CN111038723A - Method for controlling takeoff of unmanned aerial vehicle through networked ground power supply - Google Patents
Method for controlling takeoff of unmanned aerial vehicle through networked ground power supply Download PDFInfo
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- CN111038723A CN111038723A CN201911221741.1A CN201911221741A CN111038723A CN 111038723 A CN111038723 A CN 111038723A CN 201911221741 A CN201911221741 A CN 201911221741A CN 111038723 A CN111038723 A CN 111038723A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/04—Launching or towing gear
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/80—Transport or storage specially adapted for UAVs by vehicles
- B64U80/86—Land vehicles
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Abstract
The invention discloses a networked ground power supply controlled takeoff method for an unmanned aerial vehicle. The ground take-off control device is communicated through a dual-redundancy CAN bus, controls the switching power supply to execute a power supply instruction and a power off instruction according to the instruction sent by the flight control station, executes unmanned aircraft transmission according to a related transmission instruction sent by the flight control station, and reports power supply state and self working state monitoring information to the flight control station of the ground command control station through dual-redundancy CAN communication and Ethernet or radio station RS422 communication, so that the networked ground power supply control take-off and transmission function of the unmanned aircraft is realized, the operability of a transmission transport vehicle is improved, and the automation control level of the transmission transport vehicle is improved.
Description
Technical Field
The invention relates to a networked ground power supply controlled takeoff method for an unmanned aerial vehicle, in particular to a networked ground power supply controlled takeoff method for an unmanned aerial vehicle for launching the transport vehicle-mounted launching.
Background
The launching transport vehicle is an important component of a medium-range high-speed unmanned aerial vehicle system, provides a good storage and transportation environment for the unmanned aerial vehicle during the loading of the unmanned aerial vehicle on duty or during transportation, realizes storage, transportation and launching of 2 unmanned aerial vehicles and recovery of the unmanned aerial vehicle, is integrated on the launching transport vehicle, mainly realizes ground launching of the unmanned aerial vehicle, and can be used as ground test equipment of the unmanned aerial vehicle to complete a ground test process of the unmanned aerial vehicle. The existing unmanned aerial vehicle launching transport vehicle only has the manual power supply function of the unmanned aerial vehicle, does not have the ignition power supply function of a booster, and the ignition power supply is completed through other equipment. Therefore, it is necessary to develop a power supply control takeoff system capable of realizing automatic control of the launching transport vehicle of the unmanned aerial vehicle.
Disclosure of Invention
The invention aims to provide a networked ground power supply controlled take-off method of an unmanned aerial vehicle for launching the vehicle-mounted launched unmanned aerial vehicle of a transport vehicle, which realizes the networked ground power supply controlled take-off launching function of the unmanned aerial vehicle, improves the maneuverability of the launched transport vehicle and improves the automation control level of the launched transport vehicle.
The technical scheme of the invention is as follows:
a networked ground power supply controlled takeoff method for an unmanned aerial vehicle comprises the following steps:
1. unmanned aerial vehicle lifting vertical control
1.1 lifting with electric mechanism
After the unmanned aerial vehicle is arranged on the lifting vertical frame and before the unmanned aerial vehicle is launched, the lifting electric mechanism is automatically controlled to ascend through an internal lifting electric mechanism power supply circuit and an in-place signal feedback circuit, and after the unmanned aerial vehicle on the frame is lifted by 400 mm, the lifting electric mechanism stops acting;
1.2 erecting the electric mechanism for 15 degrees
The power supply circuit of the erecting electric mechanism and the in-place signal feedback circuit in the erecting control unit of the erecting control unit automatically or manually control the erecting electric mechanism to erect, and after the unmanned aerial vehicle erects at an angle of 15 degrees, the erecting electric mechanism stops acting;
2 unmanned aerial vehicle launching
2.1 bus Power supply for unmanned aerial vehicle
The flight console sends a bus power supply command of the unmanned aerial vehicle to the ground take-off control device, the ground take-off control device transmits the command to the DC28.5V switching power supply through CAN communication between the ground take-off control device and the DC28.5V switching power supply, and the DC28.5V switching power supply outputs the bus power supply to the power supply bus of the unmanned aerial vehicle through the falling plug after receiving the command;
2.2 starting supply of unmanned aerial vehicle Engine
