CN206311972U - A kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS - Google Patents
A kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS Download PDFInfo
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- CN206311972U CN206311972U CN201621205914.2U CN201621205914U CN206311972U CN 206311972 U CN206311972 U CN 206311972U CN 201621205914 U CN201621205914 U CN 201621205914U CN 206311972 U CN206311972 U CN 206311972U
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The utility model is related to a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS, belongs to unmanned air vehicle technique field.The utility model includes power module, control module, motor drive module, wireless communication module, attitude measurement module, anti-collision structure, ultrasonic distance measuring module, peripheral auxiliary equipment interface module；Wherein power module is connected with control module, motor drive module respectively, and control module is connected with power module, motor drive module, wireless communication module, attitude measurement module, anti-collision structure, ultrasonic distance measuring module, peripheral auxiliary equipment interface module respectively.The utility model solves the problems, such as that unmanned plane on existing market cannot realize the barrier automatic dodging of autonomous flight, further increases mobility, portability, operability that unmanned plane is carried in itself.
Description
Technical field
The utility model is related to a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS, belongs to nothing
Man-machine technical field.
Background technology
Four rotor wing unmanned aerial vehicles are a kind of intelligent robots.At power resources and the aspect of gesture stability two, quadrotor
Rotor is driven to be originated as driving force using motor, its aerodynamic principle is with traditional Fixed Wing AirVehicle and based on pitch control
Helicopter System have very big difference --- have benefited from recent decades, in nanometer technology Low Reynolds Number Aerodynamics and
The research of MEMS technical elements deeply, the popularization of the development of science and technology and application, four-axle aircraft is using various microsensors, micro-
Processor and numerous subsystems（Navigation, communication, power and flight control etc.）The highly integrated system for constituting, Flight Vehicle Structure pole
It is simplification, weight significantly mitigates, and manufactures and assemble also very easy.In addition, aircraft possesses VTOL ability, no
Need to configure reaction torque oar, the reaction torque produced by the rotor of symmetrical configuration can balance aircraft.By the work(for carrying
Can sensor, it can easily control identification for example to barrier, avoidances, around etc. other types aircraft hardly possible before this
With completing for task.Flight characteristics aspect four-axle aircraft has embodied powerful advantages and potentiality, thus in military field and the people
High research and application value is all shown with field.The utility model is by project of national nature science fund project
（61562051）, Yunnan Province's applied basic research plan key project（2014FA029）Research is subsidized, exploration CPS is essentially consisted in
Prevent the application for knocking and push away in four rotor wing unmanned aerial vehicle ultrasonic wave Real Time Obstacle Avoidings etc. real-time embedded control system time series modeling technique
Extensively, solve ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device underactuated control and change problem with associating for continuous time behavior, be
Ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device calculation procedure logical time provides reason with the uniformity of physics process physical time
By foundation.
The content of the invention
The technical problems to be solved in the utility model is：The utility model provides a kind of ultrasonic wave based on embedded type C PS
Real Time Obstacle Avoiding anticollision unmanned plane device, first, the drive circuit of motor uses the arm full-bridge circuit of three-phase six, controls the management of circuit
Control chip is realized using single-chip microcomputer STM32, the characteristics of to give full play to its high-performance, aboundresources, thus peripheral circuit knot
Structure is simple, realizes the startup and stable operation of motor, greatly improves the speed governing and control of four rotor wing unmanned aerial vehicle brshless DC motors
Performance, solves available circuit complex structure high cost, lacks the deficiencies such as economy；It is real secondly by ultrasonic distance measuring module
When monitoring unmanned plane and barrier distance, realize automatic obstacle avoidance functions during unmanned plane main flight of leisure, solve existing city
Unmanned plane cannot realize the barrier automatic dodging problem of autonomous flight on field, further increase the machine that unmanned plane is carried in itself
Dynamic property, portability, operability, can preferably realize, complete, solving existing the various of unmanned plane application field and actually ask
Topic.
Technical solutions of the utility model are：A kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS,
Including power module 1, control module 2, motor drive module 3, wireless communication module 4, attitude measurement module 5, anti-collision structure 6,
Ultrasonic distance measuring module 7, peripheral auxiliary equipment interface module 8；Wherein power module 1 drives mould with control module 2, motor respectively
Block 3 is connected, control module 2 respectively with power module 1, motor drive module 3, wireless communication module 4, attitude measurement module 5,
Anti-collision structure 6, ultrasonic distance measuring module 7, peripheral auxiliary equipment interface module 8 are connected.
The power module 1 includes 3S polymer Li-ion batteries（Circuit BEC, Battery are eliminated from charged pool
Eliminating Circuit）, 5V-3.3V change-over circuits, flow distribution plate；Wherein, 3S polymer Li-ion batteries respectively with 5V-
3.3V change-over circuits, flow distribution plate are connected, and 5V-3.3V change-over circuits are connected with one-chip computer module in control module 2, for it is provided
Working power, flow distribution plate is directly connected with motor drive module 3, for motor work provides power supply.
The 5V-3.3V change-over circuits include linear power supply voltage stabilizing chip AMS1117, electric capacity C1, C2, C3, C4；Wherein
By 3S polymer Li-ion batteries by carrying+the VIN of BEC direct current output 5V voltages and linear power supply voltage stabilizing chip AMS1117
Pin, one end of electric capacity C1 is connected with+VIN the pins of linear power supply voltage stabilizing chip AMS1117；The other end of electric capacity C1 directly connects
Enter the earth GND；One end of electric capacity C2 is connected with+VIN the pins of linear power supply voltage stabilizing chip AMS1117, the other end of electric capacity C2
It is directly accessed the earth GND；The GND pin of linear power supply voltage stabilizing chip AMS1117 is directly accessed the earth GND；One end of electric capacity C3
OUT pins with linear power supply voltage stabilizing chip AMS1117 are connected, and the other end of electric capacity C3 is directly accessed the earth GND；Electric capacity C4's
One end is connected with the OUT pins of linear power supply voltage stabilizing chip AMS1117, and the other end of electric capacity C4 is directly accessed the earth GND；Linearly
Positive pole VCC of the OUT pins of power supply voltage stabilizing chip AMS1117 directly as 3.3V voltages.
The control module 2 includes amplifying circuit 12, booster circuit 13, drive control circuit, filter circuit 15,5V-
3.3V change-over circuits, one-chip computer module；Wherein, one-chip computer module is electric with amplifying circuit 12, booster circuit 13, drive control respectively
Road, filter circuit 15,5V-3.3V change-over circuits are connected.
The amplifying circuit 12 includes 74HC04 amplifiers Q7, Q9, Q10, Q11, Q12, pull-up resistor R13, R14；Wherein,
The input of 74HC04 amplifiers Q7 is in parallel with the input of 74HC04 amplifiers Q11, and as the input of amplifying circuit 12,
And be connected with the P1.0 square-wave pulse signal output ports of single-chip microcomputer in one-chip computer module, the output end of 74HC04 amplifiers Q7
Input with 74HC04 amplifiers Q9 is connected, and the output end of 74HC04 amplifiers Q9 is connected with one end of pull-up resistor R13
Connect, the other end of the R13 of pull-up resistor is connected with power supply VCC, input and the 74HC04 amplifiers of 74HC04 amplifiers Q10
The input of Q9 is connected, and the output end of 74HC04 amplifiers Q10 is connected with one end of ultrasonic transmitter 19, and 74HC04 is put
The other end of big device Q11 is connected with ultrasonic transmitter 19, input and the 74HC04 amplifiers of 74HC04 amplifiers Q12
The input of Q11 is connected, the other end of 74HC04 amplifiers Q12 and one end of pull-up resistor R14, the phase of ultrasonic transmitter 19
Connection, the other end of pull-up resistor R14 is connected with power supply VCC, and power supply VCC is 3.3V voltage sources.
