CN205293077U - Unmanned aerial vehicle system - Google Patents
Unmanned aerial vehicle system Download PDFInfo
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- CN205293077U CN205293077U CN201521134633.8U CN201521134633U CN205293077U CN 205293077 U CN205293077 U CN 205293077U CN 201521134633 U CN201521134633 U CN 201521134633U CN 205293077 U CN205293077 U CN 205293077U
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Abstract
The utility model provides an unmanned aerial vehicle system, include: a plurality of motors with connect in the rotor of motor, it is rotatory that the motor is used for driving the rotor, a plurality of electronic governor are connected with a plurality of motors electricity respectively for the rotational speed of each motor of individual adjustment, thereby the gesture of adjustment aircraft, host system is connected with electronic governor, power management module electricity for control source management module and electronic governor, and power management module for control batteries supplies power for unmanned aerial vehicle system, wherein, and host system, power management module and each electronic governor includes respective RS485 interface respectively, through the RS485 interface realize host system respectively with power management module, electronic governor's both -way communication. The utility model discloses an unmanned aerial vehicle system adopts the RS485 interface, has solved among the unmanned aerial vehicle system between each functional module the problem that data transmission received the interference easily to each functional module reliably transmits within a definite time in having realized unmanned aerial vehicle system.
Description
Technical field
This utility model relates to unmanned air vehicle technique field, is specifically related to a kind of UAS.
Background technology
Adopting in the UAS of I2C interface bus the maximum stable transmission range between each functional module lower than 10 meters in prior art, and actual transmissions distance has direct relation with communication frequency, frequency more high-transmission distance is more short. Additionally I2C bus is generally formed (data wire: SDA by 2 connections, clock cable: SCL), wherein clock cable is easily subject to the interference of outer signals under complex environment, the interference of external environment condition it is easily subject to when long-distance transmissions, therefore I2C interface bus is suitable for the transmission of short-range data, inapplicable in large-scale UAS.
Prior art adopts PPM (pulsepositionmodulation, i.e. pulse position modulation, it is called for short pulse-position modulation) the bus UAS of technology, this bus uses multiple pulses as one group of data, and periodically send in units of group, transmit corresponding control information by organizing the width between each pulse interior. The information that this bus mode comprises is very limited, is appropriate only for the transmission of small data volume. Additionally this bus mode is that analog data is modulated, error correction cannot be realized, once a set of pulses is scurried into disturbing pulse, will result in the confusion of control, and the quantity of disturbing pulse and position are random, the impact on system is also random, uncontrollable.
Prior art adopts PCM (pulse-codemodulation, i.e. pulse code modulation) UAS, system carries out data communication by pcm bus between a functional module, this communication modes needs main frame first the signal transmitted to be translated into string number, then passing through a kind of communications protocol and send receiver to, receiver receives to be needed to translate these numerals, just can obtain the control information of real needs, this interface bus speed is slow, poor compatibility.
Utility model content
In view of this, this utility model provides a kind of UAS, to solve the problems referred to above.
This utility model provides a kind of UAS, it is characterised in that including: multiple motors and the rotor being connected to motor, and described motor is used for driving rotor wing rotation; Multiple electron speed regulators, electrically connect with the plurality of motor respectively, for adjusting the rotating speed of each motor respectively, thus adjusting the attitude of aircraft; Main control module, electrically connects with described electron speed regulator, power management module, is used for controlling described power management module and described electron speed regulator; And power management module, power to described UAS for controlling battery, wherein, described main control module, described power management module and each described electron speed regulator include respective RS485 interface respectively, by RS485 interface realize described main control module respectively with the two-way communication of described power management module, described electron speed regulator.
Preferably, described RS485 interface includes incoming interface and outgoing interface, and described main control module obtains sensing signal via the incoming interface of its RS485 interface, via the outgoing interface transfer control instruction of its RS485,
Described power management module obtains control instruction via the incoming interface of its RS485 interface, power state signal is uploaded via the outgoing interface of its RS485 interface, the plurality of electron speed regulator obtains control instruction respectively through the incoming interface of corresponding RS485 interface, uploads motor status signal via the outgoing interface of corresponding RS485 interface.
