CN203038112U - Unmanned aerial vehicle (UAV) automatic control system - Google Patents
Unmanned aerial vehicle (UAV) automatic control system Download PDFInfo
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- CN203038112U CN203038112U CN 201220476272 CN201220476272U CN203038112U CN 203038112 U CN203038112 U CN 203038112U CN 201220476272 CN201220476272 CN 201220476272 CN 201220476272 U CN201220476272 U CN 201220476272U CN 203038112 U CN203038112 U CN 203038112U
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Abstract
The utility model discloses an unmanned aerial vehicle (UAV) automatic control system, comprising a processor unit, a controller, a first motor, a second motor, a third motor, a fourth motor, a signal processor and a unmanned aerial vehicle. The processor unit sends out control signals to the controller, and the signals are divided into first drive signals, second drive signals, third drive signals, and fourth drive signals by the controller. The first drive signals, the second drive signals, the third drive signals, and the fourth drive signals respectively control the first motor, the second motor, the third motor, and the fourth motor. After combination of the first drive signals, the second drive signals, the third drive signals, and the fourth drive signals which have passed through the first motor, the second motor, the third motor, and the fourth motor by the signal processor, movement of the unmanned aerial vehicle is controlled. The unmanned aerial vehicle (UAV) automatic control system breaks through limitations of the prior art that high-voltage line patrol relies mainly on helicopter tour while making manual tour assistance subsidiary.
Description
Technical field
The utility model relates to unmanned plane UAV(Unmanned Aerial Vehicle) technical field, and particularly relevant for unmanned plane UAV automatic control system.
Background technology
High speed development along with infotech, the application of sensor in aeroplane photography of taking photo by plane of global position system GPS (Global Positioning System) and high resolving power, make the photogrammetric measurement technology that great development arranged, becoming the remote sensing of a collection, remote control, telemetry and computer technology is the novel practical technology of one.Enter after 21 century, this technology progressively is applied to civilian and industrial circle from military field especially, the concept of recent " digitalized city " and " the digitizing earth " that proposes, and this technology changes civilian imbody over to just.
The photogrammetric measurement technology is exactly that the image of gathering in the flight course of taking photo by plane is carried out digitizing, the processing of two-dimentional three-dimensional, obtains spatial information or the status information of various terrain object, to satisfy people to the information requirement of various concrete application.Now, the photogrammetric measurement technology is used many aspects such as ten military affairs, disaster assessment, ecological Studies, communications and transportation, mapping, city planning widely; In electric system, the photogrammetric measurement technology also begins to be applied, and wherein polling transmission line is an important use direction.
Transmission line of electricity is being undertaken the important duty of electric power transfer, is a basic work that effectively guarantees transmission line of electricity and equipment safety operation thereof to the regular visit of transmission line of electricity.Along with China's rapid development of economy, UHV (ultra-high voltage), big capacity, long distance transmission line are built more and more, existing transmission line of electricity channel resource becomes and is becoming tight day, and transmission line of electricity is more and more away from city and main traffic artery, and the geographical environment that the circuit corridor is passed through is more complicated.The operating type of tradition manual inspection more and more is subjected to the restriction of natural conditions, can't satisfy actual needs.Adopt helicopter polling transmission line mode have efficiently, quick, reliably, cost is low, be not subjected to advantage such as regional impact, become the important way of China's polling transmission line." it is main that helicopter is maked an inspection tour, and manual patrol is auxilliary " is the main direction that the present high pressure of China, supertension line are patrolled and examined.
