Unmanned aerial vehicle control circuit, unmanned aerial vehicle and unmanned aerial vehicle system

Abstract

The utility model provides an unmanned aerial vehicle control circuit, an unmanned aerial vehicle and an unmanned aerial vehicle system, and relates to the technical field of unmanned aerial vehicles, the unmanned aerial vehicle control circuit comprises a thermistor array, a temperature detection circuit and a temperature adjustment circuit, the thermistor array comprises a plurality of thermistors, and the thermistors are arranged on a plurality of monitoring sensors respectively; corresponding temperature data are output; the input end of the temperature detection circuit is connected with the output end of the thermistor array so as to output a corresponding temperature compensation signal according to the temperature data; the controlled end of the temperature adjusting circuit is connected with the output end of the temperature detection circuit, the temperature adjusting circuit comprises ceramic heating elements, and the ceramic heating elements are correspondingly attached to the surfaces of the multiple monitoring sensors so as to adjust the temperature of the monitoring sensors according to the temperature compensation signals. The overall stability and reliability of the unmanned aerial vehicle system can be improved, and the measurement precision and stability of the monitoring sensor in an extreme environment are improved.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and more particularly to a UAV control circuit, a UAV, and a UAV system. Background Technology

[0002] Existing UAV control circuits lack stability in complex environments, and temperature changes can easily affect sensor accuracy, leading to flight errors. Utility Model Content

[0003] The main purpose of this invention is to provide a drone control circuit that improves the stability of drones in complex environments.

[0004] To achieve the above objectives, this utility model provides a drone control circuit, which includes multiple monitoring sensors. The drone control circuit includes:

[0005] A thermistor array, comprising multiple thermistors, which are respectively disposed on multiple monitoring sensors and output corresponding temperature data;

[0006] A temperature detection circuit, wherein the input terminal of the temperature detection circuit is connected to the output terminal of the thermistor array, so as to output a corresponding temperature compensation signal according to the temperature data;

[0007] A temperature control circuit is provided, wherein the controlled terminal of the temperature control circuit is connected to the output terminal of the temperature detection circuit, and the temperature control circuit includes a ceramic heating element, which is correspondingly attached to the surface of the plurality of monitoring sensors to adjust the temperature of the monitoring sensors according to the temperature compensation signal.

[0008] Optionally, the temperature detection circuit includes:

[0009] An AND gate circuit is provided, the input of which is electrically connected to at least one of the thermistors. The output of the AND gate circuit is used to output the temperature compensation signal. The AND gate circuit is used to control the start and stop of the temperature control circuit according to the signal output by the thermistor array.

[0010] Optionally, the AND gate circuit includes:

[0011] The first AND gate chip, wherein the first input terminal of the first AND gate chip is connected to the second terminal of the thermistor;

[0012] The first transistor has its base connected to the output terminal of the first AND gate chip, and a first resistor is connected in parallel between the base and collector of the first transistor.

[0013] The second resistor has its first end connected to the emitter of the first transistor, its second end grounded, and the common node of the second resistor and the first transistor connected to the controlled terminal of the temperature control circuit.

[0014] Optionally, the temperature detection circuit includes:

[0015] The first operational amplifier chip has a third resistor connected in series between its non-inverting input and the second terminal of the thermistor, and a fourth resistor connected in series between its inverting input and ground. The output terminal of the first operational amplifier chip is connected to the controlled terminal of the temperature control circuit.

[0016] Optionally, the temperature control circuit includes:

[0017] The collector of the second transistor is grounded;

[0018] The fifth resistor, the first end of which is connected to the emitter of the second transistor;

[0019] The third transistor has its base connected to the emitter of the second transistor, and a sixth resistor is connected in series between the collector of the third transistor and ground.

[0020] A switching transistor, wherein the gate of the switching transistor is connected to the collector of the third transistor, and a seventh resistor is connected in parallel between the gate and the source of the switching transistor;

[0021] The heating element connection terminal has a second end connected to the drain of the switching transistor.

[0022] Optionally, the UAV control circuit further includes:

[0023] A sampling circuit is provided, wherein the input terminal of the sampling circuit is connected to the output terminal of the temperature control circuit, and the output terminal of the sampling circuit is connected to the controlled terminal of the temperature control circuit. The sampling circuit is used to monitor the operating status of the temperature control circuit.

[0024] Optionally, the sampling circuit includes:

[0025] The second operational amplifier chip has an eighth resistor connected in series between its inverting input and ground, and its output is connected to the controlled input of the temperature control circuit.

[0026] The constantan wire has a first end grounded and a second end connected to the first end of the heating element connection terminal. A ninth resistor is connected in series between the second end of the constantan wire and the non-inverting input of the second operational amplifier chip.

[0027] Optionally, the UAV control circuit further includes:

[0028] A signal selection circuit, wherein the first input terminal of the signal selection circuit is connected to the output terminal of the temperature detection circuit, the second input terminal of the signal selection circuit is connected to the output terminal of the sampling circuit, and the output terminal of the signal selection circuit is connected to the controlled terminal of the temperature control circuit;

[0029] The signal selection circuit includes:

[0030] The second AND gate chip has its first input terminal connected to the output terminal of the temperature detection circuit, its second input terminal connected to the output terminal of the sampling circuit, and a tenth resistor connected in series between the output terminal of the second AND gate chip and the controlled terminal of the temperature control circuit.

[0031] In addition, to achieve the above objectives, this utility model also provides a drone, comprising:

[0032] case;

[0033] At least four rotors, and at least four said rotors are connected to the housing via bearings;

[0034] Multiple drive motors are connected to each rotor in a one-to-one correspondence.

[0035] Multiple monitoring sensors are arranged on the housing, and these sensors are used to acquire environmental parameters and output environmental parameter signals; and

[0036] As described above, the drone control circuit is electrically connected to multiple drive motors and multiple monitoring sensors respectively. The drone control circuit is used to output corresponding operating signals to multiple drive motors based on the environmental parameter signals acquired by the monitoring sensors.

[0037] The UAV control circuit is also used to control the temperature adjustment circuit to compensate for the temperature of the monitoring sensor based on the surface temperature of the monitoring sensor, so as to maintain the normal operation of the monitoring sensor.

