Tracing machine fire control circuit, traversing machine fire control system and traversing machine
By designing the fire control circuit in the crossing machine, the PWM signal output by the flight control module and outputting the corresponding signal to the throwing drive module, the problem of mis-pressed and safety hazards during power-on self-test of the crossing machine is solved, and a safer power-on and release process is achieved.
Patent Information
- Application Number
- CN202422253414.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-13
- Publication Date
- 2025-06-27
- Estimated Expiration
- 2034-09-13
AI Technical Summary
During the power-on self-test process of the crossover machine, the PWM signal generated by the flight control module may lead to mis-pressed projection, and the power-on self-test requires human operation, which poses safety hazards.
A cross-border fire control circuit is designed, including the main control module and the throw-out drive module. The main control module connects the flight control module and the throw-out drive module through the interface socket. The PWM signal output by the flight control module is analyzed and the action signal is output to the throw-out drive module to avoid missed shots.
By distinguishing the PWM signals output by the flight control system, the accidental throwing of the traversing machine is avoided, the safety of power-on self-test is improved, and the safety of operators is ensured.
Smart Images
Figure CN223038322U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of drones, in particular to the fire control circuit of drones, the fire control system of drones, and drones. Background Art
[0002] Currently, most of the control of the mounted and dropped objects by drones is to directly use the PWM signal output by the flight control module of the drone to drive and control the motor of the dropped object. When the drone is powered on, it will perform a self-check. During the power-on self-check process, the flight control module sometimes generates a PWM signal with a certain frequency, thus driving the motor of the controlled dropped object connected thereto, resulting in a mis-drop situation; and the drone needs to be powered on manually, and the mis-drop situation generated during the power-on self-check poses a certain safety hazard to the power-on personnel. Summary of the Utility Model
[0003] Embodiments of this application provide a fire control circuit of a drone, a fire control system of a drone, and a drone, so as to at least solve the problem of mis-drop during the power-on self-check of the drone with mounted items in the related art.
[0004] In a first aspect, an embodiment of this application provides a fire control circuit of a drone, including a first interface socket, a second interface socket, a throw drive module, and a main control module.
[0005] The input end of the main control module is connected to the flight control module of the drone through the first interface socket, the output end of the main control module is connected to the input end of the throw drive module, and the output end of the throw drive module is connected to the mounted throw module of the drone through the second interface socket.
[0006] Among them, the main control module is used to obtain the PWM signal output by the flight control module and perform action analysis, and output an action signal to the throw drive module; the throw drive module is used to generate a drive signal according to the action signal and send it to the mounted throw module, so that the mounted throw module performs corresponding actions according to the drive signal.
[0007] In an embodiment, the main control module includes a plurality of PWM signal receiving channels, and the PWM signal receiving channels are connected to the PWM signal sending channels of the flight control module. Among them, different PWM signal channels are used to transmit the PWM signals of corresponding actions.
[0008] In an embodiment, the main control module includes a main control chip, a first peripheral circuit, and a first interface unit.
[0009] The main control chip is connected to the first peripheral circuit and the throw drive module through the first interface unit.
[0010] In an embodiment, the throw drive module includes a drive chip, a second peripheral circuit, and a second interface unit.
[0011] The input end of the driving chip is connected to the first interface unit, and the output ends of the driving chip, the main control module, and the second peripheral circuit are connected to the second interface unit, and the second interface unit is externally connected to a mounted throwing module.
[0012] In one embodiment, the main control module is assembled on a first PCB board, and the throwing driving module is assembled on a second PCB board. In fact, the first PCB board and the second PCB board are inserted and embedded with each other.
[0013] In one embodiment, the first peripheral circuit includes a reset circuit, a crystal oscillator circuit, and a trigger circuit. The reset circuit, the crystal oscillator circuit, and the trigger circuit are respectively connected to the output end of the main control chip; among them
[0014] The reset circuit is used to provide a reset signal, the crystal oscillator circuit is used to provide a clock signal, and the trigger circuit is used to provide a start signal.
[0015] In one embodiment, the first peripheral circuit further includes a status display circuit. The status display circuit is connected to the output end of the main control chip and is used to indicate the working status of the cross machine.
[0016] In one embodiment, the second peripheral circuit includes a power supply circuit and a relay. Among them,
[0017] The input end of the power supply circuit is connected to an external battery and is used to supply power to the driving module; the relay is connected to the power supply circuit and is used to control the on-off of the power supply circuit.
