Somatosensory flight suit sensing system and device

Abstract

The utility model provides a somatosensory flight suit sensing system and device, the somatosensory flight suit sensing system comprises a controller board, an excitation board and a vibrator, the data input end of the controller board receives aircraft attitude data through an RS422 serial port or Ethernet, and the data input end of the controller board is connected with the excitation board through a power supply. The data output end of the controller board is connected with the data input ends of a plurality of excitation boards through RS485 serial ports, and the data output end of each excitation board is connected with the data input ends of a plurality of vibrators; and finally, the linear motor is driven by the vibrator to generate touch information. The system for assisting in sensing the flight attitude of the aircraft can be provided for a pilot, the pilot can complete sensing of the state of the aircraft through touch sense, touch sense sensing can serve as additional sensory input, the pilot is helped to better sense the flight state, the flight safety and the operation efficiency are improved, and the flight experience is improved. And meanwhile, assistance is provided for flight training and flight under special flight conditions. In addition, the system can be combined with a flight simulator, more vivid and comprehensive flight experience is provided for a pilot, and the training effect can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of clothing, in particular to a somatosensory flight suit sensing system and device. Background Art

[0002] At present, the flight attitude and status of an aircraft can only be obtained through visual information. However, in some scenarios, it is difficult for pilots to obtain the flight attitude and status through vision. For example, in complex flight operations or emergency situations, pilots need to process a large amount of information, and the cognitive load is heavy; at night, in low visibility or high G-force maneuvers, visual information is limited. Utility Model Content

[0003] The utility model aims to at least solve the technical problems existing in the prior art, and in particular innovatively proposes a somatosensory flight suit sensing system and device.

[0004] In order to achieve the above-mentioned purpose of the utility model, the utility model provides a somatosensory flight suit sensing system, including: a controller board, an excitation board, and a vibrator.

[0005] The data input end of the controller board receives the aircraft attitude data through the RS422 serial port or Ethernet, and the data output end of the controller board is connected to the data input ends of several excitation boards through the RS485 serial port. The data output end of each excitation board is connected to the data input ends of several vibrators; finally, the linear motor is driven by the vibrator to generate tactile information.

[0006] The tactile sensing device is installed on the pilot's flight suit, which is equipped with a vibration motor. The preloaded flight mission model drives the vibration motor to provide the pilot with aircraft attitude information, heading information, altitude information, warning information, etc. When the system is on the ground, it can be connected to the flight simulator to complete ground simulation tests; it can also be on a real aircraft, through data communication with the inertial navigation installed on the aircraft, so as to load the flight mission model and complete the on-board test.

[0007] Furthermore, the controller board includes: a processor, an RS485 transceiver, a power supply module, a monitoring module for monitoring the processor, an Ethernet transceiver, a storage module, an RS232 transceiver, an indicator light module, and a button module.

[0008] The processor is connected to the RS485 transceiver, power supply module, monitoring module of the monitoring processor, Ethernet transceiver, storage module, RS232 transceiver, indicator light module, and button module of the controller board through the left socket LEFT and the right socket RIGHT; in addition, the processor components composed of the left socket and the right socket connected to the processor can be directly replaced by the processor.

[0009] The power supply module is connected to the processor, RS485 transceiver, monitoring module for monitoring the processor, Ethernet transceiver, storage module, RS232 transceiver, indicator light module and key module.

[0010] The processor is connected with the RS485 transceiver, the monitoring module for monitoring the processor, the Ethernet transceiver, the storage module, the RS232 transceiver, the indicator light module and the key module.

[0011] The processor includes: data transmission terminals 79 and 77 of the left socket LEFT are connected to the first end of the resistor R15, the first end of the resistor R16, the first end of the common mode inductor L2, the first end of the capacitor C31, and the first end of the capacitor C28; the second end of the capacitor C31 and the second end of the capacitor C28 are connected to the power ground; the second end of the resistor R15 is connected to the data transmission terminal 71 of the left socket LEFT; the second end of the resistor R16 is connected to the data transmission terminal 61 of the left socket LEFT;

[0012] The grounding terminals 63, 75, 55, 49, 65 and 17 of the left socket LEFT are connected to the power ground;

[0013] The data transmission terminals 31 and 33 of the left socket LEFT are connected to the RS232 transceiver;

[0014] The data transmission terminal 25 of the left socket LEFT is connected to the first end of the resistor R76, the second end of the resistor R76 is connected to the first end of the resistor R8 and the RS485 transceiver; the second end of the resistor R8 is connected to the data transmission terminal 15 of the left socket LEFT;

[0015] The data transmission terminal 23 of the left socket LEFT is connected to the first end of the resistor R77, the second end of the resistor R77 is connected to the first end of the resistor R11 and the RS485 transceiver, and the second end of the resistor R11 is connected to the data transmission terminal 13 of the left socket LEFT;

[0016] The data transmission terminals 80, 58, 42, 24, 2 of the left socket LEFT are connected to the power ground;

[0017] The data transmission terminal 79 of the right socket RIGHT and the first end of the capacitor C32 are connected to the power supply CPU_3V3, and the second end of the capacitor C32 is connected to the power ground; the data transmission terminal 69 of the right socket RIGHT is connected to the first end of the resistor R75, and the second end of the resistor R75 is connected to the flash memory chip D3; the data transmission terminals 77, 59, 29, and 7 of the right socket RIGHT are connected to the power ground; the data transmission terminals 54, 46, 36, 28, and 18 of the right socket RIGHT are connected to the power ground.

[0018] Furthermore, the monitoring module of the monitoring processor includes:

[0019] The reset terminal RESET of the timer D2, the first terminal of the capacitor C2, the first terminal of the capacitor C9, and the first terminal of the resistor R13 are connected to the power supply D3V3, and the second terminal of the capacitor C2 and the second terminal of the capacitor C9 are connected to the power ground; the ground terminal of the timer D2 is connected to the power ground; the manual reset terminal MR of the timer D2 is connected to the first terminal of the resistor R12, and the second terminal of the resistor R12 is connected to the power ground; the monitoring voltage terminal SENSE for resetting the timer D2 and the reset cycle terminal CT of the timer D2 are both connected to the left socket LEFT;

[0020] The power supply terminal VDD of the timer D2 is connected to the second end of the resistor R13, the collector of the transistor Q2, and the left socket LEFT;

[0021] The power supply terminal VCC of the voltage detector D1, the first end of the capacitor C48, and the first end of the capacitor C49 are connected to the power supply D5V3; the second end of the capacitor C48 and the second end of the capacitor C49 are connected to the power ground; the reset terminal RESET of the voltage detector D1 is connected to the first end of the resistor R43, and the second end of the resistor R43 is connected to the first end of the resistor R6 and the base of the transistor Q2; the second end of the resistor R6 is connected to the power ground; the emitter of the transistor Q2 is connected to the power ground; the ground terminal GND of the voltage detector D1 is connected to the power ground;

[0022] The detection voltage input terminal PFI is connected to the first end of the resistor R42 and the first end of the resistor R41, the second end of the resistor R41 is connected to the power supply D12V, and the second end of the resistor R42 is connected to the power ground; the detection voltage output terminal PFO is connected to the first end of the resistor R57, and the second end of the resistor R57 is connected to the left socket LEFT.

[0023] Further, the RS485 transceiver comprises:

[0024] The receiver output terminal RO of the RS485 transceiver U15 is connected to the left socket LEFT;

[0025] The receiver output enable terminal REN and the driver output enable terminal DE of the RS485 transceiver U15 are connected to the first end of the resistor R70 and the first end of the resistor R72, and the second end of the resistor R70 is connected to the left socket LEFT;

[0026] The driver input terminal DI of the RS485 transceiver U15 is connected to the first end of the resistor R73 and the first end of the resistor R71, and the second end of the resistor R71 is connected to the left socket LEFT; the second end of the resistor R72 and the second end of the resistor R73 are connected to the power ground;

[0027] The power supply terminal VCC of the RS485 transceiver U15, the first end of the capacitor C163, and the first end of the capacitor C40 are connected to the power supply D3V3, and the second end of the capacitor C163 and the second end of the capacitor C40 are connected to the power ground;

[0028] The inverting receiver input terminal B of the RS485 transceiver U15 is connected to the second end of the transient voltage suppressor U9, the first end of the resistor R180, the first end of the resistor R80, and the first end of the resistor R188.

[0029] The non-inverting receiver input terminal A of the RS485 transceiver U15 is connected to the first end of the transient voltage suppressor U9, the first end of the resistor R176, the first end of the resistor R81, and the second end of the resistor R188.

[0030] The third terminal of the transient voltage suppressor U9 is connected to the power ground; the ground terminal GND of the RS485 transceiver U15 is connected to the power ground; the second terminal of the resistor R176 is connected to the power supply D3V3; and the second terminal of the resistor R180 is connected to the power ground.

[0031] Furthermore, the power supply module includes:

[0032] It includes a step-down DC-DC converter D9 and a step-down DC-DC converter D11.

[0033] The soft start / tracking terminal SS / TR of the step-down DC-DC converter D9 is connected to the first end of the capacitor C139, and the power input terminal AVIN, the power input terminal PVIN, the enable terminal EN, the first end of the capacitor C130, and the first end of the capacitor C137 of the step-down DC-DC converter D9 are connected to the power supply D12V;

[0034] The switch node terminal SW of the step-down DC-DC converter D9 is connected to the first end of the inductor L11, and the second end of the inductor L11 is connected to the output voltage detection terminal VOS of the step-down DC-DC converter D9, the first end of the resistor R91, the first end of the resistor R96, the first end of the capacitor C143, and the first end of the capacitor C146, and outputs a 3.3V power supply D3V3;

[0035] The output power good terminal PG of the step-down DC-DC converter D9 is connected to the second end of the resistor R91, and the adjustable voltage feedback terminal FB of the step-down DC-DC converter D9 is connected to the second end of the resistor R96 and the first end of the resistor R97;

[0036] The ground terminal PGND of the step-down DC-DC converter D9, the second end of the capacitor C130, the second end of the capacitor C137, the second end of the capacitor C139, the output voltage extension terminal DEF of the step-down DC-DC converter D9, the ground terminal AGND of the step-down DC-DC converter D9, the switching frequency selection terminal FSW of the step-down DC-DC converter D9, the second end of the resistor R97, the second end of the capacitor C143, and the second end of the capacitor C146 are connected to the power ground.

[0037] The circuit connection method of the step-down DC-DC converter D11 is the same as that of the step-down DC-DC converter D9, but the output power supply D5V3.

[0038] Furthermore, the power supply module also includes a power denoising module:

[0039] The power supply end of the connector X1 is connected to the first end of the fuse FU1, the second end of the fuse FU1 is connected to the cathode of the voltage zener diode V5, the second end of the capacitor C3, and the first end of the noise filter U3, the fourth end of the noise filter U3 is connected to the anode of the voltage zener diode V5, the first end of the capacitor C3, and the power ground end of the connector X1; the second end of the noise filter U3 is connected to the first end of the capacitor C4, the first end of the capacitor C6, the first end and the second end of the Schottky rectifier V1, the second end of the capacitor C4 is connected to the power ground PGND, and the capacitor The second end of C6, the first end of capacitor C5, and the third end of Schottky rectifier V1 are connected to the power ground, and the second end of capacitor C5 is connected to the power ground PGND; the third end of Schottky rectifier V1 is connected to the positive electrode of polar capacitor C10, the positive electrode of polar capacitor C11, the first end of resistor R99, and the first end of resistor R10, and the negative electrode of polar capacitor C10 and the negative electrode of polar capacitor C11 are connected to the power ground; the second end of resistor R99 outputs 12V power supply D12V, and the second end of resistor R10 outputs 12V power supply 12V_KD.

[0040] Furthermore, the power supply module also includes a power supply module for the excitation board:

[0041] The power supply 12V_KD is connected to the source of the field effect tube V2 and the first end of the resistor R3. The gate of the field effect tube V2 is connected to the second end of the resistor R3, the first end of the resistor R4, and the first end of the resistor R5.

