CN207867347U - A kind of aircraft and its obstacle avoidance circuit - Google Patents
A kind of aircraft and its obstacle avoidance circuit Download PDFInfo
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- CN207867347U CN207867347U CN201820154605.XU CN201820154605U CN207867347U CN 207867347 U CN207867347 U CN 207867347U CN 201820154605 U CN201820154605 U CN 201820154605U CN 207867347 U CN207867347 U CN 207867347U
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Abstract
The utility model embodiment discloses a kind of aircraft and its obstacle avoidance circuit, wherein a kind of the obstacle avoidance circuit of aircraft is connected with the main control unit of aircraft comprising：It is multiple apart from collecting unit and processing unit, by by multiple outsides for being respectively arranged on aircraft apart from collecting unit, acquire the distance between aircraft and barrier information, it recycles processing unit to be based on range information and exports avoidance obstacle signal to main control unit, so that main control unit is controlled aircraft according to avoidance obstacle signal and carries out avoidance, the phenomenon that avoiding that aircraft is caused to collide with the barrier in flight environment of vehicle at that time can controlled not.
Description
Technical field
The utility model belongs to electronic technology field more particularly to a kind of aircraft and its obstacle avoidance circuit.
Background technology
Aircraft is applied to as important one of tool in many industries, for example, landform exploration, production of film and TV etc..
Although existing aircraft can be provided rational by carrying intelligent controlling device under different task scenes
Flight path is planned and power consumption management, but for that under the uncertain scene of flight environment of vehicle, can not be that aircraft configuration is rational
When flight path, it is likely that when controlling improper or control error, aircraft is caused to be sent out with the barrier in flight environment of vehicle
Raw collision.
Utility model content
A kind of aircraft of the utility model embodiment offer and its obstacle avoidance circuit can control improper or control error
When, the phenomenon that avoiding that aircraft is caused to collide with the barrier in flight environment of vehicle.
In a first aspect, the utility model embodiment provides a kind of the obstacle avoidance circuit of aircraft, the master control list with aircraft
Member is connected, and the obstacle avoidance circuit includes：
It is multiple to be respectively arranged on the outside of the aircraft apart from collecting unit, for acquiring the aircraft and barrier
The distance between information；
Processing unit, with the main control unit and it is multiple be respectively connected with apart from collecting unit, the processing unit is used for
Avoidance obstacle signal is exported to the main control unit based on the range information, makes the main control unit according to the avoidance obstacle
Signal controls the aircraft and carries out avoidance.
Second aspect, the utility model embodiment also provide a kind of aircraft, including main control unit, further include first party
The obstacle avoidance circuit of aircraft in face.
The utility model embodiment provides a kind of aircraft and its obstacle avoidance circuit, by by multiple apart from collecting unit point
Not She Yu aircraft outside, acquire the distance between aircraft and barrier information, recycle processing unit be based on distance letter
It ceases to main control unit and exports avoidance obstacle signal, so that main control unit is controlled aircraft according to avoidance obstacle signal and carry out avoidance, it can
To control not the phenomenon that avoiding that aircraft is caused to collide with the barrier in flight environment of vehicle at that time.