[0018] In a second aspect, an embodiment of the present application provides a cross machine fire control system, including a remote controller, a flight control module, and the cross machine fire control circuit according to any one of the above embodiments. Among them,
[0019] The remote controller is communicatively connected to the flight control module through wireless communication, and the flight control module is electrically connected to the cross machine fire control circuit.
[0020] In a third aspect, an embodiment of the present application provides a cross machine, including the cross machine fire control system according to the above embodiment
[0021] The cross machine fire control circuit, the cross machine fire control system, and the cross machine provided by the embodiments of the present application at least have the following technical effects:
[0022] By adding a fire control circuit to the drone, and setting a first interface socket, a second interface socket, a throwing drive module, and a main control module, the main control chip is used to obtain the PWM signal output by the flight control module and perform action analysis, and output an action signal to the throwing drive module; the throwing drive module is used to generate a drive signal according to the action signal and send it to the mounted throwing module, so that the mount executes corresponding actions according to the drive signal. By distinguishing the PWM signals sent by the flight control system through the fire control circuit of the present application, the drone can be prevented from performing mis-throwing actions.
[0023] The details of one or more embodiments of the present application are set forth in the following drawings and description to make the other features, objects, and advantages of the present application more comprehensible. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] The drawings described herein are used to provide a further understanding of the present application and form a part of the present application. The illustrative embodiments and descriptions thereof are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:
[0025] Figure 1 is a structural block diagram of the fire control circuit of the drone in an embodiment of the present application;
[0026] Figure 2 is a schematic diagram of the connection relationship between the fire control circuit of the drone and the external structure in an embodiment of the present application;
[0027] Figure 3 is a schematic diagram of the physical structure of the fire control circuit of the drone in an embodiment of the present application;
[0028] Figure 4 is a schematic diagram of the physical structure of the drone in an embodiment of the present application;
[0029] Figure 5 is a circuit schematic diagram of the main control chip and the first interface unit in an embodiment of the present application;
[0030] Figure 6 is a circuit schematic diagram of the first peripheral circuit in an embodiment of the present application;
[0031] Figure 7 is a circuit schematic diagram of the second peripheral circuit in an embodiment of the present application;
[0032] Figure 8 is a circuit schematic diagram of the drive chip and the second interface unit in an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0033] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application will be described and explained below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments provided in the present application without creative efforts fall within the scope of protection of the present application.
[0034] Obviously, the accompanying drawings in the following description are only some examples or embodiments of the present application. For those of ordinary skill in the art, without creative efforts, the present application can also be applied to other similar scenarios based on these drawings. In addition, it can also be understood that although the efforts made in such a development process may be complex and lengthy, for those of ordinary skill in the art related to the content disclosed in the present application, some designs, manufacturing or production changes made based on the technical content disclosed in the present application are only conventional technical means and should not be understood as the content disclosed in the present application being insufficient.
[0035] Referring to "embodiments" in the present application means that the specific features, structures or characteristics described in connection with the embodiments may be included in at least one embodiment of the present application. The phrase appearing in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those of ordinary skill in the art explicitly and implicitly understand that the embodiments described in the present application can be combined with other embodiments without conflict.
[0036] Unless otherwise defined, the technical terms or scientific terms involved in this application shall have the ordinary meanings understood by those with ordinary skills in the technical field to which this application belongs. The words such as "a", "an", "one kind", "the" and the like involved in this application do not indicate a quantity limitation and may represent a singular or plural number. The terms "include", "comprise", "have" and any variations thereof involved in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may further include steps or units not listed, or may further include other steps or units inherent to these processes, methods, products or devices. The words such as "connect", "be connected", "couple" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "plurality" involved in this application means two or more. "And / or" describes the association relationship of associated objects and indicates that three relationships may exist. For example, "A and / or B" may represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the front and back associated objects. The terms "first", "second", "third" and the like involved in this application are only used to distinguish similar objects and do not represent a specific sorting of the objects.
[0037] In a first aspect, an embodiment of the present application provides a flight control circuit for a cross machine. Figure 1 It is a block diagram of the flight control circuit of the cross machine shown in this embodiment. As Figure 1 shown, the flight control circuit includes a first interface socket 3, a second interface socket 4, a throwing drive module 1 and a main control module 2.
