CN102854881A - Automatic control system of unmanned aerial vehicle (UAV) - Google Patents
Automatic control system of unmanned aerial vehicle (UAV) Download PDFInfo
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Abstract
The invention discloses an automatic control system of an unmanned aerial vehicle (UAV). The automatic control system comprises a processor unit, a controller, a first motor, a second motor, a third motor, a fourth motor, a signal processor and an unmanned aerial vehicle, wherein the processor unit transmits control signals to the controller; the controller divides the control signals into a first driving signal, a second driving signal, a third driving signal and a fourth driving signal; and the first driving signal, the second driving signal, the third driving signal and the fourth driving signal are used for controlling the first motor, the second motor, the third motor and the fourth motor respectively, and the first driving signal, the second driving signal, the third driving signal and the fourth driving signal which pass through the first motor, the second motor, the third motor and the fourth motor are compounded by the signal processor to control the movement of the unmanned aerial vehicle. The automatic control system of the UAV breaks through the limitation of high-voltage line patrol of 'giving priority to helicopter patrol and giving supplement to manual patrol' in the prior art.
Description
Technical field
The invention relates to unmanned plane UAV(Unmanned Aerial Vehicle) technical field, and particularly relevant for unmanned plane UAV automatic control system.
Background technology
High speed development along with infotech, the application of sensor in aeroplane photography of taking photo by plane of global position system GPS (Global Positioning System) and high resolving power, so that the photogrammetric measurement technology has had great development, become a novel practical technology that integrates remote sensing, remote control, telemetry and computer technology.Enter after 21 century, this technology progressively is applied to civilian and industrial circle from military field especially, the concept of " digitalized city " and " the digitizing earth " that proposes in the recent period, and this technology changes civilian imbody over to just.
The photogrammetric measurement technology is exactly that the Aerial Images that gathers in the flight course is carried out digitizing, the processing of two-dimentional three-dimensional, obtains spatial information or the status information of various terrain object, to satisfy people to the information requirement of various concrete application.Now, the photogrammetric measurement technology is used many aspects such as ten military affairs, Disaster Assessment, ecological Studies, communications and transportation, mapping, city planning widely; In electric system, the photogrammetric measurement technology also begins to be applied, and wherein polling transmission line is an important application direction.
Transmission line of electricity is being undertaken the important duty of electric power transfer, is a basic work that effectively guarantees transmission line of electricity and equipment safety operation thereof to the regular visit of transmission line of electricity.Along with China's rapid development of economy, UHV (ultra-high voltage), large capacity, long distance transmission line are built more and more, existing transmission line of electricity channel resource becomes and is becoming tight day, and transmission line of electricity is more and more away from city and main traffic artery, and the geographical environment that the circuit corridor is passed through is more complicated.The operating type that Traditional Man is patrolled and examined more and more is subject to the restriction of natural conditions, can't satisfy actual needs.Adopt helicopter polling transmission line mode have efficiently, quick, reliably, cost is low, be not subjected to the advantage such as regional impact, become the important way of China's polling transmission line." it is main that helicopter is maked an inspection tour, and manual patrol is auxiliary " is the main direction that the present high pressure of China, supertension line are patrolled and examined.
