Infrared detection cooperative surveying and mapping unmanned aerial vehicle

Abstract

The utility model relates to the technical field of unmanned aerial vehicles, in particular to a collaborative surveying and mapping unmanned aerial vehicle based on pyroelectric human body infrared detection, which comprises a main control module, a power supply module, a communication module and an infrared sensor module, the power supply module provides electric energy for the main control module, the communication module and the infrared sensor module, and the communication module is used for wireless communication, data transmission and instruction receiving between the unmanned aerial vehicle and a ground station or other unmanned aerial vehicles. The infrared sensor module is used for detecting obstacles, measuring distance or navigating, converting detected infrared signals into digital signals and then processing the digital signals by the main control module, so that the unmanned aerial vehicle can stably fly in various complex environments and complete surveying and mapping tasks, and the problem that an existing surveying and mapping unmanned aerial vehicle cannot fly stably due to shooting dead angles is solved. The surveying and mapping unmanned aerial vehicle cannot avoid obstacles at dead angles, and collision occurs.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a cooperative mapping UAV for infrared detection. Background Art

[0002] With the rapid development of science and technology, drone technology is increasingly being used in various fields, especially in engineering surveying and mapping. Drones, with their advantages such as rapid response and remote control, are playing an irreplaceable role. In engineering surveying and mapping, drones can quickly enter construction areas and photograph and map them, providing critical support for engineering surveying and mapping.

[0003] However, when existing surveying and mapping drones are surveying and mapping buildings, due to the limited shooting range of the camera and blind spots, the surveying and mapping drones cannot avoid obstacles in the blind spots, and the drones may collide with obstacles. Utility Model Content

[0004] The purpose of the utility model is to provide a cooperative mapping UAV with infrared detection, aiming to solve the problem that the existing mapping UAVs cannot avoid obstacles in the blind spots due to blind spots in shooting, and thus collide with them.

[0005] To achieve the above objectives, the present invention provides a collaborative mapping drone with infrared detection, comprising a main control module, a power module, a communication module, and an infrared sensor module, wherein the power module is connected to the main control module, the communication module, and the infrared sensor module, respectively; and the main control module is connected to the communication module and the infrared sensor module, respectively.

[0006] The main control module is used to receive and process the data from the infrared sensor module and control the flight of the UAV according to a preset algorithm and control logic;

[0007] The power supply module is used to provide power to the main control module, the communication module and the infrared sensor module;

[0008] The communication module is used for wireless communication between the UAV and the ground station or other UAVs, transmitting data and receiving instructions;

[0009] The infrared sensor module is used to detect obstacles, measure distance or perform navigation, and converts the detected infrared signal into a digital signal, which is processed by the main control module.

[0010] The power supply module includes an input unit, a voltage reduction unit, a management and monitoring unit, a current sampling unit and an ADC analog-to-digital conversion unit.

[0011] The communication module includes an impedance matching unit, a filtering unit, an amplifying circuit unit and a WIFI unit.

[0012] Among them, the ADC analog-to-digital conversion unit includes an operational amplifier, a resistor R41, a resistor R42, a resistor R43, a resistor R44, a resistor R45, a resistor R46, a capacitor C41, a capacitor C42 and a diode D2, the operational amplifier is connected to the resistor R44, the resistor R46 and the diode D2, the resistor R45 is connected to the resistor R44, the negative input terminal of the operational amplifier is respectively connected to the resistor R41, the capacitor C41 and the resistor R42, and the resistor R43 and the capacitor C42 are respectively connected to the positive input terminal of the operational amplifier.

[0013] The impedance matching unit includes an inductor L7, a capacitor C39, a capacitor C40 and a resistor R40. The inductor L7 is connected to the resistor R40, and the capacitor C39 and the capacitor C40 are respectively connected to the inductor L7.

[0014] The utility model discloses a collaborative mapping drone with infrared detection. The main control module receives and processes data from the infrared sensor module and controls the flight of the drone according to a preset algorithm and control logic. The power module provides power to the main control module, the communication module, and the infrared sensor module. The communication module is used for wireless communication between the drone and a ground station or other drones, transmitting data and receiving instructions. The infrared sensor module is used to detect obstacles, measure distances, or perform navigation. The detected infrared signals are converted into digital signals and processed by the main control module. Specifically, the infrared sensor module uses an infrared transmitter to emit infrared light of a specific wavelength. When this light encounters an obstacle, it is reflected or absorbed and then captured by an infrared receiver. Based on the changes in the received signal intensity, the distance and relative position of the obstacle can be determined. The detector converts the received infrared signal into a digital signal, which is then processed by a microprocessor in the main control module to determine whether an obstacle exists, as well as the distance and direction of the obstacle. This ensures that the drone can fly stably in various complex environments and complete mapping tasks. It solves the problem that existing mapping drones cannot avoid obstacles in blind spots due to blind spots. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art.

