CN205899386U - Flight of many rotor unmanned aerial vehicle is with external safety control and system - Google Patents
Flight of many rotor unmanned aerial vehicle is with external safety control and system Download PDFInfo
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Abstract
The utility model discloses a flight of many rotor unmanned aerial vehicle is with external safety control and system. This external safety control includes that the carry is on many rotor unmanned aerial vehicle, including elevation sensor and/or wind -force wind direction sensor and/or attitude sensor, data analysis circuit and lamp flashing alarm, elevation sensor carry is in many rotor unmanned aerial vehicle below, wind -force wind direction sensor carry is in many rotor unmanned aerial vehicle below, the attitude sensor carry is in many rotor unmanned aerial vehicle below, what the data analysis circuit corresponded is connected with elevation sensor, wind -force wind direction sensor, attitude sensor, to lamp flashing alarm output control signal, the start -up end and the data analysis circuit connection of lamp flashing alarm. This external safe control system includes that external safety control, ground operation Terminal and machine carry the flight control subsystem. The utility model discloses make external safety control have an installation convenient to use, characteristics that the commonality is strong.
Description
Technical Field
The utility model belongs to unmanned aerial vehicle flight control field, in particular to many rotor unmanned aerial vehicle fly with external safety control device and system.
Background
In recent years, unmanned aerial vehicle systems are increasingly applied to aerial surveying and mapping, disaster rescue information collection and line inspection. Rotor unmanned aerial vehicle belongs to one kind and rotates to provide lift through the screw and drive the system that unmanned vehicles body carried out flight in the air, compares with fixed wing unmanned aerial vehicle, and rotor unmanned aerial vehicle can realize low-speed flight and hover in the air, and the system has characteristics small, convenient to carry, low in manufacturing cost. Miniaturized many rotor unmanned aerial vehicle carry admittedly and convenient to use, miniaturized unmanned aerial vehicle is nevertheless extremely easily influenced by near-earth wind at the flight in-process and leads to the unusual of flight, takes place the situation of air crash even. Generally, the flight of a small multi-rotor drone is controlled by means of manual operations by ground operators: an experienced operator judges the relationship between the current environment and the flight attitude of the unmanned aerial vehicle according to the flight state of the unmanned aerial vehicle in a visual observation mode, and continuously adjusts the attitude of the unmanned aerial vehicle, so that the unmanned aerial vehicle is controlled to safely fly under the condition of uncertain near-earth wind; inexperienced operators are not familiar with the flight state of the unmanned aerial vehicle, often in the first few seconds of the crash accident of the unmanned aerial vehicle, the dangerous situation can not be judged in advance according to the current abnormal attitude condition of the unmanned aerial vehicle, and emergency treatment measures can not be taken, so that the system and the method for controlling the flight safety of the multi-rotor unmanned aerial vehicle are necessary to design and develop to early warn and control the abnormal flight of the unmanned aerial vehicle.
Some schemes for realizing safe flight and attitude regulation and control of the unmanned aerial vehicle by additionally arranging an information processing module on the unmanned aerial vehicle have been proposed in the aspects of research and development of unmanned aerial vehicle technology in China. In a Chinese patent 'unmanned plane flight collision avoidance method' (domestic patent publication No. CN103592948A), a method for preventing collision between an unmanned plane and a manned plane is proposed, an ADS-B module is additionally arranged on the unmanned plane, and relevant information of the manned plane in a set range is searched, so that the unmanned plane is controlled to effectively avoid the manned plane; in the chinese patent "a method and apparatus for preventing collision during flying of unmanned aerial vehicle (domestic patent publication No. CN 101714300A)", it is proposed to install an airborne response recognition system on an unmanned aerial vehicle, and to control a navigation flight control system of the unmanned aerial vehicle by judging the safety distance between the unmanned aerial vehicle and other aircraft and by using the airborne response recognition system, so as to automatically control the unmanned aerial vehicle to avoid other aircraft; the Chinese patent "unmanned aerial vehicle attitude control system" (domestic patent publication No. CN201004180Y) judges the current flight attitude of the unmanned aerial vehicle in real time through an unmanned aerial vehicle three-dimensional attitude sensor and a GPS differential positioning system, and controls the attitude of the unmanned aerial vehicle.
It is obvious by above-mentioned patent that the mode through installing the sensor additional on unmanned aerial vehicle can effectively realize the measurement and the estimation to unmanned aerial vehicle current flight state, and further, if regard as a type of input and criterion with the data that each sensor measured to go the flight control system who directly influences unmanned aerial vehicle, then probably improve unmanned aerial vehicle system's flight safety degree. However, for a miniaturized multi-rotor unmanned aerial vehicle system, in addition to an additional external sensor, a communication and control module between the external sensor and a flight control system of the small unmanned aerial vehicle needs to be designed in the above manner, and for a small unmanned aerial vehicle system with low cost, the cost performance of the method is obviously low.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, an embodiment of the utility model provides an aspect provides a many rotor unmanned aerial vehicle flight is with external safety control device, its carry is in on the many rotor unmanned aerial vehicle, include: the system comprises an elevation sensor and/or a wind direction sensor and/or an attitude sensor, a data analysis circuit and a light flash alarm; the elevation sensor is mounted below the multi-rotor unmanned aerial vehicle, and the flying height of the multi-rotor unmanned aerial vehicle in the current flying airspace is obtained; the wind power and wind direction sensor is mounted below the multi-rotor unmanned aerial vehicle, and the wind power of the multi-rotor unmanned aerial vehicle in the current flight airspace is acquired; the attitude sensor is mounted below the multi-rotor unmanned aerial vehicle, and acquires an attitude angle of the multi-rotor unmanned aerial vehicle in the current flight airspace; the data analysis circuit is correspondingly connected with the elevation sensor, the wind power and wind direction sensor and the attitude sensor and outputs control signals to the light flash alarm; and the starting end of the lamp flash alarm is connected with the data analysis circuit.