Long-play is found to exist a lot of potential safety hazards, that is:
(1) in daily helicopter routing inspection work, the working method of helicopter routing inspection mainly contains: range estimation, observation of use instrument and instrument automatically detect and combine, main working method is range estimation, comprise by telescope and observing, or the image of afterwards watching photography, shooting record to be to judge line fault and hidden danger, and obviously, this mode efficient is low, be subjected to that subjective and objective factor affects greatly, measuring accuracy is difficult to assurance, and owing to be that manual patrol is auxiliary, so that the automaticity that detects reduces greatly;
(2) in order to protect the personnel's of taking photo by plane personal safety, the distance between general helicopter and the electric wire generally has 20 ~ 30 meters far away, and distance so far away has strengthened undoubtedly camera and measured the difficulty of taking photo by plane between the object, can have influence on sometimes the sharpness of image;
(3) generally all be to be stored in certain storer after taking photo by plane by camera for the image that adopts helicopter aerial photography, then study by video recording afterwards, analyze for doubt zone, in order to guarantee that accuracy also needs secondary even repeatedly shooting sometimes, has increased testing expenses undoubtedly;
(4) in the helicopter routing inspection process, can carry the equipment records such as visible light digital camera, camcorder and infrared thermography and patrol and examine the image information of circuit, these image informations have comprised essential characteristic and the running status of transmission line of electricity, do not have the function of real-time analysis;
(5) adopt helicopter routing inspection to adopt the risk of range estimation mode itself very high, the accidents such as the person or hardware easily occur; Increased the danger of test;
(6) because the singularity of helicopter routing inspection, the distortion that Aerial Images occurs in imaging process, fuzzy, distortion or sneak into noise cause the decline of picture quality, this so that the processing in later stage bother very much;
(7) because the replacement in the four seasons in a year, so that physical environment and the landforms in transmission of electricity corridor constantly change, the various images that gather are along with environmental evolution, it is very complicated that background becomes, contrast reduces, target jamming increases, simultaneously, other natural features, with the culture complexity of image background is further deepened, because do not have implementation so that under the complicated nature background extraction of target very difficult with identification, it is technical problem underlying and the bottleneck that present Helicopter System is measured that target under the complex environment is extracted;
(8) need the device category of monitoring a lot of in the polling transmission line, the type of fault also is varied, so, in the later stage diagnostic procedure, need to analyze and calculate distinct device and fault type according to video recording, and estimate roughly location of fault according to data, then adopt artificial visually examine's secondary to determine.
Summary of the invention
For the problems referred to above, the purpose of this invention is to provide a kind of unmanned plane UAV automatic control system, solved the limitation of " it is main that helicopter is maked an inspection tour, and manual patrol is auxiliary " high-voltage maintenance in the prior art.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: a kind of unmanned plane UAV automatic control system is provided, it is characterized in that, comprise processor unit, controller, the first motor, the second motor, the 3rd motor, the 4th motor, signal processor and unmanned plane, described processor unit sends and controls signal to described controller, by described controller control signal is divided into first and drives signal, second drives signal, the 3rd drives signal and the moving signal of 4 wheel driven, described first drives signal, second drives signal, the moving signal of the 3rd driving signal and 4 wheel driven is controlled respectively described the first motor, the second motor, the 3rd motor and the 4th motor, wherein, by described the first motor, the second motor, first of the 3rd motor and the 4th motor drives signal, second drives signal, after the moving signal of the 3rd driving signal and 4 wheel driven is synthetic through signal processor, the motion of control unmanned plane.
In a preferred embodiment of the present invention, described processor unit is a dual core processor, comprise dsp processor, FPGA processor and be located at dsp processor and the master system of FPGA processor, kinetic control system and terrestrial wireless apparatus module, described master system comprises human-computer interface module, GPS locating module and online output module, described kinetic control system comprises the multiple-axis servo control module, data acquisition memory module and I/O control module, described terrestrial wireless apparatus module and the communication of multiple-axis servo control module, wherein, dsp processor is used for the control human-computer interface module, the GPS locating module, online output module, the data acquisition memory module, I/O control module and terrestrial wireless apparatus module, the FPGA processor is used for control multiple-axis servo control module, and carries out in real time exchanges data between dsp processor and the FPGA processor and call.
In a preferred embodiment of the present invention, described unmanned plane UAV automatic control system also comprises battery, described battery further is connected with the output terminal of the first motor with the 4th motor, and processor unit further is connected to respectively tie point between the first motor output end and the battery and the tie point between the 4th motor output end and the battery.