[0038] The input end of the main control module 2 is connected to the flight control module of the cross machine through the first interface socket 3, the output end of the main control module 2 is connected to the input end of the throwing drive module 1, and the output end of the throwing drive module 1 is connected to the mounting and throwing module of the cross machine through the second interface socket 4. Among them, the main control module 2 is used to obtain the PWM signal output by the flight control module and perform action analysis, and output an action signal to the throwing drive module 1; the throwing drive module 1 is used to generate a drive signal according to the action signal and send it to the mounting and throwing module, so that the mounting performs corresponding actions according to the drive signal.
[0039] In this embodiment, the main control module 2 includes a plurality of PWM signal receiving channels ( Figure 2 there are 4 in the embodiment, which are PWM channels 1-4), a 5V voltage channel and a GND channel. Refer to Figure 2The PWM signal receiving channel is connected to the PWM signal sending channel of the flight control module, wherein different PWM signal channels are used to transmit PWM signals of corresponding actions.
[0040] The circuit schematic diagram of the main control module and the throwing drive module of this application is shown in Figures 5 - 8 Among them, Figure 5 and Figure 6 As shown, the main control module includes a main control chip ( Figure 5 Circuit diagram on the left), the first peripheral circuit ( Figure 6 Circuit diagram) and the first interface unit ( Figure 5 Circuit diagram on the right). In this embodiment, some pins of the main control chip are externally connected through the first interface unit, so as to facilitate the connection of the main control chip with other module circuits, wherein the main control chip is connected to the first peripheral circuit and the casting drive module through the first interface unit. In a preferred embodiment, the first peripheral circuit includes a reset circuit, a crystal oscillator circuit, a trigger circuit and a power input circuit, and the reset circuit, the crystal oscillator circuit and the trigger circuit are respectively connected to the output end of the main control chip, wherein the reset circuit is used to provide a reset signal, the crystal oscillator circuit is used to provide a clock signal, the trigger circuit is used to provide a start signal, and the power input circuit is used to provide a 3.3V voltage.
[0041] refer to Figure 6 , the reset circuit includes a first resistor R1, a first electronic switch K1 and a first capacitor C1, wherein K1 and C1 are connected in parallel and connected to a 3.3V power supply through R1. The reset circuit is connected to the reset pin NRST of the main control chip through the first interface unit. The crystal oscillator circuit includes two crystal oscillator chips of 8MHz and 32.768kHz, which are respectively connected to the OSC_IN / OUT pin and OSC32_IN / OUT of the main control chip to provide high-speed crystal oscillator and low-speed crystal oscillator. The trigger circuit includes a second resistor, a third resistor and a pin row, the pin No. 1 of the camera is connected to the 3.3V power supply, the pin No. 3 is grounded, and the two ends of the pin No. 2 are connected to the BOOT0 and PB2 pins of the main control chip through the second resistor R2 and the third resistor R3 respectively.
[0042] In a preferred embodiment, the first peripheral circuit further includes a status display circuit, which is connected to the output terminal of the main control chip and is used to indicate the working status of the drone. In this embodiment, the status display circuit is composed of a light emitting diode. Figure 6 The status display circuit of this embodiment includes a fourth resistor R4 and a light emitting diode D1, wherein one end of R4 is connected to the PA0 pin of the main control chip, the other end is connected to the anode of D1, and the cathode of D1 is grounded.
[0043] like Figure 7 and Figure 8As shown, the casting drive module includes a drive chip ( Figure 8 Circuit diagram on the left), the second peripheral circuit Figure 7 and the second interface unit ( Figure 8 The input end of the driver chip is connected to the first interface unit, and the output ends of the driver chip, the main control module and the second peripheral circuit are connected to the second interface unit, and the second interface unit is externally connected to the mounting casting module. Figure 7 The second peripheral circuit includes a power supply circuit and a relay, wherein the input end of the power supply circuit is connected to an external battery for supplying power to the driving module; the relay is connected to the power supply circuit for controlling the on and off of the power supply circuit.
[0044] refer to Figure 7 , wherein the input end of the power supply circuit is connected to the positive and negative electrodes BAT+ / BAT- of the external battery, and the output end outputs a 5V voltage, which can power the fire control circuit of the cross-country drone of the present application. The ON normally open and COM pins of the relay are connected to the output and input ends of the power supply circuit, the negative (-) pin of the relay is grounded, the positive (+) pin is connected to the FK_5V pin of the second interface unit, and the S pin is connected to the flight control module. In addition, the ON normally open pin is also connected to the ON pin of the second interface unit.