The booster circuit 13 includes inductance L1, VNPN type triode Q8, diode B1, electric capacity C5；Wherein, inductance L1
One end is connected as the input of booster circuit 13 with the output end of filter circuit 15, the other end and the VNPN types three of inductance L1
The base stage of pole pipe Q8 is connected；The emitter stage of VNPN type triodes Q8 is connected with the anode of diode B1, VNPN type triodes
The colelctor electrode of Q8 is directly accessed the earth GND；The negative electrode of diode B1 is connected with one end of electric capacity C5, and as booster circuit
13 output end is connected with the one-chip computer module in control module 2；The other end of electric capacity C5 is directly accessed the earth GND.
The drive control circuit includes fixed value resistance R1, R2, R3, R4, R5, R6, R7, R8, R9, R10, R11, R12,
PNP transistor T1, T2, T3, NPN type triode Q1, Q2, Q3, PNP type triode Q4, Q5, Q6；Wherein fixed value resistance R1's
One end is the A1 ends of drive control circuit A, and the other end accesses the base stage of PNP transistor T1, the colelctor electrode of PNP transistor T1
The constant voltage dc source VCC of power module 1, positive-negative-positive are connected to by the parallel circuit of fixed value resistance R2 and NPN type triode Q1
The emitter stage of transistor T1 directly enters the earth GND, and one end of fixed value resistance R3 is the B1 ends of drive control circuit A, the other end with
The parallel circuit in series of fixed value resistance R4 and PNP type triode Q4, colelctor electrode and the NPN type triode Q1 of PNP type triode Q4
Emitter stage be connected, the emitter stage of PNP type triode Q4 is directly accessed the earth GND；Controlled to drive one end of fixed value resistance R5
The A2 ends of circuit B processed, the other end accesses the base stage of PNP transistor T2, and the colelctor electrode of PNP transistor T2 passes through fixed value resistance
The parallel circuit of R6 and NPN type triode Q2 is connected to the constant voltage dc source VCC of power module 1, the hair of PNP transistor T2
Emitter-base bandgap grading directly enters the earth GND, and one end of fixed value resistance R7 is the B2 ends of drive control circuit B, the other end and fixed value resistance R8 and
The parallel circuit in series of PNP type triode Q5, the colelctor electrode of PNP type triode Q5 is connected with the emitter stage of NPN type triode Q2
Connect, the emitter stage of PNP type triode Q5 is directly accessed the earth GND；One end of fixed value resistance R9 is the A3 of drive control circuit C
End, the other end accesses the base stage of PNP transistor T3, and the colelctor electrode of PNP transistor T3 passes through fixed value resistance R10 and NPN type
The parallel circuit of triode Q3 is connected to the constant voltage dc source VCC of power module 1, and the emitter stage of PNP transistor T3 is direct
Enter the earth GND, one end of fixed value resistance R11 is the B3 ends of drive control circuit C, the other end and fixed value resistance R12 and positive-negative-positive three
The parallel circuit in series of pole pipe Q6, the colelctor electrode of PNP type triode Q6 is connected with the emitter stage of NPN type triode Q3, positive-negative-positive
The emitter stage of triode Q6 is directly accessed the earth GND；A1 pins, A2 pins, A3 pins and control mould in drive control circuit
PWM drive signal in block 2 in one-chip computer module connects, B1 pins, B2 pins, B3 pins and single-chip microcomputer mould in control module 2
I/O mouthfuls in block is connected.
The filter circuit 15 includes resistance R15, R16, R17, R18, R19, electric capacity C6, C7, C8, amplifier Q13；Wherein
Ultrasound in the input that resistance R15 one end is connected as filter circuit 15 with one end of electric capacity C6, with ultrasonic distance measuring module 7
The output end of ripple receiver 20 is connected, and the other end of resistance 15 is connected with one end of resistance R16, the other end of resistance R16 with put
The "-" level of big device Q13 is connected, and the other end of electric capacity C6 is connected with one end of one end of resistance R17, electric capacity C7, electric capacity C7's
The other end of the other end and resistance R16, the "-" level of amplifier Q13 are connected, the other end of resistance R17 and one end of resistance R19
It is connected, the other end of resistance R19 is connected with the "+" level of one end of resistance R18, amplifier Q13, the other end of resistance R18
The earth GND is directly accessed, one end of electric capacity C8 is connected with one end of one end of resistance R15, resistance R16, the other end of electric capacity C8
The earth GND is directly accessed, the base stage of amplifier Q13 is used as one-chip computer module in the output end and control module 2 of filter circuit 15
It is connected.
The wireless communication module 4 uses general 2.4G wireless communication modules.
The attitude measurement module 5 is using MPU6050 sensors, the axle geomagnetic sensor compass of HMC5883L tri-, MPU6050
Sensor incorporates six axle motion tracking devices, including three-axis gyroscope, 3-axis acceleration sensor.
The anti-collision structure 6 includes protective cover 17, protection network 18；Wherein protective cover 17 is used and contains 1-3% valine Chinese yams
The plastic casing of sapogenin ester, the core of netting twine used by protection network 18 uses special synthesizing multi-path fibre bundle, netting twine outer layer to use
Special spiral works out synthetic fibers, coiling coiling in the way of the racket string of racket and racket body coiling of anti-collision structure.
The ultrasonic distance measuring module 7 includes ultrasonic transmitter 19, amplifying circuit 12, ultrasonic receiver 20, boosting
Circuit 13, filter circuit 15, ultrasonic distance measuring module shell 21；Wherein, the bottom of ultrasonic transmitter 19 is by acid esters of having a dinner party
Be seamlessly connected with ultrasonic distance measuring module shell 21 with silica gel, the bottom of ultrasonic receiver 20 by have a dinner party acid esters and silica gel with
Ultrasonic distance measuring module shell 21 is connected and is seamlessly connected on the same plane with ultrasonic transmitter 19 again, ultrasonic transmitter 19
Transmitting terminal is vertical outside into an angle of 90 degrees with place plane with the receiving terminal of ultrasonic receiver 20；The lower section of ultrasonic transmitter 19
Be provided with amplifying circuit 12, and ultrasonic transmitter 19 is connected with the input of amplifying circuit 12, the output end of amplifying circuit 12 with
One-chip computer module is connected in control module 2；The lower section of ultrasonic receiver 20 is provided with booster circuit 13, filter circuit 15, and super
Acoustic receiver 20 is connected with the input of booster circuit 13, the output end of booster circuit 13 and the input phase of filter circuit 15
Connection, the output end of filter circuit 15 is connected with one-chip computer module in control module 2.
The peripheral auxiliary equipment interface module 8 uses four-wire system I2C expansion board.