[0016] Figure 1 This is a schematic diagram of module connections for a collaborative mapping drone with infrared detection in the utility model.

[0017] Figure 2This is a circuit diagram of a main control module of a cooperative mapping UAV with infrared detection in the utility model.

[0018] Figure 3 This is the circuit diagram of the step-down unit of the power module.

[0019] Figure 4 This is the circuit diagram of the management and monitoring unit of the power module.

[0020] Figure 5 This is the circuit diagram of the current sampling unit of the power module.

[0021] Figure 6 This is the circuit diagram of the ADC analog-to-digital conversion unit of the power module.

[0022] Figure 7 This is the circuit diagram of the impedance matching unit of the communication module.

[0023] Figure 8 This is the circuit diagram of the filter unit of the communication module.

[0024] Figure 9 This is the circuit diagram of the amplifier circuit unit of the communication module.

[0025] Figure 10 This is the circuit diagram of the WIFI unit of the communication module.

[0026] Figure 11 This is the circuit diagram of the infrared sensor module.

[0027] In the figure: 1-main control module, 2-power module, 3-communication module, 4-infrared sensor module. DETAILED DESCRIPTION

[0028] The following describes in detail embodiments of the present invention, 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 intended to explain the present invention, and should not be construed as limiting the present invention.

[0029] See also Figures 1 to 11 The utility model provides a collaborative mapping drone with infrared detection, comprising a main control module 1, a power module 2, a communication module 3 and an infrared sensor module 4. The power module 2 is connected to the main control module 1, the communication module 3 and the infrared sensor module 4 respectively, and the main control module 1 is connected to the communication module 3 and the infrared sensor module 4 respectively;

[0030] The main control module 1 is used to receive and process data from the infrared sensor module 4 and control the flight of the drone according to a preset algorithm and control logic;

[0031] The power supply module 2 is used to provide power to the main control module 1, the communication module 3 and the infrared sensor module 4;

[0032] The communication module 3 is used for wireless communication between the UAV and the ground station or other UAVs, transmitting data and receiving instructions;

[0033] The infrared sensor module 4 is used to detect obstacles, measure distance or perform navigation, and converts the detected infrared signal into a digital signal, which is processed by the main control module 1.

[0034] In this embodiment, the main control module 1 receives and processes data from the infrared sensor module 4 and controls the flight of the drone according to a preset algorithm and control logic. The power module 2 provides power to the main control module 1, the communication module 3, and the infrared sensor module 4. The communication module 3 is used for wireless communication between the drone and a ground station or other drones, transmitting data and receiving instructions. The infrared sensor module 4 is used to detect obstacles, measure distances, or perform navigation. It converts detected infrared signals into digital signals, which are then processed by the main control module 1. Specifically, the infrared sensor module 4 uses an infrared transmitter to emit infrared light of a specific wavelength. When this light encounters an obstacle, it is reflected or absorbed and then captured by an infrared receiver. Based on the changes in the received signal intensity, the distance and relative position of the obstacle can be determined. The detector converts the received infrared signal into a digital signal, which is then processed by the microprocessor in the main control module 1 to determine the presence of an obstacle, as well as the distance and direction of the obstacle. This ensures that the drone can fly stably in various complex environments and complete surveying and mapping tasks. This solves the problem of existing surveying and mapping drones being unable to avoid obstacles in blind spots due to blind spots.

[0035] Furthermore, the power supply module 2 includes an input unit, a step-down unit, a management and monitoring unit, a current sampling unit and an ADC analog-to-digital conversion unit. The ADC analog-to-digital conversion unit includes an operational amplifier, a resistor R41, a resistor R42, a resistor R43, a resistor R44, a resistor R45, a resistor R46, a capacitor C41, a capacitor C42 and a diode D2. The operational amplifier is connected to the resistor R44, the resistor R46 and the diode D2, the resistor R45 is connected to the resistor R44, the negative input terminal of the operational amplifier is respectively connected to the resistor R41, the capacitor C41 and the resistor R42, and the resistor R43 and the capacitor C42 are respectively connected to the positive input terminal of the operational amplifier.

