Intelligent flight energy and safety integrated control circuit

Abstract

This utility model relates to the field of multi-rotor unmanned aerial vehicle (UAV) circuit technology, and discloses an intelligent flight energy and safety integrated control circuit. It includes an intelligent power scheduling circuit, a dynamic MPPT circuit, an STM32 microcontroller circuit, a multi-mode perception and obstacle avoidance circuit, a motor drive and energy recovery circuit, and an adaptive anti-interference communication circuit. The intelligent power scheduling circuit's input terminals are connected to a USB interface J1, a solar energy input interface, and a lithium battery power interface J3, while its output terminals provide multi-level voltages. This intelligent flight energy and safety integrated control circuit integrates power management, dynamic MPPT control, motor energy recovery, automatic emergency braking, and adaptive anti-interference communication functions, effectively improving the UAV's autonomous flight capability and system robustness in complex environments, and comprehensively enhancing its endurance, safety response, and remote control stability.

Description

Technical Field

[0001] This utility model relates to the field of multi-rotor unmanned aerial vehicle (UAV) circuit technology, and in particular to an intelligent flight energy and safety integrated control circuit. Background Technology

[0002] In recent years, multi-rotor drones have been widely used in aerial photography, inspection, security, plant protection, and logistics. However, they still face many technical bottlenecks in terms of endurance, safe flight, and long-range communication. Traditional drones primarily rely on lithium batteries for power, which suffers from limited flight time, low charging efficiency, and a lack of energy recovery mechanisms. In high-load or long-duration mission scenarios, their energy systems struggle to support the entire flight. Although some products have attempted to incorporate solar power, the actual efficiency remains unsatisfactory due to limitations in MPPT algorithm accuracy and system integration.

[0003] Meanwhile, traditional obstacle avoidance solutions often rely on unidirectional sensors or vision-based algorithms, which suffer from large blind spots and slow response to dynamic obstacles, especially in confined spaces or formation flying, where the risks are amplified. Furthermore, existing UAV communication systems have weak anti-interference capabilities and are susceptible to interference from signals such as WiFi and Bluetooth, leading to unstable or even interrupted links, failing to meet the requirements for remote and precise control. Therefore, there is an urgent need for a highly reliable flight control assistance system that integrates intelligent power management, active safety perception, and stable communication to ensure continuous operation and flight safety in complex scenarios. Therefore, we propose an intelligent flight energy and safety integrated control circuit to address these issues. Utility Model Content

[0004] This invention proposes an integrated intelligent flight energy and safety control circuit, which solves the problems in the background technology.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An intelligent flight energy and safety integrated control circuit includes:

[0007] The power intelligent scheduling circuit has its input terminals connected to the USB interface J1, the solar input interface, and the lithium battery power interface J3, and its output terminals provide multi-level voltages.

[0008] The dynamic MPPT circuit has its input end connected to the solar photovoltaic module and its output end connected to the lithium battery charging management node of the power intelligent scheduling circuit.

[0009] The STM32 microcontroller circuit U1, as the control core, is connected to the intelligent power scheduling circuit, dynamic MPPT circuit, multi-mode perception obstacle avoidance circuit, motor drive and energy recovery circuit, and adaptive anti-interference communication circuit.

[0010] The multi-mode perception obstacle avoidance circuit includes a spatial attitude detection unit and a six-way obstacle ranging unit, and its signal output terminal is connected to the STM32 microcontroller U1 via an I2C bus.

[0011] The motor drive and energy recovery circuit has its PWM control terminal connected to the STM32 microcontroller U1, its power output terminal connected to the motor winding, and its energy recovery terminal connected to the positive terminal of the lithium battery.

[0012] The adaptive anti-interference communication circuit connects its data terminal to the STM32 microcontroller U1 via the SPI bus, and its radio frequency terminal communicates with the outside world via the multi-antenna array J11-J16.