[0042] The second end of the resistor R4 is connected to the collector of the transistor Q1, the base of the transistor Q1 is connected to the first end of the resistor R111 and the first end of the resistor R222, the second end of the resistor R111 is connected to the left socket LEFT, the second end of the resistor R222 is connected to the power ground, and the emitter of the transistor Q1 is connected to the power ground;

[0043] The second end of the resistor R5 is connected to the first end of the capacitor C7, the second end of the capacitor C7 is connected to the drain of the field effect transistor V2 and the first end of the resistor R77, the second end of the resistor R77 is connected to the first end of the polar capacitor C47, the first end of the polar capacitor C43, and the cathode of the Zener diode V3, and the output power supply is 12V_KD_OUT; the anode of the Zener diode V3 is connected to the power ground.

[0044] Furthermore, the power supply module also includes a load switch for power protection function, including:

[0045] The switch input terminal VIN1 of the load switch U8, the switch input terminal VIN2 of the load switch U8, the thermal switch input terminal PVIN of the load switch U8, the bias voltage terminal VBIAS of the load switch U8, the first end of the capacitor C35, and the first end of the capacitor C44 are connected to the power supply D3V3, and the second end of the capacitor C35 and the second end of the capacitor C44 are connected to the power ground; the control input terminal ON of the load switch U8 is connected to the left socket LEFT and the first end of the resistor R46, and the second end of the resistor R46 is connected to the power ground; the switch output terminal VOUT123 of the load switch U8 is connected to the first end of the capacitor C45 and the output power supply CPU_3V3; the second end of the capacitor C45 is connected to the power ground; the ground terminal of the load switch U8 is connected to the power ground.

[0046] Further, the Ethernet transceiver comprises:

[0047] The data transmission end of the Ethernet transceiver U22 is connected to the pulse transformer U111 for network applications; the data management end MDIO of the Ethernet transceiver U22 is connected to the first end of the resistor R17, the clock management end MDC of the Ethernet transceiver U22 is connected to the first end of the resistor R18, and is connected to the second end of the resistor R17, the second end of the resistor R18 and the power supply CPU_3V3, the mode configuration end PHYAD1 is connected to the first end of the resistor R20, and the second end of the resistor R20 is connected to the power supply CPU_3V3;

[0048] The mode configuration terminal PHYAD0 of the Ethernet transceiver U22 is connected to the first end of the resistor R19, the second end of the resistor R19, the first end of the resistor R21, and the first end of the resistor R24 ​​are connected to the power ground, the second end of the resistor R21 is connected to the first receiving data output terminal RXD1 of the Ethernet transceiver U22, and the second end of the resistor R24 ​​is connected to the second receiving data output terminal RXD0 of the Ethernet transceiver U22.

[0049] The transmission output current terminal REXT of the Ethernet transceiver U22 is connected to the first end of the resistor R25, and the second end of the resistor R25 is connected to the power ground;

[0050] The power supply terminal VDD_1V2 of the Ethernet transceiver U22 is connected to the first end of the capacitor C18 and the first end of the capacitor C19; the power supply terminal VDDA__3V3 of the Ethernet transceiver U22 is connected to the first end of the capacitor C16, the first end of the capacitor C17, and the first end of the common mode inductor L1; the second end of the common mode inductor L1 is connected to the power supply CPU_3V3; the second end of the capacitor C16, the second end of the capacitor C17, the second end of the capacitor C18, and the second end of the capacitor C19 are connected to the power ground,

[0051] The reset terminal RSTN of the Ethernet transceiver U22 is connected to the first end of the resistor R33, the first end of the resistor R34, and the first end of the capacitor C240, the second end of the resistor R33 is connected to the left socket LEFT, and the second end of the capacitor C240 ​​is connected to the power ground;

[0052] The LED output terminal LED1_SPEED of the Ethernet transceiver U22 is connected to the first end of the resistor R35.

[0053] The LED output terminal LED0_NWAYEN of the Ethernet transceiver U22 is connected to the first end of the resistor R36.

[0054] The mode configuration terminal CONFIG1 of the Ethernet transceiver U22 is connected to the first end of the resistor R37.

[0055] The mode configuration terminal CONFIG0 of the Ethernet transceiver U22 is connected to the first end of the resistor R38.

[0056] The second end of the resistor R34, the second end of the resistor R35, the second end of the resistor R36, and the second end of the resistor R38 are connected to the power supply CPU_3V3;

[0057] The receiving error output terminal RXER of the Ethernet transceiver U22 is connected to the first end of the resistor R44.

[0058] The valid data receiving terminal CRS_DV of the Ethernet transceiver U22 is connected to the first end of the resistor R45.

[0059] The power supply terminal VDDIO of the Ethernet transceiver U22 and the first end of the capacitor C270 are connected to the power supply CPU_3V3;

[0060] The NAND tree mode terminal NAND_TREEN of the Ethernet transceiver U22 is connected to the first end of the resistor R39 and the first end of the resistor R40, and the second end of the resistor R39 is connected to the power supply CPU_3V3;

[0061] A second end of the resistor R44, a second end of the resistor R45, a second end of the resistor R37, a second end of the resistor R40, and a second end of the capacitor C270 are connected to the power ground.

[0062] Further, the RS232 transceiver comprises:

[0063] The data transmission positive terminal C1+ of the RS232 transceiver U14 for the data terminal equipment is connected to the first end of the capacitor C29, and the second end of the capacitor C29 is connected to the data transmission negative terminal C1- of the RS232 transceiver U14 for the data terminal equipment;

[0064] The data transmission positive terminal C2+ of the RS232 transceiver U14 for the data communication device is connected to the first end of the capacitor C30, and the second end of the capacitor C30 is connected to the data transmission negative terminal C2- of the RS232 transceiver U14 for the data communication device;

[0065] The data input terminal T1IN of the RS232 transceiver U14 and the data output terminal R1OUT of the RS232 transceiver U14 are connected to the left socket LEFT;

[0066] The power supply terminal VCC of the RS232 transceiver U14, the first end of the capacitor C34, and the first end of the capacitor C46 are connected to the power supply D3V3; the second end of the capacitor C34 and the second end of the capacitor C46 are connected to the power ground;

[0067] The positive power input terminal V+ of the RS232 transceiver U14 is connected to the first end of the capacitor C41, the negative power input terminal V- of the RS232 transceiver U14 is connected to the first end of the capacitor C42, and the second end of the capacitor C41 and the second end of the capacitor C42 are connected to the power ground;

[0068] The receiving data output terminal T1OUT of the RS232 transceiver U14 is connected to the first end of the resistor R22, the second end of the resistor R22 is connected to the second end of the transient voltage suppressor U30, the sending data input terminal R1IN of the RS232 transceiver U14 is connected to the first end of the resistor R23, the second end of the resistor R23 is connected to the first end of the transient voltage suppressor U30, the third end of the transient voltage suppressor U30 is connected to the power ground, and the ground terminal GND of the RS232 transceiver U14 is connected to the power ground.

[0069] Furthermore, the storage module includes:

[0070] CS_N|CE of the flash memory chip D3 is connected to the first end of the resistor R66 and the right socket RIGHT, and the data transmission end DO|IO1|SO|SIO1 of the flash memory chip D3 is connected to the right socket RIGHT; the write protection input end WP_N|IO2|SIO2 of the flash memory chip D3 is connected to the first end of the resistor R58 and the first end of the resistor R85, and the second end of the resistor R66 and the second end of the resistor R58 are connected to the power supply D3V3; the second end of the resistor R85 is connected to the left socket LEFT; the grounding end G of the flash memory chip D3 is connected to the left socket LEFT; ND|VSS is connected to the power ground, the power supply terminal VCC|VDD of the flash memory chip D3, the first end of the capacitor C50, and the first end of the capacitor C51 are connected to the power supply D3V3; the hold input terminal HOLD|IO3|SIO3 of the flash memory chip D3 is connected to the first end of the resistor R74, and the second end of the resistor R74 is connected to the power supply D3V3; the clock terminal CLK|SCK of the flash memory chip D3 is connected to the right socket RIGHT; the data transmission terminal DI|IO0|SI|SIO0 of the flash memory chip D3 is connected to the right socket RIGHT.

[0071] Furthermore, the indicator light module includes:

[0072] The data transmission terminal 7 of the connector D4 is connected to the connector D5, the data transmission terminal 7 of the connector D4 is connected to the first end of the resistor R30, the second end of the resistor R30 is connected to the cathode of the TVS diode VD6 and the collector of the transistor Q4; the anode of the TVS diode VD6 is connected to the power ground;

[0073] The base of transistor Q4 is connected to the first end of resistor R83, the second end of resistor R83 is connected to the left socket LEFT, and outputs an electrical signal to control the LED;

[0074] The emitter of transistor Q4 and the emitter of transistor Q3 are connected to the power ground;

[0075] The base of transistor Q3 is connected to the first end of resistor R82, the second end of resistor R82 is connected to the left socket LEFT, and outputs an electrical signal to control the LED;

[0076] The collector of the transistor Q3 is connected to the cathode of the TVS diode VD5 and the first end of the resistor R27, the anode of the TVS diode VD5 is connected to the power ground, and the second end of the resistor R27 is connected to the data transmission terminal 5 of the connector D4;

[0077] The data transmission terminal 6 of the connector D4 is connected to the first end of the resistor R90; the second end of the resistor R90 is connected to the cathode of the TVS diode VD7 and the collector of the transistor Q5; the anode of the TVS diode VD7 is connected to the power ground; the collector of the transistor Q5 is connected to the first end of the resistor R88, and the second end of the resistor R88 is connected to the left socket LEFT, outputting an electrical signal to control the LED;

[0078] The emitter of transistor Q5 and the emitter of transistor Q6 are connected to the power ground;

[0079] The base of transistor Q6 is connected to the first end of resistor R89, and the second end of resistor R89 ​​is connected to the left socket LEFT, outputting an electrical signal to control the LED;

[0080] The collector of transistor Q6 is connected to the first end of resistor R92 and the cathode of TVS diode VD8, the anode of TVS diode VD8 is connected to the power ground, and the second end of resistor R92 is connected to data transmission terminal 4 of connector D4.

[0081] Furthermore, the button module includes:

[0082] The data transmission end 1 of the connector D4 is connected to the cathode of the TVS diode VD8, the first end of the resistor R26, the first end of the capacitor C36, and the left socket LEFT; the second end of the capacitor C36 and the anode of the TVS diode VD8 are connected to the power ground; the second end of the resistor R26 is connected to the power supply D3V3;

[0083] The data transmission end 2 of the connector D4 is connected to the cathode of the TVS diode VD3, the first end of the resistor R68, the first end of the capacitor C38, and the left socket LEFT; the second end of the capacitor C38 and the anode of the TVS diode VD3 are connected to the power ground; the second end of the resistor R68 is connected to the power supply D3V3;

[0084] The data transmission end 2 of the connector D4 is connected to the cathode of the TVS diode VD4, the first end of the resistor R69, the first end of the capacitor C39, and the left socket LEFT; the second end of the capacitor C39 and the anode of the TVS diode VD4 are connected to the power ground; the second end of the resistor R69 is connected to the power supply D3V3;

[0085] The data transmission end 2 of the connector D4 is connected to the cathode of the TVS diode VD2, the first end of the resistor R67, the first end of the capacitor C37, and the left socket LEFT; the second end of the capacitor C37 and the anode of the TVS diode VD2 are connected to the power ground; the second end of the resistor R67 is connected to the power supply D3V3;

[0086] Further, the excitation board includes: a power supply module, a microcontroller, a connection module between the excitation board and the vibrator, an RS485 transceiver and a microcontroller monitoring module, the power supply module is respectively connected to the microcontroller, the connection module between the excitation board and the vibrator, the RS485 transceiver and the microcontroller monitoring module, and supplies power to the microcontroller, the connection module between the excitation board and the vibrator, the RS485 transceiver and the microcontroller monitoring module;

[0087] The microcontroller is respectively connected with the connection module of the excitation board and the oscillator, the RS485 transceiver and the microcontroller monitoring module.

