAN2_TX end of the main control chip, a 3.3V power supply is connected with the VDDIO end of the first digital compass ICU11 and is connected with the ground through the second power supply filter capacitor C081, the C1 end of the first digital compass ICU11 is connected with the ground through the first storage capacitor C80, the TC 11 is connected with the first digital compass ICU11 through the third capacitor C83, the VDD terminal of the first digital compass ICU11 is connected to the ground through the third power supply filter capacitor C81, the SDA terminal of the first digital compass ICU11 is connected to the ax_da terminal of the first motion sensor U10, the SCL terminal of the first digital compass ICU11 is connected to the ax_cl terminal of the first motion sensor U10, the 3.3V power supply is connected to the VDD terminal and PS terminal of the first air pressure sensor U13 and is connected to the ground through the fourth power supply filter capacitor C93, the SCK terminal of the first air pressure sensor U13 is connected to the SCL terminal of the first motion sensor U10, and the SDA terminal of the first air pressure sensor U13 is connected to the SDA terminal of the first motion sensor U10.
In one embodiment of the present invention, the GPS navigation circuit 2 includes a first positioning navigation chip, a first RC filter circuit, a first light emitting diode, a first pull-up resistor, a first LC filter circuit, a first RF antenna, a second RC filter circuit, a second light emitting diode, a first diode, and a second filter capacitor, where a working end of the first positioning navigation chip is connected to an anode of the first light emitting diode through the first RC filter circuit, a power supply is connected to a reset end of the first positioning navigation chip through the first pull-up resistor, a positioning end of the first positioning navigation chip is connected to the first RF antenna through the first LC filter circuit, and a positioning end of the first positioning navigation chip is connected to an anode of the second light emitting diode through the second RC filter circuit, and a power supply is connected to a power supply end of the first positioning navigation chip through the second filter capacitor.
It should be noted that, as shown IN fig. 5, the GPS navigation circuit 2 includes a first positioning navigation chip, a first RC filter circuit, a first light emitting diode, a first pull-up resistor, a first LC filter circuit, a first RF antenna, a second RC filter circuit, a second light emitting diode, a first diode, and a second filter capacitor, where the first positioning navigation chip U12 employs a high-performance, high-integration, low-power-consumption, low-cost multimode satellite positioning navigation module E108-GN01, which employs a radio frequency baseband integrated design, integrates DC/DC, LDO, radio frequency front end, low-power-consumption application processor, RAM, flash memory, RTC, power management, and so on, supports clock input of a crystal oscillator or an external pin, and can supply power to the RTC and backup RAM through a button battery or a faraday capacitor to reduce the first positioning time, the 1PPS end of the first positioning and navigation chip U12 is connected with the ground through a C88 IN the first RC filter circuit, high-frequency clutter IN the circuit is bypassed to the ground, the 1PPS end of the first positioning and navigation chip U12 is connected with the anode and the cathode of the first light emitting diode D01 through a R72 IN the first RC filter circuit, the alternating current clutter signal IN the filter circuit is grounded, the current ensuring diode works under normal working current is reduced, the light emitting diode is a positioning indicator lamp, the positioning condition can be judged through the flickering state of the lamp, VDD is connected with the RSTN end of the first positioning and navigation chip U12 through a first pull-up resistor R73, the port voltage is increased to prevent misoperation, the RF_IN end of the first positioning and navigation chip U12 is connected with the ground through L7 and C92 IN the first LC filter circuit, the first RF antenna H1 is connected with the middle ends of the first LC filter circuits L7 and C92, the characteristic that inductance is used for passing direct current and isolating alternating current is utilized to filter alternating current clutter in a circuit, the middle ends of the first LC filter circuits L7 and C92 are connected with ground through a C94 in the second RC filter circuit, the middle ends of the first LC filter circuits L7 and C92 are connected with the anode rear cathode of the second light emitting diode D03 through an R75 in the second RC filter circuit, alternating current clutter signals in the circuit are filtered, the current is reduced, the diode is guaranteed to work under normal working current, the VDD end is connected with the anode of the first diode, the VBKP end of the first positioning navigation chip U12 is connected with the cathode, the VBKP end of the first positioning navigation chip U12 is connected with the ground through a second filter capacitor C91, and low-frequency ripple interference in the filtering circuit is guaranteed to be powered stably.