The flight console sends a power supply command of a starting controller DC270V to the ground takeoff control device, the ground takeoff control device transmits the command to a DC270V switching power supply through CAN communication between the ground takeoff control device and the DC270V switching power supply, and the DC270V switching power supply outputs the power supply of the DC270V to the starting controller after receiving the command;
the flight control platform sends an engine starting power supply instruction to the ground takeoff control device, the ground takeoff control device transmits the instruction to the starting controller, the starting controller outputs the three-phase AC270V power supply to the unmanned aerial vehicle engine through the falling plug after receiving the instruction, and the unmanned aerial vehicle engine starts to supply power;
2.3 unmanned aircraft Engine shutdown
The flight console sends an engine stop instruction to the ground take-off control device, the ground take-off control device sends the engine stop instruction and transmits the engine stop instruction to the starting controller through RS422 communication between the ground take-off control device and the starting controller, and the starting controller stops the power supply of the three-phase AC270V and outputs the power supply to the engine of the unmanned aerial vehicle after receiving the instruction;
the flight console sends a power-off command of a starting controller DC270V to the ground take-off control device, or when the ground take-off control device detects an engine stop state sent by the starting controller through RS422 communication between the ground take-off control device and the starting controller, the ground take-off control device sends a power-off command of the starting controller DC270V to a DC270V switching power supply, and the DC270V switching power supply outputs power supply stopping DC270V to the starting controller after receiving the command;
2.4 bus power-off of unmanned aerial vehicle
The flight control console sends a power-off command of the bus of the unmanned aerial vehicle to the ground take-off control device, the ground take-off control device transmits the command to DC28.5V switch power supplies, and after the DC28.5V switch power supplies receive the command, the corresponding power supplies are stopped and output to the power supply bus of the unmanned aerial vehicle;
2.5 Power supply for a disconnecting device
The flight control console sends a power supply instruction of the unplugging and plugging device to the ground takeoff control device, the ground takeoff control device transmits the instruction to DC28.5V switch power supplies, the DC28.5V switch power supply outputs corresponding power supply to the unplugging and plugging device after receiving the instruction, and the unplugging and plugging device automatically drops from the unmanned aerial vehicle after being electrified;
2.6 De-firing insurance
The flight control platform sends a launch-canceling insurance instruction to the ground launch control device, and the ground launch control device controls a launch-canceling insurance relay of the booster ignition power supply circuit to supply power and output the power to a launch power supply end through an internal I/O module after receiving the instruction;
2.7 transmitting or terminating transmission
The flight control platform sends a transmitting instruction to the ground takeoff control device, the ground takeoff control device controls a transmitting relay of the booster ignition power supply circuit to supply power and output the power to the booster through the internal I/O module after receiving the instruction, and the booster ignites to push the unmanned aerial vehicle to fly;
or the flight control console sends an emission stopping instruction to the ground take-off control device, and after the ground take-off control device receives the instruction, the ground take-off control device controls an emission stopping relay of the booster ignition power supply circuit to stop supplying power and output the power to a power supply end of the launch-stopping safety, so that the booster stops supplying power;
3. erecting electric mechanism leveling
The power supply circuit of the erecting electric mechanism and the in-place signal feedback circuit in the lifting and erecting frame control unit automatically or manually control the erecting electric mechanism to be leveled back, and after the leveling back to the place, the lifting and erecting frame control unit stops the power supply of the erecting electric mechanism;
4. the electric lifting mechanism descends
After the electric mechanism for lifting and erecting returns to the flat position, the electric mechanism for lifting and erecting is automatically controlled to descend through the power supply circuit for the electric mechanism for lifting and erecting in the control unit for lifting and the in-place signal feedback circuit, and the electric mechanism for lifting and erecting is automatically stopped from supplying power after the electric mechanism for lifting and erecting descends to the in-place position.
Further, the flight console sends an instruction to the ground takeoff control device through an ethernet or a radio station.
Further, DC28.5V the switching power supply automatically disconnects the power supply to the unplugging device 200 milliseconds after the unplugging device is energized.
