CN205334112U - Many rotor unmanned aerial vehicle integrated form safety governor based on beidou system - Google Patents
Many rotor unmanned aerial vehicle integrated form safety governor based on beidou system Download PDFInfo
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- CN205334112U CN205334112U CN201521053603.4U CN201521053603U CN205334112U CN 205334112 U CN205334112 U CN 205334112U CN 201521053603 U CN201521053603 U CN 201521053603U CN 205334112 U CN205334112 U CN 205334112U
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Abstract
The utility model provides a many rotor unmanned aerial vehicle integrated form safety governor based on beidou system, including the power isolation sharing circuit, fly to control circuit module, circuit module, satellite positioning communication module, phonetic analysis DSP circuit, flight bus control circuit and WIFI transceiver circuits are transferred to the electricity, the electricity transfers circuit module to transfer circuit A and electricity to transfer circuit B including the electricity, flies to control circuit module and includes IMU A, flight control circuit A, record memory A, IMU B, flight control circuit B and record memory B. This safety governor has GPS big dipper satellite positioning function, big dipper SMS receiving and dispatching function, can realize three kinds of navigation modes of the GPS big dipper / inertia, flying to control circuit module and adopting dual backup with the electric circuit module of accent, safe in utilization, reliable, independent wifi and flight bus control circuit monitor the working condition of motor rotation number and each part, and screw trouble and warning can be discover in advance to phonetic analysis DSP circuit.
Description
Technical field
This utility model belongs to many rotor wing unmanned aerial vehicles controller field, especially relates to a kind of many rotor wing unmanned aerial vehicles integrated form safety governor based on dipper system。
Background technology
Like a raging fire along with unmanned plane market, the safety problem of unmanned plane also more causes the concern of people。There is multiple potential safety hazard in many rotor wing unmanned aerial vehicles, the safety of a faults itself relating to unmanned plane, and another is exactly that unmanned plane is as intercepted and captured by lawless person and disturbing the public safety hidden danger caused。The safety governor of unmanned plane is the vitals of unmanned plane safety guarantee。Therefore, researching and developing a kind of flight safety how ensureing unmanned plane, the safety governor especially for the unmanned plane safety ensureing the long endurance of heavy－duty is particularly important。
Summary of the invention
In view of this, this utility model is directed to a kind of many rotor wing unmanned aerial vehicles integrated form safety governor based on dipper system, to realize the security control to many rotor wing unmanned aerial vehicles。
For reaching above-mentioned purpose, the technical solution of the utility model is achieved in that
A kind of many rotor wing unmanned aerial vehicles integrated form safety governor based on dipper system, including:
For external impetus power supply being controlled isolated from power and being assigned to the isolated from power distributor circuit within controller；
For control unmanned plane during flying attitude fly control circuit module；
According to flying the PWM waveform that control circuit module sends, it is achieved the speed regulating control of propeller motor and the electricity of driving adjust circuit module；
For unmanned plane positions and receives the satellite positioning communication module sending information from big-dipper satellite；
For gathering the sound sent when propeller is in different rotating speeds, judge the phonetic analysis DSP circuit of propeller and motor whether normal operation；
For detecting the flight bus control circuit of unmanned plane all parts operating mode and life-span；
For the information in flight bus control circuit is sent to ground, receive the WIFI transmission circuit of surface instruction simultaneously；
