CN109573024B - Unmanned aerial vehicle emergency recovery method based on power supply management equipment - Google Patents
Unmanned aerial vehicle emergency recovery method based on power supply management equipment Download PDFInfo
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- CN109573024B CN109573024B CN201811238289.5A CN201811238289A CN109573024B CN 109573024 B CN109573024 B CN 109573024B CN 201811238289 A CN201811238289 A CN 201811238289A CN 109573024 B CN109573024 B CN 109573024B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/80—Vertical take-off or landing, e.g. using rockets
- B64U70/83—Vertical take-off or landing, e.g. using rockets using parachutes, balloons or the like
Abstract
The invention provides an unmanned aerial vehicle emergency recovery technology based on power supply management equipment, relates to the technical field of unmanned aerial vehicle emergency recovery, and can ensure that an unmanned aerial vehicle can perform parachuting recovery under various abnormal conditions; the recovery technology carries out different emergency recovery operations on the unmanned aerial vehicle according to the position of the fault point of the unmanned aerial vehicle; when the heartbeat signal disappears due to a fault, the airborne power supply and distribution equipment controls the engine to stop, and controls the recovery of the unmanned aerial vehicle after the unmanned aerial vehicle is monitored to be out of the attitude limit; when bus communication faults occur and the airborne measurement and control terminal works normally, the flight control computer controls the unmanned aerial vehicle to fly or return through the serial communication bus and the PWM control line for recovery; when the flight control computer and the bus have communication faults and the airborne measurement and control terminal works normally, the airborne measurement and control terminal responds to a standby landing command sent by the ground and controls the recovery of the unmanned aerial vehicle through the serial communication bus and the airborne power supply and distribution management equipment. The technical scheme provided by the invention is suitable for the process of emergency recovery of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of emergency recovery of unmanned aerial vehicles, in particular to an unmanned aerial vehicle emergency recovery method based on power supply management equipment.
Background
In recent years, unmanned aerial vehicle technology has been continuously developed and applied. The parachute landing unmanned aerial vehicle has higher and higher requirements on the safety of the unmanned aerial vehicle, is independent of an airport, has lower requirements on launching and recycling sites, and is widely applied to the field of military and civilian use. Because of parachuting unmanned aerial vehicle itself has the parachute, can require the parachute to retrieve according to the instruction after accomplishing the task, under the condition that meets sudden failure, also can rely on the parachute of taking to realize unmanned aerial vehicle's emergent recovery under most circumstances, protection unmanned aerial vehicle itself avoids the loss.
However, the traditional parachute landing control of the unmanned aerial vehicle has high dependence on a flight control computer, and parachute opening and recovery actions are executed by the flight control computer according to the judged fault condition or are sent out by the flight control computer after an emergency recovery instruction is received. Under the circumstances of flying control computer trouble itself, can't realize the emergent recovery of unmanned aerial vehicle, and then cause unmanned aerial vehicle's damage and lose.
Therefore, a new emergency recovery technology is urgently needed, so that the unmanned aerial vehicle emergency parachute recovery is realized under various serious fault conditions such as flight control computer faults and airborne measurement and control terminal faults, and the system reliability is further improved. Has high application value.
Disclosure of Invention
In view of the above, the invention provides an unmanned aerial vehicle emergency recovery method based on a power supply management device, which can improve the capability of the parachuting unmanned aerial vehicle for dealing with emergency faults and can realize the emergency recovery landing of the unmanned aerial vehicle in a state that a flight control computer of the unmanned aerial vehicle breaks down.