Further, DC28.5V switch power supply automatically disconnects the booster power supply after the booster is powered on for 300 milliseconds.
Furthermore, step 2.7 can also be implemented by switching off the booster ignition power supply circuit through a button switch on the remote control box to terminate the launching.
Further, the ground takeoff control device is communicated with the DC270V power supply and the DC28.5V power supply through a dual-redundancy CAN bus.
Further, the ground takeoff control device is communicated with the starting controller through the RS 422.
The advantages of the invention are as follows:
the ground take-off control device is communicated through a dual-redundancy CAN bus, controls the switching power supply to execute a power supply instruction and a power off instruction according to the instruction sent by the flight control station, executes unmanned aircraft transmission according to a related transmission instruction sent by the flight control station, and reports power supply state and self working state monitoring information to the flight control station of the ground command control station through dual-redundancy CAN communication and Ethernet or radio station RS422 communication, so that the networked ground power supply control take-off and transmission function of the unmanned aircraft is realized, the operability of a transmission transport vehicle is improved, and the automation control level of the transmission transport vehicle is improved.
Drawings
FIG. 1 is a schematic diagram of a networked ground-powered controlled takeoff system for launching an unmanned aerial vehicle for launching a transport vehicle onboard a launching unmanned aerial vehicle;
fig. 2 is a power supply schematic diagram of the switching power supply.
Detailed Description
The invention is further described below with reference to the figures and examples.
As shown in fig. 1, a schematic structural diagram of an unmanned aerial vehicle networked ground power supply controlled takeoff system for launching an on-board launching unmanned aerial vehicle of a transportation vehicle includes a switching power supply 1, a ground takeoff control device 2, a lifting and erecting frame control unit 3, a remote control box 4, a manual control box 5, a drop-off plug 6, a lifting electric mechanism 7 and a erecting electric mechanism 8. In addition, in order to realize functions of bus power supply of the unmanned aerial vehicle, starting power supply of an engine of the unmanned aerial vehicle, power supply of a disconnecting device and launching of the unmanned aerial vehicle, wireless communication between a ground takeoff control device and a ground command control station, and power supply of AC220V, the system further comprises a power takeoff generator, a starting controller, a radio station and antenna, a booster and an AC220V power supply wiring board.
The switching power supply 1 is used for a ground takeoff control device 2, a lifting and erecting frame control unit 3, an AC220V output, a starting controller, a radio station, an unmanned aerial vehicle bus, a disconnecting device and a booster to ignite and supply power. As shown in fig. 2, the switching power supply 1 includes a power distribution box 9, a DC270V power supply 10, and a DC28.5V power supply 11. The power distribution box 9 of the switching power supply 1 is used for outputting AC380V to DC270V switching power supply, DC28.5V switching power supply and a lifting and erecting control unit, and supplies power to an external output AC220V for electric tools, test equipment and other devices. The DC270V power supply 10 outputs DC270V to the starting controller, and the starting controller supplies power for starting the unmanned aerial vehicle engine. The DC28.5V power supply 11 is used for outputting DC28.5V to the ground takeoff control device, the starting controller, the radio station, the unmanned aerial vehicle bus, the disengaging device and the ignition power supply circuit of the booster in the ground takeoff control device.
The ground takeoff control device 2 mainly has the functions of controlling the bus power supply of the unmanned aerial vehicle, the starting power supply of an engine of the unmanned aerial vehicle, the power supply of a depacking device and the ignition power supply of a booster according to the instruction of the flight control platform. The control signals and the instruction execution state are monitored through an analog quantity module, a digital quantity module, a communication module and the like of the ground takeoff control device, and are reported to the flight control console in real time. Meanwhile, the ground takeoff control device can also test the power supply state of the initiating explosive device of the unmanned aerial vehicle recovery system and report the power supply state to the flight control platform in real time. The ground takeoff control device reports power supply state and self working state monitoring information to a flight control console of the ground command control station through dual-redundancy CAN communication and Ethernet or radio station RS422 communication. The ground takeoff control device 2 is communicated with a flight control platform of the ground command control station through an Ethernet or a radio station RS 422. The ground takeoff control device 2 is communicated with the DC270V power supply 10 and the DC28.5V power supply 11 through a dual-redundancy CAN bus. The ground takeoff control device 2 is communicated with the starting controller through RS 422.
