CN205563189U - Unmanned aerial vehicle flight controller - Google Patents
Unmanned aerial vehicle flight controller Download PDFInfo
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- CN205563189U CN205563189U CN201620274342.7U CN201620274342U CN205563189U CN 205563189 U CN205563189 U CN 205563189U CN 201620274342 U CN201620274342 U CN 201620274342U CN 205563189 U CN205563189 U CN 205563189U
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Abstract
The utility model discloses an unmanned aerial vehicle flight controller, including the flight control board, be provided with main cortex on the flight control board M4 microcontroller, sensor plate, sensor plate is last to be provided with from cortex M4 microcontroller and sensor, sensor plate pass through the flexible circuit board with the flight control board is connected, the flexible circuit board is used for connecting main cortex M4 microcontroller with from cortex M4 microcontroller, the interface board, the interface board includes left side interface board and right side interface board, damping device, damping device set up in under the sensor plate. For the unmanned aerial vehicle flight controller among the prior art, the utility model discloses a does unmanned aerial vehicle flight controller adopt two cortex M4 microcontroller has improved arithmetic capability and peripheral hardware extended capability, and has set up left side, two interface boards on the right side, has increased number of interfaces.
Description
Technical field
This utility model relates to unmanned aerial vehicle (UAV) control field, particularly relates to a kind of UAV Flight Control device.
Background technology
Unmanned plane, is a kind of unmanned to be flown by what radio robot or self presetting apparatus were handled
Row device.Unmanned plane is of many uses, can be used for pesticide spraying, aerophotography, forest fire protection inspection, electric power patrol
The fields such as line, express transportation, military surveillance.Unmanned plane has low cost, risk that no one was injured, motor-driven
The advantages such as performance is good, easy to use.
UAV Flight Control device, is the core component of unmanned plane, is equivalent to the brain of unmanned plane, controls
The action of unmanned plane.Along with the continuous extension of unmanned plane application, the task of unmanned plane becomes increasingly complex,
More and more higher to the operational capability of UAV Flight Control device and the Capability Requirement of carry external equipment.
At present, on market, UAV Flight Control device has flight control based on double ATMEL8 8-digit microcontrollers
Device processed, its Peripheral Interface is abundant but operational capability is weak, thus data processing speed is slow；Have based on single
The flight controller of Cortex-M3 processor, low cost and calculating speed have lifting, but Peripheral Interface is less.
Utility model content
This utility model embodiment provides a kind of UAV Flight Control device, of the prior art in order to solve
UAV Flight Control device cannot meet that computing is strong, peripheral expansion ability is strong and strong the asking of shock resistance simultaneously
Topic.
This utility model embodiment employing following technical proposals:
A kind of UAV Flight Control device, including:
Flight panel；Main Cortex-M4 microcontroller it is provided with on described flight panel；Described master
Cortex-M4 microcontroller is connected with described flight panel；
Sensor board；It is provided with from Cortex-M4 microcontroller and sensor on described sensor board；Described
It is connected with described sensor from Cortex-M4 microcontroller；Described sensor board passes through flexible PCB and institute
State flight panel to connect；Described flexible PCB, is used for connecting described host microcontroller and described from micro-control
Device processed；
Interface board；Described interface board includes left side interface board and right side interface board；Described flight panel leads to
The pricking with needle crossing a determining deviation is connected with described left side interface board and right side interface board；
Damping device；Described damping device is arranged under described sensor board.
Optionally, described damping device can be silica gel silk floss block.
Optionally, described flight panel is also provided with anti-reverse power connection circuit, electrostatic discharge protective circuit,
At least one in signal acquisition circuit, buzzer and LED light circuit, memorizer；
When being provided with anti-reverse power connection circuit on described flight panel, described anti-reverse power connection circuit also connects
Power supply positive and negative polar curve two ends at described flight panel；
When being provided with electrostatic discharge protective circuit on described flight panel, described electrostatic discharge protective circuit is attempted by institute
State the power supply positive and negative polar curve two ends of flight panel；
When being provided with LED light circuit on described flight panel, described LED light circuit with
Described main Cortex-M4 microcontroller is connected；
When being provided with memorizer on described flight panel, described memorizer is micro-with described main Cortex-M4
Controller is connected；
When being provided with AD signal acquisition circuit on described flight panel, described AD signal acquisition circuit
Being two resistant series bleeder circuits, one end ground connection of described two resistant series bleeder circuits, the other end is with described
Interface board connects, and the end that is connected in the middle of two resistance connects described main Cortex-M4 microcontroller.