[0013] Optionally, the intelligent power scheduling circuit includes a DC / DC boost converter integrated chip U7 and a linear regulator chip U9 connected in sequence;

[0014] The output of the lithium battery power interface J3 is connected to the input of the DC / DC boost converter integrated chip U7, which boosts the voltage from 3.7V to 5V.

[0015] The linear regulator chip U9 is connected to a 5V node at its input and provides a 3.3V voltage at its output.

[0016] The USB interface J1 is connected in parallel to the input terminal of the lithium battery power interface J3, forming a priority power supply path for external power.

[0017] Optionally, the dynamic MPPT circuit includes a cascaded DC / DC solar MPPT control chip U2 and a lithium battery charging management chip U3;

[0018] The enable terminal and output voltage sampling terminal of the solar MPPT control chip U2 are connected to the ADC interface of the STM32 microcontroller U1;

[0019] The charging control signal terminal of the lithium battery charging management chip U3 is connected to the GPIO port of the STM32 microcontroller U1.

[0020] Optionally, the STM32 microcontroller circuit U1 is connected to the I2C multiplexer U5 of the multi-mode perception obstacle avoidance circuit via the I2C bus, to the MOSFET gate of the motor drive and energy recovery circuit via the PWM pin, and to the wireless communication chip U8 of the adaptive anti-interference communication circuit via the SPI interface; the reset button SW2 is directly connected to the NRST pin of the STM32 microcontroller U1.

[0021] Optionally, the multi-mode perception obstacle avoidance circuit includes:

[0022] The inertial measurement chip U4 and the barometric pressure sensor J8 are directly connected to the STM32 microcontroller U1 via their I2C interfaces.

[0023] Six sets of laser rangefinders U10-U15 are arranged in front / back / left / right / top / bottom positions, and their outputs are connected to the input channels of I2C multiplexer U5.

[0024] The output of the I2C multiplexer U5 is connected to the I2C interface of the STM32 microcontroller U1.

[0025] Optionally, when any laser rangefinder detects that the distance to an obstacle is less than a preset threshold, the STM32 microcontroller U1 shuts down the thrust output of the corresponding directional motor drive MOSFETs Q1-Q4 via a PWM signal.

[0026] Optionally, the motor drive and energy recovery circuit includes:

[0027] The four drive MOSFETs Q1-Q4 have their gates connected to the four PWM pins of the STM32 microcontroller U1, and their drains connected to the motor windings.

[0028] The energy recovery MOSFET Q5 has its gate connected to the dedicated control pin of the STM32 microcontroller U1, its source connected to the motor winding, and its drain connected to the positive terminal of the lithium battery.

[0029] Optionally, during braking or landing, the STM32 microcontroller U1 monitors the motor's back EMF voltage in real time and controls the feedback current by adjusting the PWM duty cycle of MOSFET Q5.

[0030] Optionally, the adaptive anti-interference communication circuit includes:

[0031] The wireless communication chip U8 has its SPI interface connected to the PB14_SPI_MISO and PB15_SPI_MOSI pins of the STM32 microcontroller U1.

[0032] SAW filter U16 is connected in series at the RF output terminal of wireless communication chip U8;

[0033] The radio frequency switch U17 has its control terminal connected to the STM32 microcontroller U1, its input terminal connected to the SAW filter U16, and its output terminal connected to multiple antennas J11-J16.

[0034] Optionally, the STM32 microcontroller U1 performs cooperative control:

[0035] The motor drive signal is adjusted in real time based on the obstacle information of the multi-mode perception obstacle avoidance circuit;

[0036] Dynamically switch between MPPT algorithm and charging mode based on power status;

[0037] The radio frequency switch U17 is used to switch the antenna path based on the strength of the communication signal.

