CN220105566U - Unmanned aerial vehicle flight control system, unmanned aerial vehicle control PCB circuit board and unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle flight control system, unmanned aerial vehicle control PCB circuit board and unmanned aerial vehicle Download PDFInfo
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Abstract
The utility model discloses an unmanned aerial vehicle flight control system, an unmanned aerial vehicle control PCB and an unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicle control, wherein the system comprises: the processing module receives detection signals transmitted by other modules for processing and outputs processing results; the voltage and current acquisition module is used for transmitting the acquired voltage and current signals of the power supply to the processing module; the sensor module is connected with the processing module and used for transmitting the acquired unmanned aerial vehicle flight information to the processing module; the flight control signal receiving module is connected with the processing module and used for receiving the unmanned aerial vehicle flight control signal sent by the control end; a peripheral device module connected to the processing module for transmitting signal parameters of the peripheral device to the processing module; the data output module is connected with the processing module, and the processing module outputs a processing result through the data output module. According to the utility model, the unmanned aerial vehicle is controlled to fly, so that the unmanned aerial vehicle can fly stably, and various flight tasks are ensured to be executed.
Description
Technical Field
The utility model relates to the technical field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle flight control system, an unmanned aerial vehicle control PCB and an unmanned aerial vehicle.
Background
The unmanned plane is a short name (Unmanned Aerial Vehicle) of an unmanned plane, and is an unmanned plane which utilizes radio remote control equipment and a self-provided program control device and comprises an unmanned helicopter, a fixed wing aircraft, a multi-rotor aircraft, an unmanned airship and an unmanned parachute wing aircraft. Also included in the broad sense are near space vehicles (20-100 km airspace), such as stratospheric airships, high-altitude balloons, solar unmanned aerial vehicles, and the like.
The unmanned aerial vehicle can complete complex aerial flight tasks and various load tasks under the unmanned condition, the existing unmanned aerial vehicle usually needs to be controlled by a control terminal in real time in the flight process, and has strong dependence on the operation skills of operators, but in the process of executing various flight tasks by the unmanned aerial vehicle, particularly in the process of executing the flight tasks with longer distance, the unmanned aerial vehicle cannot achieve real-time control due to communication interruption or poor communication signals and other reasons, so that the unmanned aerial vehicle cannot complete the flight tasks well. In addition, in the flight process of the unmanned aerial vehicle, the flight attitude conversion needs to be kept smooth, and after a new flight control instruction sent by a control end is received, the flight stability can be ensured, so that the flight task can be completed better.
Disclosure of Invention
Aiming at the problem of how to effectively and stably control the unmanned aerial vehicle to fly when the unmanned aerial vehicle flies, the utility model provides an unmanned aerial vehicle flight control system, an unmanned aerial vehicle control PCB and the unmanned aerial vehicle.
In a first aspect, please propose an unmanned aerial vehicle flight control system, comprising: the processing module receives detection signals transmitted by other modules for processing and outputs processing results; the voltage and current acquisition module is respectively connected with the power supply and the processing module and transmits the acquired voltage and current signals of the power supply to the processing module; the sensor module is connected with the processing module and transmits the acquired unmanned aerial vehicle flight information to the processing module, wherein the unmanned aerial vehicle flight information comprises acceleration information; the flight control signal receiving module is connected with the processing module, receives the unmanned aerial vehicle flight control signal sent by the control end and transmits the unmanned aerial vehicle flight control signal to the processing module; a peripheral device module connected to the processing module for transmitting signal parameters of the peripheral device to the processing module; and the data output module is connected with the processing module, and the processing module outputs a processing result through the data output module to control the flight of the unmanned aerial vehicle.
Optionally, the sensor module includes: the accelerometer is connected with the processing module, acquires acceleration magnetic field signals of the unmanned aerial vehicle and transmits the acceleration magnetic field signals to the processing module; the angular velocity sensor is connected with the processing module, acquires an angular velocity signal of the unmanned aerial vehicle and transmits the angular velocity signal to the processing module; the barometer is connected with the processing module, acquires air pressure signals of the flight environment where the unmanned aerial vehicle is located, and transmits the air pressure signals to the processing module.