Optionally, can be with integrated gyroscope, accelerometer, magnetic compass, air pressure height on described sensor board
At least one in degree meter, extraneous GPS module；
When being integrated with gyroscope on described sensor board, described gyroscope is with described from Cortex-M4 micro-control
Device processed connects；
When being integrated with accelerometer on described sensor board, described accelerometer is with described from Cortex-M4
Microcontroller connects；
When being integrated with magnetic compass on described sensor board, described magnetic compass is with described from Cortex-M4 micro-control
Device processed connects；
When being integrated with pressure altitude timing on described sensor board, described barometertic altimeter is with described
Cortex-M4 connects from microcontroller；
When being integrated with external GPS module on described sensor board, described external GPS module is by described
Interface board is connected from Cortex-M4 microcontroller with described.
Optionally, described flexible PCB can be provided with sensor power line, SPI communication line, GPS
At least one in order wire and I2C bus.
Optionally, described UAV Flight Control device can also include: be used for loading described flight panel,
Described sensor board, the housing of described interface board.
At least one technical scheme above-mentioned that this utility model embodiment uses can reach following beneficial effect:
Owing to flight controller uses built-in damping device, and use double Cortex-M4 microcontroller, improve
Operational capability and peripheral expansion ability；And it is provided with left side, two pieces of right side interface board, adds interface
Quantity.Thus solve UAV Flight Control device of the prior art and cannot meet computing by force, outward simultaneously
The problem that if extended capability is strong and shock resistance is strong.
Accompanying drawing explanation
Accompanying drawing described herein is used for providing being further appreciated by of the present utility model, constitutes this utility model
A part, schematic description and description of the present utility model is used for explaining this utility model, not structure
Paired improper restriction of the present utility model.In the accompanying drawings:
The concrete structure signal of a kind of UAV Flight Control device that Fig. 1 provides for this utility model embodiment
Figure；
The connection of the key component of the UAV Flight Control device that Fig. 2 provides for this utility model embodiment
Relation schematic diagram.
Detailed description of the invention
For making the purpose of this utility model, technical scheme and advantage clearer, new below in conjunction with this practicality
Technical solutions of the utility model are clearly and completely described by type specific embodiment and corresponding accompanying drawing.Aobvious
So, described embodiment is only a part of embodiment of this utility model rather than whole embodiments.Base
Embodiment in this utility model, those of ordinary skill in the art are not under making creative work premise
The every other embodiment obtained, broadly falls into the scope of this utility model protection.
Below in conjunction with accompanying drawing, describe the technical scheme that each embodiment of this utility model provides in detail.
Embodiment 1
Cannot meet that computing is strong, peripheral expansion for solving UAV Flight Control device of the prior art simultaneously
The problem that ability is strong and shock resistance is strong, this utility model embodiment provides a kind of novel unmanned plane during flying control
Device processed, this controller specifically can be described as " based on double Cortex-M4 universal UAV Flight Control device ".
The concrete structure schematic diagram of this UAV Flight Control device is as it is shown in figure 1, mainly include following ingredient:
Flight panel 1, sensor board 2, left side interface board 3, right side interface board 4, flexible PCB 5,
Damping device 6, pricking with needle 7 and housing 8.The annexation of each ingredient is referred to Fig. 1 and Fig. 2 institute
Show.
In Fig. 1, the ingredient 1～7 of flight controller is packaged in housing 8；Flight panel 1 passes through
The pricking with needle 7 of spacing 1.27mm is connected with left side interface board 3 and right side interface board 4；Flight panel 1 with
Sensor board 2 is connected by flexible PCB 5；Corresponding flexible circuitry is all received at flexible PCB 5 two ends
In plate (Flexible Printed Circuit is called for short FPC) seat；Damping device 6 is silica-gel sponge block, puts
It is placed in sensor board 2 times especially, a silicon can be placed respectively according to 2 times each angles of sensor board
The mode of gelatin sponge block, is respectively placed in silica-gel sponge block under four angles of sensor board 2, blend compounds water
Add and be solidly connected.