In a preferred embodiment of the present invention, described battery further is connected with the output terminal of the second motor with the 3rd motor, and processor unit further is connected to respectively tie point between the second motor output end and the battery and the tie point between the 3rd motor output end and the battery.
In a preferred embodiment of the present invention, described multiple-axis servo control module also comprises modular converter, and described modular converter comprises analog-digital converter and digital analog converter.
Whether in a preferred embodiment of the present invention, described multiple-axis servo control module also comprises coder module, and described coder module judges whether to meet rate request for detection of the actual speed of unmanned plane, too fast or excessively slow, and sends control signal.
In a preferred embodiment of the present invention, described multiple-axis servo control module also comprises current module, and the output power that described current module is used for the adjustment battery reaches the scope that unmanned plane needs.
In a preferred embodiment of the present invention, described multiple-axis servo control module also comprises the speed module, described speed module is connected with the coder module communication, too fast or excessively slow when coder module detection unmanned plane actual speed, the speed module is regulated the unmanned plane actual speed according to the result that coder module detects.
In a preferred embodiment of the present invention, described multiple-axis servo control module also comprises displacement module, and whether described displacement module arrives set displacement for detection of unmanned plane, if from set excessively away from, send assisted instruction to controller; If close to set displacement excessively, then send deceleration instruction to controller.
In a preferred embodiment of the present invention, described multiple-axis servo control module also comprises altitude module, and whether described altitude module reaches both take the altitudes for detection of unmanned plane, if from set excessively low, send the rising instruction to controller; If from set too high, then send and reduce instruction to controller.
Unmanned plane UAV automatic control system of the present invention, in order to improve arithmetic speed, guarantee unmanned plane UAV control system and reliability, the present invention introduces the FPGA processor in the dsp processor of monolithic, formation is based on the dual core processor of DSP+FPGA, and given up the structure that traditional unmanned plane adopts oil-burning machine, and take into full account battery in the effect of this system, realize the function of four motors of Single Controller synchro control, giving the FPGA processor multiple-axis servo control module of workload maximum in the unmanned plane UAV control system processes, give full play to faster characteristics of FPGA processor data processing speed, and human-computer interface module, the GPS locating module, online output module, the data acquisition memory module, the functions such as I/O control module and terrestrial wireless apparatus module are given dsp processor control, so just realized the division of labor of dsp processor and FPGA processor, dsp processor is freed from the hard work amount, broken the limitation of " it is main that helicopter is maked an inspection tour, and manual patrol is auxiliary " high-voltage maintenance in the prior art.
Description of drawings
Fig. 1 is the block scheme of the unmanned plane UAV automatic control system of preferred embodiment of the present invention;
Fig. 2 is the block scheme of processor unit among Fig. 1;
Fig. 3 is the unmanned plane during flying force diagram of preferred embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing preferred embodiment of the present invention is described in detail, thereby so that advantages and features of the invention can be easier to be it will be appreciated by those skilled in the art that protection scope of the present invention is made more explicit defining.
Along with development and the maturation of microelectric technique and computing machine integrated chip manufacturing technology, dsp processor also is applied in the various senior control system gradually because its computing power fast not only is widely used in communication and processes with vision signal.The ADSP-21xx series of AD company provides low cost, low-power consumption, high performance processing power and solution, and ADSP-2188 instruction execution speed wherein adds independently ALU up to 75MIPS, has powerful digital signal processing capability.In addition, jumbo RAM is integrated in this chip, and greatly peripheral circuits design reduces system cost and system complexity, has also greatly improved the data storage processing power.
Hardware Implementation based on the EDA technology of the FPGA processor of field programmable gate array and modern electronic design robotization is recent years to have occurred a kind of brand-new design philosophy.Although FPGA processor itself is the cell array of standard just, the function that does not have general integrated circuit to have, but the user can be according to the design needs of oneself, by specific placement-and-routing instrument its inside is reconfigured connection, within the shortest time, design the special IC of oneself, so just reduce cost, shorten the construction cycle.Because the design philosophy of FPGA processor adopting software implementation realizes the design of hardware circuit, so just so that have good reusable and the property revised based on FPGA processor designed system, this brand-new design philosophy has been applied in gradually high performance interchange and has driven in the control, and fast-developing.