[0036] In this embodiment, the input unit is powered by a 3.3V power supply, stabilized by decoupling capacitors, and provided with a stable clock signal by a crystal oscillator, enabling the serial communication functionality of the UART interface. Each pin has a clear division of labor, forming a complete UART communication interface circuit. VDDA, the analog power pin of the microcontroller, is typically connected to a stable 3.3V power supply. While VDDA shares the same power supply as the digital power supply VDD, a capacitor connected to ground is used to filter noise on the analog power line, thereby improving the stability and accuracy of the analog circuit. Furthermore, connecting capacitors of different capacities can effectively filter noise of different frequencies. Capacitor C47 has a 0402 package size (1.0mm x 0.5mm) and a nominal capacitance of 1μF. Due to its large capacitance, it is suitable for low-frequency filtering, removing low-frequency noise or providing energy reserve, thereby providing stable voltage support for the circuit. Capacitors C46 and C48 also use 0402 packages and have a nominal capacitance of 0.1μF. Due to their small capacity, this type of capacitor is suitable for high-frequency filtering and can effectively remove high-frequency noise in the circuit to ensure system stability.

[0037] Furthermore, a crystal oscillator (OSC) is a key component for generating stable clock signals, often used in applications requiring high-precision timing control, such as UART communications. The crystal oscillator's input pin, OSC I, and output pin, OSC O, generate and transmit clock signals, ensuring accurate circuit timing. Capacitor C48, used in conjunction with the crystal oscillator, regulates and stabilizes the oscillator's frequency, thereby improving the stability and reliability of the clock signal.

[0038] Working principle of the power input unit: The power input unit of the drone is mainly responsible for receiving energy from an external power source, which is usually achieved through a battery. The power input unit contains a battery interface and an interface for connecting to the internal circuit of the drone. These interfaces ensure that the battery can be safely connected to the drone circuit. When the drone is charging, the power input unit also contains a charging management circuit, which can monitor the battery's charging status, prevent overcharging and over-discharging, and balance the charge between battery cells to extend battery life. The power input unit also contains protection circuits such as overcurrent protection, overvoltage protection, and short-circuit protection to ensure the stability and safety of the power system.

[0039] The step-down unit implements DC / DC conversion, converting a higher input voltage into a lower output voltage while ensuring output voltage stability to meet the system's precise voltage supply requirements. The step-down unit consists of the MP2315SGJ-Z, a diode, a capacitor, a resistor, and an inductor. The core component, the MP2315SGJ-Z, regulates the output voltage by controlling the switching frequency of its internal power switch, converting a higher input voltage into a stable, lower output voltage. In this system, it converts a +12V DC voltage into the required +5V DC voltage. Resistors R3 and R2 form a feedback network that monitors the output voltage and feeds it back to the MP2315SGJ-Z chip, enabling dynamic adjustment of the output voltage to ensure it remains at the set, stable value.

[0040] Diode SMAJ12A serves as a rectifying and protective element, ensuring that current flows in only one direction, preventing reverse current from damaging other components. Capacitors C1-C8 are primarily used to filter high-frequency noise, stabilize the DC power supply, and store electrical energy, helping to suppress power supply ripple and improve circuit stability. Resistors R1-R5 are used to set bias current, limit current, divide voltage, and set the gain of the feedback network, ensuring that each circuit operates within a safe current range. Inductor L1 and capacitors C1-C8 together form an LC resonant circuit, which can store magnetic field energy and release it when needed, thereby smoothing current fluctuations and further stabilizing circuit performance.

[0041] The buck unit operates according to the following principle: Various electronic components in a drone, such as the flight control board, motor drivers, and sensors, require different operating voltages. The buck unit converts the higher voltage supplied by the power input unit into the lower voltage required by the electronic components. The buck unit receives the higher voltage from the power input unit and converts the high voltage into a lower voltage using one or more buck converters. These converters typically use switching technology, regulating the output voltage by controlling the on and off switching elements. They step down a DC voltage to a lower DC voltage of the same polarity. Buck converters are essential in systems using distributed power rails, providing on-site voltage conversion with minimal power loss. In operation, the input voltage is connected to an inductor. The difference between the input and output voltages is then forced through the inductor, causing current to increase. This current flows simultaneously into the load and the output capacitor, charging the capacitor. When the switch is closed, the capacitor discharges into the load, increasing the total current (the sum of the inductor and capacitor currents). Because ripple may be generated during this conversion process, the buck unit incorporates filtering circuits (such as capacitors and inductors) to provide a smooth and stable DC output. The voltage regulator monitors the output voltage and adjusts switching behavior through a feedback mechanism to ensure the output voltage remains at a preset stable level. The buck unit also includes various protection features, such as overtemperature protection, overload protection, and short-circuit protection, to prevent module damage and system failure.

[0042] The management and monitoring unit ensures the safety and reliability of the lithium battery during use, preventing damage during charging, discharging, or use. The DW01 chip regulates the output voltage to ensure stable power supply within the circuit. The control logic dynamically adjusts the circuit's operating state based on external conditions to optimize system performance. Battery BAT+ and Battery BATT- serve as the primary energy sources for the entire circuit, providing power to various components.