[0038] The beneficial effects of this utility model are:

[0039] The intelligent flight energy and safety integrated control circuit proposed in this utility model integrates power management, dynamic MPPT control, motor energy recovery, automatic emergency braking and adaptive anti-interference communication functions, which can effectively improve the autonomous flight capability and system robustness of UAVs in complex environments, and comprehensively enhance endurance, safety response and remote control stability. Attached Figure Description

[0040] Figure 1 This is a circuit diagram of the intelligent power scheduling system of this utility model;

[0041] Figure 2 This is the circuit diagram of the dynamic MPPT of this utility model;

[0042] Figure 3 This is the circuit diagram of the STM32 microcontroller of this utility model;

[0043] Figure 4 This is the circuit diagram for the multi-mode sensing obstacle avoidance of this utility model;

[0044] Figure 5 This is the circuit diagram of the motor drive and energy recovery of this utility model;

[0045] Figure 6 This is the circuit diagram of the adaptive anti-interference communication circuit of this utility model. Detailed Implementation

[0046] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0047] Reference Figure 1-6 A smart flight energy and safety integrated control circuit includes a power intelligent scheduling circuit, a dynamic MPPT circuit, an STM32 microcontroller circuit, a multi-mode perception obstacle avoidance circuit, a motor drive and energy recovery circuit, and an adaptive anti-interference communication circuit. The following is a detailed description of each part of the circuit.

[0048] like Figure 1As shown, the intelligent power scheduling circuit integrates a DC / DC boost converter chip U7, a linear regulator chip U9, a USB interface J1, and a lithium battery power interface J3. The 3.7V output of the lithium battery power interface J3 is connected to the VIN pin of the DC / DC boost converter chip U7. After being boosted to 5V by the DC / DC boost converter chip U7, the voltage is input to the linear regulator chip U9, which converts it to 3.3V to power the STM32 microcontroller U1. The VBUS pin of the USB interface J1 is connected in parallel to the positive terminal of the lithium battery power interface J3, enabling automatic switching to USB input when external power is prioritized, while simultaneously charging the lithium battery through the charging management chip U3. When the external power supply is disconnected, the DC / DC boost converter chip U7 switches to lithium battery power supply in boost mode within 10ms to ensure uninterrupted system operation. The multi-stage voltage conversion has high efficiency and improves energy utilization. The lithium battery power interface J3 provides DC 3.7V voltage, which is boosted to 5V by the DC / DC boost converter chip U7, and then converted to 3.3V by the linear regulator chip U9 to provide power for core components such as microcontrollers, meeting the precise power supply requirements of multi-stage voltage application scenarios.

[0049] like Figure 2 As shown, the dynamic MPPT circuit includes a DC / DC solar MPPT control chip U2 and a lithium battery charging management chip U3. The PVIN pin of the solar MPPT control chip U2 is connected to the solar panel, and it outputs 12V DC power to the lithium battery charging management chip U3 via real-time maximum power point tracking. The lithium battery charging management chip U3 receives this power at its input terminal and connects its output terminal to the lithium battery power interface J3. Its voltage / current / temperature sampling terminals are connected to the PC0-PC2 pins of the STM32 microcontroller U1. The STM32 microcontroller U1 dynamically adjusts the charging strategy of the lithium battery charging management chip U3 based on the collected data: when the battery voltage is <3.0V, it performs 100mA trickle pre-charge; when the voltage is between 3.0V and 4.1V, it switches to 2A constant current fast charging; and when the voltage is ≥4.1V, it switches to 4.2V constant voltage charging until the current is <50mA and stops. This closed-loop control improves solar energy conversion efficiency, increases charging speed, and eliminates the risk of overcharging. The DC / DC solar MPPT control chip U2 enables real-time maximum power point tracking and energy extraction from the solar photovoltaic module, outputting stable DC power to the lithium battery charging management chip U3 for management. The lithium battery charging management chip U3 dynamically adjusts the charging strategy based on the battery terminal voltage, current, and temperature data collected by the STM32 microcontroller U1, realizing an organic transition between the three stages of trickle pre-charging, constant current fast charging, and constant voltage charging, greatly improving charging efficiency and battery safety.

