CN207408833U - A kind of environmental inspection system based on unmanned plane - Google Patents
A kind of environmental inspection system based on unmanned plane Download PDFInfo
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- CN207408833U CN207408833U CN201721186986.1U CN201721186986U CN207408833U CN 207408833 U CN207408833 U CN 207408833U CN 201721186986 U CN201721186986 U CN 201721186986U CN 207408833 U CN207408833 U CN 207408833U
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Abstract
A kind of environmental inspection system based on unmanned plane, including temperature-compensation circuit, it is characterised in that：Temperature-compensation circuit includes the first transistor（T41）, second transistor（T42）, first resistor（R42）, second resistance（R43）And 3rd resistor（R44）, wherein, second transistor（T42）Base stage be connected to first resistor（R42）Second end, collector is through second resistance（R43）Power supply is connected to, emitter is through 3rd resistor（R44）It is connected to ground；The first transistor（T41）Collector be connected to first resistor（R42）First end, emitter is connected to ground, and base stage is connected to second transistor（T42）Emitter.Power tube energy long period the operation is stable of system provided by the utility model.
Description
Technical field
The utility model is related to a kind of environmental inspection systems based on unmanned plane, belong to environmental inspection field.
Background technology
With the increasingly appearance of environmental protection policy, the continuous aggravation of environmentally friendly supervisor's dynamics, corresponding environmental protection is supervised and monitoring skill
Art cannot be limited to traditional manual measurement mode again, and the continuous development of unmanned air vehicle technique provides newly for environmental inspection technology
Thinking, it with its quick, accurate, mobility strong, it is at low cost and easy to operate the advantages that, important work is played in field of Environment Protection
With.Unmanned plane environmental inspection technology can implement contamination phenomenon supervision comprehensively in three dimensions, such as the generaI investigation of earth's surface pollutant, industry
Plant area, which steals, arranges supervision, straw burning supervision etc., carries out Real-Time Forensics for law enforcement for environmental protection department, image/video is provided to law enfrocement official
Foundation.But in the prior art using unmanned plane to send data to control terminal for a long time, the high rate in wireless communication system
Power amplifier device works long hours, and can generate heat, in this way, causing the job insecurity of high frequency power amplifier.
Utility model content
To overcome technical problem in the prior art, the goal of the invention of the utility model is to provide a kind of unmanned plane ring
Border observation system, power tube being capable of long-time stable work.
To realize the goal of the invention, the utility model provides a kind of environmental inspection system based on unmanned plane, including
By the unmanned plane and control terminal of network linking, the unmanned plane includes camera, video encoder, communication subsystem and place
Device is managed, the camera sends video encoder to for obtaining by the image information of supervision environment, and by image information, described
Video encoder is used to encode the vision signal that is inputted, then sends processor to, which is characterized in that it is inorganic at least
Including communication subsystem, communication subsystem includes at least high-frequency power amplifying circuit, and the high-frequency power amplifying circuit at least wraps
Temperature-compensation circuit is included, temperature-compensation circuit includes the first transistor T41, second transistor T42, first resistor R42, the second electricity
R43 and 3rd resistor R44, wherein is hindered, the base stage of second transistor T42 is connected to the second end of first resistor R42, collector warp
Second resistance R43 is connected to power supply, and emitter is connected to ground through 3rd resistor R44；The collector of the first transistor T41 is connected to
The first end of first resistor R42, emitter are connected to ground, and base stage is connected to the emitter of second transistor T42.
The environmental inspection system for being preferably based on unmanned plane further includes server by network connection, and unmanned plane can will
The data of acquisition are sent to server by network, and then the abnormal image in measured zone is updated to and is put down based on such as GIS
The big data platform of platform.
Preferably, control terminal can send instruction so that the flight path of unmanned plane can basis by network to unmanned plane
User needs neatly to control.
Preferably, during supervision, user has found when having exception object by supervision region of unmanned plane transmission, can control
Terminal circle processed selects exception object, and the camera that unmanned plane carries can be automatically with clapping exception object.
Preferably, unmanned plane camera be visible camera or thermal infrared imager, daytime with see light video camera supervision,
Night is supervised with thermal infrared imager.
The environmental inspection system for being preferably based on unmanned plane includes at least GPS receiver, is used to obtain the position of unmanned plane
Confidence ceases, and the location information of unmanned plane is also added in image information by the processor, and passes through communication subsystem and send out in real time
Control terminal is given, control terminal can display real-time the image information of the location information including unmanned plane.