In one embodiment of the present invention, the 4G wireless communication circuit 3 includes a 4G network circuit 31 and a 4G image transmission circuit 32, where a data end of the 4G network circuit 31 is connected with a data end of the master control circuit 4, information processed and received by the master control circuit 4 is sent to a user, the user can control a flight track of the aircraft through the 4G network circuit 31, and an image output end of the 4G image transmission circuit 32 is connected with an input end of the master control circuit 4, so as to send image information recorded by the aircraft in real time.
It should be noted that, as shown in fig. 6, the 4G wireless communication circuit 3 includes a first 4G network module, a second power supply filter circuit, a first pull-down resistor, a first 4G image transmission module, and a third power supply filter circuit, where the first 4G network module DTU1 adopts an Air724UG, which is internally provided with abundant network protocols, integrates multiple industry standard interfaces, supports multiple driving and software functions, greatly expands the application range of the circuit in the M2M field, air724UG supports VOLTE, supports SPI LCD, supports SPI cam, supports 6 x 6 scan keyboard, supports multiple development modes, and forms a very small package LTE cat.1bis module pushed out by universe communication, adopts a UIS8910 platform in purple light, supports LTE 3gpp rel.13 technology, 5V power supply is respectively connected with ground through C69, C71, C72, C70, C73 in the second power supply filter circuit, and large capacitance absorbs large current in the instant to prevent burning components, the low-frequency filtering interference is filtered by the capacitance with small capacity value, the stability and purity of the power supply are ensured, the 1 pin of the first 4G network module DTU1 is connected with the 5V power supply, the 3 pin of the first 4G network module DTU1 is connected with the U2-RX of the main control chip, the 4 pin of the first 4G network module DTU1 is connected with the U2-TX of the main control chip, the 5 pin of the first 4G network module DTU1 is connected with the U2-CK of the main control chip, the 6 pin of the first 4G network module DTU1 is connected with the U2-RTS of the main control chip, the 5 pin of the first 4G network module DTU1 is connected with the ground through the first pull-down resistor R68, the first 4G image transmission module VTU1 adopts a miniature 4G DVR image transmission module, supports high definition HDMI video input, supports video compression coding H.265, a special encryption streaming DVR file system ensures that frequent power failure does not damage a board carrier system, the 1 foot of the first 4G image transmission module VTU1 is respectively connected with the ground through C74, C76, C77, C75 and C78 in the third power supply filter circuit, the 5V power supply is connected with the 1 foot of the first 4G image transmission module, the large capacitance capacitor absorbs the large current at the moment of electrification to prevent burning out components and parts, the small capacitance capacitor filters low-frequency filter interference, the stability and purity of the power supply are ensured, and the 2 foot of the first 4G image transmission module is connected with the ground.
In one embodiment of the present invention, the input end of the main control circuit 4 and the output end of the state detection circuit 1 receive various data of the machine and control them in advance in time, and the output end of the GPS navigation circuit 2 is connected with the input end of the main control circuit 4 to send position information of each aircraft, so that the main control circuit 4 can conveniently position and plan each aircraft.