Long-play is found to exist a lot of potential safety hazards, that is:
(1) patrols and examines in the work at daily helicopter, the working method that helicopter is patrolled and examined mainly contains: range estimation, observation of use instrument and instrument detect automatically and combine, main working method is range estimation, comprise by telescope and observing, or the image of afterwards watching photography, shooting record to be to judge line fault and hidden danger, and obviously, this mode efficient is low, be subjected to that subjective and objective factor influences greatly, measuring accuracy is difficult to assurance, and owing to be that manual patrol is auxilliary, make the automaticity that detects reduce greatly;
(2) in order to protect the personnel's of taking photo by plane personal safety, the distance between general helicopter and the electric wire generally has 20 ~ 30 meters far away, and distance so far away has strengthened camera undoubtedly and measured the difficulty of taking photo by plane between the object, can have influence on the sharpness of image sometimes;
(3) image of taking photo by plane for the employing helicopter generally all is to be stored in certain storer after taking photo by plane by camera, study by video recording afterwards then, analyze for doubt zone, in order to guarantee that accuracy also needs secondary even repeatedly shooting sometimes, has increased testing expenses undoubtedly;
(4) patrol and examine in the process at helicopter, can carry equipment records such as visible light digital camera, camcorder and infrared thermography and patrol and examine the image information of circuit, these image informations have comprised essential characteristic and the running status of transmission line of electricity, do not have the function of real-time analysis;
(5) adopt helicopter to patrol and examine and adopt the risk of range estimation mode itself very high, accidents such as the person or hardware easily take place; Increased the danger of test;
(6) because the helicopter singularity of patrolling and examining, the distortion that the image of taking photo by plane occurs in imaging process, fuzzy, distortion or sneak into noise cause decrease in image quality, and this makes the processing in later stage bother very much;
(7) because the replacement in the four seasons in a year, make physical environment and the landforms in transmission of electricity corridor constantly change, the various images of gathering are along with the variation of environment, it is very complicated that background becomes, contrast reduces, target is disturbed and is increased, simultaneously, other natural features, with the culture complexity of image background is further deepened, do not make that the extraction of target is very difficult with identification under the complicated natural background owing to do not have implementation, it is technical problem underlying and the bottleneck that present Helicopter System is measured that the target under the complex environment is extracted
(8) need the device category of monitoring a lot of in the polling transmission line, the type of fault also is varied, so, in the later stage diagnostic procedure, need to analyze and calculate distinct device and fault type according to video recording, and estimate location of fault roughly according to data, adopt artificial visually examine's secondary to determine then.
The utility model content
At the problems referred to above, the purpose of this utility model provides a kind of unmanned plane UAV automatic control system, has solved the limitation of " it is main that helicopter is maked an inspection tour, and manual patrol is auxilliary " high-voltage maintenance in the prior art.
For solving the problems of the technologies described above, the technical scheme that the utility model adopts is: a kind of unmanned plane UAV automatic control system is provided, it is characterized in that, comprise processor unit, controller, first motor, second motor, the 3rd motor, the 4th motor, signal processor and unmanned plane, described processor unit sends and controls signal to described controller, by described controller control signal is divided into first and drives signal, second drives signal, the 3rd drives signal and the moving signal of 4 wheel driven, described first drives signal, second drives signal, the moving signal of the 3rd driving signal and 4 wheel driven is controlled described first motor respectively, second motor, the 3rd motor and the 4th motor, wherein, by described first motor, second motor, first of the 3rd motor and the 4th motor drives signal, second drives signal, after the moving signal of the 3rd driving signal and 4 wheel driven is synthetic through signal processor, the motion of control unmanned plane.
In preferred embodiment of the utility model, described processor unit is a dual core processor, comprise dsp processor, FPGA processor and be located at dsp processor and the master system of FPGA processor, kinetic control system and terrestrial wireless apparatus module, described master system comprises human-computer interface module, GPS locating module and online output module, described kinetic control system comprises the multiple-axis servo control module, data acquisition memory module and I/O control module, described terrestrial wireless apparatus module and the communication of multiple-axis servo control module, wherein, dsp processor is used for the control human-computer interface module, the GPS locating module, online output module, the data acquisition memory module, I/O control module and terrestrial wireless apparatus module, the FPGA processor is used for control multiple-axis servo control module, and carries out exchanges data between dsp processor and the FPGA processor in real time and call.