Description of the drawings
It is required in being described below to embodiment to make in order to illustrate more clearly of the utility model embodiment technical solution
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is some embodiments of the utility model, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is a kind of structural schematic diagram of the obstacle avoidance circuit for aircraft that the utility model embodiment provides；
Fig. 2 is a kind of concrete structure schematic diagram of the obstacle avoidance circuit for aircraft that the utility model embodiment provides；
Fig. 3 be the utility model embodiment provide a kind of aircraft the obstacle avoidance circuit in processing unit a kind of realization electricity
Lu Tu；
Fig. 4 be the utility model embodiment provide a kind of aircraft the obstacle avoidance circuit in storage unit a kind of realization electricity
Lu Tu；
Fig. 5 be a kind of aircraft that the utility model embodiment provides the obstacle avoidance circuit in processing unit another kind it is specific
Circuit diagram；
Fig. 6 be the utility model embodiment provide a kind of aircraft the obstacle avoidance circuit in power conversion unit a kind of tool
Body circuit diagram；
Fig. 7 is a kind of structural schematic diagram for aircraft that the utility model embodiment provides.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
It clearly and completely describes, it is clear that described embodiment is the utility model a part of the embodiment, rather than whole implementation
Example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Fig. 1 is referred to, Fig. 1 is a kind of structural representation of the obstacle avoidance circuit for aircraft that the utility model embodiment provides
Figure.As shown in Figure 1, a kind of the obstacle avoidance circuit 100 of aircraft, is connected with the main control unit 110 of aircraft comprising：It is multiple away from
From collecting unit 10 and processing unit 20.Specifically：
It is multiple apart from collecting unit 10, the outside of aircraft is respectively arranged on, for acquiring between aircraft and barrier
Range information.
Processing unit 20, with main control unit 110 and it is multiple be respectively connected with apart from collecting unit 10, processing unit 20 is used for
Avoidance obstacle signal is exported to main control unit 110 based on range information, so that main control unit 110 is controlled according to avoidance obstacle signal and flies
Row device carries out avoidance.
In the present embodiment, it is arranged on aircraft outer surface apart from collecting unit 10, it can be in the mistake of aircraft flight
Cheng Zhong, the range information that aircraft is measured in real time with the distance between the barrier in flight environment of vehicle, and will detected
It is transmitted to processing unit 20.
It should be noted that in the obstacle avoidance circuit 100 of aircraft provided in this embodiment, processing unit 20 is simultaneously indirect right
The flight attitude or flight path of aircraft are controlled, but are based on apart from 10 collected range information of collecting unit,
The avoidance for driving main control unit 110 to control the flight attitude of aircraft or track is exported to main control unit 110
Control signal.
In all embodiments of the application, main control unit 110 be aircraft main control unit, processing unit 20 be based on away from
Avoidance obstacle signal is exported to main control unit 110 from information, particular by the communication port for calling main control unit 110, in turn
Avoidance obstacle signal is exported to main control unit 110.
As a kind of mode in the cards of the present embodiment, electrically connect between collecting unit 10 and processing unit 20
Connect, after collecting unit 10 transmits collected range information to processing unit 20, by processing unit 20 by range information with
Preset reference distance information is compared, and exports avoidance obstacle signal to main control unit 110 according to comparison result, makes master control
Unit 110 controls aircraft according to avoidance obstacle signal and carries out avoidance.
May include ultrasonic distance sensing apart from collecting unit 10 as a kind of mode in the cards of the present embodiment
At least one of device, laser distance sensor, infrared distance sensor and distance by radar sensor.
It is understood that in practical applications, can be configured apart from collecting unit 10 according to the concrete shape of aircraft
Position, for example, apart from collecting unit 10 be set to aircraft propeller bracket on.
In said program, by by multiple outsides for being respectively arranged on aircraft apart from collecting unit, acquiring aircraft and barrier
Hinder the distance between object information, recycles processing unit to be based on range information and export avoidance obstacle signal to main control unit, make master
It controls unit and aircraft progress avoidance is controlled according to avoidance obstacle signal, can control not at that time, avoid causing aircraft and flying
The phenomenon that barrier in row environment collides.
Fig. 2 is referred to, Fig. 2 is that a kind of concrete structure of the obstacle avoidance circuit for aircraft that the utility model embodiment provides shows
It is intended to.
As shown in Fig. 2, based on above-described embodiment, as a kind of mode in the cards of the present embodiment, the obstacle avoidance circuit
100 further include：The power conversion unit 30 being connected with power supply 120, power conversion unit 30 is respectively with each apart from collecting unit
10 are connected with processing unit 20, and the first direct current for being exported to power supply 120 is converted, and the second direct current and third are obtained
Direct current, the second direct current are used as processing unit 20 as the work electricity consumption each apart from collecting unit 10, third direct current
Work electricity consumption.