As shown in Figure 2, be the block scheme of the unmanned plane UAV automatic control system of preferred embodiment of the present invention.In the present embodiment, unmanned plane UAV automatic control system comprises battery, processing unit, controller, the first motor, the second motor, the 3rd motor, the 4th motor, signal processor and unmanned plane.Wherein, described battery is lithium ion battery, is a kind of electric supply installation, for the work of whole system provides operating voltage.Described battery further is connected with the output terminal of the first motor with the 4th motor, and processor unit further is connected to respectively tie point between the first motor output end and the battery and the tie point between the 4th motor output end and the battery; Described battery further is connected with the output terminal of the second motor with the 3rd motor, and processor unit further is connected to respectively tie point between the second motor output end and the battery and the tie point between the 3rd motor output end and the battery.
The built-in control system of processor unit described in the present invention and control circuit, described processor unit sends and controls signal to described controller, by described controller control signal is divided into first and drives signal, second drives signal, the 3rd drives signal and the moving signal of 4 wheel driven, described first drives signal, second drives signal, the moving signal of the 3rd driving signal and 4 wheel driven is controlled respectively described the first motor, the second motor, the 3rd motor and the 4th motor, wherein, by described the first motor, the second motor, first of the 3rd motor and the 4th motor drives signal, second drives signal, after the moving signal of the 3rd driving signal and 4 wheel driven is synthetic through signal processor, the motion of control unmanned plane.
The present invention overcomes the dsp processor of monolithic in the prior art can not satisfy the stability of unmanned plane UAV automatic control system and the requirement of rapidity, given up the mode of operation of the dsp processor of unmanned plane UAV monolithic that automatic control system adopts, the brand-new control model based on the DSP+FPGA processor is provided.Processor unit is take the FPGA processor as processing core, realize the real-time processing of digital signal, dsp processor is freed in the middle of the work of complexity, realize the signal processing algorithm of part and the steering logic of FPGA processor, and realization data communication and storage live signal are interrupted in response.
See also Fig. 2, described processor unit is a dual core processor, and it comprises dsp processor and FPGA processor, and the two mutually communication is carried out in real time exchanges data and called.Described processor unit also comprises the master system of being located at dsp processor and FPGA processor, kinetic control system and terrestrial wireless apparatus module, described master system comprises human-computer interface module, GPS locating module and online output module, described kinetic control system comprises the multiple-axis servo control module, data acquisition memory module and I/O control module, described terrestrial wireless apparatus module and the communication of multiple-axis servo control module, wherein, dsp processor is used for the control human-computer interface module, the GPS locating module, online output module, the data acquisition memory module, I/O control module and terrestrial wireless apparatus module, FPGA processor are used for control multiple-axis servo control module.
Master system comprises human-computer interface module, GPS locating module and online output module.Human-computer interface module comprises and begins/restart button and function selecting key; The GPS locating module is used for position and the parameter setting of location high-voltage maintenance; Online output module module is used for the duty of prompting unmanned plane, such as being in the unmanned plane course of work or the condition prompting that arrives at a station.
Kinetic control system comprises multiple-axis servo control module, data acquisition memory module and I/O control module.Wherein, data acquisition memory module module is a storer; The I/O control module comprises RS-232 serial line interface, ICE port etc.The multiple-axis servo control module further comprises modular converter, coder module, current module, speed module, displacement module and altitude module.
Wherein, described modular converter comprises analog-digital converter (ADC, Analog to Digital Converter) and digital analog converter (DAC, Digital to Analog Converter); Whether described coder module judges whether to meet rate request for detection of the actual speed of unmanned plane, too fast or excessively slow, and sends control signal.