Preferably, network includes at least unmanned plane base station, and unmanned plane base station includes at least multiple motors and multiple motors
Driving circuit, wherein each motor includes at least stator and rotor, the stator is included at least staggeredly and with central shaft in isogonism
Multiple first stator coils and multiple second stator coils set, the rotor include polarity in N polarity and S polarity and interlock
The permanent magnet of arrangement.
Preferably, control terminal choosing includes：Mobile phone, computer, PDA and/or personal digital assistant.
Preferably, the unmanned plane is more rotors, fixed-wing, composite wing or the wing unmanned plane that verts.
Compared with prior art, stablize between the power tube in unmanned plane environmental inspection system provided by the utility model can be grown
Work..
Description of the drawings
Fig. 1 is the composition schematic diagram of unmanned aerial vehicle control system provided by the utility model；
Fig. 2 is the flow chart of image processing program provided by the utility model；
Fig. 3 is the built-up circuit figure of the power section in the unmanned plane that utility model provides；
Fig. 4 is the composition frame chart of the way system subsystem of this bright offer；
Fig. 5 is the circuit diagram of the high frequency power amplifier provided by the utility model by subsystem.
Specific embodiment
The utility model is described in detail below in conjunction with the accompanying drawings, identical reference numeral represents identical component.
The EMS based on unmanned plane provided according to the utility model one embodiment includes passing through lattice chain
The unmanned plane and control terminal connect, the network are cut including at least base station, the base station control center for control base station and data
Switching center9, the network can include fixed telephone network of the prior art, mobile telephone network, data network etc..Network
Preferably include base station, base station control center（BSC）With data main dispatching centre（MSC）, data main dispatching centre（MSC）Also include at least
A kind of format signal of reception can be converted to the signal of another form to carry out various differences by interchanger, the interchanger
The protocol analysis of network, convenient for being transmitted in different networks.
In an illustrative embodiments, the equal pilot signal transmitted in each base station in wireless network, the pilot tone letter
All radio communications systems that number can be covered by base station in space receive.To avoid the boundary of base station institute overlay area
Pilot Interference can adopt time division multiplexing mode, i.e. adjacent base station pilot signal transmitted in different time-gap, adjacent small to avoid
The interference of area's boundary.Frequency division multiplexing mode can also be used, i.e. the frequency for the pilot signal that adjacent base station is sent is different.
There is provided the environmental inspection system based on unmanned plane according to the utility model one embodiment includes passing through network linking
Unmanned plane, control terminal and server, control terminal choosing include：Mobile phone, computer, PDA and/or personal digital assistant, it is described
Unmanned plane is more rotors, fixed-wing, composite wing or the wing unmanned plane that verts.The data of acquisition can be sent to by unmanned plane by network
Server, and then the abnormal image in measured zone is updated to the big data platform based on such as GIS platform.Control terminal energy
Instruction is enough sent so that the flight path of unmanned plane can need neatly to control according to user to unmanned plane by network.It is supervising
In the process, user has found when having exception object by supervision region of unmanned plane transmission, can select exception object, nothing in control terminal circle
The camera subsystem of man-machine carrying can be automatically with clapping exception object.It is described in detail with reference to Fig. 1 provided by the utility model
The control system of unmanned plane.
Fig. 1 is the composition frame chart of the control system of unmanned plane provided by the utility model.It is new according to this practicality if Fig. 1 shows
Type one embodiment, the control system of unmanned plane include processor 515, MEMS506, memory 509,507 and of flight controller
Electric machine controller 508, flight control controller 507 are configured as providing control signal, electric machine controller to electric machine controller 508
For the work of 508 driving motors so as to drive the flight in the air of unmanned plane, memory 509 is used for storage running program and data, institute
Program is stated including at least image processing program.MEMS506 is used to obtain the course information of unmanned plane and is supplied to processor 515,
Course information includes pitch angle, yaw angle and the angle of heel of unmanned plane.According to the utility model one embodiment, the control of unmanned plane
System processed further includes navigator fix receiver 505, and the location information on itself of navigation positioning satellite is received by antenna
And temporal information, and transfer data to processor 515.
