CN113176756A - Unmanned aerial vehicle emergency control system - Google Patents
Unmanned aerial vehicle emergency control system Download PDFInfo
- Publication number
- CN113176756A CN113176756A CN202110555077.5A CN202110555077A CN113176756A CN 113176756 A CN113176756 A CN 113176756A CN 202110555077 A CN202110555077 A CN 202110555077A CN 113176756 A CN113176756 A CN 113176756A
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- unmanned aerial
- aerial vehicle
- power supply
- power
- control unit
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24024—Safety, surveillance
Abstract
The invention discloses an unmanned aerial vehicle emergency control system; the unmanned aerial vehicle comprises an unmanned aerial vehicle power system, a power module and an unmanned aerial vehicle state monitoring module. The unmanned aerial vehicle power system includes motor and screw. The unmanned aerial vehicle state monitoring module is used for monitoring the running state of the airplane in real time. And the system control unit is used for adjusting the operation attitude and the flight requirement of the unmanned aerial vehicle. A parachute module. A power control unit is connected between the unmanned aerial vehicle power system and the power module, and the power control unit is used for cutting off a signal of a power supply of the unmanned aerial vehicle power system in an emergency state of the unmanned aerial vehicle. And the power supply self-locking unit is used for monitoring the power supply control unit so as to realize power supply self-locking of the unmanned aerial vehicle power system. The invention realizes the control turn-off and self-locking of the power system through software logic and hardware circuits, avoids the twisting of the parachute and ensures the parachute opening success rate of the parachute system.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to power supply control and protection of an unmanned aerial vehicle power system.
Background
Safety is the first consideration factor in the flight process of the unmanned aerial vehicle, and most unmanned aerial vehicles at the present stage carry parachutes to enhance the safety of the system.
In the prior art, when the unmanned aerial vehicle is in an emergency, the blades rotating at a high speed have great hidden danger to ground personnel and facilities after the unmanned aerial vehicle is out of control; when the parachute is opened in an emergency, the paddle rotating at a high speed does not stop rotating, and the conditions that the paddle rope winds the paddle, the paddle rope is cut off and the like can occur; the parachute opening success rate of the parachute system cannot be guaranteed. The traditional method is that the rotating speed of a motor is directly controlled by the flight control of the unmanned aerial vehicle, but no synchronous correlation exists between emergency parachute opening and the rotating speed of the motor, so that the parachute opening system of the parachute depends on the flight control stability of the unmanned aerial vehicle, but the unmanned aerial vehicle can lose stability and cannot open the parachute under the condition of emergency parachute opening.
Disclosure of Invention
The invention aims to provide a brand-new power management and control method for an unmanned aerial vehicle power system, which can realize the control turn-off of the power system through software logic and a hardware circuit and can solve one or more of the technical problems.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
an unmanned aerial vehicle emergency control system; the unmanned aerial vehicle comprises an unmanned aerial vehicle power system, a power module and an unmanned aerial vehicle state monitoring module. The unmanned aerial vehicle power system comprises a motor and a propeller; the power module supplies power to the motor so as to ensure the rotation of the propeller. The unmanned aerial vehicle state monitoring module is used for monitoring the running state of the airplane in real time. And the system control unit is used for adjusting the output of the unmanned aerial vehicle power system so as to adjust the operation attitude and the flight requirement of the unmanned aerial vehicle.
The parachute module, the parachute module is opened at unmanned aerial vehicle emergency state.
The power control unit is connected between the unmanned aerial vehicle power system and the power module and used for cutting off a signal of a power supply of the unmanned aerial vehicle power system in an emergency state of the unmanned aerial vehicle.
And the power supply self-locking unit is used for monitoring the power supply control unit so as to realize power supply self-locking of the unmanned aerial vehicle power system.
The power supply module also supplies power for the power supply control unit and the power supply self-locking unit.
Further: the power supply control unit and the power supply self-locking unit are integrated together.
Further: the unmanned aerial vehicle state monitoring module comprises an acceleration sensor, an air pressure sensor and a gyroscope.
Further: and the power supply control unit controls the power supply of the power system to be turned off through a certain time sequence.
Further: the power supply control unit is independent of the system control unit.
Further: the power self-locking unit is independent of the system control unit.
Further: the power source is a battery.
The invention has the technical effects that:
the power system is additionally provided with the additional power control unit and the power self-locking unit, and the additional power control unit and the original unit of the unmanned aerial vehicle form an emergency control system; the power supply of a power system is prevented from being directly cut off without opening the umbrella; the parachute opening action on the hardware is in linkage control with the power supply cut-off of the power system, software logic is avoided, and the power system is cut off at the highest speed; effectively avoiding the twisting of the parachute and ensuring the parachute opening success rate of the parachute system.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.