Operation principle of the present utility model is：
When this unmanned plane switches to autonomous flight, the power module 1 in unmanned plane is first begin to work, due to unmanned plane
The limitation of self-characteristic, power module uses 3S polymer Li-ion batteries, and the type battery eliminates circuit from charged pool
BEC, Battery Eliminating Circuit）, 3S polymer Li-ion batteries provide 11.1V voltages, direct by BEC
Output 5V voltages, due to control module 2, the operating voltage of peripheral auxiliary equipment interface module 8 be 3.3V, wireless communication module 4,
Attitude measurement module 5, the operating voltage of ultrasonic distance measuring module 7 are 5V, and the operating voltage of motor drive module 3 is 11V；Therefore will
3S polymer Li-ion batteries are directly directly connected by flow distribution plate with motor drive module 3, used as the work of brshless DC motor
Make voltage, by the 5V output voltages of BEC directly as wireless communication module 4, attitude measurement module 5, ultrasonic distance measuring module 7
Operating voltage, using the 5V output voltages of BEC as 5V-3.3V change-over circuits input, by 5V voltage conversions be 3.3V voltages make
It is control module 2, the operating voltage of peripheral auxiliary equipment interface module 8；Now, control module 2, motor drive module 3, wireless
Electricity in communication module 4, attitude measurement module 5, ultrasonic distance measuring module 7, peripheral auxiliary equipment interface module 8, starts working.
After control module 2 works on power, the real-time monitoring attitude measurement module 5, data of ultrasonic distance measuring module 7, this
After a little data are read by one-chip computer module, by feeding back to performer motor drive module 3 after the treatment of one-chip computer module, it is used to
Adjust the flight attitude of unmanned plane.
After motor drive module 3 works on power, one-chip computer module is utilized according to the motor rotor position for detecting
The switching characteristic of MOSFET, realizes the power control of motor, for example, when Q1, Q5 are opened, AB is conducted, now current direction
It is positive source → Q1 → winding A → winding B → Q5 → power cathode.It is similar, when MOSFET opening sequences be respectively Q1,
Q5, Q1, Q6, Q2, Q6, Q2, Q4, Q3, Q4, when Q3, Q5, as long as accurately being commutated on suitable opportunity, so that it may realize brushless
Direct current generator continuously runs.Brshless DC motor can be normally continuously run it is necessary to be detected to rotor-position, so that real
Now accurate commutation, because brshless DC motor requirement system architecture is simple, lightweight, thus using the side of position-sensor-free
Formula, the induced electromotive force zero crossing moment produced using third phase postpones 30 ° of commutations, and due to brshless DC motor two are conducted
Pattern, thus the third phase being not turned on can be utilized to detect the size of back-emf；Back-emf sensing circuit, neutral point N and monolithic
The AIN0 of machine connects, Ain, Bin, and Cin meets the ADC0 of single-chip microcomputer respectively, ADC1, ADC2. ceaselessly compare neutral point N voltages with
Three sizes of end-point voltage of A, B, C three-phase, to detect the zero crossing of every phase induced electromotive force.The simulation of one-chip computer module 16 ratio
It is AIN0, negative input configuration then according to ADMUX registers compared with the positive input of device and selects ADC0, ADC1, ADC2,
So as to the multiplexing function of the analog comparator that make use of one-chip computer module to carry.Work as A, during B phases are powered, C opposite potentials are with
Property point N is compared, similar, it is possible to successfully to detect the mistake null event of each phase, when motor back-EMF determination out after,
The zero crossing of back-emf can be just found, 30 ° of electrical angles are postponed after back-emf zero passage carries out switch operation.Brshless DC motor
Drive circuit use the arm full-bridge type of drive of three-phase six, current fluctuation and torque pulsation can be reduced using this mode so that
Motor exports larger torque.6 power field effect pipe controlled output voltages, DC brushless motor are used in motor driving part point
Drive circuit supply voltage is in 11V drive circuits, triode Q1-Q3 uses IRFR 5305（P-channel）, triode Q4-Q6 is
IRFR 1205（N raceway grooves）.The built-in fly-wheel diode of the FET, current path is provided when being turned off for FET, to keep away
Exempt from the reverse breakdown of pipe；A1-A3 provide three phase full bridge on bridge arm gate drive signal, and with the hardware PWM of one-chip computer module
Drive signal connects, and motor speed control is realized by changing the dutycycle of pwm signal, and B1-B3 provides lower bridge arm grid and drives
Dynamic signal, is directly provided by I/O mouthfuls of single-chip microcomputer, with conducting and cut-off two states；Brshless DC motor drive control is adopted
Using three phase six state control strategy, power tube has six kinds of triggering states, only two pipe conductings, every 60 ° of electrical angles every time
Once, such as when a certain moment AB is conducted, C phases are by no current output for commutation.Now, the normal work of motor drive module 3
Make.
After attitude measurement module 5 works on power, MPU6050 is used as inertial navigation sensor, real-time detection UAV Attitude letter
Breath, and data are calculated with the fusion of the spin matrix of the axle of numeral output 6 or 9 axles, quaternary number, Eulerian angles form, reach
The resolution ratio of 131LSBs/ °/sec, and by real-time detection to data transfer to the one-chip computer module in control module 2, treat list
Piece machine resume module, feed back to motor drive module 3；Meanwhile, three axle geomagnetic sensor compass HMC5883L are built-in in itself
The special integrated design circuit of HMC118X series magnetoresistive transducers and Honeywell patent（ASIC）, carry autodegauss driving
Device, set/reset and bigoted driver, deviation calibration and 12 analog-digital converters, the magnetic field of the earth that real-time detection can be arrived etc.
Downfield direction and size data, in the form of high sensitivity, High Linear precision, are transferred to by itself 12 Analog to Digital Converter
One-chip computer module in control module 2, treats one-chip computer module treatment, feeds back to motor drive module 3, is used to adjust unmanned plane
Flight attitude.
After ultrasonic distance measuring module 7 works on power, ultrasonic transmitter 19 is using ultrasound transmitting transducer TCT40-
16T, ultrasonic transmitter 19 outwardly sends 40kHz or so by way of one-chip computer module software programming in control module 2
Square-wave pulse signal, but due to one-chip computer module port power output not enough, therefore the output port in one-chip computer module connects
Enter amplifying circuit 12, amplifying circuit carries out power amplification by the push-pull circuit that 74HC04 is constituted, the amplifying circuit 12 it is defeated
Go out to be terminated with pull-up resistor R13, R14, on the one hand can remember that 74HC04 exports the driving force of high level, the opposing party with provider
Face can increase the damping of ultrasonic transmitter 19, shorten the time of its free oscillation, can transmitting range it is remote enough, it is full
, finally with ultrasonic transmitter 19 be connected for the output of amplifying circuit 12, finally by ultrasound by the power of sufficient measurement distance requirement
Wave launcher 19 is transmitted into air in the form of a sound wave, will be returned when sound wave runs into barrier in atmosphere, by ultrasound
Ripple receiver 20 smoothly receives echo, wherein, ultrasonic receiver 20 uses ultrasonic wave receive transducer TCT40-16R, is
The ultrasonic wave receive transducer supporting with ultrasound transmitting transducer TCT40-16T, by physics after the reception of ultrasonic receiver 20
Signal is converted into electric signal, and electric signal is amplified by booster circuit 13, filter circuit 15, is filtered, the treatment such as shaping,
Finally by the signal transmission after adjustment to the one-chip computer module in control module 2, and processed by one-chip computer module and feed back to and hold
Row device drive control circuit（Motor-drive circuit）The flight attitude of unmanned plane is controlled, the function of avoiding barrier is realized.