On one hand, the invention provides an unmanned aerial vehicle emergency recovery method based on power supply management equipment, which is characterized in that different emergency recovery operations are carried out on an unmanned aerial vehicle according to the position of a fault point of the unmanned aerial vehicle, and specifically the method comprises the following steps:
when the heartbeat signal disappears due to the failure of the unmanned aerial vehicle, the onboard power supply and distribution management equipment controls the engine to stop, and controls the unmanned aerial vehicle to open and recover after the attitude of the unmanned aerial vehicle is monitored to be out of limit;
when the unmanned aerial vehicle has bus communication faults but the airborne measurement and control terminal works normally, the flight control computer controls the unmanned aerial vehicle to fly or return through the serial communication bus and the PWM control line to carry out normal parachute opening and recovery;
and when the airborne measurement and control terminal works normally, the airborne measurement and control terminal responds to a standby landing command sent by a ground operator and controls the unmanned aerial vehicle to open and recover at the current position through the serial communication bus and the airborne power supply and distribution management equipment.
The above aspects and any possible implementation further provide an implementation manner, wherein the attitude of the unmanned aerial vehicle is monitored by an attitude measurement module arranged on the onboard power supply and distribution management equipment.
The above aspect and any possible implementation manner further provide an implementation manner, and the criterion for determining that the unmanned aerial vehicle attitude is out of limit is as follows: comparing the pitch angle and the roll angle of the attitude of the unmanned aerial vehicle with respective judgment thresholds respectively, and judging that the attitude of the unmanned aerial vehicle exceeds the limit if the pitch angle and/or the roll angle exceed the range of the judgment thresholds; if not, then judge that unmanned aerial vehicle does not gesture overrun, continue to judge.
The above aspect and any possible implementation further provide an implementation, where the non-overrun range of the pitch angle is: -30 °; the non-overrun range of the roll angle is as follows: -50 °.
The above-described aspects and any possible implementation manners further provide an implementation manner that the attitude measurement module is implemented by using an MPU-92509 axis attitude sensing chip.
As for the above aspects and any possible implementation manner, there is further provided an implementation manner, when the bus communication fails, the specific communication connection manner according to which the flight control computer controls the unmanned aerial vehicle to fly or return through the serial communication bus and the PWM control line is as follows: the flight control computer is connected with the unmanned aerial vehicle airborne satellite positioning equipment, various sensors, an airborne measurement and control terminal and airborne power supply and distribution management equipment by two communication connection modes of a serial communication bus and a communication bus respectively; the flight control computer is connected with the plurality of steering engines of the unmanned aerial vehicle in two connection modes of PWM and a communication bus.
As for the aspect and any possible implementation manner described above, an implementation manner is further provided, and the specific communication connection manner according to which the onboard measurement and control terminal controls the unmanned aerial vehicle to recover through the serial communication bus and the onboard power supply and distribution management device is as follows: the airborne measurement and control terminal is connected with the airborne power supply and distribution management equipment in two communication connection modes of a serial communication bus and a communication bus.
In the aspect and any possible implementation manner described above, there is further provided an implementation manner, where a serial communication bus between the flight control computer and the satellite positioning device is specifically RS 422; the serial communication bus between the flight control computer and various sensors specifically comprises: RS485, RS232, and RS 422; and serial communication buses among the flight control computer, the airborne measurement and control terminal and the airborne power supply and distribution management equipment are all RS 422.
In another aspect, the present invention provides an emergency recovery apparatus for unmanned aerial vehicle based on a power supply management device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of any one of the emergency recovery methods for unmanned aerial vehicle described above when executing the computer program.
Compared with the prior art, the invention can obtain the following technical effects: the ability of the parachute landing unmanned aerial vehicle to cope with emergency faults can be improved; the emergency recovery landing of the unmanned aerial vehicle can be realized in the state that the unmanned aerial vehicle flight control computer fails; can show improvement unmanned aerial vehicle's security, guarantee under multiple abnormal conditions that unmanned aerial vehicle can carry out the parachuting and retrieve.
Of course, it is not necessary for any one product in which the invention is practiced to achieve all of the above-described technical effects simultaneously.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic connection diagram of an emergency recovery technology system of an unmanned aerial vehicle based on power supply and distribution management equipment according to an embodiment of the present invention;
fig. 2 is a diagram of a connection relationship of a priming branch drive according to an embodiment of the present invention.