Optionally, the peripheral module includes: and the GPS interface module is connected with the GPS equipment and transmits the GPS signals acquired by the GPS equipment to the processing module.
Optionally, the peripheral module further includes: the SPI peripheral interface module is connected with the SPI peripheral equipment and transmits an acquired SPI signal of the SPI peripheral equipment to the processing module; and/or a CAN peripheral interface module which is connected with the CAN peripheral equipment and transmits the acquired CAN signals of the CAN peripheral equipment to the processing module.
Optionally, the method further comprises: and the power conversion module is respectively connected with the power supply and the processing module, converts the voltage of the power supply and supplies power to the processing module.
Optionally, the method further comprises: and the low-noise power supply module is connected with the power supply, converts the voltage of the power supply and supplies power for the sensor module.
Optionally, the method further comprises: and the storage module is connected with the processing module and is used for storing the flight log of the unmanned aerial vehicle.
In a second aspect, the present utility model proposes an unmanned aerial vehicle control PCB circuit board, comprising: the unmanned aerial vehicle flight control system in scheme one is arranged on the multilayer PCB.
In a third aspect, the present utility model provides an unmanned aerial vehicle, including an unmanned aerial vehicle flight control system in scheme one.
According to the unmanned aerial vehicle flight control system, flight data of a current unmanned aerial vehicle are collected through the sensor module, the flight control signal receiving module is used for receiving unmanned aerial vehicle flight instructions sent by the remote controller or the ground console, then the various information is processed through the energy processing module to obtain calculation results of unmanned aerial vehicle attitude change, the calculation results are output through the data output module, operation of an unmanned aerial vehicle steering engine is controlled, further unmanned aerial vehicle attitude and direction change is carried out, and stable unmanned aerial vehicle flight is achieved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following description of the embodiments will briefly describe the drawings that are required to be used, and it is apparent that the drawings in the following description exemplarily show some embodiments of the present utility model.
FIG. 1 illustrates a schematic diagram of one embodiment of a unmanned aerial vehicle flight control system of the present utility model;
FIG. 2 illustrates a schematic diagram of one example of a unmanned aerial vehicle flight control system of the present utility model;
FIG. 3 illustrates one example of a power flow location identification on a unmanned PCB circuit board of the present utility model;
fig. 4 shows an example of signal flow location identification on a control PCB circuit board of the present utility model.
Reference numerals illustrate: the positive terminal of the power interface is 1-11; 2-11 parts of a power supply positive end of the low-noise power supply module; 2-21 parts of power output ends of the low-noise power supply module; 5-11 parts of the positive end of the accelerometer power supply; the positive end of the power supply of the gyroscope is 6-11; 7-11 parts of the positive power supply end of the barometer; the ground end of the accelerometer is 5-21; the ground end of the gyroscope is 6-21; 7-21 of barometer ground end; a negative terminal 1-21 of the power interface; 3-11 parts of the positive end of the power supply conversion module; the output end of the power conversion module is 3-21; 8-11 parts of a power supply positive end of the processing module; the ground ends of the processing modules are 8-21; RC interface power supply positive terminal 9-11; the interface power supply positive terminal 10-11 of the data transmission receiver; the power supply positive terminal 11-11 of the GPS interface; SPI peripheral interface power supply positive terminal 12-11; CAN peripheral interface power supply positive terminal 13-11; the RC interface power negative terminal 9-21; a negative terminal 10-21 of the interface power supply of the data transmission receiver; GPS interface power negative terminal 11-21; SPI peripheral interface power negative terminal 12-21; the CAN peripheral interface power negative wiring terminal 13-21 flows out; voltage and current signal ends 1-31 of the power interface; input ends 4-31 of voltage and current acquisition ports; the output end 4-32 of the voltage and current acquisition port; voltage and current signal input ends 8-31 of the processing module; acceleration magnetometer SPI interface 5-31; SPI interface 8-32 of the processing module; the gyroscope SPI interface is 6-31; 7-31 of a barometer I2C interface; I2C1 interfaces 8-33 of the processing module; RC interface signal output ends 9-31; RC signal receiving terminals 8-34; the data transmission receiver interface signal output ends 10-31; a data transmission signal receiving end 8-35; serial port output ends 11-31; UART4 inputs 8-36; signal output ends 12-31 of the SPI peripheral interface; 8-37 of a processing module SPI2 interface; signal output ends 13-31 of the CAN peripheral interface; CAN interface 8-38 of the processing module; PWM signal output ports 8-39; PWM output interface signal terminals 14-31; SDIO interfaces 8-40 of the processing module; SDIO interfaces 15-31 of SD cards.