[0050] like Figure 3As shown, the STM32 microcontroller circuit includes a high-performance STM32 main control chip U1 and its reset protection circuit. The STM32 microcontroller circuit is responsible for coordinating and managing various modules of the system, including power scheduling, motor drive, energy feedback, and communication monitoring. Its associated reset button SW2 is used to force a hardware / software restart in abnormal system conditions, ensuring continuous system operation and fault self-recovery capabilities. The STM32 microcontroller U1 polls obstacle avoidance data via PB6 / PB7, controls motor drive via PA8-PA11, regulates energy recovery via PA12, optimizes antenna paths via PE0-PE2, and manages charging strategies via PC0-PC3. When hovering for >60s, U1 automatically shuts down the upper and lower laser sensors U10-U15 to reduce power consumption; in case of system abnormality, the reset button SW2 triggers a hardware reset. This collaborative mechanism reduces standby power consumption and achieves a fault recovery time of <2s, realizing a closed-loop management system for flight control, energy scheduling, and safety protection in complex environments.

[0051] To further optimize power management strategies, when the drone is in standby, hovering, or low-load cruise mode, the STM32 will actively shut down non-critical peripheral modules such as some ranging sensors or backup communication modules, and reduce the data sampling frequency and processing priority of the MPPT module, thereby effectively reducing system power consumption and extending the overall flight time.

[0052] like Figure 4 As shown, the multi-mode perception obstacle avoidance circuit includes an inertial measurement chip U4, a barometric pressure sensor J8, six-directional laser rangefinders U10-U15, and an I2C multiplexer U5. The inertial measurement chip U4 measures the UAV's acceleration and angular velocity, transmitting the data via the I2C interface to the STM32 microcontroller U1 for attitude calculation and dynamic balance control. The barometric pressure sensor J8 continuously monitors atmospheric pressure changes, combining this with an environmental model to estimate flight altitude, assisting in automatic altitude maintenance and landing recognition. Its measurement data is transmitted to the STM32 microcontroller U1 via the I2C interface. The six-directional laser rangefinders U10-U15 are installed in the front, rear, left, right, up, and down directions of the UAV, respectively. They utilize a high-frequency ranging algorithm to dynamically perceive the distance information of surrounding obstacles, which is then aggregated by the I2C multiplexer U5 and analyzed by the STM32 microcontroller U1. When an obstacle is detected entering the preset minimum safe distance, the system automatically locks the thrust in that direction to avoid risk, and resumes normal control logic after the obstacle is cleared. I of a six-axis laser rangefinder 2 C interface connection I 2 The SDA0-SDA5 channels of the C multiplexer U5 are connected to the PB6 / PB7 pins of the I2C multiplexer U5; the inertial measurement chip U4 and the barometric pressure sensor J8 are directly connected to the I2C interface of the STM32 microcontroller U1. 2The STM32 microcontroller U1 uses the C2 bus PB10 / PB11 to poll obstacle distance data from U5 every 20ms. When a distance of less than 0.5m is detected in a certain direction, the corresponding motor PWM output is immediately locked, and the PA8 pin signal is turned off if an obstacle is detected ahead. Simultaneously, attitude data from the inertial measurement chip U4 is used to plan an obstacle avoidance path. This design achieves 360° blind-spot-free monitoring with a blind zone of less than 5%, and shortens obstacle avoidance response time.

[0053] like Figure 5 As shown, the motor drive and energy recovery circuit uses the PWM signal output by the STM32 microcontroller U1 to precisely control four drive MOSFETs Q1-Q4. The gates of the four drive MOSFETs Q1-Q4 are connected to pins PA8-PA11 of the STM32 microcontroller U1, and their drains drive the motor windings. The gate of the energy recovery MOSFET Q5 is connected to pin PA12 of the STM32 microcontroller U1, its source is connected to the common terminal of the motor, and its drain is fed back to the positive terminal of the lithium battery via diode D1. During normal flight, the STM32 microcontroller U1 controls the four drive MOSFETs Q1-Q4 to adjust the speed by outputting PWM signals through PA8-PA11. During braking or landing, the STM32 microcontroller U1 detects the back EMF voltage of the motor and outputs dynamic PWM through PA12 to turn on Q5, thus achieving precise adjustment of the motor speed. During flight deceleration, hovering, or vertical descent, the STM32 microcontroller U1 controls the energy recovery MOSFET Q5 to briefly turn on, recovering the back EMF generated by the motor and feeding it back to the lithium battery, thereby improving the overall energy efficiency.