According to the utility model one embodiment, the control system of unmanned plane further includes radio subsystem, including number
Word Base Band Unit 510, analog baseband 511, antenna and communication card 512, antenna are used to be converted to electric signal to be launched
Electromagnetic wave is simultaneously radiated to certain space, is also used for spatial electromagnetic ripple being converted to electric signal and is then supplied to analog baseband
511；Communication card is inserted into communication card slot, and communication card stores the UAV Communication identifier, a pair of with its user one
It is registered in management platform with answering, in order to which manager is managed.
According to the utility model one embodiment, the phonecard of telecommunication department may be employed in communication card.When transmitting, digital base
Tape cell 510 is packaged into data frame tune for data, source address, destination address, check code to be sent processor etc. and goes forward side by side
Row source coding and channel coding forms digital baseband signal, is then sent to analog baseband 511, analog baseband
Digital baseband signal is modulated to radio frequency and carries out power amplification and then sends antenna to by 511；During the collection of letters, analog baseband
511 electric signals for carrying out antenna transmission carry out low level signal amplification, are then demodulated taking-up digital baseband signal, and send number to
Word Base Band Unit 510, digital baseband unit 510 carry out digital baseband signal channel decoding, source coding and frame decoding taking-up and refer to
It makes, data, then sends instruction, data to processor 515, the control that processor 515 is received according to radio communication subsystem
The instruction calls of terminal fly to control program and can perform task in flight range.
According to the utility model one embodiment, the control system also bag barrier detector 501 of unmanned plane is used to obtain
The distance of unmanned plane and barrier is taken, processor 515 is provided also according to the distance of unmanned plane and barrier to flight controller 507
Instruction, to change the flight path of unmanned plane.
Camera subsystem is further included according to the control system of the unmanned plane of the utility model one embodiment, is used to obtain
The image information of test environment, and send image information to processor 515.Camera subsystem includes camera 504 and video
Encoder 526, the camera 504 is used to obtain the video image of monitored environment, and sends image information to video and compile
Code device 526, the video encoder 526 then send processor to for being encoded to the video signal of input
515.Camera subsystem is visible camera and the double light camera systems of thermal infrared imager, they are fixed on unmanned plane using gondola
On casing, daytime carries out camera shooting supervision using visible ray, and night unmanned plane carries out camera shooting supervision using thermal infrared imager.Infrared heat
Running device is searched as instrument can be also used as, vital sign function uses.
According to the utility model one embodiment, when unmanned plane rotation stops at the overhead by supervision region, adjustment is taken the photograph
As the shooting angle of head, supervision region is shot, the image processing program that processor calling is stored in memory is simultaneously held
Row process as shown in Figure 2：
S01：It is obtained by the image in supervision region and is stored in memory by camera subsystem, the image is as initial
Preceding frame image；
S02：Take out the previously stored last frame image of storage and as preceding frame image；
S03：It is obtained again by camera subsystem by the image in supervision region, which compares as current frame image
Compared with current frame image and preceding frame image；
S04：Judge：Current frame image is compared with preceding frame image, if unchanged, started to clock, then be returned to
Step S03；If changed, timing terminates, and the unconverted duration of image and beginning and ending time mark then are stored in storage
In device；
S05：Present image is stored in memory, then back in step S02.
Meanwhile the data stored in memory are sent to control terminal by processor by communication subsystem, until nobody
When machine is connected to the instruction of stopping observation of ground control terminal, then stop to being observed by supervision region.The utility model
As a result of above-mentioned image processing process, when the position of unmanned plane, posture and the unchanged image that is taken, in memory
Storage is only the unconverted duration of image, beginning and ending time time mark and a two field picture rather than substantial amounts of unconverted one
Serial two field picture, therefore the memory space of memory is greatly saved.Meanwhile the data volume of transmission is greatly reduced, and then make
The efficiency that transmission has the data of information content greatly improves.
When ground control terminal receives the data that unmanned plane is sent, the image of reception is handled according to the following procedure：Root
Recover image according to every two field picture and its duration, beginning and ending time, so as to form the complete video image of observed period.
In addition, according to the utility model one embodiment, can also unmanned plane be obtained by navigator fix receiver, MEMS etc.
Flight parameter, such as the position of unmanned plane, course angle, and flight parameter is added in every two field picture, so as to according to nothing
Man-machine attitude angle obtains the angle of camera optical axis, to further determine that the shooting angle of image.
According to the utility model one embodiment, the control system of unmanned plane includes at least GPS receiver, is used to obtain
The location information of unmanned plane, the location information of unmanned plane is also added in image information by the processor, and passes through communicator
System is sent to control terminal in real time, and control terminal can display real-time the image information of the location information including unmanned plane.