Specific embodiments of the present utility model have been shown by way of the above drawings and will be described in more detail below. The drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to the specific embodiments.
Detailed Description
The preferred embodiments of the present utility model will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present utility model can be more easily understood by those skilled in the art, thereby making clear and defining the scope of the present utility model.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The unmanned plane is a short name (Unmanned Aerial Vehicle) of an unmanned plane, and is an unmanned plane which utilizes radio remote control equipment and a self-provided program control device and comprises an unmanned helicopter, a fixed wing aircraft, a multi-rotor aircraft, an unmanned airship and an unmanned parachute wing aircraft. Also included in the broad sense are near space vehicles (20-100 km airspace), such as stratospheric airships, high-altitude balloons, solar unmanned aerial vehicles, and the like.
The unmanned aerial vehicle can complete complex aerial flight tasks and various load tasks under the unmanned condition, the existing unmanned aerial vehicle usually needs to be controlled by a control terminal in real time in the flight process, and has strong dependence on the operation skills of operators, but in the process of executing various flight tasks by the unmanned aerial vehicle, particularly in the process of executing the flight tasks with longer distance, the unmanned aerial vehicle cannot achieve real-time control due to communication interruption or poor communication signals and other reasons, so that the unmanned aerial vehicle cannot complete the flight tasks well. In addition, in the flight process of the unmanned aerial vehicle, the flight attitude conversion needs to be kept smooth, and after a new flight control instruction sent by a control end is received, the flight stability can be ensured, so that the flight task is completed better
Aiming at the problems, the utility model provides an unmanned aerial vehicle flight control system, an unmanned aerial vehicle control PCB and an unmanned aerial vehicle. The system comprises: comprising the following steps: the processing module receives detection signals transmitted by other modules for processing and outputs processing results; the voltage and current acquisition module is respectively connected with the power supply and the processing module and transmits the acquired voltage and current signals of the power supply to the processing module; the sensor module is connected with the processing module and transmits the acquired unmanned aerial vehicle flight information to the processing module, wherein the unmanned aerial vehicle flight information comprises acceleration information; the flight control signal receiving module is connected with the processing module, receives the unmanned aerial vehicle flight control signal sent by the control end and transmits the unmanned aerial vehicle flight control signal to the processing module; a peripheral device module connected to the processing module for transmitting signal parameters of the peripheral device to the processing module; and the data output module is connected with the processing module, and the processing module outputs a processing result through the data output module to control the flight of the unmanned aerial vehicle.
According to the unmanned aerial vehicle flight control system, flight data of a current unmanned aerial vehicle are collected through the sensor module, the flight control signal receiving module is used for receiving unmanned aerial vehicle flight instructions sent by the remote controller or the ground console, then the various information is processed through the energy processing module to obtain calculation results of unmanned aerial vehicle attitude change, the calculation results are output through the data output module, operation of an unmanned aerial vehicle steering engine is controlled, further unmanned aerial vehicle attitude and direction change is carried out, and stable unmanned aerial vehicle flight is achieved. In addition, through the voltage and current acquisition module, the unmanned aerial vehicle power supply information is monitored in real time, so that the occurrence of a crash event of the unmanned aerial vehicle due to insufficient power supply voltage is avoided. And the stable flight of the unmanned aerial vehicle is realized.
The following describes the technical scheme of the present utility model and how the technical scheme of the present utility model solves the above technical problems in detail with specific embodiments. The specific embodiments described below may be combined with one another to form new embodiments. The same or similar ideas or processes described in one embodiment may not be repeated in certain other embodiments. Embodiments of the present utility model will be described below with reference to the accompanying drawings.
