CN204383757U - Unmanned vehicle and circuit board assemblies thereof - Google Patents
Unmanned vehicle and circuit board assemblies thereof Download PDFInfo
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- CN204383757U CN204383757U CN201420840217.9U CN201420840217U CN204383757U CN 204383757 U CN204383757 U CN 204383757U CN 201420840217 U CN201420840217 U CN 201420840217U CN 204383757 U CN204383757 U CN 204383757U
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- unmanned vehicle
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Abstract
The utility model discloses a kind of unmanned vehicle and circuit board assemblies thereof, and described unmanned vehicle comprises fuselage, motor, the screw propeller be connected with this motor and the circuit board assemblies be arranged in fuselage.The second board that described circuit board assemblies comprises the first board and is electrically connected with the first board, described first board and the second board interfix the circuit card of formation one monoblock.Described first board is integrated with the power electric adjusting system of unmanned vehicle, described second board is integrated with the flight control units of unmanned vehicle.Described flight control units sends flight control command to power electric adjusting system, and described power electric adjusting system controls the mode of operation of motor according to this flight control command.
Description
Technical field
The utility model relates to vehicle technology field, especially relates to a kind of unmanned vehicle and circuit board assemblies thereof.
Background technology
Unmanned vehicle, being called for short unmanned plane (UAV, Unmanned Aerial Vehicle), is a kind of flight instruments in developing rapidly that is in, its have maneuverability, reaction fast, unmanned flight, advantage that operation requirements is low.At present, the range of use of unmanned plane has widened military affairs, scientific research, civilian three large fields, specifically in electric power, communication, meteorology, agricultural, ocean, exploration, photograph, prevent and reduce natural disasters, Crop Estimation, drug law enforcement anti-smuggling, border patrol, the field application such as public security anti-terrorism be very wide.Unmanned plane, by carrying multiclass sensor, can realize image real-time Transmission, high-risk areas detecting function, is that satellite remote sensing and the strong of traditional air remote sensing supplement.
Take photo by plane with in unmanned vehicle existing, generally include Inertial Measurement Unit, cradle head control unit, flight control units, RCU and power electric and adjust unit etc. to control each functional module of aircraft.The flight telecommand that described flight control units receives according to RCU and the flight status parameter that Inertial Measurement Unit detects determine to fly accordingly control command, and this flight control command is sent to power electric tune unit, power electric adjusts unit to control the rotation of motor according to this flight control command, thus the flight attitude of adjustment aircraft.Same, the The Cloud Terrace telecommand that remote control module receives by cradle head control unit and the flight status parameter that inertia measuring module detects send to The Cloud Terrace, so that it carries out pose adjustment.
In prior art, each functional module is all independent design, and connected by wire rod between the printed circuit board (PCB) (Printed Circuit Board, PCB) that each functional module is corresponding, complex structural designs, integrated level is not high, also easily causes circuit chaotic simultaneously.
If each functional module be all arranged in a printed circuit board, the mutual interference that there is electromagnetism etc. between each functional module can be caused.Especially the motor-drive circuit of power electric mode transfer block, working current is large, forms interfering signal strong, easily interferes with the accuracy that inertia measuring module detects.In order to prevent strong electromagnetic interference, usually must be larger by PCB design, namely by making that there is between each functional module the mutual interference problem that larger spacing reduces each functional module.But this makes again the area of printed circuit board (PCB) increase, and then the volume of unmanned vehicle is increased.How to reduce the electromagnetic interference between each functional module, do not increase again the volume of unmanned vehicle, become urgent problem.
Utility model content
In view of this, the utility model provides a kind of high integration and the unmanned vehicle without mutually interference between each functional module and circuit board assemblies thereof.