[0088] Furthermore, the power supply module includes:

[0089] The first end of the inductor L16 is connected to a 15V power supply, the second end of the inductor L16 is connected to a first power input terminal PVIN1, a second power input terminal PVIN2, and a power input terminal AVIN of a DC converter U11, a first end of a capacitor C56, a first end of a capacitor C57, and a first end of an inductor L23, the second end of the capacitor C56, and the second end of the capacitor C57 are connected to a power ground,

[0090] The enable terminal EN of the DC converter U11 is connected to the first end of the resistor R39 and the first end of the resistor R42. The second end of the resistor R39 is connected to the microcontroller; the second end of the resistor R42 is connected to the power ground;

[0091] The soft start terminal SS of the DC converter U11 is connected to the first terminal of the capacitor C60, and the second terminal of the capacitor C60 is connected to the power ground;

[0092] The output voltage scaling terminal DEF and the switching frequency selection terminal FSW of the DC converter U11 are connected to the power ground;

[0093] The first switch node terminal SW1, the second switch node terminal SW2, and the third switch node terminal SW3 of the DC converter U11 are connected to the first end of the inductor L17, and the second end of the inductor L17 is connected to the first end of the capacitor C53, the output voltage detection terminal VOS of the DC converter U11, the first end of the resistor R35, the first end of the capacitor C58, and the positive electrode of the polarized capacitor C64, and the output power PWM_2V5 is used to drive the oscillator; the negative electrode of the polarized capacitor C64 is connected to the power ground;

[0094] The ground terminal AGND, the first ground terminal PGND1, the second ground terminal PGND2, and the heat dissipation terminal EP of the DC converter U11 are connected to the power ground;

[0095] The second end of the resistor R35 is connected to the adjustable voltage feedback terminal FB of the DC converter U12, the first end of the resistor R54, and the potentiometer tap terminal W of the digital potentiometer U5. The potentiometer terminal B of the digital potentiometer U5 is connected to the second end of the resistor R54 and the first end of the resistor R43. The second end of the resistor R43 and the second end of the capacitor C58 are connected to the power ground.

[0096] The data transmission terminal SDA of the digital potentiometer U5 is connected to the microcontroller U1, the power supply terminal VDD of the digital potentiometer U5, the first terminal of the capacitor C65, and the first terminal of the capacitor C86 are connected to the power supply VCC3V3, and the second terminal of the capacitor C65 and the second terminal of the capacitor C86 are connected to the power ground;

[0097] The clock signal terminal SCL of the digital potentiometer U5 is connected to the microcontroller U1; the power output by the DC converter U11 can be adjusted through the digital potentiometer U5, thereby adjusting the vibration intensity of the vibrator.

[0098] The second end of the inductor L23 is connected to the first end of the capacitor C74, the first end of the capacitor C76, the first end of the resistor R53, the first power input terminal PVIN1 and the second power input terminal PVIN2 of the DC converter U12, the power input terminal AVIN, and the enable terminal EN;

[0099] The second end of the resistor R53 is connected to the positive electrode of the light emitting diode D12, and the negative electrode of the light emitting diode D12 is connected to the power ground;

[0100] The second end of the capacitor C74 and the second end of the capacitor C76 are connected to the power ground;

[0101] The soft start terminal SS of the DC converter U12 is connected to the first terminal of the capacitor C79, and the second terminal of the capacitor C79 is connected to the power ground;

[0102] The output voltage scaling terminal DEF and the switching frequency selection terminal FSW of the DC converter U12 are connected to the power ground;

[0103] The first switch node terminal SW1, the second switch node terminal SW2, and the third switch node terminal SW3 of the DC converter U12 are connected to the first end of the inductor L24.

[0104] The output voltage detection terminal VOS of the DC converter U12 is connected to the second end of the inductor L24, the first end of the capacitor C72, the first end of the resistor R45, the first end of the capacitor C78, ​​and the first end of the inductor L21. The second end of the inductor L21 outputs a 3.3V power supply VCC3V3;

[0105] The second end of the capacitor C72 is connected to the power ground;

[0106] The second end of the resistor R45 is connected to the first end of the resistor R48 and the adjustable voltage feedback terminal FB of the DC converter U12, and the second end of the resistor R48 and the second end of the capacitor C78 are connected to the power ground;

[0107] The ground terminal AGND, the first ground terminal PGND1, the second ground terminal PGND2, and the heat dissipation terminal EP of the DC converter U12 are connected to the power ground.

[0108] The microcontroller includes: a clock signal terminal PB6 of the microcontroller U1 is connected to a first end of a resistor R2, a data transmission terminal of the microcontroller U1 is connected to a first end of the resistor R1, a second end of the resistor R1 and a second end of the resistor R2 are connected to a power supply VCC3V3; an external capacitor voltage stabilizing terminal of the microcontroller U1 is connected to a first end of a capacitor C4, and a second end of the capacitor C4 is connected to a power ground;

[0109] The data transmission terminal PC8 of the microcontroller U1 is connected to the first end of the resistor R55 and the first end of the resistor R58, the data transmission terminal PC9 of the microcontroller U1 is connected to the first end of the resistor R56 and the first end of the resistor R59, and the data transmission terminal PC10 of the microcontroller U1 is connected to the first end of the resistor R57 and the first end of the resistor R60; the second end of the resistor R55, the second end of the resistor R56, the second end of the resistor R57, and the second end of the resistor R58 are connected to the power supply VCC3V3, and the second end of the resistor R59, the second end of the resistor R60, and the second end of the resistor R55 are connected to the power ground;

[0110] The power source VCC3V3 is connected to the first end of the inductor L1 and the first end of the inductor L2. The second end of the inductor L1 is connected to the first end of the capacitor C12 and the reference voltage terminal VREF of the microcontroller U1.

[0111] The second end of the inductor L2 is connected to the first end of the capacitor C6, the first end of the capacitor C7, the first end of the capacitor C8, the first end of the capacitor C9, the first end of the capacitor C10, the power supply terminal VDD1 of the microcontroller U1, the power supply terminal VDD2 of the microcontroller U1, the power supply terminal VDD3 of the microcontroller U1, the power supply terminal VDD4 of the microcontroller U1, and the positive electrode of the diode D1, and the battery voltage input terminal VBAT of the microcontroller U1 is connected to the negative electrode of the diode D1; the boot configuration terminal BOOT0 of the microcontroller U1 is connected to the first end of the resistor R11 and the first end of the resistor R12, the second end of the resistor R11 is connected to the power supply VCC3V3, and the second end of the resistor R12, the analog power ground terminal VSSA, the digital ground terminal VSS1, the digital ground terminal VSS2, the digital ground terminal VSS3, and the digital ground terminal VSS4 are connected to the power ground.

[0112] The connection module between the excitation board and the vibrator includes: the first end of the resistor R17 is connected to the power supply PWM_2V5, the second end of the resistor R17 is connected to the cathode of the diode D3, the first end of the capacitor C19, the first end of the capacitor C23, and the linear motor interface; the second end of the capacitor C19 is connected to the power ground; the anode of the diode D3 is connected to the drain of the field effect transistor Q2, the second end of the capacitor C23, the first end of the capacitor C28, and the linear motor interface; the second end of the capacitor C28 is connected to the power ground; the gate of the field effect transistor Q2 is connected to the first end of the resistor R21 and the first end of the resistor R22, the second end of the resistor R21 is connected to the microcontroller U1, and the second end of the resistor R22 is connected to the power ground; the source of the field effect transistor Q2 is connected to the power ground.

[0113] The first end of resistor R25 is connected to the power supply PWM_2V5, and the second end of resistor R25 is connected to the cathode of diode D6, the first end of capacitor C34, the first end of capacitor C40, and the linear motor interface; the second end of capacitor C34 is connected to the power ground; the anode of diode D6 is connected to the drain of field effect transistor Q5, the second end of capacitor C40, the first end of capacitor C43, and the linear motor interface; the second end of capacitor C43 is connected to the power ground; the gate of field effect transistor Q5 is connected to the first end of resistor R31 and the first end of resistor R32, the second end of resistor R31 is connected to the microcontroller U1, and the second end of resistor R32 is connected to the power ground; the source of field effect transistor Q5 is connected to the power ground.

[0114] The first end of resistor R34 is connected to the power supply PWM_2V5, and the second end of resistor R34 is connected to the cathode of diode D9, the first end of capacitor C48, the first end of capacitor C50, and the linear motor interface; the second end of capacitor C48 is connected to the power ground; the anode of diode D9 is connected to the drain of field effect transistor Q7, the second end of capacitor C50, the first end of capacitor C59, and the linear motor interface; the second end of capacitor C59 is connected to the power ground; the gate of field effect transistor Q7 is connected to the first end of resistor R38 and the first end of resistor R40, the second end of resistor R38 is connected to the microcontroller U1, and the second end of resistor R40 is connected to the power ground; the source of field effect transistor Q7 is connected to the power ground.

[0115] The first end of resistor R44 is connected to the power supply PWM_2V5, and the second end of resistor R44 is connected to the cathode of diode D11, the first end of capacitor C67, the first end of capacitor C69, and the linear motor interface; the second end of capacitor C67 is connected to the power ground; the anode of diode D11 is connected to the drain of field effect transistor Q9, the second end of capacitor C69, the first end of capacitor C77, and the linear motor interface; the second end of capacitor C77 is connected to the power ground; the gate of field effect transistor Q9 is connected to the first end of resistor R49 and the first end of resistor R50, the second end of resistor R49 is connected to the microcontroller U1, and the second end of resistor R50 is connected to the power ground; the source of field effect transistor Q9 is connected to the power ground.

[0116] RS485 transceiver includes:

[0117] The microcontroller monitoring module includes: the manual reset input terminal of the microcontroller monitor U4 The voltage monitoring input terminal SENSE of the microcontroller monitor U4, the power supply terminal VDD of the microcontroller monitor U4, the first end of the capacitor C25, and the first end of the capacitor C26 are connected to the power supply VCC3V3, the first end of the capacitor C27 is connected to the reset delay terminal CT, the second end of the capacitor C25, the second end of the capacitor C26, and the second end of the capacitor C27 are connected to the power ground; the reset terminal of the microcontroller monitor U4 The first end of the resistor R18 and the first end of the capacitor C24 are connected to the microcontroller U1, the second end of the resistor R18 is connected to the power supply VCC3V3, and the second end of the capacitor C24 and the ground terminal GND of the microcontroller monitor U4 are connected to the power ground.

[0118] A somatosensory flight suit sensing device is also proposed, in which a plurality of vibrators are arranged around the neck, left shoulder, right shoulder, front of the torso, back of the torso, left waist and right waist of the flight suit;

[0119] All vibrators are connected to the chest through wires, and the connected wires are formed into a cable harness through the interlayer of the flight suit, and a power supply is installed at the end of the harness, which is the chest. In addition, an aviation plug can also be used at the end of the harness to power the flight suit's sensing system.

[0120] Furthermore, the basic flight information of pitch, dive, left bank, right bank, heading, altitude and speed can be known through the vibration of the vibrators in various parts of the flight suit.

[0121] The aircraft's pitch-up information is expressed by the vibration of the vibrator in front of the torso; when the pitch-up angle is larger, the vibration frequency of the vibrator is higher;

[0122] The aircraft's dive information is expressed through the vibration of the oscillator behind the trunk; the greater the pitch angle, the higher the vibration frequency of the oscillator;

[0123] The aircraft's left tilt information is expressed through the vibration of the vibrator on the left waist; when the left tilt angle is larger, the vibration frequency of the vibrator is higher;

[0124] The right tilt information of the aircraft is expressed by the vibration of the vibrator on the right waist; when the right tilt angle is larger, the vibration frequency of the vibrator is higher;

[0125] The heading information of the aircraft is expressed by the vibration of the vibrators around the neck; when the heading is between 0 and 90 degrees, the vibrators in front and on the right side of the neck vibrate; when the heading is between 90 and 180 degrees, the vibrators on the right and back side of the neck vibrate; when the heading is between 180 and 270 degrees, the vibrators behind and on the left side of the neck vibrate; when the heading is between 270 and 360 degrees, the vibrators in front and on the left side of the neck vibrate;

[0126] The aircraft's altitude information is expressed through the vibration of the vibrator on the left shoulder; the higher the aircraft's flying altitude, the higher the vibration frequency of the vibrator;

[0127] The speed information of the aircraft is expressed through the vibration of the oscillator on the right shoulder; the faster the aircraft flies, the higher the vibration frequency of the oscillator.

