CN218585200U - Unmanned aerial vehicle flies to control mainboard - Google Patents

Abstract

The utility model relates to an unmanned aerial vehicle flight control mainboard, a power management circuit and a control circuit of which are sequentially arranged along the length direction of the mainboard; the power management circuit comprises a battery interface, an electric regulation interface and a DC/DC conversion unit which are sequentially arranged along the length direction of the main board, the electric regulation interface is connected with a rotor motor of the unmanned aerial vehicle, and the DC/DC conversion unit supplies power for the control circuit. The power supply lines are linearly arranged, so that the path between the power supply end and the load end is shortest, and the interference of high-current heating on the flight control mainboard control circuit is reduced; and secondly, the power supply loop is prevented from being formed, and the generated heat has great influence on the signal quality, so that the safety and reliability of the mainboard are improved. Each functional module of the control circuit is arranged around the main control unit, and the functional modules related to the radio frequency signals are far away from the main control unit, so that the signal links of the main control unit and each functional module are in a divergence shape, the length of each signal link is shortened, the mutual interference between each signal and the radio frequency signals is reduced, the integration of the mainboard is facilitated, and the operational reliability of the mainboard is improved.

Description

Unmanned aerial vehicle flies to control mainboard

Technical Field

The utility model relates to an unmanned air vehicle technique field, concretely relates to unmanned aerial vehicle flies to control mainboard.

Background

Along with the rapid development of unmanned aerial vehicle technology and the demand of people on unmanned aerial vehicle function improve, unmanned aerial vehicle equipment is being used for the survey and drawing field in a large number. Meanwhile, people have higher requirements on unmanned endurance, signal reception, flight stability, obstacle avoidance and other problems. At present, unmanned aerial vehicle's miniaturization requires more highly, and the structure is compacter, and this needs research how to do integration, the precision of unmanned aerial vehicle flight control mainboard higher under each multiple functional circumstances of assurance unmanned aerial vehicle.

The unmanned plane flight control mainboard has more functions and more related hardware modules and sensors, so that the mainboard has more external interfaces, and each external module and sensor also directly influence the placement of each socket on the flight control mainboard due to the outgoing line sequence; meanwhile, the socket interface is also influenced by a mainboard communication link, namely the placement of the socket interface is influenced by an external wire harness and an internal signal wire, so that higher requirements are placed on unmanned aerial vehicle flight control mainboard socket devices. On the basis of each function in the prior art, how to design an interface layout scheme capable of reducing interference between each external module and each sensor and reducing influence of main board signals is a topic worthy of research.

SUMMERY OF THE UTILITY MODEL

The utility model discloses to the technical problem who exists among the prior art, provide an unmanned aerial vehicle flight control mainboard, it carries out optimal design to unmanned aerial vehicle flight control mainboard structure, when both guaranteeing that each basic function is perfect, accomplish to integrate high, small, fail safe nature height.

The utility model provides an above-mentioned technical problem's technical scheme as follows:

an unmanned aerial vehicle flight control mainboard comprises a top layer and a bottom layer which are respectively arranged on two sides of the mainboard, wherein the mainboard comprises a power management circuit and a control circuit which are sequentially arranged along the length direction of the mainboard;

the power management circuit comprises a battery interface, an independent power supply interface, an electric regulation interface and a DC/DC conversion unit, wherein the battery interface, the electric regulation interface and the DC/DC conversion unit are sequentially arranged along the length direction of the mainboard, the edge of the adjacent mainboard of the battery interface is arranged, the DC/DC conversion unit is arranged adjacent to the control circuit, and the independent power supply interface is arranged adjacent to the battery interface; the independent power supply interface is used for connecting an external power supply, the battery interface is used for connecting a battery, the electric regulation interface is used for connecting a rotor motor of the unmanned aerial vehicle, and the DC/DC conversion unit is connected with the control circuit and is used for converting the voltage of the external power supply or the battery and then supplying power to the control circuit;

the main control unit is further connected with the battery interface in a communication mode through a CAN bus transceiver arranged by an adjacent power management circuit.

On the basis of the technical scheme, the utility model discloses can also do following improvement.

Preferably, a clearance area is arranged around the electric adjusting interface.

Preferably, the main control unit is arranged adjacent to one side edge of the main board, and the PD200 directional positioning module interface and the GNSS module are arranged on the main board on the side away from the main control unit and adjacent to the edge of the main board; and a second CAN bus transceiver is also arranged adjacent to the PD200 directional positioning module interface, and the PD200 directional positioning module interface is in communication connection with the main control unit through the second CAN bus transceiver.

Preferably, a PD200 antenna pedestal and a radio frequency power divider adjacent to the PD200 directional positioning module interface are further provided, and the PD200 antenna pedestal is in communication connection with the PD200 directional positioning module interface through the radio frequency power divider; and a shielding cover of the radio frequency power divider is arranged outside the radio frequency power divider.