It should be noted that, as shown IN fig. 7, the main control circuit 4 includes a first main control chip, a first passive crystal oscillator, a first adapting circuit, a third RC filter circuit, a fourth capacitor, a fifth capacitor, a second passive crystal oscillator, a second adapting circuit, a first pull-up circuit, and a first program switch, where the first main control chip U9 is an STM32F407ZG, two ends of the first passive crystal oscillator Y1 are respectively connected with the terminals PC14-osc32_in and PC15-osc32_out of the first main control chip U9, two ends of the first passive crystal oscillator Y1 are connected with ground through the terminals C95 and C96 IN the first adapting circuit, the crystal oscillator frequency is adjusted to reach a set operating frequency by the capacitance of the adapting capacitor, and a 3.3V power supply is respectively connected with the terminals R80, C102 and C103 IN the third RC filter circuit, the VDDA end of the first main control chip U9 is connected with a 3.3V power supply through an R80 IN the third RC filter circuit, an alternating current clutter signal IN the resistor filter circuit, a capacitor absorbs a high current at the moment of electrification to prevent the chip from being burnt OUT, and bypasses low-frequency ripple interference to the ground during operation to ensure the stability of chip power supply, the Vcap_1 end of the first main control chip U9 is connected with the ground through a fourth capacitor C100, the Vcap_2 end of the first main control chip U9 is connected with the ground through a fifth capacitor C101, the stability of a main regulator is realized by connecting an external capacitor, the PH0-OSC_IN and PH1-OSC_OUT ends of the first main control chip U9 are respectively connected with the two ends of the second passive crystal oscillator Y2, the two ends of the R78 IN the second adaptive circuit are respectively connected with the two ends of the second passive crystal oscillator Y2, the two ends of the second passive crystal oscillator Y2 are respectively connected with the ground through C98 and C99 IN the second adaptive circuit, the two capacitors and the crystal oscillator form a capacitor three-point oscillating circuit, the crystal oscillator is equivalent to an inductor, meanwhile, the two capacitors are equivalent to load capacitors of the crystal oscillator, the capacity value influences the oscillating frequency, the resistor is used for enabling the circuit to work in a good state, a 3.3V power supply is connected with ends PG15, PG14, PG13, PG12, PG11, PG10, PG9 and PG8 of the first main control chip U9 through ends R11, R12, R13, R14, R15, R16, R17 and R18 of the first pull-up circuit, and ends PG8, PG9, PG10, PG11, PG12, PG13, PG14 and PG15 of the first main control chip U9 are connected with ground through ends 1, 2, 3, 4, 5, 6, 7 and 8 of the first program switch SWi 1.
In one embodiment of the present invention, the four-rotor motor driving circuit 5 includes a driving circuit 51 and a control circuit 52, where an input end of the driving circuit 51 is connected to an output end of the main control circuit 4, receives a main control signal and sends out a corresponding driving signal, and signal output ends of the driving circuit 51 are respectively connected to output ends of 3 paths of the control circuit 52, and send out driving information in3 directions.
It should be noted that, as shown in fig. 8, the driving circuit 51 further includes a first driving chip, a first power supply filter circuit, a second diode, a third diode, a fourth diode, a first isolation capacitor, a second isolation capacitor, and a third isolation capacitor, where VCC end of the first driving chip U8 is connected to ground through C64, C65, C66, C67 in the first power supply filter circuit, respectively, a large current at a moment when the large capacitance capacitor absorbs the current is avoided, 5V power supply is connected to VCC end of the first driving chip U8, HIN1 end of the first driving chip U8 is connected to PF0 end of the master chip U9, HIN3 end of the first driving chip U8 is connected to PF2 end of the master chip U9, VB 1# end of the first driving chip U8 is connected to VB3 end of the master chip U9, first driving chip U8 is connected to VB3 end of the first driving chip through a first field-effect end of the first driving chip U8 and Q2 end of the second driving chip U8 through a second diode, and Q2 end of the first driving chip U8 is connected to PF0 end of the first driving chip U9 through a positive electrode end of the first diode, and Q2 end of the first driving chip U8 is connected to Q2 end of the second driving chip U9 through a positive electrode end of the first diode, and Q2 end of the first driving chip is connected to Q3 end of the second driving chip through Q3 and Q3 end of the first diode is connected to Q3 end of the first driving chip p 8 and the second end of the second driving chip p 9, the VB3 end of the first driving chip U8 is connected with the D end of the fifth field effect transistor Q19 through the third isolation capacitor C42, the LO1 end of the first driving chip U8 is connected with one end of the R40 in the first switching circuit, the HO1 end of the first driving chip U8 is connected with one end of the R43 in the second switching circuit, the LO2 end of the first driving chip U8 is connected with one end of the R46 in the third switching circuit, the HO2 end of the first driving chip U8 is connected with one end of the R50 in the fourth switching circuit, the LO3 end of the first driving chip U8 is connected with one end of the R52 in the fifth switching circuit, and the HO3 end of the first driving chip U8 is connected with one end of the R54 in the second switching circuit.