A circuit board assemblies for unmanned vehicle, the second board that described circuit board assemblies comprises the first board and is electrically connected with the first board, described first board and the second board interfix the circuit card of formation one monoblock;
Described first board is integrated with the power electric adjusting system of unmanned vehicle; And
Described second board is integrated with the flight control units of unmanned vehicle;
Wherein, described flight control units sends flight control command to power electric adjusting system, and described power electric adjusting system controls the mode of operation of motor according to this flight control command.
Further, described power electric adjusting system comprises power electric tune unit and electric-motor drive unit; This electric-motor drive unit adopts independently the first power supply and the first power supply ground.
Further, described first power supply and the first power supply ground adopt wide copper sheet cabling.
Further, be respectively complete power plane, a power supply ground level described first power supply and the first power supply.
Further, described power electric adjusts unit and described flight control units to be connected to independently second source and a second source ground, and described power electric is adjusted between unit and electric-motor drive unit and adopted the tightly coupled mode cabling of difference.
Further, described flight control units also comprises a memory module, and this memory module is integrated on described second board.
Further, described second board is also provided with Inertial Measurement Unit.
Further, described second board is also integrated with cradle head control unit, this cradle head control unit is used for the flight status parameter from unmanned vehicle to cradle head device and/or the The Cloud Terrace remote signal that send, carries out pose adjustment to make cradle head device.
Further, by first quarter moon hole pad solder between described first board and the second board, the welding of row's pin, or insert row adds screw mode and fixes.
Further, described first board and the second board adopt the mode of stacked on top to fix.
A kind of unmanned vehicle, comprising: fuselage, is arranged on the motor on described fuselage, the screw propeller be connected with this motor, and above-mentioned circuit board assemblies, and circuit board assemblies is arranged in described fuselage, and is electrically connected with described motor.
In the utility model, the flight control units of unmanned vehicle and power electric adjusting system are integrated on one piece of overall board, and decrease the quantity of circuit card, alleviate complete machine weight simultaneously, flight is longer for cruise duration.Meanwhile, reduce the Material Cost of complete machine, reduce the work capacity of hardware development.In addition, space in machine has been saved in overall board design, and what complete machine can be done is less, simplifies removing machine process, facilitates production and the maintenance of complete machine.
Accompanying drawing explanation
Fig. 1 is the structural representation of the unmanned vehicle of the utility model one embodiment.
Fig. 2 is the functional module framework figure of the unmanned vehicle in Fig. 1.
Fig. 3 is the structural representation of the circuit board assemblies of unmanned vehicle in Fig. 1.
Main element nomenclature
| Unmanned vehicle | 100 |
| Fuselage | 10 |
| Horn | 20 |
| Alighting gear | 30 |
| Motor | 40 |
| Axle drive shaft | 401 |
| Control system | 101 |
| Power electric adjusting system | 102 |
| Flight control units | 11 |
| Memory module | 111 |
| Inertial Measurement Unit | 21 |
| Cradle head control unit | 31 |
| Power electric adjusts unit | 41 |
| Electric-motor drive unit | 51 |
| RCU | 61 |
| Circuit board assemblies | 50 |
| First board | 501 |
| Second board | 502 |
| First power supply | 711 |
| First power supply ground | 712 |
| Second source | 721 |
| Second source ground | 722 |
Following detailed description of the invention will further illustrate the utility model in conjunction with above-mentioned accompanying drawing.
Detailed description of the invention
Please refer to Fig. 1, the structural representation of the unmanned vehicle 100 in the utility model one embodiment, unmanned vehicle 100 comprises fuselage 10, at least one horn 20 be arranged on fuselage 10, the axle drive shaft 401 being arranged at the motor 40 on described horn 20 and being connected with this motor 40.In the present embodiment, unmanned vehicle 100 also comprises alighting gear 30, and alighting gear 30 is arranged at the bottom of described fuselage 10, lands for facilitating unmanned vehicle 100 and takes off.Described unmanned vehicle 100 can also carry cradle head device (scheming not shown), by installing device for image on cradle head device, such as camera or photographic camera etc., the field such as this unmanned vehicle 100 may be used for taking photo by plane, mapping.