Preferably, the radio frequency power divider is further provided with a GNSS antenna pedestal and a load antenna pedestal, the GNSS antenna pedestal and the load antenna pedestal are respectively connected with the radio frequency power divider, the GNSS antenna pedestal is used for installing a GNSS antenna, and the load antenna pedestal is used for connecting a load antenna mounted on an unmanned aerial vehicle.

Preferably, the control circuit further comprises a software burning interface and a software debugging interface which are arranged at the edge of the adjacent mainboard, and the software burning interface and the software debugging interface are respectively in communication connection with the main control unit.

Preferably, the main control unit comprises an MCU, an FMU and an EMMC arranged on the bottom layer, the MCU, the FMU and the EMMC are sequentially arranged along the length direction of the main board, and first signal shielding cases are correspondingly arranged outside the MCU, the FMU and the EMMC; the main control unit further comprises a main control power supply circuit arranged on the top layer, and a second signal shielding cover is correspondingly arranged outside the main control power supply circuit.

Preferably, the position of adjacent radio station communication interface and load interface on the mainboard is equipped with the pencil via hole, radio station communication interface and load interface set up on the top layer, the pencil of radio station communication interface and load interface runs through pencil via hole, with main control unit communication connection.

Preferably, the USB module includes a USB interface, an RTK USB port, and a USB HUB unit, the USB interface and the RTK USB port are both in communication connection with the USB HUB unit, and the USB HUB unit is in communication connection with the main control unit; the USB interface and the RTK USB interface are adjacent to the main control unit and are sequentially arranged along the edge of the mainboard.

Preferably, the control circuit further comprises a flight control status indicator light interface, the flight control status indicator light interface is arranged adjacent to the battery interface and is in communication connection with the main control unit, and the flight control status indicator light interface is used for installing the flight control status indicator light.

The beneficial effects of the utility model are that: the utility model provides an unmanned aerial vehicle flies to control the mainboard and carries out optimal design to unmanned aerial vehicle flight control mainboard structure, especially each functional module's overall arrangement, when both guaranteeing that each basic function is perfect, accomplishes to integrate high, small, fail safe nature height. The battery interface (power supply end), the electric regulation interface (namely the load end) and the DC/DC conversion unit (namely the low-current output end for supplying power to the control circuit) are sequentially arranged in a linear mode, so that the power supply line is arranged in a linear mode, firstly, the path of the power supply end and the load end is shortest, and the interference of high-current heating in the power supply line on the control part circuit of the flight control mainboard is reduced; and secondly, a shorter power supply path is ensured, a power supply current loop is avoided to be formed, the phenomenon that the signal quality of the mainboard is greatly influenced by heat generated by loop current is prevented, and the safety and reliability of the mainboard are improved. The functional modules are arranged around the main control unit, and the functional modules related to the radio frequency signals are far away from the main control unit, so that signal links between the main control unit and the functional modules are in a divergent shape, the length of the signal links is shortened, the influence of external interference on the signals is reduced, the integration of a main board of the unmanned aerial vehicle is promoted, and the size of the unmanned aerial vehicle is reduced; the radio frequency signal related function module is far away from the main control unit, interference between signals of other signal links to the radio frequency signals is reduced, and reliability of operation of the mainboard is further improved.

Drawings

Fig. 1 is a top layer layout design diagram of an unmanned aerial vehicle flight control main board provided by the present invention;

fig. 2 is a layout design diagram of a bottom layer of the flight control main board of the unmanned aerial vehicle provided by the present invention;

fig. 3 is a schematic view of a top layer perspective three-dimensional structure of an unmanned aerial vehicle flight control motherboard provided by the present invention;

fig. 4 is a schematic view of a bottom layer view angle three-dimensional structure of the flight control main board of the unmanned aerial vehicle provided by the present invention;

fig. 5 is a top layer physical structure diagram of the unmanned aerial vehicle flight control main board provided by the utility model;

fig. 6 is a structure diagram of a bottom layer object of the flight control main board of the unmanned aerial vehicle provided by the present invention;

fig. 7 is the utility model provides a pair of signal link schematic diagram of unmanned aerial vehicle flight control mainboard.