It should be noted that power supply 120 can be the power supply unit of aircraft, in practical applications, according to aircraft
Difference, power supply 120 can also be different.
For example, the aircraft of Wireless traction, power supply 120 can be independent battery, there is power cord to draw winged
Row device, power supply 120 can be the driving power being connected with power transmission line.
In the present embodiment, power conversion unit 30 can be existing DC-DC voltage conversion circuits.
Further, the obstacle avoidance circuit 100 further includes：Storage unit 40 and external storage port 50.
As shown in Fig. 2, storage unit 40 is connected with processing unit 20 respectively with external memory interface 50, storage unit 40 is used
In storage range information, external storage port 50 is for connecting external memorizer, by distance information transmission to external memorizer
It is stored.
In practical applications, storage unit 40 is connected with processing unit 20 respectively with external memory interface 50, when processing is single
Member 20 receives after the range information that collecting unit 10 is sent, and also stores range information into storage unit 40, and/or
In the connected external memorizer of external memory interface 50.
It should be noted that in order to reduce the development difficulty to the obstacle avoidance circuit 100, by be arranged storage unit 40 with it is external
The information of adjusting the distance of memory interface 50 is stored, it may not be necessary to be stored to processing unit 20 by way of resource distribution
The division in region.
Further, the obstacle avoidance circuit 100 further includes：The radio frequency unit 60 being connected with processing unit 20 is matched for receiving with it
To the radiofrequency signal that sends of remote controler, and radiofrequency signal is sent to processing unit 20, is believed according to radio frequency by processing unit 20
Number generate flight control signal, make main control unit 110 according to flight control signal control aircraft flight.
In all embodiments of the utility model, radio frequency unit 60 can be bluetooth unit, purple peak protocol element or
Infrared signal transmission unit can be set in practical applications according to the difference of scene and demand that aircraft uses, optimum selecting
The different radio frequency unit 60 of signal transmission form is set, therefore details are not described herein again.
Fig. 3 show the utility model embodiment provide a kind of aircraft the obstacle avoidance circuit in processing unit a kind of reality
Existing circuit diagram.As shown in figure 3, as a kind of mode in the cards of the present embodiment, processing unit 20 includes：First chip U1,
Crystal oscillator X1, first resistor R1, second resistance R2,3rd resistor R3, the first capacitance C1, the second capacitance C2, third capacitance C3, the 4th
Capacitance C4, first switch pipe Q1 and first switch SW1.
The power input VIN of first chip U1 is connected with the output end VDD of power conversion unit 30, the first chip U1's
The first end of clock signal input terminal OSC_IN and crystal oscillator X1 connects the first end of the first capacitance C1, the second end of the first capacitance C1 altogether
Be connected with the first end of the second capacitance C2, the second end of the second capacitance C2 and the second end of crystal oscillator X1 connect altogether the first chip U1 when
The ground terminal VCC of clock signal output end OSC_OUT, the first chip U1 are connected with the first end of third capacitance C3, third capacitance C3
Second end ground connection, the first end of the reset terminal NRST and first resistor R1 of the first chip U1 connects the first of the 4th capacitance C4 altogether
End, forms first node, and first node is used to connect the first contact of first switch SW1, second end and the electricity of first resistor R1
The output end VDD of source converting unit 30 is connected, and the second end of the 4th capacitance C4 is grounded altogether with the second contact of first switch SW1,
Multiple first signal input parts (PB0~PBN) of first chip U1 are respectively used to connect multiple apart from collecting unit 10, the first core
The first end of the second signal input terminal UART_RX and second resistance R2 of piece U1 connect the hot end of first switch pipe Q1 altogether, the
The second end of two resistance R2 is connected with the output end VDD of power conversion unit 30, the cold end ground connection of first switch pipe Q1, the
The controlled end of one switching tube Q1 is connected with the first end of 3rd resistor R3, and the second end of 3rd resistor R3 is for connecting radio frequency unit
60, the third signal output end PA1 of the first chip U1 is connected with the signal input part of storage unit 40, the third of the first chip U1
Signal input part PA2 is connected with the signal output end of storage unit 40, the fourth signal output end PC1 of the first chip U1 with it is external
The signal input part of memory interface 50 is connected, the letter of the fourth signal input terminal PC2 and external memory interface 50 of the first chip U1
Number output end is connected.