[0054] In particular, during the rapid descent or emergency braking of the drone, the reverse power generation capability of the motor will be significantly enhanced. The system can monitor the back electromotive force voltage amplitude at both ends of the motor in real time by the STM32 microcontroller U1, and after confirming that it is within the safe voltage range, dynamically adjust the conduction time and duty cycle of the energy recovery MOSFET Q5 to precisely control the recharge power, so as to prevent safety hazards such as overcharging of lithium battery or even thermal runaway due to excessive energy recharge.

[0055] like Figure 6As shown, the adaptive anti-interference communication circuit includes a wireless communication chip U8, a SAW filter U16, an RF switch U17, and smart antenna components J11-J16. The SPI interface of the wireless communication chip U8 is connected to the PB12-PB15 pins of the STM32 microcontroller U1. Its RF_OUT pin is connected in series with the SAW filter U16 and then connected to the COM terminal of the RF switch U17. The ANT1-ANT6 pins of the RF switch U17 are connected to six antennas J11-J16, and the CTRL pin is controlled by the PE0-PE2 pins of U1. The STM32 microcontroller U1 collects the RSSI signal strength of each antenna every second and controls the RF switch U17 to switch to the optimal antenna through PE0-PE2. For example, when ANT3 is selected, PE0=1 / PE1=0 / PE2=1 is set. If three consecutive communication failures occur, the backup channel is activated. The wireless communication chip U8 forms a high-speed SPI channel through the PB14_SPI_MISO and PB15_SPI_MOSI interfaces, ensuring real-time data interaction and remote monitoring between the ground station and the UAV. The SAW filter U16 effectively suppresses interference signals outside the 2.4GHz band and improves the communication signal-to-noise ratio. The RF switch U17 is automatically controlled by the STM32 microcontroller U1. It evaluates the signal quality of each antenna channel in real time through algorithms and dynamically switches to the optimal signal source, realizing multi-channel redundancy backup and stable link maintenance. This effectively enhances the UAV's communication anti-interference capability and long-distance control reliability in complex electromagnetic environments.

[0056] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An intelligent flight energy and safety integrated control circuit, characterized in that, include: The power intelligent scheduling circuit has its input terminals connected to the USB interface J1, the solar input interface, and the lithium battery power interface J3, and its output terminals provide multi-level voltages. The dynamic MPPT circuit has its input end connected to the solar photovoltaic module and its output end connected to the lithium battery charging management node of the power intelligent scheduling circuit. The STM32 microcontroller circuit U1, as the control core, is connected to the intelligent power scheduling circuit, dynamic MPPT circuit, multi-mode perception obstacle avoidance circuit, motor drive and energy recovery circuit, and adaptive anti-interference communication circuit. The multi-mode perception obstacle avoidance circuit includes a spatial attitude detection unit and a six-way obstacle ranging unit, and its signal output terminal is connected to the STM32 microcontroller U1 via an I2C bus. The motor drive and energy recovery circuit has its PWM control terminal connected to the STM32 microcontroller U1, its power output terminal connected to the motor winding, and its energy recovery terminal connected to the positive terminal of the lithium battery. The adaptive anti-interference communication circuit connects its data terminal to the STM32 microcontroller U1 via the SPI bus, and its radio frequency terminal communicates with the outside world via the multi-antenna array J11-J16.