[0128] The flight suit sensing system collects aircraft flight data, obtains information such as the aircraft's attitude, heading, speed, etc., loads preset (or manually set) flight mission models, and transmits this information to the pilot in the form of vibrations. The pilot can sense the current flight information through the vibrations of vibrators in different positions.

[0129] The vibration time can be set according to actual conditions.

[0130] Furthermore, it also includes warning modes: one or any combination of ground proximity warning, stall warning, and high angle of attack warning;

[0131] Ground proximity warning: When the aircraft's flight altitude is lower than the minimum altitude threshold, the vibrators on the left waist and left shoulder vibrate simultaneously;

[0132] Stall warning: When the aircraft's flying speed is lower than the minimum speed threshold, the vibrators on the right waist and right shoulder vibrate simultaneously;

[0133] High angle of attack warning: When the aircraft's flight slope is greater than the set slope threshold, the vibrators around the neck vibrate simultaneously.

[0134] Furthermore, it also includes level flight mode and inverted flight mode:

[0135] When the aircraft is in level flight mode, all the vibrators in front of the trunk vibrate simultaneously;

[0136] When the aircraft is in inverted flight mode, all the vibrators behind the torso vibrate simultaneously.

[0137] A working method of a somatosensory flight suit sensing system is also proposed, including:

[0138] The controller board first obtains the flight attitude data through the RS422 serial port or Ethernet, and then transmits the flight attitude data to the excitation board through the RS485 serial port. After receiving the signal, the excitation board outputs the signal to the corresponding vibrator, and finally the vibrator drives the linear motor.

[0139] In summary, due to the adoption of the above technical solution, the utility model can provide a system for pilots to assist in perceiving the flight attitude of the aircraft, so that the pilots can perceive the aircraft status through touch. Tactile perception can serve as an additional sensory input to help pilots better perceive the flight status, improve flight safety and operational efficiency, and provide assistance for flight training and flights under special flight conditions. In addition, the system can be combined with a flight simulator to provide pilots with a more realistic and comprehensive flight experience, which helps to improve training results.

[0140] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0141] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0142] Figure 1 It is a system schematic diagram of the utility model.

[0143] Figure 2 It is a front view of a flight suit according to a specific embodiment of the utility model.

[0144] Figure 3 It is a rear view of a flight suit according to a specific embodiment of the utility model.

[0145] Figure 4 It is a schematic diagram of the power supply circuit of the excitation board of the utility model.

[0146] Figure 5 It is a schematic diagram of a microcontroller circuit of an excitation board of the utility model.

[0147] Figure 6 It is a schematic diagram of a microcontroller monitoring circuit of an excitation board of the utility model.

[0148] Figure 7 It is a schematic diagram of the connection circuit between the excitation board and the vibrator of the utility model.

[0149] Figure 8 It is a circuit diagram of the RS485 transceiver of the excitation board of the utility model.

[0150] Fig. 9It is a schematic diagram of a power supply denoising circuit of a controller board of the utility model.

[0151] Fig.10 It is a schematic diagram of a power supply circuit of a controller board of the utility model.

[0152] Fig.11 It is a schematic diagram of a power supply circuit for an excitation board on a controller board of the utility model.

[0153] Fig.12 The utility model is a schematic diagram of a monitoring circuit on a controller board used for monitoring whether a processor works normally.

[0154] Fig.13 It is a schematic diagram of an Ethernet transceiver integrated circuit on a controller board of the utility model.

[0155] Fig.14 The utility model is a schematic diagram of a transformer circuit for an Ethernet transceiver integrated circuit on a controller board.

[0156] Fig.15 The utility model relates to a load switch on a controller board with a power supply protection function.

[0157] Fig.16 It is a circuit diagram of the left socket connected to the processor on the controller board of the utility model.

[0158] Fig.17 It is a circuit diagram of the right socket connected to the processor on the controller board of the utility model.

[0159] Fig.18 It is a schematic diagram of a storage circuit on a controller board of the utility model.

[0160] Fig.19 It is a schematic diagram of the RS232 communication circuit on the controller board of the utility model.

[0161] Fig. 20 It is a schematic diagram of the indicator light circuit on the controller board of the utility model.

[0162] Fig.21 It is a schematic diagram of the key circuit on the controller board of the utility model.

[0163] Fig. 22 It is a schematic diagram of the RS485 communication circuit on the controller board of the utility model. DETAILED DESCRIPTION

[0164] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0165] The present invention proposes a somatosensory flight suit sensing system, such as Figure 1 As shown. It is mainly composed of a controller board, an excitation board, and a vibrator. Among them, there are 4 excitation boards, each of which controls 4 vibrators. Functional grouping is adopted, and each excitation module in the group is connected by bus, which not only ensures the reliability between each functional group, but also reduces the complexity of wiring, and facilitates wiring implementation. Its working method is: connect the power supply to the controller board, and the power on and off of the information tactile perception system can be controlled by the buttons on the controller board. In addition, the working mode and the training volume parameters can also be selected by buttons. During real flight or simulated flight, the controller board receives flight attitude data through RS422 and Ethernet channels; Ethernet and RS422 serial ports are used to receive flight attitude data, and a 1+1 backup mode is adopted to ensure stable data reception. The controller communicates with the excitation board through the RS485 serial port. After the excitation board obtains the signal, it controls the vibrator through the IO port, and the vibrator drives the linear motor to generate tactile information. In addition, there is also an RS232 for debugging on the controller board and the excitation board.

[0166] 1. Controller board

[0167] 1) Receive flight attitude data through Ethernet and RS422 channels, and use 1+1 backup to receive data to improve system stability;

[0168] 2) Analyze flight data, translate flight attitude data into vibration protocol in real time according to the “aircraft status information expression model”, and send it to the excitation board through the RS485 bus;

[0169] 3) The buttons are used to control the state of the excitation board, including low power consumption, power on and off, and vibrator vibration intensity setting;

[0170] 4) The indicator light is used to display the system operating status, including danger warning prompts and operating status, etc.

[0171] The main control CPU outputs 1 10 / 100 / 1000M Ethernet, 1 RS422 serial port, 1 RS232 and RS458 serial ports, and is designed with buttons and indicator lights. The buttons and indicator lights can be installed according to actual needs.

[0172] Among them, the functions of the 4 buttons are designed as follows:

[0173] 1) Long press 1 (more than 2 seconds): represents the system on or off

[0174] 2) Short press 2: Turn off or on heading information

[0175] 3) Short press 3: Turn speed information off or on

[0176] 4) Short press 4: Turn off or on altitude information

[0177] 5) Press 2, 3 continuously: turn landing mode off or on

[0178] 6) Press 2 twice in a row: Heading mode

[0179] 7) Press 3 twice in a row: Fixed speed mode

[0180] 8) Press 4 twice in a row: Fixed altitude mode

[0181] Among them, the functions of the three indicator lights are designed as follows:

[0182] 1) Indicator light 1, used to indicate whether the system is powered on, powered off, or in sleep mode

[0183] On: Indicates the system is powered on;

[0184] Off: indicates the system is powered off;

[0185] Breathing light mode: indicates that the system has entered the sleep state;

[0186] 2) Indicator light 2 is a warning light

[0187] When there is a high danger warning, indicator light 2 flashes; when the system is normal, indicator light 2 is off;

[0188] 3) Indicator light 3 is the system status light

[0189] When RS485 communication is abnormal, indicator light 3 flashes at a 1S intermittent ratio;

[0190] When the flight attitude data reception is abnormal, indicator light 3 flashes at a 3S intermittent ratio;

[0191] When the system is normal, indicator light 3 is on;

[0192] 4) Power-on self-test: after the device is powered on, all indicator lights will light up for 2 seconds and then go out.

[0193] 2. Incentive board

[0194] 1) Communicate with the flight data acquisition and analysis control system through the RS485 bus to receive vibration protocol data;

[0195] 2) The system consists of 4 excitation boards, each of which controls 4 oscillators, and can control up to 16 oscillators;

[0196] 3) Four excitation boards are embedded in the flight suit, and the power supply system and communication are connected to the flight data acquisition and analysis control system through cables;

[0197] 4) Four excitation boards are connected to an RS485 bus to form a communication network system.

[0198] The CPU uses STM32F407, which provides one RS232, one RS458 serial port and 20 IOs. RS485 is used to communicate with the controller board, and IO is used to control the oscillator. The specific implementation is as follows:

[0199] 1) RS485 communicates with the controller board and receives messages sent to itself;

[0200] 2) There are 4 incentive boards, which are connected to a 485 bus, and each has a different address.

[0201] 3) After receiving the information, the excitation board analyzes the protocol content sent by the controller board; location (board number) --- port --- vibration intermittent ratio;

[0202] 4) Receive the command to adjust the vibration intensity; Location (plate number) - vibration intensity

[0203] 3. Vibrator

[0204] 1) There are two excitation units in front of the torso that express posture and warning information as a group;

[0205] 2) There are two excitation units behind the torso to express the posture and warning information as a group;

[0206] 3) There are 2 excitation units on the left waist part, which express the posture and warning information as a group;

[0207] 4) There are two excitation units on the right waist part, which express the posture and warning information as a group;

[0208] 5) There are 4 excitation units in the neck part, which express posture and warning information as a group;

[0209] 6) There are 2 excitation units on the left shoulder to express the posture and warning information as a group;

[0210] 7) The right shoulder has 2 excitation units expressing posture and warning information as a group.

[0211] 8) The vibration frequency and intensity of the vibrator are set by the excitation board

[0212] The above-mentioned somatosensory flight suit sensing system is installed on the flight suit. The specific installation location is as follows: Figure 2 , Figure 3The flight suit includes 16 vibrators, which are installed around the neck, left shoulder, right shoulder, front of torso, back of torso, left waist and right waist of the flight suit. The 16 vibrators are gathered to the chest through wires, and the gathered wires are formed into a cable harness through the interlayer of the flight suit, and a power supply is installed at the end of the harness, that is, at the chest. In addition, an aviation plug can be used at the end of the harness to power the flight suit's sensing system.

[0213] There are 4 vibrators around the neck, all on the same curve and evenly distributed; they can be installed in the front, back, left and right. There are 2 vibrators installed on the left shoulder and right shoulder respectively; there are 2 vibrators installed on the front and back of the torso respectively; there are 2 vibrators installed on the left waist and right waist respectively. In actual application, one vibrator is used for the left shoulder, right shoulder, front of the torso, back of the torso, left waist and right waist, and the other vibrator is used as a spare.

[0214] The basic information of the flight, such as pitch up, dive, left bank, right bank, heading, altitude and speed, can be known through the vibration of the vibrators in various parts of the flight suit. Among them, pitch up, dive, left bank and right bank are expressed by the vibrators in front of the torso, back of the torso, left waist and right waist respectively; heading is expressed by the vibrators around the neck, and altitude and speed are expressed by the vibrators in the left shoulder and right shoulder respectively. The specific settings of the vibration protocol of the aircraft status information expression model are as follows:

[0215] Table 1 Elevation angle expression model

[0216] Serial number tilt angle Expected Results 1 5°-10 1Hz vibration 2 10°-20 2Hz vibration 3 20°-30 4Hz vibration 4 30°-60 8Hz vibration 5 60°-90 16Hz vibration

[0217] Table 2 Pitch angle expression model

[0218] Serial number Downward Angle Expected Results 1 5°-10 1Hz vibration 2 10°-20 2Hz vibration 3 20°-30 4Hz vibration 4 30°-60 8Hz vibration 5 60°-90 16Hz vibration

[0219] Table 3 Left-leaning angle expression model

[0220] Serial number Tilt Angle Expected Results 1 10°-30 1Hz vibration 2 30°-60 2Hz vibration 3 60°-100 4Hz vibration 4 100°-140 8Hz vibration 5 140°-170 16Hz vibration

[0221] Table 4 Right tilt angle expression model

[0222] Serial number Tilt Angle Expected Results 1 10°-30 1Hz vibration 2 30°-60 2Hz vibration 3 60°-100 4Hz vibration 4 100°-140 8Hz vibration 5 140°-180 16Hz vibration

[0223] Table 5 Height information expression model

[0224] Serial number Height / m Expected Results 1 10-100 1Hz vibration 2 100-500 2Hz vibration 3 500-1000 4Hz vibration 4 1000-3000 8Hz vibration 5 More than 3000 16Hz vibration