The beneficial effects of the utility model are：This device can give full play to STM32 single-chip microcomputers high-performance, resourceful spy
Point, peripheral circuit structure design is simple, greatly improves speed governing and the control performance of four rotor wing unmanned aerial vehicle brshless DC motors, solves
Available circuit complex structure high cost, lacks the deficiencies such as economy；Secondly by ultrasonic distance measuring module, real-time monitoring nobody
Machine and the distance of barrier, realize automatic obstacle avoidance functions during unmanned plane main flight of leisure, solve unmanned plane on existing market
The barrier automatic dodging problem of autonomous flight cannot be realized, mobility that unmanned plane carries in itself, portable is further increased
Property, operability, can preferably realize, complete, solving the various practical problems of existing unmanned plane application field.
Brief description of the drawings
Fig. 1 is structure drawing of device of the present utility model；
Fig. 2 is device top view of the present utility model；
Fig. 3 is device side view of the present utility model；
Fig. 4 is 5V-3.3V change-over circuits schematic diagram of the present utility model；
Fig. 5 is RC annular oscillation circuits schematic diagram of the present utility model；
Fig. 6 is ultrasonic distance measuring module installation drawing of the present utility model；
Fig. 7 is amplifying circuit schematic diagram of the present utility model；
Fig. 8 is control module structure chart of the present utility model；
Fig. 9 is filter circuit schematic diagram of the present utility model；
Figure 10 is booster circuit schematic diagram of the present utility model；
Figure 11-13 is drive control circuit theory diagrams of the present utility model.
Each label in Fig. 1-10：1- power modules, 2- control modules, 3- motor drive modules, 4- wireless communication modules, 5-
Attitude measurement module, 6- anti-collision structures, 7- ultrasonic distance measuring modules, 8- peripheral auxiliary equipment interface modules, 12- amplifying circuits,
13- booster circuits, 15- filter circuits, 17- protective covers, 18- protection networks, 19- ultrasonic transmitters, 20- ultrasonic receivers,
21- ultrasonic distance measuring module shells.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment, the utility model is described in further detail.
Embodiment 1：As shown in figures 1-13, a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS,
Including power module 1, control module 2, motor drive module 3, wireless communication module 4, attitude measurement module 5, anti-collision structure 6,
Ultrasonic distance measuring module 7, peripheral auxiliary equipment interface module 8；Wherein power module 1 drives mould with control module 2, motor respectively
Block 3 is connected, control module 2 respectively with power module 1, motor drive module 3, wireless communication module 4, attitude measurement module 5,
Anti-collision structure 6, ultrasonic distance measuring module 7, peripheral auxiliary equipment interface module 8 are connected.
Embodiment 2：As shown in figures 1-13, a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS,
Including power module 1, control module 2, motor drive module 3, wireless communication module 4, attitude measurement module 5, anti-collision structure 6,
Ultrasonic distance measuring module 7, peripheral auxiliary equipment interface module 8；Wherein power module 1 drives mould with control module 2, motor respectively
Block 3 is connected, control module 2 respectively with power module 1, motor drive module 3, wireless communication module 4, attitude measurement module 5,
Anti-collision structure 6, ultrasonic distance measuring module 7, peripheral auxiliary equipment interface module 8 are connected.
The power module 1 includes 3S polymer Li-ion batteries（Circuit BEC, Battery are eliminated from charged pool
Eliminating Circuit）, 5V-3.3V change-over circuits, flow distribution plate；Wherein, 3S polymer Li-ion batteries respectively with 5V-
3.3V change-over circuits, flow distribution plate are connected, and 5V-3.3V change-over circuits are connected with one-chip computer module in control module 2, for it is provided
Working power, flow distribution plate is directly connected with motor drive module 3, for motor work provides power supply.
Embodiment 3：As shown in figures 1-13, a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS,
The present embodiment is same as Example 2, wherein,
The 5V-3.3V change-over circuits include linear power supply voltage stabilizing chip AMS1117, electric capacity C1, C2, C3, C4；Wherein
By 3S polymer Li-ion batteries by carrying+the VIN of BEC direct current output 5V voltages and linear power supply voltage stabilizing chip AMS1117
Pin, one end of electric capacity C1 is connected with+VIN the pins of linear power supply voltage stabilizing chip AMS1117；The other end of electric capacity C1 directly connects
Enter the earth GND；One end of electric capacity C2 is connected with+VIN the pins of linear power supply voltage stabilizing chip AMS1117, the other end of electric capacity C2
It is directly accessed the earth GND；The GND pin of linear power supply voltage stabilizing chip AMS1117 is directly accessed the earth GND；One end of electric capacity C3
OUT pins with linear power supply voltage stabilizing chip AMS1117 are connected, and the other end of electric capacity C3 is directly accessed the earth GND；Electric capacity C4's
One end is connected with the OUT pins of linear power supply voltage stabilizing chip AMS1117, and the other end of electric capacity C4 is directly accessed the earth GND；Linearly
Positive pole VCC of the OUT pins of power supply voltage stabilizing chip AMS1117 directly as 3.3V voltages.
Embodiment 4：As shown in figures 1-13, a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS,
The present embodiment is same as Example 3, wherein,
The control module 2 includes amplifying circuit 12, booster circuit 13, drive control circuit, filter circuit 15,5V-
3.3V change-over circuits, one-chip computer module；Wherein, one-chip computer module is electric with amplifying circuit 12, booster circuit 13, drive control respectively
Road, filter circuit 15,5V-3.3V change-over circuits are connected.
The amplifying circuit 12 includes 74HC04 amplifiers Q7, Q9, Q10, Q11, Q12, pull-up resistor R13, R14；Wherein,
The input of 74HC04 amplifiers Q7 is in parallel with the input of 74HC04 amplifiers Q11, and as the input of amplifying circuit 12,
And be connected with the P1.0 square-wave pulse signal output ports of single-chip microcomputer in one-chip computer module, the output end of 74HC04 amplifiers Q7
Input with 74HC04 amplifiers Q9 is connected, and the output end of 74HC04 amplifiers Q9 is connected with one end of pull-up resistor R13
Connect, the other end of the R13 of pull-up resistor is connected with power supply VCC, input and the 74HC04 amplifiers of 74HC04 amplifiers Q10
The input of Q9 is connected, and the output end of 74HC04 amplifiers Q10 is connected with one end of ultrasonic transmitter 19, and 74HC04 is put
The other end of big device Q11 is connected with ultrasonic transmitter 19, input and the 74HC04 amplifiers of 74HC04 amplifiers Q12
The input of Q11 is connected, the other end of 74HC04 amplifiers Q12 and one end of pull-up resistor R14, the phase of ultrasonic transmitter 19
Connection, the other end of pull-up resistor R14 is connected with power supply VCC, and power supply VCC is 3.3V voltage sources.
Embodiment 5：As shown in figures 1-13, a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS,
The present embodiment is same as Example 4, wherein,
The booster circuit 13 includes inductance L1, VNPN type triode Q8, diode B1, electric capacity C5；Wherein, inductance L1
One end is connected as the input of booster circuit 13 with the output end of filter circuit 15, the other end and the VNPN types three of inductance L1
The base stage of pole pipe Q8 is connected；The emitter stage of VNPN type triodes Q8 is connected with the anode of diode B1, VNPN type triodes
The colelctor electrode of Q8 is directly accessed the earth GND；The negative electrode of diode B1 is connected with one end of electric capacity C5, and as booster circuit
13 output end is connected with the one-chip computer module in control module 2；The other end of electric capacity C5 is directly accessed the earth GND.