Detailed Description
For better understanding of the technical solutions of the present invention, the following detailed descriptions of the embodiments of the present invention are provided with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
In order to realize the emergency recovery landing of the unmanned aerial vehicle under the condition that the flight control computer of the unmanned aerial vehicle breaks down, the recovery of the unmanned aerial vehicle is directly delivered to the airborne power supply and distribution management equipment for control, and the parachute can be opened and recovered when the unmanned aerial vehicle is normally powered on. Specifically, telemetering information of a measurement link to a flight control computer is distributed to airborne power supply and distribution management equipment; under the condition that the flight control computer is in fault, the airborne power supply and distribution management equipment can respond to an emergency standby landing instruction sent by ground control personnel and complete parachute opening and recovery according to the instruction.
An attitude measurement module is added in the onboard power supply and distribution management equipment. The onboard power supply and distribution management device generally comprises a single-chip microcontroller (such as an 8051 single-chip microcomputer or an ARM microcontroller or a DSP processor) and a minimum circuit system thereof, a power supply circuit, a communication circuit, a fire control circuit, a power supply input processing circuit, a power distribution output circuit and the like, which are widely applied in the field of unmanned aerial vehicles, and more specific circuit structures are not repeated here. The invention adds an attitude measurement module in the original airborne power supply and distribution management equipment, wherein the attitude measurement module is internally provided with an attitude measurement sensor and used for measuring the real-time flight attitude of the unmanned aerial vehicle, and the attitude measurement module is powered by a power supply part of the original airborne power supply and distribution management equipment and is connected with a single-chip microcontroller of the airborne power supply and distribution management equipment. In the flight process, when the onboard power supply and distribution management equipment detects that the flight control computer has no heartbeat signal (namely, the flight control computer works abnormally) and cannot receive remote control information of a bus or a serial communication interface, the attitude measurement module of the onboard power supply and distribution management equipment detects that the attitude of the unmanned aerial vehicle exceeds the limit, and the unmanned aerial vehicle is automatically controlled to be unfolded and recovered through the firer control circuit.
Fig. 1 is a schematic connection diagram of an emergency recovery technology system of an unmanned aerial vehicle based on power supply and distribution management equipment according to an embodiment of the invention. As shown in fig. 1, an unmanned aerial vehicle emergency recovery technology based on power supply management equipment comprises unmanned aerial vehicle airborne power supply and distribution management equipment, a flight control computer at a ground control position, a 'standby landing' signal sending device at the ground control equipment, an airborne measurement and control terminal module, an airborne parachute opening fire controller and an airborne parachute cutting fire controller, wherein the power supply and distribution management equipment supplies power to the flight control computer, the measurement and control terminal module and the two fire controllers. The power supply and distribution management and the umbrella opening fire controller and the umbrella cutting fire controller are connected in a power supply mode with a switch, and can control the umbrella opening fire controller to perform umbrella opening operation and control the umbrella cutting fire controller to perform umbrella cutting operation when the unmanned aerial vehicle is detected to contact the ground. The umbrella opening and recovery control is completed by cutting the umbrella cabin cover binding rope through the action of initiating explosive devices. The driving of the initiating explosive device is directly driven by the onboard power supply and distribution management equipment without other equipment such as a flight control computer and the like, so that the parachute can be opened under the condition of power supply.