[0045] refer to Figure 8 , Figure 8 On the left are two driver chips, which are respectively connected to the 12VN / 12VP / 12VMOTOR_COMTROL and 5VN / 5VP / 5VMOTOR_COMTROL pins of the main control chip, obtain the signals sent by the main control chip, and then process them through the driver chip. Then, they output four signals: 12VMOTOR+ / - and 12VMOTOR+ / -, and then send these four signals to the mounting throwing module through the second interface unit.
[0046] In a preferred embodiment, the main control module uses a programmable MCU. In this embodiment, the STM32 series MCU is used. The main control module is connected to the PWM output port of the flight control of the flying machine. The interface connection diagram is as follows: Figure 2 As shown, the PWM signal is captured in real time, and the corresponding signal is output to the casting drive module in conjunction with the program logic design; the casting drive module is mainly composed of a motor driver chip and its surrounding circuits. In this implementation, the TB6612 motor driver chip is selected according to the motor characteristics of the 82-2 bomb type release. The main control module outputs the corresponding drive signal to control TB6612, and the output motor control signal is connected to the pogopin of the casting interface of the cross-country drone through a wiring harness.
[0047] In a preferred embodiment, reference Figure 3, the main control module is assembled on the first PCB board, and the throwing drive module is assembled on the second PCB board. In fact, the first PCB board and the second PCB board are inserted and embedded with each other. The board shape appearance is designed according to the structure of the drone frame. The relevant PWM signals output by the drone flight controller are connected to the specific socket interface of this device. In this embodiment, the fire control circuit is composed of the throwing drive module 1 and the main control module 2 inserted and embedded with each other. The throwing drive module 1 can also be replaced according to the type of the thrown item. The first interface socket 3 is connected to the pins of the drone flight controller module. The connection schematic diagram is as Figure 2 shown. The second interface socket 4 is connected to the pogopin of the relay switch and the drone mounting interface. The connection schematic diagram is as Figure 2 shown.
[0048] In this application, the main control module and the throwing drive module are made into a form of two PCBs inserted into each other and connected to the 20-pin interface (i.e., the first interface socket) through internal traces. After the PCBs are inserted into each other, they can be connected to each other. In this embodiment, it is set that PA1 - PA3 are the signal lines for the main control chip to connect to three channels on the flight controller module (which can correspond to three buttons on the remote controller). And it is set that PA1 is for unlocking, PA2 is for pulling the ring, and PA3 is for bomb throwing or resetting. The setting process can be logically programmed in the program and priorities are assigned at the same time. After the button on the remote controller is pressed, after being processed by the main control chip and the drive chip, finally four signals of 12VMOTOR+ / - and 5VMOTOR+ / - are output and connected to the mounting pogopin on the drone frame through the second interface socket connection, so as to drive the throwing device connected to the mounting pogopin.
[0049] For the fire control circuit provided in this application, by setting the channels of the drone remote controller buttons to correspond to specific channels of the drone flight controller, this device captures the PWM signals output by the drone flight controller, analyzes and judges the current remote controller buttons and button operations, and outputs the signals required for the corresponding operations to drive the motor according to the program programming settings of this device, avoiding the PWM signals generated by the drone flight controller self-check from directly affecting the motor misfiring, so as to realize the safe installation of the ammunition on the drone when it is powered on, and ensure the safety of the personnel during power-on and ammunition loading; at the same time, after the remote controller button is pressed, this module can perform multi-step logical operation control of the throwing, such as unlocking the fire control function, powering on the motor, resetting the motor, and single or multiple motors working simultaneously. During the flight, the state of the flight controller port capturing the button channel of the corresponding remote controller can be used to select whether to turn on the fire control function, and the motor can be controlled in the air to perform the projectile excitation operation according to the logical sequence (for example, the ring must be selected first to pull the ring, and selecting the pull ring first is invalid), so as to realize the aerial projectile delivery.
[0050] In summary, the present application adds a fire control circuit to the cross-shaped aircraft, and sets a first interface socket, a second interface socket, a throwing drive module, and a main control module. The main control chip is used to obtain the PWM signal output by the flight control module and perform action analysis, and output an action signal to the throwing drive module; the throwing drive module is used to generate a drive signal according to the action signal and send it to the mounted throwing module, so that the mount executes corresponding actions according to the drive signal. The fire control circuit of the present application distinguishes the PWM signals sent by the flight control system, thereby avoiding mis-throwing actions of the cross-shaped aircraft.