[0043] Two BSS123 diodes act as unidirectional conducting elements, allowing current to flow in only one direction, preventing reverse current and preventing damage to the circuit from excessive voltage. Resistors R1-R3 act as current limiters in the circuit, preventing excessive current from damaging other components. They coordinate with other components in series or parallel connection to achieve precise voltage distribution. Capacitors C1 and C3 store energy in the circuit and release it when needed, smoothing the AC ripple in the DC power supply, thereby improving the quality and stability of the power supply.

[0044] The management and monitoring unit operates as follows: The protection module monitors the voltage of each lithium battery cell in real time to ensure it is within a safe operating range. The normal operating voltage of a lithium battery cell is typically between 2.5V and 4.2V. If the voltage of any cell exceeds a set upper limit (usually 4.2V), the protection module shuts off the battery output to prevent overcharging. If the voltage of any cell falls below a set lower limit (usually 2.5V or 2.8V), the protection module also shuts off the output to prevent overdischarge. The protection module monitors the charging current to ensure it does not exceed the battery's maximum charge rate. It monitors the discharging current to ensure it does not exceed the battery's maximum discharge rate. Whether charging or discharging, if the current exceeds the battery's maximum tolerance, the protection module immediately shuts off the circuit to prevent battery damage or danger. The protection module uses a built-in or external temperature sensor to monitor the battery temperature in real time. If the battery temperature exceeds the set upper limit, the protection module shuts off the battery output to prevent overheating and damage or fire. If the battery temperature falls below the set lower limit, the protection module also shuts off the output, as discharging at low temperatures can degrade or damage the battery. Because the voltage and capacity of individual battery cells may vary during use, the protection module uses a balancing circuit to adjust the voltage of each cell to maintain consistency, thereby extending the battery life. The protection module uses a built-in MOSFET (metal oxide semiconductor field effect transistor) switch to control the battery's charge and discharge paths. The protection module also provides feedback to the drone's flight control system regarding battery status (such as voltage, current, and temperature), allowing it to adjust flight strategies or perform troubleshooting. This mechanism ensures the safety and reliability of the drone during flight, preventing accidents caused by battery problems. It also extends the battery life and reduces maintenance costs.

[0045] The current sampling unit monitors the battery's discharge current to assess its remaining capacity and health. This is crucial for ensuring safe flight and extending battery life. Monitoring the motor's current also allows for more precise control of motor speed and torque.

[0046] The INA240A1QDRQ1 chip in the current sampling unit is a crucial component of a complete current sampling system. Two operational amplifiers act as differential amplifiers, amplifying the tiny voltage difference between the two input terminals for more accurate current measurement. Resistors R17 and R18 also form a voltage drop detection point. When current passes through it, a voltage signal proportional to the current is generated. After passing through the operational amplifier, the weak electrical signal is amplified. Capacitors C13, C14, and C28 act as filters, smoothing high-frequency noise and ensuring that subsequent processing circuits receive only stable DC signals.

[0047] The current sampling unit operates by connecting a resistor of known low resistance, called a shunt resistor, in series with the motor's power line. When current flows through this resistor, a voltage drop is generated across it (according to Ohm's law, V = IR). The amplifier in the current sampling module measures the voltage drop across the shunt resistor. This voltage drop is very small, so a high-precision amplifier is required to amplify the signal. The amplified voltage signal is filtered and processed to reduce noise and interference, ensuring accurate measurement results. The current flowing through the motor (I = V / R) can be calculated using the amplified voltage signal and the known shunt resistor value. Real-time monitoring of the drone's motor current consumption assesses the motor's operating status and the remaining battery charge. If the current exceeds a preset safety threshold, the current sampling module can trigger protective measures, such as disconnecting the power supply or notifying the flight control system to take appropriate action. By monitoring the battery's discharge current, the remaining battery capacity and health status can be more accurately calculated. By analyzing this current data, the drone's power performance can be understood and flight control algorithms optimized. The current sampling module is typically connected to the drone's flight control system, transmitting the current data to the flight control system. The flight control system can use this data to adjust the motor's output power for more precise flight control or to execute safety procedures when necessary. The current sampling module is a crucial component in drone systems, ensuring not only flight safety but also improving battery efficiency and overall drone performance.