In the utility model, unmanned plane can communicate through wireless network with control terminal, and control terminal can be connection
In the user on internet, anywhere user can be monitored unmanned plane, and obtain the information of unmanned plane acquisition,
Such as control terminal is computer, user is sent to unmanned plane through network by input instruction and instructed.It can also be mobile communication
The user of net, user are sent to unmanned plane through network by way of voice or input instruction and instructed.
In one embodiment, its antenna beam is directed toward " optimal " base station by the radio subsystem of unmanned plane, and
The intensity for the pilot signal that measurement is transmitted by base station.The most strong base station of unmanned plane selection pilot signal communicates.
In the utility model, unmanned plane refers to be configured the instruction sent according to setting program or ground control terminal
Autonomous behaviour and can by any unmanned rotor wing unmanned aerial vehicle of the flying overhead long period of supervision environment, the rotor nobody
Machine can be powered in the air using solar energy.It 3 is described in detail below in conjunction with the accompanying drawings according to the utility model one embodiment
The power section of the unmanned plane of offer.
Fig. 3 is the built-up circuit figure of the power section in unmanned plane provided by the utility model, as shown in figure 3, according to one
A embodiment, unmanned plane provided by the utility model can be provided the energy by solar energy, be rotated with driving motor, so as to drive rotation
The wing rotates.Solar-electricity source circuit includes：Photovoltaic cell SE, charger CH1, battery pack E1 and MPPT control module, photovoltaic electric
For pond SE for converting light energy into electric energy, photovoltaic cell film can be used in photovoltaic cell SE, can be attached at housing upper surface, may be used also
It using photovoltaic battery panel, is carried by unmanned plane, the cathode output end of photovoltaic cell SE is connected to the first input of charger CH1
End, cathode output end are connected to the second input terminal of charger CH1 through resistance R3；Resistance R1 and R2, which are in series, is then parallel to light
Battery SE both ends are lied prostrate, wherein intermediate node is used to take out the sampling voltage of photovoltaic cell；R3 is current sampling resistor, and MPPT controls mould
Root tuber provides control signal according to the value of sampled voltage and sample rate current to charger CH1；According to photovoltaic cell SE output voltages, defeated
Go out the sampled value of electric current, adjust the power of charger CH1, when environment temperature, light intensity change, make solar cell SE total
In maximum power output state, the service efficiency of raising solar cell SE.Power section in unmanned plane further includes straight feedback
K1 is switched, the first end for switching K1 is connected to the cathode output end of SE, and second end is connected to the anode of diode D1, diode
The negative terminal of D1 is provided out electric energy, and MPPT control modules are also according to too photovoltaic cell output voltage, the sampled value control of output current
The break-make of the straight feedback switch K1 of system.The first end outlet of charger CH1 is connected to the positive terminal of diode D2, the cathode of diode D2
End is connected to the positive terminal of battery pack E1, and the negative pole end of battery pack E1 is connected to the second output terminal of charger CH1, i.e., public altogether
End, the utility model are arranged such circuit, are in order to when sunny enough, using photovoltaic cell SE directly to the driving of motor
Circuit provides electric energy and charges a battery, and when sunlight is inadequate, electric energy is provided using driving circuit of the battery to motor.
According to the utility model one embodiment, unmanned plane includes the driving circuit of four motors and four motors, they
Composition it is identical, illustrated by taking first motor M1 and its driving circuit as an example, motor M1 include shell, be placed in shell
Stator and rotor, further include the speed encoder rotated together with the axis of rotor and rectification encoder, speed encoder such as VS1,
Rectification encoder such as CD1, circuit for controlling motor include motor driver, and such as DR1 further includes polarity control unit PC1, speed control
Unit VC1 processed and pulse width modulation controlled unit PWM1, motor driver DR1 is carry out switch control in response to control signal
Semiconductor device, by the first stator coil of power transmission to stator.Herein, since electric-motor drive unit DR1 is set
Into the first stator coil to stator（Motor winding）Winding M supplies direct current, therefore its structure can be according to motor
Type (number of phases of stator winding) and change.In order to drive a phase, it is necessary to 6 switch elements.This six switch element composition bridges
Shape structure can use transistor, IGBT, MOSFET and FET as switch element.
