CN209387874U - The ultrasonic distance detection circuit of unmanned plane - Google Patents
The ultrasonic distance detection circuit of unmanned plane Download PDFInfo
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- CN209387874U CN209387874U CN201821996112.7U CN201821996112U CN209387874U CN 209387874 U CN209387874 U CN 209387874U CN 201821996112 U CN201821996112 U CN 201821996112U CN 209387874 U CN209387874 U CN 209387874U
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- distance detection
- ultrasonic distance
- operational amplifier
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- 238000001514 detection method Methods 0.000 title claims abstract description 56
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- 239000003990 capacitor Substances 0.000 claims description 32
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- 238000007689 inspection Methods 0.000 claims description 3
- 230000003321 amplification Effects 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 5
- 238000003199 nucleic acid amplification method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 208000035473 Communicable disease Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
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- 208000015181 infectious disease Diseases 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
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Abstract
The utility model relates to a kind of ultrasonic distance detection circuits of unmanned plane, the circuit contains central processing unit and six identical ultrasonic distance detection modules, in each ultrasonic distance detection module: the signal output end of central processing unit is connect with the base stage of the first triode, one end of the primary side of the collector and intermediate-frequency transformer of first triode connects, ultrasonic probe is attempted by the secondary side both ends of intermediate-frequency transformer, secondary side one end of intermediate-frequency transformer is connect with the base stage of the second triode, the collector of second triode is connect with the inverting input terminal of the first operational amplifier, the output end of first operational amplifier and the inverting input terminal of second operational amplifier connect, the output end of second operational amplifier and the base stage of third transistor connect, the collector of third transistor is connect with the base stage of the 4th triode, the collection of 4th triode The connection of the signal input part of electrode and central processing unit；The utility model is simple for structure, at low cost, good reliability, rapid reaction.
Description
Technical field
The utility model relates to a kind of ultrasonic distance detection circuit, in particular to the ultrasonic distance of a kind of unmanned plane is examined
Slowdown monitoring circuit.
Background technique
UAV abbreviation unmanned plane, it is manipulated using radio robot and the presetting apparatus provided for oneself
Not manned aircraft, compared with manned aircraft, unmanned plane is more suitable for executing some bad environments, dangerous task.Nobody
Machine can be divided into warplane and civil aircraft by application field.Military aspect, unmanned plane are divided into reconnaissance plane and target drone.Civilian aspect, it is main
It to be used in and take photo by plane, agricultural, express transportation, disaster relief, observation wild animal, monitor infectious disease, mapping, news report, electric power
The fields such as inspection, movies-making, use are very extensive.However, unmanned plane in flight course there is also some safety problems, than
Such as: when unmanned plane is in low-latitude flying, periphery has building, trees, the vehicle of traveling and the pedestrian in street corner, if operation
It is improper, so that the rotor of unmanned plane is met these objects and pedestrian accidentally, less serious case can make unmanned plane wreck, and severe one can be to pedestrian
It causing serious injury, high-speed rotating rotor can injure the life security of pedestrian as sharp knife, therefore, nobody
Machine needs barrier judgment function, and can automatic avoiding obstacles flight.
Utility model content
Technical problem to be solved by the utility model is: providing a kind of ultrasonic distance detection circuit of unmanned plane, this is super
Sound wave is simple for structure apart from detection circuit, at low cost, good reliability, rapid reaction.