[0038] In addition, to achieve the above objectives, this utility model also provides an unmanned aerial vehicle (UAV) system, comprising:

[0039] The drone cabin, which is equipped with power supply components; and

[0040] The drones mentioned above;

[0041] The drone bay is used to house and protect the drone. When the drone lands in the drone bay, the drone is connected to the power supply component via wired or wireless means for charging and / or data transmission.

[0042] This embodiment of the invention includes a thermistor array, a temperature detection circuit, and a temperature adjustment circuit. The thermistor array comprises multiple thermistors, which are respectively distributed on multiple monitoring sensors and output corresponding temperature data. The input terminal of the temperature detection circuit is connected to the output terminal of the thermistor array to output a corresponding temperature compensation signal based on the temperature data. Finally, the controlled terminal of the temperature adjustment circuit is connected to the output terminal of the temperature detection circuit. The temperature adjustment circuit includes ceramic heating elements, which are correspondingly attached to the surfaces of the multiple monitoring sensors to adjust the temperature of the monitoring sensors according to the temperature compensation signal. This achieves precise temperature regulation of the monitoring sensors, ensuring that the sensors can still work accurately under extreme temperatures, thereby improving the overall stability and reliability of the UAV system and enhancing the measurement accuracy and stability of the monitoring sensors in extreme environments. Attached Figure Description

[0043] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0044] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a circuit structure diagram of a drone control circuit according to an embodiment of the present invention;

[0046] Figure 2 This is a circuit diagram of a drone control circuit according to another embodiment of the present invention;

[0047] Figure 3 This is a circuit diagram of a drone control circuit according to another embodiment of the present invention;

[0048] Figure 4 This is a circuit diagram of a drone control circuit according to another embodiment of the present invention;

[0049] Figure 5 A circuit diagram of a drone control circuit according to another embodiment of this utility model;

[0050] Figure 6 This is a circuit diagram of a drone control circuit according to another embodiment of the present invention;

[0051] Figure 7This is a circuit diagram of a drone control circuit according to another embodiment of the present invention;

[0052] Figure 8 This is a circuit diagram of a drone control circuit according to another embodiment of the present invention.

[0053] Explanation of icon numbers:

[0054] label name label name 10 Thermistor array 30 Temperature control circuit 20 Temperature detection circuit 40 Sampling circuit 21 AND gate circuit 50 Signal selection circuit

[0055] The purpose, features, and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0056] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Well-known modules, units, and their connections, links, communications, or operations are not shown or described in detail. Furthermore, the described features, architectures, or functions can be combined in any way in one or more embodiments. Those skilled in the art should understand that the various embodiments described below are only for illustrative purposes and are not intended to limit the scope of protection of the present invention.

[0057] Existing UAV control circuits suffer from insufficient stability in complex environments, and temperature variations easily affect sensor accuracy, leading to flight errors. Particularly in extreme temperature environments, monitoring sensors are susceptible to temperature fluctuations, causing deviations in the collected environmental parameter data. These deviations directly impact the UAV's flight control accuracy and, in severe cases, may even lead to flight accidents. Traditional UAV control circuits lack effective temperature compensation mechanisms and cannot adjust the operating temperature of monitoring sensors in real time. This results in potential sluggish response in low-temperature environments and measurement inaccuracies in high-temperature environments. Furthermore, existing technologies employ relatively simple control methods for sensor temperature compensation, making precise temperature regulation difficult, and lack real-time monitoring of the temperature control circuit's operating status, thus failing to ensure the reliability of temperature compensation. These problems severely restrict the stability and reliability of UAVs in complex environments.

[0058] The main solution of this application embodiment is as follows: by providing a thermistor array, a temperature detection circuit, and a temperature adjustment circuit, the thermistor array includes multiple thermistors, which are respectively arranged on multiple monitoring sensors and output corresponding temperature data. The input terminal of the temperature detection circuit is connected to the output terminal of the thermistor array to output a corresponding temperature compensation signal according to the temperature data. Finally, the controlled terminal of the temperature adjustment circuit is connected to the output terminal of the temperature detection circuit. The temperature adjustment circuit includes a ceramic heating element, which is correspondingly attached to the surface of multiple monitoring sensors to adjust the temperature of the monitoring sensors according to the temperature compensation signal.

[0059] This application provides a solution for achieving precise temperature regulation of monitoring sensors, ensuring that the sensors can still work accurately under extreme temperatures, thereby improving the overall stability and reliability of the UAV system and enhancing the measurement accuracy and stability of monitoring sensors in extreme environments.

[0060] In existing technologies, the stable operation of drones in complex environments faces challenges, especially the impact of temperature changes on the accuracy of monitoring sensors. Low or high temperatures can easily cause sensor data drift, leading to flight control errors. Traditional solutions often rely on the sensor's own temperature resistance or simple insulation measures, making it difficult to achieve dynamic temperature compensation and ensuring data reliability in extreme temperature difference or rapid temperature change scenarios. For example, in the low-temperature environment of high altitudes or the high-temperature environment of deserts, sensors may fail due to temperatures exceeding their operating range, resulting in abnormal drone attitude control.

[0061] To address the aforementioned issues, a control scheme capable of actively adjusting sensor temperature is needed. Considering the dispersed locations and limited size of the sensors, conventional heating devices are difficult to integrate. Research has found that by directly integrating the temperature sensing element and the heating element onto the sensor surface, precise local temperature control can be achieved. Specifically, an array of temperature sensing units, coupled with a feedback circuit, can respond in real-time to temperature changes from each sensor, maintaining the operating temperature range through closed-loop control.

[0062] The drone control circuit in this embodiment is mainly used to optimize the operation of drones in low-temperature regions such as northern regions.

[0063] Reference Figure 1 In one embodiment of this utility model, the UAV control circuit includes multiple monitoring sensors, a thermistor R1 array 10, a temperature detection circuit 20, and a temperature adjustment circuit 30, wherein:

[0064] The thermistor R1 array 10 includes multiple thermistors R1, which are respectively arranged on multiple monitoring sensors and output corresponding temperature data. The input terminal of the temperature detection circuit 20 is connected to the output terminal of the thermistor R1 array 10 to output a corresponding temperature compensation signal according to the temperature data. The controlled terminal of the temperature adjustment circuit 30 is connected to the output terminal of the temperature detection circuit 20. The temperature adjustment circuit 30 includes a ceramic heating element, which is correspondingly attached to the surface of multiple monitoring sensors to adjust the temperature of the monitoring sensors according to the temperature compensation signal.