For the annexation between each ingredient in the reflection UAV Flight Control device that becomes apparent from,
This utility model embodiment additionally provides the annexation schematic diagram of the major part of UAV Flight Control device,
As shown in Figure 2.
Below in conjunction with Fig. 1 and Fig. 2, to the Main Function of different ingredients of flight controller, different group
Position relationship between one-tenth part and annexation etc. illustrate:
One, flight panel 1
Flight panel 1 is mainly used in receiving remote controller signal, controlling electron speed regulator rotating speed and earth station
Communicate, record sail information, control external equipment and combine Flight Condition Data operation flight control strategy control
Aircraft flight processed.Wherein, Flight Condition Data, can be to send, from sensor board 2, the output signal of coming
In get.
From the structure of flight panel 1, as in figure 2 it is shown, flight panel 1 mainly includes 1
The ARM microcontroller (i.e. master controller 11 shown in Fig. 2) of Cortex-M4 kernel, additionally, also include
Memory module 12, AD resistor voltage divider circuit 13, anti-reverse power connection circuit 14, electrostatic discharge protective circuit 15 and
Onboard three-color LED light circuit 16 etc..
Introduce effect and the annexation of each ingredient of flight panel 1 individually below.
The ARM microcontroller of 1.Cortex-M4 kernel
The ARM microcontroller of Cortex-M4 kernel, is mainly used in carrying out information processing.For difference hereinafter
The Cortex-M4 microcontroller arranged on sensor board, by micro-for the Cortex-M4 arranged on flight panel
Controller is as master controller (master controller as shown in Figure 2 (STM32F407VET6)) 11.
2. memorizer 12
Memorizer 12, is mainly used in storing way point information and the letter of record operational configuration that earth station 36 is transmitted
Breath.Memorizer 12 is specifically as follows TF card (Trans-flash Card) and/or 16MBIT flash storage
Device.Serial Peripheral Interface (SPI) (Serial Peripheral can be passed through between master controller 11 and memorizer 12
Interface, SPI) set up connection.Master controller 11 can be to memorizer 12 by SPI communication line
Memory space performs read-write operation.
3.AD resistor voltage divider circuit 13
AD resistor voltage divider circuit 13, is positioned on flight panel 1, is connected with master controller 11, and leads to
Crossing both sides interface board to be connected with outside anode, this circuit is mainly for detection of as flight controller power supply
The voltage of battery.
Owing to the concrete structure of AD resistor voltage divider circuit 13 may refer to the correlation technique of comparative maturity, because of
This is not repeated by this this utility model embodiment.
The most anti-reverse power connection circuit 14 and electrostatic discharge protective circuit 15
When 5V power supply is powered for flight panel 1 from interface board access, flight panel 1 accesses
Power supply positive and negative polar curve two ends also connect Schottky diode and TVS diode.
Anti-reverse power connection circuit 14 can be specifically the device of diode, such as Schottky diode；
Electrostatic discharge protective circuit 15, the electrostatic being mainly used in avoiding producing in the housing 8 of flight controller is to flight
Controller produces harmful effect.This electrostatic discharge protective circuit 15 can be specifically the high-effect guarantor of diode
Protect device, such as TVS diode.
The most onboard three-color LED light circuit 16
The power supply of onboard three-color LED light circuit 16 can be provided by master controller 11, is mainly used in leading
Under the control of controller 11, change color and flicker frequency, to indicate information.It should be noted that be
Can be from flight controller external observation to the light on and off of internal display lamp and color change, it will usually in flight
Leaving on controller housing can be with the transparent window of viewing lamp.
Two, sensor board 2
Sensor board 2 is mainly used in gathering sensing data, sends out after data filtering, fusion and calculating
Give flight panel 1.