2. The intelligent flight energy and safety integrated control circuit according to claim 1, wherein, The intelligent power scheduling circuit includes a DC / DC boost converter integrated chip U7 and a linear regulator chip U9 connected in sequence. The output of the lithium battery power interface J3 is connected to the input of the DC / DC boost converter integrated chip U7, which boosts the voltage from 3.7V to 5V. The linear regulator chip U9 is connected to a 5V node at its input and provides a 3.3V voltage at its output. The USB interface J1 is connected in parallel to the input terminal of the lithium battery power interface J3, forming a priority power supply path for external power.

3. The intelligent flight energy and safety integrated control circuit of claim 1, wherein, The dynamic MPPT circuit includes a cascaded DC / DC solar MPPT control chip U2 and a lithium battery charging management chip U3; The enable terminal and output voltage sampling terminal of the solar MPPT control chip U2 are connected to the ADC interface of the STM32 microcontroller U1. The charging control signal terminal of the lithium battery charging management chip U3 is connected to the GPIO port of the STM32 microcontroller U1.

4. The intelligent flight energy and safety integrated control circuit of claim 1, wherein, The STM32 microcontroller circuit U1 is connected to the I2C multiplexer U5 of the multi-mode perception obstacle avoidance circuit via the I2C bus, to the MOSFET gate of the motor drive and energy recovery circuit via the PWM pin, and to the wireless communication chip U8 of the adaptive anti-interference communication circuit via the SPI interface. The reset button SW2 is directly connected to the NRST pin of the STM32 microcontroller U1.

5. The intelligent flight energy and safety integrated control circuit of claim 1, wherein, The multi-mode sensing obstacle avoidance circuit includes: The inertial measurement chip U4 and the barometric pressure sensor J8 are directly connected to the STM32 microcontroller U1 via their I2C interfaces. Six sets of laser rangefinders U10-U15 are arranged in front / back / left / right / top / bottom positions, and their outputs are connected to the input channels of I2C multiplexer U5. The output of the I2C multiplexer U5 is connected to the I2C interface of the STM32 microcontroller U1.

6. The intelligent flight energy and safety integrated control circuit of claim 5, wherein, When any laser rangefinder detects that the distance to an obstacle is less than a preset threshold, the STM32 microcontroller U1 shuts down the thrust output of the corresponding motor drive MOSFETs Q1-Q4 via a PWM signal.

7. The intelligent flight energy and safety integrated control circuit of claim 1, wherein, The motor drive and energy recovery circuit includes: The four drive MOSFETs Q1-Q4 have their gates connected to the four PWM pins of the STM32 microcontroller U1, and their drains connected to the motor windings. The energy recovery MOSFET Q5 has its gate connected to the dedicated control pin of the STM32 microcontroller U1, its source connected to the motor winding, and its drain connected to the positive terminal of the lithium battery.

8. The intelligent flight energy and safety integrated control circuit of claim 7, wherein, During braking or landing, the STM32 microcontroller U1 monitors the motor's back EMF voltage in real time and controls the feedback current by adjusting the PWM duty cycle of MOSFET Q5.

9. The intelligent flight energy and safety integrated control circuit of claim 1, wherein, The adaptive anti-interference communication circuit includes: The wireless communication chip U8 has its SPI interface connected to the PB14_SPI_MISO and PB15_SPI_MOSI pins of the STM32 microcontroller U1. SAW filter U16 is connected in series at the RF output terminal of wireless communication chip U8; The radio frequency switch U17 has its control terminal connected to the STM32 microcontroller U1, its input terminal connected to the SAW filter U16, and its output terminal connected to multiple antennas J11-J16.

10. The intelligent flight energy and safety integrated control circuit according to any one of claims 1-9, wherein, The STM32 microcontroller U1 performs collaborative control: The motor drive signal is adjusted in real time based on the obstacle information of the multi-mode perception obstacle avoidance circuit; Dynamically switch between MPPT algorithm and charging mode based on power status; The radio frequency switch U17 is used to switch the antenna path based on the strength of the communication signal.

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