CN210761303U

CN210761303U - Flying robot

Info

Publication number: CN210761303U
Application number: CN201921268143.5U
Authority: CN
Inventors: 李世文; 谢志能; 潘益玲; 邓小丁; 蔡志敏
Original assignee: Heyuan Polytechnic
Current assignee: Heyuan Polytechnic
Priority date: 2019-08-06
Filing date: 2019-08-06
Publication date: 2020-06-16
Anticipated expiration: 2029-08-06

Abstract

The utility model discloses a flying robot, including aircraft and controller, the aircraft includes: a camera, a sensor unit; the FPGA chip is connected with the camera and the sensor unit and is used for processing the video signal acquired by the camera and the attitude data acquired by the sensor unit; the motor driving circuits are connected with the FPGA chip and the motor and are used for controlling the starting, the stopping and the speed of the motor; the DSP chip is connected with the FPGA chip and used for receiving the video signal and the attitude data processed by the FPGA for processing, sending the video signal and the attitude data to the controller and receiving the control signal of the controller; the first WIFI module and the first 4G communication module are connected with the DSP chip and used for alternately transmitting data to the DSP and the controller according to the distance; a power module for powering an aircraft. The utility model discloses a set up 4G module and WIFI module simultaneously, carry out data transmission for aircraft and controller according to the distance in turn.

Description

Flying robot

Technical Field

The utility model relates to a flying robot field, in particular to flying robot.

Background

The flying robot is widely applied, the figure of the flying robot can be seen from civil use to military use, and meanwhile, the flying robot is a multi-disciplinary crossed frontier subject and the related technology is complex.

The flying robot mainly comprises a hardware part and a software part, wherein the hardware part comprises an aircraft and a remote control end, and the aircraft part comprises a wireless transceiving part, a processor part, various sensors and the like; the remote control part mainly comprises a wireless transceiving part, a processor, a display screen and the like.

The existing flying robots are mostly controlled by radio frequency, the flying distance of the flying robots is short by the technology, and if the flying distance is slightly far, the control is easily lost.

Thus, the prior art has yet to be improved and enhanced.

SUMMERY OF THE UTILITY MODEL

In view of the foregoing prior art's weak point, the utility model aims to provide a flying robot carries out data transmission for aircraft and controller according to the distance in turn through setting up 4G module and WIFI module simultaneously.

In order to achieve the purpose, the utility model adopts the following technical proposal:

the utility model provides a flying robot, including the aircraft and with aircraft wireless connection be used for controlling the aircraft flight and carry out data acquisition's controller, a serial communication port, the aircraft includes: the camera is used for acquiring videos; a sensor unit for acquiring angular velocity and acceleration-generated attitude data; the FPGA chip is connected with the camera and the sensor unit and is used for processing the video signal and the attitude data according to a preset program; the motor driving circuits are connected with the FPGA chip and the motor and are used for controlling the starting, the stopping and the speed of the motor; the DSP module is connected with the FPGA chip and used for receiving the video signals and the attitude data processed by the FPGA according to a preset program, processing the video signals and the attitude data, sending the video signals and the attitude data to the controller and receiving the control signals of the controller; the first WIFI module and the first 4G communication module are connected with the DSP module and used for alternately transmitting data to the DSP module and the controller according to the distance; the power supply module is connected with the camera, the sensor unit, the FPGA chip, the motor driving circuit, the DSP module, the first WIFI module and the first 4G communication module and used for supplying power.

The DSP module comprises: the DSP chip is connected with the moving target detection and tracking unit, the first 4G communication module, the first WIFI module and the power supply module, and is used for receiving the processed image data and sending the processed image data to the controller through the first 4G communication module or the first WIFI module; the second SDRAM memory is connected with the DSP chip and used for storing image data; and the FLASH memory is connected with the DSP and is used for storing the main program.

The motor driving circuit comprises a first resistor, a second resistor, a field effect transistor, a first diode and a motor interface; the power supply device comprises a first resistor, a second resistor and a field effect tube, wherein one end of the first resistor is connected with an electric tuning unit, the other end of the first resistor is connected with the second resistor and the drain electrode of the field effect tube, the other end of the second resistor is connected with the source electrode and the grounding end of the field effect tube, the grid electrode of the field effect tube is connected with the input end of a first diode and the second pin of a motor interface, and the output point of the first diode is connected with the first pin of the motor interface and the power.