Polarity control unit PC1 receives the photosensor signal of the rectification encoder CD1 from motor, and is driven to motor
Cells D R1 sends the control signal for being used to implement electric rectification device, so as to fulfill electric rectification device.Speed control unit VC1, which is received, to be come
From the encoder VS1 signals of the speed encoder of motor, and to pulse width modulation controlled unit PWM1 transmission speed control signals.Fly
Control the control signal that device 507 sends rotating speed according to the instruction that processor 515 is sent to pulse width modulation controlled unit PWM1.Pulsewidth tune
The PWM that control unit PWM1 processed sends to control the rotating speed of motor M1 according to control signal to motor driver DR1
Signal.
Circuit for controlling motor further includes DC rectifier H1, and the DC rectifier is to the second stator winding from motor（Hair
Electrical-coil）The alternating current that G is generated carries out rectification and generates Rectified alternating current, and the filtered device C1 filtering of direct current generates
Direct current.Similarly, induction electric energy, the rectified device H2 of the induction electric energy and filtered capacitance C2 are generated in the second stator winding of M2
Filtering is generating DC voltage；In the second stator winding generation induction electric energy of M3, the rectified device H3 of the induction electric energy and through filter
Ripple capacitance C3 filtering is generating DC voltage；Induction electric energy, the rectified device of the induction electric energy are generated in the second stator winding of M4
H3 and filtered capacitance C3 filtering is generating DC voltage, the DC voltage of all generations is added up and is being connected to charger CH2
Input terminal, charger CH2 will be since the power storage that motor generates be in accumulator E1.
According to the utility model one embodiment, the stator of motor further includes multiple annular silicon chips stacked on top of each other, multiple
Generator windings slot, multiple motor slot for windings, multiple magnetic flux slot segmentations, multiple offset eliminate slot, are wrapped in corresponding generator
Multiple generator windings around slot for winding and the multiple motor windings being wrapped in around phase induction motor slot for winding.
Motor winding M is used as the motor by receiving come the electric power of motor circuit to make rotor rotation.Generator around
Group is used as generating electric power using by the electric current that rotor rotary inductive goes out.In this embodiment, the sum of slot for winding and winding is
6, it is in 3 regions.M, G, M, G, M and G (that is, 3 motor winding M and 3 are arranged as follows along stator is circumferential
Generator windings G).Motor winding M is connected to motor driver.Generator windings G is connected to corresponding DC rectifier
Device.When the winding parallel winding of each phase, these windings are distributed by phase and polarity and are wound and be connected to corresponding
Conducting wire on, each other without any connection.
Further, since the impartial relatively narrow magnetic flux point of width is equipped between motor slot for winding and generator windings slot
Cut slot, therefore magnetic flux is divided, so as to blocked can the magnetic flux of electric motor winding M flow to the path of generator windings G so that
The magnetic flux of motor winding M only flows to the magnetic field of stator, so that electronic function more effectively drives.In addition, magnetic flux is split
Slot remains unchanged the excitation width around motor slot for winding, so that motor slot for winding can not be influenced in driving period
Adjacent winding slots are operated with influencing from adjacent winding slots.
Width equalization is equipped between generator windings slot and adjacent generator slot for winding and relatively narrow offset eliminates
Slot is offseted with eliminating magnetic flux, so as to improve generating efficiency.
Rotor includes multiple silicon chips stacked on top of each other and multiple flat permanent magnets, these permanent magnets are radially embedded in
In stacked silicon chip.In this regard, permanent magnet is designed to have strong magnetic force, so that relatively wide magnetic field table can be formed
Face, therefore magnetic flux can be made to be gathered on the magnetic field surface, increase the magnetic flux density on magnetic field surface.The number of poles of rotor is according to stator
Depending on number of poles.
Rotor is described in detail below, six permanent magnets are spaced equally from each other by be opened and be embedded in stacked circular silicon chip
In, and polarity is in N polarity and S poles interlaced arrangement.Non- magnetic core is equipped on the center of stacked circular silicon chip, to support permanent magnetism
Body and silicon chip, and it is equipped with axis through the center of non-magnetic core.Permanent magnet is formed as even shape, and is formed between permanent magnet
There is idle space.
It is designed to have using the motor of permanent magnet and is mutually tied with the active energy of stator by energy by rotor
The rotary force for closing and being formed.In order to realize the super efficiency in motor, enhance being very important by energy for rotor.Cause
This, uses " neodymium (neodymium, iron, boron) " magnet in the present embodiment.These magnets increase magnetic field surface and magnetic flux are enable to gather
On the magnetic field of rotor, so as to increase the magnetic flux density in magnetic field.