The flight control computer is in communication connection with the power supply and distribution management equipment and can send heartbeat signals to the power supply and distribution management equipment. The flight control computer, the measurement and control terminal module and the power supply and distribution management equipment are connected in two ways, the first way is that the flight control computer, the measurement and control terminal module and the power supply and distribution management equipment are in communication connection through a communication bus, and the communication bus refers to a CAN bus or an RS485 bus; the second path is that the measurement and control terminal module is in bidirectional connection with the flight control computer through a serial communication bus RS422 and is in communication connection with the power supply and distribution management equipment RS 422. By adopting the design of 1 minute 2, the onboard power supply and distribution management equipment can receive an emergency 'standby descending' instruction sent by the onboard measurement and control terminal even in the state that the onboard communication bus fails. The measurement and control terminal module is in communication connection with a standby landing command sending device at the ground control equipment, receives a standby landing signal and transmits the standby landing signal to the measurement and control terminal module. After the standby landing button is pressed, the ground control station firstly receives a standby landing command sent by the control device in a wired mode (the ground control station and the standby landing command are connected through wires), the ground control station is installed through the ground control terminal, the standby landing command is sent to the unmanned aerial vehicle in a wireless mode (wireless link communication is adopted between the ground and the unmanned aerial vehicle), the standby landing command is received by the airborne control terminal installed on the unmanned aerial vehicle, the standby landing command sent by the ground is sent to the unmanned aerial vehicle, and the standby landing command is sent to the flight control computer and the power supply and distribution management equipment through a communication bus and an RS422 communication line.
The flight control computer and each steering engine adopt two communication connection modes of communication bus connection and PWM connection. The flight control computer and the satellite positioning equipment of the unmanned aerial vehicle and various sensors are connected by two communication connection modes, namely communication bus connection and serial communication bus connection. By adopting the design of 1-in-2, the recovery control of the flight control computer on the unmanned aerial vehicle can be still realized when the communication bus breaks down. For the airborne equipment of the unmanned aerial vehicle, the steering engine can be controlled through the PWM signal line, and meanwhile, the distance between the flight control computer of the unmanned aerial vehicle and the steering engine is limited, so that the unmanned aerial vehicle is also suitable for PWM control.
Be equipped with attitude measurement module on the power supply and distribution management equipment, attitude measurement module is used for measuring unmanned aerial vehicle's flight gesture to judge whether unmanned aerial vehicle gesture transfinites. The attitude measurement module is realized by actually selecting an MPU-92509 shaft attitude sensing chip, the current pitching angle and rolling angle of the airplane are calculated through the MPU-92509 shaft attitude sensing chip, and the actually measured pitching angle value is compared with a set pitching threshold value to judge whether the attitude of the current unmanned aerial vehicle exceeds the limit; the pitch threshold is set according to actual needs or needs of different models, and can be generally set to be a pitch threshold larger than 30 degrees and smaller than minus 30 degrees, the roll angle overrun determination method is the same, and the roll angle threshold is generally set to be larger than 50 degrees and smaller than minus 50 degrees. The flight control computer provides heartbeat signals for airborne power supply and distribution management equipment, and when unmanned aerial vehicle flies in the air and the heartbeat signals disappear, the airborne power supply and distribution management equipment can judge to execute emergency recovery according to the gesture, namely when the gesture measuring module judges that the unmanned aerial vehicle is in the gesture overrun state, the power supply and distribution management equipment controls the parachute opening firer controller to carry out parachute opening operation.
The work engineering of the invention comprises: (1) the ground control equipment is provided with an emergency 'standby descending' button, after the button is pressed down, the ground measurement and control station sends a 'standby descending' instruction to the airborne power supply and distribution management equipment through a link, the transmission of the instruction is not dependent on the execution of the flight control computer, and the instruction is directly received and executed by the power supply and distribution management equipment which drives the initiating explosive device to act. (2) The airborne communication bus is connected with the airborne flight control computer, the airborne power supply and distribution management equipment and each sensor. (3) The serial bus of the communication between the measurement and control terminal and the flight control computer is connected to the airborne power supply and distribution management equipment through adding cable shunts, so that one equipment is used for sending, and two equipment are used for receiving, namely the flight control computer and the airborne power supply and distribution management equipment can receive the data of the measurement and control terminal through the serial communication interface. (4) The flight control computer outputs a heartbeat signal line to be connected to the power supply and distribution management equipment, the power supply and distribution management equipment can judge whether the flight control computer works normally by monitoring heartbeat signals of the flight control computer, and the flight control computer starts the authority of autonomously controlling engine parking and parachute opening recovery under the condition that the flight control computer fails. (5) The airborne power supply and distribution management equipment is additionally provided with an attitude measurement chip, and the flight attitude of the unmanned aerial vehicle can be monitored.