In the above-described external safety control device, preferably, the data analysis circuit is a single chip microcomputer or a digital signal processing circuit.
In the above-described external safety control device, preferably, the light flash alarm is a monochromatic light flash alarm.
In the above-described external safety control device, preferably, the light flash alarm is a red light flash alarm or a white light flash alarm.
In the above-described external safety control device, preferably, the light flash alarm is a red light LED light flash alarm or a red light OLED light flash alarm; the white light flashing alarm is a white light LED lamp flashing alarm or a white light OLED lamp flashing alarm.
In the above-described external safety control device, preferably, the light flash alarm is a multi-color light flash alarm.
In the external safety control device, preferably, the light flash alarm is an alternative red light and white light flash alarm.
In the external safety control device as described above, preferably, the light flashing alarm is installed on the front side of the camera of the multi-rotor unmanned aerial vehicle.
In the above-described external safety control device, preferably, the multi-rotor drone is a six-rotor drone.
The utility model provides a many rotor unmanned aerial vehicle flight is with external safety control system in another aspect, it includes: the system comprises a safety control device, a ground operation terminal and an airborne flight control subsystem; the safety control device is the external safety control device; the ground operation terminal is connected with the airborne flight control subsystem, receives a flight height reduction instruction of a ground operator and sends the flight height reduction instruction to the airborne flight control subsystem.
The embodiment of the utility model provides a beneficial effect that technical scheme brought is:
(1) the utility model designs an external safety control device for flying multi-rotor unmanned aerial vehicle, which is mounted on the multi-rotor unmanned aerial vehicle and belongs to an external device, and the external safety control device does not need to interact with an existing airborne flight control subsystem of the multi-rotor unmanned aerial vehicle; when the early warning is in unusual flight situation to many rotor unmanned aerial vehicle, carry out the flash alarm of lamp by oneself, the lamp of flash alarm, for example red light lamp or white light lamp, can be observed by ground control personnel, or shoot by the camera that many rotor unmanned aerial vehicle carried, consequently do not need many rotor unmanned aerial vehicle's machine to carry flight control subsystem to provide special system communication interface and special ground communication link, consequently have installation convenient to use, characteristics that the commonality is strong.
(2) The utility model discloses an external safety control device adopts the mode that the lamp dodged the warning, especially the red light lamp dodges the mode of warning, many rotor unmanned aerial vehicle's of early warning unusual flight situation, this kind of device belongs to a non-invasive alarm device, need not intervene the airborne flight control subsystem's of many rotor unmanned aerial vehicle self control process promptly, such design device only provides early warning information (alarm information promptly), and give many rotor unmanned aerial vehicle's ground control personnel with ultimate flight control decision-making right (flight control decision-making right promptly), this kind of device has reliably, safe characteristics.
Drawings
Fig. 1 is a schematic diagram of a method for defining an attitude angle of a multi-rotor unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural view of an external safety control device for a multi-rotor unmanned aerial vehicle;
fig. 3 is a schematic flow chart of an external safety control method for flying a multi-rotor unmanned aerial vehicle according to the present invention;
fig. 4 is a schematic connection diagram of an external safety control system for flying a multi-rotor unmanned aerial vehicle and ground operators according to the present invention;
fig. 5 is the utility model provides a another kind of many rotor unmanned aerial vehicle fly with external safety control device's structural schematic.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
Referring to fig. 5, the utility model provides a many rotor unmanned aerial vehicle flight is with external safety control device, its carry is on many rotor unmanned aerial vehicle, include: elevation sensors 41 and/or wind direction sensors 42 and/or attitude sensors 43, data analysis circuitry 44 and light flash alarms 45; the elevation sensor 41 is used for acquiring the flight height of the multi-rotor unmanned aerial vehicle in the current flight airspace; the wind power and wind direction sensor 42 is used for acquiring the wind power of the multi-rotor unmanned aerial vehicle in the current flying airspace; the attitude sensor 43 is used for acquiring an attitude angle of the multi-rotor unmanned aerial vehicle in the current flight airspace; the data analysis circuit 44 is correspondingly connected with the elevation sensor 41, the wind power and wind direction sensor 42 and the attitude sensor 43 and outputs control signals to the light flash alarm 45; the start end of the light flash alarm 45 is connected with the data analysis circuit 44. In practice, the aforementioned three sensors may be present in any one or two or three, and correspondingly, when there is only one sensor, the data analysis circuit 44 is connected to the one sensor, when there are only two sensors, the data analysis circuit 44 is connected to the two sensors, respectively, and when there are three sensors, the data analysis circuit 44 is connected to the three sensors, respectively. Preferably three sensors are present simultaneously.
The data analysis circuit 44 is preferably a single chip or digital signal processing circuit. The lamp flashing alarm 45 is installed on the front side of the camera of the multi-rotor unmanned aerial vehicle.
The light flash alarm 45 may be a monochromatic light flash alarm. The light flash alarm 45 is preferably a red light flash alarm or a white light flash alarm. The light flash alarm 45 is a red light LED light flash alarm or a red light OLED light flash alarm; the white light flash alarm is a white light LED lamp flash alarm or a white light OLED lamp flash alarm. The light flash alarm 45 may also be a multi-color light flash alarm. The light flash alarm 45 is an alternative red light and white light flash alarm.
For the description of the elevation sensor, the wind direction sensor and the attitude sensor, reference may be made to the following description of the first acquisition unit, the second acquisition unit and the third acquisition unit, which is not repeated herein; for the description of the data analysis circuit, reference may be made to the following description of the first abnormal flight condition determination unit, the second abnormal flight condition determination unit, and the third abnormal flight condition determination unit, which is not described in detail herein; for the description of the light flashing alarm, reference may be made to the description of the external alarm module, and details are not repeated here.
