CN206773531U - A kind of aircraft - Google Patents

Abstract

The utility model discloses a kind of aircraft, including the main control chip of mainboard, ultrasound examination module and attitude transducer；Main control chip receives the control instruction that host computer is sent, ultrasound examination module and attitude transducer and receives the control instruction of main control chip transmission by CAN and SPI serial ports, and passes the data collected back main control chip by analog-to-digital conversion module.The utility model uses the function of SPI serial communications, is engaged with ADC, realizes that the external circumstances for detecting peripheral module are real-time, is accurately transmitted to host computer, reduce consumptive material, cost is reduced, reduces the volume of mainboard, alleviates the overall body weight of aircraft；Master control borad used has reserved I2C and multiple serial ports to configure the sensor in required place, can be flexible and changeable in the case where cost is relatively low, can expand more multi-functional.

Description

A kind of aircraft

Technical field

Unmanned air vehicle technique field is the utility model is related to, specially a kind of aircraft.

Background technology

From after unmanned plane enters civil area so that the application of unmanned plane is also all the more extensive.In many prospecting operations, nothing It is man-machine preferably to perform its task, such as exploration of Agricultural Monitoring, wasteland, engineering detecting and maintenance.Each engineering company is carried out When measuring work, the mode of its work can be dramatically speeded up using unmanned plane and sensor, and then improve operating efficiency.And nobody When machine carries out its Mission Operations, a critically important part is then autonomous avoiding barrier and smooth flight.

Existing unmanned plane avoidance is mostly manual control, i.e., by each motion action of remote control control unmanned plane, And then the flight of unmanned plane is controlled, this causes unmanned plane to lack certain independence.

Although companies many now realizes unmanned plane barrier avoiding function, design that its function is carried out is completed more Complexity, so as to make its cost higher, it is unfavorable for reducing its cost.

The control panel of present numerous unmanned planes all without any reserved module, causes to be unfavorable for changing peripheral hardware.If it is desired to Change its detection method（Such as it is changed to ultrasonic ranging from laser ranging）, then its device can not be changed easily.It is so that existing Some unmanned planes are poor in varying environment and expansion under outdoor conditions.

Utility model content

The purpose of this utility model is to provide a kind of cheap, mainboard small volume, in light weight, flexible and changeable, can open up Open up the aircraft of multiple functions.Technical scheme is as follows：

A kind of aircraft, including the main control chip of mainboard, ultrasound examination module and attitude transducer；Main control chip receives The control instruction that host computer is sent, ultrasound examination module and attitude transducer receive master control core by CAN and SPI serial ports The control instruction that piece is sent, and main control chip back is passed the data collected by analog-to-digital conversion module.

Further, in addition to baroceptor, baroceptor receive master control by the CAN and SPI serial ports The control instruction that chip is sent, and main control chip back is passed the data collected by the analog-to-digital conversion module.

Further, in addition to it is connected to the screen tracker of the main control chip.

Further, the main control chip uses STM32F407VGD single-chip microcomputers.

Further, the analog-to-digital conversion module uses 14 3GSPS double channel A/Ds C32RF45.

Further, the attitude transducer uses MPU-9150.

The beneficial effects of the utility model are：The utility model uses the function of SPI serial communications, and is engaged with ADC, Realize that the external circumstances for detecting peripheral module are real-time, be accurately transmitted to host computer, so as to eliminate DAC, GPS etc. Most aircraft can increased funtion part, make this fly control mainboard reduce consumptive material, reduce cost, and reduce the body of mainboard Product, so as to alleviate the overall body weight of aircraft；Master control borad used has reserved I2C and multiple serial ports to configure The sensor in place is needed, can be flexible and changeable in the case where cost is relatively low, it can expand more multi-functional.

Brief description of the drawings

Fig. 1 is the structured flowchart of the utility model aircraft mainboard.

Fig. 2 is STM32F407VGD main control chip circuit theory diagrams.

Fig. 3 is the serial port circuit schematic diagram of external ultrasonic wave module connection.

Fig. 4 is reserved I2C bus circuit schematic diagrams.

Fig. 5 is MS5611 air pressure module circuit schematics.

Fig. 6 is LED module circuit theory diagrams.

Fig. 7 is MPU9150 attitude transducer circuit theory diagrams.

Fig. 8 is reserved SPI_FLASH Serial Peripheral Interface circuit theory diagrams.

Fig. 9 is ADC detection module circuit theory diagrams.