The lifting vertical frame control unit 3 is mainly used for automatically controlling the lifting electric mechanism to ascend and descend, and automatically or manually controlling the lifting electric mechanism to ascend and descend by 15 degrees and return to be flat.
And the remote control box 4 is used for remotely cutting off the ignition power supply circuit of the booster.
The manual control box 5 is used for remotely and automatically controlling the lifting electric mechanism to ascend and descend and remotely and automatically or manually controlling the erecting electric mechanism to erect and level.
The falling plug 6 is a power supply bridge between the networked ground power supply control takeoff system of the unmanned aerial vehicle and the unmanned aerial vehicle, and is used for transmitting power supply of a bus of the unmanned aerial vehicle, starting power supply of an engine of the unmanned aerial vehicle and power supply of a falling plug device. As shown in fig. 1, the break-off plug 6 comprises a break-off device 12. The plug-in and plug-out device 12 of the plug-in and plug-out 6 is used for enabling the plug-in and plug-out 6 to automatically fall off from the unmanned aerial vehicle when the plug-in and plug-out device 12 is powered on before the unmanned aerial vehicle takes off.
The lifting electric mechanism 7 is arranged on the lifting vertical frame and used for lifting and descending the unmanned aerial vehicle.
The erecting electric mechanism 8 is arranged on the erecting and lifting vertical frame and is used for erecting and leveling the unmanned aerial vehicle at an angle of 15 degrees.
The working process is as follows:
power supply process
The power take-off generator outputs AC380V to the switch power distribution box after being started, and the power automatic change-over switch is arranged in the distribution box and can receive two paths of input power, namely power take-off generator power supply and commercial power supply. When the two-way power supply is carried out, the default state is the mains supply. The distribution box respectively outputs AC380V to DC270V switching power supply, DC28.5V switching power supply and a lifting and erecting frame control unit for supplying power to the equipment power supply; the AC220V is externally output to an AC220V power supply terminal board for supplying power to devices such as electric tools, test equipment and the like. The DC270V switching power supply outputs DC270V to the starting controller, and the starting controller supplies power to the unmanned aerial vehicle engine through the plug. DC28.5V the switch power supply respectively outputs DC28.5V to ground takeoff control device, start controller, radio station, disengaging device, booster ignition power supply circuit in ground takeoff control device, and supplies power to the bus of the unmanned aerial vehicle through the disengaging plug. The power supply of the bus of the unmanned aerial vehicle, the power supply of the unplugging device and the power supply of the ignition of the booster are all controlled by an onboard three-way power supply switch in the switch power supply. In addition, the DC270V switching power supply and the DC28.5V switching power supply are communicated with a ground takeoff control device through dual-redundancy CAN communication, and the distribution box is communicated with the DC270V switching power supply and the DC DC28.5V switching power supply through internal communication to display state information of the DC270V switching power supply and the DC DC28.5V switching power supply.
The invention also provides a method for controlling takeoff of the unmanned aerial vehicle by networked ground power supply, which comprises the following steps:
lifting vertical control of unmanned aerial vehicle
1.1 lifting with electric mechanism
After the unmanned aerial vehicle is installed on the lifting vertical frame, before the unmanned aerial vehicle is launched, the lifting vertical frame control unit lifts the operation button and the indicator light of the electric mechanism, the lifting electric mechanism is automatically controlled to ascend through the power supply circuit of the electric mechanism and the in-place signal feedback circuit inside the electric mechanism, and after the unmanned aerial vehicle on the frame is lifted by 400 mm, the lifting electric mechanism stops acting.
1.2 erecting the electric mechanism for 15 degrees
Before the unmanned aerial vehicle is launched, after the unmanned aerial vehicle is lifted by the lifting electric mechanism for 400 mm, the lifting electric mechanism operation button and the indicator lamp are lifted through the lifting vertical frame control unit, the lifting electric mechanism is automatically or manually controlled to lift through the power supply circuit of the lifting electric mechanism and the in-place signal feedback circuit, and the lifting electric mechanism stops acting after the unmanned aerial vehicle lifts at an angle of 15 degrees.