Preferably, also including: laser elevation range finder module, electrically connect with described main control module, described laser elevation range finder module includes RS485 interface, and is communicated by its RS485 interface and described main control module.
Preferably, also including: data radio station module, for carrying out data transmission with data radio station, described data radio station module is included RS485 interface and is communicated by its RS485 interface and described main control module.
Preferably, described main control module includes: microcontroller, the first converting unit and RS485 interface, described first converting unit electrically connects with described microcontroller and corresponding RS485 interface, convert the non-RS485 signal of microcontroller to RS485 interface signal, and exported by the RS485 interface of its correspondence.
Preferably, described first converting unit is for being converted to RS485 interface signal by described RS232 interface signal.
Preferably, the RS232 interface signal of described microcontroller is converted to RS485 interface signal by photoelectrical coupler by described first converting unit.
Preferably, it is characterised in that also include: the second converting unit, for the power supply signal of described microcontroller being converted to by the mode of electromagnetic coupled the power supply signal of RS485 interface corresponding to described microcontroller.
Preferably, described power management module includes solar panel and rechargeable battery, described power management module adopts solar panel to be rechargeable battery charging, and adopts at least one in solar panel and rechargeable battery to power for UAS.
Preferably, multiple described electron speed regulators are carried out cascade Mach-Zehnder interferometer with the motor being connected by RS485 interface by described main control module.
Preferably, described electron speed regulator is carried out geocoding by described main control module, accesses described electron speed regulator according to geocoding.
The UAS that this utility model provides, including: multiple motors and the rotor being connected to motor, described motor is used for driving rotor wing rotation;Multiple electron speed regulators, electrically connect with the plurality of motor respectively, for adjusting the rotating speed of each motor respectively, thus adjusting the attitude of aircraft; Main control module, electrically connects with described electron speed regulator, power management module, is used for controlling described power management module and described electron speed regulator; And power management module, power to described UAS for controlling battery, wherein, described main control module, described power management module and each described electron speed regulator include respective RS485 interface respectively, by RS485 interface realize described main control module respectively with the two-way communication of described power management module, described electron speed regulator. UAS of the present utility model adopts RS485 interface, solves in UAS data between each functional module and transmits the problem being easily disturbed, it is achieved thereby that transmitting between each functional module in UAS.
Accompanying drawing explanation
By referring to the following drawings description to this utility model embodiment, of the present utility model above-mentioned and other objects, features and advantages will be apparent from, in the accompanying drawings:
Fig. 1 is the schematic block diagram of the UAS of this utility model embodiment;
Fig. 2 is the structure chart of the main control module of this utility model embodiment.
Detailed description of the invention
Below based on embodiment, this utility model is described, but this utility model is not restricted to these embodiments. In below details of the present utility model being described, detailed describe some specific detail sections. The description not having these detail sections for a person skilled in the art can also understand this utility model completely. In order to avoid obscuring essence of the present utility model, known method, process, flow process do not describe in detail. Additionally accompanying drawing is not necessarily drawn to scale.
Interface referred to herein is the hardware description of a docking port, and it needs connection, carries out data transmission between two or more equipment. The connection of this data transmission, is semiduplex communication modes. In some moment, an equipment can only be transmitted data or receive data.
RS232, RS485 are interfaces two kinds different, and each of which adopts different electrical standards that transmission data are carried out logical expressions. RS232, RS485 only represent physical medium layer and the link layer of communication, will realize the access of data, also need to write the signal procedure of software view in some cases.
Fig. 1 is the schematic block diagram of the UAS of this utility model embodiment. As shown in Figure 1, described UAS includes main control module 10, power management module 11, multiple electron speed regulators 20, and and electron speed regulator 20 connect multiple motors 21, power management module 11 includes solar panel 13, lithium battery group 14 and RS485 interface, and main control module 10 includes microcontroller (not shown on figure) and RS485 interface, and each electron speed regulator 20 includes RS485 interface.