In preferred embodiment of the utility model, described unmanned plane UAV automatic control system also comprises battery, described battery further is connected with the output terminal of first motor with the 4th motor, and processor unit further is connected to tie point between first motor output end and the battery and the tie point between the 4th motor output end and the battery respectively.
In preferred embodiment of the utility model, described battery further is connected with the output terminal of second motor with the 3rd motor, and processor unit further is connected to tie point between second motor output end and the battery and the tie point between the 3rd motor output end and the battery respectively.
In preferred embodiment of the utility model, described multiple-axis servo control module also comprises modular converter, and described modular converter comprises analog-digital converter and digital analog converter.
In preferred embodiment of the utility model, described multiple-axis servo control module also comprises coder module, and described coder module judges whether to meet rate request for detection of the actual speed of unmanned plane, whether too fast or slow excessively, and send control signal.
In preferred embodiment of the utility model, described multiple-axis servo control module also comprises current module, and the output power that described current module is used for the adjustment battery reaches the scope that unmanned plane needs.
In preferred embodiment of the utility model, described multiple-axis servo control module also comprises the speed module, described speed module is connected with the coder module communication, too fast or slow excessively when coder module detection unmanned plane actual speed, the speed module is regulated the unmanned plane actual speed according to the result that coder module detects.
In preferred embodiment of the utility model, described multiple-axis servo control module also comprises displacement module, and whether described displacement module arrives set displacement for detection of unmanned plane, if from set excessively away from, send assisted instruction to controller; If close to set displacement excessively, then send deceleration instruction to controller.
In preferred embodiment of the utility model, described multiple-axis servo control module also comprises altitude module, and whether described altitude module reaches both take the altitudes for detection of unmanned plane, if from set low excessively, sending raises instructs to controller; If from set too high, then send to reduce and instruct to controller.
Unmanned plane UAV automatic control system of the present utility model, in order to improve arithmetic speed, guarantee stability and the reliability of unmanned plane UAV control system, the utility model is introduced the FPGA processor in the dsp processor of monolithic, formation is based on the dual core processor of DSP+FPGA, and given up the structure that traditional unmanned plane adopts oil-burning machine, and take into full account battery in the effect of this system, realize the function of four motors of single controller synchro control, giving the FPGA processor multiple-axis servo control module of workload maximum in the unmanned plane UAV control system handles, give full play to FPGA processor data processing speed characteristics faster, and human-computer interface module, the GPS locating module, online output module, the data acquisition memory module, functions such as I/O control module and terrestrial wireless apparatus module are given dsp processor control, so just realized the division of labor of dsp processor and FPGA processor, dsp processor is freed from the hard work amount, broken the limitation of " it is main that helicopter is maked an inspection tour, and manual patrol is auxilliary " high-voltage maintenance in the prior art.
Description of drawings
Fig. 1 is the block scheme of the unmanned plane UAV automatic control system of the utility model preferred embodiment;
Fig. 2 is the block scheme of processor unit among Fig. 1;
Fig. 3 is the unmanned plane during flying force diagram of the utility model preferred embodiment.
Embodiment
Below in conjunction with accompanying drawing preferred embodiment of the present utility model is described in detail, thereby so that advantage of the present utility model and feature can be easier to be it will be appreciated by those skilled in the art that protection domain of the present utility model is made more explicit defining.
Along with continuous development and the maturation of microelectric technique and computing machine integrated chip manufacturing technology, dsp processor also is applied in the various senior control system gradually because its computing power fast not only is widely used in communication and handles with vision signal.The ADSP-21xx series of AD company provides low cost, low-power consumption, high performance processing power and solution, and ADSP-2188 instruction execution speed wherein adds independently ALU up to 75MIPS, has powerful digital signal processing capability.In addition, jumbo RAM is integrated in this chip, can greatly simplify periphery circuit design, reduces system cost and system complexity, has also improved the stores processor ability of data greatly.