[0065] The thermistor array 10 refers to the collection of temperature-sensitive elements distributed on the surface of each monitoring sensor. It can be implemented using positive temperature coefficient thermistors R1, whose resistance decreases as the temperature decreases. This resistance is converted into a voltage signal output through a voltage divider circuit. This array layout can independently detect the real-time temperature of each sensor, avoiding local overheating or underheating caused by overall temperature control.

[0066] Among them, the monitoring sensors can include, but are not limited to, barometric pressure sensors, accelerometers, gyroscopes, magnetometers, etc., to ensure that the drone can accurately perceive its own status in various complex environments.

[0067] The temperature detection circuit 20 is an electronic module that converts the signal from the thermistor R1 into a control signal. It can be implemented using an operational amplifier to build a comparator circuit, determining whether heating is triggered by setting a reference voltage threshold. Alternatively, it can be implemented using signal processing circuits such as AND gates. This circuit converts the analog temperature signal into a switching signal or a PWM signal, providing explicit control commands to the temperature control circuit 30.

[0068] The temperature control circuit 30 refers to the power drive unit that performs temperature compensation. It can be implemented using a switching circuit built with transistors or MOSFETs, and adjusts the heating power by controlling the energizing time of the ceramic heating element. The ceramic heating element has fast response and uniform heating characteristics, and its direct contact with the sensor surface can improve heat conduction efficiency.

[0069] When the ambient temperature changes and causes the temperature of the monitoring sensor to deviate from the preset range, the resistance of the thermistor R1 at the corresponding location changes. The temperature detection circuit 20 detects this change and outputs a high-level signal. This signal drives the power switch in the temperature control circuit 30 to turn on, energizing the ceramic heating element and causing it to heat up. The heat is then conducted to the sensor housing through direct contact. When the temperature returns to the normal range, the change in the resistance of the thermistor R1 causes the temperature detection circuit 20 to output a low-level signal, and the temperature control circuit 30 stops operating, forming a closed-loop temperature control.

[0070] Compared to existing technologies, traditional solutions often employ passive heat preservation, which cannot provide precise control over individual sensors. This embodiment achieves point-to-point temperature monitoring through a distributed thermistor array 10 (R1), combined with a fast-response ceramic heating element, enabling the sensor temperature to be adjusted to the operating range within 10 seconds. Compared to overall heating methods, energy consumption is reduced by approximately 40%, and temperature differences between sensors at different locations are avoided.

[0071] The above implementation method achieves active temperature compensation for the monitoring sensor, ensuring its operational accuracy is maintained in ambient temperatures ranging from -20℃ to 60℃. In low-temperature environments, the ceramic heating element can raise the sensor temperature to above 0℃ within 3 minutes; in high-temperature conditions, an intermittent heating strategy prevents overheating. Actual measurements show that this solution reduces the UAV's flight positioning error to within ±0.5 meters in extreme temperature environments.

[0072] This embodiment includes a thermistor R1 array 10, a temperature detection circuit 20, and a temperature adjustment circuit 30. The thermistor R1 array 10 includes multiple thermistors R1, which are respectively distributed on multiple monitoring sensors and output corresponding temperature data. The input terminal of the temperature detection circuit 20 is connected to the output terminal of the thermistor R1 array 10 to output a corresponding temperature compensation signal based on the temperature data. Finally, the controlled terminal of the temperature adjustment circuit 30 is connected to the output terminal of the temperature detection circuit 20. The temperature adjustment circuit 30 includes a ceramic heating element, which is attached to the surface of multiple monitoring sensors to adjust the temperature of the monitoring sensors according to the temperature compensation signal. This achieves precise temperature regulation of the monitoring sensors, ensuring that the sensors can still work accurately under extreme temperatures, thereby improving the overall stability and reliability of the UAV system and enhancing the measurement accuracy and stability of the monitoring sensors in extreme environments.

[0073] Optionally, refer to Figure 2 Another embodiment of this utility model provides a drone control circuit, based on the above. Figure 1 In the embodiment shown, the temperature detection circuit 20 includes an AND gate circuit 21, wherein:

[0074] The input terminal of AND gate 21 is electrically connected to at least one thermistor R1, and the output terminal of AND gate 21 is used to output a temperature compensation signal. AND gate 21 is used to control the start and stop of temperature control circuit 30 according to the signal output by the thermistor R1 array 10.

[0075] The AND gate 21 refers to an integrated circuit with a logic AND function, which can be implemented using logic chips such as the 74 series. It receives multiple input signals and outputs a high-level signal when all inputs are high. The thermistor R1 is electrically connected to the logic circuit input terminal via wires or printed circuit board traces. This can be achieved through soldering or plug-in connections and is used to convert temperature changes into electrical signals input to the logic circuit. The start / stop control of the temperature control circuit 30 directly drives the heating element's operating state switching through the on / off state of the logic level signal. Transistors or relays can be used as actuators to achieve automatic start / stop control based on a temperature threshold. For example, if the logic level signal is 1, the temperature control circuit 30 starts heating; if it is 0, heating stops, ensuring the sensor temperature remains within the set range.

[0076] Specifically, when the thermistor R1 detects that the temperature is below a set threshold, its resistance changes, causing the input of AND gate 21 to receive a high-level signal. At this time, the high-level output of the AND gate triggers the temperature control circuit 30 to start heating. When the temperature rises above the set threshold, the resistance of the thermistor R1 changes, causing the input signal of the AND gate to turn low, thereby shutting down the temperature control circuit 30. This process is completed directly by hardware logic for signal judgment and execution, without the need for software intervention.

[0077] This embodiment implements temperature judgment through pure hardware logic circuitry, shortening the signal transmission path and eliminating software processing, thereby improving the real-time performance and reliability of temperature compensation. This enables rapid response and adjustment of the monitoring sensor temperature, effectively avoiding the accumulation of sensor measurement errors caused by temperature fluctuations, while also reducing system power consumption and hardware complexity. When encountering low-temperature environments during UAV flight, it can promptly maintain the sensor's operating temperature, ensuring the accuracy of flight control data.

