CN102419586A - Method for monitoring condition of unmanned aerial vehicle based on serial bus - Google Patents
Method for monitoring condition of unmanned aerial vehicle based on serial bus Download PDFInfo
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- CN102419586A CN102419586A CN201110422559XA CN201110422559A CN102419586A CN 102419586 A CN102419586 A CN 102419586A CN 201110422559X A CN201110422559X A CN 201110422559XA CN 201110422559 A CN201110422559 A CN 201110422559A CN 102419586 A CN102419586 A CN 102419586A
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- serial bus
- universal serial
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention provides a system and a method for monitoring the condition of an unmanned aerial vehicle based on a serial bus. In order to solve the technical problem, the method comprises the following step of: combining various condition monitoring sensors required in the unmanned aerial vehicle with a control board based on development of a singlechip microprocessor into a whole. The control board is used for acquiring sensor data, is provided with a serial bus interface, and can respond to commands transmitted from the bus to drive the sensors to execute data transmitting, self-checking, adjusting and registering functions. The system and the method have the advantages that: condition monitoring systems of the whole unmanned aerial vehicle system are connected by the serial bus, so that wiring connection is reduced, and the expandability of system configurations is enhanced; and the system has the advantages of flexible configuration and high reliability, and is easy to wire and maintain.
Description
Technical field
The present invention relates to a kind of unmanned vehicle state monitoring method, be based on the method for the state monitoring apparatus of serial bus communication based on universal serial bus.
Background technology
The condition monitoring system that traditional civilian unmanned vehicle adopts all adopts the integrated system framework, and promptly each status monitoring sensor is against each other independently, has data-interface and the control mode of oneself.The flight controller of unmanned vehicle need be prepared the interface of a special use for each status monitoring sensor; In the software algorithm of flight controller, also need write corresponding operation code for each sensor; The interface shape and the mode of operation of each sensor have nothing in common with each other; Limit the Compatibility Design and the extensibility of flight controller, also increased complexity of developing.Then whole flight controller need carry out the design again of software and hardware when needs are introduced new sensor, and each sensor causes near the lead-in wire of flight controller mixed and disorderly all with the corresponding interface that is connected in the lead set on the flight controller when mounted, and maintainability is relatively poor.
Summary of the invention
Poor in order to overcome system configuration dirigibility, extendability that original unmanned vehicle integrated system framework brings, system wiring is mixed and disorderly, and the problem that maintainability is not good the present invention proposes a kind of unmanned vehicle method for monitoring operation states.This method adopts the status monitoring sensor of serial bus control complete machine, has flexible configuration relatively, wiring is simple and clear, reliability is high, safeguards easy characteristics.
The present invention solves the method that its technical matters adopts: required various status monitoring sensors in the unmanned vehicle system and control panel based on the singlechip microprocessor exploitation are combined constitutes an integral body.This control panel is responsible for the sensor output data is gathered, and is furnished with serial bus interface, can make response to the instruction of sending on the bus, and driving sensor is carried out data transmission, self check, adjustment registration function.
The invention has the beneficial effects as follows that the condition monitoring system of whole unmanned vehicle system is connected by universal serial bus, having reduced wiring and having connected, strengthened the extensibility of system configuration, have flexible configuration, wiring is simple and clear, reliability is high, safeguards easy advantage.
As technical method of the present invention, said control panel circuit comprises: voltage transformation module on Atmega8 single-chip microcomputer, signal amplifying and conditioning circuit, CAN communication interface circuit, the plate; Said signal amplifying and conditioning circuit is made up of instrument level operational amplifier chip AD620, and the simulating signal of sensor output is amplified and nursed one's health, and imports the AD passage of Atmega8 single-chip microcomputer then.Said CAN communication interface circuit is made up of CAN chip for driving SN65VHD230, the serial communication interface of single-chip microcomputer is connected with the CAN bus, as the port that receives and send the CAN bus data; Voltage transformation module is made up of MORNSUN-IA0512KP on the plate, converts external power supply 5V into positive and negative 12V voltage and supplies signal amplifying and conditioning circuit to use.