The input of described isolated from power distributor circuit is connected with external impetus power supply, the outfan of described isolated from power distributor circuit respectively with fly control circuit module, satellite positioning communication module, electricity adjusts circuit module to be connected with flight bus control circuit, described satellite positioning communication module respectively with flight bus control circuit and fly control circuit module be connected, the described control circuit module that flies adjusts circuit module and flight bus control circuit to be connected with electricity respectively, described electricity adjusts circuit module to be connected with the Hall element on propeller motor and flight bus control circuit respectively, described Hall element is also connected with flight bus control circuit, the input of described phonetic analysis DSP circuit is connected with the pick up by propeller motor and the Hall element on propeller motor, outfan is connected with flight bus control circuit, described flight bus control circuit is also connected with WIFI transmission circuit and LED indicator。
Further, described electricity adjusts circuit module to include electricity tune circuit A and electricity adjusts circuit B, and two groups of electricity adjust circuit to backup each other。
Further, described electricity adjusts circuit A and electricity to adjust the electricity of circuit B to adjust channel current to be 120A, adopts sinus wave patters to drive。
Further, described satellite positioning communication module includes GPS circuitry and Big Dipper circuit, and GPS location and BEI-DOU position system work simultaneously。
Further, fly control circuit module described in and include IMUA, flight control circuit A, record memorizer A, IMUB, flight control circuit B and record memorizer B；Described IMUA is connected with flight control circuit A, and described flight control circuit A is connected with record memorizer A；Described IMUB is connected with flight control circuit B, and described flight control circuit B is connected with record memorizer B；These two groups fly control circuit and backup each other。
Further, the frequency band 2.4G/5.8G of described WIFI transmission circuit。
Further, described external impetus power supply includes an electrokinetic cell and two control batteries。
Further, all electronic devices of safety controller are enclosed in the shell of an aluminum metal and waterproof, it is ensured that effectively heat radiation and anti-electromagnetic field interference。
Relative to prior art, many rotor wing unmanned aerial vehicles integrated form safety governor based on dipper system described in the utility model has the advantage that safety controller has GPS/ big-dipper satellite positioning function, Big Dipper function of receiving and sending short message, it is possible to achieve the GPS/ Big Dipper/inertia three kinds navigation pattern；Flying control circuit module and electricity adjusts circuit module to adopt double copies, use safe and reliable, the working condition of independent wifi and flight bus control circuit monitoring motor speed and each parts, phonetic analysis DSP circuit can find propeller fault in advance and report to the police；Have use safely, monitor the advantages such as reliable。
Accompanying drawing explanation
The accompanying drawing constituting a part of the present utility model is further appreciated by of the present utility model for providing, and schematic description and description of the present utility model is used for explaining this utility model, is not intended that improper restriction of the present utility model。In the accompanying drawings:
Fig. 1 is theory diagram of the present utility model；
Fig. 2 is the theory diagram of phonetic analysis DSP circuit in this utility model；
Fig. 3 is the theory diagram that in this utility model, electricity adjusts circuit module；
Fig. 4 is the theory diagram flying control circuit module in this utility model；
Fig. 5 is the theory diagram of flight bus control circuit in this utility model。
Description of reference numerals:
1-flies control circuit module, and 2-electricity adjusts circuit module, 3-satellite positioning communication module, 4-Hall element, 5-propeller motor, 6-pick up, 7-LED indicator。
Detailed description of the invention
It should be noted that when not conflicting, the embodiment in this utility model and the feature in embodiment can be mutually combined。
Describe this utility model below with reference to the accompanying drawings and in conjunction with the embodiments in detail。
