CN208110346U - Unmanned plane master control borad - Google Patents
Unmanned plane master control borad Download PDFInfo
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- CN208110346U CN208110346U CN201820752809.3U CN201820752809U CN208110346U CN 208110346 U CN208110346 U CN 208110346U CN 201820752809 U CN201820752809 U CN 201820752809U CN 208110346 U CN208110346 U CN 208110346U
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Abstract
This application discloses a kind of unmanned plane master control borads.Including：Flight management unit, input-output unit, standby power unit, digital power power supply unit, analog power power supply unit and standby power unit；The flight management unit includes：Main control unit, first sensor group and signal input output interface；The input-output unit includes：Input/output control module and control interface module interconnected.The application is arranged by integrated integration, has achieved the purpose that be integrated in flight management unit and input-output unit on one circuit board, to realize an integrated circuit board；The application device can provide the sufficient input-output unit for not needing extension for most of applications, more easy-to-use；Technical scheme has good microcontroller resource；Integration complexity, and reliability with higher can be effectively reduced by the way that all-in-one machine is integrally disposed；Reduce the technical effect of material and production cost.
Description
Technical field
This application involves air vehicle technique fields, in particular to a kind of unmanned plane master control borad.
Background technique
UAV is to utilize radio robot and the process control provided for oneself referred to as " unmanned plane " (" UAV ")
The not manned vehicle of device manipulation.Unmanned plane is actually the general designation of unmanned vehicle, can be with from technical standpoint definition
It is divided into：Unmanned fixed wing aircraft, unmanned VTOL aircraft, unmanned airship, unmanned helicopter, unmanned multi-rotor aerocraft, nothing
People's parasol etc..Compared with manned aircraft, it have small in size, low cost, it is easy to use, to operational environment require low, battlefield
The advantages that survival ability is stronger.In addition, other flight instruments including miniature aerial photography aircraft are also increasingly popular.
Since general personal or enterprise research and develop unmanned plane with larger difficulty since bottom end, and market access requirement compared with
It is high；Therefore open source unmanned air vehicle technique is opened by numerous as can provide a basic Development Framework for corresponding developer
The welcome at hair family；But open source unmanned plane hardware frame in the prior art has as a drawback that：
1, the I/O interface extended is few, is unable to satisfy more and more application interface demands；
2, using difficulty height；
3, sensor performance or precision are low；
4, microcontroller processing capacity is lower, and due to hardware planning design reasons, process resource is easily occupied；
5, reliability and integrated level are low, cause hardware system volume big；
6, the problem of due to the low material of bring therewith of integrated level using more and high production cost.
For problem present in the relevant technologies, currently no effective solution has been proposed.
Utility model content
The main purpose of the application is to provide a kind of unmanned plane master control borad, to solve the problems, such as present in the relevant technologies.
To achieve the goals above, according to the one aspect of the application, a kind of unmanned plane master control borad is provided.
Include according to the unmanned plane master control borad of the application：
Flight management unit, input-output unit, standby power unit, digital power power supply unit, analog power power supply
Unit and standby power unit；The flight management unit includes：Main control unit, first sensor group and signal input and output connect
Mouthful；The input-output unit includes：Input/output control module and control interface module interconnected；
The main control unit and input/output control module are electrically connected to each other；
The digital power power supply unit is electrically connected with the flight management unit；The standby power unit with it is described defeated
Enter output unit electrical connection；
The main control unit is electrically connected with the input-output unit, first sensor group and signal input output interface；
The first sensor group is connect with the analog power power supply unit.
Further, unmanned plane master control borad as the aforementioned, the main control unit include：Microcontroller, memory and random
Access memory；
The model STM32F427 of the microcontroller, the memory use the flash memory of 2MiB, and the arbitrary access is deposited
Reservoir uses the random access memory of 256KiB.
Further, unmanned plane master control borad as the aforementioned, the first sensor group include：First accelerometer, the first top
Spiral shell instrument and the first barometer；First accelerometer, the first gyroscope and the first barometer by Serial Peripheral Interface (SPI) with it is described
Main control unit communication connection.