Multiple motors 21 and rotor connect, and drive rotor wing rotation, thus providing the lift of whole UAS.
Electron speed regulator 20 and motor 21 electrically connect, and Main Function is the rotating speed adjusting the motor being connected, thus adjusting the attitude of unmanned plane.
Power management module 11 and main control module 10 electrically connect, power management module 11 includes solar panel and rechargeable battery, it is rechargeable battery charging that power management module 11 controls solar panel, and at least one control in solar panel and rechargeable battery is system power supply.
Main control module 10 is used for controlling power management module 11 and electron speed regulator 20.
Main control module 10 and power management module 11, multiple electron speed regulator 20 are respectively provided with RS485 interface, and main control module 10 carries out two-way communication with power management module 11 and multiple electron speed regulator 20 by RS485 interface. Specifically, above-mentioned two-way communication includes that data are incoming and data spread out of. Wherein, main control module 10 obtains sensing signal from power management module 11 and electron speed regulator 20 respectively via the incoming interface of RS485 interface, is respectively transmitted control instruction via the outgoing interface of RS485 to both sides. The incoming interface of the RS485 interface of power management module 11 receives the control instruction of main control module 10, uploads power state signal via the outgoing interface of RS485 interface to main control module 10; Multiple electron speed regulators obtain control instruction from main control module 10 via the incoming interface of RS485 interface respectively, upload motor status signal via the outgoing interface of RS485 interface to main control module 10.
In a preferred embodiment, UAS also includes: laser elevation range finder module 15, and laser elevation range finder module 15 includes RS485 interface, is communicated with main control module 10 by RS485 interface. Unmanned plane measures the height of unmanned plane by laser elevation range finder module 15. The working method of laser elevation range finder module 15 is that the time difference utilizing the laser calculating Laser emission and receiving reflection carries out measurement highly.
In another preferred embodiment, described UAS also includes: data radio station module 16, and data radio station module 16 includes RS485 interface, for being communicated with described main control module 10 by RS485 interface. Data radio station (radiomodem), refers to by the high-performance expert data transmission radio station that DSP technology and software and radio technique realize. In UAS, utilize data radio station module and ground communication, transmit the information such as telemetry, dynamic image.
In the present embodiment, adopt the interface mode of this differential bus of RS485, solve in large-scale UAS data between each functional module and transmit the problem being easily disturbed, it is achieved thereby that remote, big data quantity, transmitting between each functional module in large-scale UAS.
RS485 interface needs 2 data lines (A+, B-), is two differential voltage signal lines, and wiring simply can realize flexible networking, and RS485 interface bus can connect the slave devices of varying number according to the difference of interface driver ability. Adopting RS485 interface to do system communication bus, from machine module, each is carried out geocoding, master controller has absolute priority in whole system network, it is possible to selectively carry out data access and operation according to slave addresses. RS485 can be used as controlling bus, and electron speed regulator and motor to UAS carry out cascade Mach-Zehnder interferometer. This mode can control the propeller on motor and make the flare maneuver of precision, meets the requirement of the highly difficult aerial mission of unmanned plane. Such as, master control system is by controlling multiple speed regulators and the motor being connected with speed regulator so that it is have different speed, thus controlling speed and the angle of rotor, it is achieved controls unmanned plane and carries out 360 degree of rotations.