The technical solution of the utility model includes:
A kind of ultrasonic distance detection circuit of unmanned plane contains central processing unit (CPU) and six ultrasonic distance inspections
Module is surveyed, six ultrasonic distance detection modules are respectively as follows: front ultrasonic distance detection module, the detection of rear ultrasonic distance
Module, left ultrasonic distance detection module, right ultrasonic distance detection module, top ultrasonic distance detection module and under
Square ultrasonic distance detection module, the signal input part of six ultrasonic distance detection modules six with central processing unit respectively
Signal output end connection, the signal output end of six ultrasonic distance detection modules are defeated with six signals of central processing unit respectively
Enter end connection, the circuit in six ultrasonic distance detection modules is all the same；Containing super in each ultrasonic distance detection module
Sonic probe, intermediate-frequency transformer, the first operational amplifier, second operational amplifier, the first triode, the second triode, third
Triode and the 4th triode, the first triode, the second triode, third transistor and the 4th triode are three pole of NPN type
The signal output end of pipe, central processing unit is connect by first resistor with the base stage of the first triode, the transmitting of the first triode
Base ground connection, the primary side of the collector and intermediate-frequency transformer of the first triode one end connection, the primary side of intermediate-frequency transformer it is another
End connects power supply by 3rd resistor, and ultrasonic probe is attempted by the secondary side both ends of intermediate-frequency transformer, the secondary side one of intermediate-frequency transformer
End is connect after passing sequentially through the 4th resistance, first capacitor with the base stage of the second triode, another termination in secondary side of intermediate-frequency transformer
Ground, the transmitting base ground connection of the second triode, between the base stage and collector of the second triode and is connected to the 5th resistance, the two or three pole
The collector of pipe connects power supply by the 7th resistance, and the base stage of the second triode is grounded by reversed first diode, and the two or three
The collector of pole pipe passes sequentially through the 6th resistance, third capacitor is connect with the inverting input terminal of the first operational amplifier, the first fortune
The reverse phase that the output end of calculation amplifier passes sequentially through the 4th capacitor, twelfth resistor, the 6th capacitor and second operational amplifier is defeated
Enter end connection, the output end of second operational amplifier is connected by the base stage of the 7th capacitor and third transistor, third transistor
Emitter ground connection, the base stage of third transistor connects power supply by the 15th resistance, and the collector of third transistor passes through the tenth
Six resistance connect power supply, the collector of third transistor by reversed the second diode ground connection, the collector of third transistor according to
Secondary to be connect by positive third diode, the 17th resistance with the base stage of the 4th triode, the emitter of the 4th triode connects
The collector on ground, the 4th triode connects power supply, the collector of the 4th triode and the letter of central processing unit by the 18th resistance
The connection of number input terminal；Ultrasonic probe in six ultrasonic distance detection modules be separately mounted to the front of unmanned plane, rear portion,
Left part, right part, upper and lower part.
The both ends of ultrasonic probe are simultaneously connected to second resistance；Between power supply and ground and it is connected to the tenth resistance being cascaded
And eleventh resistor, the tie point and the first operational amplifier and second operational amplifier of the tenth resistance and eleventh resistor are just
The connection of phase input terminal, between the inverting input terminal and output end of the first operational amplifier and is connected to the 9th resistance, the second operation is put
Between the inverting input terminal and output end of big device and it is connected to the 14th resistance, the tie point of the 6th resistance and third capacitor passes through the
The tie point of eight resistance eutral groundings, the 6th resistance and third capacitor is connected by the output end of the second capacitor and the first operational amplifier
It connects, the tie point of twelfth resistor and the 6th capacitor is grounded by thirteenth resistor, the connection of twelfth resistor and the 6th capacitor
Point is connected by the 5th capacitor and the output end of second operational amplifier；The tie point of third diode and the 17th resistance passes through
8th capacity earth.
The model of first operational amplifier and second operational amplifier is equal are as follows: LM358；The model of ultrasonic probe are as follows:
KT40-1602E。
In actual use, central processing unit can be the primary processor of unmanned plane, be also possible to aim at existing respectively for ranging
Manage device.
When ultrasonic distance detection module works, the signal output end of central processing unit exports intermediate frequency square-wave signal, in this
The driving intermediate-frequency transformer work after the amplification of the first triode of frequency square-wave signal surpasses so that ultrasonic probe be made to issue ultrasonic wave
Sound wave can return after encountering barrier, form echo, which is received by ultrasonic probe, first put through the second triode
Greatly, then successively amplify again through the first operational amplifier and second operational amplifier, amplified signal is again through third transistor
It is shaped to a pulse signal with the 4th triode, finally enters the signal input part of central processing unit, central processing unit passes through
Calculate and issue intermediate frequency square-wave signal to the time for receiving echo, can accurately obtain barrier with a distance from unmanned plane, thus
Determine how avoiding obstacles fly.