Further, unmanned plane master control borad as the aforementioned further includes：Damping IMU plate；The damping IMU plate is equipped with：The
Two sensor groups；The second sensor group includes：Second accelerometer, the second gyroscope, the second barometer and magnetometer；It is described
Second accelerometer, the second gyroscope, the second barometer and magnetometer are connected to the damping IMU plate, institute by Serial Peripheral Interface (SPI)
It states damping IMU plate and is connected to the main control unit.
Further, unmanned plane master control borad as the aforementioned, the flight management unit further include：The output of first PWM servo
Interface group, serial line interface, I2C interface, CAN collection line interface, Serial Peripheral Interface (SPI) and analog signal input port；The analog signal
Input port includes：Power-management interface and mould electricity channel interface.
Further, unmanned plane master control borad as the aforementioned, the first PWM servo output interface group is equipped with 6, and is set as
One group of 6 PWM servo output interface；It is equipped with 5 serial line interfaces altogether, serial line interface described in two of them has full flow control
Function processed；Equipped with 2 I2C interfaces, 2 CAN collection line interfaces, 3 analog signal input ports.
Further, unmanned plane master control borad as the aforementioned, the input-output unit include：The output of 2nd PWM servo connects
Mouth group, R/C control interface, simulation/PWM RSSI signal input interface, S.Bus servo interface.
Further, unmanned plane master control borad as the aforementioned, the input-output unit, which is also connected with, to be equipped with：Safety switch, LED
Indicator light and piezoelectric buzzer driving；
Wherein, the 2nd PWM servo output interface group is equipped with 8 PWM servo output interfaces, and is divided into three groups,
One group is equipped with 4 PWM servo output interfaces, and another two groups are respectively equipped with 2 PWM servo output interfaces.
Further, unmanned plane master control borad as the aforementioned further includes：USB interface and miniature SD card groove；The USB interface
It is electrically connected with miniature SD interface with the main control unit.
Further, unmanned plane master control borad as the aforementioned, second accelerometer and magnetometer use and are integrated with accelerometer
With the LSM303D model chip of magnetometer function, first accelerometer also uses the LSM303D model chip；First top
Spiral shell instrument and the second gyroscope use the gyroscope of model L3GD20；First barometer and the second barometer use model
The barometer of MS5611.
In the embodiment of the present application, by the way of, by including：Flight management unit, input-output unit, standby electricity
Source unit, digital power power supply unit, analog power power supply unit and standby power unit；The flight management unit includes：
Main control unit, first sensor group and signal input output interface；The input-output unit includes：Input interconnected is defeated
Control module and control interface module out；The main control unit and input/output control module are electrically connected to each other；The number electricity
Source power supply unit is electrically connected with the flight management unit；The standby power unit is electrically connected with the input-output unit；
The main control unit is electrically connected with the input-output unit, first sensor group and signal input output interface；Described first
Sensor group is connect with the analog power power supply unit.Reach and flight management unit and input-output unit are integrated in one
Purpose on a circuit board to realize an integrated circuit board, and forms integrated winged control；The application device can be
Most of applications provide the sufficient input-output unit for not needing extension, more easy-to-use；And pass through setting first sensor group
There can be good sensor to show；Technical scheme has good microcontroller resource；Higher reliability, passes through
All-in-one machine can effectively reduce integration complexity, reliability with higher at China's setting；Reduce material and production cost
Technical effect, and then solve technical problem present in the relevant technologies.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings：
Fig. 1 is according to a kind of module connection diagram of embodiment of the application；And
Fig. 2 is according to a kind of electrical block diagram of embodiment of the application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated primarily to better describe the utility model and embodiment
Device, element or component must have particular orientation, or be constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in the present invention can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example,
It may be a fixed connection, be detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be direct phase
It even, or indirectly connected through an intermediary, or is two connections internal between device, element or component.