Fig. 2 is the structure chart of the main control module 20 of this utility model embodiment. Specifically, main control module includes: insulating power supply 201, microcontroller 202, the first converting unit 203, the second converting unit 205 and RS485 interface 204.Insulating power supply 201 is powered for microcontroller 202, the power supply signal of isolated location is converted to the power supply signal of RS485 interface communication by the first converting unit 203 by way of electromagnetic induction, the control signal of microcontroller 202 is converted to RS485 interface signal by photoelectrical coupler by the second converting unit 205, particularly in when RS232 interface is transformed, make RS232 interface signal into RS485 interface signal by converting unit. Photoelectrical coupler is with light for the media transmission signal of telecommunication, and input, the output signal of telecommunication are had good buffer action by it. Owing to RS232 interface signal is not suitable for Long-range Data Transmission, convert signals into RS485 interface by corresponding circuit, it is achieved data are changed, reach the purpose of long-haul reliable transmission.
For other loads that microcontroller connects, if using other kinds of interface signal, such as USB interface, I2C interface, spi bus interface, it is possible to adopt same or similar conversion regime to convert a signal into RS485 interface signal, in order to data stable, distance are transmitted.
The RS485 interface used in the present embodiment adopts the circuit form of Phototube Coupling or electromagnetic isolation, making the power supply of RS485 interface and the power supply of microcontroller is complete electromagnetic isolation, the interface of RS485 interface and microcontroller is Phototube Coupling, thus whole circuit has stronger capacity of resisting disturbance.
This utility model provides a kind of UAS, including: multiple motors, and rotor connection, it is used for driving rotor wing rotation; Multiple electron speed regulators, each described electron speed regulator and the electrical connection of each described motor, for adjusting the rotating speed of each described motor respectively, thus adjusting the attitude of aircraft; Main control module, and the electrical connection of described electron speed regulator, power management module, be used for controlling described power management module and described electron speed regulator; And power management module, power to described UAS for controlling battery, wherein, described main control module and described power management module, each described electron speed regulator include respective RS485 interface respectively, by RS485 interface realize described main control module respectively with the two-way communication of described power management module, described electron speed regulator. The UAS that this utility model provides adopts RS485 interface mode, solves in large-scale UAS data between each functional module and transmits the problem being easily disturbed, it is achieved thereby that transmitting between each functional module in large-scale UAS.
The foregoing is only preferred embodiment of the present utility model, be not limited to this utility model, to those skilled in the art, this utility model can have various change and change. All make within spirit of the present utility model and principle any amendment, equivalent replacement, improvement etc., should be included within protection domain of the present utility model.
Claims (11)
1. a UAS, it is characterised in that including:
Multiple motors and the rotor being connected to motor, described motor is used for driving rotor wing rotation;
Multiple electron speed regulators, electrically connect with the plurality of motor respectively, for adjusting the rotating speed of each motor respectively, thus adjusting the attitude of aircraft;
Main control module, electrically connects with described electron speed regulator, power management module, is used for controlling described power management module and described electron speed regulator; And
Power management module, is used for controlling battery and powers to described UAS,
Wherein, described main control module, described power management module and each described electron speed regulator include respective RS485 interface respectively, by RS485 interface realize described main control module respectively with the two-way communication of described power management module, described electron speed regulator.
2. UAS according to claim 1, it is characterised in that described RS485 interface includes incoming interface and outgoing interface,
Described main control module obtains sensing signal via the incoming interface of its RS485 interface, via the outgoing interface transfer control instruction of its RS485,
Described power management module obtains control instruction via the incoming interface of its RS485 interface, uploads power state signal via the outgoing interface of its RS485 interface,
The plurality of electron speed regulator obtains control instruction respectively through the incoming interface of corresponding RS485 interface, uploads motor status signal via the outgoing interface of corresponding RS485 interface.
3. UAS according to claim 1, it is characterized in that, also include: laser elevation range finder module, electrically connect with described main control module, described laser elevation range finder module includes RS485 interface, and is communicated by its RS485 interface and described main control module.
4. UAS according to claim 1, it is characterized in that, also including: data radio station module, for carrying out data transmission with data radio station, described data radio station module is included RS485 interface and is communicated by its RS485 interface and described main control module.