In the drawings, the components represented by the respective reference numerals are listed below:

1. battery interface, 2, independent power supply interface, 3, electricity adjusting interface, 4, flying control status indicator lamp interface, 5, software burning interface, 6, software debugging interface, 7, load interface, 8, PD200 directional positioning module interface, 9, USB interface, 10, RTK USB port, 11, radio station communication interface, 12, GNSS antenna pedestal, 13, radio frequency power divider shield, 14, first signal shield, 15, radar interface, 16, magnetic compass interface, 17, IMU interface, 18, fixed wire harness via hole, 19, wire harness via hole, 20, IMU module mount site, 21, screw mount hole, 22, second signal shield, 23, PD200 pedestal, 24, load antenna pedestal, 25, barometer shield, 2501, barometer, 26, first CAN bus transceiver, 27, second CAN bus transceiver, 28, 232 transceiver, 29, master control unit, 2901, MCU,2902, FMU,2903, EMMC,30, GNSS antenna module, 31, USB b 32, hudc conversion unit.

Detailed Description

The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.

Referring now to the drawings in which:

fig. 1 is a top layer layout design diagram of an unmanned aerial vehicle flight control main board provided by the present invention;

fig. 2 is a layout design diagram of a bottom layer of the flight control main board of the unmanned aerial vehicle provided by the present invention;

fig. 3 is a schematic view of a top layer perspective three-dimensional structure of an unmanned aerial vehicle flight control mainboard provided by the present invention;

fig. 4 is a schematic view of a bottom layer view angle three-dimensional structure of the flight control main board of the unmanned aerial vehicle provided by the present invention;

fig. 5 is a view of the utility model of an unmanned plane flight control motherboard;

fig. 6 is a view diagram of a real object back view of the unmanned aerial vehicle flight control main board provided by the present invention;

fig. 7 is the utility model provides a pair of unmanned aerial vehicle flies signal link schematic diagram of accuse mainboard.

As shown in fig. 1 to 7, the present embodiment provides an unmanned aerial vehicle flight control main board, which includes a top layer and a bottom layer respectively disposed on two sides of the main board. With reference to the drawings, it should be noted that fig. 1, fig. 2, and fig. 7 are component layout diagrams of circuits, and in the three diagrams, the top layer of the motherboard completely corresponds to the component position of the bottom layer. For example, the top left corner of the top layer in fig. 1 and the top left corner of the bottom layer in fig. 2 are the same position on the motherboard. Specifically, the positions of the components of the top layer in fig. 1 and 7 completely correspond to the structural diagram in fig. 3 and the physical diagram in fig. 5, and the positions of the components of the bottom layer in fig. 2 and 7 are mirror images of the structural diagram in fig. 4 and the physical diagram in fig. 6.

The mainboard comprises a power management circuit and a control circuit, wherein the power management circuit and the control circuit are sequentially arranged along the length direction of the mainboard.

The power management circuit comprises a battery interface 1, an independent power supply interface 2, an electric regulation interface 3 and a DC/DC conversion unit 32, wherein the battery interface 1, the electric regulation interface 3 and the DC/DC conversion unit 32 are sequentially arranged along the length direction of the mainboard, the edge of the mainboard adjacent to the battery interface 1 is arranged, the DC/DC conversion unit 32 is arranged adjacent to the control circuit, and the independent power supply interface 2 is arranged adjacent to the battery interface 1; independent power supply interface 2 is used for connecting external power source, battery interface 1 is used for connecting the battery, electricity is transferred interface 3 and is used for connecting unmanned aerial vehicle's rotor motor, DC/DC conversion unit 32 connects control circuit, be used for converting external power source or battery voltage the back for control circuit power supply.

The battery interface 1 and the independent power supply interface 2 are both connected to the input end of the power adjusting interface 3, and the battery interface 1 and the independent power supply interface 2 are both connected to the primary side of the DC/DC conversion unit 32. The battery module in the unmanned aerial vehicle is inserted on the battery interface 1 and supplies power for the unmanned aerial vehicle in the flight process. Independent power supply interface 2 connects external power source, mainly used unmanned aerial vehicle debugging in-process for the unmanned aerial vehicle power supply and for battery charging. The electronic speed regulator is electrically regulated and is used for regulating the rotating speed of a rotor motor of the unmanned aerial vehicle according to a control signal provided by the control circuit. Interface 3 is transferred to electricity links to each other with unmanned aerial vehicle's rotor motor, provides working power supply for it. The DC/DC conversion unit 32 converts the power voltage provided by the battery or the independent power supply interface 2 to provide a working voltage for the subsequent circuit. For example, the converted +5V voltage and +3.3V voltage are provided to drive the control circuit of the subsequent stage to operate. As shown in fig. 1, to transfer interface 3 to be close to battery interface 1 setting, can guarantee that supply end and load end distance are the shortest, and the electric current is great here simultaneously, transfers to transfer and puts and can reduce the interference that the heavy current generates heat to flying to control mainboard control part circuit here, promotes unmanned aerial vehicle long-term operation's fail safe nature. In this embodiment, the battery, the electronic regulator and the DC/DC conversion unit 32 are sequentially arranged from left to right, so that the power supply sequence is sequentially supplied from left to right, the power supply path of the power management circuit is shortest by the arrangement, a power supply current loop is avoided, and if a loop current is formed, the generated heat also has great influence on the signal quality of the main board.