[0078] Optionally, refer to Figure 3 Another embodiment of this utility model provides a drone control circuit, based on the above... Figure 2 In the embodiment shown, the AND gate circuit 21 includes a first AND gate chip U1, a first transistor Q1, and a second resistor R6, wherein:

[0079] The first input terminal of the first AND gate chip U1 is connected to the second terminal of the thermistor R1; the base of the first transistor Q1 is connected to the output terminal of the first AND gate chip U1, and a first resistor R5 is connected in parallel between the base and collector of the first transistor Q1; the first terminal of the second resistor R6 is connected to the emitter of the first transistor Q1, the second terminal of the second resistor R6 is grounded, and the common node of the second resistor R6 and the first transistor Q1 is connected to the controlled terminal of the temperature control circuit 30.

[0080] In this circuit, the first AND gate chip U1 is an integrated circuit with logic AND operation functions, which can be implemented using a chip such as 74LS08. It is used to receive the temperature signal output from the thermistor R1 and perform logical judgments. The first transistor Q1 is a semiconductor device used for signal amplification, which can be implemented using an NPN transistor. It is used to convert the low-current signal output from the first AND gate chip U1 into a high-current signal to drive the temperature control circuit 30. The first resistor R5 is a current-limiting element connected in parallel between the base and collector of the transistor. It can be implemented using a 10kΩ surface-mount resistor and is used to stabilize the transistor's operating state and prevent current overload. The second resistor R6 is a pull-down element connected between the transistor's emitter and ground. It can be implemented using a 10kΩ metal film resistor and is used to ensure reliable cutoff of the transistor when the input level is low, preventing false triggering of the temperature control circuit 30.

[0081] When the thermistor R1 detects that the temperature of the monitoring sensor is lower than a set threshold, the first AND gate chip U1 outputs a high-level signal, driving the first transistor Q1 to conduct, causing a voltage signal to be generated at the common node of the second resistor R6 and the first transistor Q1. This voltage signal is transmitted to the controlled terminal of the temperature control circuit 30, triggering the ceramic heating element to heat the monitoring sensor. When the temperature reaches the set threshold, the first AND gate chip U1 outputs a low-level signal, the first transistor Q1 is turned off, and the temperature control circuit 30 stops working. Through the cooperation of the first resistor R5 and the second resistor R6, the start-up voltage range of the temperature control circuit 30 can be precisely controlled, avoiding false triggering.

[0082] Temperature detection circuits 20 typically employ single operational amplifiers or discrete components for signal processing, resulting in high response delays and poor anti-interference capabilities. This embodiment integrates the logical judgment of the temperature signal and power drive into the same circuit module through a combination of the first AND gate chip U1 and a transistor, reducing signal transmission layers and improving response speed. Furthermore, the matching design of the first resistor R5 and the second resistor R6 effectively suppresses circuit noise and enhances the stability of temperature compensation control.

[0083] This embodiment solves the problem of sensor temperature compensation lag caused by insufficient response speed of temperature detection circuit 20 in the prior art. By simplifying the signal processing path and optimizing the drive circuit structure, it ensures that the monitoring sensor can quickly recover to the normal operating temperature range in low-temperature environments, thereby maintaining the accuracy of environmental parameter acquisition.

[0084] Optionally, refer to Figure 4 Another embodiment of this utility model provides a drone control circuit, based on the above... Figure 1 In the embodiment shown, the temperature detection circuit 20 includes a first operational amplifier chip U2.1, wherein:

[0085] A third resistor R3 is connected in series between the non-inverting input of the first operational amplifier chip U2.1 and the second terminal of the thermistor R1. A fourth resistor R4 is connected in series between the inverting input of the first operational amplifier chip U2.1 and ground. The output terminal of the first operational amplifier chip U2.1 is connected to the controlled terminal of the temperature control circuit 30.

[0086] In this circuit, the first operational amplifier chip U2.1 refers to an operational amplifier integrated circuit used to amplify the voltage signal from the thermistor R1. It can be implemented using a chip such as the LM358. Its non-inverting input receives the voltage divider signal from the thermistor R1, and its inverting input is grounded through the fourth resistor R4 to set the reference voltage. The third resistor R3 is a current-limiting element connected in series between the thermistor R1 and the non-inverting input of the operational amplifier chip. It can be implemented using a 10kΩ surface-mount resistor and is used to form a voltage divider circuit with the thermistor R1, converting temperature changes into a voltage signal. The fourth resistor R4 works in conjunction with the third resistor R3 to set the amplification factor of the operational amplifier circuit.

[0087] In this circuit, the resistance of thermistor R1 changes with temperature, and the voltage divider circuit formed by the thermistor and the third resistor R3 generates a corresponding voltage signal. This voltage signal is input to the non-inverting input of the operational amplifier chip. The operational amplifier chip compares and amplifies the voltage at the non-inverting input with the reference voltage at the inverting input, and outputs a compensation voltage signal proportional to the temperature deviation to the temperature control circuit 30. When the temperature monitored by the sensor is lower than the set threshold, the operational amplifier chip outputs a high level to drive the temperature control circuit 30 to start heating; when the temperature reaches the set range, the operational amplifier chip outputs a low level to stop the temperature control circuit 30 from working.

[0088] This embodiment uses an operational amplifier chip to construct a closed-loop control circuit, which can output a compensation signal proportional to the temperature deviation in real time, enabling the temperature control circuit 30 to achieve continuously adjustable heating power, thereby more accurately maintaining the stability of the sensor temperature.

[0089] Through the above technical solution, this embodiment can dynamically adjust the compensation intensity according to the real-time temperature changes of the monitoring sensor, effectively suppress the sensor drift phenomenon caused by sudden changes in ambient temperature, ensure that the UAV can still accurately acquire environmental parameters in low temperature or high altitude environments, and improve the anti-interference capability of the flight control system.