[0048] The ADC analog-to-digital conversion unit is used to convert analog signals output by various sensors on the drone into digital signals for processing by the flight control system. The LM324DT is a four-channel operational amplifier integrated circuit commonly used in comparator, voltage follower, or other linear amplifier configurations. The input terminals of the operational amplifier include positive input (+) and negative input (-). The output terminal is connected to the input terminal through a feedback resistor to form a closed-loop system to stabilize its gain. Resistors R41 to R46 are used for voltage division, current limiting, or as part of the feedback network to adjust and stabilize the amplifier's gain. R41 and R42 form a voltage divider to provide a reference voltage for the non-inverting input terminal of the operational amplifier.

[0049] Capacitors C41 and C42 are used for filtering and decoupling, primarily to remove high-frequency noise and ensure a stable DC operating point for the circuit. Diode D2, through its unidirectional conductivity, protects the circuit from reverse voltage damage to the operational amplifier, ensuring that the amplifier's output voltage remains within its supply voltage range. The analog-to-digital conversion result is connected to pin P21 of main control module 1.

[0050] To convert an analog signal into a digital signal, the analog signal is first applied to one input of an operational amplifier (OPA). The other input is set to a fixed reference voltage via a resistor divider. When the analog signal's amplitude exceeds this reference voltage, the op amp's output goes high; otherwise, the output remains low. This comparison function converts a continuously varying analog signal into a discrete binary signal.

[0051] Conversely, when converting a digital signal to an analog signal, the digital signal can be manipulated by adjusting the input state of an operational amplifier (OPA) to control its output voltage. Typically, this involves programming the OPA to produce an analog output corresponding to the digital input signal. The entire signal conversion process relies on the linear amplification characteristics of the OPA, the voltage divider circuit, and the filtering function of the capacitor, which work together to achieve precise signal conversion.

[0052] The ADC operates as follows: The ADC first samples the analog signal, reading its value at specific time intervals. The sampling frequency must satisfy the Nyquist theorem, meaning it must be at least twice the highest frequency of the signal to avoid aliasing. The sampled analog signal must remain constant for a period of time to facilitate subsequent quantization. This is typically achieved using a sample-and-hold circuit. The ADC converts a continuous analog signal into a finite number of discrete values. This process involves mapping the analog signal's amplitude to the nearest digital value. The quantized discrete values ​​are converted to binary code so they can be read and processed by a microprocessor or digital signal processor (DSP). The ADC samples the analog signal at a fixed frequency. The sample-and-hold circuit ensures that the signal remains stable during the conversion process. The ADC quantizes the analog signal's amplitude into corresponding digital values ​​based on its resolution (e.g., 12-bit, 16-bit, etc.). The quantized digital values ​​are converted to binary numbers, typically output in parallel or serial form. The converted digital data is then output to the drone's flight control system (FCS) or other processing units. The flight control system or other processing units use this digital data to perform various tasks such as attitude control, navigation, battery monitoring, etc.

[0053] Furthermore, the communication module 3 includes an impedance matching unit, a filtering unit, an amplifying circuit unit and a WIFI unit. The impedance matching unit includes an inductor L7, a capacitor C39, a capacitor C40 and a resistor R40. The inductor L7 is connected to the resistor R40, and the capacitor C39 and the capacitor C40 are respectively connected to the inductor L7.

[0054] In this embodiment, the impedance matching unit is used to ensure maximum power transmission and minimum reflection loss of the signal to optimize the performance and efficiency of the RF system. A π-type matching circuit (also known as a three-element matching circuit) can effectively match the 50Ω impedance of the antenna and the circuit. The input end of the impedance matching unit is connected to the antenna, and an inductor L7 and a resistor R40 are connected in series between the antenna and the circuit. After L7, two capacitors C39 and C40 are connected in parallel. It should be noted that capacitors C39 and C40 are not directly connected in parallel, but are each connected to different nodes of the circuit, C40 is closer to one end of the antenna, and C39 is closer to the rest of the circuit, thus forming a π-type matching circuit structure. By adjusting the values ​​of inductor L7 and capacitors C39 and C40, impedance matching between the antenna and the circuit can be achieved. When the impedance of the signal source matches that of the load, the signal can be transmitted to the load with maximum efficiency, reducing reflection loss, thereby improving the transmission performance of the overall system.

[0055] The working principle of the impedance matching unit: In a drone system, a signal (such as a wireless communication signal) needs to be transmitted from a transmitter (such as an antenna) to a receiver. If the characteristic impedance of the transmitter and the transmission line does not match the input impedance of the receiver, the signal will be reflected on the transmission line, resulting in signal loss and distortion. Impedance mismatch will cause the reflection coefficient to be non-zero. The reflection coefficient (Γ) is the ratio of the reflected wave to the incident wave voltage (or current), and its value is between -1 and 1. The impedance matching circuit is usually composed of a series of passive components (such as capacitors, inductors, transformers, etc.). Their function is to adjust the impedance of the circuit to match the characteristic impedance of the transmission line or the input impedance of the receiver. The impedance matching circuit is crucial in the drone system. It ensures the efficient transmission of signals and power, thereby improving the performance and reliability of the drone.

