CN208999805U - Quadrotor system based on Embedded micro-system - Google Patents
Quadrotor system based on Embedded micro-system Download PDFInfo
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- CN208999805U CN208999805U CN201822042998.8U CN201822042998U CN208999805U CN 208999805 U CN208999805 U CN 208999805U CN 201822042998 U CN201822042998 U CN 201822042998U CN 208999805 U CN208999805 U CN 208999805U
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Abstract
The utility model discloses the quadrotor systems based on Embedded micro-system, including 4 rotor motors and its electron speed regulator, main control MCU, sensor unit, S-Bus decoder module and the power supply unit of power supply, main control MCU connects remote control receiver by S-Bus decoder module, sensor unit includes attitude transducer module, barometer sensor module and light stream module, attitude transducer module, barometer sensor module and light stream module are connect with main control MCU respectively, main control MCU reads attitude transducer module, the data of barometer sensor module and light stream module, main control MCU is built-in with PID adjustment module to carry out PID control, main control MCU is respectively connected to the control terminal of each electron speed regulator by I/O mouthfuls, the output end of electron speed regulator connects respectively It is connected to the driving end of each motor, to control motor running speed.The utility model main control MCU can flexibly obtain data and the processing of multiple sensors, improve the data-handling capacity and stability of system.
Description
Technical field
The utility model relates to unmanned vehicle technical field, especially a kind of quadrotor based on Embedded micro-system flies
Row device system.
Background technique
With the development of modern science and technology, science and technology continuous renewal, modern electronic equipment it is more and more walk close to it is military and
It is civilian.Unmanned vehicle (UAV) is a kind of no pilot driver, is operated or is led to by being electronically entered for flight controller
Cross the aircraft that airborne autonomous flight Control management system is intervened without flight controller.In 21 century, unmanned vehicle
Big effect is played in modernization military affairs, is widely used in the technologies such as military investigation, monitoring, antisubmarine, interference, it is more and more
Country all focus on unmanned vehicle development work.
Civilian unmanned plane acts on the fact that increasing, advances the development of unmanned plane, also increases to unmanned plane
The requirement of control algolithm.Civilian unmanned aerial vehicle (UAV) control program is often (the abbreviation bare machine system) of not operating system.Such journey
Sequence is relatively simple, when carrying out multi-sensor collection, may there is a problem in the data for reading some sensor, from
And cause below sensor do not responded and the stuck phenomenon of system occur.And Embedded micro-system (msOS) is light-type
RTOS, " Beijing Embedded micro-system [M]: China Machine Press, 2016.6 " in, it is to be opened by Wang Shaowei is equal based on early stage
Hair " practical SCM system identifies MS ", by the MTK mobile phone development experience of many years, in conjunction with oneself specific project application,
UC/OS is integrated, coding style is drawn close to C#, towards highly reliable, high quality, reusable, standardization, exploitation, the simple row of maintenance
Industry and develop；MsOS has 2 tasks, and logic task carries out message transmission using message mechanism, can determine inside logic task
The multiple small tasks of justice, each small task is corresponded to by message.
Utility model content
The goal of the invention of the utility model has been to provide a kind of quadrotor system based on Embedded micro-system,
Main control MCU can flexibly obtain data and the processing of multiple sensors, and OSD module is used on master control borad, facilitate and fly necessity
Row data investigation returns on video pictures in real time again, shows flying quality simultaneously convenient for playing video pictures.
In order to achieve the above objectives, the technical scheme adopted by the utility model is
Quadrotor system based on Embedded micro-system, including 4 rotor motors and its electron speed regulator, master control
MCU, sensor unit, S-Bus decoder module and the power supply unit of power supply, main control MCU are connected by S-Bus decoder module
Remote control receiver, sensor unit include attitude transducer module, barometer sensor module and light stream module, posture sensing
Device module, barometer sensor module and light stream module are connect with main control MCU respectively, main control MCU reading attitude transducer module,
The data of barometer sensor module and light stream module, main control MCU are built-in with PID adjustment module to carry out PID control, master control
MCU is respectively connected to the control terminal of each electron speed regulator by I/O mouthfuls, and the output end of electron speed regulator is respectively connected to each
The driving end of motor, to control motor running speed.