In the drawings:
FIG. 1 is a schematic diagram of the overall logic control of the present invention.
Fig. 2 is a schematic diagram of a hardware circuit of the power control unit and the power self-locking unit in the invention.
Detailed Description
The present invention will now be described in detail with reference to the drawings and specific embodiments, wherein the exemplary embodiments and descriptions are provided only for the purpose of illustrating the present invention and are not to be construed as unduly limiting the invention.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
As shown in fig. 1. An unmanned aerial vehicle emergency control system; the unmanned aerial vehicle comprises an unmanned aerial vehicle power system, a power module and an unmanned aerial vehicle state monitoring module. The unmanned aerial vehicle power system comprises a motor and a propeller; the power module supplies power to the motor so as to ensure the rotation of the propeller. The unmanned aerial vehicle state monitoring module is used for monitoring the running state of the airplane in real time. And the system control unit is used for adjusting the output of the unmanned aerial vehicle power system so as to adjust the operation attitude and the flight requirement of the unmanned aerial vehicle.
The parachute module, the parachute module is opened at unmanned aerial vehicle emergency state.
The power control unit is connected between the unmanned aerial vehicle power system and the power module and used for cutting off a signal of a power supply of the unmanned aerial vehicle power system in an emergency state of the unmanned aerial vehicle.
And the power supply self-locking unit is used for monitoring the power supply control unit so as to realize power supply self-locking of the unmanned aerial vehicle power system.
The power supply module also supplies power for the power supply control unit and the power supply self-locking unit.
The invention breaks through the traditional thinking, a power supply control unit and a power supply self-locking unit are added between the power system and the power supply module of the unmanned aerial vehicle, and the opening and the closing of the two units are independent of the system control unit (generally, flight control) of the unmanned aerial vehicle; authorization or control of the system control unit can be skipped in an emergency state, the power supply of the unmanned aerial vehicle power system can be directly cut off only by receiving IO signals, meanwhile, the power supply self-locking unit can ensure that the power supply can not be opened again, the parachute module and related parachute opening logic control are independently controlled, danger caused by out-of-control unmanned aerial vehicle can be effectively avoided, and the power supply self-locking unit is additionally arranged to prevent secondary opening of the power supply of the unmanned aerial vehicle and secondary risk caused by rotation of the paddle due to abnormity of power supply failure, loosening of a wire harness and the like of the system.
Here, the power supply control unit is shown in fig. 2, and the power supply control unit is used for switching between the output end of the power supply (battery) and the unmanned aerial vehicle power system.
When the power is cut off, the power self-locking unit is started, and as also shown in fig. 2, the power self-locking unit is connected to the power control unit to monitor the power control unit and ensure the open circuit;
after the parachute is opened and triggered, an IO control signal can be generated to control the power supply control unit to be turned off, meanwhile, the control signal can trigger the self-locking circuit to be turned on, self-locking is achieved through a pure hardware circuit, and software is prevented from being triggered mistakenly and delayed.
The implementation principle and the working state of the self-locking circuit in fig. 2 are explained as follows:
1. in the initial state, the switching tube Q4 is switched on, and the switching tube Q5 is switched off, so that the switching tube Q6 is switched off, and the power supply output is switched off in the initial state;
2. when a switching signal is input, the switching tube Q1 is switched on, then the switching tube Q2 is switched on, so that the switching tube Q3 is switched on, the switching tube Q4 is switched off, the switching tube Q5 is switched on, and the power supply output is switched on;
3. the purpose of design is as follows: once the switching signal is disconnected, or the wiring harness is loosened, or the power supply is turned on, the VDD power supply is abnormal, and the switching tube Q6 can be kept on; as explained below:
a. if the input signal of the switch is lost, the self-locking circuit is switched on because the switch tube Q1 is already switched on, the switch tube Q2 is also switched on, and after the input is lost, the base electrode of the switch tube Q1 is provided with the level by the switch tube Q2, so that the on state is maintained; namely, the switch tube Q3 is kept on, the switch tube Q4 is closed, and the switch tube of the rear power supply is kept on.
b. If the VDD power supply is abnormal, the switch input signal is normal, and the switching tube Q3 can be kept conducting, that is, the switching tube Q4 is closed, so that the switching tube of the following power supply can be kept conducting.
c. Assuming that the input switching signal and VDD are abnormal at the same time, the switching tube Q4 is turned off, so that the following power switching tube is kept on.