As shown in fig. 1, the motherboard is provided with an IMU module mounting location 20, the control circuit includes a main control unit 29, a USB module, a radio station communication interface 11, a load interface 7, a PD200 directional positioning module interface 8, a GNSS module 30, a barometer 2501, an IMU interface 17, a magnetic compass interface 16, and a radar interface 15, which are circumferentially arranged around the IMU module mounting location 20, and the USB module, the radio station communication interface 11, the load interface 7, the PD200 directional positioning module interface 8, the GNSS module 30, the barometer 2501, the IMU interface 17, the magnetic compass interface 16, and the radar interface 15 are respectively in communication connection with the main control unit 29. The main control unit 29 is also in communication connection with the battery interface 1 through a first CAN bus transceiver 26 arranged adjacent to the power management circuit, so that communication between the main control unit 29 and a battery module in the unmanned aerial vehicle is realized, and management of the battery module is realized.

The main control unit 29 serves as a control core part of the unmanned aerial vehicle, and communicates with and controls the operation of each functional module. In each functional module interface, the USB module is used for realizing data interaction between the local computer and the peripheral equipment; the radio station communication interface 11 can be connected with an external radio station to realize the communication between the local machine and the ground base station; load interface 7 is for founding the formula of inserting for connect the load that unmanned aerial vehicle mounted, surveying equipment such as camera or laser radar, load interface 7 is the load power supply and communicates; the PD200 directional positioning module interface 8 is a side-inserting type and is connected with an external PD200 directional positioning module of the mainboard, so that the communication between the external PD200 directional positioning module and the mainboard is realized; as shown in fig. 2, the GNSS module 30 here is an onboard GNSS chip that provides position and attitude information for the native machine. The GNSS module 30 and the external PD200 directional positioning module cooperate with each other, and the PD200 directional positioning module is used as a main device and the GNSS module 30 is used as an auxiliary device to provide precise positioning for the local device. An on-board barometer 2501 provides the barometer data locally. As shown in fig. 1, in the present embodiment, two barometers 2501 are provided, in the normal operation process of the unmanned aerial vehicle, one barometer 2501 works, the other barometer 2501 is standby, and a non-sealed barometer shielding cover 25 is provided on the periphery of the barometer 2501 to prevent an external wire harness or other functional modules from causing structural interference to the barometer 2501. The IMU module installed in the IMU module installation site 20 is plugged into the IMU interface 17 to provide the local machine with measured inertial measurement data, such as the local machine's triaxial angular velocity and acceleration data. The magnetic compass interface 16 is a vertical plug-in type, which is plugged with an external magnetic compass module of the mainboard for providing measured azimuth data for the mainboard. Radar interface 15 is for founding the formula of inserting, and it pegs graft with the external radar module of mainboard for provide the radar scanning data that record for the mainboard.

Referring to fig. 1, 2, and 7, the IMU module mounting location 20 is disposed in the middle of the motherboard, and the main control unit 29 and the interfaces of the functional modules are disposed around the IMU module mounting location 20, as shown in a signal line trend diagram of a top layer and a bottom layer in fig. 7, the signal links from the main control unit 29 to the functional modules are in a spread state, signal lines in the motherboard are short, and interference of the signal lines by other network signals is minimal. In the working process of the unmanned aerial vehicle, the IMU module is installed in the IMU module installation position 20 and is inserted into the IMU interface 17, and due to the sequencing arrangement of the interfaces of the functional modules, the PD200 directional positioning module for processing the radio frequency signals is far away from the main control unit 29 (as shown in fig. 1 and 5, the PD200 directional positioning module interface 8 and the main control unit 29 are respectively located at two sides of the IMU module installation position 20), so that the interference of each signal link emitted by the main control unit 29 on the radio frequency signals is reduced. Except for the IMU interface 17, the interfaces of all the other functional modules surround the IMU module mounting position 20, and the plugging ends of all the interfaces are far away from the IMU module mounting position 20, so that the wiring harnesses of all the functional modules connected to the corresponding interfaces are shortest, plugging and unplugging between each functional module and each corresponding interface are convenient and easy to operate, mutual interference is not easy to occur when each functional module is plugged, and the signal lines of all the functional modules are minimally interfered by other network signals. In addition, the outlet end of the IMU interface 17 is set to face the IMU module mounting position 20, which can reduce the harness length of the IMU module; further, a clearance area can be arranged at one end of the IMU interface 17 facing the IMU module mounting position 20, so that the IMU module can be conveniently plugged and unplugged by a wire harness.