Hardware implementation method based on the EDA technology of the FPGA processor of field programmable gate array and hyundai electronics design automation is recent years to have occurred a kind of brand-new design philosophy.Though FPGA processor itself is the cell array of standard just, the function that does not have general integrated circuit to have, but the user can be according to the design needs of oneself, by specific placement-and-routing instrument its inside is reconfigured connection, in the shortest time, design the special IC of oneself, so just reduce cost, shorten the construction cycle.Because the design philosophy of FPGA processor adopting software implementation realizes the design of hardware circuit, so just make and have good reusable and the property revised based on FPGA processor designed system, this brand-new design philosophy has been applied in high performance interchange gradually and has driven in the control, and fast-developing.
As shown in Figure 2, be the block scheme of the unmanned plane UAV automatic control system of the utility model preferred embodiment.In the present embodiment, unmanned plane UAV automatic control system comprises battery, processing unit, controller, first motor, second motor, the 3rd motor, the 4th motor, signal processor and unmanned plane.Wherein, described battery is lithium ion battery, is a kind of electric supply installation, for whole system operation provides operating voltage.Described battery further is connected with the output terminal of first motor with the 4th motor, and processor unit further is connected to tie point between first motor output end and the battery and the tie point between the 4th motor output end and the battery respectively; Described battery further is connected with the output terminal of second motor with the 3rd motor, and processor unit further is connected to tie point between second motor output end and the battery and the tie point between the 3rd motor output end and the battery respectively.
The built-in control system of processor unit described in the utility model and control circuit, described processor unit sends and controls signal to described controller, by described controller control signal is divided into first and drives signal, second drives signal, the 3rd drives signal and the moving signal of 4 wheel driven, described first drives signal, second drives signal, the moving signal of the 3rd driving signal and 4 wheel driven is controlled described first motor respectively, second motor, the 3rd motor and the 4th motor, wherein, by described first motor, second motor, first of the 3rd motor and the 4th motor drives signal, second drives signal, after the moving signal of the 3rd driving signal and 4 wheel driven is synthetic through signal processor, the motion of control unmanned plane.
The utility model is that the dsp processor that overcomes monolithic in the prior art can not satisfy the stability of unmanned plane UAV automatic control system and the requirement of rapidity, given up the mode of operation of the dsp processor of unmanned plane UAV monolithic that automatic control system adopts, the brand-new control model based on the DSP+FPGA processor is provided.Processor unit serves as to handle core with the FPGA processor, realize the real-time processing of digital signal, dsp processor is freed in the middle of the work of complexity, realize the signal processing algorithm of part and the steering logic of FPGA processor, and realization data communication and storage live signal are interrupted in response.
See also Fig. 2, described processor unit is a dual core processor, and it comprises dsp processor and FPGA processor, and the two communication is mutually carried out exchanges data in real time and called.Described processor unit also comprises the master system of being located at dsp processor and FPGA processor, kinetic control system and terrestrial wireless apparatus module, described master system comprises human-computer interface module, GPS locating module and online output module, described kinetic control system comprises the multiple-axis servo control module, data acquisition memory module and I/O control module, described terrestrial wireless apparatus module and the communication of multiple-axis servo control module, wherein, dsp processor is used for the control human-computer interface module, the GPS locating module, online output module, the data acquisition memory module, I/O control module and terrestrial wireless apparatus module, FPGA processor are used for control multiple-axis servo control module.
Master system comprises human-computer interface module, GPS locating module and online output module.Human-computer interface module comprises and begins/restart button and function selecting key; The GPS locating module is used for position and the parameter setting of location high-voltage maintenance; Online output module module is used for the duty of prompting unmanned plane, such as being in the unmanned plane course of work or the condition prompting that arrives at a station.
Kinetic control system comprises multiple-axis servo control module, data acquisition memory module and I/O control module.Wherein, data acquisition memory module module is a storer; The I/O control module comprises RS-232 serial line interface, ICE port etc.The multiple-axis servo control module further comprises modular converter, coder module, current module, speed module, displacement module and altitude module.