At the same time, rectification encoder and speed encoder is set to control the rotation of motor.Rectification encoder CD1 and speed
Degree encoder VS1 is installed in the outer recess of motor body shell, is rotated together with the rotation axis with rotor.
The power section of the unmanned plane provided in the utility model in the case of having sunlight, photovoltaic can be supplemented and be stored in
In accumulator E1, in rotor wing rotation, energy recovery section electric energy, which also mends in accumulator, so as to improve accumulator
Use duration, in this way, the unmanned plane long period can be made to fly in the air.
Processor may include digital signal processor (DSP), microprocessor, programmable logic device in the utility model
(PLD), gate array or multiple processing components and power management subsystem.Processor may also include internally cached storage
Device, the internal cache memory are configured to store the calculating for execution obtained from memory or control card
Machine readable instruction.The memory include non-transient computer medium, the medium for example including SRAM, quick flashing, SDRAM and/
Or hard disk drive (HDD) etc..Memory is configured to store computer-readable instruction to be executed by a processor.
According to the utility model one embodiment, the environmental inspection system based on unmanned plane includes at least radio subsystem
System, processor are communicated by radio subsystem with control terminal.It ties and is carried to Fig. 4-5 detailed description the utility model below
The radio subsystem of confession.
Fig. 4 is the composition frame chart of radio subsystem provided by the utility model, as shown in figure 4, radio subsystem bag
Include digital baseband circuit 510, OFDM generators 527, modulator 523, carrier generator 524,525 and of high-frequency power amplifying circuit
Amplifier power supply 526, OFDM generators 527 are used to by digital baseband sequence serial to parallel conversion and be modulated to N number of subcarrier, then into
Row IFFT converts to form parallel time domain data, i.e., parallel OFDM symbol, and the parallel time domain data is carried out and goes here and there change
It changes to form serial OFDM symbol, protection interval is then inserted between each serial OFDM symbol is formed and serial insert guarantor
Protect the OFDM symbol data stream at interval；The modulator 523 is used for the signal modulation that OFDM generators 527 are provided to vibration
For carrier wave caused by device 524 to generate modulating wave, the high-frequency power amplifying circuit 525 is used for the modulating wave generated to modulator
It carries out power amplification and is supplied to antenna, wireless electron provided by the utility model further includes delayer 522 and range detector
521, the delayer 522 is used to be postponed then to be supplied to modulator by modulated signal caused by OFDM generators 527
523；The amplitude detector 521 is used to extract the amplitude of modulated signal caused by digital baseband generator 510 and be supplied to
Processor 515, the processor 515 control the output voltage of amplifier power supply 526 according to the amplitude, to supply high frequency power amplification
Circuit 525.
The amplifier power supply 526 includes n grades of DC voltage units, and each DC voltage unit is in series through electronic switch, often
A DC voltage unit includes a battery pack（Such as E1, E2 and En）, a fly-wheel diode（Such as D1, D2 and Dn）With an electricity
Sub switch（Such as T1, T2 and Tn）, the anode of battery pack is connected to the cathode of fly-wheel diode；The anode of fly-wheel diode is connected to
The first end of electronic switch, the second end of electronic switch are connected to the cathode of battery pack, and the control terminal connection of electronic switch is everywhere
Device is managed, the break-make for the signal control electronic switch that processor is provided according to range detector, the n is more than or equal to 2
Integer.
More specifically, first DC voltage unit includes a battery pack E1, a sustained diode 81 and an electricity
Sub switch T1, electronic switch are CMOS tube, and the anode of the battery pack E1 is connected to the cathode of sustained diode 81；Afterflow two
The anode of pole pipe D81 is connected to the drain electrode of CMOS tube T1, and the source electrode of CMOS tube T1 is connected to the cathode of the battery pack E1, CMOS
The grid of pipe T1 is connected to an output terminal of processor 515, and processor 515 controls CMOS tube T1 break-makes.CMOS tube T1 works
In on off state, when the grid of CMOS tube T1 inputs a high potential, CMOS tube T1 conductings, the cathode of battery pack E1 is equivalent to
It is connected to the anode of sustained diode 81.The voltage at 1 both ends of sustained diode is E1, and upper end is just, lower end is negative.Work as CMOS tube
When the grid of T1 inputs a low potential, CMOS tube T1 cut-offs.The voltage at 81 both ends of sustained diode is diode junction voltage.