It should be noted that the principle of communication between the main control unit 29 of the unmanned aerial vehicle and each functional module is the prior art in this field, the utility model discloses the improvement is the structural layout of mainboard, does not improve communication mode and control program for realizing the basic function of unmanned aerial vehicle between each functional module and the main control unit 29. Therefore, how unmanned aerial vehicle realizes its each item basic function, no longer redundantly describe in this embodiment. The unmanned aerial vehicle of this embodiment flies to control the mainboard and when guaranteeing that each basic function is perfect, accomplishes to integrate high, small, fail safe nature height.

On the basis of the technical scheme, the utility model discloses can also do following improvement.

As shown in fig. 1, a clearance area is provided around the electrical tilt interface 3.

It can be understood that, since the unmanned aerial vehicle for example in the present embodiment has four rotor motors, correspondingly, as shown in fig. 1, the electrical tilt interface 3 is provided with four. The four electric regulation interfaces 3 are distributed in an array, and a clearance area is arranged around the electric regulation interfaces 3. The reason why the clearance area is set up here is that 3 plugs of electrical modulation interface need relatively great space, and the clearance area of here firstly can avoid interfering with other components and parts when the electrical modulation plug, secondly separates the heavy current of electric current with control circuit, reduces 3 heavy currents of electrical modulation interface and causes the interference to control circuit's signal.

As shown in fig. 1, the main control unit 29 is disposed adjacent to a side edge of the main board and away from the power management circuit, and the PD200 positioning module interface 8 and the GNSS module 30 are disposed on a side of the main board away from the main control unit 29 and adjacent to the side edge of the main board; and a second CAN bus transceiver 27 is further arranged adjacent to the PD200 directional positioning module interface 8, and the PD200 directional positioning module interface 8 is in communication connection with the main control unit 29 through the second CAN bus transceiver 27.

It can be understood that, since the main control unit 29 sends out a plurality of signal links to each functional module, and the position of the main control unit 29 is located far away from the PD200 positioning module interface 8 and the GNSS module 30, the signal interference of the signal link of the main control unit 29 to the PD200 positioning module interface 8 and the GNSS module 30 can be reduced. The main control unit 29 is arranged at the edge of the mainboard, so that the main control unit 29 can be prevented from being in a state of being surrounded by each functional module, and the signal influence of each functional module on the main control unit 29 is reduced. The main control unit 29 is disposed at a position far from the power management circuit in order to reduce the influence of the heat generated by the power management circuit and the large current flowing through the power management circuit on the signal of the main control unit 29.

Preferably, a PD200 antenna mount 23 and a radio frequency power divider adjacent to the PD200 directional positioning module interface 8 are further provided, and the PD200 antenna mount 23 is in communication connection with the PD200 directional positioning module interface 8 through the radio frequency power divider; and a radio frequency power divider shielding cover 13 is arranged outside the radio frequency power divider.

It can be understood that the PD200 antenna pedestal 23 is used to connect an external PD200 directional positioning module antenna on the drone, and the PD200 directional positioning module interface 8 is used to plug in with the PD200 directional positioning module. Because the radio frequency antenna signal is greatly influenced by other signal interference, the radio frequency antenna signal needs to be subjected to signal shielding treatment, and the radio frequency power divider shielding cover 13 is arranged outside the radio frequency power divider, so that the interference of other signals to the radio frequency antenna signal is reduced.

Preferably, a GNSS antenna pedestal 12 and a load antenna pedestal 24 are further provided adjacent to the radio frequency power divider, the GNSS antenna pedestal 12 and the load antenna pedestal 24 are respectively connected with the radio frequency power divider, the GNSS antenna pedestal 12 is used for mounting a GNSS antenna, and the load antenna pedestal 24 is used for connecting a load antenna mounted by an unmanned aerial vehicle.

It can be understood that the PD200 antenna mount 23, the GNSS antenna mount 12, and the loading antenna mount 24 are disposed adjacent to the rf power divider, so as to facilitate centralized management of the antennas, and shorten the signal link from each antenna to the rf power divider, thereby further reducing interference of other signals to the rf signals of the antennas. Further, in order to prevent interference between adjacent antenna bases, the adjacent antenna bases may be disposed on two sides of the motherboard, for example, as shown in fig. 1, the PD200 antenna base 23 and the GNSS antenna base 12 are disposed adjacent to each other on the same side of the rf power divider, the PD200 antenna base 23 is disposed on a bottom layer of the motherboard, the GNSS antenna base 12 is disposed on a top layer of the motherboard, and the two fillets are disposed adjacent to each other to receive the structure installation space, and main portions of the two fillets are disposed on two sides of the motherboard and do not interfere with each other.