The first WIFI module comprises a wireless transceiving chip, a first capacitor, a second capacitor, a third capacitor, a fourth capacitor, a fifth capacitor, a sixth capacitor, a seventh capacitor, an eighth capacitor, a ninth capacitor, a third resistor, a fourth resistor, a fifth resistor, a first inductor, a second inductor, an antenna and a crystal oscillator; the first pin to the sixth pin of the wireless transceiver chip are respectively connected with the 117 th pin to the 123 th pin of the DSP chip, the seventh pin of the wireless transceiver chip is connected with one end of the first capacitor, one end of the second capacitor, one end of the third capacitor, one end of the fourth resistor, one end of the fifth resistor, the fifteenth pin, the eighteenth pin and the nineteenth pin of the wireless transceiver chip, the eighth pin of the wireless transceiver chip is connected with the other end of the first capacitor, the other end of the second capacitor, the other end of the third capacitor, one end of the third resistor, the fourteenth pin, the seventeenth pin and the twentieth pin of the wireless transceiver chip and is grounded, the other end of the third resistor is connected with the sixteenth pin of the wireless transceiver chip, the ninth pin of the wireless transceiver chip is connected with the first pin of the crystal oscillator and one end of the fourth capacitor, the tenth pin of the wireless transceiver chip is connected with the third pin of the crystal oscillator and one end of the fifth capacitor, the eleventh pin of the wireless transceiver chip is connected with one end of the sixth capacitor, one end of the seventh capacitor and one end of the first inductor, the twelfth pin of the wireless transceiver chip is connected with the other end of the first inductor and one end of the second inductor, the thirteenth pin of the wireless transceiver chip is connected with the other end of the second inductor and one end of the third inductor, the other end of the third inductor is connected with one end of the eighth capacitor, the other end of the eighth capacitor is connected with the antenna and one end of the ninth capacitor, the other ends of the fourth capacitor, the fifth capacitor, the sixth capacitor, the seventh capacitor and the ninth capacitor are all grounded, the two ends of the fourth resistor are all grounded, and the other end of the fifth resistor is connected with a 3.3V power supply.

The sensor unit comprises a motion sensor, a sixth resistor, a seventh resistor, a tenth capacitor, an eleventh capacitor, a twelfth capacitor and a thirteenth capacitor; the first pin of the motion sensor is grounded, the eighth pin of the motion sensor is connected with one end of a 3.3V power supply and one end of a tenth capacitor, the tenth pin of the motion sensor is connected with one end of an eleventh capacitor, the ninth pin of the motion sensor is connected with the other end of the tenth capacitor, the other end of the eleventh capacitor and the eleventh pin of the motion sensor, the twelfth pin of the motion sensor is connected with the sensor control unit, the thirteenth pin of the motion sensor is connected with the 3.3V power supply and one end of a twelfth capacitor, the eighteenth pin of the motion sensor is connected with the other end of the twelfth capacitor and a grounding end, the twentieth pin of the motion sensor is connected with one end of the thirteenth capacitor, the other end of the thirteenth capacitor is grounded, the twenty-third pin of the motion sensor is connected with one end of the sixth resistor, and the twenty-fourteen pin of the motion sensor is connected with one end of the seventh resistor, the other end of the sixth resistor and the other end of the seventh resistor are both grounded.

The controller includes: the second WIFI module is used for receiving the data sent by the first WIFI module; the second 4G communication module is used for receiving the data sent by the first 4G communication module; a processor module for sending control signals; a screen for displaying data.

The model of the FPGA chip is EP1C3T144C 8.

The model of the DSP chip is TMS320VC 5409.

The first WIFI module and the second WIFI module are both SI24R1 in model, and the first 4G communication module and the second 4G communication module are EC20 in model.