In one embodiment of the present invention, the control circuit 52 includes a first fet, a first switch circuit, a second fet, and a second switch circuit, where a signal input end of the driving circuit 51 is connected to a gate of the first fet through the first switch circuit, a source electrode of the first fet is grounded, a drain electrode of the first fet is connected to a source electrode of the second fet and a motor interface, respectively, a drain electrode of the second fet is connected to a power supply, and a signal input end of the driving circuit 51 is connected to a gate of the second fet through the second switch circuit.
It should be noted that, as shown in fig. 9, the control circuit 52 includes a first fet, a first switch circuit, a second fet, a second switch circuit, a third fet, a third switch circuit, a fourth fet, a fourth switch circuit, a fifth fet, a fifth switch circuit, a sixth fet, and a sixth switch circuit, the G terminal of the first fet Q12 is connected to the S terminal of the first fet Q12 via the D15, the R40, and the ULb terminal of the first switch circuit, the D terminal of the first fet Q12 is connected to the S terminal of the second fet Q14 via the D20, the R43, and the UHb terminal of the second fet Q14, the G terminal of the third fet Q16 is connected to the D terminal of the third fet Q14 via the D21, the R40, and the ULb terminal of the third fet Q12, the D terminal of the fourth fet Q16 is connected to the fourth fet Q35 via the D21, the fourth fet Q35, the D terminal of the fourth fet Q16 is connected to the fourth fet Q18, the fourth fet Q35, the fourth fet Q18, and the fourth fet Q35 are connected to the G terminal of the fourth fet Q16.
In one embodiment of the present invention, the power supply charging circuit 6 is further included, a signal input end of the power supply charging circuit 6 is connected with an output end of the main control circuit 4, and a power supply output end of the power supply charging circuit 6 is respectively connected with a battery end and an input end of the power supply circuit, so as to charge and supply power to the battery and the system.
As shown in fig. 10, the power charging circuit 6 includes a first charging control chip, a first MOS transistor, a fourth power filtering circuit, a fifth diode, a second pull-down resistor, a fourth RC filtering circuit, a first current limiting resistor, a first light emitting diode, a second current limiting resistor, a second light emitting diode, a first voltage dividing circuit, a third filtering capacitor, a fifth power filtering circuit, a second MOS transistor, a fourth isolation capacitor, a first zener diode, a fourth filtering capacitor, a third MOS transistor, a first inductor, a first resistor, a first differential mode filtering capacitor, a first common mode filtering capacitor, a sixth power filtering circuit, a second voltage dividing circuit, and a fifth power filtering capacitor, the first charging control chip U1 adopts BQ24600RVAR, which is a highly integrated lithium ion or lithium polymer switch mode battery charging controller, it provides constant frequency synchronous PWM controller with high precision charging current and voltage regulation, charging pretreatment, termination and charging state monitoring, when the current reaches the lowest level, the charging is terminated, the internal charging timer provides safety backup, if the battery voltage is lower than the internal threshold value, the charging cycle can be automatically restarted, and when the input voltage is lower than the battery voltage, the low quiescent current sleep mode is entered, the 24V power supply is connected with ground through R1, C3 in the fourth power supply filter circuit, clutter interference in the power supply is filtered, the stability of the power supply voltage is ensured, the drain electrode of the first MOS tube Q1 is connected with one end of R1 in the fourth power supply filter circuit, the grid electrode of the first MOS tube Q1 is connected with ground through the second pull-down resistor R2, the source electrode of the first MOS tube Q1 is