FIG. 1 illustrates a schematic diagram of one embodiment of a unmanned aerial vehicle flight control system of the present utility model.
In the embodiment shown in fig. 1, the unmanned aerial vehicle flight control system of the present utility model includes: and the processing module 101 is used for receiving detection signals transmitted by other modules for processing and outputting processing results.
In this embodiment, processing module carries out unmanned aerial vehicle flight in-process various information's processing, receives unmanned aerial vehicle self flight data, unmanned aerial vehicle power supply information that external sensor gathered and ground control end sent unmanned aerial vehicle flight control signal etc. and carries out data processing, then carries out flight control with the steering wheel that operation result output corresponds to unmanned aerial vehicle, realizes unmanned aerial vehicle flight's control, guarantees unmanned aerial vehicle's steady flight and flight attitude's conversion, carries out various unmanned aerial vehicle flight tasks.
Specifically, the processing module may select an MCU chip with a certain specification, where the model, parameters, etc. related to the MCU chip may be reasonably selected according to the actual unmanned aerial vehicle flight control requirement, etc., and the present utility model is not limited herein.
In the embodiment shown in fig. 1, the unmanned aerial vehicle flight control system of the present utility model includes: the voltage and current acquisition module 102 is respectively connected with the power supply and the processing module and transmits the acquired voltage and current signals of the power supply to the processing module.
In the embodiment, the voltage and current acquisition module is connected with the power supply battery pack of the unmanned aerial vehicle through an acquisition port, acquires voltage and current signals of the battery pack in real time, and transmits the voltage and current signals to the processing module. In the processing module, the collected voltage and current signals are compared with a preset voltage threshold value, the preset current threshold value is compared, whether the power supply of the battery pack on the unmanned aerial vehicle is abnormal or not is judged, if the condition of low voltage exists, the unmanned aerial vehicle can be timely made to reduce the flying height, landing preparation is carried out, and the accident of falling is avoided. When the unmanned aerial vehicle needs to be described, the unmanned aerial vehicle is divided into different types and corresponds to different flight tasks, so that the requirements on the power supply battery pack are correspondingly different, and the preset voltage threshold and the preset current threshold for judging the voltage and the current of the battery pack can be set according to actual conditions.
In the embodiment shown in fig. 1, the unmanned aerial vehicle flight control system of the present utility model includes: and the sensor module 103 is connected with the processing module and transmits the collected unmanned aerial vehicle flight information to the processing module, wherein the unmanned aerial vehicle flight information comprises acceleration information.
In the embodiment, in the unmanned aerial vehicle flight control system, flight data of the unmanned aerial vehicle is collected through the arranged sensor module, and the flight data comprises acceleration information of the unmanned aerial vehicle. Through the collection of data, can fully master unmanned aerial vehicle current flight gesture etc. be convenient for follow-up control to unmanned aerial vehicle flight.
Optionally, the sensor module includes: the accelerometer is connected with the processing module, acquires acceleration magnetic field signals of the unmanned aerial vehicle and transmits the acceleration magnetic field signals to the processing module; the angular velocity sensor is connected with the processing module, acquires an angular velocity signal of the unmanned aerial vehicle and transmits the angular velocity signal to the processing module; the barometer is connected with the processing module, acquires air pressure signals of the flight environment where the unmanned aerial vehicle is located, and transmits the air pressure signals to the processing module.
In this alternative embodiment, the sensor module includes an acceleration magnetometer for acquiring an acceleration signal and a magnetic field signal of the unmanned plane in the current flight state; an angular velocity sensor for measuring current angular velocity information of the unmanned aerial vehicle, wherein a common angular velocity sensor such as a gyroscope; and a barometer, which is mainly used for measuring air pressure information at the current flight position of the unmanned aerial vehicle. The various sensors transmit collected data to a connected processing module for processing. The model, precision and the like of the specific sensor can be reasonably selected according to the actual unmanned aerial vehicle flight requirement, and the utility model is not limited.