Embodiment

The utility model is described in further details with specific embodiment below in conjunction with the accompanying drawings.As shown in figure 1, a kind of fly Row device, including the main control chip of mainboard, ultrasound examination module and attitude transducer；Main control chip receives the control that host computer is sent The control that system instruction, ultrasound examination module and attitude transducer receive main control chip transmission by CAN and SPI serial ports refers to Order, and main control chip back is passed the data collected by analog-to-digital conversion module.

Ultrasound examination module is by launching the ultrasonic wave with receiving fixed frequency, read access time, then by calculating to adopt The data of collection front distance.Attitude transducer obtains the three-dimensional appearance by temperature-compensating by embedded low-power consumption arm processor The data such as state and orientation.Using three-dimensional algorithm and the special data integration technology based on quaternary number, output is with quaternary number, Europe in real time The zero shift 3 d pose bearing data for drawing angle to represent.

The present embodiment also includes baroceptor, and baroceptor receives master control core by the CAN and SPI serial ports The control instruction that piece is sent, and main control chip back is passed the data collected by the analog-to-digital conversion module.Baroceptor By its internal an accurate 24 bit digital pressure value and temperature value and different operator schemes, with low-power consumption, height Conversion speed, current flight device ambient air pressure value is transmitted to host computer in real time.

The core devices of the present embodiment aircraft main board control circuit are MCU main control chips, to convey and receive correspondingly Control instruction, and by wake up it start whole circuit board operate.Bus protocol is with serial communication being examined with ultrasonic wave Survey the peripheral modules such as mould, attitude transducer, baroceptor to be connected, and then realize and these three modules are controlled by MCU.These three Module is connected with ADC again, passes the data accordingly collected back main control chip, and then realizes corresponding signal feedback.On PC ends Position machine is used to carry out relative parameters setting, LED light and screen tracker to user, and being used to will be current by main control chip The state of flight of aircraft returns to user.USB power supplies then provide the energy by external power supply for whole aircraft.

Master control borad uses the STM32F407VGD single-chip microcomputers of RAM companies, is downloaded and debugged using SWD, analog-to-digital conversion module Using 14 3GSPS double channel A/D C32RF45 of TI companies, attitude transducer uses MPU-9150, and by I2C patterns come real Existing its free space movement and corresponding control system.

Control aircraft avoidance autonomous flight is made by external range finder module and itself posture sensitive design in the present embodiment Core board.The design and the function phase ratio of existing aircraft of the core board, because the fully exploitation SPI strings in board design The function of port communications is simultaneously engaged with ADC, and it is upper to realize that the external circumstances for detecting peripheral module are transmitted in real time, accurately Machine, so as to eliminate most aircraft such as DAC, GPS can increased funtion part, make this fly control mainboard reduce consumption Material, cost is reduced, and reduce the volume of mainboard, so as to alleviate the overall body weight of aircraft.Also, because master Control plate has reserved I2C and multiple serial ports to configure the sensor in required place, it is possessed the application function of more landform, User can be according to corresponding landform, external different distance-measuring equipments, then imports matched algorithms of different program and obtain corresponding need Ask, and the program is that each peripheral module can accordingly contain, docking the corresponding interface during use can be achieved corresponding operating. In summary feature so that the aircraft master control borad makes its flexible and changeable in the case where cost is relatively low, can expand more work( Can, so as to ensure that higher cost performance.

Claims (6)

1. a kind of aircraft, it is characterised in that the main control chip including mainboard, ultrasound examination module and attitude transducer；It is main Control chip and receive the control instruction that host computer is sent, ultrasound examination module and attitude transducer pass through CAN and SPI serial ports The control instruction that main control chip is sent is received, and main control chip back is passed the data collected by analog-to-digital conversion module.

2. aircraft according to claim 1, it is characterised in that also including baroceptor, baroceptor passes through institute State CAN and SPI serial ports and receive the control instruction that main control chip is sent, and will be collected by the analog-to-digital conversion module Data pass main control chip back.

3. aircraft according to claim 1, it is characterised in that also include the screen tracking for being connected to the main control chip Device.

4. aircraft according to claim 1, it is characterised in that the main control chip uses STM32F407VGD monolithics Machine.

5. aircraft according to claim 1, it is characterised in that the analog-to-digital conversion module uses 14 3GSPS bilaterals Road ADC32RF45.

6. aircraft according to claim 1, it is characterised in that the attitude transducer uses MPU-9150.