Wherein, described modular converter comprises analog-digital converter (ADC, Analog to Digital Converter) and digital analog converter (DAC, Digital to Analog Converter); Whether described coder module judges whether to meet rate request for detection of the actual speed of unmanned plane, too fast or slow excessively, and sends control signal.
Described current module is connected with controller, modular converter with battery.Modular converter is according to the electric current of battery and controller, and the output power that judgment task power, and power condition fed back to battery, current module are used for adjusting battery reaches the scope that unmanned plane needs.
Described speed module is connected with the coder module communication, and to detect the unmanned plane actual speed too fast or slow excessively when coder module, the actual speed that the result that the speed module detects according to coder module regulates unmanned plane.
Described displacement module detects unmanned plane and whether arrives set displacement, if from set excessively away from, send assisted instruction to controller; If close to set displacement excessively, then send deceleration instruction to controller.
Whether described altitude module reaches both take the altitudes for detection of unmanned plane, if from set low excessively, sending raises instructs to controller; If from set too high, then send to reduce and instruct to controller.
Be a dual core processor for processor unit, under the power supply opening state, earlier by human-computer interface module work, again according to the real work needs, select the regional location of unmanned plane in man-machine interface, unmanned plane is given actual motion transmission parameter to the dsp processor in the processor unit, dsp processor is handled back and the communication of FPGA processor, handled the multiple-axis servo control module of four motors then by the FPGA processor, and give dsp processor the deal with data communication, continue to handle follow-up running status by dsp processor.
In conjunction with above description, master system comprises functions such as human-computer interface module, GPS locating module, online output module; Kinetic control system comprises functions such as multiple-axis servo control module, data acquisition memory module, I/O control module; Described terrestrial wireless apparatus module and the communication of multiple-axis servo control module.Wherein the multiple-axis servo control module of workload maximum is given the control of FPGA processor, remaining comprises that master system and wireless device module give dsp processor control, so just realized the division of labor of dsp processor and FPGA processor, also can carry out communication between the two simultaneously, carry out exchanges data in real time and call.
See also Fig. 3, the concrete function of unmanned plane UAV automatic control system is achieved as follows in the utility model:
1) before unmanned plane is not received any instruction, its generally can and pure helicopter as broad as long, be fixed on some zones, can directly enter the vertical displacement movement self-locking state after holding electricity, wait for instruction or the airborne lifting order of terrestrial wireless control tower always;
2) after unmanned plane is received rising or is reduced instruction, to at first judge the power supply situation, if power supply is undesired, to send interrupt request to dsp processor, dsp processor can be to interrupting doing very first time response, if the interrupt response of dsp processor does not have enough time to handle, four motors on the unmanned plane will be by self-locking, and unmanned plane is in the stop motion state;
3) after unmanned plane is received flight directive, if power supply is normal, the unmanned plane motion that will raise normally, controller increases by four rotor motor M 1 simultaneously by PWM output, M2, M3, the output power of M4, and guarantee that four rotors are in a plane, gyroplane rotate speed increases thereupon, sum total pulling force u=f1+f2+f3+f4 is increased also can overcome unmanned plane self gravitation mg, as u-mg〉0 the time, unmanned plane vertical rising the upwards then, the pressure transducer of decision height will be worked, in the time of near entering preset height, slowly reduce simultaneously four rotor motor M 1 by PWM output, M2, M3, the output power of M4 reduces sum total pulling force u=f1+f2+f3+f4, when u – mg=0, then lock the power of current each motor, aircraft enters the rectilinear flight state, and opens the device of taking photo by plane, and prepares to pass back earthward in real time photographic images;
4) receiving terrestrial wireless when unmanned plane at the rectilinear flight state reduces when highly asking, controller can reduce four rotor motor M 1 simultaneously by PWM output, M2, M3, the output power of M4, and guarantee that four rotors are in a plane, this moment, gyroplane rotate speed reduced thereupon, make sum total pulling force u=f1+f2+f3+f4 also reduce thereupon, when u-mg＜0, then unmanned plane is done vertical landing flight downwards, the pressure transducer of decision height will be worked this moment, when entering preset height, slowly increase simultaneously four rotor motor M 1 by PWM output, M2, M3, the output power of M4 increases sum total pulling force u=f1+f2+f3+f4, when u – mg=0, then lock the power of current each motor, aircraft enters the rectilinear flight state, and opens the device of taking photo by plane, and prepares to pass back earthward in real time photographic images;