For those of ordinary skills, can understand as the case may be above-mentioned term in the present invention specifically contain
Justice.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figures 1 and 2, a kind of unmanned plane master control borad, including：It is flight management unit 1, input-output unit 2, spare
Power supply unit 5, digital power power supply unit 3 and analog power power supply unit 4；The flight management unit includes 1：Main control unit
11, first sensor group 12 and signal input output interface 13；The input-output unit 2 includes：Input interconnected is defeated
Control module 21 and control interface module out；
The main control unit 11 and input/output control module 21 are electrically connected to each other；
The digital power power supply unit 3 is electrically connected with the flight management unit 1；The standby power unit 5 and institute
State the electrical connection of input-output unit 2；
The main control unit 11 and the input-output unit 2, first sensor group 12 and signal input output interface 13
Electrical connection；The first sensor group 12 is connect with the analog power power supply unit 4；
By providing the standby power unit 5 for input-output unit 2, flight management unit 1 can be effectively prevented
Power supply power supply disconnects, and carries out stand-by power supply for it.
Preferably, the flight management unit 1 (FMU) and input-output unit 2 (IO) are transported under the voltage of 3.3V
Row, and the dual-channel calibration device for having oneself privately owned respectively；Each calibrator has the resetting output of an energization, binding
The energization and power down sequence of calibrator.Electric energy can be connect by USB or always inputted by power module interface as power supply
In mouth input the application device, and USB or power module interface have overturning electrode to protect and are connected separately with corresponding spare
Electric energy powers off suddenly to prevent the power supply of input.FMU+IO power supply buffering is 250mA；External power supply be limited in total 2.5A (including
The devices such as all LED light and piezoelectric buzzer).Wherein, USB can be used to support software upgrading, test and exploitation；It is described
The interface of USB supply external equipment is used to test, however the consumption of the overall electric current of the USB can be limited in 500mA, including outer
Equipment is connect, to prevent USB interface from overloading；
Further, a spare electrical interface, the spare electrical interface and the flight management unit 1 are also provided with
It is electrically connected with input-output unit 2；In terms of input voltage, the voltage more than 5.7V can be shielded the spare electrical interface.
When being more than after a kind of power supply has been connected, electric energy will be taken out under suitable voltage by the power supply of highest priority
Out；At most of conditions, FMU should be by power module interface or the auxiliary to match electric rail, that is, passes through
Power module interface or standby electricity rail are powered.Under the scene of exploitation test, electric energy is extracted from USB, there is no need to BEC
(exempting from battery circuit) or similar servo power supply (servomechanism installation itself is also required to additional electric energy).
In some embodiments, unmanned plane master control borad as the aforementioned, the main control unit 11 include：Microcontroller, storage
Device and random access memory；
The model STM32F427 of the microcontroller, the memory use buffer area for the flash memory of 2MiB, it is described with
Machine accesses the random access memory that memory uses 256KiB.
In some embodiments, unmanned plane master control borad as the aforementioned, the first sensor group 12 include：First accelerates
Meter, the first gyroscope and the first barometer；First accelerometer, the first gyroscope and the first barometer are connect by serial peripheral
Mouth is communicated to connect with the main control unit 11.
In some embodiments, unmanned plane master control borad as the aforementioned further includes：Damping IMU plate；On the damping IMU plate
It is equipped with：Second sensor group；The second sensor group includes：Second accelerometer, the second gyroscope, the second barometer and magnetic force
Instrument；Second accelerometer, the second gyroscope, the second barometer and magnetometer are connected to the damping by Serial Peripheral Interface (SPI)
IMU plate, the damping IMU plate are connected to the main control unit 11.
Preferably, the sensor difference in the first sensor group 1 in the application and damping IMU plate in second sensor group
It is used among different hubs；And the data ready signal of all the sensors transmission is no longer routed.