2 unmanned aerial vehicle launching
2.1 bus Power supply for unmanned aerial vehicle
The flight control console sends a bus power supply command of the unmanned aerial vehicle to the ground take-off control device through an Ethernet or a radio station, the ground take-off control device transmits the command to the DC28.5V switching power supply through CAN communication between the ground take-off control device and the DC28.5V switching power supply, and the DC28.5V switching power supply outputs the bus power supply to the power supply bus of the unmanned aerial vehicle through a falling plug after receiving the command.
2.2 starting supply of unmanned aerial vehicle Engine
The flight console sends a power supply command of the starting controller DC270V to the ground takeoff control device through Ethernet or a radio station, the ground takeoff control device transmits the command to the DC270V switching power supply through CAN communication between the ground takeoff control device and the DC270V switching power supply, and the DC270V switching power supply outputs power supply of DC270V to the starting controller after receiving the command.
The flight control platform sends an engine starting power supply instruction to the ground takeoff control device through an Ethernet or a radio station, the ground takeoff control device transmits the instruction to the starting controller through RS422 communication between the ground takeoff control device and the starting controller, the starting controller outputs power supplied by the three-phase AC270V to the unmanned aerial vehicle engine through the falling plug after receiving the instruction, and the unmanned aerial vehicle engine starts and supplies power.
2.3 unmanned aircraft Engine shutdown
The flight control platform sends an engine stop instruction to the ground take-off control device through an Ethernet or a radio station, the ground take-off control device sends the engine stop instruction and transmits the engine stop instruction to the starting controller through RS422 communication between the ground take-off control device and the starting controller, and the starting controller stops power supply of the three-phase AC270V and outputs the power supply to the unmanned aircraft engine after receiving the instruction. The flight console sends a power-off command of a starting controller DC270V to a ground take-off control device through an Ethernet or a radio station, or when the ground take-off control device detects an engine stop state sent by the starting controller through RS422 communication between the ground take-off control device and the starting controller, the ground take-off control device sends a power-off command of a starting controller DC270V to a DC270V switching power supply, and after receiving the command, the DC270V switching power supply outputs power supply stopping DC270V to the starting controller.
2.4 bus power-off of unmanned aerial vehicle
The flight control console sends a power-off command of the unmanned aerial vehicle bus to the ground take-off control device through an Ethernet or a radio station, the ground take-off control device transmits the command to the DC28.5V switching power supply through CAN communication between the ground take-off control device and the DC28.5V switching power supply, and the DC28.5V switching power supply outputs the power supply which stops corresponding power supply to the unmanned aerial vehicle power supply bus after receiving the command.
2.5 Power supply for a disconnecting device
The flight control console sends a power supply command of the unplugging device to the ground takeoff control device through an Ethernet or a radio station, the ground takeoff control device transmits the command to the DC28.5V switching power supply through CAN communication between the ground takeoff control device and the DC28.5V switching power supply, and the DC28.5V switching power supply outputs corresponding power supply to the unplugging device after receiving the command. The falling plug automatically falls off from the unmanned aerial vehicle after the unplugging device is electrified. DC28.5V the switching power supply automatically disconnects the power supply to the unplugging device 200 milliseconds after the unplugging device is energized.
2.6 De-firing insurance
The flight control platform sends a safety releasing instruction to the ground take-off control device through the Ethernet or the radio station, and after receiving the instruction, the ground take-off control device controls a safety releasing relay of the booster ignition power supply circuit to supply power and output the power to the transmitting power supply end through the internal I/O module.
2.7 transmitting or terminating transmission
The flight control platform sends a transmitting instruction to the ground takeoff control device through an Ethernet or a radio station, the ground takeoff control device controls a transmitting relay of the ignition power supply circuit of the booster to supply power and output the power to the booster through the internal I/O module after receiving the instruction, and the booster ignites to push the unmanned aerial vehicle to fly. After the booster is electrified for 300 milliseconds, the DC28.5V switching power supply automatically cuts off the power supply of the booster;
or the flight control platform sends a transmission stopping instruction to the ground take-off control device through the Ethernet or the radio station, and after receiving the instruction, the ground take-off control device controls a transmission stopping relay of the booster ignition power supply circuit to stop supplying power and output the power to a power supply end of the de-transmission fuse through the internal I/O module, so that the booster stops supplying power.