[0051] In a second aspect, an embodiment of the present application provides a cross-shaped aircraft fire control system, which includes a remote controller, a flight control module, and the cross-shaped aircraft fire control circuit according to any one of the above embodiments. Among them, the remote controller is communicatively connected to the flight control module through wireless communication, and the flight control module is electrically connected to the cross-shaped aircraft fire control circuit. For specific reference Figure 1 .
[0052] In a third aspect, an embodiment of the present application provides a cross-shaped aircraft, including the cross-shaped aircraft fire control system according to the second aspect embodiment, which can be referred to Figure 4 , Figure 4 is a physical structure diagram of a cross-shaped aircraft. During actual assembly, the fire control circuit device provided by the present application can be installed at an appropriate position of the cross-shaped aircraft according to the needs of users to ensure the stable operation of the cross-shaped aircraft.
[0053] It should be noted that the cross-shaped aircraft fire control system and cross-shaped aircraft provided in this embodiment are used to implement the above-mentioned implementation manners, and those that have been described will not be repeated. As used above, terms such as "module", "unit", "sub-unit", etc. can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the above embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.
[0054] The technical features of the above-mentioned embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.
[0055] The above-mentioned embodiments only represent several implementation manners of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the utility model patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.
Claims
1. A fire control circuit for a flying machine, characterized in that: It includes a first interface socket, a second interface socket, a throwing drive module and a main control module. The input end of the main control module is connected to the flight control module of the drone through the first interface socket, the output end of the main control module is connected to the input end of the throwing drive module, and the output end of the throwing drive module is connected to the mounting throwing module of the drone through the second interface socket; Among them, the main control module is used to obtain the PWM signal output by the flight control module and perform action analysis, and output the action signal to the throwing drive module; the throwing drive module is used to generate a driving signal according to the action signal, and send it to the mounting throwing module, so that the mounting throwing module performs corresponding actions according to the driving signal.
2. The fire control circuit of a flying drone according to claim 1, characterized in that: The main control module includes a plurality of PWM signal receiving channels, and the PWM signal receiving channels are connected to the PWM signal sending channels of the flight control module, wherein different PWM signal channels are used to transmit PWM signals of corresponding actions.
3. The fire control circuit of a flying drone according to claim 2, characterized in that: The main control module includes a main control chip, a first peripheral circuit and a first interface unit. The main control chip is connected to the first peripheral circuit and the casting drive module through the first interface unit.
4. The fire control circuit of a flying drone according to claim 3, characterized in that: The casting drive module includes a drive chip, a second peripheral circuit and a second interface unit; The input end of the driving chip is connected to the first interface unit, the output ends of the driving chip, the main control module and the second peripheral circuit are connected to the second interface unit, and the second interface unit is externally connected to the mounting and throwing module.
5. The fire control circuit of a flying drone according to claim 1, characterized in that: The main control module is assembled on a first PCB board, and the throwing drive module is assembled on a second PCB board. In fact, the first PCB board and the second PCB board are inserted and embedded in each other.
6. The fire control circuit of a flying drone according to claim 3, characterized in that: The first peripheral circuit includes a reset circuit, a crystal oscillator circuit and a trigger circuit, and the reset circuit, the crystal oscillator circuit and the trigger circuit are respectively connected to the output end of the main control chip; wherein The reset circuit is used to provide a reset signal, the crystal oscillator circuit is used to provide a clock signal, and the trigger circuit is used to provide a start signal.
7. The fire control circuit of a flying drone according to claim 3, characterized in that: The first peripheral circuit also includes a status display circuit, which is connected to the output end of the main control chip and is used to indicate the working status of the drone.
8. The fire control circuit of a flying drone according to claim 4, characterized in that: The second peripheral circuit includes a power supply circuit and a relay, wherein: The input end of the power supply circuit is connected to an external battery for supplying power to the drive module; the relay is connected to the power supply circuit for controlling the on and off of the power supply circuit.
9. A fire control system for a flying machine, characterized in that: It comprises a remote controller, a flight control module and a fire control circuit of a flying machine as claimed in any one of claims 1 to 8, wherein: The remote controller is connected to the flight control module by wireless communication, and the flight control module is electrically connected to the fire control circuit of the cross-country aircraft.
10. A flying drone, characterized in that: Including the fire control system of the flying machine as described in claim 9.