Described current module and battery are connected modular converter and are connected with controller.Modular converter is judged operating power according to the electric current of battery and controller, and power condition is fed back to battery, and the output power that current module is used for the adjustment battery reaches the scope that unmanned plane needs.
Described speed module is connected with the coder module communication, and to detect the unmanned plane actual speed too fast or excessively slow when coder module, the actual speed that the result that the speed module detects according to coder module regulates unmanned plane.
Described displacement module detects unmanned plane and whether arrives set displacement, if from set excessively away from, send assisted instruction to controller; If close to set displacement excessively, then send deceleration instruction to controller.
Whether described altitude module reaches both take the altitudes for detection of unmanned plane, if from set excessively low, send the rising instruction to controller; If from set too high, then send and reduce instruction to controller.
Be a dual core processor for processor unit, under the power supply opening state, first by human-computer interface module work, again according to the real work needs, select the regional location of unmanned plane in man-machine interface, unmanned plane is given the actual motion transformation parameter to the dsp processor in the processor unit, dsp processor is processed rear and the communication of FPGA processor, then processed the multiple-axis servo control module of four motors by the FPGA processor, and the deal with data communication to dsp processor, continue to process follow-up running status by dsp processor.
In conjunction with above description, master system comprises the functions such as human-computer interface module, GPS locating module, online output module; Kinetic control system comprises the functions such as multiple-axis servo control module, data acquisition memory module, I/O control module; Described terrestrial wireless apparatus module and the communication of multiple-axis servo control module.Wherein the multiple-axis servo control module of workload maximum is given the control of FPGA processor, remaining comprises that master system and wireless device module give dsp processor control, so just realized the division of labor of dsp processor and FPGA processor, also can carry out communication between the two simultaneously, carry out in real time exchanges data and call.
See also Fig. 3, the concrete function of unmanned plane UAV automatic control system is achieved as follows among the present invention:
1) before unmanned plane is not received any instruction, its generally can and pure helicopter as broad as long, be fixed on some zones, can directly enter the vertical displacement movement self-locking state after holding electricity, wait for instruction or the airborne lifting order of terrestrial wireless control tower always;
2) after unmanned plane is received rising or is reduced instruction, to at first judge the power supply situation, if power supply is undesired, to send interrupt request to dsp processor, dsp processor can be to interrupting doing very first time response, if the interrupt response of dsp processor does not have enough time to process, four motors on the unmanned plane will be by self-locking, and unmanned plane is in the stop motion state;
3) after unmanned plane is received flight directive, if power supply is normal, the unmanned plane motion that will raise normally, controller increases by four rotor motor M 1 simultaneously by PWM output, M2, M3, the output power of M4, and guarantee that four rotors are in a plane, gyroplane rotate speed increases thereupon, sum total pulling force u=f1+f2+f3+f4 is increased also can overcome unmanned plane self gravitation mg, as u-mg〉0 the time, unmanned plane vertical rising the upwards then, the pressure transducer of decision height will be worked, in the time of near entering preset height, slowly reduce simultaneously four rotor motor M 1 by PWM output, M2, M3, the output power of M4 reduces sum total pulling force u=f1+f2+f3+f4, when u – mg=0, then lock the power of current each motor, aircraft enters the rectilinear flight state, and opens aerial device, prepares to pass back earthward in real time photographic images;
4) receiving terrestrial wireless when unmanned plane at the rectilinear flight state reduces when highly asking, controller can reduce four rotor motor M 1 simultaneously by PWM output, M2, M3, the output power of M4, and guarantee that four rotors are in a plane, this moment, gyroplane rotate speed reduced thereupon, so that sum total pulling force u=f1+f2+f3+f4 also reduces thereupon, when u-mg＜0, then unmanned plane is done vertical landing flight downwards, the pressure transducer of decision height will be worked this moment, when entering preset height, slowly increase simultaneously four rotor motor M 1 by PWM output, M2, M3, the output power of M4 increases sum total pulling force u=f1+f2+f3+f4, when u – mg=0, then lock the power of current each motor, aircraft enters the rectilinear flight state, and opens aerial device, prepares to pass back earthward in real time photographic images;