If Fig. 1 is to shown in 5, a kind of many rotor wing unmanned aerial vehicles integrated form safety governor based on dipper system, including for external impetus power supply being controlled isolated from power and being assigned to the isolated from power distributor circuit within controller, for control unmanned plane during flying attitude fly control circuit module 1, according to flying the PWM waveform that control circuit module 1 sends, the electricity of the speed regulating control and driving that realize propeller motor 5 adjusts circuit module 2, for unmanned plane positions and receives the satellite positioning communication module 3 sending information from big-dipper satellite, for gathering the sound sent when propeller is in different rotating speeds, judge the phonetic analysis DSP circuit of propeller and motor whether normal operation, for detecting the flight bus control circuit of unmanned plane all parts operating mode and life-span and for the information in flight bus control circuit is sent to ground, receive the WIFI transmission circuit of surface instruction simultaneously；The input of described isolated from power distributor circuit is connected with external impetus power supply, the outfan of described isolated from power distributor circuit respectively with fly control circuit module 1, satellite positioning communication module 3, electricity adjusts circuit module 2 to be connected with flight bus control circuit, described satellite positioning communication module 3 respectively with flight bus control circuit and fly control circuit module 1 be connected, the described control circuit module 1 that flies adjusts circuit module 2 and flight bus control circuit to be connected with electricity respectively, described electricity adjusts circuit module 2 to be connected with the Hall element 4 on propeller motor 5 and flight bus control circuit respectively, described Hall element 4 is also connected with flight bus control circuit, the input of described phonetic analysis DSP circuit is connected with the pick up 6 by propeller motor 5 and the Hall element 4 on propeller motor 5, outfan is connected with flight bus control circuit, described flight bus control circuit is also connected with WIFI transmission circuit and LED indicator 7。
Preferably, described electricity adjusts circuit module 2 to include electricity tune circuit A and electricity adjusts circuit B, and two groups of electricity adjust circuit to backup each other, and the described electric circuit A of tune and electricity adjust the electricity tune channel current of circuit B to be 120A, adopt sinus wave patters to drive。Described satellite positioning communication module 3 includes GPS circuitry and Big Dipper circuit, and GPS location and BEI-DOU position system work simultaneously。The described control circuit module 1 that flies includes IMUA, flight control circuit A, record memorizer A, IMUB, flight control circuit B and record memorizer B；Described IMUA is connected with flight control circuit A, and described flight control circuit A is connected with record memorizer A；Described IMUB is connected with flight control circuit B, and described flight control circuit B is connected with record memorizer B；These two groups fly control circuit and backup each other。The frequency band 2.4G/5.8G of described WIFI transmission circuit。Described external impetus power supply includes an electrokinetic cell and two control batteries。All electronic devices of safety controller are enclosed in the shell of an aluminum metal and waterproof, it is ensured that effectively heat radiation and anti-electromagnetic field interference。
The work process of this example:
First isolated from power distributor circuit accesses external impetus power supply, controls isolated from power and is assigned to inside controller, and it has battery electric quantity detection, battery back up automatically switches, the function of current limliting。During use, GPS circuitry and Big Dipper circuit in satellite positioning communication module 3 carry out GPS location and the work of Big Dipper location simultaneously, satellite positioning communication module 3 supports Big Dipper short message receiving-transmitting, it is able to receive that from the control command that big-dipper satellite is sent by Big Dipper messaging controller, force forced landing, brake hard forced landing including no-fly zone, the coordinate information of unmanned plane, fault message and attack early warning information can be sent to big-dipper satellite simultaneously。Fly control circuit module 1 adopt two groups fly control circuit backup each other, it is the core of controller, the flight attitude of major control aircraft, the functions such as navigation, the aspect information that IMU provides is transmitted directly in flight control circuit, producing pwm control signal and be sent to electricity tune circuit, and the parameters such as state of flight stored in record memorizer, aircraft control circuit is also responsible for the function processing remote control system intrusion detection, GPS/ Big Dipper signal disturbing device/simulator is monitored in real time。Electricity adjusts circuit module 2 to adopt two groups to backup each other, according to the PWM waveform that flight control circuit sends, it is achieved the speed regulating control of propeller motor 5 and drive circuit。