The principle of the safe flight control method of the multi-rotor unmanned aerial vehicle is analyzed as follows:
(1) flight dynamics analysis of multi-rotor unmanned aerial vehicle by taking six-rotor unmanned aerial vehicle as example
As shown in FIG. 1, it is a schematic diagram of a method for defining the attitude angle of an unmanned aerial vehicle, wherein the angles psi, theta,Yaw, roll, and pitch angles, respectively. In the figure, definition of RE＝(OE,XE,YE,ZE) Representing a navigational coordinate system, the origin O of whichEAt the position of the center of gravity of the unmanned aerial vehicle moving carrier, OEXEThe axis pointing east, OEYEThe axis pointing north, OEZEThe shaft points in a direction perpendicular to and upward from the earth's surface according to the right-hand rule; definition of Rb＝(Ob,Xb,Yb,Zb) For a rotor unmanned aerial vehicle body coordinate system, the origin O of the coordinate systembAt the center of gravity of the body, ObXbPoints to the right along the transverse axis of the machine body, ObYbTo the front side along the longitudinal axis of the machine body, ObZbVertically upwards along the machine body. To six rotor unmanned aerial vehicle's organism structure, according to the dynamics analysis principle, then there is the following relational expression to be established:
wherein,for navigating the coordinate system REDisplacement acceleration of the medium unmanned plane;for navigating the coordinate system REThe speed of the medium unmanned plane; the angles psi, theta,Yaw, roll, and pitch angles, respectively;is an angular velocity vector, also called the euler angular velocity vector of the drone.b denotes the lift factor, Ωi(i 1, 2.., 6) represents the rotation speed of a single rotor of a six-rotor drone; m represents the mass of the six-rotor drone; ρ represents the specific gravity of air; s represents the frontal area; c represents an air resistance level;representing a rotational inertia matrix of the drone;(p, q, r) represents the rotation speed of the drone in the body coordinates;representing the rotation moment of the unmanned aerial vehicle;representing the screw moment of the drone.
It can be seen from the above model that: the unmanned aerial vehicle can bear certain wind power and air resistance under the normal flight condition, and the self attitude stability is maintained in a self-adaptive closed-loop control mode; however, when external wind is too large or the rotor of the unmanned aerial vehicle fails due to mechanical failure, the six-rotor unmanned aerial vehicle loses balance, and even a drop accident occurs. Therefore, when designing an onboard flight control subsystem of an unmanned aerial vehicle, the following principles can be considered at present:
first, for yaw angle ψ, roll angle θ, and pitch angleIn order to ensure stable flight of the unmanned aerial vehicle, the following limits generally need to be set, namely the attitude angle threshold value limit is designed as follows: theta is more than or equal to 45 degrees between minus 45 degrees and less than or equal to 45 degrees, and theta is more than or equal to 30 degrees between minus 30 degrees and less than or equal to 30 degrees and phi is more than or equal to 30 degrees between minus 30 degrees and less than or equal to 30 degrees. When the manually operated six-rotor unmanned aerial vehicle flies over the attitude angle threshold limit, the unmanned aerial vehicle refuses to execute the attitude control instruction exceeding the threshold limit and keeps the flying attitude of the current limit.
Secondly, setting the maximum gravity acceleration of 0.7 times of the acceleration measurement threshold value of the unmanned aerial vehicle in the vertical direction to avoid the unmanned aerial vehicle from freely falling;
and thirdly, when the unmanned aerial vehicle has large jitter in the attitude during the process of hovering or constant-speed cruising flight, the unmanned aerial vehicle is possibly subjected to complicated air flow intrusion in the air, and at the moment, a proper criterion is selected for judgment and the safe flight control of the unmanned aerial vehicle is carried out.
(2) Wind field model and its influence on unmanned aerial vehicle flight
Generally, a wind field can be divided into four forms of average wind, atmospheric turbulence, wind trim and gust, and each form of wind field can be called a basic wind field. The unmanned aerial vehicle often suffers from various complex atmospheric disturbance phenomena such as low altitude shear wind, atmospheric turbulence and the like in the flying process. The atmospheric turbulence can cause the bumping of the aircraft and the fatigue damage of the aircraft structure for a long time; various low-altitude-shear wind-changing phenomena generally refer to a complex environment wind phenomenon which influences the flight of the unmanned aerial vehicle within a certain distance from the ground. The low altitude shear wind is a phenomenon that wind direction and wind speed change suddenly in an air layer below 600 m. Wind trim can be classified, according to physical cause, into frontal wind trim (cold front, warm front), terrain-induced wind trim (ground boundary layer, roller coaster, etc.), convection storm-related wind trim, and the like, which can be classified as macro-downburst and micro-downburst. Of the low-altitude wind shears classes, the most representative, most serious threat to flight safety is the microburst with horizontal outflow typically within 4 km.
Generally, the intensity and scale of various atmospheric wind phenomena increases with increasing flying height due to the influence of ground objects near the ground. Taking the most common mean wind as an example, the mean wind changes with time and space, and the intensity of the mean wind changes with height, which can be described by logarithmic rate distribution and exponential rate distribution. The log rate distribution is as follows:
in the formula, H is actual flying height; h0Representing the effect of ground roughness for roughness height, about 1/30-1/10 ground obstacle height; k is 0.4 and is a Karman constant; u. ofW0As friction speed, this index depends on the magnitude of the shear stress on the ground and the air density; u. ofW1The final wind speed.
The exponential rate distribution is as follows:
in the formula uW2Is the average wind intensity; u. ofWRIs a reference height HRUpper average wind speed, HRMay be 10 meters; m is an index, which is influenced by the roughness of the ground and the stability of the atmosphere; h is the actual flying height.
It can be easily seen from the above wind field model that: the strength and complexity of near-surface wind farms generally increases with elevation. Above-mentioned conclusion is applicable to the wind field situation of the overwhelming majority, consequently at unmanned aerial vehicle flight in-process, when judging that unmanned aerial vehicle's flight state takes place unusually, can adopt the mode that reduces flying height rapidly to avoid the emergence of flight accident.