5) when the increase of control M3 motor speed, its pulling force f3 increases thereupon, control simultaneously the M1 motor speed and reduce, its pulling force f1 reduces thereupon, keeps other gyroplane rotate speed constant, so that the pulling force f3 that the M3 motor produces with it the difference of the pulling force f1 that produces of symmetrical M1 motor greater than zero, be f3-f1〉0, can make rotor thrust generation horizontal component forward, fuselage forward pitching rolls lift-over, produce pitching angle theta, therefore can control flight and fly forward;
6) when the increase of control M1 motor speed, its pulling force f1 increases thereupon, control simultaneously the M3 motor speed and reduce, its pulling force f3 reduces thereupon, keeps other gyroplane rotate speed constant, so that the pulling force f1 that the M1 motor produces with it the difference of the pulling force f3 that produces of symmetrical M3 motor greater than zero, be f1 – f3〉0, can make rotor thrust generation horizontal component backward, fuselage backward pitching rolls lift-over, produce pitching angle theta, therefore can control flight and fly backward;
7) when the increase of M2 motor speed, its pulling force f2 increases thereupon, control simultaneously the M4 motor speed and reduce, its pulling force f4 reduces thereupon, keeps other gyroplane rotate speed constant, so that the pulling force f2 that the M2 motor produces with it the difference of the pulling force f4 that produces of symmetrical M4 motor greater than zero, be f2-f4〉0, can make rotor thrust produce horizontal component to the right, fuselage rolls lift-over to the right, produce side direction and roll roll angle φ, therefore can control the flare maneuver to the right that flies;
8) when the increase of M4 motor speed, its pulling force f4 increases thereupon, control simultaneously the M2 motor speed and reduce, its pulling force f2 reduces thereupon, keeps other gyroplane rotate speed constant, so that the pulling force f4 that the M4 motor produces with it the difference of the pulling force f2 that produces of symmetrical M2 motor greater than zero, be f4 – f2〉0, can make rotor thrust produce horizontal component left, fuselage rolls lift-over left, produce side direction and roll roll angle φ, therefore can control the flare maneuver left that flies;
9) in order to make unmanned plane do the clockwise yawing rotation of level according to desired orientation, can control the rotating speed that makes M1 motor and M3 motor increases, rising pulling force f1 and the f3 of its generation are increased simultaneously, meanwhile, the rotating speed of control M2 motor and M4 motor reduces, rising pulling force f2 and the f4 of its generation are reduced simultaneously, guarantee that the skyborne four rotors sum total of unmanned plane pulling force u equates with unmanned plane self gravitation mg, can control unmanned plane this moment and do the clockwise yawed flight action of level, otherwise, then control unmanned plane and do the counterclockwise yawed flight action of level;
10) in order to make unmanned plane do counterclockwise yawing rotation according to desired orientation, can control the rotating speed that makes M2 motor and M4 motor increases, rising pulling force f2 and the f4 of its generation are increased simultaneously, meanwhile, the rotating speed of control M1 motor and M3 motor reduces, rising pulling force f1 and the f3 of its generation are reduced simultaneously, guarantee that the skyborne four rotors sum total of unmanned plane pulling force u equates that with unmanned plane self gravitation mg can control unmanned plane and make the counterclockwise flare maneuver of level this moment;
11) regulate rising pulling force f1, f2, f3, f4 and resultant moment T that four rotor motor M 1, M2, M3, M4 produce by controller and make it acting in conjunction and on this unmanned plane, can realize control to each rotor rotor velocity amount, thereby can control and realize circular motion to the various attitudes of unmanned plane;
12) this unmanned plane has added dust humidity detection system, this dust humidity detection system is comprised of several parts such as moisture sensor, metering circuit and pen recorders, finish respectively the functions such as acquisition of information, conversion and processing, like this when unmanned plane enters in the higher environment of humidity, dust humidity detection system can be worked, if when finding improper work, will automatically make a return voyage, effectively protected unmanned plane; 13) this unmanned plane has been equipped multiple warning system, can visit side system by the unmanned plane obstacle, before colliding barrier, automatically hover, and outstanding flying in current location always, and judge according to the character of barrier and to be diversion or to make a return voyage, so just guaranteed its in motion process to the adaptation of surrounding environment, reduced the interference of environment to it.