It further, further include camera, OSD module and figure transmission module, camera, OSD module and figure transmission module are successively
Connection, OSD module are connect with main control MCU.OSD module is embedded on the control panel of main control MCU, and OSD module uses AT7456E core
Piece.
Further, attitude transducer module is MPU9250 attitude transducer, connects pull-up resistor in its SDA bus.
Further, barometer sensor module is MS5611 air pressure flowmeter sensor, passes through I2C bus and main control MCU
Connection.
Further, main control MCU is STM32F103RCT6 chip.
Further, power supply unit output DC3.3V, DC5.0V and cell voltage, DC3.3V are main control MCU, MPU9250
Attitude transducer and the power supply of MS5611 air pressure flowmeter sensor；DC5.0V is that AT7456E chip and remote control receiver are powered；Battery
Voltage is driving motor power supply, and cell voltage is DC12.6-16.8V.
Due to the adoption of the above technical scheme, the utility model has the following beneficial effects:
The quadrotor system based on Embedded micro-system of the utility model, main control MCU can flexibly obtain multiple
The data of sensor and processing, improve the data-handling capacity and stability of system.OSD module, side are used on master control borad
Just it will be returned in real time in the superposition of necessary flying quality again video pictures, show flying quality simultaneously convenient for playing video pictures.
Detailed description of the invention
Fig. 1 is the circuit system block diagram of the utility model.
Fig. 2 is the attitude transducer module circuit diagram of the utility model.
Fig. 3 is the barometer sensor module circuit diagram of the utility model.
Fig. 4 is the OSD module circuit diagram of the utility model.
Fig. 5 is the S-Bus decoding hardware circuit diagram of the utility model.
Fig. 6 is the power unit circuit figure of the utility model.
Fig. 7 is the STM32 pin wiring diagram of the utility model.
Fig. 8 is the pwm circuit figure of the STM32 of the utility model.
Fig. 9 is the usb circuit figure of the present invention of the utility model.
Figure 10 is the USB detection circuit for access figure of the utility model.
Figure 11 is the serial interface circuit diagram of the utility model.
Figure 12 is the I2C bus interface circuit figure of the utility model.
Figure 13 is the ADC detection cell voltage circuit diagram of the utility model.
Figure 14 is the crystal oscillating circuit figure of the STM32 of the utility model.
Figure 15 is the SWD download circuit figure of the STM32 of the utility model.
Figure 16 is the power supply filter circuit figure of the STM32 of the utility model.
Figure 17 is the reset circuit figure of the STM32 of the utility model.
Specific embodiment
Embodiment 1
Referring to Fig. 1, the quadrotor system based on Embedded micro-system of the present embodiment, including 4 rotor motors
And electron speed regulator, main control MCU, sensor unit, S-Bus decoder module and the power supply unit of power supply of each motor,
Main control MCU connects remote control receiver by S-Bus decoder module, and sensor unit includes attitude transducer module, barometer
Sensor module and light stream module, attitude transducer module, barometer sensor module and light stream module connect with main control MCU respectively
It connects, main control MCU reads attitude transducer module, the data of barometer sensor module and light stream module, and main control MCU is built-in with
For PID adjustment module to carry out PID control, main control MCU is respectively connected to the control terminal of each electron speed regulator by I/O mouthfuls, electricity
The output end of sub- governor is respectively connected to the driving end of each motor, to control motor running speed.
Wherein, main control MCU is also connected with steering engine control module, is connected to the PWM output pin of main control MCU, defeated by main control MCU
Pwm signal control out.
It further include camera, OSD module and figure transmission module, camera, OSD module and figure transmission module are sequentially connected, OSD mould
Block is connect with main control MCU, to absorb video, using OSD module insertion flying quality etc., and is transmitted data by figure transmission module
To ground control terminal.Wherein, figure transmission module is 5.8GHz figure transmission module, such as 5.8GHz radio frequency transceiving module A5130.