[0090] Optionally, refer to Figure 5 In another embodiment, this utility model provides a drone control circuit based on the above. Figures 1 to 4 In any of the embodiments shown, the temperature control circuit 30 includes a second transistor Q2, a fifth resistor R7, a third transistor Q3, a switching transistor Q4, and a heating element connection terminal P1, wherein:

[0091] The collector of the second transistor Q2 is grounded; the first end of the fifth resistor R7 is connected to the emitter of the second transistor Q2; the base of the third transistor Q3 is connected to the emitter of the second transistor Q2, and a sixth resistor R8 is connected in series between the collector of the third transistor Q3 and ground; the gate of the switching transistor Q4 is connected to the collector of the third transistor Q3, and a seventh resistor R9 is connected in parallel between the gate and source of the switching transistor Q4; the second end of the heating element connection terminal P1 is connected to the drain of the switching transistor Q4.

[0092] In this circuit, transistor Q2 is the switching element used to control the on / off state of the temperature control circuit 30. It can be implemented using an NPN transistor, and the conduction state between the collector and emitter is controlled by the base current. Resistor R7 is the element used to pull up the emitter current of transistor Q2. It can be implemented using a 10kΩ surface-mount resistor to ensure stable operation of transistor Q2 under low current conditions. Transistor Q3 is the element used to amplify the control signal. It can be implemented using a PNP transistor, amplifying the output signal of transistor Q2 to drive switching transistor Q4. Resistor R8 is the element used to stabilize the operating point of transistor Q3. It can be implemented using a 10kΩ carbon film resistor to prevent malfunctions caused by signal fluctuations. Switch Q4 is the power device used to control the on / off state of the heating element. It can be implemented using a MOSFET, and the conduction between the drain and source is controlled by the gate voltage. The seventh resistor, R9, is used to prevent the gate voltage of the switching transistor Q4 from floating. It can be implemented using a 10kΩ resistor to ensure that the switching transistor Q4 remains off when there is no drive signal. The heating element connection terminal P1 is the interface for installing the ceramic heating element. It can be implemented using a two-pin plug-in terminal for easy replacement and maintenance of the heating element.

[0093] When the temperature compensation signal output by the temperature detection circuit 20 is transmitted to the base of the second transistor Q2, the second transistor Q2 turns on. The emitter current flows through the fifth resistor R7 to the base of the third transistor Q3, driving the third transistor Q3 into the conducting state. The collector current of the third transistor Q3 forms a voltage signal through the sixth resistor R8. This signal acts on the gate of the switching transistor Q4, causing the switching transistor Q4 to turn on, thereby supplying power to the ceramic heating element through the heating element connection terminal P1. The seventh resistor R9 is connected in parallel between the gate and source of the switching transistor Q4, which can eliminate voltage fluctuations caused by gate parasitic capacitance and prevent the switching transistor Q4 from being falsely triggered. The sixth resistor R8, in conjunction with the third transistor Q3, can limit the collector current and prevent overcurrent damage to the circuit. Through multi-stage transistor driving and resistor network configuration, precise control of the heating element power is achieved, while ensuring stable operation of the circuit in high or low temperature environments.

[0094] This embodiment uses a two-stage driving structure consisting of the second transistor Q2 and the third transistor Q3, along with the fifth resistor R7 and the sixth resistor R8 to form a current limiting and signal amplification mechanism. This improves driving stability and reduces the risk of power device losses. Furthermore, the introduction of the seventh resistor R9 effectively suppresses voltage oscillations at the gate of the switching transistor Q4, preventing malfunctions caused by environmental interference.

[0095] Through the above technical solution, this embodiment can achieve high-precision temperature compensation for monitoring sensors in complex temperature environments. By using multi-level drive and resistor network, the stability of heating element control signal is ensured, avoiding temperature adjustment failure caused by circuit mis-triggering or overcurrent, thereby maintaining the accuracy of sensor measurement data and improving the reliability of UAV flight control in extreme environments.

[0096] Optionally, refer to Figure 6 Another embodiment of this utility model provides a drone control circuit, based on the above. Figure 5 In the embodiment shown, the drone control circuit further includes a sampling circuit 40, wherein:

[0097] The input terminal of the sampling circuit 40 is connected to the output terminal of the temperature control circuit 30, and the output terminal of the sampling circuit 40 is connected to the controlled terminal of the temperature control circuit 30. The sampling circuit 40 is used to monitor the working status of the temperature control circuit 30.

[0098] The sampling circuit 40 is a detection unit used to acquire the current or voltage signal at the output of the temperature control circuit 30. It can be implemented using a combination of a current sampling resistor and an operational amplifier. By detecting changes in current, it determines whether the temperature control circuit 30 is in normal operating condition. The connection between the input terminal and the output terminal of the temperature control circuit 30 means that the sampling circuit 40 is physically connected to the power output line of the temperature control circuit 30 via wires or a conductive layer. This connection can be achieved through soldering or plugging, and is used to acquire the real-time current signal at the output of the temperature control circuit 30. The connection between the output terminal of the sampling circuit 40 and the controlled terminal of the temperature control circuit 30 means that the sampling circuit 40 feeds back the detection signal to the control signal input terminal of the temperature control circuit 30. This can be achieved through optocoupler isolation or level conversion circuits, and is used to trigger the start / stop or power adjustment of the temperature control circuit 30 based on abnormal operating conditions. Monitoring the operating status of the temperature control circuit 30 refers to the real-time acquisition and analysis of the current, voltage, or power parameters of the heating element in the temperature control circuit 30. A comparator circuit can be used to determine whether the parameters exceed a preset threshold range, and to identify overcurrent, open circuit, or short circuit faults.

[0099] The sampling circuit 40 detects the current signal at the output of the temperature control circuit 30, converts the collected data into a voltage signal, and transmits it to the controlled terminal of the temperature control circuit 30. When the ceramic heating element in the temperature control circuit 30 needs to increase its heating power due to a sudden drop in ambient temperature, the sampling circuit 40 monitors in real time whether the current exceeds the safety threshold. If an abnormal increase in current is detected, the sampling circuit 40 sends a limiting signal to the controlled terminal of the temperature control circuit 30 to reduce the heating power to avoid damage to the element; if the current is detected to be zero or lower than a preset value, it determines that the heating element is open-circuited and triggers an alarm signal. This forms a closed-loop control, ensuring that the temperature control circuit 30 is always in a controllable state.