In the embodiment shown in fig. 1, the unmanned aerial vehicle flight control system of the present utility model includes: the flight control signal receiving module 104 is connected with the processing module, receives the unmanned aerial vehicle flight control signal sent by the control end, and transmits the unmanned aerial vehicle flight control signal to the processing module.
In this embodiment, the flight control signal receiving module of the present utility model is configured to receive an unmanned aerial vehicle flight control command sent by the ground control terminal, and transmit the unmanned aerial vehicle flight control command to the processing module to control the unmanned aerial vehicle flight.
Specifically, there are two modes of flight control for an unmanned aerial vehicle. In order to send a control signal to the unmanned aerial vehicle through a remote controller, the unmanned aerial vehicle is controlled in real time; another mode is to send an automatic flight command to the unmanned aerial vehicle, and the unmanned aerial vehicle carries out automatic flight according to a planned route and a terminal set in the command. Wherein, the control command that two kinds of unmanned aerial vehicle flight all passes through flight control signal receiving module and transmits processing module, and processing module handles the flight control command of receipt, and then controls unmanned aerial vehicle's steering wheel, carries out the control to unmanned aerial vehicle flight.
In the embodiment shown in fig. 1, the unmanned aerial vehicle flight control system of the present utility model includes: and a peripheral module 105 connected to the processing module for transmitting signal parameters of the peripheral device to the processing module.
In this embodiment, the unmanned aerial vehicle flight control system of the present utility model is connected to some optional peripheral devices through the peripheral device module, so as to implement corresponding functions.
Optionally, the peripheral module includes: and the GPS interface module is connected with the GPS equipment and transmits the GPS signals acquired by the GPS equipment to the processing module.
In this alternative embodiment, the GPS interface module in the peripheral device module is connected to the GPS device through a port, acquires GPS information, and transmits the GPS information to the processing module for processing, so as to implement flight control of the unmanned aerial vehicle.
Optionally, the peripheral module further includes: the SPI peripheral interface module is connected with the SPI peripheral equipment and transmits an acquired SPI signal of the SPI peripheral equipment to the processing module; and/or a CAN peripheral interface module which is connected with the CAN peripheral equipment and transmits the acquired CAN signals of the CAN peripheral equipment to the processing module.
In this alternative embodiment, the SPI peripheral interface module is connected to the SPI peripheral device through an SPI interface, and the CAN peripheral interface module is connected to the CAN peripheral device through a CAN interface. Through the connection of the unmanned aerial vehicle flight control system and the corresponding peripheral equipment, the communication between the processing module and the peripheral equipment is realized, and the corresponding function is realized.
In the embodiment shown in fig. 1, the unmanned aerial vehicle flight control system of the present utility model includes: and the data output module 106 is connected with the processing module, and the processing module outputs a processing result through the data output module to control the flight of the unmanned aerial vehicle.
In this embodiment, the processing module processes according to the received unmanned aerial vehicle flight control instruction and the current state data of the unmanned aerial vehicle collected by the sensor, calculates how the unmanned aerial vehicle performs the flight processing result, and transmits the processing result to the corresponding steering engine of the unmanned aerial vehicle through the data output module, so as to adjust the flight heading, the altitude and the like of the unmanned aerial vehicle and control the flight of the unmanned aerial vehicle.
Specifically, the data output module can adopt a PWM output interface, for example, 8 paths of PWM signals can be output, so that the rotating speed of the steering engine of the unmanned aerial vehicle is controlled, and the flight of the unmanned aerial vehicle is controlled.
Optionally, the unmanned aerial vehicle flight control system further comprises a power supply conversion module which is respectively connected with the power supply and the processing module, converts the voltage of the power supply and supplies power to the processing module.
In this alternative embodiment, the processing module, the sensor module and the like in the unmanned aerial vehicle flight control system especially correspond to the working voltage, and in general, the power supply on the unmanned aerial vehicle cannot directly supply power, so that the voltage conversion is performed through the power supply conversion module, and the normal operation of the corresponding module is realized.
Optionally, the unmanned aerial vehicle flight control system of the present utility model further includes: and the low-noise power supply module is connected with the power supply, converts the voltage of the power supply and supplies power for the sensor module.