Another object of the present invention is, has proposed a kind of unmanned vehicle state monitoring method based on universal serial bus, can realize the automatic management and the flexible configuration of condition monitoring system, may further comprise the steps successively:
(1) each sensor is furnished with SCM Based control panel, can signal of sensor be carried out the AD conversion, and can carry out information communication through universal serial bus;
(2) single-chip microcomputer stores the attribute information of this sensor on the control panel that has of each sensor, comprises title code name and operating function method;
(3) required each sensor of unmanned vehicle is connected with the unmanned vehicle flight controller through universal serial bus, system powers on and initially broadcasts the inquiry message by flight controller through universal serial bus.
(4) be connected and send a reply message after sensor control panel on the universal serial bus receives the inquiry message, comprise the attribute information of this sensor in the message, title code name and operating function method;
(5) flight controller receives the message that each sensor control panel is replied on the universal serial bus, draws full machine sensor tabulation.
(6) flight controller can regularly send the request of data message through universal serial bus and visit the sensor in the tabulation, and the request of data message that the sensor control panel receives to this sensor name just carries out the output valve of sensor the AD conversion and sends to flight controller with the form of replying data message.
Relative prior art; The invention has the beneficial effects as follows: the condition monitoring system of whole unmanned vehicle system is connected by universal serial bus, having reduced wiring and having connected, and has strengthened the extensibility of system configuration; Have flexible configuration, wiring is simple and clear, reliability is high, safeguards easy advantage.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the present invention is described further.
Fig. 1 is the principle schematic of single-sensor bus unit.
Fig. 2 is the circuit theory diagrams of control panel
Fig. 3 is a unmanned vehicle running status bus monitoring method principle schematic.
Embodiment
In Fig. 1, status monitoring is connected to the control panel 2 based on singlechip microprocessor with sensor 1, in control panel 2, accomplishes the amplification conditioning of sensor 1 signal, and the A/D conversion provides serial bus interface.Control panel 2 inserts serial bus networks 3 at work, and carries out the management of data by single-chip microcomputer on the plate, and during operational order on coming from bus, by the parsing that control panel 2 instructs, the control pick-up service data is measured, calibration function.
In Fig. 2, said control panel circuit comprises: voltage transformation module on Atmega8 single-chip microcomputer (U2), signal amplifying and conditioning circuit, CAN communication interface circuit, the plate; Said signal amplifying and conditioning circuit is made up of instrument level operational amplifier chip AD620 (U4), links to each other with sensor through four line connector P2, and the simulating signal of sensor output is amplified and nursed one's health, and imports the AD passage of Atmega8 (U2) single-chip microcomputer then.Said CAN communication interface circuit is made up of CAN chip for driving SN65VHD230 (U3), the serial communication interface of single-chip microcomputer is connected with the CAN bus, as the port that receives and send the CAN bus data.Receive and send data and link to each other with the CAN bus by four line connector P1, simultaneously the monoblock circuit board+the 5V power supply is by this P1 interface introducing.Voltage transformation module is made up of MORNSUN-IA0512KP (U1) on the plate, converts external power supply+5V into positive and negative 12V voltage and supplies signal amplifying and conditioning circuit to use.In Fig. 3, the bus state monitoring device of whole unmanned vehicle, wherein 3. serial bus networks have been constituted by the single status monitoring sensor bus unit described in Fig. 1; 11. flight controller, 12.GPS navigating instrument, 13. inertial navigators; 14. engine temperature sensing unit, 15. power supply supply current monitoring sensors, 16. power supplys power supply electric industry monitoring sensor; 17. main thruster speed probe; 18. the main thruster torque sensor, 19. fuel liquid level sensors, 10. wireless data transmission radio station.
Claims (4)
1. the present invention is a kind of unmanned vehicle state monitoring method based on universal serial bus, it is characterized in that: said monitoring method comprises utilizes a plurality of sensors, makes all the sensors insert universal serial bus by separately control circuit, constitutes the bus monitoring network.
2. unmanned vehicle method for monitoring operation states according to claim 1; It is characterized in that: each sensor all is furnished with control panel in the said monitoring device; The signal condition and the A/D that are accomplished sensor by control panel change, and the storage of translation data and externally transmission.