(3) Judgment and control of abnormal flight state of unmanned aerial vehicle
From the above analysis it can be seen that: when the intensity and complexity of the environmental wind of the unmanned aerial vehicle exceed the control capability of the unmanned aerial vehicle, a flight accident is possible to happen; the intensity and complexity of the wind field can be weakened along with the reduction of the elevation; therefore, it is easy to think that when the unmanned aerial vehicle has an abnormal situation during the flight, it is possible to avoid the crash accident of the unmanned aerial vehicle by reducing the flight height of the unmanned aerial vehicle. Therefore, how to analyze the abnormal flying condition of the unmanned aerial vehicle by analyzing the environmental factors and the self attitude change state in the current flying process of the unmanned aerial vehicle is a difficult problem of current unmanned aerial vehicle control.
Furthermore, it is not difficult to see that the benefits of reducing the flying height of the drone are two: firstly, according to the condition that the near-earth wind intensity is increased along with the rise of the elevation, the influence of the wind around the unmanned aerial vehicle on the control capability of the unmanned aerial vehicle can be reduced by reducing the flight height of the unmanned aerial vehicle; secondly, reduce flying height and can effectively reduce all kinds of losses, alleviate controlling means's load and mechanical structure's fatigue and degree of wear, even if unmanned aerial vehicle really takes place the crash incident, lower flying height can alleviate the injury degree of ground striking to unmanned aerial vehicle.
Therefore, the utility model provides a many rotor unmanned aerial vehicle flight are with external safety control device, it is external safety control device, and the carry is on the many rotor unmanned aerial vehicle that needs carry out safety control to flight during the application, and preferred carry is in many rotor unmanned aerial vehicle below. This external safety control device is preferred to be applicable to small-size many rotor unmanned aerial vehicle, for example small-size six rotor unmanned aerial vehicle. Referring to fig. 2, the external safety control device provided in this embodiment includes: the external abnormal flight condition judging module 10 and the external alarm module 20 connected with the external abnormal flight condition judging module 10.
The external abnormal flight condition judgment module 10 is used for judging whether the multi-rotor unmanned aerial vehicle is in an abnormal flight condition in the current flight airspace.
Specifically, the external abnormal flight condition determining module 10 may include: a first acquisition unit 100 and a first abnormal flight condition judgment unit 101 connected to the first acquisition unit 100.
The first acquiring unit 100 is used for acquiring the flight altitude of the multi-rotor drone in the current flight airspace. First acquisition unit 100 can be elevation sensor, and it is used for measuring the flight height of many rotor unmanned aerial vehicle in the current flight airspace in real time, and the mount is in many rotor unmanned aerial vehicle's below. In order to reduce the influence of the ground objects on the flying height measurement and improve the range of the measured height, the height sensor is preferably an air pressure height sensor, and the air pressure height sensor measures the current height information of the sensor through the change of the air pressure. When in application, the air pressure height sensor with the working temperature range of-40 ℃ to 85 ℃ and the height resolution of 0.01 meter can be selected. In other embodiments, the first obtaining unit may also be another height measuring unit, such as a laser or an infrared distance meter, which is not limited in this embodiment.
First abnormal flight situation judgment unit 101 is used for if the flying height of many rotor unmanned aerial vehicle in the current flight airspace is greater than the predetermined altitude threshold, then judges that many rotor unmanned aerial vehicle is in abnormal flight situation, otherwise, judges that many rotor unmanned aerial vehicle is in normal flight situation. The preset height threshold value can be preset according to the complexity of tasks, if the height threshold value of a complex mountain land on a sunny day can be set to be 1000m in altitude, and if the height threshold value exceeds 1000m, the multi-rotor unmanned aerial vehicle is judged to be in an abnormal flight condition; the maximum flight height of the cloudy complex mountainous region can be set to be 800m, and if the maximum flight height exceeds 800m, the multi-rotor unmanned aerial vehicle is judged to be in an abnormal flight condition.
The external abnormal flight condition determining module 10 may further include: a second acquisition unit 102 and a second abnormal flight condition judgment unit 103 connected to the second acquisition unit 102.
The second obtaining unit 102 is configured to obtain the wind power of the multi-rotor drone in the current flight airspace. The second obtaining unit 102 may be a wind direction sensor, which is used for measuring the wind force of the multi-rotor drone in the hovering flight state in real time, and is mounted below the multi-rotor drone. In order to achieve a highly sensitive measurement of the wind force, the wind direction sensor preferably comprises a low inertia vane for performing a wind direction measurement, and a wind sensing unit. When the wind direction sensor is applied, the wind direction sensor which consists of a wind sensing unit with the measuring range of 0-70 m/s and the accuracy of +/-0.3 +0.03V m/s (V represents the current wind speed) and a low inertia vane with the measuring range of 0-360 degrees, the accuracy of +/-3 degrees and the resolution of 1 degree can be adopted, and the working temperature range of the sensor is-40-50 ℃.
The abnormal second flight condition determining unit 103 is configured to determine that the multi-rotor unmanned aerial vehicle is in an abnormal flight condition if the multi-rotor unmanned aerial vehicle is in a hovering flight state and the acquired wind power of the multi-rotor unmanned aerial vehicle is greater than a preset wind power threshold value, and otherwise, determine that the multi-rotor unmanned aerial vehicle is in a normal flight condition. The size of wind-force threshold value can adopt wind-tunnel to blow experimental mode and confirm, and in practice, the size of many rotor unmanned aerial vehicle's wind-force threshold value can be because of the difference of many rotor unmanned aerial vehicle size and weight and different.
For example, when the multi-rotor unmanned aerial vehicle hovers in the air (i.e., in a hovering state), if the wind power (or referred to as wind speed) of the multi-rotor unmanned aerial vehicle obtained at this time is 3m/s, if the preset wind power threshold value is 2.5m/s, since 3>2.5, that is, the wind power of the multi-rotor unmanned aerial vehicle is greater than the preset wind power threshold value, it is determined that the multi-rotor unmanned aerial vehicle is in an abnormal flight condition.