In addition, the ignition power supply circuit of the booster can be cut off through a button switch on the remote control box, and the operation safety of personnel is guaranteed.
3 erecting electric mechanism leveling
The electric mechanism is controlled to be leveled back automatically or manually through the electric mechanism power supply circuit and the in-place signal feedback circuit, and the control unit of the lifting frame is lifted to stop supplying power to the electric mechanism.
4 lifting electric mechanism descending
After the unmanned aerial vehicle is launched and the erecting electric mechanism is leveled back, the lifting electric mechanism operating button and the indicator lamp are automatically controlled to descend by the lifting electric mechanism control unit through the lifting electric mechanism power supply circuit and the in-place signal feedback circuit inside the lifting electric mechanism operating button and the indicator lamp, and the lifting electric mechanism control unit automatically stops the lifting electric mechanism to supply power after the lifting electric mechanism descends in place.
The ground takeoff control device reports the power supply state and the self working state information, and the specific process is as follows:
the ground takeoff control device reports the power supply states reported by the DC270V switching power supply and the DC DC28.5V switching power supply to the flight control console through Ethernet or a radio station through dual-redundancy CAN communication between the ground takeoff control device and the DC270V switching power supply and the DC DC28.5V switching power supply. Meanwhile, the ground takeoff control device reports the monitoring information of the working state of the ground takeoff control device to the flight control platform through the Ethernet or the radio station.
The ground test process of the unmanned aerial vehicle is as follows:
1. bus power supply for unmanned aerial vehicle
The flight control console sends a bus power supply command of the unmanned aerial vehicle to the ground take-off control device through an Ethernet or a radio station, the ground take-off control device transmits the command to the DC28.5V switching power supply through CAN communication between the ground take-off control device and the DC28.5V switching power supply, and the DC28.5V switching power supply outputs the bus power supply to the power supply bus of the unmanned aerial vehicle through a falling plug after receiving the command.
2. Bus power-off of unmanned aerial vehicle
The flight control console sends a power-off command of the unmanned aerial vehicle bus to the ground take-off control device through an Ethernet or a radio station, the ground take-off control device transmits the command to the DC28.5V switching power supply through CAN communication between the ground take-off control device and the DC28.5V switching power supply, and the DC28.5V switching power supply outputs the power supply which stops corresponding power supply to the unmanned aerial vehicle power supply bus after receiving the command.
3. Power supply for a plug-in device
The flight control platform sends a power supply test command of the unplugging device to the ground takeoff control device through an Ethernet or a radio station, the ground takeoff control device transmits the command to the DC28.5V switching power supply through CAN communication between the ground takeoff control device and the DC28.5V switching power supply, the DC28.5V switching power supply outputs corresponding power supply to the unplugging device after receiving the command, and the unplugging plug automatically drops from the unmanned aerial vehicle after the unplugging device is electrified.
4. Power off of the plug-in and plug-out device
The flight control console sends a power-off command of the unplugging device to the ground takeoff control device through an Ethernet or a radio station, the ground takeoff control device transmits the command to the DC28.5V switching power supply through CAN communication between the ground takeoff control device and the DC28.5V switching power supply, and the DC28.5V switching power supply outputs the power supply stopping corresponding power supply to the unplugging device after receiving the command.
5. Arming fuse
The flight control platform sends a safety releasing instruction to the ground take-off control device through the Ethernet or the radio station, and after receiving the instruction, the ground take-off control device controls a safety releasing relay of the ignition power supply circuit of the booster to supply power and output the power to a transmitting power supply end (not connected with the booster at this time) through the internal I/O module.
6. Launching
The flight control platform sends a transmitting instruction to the ground takeoff control device through an Ethernet or a radio station, and after receiving the instruction, the ground takeoff control device controls the power supply output of a transmitting relay of the ignition power supply circuit of the booster through an internal I/O module (not connected with the booster at this time).