Phonetic analysis DSP circuit is for gathering the sound sent when propeller is in different rotating speeds, by pick up 6 input audio signal, motor speed signal is inputted by hall device, by the propeller acoustic contrast's normal sound collected, judge that whether propeller and motor are at normal work condition state, and judged result is passed to flight bus control unit。Flight bus control circuit is the fault bus control centre of whole controller, for detecting operating mode and the life-span of aircraft all parts, and result is sent by WIFI circuit and Big Dipper circuit。WIFI transmission circuit is one of communication channel of this controller, is responsible for the information in bus control circuit is sent to ground, receives some instructions on ground simultaneously。In flight course, the UAV system Big Dipper integrated form safety governor timing can pass through the Big Dipper various parameter of short message sending aircraft to Big Dipper unmanned plane cloud server, server preserve and process, and watch on-line monitors these parameters。
The foregoing is only preferred embodiment of the present utility model; not in order to limit this utility model; all within spirit of the present utility model and principle, any amendment of making, equivalent replacement, improvement etc., should be included within protection domain of the present utility model。
Claims (8)
1. the many rotor wing unmanned aerial vehicles integrated form safety governor based on dipper system, it is characterised in that: including:
For external impetus power supply being controlled isolated from power and being assigned to the isolated from power distributor circuit within controller；
For control unmanned plane during flying attitude fly control circuit module；
According to flying the PWM waveform that control circuit module sends, it is achieved the speed regulating control of propeller motor and the electricity of driving adjust circuit module；
For unmanned plane positions and receives the satellite positioning communication module sending information from big-dipper satellite；
For gathering the sound sent when propeller is in different rotating speeds, judge the phonetic analysis DSP circuit of propeller and motor whether normal operation；
For detecting the flight bus control circuit of unmanned plane all parts operating mode and life-span；
For the information in flight bus control circuit is sent to ground, receive the WIFI transmission circuit of surface instruction simultaneously；
The input of described isolated from power distributor circuit is connected with external impetus power supply, the outfan of described isolated from power distributor circuit respectively with fly control circuit module, satellite positioning communication module, electricity adjusts circuit module to be connected with flight bus control circuit, described satellite positioning communication module respectively with flight bus control circuit and fly control circuit module be connected, the described control circuit module that flies adjusts circuit module and flight bus control circuit to be connected with electricity respectively, described electricity adjusts circuit module to be connected with the Hall element on propeller motor and flight bus control circuit respectively, described Hall element is also connected with flight bus control circuit, the input of described phonetic analysis DSP circuit is connected with the pick up by propeller motor and the Hall element on propeller motor, outfan is connected with flight bus control circuit, described flight bus control circuit is also connected with WIFI transmission circuit and LED indicator。
2. a kind of many rotor wing unmanned aerial vehicles integrated form safety governor based on dipper system according to claim 1, it is characterised in that: described electricity adjusts circuit module to include electricity tune circuit A and electricity adjusts circuit B, and two groups of electricity adjust circuit to backup each other。
3. a kind of many rotor wing unmanned aerial vehicles integrated form safety governor based on dipper system according to claim 2, it is characterised in that: described electricity adjusts circuit A and electricity to adjust the electricity of circuit B to adjust channel current to be 120A, adopts sinus wave patters to drive。
4. a kind of many rotor wing unmanned aerial vehicles integrated form safety governor based on dipper system according to claim 1 and 2, it is characterised in that: described satellite positioning communication module includes GPS circuitry and Big Dipper circuit, and GPS location and BEI-DOU position system work simultaneously。