In the present embodiment, the quantity of described horn 20 is four, these four horn 20 settings facing each other, and general alignment is in " ten " font.Each described horn 20 is provided with a motor 40, each motor 40 is connected to an axle drive shaft 401.This axle drive shaft 401 is also connected to a screw propeller (scheming not shown), and motor 40 drives described axle drive shaft 401, thus carrying screws rotates.
Understandable, in other embodiments, the number of described horn 20 is not restricted to four, and described unmanned vehicle 100 can have the six rotorcraft of six horns 20 or the eight-rotary wing aircraft etc. of eight horns 20.The number of described motor 40 and axle drive shaft 401 and the position on unmanned vehicle 100 also can be arranged as required.
Please composition graphs 2 is in the lump the functional module structure schematic diagram of the control system 101 of the unmanned vehicle 100 in an embodiment.Described control system 101 comprises power electric adjusting system 102, flight control units 11 and Inertial Measurement Unit 21(Inertial measurement unit, IMU).Power electric adjusting system 102 comprises power electric and adjusts unit 41 and electric-motor drive unit 51.In the present embodiment, described control system 101 also comprises a RCU 61, and described flight control units 11 also comprises a memory module 111.Wherein, this memory module 111 can be a pluggable SD card module.
Inertial Measurement Unit 21 for detecting the flight status parameter of unmanned vehicle 100, the such as parameter such as the in-flight cireular frequency of unmanned vehicle 100 and/or acceleration/accel.Described RCU 61 receives remote-control data by the mode of radio communication.This remote-control data can be the remote signal that the control convenience such as ground control center or hand-held remote control device sends, and this remote signal can be the The Cloud Terrace remote signal of the flight remote signal of the flight attitude controlling unmanned vehicle 100 or the attitude of control cradle head device.The flight remote signal that described flight control units 11 receives according to RCU 61 and the flight status parameter that Inertial Measurement Unit 21 detects determine to fly accordingly control command, and this flight control command is sent to power electric adjusting system 102.The flight status parameter that described memory module 111 detects for recording Inertial Measurement Unit 21, the remote-control data that RCU 61 receives, and the data such as the flight control command determined of flight control units 11.
When described unmanned vehicle 100 is equipped with cradle head device, described control system 101 also comprises a cradle head control unit 31.The The Cloud Terrace remote signal that RCU 61 receives by this cradle head control unit 31 and the flight status parameter that Inertial Measurement Unit 21 detects send to cradle head device, so that cradle head device carries out pose adjustment according to The Cloud Terrace remote signal and/or flight status parameter.
The power electric of power electric adjusting system 102 adjusts unit 41 to receive described flight control command, and send corresponding drive singal to motor 40 according to this flight control command control electric-motor drive unit 51, thus control the rotation of motor 40, to adjust the flight attitude of unmanned vehicle 100.
Please composition graphs 2 and Fig. 3 in the lump, unmanned vehicle 100 also comprises the circuit board assemblies 50 being arranged at fuselage 10 inside, and described circuit board assemblies 50 comprises the first board 501 and the second board 502.The power electric that described first board 501 is provided with described power electric adjusting system 102 adjusts unit 41 and electric-motor drive unit 51.Described electric-motor drive unit 51 is electrically connected with motor 40 by wire.Described second board 502 is integrated with described flight control units 11, memory module 111 and cradle head control unit 31, and Inertial Measurement Unit 21 is arranged on this second board 502.The area of the second board 502 is less than the area of the first board 501.
Can be welded mutually by first quarter moon eyelet welding dish mode between described first board 501 and the second board 502, form the circuit card board of a monoblock.First board 501 and the second board 502 can adopt the mode of stacked on top to fix, particularly, the middle part of the first board 501 offers hollow-out parts (scheming not shown), the size of the second board 502 equals the size of the hollow-out parts of the first board 501 substantially, the hollow-out parts of corresponding first board 501 of the second board 502 is arranged, and connecting place forms step.