[0056] The filtering unit is used to filter out unnecessary interference signals and ensure the purity of the communication signal. For high-frequency communication applications such as Wi-Fi or 5G, a suitable bandpass filter can be designed to allow only signals in the target frequency band to pass through and block clutter signals in other frequency bands, thereby achieving effective filtering and optimization of the communication signal. The filtering unit is a bandpass filter, and the circuit consists of an operational amplifier, a resistor, and a capacitor. Inductors L5 and L6 and capacitors C35 and C36 form an LC oscillation circuit, which constitutes the basic structure of the bandpass filter. Typically, a bandpass filter uses multiple LC resonant units, each of which is tuned to a specific frequency within the filter bandwidth to achieve a wider bandwidth and a flat frequency response.

[0057] Bandpass filters are frequency-selective for input signals, allowing only signals within a predetermined frequency range to pass through while effectively rejecting signals at other frequencies. This selectivity is achieved through resonance within the circuit, ensuring that the system processes only signals within the target frequency range, thereby optimizing signal quality and minimizing interference.

[0058] The input end of the filter is connected to the output end of the impedance matching circuit, and the output end is connected to the input end of the amplifier circuit for subsequent processing.

[0059] The working principle of the filtering unit: Sensors, wireless communication modules, motor control signals, and other components in a drone system all generate or receive electrical signals. These signals may contain useful information (such as data or control instructions) and unwanted noise or interference. The filtering circuit analyzes the frequency content of the signal to distinguish between useful signals and noise. This is typically achieved using passive components such as capacitors and inductors or active components such as operational amplifiers. Passive components such as capacitors and inductors are used to construct filters. Capacitors exhibit different capacitive reactances for signals of different frequencies, while inductors exhibit different inductive reactances. Using active components such as operational amplifiers to construct filters provides more precise filtering characteristics and can increase gain. The filter design depends on the desired cutoff frequency, the filter order (which determines the steepness of the filter curve), and the desired filter type. The filtering circuit is an indispensable component of a drone system. By precisely controlling the signal frequency, it ensures stable and reliable operation of the drone in various complex environments.

[0060] The amplifier circuit unit is used to enhance signal strength and improve the signal's anti-interference ability, ensuring that the signal remains clear and stable during reception and transmission. The bidirectional amplifier circuit can effectively compensate for signal losses caused by attenuation or noise during transmission, thereby improving the overall performance and reliability of the communication system.

[0061] An amplifier circuit typically consists of components such as an operational amplifier and a feedback network. By adjusting the amplifier's gain and the parameters of the feedback network, the signal's amplification factor and stability can be precisely controlled. In this circuit, the amplifier's input is connected to the filter's output, while the amplifier's output is connected to subsequent circuitry, while appropriate bias voltage and power are provided for the amplifier.

[0062] Operational amplifiers U19.1 and U20.1 are primarily used for signal amplification. Resistors R33 and R34 are input resistors, through which the input signal is connected to the non-inverting input of the operational amplifier. Capacitors C31 and C32 are coupling capacitors, isolating the DC component and allowing only the AC signal to pass. Resistors Rf1 and Rf2 are feedback resistors, which together determine the amplifier's gain.

[0063] Transistors Q1 and Q2 control the direction of signal transmission. Control Sig is the direction control signal that controls the conduction state of transistors Q1 and Q2. When the Control Signal is high, the inverter outputs a low level, transistor Q1 is turned off, and transistor Q2 is turned on. The signal from Vin2 is amplified by U20.1 and output to VOUT2. When the Control Signal is low, the inverter outputs a high level, transistor Q1 is turned on, and transistor Q2 is turned off. The signal from Vin1 is amplified by U19.1 and output to VOUT1.

[0064] The amplifier circuit unit operates as follows: The amplifier receives an input signal, which can be either an alternating current (AC) or a direct current (DC) signal. The input signal enters the amplifier through a coupling element (such as a capacitor or transformer) to prevent the DC component from affecting the amplifier's operating point. The amplifier internally contains multiple transistors (BJTs, FETs, etc.) or active components (such as operational amplifiers). For voltage amplifiers, the transistors are configured as a common-emitter (CE) or common-source (CS) amplifier circuit to provide voltage gain. For current amplifiers, the transistors are configured as a common-base (CB) or common-gate (CG) amplifier circuit to provide current gain. For transistors to operate properly, a stable bias current or voltage is required to ensure that the transistors operate in their optimal operating region (i.e., the linear region). The amplifier includes a feedback network to stabilize the gain and improve the frequency response. The amplified signal is delivered to the load through an output coupling element (such as a capacitor or transformer) without affecting the internal operation of the amplifier.