connected with the VCC end of the first charging control chip U1 through R6, C13 in the fourth RC filter circuit, the upper end of the second pull-down resistor R2 is connected with the upper end of R6 in the fourth RC filter circuit through the anode of the fifth diode, the voltage of the input chip is stable, if the voltage is too large and exceeds the reverse breakdown voltage of the diode, the diode is in short circuit connection with the ground, the protection chip is burnt out due to the too high voltage, the source of the first MOS transistor Q1 is connected with the anode of the first light emitting diode D4 through the first current limiting resistor R10, the source of the first MOS transistor Q1 is connected with the anode of the second light emitting diode D9 through the second current limiting resistor R14, the STAT end of the first charge control chip U1 is connected with the cathode of the first light emitting diode D4 according to the size of the current limiting resistor resistance, the PG end of the first charge control chip U1 is connected with the cathode of the first light emitting diode D9, the CE end of the first charge control chip U1 is connected with the voltage divider R4 through the CE end of the first MOS transistor Q1 and the voltage divider, the first MOS transistor Q1 is connected with the first MOS transistor Q2, the threshold voltage is regulated, the current is regulated through the first MOS transistor Q1 is connected with the first MOS transistor Q1 and the drain end of the first MOS transistor Q1, the threshold voltage is regulated, the trigger circuit is started up through the MOS transistor Q1 is connected with the first MOS transistor Q1, the voltage is connected with the MOS transistor Q1 is connected with the voltage is regulated through the MOS end of the MOS transistor D1 is connected with the cathode of the MOS transistor is connected with the MOS circuit, the MOS circuit is connected with the charging circuit is connected to the charging circuit is. The PWM high-side driver outputs to control an MOS tube, the PH end of the first charge control chip U1 is connected with the source electrode of the second MOS tube Q2, the BTST end of the first charge control chip U1 is connected with the source electrode of the second MOS tube Q2 through the fourth isolation capacitor C4, the BTST end of the first charge control chip U1 is connected with the REGN end of the first charge control chip U1 through the cathode of the first voltage stabilizing diode D2, the REGN end of the first charge control chip U1 is connected with the ground through the fourth filter capacitor C11, the source electrode of the second MOS tube Q2 is connected with the drain electrode of the third MOS tube Q3, the LODRV end of the first charge control chip U1 is connected with the gate electrode of the third MOS tube Q3, the SRP end of the first charge control chip U1 is connected with the one end of the first inductor L2 through the differential capacitor C9, the SRP end of the first charge control chip U1 is connected with the ground through the first end of the differential capacitor C9, the second end of the differential voltage circuit C8 is connected with the second end of the differential voltage circuit C8, and the differential voltage circuit C7 is connected with the ground through the second end of the first inductor C8, and the differential voltage circuit C8 is connected with the other end of the differential voltage circuit C8, and the voltage circuit C2 is connected with the ground, and the voltage of the differential circuit C2 is connected with the voltage circuit is connected with the voltage of the ground.
In one embodiment of the present invention, the power supply detecting circuit 7 is further included, an input end of the power supply detecting circuit 7 is connected with a power supply end of the battery, the electric quantity of the battery is detected in real time, and an input end of the main control circuit 4 is connected with an output end of the power supply detecting circuit 7, receives battery electric quantity information and plans a drop point.