Because traditional unmanned aerial vehicle's driving system power all is directly connected the power supply by power battery, increases a miniature control on the power supply line, security that can effectual assurance used.
The judgment of whether the unmanned aerial vehicle is in the emergency state can be made by setting a threshold value of each sensor (here, the threshold value is usually mainly based on the measurement result of the unmanned aerial vehicle and the time period of the result), and performing emergency response by using one or two or more sensors simultaneously or independently, wherein the sensors are not in the threshold value range; this is set according to the actual flight situation, without limitation.
The preferred threshold settings are: descending acceleration of the unmanned aerial vehicle exceeds a certain threshold value; or the flight pitch angle of the unmanned aerial vehicle exceeds a certain threshold value.
Further: the power supply control unit and the power supply self-locking unit are integrated together. Thus, when the battery pack is installed, a small module can be installed between the battery and the power system, and the installation is simple and reliable.
Further: the unmanned aerial vehicle state monitoring module comprises an acceleration sensor, an air pressure sensor and a gyroscope. The present invention is not limited to the above sensors, and other sensors may be used without limitation.
Further: and the power supply control unit controls the power supply of the power system to be turned off through a certain time sequence. The logic is stronger, and the stability is better.
Further: the power supply control unit is independent of the system control unit. Not influenced by unmanned aerial vehicle control system itself, can function alone. When unmanned aerial vehicle is unusual, can independently send out the signal to guarantee unmanned aerial vehicle's safety, the success of parachute is opened.
Further: the power self-locking unit is independent of the system control unit. Not influenced by unmanned aerial vehicle control system itself, can function alone. The power supply of the unmanned aerial vehicle power system is prevented from being opened secondarily due to the fact that the power supply of the unmanned aerial vehicle power system is powered off and the wiring harness is loosened when the unmanned aerial vehicle power system enters a self-locking state, and secondary risks caused by rotation of the blades are avoided.
Further: the power source is a battery. Lithium batteries are preferably used here.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. An unmanned aerial vehicle emergency control system; the unmanned aerial vehicle state monitoring system comprises an unmanned aerial vehicle power system, a power module and an unmanned aerial vehicle state monitoring module;
the unmanned aerial vehicle power system comprises a motor and a propeller; the power supply module supplies power to the motor to ensure the rotation of the propeller;
the unmanned aerial vehicle state monitoring module is used for monitoring the running state of the airplane in real time;
the system control unit is used for adjusting the output of the unmanned aerial vehicle power system so as to adjust the operation attitude and the flight requirement of the unmanned aerial vehicle;
the parachute module is opened in an emergency state of the unmanned aerial vehicle;
the method is characterized in that:
a power supply control unit is connected between the unmanned aerial vehicle power system and the power supply module, and the power supply control unit is used for cutting off a signal of a power supply of the unmanned aerial vehicle power system when the unmanned aerial vehicle is in an emergency state;
the power supply self-locking unit is used for monitoring the power supply control unit to realize power supply self-locking of the unmanned aerial vehicle power system;
the power supply module also supplies power for the power supply control unit and the power supply self-locking unit.
2. The unmanned aerial vehicle emergency control system of claim 1; the method is characterized in that: the power supply control unit and the power supply self-locking unit are integrated together.
3. The unmanned aerial vehicle emergency control system of claim 1; the method is characterized in that: the unmanned aerial vehicle state monitoring module comprises an acceleration sensor, an air pressure sensor and a gyroscope.
4. The unmanned aerial vehicle emergency control system of claim 1; the method is characterized in that: and the power supply control unit controls the power supply of the power system to be turned off through a certain time sequence.
5. The unmanned aerial vehicle emergency control system of claim 1; the method is characterized in that: the power supply control unit is independent of the system control unit.
6. The unmanned aerial vehicle emergency control system of claim 1; the method is characterized in that: the power self-locking unit is independent of the system control unit.
7. The unmanned aerial vehicle emergency control system of claim 1; the method is characterized in that: the power source is a battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110555077.5A CN113176756B (en) | 2021-05-21 | 2021-05-21 | Unmanned aerial vehicle emergency control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110555077.5A CN113176756B (en) | 2021-05-21 | 2021-05-21 | Unmanned aerial vehicle emergency control system |
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| CN113176756A true CN113176756A (en) | 2021-07-27 |
| CN113176756B CN113176756B (en) | 2022-07-29 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115728636A (en) * | 2022-11-29 | 2023-03-03 | 杭州牧星科技有限公司 | Motor test system and test method |
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| CN113176756B (en) | 2022-07-29 |
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