7. Firing reset
The flight control platform sends a transmitting reset instruction to the ground takeoff control device through an Ethernet or a radio station, and after receiving the instruction, the ground takeoff control device controls a transmitting relay of the booster ignition power supply circuit to stop power supply output through an internal I/O module (not connected with the booster at this time).
8. Arming safety reset
The flight control platform sends a releasing transmission insurance reset instruction to the ground taking-off control device through an Ethernet or a radio station, and after receiving the instruction, the ground taking-off control device controls a releasing transmission insurance relay of the booster ignition power supply circuit to stop supplying power and output the power to a transmitting power supply end (not connected with the booster at this time) through an internal I/O module.
9. Terminating transmission reset
The flight control platform sends a transmission termination reset instruction to the ground take-off control device through an Ethernet or a radio station, and after receiving the instruction, the ground take-off control device controls a transmission termination relay of the booster ignition power supply circuit to stop supplying power and output the power to a power supply end (which is not connected with the booster at this time) of the booster ignition power supply circuit through an internal I/O module.
In addition, the ignition power supply circuit of the booster can be reset through a button switch on the remote control box.
10. Initiating explosive device power supply test for unmanned aerial vehicle recovery system
The ground takeoff control device collects the initiating explosive device power supply voltage of the unmanned aerial vehicle recovery system through the internal A/D module and reports the initiating explosive device power supply voltage to the flight control platform in real time through the Ethernet or the radio station.
11. Reporting power supply state and self working state information
The ground takeoff control device reports each power supply state reported by the DC28.5V switch power supply to the flight control console through Ethernet or a radio station through dual-redundancy CAN communication between the ground takeoff control device and the DC28.5V switch power supply. Meanwhile, the ground takeoff control device reports the monitoring information of the working state of the ground takeoff control device to the flight control platform through the Ethernet or the radio station.
Claims (7)
1. A method for controlling takeoff of an unmanned aerial vehicle by networked ground power supply is characterized by comprising the following steps: the method comprises the following steps:
1. unmanned aerial vehicle lifting vertical control
1.1 lifting with electric mechanism
After the unmanned aerial vehicle is arranged on the lifting vertical frame and before the unmanned aerial vehicle is launched, the lifting electric mechanism is automatically controlled to ascend through an internal lifting electric mechanism power supply circuit and an in-place signal feedback circuit, and after the unmanned aerial vehicle on the frame is lifted by 400 mm, the lifting electric mechanism stops acting;
1.2 erecting the electric mechanism for 15 degrees
The power supply circuit of the erecting electric mechanism and the in-place signal feedback circuit in the erecting control unit of the erecting control unit automatically or manually control the erecting electric mechanism to erect, and after the unmanned aerial vehicle erects at an angle of 15 degrees, the erecting electric mechanism stops acting;
2 unmanned aerial vehicle launching
2.1 bus Power supply for unmanned aerial vehicle
The flight console sends a bus power supply command of the unmanned aerial vehicle to the ground take-off control device, the ground take-off control device transmits the command to the DC28.5V switching power supply through CAN communication between the ground take-off control device and the DC28.5V switching power supply, and the DC28.5V switching power supply outputs the bus power supply to the power supply bus of the unmanned aerial vehicle through the falling plug after receiving the command;
2.2 starting supply of unmanned aerial vehicle Engine
The flight console sends a power supply command of a starting controller DC270V to the ground takeoff control device, the ground takeoff control device transmits the command to a DC270V switching power supply through CAN communication between the ground takeoff control device and the DC270V switching power supply, and the DC270V switching power supply outputs the power supply of the DC270V to the starting controller after receiving the command;
the flight control platform sends an engine starting power supply instruction to the ground takeoff control device, the ground takeoff control device transmits the instruction to the starting controller, the starting controller outputs the three-phase AC270V power supply to the unmanned aerial vehicle engine through the falling plug after receiving the instruction, and the unmanned aerial vehicle engine starts to supply power;
2.3 unmanned aircraft Engine shutdown
The flight console sends an engine stop instruction to the ground take-off control device, the ground take-off control device sends the engine stop instruction and transmits the engine stop instruction to the starting controller through RS422 communication between the ground take-off control device and the starting controller, and the starting controller stops the power supply of the three-phase AC270V and outputs the power supply to the engine of the unmanned aerial vehicle after receiving the instruction;