It should be noted that crystal oscillator X1 provides clock signal for the first chip U1, first switch SW1 is used for control process list
The reset of member, when first switch SW1 is pressed, the current potential of the reset terminal NRST of the first chip U1 changes, and then to the
The working condition of one chip U1 is resetted.
It is understood that in practical applications, first switch pipe Q1 can be managed or for triode, metal-oxide-semiconductor, IGBT with body
The IGBT of diode is managed.
Fig. 4 show the utility model embodiment provide a kind of aircraft the obstacle avoidance circuit in storage unit a kind of reality
Existing circuit diagram.As shown in figure 4, as a kind of mode in the cards of the present embodiment, storage unit 40 includes：Storage chip U2,
Data transmission port J1, the 4th resistance R4, the 5th capacitance C5 and second switch SW2.
Reset data end RESET, the first end of the 4th resistance R4 and the first end of the 5th capacitance C5 of storage chip U2
The first end of second switch SW2, the second end ground connection of second switch SW2 are connect altogether, and second end and the power supply of the 4th resistance R4 are converted
The output end VDD of unit 30 is connected, the second end of the 5th capacitance C5 and the Data Transmission Controlling end DTR phases of data transmission port J1
Even, the first data receiver RXD1 of storage chip U2 is connected with the data sending terminal TXD of data transmission port J1, storage chip
The first data sending terminal TXD1 of U2 is connected with the data receiver RXD of data transmission port J1, the second number of storage chip U2
According to the signal input part that receiving terminal RXD2 is storage unit 40, the second data sending terminal TXD2 of storage chip U2 is storage unit
40 signal output end.
It should be noted that second switch SW2 is used to control the reset of storage unit, when second switch SW2 is pressed,
The current potential of the reset terminal RESET of second chip U2 changes, and then is purged to the data stored in the second chip U2, real
Now reset.
For on the propeller bracket that collecting unit 10 is set to aircraft, aircraft is acquired apart from collecting unit 10
The range information between peripheral obstacle, and collected range information is sent to processing unit 20, it will by processing unit 20
Range information is compared with preset reference distance information, and exports avoidance obstacle to main control unit 110 according to comparison result
Signal makes main control unit 110 control aircraft according to avoidance obstacle signal and carries out avoidance.
In the present embodiment, range information is also sent to storage unit 40 and external storage port by processing unit 20
50, it will be on the distance information transmission to coupled External memory equipment by external storage port 50.
Fig. 5 shows that the present embodiment provides a kind of another physical circuits of processing unit in the obstacle avoidance circuit of aircraft
Figure.As a kind of mode in the cards of the present embodiment, in physical circuit as shown in Figure 5, module 1A and module 1B are same
Two disparate modules in chip, wherein module 1A be used for data processing, module 1B for data receiver, data send and
The conversion of data type, module 1B are connect by each pin and the interface being connected with pin apart from collecting unit 10, by away from
Collected range information is sent to module 1B in the form of electric signal (analog signal) from collecting unit 10, module 1B will be electric
Signal is converted to digital signal, and by digital data transmission to module 1A processing.
Fig. 6 shows that the present embodiment provides a kind of a kind of physical circuits of power conversion unit in the obstacle avoidance circuit of aircraft
Figure.As a kind of mode in the cards of the present embodiment, power conversion unit 30 includes circuit 31 and circuit 32, wherein circuit
31 be first order direct current converting unit, and circuit 32 is second level direct current converting unit.As shown in Figure 2 and Figure 6, power supply 120
After exporting the first direct current to power conversion unit 30, the circuit 31 in power conversion unit 30 carries out low pressure to the first direct current
Conversion, obtains the second direct current, and by second DC power transmission to circuit 32, further low to the second direct current by circuit 32
Pressure conversion, obtains third direct current.