In some embodiments, unmanned plane master control borad as the aforementioned, the flight management unit 1 further include：First PWM is watched
Admit defeat outgoing interface group 14；The signal input output interface 13 includes：It is serial line interface, I2C interface, CAN collection line interface, serial outer
If interface and analog signal input port；The analog signal input port includes：Power-management interface and mould electricity channel interface.
In some embodiments, unmanned plane master control borad as the aforementioned, the 2nd PWM servo output interface group are equipped with 6,
And it is set as one group of 6 PWM servo output interface；It is equipped with 5 serial line interfaces altogether, serial line interface described in two of them is with complete
Flow control function；Equipped with 2 I2C interfaces, 2 CAN collection line interfaces, 3 analog signal input ports.FMU
(i.e. flight management unit 1) is connected to altogether six PWM servo output interfaces, it is possible to reduce updates these PWM of delay time and watches
Admit defeat outgoing interface under hedging mode cannot by IO (including：The letter that input-output unit 2 and signal input output interface 13 transmit
Number) control, these output ends are divided into three groups, can be used for supporting a variety of renewal frequencies, one group four and one group two.It can
To support to be up to the pwm signal of 400Hz.
In some embodiments, unmanned plane master control borad as the aforementioned, the control interface module 2 include：2nd PWM servo
Output interface group 23, R/C control interface 22, simulation/PWM RSSI signal input interface, S.Bus servo interface.
In some embodiments, unmanned plane master control borad as the aforementioned, the input-output unit, which is also connected with, to be equipped with：Safety open
It closes, LED light and piezoelectric buzzer drive；
Wherein, the 2nd PWM servo output interface group is equipped with 8 PWM servo output interfaces, and is divided into three groups, and one group
Equipped with 4 PWM servo output interfaces, another two groups are respectively equipped with 2 PWM servo output interfaces.It is watched by the way that 8 PWM are arranged
Admit defeat out, even if FMU (hedging mode/artificial mode) in the state of being not turned on can be made, input and output list can also be passed through
R/C input and mixing on plate directly control the flight management unit 1 in member 2, these output ends are divided into three groups, more for supporting
Kind renewal frequency, one group 4 and 2 groups 2 can support the up to pwm signal of 400Hz.
All PWM servo output interfaces are (in input-output unit 2 and signal input output interface 13 in the application
PWM servo output interface) it is all to be protected by ESD (Electro-static Driven Comb), and be preferably designed to lose in burst servomechanism
It also can be without damage in the case where going connection.The servo-drive is specifically used to drive one on the 26AWG servo line set of 2m
The servo of 50pF inputs.PWM output can also be used to be configured to independent GPIOs (universal input output), and PWM driving is special
Door is in order to drive servomechanism installation and similar logic to input, rather than relay or LED light.
In some embodiments, unmanned plane master control borad as the aforementioned further includes：USB interface and miniature SD card groove；It is described
USB interface and miniature SD interface are electrically connected with the main control unit 11.
In some embodiments, unmanned plane master control borad as the aforementioned, second accelerometer and magnetometer are used and are integrated with
The LSM303D model chip of accelerometer and magnetometer function, first accelerometer also use the LSM303D model chip；
First gyroscope and the second gyroscope use the gyroscope of model L3GD20；First barometer and the second barometer use
The barometer of model MS5611.
Preferably, as shown in Figure 2：All external equipments are connected by the connector of single 80 pin
To the application device, and all external equipments have been also connected with one piece of support plate that can be transformed according to different application.
Obviously, those skilled in the art should be understood that each module of above-mentioned the utility model or each step can be used
General computing device realizes that they can be concentrated on a single computing device, or be distributed in multiple computing device institutes
On the network of composition, optionally, they can be realized with the program code that computing device can perform, it is thus possible to by them
Storage is performed by computing device in the storage device, and perhaps they are fabricated to each integrated circuit modules or generals
Multiple modules or step in them are fabricated to single integrated circuit module to realize.In this way, the utility model is not limited to appoint
What specific hardware and software combines.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of unmanned plane master control borad, which is characterized in that including：Flight management unit, input-output unit, backup power source list
Member, digital power power supply unit and analog power power supply unit；The flight management unit includes：Main control unit, the first sensing
Device group and signal input output interface；The input-output unit includes：Input/output control module interconnected and control
Interface module；
The main control unit and input/output control module are electrically connected to each other；
The digital power power supply unit is electrically connected with the flight management unit；The standby power unit and the input are defeated
Unit is electrically connected out；
The main control unit is electrically connected with the input-output unit, first sensor group and signal input output interface；It is described
First sensor group is connect with the analog power power supply unit.
