CN206877150U - A kind of unmanned aerial vehicle control system and unmanned plane - Google Patents
A kind of unmanned aerial vehicle control system and unmanned plane Download PDFInfo
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- CN206877150U CN206877150U CN201720347694.5U CN201720347694U CN206877150U CN 206877150 U CN206877150 U CN 206877150U CN 201720347694 U CN201720347694 U CN 201720347694U CN 206877150 U CN206877150 U CN 206877150U
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Abstract
The utility model provides a kind of unmanned aerial vehicle control system and unmanned plane, wherein, the control system includes：Main control unit, multiple control units and collecting unit, main control unit are connected respectively with each control unit, and each control unit is respectively connected with corresponding collecting unit；Collecting unit gathers flying quality of the unmanned plane under current flight environment in real time, and flying quality is transferred to the control unit being connected with collecting unit；Control unit receives the flying quality that collecting unit is sent, and flying quality is handled, obtains control signal, and control signal is transferred into main control unit；Wherein, the state of flight of control signal control unmanned plane；Main control unit receives the control signal that multiple control units are sent respectively, and judge whether multiple control signal is consistent, unmanned plane is controlled according to judged result, unmanned aerial vehicle control system and unmanned plane provided by the utility model, unmanned aerial vehicle (UAV) control is realized using the cooperating of main control unit and multiple control units, it is reliable and stable.
Description
Technical field
Technical field of aerospace is the utility model is related to, in particular to a kind of unmanned aerial vehicle control system and unmanned plane.
Background technology
In recent years, increasing with the market of unmanned plane, whether professional unmanned plane and player's level unmanned plane, safe
Problem, all it is to be centered around sixty-four dollar question between unmanned plane production firm and user, and maximum of which problem is then for nobody
Problem occurs for the flight control system of machine, causes unmanned plane twinkling signal to be lost, air crash phenomenon occurs, therefore, how to solve nothing
The stable problem of man-machine control system will be most important and must solve the problems, such as.
Currently marketed unmanned plane uses the form of a controller more, so awing, as long as this controller
Failure, unmanned plane will be out of hand, so as to ensure the security of above-mentioned unmanned plane.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of unmanned aerial vehicle control system and unmanned plane, using master control
Unit and the cooperating of multiple control units realize unmanned aerial vehicle (UAV) control, control reliable and stable.
In a first aspect, the utility model embodiment provides a kind of unmanned aerial vehicle control system, the system includes：Master control list
First, multiple control units and collecting unit, the main control unit are connected respectively with each described control unit, each control
Unit is respectively connected with corresponding collecting unit；
The collecting unit, fly for gathering flying quality of the unmanned plane under current flight environment in real time, and by described
Row data are transferred to the control unit being connected with the collecting unit；
Described control unit, the flying quality sent for receiving the collecting unit being connected with described control unit,
The flying quality is handled, obtains control signal, and the control signal is transferred to the main control unit；Wherein,
The control signal is used for the state of flight for controlling the unmanned plane；
The main control unit, the control signal sent respectively for receiving the multiple control unit, and judge what is received
Whether multiple control signal is consistent, and the unmanned plane is controlled according to judged result.
With reference in a first aspect, the utility model embodiment provides the first possible embodiment of first aspect, its
In, the collecting unit comprises at least one in global position system GPS module, Inertial Measurement Unit IMU, compass and barometer
Kind is a variety of；
The GPS module, for gathering positional information and speed letter of the unmanned plane under current flight environment in real time
Breath, the control signal of the unmanned plane during flying speed is controlled for described control unit generation；
The IMU, for gathering acceleration information and angular speed letter of the unmanned plane under current flight environment in real time
Breath, the control signal of the unmanned plane during flying posture is controlled for described control unit generation；
The compass, for gathering geomagnetic field information of the unmanned plane under current flight environment in real time, for described
Control unit generation controls the control signal in the unmanned plane during flying direction；
The barometer, for gathering pressure altitude information of the unmanned plane under current flight environment in real time, it is used for
Described control unit generation controls the control signal of the unmanned plane during flying height.