By taking the first direct current is 24V as an example, power supply 120 is to the first direct current that 31 output voltage values of circuit are 24V, by electricity
After road 31 is depressured the first direct current, output voltage values are the second direct current of 5V.Circuit 32 receives second direct current
And it is depressured, output voltage values are the third direct current of 3.3V.
Fig. 7 shows a kind of structural schematic diagram for aircraft that the utility model embodiment provides.As shown in fig. 7, a kind of
Aircraft 200 includes main control unit 110 and power supply 120, further includes the obstacle avoidance circuit 100 of aircraft in above-described embodiment.
It is understood that due to a kind of aircraft 200 provided in this embodiment and the relevant content of the utility model with
Realization method has been described in the above content, therefore details are not described herein again.
In said program, by by multiple outsides for being respectively arranged on aircraft apart from collecting unit, acquiring aircraft and barrier
Hinder the distance between object information, recycles processing unit to be based on range information and export avoidance obstacle signal to main control unit, make master
It controls unit and aircraft progress avoidance is controlled according to avoidance obstacle signal, can control not at that time, avoid causing aircraft and flying
The phenomenon that barrier in row environment collides.
Unit in the utility model embodiment terminal can be combined, divided and deleted according to actual needs.
More than, only specific embodiment of the present utility model, but protection scope of the utility model is not limited thereto,
Any one skilled in the art within the technical scope disclosed by the utility model, can readily occur in various equivalent
Modifications or substitutions, these modifications or substitutions should be covered within the scope of the utility model.Therefore, the utility model
Protection domain should be subject to the protection scope in claims.
Claims (9)
1. a kind of the obstacle avoidance circuit of aircraft, is connected with the main control unit of aircraft, which is characterized in that the obstacle avoidance circuit packet
It includes：
It is multiple to be respectively arranged on the outside of the aircraft apart from collecting unit, for acquiring between the aircraft and barrier
Range information；
Processing unit, with the main control unit and it is multiple be respectively connected with apart from collecting unit, the processing unit is for being based on
The range information exports avoidance obstacle signal to the main control unit, makes the main control unit according to the avoidance obstacle signal
It controls the aircraft and carries out avoidance.
2. the obstacle avoidance circuit according to claim 1, which is characterized in that the obstacle avoidance circuit further includes：It is connected with power supply
Power conversion unit, the power conversion unit respectively with it is each it is described be connected apart from collecting unit and the processing unit, use
It is converted in the first direct current exported to the power supply, obtains the second direct current and third direct current, second direct current
Electricity is used as the work of the processing unit as each work electricity consumption apart from collecting unit, the third direct current
Electricity.
3. the obstacle avoidance circuit according to claim 1 or 2, which is characterized in that the obstacle avoidance circuit further includes：Storage unit and
External storage port；
The storage unit is connected with the processing unit respectively with the external memory interface, and the storage unit is for storing
The range information, the external storage port is for connecting external memorizer, by the distance information transmission to described outer
Memory is connect to be stored.
4. the obstacle avoidance circuit according to claim 3, which is characterized in that the obstacle avoidance circuit further includes and the processing unit
Connected radio frequency unit, the radiofrequency signal sent for receiving the remote controler matched with it, and the radiofrequency signal is sent to
The processing unit generates flight control signal according to the radiofrequency signal by the processing unit, makes the main control unit root
The aircraft flight is controlled according to flight control signal.