Second DC voltage unit includes a battery pack E2, a sustained diode 82 and an electronic switch T2,
Electronic switch is CMOS tube, and the anode of the battery pack E2 is connected to the cathode of sustained diode 2；Sustained diode 82 is just
Pole is connected to the drain electrode of CMOS tube T2, and the source electrode of CMOS tube T2 is connected to the cathode of the battery pack E2, the grid of CMOS tube T2
An output terminal of processor 515 is connected to, processor 515 controls CMOS tube T2 break-makes.CMOS tube T2 works on off state,
When the grid of CMOS tube T2 inputs a high potential, CMOS tube T2 conductings, the cathode of battery pack E2, which is equivalent to, is connected to afterflow two
The anode of pole pipe D2.The voltage at 82 both ends of sustained diode is E2, and upper end is just, lower end is negative.When the grid of CMOS tube T2 is defeated
When entering a low potential, CMOS tube T2 cut-offs.The voltage at 82 both ends of sustained diode is diode junction voltage.
And so on, n-th of DC voltage unit includes a battery pack En, a sustained diode 8n and an electricity
Sub switch Tn, electronic switch are CMOS tube, and the anode of the battery pack En is connected to the cathode of sustained diode n；Two pole of afterflow
The anode of pipe Dn is connected to the drain electrode of CMOS tube Tn, and the source electrode of CMOS tube Tn is connected to the cathode of the battery pack En, CMOS tube
The grid of Tn is connected to an output terminal of processor 515, and processor 515 controls CMOS tube Tn break-makes.CMOS tube Tn is worked in
On off state, when the grid of CMOS tube Tn inputs a high potential, CMOS tube Tn conductings, the cathode of battery pack En, which is equivalent to, to be connect
To the anode of sustained diode 8n.The voltage at sustained diode n both ends is En, and upper end is just, lower end is negative.As CMOS tube Tn
Grid input a low potential when, CMOS tube Tn cut-off.The voltage at sustained diode 8n both ends is diode junction voltage.
In this way, in the case that if the electronic switch of each DC voltage unit simultaneously turns on, HVDC Modulation power supply is total
Output total voltage be Vcc1=E1+E2+ ...+En.The voltage value of each DC voltage unit output is identical in the utility model.
In the utility model, the signal that processor 515 is provided according to amplitude detector controls the break-make of each electronic switch,
When amplitude is big, multiple electronic switches are turned on, high power supply to power amplifier is provided, when amplitude is small, is made wherein
The conducting of several electronic switches, power amplifier is given to provide small central battery supply.As long as make the sum of corresponding out-put supply slightly
More than the range value detected can, the energy is greatly saved in so configured amplifier power supply, so as to further extending unmanned plane
Flight duration.
Fig. 5 is the circuit diagram of the high frequency power amplifier in communication subsystem provided by the utility model, as shown in figure 5,
High-frequency power amplifying circuit provided by the utility model include high-frequency signal input terminal IN, input matching network 300, amplifier,
Output matching network 400, high-frequency signal output terminal OUT and biasing circuit, amplifier are made of high power tube T44, high-frequency signal
Input terminal IN carries out impedance matching through input matching network 300, and inputs a signal into the base stage of high power tube T44, high power amplifier
The signal of the collector output of pipe T44 carries out impedance matching through output matching network and antenna loop and then inputs a signal into day
Line loop, biasing circuit are made of transistor T43 and resistance R47, and the base stage of transistor T43 is connected to the first end of resistance R42,
The second end of resistance R42 is connected to control voltage Vcon through resistance R41, and the collector of transistor T43 is connected to power Vcc 1, sends out
Emitter-base bandgap grading provides electric current through resistance R47 to the base stage of high power tube T44.
Preferably, high-frequency power amplifying circuit further includes temperature-compensation circuit, temperature-compensation circuit include transistor T41,
Transistor T42, resistance R42, resistance R43, resistance R44, diode D41, diode D42 and capacitance C42 compositions, wherein, crystal
The base stage of pipe T42 is connected to the second end of resistance R42, and collector is connected to power Vcc 1 through resistance R43, and emitting stage is through resistance
R44 is connected to ground.The collector of transistor T41 is connected to the first end of resistance R42, and emitter is connected to ground, and base stage is connected to
The emitter of transistor T42.The cathode of diode D41 is connected to the base stage of transistor T42, and anode is connected to diode D42's
Anode；The cathode of diode D42 is connected to the collector of transistor T41, and anode is connected to ground through capacitance C42.The utility model
As a result of the temperature-compensation circuit of such structure so that the temperature compensation capability of high-frequency power amplifying circuit greatly improves.