With reference in a first aspect, the utility model embodiment provides second of possible embodiment of first aspect, its
In, the main control unit, it is additionally operable to, when the multiple control signal for judging to receive is inconsistent, determine that control of problems is single
Member, and the described control unit of determination is restarted or isolated, to be carried out by other control units to the unmanned plane
Control；When the multiple control signal for judging to receive is consistent, collaboration control is carried out to the unmanned plane by all control units
System.
With reference in a first aspect, the utility model embodiment provides the third possible embodiment of first aspect, its
In,
Described control unit, it is additionally operable to receive the flight number that the collecting unit being connected with described control unit is sent
According to, and the flying quality is transferred to the main control unit；
The main control unit, it is additionally operable to receive the flying quality that the multiple control unit is sent respectively, and judges to receive
Multiple flying qualities it is whether consistent, the unmanned plane is controlled according to judged result.
With reference to the third possible embodiment of first aspect, the utility model embodiment provides the of first aspect
Four kinds of possible embodiments, wherein, the main control unit, it is additionally operable to inconsistent in the multiple flying qualities for judging to receive
When, control unit of problems is determined, and the described control unit of determination is restarted or isolated, to be controlled by others
Unit processed is controlled to the unmanned plane；When the multiple flying qualities for judging to receive are consistent, pass through all control units
Collaborative Control is carried out to the unmanned plane.
With reference in a first aspect, the utility model embodiment provides the 5th kind of possible embodiment of first aspect, its
In, in addition to quick Peripheral Component Interconnect standard PCI-E bus；Described control unit includes central processor CPU and scene can
Program gate array FPGA；
The CPU is connected by the PCI-E buses with the FPGA.
With reference to the 5th kind of possible embodiment of first aspect, the utility model embodiment provides the of first aspect
Six kinds of possible embodiments, wherein, the FPGA communicates to connect with the corresponding collecting unit；Any one CPU with phase
Two adjacent CPU connections, form ring topologies；
The FPGA, the flying quality sent for receiving the collecting unit being connected with the FPGA, and by described in
Flying quality is transferred to the CPU being connected with the FPGA；
The CPU, the flying quality sent for receiving the FPGA being connected with the CPU, to the flying quality
Handled, obtain control signal；
The CPU, it is additionally operable to transmit the control signal after processing to adjacent CPU by the ring topologies.
With reference to the 5th kind of possible embodiment of first aspect, the utility model embodiment provides the of first aspect
Seven kinds of possible embodiments, wherein, each FPGA is connected with the main control unit；Any one FPGA with others
FPGA connections, form fully connected topology；
The FPGA, it is additionally operable to receive the flying quality for the collecting unit transmission being connected with the FPGA, and by institute
State flying quality and be transferred to the main control unit being connected with the FPGA；
The main control unit, it is additionally operable to receive the flying quality that the FPGA being connected with the main control unit is sent, and
The flying quality is transmitted to other FPGA；
And/or
The FPGA, it is additionally operable to receive the control signal for the CPU transmissions being connected with the FPGA, and by the control
Signal is transferred to the main control unit being connected with the FPGA；
The main control unit, it is additionally operable to receive the control signal that the FPGA being connected with the main control unit is sent, and
The control signal is transmitted to other FPGA；
The FPGA, it is additionally operable to transmit the flying quality of reception to other FPGA by the fully connected topology,
And/or the control signal of reception is transmitted to other FPGA by the fully connected topology.
With reference to the 5th kind of possible embodiment of first aspect, the utility model embodiment provides the of first aspect
Eight kinds of possible embodiments, wherein,
The CPU, it is additionally operable to provide the first WDT to the main control unit according to the first prefixed time interval；
The FPGA, it is additionally operable to provide the second WDT to the main control unit according to the second prefixed time interval；
The main control unit, it is additionally operable to judge whether are first WDT and/or second WDT
In abnormality, and when judging to be in abnormality, control unit corresponding to abnormality is determined, and by the control of determination
Unit processed is restarted or isolated.
Second aspect, the utility model embodiment additionally provides the first a kind of including first aspect, first aspect can
Can embodiment into the 8th kind of possible embodiment of first aspect nobody described in any possible embodiment
The unmanned plane of machine control system.