Compared with the prior art, the utility model provides an among the flying robot, be used for controlling the aircraft flight and carry out data acquisition's controller including the aircraft and with aircraft wireless connection, the aircraft includes: a camera and a sensor unit; the FPGA chip is connected with the camera and the sensor unit and is used for processing the video signal acquired by the camera and the attitude data acquired by the sensor unit; the motor driving circuits are connected with the FPGA chip and the motor and are used for controlling the starting, the stopping and the speed of the motor; the DSP chip is connected with the FPGA chip and used for receiving the video signal and the attitude data processed by the FPGA for processing, sending the video signal and the attitude data to the controller and receiving the control signal of the controller; the first WIFI module and the first 4G communication module are connected with the DSP chip and used for alternately transmitting data to the DSP and the controller according to the distance; and the power supply module is connected with the DSP chip and used for supplying power to the aircraft. The utility model discloses a set up 4G module and WIFI module simultaneously, carry out data transmission for aircraft and controller according to the distance in turn.

Drawings

Fig. 1 is a structural block diagram of an aircraft provided by the present invention;

fig. 2 is a circuit structure diagram inside the FPGA chip provided by the present invention;

fig. 3 is a motor driving circuit provided by the present invention;

fig. 4 is a circuit diagram of a first WIFI module provided by the present invention;

fig. 5 is a circuit diagram of a sensor unit provided by the present invention.

Detailed Description

The utility model provides a power supply switching circuit and power supply system turns off switch module through power supply switching circuit when external power source inserts to cut off the internal power supply, turn into the external power supply power with the power supply mode, realized the free switching of the mode of different powers supplies.

In order to make the objects, technical solutions and effects of the present invention clearer and clearer, the following description of the present invention will refer to the accompanying drawings and illustrate embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

Because the existing flying robots are mostly controlled by radio frequency, the flying robots are close to each other in flying distance by the technology, and if the flying distance is slightly far away, the control is easily lost. Meanwhile, in specific implementation, most flying robots adopt a control mode of a single chip microcomputer, and although the mode is low in cost, the power consumption is high, the control is simple, and the relevant requirements of real-time control cannot be met. Therefore, there is a need to provide a new flying robot circuit.

To sum up, please refer to fig. 1, the utility model provides a flying robot, including the aircraft and with aircraft wireless connection be used for controlling the aircraft flight and carry out data acquisition's controller, its characterized in that, the aircraft includes: a camera 100 for capturing video; a sensor unit 200 for acquiring angular velocity and acceleration-generating attitude data; an FPGA chip 300 connected to the camera 100 and the sensor unit 200 for processing video signals and attitude data; a plurality of motor driving circuits 400 connected with the FPGA chip 300 and the motor and used for controlling the starting, stopping and speed of the motor; the DSP module 500 is connected with the FPGA chip 300 and used for receiving the video signals and the attitude data processed by the FPGA, processing the video signals and the attitude data, sending the video signals and the attitude data to the controller and receiving control signals of the controller; the first WIFI module 600 and the first 4G communication module 700 are connected with the DSP module 500 and used for alternately transmitting data to the DSP module 500 and the controller according to the distance; and the power supply module 800 is connected with the camera 100, the sensor unit 200, the FPGA chip 300, the motor driving circuit 400, the DSP module 500, the first WIFI module 600 and the first 4G communication module 700 and used for supplying power.

When the practical implementation is carried out, in the embodiment of the present invention, the FPGA chip 300 and the DSP chip 501 are combined to perform data processing in the aircraft, when the aircraft starts to work, the camera 100 collects an external video picture, converts the external video picture into a video signal and transmits the video signal to the FPGA chip 300, and meanwhile, the sensor unit 200 obtains the angular velocity and the acceleration of the aircraft, and generates attitude data and transmits the attitude data to the FPGA chip 300; the FPGA chip 300 processes the video signal and the attitude data, transmits the video signal and the attitude data to the DSP for processing, and finally transmits the video signal and the attitude data to the controller through the first WIFI module 600 or the first 4G communication module 700. Specifically, the FPGA chip is further provided with a debugging port, and the debugging port is used for downloading codes to realize the function of the FPGA.