[0065] The Wi-Fi unit is used to achieve wireless communication and flight control between the UAV and the ground control station, and is used to send flight commands and receive UAV status information. The 10μF filter capacitor C33 is used to stabilize the power output and ensure the smoothness of the supply voltage. The 10kΩ resistors R58 and R59 are pull-up resistors used to ensure that the GPIO pins are in a high-level state when not connected. The 100nF decoupling capacitor C34 is used to reduce the interference of high-frequency noise on the power supply and ensure stable operation of the system. The 10kΩ pull-down resistor R60 is used to ensure that the unconnected GPIO pins are in a low-level state to avoid instability caused by the pins being left floating.

[0066] The main control module 1, as the core of the system, is responsible for data processing, program execution, and peripheral device control. It can connect and communicate with multiple external devices through interfaces such as GPIO and SPI. The Wi-Fi transceiver integrated into the ESP8266 chip enables the device to access wireless networks and communicate wirelessly with remote servers or terminals such as smartphones.

[0067] Here's how the Wi-Fi unit works: When the drone boots up, the Wi-Fi module performs initialization, including hardware self-tests, firmware loading, and configuration parameter loading. The Wi-Fi module scans for surrounding radio signals and lists all available Wi-Fi networks. The drone operator selects a network to connect to and enters the necessary authentication information (such as a password). The Wi-Fi module uses security protocols such as WPA (Wi-Fi Protected Access), WPA2, or WPA3 to authenticate and encrypt the connection with the wireless access point (AP). Once connected to the network, the Wi-Fi module obtains an IP address from the network's DHCP server via the Dynamic Host Configuration Protocol (DHCP). The Wi-Fi module can now send and receive data packets. The drone transmits flight data (such as position, speed, and battery status) to the ground control station via the Wi-Fi module. The ground control station sends flight commands (such as takeoff, landing, and heading adjustments) to the drone via the Wi-Fi module. Data collected by the drone during a mission can be synchronized to a ground station or other network storage device via the Wi-Fi module. The Wi-Fi module continuously monitors signal quality and reconnects when necessary. It also manages signal strength to maintain an optimal connection to the access point. When the drone mission is completed or required for safety reasons, the WIFI module will disconnect from the WIFI network.

[0068] Furthermore, the main control chip of the main control module 1 adopts STM32FA11CUU6TR, which is based on the ARM Cortex-M3 processor and has excellent processing performance and running speed. It can well call each module and execute the functions of this system. The circuit diagram of the main control module 1 is as follows: Figure 1 shown.

[0069] The main control module 1 operates by using integrated sensors to sense the drone's state and environment. The data provided by these sensors is integrated and processed to obtain the drone's precise position, speed, attitude, and other information. The flight control system calculates the drone's pitch, roll, and yaw attitude based on this sensor data. Using PID (proportional-integral-derivative) control, the main control module 1 calculates the control variables required to achieve the desired flight state. Based on a preset flight plan or real-time mission instructions, the flight control system determines the drone's flight path, speed, altitude, and other parameters. The main control module 1 sends signals to the electronic speed controller (ESC) to control the drone's motor speed, thereby generating thrust. For fixed-wing drones, the flight control system controls control surfaces (such as ailerons, elevator, and rudder) to change flight attitude and direction. The flight control system continuously receives sensor feedback, compares it with the desired state, and then adjusts control signals to ensure the drone accurately follows flight instructions. The main control module 1 exchanges data with the ground control station via a wireless communication link, receiving instructions and transmitting status information. The flight control system communicates with external navigation devices (such as GPS) and obstacle avoidance systems (such as vision and radar) to achieve precise navigation and obstacle avoidance. The flight control system monitors the health of the system in real time and takes immediate action if a fault or anomaly is detected. In the event of an emergency, the flight control system will execute pre-set emergency procedures, such as automatic return home and safe landing. The efficient operation of the main control module 1 ensures that the drone can fly stably in various complex environments and complete its designated mission.