[0225] Table 6 Speed ​​information expression model

[0226] Serial number Speed / km / h Expected Results 1 50-150 1Hz vibration 2 150-250 2Hz vibration 3 250-350 4Hz vibration 4 350-450 8Hz vibration 5 450 and above 16Hz vibration

[0227] Table 7 Heading information expression model

[0228] Serial number Heading / degrees Expected Results 1 0-90 The vibrator vibrates in front and on the right side of the neck 2 90-180 Vibrators on the right and back of the neck 3 180-270 Vibrators vibrate behind and on the left side of the neck 4 270-360 Vibrators vibrate in front and on the left side of the neck

[0229] In addition, some warning designs for dangerous situations are also designed, see the table below for details:

[0230] Table 8 Alarm information expression model

[0231] Serial number Alarm mode Expected Results 1 Ground proximity warning (altitude below 50 meters) The left waist and left shoulder vibrate at 16Hz simultaneously 2 Stall warning (speed below 230 km / h) Right waist and right shoulder vibrate at 16Hz simultaneously 3 High angle of attack warning (slope greater than 20°) The 4 neck parts vibrate simultaneously

[0232] In order to better express the aircraft's attitude, the following design can be made to the aircraft status (the deviation prompt accuracy can be set: Δ = 1° to 3° (step length 1°)):

[0233] Table 9 Level flight model

[0234] Serial number Level flight mode Expected Results 1 Level flight The two vibrators in front of the torso vibrate at 16Hz simultaneously

[0235] Table 10 Inverted flight model

[0236] Serial number Inverted flight mode Expected Results 1 inverted flight Two vibrators behind the torso vibrate simultaneously at 16Hz

[0237] Figure 4 The figure is a schematic diagram of the power supply circuit of the excitation board of the present invention. The first end of the inductor L16 is connected to the 15V power supply, the second end of the inductor L16 is connected to the first power input terminal PVIN1 and the second power input terminal PVIN2 of the DC converter U11, and the power input terminal AVIN, the first end of the capacitor C56, the first end of the capacitor C57, and the first end of the inductor L23, the second end of the capacitor C56 and the second end of the capacitor C57 are connected to the power ground,

[0238] The enable terminal EN of the DC converter U11 is connected to the first end of the resistor R39 and the first end of the resistor R42. The second end of the resistor R39 is connected to the microcontroller; the second end of the resistor R42 is connected to the power ground;

[0239] The soft start terminal SS of the DC converter U11 is connected to the first terminal of the capacitor C60, and the second terminal of the capacitor C60 is connected to the power ground;

[0240] The output voltage scaling terminal DEF and the switching frequency selection terminal FSW of the DC converter U11 are connected to the power ground;

[0241] The first switch node terminal SW1, the second switch node terminal SW2, and the third switch node terminal SW3 of the DC converter U11 are connected to the first end of the inductor L17, and the second end of the inductor L17 is connected to the first end of the capacitor C53, the output voltage detection terminal VOS of the DC converter U11, the first end of the resistor R35, the first end of the capacitor C58, and the positive electrode of the polarized capacitor C64, and the output power PWM_2V5 is used to drive the oscillator; the negative electrode of the polarized capacitor C64 is connected to the power ground;

[0242] The ground terminal AGND, the first ground terminal PGND1, the second ground terminal PGND2, and the heat dissipation terminal EP of the DC converter U11 are connected to the power ground;

[0243] The second end of the resistor R35 is connected to the adjustable voltage feedback terminal FB of the DC converter U12, the first end of the resistor R54, and the potentiometer tap terminal W of the digital potentiometer U5. The potentiometer terminal B of the digital potentiometer U5 is connected to the second end of the resistor R54 and the first end of the resistor R43. The second end of the resistor R43 and the second end of the capacitor C58 are connected to the power ground.

[0244] The data transmission terminal SDA of the digital potentiometer U5 is connected to the microcontroller U1, the power supply terminal VDD of the digital potentiometer U5, the first terminal of the capacitor C65, and the first terminal of the capacitor C86 are connected to the power supply VCC3V3, and the second terminal of the capacitor C65 and the second terminal of the capacitor C86 are connected to the power ground;

[0245] The clock signal terminal SCL of the digital potentiometer U5 is connected to the microcontroller U1; the power output by the DC converter U11 can be adjusted through the digital potentiometer U5, thereby adjusting the vibration intensity of the vibrator.

[0246] The second end of the inductor L23 is connected to the first end of the capacitor C74, the first end of the capacitor C76, the first end of the resistor R53, the first power input terminal PVIN1 and the second power input terminal PVIN2 of the DC converter U12, the power input terminal AVIN, and the enable terminal EN;

[0247] The second end of the resistor R53 is connected to the positive electrode of the light emitting diode D12, and the negative electrode of the light emitting diode D12 is connected to the power ground;

[0248] The second end of the capacitor C74 and the second end of the capacitor C76 are connected to the power ground;

[0249] The soft start terminal SS of the DC converter U12 is connected to the first terminal of the capacitor C79, and the second terminal of the capacitor C79 is connected to the power ground;

[0250] The output voltage scaling terminal DEF and the switching frequency selection terminal FSW of the DC converter U12 are connected to the power ground;

[0251] The first switch node terminal SW1, the second switch node terminal SW2, and the third switch node terminal SW3 of the DC converter U12 are connected to the first end of the inductor L24.

[0252] The output voltage detection terminal VOS of the DC converter U12 is connected to the second end of the inductor L24, the first end of the capacitor C72, the first end of the resistor R45, the first end of the capacitor C78, ​​and the first end of the inductor L21, and the second end of the inductor L21 outputs the power supply VCC3V3;

[0253] The second end of the capacitor C72 is connected to the power ground;

[0254] The second end of the resistor R45 is connected to the first end of the resistor R48 and the adjustable voltage feedback terminal FB of the DC converter U12, and the second end of the resistor R48 and the second end of the capacitor C78 are connected to the power ground;

[0255] The ground terminal AGND, the first ground terminal PGND1, the second ground terminal PGND2, and the heat dissipation terminal EP of the DC converter U12 are connected to the power ground;

[0256] Among them, the DC converter U11 and DC converter U12 are selected as TPS62130ARGTT, and the digital potentiometer U5 is selected as MCP4017T-104E / LT.

[0257] Figure 5 It is a schematic diagram of the microcontroller circuit of the excitation board of the present invention. The clock signal terminal PB6 of the microcontroller U1 is connected to the first end of the resistor R2, the data transmission terminal of the microcontroller U1 is connected to the first end of the resistor R1, the second end of the resistor R1 and the second end of the resistor R2 are connected to the power supply VCC3V3; the external capacitor voltage stabilizing terminal of the microcontroller U1 is connected to the first end of the capacitor C4, and the second end of the capacitor C4 is connected to the power ground;

[0258] The data transmission terminal PC8 of the microcontroller U1 is connected to the first end of the resistor R55 and the first end of the resistor R58, the data transmission terminal PC9 of the microcontroller U1 is connected to the first end of the resistor R56 and the first end of the resistor R59, and the data transmission terminal PC10 of the microcontroller U1 is connected to the first end of the resistor R57 and the first end of the resistor R60; the second end of the resistor R55, the second end of the resistor R56, the second end of the resistor R57, and the second end of the resistor R58 are connected to the power supply VCC3V3, and the second end of the resistor R59, the second end of the resistor R60, and the second end of the resistor R55 are connected to the power ground;

[0259] The power source VCC3V3 is connected to the first end of the inductor L1 and the first end of the inductor L2. The second end of the inductor L1 is connected to the first end of the capacitor C12 and the reference voltage terminal VREF of the microcontroller U1.

[0260] The second end of the inductor L2 is connected to the first end of the capacitor C6, the first end of the capacitor C7, the first end of the capacitor C8, the first end of the capacitor C9, the first end of the capacitor C10, the power supply terminal VDD1 of the microcontroller U1, the power supply terminal VDD2 of the microcontroller U1, the power supply terminal VDD3 of the microcontroller U1, the power supply terminal VDD4 of the microcontroller U1, and the positive electrode of the diode D1, and the battery voltage input terminal VBAT of the microcontroller U1 is connected to the negative electrode of the diode D1; the boot configuration terminal BOOT0 of the microcontroller U1 is connected to the first end of the resistor R11 and the first end of the resistor R12, the second end of the resistor R11 is connected to the power supply VCC3V3, and the second end of the resistor R12, the analog power ground terminal VSSA, the digital ground terminal VSS1, the digital ground terminal VSS2, the digital ground terminal VSS3, and the digital ground terminal VSS4 are connected to the power ground. Among them, the microcontroller U1 is selected as STM32F411RET6.

[0261] Figure 6 The schematic diagram of the microcontroller monitoring circuit of the excitation board of the present invention is shown in FIG. The manual reset input terminal of the microcontroller monitor U4 The voltage monitoring input terminal SENSE of the microcontroller monitor U4, the power supply terminal VDD of the microcontroller monitor U4, the first end of the capacitor C25, and the first end of the capacitor C26 are connected to the power supply VCC3V3, the first end of the capacitor C27 is connected to the reset delay terminal CT, the second end of the capacitor C25, the second end of the capacitor C26, and the second end of the capacitor C27 are connected to the power ground; the reset terminal of the microcontroller monitor U4 The first end of the resistor R18 and the first end of the capacitor C24 are connected to the microcontroller U1, the second end of the resistor R18 is connected to the power supply VCC3V3, and the second end of the capacitor C24 and the ground terminal GND of the microcontroller monitor U4 are connected to the power ground.

[0262] The microcontroller monitor U4 uses TPS3808G33DBVT. When the voltage is lower than the set threshold, it activates a low-level active reset signal to protect the microcontroller from unstable operation due to insufficient voltage.

[0263] Figure 7 Schematic diagram of the connection circuit between the excitation board and the vibrator of the present invention. Generally speaking, one excitation board can be connected to up to 9 vibrators, and the specific number of connections can be set according to actual needs. Figure 7An excitation board is shown connected to 8 vibrators. When the number of vibrators is 4, the connection relationship is as follows: the first end of resistor R17 is connected to the power supply PWM_2V5, the second end of resistor R17 is connected to the cathode of diode D3, the first end of capacitor C19, the first end of capacitor C23, and the linear motor interface; the second end of capacitor C19 is connected to the power ground; the anode of diode D3 is connected to the drain of field effect transistor Q2, the second end of capacitor C23, the first end of capacitor C28, and the linear motor interface; the second end of capacitor C28 is connected to the power ground; the gate of field effect transistor Q2 is connected to the first end of resistor R21 and the first end of resistor R22, the second end of resistor R21 is connected to the microcontroller U1, and the second end of resistor R22 is connected to the power ground; the source of field effect transistor Q2 is connected to the power ground.

[0264] The first end of resistor R25 is connected to the power supply PWM_2V5, and the second end of resistor R25 is connected to the cathode of diode D6, the first end of capacitor C34, the first end of capacitor C40, and the linear motor interface; the second end of capacitor C34 is connected to the power ground; the anode of diode D6 is connected to the drain of field effect transistor Q5, the second end of capacitor C40, the first end of capacitor C43, and the linear motor interface; the second end of capacitor C43 is connected to the power ground; the gate of field effect transistor Q5 is connected to the first end of resistor R31 and the first end of resistor R32, the second end of resistor R31 is connected to the microcontroller U1, and the second end of resistor R32 is connected to the power ground; the source of field effect transistor Q5 is connected to the power ground.

[0265] The first end of resistor R34 is connected to the power supply PWM_2V5, and the second end of resistor R34 is connected to the cathode of diode D9, the first end of capacitor C48, the first end of capacitor C50, and the linear motor interface; the second end of capacitor C48 is connected to the power ground; the anode of diode D9 is connected to the drain of field effect transistor Q7, the second end of capacitor C50, the first end of capacitor C59, and the linear motor interface; the second end of capacitor C59 is connected to the power ground; the gate of field effect transistor Q7 is connected to the first end of resistor R38 and the first end of resistor R40, the second end of resistor R38 is connected to the microcontroller U1, and the second end of resistor R40 is connected to the power ground; the source of field effect transistor Q7 is connected to the power ground.