In this alternative embodiment, the power supply of the power supply is filtered and voltage converted through the low-noise power supply module, so as to supply power for the sensor module, so that the reduction of the sensing precision of the sensor caused by the fluctuation of the power supply voltage is avoided, and the accuracy of the unmanned aerial vehicle flight control is improved.
Optionally, the unmanned aerial vehicle flight control system of the present utility model further includes: and the storage module is connected with the processing module and is used for storing the flight log of the unmanned aerial vehicle.
In this alternative embodiment, the log of the unmanned aerial vehicle while flying is recorded and saved by the storage module.
Specifically, FIG. 2 shows a schematic diagram of one example of the unmanned aerial vehicle flight control system of the present utility model.
As shown in fig. 2, in the unmanned aerial vehicle flight control system of the present utility model, the processing module MCU is a main component, and the processing module thereof is connected with the accelerometer, the gyroscope and the barometer in the sensor module, and receives unmanned aerial vehicle flight data collected by various sensors; the processing module is also connected with the flight control signal receiving module and used for receiving unmanned aerial vehicle flight control instructions sent by the ground control end, for example, receiving control signals sent by a ground remote controller through an RC interface; and receiving the sent unmanned aerial vehicle automatic flight control signal through a data transmission receiver interface. The processing module processes according to the received unmanned aerial vehicle flight control signal to obtain flight attitude conversion data of the unmanned aerial vehicle at the next moment, and outputs the flight attitude conversion data through a PWM output interface in the data output module to control a steering engine of the unmanned aerial vehicle, so that unmanned aerial vehicle flight control is realized. And data in the unmanned aerial vehicle flight are stored through the SD card. In addition, in the aspect of power supply when the unmanned aerial vehicle flies, the unmanned aerial vehicle battery pack supplies power to the MCU module after voltage conversion of the DCDC power supply module, and in addition, the unmanned aerial vehicle battery pack supplies power to the acceleration magnetometer, the gyroscope and the barometer in the sensor module after voltage conversion of the low-noise power supply module.
In one embodiment of the present utility model, a unmanned aerial vehicle control PCB circuit board is presented, wherein the PCB circuit board comprises a multi-layer PCB board, wherein the multi-layer PCB board is used to arrange the unmanned aerial vehicle flight control system described in any of the above embodiments.
Specifically, the PCB board may be provided with 6 layers, where the PCB boards of different layers perform different functions in setting up the unmanned aerial vehicle flight control system, for example, different layers set up corresponding signal layers, independent strata, independent power layers, wiring layers, and the like.
Preferably, the top layer and the bottom layer are set as signal layers, and communication between the unmanned aerial vehicle flight control system and external signals is carried out, for example, the unmanned aerial vehicle receives the external control signals; the second layer is an independent stratum, the third layer and the fourth layer are internal signal layers, and information exchange among all modules in the unmanned aerial vehicle flight control system is carried out; the fifth layer is an independent power layer and is used for supplying power to the unmanned aerial vehicle flight control system. On the specific wiring, the third layer is a transverse wiring, the fourth layer is a vertical wiring, and signal interference among different PCB layers is reduced by adopting different wiring modes.
Fig. 3 shows an example of a power flow location identification on a control PCB circuit board of the present utility model.