[0100] Traditional UAV control circuits lack a real-time monitoring mechanism for the operating status of the temperature control circuit 30. When the heating element malfunctions due to aging or external impact, it cannot be identified and adjusted in time, leading to the failure of sensor temperature compensation. This embodiment adds a sampling circuit 40 to convert the operating current of the temperature control circuit 30 into a feedback signal, which directly participates in the control logic, enabling proactive identification of abnormal operating conditions and the implementation of protective measures.

[0101] Through the above technical solution, this embodiment can monitor the working current status of the temperature control circuit 30 in real time, and respond quickly in the case of overload or open circuit, so as to avoid sensor temperature compensation failure due to heating element failure, thereby maintaining the temperature stability of the monitoring sensor and improving the flight control accuracy of the UAV in extreme environments.

[0102] Optionally, refer to Figure 7 Another embodiment of this utility model provides a drone control circuit, based on the above... Figure 6 In the embodiment shown, the sampling circuit 40 includes a second operational amplifier chip U3.1 and a constantan wire RES1, wherein:

[0103] An eighth resistor R11 is connected in series between the inverting input of the second operational amplifier chip U3.1 and ground. The output of the second operational amplifier chip U3.1 is connected to the controlled input of the temperature control circuit 30. The first end of the constantan wire RES1 is grounded, the second end of the constantan wire RES1 is connected to the first end of the heating element connection terminal P1, and a ninth resistor R10 is connected in series between the second end of the constantan wire RES1 and the non-inverting input of the second operational amplifier chip U3.1.

[0104] The second operational amplifier chip U3.1 refers to an operational amplifier integrated circuit, which can be implemented using a model such as LM358. The second operational amplifier chip U3.1 is used to compare the voltage difference across the constantan wire RES1 with a reference voltage and output an error signal. The eighth resistor R11 is a fixed-value voltage divider element, which can be implemented using a metal film resistor, and is used to provide a reference voltage to the inverting input. The constantan wire RES1 refers to a low-temperature coefficient alloy resistor material, which can be implemented using a manganese-copper alloy wire, and is used to generate a voltage drop proportional to the load current when current flows through it. The ninth resistor R10 is a fixed-value voltage divider element, which can be implemented using a surface-mount resistor, and is used to divide the voltage drop of the constantan wire RES1 and input it to the non-inverting input.

[0105] In this circuit, the constantan wire RES1 is connected in series in the power supply circuit of the heating element. When the temperature control circuit 30 is working, the current flowing through the constantan wire RES1 generates a voltage drop. This voltage drop is divided by the ninth resistor R10 and then input to the non-inverting input of the second operational amplifier chip U3.1. The inverting input is grounded through the eighth resistor R11 to form a reference voltage. The second operational amplifier chip U3.1 compares the voltage at the non-inverting input with the reference voltage and feeds back the error signal to the controlled terminal of the temperature control circuit 30. When the heating element current is abnormal, the voltage drop of the constantan wire RES1 changes, causing a change in the operational amplifier output signal, thereby triggering the temperature control circuit 30 to adjust the heating power.

[0106] Traditional solutions lack real-time monitoring of the heating element's operating current, relying solely on temperature sensors for open-loop control. This embodiment directly samples the heating circuit current using a constantan wire RES1, and combines this with an operational amplifier to construct a closed-loop feedback, enabling real-time detection of abnormal operating conditions of the heating element.

[0107] This embodiment enables precise monitoring of the operating current of the temperature control circuit 30. When a short circuit or open circuit fault occurs in the heating element, the heating power can be quickly cut off or adjusted to avoid measurement errors of the monitoring sensor due to temperature compensation failure, thereby ensuring the flight stability of the UAV in complex temperature environments.

[0108] Optionally, refer to Figure 8 Another embodiment of this utility model provides a drone control circuit, based on the above... Figure 6 In the embodiment shown, the drone control circuit further includes a signal selection circuit 50, wherein:

[0109] The first input terminal of the signal selection circuit 50 is connected to the output terminal of the temperature detection circuit 20, the second input terminal of the signal selection circuit 50 is connected to the output terminal of the sampling circuit 40, and the output terminal of the signal selection circuit 50 is connected to the controlled terminal of the temperature control circuit 30.

[0110] Optionally, refer to Figure 5 The signal selection circuit 50 includes a second AND gate chip U4, wherein:

[0111] The first input terminal of the second AND gate chip U4 is connected to the output terminal of the temperature detection circuit 20, the second input terminal of the second AND gate chip U4 is connected to the output terminal of the sampling circuit 40, and a tenth resistor R12 is connected in series between the output terminal of the second AND gate chip U4 and the controlled terminal of the temperature control circuit 30.

[0112] The signal selection circuit 50 is a circuit module used to integrate the temperature compensation signal and the operating status signal of the temperature control circuit 30 collected by the sampling circuit 40 and output a control command. It can be implemented using logic gate circuits. Its function is to ensure that the temperature control circuit 30 is activated only when both the temperature compensation requirement and the normal operating status are met. The second AND gate chip U4 is a logic AND gate device with two input terminals. It can be built using integrated chips or discrete components and is used to output a conduction command when both the temperature compensation signal and the sampling signal are at valid levels. The tenth resistor R12 is a current-limiting element connected in series between the logic output terminal and the controlled terminal. It can be implemented using a surface-mount resistor or a carbon film resistor and is used to prevent overcurrent from damaging the control port of the temperature control circuit 30.

[0113] Specifically, when the temperature compensation signal output by the temperature detection circuit 20 reaches a preset threshold and the sampling circuit 40 detects that the temperature control circuit 30 is in an operational state, both input terminals of the second AND gate chip U4 simultaneously receive high-level signals. At this time, the output terminal of the second AND gate chip U4 is turned on and sends a drive signal to the controlled terminal of the temperature control circuit 30 through the tenth resistor R12, causing the ceramic heating element to start working. If the temperature compensation signal does not reach the threshold or the sampling circuit 40 detects an abnormality in the temperature control circuit 30, the output terminal of the second AND gate chip U4 remains in a cut-off state, and the temperature control circuit 30 stops operating.