It is following its physical circuit to be illustrated.
Referring to fig. 2, be attitude transducer module circuit diagram, using MPU9250 attitude transducer, inside be one
MPU6500+AK8963, that is, 3-axis acceleration and three-axis gyroscope add three axle magnetometer.The I2C of MPU9250 can be passed through
The bypass mode of bus directly reads the data of AK8963, and MPU9250 has been internally integrated the channel DMP, it directly reads
Acceleration, gyroscope and the magnetometer of three axis, then by internal filter process data, final synthesis obtain it is complete,
Stable IMU data, therefore the data in the channel DMP using MPU9250.R8 and R9 is pull-up resistor, because in I2C bus
Middle SDA needs work outputting and inputting mode, and the benefit in SDA bus plus pull-up resistor is that STM32 is I/O mouthfuls corresponding
It is set as open-drain output mode, the I/O mouth of main control chip is just readable writeable.
Referring to Fig. 3, high-precision gas can be measured using MS5611 barometer for barometer sensor module circuit diagram
By the barometric information and temperature data of reading MS5611 hypo height is calculated, then in pressure value and temperature value, main control chip
Can obtain the flying height of aircraft with hypo degree of contrast when taking off, main control chip using I2C bus and
MS5611 is communicated.
Referring to fig. 4, be OSD module circuit diagram, OSD module use AT7456E chip, main control MCU by spi bus with
AT7456E communication, while being communicated using the hardware SPI1 interface of STM32 and AT7456E, the benefit with hardware SPI is can be square
Just, data are fast written, driving is also fairly simple.Wherein, E1 and E2 forms video isolation circuit, and R2 and R1 are load electricity
Resistance, can remove design video driver circuit from this way.And the benefit that OSD module is designed on the control panel of main control MCU be can be with
Very easily flying quality or collected sensing data are added on video pictures, compared to using independent OSD module
Flight control system for, on plate design OSD module greatly saved production cost, also simplify OSD installation.
It is S-Bus decoding hardware circuit diagram, wherein the left side is card i/f, for connecting the S- of receiver referring to Fig. 5
Bus signal output end, and by powering here for receiver.When S-BUS_IN is 0, triode Q1 off state,
UART1_RX is 1；And when S-BUS_IN is 1, triode Q1 is on state, and UART1_RX 0 thus reaches
The requirement that signal negates.Since remote control receiver negates coding output S-Bus signal level with hardware circuit, and cannot
Real S-Bus signal is restored in such a way that software negates, so having in decoded signal input terminal hardware circuit
S-Bus signal level is negated, it is after obtaining real S-Bus signal, this is true to obtain true S-Bus signal level
The end RX that real S-Bus signal is input to UART1 can decode each channel data in S-Bus signal with software.
It is power circuit diagram referring to Fig. 6, power supply unit need to export DC3.3V, DC5.0V and cell voltage (abbreviation Bat electricity
Pressure).DC3.3V is for the power supply of the chips such as master control MCU chip, MPU9250 and MS5611；DC5.0V is for AT7456E and remote controler
The power supply such as receiver；The optional 3S-4S power supply of driving motor power supply, then Bat voltage is DC12.6-16.8V.DC5.0V is by a point electricity
(full name is Battey elimination circuit translator of Chinese at battery circuit is exempted to the BEC that plate or electricity are adjusted, and is exported
DC5.0V it) provides.And DC3.3V then needs to be obtained by DC5.0V by decompression chip, using linear voltage stabilization XC6206P332MR
(662K) is depressured DC5.0V can continue to provide the electric current of maximum 500mA at DC3.3V, 662K, this just greatly meets control
The problem of 3.3V power supply of plate.Wherein, U3 and U4 is 662K voltage stabilizing chip, and U3 is powered for control panel, when external extension passes
When sensor needs 3.3V to power, externally output DC3.3V is provided by U4, this ensure that development platform extends multiple sensings
The feasibility of device power supply.