Referring to fig. 2, in the embodiment of the present invention, the interior of the FPGA chip 300 includes: a camera initialization unit 301 connected to the camera 100 for initializing the camera 100; a data acquisition timing control unit 302 connected to the camera 100 and configured to acquire data through the camera 100; a write FIFO unit 303 connected to the data acquisition timing control unit 302 for storing the acquired data; an SDRAM controller 304 connected to the write FIFO unit 303 for storing data in the write FIFO in a first SDRAM memory 305 connected to itself; a read FIFO306 unit connected to the SDRAM controller 304 for reading data in the first SDRAM memory 305; the digital form filtering unit is connected with the read FIFO306 unit and is used for acquiring the data read by the read FIFO306 unit and carrying out digital form filtering; a moving object detecting and tracking unit 308 connected to the digital morphological filtering unit for detecting and tracking a moving object according to the digital morphological filtered data; the electric tuning unit 309 is connected with the DSP module 500 and the motor driving circuit 400 and is used for controlling the motor driving circuit 400 to start and stop the motor and regulate the speed of the motor according to a control signal transmitted by the DSP module 500; and a sensor control unit 310 connected to the sensor unit 200 for measuring the state of the sensor unit 200 to acquire an angular velocity and an acceleration.

It should be noted that, the above-mentioned resources in the FPGA chip are only a part of the functions of the present FPGA chip.

When the embodiment of the utility model provides an in, when the aircraft is electrified, initialize camera 100 through camera initialization unit 301, after the aircraft takes off, control end send control command and open camera 100, camera 100 gathers outside video picture to change video signal and pass to data acquisition time sequence control unit 302, data acquisition time sequence control unit 302 collects video signal and then passes to writing FIFO unit 303 and preserve, after writing FIFO unit 303 and depositing video data, SDRAM controller 304 begins to write the video data in the FIFO into first SDRAM memory 305.

When the next data processing is performed, the SDRAM controller 304 reads the video data from the first SDRAM memory 305 and stores the video data in the read FIFO306 unit, extracts the video data from the read FIFO306 and transmits the video data to the mathematical morphology filtering unit 307 for mathematical morphology filtering, and then transmits the video data to the moving target detecting and tracking unit 308, so as to realize target detection and tracking according to the filtered data; and finally, transmitting the data to the DSP module 500 and transmitting the data through the first WIFI module 600 or the first 4G communication module 700. In particular, the switching between the first WIFI module 600 and the first 4G communication module 700 is selected according to the distance between the aircraft and the controller, and specifically, the WIFI transmission may be performed within 50 meters, and the 4G base station transmission may be performed outside 50 meters.

With continued reference to fig. 1, the DSP module 500 includes: the DSP chip 501 is connected to the moving target detecting and tracking unit 308, the first 4G communication module 700, the first WIFI module 600, and the power supply module 800, and configured to receive the processed image data and send the processed image data to the controller through the first 4G communication module 700 or the first WIFI module 600; a second SDRAM memory 502 connected to the DSP chip 501 for storing image data; and a FLASH memory 503 connected to the DSP for storing the main program.

In practical implementation, in the embodiment of the present invention, the DSP chip 501 transmits a signal to the target detecting and tracking unit to be stored in the second SDRAM memory 502, and processes the data according to the program stored in the FLASH memory 503 and then transmits the data to the controller through the first WIFI module 600 or the first 4G communication module 700.

Referring to fig. 3, the motor driving circuit 400 includes a first resistor R1, a second resistor R2, a field effect transistor MOS, a first diode D1, and a motor interface J1; one end of the first resistor R1 is connected with the electric tuning unit 309, the other end of the first resistor R1 is connected with the second resistor R2 and the drain electrode of the field effect transistor MOS, the other end of the second resistor R2 is connected with the source electrode and the grounding end of the field effect transistor MOS, the grid electrode of the field effect transistor MOS is connected with the input end of the first diode D1 and the second pin of the motor interface J1, and the output point of the first diode D1 is connected with the first pin of the motor interface J1 and the power supply end. Specifically, in the embodiment of the present invention, four motor driving circuits 400 are selected for use to control four motors respectively. It should be noted that the number of the motors may be selected according to the size, weight, and other specific situations of the aircraft, and is not limited herein.