Preferably, the control circuit further includes a software burning interface 5 and a software debugging interface 6 which are arranged adjacent to the edge of the main board, and the software burning interface 5 and the software debugging interface 6 are respectively in communication connection with the main control unit 29. As shown in fig. 1, the software burning interface 5 and the software debugging interface 6 are used as interfaces for the early-stage software burning and debugging of the unmanned aerial vehicle, and can be arranged at the edge of the main board outside the clearance area of the electrical tuning interface 3, and the length of a signal line from the main control unit 29 to the software burning interface 5 and the software debugging interface 6 is shortened as much as possible.

Preferably, the main control unit 29 includes an MCU2901, an FMU2902, and an EMMC2903 disposed on a bottom layer, the MCU2901, the FMU2902, and the EMMC2903 are sequentially arranged along a length direction of the motherboard, and a first signal shielding cover 14 is correspondingly disposed outside the MCU2901, the FMU2902, and the EMMC 2903; the main control unit 29 further comprises a main control power circuit arranged on the top layer, and a second signal shielding case 22 is correspondingly arranged outside the main control power circuit.

The MCU2901 is used as an I/O control chip of the main control unit 29 to realize the connection between the main control unit 29 and each functional module interface; the FMU2902 serves as a processor module of the main control unit 29 and is in communication connection with the MCU2901 and the EMMC2903 chips respectively; the EMMC2903 is used as a storage module of the main control unit 29 to store various data of the unmanned aerial vehicle. The main control power circuit filters the voltage provided by the DC/DC conversion unit 32, and provides operating power to the MCU2901, the FMU2902, and the EMMC 2903. Arranging MCU2901, FMU2902, and EMMC2903 in that order may minimize the communication link between EMMC2903 and FMU 2902. The first signal shielding cover 14 provides signal shielding for the MCU2901, the FMU2902 and the EMMC2903, and reduces interference of external signals to the MCU2901, the FMU2902 and the EMMC 2903; the second signal shielding case 22 provides signal shielding for the main control power circuit, for example, provides signal shielding for each filter capacitor in the main control power circuit, and reduces interference of external signals to the main control power circuit. The first signal shielding cover 14 and the second signal shielding cover 22 are disposed on two sides of the motherboard and at corresponding positions, so as to completely contain the main control unit 29 therein and provide a better signal shielding effect for the main control unit 29.

Preferably, the positions of the adjacent radio station communication interface 11 and the load interface 7 on the mainboard are provided with a wiring harness through hole 19, the radio station communication interface 11 and the load interface 7 are arranged on a top layer, and wiring harnesses of the radio station communication interface 11 and the load interface 7 penetrate through the wiring harness through hole 19 and are in communication connection with a main control unit 29.

As shown in fig. 1, the station communication interface 11 and the load interface 7 are not adjacent to the edge of the main board, and are disposed on the top layer of the main board, and the MCU2901, the FMU2902, and the EMMC2903 of the main control unit 29 are disposed on the bottom layer of the main board. In order to realize the communication connection between the station communication interface 11 and the load interface 7 and the main control unit 29, the wire harnesses of the station communication interface 11 and the load interface 7 are led from the top layer to the bottom layer. In order to shorten the wiring harnesses led out from the radio station communication interface 11 and the load interface 7, the main board is tidier in wire arrangement, and the signal interference caused by longer signal wires is reduced, the wiring harnesses led out from the radio station communication interface 11 and the load interface 7 penetrate through the wiring harness through hole 19 formed in the middle of the main board, and communication connection between the shorter signal wires and the main control unit 29 is achieved. As shown in fig. 2, a transceiver 28 is disposed at a position corresponding to the radio station communication interface 11 or the load interface 7 on the bottom layer of the motherboard 232, and is used for implementing communication between a peripheral connected to the load interface 7 and the main control unit 29.

As shown in fig. 1, the USB module includes a USB interface 9, an RTK USB port 10, and a USB HUB unit 31, wherein the USB interface 9 and the RTK USB port 10 are both communicatively connected to the USB HUB unit 31, and the USB HUB unit 31 is communicatively connected to the main control unit 29; the USB interface 9 and the RTK USB interface 10 are adjacent to the main control unit 29 and are sequentially arranged along the edge of the mainboard.

Because the unmanned aerial vehicle needs to reserve a USB interface 9 for data interaction with an external device, the PD200 directional positioning module also needs a USB interface for data interaction with the main control unit 29, for example, original data of RTK mode calculation data, logs, boards, inertial navigation modules and the like in the PD200 directional positioning module are transmitted into the main control unit 29 for storage, or upgrade firmware in the main control unit 29 is copied into the PD200 directional positioning module for upgrade. Therefore, be equipped with USB HUB unit 31 on the mainboard for expand main control unit 29's USB port, make main control unit 29 can communicate with the external USB interface 9 of unmanned aerial vehicle, can carry out the data interaction with the inside PD200 directional orientation module of unmanned aerial vehicle again.