Be main control MCU circuit pin wiring diagram referring to Fig. 7, main control MCU STM32F103RCT6, inside have multichannel hard
Part PWM, and carrying load ability is also stronger, it is only necessary to PWM delivery outlet is drawn, pwm circuit wiring is referring to Fig. 8.
STM32, which downloads program, can use a variety of methods, and most simple and practical is exactly the debugging downloading of SWD mode, this debugging downloading side
Formula needs 4 lines, is positive pole, power cathode, SWCLK (clock) and SWDIO (data) respectively.SWD downloading benefit be
Circuit is simple, and downloader can be cooperated to download in Keil software debugging, and this, simplifies circuit designs to facilitate software simultaneously
Debugging.
It is usb circuit figure of the present invention, R10 is the pull-up resistor of the D+ signal wire of USB referring to Fig. 9.This pull-up resistor has 2
A effect, one is the confirmation of USB mode: when D+ connects a 1.5K pull-up resistor, USB work in high-rate mode, from
And when being inserted into USB, terminal can detecte USB device.The second is ensure that the stability of data, because of the end STM32
Voltage be that 3.3V is pulled upward to 3.3V here.
It is USB detection circuit for access figure referring to Figure 10, USB_SEN is connected to one I/O mouthfuls of main control chip, as insertion USB
When, USB_VCC 5.0V, by the bleeder circuit that R11 and R13 is constituted, the voltage of USB_SEN is about 3.0V, both protected
The I/O mouth of main control chip has been protected, and has achieved the purpose that USB insertion detection.BAT54C is power supply selection chip, in order to avoid plank
5.0V influences USB insertion detection.
Referring to Figure 11, it is STM32 serial interface circuit diagram, draws the USART2 and USART3 of STM32, the effect of USART2
It is debugging routine and the data for reading light stream module, USART3 is used for other sensors expansion interface；Meanwhile also devising I2C
Bus interface circuit, to facilitate extension sensor, referring to Figure 12.
Referring to Figure 13, cell voltage circuit diagram is detected for ADC, because the control I/O of STM32 allows maximum input voltage not
More than 3.3V, at this time ADC detects cell voltage and detects cell voltage using the method for partial pressure sampling.ADC sampling voltage be
Vadc=VBat* (R7/ (R7+R6))=VBat*10/60=VBat/6, can thus meet 3S-4S and power.
Be other peripheral circuits of STM32F103RCT6 referring to Figure 14-Figure 17, including crystal oscillating circuit, SWD download circuit,
Power supply filter circuit and reset circuit.
Light stream module uses INT-F603 light stream module, this module can by serial ports according to fixed protocol to master control
MCU sends the unmanned plane 2 axial displacement speed in the horizontal direction got.
In this way, main control MCU is read each sensing data by certain time interval respectively, flight attitude information, then root are obtained
Control is adjusted according to existing PID adjustment module, it can be achieved that gesture mode flies；Air pressure and the temperature data of environment are obtained, then
It is converted into height above sea level, then is compared with height above sea level when taking off, so that it may the height for obtaining rising, further according to existing PID
Adjustment module adjusts control, can determine height mode flight；2 axial displacement speed of horizontal direction are obtained, further according to existing PID tune
It saves module and adjusts control, it can be achieved that light stream hovering mode flight.
It has been observed that Embedded micro-system built in the main control MCU of the utility model, can flexibly obtain the data of multiple sensors
And handle, improve the data-handling capacity and stability of system.OSD module is used on master control borad, facilitates and necessity is flown
Data investigation returns on video pictures in real time again, shows flying quality simultaneously convenient for playing video pictures.
Above description is the detailed description for the preferable possible embodiments of the utility model, but embodiment is not limited to
The patent claim of the utility model, the same changes or modifications completed under technical spirit suggested by all the utility model
Change, should belong to the covered the scope of the patents of the utility model.