The utility model has the beneficial effects that
The utility model drives ultrasonic probe work using intermediate-frequency transformer, and ultrasonic wave transmission speed is fast, signal is strong, adopts
The echo that ultrasonic probe receives is amplified with the second triode, the first operational amplifier and second operational amplifier,
Amplification effect is good, noise is small, carries out shaping to amplified signal using third transistor and the 4th triode, can make centre
Reason device can be reliably received echo-signal, and entire circuit structure is succinct, at low cost, good reliability, rapid reaction, especially suitable
Civil small-scale unmanned plane for low-latitude flying.
Detailed description of the invention
Fig. 1 is the schematic block circuit diagram of the ultrasonic distance detection circuit of unmanned plane；
Fig. 2 is the circuit theory schematic diagram of ultrasonic distance detection module.
Specific embodiment
Referring to FIG. 1 to FIG. 2, in figure, the ultrasonic distance detection circuit of unmanned plane contains central processing unit (CPU) and six
Ultrasonic distance detection module, six ultrasonic distance detection modules are respectively as follows: front ultrasonic distance detection module, rear surpasses
Sound wave is apart from detection module, left ultrasonic distance detection module, right ultrasonic distance detection module, top ultrasonic distance
Detection module and lower section ultrasonic distance detection module, the signal input part of six ultrasonic distance detection modules respectively with center
Six signal output ends (OUT1, OUT2, OUT3, OUT4, OUT5, OUT6) of processor connect, six ultrasonic distance detections
The signal output end of module connects with six signal input parts (IN1, IN2, IN3, IN4, IN5, IN6) of central processing unit respectively
It connects, the circuit in six ultrasonic distance detection modules is all the same；It is succinct in order to describe, now only with the detection of front ultrasonic distance
Illustrate the circuit in ultrasonic distance detection module for module, is visited in the ultrasonic distance detection module of front containing ultrasonic wave
Head LS, intermediate-frequency transformer T, the first operational amplifier U1A, second operational amplifier U2A, the first triode Q1, the second triode
Q2, third transistor Q3 and the 4th triode Q4, the first triode Q1, the second triode Q2, third transistor Q3 and the four or three
Pole pipe Q4 is NPN type triode, and the signal output end OUT1 of central processing unit passes through first resistor R1 and the first triode Q1
Base stage connection, the first triode Q1 transmitting base ground connection, the primary side of the collector and intermediate-frequency transformer T of the first triode Q1
One end connection, the other end of the primary side of intermediate-frequency transformer T meet power supply VCC by 3rd resistor R3, and ultrasonic probe LS is attempted by
The secondary side both ends of intermediate-frequency transformer T, secondary side one end of intermediate-frequency transformer T pass sequentially through after the 4th resistance R4, first capacitor C1 with
The base stage of second triode Q2 connects, the secondary side other end ground connection of intermediate-frequency transformer T, the transmitting base ground connection of the second triode Q2,
Between the base stage and collector of second triode Q2 and it is connected to the 5th resistance R5, the collector of the second triode Q2 passes through the 7th electricity
Resistance R7 meets power supply VCC, and the base stage of the second triode Q2 is grounded by reversed first diode D1, the current collection of the second triode Q2
Pole passes sequentially through the 6th resistance R6, third capacitor C3 and connect with the inverting input terminal of the first operational amplifier U1A, and the first operation is put
The output end of big device U1A passes sequentially through the 4th capacitor C4, twelfth resistor R12, the 6th capacitor C6 and second operational amplifier U2A
Inverting input terminal connection, the output end of second operational amplifier U2A passes through the base stage of the 7th capacitor C7 and third transistor Q3
Connection, the emitter ground connection of third transistor Q3, the base stage of third transistor Q3 meet power supply VCC by the 15th resistance R15, the
The collector of three triode Q3 meets power supply VCC by the 16th resistance R16, and the collector of third transistor Q3 passes through reversed the
Two diode D2 ground connection, the collector of third transistor Q3 pass sequentially through positive third diode D3, the 17th resistance R17 with
The base stage of 4th triode Q4 connects, and the emitter ground connection of the 4th triode Q4, the collector of the 4th triode Q4 passes through the tenth
Eight resistance R18 connect power supply VCC, the signal input part IN1 connection of the collector and central processing unit of the 4th triode Q4；Six super
Ultrasonic probe of the sound wave in detection module be separately mounted to the front of unmanned plane, rear portion, left part, right part, top and under
Portion.