The external abnormal flight condition determining module 10 may further include: a third acquisition unit 104 and a third abnormal flight condition determination unit 105 connected to the third acquisition unit 104.
The third obtaining unit 104 is configured to obtain an attitude angle of the multi-rotor drone in the current flight airspace, where the attitude angle includes a pitch angle, a yaw angle, and a roll angle. Third acquisition unit 104 may be an attitude sensor for measuring the attitude angle of the multi-rotor drone, mounted below the multi-rotor drone. In order to improve the measurement precision, the attitude sensor preferably adopts an aviation-level attitude sensor, and a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer are packaged in the attitude sensor. When carrying out attitude measurement to many rotor unmanned aerial vehicle of flight in-process, the circuit board in the attitude sensor can adopt the quaternion method to carry out resolving of attitude angle with signal that triaxial gyroscope, triaxial accelerometer to and triaxial magnetometer gathered, and the real-time data of the angle of pitch, yaw angle, and roll angle of many rotor unmanned aerial vehicle of direct output. For the application of the multi-rotor unmanned aerial vehicle flying near the ground, the attitude sensor can realize the full attitude measurement of the multi-rotor unmanned aerial vehicle, the precision of the measured value is 0.3-0.5 degrees, and the working temperature is-40-85 degrees.
The third abnormal flight condition determining unit 105 is configured to determine that the multi-rotor unmanned aerial vehicle is in an abnormal flight condition if the multi-rotor unmanned aerial vehicle is in a hovering flight state or a constant-speed cruising flight state, and the fluctuation index of the attitude angle of the multi-rotor unmanned aerial vehicle is greater than a preset attitude angle threshold value, that is, the fluctuation index of the pitch angle of the multi-rotor unmanned aerial vehicle is greater than a preset pitch angle threshold value and/or the fluctuation index of the yaw angle of the multi-rotor unmanned aerial vehicle is greater than a preset yaw angle threshold value and/or the fluctuation index of the roll angle of the multi-rotor unmanned aerial vehicle is greater than a preset roll angle threshold value, otherwise, determine that the multi-rotor unmanned aerial vehicle is in a normal. One of three angles of the attitude angle is fluctuated abnormally, and the multi-rotor unmanned aerial vehicle is judged to be in an abnormal flight condition.
In practice, take place great shake through many rotor unmanned aerial vehicle gestures and carry out the mode that many rotor unmanned aerial vehicle abnormal flight situation judged, its essence is that the undulant unusual judgement of time series carries out. In the field of research of time series signal analysis, the colloquially referred volatility can be defined as the frequency and amplitude of the sequence variations. The volatility describes the fluctuation of a physical quantity observed by a certain phenomenon along with time, and can refer to the changeability of a random component of a time series, and is usually accurately defined as the instantaneous standard deviation of a random wiener driving component in a continuous time diffusion model. The modeling of the attitude angle fluctuation of the multi-rotor unmanned aerial vehicle can also adopt an autoregressive conditional variance model and a random fluctuation model. However, the modeling methods of the two types are complex in modeling and are not suitable for real-time and efficient operation of a small single chip microcomputer or a DSP circuit. In order to simplify the complexity of modeling, the utility model provides an adopt the statistical standard deviation's calculation method to describe the volatility of many rotor unmanned aerial vehicle gesture, many rotor unmanned aerial vehicle's gesture angle volatility index promptly can also adopt the calculation method of variance to describe the volatility of many rotor unmanned aerial vehicle gesture in other embodiments.
The calculation formula of the attitude angle fluctuation index (namely, the pitch angle fluctuation index or the yaw angle fluctuation index or the roll angle index) of the multi-rotor unmanned aerial vehicle is specifically as follows:
wherein, F represents the standard deviation of the time sequence data output by the multi-rotor unmanned aerial vehicle attitude sensor; n represents the number of observation points of the time series data, and is a positive integer; x is the number ofi(i 1, 2.., N) denotes the ith value currently observed;denotes xiAverage of (i ═ 1, 2.., N). In practice, the sampled value of N per second is 100 values, and then 1.5 seconds are continuously observed, i.e. 150 values are collected for calculation.
For example, when the multi-rotor unmanned aerial vehicle performs hovering flight (i.e., hovering flight state) or constant-speed cruise flight (i.e., constant-speed cruise flight state) in the air, if the number of observation points of the time-series data at this time is 100, that is, N is 100, the average value of the measured pitch angles is 3.345, and the standard deviation of the pitch angles is 0.02205; if the preset standard deviation threshold value is 0.018, since 0.02205 is greater than 0.018, namely the volatility index of the pitch angle of the multi-rotor unmanned aerial vehicle is greater than the preset standard deviation threshold value, it is judged that the multi-rotor unmanned aerial vehicle is in an abnormal flight condition.
The external alarm module 20 is used for sending alarm information after the external abnormal flight condition judgment module 10 judges that the multi-rotor unmanned aerial vehicle is in an abnormal flight condition. Ground control personnel control ground operation terminal 2 and send out the motion control instruction to many rotor unmanned aerial vehicle's machine-carried flight control subsystem 3 after receiving alarm information, and this motion control instruction is used for instructing machine-carried flight control subsystem 3 to control many rotor unmanned aerial vehicle and reduces flying height. The alarm information is received through the display screen who observes many rotor unmanned aerial vehicle or ground operation terminal 2 to preferred ground control personnel. Wherein, the machine carries flight control subsystem does not judge whether many rotor unmanned aerial vehicle are in unusual flight situation in the current flight airspace, also not be in behind unusual flight situation at many rotor unmanned aerial vehicle, and the many rotor unmanned aerial vehicle of direct control reduces flying height. The airborne flight control subsystem is used for controlling the flight of the multi-rotor unmanned aerial vehicle, for example, acquiring the information of the attitude sensor, resolving the attitude angle in real time, controlling the rotating speed of the motor, transmitting flight data and managing a power supply. And rotor unmanned aerial vehicle's airborne flight control subsystem all adopts embedded system to realize, and in order to reduce cost, this control system's computing power is all weaker generally, and memory space is little, does not possess intelligent analysis and operation function, and is non-invasive system.