[0070] Furthermore, the infrared sensor module 4 is used to detect obstacles in front of or around the drone, such as walls and trees, helping the drone avoid obstacles, particularly indoors or in environments with insufficient GPS signals. When the pyroelectric sensor detects infrared radiation emitted by a human body, the material inside the sensor undergoes a physical change due to the infrared energy, generating an electric charge related to the temperature difference. This charge signal is amplified by an operational amplifier and converted into a stable voltage output. This voltage signal can be used to trigger a response action in subsequent circuits. For example, when the infrared sensor detects infrared radiation of a certain intensity, the sensor converts this physical signal into an electrical signal. The signal processing unit analyzes the signal to determine whether a preset trigger condition has been met. The drone's control unit performs a logical analysis based on the signal processing results. If the logical analysis determines that an alarm or control action is necessary, the control unit sends instructions to the corresponding execution module. The control unit activates a buzzer and LED light to issue an audible or visual warning. The control unit can also send a warning message to the remote operator. If the infrared sensor detects insufficient light, the control unit can turn on the drone's lighting, such as an LED or searchlight. The core component, U13, pyroelectric sensor, is used to detect temperature changes caused by the proximity of a human body. When a person approaches, the sensor generates a small voltage signal. Filter capacitors C22, C23, and C25 filter out high-frequency noise and stabilize the output signal. Resistors R21, R24, R26, R27, R29, R30, and R31 are used in the circuit to set the operating point and implement voltage division.

[0071] Operational amplifiers U14.1 and U15.1 amplify the weak signal output by the pyroelectric sensor, raising it to a sufficient level for subsequent circuit processing or for directly driving a load. Voltage regulator U16.1 ensures that the operating voltage of the entire circuit remains stable within an appropriate range, preventing voltage fluctuations that could affect circuit performance. The processed signal is output at the PIR_out terminal and can be used to control other devices or trigger alarms.

[0072] The infrared sensor module 4 operates according to the following principles: an infrared transmitter emits infrared light of a specific wavelength. When this light encounters an obstacle, it is reflected or absorbed and then captured by an infrared receiver. The distance and relative position of the obstacle can be determined based on changes in the received signal strength. A detector converts the received optical signal into an electrical signal, which is then processed by the module's microprocessor. An infrared obstacle avoidance module typically consists of an infrared transmitter, a receiver, a signal processing circuit, and control logic. The infrared transmitter uses an infrared LED that emits infrared light of a specific wavelength. The transmitter's power, wavelength, and emission angle are important parameters for selecting an infrared transmitter, as they directly affect the performance and range of obstacle avoidance. The receiver, typically a photodiode or photoresistor, generates a current change when it receives reflected infrared light. This circuit amplifies the weak electrical signal output by the receiver and filters it to extract valid information. Circuits such as operational amplifiers and comparators analyze the output of the signal processing circuit to determine the presence of an obstacle, as well as its distance and direction.

[0073] The above disclosure is only a preferred embodiment of a collaborative mapping drone with infrared detection of the present application, and it cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made in accordance with the claims of the present application are still within the scope covered by the present application.

Claims

1. A collaborative mapping drone with infrared detection, It is characterized by: It includes a main control module, a power module, a communication module and an infrared sensor module, wherein the power module is connected to the main control module, the communication module and the infrared sensor module respectively, and the main control module is connected to the communication module and the infrared sensor module respectively; The main control module is used to receive and process the data from the infrared sensor module and control the flight of the UAV according to a preset algorithm and control logic; The power supply module is used to provide power to the main control module, the communication module and the infrared sensor module; The communication module is used for wireless communication between the UAV and the ground station or other UAVs, transmitting data and receiving instructions; The infrared sensor module is used to detect obstacles, measure distance or perform navigation, and converts the detected infrared signal into a digital signal, which is processed by the main control module.

2. The infrared detection collaborative mapping drone according to claim 1, It is characterized by: The power supply module includes an input unit, a voltage reduction unit, a management and monitoring unit, a current sampling unit and an ADC analog-to-digital conversion unit.

3. The infrared detection collaborative mapping drone according to claim 1, characterized in that ； The communication module includes an impedance matching unit, a filtering unit, an amplifying circuit unit and a WIFI unit.

4. The infrared detection collaborative mapping drone according to claim 2, characterized in that: The ADC analog-to-digital conversion unit includes an operational amplifier, a resistor R41, a resistor R42, a resistor R43, a resistor R44, a resistor R45, a resistor R46, a capacitor C41, a capacitor C42 and a diode D2. The operational amplifier is connected to the resistor R44, the resistor R46 and the diode D2, the resistor R45 is connected to the resistor R44, the negative input terminal of the operational amplifier is respectively connected to the resistor R41, the capacitor C41 and the resistor R42, and the resistor R43 and the capacitor C42 are respectively connected to the positive input terminal of the operational amplifier.

5. The infrared detection collaborative mapping drone according to claim 3, characterized in that ； The impedance matching unit includes an inductor L7, a capacitor C39, a capacitor C40 and a resistor R40. The inductor L7 is connected to the resistor R40, and the capacitor C39 and the capacitor C40 are respectively connected to the inductor L7.

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