[0266] The first end of resistor R44 is connected to the power supply PWM_2V5, and the second end of resistor R44 is connected to the cathode of diode D11, the first end of capacitor C67, the first end of capacitor C69, and the linear motor interface; the second end of capacitor C67 is connected to the power ground; the anode of diode D11 is connected to the drain of field effect transistor Q9, the second end of capacitor C69, the first end of capacitor C77, and the linear motor interface; the second end of capacitor C77 is connected to the power ground; the gate of field effect transistor Q9 is connected to the first end of resistor R49 and the first end of resistor R50, the second end of resistor R49 is connected to the microcontroller U1, and the second end of resistor R50 is connected to the power ground; the source of field effect transistor Q9 is connected to the power ground.

[0267] Figure 8 It is a circuit diagram of the RS485 transceiver of the excitation board of the present invention. The receiver output terminal R of the RS485 transceiver U2 is connected to the first end of the resistor R6, the second end of the resistor R6 is connected to the RS485 signal input terminal of the microcontroller U1, the driver enable terminal DE of the RS485 transceiver U2, the receiver enable terminal RE is connected to the enable terminal of the microcontroller U1 and the first end of the resistor R9, and the second end of the resistor R9 is connected to the power ground; the driver input terminal D of the RS485 transceiver U2 is connected to the first end of the resistor R8, and the second end of the resistor R8 is connected to the RS485 signal output terminal of the microcontroller U1;

[0268] The power supply terminal VCC of the RS485 transceiver U2, the first end of the capacitor C1, the first end of the capacitor C2, and the first end of the resistor R3 are connected to the power supply VCC3V3, the second end of the capacitor C1 and the second end of the capacitor C2 are connected to the power ground, the second end of the resistor R3 and the first end of the resistor R7, the input positive terminal A of the RS485 transceiver U2, the anode of the TVS diode T2, and the interface J6 are connected; the cathode of the TVS diode T2 is connected to the power ground;

[0269] The negative input terminal B of the RS485 transceiver U2 is connected to the second end of the resistor R7, the first end of the resistor R10, and the anode of the TVS diode T1. The second end of the resistor R10 is connected to the power ground, and the cathode of the TVS diode T1 is connected to the power ground. The ground terminal GND of the RS485 transceiver U2 is connected to the power ground.

[0270] Among them, the selected RS485 transceiver U2 is MAX3072EESA.

[0271] Fig. 9This is a schematic diagram of the power supply noise reduction circuit of the controller board. The power supply end of the connector X1 is connected to the first end of the fuse FU1, the second end of the fuse FU1 is connected to the cathode of the voltage-stabilizing diode V5, the second end of the capacitor C3, and the first end of the noise filter U3, the fourth end of the noise filter U3 is connected to the anode of the voltage-stabilizing diode V5, the first end of the capacitor C3, and the power supply ground end of the connector X1; the second end of the noise filter U3 is connected to the first end of the capacitor C4, the first end of the capacitor C6, the first end and the second end of the Schottky rectifier V1, and the second end of the capacitor C4 is connected to the power supply ground PGND The second end of capacitor C6, the first end of capacitor C5, and the third end of Schottky rectifier V1 are connected to the power ground, and the second end of capacitor C5 is connected to the power ground PGND; the third end of Schottky rectifier V1 is connected to the positive electrode of polar capacitor C10, the positive electrode of polar capacitor C11, the first end of resistor R99, and the first end of resistor R10, and the negative electrode of polar capacitor C10 and the negative electrode of polar capacitor C11 are connected to the power ground; the second end of resistor R99 outputs power supply D12V, and the second end of resistor R10 outputs power supply 12V_KD.

[0272] The noise filter U3 is PLT10HH501100PN. The noise in the power supply is filtered through the noise filter U3, and then it can be used as a switching power supply through the Schottky rectifier V1. It is suitable for flight scenarios that require high efficiency and fast response. In addition, it can also provide protection when circuit abnormalities occur.

[0273] Fig.10 This is a schematic diagram of the power supply circuit of the controller board, including step-down DC-DC converter D9 and step-down DC-DC converter D11.

[0274] The soft start / tracking terminal SS / TR of the step-down DC-DC converter D9 is connected to the first end of the capacitor C139, and the power input terminal AVIN, the power input terminal PVIN, the enable terminal EN, the first end of the capacitor C130, and the first end of the capacitor C137 of the step-down DC-DC converter D9 are connected to the power supply D12V;

[0275] The switch node terminal SW of the step-down DC-DC converter D9 is connected to the first end of the inductor L11, and the second end of the inductor L11 is connected to the output voltage detection terminal VOS of the step-down DC-DC converter D9, the first end of the resistor R91, the first end of the resistor R96, the first end of the capacitor C143, and the first end of the capacitor C146, and the output power supply D3V3;

[0276] The output power good terminal PG of the step-down DC-DC converter D9 is connected to the second end of the resistor R91, and the adjustable voltage feedback terminal FB of the step-down DC-DC converter D9 is connected to the second end of the resistor R96 and the first end of the resistor R97;

[0277] The ground terminal PGND of the step-down DC-DC converter D9, the heat dissipation terminal PAD of the step-down DC-DC converter D9, the second end of the capacitor C130, the second end of the capacitor C137, the second end of the capacitor C139, the output voltage extension terminal DEF of the step-down DC-DC converter D9, the ground terminal AGND of the step-down DC-DC converter D9, the switching frequency selection terminal FSW of the step-down DC-DC converter D9, the second end of the resistor R97, the second end of the capacitor C143, and the second end of the capacitor C146 are connected to the power ground.

[0278] The circuit connection method of the step-down DC-DC converter D11 is the same as that of the step-down DC-DC converter D9, but the output power supply D5V3.

[0279] The 12V voltage of power supply D12V can be output to power supply D3V3 and power supply D5V3 through two step-down converters to provide power for the subsequent required components. Among them, the step-down DC-DC converter D9 and the step-down DC-DC converter D11 are selected as TPS62130.

[0280] Fig.11 This is a schematic diagram of the power supply circuit for the excitation board. The power supply 12V_KD is connected to the source of the field effect tube V2 and the first end of the resistor R3. The gate of the field effect tube V2 is connected to the second end of the resistor R3, the first end of the resistor R4, and the first end of the resistor R5.

[0281] The second end of the resistor R4 is connected to the collector of the transistor Q1, the base of the transistor Q1 is connected to the first end of the resistor R111 and the first end of the resistor R222, the second end of the resistor R111 is connected to the left socket LEFT, the second end of the resistor R222 is connected to the power ground, and the emitter of the transistor Q1 is connected to the power ground;

[0282] The second end of the resistor R5 is connected to the first end of the capacitor C7, the second end of the capacitor C7 is connected to the drain of the field effect transistor V2 and the first end of the resistor R77, the second end of the resistor R77 is connected to the first end of the polar capacitor C47, the first end of the polar capacitor C43, and the cathode of the Zener diode V3, and the output power supply is 12V_KD_OUT; the anode of the Zener diode V3 is connected to the power ground.

[0283] The field effect transistor V2 is controlled by the on-off of the transistor Q1, and the transistor Q1 is controlled by the left socket LEFT; when the transistor Q1 is turned on, the field effect transistor V2 has a voltage drop, and at this time, the field effect transistor V2 converts the input power supply 12V_KD into the output power supply 12V_KD_OUT.

[0284] Field effect tube V2 is IRF5210, this power MOSFET is used in various high voltage and high current switching applications, such as switching power supplies, motor drives, load switching, etc. Due to its high voltage and current handling capabilities, IRF5210 is very suitable for demanding flight suit applications.

[0285] Fig.12 It is a schematic diagram of a monitoring circuit for monitoring whether the processor is working normally. The reset terminal RESET of the timer D2, the first terminal of the capacitor C2, the first terminal of the capacitor C9, and the first terminal of the resistor R13 are connected to the power supply D3V3, and the second terminal of the capacitor C2 and the second terminal of the capacitor C9 are connected to the power ground; the ground terminal of the timer D2 is connected to the power ground; the manual reset terminal MR of the timer D2 is connected to the first terminal of the resistor R12, and the second terminal of the resistor R12 is connected to the power ground; the monitoring voltage terminal SENSE for resetting the timer D2 and the reset cycle terminal CT of the timer D2 are both connected to the left socket LEFT;

[0286] The power supply terminal VDD of the timer D2 is connected to the second end of the resistor R13, the collector of the transistor Q2, and the left socket LEFT;

[0287] The power supply terminal VCC of the voltage detector D1, the first end of the capacitor C48, and the first end of the capacitor C49 are connected to the power supply D5V3; the second end of the capacitor C48 and the second end of the capacitor C49 are connected to the power ground; the reset terminal RESET of the voltage detector D1 is connected to the first end of the resistor R43, and the second end of the resistor R43 is connected to the first end of the resistor R6 and the base of the transistor Q2; the second end of the resistor R6 is connected to the power ground; the emitter of the transistor Q2 is connected to the power ground; the ground terminal GND of the voltage detector D1 is connected to the power ground;

[0288] The detection voltage input terminal PFI is connected to the first end of the resistor R42 and the first end of the resistor R41, the second end of the resistor R41 is connected to the power supply D12V, and the second end of the resistor R42 is connected to the power ground; the detection voltage output terminal PFO is connected to the first end of the resistor R57, and the second end of the resistor R57 is connected to the left socket LEFT.

[0289] The input voltage of timer D2 is provided by the left socket LEFT (MX6_POR_B). When the voltage detector D1 detects the input voltage of timer D2, it determines whether the processor connected to the left socket LEFT is working normally, which is used to prevent the system from being stuck or stopped responding for a long time. If an abnormal working condition occurs, a power-on reset operation is performed through the reset end of the voltage detector D1.

[0290] The timer D2 is selected as TPS3808G33DBVT, and the voltage detector D1 is selected as MAX813LCSA.

[0291] Fig.13 It is a schematic diagram of an Ethernet transceiver integrated circuit. The data transmission end of the Ethernet transceiver U22 is connected to a pulse transformer U111 for network applications; the data management end MDIO of the Ethernet transceiver U22 is connected to the first end of the resistor R17, the clock management end MDC of the Ethernet transceiver U22 is connected to the first end of the resistor R18, and is connected to the second end of the resistor R17, the second end of the resistor R18 and the power supply CPU_3V3, the mode configuration end PHYAD1 is connected to the first end of the resistor R20, and the second end of the resistor R20 is connected to the power supply CPU_3V3;

[0292] The mode configuration terminal PHYAD0 of the Ethernet transceiver U22 is connected to the first end of the resistor R19, the second end of the resistor R19, the first end of the resistor R21, and the first end of the resistor R24 ​​are connected to the power ground, the second end of the resistor R21 is connected to the first receiving data output terminal RXD1 of the Ethernet transceiver U22, and the second end of the resistor R24 ​​is connected to the second receiving data output terminal RXD0 of the Ethernet transceiver U22.

[0293] The transmission output current terminal REXT of the Ethernet transceiver U22 is connected to the first end of the resistor R25, and the second end of the resistor R25 is connected to the power ground;

[0294] The power supply terminal VDD_1V2 of the Ethernet transceiver U22 is connected to the first end of the capacitor C18 and the first end of the capacitor C19; the power supply terminal VDDA__3V3 of the Ethernet transceiver U22 is connected to the first end of the capacitor C16, the first end of the capacitor C17, and the first end of the common mode inductor L1; the second end of the common mode inductor L1 is connected to the power supply CPU_3V3; the second end of the capacitor C16, the second end of the capacitor C17, the second end of the capacitor C18, and the second end of the capacitor C19 are connected to the power ground,

[0295] The reset terminal RSTN of the Ethernet transceiver U22 is connected to the first end of the resistor R33, the first end of the resistor R34, and the first end of the capacitor C240, the second end of the resistor R33 is connected to the left socket LEFT, and the second end of the capacitor C240 ​​is connected to the power ground;

[0296] The LED output terminal LED1_SPEED of the Ethernet transceiver U22 is connected to the first end of the resistor R35.

[0297] The LED output terminal LED0_NWAYEN of the Ethernet transceiver U22 is connected to the first end of the resistor R36.

[0298] The mode configuration terminal CONFIG1 of the Ethernet transceiver U22 is connected to the first end of the resistor R37.