The both ends of ultrasonic probe LS are simultaneously connected to second resistance R2；Between power supply VCC and ground and it is connected to and is cascaded
The tie point and the first operational amplifier of tenth resistance R10 and eleventh resistor R11, the tenth resistance R10 and eleventh resistor R11
U1A is connected with the normal phase input end of second operational amplifier U2A, the inverting input terminal and output end of the first operational amplifier U1A
Between and be connected to the 9th resistance R9, between the inverting input terminal and output end of second operational amplifier U2A and be connected to the 14th electricity
It hinders the tie point that R14, the 6th resistance R6 and third electricity C3 hold to be grounded by the 8th resistance R8, the 6th resistance R6 and third capacitor C3
Tie point connect with the output end of the first operational amplifier U1A by the second capacitor C2, twelfth resistor R12 and the 6th capacitor
The tie point of C6 is grounded by thirteenth resistor R13, and the tie point of twelfth resistor R12 and the 6th capacitor C6 pass through the 5th capacitor
C5 is connect with the output end of second operational amplifier U2A；The tie point of third diode D3 and the 17th resistance R17 pass through the 8th
Capacitor C8 ground connection.
The model of first operational amplifier U1A and second operational amplifier U2A is equal are as follows: LM358；The type of ultrasonic probe LS
Number are as follows: KT40-1602E.
Central processing unit is the primary processor of unmanned plane.
When front ultrasonic distance detection module works, the signal output end OUT1 output intermediate frequency square wave letter of central processing unit
Number, intermediate frequency square-wave signal driving intermediate-frequency transformer T work after the first triode Q1 amplification, so that ultrasonic probe LS be made to send out
Ultrasonic wave out, ultrasonic wave can return after encountering barrier, form echo, which is received by ultrasonic probe LS, first pass through
Second triode Q2 amplification, then successively amplifies through the first operational amplifier U1A and second operational amplifier U2A, again after amplification
Signal be shaped to a pulse signal through third transistor Q3 and the 4th triode Q4 again, finally enter the letter of central processing unit
Number input terminal IN1, central processing unit issue intermediate frequency square-wave signal to the time for receiving echo by calculating, can accurately obtain
Barrier is with a distance from unmanned plane, to determine how avoiding obstacles fly.
Claims (3)
1. the ultrasonic distance detection circuit of a kind of unmanned plane, it is characterized in that: containing central processing unit and six ultrasonic distances
Detection module, six ultrasonic distance detection modules are respectively as follows: front ultrasonic distance detection module, the inspection of rear ultrasonic distance
Survey module, left ultrasonic distance detection module, right ultrasonic distance detection module, top ultrasonic distance detection module and
Lower section ultrasonic distance detection module, the signal input part of six ultrasonic distance detection modules respectively with central processing unit six
The connection of a signal output end, the signal output end of six ultrasonic distance detection modules respectively with six signals of central processing unit
Input terminal connects, and the circuit in six ultrasonic distance detection modules is all the same；Contain in each ultrasonic distance detection module
Ultrasonic probe, intermediate-frequency transformer, the first operational amplifier, second operational amplifier, the first triode, the second triode,
Three triodes and the 4th triode, the first triode, the second triode, third transistor and the 4th triode are NPN type three
The signal output end of pole pipe, central processing unit is connect by first resistor with the base stage of the first triode, the hair of the first triode
Penetrate base ground connection, the primary side of the collector and intermediate-frequency transformer of the first triode one end connection, the primary side of intermediate-frequency transformer it is another
One end connects power supply by 3rd resistor, and ultrasonic probe is attempted by the secondary side both ends of intermediate-frequency transformer, the secondary side of intermediate-frequency transformer
One end is connect after passing sequentially through the 4th resistance, first capacitor with the base stage of the second triode, the secondary side other end of intermediate-frequency transformer