As shown in fig. 11, the power supply detection circuit 7 includes a first power supply detection chip, a sixth power supply filter capacitor, a first pull-down circuit, a sixth capacitor, a first thermistor, a second thermistor, a third thermistor, a fourth thermistor, a third current limiting resistor, a fourth current limiting resistor, a second zener diode, a third pull-down resistor, a first charge switch circuit, a first precharge switch circuit, a first discharge switch circuit, a first filter circuit, a first charge current sensing circuit, a first switch button, a third light emitting diode, a fourth light emitting diode, a fifth light emitting diode, a sixth light emitting diode, and a seventh light emitting diode, the PBI end of the first power supply detection chip U3 is connected to ground via the sixth power supply filter capacitor C30, and absorbs a large current protection chip at the moment of power up, the BTP and PRES ends of the first electric quantity detection chip U3 are respectively connected with the ground through R35 and R36 in the first pull-down circuit, so that the battery trigger interruption output end and the emergency system closing input end of the battery pack are ensured to be low in level under the no-signal state to prevent misoperation, the SRP of the first electric quantity detection chip U3 is connected with the SRN end of the first electric quantity detection chip U3 through the sixth capacitor C31, the TS1 end of the first electric quantity detection chip U3 is connected with the ground through the first thermistor RT2, the TS2 end of the first electric quantity detection chip U3 is connected with the ground through the second thermistor RT3, the TS3 end of the first electric quantity detection chip U3 is connected with the ground through the third thermistor RT4, the TS4 end of the first electric quantity detection chip U3 is connected with the ground through the fourth thermistor RT5, the temperature sensor is connected with the thermistor, and the chip can control the battery and the external temperature in real time, the third current limiting resistor R47 is connected with the SMBD end of the first electric quantity detection chip U3, the fourth current limiting resistor R48 is connected with the SMBC end of the first electric quantity detection chip U3, the alternating current clutter in the circuit is filtered, the data accuracy of the data pin and the clock pin is ensured, the BAT end of the first electric quantity detection chip U3 is connected with the cathode of the second voltage stabilizing diode D10, the stability of the input power source is ensured, the PTCEN and the PTC end of the first electric quantity detection chip U3 are connected and grounded, the FUSE end of the first electric quantity detection chip U3 is connected with the ground through the third pull-down resistor R27, the CHG end of the first electric quantity detection chip U3 is connected with the grid electrode of the MOS tube Q7 in the first charging switch circuit through the R30 in the first charging switch circuit, the source electrode of the MOS tube Q7 in the first charging switch circuit is connected with the grid electrode of the MOS tube Q7 in the first charging switch circuit through the R22, forming a negative feedback circuit to adjust the stability of the output voltage, wherein the drain electrode of the MOS tube Q7 in the first charging switch circuit is connected with the source electrode of the MOS tube Q10 in the first pre-charging switch circuit, the source electrode of the MOS tube Q7 in the first charging switch circuit is connected with the drain electrode of the MOS tube Q10 in the first pre-charging switch circuit, the PCHG end of the first electric quantity detection chip U3 is connected with the grid electrode of the MOS tube Q10 through the R34 in the first pre-charging switch circuit, the VCC end of the first electric quantity detection chip U3 is connected with the grid electrode of the MOS tube Q10 through the R39 and the R37 in the first pre-charging switch circuit, the VCC end of the first electric quantity detection chip U3 is connected with the drain electrode of the Q7 in the first pre-charging switch circuit, when the PCHG end is at a low level, the MOS tube Q10 is conducted through the R37 and the R39, so that the voltage division is transmitted to the BT pin through the Q10, in the pre-charge step, when the CHG end is high level, the MOS tube Q7 is conducted, the power supply charges the battery, the DSG end of the first electric quantity detection chip U3 is connected with the grid electrode of the MOS tube Q15 through R41 in the first discharging switch circuit, the drain electrode of the Q7 in the first switch circuit is connected with the drain electrode of the Q15 in the first discharging switch circuit, the grid electrode of the MOS tube Q15 in the first discharging switch circuit is connected with the drain electrode of the MOS tube Q17 in the first discharging switch circuit, the source electrode of the MOS tube Q15 in the first discharging switch circuit is connected with the source electrode of the MOS tube Q17 in the first discharging switch circuit, the grid electrode of the MOS tube Q17 in the first discharging switch circuit is connected with the ground through R49, when the DSG end is high level, the MOS tube Q15 is conducted, the current flows to the MOS tube Q17, the grid electrode of the MOS tube Q17 is low level, and the power supply voltage is bypassed to the ground, the DISP end of the first electric quantity detection chip U3 is connected with the ground through the first switch button S1, the LED display controls the end switch, the on-off of the LED display can be controlled through the switch, the LEDCNCTLC end of the first electric quantity detection chip U3 is respectively connected with the LEDCNCTLB end of the first electric quantity detection chip U3 through the cathode of the third light emitting diode D25 and the anode of the fourth light emitting diode D29, the LEDCNCTLB end of the first electric quantity detection chip U3 is respectively connected with the LEDCNCTLA end of the first electric quantity detection chip U3 through the cathode of the fifth light emitting diode D24 and the anode of the sixth light emitting diode D28, the LEDCNCTLA end of the first electric quantity detection chip U3 is connected with the LEDCNCTLA end of the first electric quantity detection chip U3 through the anode of the seventh light emitting diode D31, and the control LEDCNTLA, LEDCNTLB, the state of charge and the electric quantity of the battery are fed back by the luminous condition of the light emitting diode between the LEDCNCTLC terminals.