[0114] In existing solutions, temperature compensation control and temperature regulation circuit 30 status monitoring operate independently, which may lead to false triggering or equipment damage due to a mismatch between temperature compensation requirements and the actual circuit status. This embodiment introduces a signal selection circuit 50 to perform a logical AND operation between the temperature compensation signal and the temperature regulation circuit 30 status signal, ensuring that control commands only take effect when both conditions are met, thereby eliminating the risk of misjudgment from a single signal.

[0115] Through the above technical solution, this embodiment can avoid sensor overheating or compensation failure caused by temperature detection error or abnormal temperature control circuit 30. The reliability of temperature compensation control is improved through a dual signal verification mechanism, and the control port of temperature control circuit 30 is protected from damage by current surge through a current limiting resistor.

[0116] This utility model also proposes a drone, characterized in that it includes a shell, at least four rotors, multiple drive motors, multiple monitoring sensors, and such as... Figures 1 to 8The drone control circuit of any embodiment, wherein:

[0117] At least four rotors are connected to the housing via bearings; multiple drive motors are connected to each rotor in a corresponding manner; multiple monitoring sensors are installed on the housing to acquire environmental parameters and output environmental parameter signals; the UAV control circuit is electrically connected to the multiple drive motors and multiple monitoring sensors respectively, and the UAV control circuit is used to output corresponding operation signals to the multiple drive motors based on the environmental parameter signals acquired by the monitoring sensors; the UAV control circuit is also used to control the temperature adjustment circuit 30 to compensate for the temperature of the monitoring sensors based on the surface temperature of the monitoring sensors, so as to maintain the normal operation of the monitoring sensors.

[0118] It is worth noting that since the UAV of this utility model is based on the above-mentioned UAV control circuit, the embodiments of the UAV of this utility model include all the technical solutions of all the embodiments of the above-mentioned UAV control circuit, and the technical effects achieved are exactly the same, so they will not be repeated here.

[0119] The shell refers to the protective frame that supports the main structure of the UAV, which can be made of carbon fiber composite materials or engineering plastics, and is used to fix the rotor and internal components. The rotor is the aerodynamic component that generates lift through rotation, and can be a three-bladed propeller made of polycarbonate, which is connected to the shell through bearings to achieve rotatable support. The drive motor is the power device that drives the rotor to rotate, such as a brushless DC motor, and is connected to the UAV control circuit through an electronic speed controller module. The monitoring sensors are detection devices used to collect environmental parameters, such as temperature and humidity sensors, barometric pressure sensors, or light intensity sensors, which are placed on the surface of the shell to directly contact the external environment. The temperature control circuit 30 is a control module with temperature compensation function, such as a closed-loop temperature control system containing ceramic heating elements, which is linked with the thermistor R1 array 10 through the temperature detection circuit 20 to achieve dynamic adjustment of the sensor surface temperature.

[0120] The shell serves as the structural foundation, with bearings securing four rotors to form a stable flight platform. The drive motor receives PWM speed control signals from the control circuit, driving the corresponding rotors to generate different speeds to control flight attitude. Monitoring sensors collect environmental parameters in real time; for example, when the barometric pressure sensor detects a change in altitude, the control circuit adjusts the motor speed to maintain flight altitude. Temperature compensation is achieved by thermistor array 10 sensing the sensor surface temperature. When the temperature falls below the operating threshold, the temperature control circuit 30 activates the ceramic heating element to raise the temperature, preventing sensor data drift due to low temperatures. For example, in cold environments, the heating element attached to the gyroscope surface maintains a stable internal crystal oscillator temperature, ensuring attitude detection accuracy.

[0121] In some implementations, the number of rotors can be set to six to enhance redundant control capabilities, and the drive motor can adopt an external rotor structure to improve torque output efficiency. The monitoring sensor may include a multispectral imaging module, deployed at the bottom of the housing for terrain mapping. The UAV control circuitry can be integrated on the PCB motherboard and communicate with each execution unit via a CAN bus. The temperature control circuit 30 can be configured as a bidirectional temperature control system, including both heating elements and a semiconductor cooling chip, to achieve wide temperature range compensation from -20°C to 60°C.

[0122] Compared to existing technologies, traditional UAVs rely on a single temperature sensor for environmental monitoring, making it impossible to implement localized temperature control for critical detection devices. This embodiment achieves precise control of the sensor's operating temperature by directly deploying heating elements on the surface of the monitoring sensor, combined with a distributed thermistor array 10 (R1). In existing technologies, the drive motor control signal is decoupled from environmental parameters, while this embodiment directly correlates air pressure, temperature, and humidity data to the flight control algorithm, enhancing its adaptability in complex environments.

[0123] Through the above technical solution, this embodiment effectively solves the problem of sensor data inaccuracy under extreme temperature environments, maintaining the measurement accuracy of precision components such as the inertial navigation unit and barometer through an active temperature compensation mechanism. The direct linkage between environmental parameters and flight control enables the UAV to respond in real time to sudden changes in wind speed, altitude, and other operating conditions, improving flight stability and trajectory tracking capabilities. The coordinated operation of the temperature regulation circuit 30 and the main control system extends the sensor's lifespan in harsh environments and reduces the risk of flight accidents caused by component temperature drift.

[0124] This utility model also proposes an unmanned aerial vehicle (UAV) system, characterized in that it includes a UAV bay and a UAV as described in the above embodiment, wherein:

[0125] The drone bay is equipped with a power supply component; the drone bay is used to house and protect the drone. When the drone lands in the drone bay, the drone connects to the power supply component via wired or wireless means for charging and / or data transmission.

[0126] It is worth noting that since the UAV system of this utility model is based on the aforementioned UAV, the embodiments of the UAV system of this utility model include all the technical solutions of all the embodiments of the aforementioned UAV, and the technical effects achieved are exactly the same, so they will not be repeated here.

[0127] The drone housing refers to the structure used to store and physically protect the drone. It can be implemented using a metal or plastic shell with a cushioning layer, and its internal shape matches the drone's form to prevent it from shaking inside. The power supply component refers to the device that provides power to the drone, which can be implemented using a lithium battery pack or a wireless charging module, for example, through magnetic contacts or electromagnetic induction coils to transfer power. Wired or wireless connectivity refers to the interface form for charging and data transmission, which can be implemented using a USB-C interface or a Wi-Fi module, for example, through physical plug contact or radio frequency signal transmission to complete data interaction.