The beneficial effect that unmanned plane UAV automatic control system of the present invention has is:
1: adopt Speed Regulation Systems of BLDCM to substitute the common DC motor governing system, so that the volume of control system is less, weight is lighter, it is larger to exert oneself, startup and braking ability are better;
2: in control procedure, taken into full account the effect of lithium ion battery in this system, based on the DSP+FPGA processor constantly all to the running status of lithium ion battery with parameter is monitored and computing, when finding that energy is finished the work not, can notify the terrestrial wireless device also automatically to make a return voyage, guarantee the safety of unmanned plane;
3: because employing is that unmanned plane cruises, this can not produce the problems such as human injury so that unmanned plane can be maximum near hi-line;
4: because employing is that unmanned plane cruises, this is so that unmanned plane can be maximum near hi-line, so that the interference that the physical environment in transmission of electricity corridor and landforms change various collection images reduces greatly;
5: this unmanned plane is for high-voltage maintenance design, thus added the high-precision GPS positioning system, as long as the position of inputting each control tower at the initial stage of executing the task just can automatic running on transmisson line;
6: the sharpness of taking photo by plane in order to improve the UAV automatic control system has added the high definition aerial device;
7: the full Digitized Servo Control by four motors of FPGA processor processing, greatly improved arithmetic speed, solved the slower bottleneck of processor operation of the DSP of monolithic, it is short to have shortened the construction cycle, and the program transportability ability is strong;
8: realized veneer control fully, not only saved control panel and taken up room, but also realized the synchronous of multi-axle motor control signal fully, be conducive to improve stability and the dynamic property of unmanned plane;
9: owing to adopt the FPGA processor to process a large amount of data and algorithm, and taken into full account the interference of high-voltage power supply to system, and dsp processor is freed from the hard work amount, effectively having prevented " race flies " of system, antijamming capability strengthens greatly;
10: the navigation of this unmanned plane mainly relies on gps signal, yet gps signal is interfered easily, and in the environment such as indoor, be difficult to receive signal, developed thus the SUAV (small unmanned aerial vehicle) navigational system based on vision guided navigation, after gps signal is interfered, will there be the terrestrial wireless apparatus module to control its navigation according to transmit picture transmission navigation instruction in good time;
11: this unmanned plane has added the function of automatically hovering, and when unmanned plane ran into emergency condition and receives terrestrial wireless change task requests, controller can send the original place cutoff command, and adjusts rapidly the state of current four motors, makes unmanned plane hover over current state;
12: because what adopt is that unmanned plane cruises and passes control interface back in good time, then in time process and failure judgement if can allow unmanned plane hover when the ground control tower is found suspicious situation is arranged;
13: this unmanned plane can also add dust humidity detection system, this dust humidity detection system is comprised of several parts such as moisture sensor, metering circuit and pen recorders, finish respectively the functions such as acquisition of information, conversion and processing, like this when unmanned plane enters in the higher environment of humidity, dust humidity detection system can be worked, if when finding improper work, will automatically make a return voyage, effectively protected unmanned plane;
14: this unmanned plane can also be equipped multiple warning system, can be by the unmanned plane obstacle detection system, before colliding barrier, automatically hover, and outstanding flying in current location always, and judge according to the character of barrier and to be diversion or to make a return voyage, so just guaranteed in motion process the adaptation of surrounding environment has been reduced the interference of environment to it.