Specifically, if many rotor unmanned aerial vehicle are in unusual flight situation, external alarm module then sends alarm information with the mode of lamp sudden strain of a muscle, so do benefit to ground control personnel and observe visually, ground control personnel send the motion control instruction to many rotor unmanned aerial vehicle's machine year flight control subsystem through manual control ground operation terminal after receiving the lamp flashing signal of sign alarm information to reduce many rotor unmanned aerial vehicle's flight height. The external alarm module can send out alarm information in a single-color lamp flashing mode. For example, based on the advantage that red light has strong fog penetration capability and strong atmosphere penetration capability, the external alarm module sends alarm information in a red light lamp flashing (or red flashing) manner. In order to improve the vibration impact resistance and the directivity of the red light lamp, the red light lamp is a red light LED or OLED, and the external alarm module sends alarm information in a mode that the red light LED or OLED continuously flickers. In order to do benefit to ground control personnel control, if many rotor unmanned aerial vehicle are in unusual flight situation, then send alarm information directly to many rotor unmanned aerial vehicle not be in unusual flight situation with the mode that the lamp dodges. The external alarm module may also send out alarm information in a manner of flashing a white light lamp (or called flashing white light), which is not limited in this embodiment. The number of the light sources emitting the flickering light may be one, or may be multiple, preferably multiple, such as 8, 8 red or white lights that are turned on or off simultaneously to realize the flickering. In other embodiments, the external alarm module may also send out alarm information in a manner that multiple color lamps flash alternately, where the multiple color lamps are lamps of multiple colors, preferably lamps of two colors, such as a white light lamp and a red light lamp, and the flash manner is described by taking an example that the sum of the two numbers is 8: eight lamps are alternately arranged around the image shooting device, and four lamps are arranged at intervals of red and white. When alarming, the four red lights and the four white lights are alternatively lightened on and off, thereby realizing the sending of alarm information.
In the mode that ground control personnel receive the light flashing signals, the ground control personnel can directly observe the flying multi-rotor unmanned aerial vehicle and can also observe the returned images shot by the multi-rotor unmanned aerial vehicle, in the mode, red light LEDs and the like are taken as examples for explanation, the red light LEDs which send alarm information are required to be installed on the front side of the lens of the image shooting device of the multi-rotor unmanned aerial vehicle, the red light LEDs can be in the field of view of the image shooting device of the multi-rotor unmanned aerial vehicle, in order not to influence the sight of the image shooting device, the red light LEDs can not be directly in the field of view of the images shot by the camera of the multi-rotor unmanned aerial vehicle, when the red light LEDs carry out flashing alarm, the red light sent by the red light LEDs can be collected by the lens of the camera, the response flashing can be reflected in the returned images shot by the multi-rotor unmanned aerial vehicle, therefore, the ground control personnel can carry out the flying control of the multi-rotor, can also know that many rotor unmanned aerial vehicle have taken place unusual flight situation at present through the scintillation of ruddiness LED lamp.
In order to enable ground control personnel to more directly know the crisis degree of the abnormal flight condition of the multi-rotor unmanned aerial vehicle, the external alarm module sends alarm information in a lamp flashing mode with different frequencies, the higher the crisis degree is, the higher the frequency is, namely the faster the lamp flashing speed is, for example, the preset height threshold value is 1000m, if the flight height of the multi-rotor unmanned aerial vehicle in the current flight space is 1200m, and since 1200 plus 1000 is 200, the crisis degree is lighter, and the alarm information is sent in a lamp flashing mode with the frequency of 10 Hz; if the flying height of the multi-rotor unmanned aerial vehicle in the current flying airspace is 1400m, and 1400 + 1000 is 400, it indicates that the critical range is heavier, and alarm information is sent out in a light flashing mode with the frequency of 20 Hz.
In practical application, the first abnormal flight condition determining unit 101, the second abnormal flight condition determining unit 103 and the third abnormal flight condition determining unit 105 may be data analyzing circuits, the data analyzing circuits collect information of the sensors, determine abnormal flight conditions of the multi-rotor unmanned aerial vehicle, and send out alarm information in time. The data analysis circuit can be customized and developed by adopting a single chip microcomputer or a DSP special circuit board.
It should be noted that: the above-mentioned embodiment provides a many rotor unmanned aerial vehicle flies with external safety control device when being used for the safety control of many rotor unmanned aerial vehicle flight, only exemplifies with the division of above-mentioned each functional module, and in practical application, can accomplish by different functional modules with above-mentioned function distribution as required, divide into different functional modules with the inner structure of equipment promptly to accomplish above-mentioned description whole or partial function.
The utility model provides an external safety control device, which is independent of the existing airborne control subsystem of the existing multi-rotor unmanned aerial vehicle to work, and tests, analyzes and pre-warns the current flight state (flight height, wind power and attitude angle) of the multi-rotor unmanned aerial vehicle; this external safety device need not carry out invasive change to current many rotor unmanned aerial vehicle's machine carries out, has enlarged external safety control device's application range, and the commonality is strong, simple to operate.