[0299] The mode configuration terminal CONFIG0 of the Ethernet transceiver U22 is connected to the first end of the resistor R38.

[0300] The second end of the resistor R34, the second end of the resistor R35, the second end of the resistor R36, and the second end of the resistor R38 are connected to the power supply CPU_3V3;

[0301] The receiving error output terminal RXER of the Ethernet transceiver U22 is connected to the first end of the resistor R44.

[0302] The valid data receiving terminal CRS_DV of the Ethernet transceiver U22 is connected to the first end of the resistor R45.

[0303] The power supply terminal VDDIO of the Ethernet transceiver U22 and the first end of the capacitor C270 are connected to the power supply CPU_3V3;

[0304] The NAND tree mode terminal NAND_TREEN of the Ethernet transceiver U22 is connected to the first end of the resistor R39 and the first end of the resistor R40, and the second end of the resistor R39 is connected to the power supply CPU_3V3;

[0305] A second end of the resistor R44, a second end of the resistor R45, a second end of the resistor R37, a second end of the resistor R40, and a second end of the capacitor C270 are connected to the power ground.

[0306] Among them, the model of Ethernet transceiver U22 is KSZ8081.

[0307] Fig.14 The invention is a transformer circuit schematic diagram for an Ethernet transceiver integrated circuit. The data transmission end of the transformer U111 is connected to the Ethernet transceiver U22; the thermal protection end RDCT of the transformer U111 is connected to the first end of the capacitor C20, the test end TDCT of the transformer U111 is connected to the first end of the capacitor C21, the second end of the capacitor C20 and the second end of the capacitor C21 are connected to the power ground; the RXCT of the transformer U111 is connected to the first end of the resistor R32, the TXCT of the transformer U111 is connected to the first end of the resistor R31, and the second end of the resistor R31 and the second end of the resistor R32 are connected to the power ground.

[0308] The differential signal is transmitted by the transmitting end of the Ethernet transceiver U22 (KSZ8081) and transmitted to the Ethernet device at the other end through the transformer U111 (HX0068ANL). This not only maintains the integrity of the signal, but also reduces electromagnetic interference while achieving electrical isolation.

[0309] Fig.15It is a load switch with power protection function. The switch input terminal VIN1 of the load switch U8, the switch input terminal VIN2 of the load switch U8, the thermal switch input terminal PVIN of the load switch U8, the bias voltage terminal VBIAS of the load switch U8, the first end of the capacitor C35, and the first end of the capacitor C44 are connected to the power supply D3V3, and the second end of the capacitor C35 and the second end of the capacitor C44 are connected to the power supply ground; the control input terminal ON of the load switch U8 is connected to the left socket LEFT and the first end of the resistor R46, and the second end of the resistor R46 is connected to the power supply ground; the switch output terminal VOUT123 of the load switch U8 is connected to the first end of the capacitor C45, and the output power supply CPU_3V3; the second end of the capacitor C45 is connected to the power supply ground; the ground terminal of the load switch U8 is connected to the power supply ground.

[0310] The output of the power supply CPU_3V3 can be controlled by the load switch U8, thereby controlling the conduction of related components. It mainly controls the power supply of the processor. The load switch U8 is TPS22959DNY.

[0311] Fig.16 This is the circuit diagram of the left socket on the controller board that connects to the processor.

[0312] The data transmission terminals 79 and 77 of the left socket LEFT are connected to the first end of the resistor R15, the first end of the resistor R16, the first end of the common mode inductor L2, the first end of the capacitor C31, and the first end of the capacitor C28. The second end of the capacitor C31 and the second end of the capacitor C28 are connected to the power ground; the second end of the resistor R15 is connected to the data transmission terminal 71 of the left socket LEFT; the second end of the resistor R16 is connected to the data transmission terminal 61 of the left socket LEFT;

[0313] The grounding terminals 63, 75, 55, 49, 65 and 17 of the left socket LEFT are connected to the power ground;

[0314] The data transmission terminals 31, 31 of the left socket LEFT are connected to the RS232 transceiver;

[0315] The data transmission terminal 25 of the left socket LEFT is connected to the first end of the resistor R76, the second end of the resistor R76 is connected to the first end of the resistor R8 and the RS485 transceiver; the second end of the resistor R8 is connected to the data transmission terminal 15 of the left socket LEFT;

[0316] The data transmission terminal 23 of the left socket LEFT is connected to the first end of the resistor R77, the second end of the resistor R77 is connected to the first end of the resistor R11 and the RS485 transceiver, and the second end of the resistor R11 is connected to the data transmission terminal 13 of the left socket LEFT;

[0317] The data transmission terminals 80, 58, 42, 24, 2 of the left socket LEFT are connected to the power ground.

[0318] Fig.17 It is a circuit diagram of the right socket connected to the processor on the controller board. The data transmission terminal 79 of the right socket RIGHT and the first end of the capacitor C32 are connected to the power supply CPU_3V3, and the second end of the capacitor C32 is connected to the power ground; the data transmission terminal 69 of the right socket RIGHT is connected to the first end of the resistor R75, and the second end of the resistor R75 is connected to the flash memory chip D3; the data transmission terminals 77, 59, 29, 7 of the right socket RIGHT are connected to the power ground; the data transmission terminals 54, 46, 36, 28, 18 of the right socket RIGHT are connected to the power ground.

[0319] The processor is connected to the motherboard through the left socket LEFT and the right socket RIGHT, rather than soldering. This makes it easier to upgrade and repair. If the processor performance is insufficient or needs to be replaced, it can be upgraded by replacing the CPU in the socket without having to replace the entire motherboard.

[0320] Fig.18 It is a schematic diagram of the storage circuit on the controller board. CS_N|CE of the flash memory chip D3 is connected to the first end of the resistor R66 and the right socket RIGHT, and the data transmission end DO|IO1|SO|SIO1 of the flash memory chip D3 is connected to the right socket RIGHT; the write protection input end WP_N|IO2|SIO2 of the flash memory chip D3 is connected to the first end of the resistor R58 and the first end of the resistor R85, and the second end of the resistor R66 and the second end of the resistor R58 are connected to the power supply D3V3; the second end of the resistor R85 is connected to the left socket LEFT; the ground terminal G of the flash memory chip D3 is connected to the left socket LEFT; ND|VSS is connected to the power ground, the power supply terminal VCC|VDD of the flash memory chip D3, the first terminal of the capacitor C50, and the first terminal of the capacitor C51 are connected to the power supply D3V3; the holding input terminal HOLD|IO3|SIO3 of the flash memory chip D3 is connected to the first terminal of the resistor R74, and the second terminal of the resistor R74 is connected to the power supply D3V3; the clock terminal CLK|SCK of the flash memory chip D3 is connected to the right socket RIGHT; the data transmission terminal DI|IO0|SI|SIO0 of the flash memory chip D3 is connected to the right socket RIGHT. The flash memory chip D3 is selected as W25Q32BVSSIG.

[0321] Fig.19 Schematic diagram of RS232 communication circuit on controller board. The data transmission positive terminal C1+ of RS232 transceiver U14 for data terminal equipment is connected to the first end of capacitor C29, and the second end of capacitor C29 is connected to the data transmission negative terminal C1- of RS232 transceiver U14 for data terminal equipment;

[0322] The data transmission positive terminal C2+ of the RS232 transceiver U14 for the data communication device is connected to the first end of the capacitor C30, and the second end of the capacitor C30 is connected to the data transmission negative terminal C2- of the RS232 transceiver U14 for the data communication device;

[0323] The data input terminal T1IN of the RS232 transceiver U14 and the data output terminal R1OUT of the RS232 transceiver U14 are connected to the left socket LEFT;

[0324] The power supply terminal VCC of the RS232 transceiver U14, the first end of the capacitor C34, and the first end of the capacitor C46 are connected to the power supply D3V3; the second end of the capacitor C34 and the second end of the capacitor C46 are connected to the power ground;

[0325] The positive power input terminal V+ of the RS232 transceiver U14 is connected to the first end of the capacitor C41, the negative power input terminal V- of the RS232 transceiver U14 is connected to the first end of the capacitor C42, and the second end of the capacitor C41 and the second end of the capacitor C42 are connected to the power ground;

[0326] The receiving data output terminal T1OUT of the RS232 transceiver U14 is connected to the first end of the resistor R22, the second end of the resistor R22 is connected to the second end of the transient voltage suppressor U30, the sending data input terminal R1IN of the RS232 transceiver U14 is connected to the first end of the resistor R23, the second end of the resistor R23 is connected to the first end of the transient voltage suppressor U30, the third end of the transient voltage suppressor U30 is connected to the power ground, and the ground terminal GND of the RS232 transceiver U14 is connected to the power ground. The RS232 transceiver U14 is selected as MAX3232EUE.

[0327] Fig. 20 It is a schematic diagram of the indicator light circuit on the controller board. The data transmission terminal 7 of the connector D4 is connected to the connector D5, the data transmission terminal 7 of the connector D4 is connected to the first end of the resistor R30, the second end of the resistor R30 is connected to the cathode of the TVS diode VD6 and the collector of the transistor Q4; the anode of the TVS diode VD6 is connected to the power ground;

[0328] The base of transistor Q4 is connected to the first end of resistor R83, the second end of resistor R83 is connected to the left socket LEFT, and outputs an electrical signal to control the LED;

[0329] The emitter of transistor Q4 and the emitter of transistor Q3 are connected to the power ground;

[0330] The base of transistor Q3 is connected to the first end of resistor R82, the second end of resistor R82 is connected to the left socket LEFT, and outputs an electrical signal to control the LED;

[0331] The collector of the transistor Q3 is connected to the cathode of the TVS diode VD5 and the first end of the resistor R27, the anode of the TVS diode VD5 is connected to the power ground, and the second end of the resistor R27 is connected to the data transmission terminal 5 of the connector D4;

[0332] The data transmission terminal 6 of the connector D4 is connected to the first end of the resistor R90; the second end of the resistor R90 is connected to the cathode of the TVS diode VD7 and the collector of the transistor Q5; the anode of the TVS diode VD7 is connected to the power ground; the collector of the transistor Q5 is connected to the first end of the resistor R88, and the second end of the resistor R88 is connected to the left socket LEFT, outputting an electrical signal to control the LED;

[0333] The emitter of transistor Q5 and the emitter of transistor Q6 are connected to the power ground;

[0334] The base of transistor Q6 is connected to the first end of resistor R89, and the second end of resistor R89 ​​is connected to the left socket LEFT, outputting an electrical signal to control the LED;

[0335] The collector of transistor Q6 is connected to the first end of resistor R92 and the cathode of TVS diode VD8, the anode of TVS diode VD8 is connected to the power ground, and the second end of resistor R92 is connected to data transmission terminal 4 of connector D4.

[0336] Fig.21 This is a schematic diagram of the button circuit on the controller board.

[0337] The data transmission end 1 of the connector D4 is connected to the cathode of the TVS diode VD8, the first end of the resistor R26, the first end of the capacitor C36, and the left socket LEFT; the second end of the capacitor C36 and the anode of the TVS diode VD8 are connected to the power ground; the second end of the resistor R26 is connected to the power supply D3V3;

[0338] The data transmission end 2 of the connector D4 is connected to the cathode of the TVS diode VD3, the first end of the resistor R68, the first end of the capacitor C38, and the left socket LEFT; the second end of the capacitor C38 and the anode of the TVS diode VD3 are connected to the power ground; the second end of the resistor R68 is connected to the power supply D3V3;

[0339] The data transmission end 2 of the connector D4 is connected to the cathode of the TVS diode VD4, the first end of the resistor R69, the first end of the capacitor C39, and the left socket LEFT; the second end of the capacitor C39 and the anode of the TVS diode VD4 are connected to the power ground; the second end of the resistor R69 is connected to the power supply D3V3;

[0340] The data transmission end 2 of the connector D4 is connected to the cathode of the TVS diode VD2, the first end of the resistor R67, the first end of the capacitor C37, and the left socket LEFT; the second end of the capacitor C37 and the anode of the TVS diode VD2 are connected to the power ground; the second end of the resistor R67 is connected to the power supply D3V3;

[0341] Fig. 22 It is the schematic diagram of RS485 communication circuit on the controller board.