Ground connection, the transmitting base ground connection of the second triode, between the base stage and collector of the second triode and is connected to the 5th resistance, and the two or three
The collector of pole pipe connects power supply by the 7th resistance, and the base stage of the second triode is grounded by reversed first diode, and second
The collector of triode passes sequentially through the 6th resistance, third capacitor is connect with the inverting input terminal of the first operational amplifier, and first
The output end of operational amplifier passes sequentially through the reverse phase of the 4th capacitor, twelfth resistor, the 6th capacitor and second operational amplifier
The output end of input terminal connection, second operational amplifier is connected by the base stage of the 7th capacitor and third transistor, the three or three pole
The emitter of pipe is grounded, and the base stage of third transistor connects power supply by the 15th resistance, and the collector of third transistor passes through the
16 resistance connect power supply, and the collector of third transistor passes through reversed the second diode ground connection, the collector of third transistor
Pass sequentially through positive third diode, the 17th resistance is connect with the base stage of the 4th triode, the emitter of the 4th triode
Ground connection, the collector of the 4th triode connect power supply by the 18th resistance, the collector of the 4th triode and central processing unit
Signal input part connection；Ultrasonic probe in six ultrasonic distance detection modules be separately mounted to unmanned plane front, after
Portion, left part, right part, upper and lower part.
2. the ultrasonic distance detection circuit of unmanned plane according to claim 1, it is characterized in that: the ultrasonic probe
Both ends are simultaneously connected to second resistance；Between power supply and ground and it is connected to the tenth resistance being cascaded and eleventh resistor, the tenth electricity
The tie point of resistance and eleventh resistor is connect with the normal phase input end of the first operational amplifier and second operational amplifier, the first fortune
It calculates between the inverting input terminal and output end of amplifier and is connected to the 9th resistance, the inverting input terminal of second operational amplifier and defeated
Between outlet and it is connected to the 14th resistance, the tie point of the 6th resistance and third capacitor passes through the 8th resistance eutral grounding, the 6th resistance
It is connect by the second capacitor with the output end of the first operational amplifier with the tie point of third capacitor, twelfth resistor and the 6th electricity
The tie point of appearance is grounded by thirteenth resistor, and the tie point of twelfth resistor and the 6th capacitor passes through the 5th capacitor and the second fortune
Calculate the output end connection of amplifier；The tie point of third diode and the 17th resistance passes through the 8th capacity earth.
3. the ultrasonic distance detection circuit of unmanned plane according to claim 2, it is characterized in that: first operation amplifier
The model of device and second operational amplifier is equal are as follows: LM358.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821996112.7U CN209387874U (en) | 2018-11-30 | 2018-11-30 | The ultrasonic distance detection circuit of unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821996112.7U CN209387874U (en) | 2018-11-30 | 2018-11-30 | The ultrasonic distance detection circuit of unmanned plane |
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| Publication Number | Publication Date |
|---|---|
| CN209387874U true CN209387874U (en) | 2019-09-13 |
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| CN201821996112.7U Expired - Fee Related CN209387874U (en) | 2018-11-30 | 2018-11-30 | The ultrasonic distance detection circuit of unmanned plane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117109677A (en) * | 2023-10-12 | 2023-11-24 | 唐山大方汇中仪表有限公司 | Mining multichannel ultrasonic flowmeter |
-
2018
- 2018-11-30 CN CN201821996112.7U patent/CN209387874U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117109677A (en) * | 2023-10-12 | 2023-11-24 | 唐山大方汇中仪表有限公司 | Mining multichannel ultrasonic flowmeter |
| CN117109677B (en) * | 2023-10-12 | 2024-05-14 | 唐山大方汇中仪表有限公司 | Mining multichannel ultrasonic flowmeter |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190913 Termination date: 20211130 |
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| CF01 | Termination of patent right due to non-payment of annual fee |