Referring to fig. 3, the utility model provides a many rotor unmanned aerial vehicle fly with external safety control method, it is used for carrying out above-mentioned external safety control device, and the method flow specifically as follows:
30. judging whether the multi-rotor unmanned aerial vehicle is in an abnormal flight condition in the current flight airspace;
specifically, the implementation manner of this step includes:
300, acquiring the flight height of the multi-rotor unmanned aerial vehicle in the current flight airspace; if the flying height of the multi-rotor unmanned aerial vehicle in the current flying airspace is greater than a preset height threshold value, judging that the multi-rotor unmanned aerial vehicle is in an abnormal flying condition, and otherwise, judging that the multi-rotor unmanned aerial vehicle is in a normal flying condition. And/or
301, acquiring the wind power of the multi-rotor unmanned aerial vehicle in the current flight airspace; if many rotor unmanned aerial vehicle are in the flight state of hovering, and the wind-force of the many rotor unmanned aerial vehicle who obtains is greater than predetermined wind-force threshold value, then judge that many rotor unmanned aerial vehicle is in unusual flight situation, otherwise, judge that many rotor unmanned aerial vehicle is in normal flight situation. And/or
302, acquiring attitude angles of the multi-rotor unmanned aerial vehicle in the current flight airspace; if many rotor unmanned aerial vehicle are in the flight state of hovering or at the uniform velocity the flight state of cruising, and the volatility index of many rotor unmanned aerial vehicle's attitude angle is greater than preset attitude angle threshold value, then judge that many rotor unmanned aerial vehicle is in unusual flight situation, otherwise, judge that many rotor unmanned aerial vehicle is in normal flight situation.
40. If many rotor unmanned aerial vehicle are in unusual flight situation, then send alarm information to make ground control personnel control ground operation terminal and send the motion control instruction to many rotor unmanned aerial vehicle's machine year flight control subsystem after receiving alarm information, the motion control instruction is used for instructing many rotor unmanned aerial vehicle to reduce flying height.
The implementation manner of step 30 may specifically refer to the related description of the external abnormal flight condition module 10 in the above embodiment; the implementation manner of step 40 may specifically refer to the related description of the external alarm module 20 in the above embodiment; and will not be described in detail herein.
It should be noted that step 30 may include step 301, step 302, and step 303, may include only one of step 301, step 302, and step 303, and may include two of step 301, step 302, and step 303, which is not limited in this embodiment. The designed multi-rotor unmanned aerial vehicle flight safety control method directly analyzes current flight attitude angle information, wind power during hovering flight and current flight height of the multi-rotor unmanned aerial vehicle to determine whether abnormal flight conditions of the multi-rotor unmanned aerial vehicle occur, and has the characteristics of objective, reliable and effective calculation results.
Referring to fig. 4, the utility model provides a many rotor unmanned aerial vehicle fly with external safety control system, this external safety control system includes: safety control device, ground operation terminal 2 and airborne flight control subsystem 3, ground control terminal 2 and airborne flight control subsystem are the original terminal of many rotor unmanned aerial vehicle and subsystem.
The safety control device is mounted on a multi-rotor unmanned aerial vehicle, and is the external safety control device 1 in the foregoing embodiment. Ground operation terminal 2 is used for receiving the motion control instruction to send this motion control instruction to airborne flight control subsystem 3, the motion control instruction is made according to the alarm information that external safety control device 1 sent by the ground control personnel, for example makes through the rocker on the ground control terminal 2, and it is used for instructing many rotor unmanned aerial vehicle to reduce flying height. Airborne flight control subsystem 3 sets up in many rotor unmanned aerial vehicle, with ground operation terminal 2 wireless connection for after receiving the motion control instruction that ground operation terminal 2 sent, control many rotor unmanned aerial vehicle and reduce flying height. Airborne flight control subsystem 3 is used for controlling rotor unmanned aerial vehicle's flight, for example gathers attitude sensor information and solves the attitude angle in real time, control motor rotational speed, transmission flight data, management power. Because the airborne flight control subsystem is realized by adopting an embedded system, in order to reduce the cost, the control subsystem has weak computing capability, small storage space and no intelligent analysis and operation functions, and therefore, the safety control device is set as an external safety control device.
The following description will be made in detail on the external safety control method for the flight of the multi-rotor unmanned aerial vehicle, taking the external safety control system for the flight of the multi-rotor unmanned aerial vehicle as an example.
Various sensors of the external safety control device collect wind power and attitude angles (namely flight attitude information) of the multi-rotor unmanned aerial vehicle in the current flight airspace in real time, and send the collected data to a data analysis circuit of the external safety control device in real time for storage and analysis; data analysis circuit carries out the judgement that whether many rotor unmanned aerial vehicle is in unusual flight situation. When the collected height exceeds a height threshold value, the data analysis circuit outputs an abnormal alarm signal (namely, controls the external alarm module to send out alarm information); when the collected wind power (or called as wind power intensity) exceeds a wind power threshold value, the data analysis circuit outputs an abnormal alarm signal (namely, controls the external alarm module to send out alarm information); or when the fluctuation index of the attitude angle exceeds the threshold value of the attitude angle, the data analysis circuit outputs an abnormal alarm signal (namely controls the external alarm module to send out alarm information). The external alarm module of the external safety control device carries out lamp flash alarm after receiving the abnormal alarm signal output by the data analysis circuit, and the external alarm module is called as a lamp flash alarm module.
Ground control personnel are after observing the alarm information that the lamp dodges the external alarm module of lamp and send with the lamp form sign, then can control ground operation terminal through manual control's mode, make ground operation terminal send the motion control instruction that reduces many rotor unmanned aerial vehicle flight height to machine carries flight control subsystem, machine carries flight control subsystem and receives the motion control instruction after, controls many rotor unmanned aerial vehicle and reduces flight height to many rotor unmanned aerial vehicle's safe flight has been guaranteed.
To sum up, the utility model discloses beneficial effect as follows:
(1) the utility model designs an external safety control device for flying multi-rotor unmanned aerial vehicle, which does not need to interact with the existing airborne flight control subsystem of the multi-rotor unmanned aerial vehicle; when the early warning is in unusual flight situation to many rotor unmanned aerial vehicle, carry out the scintillation warning of red light lamp by oneself, the red light lamp of scintillation warning can be observed by ground control personnel, or shoot by the camera that many rotor unmanned aerial vehicle carried, consequently does not need many rotor unmanned aerial vehicle's machine to carry flight control subsystem to provide special system communication interface and special ground communication link, for external safety control device, consequently has installation convenient to use, characteristics that the commonality is strong.