The above only is embodiments of the invention; be not so limit claim of the present invention; every equivalent structure or equivalent flow process conversion that utilizes instructions of the present invention and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.
Claims (10)
1. unmanned plane UAV automatic control system, it is characterized in that, comprise processor unit, controller, the first motor, the second motor, the 3rd motor, the 4th motor, signal processor and unmanned plane, described processor unit sends and controls signal to described controller, by described controller control signal is divided into first and drives signal, second drives signal, the 3rd drives signal and the moving signal of 4 wheel driven, described first drives signal, second drives signal, the moving signal of the 3rd driving signal and 4 wheel driven is controlled respectively described the first motor, the second motor, the 3rd motor and the 4th motor, wherein, by described the first motor, the second motor, first of the 3rd motor and the 4th motor drives signal, second drives signal, after the moving signal of the 3rd driving signal and 4 wheel driven is synthetic through signal processor, the motion of control unmanned plane.
2. unmanned plane UAV automatic control system according to claim 1, it is characterized in that, described processor unit is a dual core processor, comprise dsp processor, FPGA processor and be located at dsp processor and the master system of FPGA processor, kinetic control system and terrestrial wireless apparatus module, described master system comprises human-computer interface module, GPS locating module and online output module, described kinetic control system comprises the multiple-axis servo control module, data acquisition memory module and I/O control module, described terrestrial wireless apparatus module and the communication of multiple-axis servo control module, wherein, dsp processor is used for the control human-computer interface module, the GPS locating module, online output module, the data acquisition memory module, I/O control module and terrestrial wireless apparatus module, the FPGA processor is used for control multiple-axis servo control module, and carries out in real time exchanges data between dsp processor and the FPGA processor and call.
3. unmanned plane UAV automatic control system according to claim 1, it is characterized in that, described unmanned plane UAV automatic control system also comprises battery, described battery further is connected with the output terminal of the first motor with the 4th motor, and processor unit further is connected to respectively tie point between the first motor output end and the battery and the tie point between the 4th motor output end and the battery.
4. unmanned plane UAV automatic control system according to claim 3, it is characterized in that, described battery further is connected with the output terminal of the second motor with the 3rd motor, and processor unit further is connected to respectively tie point between the second motor output end and the battery and the tie point between the 3rd motor output end and the battery.
5. unmanned plane UAV automatic control system according to claim 2 is characterized in that, described multiple-axis servo control module also comprises modular converter, and described modular converter is used for digital signal is converted to simulating signal.
6. unmanned plane UAV automatic control system according to claim 2, it is characterized in that, described multiple-axis servo control module also comprises coder module, described coder module is for detection of the actual speed of unmanned plane, judge whether to meet rate request, whether too fast or excessively slow, and send control signal.
7. unmanned plane UAV automatic control system according to claim 3 is characterized in that, described multiple-axis servo control module also comprises current module, and the output power that described current module is used for the adjustment battery reaches the scope that unmanned plane needs.
8. unmanned plane UAV automatic control system according to claim 6, it is characterized in that, described multiple-axis servo control module also comprises the speed module, described speed module is connected with the coder module communication, too fast or excessively slow when coder module detection unmanned plane actual speed, the speed module is regulated the unmanned plane actual speed according to the result that coder module detects.
9. unmanned plane UAV automatic control system according to claim 2, it is characterized in that described multiple-axis servo control module also comprises displacement module, whether described displacement module arrives set displacement for detection of unmanned plane, if from set excessively away from, send assisted instruction to controller; If close to set displacement excessively, then send deceleration instruction to controller.
10. unmanned plane UAV automatic control system according to claim 1, it is characterized in that described multiple-axis servo control module also comprises altitude module, whether described altitude module reaches both take the altitudes for detection of unmanned plane, if from set excessively low, send the rising instruction to controller; If from set too high, then send and reduce instruction to controller.
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