In other embodiments, can also be welded by row's pin between described first board 501 and the second board 502, or the mode that insert row adds screw fixing fixes.
Electric-motor drive unit 51 on described first board 501 adopts independently first power supply 711(and a positive source) and the first power supply ground 712(and power cathode), form independent current supply circuit, to eliminate electric-motor drive unit 51 because the larger disturbing influence produced other functional modules of working current.Power electric on described first board 501 adjusts the modules of unit 41 and the second board 502 to be connected to independently second source 721(and a positive source) and second source ground 722(and power cathode), to form an independent current supply circuit.Described power electric is adjusted between unit 41 and electric-motor drive unit 51 and is adopted the tightly coupled mode cabling of difference, with erasure signal backflow across power supply, across the common mode interference suffered by Ground Split.
Described first power supply 711 and the first power supply ground 712 adopt wide copper sheet cabling, to reduce electromagnetism (Electromagnetic Interference, the EMI) radiation of power electric adjusting system 102 further.Preferably, the first power supply 711 and the first power supply ground 712(PGND) be a complete power plane and power supply ground level.
In the present embodiment, described unmanned vehicle 100 is quadrotor, and described power electric adjusts the number of unit 41 and electric-motor drive unit 51 to be 4.Each power electric adjusts a unit 41 and electric-motor drive unit 51 corresponding motor 40 respectively.4 electric-motor drive units 51 connect the first power supply 711 and the first power supply ground 712, to form independent current supply circuit.Power electric adjusts each electronic component of unit 41 and the second board 502 to be connected to second source 721 and second source ground 722, to form another independent current supply circuit.These two current supply circuits can adopt same powered battery.Each power electric is adjusted between unit 41 and corresponding electric-motor drive unit 51 and is adopted the tightly coupled mode cabling of difference.
This second board 502 is an independently circuit card, in the fitting process of described circuit board assemblies 50, first by flight control units 11, Inertial Measurement Unit 21 and other functional modules are integrated in after on this second board 502, directly Inertial Measurement Unit 21 is calibrated, then the second board 502 after calibration and the first board 501 are fixed, form one piece of overall circuit card.
This Inertial Measurement Unit 21 comprises at least one inertia measurement sensor.Because Inertial Measurement Unit 21 and flight control units 11 are located on the second board 502, form less calibration module, thus can directly calibrate Inertial Measurement Unit 21, and the mode communicated by CAN can the multiple such calibration module of primary calibration.
It should be noted that, according to different actual demands, on the integrated circuit plate that the first board 501 and the second board 502 are formed, memory module 111, cradle head control unit 31 and Inertial Measurement Unit 21 can omit wherein any one, or two, or all omit.
Compared to traditional technology, foregoing circuit board component 50 at least tool has the following advantages:
(1) problem that electric-motor drive unit 51 disturbs other modules can be solved.Because electric-motor drive unit 51 uses independently the first power supply 711 and the first power supply ground 712, power electric adjusts each module on unit 41 and the second board 502 to use another, and independently second source 721 and second source ground the 722, first power supply 711 and second source 721 are connected together at battery input single-point; Meanwhile, power electric adjusts the signal lead between unit 41 and electric-motor drive unit 51 to adopt difference tight coupling cabling, to reflux the common mode interference brought across Ground Split, thus can effectively avoid electric-motor drive unit 51 to disturb other modules with erasure signal.
(2) electromagnetic radiation of electric-motor drive unit 51 can be solved.Wide copper sheet is walked on the first power supply 711 used due to electric-motor drive unit 51 and the first power supply ground 712, especially, is the power plane and power supply ground level that difference one is complete, thus effectively eliminates the electromagnetic radiation of electric-motor drive unit 51.