(2) The utility model discloses an external safety control device adopts the lamp to dodge the mode of reporting to the police, especially its red light lamp dodges the mode of reporting to the police, many rotor unmanned aerial vehicle's of early warning unusual flight situation, this kind of device belongs to a non-invasive alarm device, need not intervene the airborne flight control subsystem's of many rotor unmanned aerial vehicle self control process promptly, such design device only provides early warning information (alarm information promptly), and give many rotor unmanned aerial vehicle's ground control personnel with ultimate flight control decision-making right (flight control decision-making right promptly), this kind of device has reliably, safe characteristics.
It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of the invention or which are equivalent to the scope of the invention are embraced by the invention.
Claims (10)
1. The utility model provides a many rotor unmanned aerial vehicle flight is with external safety control device, a serial communication port, external safety control device carries on many rotor unmanned aerial vehicle, include: the system comprises an elevation sensor and/or a wind direction sensor and/or an attitude sensor, a data analysis circuit and a light flash alarm;
the elevation sensor is mounted below the multi-rotor unmanned aerial vehicle, and the flying height of the multi-rotor unmanned aerial vehicle in the current flying airspace is obtained;
the wind power and wind direction sensor is mounted below the multi-rotor unmanned aerial vehicle, and the wind power of the multi-rotor unmanned aerial vehicle in the current flight airspace is acquired;
the attitude sensor is mounted below the multi-rotor unmanned aerial vehicle, and acquires an attitude angle of the multi-rotor unmanned aerial vehicle in the current flight airspace;
the data analysis circuit is correspondingly connected with the elevation sensor, the wind power and wind direction sensor and the attitude sensor and outputs control signals to the light flash alarm;
and the starting end of the lamp flash alarm is connected with the data analysis circuit.
2. The external safety control device according to claim 1, wherein the data analysis circuit is a single chip or a digital signal processing circuit.
3. The external safety control device of claim 1, wherein the light flash alarm is a monochromatic light flash alarm.
4. The external safety control device of claim 3, wherein the light flash alarm is a red light flash alarm or a white light flash alarm.
5. The external safety control device according to claim 4, wherein the light flash alarm is a red LED light flash alarm or a red OLED light flash alarm;
the white light flashing alarm is a white light LED lamp flashing alarm or a white light OLED lamp flashing alarm.
6. The external safety control device according to claim 1, wherein the light flash alarm is a multi-color light flash alarm.
7. The external safety control device of claim 6, wherein the light flash alarm is a red light and white light alternate light flash alarm.
8. The external safety control device of claim 1, wherein the light flashing alarm is mounted on a front side of a camera of the multi-rotor drone.
9. The external safety control device of claim 1, wherein the multi-rotor drone is a hexarotor drone.
10. The utility model provides a many rotor unmanned aerial vehicle flight is with external safety control system, a serial communication port, safety control system includes: the system comprises a safety control device, a ground operation terminal and an airborne flight control subsystem;
the safety control device is the external safety control device as set forth in any one of claims 1-9;
the ground operation terminal is connected with the airborne flight control subsystem, receives a flight height reduction instruction of a ground operator and sends the flight height reduction instruction to the airborne flight control subsystem.
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Cited By (7)
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| CN107450581A (en) * | 2017-08-18 | 2017-12-08 | 上海顺砾智能科技有限公司 | Wind resistance power applied to unmanned plane reminds forced landing method |
| CN107512371A (en) * | 2017-08-16 | 2017-12-26 | 广州海工船舶设备有限公司 | A kind of new unmanned boat naval light identifying system and method |
| CN108732932A (en) * | 2018-06-01 | 2018-11-02 | 荷塘智能科技(固安)有限公司 | A kind of quadrotor drone Accurate Position Control method based on minimum variance regulator |
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| CN113853560A (en) * | 2020-05-27 | 2021-12-28 | 深圳市大疆创新科技有限公司 | Flight control method and apparatus |
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- 2016-08-01 CN CN201620830552.XU patent/CN205899386U/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107512371A (en) * | 2017-08-16 | 2017-12-26 | 广州海工船舶设备有限公司 | A kind of new unmanned boat naval light identifying system and method |
| CN107450581A (en) * | 2017-08-18 | 2017-12-08 | 上海顺砾智能科技有限公司 | Wind resistance power applied to unmanned plane reminds forced landing method |
| CN107450581B (en) * | 2017-08-18 | 2021-03-05 | 上海顺砾智能科技有限公司 | Wind force resistant forced landing reminding method applied to unmanned aerial vehicle |
| CN108732932A (en) * | 2018-06-01 | 2018-11-02 | 荷塘智能科技(固安)有限公司 | A kind of quadrotor drone Accurate Position Control method based on minimum variance regulator |
| CN108732932B (en) * | 2018-06-01 | 2021-06-08 | 荷塘智能科技(固安)有限公司 | Four-rotor unmanned aerial vehicle accurate position control method based on minimum variance regulator |
| CN109407698A (en) * | 2018-10-25 | 2019-03-01 | 深圳慈航无人智能系统技术有限公司 | No-manned plane three-dimensional path barrier-avoiding method based on probability density |
| CN113853560A (en) * | 2020-05-27 | 2021-12-28 | 深圳市大疆创新科技有限公司 | Flight control method and apparatus |
| CN111784768A (en) * | 2020-07-07 | 2020-10-16 | 中山大学 | Unmanned aerial vehicle attitude estimation method and system based on three-color four-lamp mark recognition |
| CN111784768B (en) * | 2020-07-07 | 2021-09-24 | 中山大学 | Unmanned aerial vehicle attitude estimation method and system based on three-color four-lamp mark recognition |
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