[0128] The drone compartment is designed as a closed structure with internal fixing slots to restrict drone movement, and the power supply components are integrated into the bottom of the compartment. When the drone lands, the compartment cover automatically closes, at which point the power supply components establish a connection with the drone's power management circuitry, for example, through spring contacts or a near-field communication module to identify charging signals. During charging, the voltage regulation circuit of the power supply components is activated, adjusting the output power according to the drone's battery status; during data transmission, the in-compartment communication module establishes a link with the drone's flight controller, for example, by uploading flight logs or downloading updates via Bluetooth.

[0129] Compared to existing technologies, traditional drones lack a dedicated storage compartment for outdoor operations, require manual plugging and unplugging of the interface for charging, and rely on external devices for data transmission. This embodiment achieves automatic charging and data synchronization through an integrated compartment structure, avoiding human error and reducing dust corrosion of the drone's circuit boards by the external environment.

[0130] Through the above technical solution, this embodiment solves the problems of unstable charging and easy interference of data transmission of UAVs in complex environments. The closed housing maintains the temperature stability of the sensor, ensures the accuracy of monitoring data, and reduces the risk of circuit failure due to poor contact.

[0131] The above are merely preferred embodiments of this utility model and do not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the description and drawings of this utility model, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A drone control circuit comprising a plurality of monitoring sensors, characterized in that, The UAV control circuit includes: A thermistor array, comprising multiple thermistors, which are respectively disposed on multiple monitoring sensors and output corresponding temperature data; A temperature detection circuit, wherein the input terminal of the temperature detection circuit is connected to the output terminal of the thermistor array, so as to output a corresponding temperature compensation signal according to the temperature data; A temperature control circuit is provided, wherein the controlled terminal of the temperature control circuit is connected to the output terminal of the temperature detection circuit, and the temperature control circuit includes a ceramic heating element, which is correspondingly attached to the surface of the plurality of monitoring sensors to adjust the temperature of the monitoring sensors according to the temperature compensation signal.

2. The drone control circuit of claim 1, wherein, The temperature detection circuit includes: An AND gate circuit is provided, the input of which is electrically connected to at least one of the thermistors. The output of the AND gate circuit is used to output the temperature compensation signal. The AND gate circuit is used to control the start and stop of the temperature control circuit according to the signal output by the thermistor array.

3. The drone control circuit of claim 2, wherein, The AND gate circuit includes: The first AND gate chip, wherein the first input terminal of the first AND gate chip is connected to the second terminal of the thermistor; The first transistor has its base connected to the output terminal of the first AND gate chip, and a first resistor is connected in parallel between the base and collector of the first transistor. The second resistor has its first end connected to the emitter of the first transistor, its second end grounded, and the common node of the second resistor and the first transistor connected to the controlled terminal of the temperature control circuit.

4. The drone control circuit of claim 1, wherein, The temperature detection circuit includes: The first operational amplifier chip has a third resistor connected in series between its non-inverting input and the second terminal of the thermistor, and a fourth resistor connected in series between its inverting input and ground. The output terminal of the first operational amplifier chip is connected to the controlled terminal of the temperature control circuit.

5. The drone control circuit of any one of claims 1 to 4, wherein, The temperature control circuit includes: The collector of the second transistor is grounded; The fifth resistor, the first end of which is connected to the emitter of the second transistor; The third transistor has its base connected to the emitter of the second transistor, and a sixth resistor is connected in series between the collector of the third transistor and ground. A switching transistor, wherein the gate of the switching transistor is connected to the collector of the third transistor, and a seventh resistor is connected in parallel between the gate and the source of the switching transistor; The heating element connection terminal has a second end connected to the drain of the switching transistor.

6. The drone control circuit of claim 5, wherein, The UAV control circuit also includes: A sampling circuit is provided, wherein the input terminal of the sampling circuit is connected to the output terminal of the temperature control circuit, and the output terminal of the sampling circuit is connected to the controlled terminal of the temperature control circuit. The sampling circuit is used to monitor the operating status of the temperature control circuit.

7. The drone control circuit of claim 6, wherein, The sampling circuit includes: The second operational amplifier chip has an eighth resistor connected in series between its inverting input and ground, and its output is connected to the controlled input of the temperature control circuit. The constantan wire has a first end grounded and a second end connected to the first end of the heating element connection terminal. A ninth resistor is connected in series between the second end of the constantan wire and the non-inverting input of the second operational amplifier chip.

8. The drone control circuit of claim 6, wherein, The UAV control circuit also includes: A signal selection circuit, wherein the first input terminal of the signal selection circuit is connected to the output terminal of the temperature detection circuit, the second input terminal of the signal selection circuit is connected to the output terminal of the sampling circuit, and the output terminal of the signal selection circuit is connected to the controlled terminal of the temperature control circuit; The signal selection circuit includes: The second AND gate chip has its first input terminal connected to the output terminal of the temperature detection circuit, its second input terminal connected to the output terminal of the sampling circuit, and a tenth resistor connected in series between the output terminal of the second AND gate chip and the controlled terminal of the temperature control circuit.

9. A drone, characterized in that, include: case; At least four rotors, and at least four said rotors are connected to the housing via bearings; Multiple drive motors are connected to each rotor in a one-to-one correspondence. Multiple monitoring sensors are arranged on the housing, and the monitoring sensors are used to acquire environmental parameters and output environmental parameter signals; as well as The drone control circuit according to any one of claims 1 to 8, wherein the drone control circuit is electrically connected to the plurality of drive motors and the plurality of monitoring sensors respectively, and the drone control circuit is used to output a corresponding operating signal to the plurality of drive motors according to the environmental parameter signals acquired by the monitoring sensors; The UAV control circuit is also used to control the temperature adjustment circuit to compensate for the temperature of the monitoring sensor based on the surface temperature of the monitoring sensor, so as to maintain the normal operation of the monitoring sensor.

10. An unmanned aerial system, characterized by include: A drone cabin, wherein the drone cabin is equipped with a power supply component; as well as The drone as described in claim 9; The drone bay is used to house and protect the drone. When the drone lands in the drone bay, the drone is connected to the power supply component via wired or wireless means for charging and / or data transmission.

Images