3. unmanned vehicle method for monitoring operation states according to claim 1; It is characterized in that: said monitoring device also comprises the GPS navigation appearance; The inertia measurement navigating instrument, engine temperature sensing unit, power supply voltage; Current sensor, main thruster rotating speed, torque sensor and fuel liquid level sensor.
4. unmanned vehicle state monitoring method based on universal serial bus, realize the automatic management and the flexible configuration of condition monitoring system may further comprise the steps successively:
(1) each sensor is furnished with SCM Based control panel, can signal of sensor be carried out the AD conversion, and can carry out information communication through universal serial bus;
(2) single-chip microcomputer stores the attribute information of this sensor on the control panel that has of each sensor, comprises title code name and operating function method;
(3) required each sensor of unmanned vehicle is connected with the unmanned vehicle flight controller through universal serial bus, system powers on and initially broadcasts the inquiry message by flight controller through universal serial bus;
(4) be connected and send a reply message after sensor control panel on the universal serial bus receives the inquiry message, comprise the attribute information of this sensor in the message, title code name and operating function method;
(5) flight controller receives the message that each sensor control panel is replied on the universal serial bus, draws full machine sensor tabulation;
(6) flight controller can regularly send the request of data message through universal serial bus and visit the sensor in the tabulation, and the request of data message that the sensor control panel receives to this sensor name just carries out the output valve of sensor the AD conversion and sends to flight controller with the form of replying data message.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201110422559XA CN102419586A (en) | 2011-12-16 | 2011-12-16 | Method for monitoring condition of unmanned aerial vehicle based on serial bus |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110422559XA CN102419586A (en) | 2011-12-16 | 2011-12-16 | Method for monitoring condition of unmanned aerial vehicle based on serial bus |
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| CN102419586A true CN102419586A (en) | 2012-04-18 |
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| CN201110422559XA Pending CN102419586A (en) | 2011-12-16 | 2011-12-16 | Method for monitoring condition of unmanned aerial vehicle based on serial bus |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104365033A (en) * | 2012-05-21 | 2015-02-18 | 波音公司 | Aircraft information management system |
| CN105259912A (en) * | 2015-10-10 | 2016-01-20 | 成都川睿科技有限公司 | Intelligent traffic based unmanned aerial vehicle communication system |
| CN109101011A (en) * | 2017-06-20 | 2018-12-28 | 百度在线网络技术（北京）有限公司 | Sensor monitoring method, device, equipment and the storage medium of automatic driving vehicle |
| CN109739142A (en) * | 2019-01-15 | 2019-05-10 | 南京航空航天大学 | Embedded flight controller |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201698228U (en) * | 2010-06-12 | 2011-01-05 | 北京国科环宇空间技术有限公司 | Equipment supervisor in aircraft and health supervisor in equipment supervisor |
-
2011
- 2011-12-16 CN CN201110422559XA patent/CN102419586A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201698228U (en) * | 2010-06-12 | 2011-01-05 | 北京国科环宇空间技术有限公司 | Equipment supervisor in aircraft and health supervisor in equipment supervisor |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104365033A (en) * | 2012-05-21 | 2015-02-18 | 波音公司 | Aircraft information management system |
| CN104365033B (en) * | 2012-05-21 | 2017-09-22 | 波音公司 | Aircraft information management system and method |
| CN105259912A (en) * | 2015-10-10 | 2016-01-20 | 成都川睿科技有限公司 | Intelligent traffic based unmanned aerial vehicle communication system |
| CN109101011A (en) * | 2017-06-20 | 2018-12-28 | 百度在线网络技术（北京）有限公司 | Sensor monitoring method, device, equipment and the storage medium of automatic driving vehicle |
| US11453407B2 (en) | 2017-06-20 | 2022-09-27 | Apollo Intelligent Driving Technology (Beijing) Co., Ltd. | Method and apparatus of monitoring sensor of driverless vehicle, device and storage medium |
| CN109739142A (en) * | 2019-01-15 | 2019-05-10 | 南京航空航天大学 | Embedded flight controller |
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Application publication date: 20120418 |