As shown in fig. 1, the control circuit further includes a flight control status indicator light interface 4, the flight control status indicator light interface 4 is disposed adjacent to the battery interface 1 and is in communication connection with the main control unit 29, and the flight control status indicator light interface 4 is used for installing a flight control status indicator light. The flight control state indicator light interface 4 adopts a side-inserting type to reduce the stress of the wire harness and ensure the reliability of the wire harness. The structure of the flight control status indicator lamp after installation is shown in the three-dimensional structure diagrams shown in fig. 3 to 4. The flight control state indicator lamp is used for indicating the running state of the unmanned aerial vehicle, for example, when a rotor motor of the unmanned aerial vehicle starts running, the flight control state indicator lamp is correspondingly turned on; when the rotor motor stops running, the flight control state indicator lamp is turned off, and the flight control state indicator lamp can also be used for determining whether the airplane state is normal or not before the airplane takes off.

Because the flying control board has more externally connected wire harnesses, in order to further realize the wire arrangement optimization of the wire harnesses led out of the main board, two long edges of the main board are respectively provided with a fixed wire harness through hole 18, and the wire harness is fixed by the binding belt through the fixed wire harness through holes 18, so that the wire arrangement of the main board is orderly unified. In order to realize the effective fixed mounting of mainboard on unmanned aerial vehicle internals, be equipped with a plurality of screw mounting hole 21 at the border of mainboard, the screw passes through screw mounting hole 21, fixes the mainboard crimping inside unmanned aerial vehicle's casing.

The utility model provides an unmanned aerial vehicle flies to control the mainboard and carries out optimal design to unmanned aerial vehicle flight control mainboard structure, especially each functional module's overall arrangement, when both guaranteeing that each basic function is perfect, accomplishes to integrate high, small, fail safe nature height. The battery interface 1 (power supply end), the electric regulation interface 3 (namely the load end) and the DC/DC conversion unit 32 (namely the low-current output end for supplying power to the control circuit) are sequentially arranged in a linear mode, so that the power supply line is arranged in a linear mode, firstly, the path of the power supply end and the load end is shortest, and the interference of high-current heating in the power supply line on the control part circuit of the flight control mainboard is reduced; and secondly, a shorter power supply path is ensured, a power supply current loop is avoided being formed, the phenomenon that the signal quality of the mainboard is greatly influenced by heat generated by loop current is prevented, and the safety and reliability of the mainboard are improved. By arranging each functional module around the main control unit 29 and keeping the functional module related to the radio frequency signal away from the main control unit 29, the signal links of the main control unit 29 and each functional module are in a divergent shape, so that the length of the signal links is shortened, the influence of external interference on the signal is reduced, the integration of the main board of the unmanned aerial vehicle is promoted, and the size of the unmanned aerial vehicle is reduced; the radio frequency signal related function module is far away from the main control unit 29, so that the interference of the signals of the rest signal links to the radio frequency signals is reduced, and the reliability of the operation of the mainboard is further improved.

Through the utility model discloses a components and parts layout mode, can accomplish that board outside restraints interface is good plug, when the pencil distance is the shortest, can also guarantee that the inboard signal line is shortest to the signal line receives other network signal interference minimum, for flying the signal line trend on accuse mainboard top layer and bottom layer as figure 7, can see that the signal line is the position from the processor chip, send out to each module all around, interface and scatter, the partial signal line length distance of not being qualified for the next round of competitions the line, guaranteed that signal quality reaches anticipated effect.

Like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

It should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally placed when the products of the art are used, and are used only for convenience in describing the technology and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the technology. Furthermore, "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate a number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Thus, the terms "first," "second," "third," and the like are used solely to distinguish one from another without necessarily indicating or implying relative importance. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present technology, it should also be noted that, unless explicitly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present technology can be understood in a specific case to those of ordinary skill in the art.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims (10)

1. An unmanned aerial vehicle flight control mainboard comprises a top layer and a bottom layer which are respectively arranged on two sides of the mainboard, and is characterized in that the mainboard comprises a power management circuit and a control circuit which are sequentially arranged along the length direction of the mainboard;

the power management circuit comprises a battery interface (1), an independent power supply interface (2), an electric regulation interface (3) and a DC/DC conversion unit (32), wherein the battery interface (1), the electric regulation interface (3) and the DC/DC conversion unit (32) are sequentially arranged along the length direction of the mainboard, the edge of the adjacent mainboard of the battery interface (1) is arranged, the DC/DC conversion unit (32) is arranged adjacent to the control circuit, and the independent power supply interface (2) is arranged adjacent to the battery interface (1); the independent power supply interface (2) is used for connecting an external power supply, the battery interface (1) is used for connecting a battery, the electric regulation interface (3) is used for connecting a rotor motor of the unmanned aerial vehicle, and the DC/DC conversion unit (32) is connected with the control circuit and used for converting the voltage of the external power supply or the battery and then supplying power to the control circuit;