the flight console sends a power-off command of a starting controller DC270V to the ground take-off control device, or when the ground take-off control device detects an engine stop state sent by the starting controller through RS422 communication between the ground take-off control device and the starting controller, the ground take-off control device sends a power-off command of the starting controller DC270V to a DC270V switching power supply, and the DC270V switching power supply outputs power supply stopping DC270V to the starting controller after receiving the command;
2.4 bus power-off of unmanned aerial vehicle
The flight control console sends a power-off command of the bus of the unmanned aerial vehicle to the ground take-off control device, the ground take-off control device transmits the command to DC28.5V switch power supplies, and after the DC28.5V switch power supplies receive the command, the corresponding power supplies are stopped and output to the power supply bus of the unmanned aerial vehicle;
2.5 Power supply for a disconnecting device
The flight control console sends a power supply instruction of the unplugging and plugging device to the ground takeoff control device, the ground takeoff control device transmits the instruction to DC28.5V switch power supplies, the DC28.5V switch power supply outputs corresponding power supply to the unplugging and plugging device after receiving the instruction, and the unplugging and plugging device automatically drops from the unmanned aerial vehicle after being electrified;
2.6 De-firing insurance
The flight control platform sends a launch-canceling insurance instruction to the ground launch control device, and the ground launch control device controls a launch-canceling insurance relay of the booster ignition power supply circuit to supply power and output the power to a launch power supply end through an internal I/O module after receiving the instruction;
2.7 transmitting or terminating transmission
The flight control platform sends a transmitting instruction to the ground takeoff control device, the ground takeoff control device controls a transmitting relay of the booster ignition power supply circuit to supply power and output the power to the booster through the internal I/O module after receiving the instruction, and the booster ignites to push the unmanned aerial vehicle to fly;
or the flight control console sends an emission stopping instruction to the ground take-off control device, and after the ground take-off control device receives the instruction, the ground take-off control device controls an emission stopping relay of the booster ignition power supply circuit to stop supplying power and output the power to a power supply end of the launch-stopping safety, so that the booster stops supplying power;
3. erecting electric mechanism leveling
The power supply circuit of the erecting electric mechanism and the in-place signal feedback circuit in the lifting and erecting frame control unit automatically or manually control the erecting electric mechanism to be leveled back, and after the leveling back to the place, the lifting and erecting frame control unit stops the power supply of the erecting electric mechanism;
4. the electric lifting mechanism descends
After the electric mechanism for lifting and erecting returns to the flat position, the electric mechanism for lifting and erecting is automatically controlled to descend through the power supply circuit for the electric mechanism for lifting and erecting in the control unit for lifting and the in-place signal feedback circuit, and the electric mechanism for lifting and erecting is automatically stopped from supplying power after the electric mechanism for lifting and erecting descends to the in-place position.
2. The networked ground-powered controlled takeoff method for unmanned aerial vehicles as claimed in claim 1, wherein: the flight control platform sends an instruction to the ground takeoff control device through an Ethernet or a radio station.
3. The networked ground-powered controlled takeoff method for unmanned aerial vehicles as claimed in claim 2, wherein: DC28.5V the switching power supply automatically disconnects the power supply to the unplugging device 200 milliseconds after the unplugging device is energized.
4. The networked ground-powered controlled takeoff method for unmanned aerial vehicles as claimed in claim 3, wherein: the DC28.5V switch power supply automatically disconnects the booster power supply after the booster is powered on for 300 milliseconds.
5. The networked ground-powered controlled takeoff method for unmanned aerial vehicles as claimed in claim 4, wherein: step 2.7 can also realize the termination of the launching by switching off the booster ignition power supply circuit through a button switch on the remote control box.
6. The networked ground-powered controlled takeoff method for the unmanned aerial vehicle as claimed in claim 5, wherein: the ground takeoff control device is communicated with the DC270V power supply and the DC28.5V power supply through a dual-redundancy CAN bus.
7. The networked ground-powered controlled takeoff method for unmanned aerial vehicles according to claim 6, wherein: and the ground takeoff control device is communicated with the starting controller through RS 422.
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