5. UAS according to claim 1, it is characterized in that, described main control module includes: microcontroller, the first converting unit and RS485 interface, described first converting unit electrically connects with described microcontroller and corresponding RS485 interface, convert the non-RS485 signal of microcontroller to RS485 interface signal, and exported by the RS485 interface of its correspondence.
6. UAS according to claim 5, it is characterised in that described first converting unit is for being converted to RS485 interface signal by described RS232 interface signal.
7. UAS according to claim 6, it is characterised in that the RS232 interface signal of described microcontroller is converted to RS485 interface signal by photoelectrical coupler by described first converting unit.
8. the UAS according to any one of claim 5 to 7, it is characterized in that, also include: the second converting unit, for the power supply signal of described microcontroller being converted to by the mode of electromagnetic coupled the power supply signal of RS485 interface corresponding to described microcontroller.
9. UAS according to claim 1, it is characterized in that, described power management module includes solar panel and rechargeable battery, described power management module adopts solar panel to be rechargeable battery charging, and adopts at least one in solar panel and rechargeable battery to power for UAS.
10. UAS according to claim 1, it is characterised in that multiple described electron speed regulators are carried out cascade Mach-Zehnder interferometer with the motor being connected by RS485 interface by described main control module.
11. UAS according to claim 1, it is characterised in that described electron speed regulator is carried out geocoding by described main control module, access described electron speed regulator according to geocoding.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201521134633.8U CN205293077U (en) | 2015-12-30 | 2015-12-30 | Unmanned aerial vehicle system |
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| CN201521134633.8U CN205293077U (en) | 2015-12-30 | 2015-12-30 | Unmanned aerial vehicle system |
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| CN106444839A (en) * | 2016-11-02 | 2017-02-22 | 国网吉林省电力有限公司检修公司 | Unmanned-aerial-vehicle high-voltage-cable automatic line patrol system |
| CN106687936A (en) * | 2016-08-29 | 2017-05-17 | 深圳市大疆创新科技有限公司 | Electronic speed controller addressing method for multi-rotor unmanned aerial vehicle, control system applied to electronic speed controller in multi-rotor unmanned aerial vehicle, electronic speed controller, power system and multi-rotor unmanned aerial vehicle |
| CN106789501A (en) * | 2016-12-13 | 2017-05-31 | 合肥赛为智能有限公司 | The bus control system and method for a kind of tandem type unmanned plane dynamical system |
| CN107087428A (en) * | 2016-12-28 | 2017-08-22 | 深圳市大疆创新科技有限公司 | Multi-rotor unmanned aerial vehicle, dynamical system, the control method and system that electricity is adjusted, electricity is adjusted |
| CN107108040A (en) * | 2016-08-30 | 2017-08-29 | 深圳市大疆创新科技有限公司 | The control method and control system of electricity tune, flight controller and unmanned vehicle |
| CN107416212A (en) * | 2016-09-07 | 2017-12-01 | 亿航智能设备（广州）有限公司 | The motor speed regulation system and multi-rotor aerocraft of a kind of multi-rotor aerocraft |
| CN108476008A (en) * | 2017-04-25 | 2018-08-31 | 深圳市大疆创新科技有限公司 | For the control method of driving motor rotation, electron speed regulator, power suit and unmanned vehicle |
| WO2019010994A1 (en) * | 2017-07-11 | 2019-01-17 | 深圳市道通智能航空技术有限公司 | Motor control system and unmanned aerial vehicle |
| CN111294266A (en) * | 2020-05-12 | 2020-06-16 | 北京中航智科技有限公司 | Unmanned aerial vehicle communication method and bus communication system thereof |