According to an embodiment, high-frequency power amplifying circuit further includes to stablize the voltage stabilizing electricity for biasing brilliant pipe base potential
Road, the regulator circuit are in series including capacitance C41 and inductance L41, capacitance C41 and inductance L41 and are then connected to transistor 43
Base stage and ground between.
The operation principle of the utility model is described in detail above in association with attached drawing, but specific embodiment is only for showing
Illustrate the utility model model.Specification is only for interpreting the claims.But the scope of protection of the utility model not office
It is limited to specification.In the technical scope that any one skilled in the art discloses in the utility model, it can think easily
The variation or replacement arrived, should be covered within the scope of the utility model.Therefore, the scope of protection of the utility model
It should be subject to the protection domain of claims.
Claims (7)
1. a kind of environmental inspection system based on unmanned plane, described including the unmanned plane and control terminal by network linking
Unmanned plane includes camera, video encoder, communication subsystem and processor, and the camera is for acquisition by supervision environment
Image information, and send image information to video encoder, the video encoder be used for the vision signal inputted into
Row coding, then sends processor to, which is characterized in that communication subsystem includes at least high-frequency power amplifying circuit, the height
Frequency power amplification circuit includes at least temperature-compensation circuit, and temperature-compensation circuit includes the first transistor（T41）, second transistor
（T42）, first resistor（R42）, second resistance（R43）And 3rd resistor（R44）, wherein, second transistor（T42）Base stage connect
It is connected to first resistor（R42）Second end, collector is through second resistance（R43）Power supply is connected to, emitter is through 3rd resistor
（R44）It is connected to ground；The first transistor（T41）Collector be connected to first resistor（R42）First end, emitter is connected to
Ground, base stage are connected to second transistor（T42）Emitter.
2. the environmental inspection system according to claim 1 based on unmanned plane, which is characterized in that further include and connected by network
The data of acquisition can be sent to server by the server connect, unmanned plane by network, and then by the Abnormal Map in measured zone
As being updated to the big data platform based on GIS platform.
3. the environmental inspection system according to claim 2 based on unmanned plane, which is characterized in that control terminal can pass through
Network sends instruction so that the flight path of unmanned plane can need neatly to control according to user to unmanned plane.
4. the environmental inspection system according to claim 3 based on unmanned plane, which is characterized in that unmanned plane camera is can
See light video camera or thermal infrared imager, daytime, night was supervised with thermal infrared imager with the supervision of light video camera is seen.
5. the environmental inspection system according to claim 4 based on unmanned plane, which is characterized in that network includes at least nobody
Machine base station, unmanned plane base station include at least the driving circuit of multiple motors and multiple motors, determine wherein each motor includes at least
Son and rotor, the stator include at least multiple first stator coils and multiple second to interlock and with central shaft in isogonism arrangement
Stator coil, it is in N polarity and the permanent magnet of S polarity and interlaced arrangement that the rotor, which includes polarity,.
6. the environmental inspection system according to claim 5 based on unmanned plane, which is characterized in that control terminal choosing includes：
Mobile phone, computer, PDA and/or personal digital assistant.
7. the environmental inspection system according to claim 6 based on unmanned plane, which is characterized in that the unmanned plane is more rotations
The wing, fixed-wing, composite wing or the wing unmanned plane that verts.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721186986.1U CN207408833U (en) | 2017-09-16 | 2017-09-16 | A kind of environmental inspection system based on unmanned plane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721186986.1U CN207408833U (en) | 2017-09-16 | 2017-09-16 | A kind of environmental inspection system based on unmanned plane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109597430A (en) * | 2019-01-18 | 2019-04-09 | 东北农业大学 | The UAV system of dimension analysis is risen based on photo |
-
2017
- 2017-09-16 CN CN201721186986.1U patent/CN207408833U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109597430A (en) * | 2019-01-18 | 2019-04-09 | 东北农业大学 | The UAV system of dimension analysis is risen based on photo |
| CN109597430B (en) * | 2019-01-18 | 2023-04-18 | 东北农业大学 | Unmanned aerial vehicle system based on photo dimension-rising analysis |
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