Referring to fig. 4, the first WIFI module 600 includes a wireless transceiver chip U1, a first capacitor C1, a second capacitor C2, a third capacitor C3, a fourth capacitor C4, a fifth capacitor C5, a sixth capacitor C6, a seventh capacitor C7, an eighth capacitor C8, a ninth capacitor C9, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a first inductor L1, a second inductor L2, an antenna ANT, and a crystal oscillator Y1; the first pin to the sixth pin of the wireless transceiver chip U1 are respectively connected to the 117 th pin to the 123 th pin of the DSP chip 501, the seventh pin of the wireless transceiver chip U1 is connected to one end of the first capacitor C1, one end of the second capacitor C2, one end of the third capacitor C3, one end of the fourth resistor R4, one end of the fifth resistor R5, and the fifteenth, eighteenth and nineteenth pins thereof, the eighth pin of the wireless transceiver chip U1 is connected to the other end of the first capacitor C1, the other end of the second capacitor C2, the other end of the third capacitor C3, one end of the third resistor R3, and the fourteenth, seventeenth and twentieth pins thereof and is connected to ground, the other end of the third resistor R3 is connected to the sixteenth pin of the wireless transceiver chip U1, the ninth pin of the wireless transceiver chip U1 is connected to the first pin of the crystal oscillator Y8, one end of the fourth capacitor C6866, the fifth pin of the crystal oscillator Y3527 and the fifth oscillator Y1 of the wireless transceiver chip U5, a tenth pin of the wireless transceiver chip U1 is connected to one end of the sixth capacitor C6, one end of the seventh capacitor C7, and one end of the first inductor L1, a twelfth pin of the wireless transceiver chip U1 is connected to the other end of the first inductor L1 and one end of the second inductor L2, a thirteenth pin of the wireless transceiver chip U1 is connected to the other end of the second inductor L2 and one end of the third inductor, the other end of the third inductor is connected to one end of the eighth capacitor C8, the other end of the eighth capacitor C8 is connected to one ends of the antenna ANT and the ninth capacitor C9, the two ends of the fourth resistor R4 are grounded, and the other end of the fifth resistor R5 is connected to the 3.3V power supply.

Referring to fig. 5, the sensor unit 200 includes a motion sensor U2, a sixth resistor R6, a seventh resistor R7, a tenth capacitor C10, an eleventh capacitor C11, a twelfth capacitor C12, and a thirteenth capacitor C13; a first pin of the motion sensor U2 is grounded, an eighth pin of the motion sensor U2 is connected to a 3.3V power supply and one end of a tenth capacitor C10, a tenth pin of the motion sensor U2 is connected to one end of the eleventh capacitor C11, a ninth pin of the motion sensor U2 is connected to the other end of the tenth capacitor C10, the other end of the eleventh capacitor C11, and the eleventh pin thereof, a twelfth pin of the motion sensor U2 is connected to the sensor control unit 310, a thirteenth pin of the motion sensor U2 is connected to the 3.3V power supply and one end of the twelfth capacitor C12, an eighteenth pin of the motion sensor U2 is connected to the other end of the twelfth capacitor C12 and a ground terminal, a twentieth pin of the motion sensor U2 is connected to one end of the thirteenth capacitor C13, the other end of the thirteenth capacitor C13 is grounded, and a twentieth pin of the motion sensor U2 is connected to one end of the sixth resistor R6, the twenty-fourth pin of the motion sensor U2 is connected to one end of the seventh resistor R7, and the other end of the sixth resistor R6 and the other end of the seventh resistor R7 are both grounded.

The fourth resistor R4 and the fifth resistor R5 are 0 ohm resistors.

The controller includes: a second WIFI module for receiving data sent by the first WIFI module 600; a second 4G communication module for receiving data transmitted by the first 4G communication module 700; a processor module for sending control signals; a screen for displaying data.

During specific implementation, the controller receives data transmitted by the first WIFI module 600 or the first 4G communication module 700 in the aircraft through the second WIFI module or the second 4G communication module, the data are displayed on a screen, and according to operation of a user on the screen, the processor in the processor module in the controller sends a control signal to the aircraft to control operations such as flight attitude, motor speed, opening and closing of the aircraft. Specially, the controller can be all intelligent equipment including WIFI function and 4G communication function the embodiment of the utility model provides an, can be mobile terminal such as cell-phone, flat board, or aircraft remote controller.