5) when the increase of control M3 motor speed, its pulling force f3 increases thereupon, control the M1 motor speed simultaneously and reduce, its pulling force f1 reduces thereupon, keeps other gyroplane rotate speed constant, make pulling force f3 that the M3 motor produces with it the difference of the pulling force f1 that produces of the M1 motor of symmetry greater than zero, be f3-f1〉0, can make rotor thrust generation horizontal component forward, fuselage pitching forward rolls lift-over, produce pitching angle theta, therefore can control flight and fly forward;
6) when the increase of control M1 motor speed, its pulling force f1 increases thereupon, control the M3 motor speed simultaneously and reduce, its pulling force f3 reduces thereupon, keeps other gyroplane rotate speed constant, make pulling force f1 that the M1 motor produces with it the difference of the pulling force f3 that produces of the M3 motor of symmetry greater than zero, be f1 – f3〉0, can make rotor thrust generation horizontal component backward, fuselage pitching backward rolls lift-over, produce pitching angle theta, therefore can control flight and fly backward;
7) when the increase of M2 motor speed, its pulling force f2 increases thereupon, control the M4 motor speed simultaneously and reduce, its pulling force f4 reduces thereupon, keeps other gyroplane rotate speed constant, make pulling force f2 that the M2 motor produces with it the difference of the pulling force f4 that produces of the M4 motor of symmetry greater than zero, be f2-f4〉0, can make rotor thrust produce horizontal component to the right, fuselage rolls lift-over to the right, produce side direction and roll roll angle φ, therefore can control the flare maneuver to the right that flies;
8) when the increase of M4 motor speed, its pulling force f4 increases thereupon, control the M2 motor speed simultaneously and reduce, its pulling force f2 reduces thereupon, keeps other gyroplane rotate speed constant, make pulling force f4 that the M4 motor produces with it the difference of the pulling force f2 that produces of the M2 motor of symmetry greater than zero, be f4 – f2〉0, can make rotor thrust produce horizontal component left, fuselage rolls lift-over left, produce side direction and roll roll angle φ, therefore can control the flare maneuver left that flies;
9) in order to make unmanned plane do the clockwise yawing rotation of level according to desired orientation, can control M1 motor and M3 rotating speed of motor are increased, rising pulling force f1 and the f3 of its generation are increased simultaneously, meanwhile, control M2 motor and M4 rotating speed of motor reduce, rising pulling force f2 and the f4 of its generation are reduced simultaneously, guarantee that the skyborne four rotors sum total of unmanned plane pulling force u equates with unmanned plane self gravitation mg, can control unmanned plane this moment and do the clockwise yawed flight action of level, otherwise, then control unmanned plane and do the counterclockwise yawed flight action of level;
10) in order to make unmanned plane do counterclockwise yawing rotation according to desired orientation, can control M2 motor and M4 rotating speed of motor are increased, rising pulling force f2 and the f 4 of its generation are increased simultaneously, meanwhile, control M1 motor and M3 rotating speed of motor reduce, rising pulling force f1 and the f3 of its generation are reduced simultaneously, guarantee that the skyborne four rotors sum total of unmanned plane pulling force u equates that with unmanned plane self gravitation mg can control unmanned plane and make the counterclockwise flare maneuver of level this moment;
11) regulate rising pulling force f1, f2, f3, f4 and resultant moment T that four rotor motor M 1, M2, M3, M4 produce by controller and make it acting in conjunction and on this unmanned plane, can realize control to each rotor rotor velocity amount, thereby can control and realize circular motion to the various attitudes of unmanned plane;
12) this unmanned plane has added the Humidity Detection system, this Humidity Detection system is made up of several parts such as moisture sensor, metering circuit and pen recorders, the information of finishing is respectively obtained, is changed and function such as processing, like this when unmanned plane enters in the higher environment of humidity, the Humidity Detection system can work, if when finding improper work, will make a return voyage automatically, protect unmanned plane effectively;
.13) this unmanned plane has been equipped multiple warning system, can visit side system by the unmanned plane obstacle, before colliding barrier, hover automatically, and outstanding flying in current location always, and judge according to the character of barrier and to be diversion or to make a return voyage, so just guaranteed its in motion process to the adaptation of surrounding environment, reduced the interference of environment to it.