In the example shown in fig. 3, the unmanned aerial vehicle-mounted battery pack provides 5V direct current to the unmanned aerial vehicle flight control system of the present utility model after passing through the diverter meter; the direct current power supply flows in from the positive terminal 1-11 of the power interface, flows to the bottom layer through the hole, then outputs 5V direct current power supply through the anti-reverse diode, flows into the 5V copper sheet of the fifth layer power supply layer through the hole, the 5V copper sheet of the power supply layer flows to the positive terminal 2-11 of the low-noise power supply module power supply nearby through the hole, and the 3.3V power supply 3V3_S obtained through power supply conversion flows out from the power output terminal 2-21 of the low-noise power supply module; after the fourth copper sheet is routed, the fourth copper sheet flows into the positive end 5-11 of the accelerometer power supply, the positive end 6-11 of the gyroscope power supply and the positive end 7-11 of the barometer power supply respectively through the positive end 5-21 of the accelerometer and the ground end 6-21 of the gyroscope respectively, the fourth copper sheet flows out from the ground end 7-21 of the accelerometer and then flows into the bottom layer of the second power supply, and the bottom layer of the power supply flows into the negative terminal 1-21 of the power supply interface nearby through the holes; secondly, the 5V copper sheet of the power layer flows to the positive end 3-11 of the power conversion module nearby through the hole, the 3.3V power DCDC_3V3 is obtained after power conversion, the 3.3V power DCDC_3V flows out of the output end 3-21 of the power conversion module, the third copper sheet is routed, flows into the positive end 8-11 of the power supply of the processing module through the hole, flows out of the ground end 8-21 of the processing module nearby and flows into the second power bottom layer nearby, and the power bottom layer flows to the negative electrode terminal 1-21 of the power interface nearby through the hole; thirdly, the 5V copper sheet of the power layer flows into the RC interface power supply positive terminal 9-11, the data transmission receiver interface power supply positive terminal 10-11, the GPS interface power supply positive terminal 11-11, the SPI peripheral interface power supply positive terminal 12-11 and the CAN peripheral interface power supply positive terminal 13-11 through holes nearby; and then flows out through the RC interface power negative terminal 9-21, the data transmission receiver interface power negative terminal 10-21, the GPS interface power negative terminal 11-21, the SPI peripheral interface power negative terminal 12-21 and the CAN peripheral interface power negative terminal 13-21 respectively, flows into the second power bottom layer nearby through holes, and flows to the power interface negative terminal 1-21 nearby through holes.
Fig. 4 shows an example of signal flow location identification on a control PCB circuit board of the present utility model.
As shown in fig. 4, the processing module signal inflow includes: the voltage and current signals of the battery pack flow out from the voltage and current signal ends 1-31 of the power interface, flow to the input ends 4-31 of the voltage and current acquisition ports, flow out from the output ends 4-32 of the voltage and current acquisition ports after being filtered, and flow to the voltage and current signal input ends 8-31 of the processing module. The acceleration magnetic field signal flows out from the acceleration magnetometer SPI interfaces 5-31 and flows into SPI interfaces 8-32 of the processing module; the angular velocity signal of the gyroscope flows out from the SPI interface 6-31 of the gyroscope and flows into the SPI interface 8-32 of the processing module; the air pressure signal of the barometer flows out from the I2C interface 7-31 of the barometer and flows into the I2C1 interface 8-33 of the processing module; remote control signals of the RC interface flow out from the RC interface signal output ends 9-31 and flow into the RC signal receiving ends 8-34 of the processing module; the output signal of the data transmission receiver interface flows out from the signal output end 10-31 of the data transmission receiver interface and flows into the data transmission signal receiving end 8-35 of the processing module; the GPS signals of the GPS interface flow out from the serial port output ends 11-31 and flow into the UART4 input ends 8-36 of the processing module; SPI signals of the SPI peripheral interface flow out from the signal output ends 12-31 of the SPI peripheral interface and flow into SPI2 interfaces 8-37 of the processing module; CAN signals of the CAN peripheral interface flow out from the signal output ends 13-31 of the CAN peripheral interface and flow into the CAN interfaces 8-38 of the processing module.
In addition, the processing module signal flowing out includes: after acquiring parameters of each sensor, the MCU processes the output flight control signals according to the flight tasks, and outputs the flight control signals through PWM signal output ports 8-39 of the processing module to flow to PWM output interface signal ends 14-31; log information in the log information output flight process is output by the SDIO interfaces 8-40 of the processing module and flows to the SDIO interfaces 15-31 of the SD card.
In one embodiment of the present utility model, a unmanned aerial vehicle is provided, including the unmanned aerial vehicle flight control system described in any of the above embodiments.