It should be noted that the communication between the aircraft and the controller may be combined with a 4G communication mode through other radio frequency communication modes such as bluetooth and infrared, or may be combined with a radio frequency communication mode through a new 5G communication mode.

Specifically, in the embodiment of the present invention, the model of the FPGA chip 300 is EP1C3T144C8, the model of the DSP chip 501 is TMS320VC5409, and the field effect transistor MOS adopts an enhancement mode field effect transistor of SI2302 BDS; the first WIFI module and the second WIFI module are in SI24R1 models, and the working frequency band is 2.4-2.5 GHz; the model of the motion sensor U2 is MPU 9250; the model of the first 4G communication module 700 and the second 4G communication module is EC 20.

In addition, three voltages of 1.8V, 3.3V and 5V are provided in the power supply module 800, the voltage is converted from 5V to 3.3V and 1.8V by the chip TPS73HD318, and is transmitted to each module for power supply, and a reset signal is provided for the DSP chip 501.

To sum up, the utility model provides a pair of among flying robot, be used for controlling the aircraft flight and carry out data acquisition's controller including the aircraft and with aircraft wireless connection, the aircraft includes: a camera, a sensor unit; the FPGA chip is connected with the camera and the sensor unit and is used for processing the video signal acquired by the camera and the attitude data acquired by the sensor unit; the motor driving circuits are connected with the FPGA chip and the motor and are used for controlling the starting, the stopping and the speed of the motor; the DSP chip is connected with the FPGA chip and used for receiving the video signal and the attitude data processed by the FPGA for processing, sending the video signal and the attitude data to the controller and receiving the control signal of the controller; the first WIFI module and the first 4G communication module are connected with the DSP chip and used for alternately transmitting data to the DSP and the controller according to the distance; a power module for powering an aircraft. The utility model discloses a set up 4G module and WIFI module simultaneously, carry out data transmission for aircraft and controller according to the distance in turn.

It should be understood that equivalent alterations and modifications can be made by those skilled in the art according to the technical solution of the present invention and the inventive concept thereof, and all such alterations and modifications should fall within the scope of the appended claims.

Claims

1. A flying robot comprises an aircraft and a controller which is in wireless connection with the aircraft and is used for controlling the aircraft to fly and collecting data, and is characterized in that the aircraft comprises:

the camera is used for acquiring videos;

a sensor unit for acquiring angular velocity and acceleration-generated attitude data;

the FPGA chip is connected with the camera and the sensor unit and is used for processing the video signal and the attitude data according to a preset program;

the motor driving circuits are connected with the FPGA chip and the motor and are used for controlling the starting, the stopping and the speed of the motor;

the DSP module is connected with the FPGA chip and used for receiving the video signals and the attitude data processed by the FPGA according to a preset program, processing the video signals and the attitude data, sending the video signals and the attitude data to the controller and receiving the control signals of the controller;

the first WIFI module and the first 4G communication module are connected with the DSP module and used for alternately transmitting data to the DSP module and the controller according to the distance;

the power supply module is connected with the camera, the sensor unit, the FPGA chip, the motor driving circuit, the DSP module, the first WIFI module and the first 4G communication module and used for supplying power.

2. The flying robot of claim 1, wherein the DSP module comprises: the DSP chip is connected with the moving target detection and tracking unit, the first 4G communication module, the first WIFI module and the power supply module, and is used for receiving the processed image data and sending the processed image data to the controller through the first 4G communication module or the first WIFI module; the second SDRAM memory is connected with the DSP chip and used for storing image data; and the FLASH memory is connected with the DSP and is used for storing the main program.

3. The flying robot of claim 2, wherein the motor drive circuit comprises a first resistor, a second resistor, a field effect transistor, a first diode, and a motor interface; the power supply device comprises a first resistor, a second resistor and a field effect tube, wherein one end of the first resistor is connected with an electric tuning unit, the other end of the first resistor is connected with the second resistor and the drain electrode of the field effect tube, the other end of the second resistor is connected with the source electrode and the grounding end of the field effect tube, the grid electrode of the field effect tube is connected with the input end of a first diode and the second pin of a motor interface, and the output point of the first diode is connected with the first pin of the motor interface and the power.