The invention can improve the reliability recovery of the system, and the unmanned aerial vehicle using the recovery technology of the invention has the following safety measures:
safety measure 1: in the normal flight process, the unmanned aerial vehicle flies according to a ground control instruction, after the task is finished, the unmanned aerial vehicle arrives at the appointed ground for sliding descent recovery or parachute opening recovery according to the instruction of a ground operator, and the system task is finished;
safety measure 2: in the flight process, the unmanned aerial vehicle has an abnormal fault, such as an engine stop fault, and if the flight control computer and the airborne link terminal are normal at the moment, a ground operator can send a control plane control instruction to control the unmanned aerial vehicle to open and recover at a specific position; the control plane control command is sent by a ground controller through a ground remote controller or other devices or control seats in a control cabin, corresponding control buttons are pressed as required to send corresponding commands, the unmanned aerial vehicle receives the command after sending the command and controls the corresponding steering engine to act, and after the steering engine acts, the unmanned aerial vehicle can roll or lift, so that the unmanned aerial vehicle is controlled to change the flight course or height and fly to a specific position; the specific position refers to a standby landing place which is wide in ground selected by an operator, free of buildings and personnel gathering and free of additional personnel or building loss caused by falling of the unmanned aerial vehicle;
safety measure 3: in the flight process, the unmanned aerial vehicle has a flight control computer fault, but the airborne link terminal works normally, at the moment, the airborne power supply and distribution management equipment takes over an airborne communication bus, the unmanned aerial vehicle can respond to a control surface control instruction and a 'standby landing' instruction sent by a ground operator, and arrives at a specific position (namely a standby landing site) to be parachute-opened and recovered, so that the problem that the plane cannot be safely recovered without control when the flight control computer has the fault is solved;
safety measure 4: in the flight process, the unmanned aerial vehicle has bus communication faults, but the airborne measurement and control terminal module works normally, at the moment, the airborne flight control computer can control the unmanned aerial vehicle to fly or return through the serial communication bus and the PWM control line, and the unmanned aerial vehicle is normally unfolded and recycled after returning to the field, so that the problem that the unmanned aerial vehicle cannot be controlled and recycled under the condition of the airborne bus faults is solved;
safety measure 5: in the flight process, a flight control computer fault and a bus communication fault occur, the airborne measurement and control terminal works normally, the airborne power supply and distribution management equipment can respond to a 'standby landing' instruction sent by a ground operator through a serial communication bus, and controls the unmanned aerial vehicle to parachute and recycle at the current position, so that the problem that the unmanned aerial vehicle cannot recycle under the conditions of the flight control computer fault and the bus fault of the unmanned aerial vehicle is solved;
safety measure 6: in the flying process, the unmanned aerial vehicle has a flight control computer fault and an airborne measurement and control terminal fault, the airborne power supply management equipment controls the engine to stop by powering off the engine controller, and controls the unmanned aerial vehicle to parachute and recover after monitoring that the attitude (pitch angle or roll angle) of the unmanned aerial vehicle exceeds a specified threshold value.
The above power supply management device-based unmanned aerial vehicle emergency recovery technology is introduced in detail. The above description of the embodiments is only for the purpose of helping to understand the method of the present application and its core ideas; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
The computer instructions may be stored on or transmitted from one computer-readable storage medium to another computer-readable storage medium, e.g., from one website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DS L) or wireless (e.g., infrared, wireless, microwave, etc.) means to another website site, computer, server, or data center via a solid state storage medium, such as a solid state Disk, or the like, (e.g., a solid state Disk, a magnetic storage medium, such as a DVD, a SSD, etc.), or any combination thereof.
As used in the specification and claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect. The description which follows is a preferred embodiment of the present application, but is made for the purpose of illustrating the general principles of the application and not for the purpose of limiting the scope of the application. The protection scope of the present application shall be subject to the definitions of the appended claims.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The foregoing description shows and describes several preferred embodiments of the present application, but as aforementioned, it is to be understood that the application is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the application as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the application, which is to be protected by the claims appended hereto.