Embodiment 6：As shown in figures 1-13, a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS,
The present embodiment is same as Example 5, wherein,
The drive control circuit includes fixed value resistance R1, R2, R3, R4, R5, R6, R7, R8, R9, R10, R11, R12,
PNP transistor T1, T2, T3, NPN type triode Q1, Q2, Q3, PNP type triode Q4, Q5, Q6；Wherein fixed value resistance R1's
One end is the A1 ends of drive control circuit A, and the other end accesses the base stage of PNP transistor T1, the colelctor electrode of PNP transistor T1
The constant voltage dc source VCC of power module 1, positive-negative-positive are connected to by the parallel circuit of fixed value resistance R2 and NPN type triode Q1
The emitter stage of transistor T1 directly enters the earth GND, and one end of fixed value resistance R3 is the B1 ends of drive control circuit A, the other end with
The parallel circuit in series of fixed value resistance R4 and PNP type triode Q4, colelctor electrode and the NPN type triode Q1 of PNP type triode Q4
Emitter stage be connected, the emitter stage of PNP type triode Q4 is directly accessed the earth GND；Controlled to drive one end of fixed value resistance R5
The A2 ends of circuit B processed, the other end accesses the base stage of PNP transistor T2, and the colelctor electrode of PNP transistor T2 passes through fixed value resistance
The parallel circuit of R6 and NPN type triode Q2 is connected to the constant voltage dc source VCC of power module 1, the hair of PNP transistor T2
Emitter-base bandgap grading directly enters the earth GND, and one end of fixed value resistance R7 is the B2 ends of drive control circuit B, the other end and fixed value resistance R8 and
The parallel circuit in series of PNP type triode Q5, the colelctor electrode of PNP type triode Q5 is connected with the emitter stage of NPN type triode Q2
Connect, the emitter stage of PNP type triode Q5 is directly accessed the earth GND；One end of fixed value resistance R9 is the A3 of drive control circuit C
End, the other end accesses the base stage of PNP transistor T3, and the colelctor electrode of PNP transistor T3 passes through fixed value resistance R10 and NPN type
The parallel circuit of triode Q3 is connected to the constant voltage dc source VCC of power module 1, and the emitter stage of PNP transistor T3 is direct
Enter the earth GND, one end of fixed value resistance R11 is the B3 ends of drive control circuit C, the other end and fixed value resistance R12 and positive-negative-positive three
The parallel circuit in series of pole pipe Q6, the colelctor electrode of PNP type triode Q6 is connected with the emitter stage of NPN type triode Q3, positive-negative-positive
The emitter stage of triode Q6 is directly accessed the earth GND；A1 pins, A2 pins, A3 pins and control mould in drive control circuit
PWM drive signal in block 2 in one-chip computer module connects, B1 pins, B2 pins, B3 pins and single-chip microcomputer mould in control module 2
I/O mouthfuls in block is connected.
Embodiment 7：As shown in figures 1-13, a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS,
The present embodiment is same as Example 6, wherein,
The filter circuit 15 includes resistance R15, R16, R17, R18, R19, electric capacity C6, C7, C8, amplifier Q13；Wherein
Ultrasound in the input that resistance R15 one end is connected as filter circuit 15 with one end of electric capacity C6, with ultrasonic distance measuring module 7
The output end of ripple receiver 20 is connected, and the other end of resistance 15 is connected with one end of resistance R16, the other end of resistance R16 with put
The "-" level of big device Q13 is connected, and the other end of electric capacity C6 is connected with one end of one end of resistance R17, electric capacity C7, electric capacity C7's
The other end of the other end and resistance R16, the "-" level of amplifier Q13 are connected, the other end of resistance R17 and one end of resistance R19
It is connected, the other end of resistance R19 is connected with the "+" level of one end of resistance R18, amplifier Q13, the other end of resistance R18
The earth GND is directly accessed, one end of electric capacity C8 is connected with one end of one end of resistance R15, resistance R16, the other end of electric capacity C8
The earth GND is directly accessed, the base stage of amplifier Q13 is used as one-chip computer module in the output end and control module 2 of filter circuit 15
It is connected.
Embodiment 8：As shown in figures 1-13, a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS,
The present embodiment is same as Example 7, wherein,
The wireless communication module 4 uses general 2.4G wireless communication modules.
The attitude measurement module 5 is using MPU6050 sensors, the axle geomagnetic sensor compass of HMC5883L tri-, MPU6050
Sensor incorporates six axle motion tracking devices, including three-axis gyroscope, 3-axis acceleration sensor.
Embodiment 9：As shown in figures 1-13, a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS,
The present embodiment is same as Example 8, wherein,
The anti-collision structure 6 includes protective cover 17, protection network 18；Wherein protective cover 17 is used and contains 1-3% valine Chinese yams
The plastic casing of sapogenin ester, the core of netting twine used by protection network 18 uses special synthesizing multi-path fibre bundle, netting twine outer layer to use
Special spiral works out synthetic fibers, coiling coiling in the way of the racket string of racket and racket body coiling of anti-collision structure.
Embodiment 10：As shown in figures 1-13, a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane dress based on embedded type C PS
Put, the present embodiment is same as Example 9, wherein,
The ultrasonic distance measuring module 7 includes ultrasonic transmitter 19, amplifying circuit 12, ultrasonic receiver 20, boosting
Circuit 13, filter circuit 15, ultrasonic distance measuring module shell 21；Wherein, the bottom of ultrasonic transmitter 19 is by acid esters of having a dinner party
Be seamlessly connected with ultrasonic distance measuring module shell 21 with silica gel, the bottom of ultrasonic receiver 20 by have a dinner party acid esters and silica gel with
Ultrasonic distance measuring module shell 21 is connected and is seamlessly connected on the same plane with ultrasonic transmitter 19 again, ultrasonic transmitter 19
Transmitting terminal is vertical outside into an angle of 90 degrees with place plane with the receiving terminal of ultrasonic receiver 20；The lower section of ultrasonic transmitter 19
Be provided with amplifying circuit 12, and ultrasonic transmitter 19 is connected with the input of amplifying circuit 12, the output end of amplifying circuit 12 with
One-chip computer module is connected in control module 2；The lower section of ultrasonic receiver 20 is provided with booster circuit 13, filter circuit 15, and super
Acoustic receiver 20 is connected with the input of booster circuit 13, the output end of booster circuit 13 and the input phase of filter circuit 15
Connection, the output end of filter circuit 15 is connected with one-chip computer module in control module 2.
Embodiment 11：As shown in figures 1-13, a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane dress based on embedded type C PS
Put, including power module 1, control module 2, motor drive module 3, wireless communication module 4, attitude measurement module 5, anti-collision structure
6th, ultrasonic distance measuring module 7, peripheral auxiliary equipment interface module 8；Wherein power module 1 drives with control module 2, motor respectively
Module 3 is connected, control module 2 respectively with power module 1, motor drive module 3, wireless communication module 4, attitude measurement module
5th, anti-collision structure 6, ultrasonic distance measuring module 7, peripheral auxiliary equipment interface module 8 are connected.