4. The flying robot of claim 3, wherein the first WIFI module comprises a wireless transceiver chip, a first capacitor, a second capacitor, a third capacitor, a fourth capacitor, a fifth capacitor, a sixth capacitor, a seventh capacitor, an eighth capacitor, a ninth capacitor, a third resistor, a fourth resistor, a fifth resistor, a first inductor, a second inductor, an antenna and a crystal oscillator; the first pin to the sixth pin of the wireless transceiver chip are respectively connected with the 117 th pin to the 123 th pin of the DSP chip, the seventh pin of the wireless transceiver chip is connected with one end of the first capacitor, one end of the second capacitor, one end of the third capacitor, one end of the fourth resistor, one end of the fifth resistor, the fifteenth pin, the eighteenth pin and the nineteenth pin of the wireless transceiver chip, the eighth pin of the wireless transceiver chip is connected with the other end of the first capacitor, the other end of the second capacitor, the other end of the third capacitor, one end of the third resistor, the fourteenth pin, the seventeenth pin and the twentieth pin of the wireless transceiver chip and is grounded, the other end of the third resistor is connected with the sixteenth pin of the wireless transceiver chip, the ninth pin of the wireless transceiver chip is connected with the first pin of the crystal oscillator and one end of the fourth capacitor, the tenth pin of the wireless transceiver chip is connected with the third pin of the crystal oscillator and one end of the fifth capacitor, the antenna comprises a first capacitor, a second capacitor, a third capacitor, a fourth resistor, a fifth resistor, a sixth resistor, a seventh capacitor and a first inductor, wherein a tenth pin of the wireless transceiver chip is connected with one end of the sixth capacitor, one end of the seventh capacitor and one end of the first inductor, a twelfth pin of the wireless transceiver chip is connected with the other end of the first inductor and one end of the second inductor, a thirteenth pin of the wireless transceiver chip is connected with the other end of the second inductor and one end of the third inductor, the other end of the third inductor is connected with one end of the eighth capacitor, the other end of the eighth capacitor is connected with one end of the antenna and one end of the ninth capacitor, the other ends of the fourth capacitor, the fifth capacitor, the sixth capacitor, the seventh capacitor and the ninth capacitor are all grounded, two ends of the fourth resistor are all grounded, and the other end of the fifth resistor is connected.

5. The flying robot of claim 4, wherein the sensor unit comprises a motion sensor, a sixth resistance, a seventh resistance, a tenth capacitance, an eleventh capacitance, a twelfth capacitance, and a thirteenth capacitance; the first pin of the motion sensor is grounded, the eighth pin of the motion sensor is connected with one end of a 3.3V power supply and one end of a tenth capacitor, the tenth pin of the motion sensor is connected with one end of an eleventh capacitor, the ninth pin of the motion sensor is connected with the other end of the tenth capacitor, the other end of the eleventh capacitor and the eleventh pin of the motion sensor, the twelfth pin of the motion sensor is connected with the sensor control unit, the thirteenth pin of the motion sensor is connected with the 3.3V power supply and one end of a twelfth capacitor, the eighteenth pin of the motion sensor is connected with the other end of the twelfth capacitor and a grounding end, the twentieth pin of the motion sensor is connected with one end of the thirteenth capacitor, the other end of the thirteenth capacitor is grounded, the twenty-third pin of the motion sensor is connected with one end of the sixth resistor, and the twenty-fourteen pin of the motion sensor is connected with one end of the seventh resistor, the other end of the sixth resistor and the other end of the seventh resistor are both grounded.

6. The flying robot of claim 5, wherein the controller comprises:

the second WIFI module is used for receiving the data sent by the first WIFI module;

the second 4G communication module is used for receiving the data sent by the first 4G communication module;

a processor module for sending control signals;

a screen for displaying data.

7. The flying robot of claim 6, wherein the FPGA chip is of the type EP1C3T144C 8.

8. The flying robot of claim 6, wherein the DSP chip is of the model TMS320VC 5409.

9. The flying robot of claim 6, wherein the first WIFI module and the second WIFI module are both SI24R1 model numbers, and the first 4G communication module and the second 4G communication module are EC20 model numbers.