The beneficial effect that the utility model unmanned plane UAV automatic control system has is:
1: adopt the brshless DC motor governing system to substitute the common DC motor governing system, make that the volume of control system is littler, weight is lighter, it is bigger to exert oneself, startup and braking ability be better;
2: in control procedure, taken into full account the effect of lithium ion battery in this system, based on the DSP+FPGA processor constantly all to the running status of lithium ion battery with parameter is monitored and computing, when finding that energy is finished the work inadequately, can notify the terrestrial wireless device also to make a return voyage automatically, guarantee the safety of unmanned plane;
3: because employing is that unmanned plane cruises, this makes that unmanned plane can be maximum near hi-line, can not produce problems such as human injury;
4: because employing is that unmanned plane cruises, this makes that unmanned plane can be maximum near hi-line, makes the physical environment in transmission of electricity corridor and the interference that landforms change various collection images reduce greatly;
5: this unmanned plane is for high-voltage maintenance design, thus added the high-precision GPS positioning system, as long as the position of importing each control tower at the initial stage of executing the task just can automatic running on transmisson line;
6: in order to improve the sharpness that the UAV automatic control system is taken photo by plane, added the high definition device of taking photo by plane;
7: the full Digitized Servo Control by four motors of FPGA processor processing, improved arithmetic speed greatly, solved the slower bottleneck of processor operation of the DSP of monolithic, it is short to have shortened the construction cycle, and the program transportability ability is strong;
8: realized veneer control fully, not only saved control panel and taken up room, but also realized the synchronous of multi-axle motor control signal fully, be conducive to improve stability and the dynamic property of unmanned plane;
9: owing to adopt the FPGA processor to handle lot of data and algorithm, and taken into full account the interference of high-voltage power supply to system, and dsp processor is freed from the hard work amount, having prevented " race flies " of system effectively, antijamming capability strengthens greatly;
10: the navigation of this unmanned plane mainly relies on gps signal, yet gps signal is interfered easily, and in environment such as indoor, be difficult to receive signal, developed the SUAV (small unmanned aerial vehicle) navigational system based on vision guided navigation thus, after gps signal is interfered, will there be the terrestrial wireless apparatus module to control its navigation according to transmit picture transmission navigation instruction in good time;
11: this unmanned plane has added the function of hovering automatically, and when unmanned plane ran into emergency condition and receives terrestrial wireless change task requests, controller can send the original place cutoff command, and adjusts the state of current four motors rapidly, makes unmanned plane hover over current state;
12: because what adopt is that unmanned plane cruises and passes the control picture back in good time, in time handle then and failure judgement if the ground control tower can allow unmanned plane hover when finding to have suspicious situation;
13: this unmanned plane can also add the Humidity Detection system, this Humidity Detection system is made up of several parts such as moisture sensor, metering circuit and pen recorders, the information of finishing is respectively obtained, is changed and function such as processing, like this when unmanned plane enters in the higher environment of humidity, the Humidity Detection system can work, if when finding improper work, will make a return voyage automatically, protect unmanned plane effectively;
14: this unmanned plane can also be equipped multiple warning system, can be by the unmanned plane obstacle detection system, before colliding barrier, hover automatically, and outstanding flying in current location always, and judge according to the character of barrier and to be diversion or to make a return voyage, so just guaranteed in motion process the adaptation of surrounding environment has been reduced the interference of environment to it.