In one embodiment of the present invention, the power supply circuit 8 includes a first DC chip, a seventh power supply filter circuit, a second LC filter circuit, a sixth diode, a third zener diode, and a third LC filter circuit, where a battery power supply is connected to a power supply input end of the first DC chip through the seventh power supply filter circuit, a power supply is connected to a power supply input end of the first DC chip through an anode of the sixth diode and then through the second LC filter circuit, a feedback end of the first DC chip is connected to an output end of the first DC chip, an output end of the first DC chip is connected to ground through a cathode of the third zener diode, and an output end of the first DC chip is output to a device through the third LC filter circuit.
As shown in fig. 12, the power supply circuit 8 includes a first DC chip, a seventh power supply filter circuit, a second LC filter circuit, a sixth diode, a third zener diode, and a third LC filter circuit, where the VIN end of the first DC chip is connected to ground through C47, C43, C44 in the seventh power supply filter circuit, the VIN end of the first DC chip U5 is connected to ground through C48, C45, C46 in the second LC filter circuit, the VIN end of the first DC chip U5 is connected to the cathode of the sixth diode D23 through L5 in the second LC filter circuit, the OUTPUT end of the first DC chip U5 is connected to ground through the cathode of the third zener diode D26, the OUTPUT end of the first DC chip U5 is connected to ground through C49, C50, and L6 in the third LC filter circuit, and the OUTPUT end of the first DC chip U5 is connected to the DC end of the first DC chip U6 through the OUTPUT end of the third LC circuit.
Although the present disclosure is described above, the scope of protection of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the invention.
Claims (10)
1. The utility model provides an unmanned aircraft of patrolling and examining of intelligence, its characterized in that includes state detection circuit (1), GPS navigation circuit (2), 4G wireless communication circuit (3), master control circuit (4), four rotor motor drive circuit (5), the output of state detection circuit (1) with the input of master control circuit (4) is connected, feeds back self state, surrounding environment information to master control circuit (4), the input of master control circuit (4) with the output of GPS navigation circuit (2) is connected for location self position and assurance flight route's accuracy, the communication end of master control circuit (4) with the data end of 4G wireless communication circuit (3) is connected, receives the continuous point position flight information of planning, by the aircraft team wheeling of many frame structure unanimity and send flight data in real time through communication circuit, the drive end of master control circuit (4) with the input of fourth rotor motor drive circuit (5) is connected for combine the flight route control flight direction of planning.
2. The intelligent unattended inspection aircraft according to claim 1, wherein the state detection circuit (1) comprises an environment detection circuit and a motion sensor circuit, an output end of the environment detection circuit is connected with an input end of the main control circuit (4), temperature, air pressure and magnetic field information of the surrounding environment of the aircraft are sent, an output end of the main control circuit (4) is connected with an input end of the motion sensor circuit, acceleration and gyroscope data of the aircraft are received, and the flying is smooth and stable through data correction in advance of the surrounding environment information.