The power module 1 includes 3S polymer Li-ion batteries（Circuit BEC, Battery are eliminated from charged pool
Eliminating Circuit）, 5V-3.3V change-over circuits, flow distribution plate；Wherein, 3S polymer Li-ion batteries respectively with 5V-
3.3V change-over circuits, flow distribution plate are connected, and 5V-3.3V change-over circuits are connected with one-chip computer module in control module 2, for it is provided
Working power, flow distribution plate is directly connected with motor drive module 3, for motor work provides power supply.
The 5V-3.3V change-over circuits include linear power supply voltage stabilizing chip AMS1117, electric capacity C1, C2, C3, C4；Wherein
By 3S polymer Li-ion batteries by carrying+the VIN of BEC direct current output 5V voltages and linear power supply voltage stabilizing chip AMS1117
Pin, one end of electric capacity C1 is connected with+VIN the pins of linear power supply voltage stabilizing chip AMS1117；The other end of electric capacity C1 directly connects
Enter the earth GND；One end of electric capacity C2 is connected with+VIN the pins of linear power supply voltage stabilizing chip AMS1117, the other end of electric capacity C2
It is directly accessed the earth GND；The GND pin of linear power supply voltage stabilizing chip AMS1117 is directly accessed the earth GND；One end of electric capacity C3
OUT pins with linear power supply voltage stabilizing chip AMS1117 are connected, and the other end of electric capacity C3 is directly accessed the earth GND；Electric capacity C4's
One end is connected with the OUT pins of linear power supply voltage stabilizing chip AMS1117, and the other end of electric capacity C4 is directly accessed the earth GND；Linearly
Positive pole VCC of the OUT pins of power supply voltage stabilizing chip AMS1117 directly as 3.3V voltages.
The control module 2 includes amplifying circuit 12, booster circuit 13, drive control circuit, filter circuit 15,5V-
3.3V change-over circuits, one-chip computer module；Wherein, one-chip computer module is electric with amplifying circuit 12, booster circuit 13, drive control respectively
Road, filter circuit 15,5V-3.3V change-over circuits are connected.
The amplifying circuit 12 includes 74HC04 amplifiers Q7, Q9, Q10, Q11, Q12, pull-up resistor R13, R14；Wherein,
The input of 74HC04 amplifiers Q7 is in parallel with the input of 74HC04 amplifiers Q11, and as the input of amplifying circuit 12,
And be connected with the P1.0 square-wave pulse signal output ports of single-chip microcomputer in one-chip computer module, the output end of 74HC04 amplifiers Q7
Input with 74HC04 amplifiers Q9 is connected, and the output end of 74HC04 amplifiers Q9 is connected with one end of pull-up resistor R13
Connect, the other end of the R13 of pull-up resistor is connected with power supply VCC, input and the 74HC04 amplifiers of 74HC04 amplifiers Q10
The input of Q9 is connected, and the output end of 74HC04 amplifiers Q10 is connected with one end of ultrasonic transmitter 19, and 74HC04 is put
The other end of big device Q11 is connected with ultrasonic transmitter 19, input and the 74HC04 amplifiers of 74HC04 amplifiers Q12
The input of Q11 is connected, the other end of 74HC04 amplifiers Q12 and one end of pull-up resistor R14, the phase of ultrasonic transmitter 19
Connection, the other end of pull-up resistor R14 is connected with power supply VCC, and power supply VCC is 3.3V voltage sources.
The booster circuit 13 includes inductance L1, VNPN type triode Q8, diode B1, electric capacity C5；Wherein, inductance L1
One end is connected as the input of booster circuit 13 with the output end of filter circuit 15, the other end and the VNPN types three of inductance L1
The base stage of pole pipe Q8 is connected；The emitter stage of VNPN type triodes Q8 is connected with the anode of diode B1, VNPN type triodes
The colelctor electrode of Q8 is directly accessed the earth GND；The negative electrode of diode B1 is connected with one end of electric capacity C5, and as booster circuit
13 output end is connected with the one-chip computer module in control module 2；The other end of electric capacity C5 is directly accessed the earth GND.
The drive control circuit includes fixed value resistance R1, R2, R3, R4, R5, R6, R7, R8, R9, R10, R11, R12,
PNP transistor T1, T2, T3, NPN type triode Q1, Q2, Q3, PNP type triode Q4, Q5, Q6；Wherein fixed value resistance R1's
One end is the A1 ends of drive control circuit A, and the other end accesses the base stage of PNP transistor T1, the colelctor electrode of PNP transistor T1
The constant voltage dc source VCC of power module 1, positive-negative-positive are connected to by the parallel circuit of fixed value resistance R2 and NPN type triode Q1
The emitter stage of transistor T1 directly enters the earth GND, and one end of fixed value resistance R3 is the B1 ends of drive control circuit A, the other end with
The parallel circuit in series of fixed value resistance R4 and PNP type triode Q4, colelctor electrode and the NPN type triode Q1 of PNP type triode Q4
Emitter stage be connected, the emitter stage of PNP type triode Q4 is directly accessed the earth GND；Controlled to drive one end of fixed value resistance R5
The A2 ends of circuit B processed, the other end accesses the base stage of PNP transistor T2, and the colelctor electrode of PNP transistor T2 passes through fixed value resistance
The parallel circuit of R6 and NPN type triode Q2 is connected to the constant voltage dc source VCC of power module 1, the hair of PNP transistor T2
Emitter-base bandgap grading directly enters the earth GND, and one end of fixed value resistance R7 is the B2 ends of drive control circuit B, the other end and fixed value resistance R8 and
The parallel circuit in series of PNP type triode Q5, the colelctor electrode of PNP type triode Q5 is connected with the emitter stage of NPN type triode Q2
Connect, the emitter stage of PNP type triode Q5 is directly accessed the earth GND；One end of fixed value resistance R9 is the A3 of drive control circuit C
End, the other end accesses the base stage of PNP transistor T3, and the colelctor electrode of PNP transistor T3 passes through fixed value resistance R10 and NPN type
The parallel circuit of triode Q3 is connected to the constant voltage dc source VCC of power module 1, and the emitter stage of PNP transistor T3 is direct
Enter the earth GND, one end of fixed value resistance R11 is the B3 ends of drive control circuit C, the other end and fixed value resistance R12 and positive-negative-positive three
The parallel circuit in series of pole pipe Q6, the colelctor electrode of PNP type triode Q6 is connected with the emitter stage of NPN type triode Q3, positive-negative-positive
The emitter stage of triode Q6 is directly accessed the earth GND；A1 pins, A2 pins, A3 pins and control mould in drive control circuit
PWM drive signal in block 2 in one-chip computer module connects, B1 pins, B2 pins, B3 pins and single-chip microcomputer mould in control module 2
I/O mouthfuls in block is connected.
The filter circuit 15 includes resistance R15, R16, R17, R18, R19, electric capacity C6, C7, C8, amplifier Q13；Wherein
Ultrasound in the input that resistance R15 one end is connected as filter circuit 15 with one end of electric capacity C6, with ultrasonic distance measuring module 7
The output end of ripple receiver 20 is connected, and the other end of resistance 15 is connected with one end of resistance R16, the other end of resistance R16 with put
The "-" level of big device Q13 is connected, and the other end of electric capacity C6 is connected with one end of one end of resistance R17, electric capacity C7, electric capacity C7's
The other end of the other end and resistance R16, the "-" level of amplifier Q13 are connected, the other end of resistance R17 and one end of resistance R19
It is connected, the other end of resistance R19 is connected with the "+" level of one end of resistance R18, amplifier Q13, the other end of resistance R18
The earth GND is directly accessed, one end of electric capacity C8 is connected with one end of one end of resistance R15, resistance R16, the other end of electric capacity C8
The earth GND is directly accessed, the base stage of amplifier Q13 is used as one-chip computer module in the output end and control module 2 of filter circuit 15
It is connected.