5. the obstacle avoidance circuit according to claim 4, which is characterized in that the processing unit includes：First chip, crystal oscillator,
First resistor, second resistance, 3rd resistor, the first capacitance, the second capacitance, third capacitance, the 4th capacitance, first switch pipe and
First switch；
The power input of first chip is connected with the output end of the power conversion unit, the clock of first chip
The first end of signal input part and the crystal oscillator meets the first end of first capacitance, the second end of first capacitance and institute altogether
The first end for stating the second capacitance is connected, and the second end of second capacitance connects first chip altogether with the second end of the crystal oscillator
Clock signal output terminal, the ground terminal of first chip is connected with the first end of the third capacitance, the third capacitance
Second end ground connection, the reset terminal of first chip and the first end of the first resistor connect the first of the 4th capacitance altogether
End, formation first node, first contact of the first node for connecting the first switch, the second of the first resistor
End is connected with the output end of the power conversion unit, the second contact of the second end and the first switch of the 4th capacitance
Altogether ground connection, multiple first signal input parts of first chip be respectively used to connect it is multiple described apart from collecting unit, it is described
The second signal input terminal of first chip meets the hot end of the first switch pipe, institute with the first end of the second resistance altogether
The second end for stating second resistance is connected with the output end of the power conversion unit, the low potential termination of the first switch pipe
The controlled end on ground, the first switch pipe is connected with the first end of the 3rd resistor, and the second end of the 3rd resistor is used for
The radio frequency unit is connected, the third signal output end of first chip is connected with the signal input part of the storage unit,
The third signal input part of first chip is connected with the signal output end of the storage unit, and the 4th of first chip the
Signal output end is connected with the signal input part of the external storage port, the fourth signal input terminal of first chip and institute
The signal output end for stating external storage port is connected.
6. the obstacle avoidance circuit according to claim 5, which is characterized in that the storage unit includes：Storage chip, data pass
Defeated port, the 4th resistance, the 5th capacitance and second switch；
The first end at the reset data end of the storage chip, the first end of the 4th resistance and the 5th capacitance connects altogether
The first end of the second switch, the second end ground connection of the second switch, second end and the power supply of the 4th resistance
The output end of converting unit is connected, the second end of the 5th capacitance and the Data Transmission Controlling end phase of the data transmission port
Even, the first data receiver of the storage chip is connected with the data sending terminal of the data transmission port, the storage core
First data sending terminal of piece is connected with the data receiver of the data transmission port, and the second data of the storage chip connect
Receiving end is the signal input part of the storage unit, and the second data sending terminal of the storage chip is the letter of the storage unit
Number output end.
7. the obstacle avoidance circuit according to claim 5, which is characterized in that the first switch pipe be triode, metal-oxide-semiconductor,
IGBT is managed or the IGBT pipes with body diode.
8. the obstacle avoidance circuit according to claim 1, which is characterized in that it is described apart from collecting unit include ultrasonic distance pass
At least one of sensor, laser distance sensor, infrared distance sensor and distance by radar sensor.
9. a kind of aircraft, including main control unit, which is characterized in that the aircraft further includes any one of claim 1 to 8 institute
The obstacle avoidance circuit for the aircraft stated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820154605.XU CN207867347U (en) | 2018-01-26 | 2018-01-26 | A kind of aircraft and its obstacle avoidance circuit |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820154605.XU CN207867347U (en) | 2018-01-26 | 2018-01-26 | A kind of aircraft and its obstacle avoidance circuit |
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| Publication Number | Publication Date |
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| CN207867347U true CN207867347U (en) | 2018-09-14 |
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| CN201820154605.XU Active CN207867347U (en) | 2018-01-26 | 2018-01-26 | A kind of aircraft and its obstacle avoidance circuit |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022016562A1 (en) * | 2020-07-22 | 2022-01-27 | 南京科沃信息技术有限公司 | Vision-based crop protection unmanned aerial vehicle obstacle-avoidance system and obstacle avoidance method thereof |
-
2018
- 2018-01-26 CN CN201820154605.XU patent/CN207867347U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022016562A1 (en) * | 2020-07-22 | 2022-01-27 | 南京科沃信息技术有限公司 | Vision-based crop protection unmanned aerial vehicle obstacle-avoidance system and obstacle avoidance method thereof |
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