5. a kind of many rotor wing unmanned aerial vehicles integrated form safety governor based on dipper system according to claim 4, it is characterised in that: described in fly control circuit module include IMUA, flight control circuit A, record memorizer A, IMUB, flight control circuit B and record memorizer B；Described IMUA is connected with flight control circuit A, and described flight control circuit A is connected with record memorizer A；Described IMUB is connected with flight control circuit B, and described flight control circuit B is connected with record memorizer B；These two groups fly control circuit and backup each other。
6. a kind of many rotor wing unmanned aerial vehicles integrated form safety governor based on dipper system according to claim 1, it is characterised in that: the frequency band 2.4G/5.8G of described WIFI transmission circuit。
7. a kind of many rotor wing unmanned aerial vehicles integrated form safety governor based on dipper system according to claim 1, it is characterised in that: described external impetus power supply includes an electrokinetic cell and two control batteries。
8. a kind of many rotor wing unmanned aerial vehicles integrated form safety governor based on dipper system according to claim 1, it is characterised in that: all electronic devices of safety controller are enclosed in the shell of an aluminum metal and waterproof。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521053603.4U CN205334112U (en) | 2015-12-14 | 2015-12-14 | Many rotor unmanned aerial vehicle integrated form safety governor based on beidou system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201521053603.4U CN205334112U (en) | 2015-12-14 | 2015-12-14 | Many rotor unmanned aerial vehicle integrated form safety governor based on beidou system |
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| CN205334112U true CN205334112U (en) | 2016-06-22 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106375026A (en) * | 2016-11-07 | 2017-02-01 | 合肥同想信息技术有限公司 | Digital wireless remote control PWM pulse width modulation terminal |
| CN106598038A (en) * | 2017-02-14 | 2017-04-26 | 广西师范大学 | Fixed-wing unmanned aerial vehicle disaster minimization control device and method thereof |
| CN106774381A (en) * | 2016-11-23 | 2017-05-31 | 歌尔股份有限公司 | The detection method of a kind of unmanned plane and its state of flight, wearable device |
| CN106873404A (en) * | 2015-12-14 | 2017-06-20 | 天津益华微电子有限公司 | A kind of unmanned plane safety governor |
| CN109581919A (en) * | 2018-11-30 | 2019-04-05 | 广州市网拓信息技术有限公司 | A kind of unmanned plane, which is remotely controlled, uses step with indoor operation device and its software |
| JP2021123199A (en) * | 2020-02-04 | 2021-08-30 | 株式会社デンソー | Wireless power supply system |
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2015
- 2015-12-14 CN CN201521053603.4U patent/CN205334112U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106873404A (en) * | 2015-12-14 | 2017-06-20 | 天津益华微电子有限公司 | A kind of unmanned plane safety governor |
| CN106375026A (en) * | 2016-11-07 | 2017-02-01 | 合肥同想信息技术有限公司 | Digital wireless remote control PWM pulse width modulation terminal |
| CN106774381A (en) * | 2016-11-23 | 2017-05-31 | 歌尔股份有限公司 | The detection method of a kind of unmanned plane and its state of flight, wearable device |
| WO2018095061A1 (en) * | 2016-11-23 | 2018-05-31 | 歌尔股份有限公司 | Unmanned aerial vehicle and method for detecting flight state thereof, and wearable apparatus |
| CN106774381B (en) * | 2016-11-23 | 2019-07-19 | 歌尔股份有限公司 | Detection method, the wearable device of a kind of unmanned plane and its state of flight |
| US20200062378A1 (en) * | 2016-11-23 | 2020-02-27 | Goertek Inc. | Unmanned aerial vehicle and method for detecting flight state thereof, and wearable device |
| US10817001B2 (en) * | 2016-11-23 | 2020-10-27 | Goertek Inc. | Unmanned aerial vehicle and method for detecting flight state thereof, and wearable device |
| CN106598038A (en) * | 2017-02-14 | 2017-04-26 | 广西师范大学 | Fixed-wing unmanned aerial vehicle disaster minimization control device and method thereof |
| CN106598038B (en) * | 2017-02-14 | 2023-08-29 | 广西师范大学 | Disaster minimization control device and method for fixed wing unmanned aerial vehicle |
| CN109581919A (en) * | 2018-11-30 | 2019-04-05 | 广州市网拓信息技术有限公司 | A kind of unmanned plane, which is remotely controlled, uses step with indoor operation device and its software |
| JP2021123199A (en) * | 2020-02-04 | 2021-08-30 | 株式会社デンソー | Wireless power supply system |
| JP7318549B2 (en) | 2020-02-04 | 2023-08-01 | 株式会社デンソー | Wireless power supply system |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160622 Termination date: 20201214 |
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| CF01 | Termination of patent right due to non-payment of annual fee |