[0342] The receiver output terminal RO of the RS485 transceiver U15 is connected to the left socket LEFT;

[0343] The receiver output enable terminal REN and the driver output enable terminal DE of the RS485 transceiver U15 are connected to the first end of the resistor R70 and the first end of the resistor R72, and the second end of the resistor R70 is connected to the left socket LEFT;

[0344] The driver input terminal DI of the RS485 transceiver U15 is connected to the first end of the resistor R73 and the first end of the resistor R71, and the second end of the resistor R71 is connected to the left socket LEFT; the second end of the resistor R72 and the second end of the resistor R73 are connected to the power ground;

[0345] The power supply terminal VCC of the RS485 transceiver U15, the first end of the capacitor C163, and the first end of the capacitor C40 are connected to the power supply D3V3, and the second end of the capacitor C163 and the second end of the capacitor C40 are connected to the power ground;

[0346] The inverting receiver input terminal B of the RS485 transceiver U15 is connected to the second end of the transient voltage suppressor U9, the first end of the resistor R180, the first end of the resistor R80, and the first end of the resistor R188.

[0347] The non-inverting receiver input terminal A of the RS485 transceiver U15 is connected to the first end of the transient voltage suppressor U9, the first end of the resistor R176, the first end of the resistor R81, and the second end of the resistor R188.

[0348] The third terminal of the transient voltage suppressor U9 is connected to the power ground; the ground terminal GND of the RS485 transceiver U15 is connected to the power ground; the second terminal of the resistor R176 is connected to the power supply D3V3; and the second terminal of the resistor R180 is connected to the power ground.

[0349] The RS485 transceiver U15 uses the MAX3485ESA, which supports a single 3.3V power supply, has a slew-rate limited driver to reduce electromagnetic interference (EMI), and includes thermal protection and short-circuit protection.

[0350] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A somatosensory flight suit sensing system, characterized in that: include: Controller board, excitation board, oscillator, The data input end of the controller board receives the aircraft attitude data through the RS422 serial port or Ethernet, and the data output end of the controller board is connected to the data input ends of several excitation boards through the RS485 serial port. The data output end of each excitation board is connected to the data input ends of several vibrators; finally, the linear motor is driven by the vibrator to generate tactile information.

2. A somatosensory flight suit sensing system according to claim 1, characterized in that: The controller board includes: a processor, an RS485 transceiver, a power supply module, a monitoring module for monitoring the processor, an Ethernet transceiver, a storage module, an RS232 transceiver, an indicator light module, and a button module. The processor is connected to the RS485 transceiver, power supply module, monitoring module of the monitoring processor, Ethernet transceiver, storage module, RS232 transceiver, indicator light module and button module of the controller board through the left socket LEFT and the right socket RIGHT; The power supply module is connected to the processor, RS485 transceiver, monitoring module for monitoring the processor, Ethernet transceiver, storage module, RS232 transceiver, indicator light module and key module. The processor is connected with the RS485 transceiver, the monitoring module for monitoring the processor, the Ethernet transceiver, the storage module, the RS232 transceiver, the indicator light module and the key module.

3. A somatosensory flight suit sensing system according to claim 2, characterized in that: The monitoring modules for monitoring the processor include: The reset terminal RESET of the timer D2, the first terminal of the capacitor C2, the first terminal of the capacitor C9, and the first terminal of the resistor R13 are connected to the power supply D3V3, and the second terminal of the capacitor C2 and the second terminal of the capacitor C9 are connected to the power ground; the ground terminal of the timer D2 is connected to the power ground; the manual reset terminal MR of the timer D2 is connected to the first terminal of the resistor R12, and the second terminal of the resistor R12 is connected to the power ground; the monitoring voltage terminal SENSE for resetting the timer D2 and the reset cycle terminal CT of the timer D2 are both connected to the left socket LEFT; The power supply terminal VDD of the timer D2 is connected to the second end of the resistor R13, the collector of the transistor Q2, and the left socket LEFT; The power supply terminal VCC of the voltage detector D1, the first end of the capacitor C48, and the first end of the capacitor C49 are connected to the power supply D5V3; the second end of the capacitor C48 and the second end of the capacitor C49 are connected to the power ground; the reset terminal RESET of the voltage detector D1 is connected to the first end of the resistor R43, and the second end of the resistor R43 is connected to the first end of the resistor R6 and the base of the transistor Q2; the second end of the resistor R6 is connected to the power ground; the emitter of the transistor Q2 is connected to the power ground; the ground terminal GND of the voltage detector D1 is connected to the power ground; The detection voltage input terminal PFI is connected to the first end of the resistor R42 and the first end of the resistor R41, the second end of the resistor R41 is connected to the power supply D12V, and the second end of the resistor R42 is connected to the power ground; the detection voltage output terminal PFO is connected to the first end of the resistor R57, and the second end of the resistor R57 is connected to the left socket LEFT.

4. The somatosensory flight suit sensing system according to claim 2, characterized in that: RS485 transceiver includes: The receiver output terminal RO of the RS485 transceiver U15 is connected to the left socket LEFT; The receiver output enable terminal REN and the driver output enable terminal DE of the RS485 transceiver U15 are connected to the first end of the resistor R70 and the first end of the resistor R72, and the second end of the resistor R70 is connected to the left socket LEFT; The driver input terminal DI of the RS485 transceiver U15 is connected to the first end of the resistor R73 and the first end of the resistor R71, and the second end of the resistor R71 is connected to the left socket LEFT; the second end of the resistor R72 and the second end of the resistor R73 are connected to the power ground; The power supply terminal VCC of the RS485 transceiver U15, the first end of the capacitor C163, and the first end of the capacitor C40 are connected to the power supply D3V3, and the second end of the capacitor C163 and the second end of the capacitor C40 are connected to the power ground; The inverting receiver input terminal B of the RS485 transceiver U15 is connected to the second end of the transient voltage suppressor U9, the first end of the resistor R180, the first end of the resistor R80, and the first end of the resistor R188. The non-inverting receiver input terminal A of the RS485 transceiver U15 is connected to the first end of the transient voltage suppressor U9, the first end of the resistor R176, the first end of the resistor R81, and the second end of the resistor R188. The third terminal of the transient voltage suppressor U9 is connected to the power ground; the ground terminal GND of the RS485 transceiver U15 is connected to the power ground; the second terminal of the resistor R176 is connected to the power supply D3V3; and the second terminal of the resistor R180 is connected to the power ground.

5. The somatosensory flight suit sensing system according to claim 2, characterized in that: The power supply module includes a step-down DC-DC converter D9 and a step-down DC-DC converter D11; The soft start / tracking terminal SS / TR of the step-down DC-DC converter D9 is connected to the first end of the capacitor C139, and the power input terminal AVIN, the power input terminal PVIN, the enable terminal EN, the first end of the capacitor C130, and the first end of the capacitor C137 of the step-down DC-DC converter D9 are connected to the power supply D12V; The switch node terminal SW of the step-down DC-DC converter D9 is connected to the first end of the inductor L11, and the second end of the inductor L11 is connected to the output voltage detection terminal VOS of the step-down DC-DC converter D9, the first end of the resistor R91, the first end of the resistor R96, the first end of the capacitor C143, and the first end of the capacitor C146, and outputs a 3.3V power supply D3V3; The output power good terminal PG of the step-down DC-DC converter D9 is connected to the second end of the resistor R91, and the adjustable voltage feedback terminal FB of the step-down DC-DC converter D9 is connected to the second end of the resistor R96 and the first end of the resistor R97; The ground terminal PGND of the step-down DC-DC converter D9, the second end of the capacitor C130, the second end of the capacitor C137, the second end of the capacitor C139, the output voltage extension terminal DEF of the step-down DC-DC converter D9, the ground terminal AGND of the step-down DC-DC converter D9, the switching frequency selection terminal FSW of the step-down DC-DC converter D9, the second end of the resistor R97, the second end of the capacitor C143, and the second end of the capacitor C146 are connected to the power ground; The circuit connection method of the step-down DC-DC converter D11 is the same as that of the step-down DC-DC converter D9, but the output power supply D5V3.

6. The somatosensory flight suit sensing system according to claim 2, characterized in that: The power supply module also includes a power denoising module: The power supply end of the connector X1 is connected to the first end of the fuse FU1, the second end of the fuse FU1 is connected to the cathode of the voltage zener diode V5, the second end of the capacitor C3, and the first end of the noise filter U3, the fourth end of the noise filter U3 is connected to the anode of the voltage zener diode V5, the first end of the capacitor C3, and the power ground end of the connector X1; the second end of the noise filter U3 is connected to the first end of the capacitor C4, the first end of the capacitor C6, the first end and the second end of the Schottky rectifier V1, the second end of the capacitor C4 is connected to the power ground PGND, and the capacitor The second end of C6, the first end of capacitor C5, and the third end of Schottky rectifier V1 are connected to the power ground, and the second end of capacitor C5 is connected to the power ground PGND; the third end of Schottky rectifier V1 is connected to the positive electrode of polar capacitor C10, the positive electrode of polar capacitor C11, the first end of resistor R99, and the first end of resistor R10, and the negative electrode of polar capacitor C10 and the negative electrode of polar capacitor C11 are connected to the power ground; the second end of resistor R99 outputs 12V power supply D12V, and the second end of resistor R10 outputs 12V power supply 12V_KD.

7. A somatosensory flight suit sensing device, characterized in that: Several vibrators are arranged around the neck, left shoulder, right shoulder, front of torso, back of torso, left waist and right waist of the flight suit; All vibrators are connected to the chest through wires, and the connected wires are formed into a cable harness through the interlayer of the flight suit, and a power supply is installed at the end of the harness, which is the chest. In addition, an aviation plug can also be used at the end of the harness to power the flight suit's sensing system.

8. The somatosensory flight suit sensing device according to claim 7, characterized in that: The basic flight information such as pitch up, pitch down, left bank, right bank, heading, altitude and speed can be known through the vibration of the vibrators in various parts of the flight suit. The aircraft's pitch-up information is expressed by the vibration of the vibrator in front of the torso; when the pitch-up angle is larger, the vibration frequency of the vibrator is higher; The aircraft's dive information is expressed through the vibration of the oscillator behind the trunk; the greater the pitch angle, the higher the vibration frequency of the oscillator; The aircraft's left tilt information is expressed through the vibration of the vibrator on the left waist; when the left tilt angle is larger, the vibration frequency of the vibrator is higher; The right tilt information of the aircraft is expressed by the vibration of the vibrator on the right waist; when the right tilt angle is larger, the vibration frequency of the vibrator is higher; The heading information of the aircraft is expressed by the vibration of the vibrators around the neck; when the heading is between 0 and 90 degrees, the vibrators in front and on the right side of the neck vibrate; when the heading is between 90 and 180 degrees, the vibrators on the right and back side of the neck vibrate; when the heading is between 180 and 270 degrees, the vibrators behind and on the left side of the neck vibrate; when the heading is between 270 and 360 degrees, the vibrators in front and on the left side of the neck vibrate; The aircraft's altitude information is expressed through the vibration of the vibrator on the left shoulder; the higher the aircraft's flying altitude, the higher the vibration frequency of the vibrator; The speed information of the aircraft is expressed through the vibration of the oscillator on the right shoulder; the faster the aircraft flies, the higher the vibration frequency of the oscillator.

9. The somatosensory flight suit sensing device according to claim 7, characterized in that: It also includes warning modes: one or any combination of ground proximity warning, stall warning, and high angle of attack warning; Ground proximity warning: When the aircraft's flight altitude is lower than the minimum altitude threshold, the vibrators on the left waist and left shoulder vibrate simultaneously; Stall warning: When the aircraft's flying speed is lower than the minimum speed threshold, the vibrators on the right waist and right shoulder vibrate simultaneously; High angle of attack warning: When the aircraft's flight slope is greater than the set slope threshold, the vibrators around the neck vibrate simultaneously.

10. The somatosensory flight suit sensing device according to claim 7, characterized in that: Also includes level flight mode and inverted flight mode: When the aircraft is in level flight mode, all the vibrators in front of the trunk vibrate simultaneously; When the aircraft is in inverted flight mode, all the vibrators behind the torso vibrate simultaneously.

Images