2. unmanned plane master control borad according to claim 1, which is characterized in that the main control unit includes：Microcontroller is deposited
Reservoir and random access memory；
The model STM32F427 of the microcontroller, the memory use the flash memory of 2MiB, the random access memory
Using the random access memory of 256KiB.
3. unmanned plane master control borad according to claim 1, which is characterized in that the first sensor group includes：First adds
Speed meter, the first gyroscope and the first barometer；First accelerometer, the first gyroscope and the first barometer pass through serial peripheral
Interface and the main control unit communicate to connect.
4. unmanned plane master control borad according to claim 3, which is characterized in that further include：Damping IMU plate；The damping IMU
Plate is equipped with：Second sensor group；The second sensor group further includes：Second accelerometer, the second gyroscope, the second barometer
And magnetometer；Second accelerometer, the second gyroscope, the second barometer and magnetometer are connected to described by Serial Peripheral Interface (SPI)
Damping IMU plate, the damping IMU plate are connected to the main control unit.
5. unmanned plane master control borad according to claim 1, which is characterized in that the flight management unit further includes：First
PWM servo output interface group, serial line interface, I2C interface, CAN collection line interface, Serial Peripheral Interface (SPI) and analog signal input port；
The analog signal input port includes：Power-management interface and mould electricity channel interface.
6. unmanned plane master control borad according to claim 5, which is characterized in that the first PWM servo output interface group is set
There are 6, and is set as one group of 6 PWM servo output interface；It is equipped with 5 serial line interfaces, serial line interface described in two of them altogether
With full flow control function；Equipped with 2 I2C interfaces, 2 CAN collection line interfaces, 3 analog signal inputs
Mouthful.
7. unmanned plane master control borad according to claim 1, which is characterized in that the input-output unit includes：2nd PWM
Servo output interface group, R/C control interface, simulation/PWM RSSI signal input interface, S.Bus servo interface.
8. unmanned plane master control borad according to claim 7, which is characterized in that the input-output unit, which is also connected with, to be equipped with：
Safety switch, LED light and piezoelectric buzzer driving；
Wherein, the 2nd PWM servo output interface group is equipped with 8 PWM servos and exports Xie Kou, and is divided into three groups, and one group
Equipped with 4 PWM servo output interfaces, another two groups are respectively equipped with 2 PWM servo output interfaces.
9. unmanned plane master control borad according to claim 1, which is characterized in that further include：USB interface and miniature SD card groove；
The USB interface and miniature SD interface are electrically connected with the main control unit.
10. unmanned plane master control borad according to claim 4, which is characterized in that second accelerometer and magnetometer use
It is integrated with the LSM303D model chip of accelerometer and magnetometer function, first accelerometer also uses the LSM303D model
Chip；First gyroscope and the second gyroscope use the gyroscope of model L3GD20；First barometer and the second air pressure
Meter uses the barometer of model MS5611.
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| CN201820752809.3U CN208110346U (en) | 2018-05-18 | 2018-05-18 | Unmanned plane master control borad |
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| CN201820752809.3U CN208110346U (en) | 2018-05-18 | 2018-05-18 | Unmanned plane master control borad |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111061297A (en) * | 2019-12-30 | 2020-04-24 | 沈阳卓翼航空科技有限公司 | Flight control computer system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111061297A (en) * | 2019-12-30 | 2020-04-24 | 沈阳卓翼航空科技有限公司 | Flight control computer system |
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