be equipped with IMU module installation position (20) on the mainboard, control circuit is including main control unit (29), USB module, radio station communication interface (11), load interface (7), PD200 directional positioning module interface (8), GNSS module (30), barometer (2501), IMU interface (17), magnetic compass interface (16) and radar interface (15) that encircle the circumference setting of IMU module installation position (20), USB module, radio station communication interface (11), load interface (7), PD200 directional positioning module interface (8), GNSS module (30), barometer (2501), IMU interface (17), magnetic compass interface (16) and radar interface (15) respectively with main control unit (29) communication connection, main control unit (29) still through first CAN bus transceiver (26) that adjacent power management circuit set up with battery interface (1) communication connection.

2. The unmanned aerial vehicle flight control mainboard of claim 1, characterized in that there is a clearance zone around the electricity accent interface (3).

3. The unmanned aerial vehicle flight control mainboard of claim 1, wherein the main control unit (29) is disposed adjacent to one side edge of the mainboard, and the PD200 directional positioning module interface (8) and the GNSS module (30) are disposed on the mainboard at a side away from the main control unit (29) and adjacent to the edge of the mainboard; and a second CAN bus transceiver (27) is further arranged adjacent to the PD200 directional positioning module interface (8), and the PD200 directional positioning module interface (8) is in communication connection with the main control unit (29) through the second CAN bus transceiver (27).

4. The unmanned aerial vehicle flight control mainboard of claim 1, wherein a PD200 antenna pedestal (23) and a radio frequency power divider adjacent to the PD200 directional positioning module interface (8) are further provided, and the PD200 antenna pedestal (23) is communicatively connected to the PD200 directional positioning module interface (8) through the radio frequency power divider; and a radio frequency power divider shielding cover (13) is arranged outside the radio frequency power divider.

5. The unmanned aerial vehicle flight control mainboard of claim 4, wherein a GNSS antenna pedestal (12) and a load antenna pedestal (24) are further arranged adjacent to the radio frequency power divider, the GNSS antenna pedestal (12) and the load antenna pedestal (24) are respectively connected with the radio frequency power divider, the GNSS antenna pedestal (12) is used for mounting a GNSS antenna, and the load antenna pedestal (24) is used for connecting a load antenna mounted on the unmanned aerial vehicle.

6. The unmanned aerial vehicle flight control mainboard of claim 1, wherein the control circuit further comprises a software burning interface (5) and a software debugging interface (6) arranged adjacent to the edge of the mainboard, and the software burning interface (5) and the software debugging interface (6) are respectively in communication connection with the main control unit (29).

7. The unmanned aerial vehicle flight control main board according to claim 1, wherein the main control unit (29) comprises an MCU (2901), an FMU (2902) and an EMMC (2903) which are arranged on a bottom layer, the MCU (2901), the FMU (2902) and the EMMC (2903) are sequentially arranged along the length direction of the main board, and a first signal shielding case (14) is correspondingly arranged outside the MCU (2901), the FMU (2902) and the EMMC (2903); the main control unit (29) further comprises a main control power circuit arranged on the top layer, and a second signal shielding cover (22) is correspondingly arranged outside the main control power circuit.

8. The unmanned aerial vehicle flight control mainboard of claim 7, wherein a wiring harness through hole (19) is arranged at a position on the mainboard adjacent to the radio station communication interface (11) and the load interface (7), the radio station communication interface (11) and the load interface (7) are arranged on a top layer, and wiring harnesses of the radio station communication interface (11) and the load interface (7) penetrate through the wiring harness through hole (19) and are in communication connection with a main control unit (29).

9. The unmanned aerial vehicle flight control mainboard of claim 1, wherein the USB module comprises a USB interface (9), an RTK USB port (10), and a USB HUB unit (31), the USB interface (9) and the RTK USB port (10) are both communicatively connected to the USB HUB unit (31), and the USB HUB unit (31) is communicatively connected to the main control unit (29); the USB interface (9) and the RTK USB port (10) are adjacent to the main control unit (29) and are sequentially arranged along the edge of the mainboard.

10. The unmanned aerial vehicle flight control mainboard of claim 1, wherein the control circuit further comprises a flight control status indicator light interface (4), the flight control status indicator light interface (4) is disposed adjacent to the battery interface (1) and is in communication connection with the main control unit (29), and the flight control status indicator light interface (4) is used for installing a flight control status indicator light.

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