According to the unmanned aerial vehicle disclosed by the utility model, the flight data of the current unmanned aerial vehicle is collected through the sensor module, the flight command of the unmanned aerial vehicle sent by the remote controller or the ground console is received through the flight control signal receiving module, then the various information is processed through the energy processing module, the calculation result of the attitude change of the unmanned aerial vehicle is obtained, the calculation result is output through the data output module, the operation of the unmanned aerial vehicle steering engine is controlled, the attitude and the direction of the unmanned aerial vehicle are changed, and the unmanned aerial vehicle can fly stably.
In the embodiments provided in the present utility model, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of elements is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution described in this embodiment.
The foregoing is only illustrative of the present utility model and is not to be construed as limiting the scope of the utility model, and all equivalent structural changes made by the present utility model and the accompanying drawings, or direct or indirect application in other related technical fields, are included in the scope of the present utility model.
Claims (9)
1. An unmanned aerial vehicle flight control system, comprising:
the processing module receives detection signals transmitted by other modules for processing and outputs processing results;
the voltage and current acquisition module is respectively connected with the power supply and the processing module and transmits the acquired voltage and current signals of the power supply to the processing module;
the sensor module is connected with the processing module and used for transmitting acquired unmanned aerial vehicle flight information to the processing module, wherein the unmanned aerial vehicle flight information comprises acceleration information;
the flight control signal receiving module is connected with the processing module, receives the unmanned aerial vehicle flight control signal sent by the control end and transmits the unmanned aerial vehicle flight control signal to the processing module;
the peripheral equipment module is connected with the processing module and used for transmitting signal parameters of peripheral equipment to the processing module;
the data output module is connected with the processing module, and the processing module outputs a processing result through the data output module to control the flight of the unmanned aerial vehicle.
2. The unmanned aerial vehicle flight control system of claim 1, wherein the sensor module comprises:
the accelerometer is connected with the processing module, acquires acceleration magnetic field signals of the unmanned aerial vehicle and transmits the acceleration magnetic field signals to the processing module;
the angular velocity sensor is connected with the processing module, acquires an angular velocity signal of the unmanned aerial vehicle and transmits the angular velocity signal to the processing module;
and the barometer is connected with the processing module, acquires air pressure signals of the flight environment where the unmanned aerial vehicle is located, and transmits the air pressure signals to the processing module.
3. The unmanned aerial vehicle flight control system of claim 1, wherein the peripheral module comprises:
and the GPS interface module is connected with the GPS equipment and transmits the GPS signals acquired by the GPS equipment to the processing module.
4. The unmanned aerial vehicle flight control system of claim 3, wherein the peripheral module further comprises:
the SPI peripheral interface module is connected with the SPI peripheral equipment and transmits the acquired SPI signal of the SPI peripheral equipment to the processing module; and/or
The CAN peripheral interface module is connected with the CAN peripheral equipment and transmits the acquired CAN signals of the CAN peripheral equipment to the processing module.
5. The unmanned aerial vehicle flight control system of claim 1, further comprising:
and the power conversion module is respectively connected with the power supply and the processing module, converts the voltage of the power supply and supplies power for the processing module.
6. The unmanned aerial vehicle flight control system of claim 5, further comprising:
and the low-noise power supply module is connected with the power supply, converts the voltage of the power supply and supplies power for the sensor module.
7. The unmanned aerial vehicle flight control system of claim 1, further comprising:
and the storage module is connected with the processing module and is used for storing the flying log of the unmanned aerial vehicle.
8. Unmanned aerial vehicle control PCB circuit board, its characterized in that includes:
a multi-layer PCB board, wherein the multi-layer PCB board is provided with the unmanned aerial vehicle flight control system according to any one of claims 1 to 7.
9. A drone comprising a drone flight control system as claimed in any one of claims 1 to 7.
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| CN202320259368.4U CN220105566U (en) | 2023-02-20 | 2023-02-20 | Unmanned aerial vehicle flight control system, unmanned aerial vehicle control PCB circuit board and unmanned aerial vehicle |
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| CN202320259368.4U CN220105566U (en) | 2023-02-20 | 2023-02-20 | Unmanned aerial vehicle flight control system, unmanned aerial vehicle control PCB circuit board and unmanned aerial vehicle |
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