Claims (7)
1. a kind of quadrotor system based on Embedded micro-system, it is characterised in that: including 4 rotor motors and its electricity
Sub- governor, main control MCU, sensor unit, S-Bus decoder module and the power supply unit of power supply, the main control MCU pass through
S-Bus decoder module connects remote control receiver, and the sensor unit includes attitude transducer module, barometer sensor die
Block and light stream module, the attitude transducer module, barometer sensor module and light stream module are connect with main control MCU respectively,
The main control MCU reads attitude transducer module, the data of barometer sensor module and light stream module, in the main control MCU
PID adjustment module is equipped with to carry out PID control, the main control MCU is respectively connected to the control of each electron speed regulator by I/O mouthfuls
End processed, the output end of electron speed regulator are respectively connected to the driving end of each motor, to control motor running speed.
2. the quadrotor system according to claim 1 based on Embedded micro-system, it is characterised in that: further include
Camera, OSD module and figure transmission module, camera, OSD module and figure transmission module are sequentially connected, and OSD module and main control MCU connect
It connects.
3. the quadrotor system according to claim 2 based on Embedded micro-system, it is characterised in that: it is described
OSD module is embedded on the control panel of main control MCU, and OSD module uses AT7456E chip.
4. the quadrotor system according to claim 1 based on Embedded micro-system, it is characterised in that: the appearance
State sensor module is MPU9250 attitude transducer, connects pull-up resistor in its SDA bus.
5. the quadrotor system according to claim 1 based on Embedded micro-system, it is characterised in that: the gas
Pressure flowmeter sensor module is MS5611 air pressure flowmeter sensor, is connect by I2C bus with main control MCU.
6. the quadrotor system according to any one of claim 3-5 claim based on Embedded micro-system,
It is characterized by: the main control MCU is STM32F103RCT6 chip.
7. the quadrotor system according to claim 6 based on Embedded micro-system, it is characterised in that: the electricity
Source unit exports DC3.3V, DC5.0V and cell voltage, and DC3.3V is main control MCU, MPU9250 attitude transducer and MS5611 gas
Press flowmeter sensor power supply；DC5.0V is that AT7456E chip and remote control receiver are powered；Cell voltage is driving motor power supply,
And cell voltage is DC12.6-16.8V.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201822042998.8U CN208999805U (en) | 2018-12-06 | 2018-12-06 | Quadrotor system based on Embedded micro-system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822042998.8U CN208999805U (en) | 2018-12-06 | 2018-12-06 | Quadrotor system based on Embedded micro-system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111377055A (en) * | 2018-12-28 | 2020-07-07 | 成都天府新区光启未来技术研究院 | Unmanned aerial vehicle releasing device and releasing method |
| CN111862747A (en) * | 2020-07-31 | 2020-10-30 | 北京韦加科创技术有限公司 | Many rotor unmanned aerial vehicle fly to control teaching development external member |
| CN112173104A (en) * | 2020-09-03 | 2021-01-05 | 昆明理工大学 | Inspection robot based on four-rotor aircraft |
| CN113359799A (en) * | 2021-06-25 | 2021-09-07 | 广西翼界科技有限公司 | Remote directional monitoring system based on unmanned aerial vehicle |
-
2018
- 2018-12-06 CN CN201822042998.8U patent/CN208999805U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111377055A (en) * | 2018-12-28 | 2020-07-07 | 成都天府新区光启未来技术研究院 | Unmanned aerial vehicle releasing device and releasing method |
| CN111862747A (en) * | 2020-07-31 | 2020-10-30 | 北京韦加科创技术有限公司 | Many rotor unmanned aerial vehicle fly to control teaching development external member |
| CN112173104A (en) * | 2020-09-03 | 2021-01-05 | 昆明理工大学 | Inspection robot based on four-rotor aircraft |
| CN113359799A (en) * | 2021-06-25 | 2021-09-07 | 广西翼界科技有限公司 | Remote directional monitoring system based on unmanned aerial vehicle |
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Granted publication date: 20190618 Termination date: 20211206 |