(3) can solve highly integrated after, the problem that Inertial Measurement Unit 21 calibration efficiency is lower.Due to Inertial Measurement Unit 21 and flight control units 11 are separated, be located on the second independent board 502, to form independent calibration module, then direct it calibrated, during calibration, CAN communication can be adopted.The correction module calibrated to be welded and fixed with the first board 501 by modes such as first quarter moon eyelet welding dishes and to be connected.Like this, the size of calibration module can be effectively reduced, by CAN more calibration module of adjustable, thus improve the calibration efficiency of Inertial Measurement Unit 21.
(4) unmanned vehicle 100 of the circuit board assemblies 50 in present embodiment is adopted, flight control units 11 and power electric adjusting system 102 are integrated on one piece of overall board, decrease the quantity of circuit card, alleviate complete machine weight simultaneously, flight is longer for cruise duration.Meanwhile, reduce the Material Cost of complete machine, reduce the work capacity of hardware development.In addition, space in machine has been saved in overall board design, and what complete machine can be done is less, simplifies removing machine process, facilitates production and the maintenance of complete machine.
Those skilled in the art will be appreciated that; above embodiment is only used to the utility model is described; and be not used as restriction of the present utility model; as long as within spirit of the present utility model, the appropriate change do above embodiment and change all drop within the claimed scope of the utility model.
Claims (11)
1. a circuit board assemblies for unmanned vehicle, is characterized in that, the second board that described circuit board assemblies comprises the first board and is electrically connected with the first board, and described first board and the second board interfix the circuit card of formation one monoblock;
Described first board is integrated with the power electric adjusting system of unmanned vehicle; And
Described second board is integrated with the flight control units of unmanned vehicle;
Wherein, described flight control units sends flight control command to power electric adjusting system, and described power electric adjusting system controls the mode of operation of motor according to this flight control command.
2. circuit board assemblies as claimed in claim 1, is characterized in that, described power electric adjusting system comprises power electric and adjusts unit and electric-motor drive unit; This electric-motor drive unit adopts independently the first power supply and the first power supply ground.
3. circuit board assemblies as claimed in claim 2, is characterized in that, described first power supply and the first power supply ground adopt wide copper sheet cabling.
4. circuit board assemblies as claimed in claim 2, is characterized in that, is respectively complete power plane, a power supply ground level described first power supply and the first power supply.
5. circuit board assemblies as claimed in claim 2, it is characterized in that, described power electric adjusts unit and described flight control units to be connected to independently second source and a second source ground, and described power electric is adjusted between unit and electric-motor drive unit and adopted the tightly coupled mode cabling of difference.
6. circuit board assemblies as claimed in claim 1, it is characterized in that, described flight control units also comprises a memory module, and this memory module is integrated on described second board.
7. circuit board assemblies as claimed in claim 1, is characterized in that, described second board is also provided with Inertial Measurement Unit.
8. circuit board assemblies as claimed in claim 1, it is characterized in that, described second board is also integrated with cradle head control unit, and this cradle head control unit is used for the flight status parameter from unmanned vehicle to cradle head device and/or the The Cloud Terrace remote signal that send, carries out pose adjustment to make cradle head device.
9. circuit board assemblies as claimed in claim 1, is characterized in that, by first quarter moon hole pad solder between described first board and the second board, and the welding of row's pin, or insert row adds screw mode and fixes.
10. circuit board assemblies as claimed in claim 9, is characterized in that, described first board and the second board adopt the mode of stacked on top to fix.