The wireless communication module 4 uses general 2.4G wireless communication modules.
The attitude measurement module 5 is using MPU6050 sensors, the axle geomagnetic sensor compass of HMC5883L tri-, MPU6050
Sensor incorporates six axle motion tracking devices, including three-axis gyroscope, 3-axis acceleration sensor.
The anti-collision structure 6 includes protective cover 17, protection network 18；Wherein protective cover 17 is used and contains 1-3% valine Chinese yams
The plastic casing of sapogenin ester, the core of netting twine used by protection network 18 uses special synthesizing multi-path fibre bundle, netting twine outer layer to use
Special spiral works out synthetic fibers, coiling coiling in the way of the racket string of racket and racket body coiling of anti-collision structure.
The ultrasonic distance measuring module 7 includes ultrasonic transmitter 19, amplifying circuit 12, ultrasonic receiver 20, boosting
Circuit 13, filter circuit 15, ultrasonic distance measuring module shell 21；Wherein, the bottom of ultrasonic transmitter 19 is by acid esters of having a dinner party
Be seamlessly connected with ultrasonic distance measuring module shell 21 with silica gel, the bottom of ultrasonic receiver 20 by have a dinner party acid esters and silica gel with
Ultrasonic distance measuring module shell 21 is connected and is seamlessly connected on the same plane with ultrasonic transmitter 19 again, ultrasonic transmitter 19
Transmitting terminal is vertical outside into an angle of 90 degrees with place plane with the receiving terminal of ultrasonic receiver 20；The lower section of ultrasonic transmitter 19
Be provided with amplifying circuit 12, and ultrasonic transmitter 19 is connected with the input of amplifying circuit 12, the output end of amplifying circuit 12 with
One-chip computer module is connected in control module 2；The lower section of ultrasonic receiver 20 is provided with booster circuit 13, filter circuit 15, and super
Acoustic receiver 20 is connected with the input of booster circuit 13, the output end of booster circuit 13 and the input phase of filter circuit 15
Connection, the output end of filter circuit 15 is connected with one-chip computer module in control module 2.
The peripheral auxiliary equipment interface module 8 uses four-wire system I2C expansion board.
Specific embodiment of the utility model is explained in detail above in conjunction with accompanying drawing, but the utility model is not limited
In above-described embodiment, in the ken that those of ordinary skill in the art possess, the utility model can also not departed from
Various changes can be made on the premise of objective.
Claims (13)
1. a kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS, it is characterised in that：Including power module
（1）, control module（2）, motor drive module（3）, wireless communication module（4）, attitude measurement module（5）, anti-collision structure（6）、
Ultrasonic distance measuring module（7）, peripheral auxiliary equipment interface module（8）；Wherein power module（1）Respectively with control module（2）, electricity
Machine drive module（3）It is connected, control module（2）Respectively with power module（1）, motor drive module（3）, wireless communication module
（4）, attitude measurement module（5）, anti-collision structure（6）, ultrasonic distance measuring module（7）, peripheral auxiliary equipment interface module（8）It is connected
Connect.
2. the ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS according to claim 1, its feature exists
In：The power module（1）Including 3S polymer Li-ion batteries, 5V-3.3V change-over circuits, flow distribution plate；Wherein, 3S polymerizations
Thing lithium ion battery is connected with 5V-3.3V change-over circuits, flow distribution plate respectively, 5V-3.3V change-over circuits and control module（2）In
One-chip computer module is connected, and flow distribution plate is directly and motor drive module（3）It is connected.
3. the ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS according to claim 2, its feature exists
In：The 5V-3.3V change-over circuits include linear power supply voltage stabilizing chip AMS1117, electric capacity C1, C2, C3, C4；Wherein gathered by 3S
Compound lithium ion battery is by carrying+VIN pin the phases of BEC direct current output 5V voltages and linear power supply voltage stabilizing chip AMS1117
Even, one end of electric capacity C1 is connected with+VIN the pins of linear power supply voltage stabilizing chip AMS1117；The other end of electric capacity C1 is directly accessed
The earth GND；One end of electric capacity C2 is connected with+VIN the pins of linear power supply voltage stabilizing chip AMS1117, and the other end of electric capacity C2 is straight
Access the earth GND；The GND pin of linear power supply voltage stabilizing chip AMS1117 is directly accessed the earth GND；One end of electric capacity C3 with
The OUT pins of linear power supply voltage stabilizing chip AMS1117 are connected, and the other end of electric capacity C3 is directly accessed the earth GND；The one of electric capacity C4
End is connected with the OUT pins of linear power supply voltage stabilizing chip AMS1117, and the other end of electric capacity C4 is directly accessed the earth GND；Linear electricity
Positive pole VCC of the OUT pins of source voltage stabilizing chip AMS1117 directly as 3.3V voltages.
4. the ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS according to claim 1, its feature exists
In：The control module（2）Including amplifying circuit（12）, booster circuit（13）, drive control circuit, filter circuit（15）、5V-
3.3V change-over circuits, one-chip computer module；Wherein, one-chip computer module respectively with amplifying circuit（12）, booster circuit（13）, drive control
Circuit processed, filter circuit（15）, 5V-3.3V change-over circuits be connected.
5. the ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS according to claim 4, its feature exists
In：The amplifying circuit（12）Including 74HC04 amplifiers Q7, Q9, Q10, Q11, Q12, pull-up resistor R13, R14；Wherein,
The input of 74HC04 amplifiers Q7 is in parallel with the input of 74HC04 amplifiers Q11, and as amplifying circuit（12）Input
End, and be connected with the P1.0 square-wave pulse signal output ports of single-chip microcomputer in one-chip computer module, 74HC04 amplifiers Q7's is defeated
Go out end to be connected with the input of 74HC04 amplifiers Q9, the output end of 74HC04 amplifiers Q9 and one end of pull-up resistor R13
It is connected, the other end of the R13 of pull-up resistor is connected with power supply VCC, the input of 74HC04 amplifiers Q10 is put with 74HC04
The input of big device Q9 is connected, the output end and ultrasonic transmitter of 74HC04 amplifiers Q10（19）One end be connected,
The other end and ultrasonic transmitter of 74HC04 amplifiers Q11（19）Be connected, the input of 74HC04 amplifiers Q12 with
The input of 74HC04 amplifiers Q11 is connected, the other end of 74HC04 amplifiers Q12 and one end, the ultrasound of pull-up resistor R14
Wave launcher（19）It is connected, the other end of pull-up resistor R14 is connected with power supply VCC, power supply VCC is 3.3V voltage sources.