From the structure of sensor board 2, as in figure 2 it is shown, be provided with 1 Cortex-M4 on sensor board 2
The ARM microcontroller of kernel, relative to the ARM of the Cortex-M4 kernel arranged on flight panel 1
Microcontroller, this microcontroller can as flight controller from controller (master control as shown in Figure 2
Device processed (STM32F405RGT6)) 21, from passing through serial between controller 21 and master controller 11
Peripheral Interface (Serial Peripheral Interface, SPI) or asynchronous receiving-transmitting transmitter (Universal
Asynchronous Receiver/Transmitter, UART) interface communicates.
Sensor board 2 can such as can be, but not limited to integrated gyroscope with integrated various sensors
(L3GD20H) in 22, barometertic altimeter (MS5607/MS5601) 23, accelerometer and magnetic compass
At least one, further, it is also possible to integrated external GPS module 27.Wherein, gyroscope 22, acceleration
Meter and magnetic compass can be connected with from controller 12 by SPI communication line respectively；Barometertic altimeter 23 is permissible
It is connected with from controller 12 by I2C bus；Accelerometer and magnetic compass can be mutually encapsulated into same mould
In block, such as the accelerometer+magnetic compass (LSM303D) in Fig. 2, for ease of describing, follow-up by this collection
The module having become accelerometer and magnetic compass is designated as accelerometer+magnetic compass 24.
Except accelerometer+magnetic compass can be comprised in this flight controller that this utility model embodiment provides
Outside magnetic compass integrated in 24, it is also possible to comprise external magnetic compass 25 as shown in Figure 2.This external magnetic sieve
Dish 25 generally can be encapsulated in a module with GPS module 27, and receives on flight controller, makes
It is possible to prevent integrated magnetic compass in internal accelerometer+magnetic compass 24 to be controlled by flight with external magnetic compass 25
The interference that earth's magnetic field monitoring is produced by the housing of device internal circuit processed and aircraft etc., external magnetic compass 25 can
Using the part as sensor board 2, it is also possible to outside sensor board 2.
It should be noted that occur that hardware or software failure can not be controlled to flight in view of when sensor board 2
When making sheet 1 transmits Flight Condition Data, the flight equipment such as unmanned aerial vehicle controlled by flight controller is likely to
Out of hand and crash.For avoiding such problem, sensor board 2 can also include as shown in Figure 2
Gyroscope acceleration chip 26, this gyroscope acceleration chip 26 can pass through I2C bus and master controller
11 are connected, for when the gyroscope chip on sensor board or accelerometer+magnetic compass 24 cisco unity malfunction
Time (effective angular velocity and linear acceleration i.e. can not be provided), continue to provide angular velocity to master controller 11
And linear acceleration, master controller 11 sends control information according to the angular velocity provided and linear acceleration, anti-
Only flight equipment crashes.
In this utility model embodiment, can be using sensor board as the independent mould of integrated multiple sensors
Block, for increasing the versatility of sensor, special increase serial communication protocol, by from the serial ports TX line of controller
Being connected with the MISO line of SPI, serial ports RX line is connected, after controller powers on the MOSI line of SPI
Check that the CLK line low and high level state of SPI distinguishes use SPI protocol or serial port protocol, this side
Formula can reduce the quantity of order wire.
Described sensor board 2 and flight panel 1 are both provided with SWD download interface, AccessPort interface
And three-color LED light, can be by controlling color and the flicker frequency instruction abundant information of three-color LED light.
It should be noted that be light on and off and the information of color change that can observe display lamp from the external world, it will usually
Leaving on aircraft casing can be with the transparent window of viewing lamp.
Being also provided with power source reverse connection protection circuit 28 on sensor board 2, the implementation method of this circuit is supply lines
Positive pole connects the drain electrode of P-channel field-effect transistor (PEFT) pipe, and source electrode connects mu balanced circuit input, and gate pole passes through 470 ohm of electricity
Resistance ground connection.Relative to protective circuit of diode, this protection circuit has the advantages that conduction voltage drop is little.
Three, left side interface board 3 and right side interface board 4
Left side interface board 3 and right side interface board 4 are used for providing master controller 11, from controller 12 and the external world
Interface.Those interfaces can be, but not limited to include in UART, I2C, SPI and CAN interface at least
A kind of.