Claims (8)
1. The utility model provides an emergent recovery method of unmanned aerial vehicle based on power supply management equipment which characterized in that, carries out different emergent recovery operations to unmanned aerial vehicle according to the position of unmanned aerial vehicle fault point, specifically is:
when the heartbeat signal disappears due to the failure of the unmanned aerial vehicle, the onboard power supply and distribution management equipment controls the engine to stop, and controls the unmanned aerial vehicle to open and recover after the attitude of the unmanned aerial vehicle is monitored to be out of limit;
when the unmanned aerial vehicle has bus communication faults but the airborne measurement and control terminal works normally, the flight control computer controls the unmanned aerial vehicle to fly or return through the serial communication bus and the PWM control line to carry out normal parachute opening and recovery;
when the communication between the flight control computer and the bus fails and the airborne measurement and control terminal works normally, the airborne measurement and control terminal responds to a standby landing command sent by a ground operator, and controls the unmanned aerial vehicle to open and recover at the current position through the serial communication bus and the airborne power supply and distribution management equipment;
the flight control computer, the measurement and control terminal module and the power supply and distribution management equipment are connected in two ways, wherein the first way is that the flight control computer, the measurement and control terminal module and the power supply and distribution management equipment are in communication connection through a communication bus; the second path is that the measurement and control terminal module is in bidirectional connection with the flight control computer through a serial communication bus, and is also in communication connection with the power supply and distribution management equipment through the serial communication bus;
the flight control computer and each steering engine adopt two communication connection modes of communication bus connection and PWM connection; the flight control computer and the satellite positioning equipment of the unmanned aerial vehicle, various sensors, the airborne measurement and control terminal and the airborne power supply and distribution management equipment are respectively connected in two communication connection modes of communication bus connection and serial communication bus connection.
2. The power supply management device-based unmanned aerial vehicle emergency recovery method according to claim 1, wherein the unmanned aerial vehicle attitude is monitored through an attitude measurement module arranged on the onboard power supply and distribution management device.
3. The power supply management device-based unmanned aerial vehicle emergency recovery method according to claim 1, wherein the criteria for determining that the unmanned aerial vehicle attitude is out of limit are as follows: comparing the pitch angle and the roll angle of the attitude of the unmanned aerial vehicle with respective judgment thresholds respectively, and judging that the attitude of the unmanned aerial vehicle exceeds the limit if the pitch angle and/or the roll angle exceed the range of the judgment thresholds; if not, then judge that unmanned aerial vehicle does not gesture overrun, continue to judge.
4. The power supply management device-based unmanned aerial vehicle emergency recovery method according to claim 3, wherein the non-overrun range of the pitch angle is as follows: -30 °; the non-overrun range of the roll angle is as follows: -50 °.
5. The power supply management device-based unmanned aerial vehicle emergency recovery method according to claim 2, wherein the attitude measurement module is implemented by selecting an MPU-92509 axis attitude sensing chip.
6. The power supply management device-based unmanned aerial vehicle emergency recovery method according to claim 1, wherein a serial communication bus between the flight control computer and the satellite positioning device is specifically RS 422; the serial communication bus between the flight control computer and various sensors specifically comprises: RS485, RS232, and RS 422; and serial communication buses among the flight control computer, the airborne measurement and control terminal and the airborne power supply and distribution management equipment are all RS 422.
7. The power supply management device-based unmanned aerial vehicle emergency recovery method according to claim 1, wherein a serial communication bus mode between the onboard measurement and control terminal and the onboard power supply and distribution management device is RS 422.
8. An emergent recovery unit of unmanned aerial vehicle based on power management equipment, includes memory, treater and stores in the memory and can be in the computer program of treater operation, its characterized in that: the processor, when executing the computer program, performs the steps of the method for emergency recovery of drones according to any of claims 1 to 7.
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