6. the ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS according to claim 4, its feature exists
In：The booster circuit（13）Including inductance L1, VNPN type triode Q8, diode B1, electric capacity C5；Wherein, the one of inductance L1
End is used as booster circuit（13）Input and filter circuit（15）Output end be connected, the other end of inductance L1 and VNPN types
The base stage of triode Q8 is connected；The emitter stage of VNPN type triodes Q8 is connected with the anode of diode B1, the pole of VNPN types three
The colelctor electrode of pipe Q8 is directly accessed the earth GND；The negative electrode of diode B1 is connected with one end of electric capacity C5, and as liter piezoelectricity
Road（13）Output end and control module（2）In one-chip computer module be connected；The other end of electric capacity C5 is directly accessed the earth
GND。
7. the ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS according to claim 4, its feature exists
In：The drive control circuit includes fixed value resistance R1, R2, R3, R4, R5, R6, R7, R8, R9, R10, R11, R12, and positive-negative-positive is brilliant
Body pipe T1, T2, T3, NPN type triode Q1, Q2, Q3, PNP type triode Q4, Q5, Q6；Wherein one end of fixed value resistance R1 is drive
The A1 ends of dynamic control circuit A, the other end accesses the base stage of PNP transistor T1, and the colelctor electrode of PNP transistor T1 passes through definite value
The parallel circuit of resistance R2 and NPN type triode Q1 is connected to power module（1）Constant voltage dc source VCC, PNP transistor
The emitter stage of T1 directly enters the earth GND, and one end of fixed value resistance R3 is the B1 ends of drive control circuit A, the other end and definite value electricity
Hinder the parallel circuit in series of R4 and PNP type triode Q4, the colelctor electrode of PNP type triode Q4 and the transmitting of NPN type triode Q1
Pole is connected, and the emitter stage of PNP type triode Q4 is directly accessed the earth GND；One end of fixed value resistance R5 is drive control circuit B
A2 ends, the other end accesses the base stage of PNP transistor T2, and the colelctor electrode of PNP transistor T2 passes through fixed value resistance R6 and NPN
The parallel circuit of type triode Q2 is connected to power module（1）Constant voltage dc source VCC, the emitter stage of PNP transistor T2
Directly enter the earth GND, one end of fixed value resistance R7 is the B2 ends of drive control circuit B, the other end and fixed value resistance R8 and positive-negative-positive
The parallel circuit in series of triode Q5, the colelctor electrode of PNP type triode Q5 is connected with the emitter stage of NPN type triode Q2, PNP
The emitter stage of type triode Q5 is directly accessed the earth GND；One end of fixed value resistance R9 is the A3 ends of drive control circuit C, another
The base stage into PNP transistor T3 is terminated, the colelctor electrode of PNP transistor T3 is by fixed value resistance R10 and NPN type triode Q3
Parallel circuit be connected to power module（1）Constant voltage dc source VCC, the emitter stage of PNP transistor T3 directly enters the earth
One end of GND, fixed value resistance R11 are the B3 ends of drive control circuit C, the other end and fixed value resistance R12 and PNP type triode Q6
Parallel circuit in series, the colelctor electrode of PNP type triode Q6 is connected with the emitter stage of NPN type triode Q3, PNP type triode
The emitter stage of Q6 is directly accessed the earth GND；A1 pins, A2 pins, A3 pins and control module in drive control circuit（2）In
PWM drive signal in one-chip computer module connects, B1 pins, B2 pins, B3 pins and control module（2）In middle one-chip computer module
I/O mouthfuls be connected.
8. the ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS according to claim 4, its feature exists
In：The filter circuit（15）Including resistance R15, R16, R17, R18, R19, electric capacity C6, C7, C8, amplifier Q13；It is wherein electric
Resistance R15 one end is connected as filter circuit with one end of electric capacity C6（15）Input, with ultrasonic distance measuring module（7）In surpass
Acoustic receiver（20）Output end be connected, the other end of resistance 15 is connected with one end of resistance R16, the other end of resistance R16
It is connected with the "-" level of amplifier Q13, the other end of electric capacity C6 is connected with one end of one end of resistance R17, electric capacity C7, electric capacity
The other end of C7 is connected with the other end of resistance R16, the "-" level of amplifier Q13, and the other end of resistance R17 is with resistance R19's
One end is connected, and the other end of resistance R19 is connected with the "+" level of one end of resistance R18, amplifier Q13, and resistance R18's is another
One end is directly accessed the earth GND, and one end of electric capacity C8 is connected with one end of one end of resistance R15, resistance R16, and electric capacity C8's is another
One end is directly accessed the earth GND, and the base stage of amplifier Q13 is used as filter circuit（15）Output end and control module（2）Middle list
Piece machine module is connected.
9. the ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS according to claim 1, its feature exists
In：The wireless communication module（4）Using general 2.4G wireless communication modules.
10. the ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS according to claim 1, its feature
It is：The attitude measurement module（5）Using MPU6050 sensors, the axle geomagnetic sensor compass of HMC5883L tri-, MPU6050
Sensor incorporates six axle motion tracking devices, including three-axis gyroscope, 3-axis acceleration sensor.
The 11. ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane devices based on embedded type C PS according to claim 1, its feature
It is：The anti-collision structure（6）Including protective cover（17）, protection network（18）；Wherein protective cover（17）Using containing 1-3% figured silk fabrics ammonia
The plastic casing of sour diosgenin ester, protection network（18）The core of netting twine used uses special synthesizing multi-path fibre bundle, netting twine
Outer layer works out synthetic fibers using special spiral, and the coiling of anti-collision structure is with the racket string of racket and the side of racket body coiling
Formula coiling.
The 12. ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane devices based on embedded type C PS according to claim 1, its feature
It is：The ultrasonic distance measuring module（7）Including ultrasonic transmitter（19）, amplifying circuit（12）, ultrasonic receiver（20）、
Booster circuit（13）, filter circuit（15）, ultrasonic distance measuring module shell（21）；Wherein, ultrasonic transmitter（19）Bottom
By acid esters and silica gel and the ultrasonic distance measuring module shell of having a dinner party（21）It is seamlessly connected, ultrasonic receiver（20）Bottom pass through
Have a dinner party acid esters and silica gel and ultrasonic distance measuring module shell（21）Connection is again and ultrasonic transmitter（19）Institute on the same plane without
Seam connection, ultrasonic transmitter（19）Transmitting terminal and ultrasonic receiver（20）Receiving terminal it is vertical into an angle of 90 degrees with place plane
Outwards；Ultrasonic transmitter（19）Lower section be provided with amplifying circuit（12）, and ultrasonic transmitter（19）With amplifying circuit（12）
Input is connected, amplifying circuit（12）Output end and control module（2）Middle one-chip computer module is connected；Ultrasonic receiver
（20）Lower section is provided with booster circuit（13）, filter circuit（15）, and ultrasonic receiver（20）With booster circuit（13）Input
It is connected, booster circuit（13）Output end and filter circuit（15）Input be connected, filter circuit（15）Output end
With control module（2）Middle one-chip computer module is connected.
The 13. ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane devices based on embedded type C PS according to claim 1, its feature
It is：The peripheral auxiliary equipment interface module（8）Using four-wire system I2C expansion board.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621205914.2U CN206311972U (en) | 2016-11-09 | 2016-11-09 | A kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS |
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| CN201621205914.2U CN206311972U (en) | 2016-11-09 | 2016-11-09 | A kind of ultrasonic wave Real Time Obstacle Avoiding anticollision unmanned plane device based on embedded type C PS |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106444840A (en) * | 2016-11-09 | 2017-02-22 | 昆明理工大学 | Embedded-CPS-based ultrasonic real-time-obstacle-avoidance anti-collision unmanned aerial vehicle device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444840A (en) * | 2016-11-09 | 2017-02-22 | 昆明理工大学 | Embedded-CPS-based ultrasonic real-time-obstacle-avoidance anti-collision unmanned aerial vehicle device |
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Granted publication date: 20170707 Termination date: 20181109 |