11. 1 kinds of unmanned vehicles, is characterized in that, comprising:
Fuselage;
Be arranged on the motor on described fuselage;
The screw propeller be connected with this motor; And
Circuit board assemblies described in any one of claim 1 ~ 10, is arranged in described fuselage, and is electrically connected with described motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420840217.9U CN204383757U (en) | 2014-12-26 | 2014-12-26 | Unmanned vehicle and circuit board assemblies thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420840217.9U CN204383757U (en) | 2014-12-26 | 2014-12-26 | Unmanned vehicle and circuit board assemblies thereof |
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| Publication Number | Publication Date |
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| CN204383757U true CN204383757U (en) | 2015-06-10 |
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| CN201420840217.9U Expired - Fee Related CN204383757U (en) | 2014-12-26 | 2014-12-26 | Unmanned vehicle and circuit board assemblies thereof |
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| CN (1) | CN204383757U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105472257A (en) * | 2016-01-05 | 2016-04-06 | 零度智控（北京）智能科技有限公司 | Cradle head control system and cradle head |
| CN105656366A (en) * | 2016-02-26 | 2016-06-08 | 北京臻迪机器人有限公司 | Motor control device and motor control method |
| WO2017128053A1 (en) * | 2016-01-26 | 2017-08-03 | 深圳市大疆灵眸科技有限公司 | Electric adjustment system and pan-tilt having same |
| WO2017177458A1 (en) * | 2016-04-15 | 2017-10-19 | 深圳市大疆创新科技有限公司 | Frame of unmanned aerial vehicle and unmanned aerial vehicle |
| CN107786845A (en) * | 2016-08-31 | 2018-03-09 | 北京臻迪科技股份有限公司 | A kind of unmanned aerial vehicle control system |
| WO2018059326A1 (en) * | 2016-09-27 | 2018-04-05 | 亿航智能设备（广州）有限公司 | Aircraft motor control method, apparatus and system |
| CN108883829A (en) * | 2016-04-14 | 2018-11-23 | 高通股份有限公司 | Electronic speed controller arm for unmanned vehicle |
| WO2019000199A1 (en) * | 2017-06-27 | 2019-01-03 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle |
| WO2019100313A1 (en) * | 2017-11-24 | 2019-05-31 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and avionics system therefor |
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| CN105472257A (en) * | 2016-01-05 | 2016-04-06 | 零度智控（北京）智能科技有限公司 | Cradle head control system and cradle head |
| CN107250653B (en) * | 2016-01-26 | 2019-03-05 | 深圳市大疆灵眸科技有限公司 | Electric operation dispatching system and holder with the electric operation dispatching system |
| CN107250653A (en) * | 2016-01-26 | 2017-10-13 | 深圳市大疆灵眸科技有限公司 | Electric operation dispatching system and the head with the electric operation dispatching system |
| WO2017128053A1 (en) * | 2016-01-26 | 2017-08-03 | 深圳市大疆灵眸科技有限公司 | Electric adjustment system and pan-tilt having same |
| CN105656366A (en) * | 2016-02-26 | 2016-06-08 | 北京臻迪机器人有限公司 | Motor control device and motor control method |
| CN105656366B (en) * | 2016-02-26 | 2019-04-26 | 北京臻迪机器人有限公司 | A kind of motor control assembly and motor control method |
| CN108883829B (en) * | 2016-04-14 | 2021-11-23 | 高通股份有限公司 | Electronic speed controller arm for unmanned aerial vehicle |
| CN108883829A (en) * | 2016-04-14 | 2018-11-23 | 高通股份有限公司 | Electronic speed controller arm for unmanned vehicle |
| WO2017177458A1 (en) * | 2016-04-15 | 2017-10-19 | 深圳市大疆创新科技有限公司 | Frame of unmanned aerial vehicle and unmanned aerial vehicle |
| CN107786845A (en) * | 2016-08-31 | 2018-03-09 | 北京臻迪科技股份有限公司 | A kind of unmanned aerial vehicle control system |
| WO2018059326A1 (en) * | 2016-09-27 | 2018-04-05 | 亿航智能设备（广州）有限公司 | Aircraft motor control method, apparatus and system |
| WO2019000199A1 (en) * | 2017-06-27 | 2019-01-03 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle |
| US10946961B2 (en) | 2017-06-27 | 2021-03-16 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle |
| WO2019100313A1 (en) * | 2017-11-24 | 2019-05-31 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and avionics system therefor |
| US11343924B2 (en) | 2017-11-24 | 2022-05-24 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle and avionics system thereof |
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