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| WO2018039884A1 (en) * | 2016-08-29 | 2018-03-08 | 深圳市大疆创新科技有限公司 | Method for assigning address to electronic speed controller of multirotor unmanned aerial vehicle, control system of electronic speed controller for use in multirotor unmanned aerial vehicle, electronic speed controller, power system, and multirotor unmanned aerial vehicle |
| CN106687936A (en) * | 2016-08-29 | 2017-05-17 | 深圳市大疆创新科技有限公司 | Electronic speed controller addressing method for multi-rotor unmanned aerial vehicle, control system applied to electronic speed controller in multi-rotor unmanned aerial vehicle, electronic speed controller, power system and multi-rotor unmanned aerial vehicle |
| CN106687936B (en) * | 2016-08-29 | 2021-04-30 | 深圳市大疆创新科技有限公司 | Electric regulation and addressing method thereof, control system, power system and multi-rotor unmanned aerial vehicle |
| CN107108040B (en) * | 2016-08-30 | 2018-10-16 | 深圳市大疆创新科技有限公司 | The control method and control system of electricity tune, flight controller and unmanned vehicle |
| CN107108040A (en) * | 2016-08-30 | 2017-08-29 | 深圳市大疆创新科技有限公司 | The control method and control system of electricity tune, flight controller and unmanned vehicle |
| CN107416212A (en) * | 2016-09-07 | 2017-12-01 | 亿航智能设备（广州）有限公司 | The motor speed regulation system and multi-rotor aerocraft of a kind of multi-rotor aerocraft |
| WO2018045806A1 (en) * | 2016-09-07 | 2018-03-15 | 亿航智能设备（广州）有限公司 | Motor speed adjustment system for multi-rotor aerial vehicle, and multi-rotor aerial vehicle |
| CN106444839B (en) * | 2016-11-02 | 2023-08-25 | 国网吉林省电力有限公司检修公司 | Automatic line inspection system for high-voltage cable of unmanned aerial vehicle |
| CN106444839A (en) * | 2016-11-02 | 2017-02-22 | 国网吉林省电力有限公司检修公司 | Unmanned-aerial-vehicle high-voltage-cable automatic line patrol system |
| CN106789501A (en) * | 2016-12-13 | 2017-05-31 | 合肥赛为智能有限公司 | The bus control system and method for a kind of tandem type unmanned plane dynamical system |
| CN107087428A (en) * | 2016-12-28 | 2017-08-22 | 深圳市大疆创新科技有限公司 | Multi-rotor unmanned aerial vehicle, dynamical system, the control method and system that electricity is adjusted, electricity is adjusted |
| CN111891346A (en) * | 2016-12-28 | 2020-11-06 | 深圳市大疆创新科技有限公司 | Multi-rotor unmanned aerial vehicle, power system, electric regulation and electric regulation control method and system |
| CN111891346B (en) * | 2016-12-28 | 2022-04-22 | 深圳市大疆创新科技有限公司 | Multi-rotor unmanned aerial vehicle, power system, electric regulation and electric regulation control method and system |
| US11101753B2 (en) | 2017-04-25 | 2021-08-24 | SZ DJI Technology Co., Ltd. | Control method for driving motor rotation, electronic governor, power system, and unmanned aerial vehicle |
| CN108476008B (en) * | 2017-04-25 | 2023-03-10 | 深圳市大疆创新科技有限公司 | Control method for driving motor to rotate, electronic speed regulator, power suit and unmanned aerial vehicle |
| CN108476008A (en) * | 2017-04-25 | 2018-08-31 | 深圳市大疆创新科技有限公司 | For the control method of driving motor rotation, electron speed regulator, power suit and unmanned vehicle |
| EP3647204A4 (en) * | 2017-06-26 | 2020-06-17 | Autel Robotics Co., Ltd. | Throttle control method and device, power system, and unmanned aerial vehicle |
| US11584235B2 (en) | 2017-06-26 | 2023-02-21 | Autel Robotics Co., Ltd. | Accelerator control method and device, power system and unmanned aerial vehicle |
| WO2019010994A1 (en) * | 2017-07-11 | 2019-01-17 | 深圳市道通智能航空技术有限公司 | Motor control system and unmanned aerial vehicle |
| CN111294266A (en) * | 2020-05-12 | 2020-06-16 | 北京中航智科技有限公司 | Unmanned aerial vehicle communication method and bus communication system thereof |
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