In this utility model embodiment, sensor integrated in sensor board 2 by left side interface board 3 and/
Or the interface that right side interface board 4 provides, it is connected with from controller 12.Additionally, external equipment can pass through
The interface that left side interface board 3 and/or right side interface board 4 provide, sets up wired or nothing with master controller 11
The connection of line.
External equipment mentioned here, can include but not limited to GPS module 27, external magnetic compass 25,
Remote control receiver 31, multi-computer communication module 32, avoidance module 33, OSD module 34, electron speed regulator
At least one in 35 and digital transmission module (the most not shown in Fig. 1 and Fig. 2) etc..
Include that for external equipment the situation of remote control receiver 31, master controller 11 can receive remote controller
The 8 road pwm signals that receiver 31 is sent.
Four, flexible PCB 5
Described flexible PCB 5, is used for providing the cables such as supply lines, the communications cable and bus.Usually,
Include on flexible PCB 5: comprise the supply lines of each sensor power, SPI, GPS for sensor board 2
Order wire and I2C bus.
Wherein, comprise the supply lines of each sensor power for sensor board 2, be used for connecting power supply and sensor；
SPI, is used for connecting master controller 11 and from controller 21；GPS communication line, arises from from controller 21
Via flexible PCB via flight panel 1, then pass through interface board and external GPS module 27
It is connected；I2C bus, is used for connecting master controller 11, from controller 21, gyroscope accelerometer chip
26 and external magnetic compass 25.
Operation principle of the present utility model: sensor board 2 gathers each sensing data, to data filtering, melts
Obtain state of flight after closing and resolving, be sent to flight panel 1 afterwards.Flight panel 1 be responsible for
Earth station communicates, and receives remote controller signal, the external equipment of control carry, runs in conjunction with Flight Condition Data
Flight control strategy, controls flight equipment flight.
The foregoing is only embodiment of the present utility model, be not limited to this utility model.For
For those skilled in the art, this utility model can have various modifications and variations.All of the present utility model
Any modification, equivalent substitution and improvement etc. made within spirit and principle, should be included in this utility model
Right within.
Claims (6)
1. a UAV Flight Control device, it is characterised in that including:
Flight panel；Main Cortex-M4 microcontroller it is provided with on described flight panel；Described master
Cortex-M4 microcontroller is connected with described flight panel；
Sensor board；It is provided with from Cortex-M4 microcontroller and sensor on described sensor board；Described
It is connected with described sensor from Cortex-M4 microcontroller；Described sensor board passes through flexible PCB and institute
State flight panel to connect；Described flexible PCB, be used for connecting described main Cortex-M4 microcontroller and
Described from Cortex-M4 microcontroller；
Interface board；Described interface board includes left side interface board and right side interface board；Described flight panel leads to
The pricking with needle crossing a determining deviation is connected with described left side interface board and right side interface board；
Damping device；Described damping device is arranged under described sensor board.
2. UAV Flight Control device as claimed in claim 1, it is characterised in that described damping device
For silica-gel sponge block.
3. UAV Flight Control device as claimed in claim 1, it is characterised in that described flight controls
Anti-reverse power connection circuit, electrostatic discharge protective circuit, AD signal acquisition circuit, LED instruction it is additionally provided with on plate
At least one in circuit for lamp, memorizer；
When being provided with anti-reverse power connection circuit on described flight panel, described anti-reverse power connection circuit also connects
Power supply positive and negative polar curve two ends at described flight panel；
When being provided with electrostatic discharge protective circuit on described flight panel, described electrostatic discharge protective circuit is attempted by institute
State the power supply positive and negative polar curve two ends of flight panel；
When being provided with LED light circuit on described flight panel, described LED light circuit with
Described main Cortex-M4 microcontroller is connected；
When being provided with memorizer on described flight panel, described memorizer is micro-with described main Cortex-M4
Controller is connected；
When being provided with AD signal acquisition circuit on described flight panel, described AD signal acquisition circuit
Being two resistant series bleeder circuits, one end ground connection of described two resistant series bleeder circuits, the other end is with described
Interface board connects, and the end that is connected in the middle of two resistance connects described main Cortex-M4 microcontroller.