3. The intelligent unattended inspection aircraft according to claim 1, wherein the GPS navigation circuit (2) comprises a first positioning navigation chip, a first RC filter circuit, a first light emitting diode, a first pull-up resistor, a first LC filter circuit, a first RF antenna, a second RC filter circuit, a second light emitting diode, a first diode, and a second filter capacitor, a working end of the first positioning navigation chip is connected to an anode of the first light emitting diode through the first RC filter circuit, a power supply is connected to a reset end of the first positioning navigation chip through the first pull-up resistor, a positioning end of the first positioning navigation chip is connected to the first RF antenna through the first LC filter circuit, a positioning end of the first positioning navigation chip is connected to an anode of the second light emitting diode through the second RC filter circuit, and a power supply is connected to a power supply end of the first positioning navigation chip through the second filter capacitor.
4. The intelligent unattended inspection aircraft according to claim 1, wherein the 4G wireless communication circuit (3) comprises a 4G network circuit (31) and a 4G image transmission circuit (32), a data end of the 4G network circuit (31) is connected with a data end of the main control circuit (4), information processed and received by the main control circuit (4) is sent to a user, the user can control a flight track of the aircraft through the 4G network circuit (31), and an image output end of the 4G image transmission circuit (32) is connected with an input end of the main control circuit (4) to send image information recorded by the aircraft in real time.
5. The intelligent unattended patrol aircraft according to claim 1, wherein the input end of the main control circuit (4) and the output end of the state detection circuit (1) receive various data of the machine and control in advance in time, the output end of the GPS navigation circuit (2) is connected with the input end of the main control circuit (4) to send position information of each aircraft, so that the main control circuit (4) can position and flight plan each aircraft.
6. The intelligent unattended patrol aircraft according to claim 1, wherein the four-rotor motor driving circuit (5) comprises a driving circuit (51) and a control circuit (52), the input end of the driving circuit (51) is connected with the output end of the main control circuit (4), receives the main control signal and sends out a corresponding driving signal, and the signal output end of the driving circuit (51) is respectively connected with the output ends of 3 paths of the control circuit (52) to send out driving information in 3 directions.
7. The intelligent unattended inspection aircraft according to claim 6, wherein the control circuit (52) comprises a first field effect transistor, a first switch circuit, a second field effect transistor and a second switch circuit, a signal input end of the driving circuit (51) is connected with a grid electrode of the first field effect transistor through the first switch circuit, a source electrode of the first field effect transistor is grounded, a drain electrode of the first field effect transistor is respectively connected with a source electrode of the second field effect transistor and a motor interface, a drain electrode of the second field effect transistor is connected with a power supply, and a signal input end of the driving circuit (51) is connected with the grid electrode of the second field effect transistor through the second switch circuit.
8. The intelligent unattended patrol aircraft according to claim 1, further comprising a power supply charging circuit (6), wherein a signal input end of the power supply charging circuit (6) is connected with an output end of the main control circuit (4), and a power supply output end of the power supply charging circuit (6) is respectively connected with a battery end and an input end of the power supply circuit to charge and supply power to the battery and the system.
9. The intelligent unattended patrol aircraft according to claim 8, further comprising a power supply detection circuit (7), wherein an input end of the power supply detection circuit (7) is connected with a power supply end of a battery, the electric quantity of the battery is detected in real time, and an input end of the main control circuit (4) is connected with an output end of the power supply detection circuit (7), receives battery electric quantity information and plans a drop point.
10. The intelligent unattended inspection aircraft according to claim 8, wherein the power supply circuit (8) comprises a first DC chip, a seventh power supply filter circuit, a second LC filter circuit, a sixth diode, a third zener diode and a third LC filter circuit, a battery power supply is connected with a power supply input end of the first DC chip through the seventh power supply filter circuit, a power supply is connected with a power supply input end of the first DC chip through an anode of the sixth diode and then through the second LC filter circuit, a feedback end of the first DC chip is connected with an output end of the first DC chip, an output end of the first DC chip is connected with ground through a cathode of the third zener diode, and an output end of the first DC chip is output to supply power to equipment through the third LC filter circuit.
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