The above only is embodiment of the present utility model; be not so limit claim of the present utility model; every equivalent structure or equivalent flow process conversion that utilizes the utility model instructions and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present utility model.
Claims (10)
1. unmanned plane UAV automatic control system, it is characterized in that, comprise processor unit, controller, first motor, second motor, the 3rd motor, the 4th motor, signal processor and unmanned plane, described processor unit sends and controls signal to described controller, by described controller control signal is divided into first and drives signal, second drives signal, the 3rd drives signal and the moving signal of 4 wheel driven, described first drives signal, second drives signal, the moving signal of the 3rd driving signal and 4 wheel driven is controlled described first motor respectively, second motor, the 3rd motor and the 4th motor, wherein, by described first motor, second motor, first of the 3rd motor and the 4th motor drives signal, second drives signal, after the moving signal of the 3rd driving signal and 4 wheel driven is synthetic through signal processor, the motion of control unmanned plane.
2. unmanned plane UAV automatic control system according to claim 1, it is characterized in that, described processor unit is a dual core processor, comprise dsp processor, FPGA processor and be located at dsp processor and the master system of FPGA processor, kinetic control system and terrestrial wireless apparatus module, described master system comprises the GPS locating module, described kinetic control system comprises the multiple-axis servo control module, data acquisition memory module and I/O control module, described terrestrial wireless apparatus module and the communication of multiple-axis servo control module, wherein, dsp processor is used for control GPS locating module, the data acquisition memory module, I/O control module and terrestrial wireless apparatus module, the FPGA processor is used for control multiple-axis servo control module, and carries out exchanges data between dsp processor and the FPGA processor in real time and call.
3. unmanned plane UAV automatic control system according to claim 1, it is characterized in that, described unmanned plane UAV automatic control system also comprises battery, described battery further is connected with the output terminal of first motor with the 4th motor, and processor unit further is connected to tie point between first motor output end and the battery and the tie point between the 4th motor output end and the battery respectively.
4. unmanned plane UAV automatic control system according to claim 3, it is characterized in that, described battery further is connected with the output terminal of second motor with the 3rd motor, and processor unit further is connected to tie point between second motor output end and the battery and the tie point between the 3rd motor output end and the battery respectively.
5. unmanned plane UAV automatic control system according to claim 2 is characterized in that, described multiple-axis servo control module also comprises modular converter, and described modular converter is used for digital signal is converted to simulating signal.
6. unmanned plane UAV automatic control system according to claim 2, it is characterized in that, described multiple-axis servo control module also comprises coder module, described coder module is for detection of the actual speed of unmanned plane, judge whether to meet rate request, whether too fast or slow excessively, and send control signal.
7. unmanned plane UAV automatic control system according to claim 3 is characterized in that, described multiple-axis servo control module also comprises current module, and the output power that described current module is used for the adjustment battery reaches the scope that unmanned plane needs.
8. unmanned plane UAV automatic control system according to claim 6, it is characterized in that, described multiple-axis servo control module also comprises the speed module, described speed module is connected with the coder module communication, too fast or slow excessively when coder module detection unmanned plane actual speed, the speed module is regulated the unmanned plane actual speed according to the result that coder module detects.
9. unmanned plane UAV automatic control system according to claim 2, it is characterized in that described multiple-axis servo control module also comprises displacement module, whether described displacement module arrives set displacement for detection of unmanned plane, if from set excessively away from, send assisted instruction to controller; If close to set displacement excessively, then send deceleration instruction to controller.
10. unmanned plane UAV automatic control system according to claim 1, it is characterized in that described multiple-axis servo control module also comprises altitude module, whether described altitude module reaches both take the altitudes for detection of unmanned plane, if from set low excessively, sending raises instructs to controller; If from set too high, then send to reduce and instruct to controller.
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| CN102854881A (en) * | 2012-09-19 | 2013-01-02 | 苏州工业园区职业技术学院 | Automatic control system of unmanned aerial vehicle (UAV) |
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