4. UAV Flight Control device as claimed in claim 1, it is characterised in that described sensor board
On be integrated with in gyroscope, accelerometer, magnetic compass, barometertic altimeter, external GPS module at least
A kind of；
When being integrated with gyroscope on described sensor board, described gyroscope is with described from Cortex-M4 micro-control
Device processed connects；
When being integrated with accelerometer on described sensor board, described accelerometer is with described from Cortex-M4
Microcontroller connects；
When being integrated with magnetic compass on described sensor board, described magnetic compass is with described from Cortex-M4 micro-control
Device processed connects；
When being integrated with pressure altitude timing on described sensor board, described barometertic altimeter is with described
Cortex-M4 connects from microcontroller；
When being integrated with external GPS module on described sensor board, described external GPS module is by described
Interface board is connected from Cortex-M4 microcontroller with described.
5. UAV Flight Control device as claimed in claim 1, it is characterised in that described flexible circuit
At least one in sensor power line, SPI communication line, GPS communication line and I2C bus it is provided with on plate
Kind.
6. UAV Flight Control device as claimed in claim 1, it is characterised in that described device also wraps
Include:
For loading described flight panel, described sensor board, described interface board, described damping device
Housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620274342.7U CN205563189U (en) | 2016-04-05 | 2016-04-05 | Unmanned aerial vehicle flight controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620274342.7U CN205563189U (en) | 2016-04-05 | 2016-04-05 | Unmanned aerial vehicle flight controller |
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| Publication Number | Publication Date |
|---|---|
| CN205563189U true CN205563189U (en) | 2016-09-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620274342.7U Expired - Fee Related CN205563189U (en) | 2016-04-05 | 2016-04-05 | Unmanned aerial vehicle flight controller |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106249664A (en) * | 2016-09-20 | 2016-12-21 | 北京韦加无人机科技股份有限公司 | A kind of unmanned plane automatic pilot lengthy and jumbled method and device of safety |
| CN106444555A (en) * | 2016-11-30 | 2017-02-22 | 厦门汉航精密科技有限公司 | Ground forwarding-based unmanned aerial vehicle medium-short distance remote control and remote measuring system |
| CN108594715A (en) * | 2018-05-18 | 2018-09-28 | 赫星科技有限公司 | Unmanned plane master control borad |
| CN108829083A (en) * | 2018-06-04 | 2018-11-16 | 北京智行者科技有限公司 | Control unit for vehicle |
| CN108873792A (en) * | 2018-09-03 | 2018-11-23 | 中国科学院长春光学精密机械与物理研究所 | A kind of technical grade system for flight control computer based on ARM and DSP |
| CN108896079A (en) * | 2018-07-13 | 2018-11-27 | 山东远大朗威教育科技股份有限公司 | Teaching rocket model flight recorder |
-
2016
- 2016-04-05 CN CN201620274342.7U patent/CN205563189U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106249664A (en) * | 2016-09-20 | 2016-12-21 | 北京韦加无人机科技股份有限公司 | A kind of unmanned plane automatic pilot lengthy and jumbled method and device of safety |
| CN106444555A (en) * | 2016-11-30 | 2017-02-22 | 厦门汉航精密科技有限公司 | Ground forwarding-based unmanned aerial vehicle medium-short distance remote control and remote measuring system |
| CN108594715A (en) * | 2018-05-18 | 2018-09-28 | 赫星科技有限公司 | Unmanned plane master control borad |
| CN108829083A (en) * | 2018-06-04 | 2018-11-16 | 北京智行者科技有限公司 | Control unit for vehicle |
| CN108896079A (en) * | 2018-07-13 | 2018-11-27 | 山东远大朗威教育科技股份有限公司 | Teaching rocket model flight recorder |
| CN108873792A (en) * | 2018-09-03 | 2018-11-23 | 中国科学院长春光学精密机械与物理研究所 | A kind of technical grade system for flight control computer based on ARM and DSP |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160907 Termination date: 20180405 |