In the utility model embodiment, unmanned aerial vehicle control system includes：Main control unit, multiple control units and collection are single
Member, main control unit are connected respectively with each control unit, and each control unit is respectively connected with corresponding collecting unit；Collecting unit
Flying quality of the collection unmanned plane under current flight environment in real time, and flying quality is transferred to the control being connected with collecting unit
Unit processed；Control unit receives the flying quality that the collecting unit being connected with control unit is sent, and flying quality is handled,
Control signal is obtained, and control signal is transferred to main control unit；Wherein, control signal is used for the flight shape for controlling unmanned plane
State；Main control unit, the control signal sent respectively for receiving multiple control units, and the multiple control signal for judging to receive is
It is no consistent, unmanned plane is controlled according to judged result.Unmanned aerial vehicle control system in the utility model embodiment and nobody
Machine, unmanned aerial vehicle (UAV) control is realized using the cooperating of main control unit and multiple control units, controlled reliable and stable.
To enable above-mentioned purpose of the present utility model, feature and advantage to become apparent, preferred embodiment cited below particularly, and
Accompanying drawing appended by cooperation, is described in detail below.
Brief description of the drawings
, below will be to required use in embodiment in order to illustrate more clearly of the technical scheme of the utility model embodiment
Accompanying drawing be briefly described, it will be appreciated that the following drawings illustrate only some embodiments of the present utility model, therefore should not be by
Regard the restriction to scope as, for those of ordinary skill in the art, on the premise of not paying creative work, may be used also
To obtain other related accompanying drawings according to these accompanying drawings.
Fig. 1 shows a kind of structural representation for unmanned aerial vehicle control system that the utility model embodiment is provided；
Fig. 2 shows that the structure of control unit in a kind of unmanned aerial vehicle control system that the utility model embodiment is provided is shown
It is intended to；
Fig. 3 shows the structural representation for another unmanned aerial vehicle control system that the utility model embodiment is provided；
Fig. 4 shows a kind of power work schematic diagram for unmanned aerial vehicle control system that the utility model embodiment is provided.
Main element symbol description：
11st, collecting unit (wherein, 11a, collecting unit；11b, collecting unit；... 11n, collecting unit)；22nd, control
Unit (wherein, 22a, control unit；22b, control unit；... 22n, control unit)；33rd, main control unit；221st, CPU (its
In, 221a, CPU；221b、CPU；……221d、CPU)；222nd, FPGA (wherein, 222a, FPGA；222b、FPGA；……
222d、FPGA)。
Embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Accompanying drawing in type embodiment, the technical scheme in the embodiment of the utility model is clearly and completely described, it is clear that described
Embodiment be only the utility model part of the embodiment, rather than whole embodiment.Generally here described in accompanying drawing
It can be configured with the component of the utility model embodiment shown with a variety of to arrange and design.Therefore, below to
The detailed description of the embodiment of the present utility model provided in accompanying drawing is not intended to limit claimed model of the present utility model
Enclose, but be merely representative of selected embodiment of the present utility model.Based on embodiment of the present utility model, those skilled in the art exist
The every other embodiment obtained on the premise of not making creative work, belong to the scope of the utility model protection.
In view of the unmanned plane in correlation technique more using the form of a controller, so awing, as long as this
Controller failure, unmanned plane will be out of hand, so as to ensure the security of above-mentioned unmanned plane.Based on this, this practicality is new
Type embodiment provides a kind of unmanned aerial vehicle control system and unmanned plane, using main control unit and the cooperating of multiple control units
Unmanned aerial vehicle (UAV) control is realized, is controlled reliable and stable.
The concrete structure of the unmanned aerial vehicle control system provided first the utility model embodiment carries out as described below：
Referring to Fig. 1, the utility model embodiment provides a kind of unmanned aerial vehicle control system, and the system specifically includes：Master control
Unit 33, multiple control units 22 and collecting unit 11, main control unit 33 are connected respectively with each control unit 22, each control
Unit 22 is respectively connected with corresponding collecting unit 11；
Collecting unit 11, for gathering flying quality of the unmanned plane under current flight environment in real time, and by flying quality
It is transferred to the control unit 22 being connected with collecting unit 11；
Control unit 22, the flying quality sent for receiving the collecting unit 11 being connected with control unit 22, to flight
Data are handled, and obtain control signal, and control signal is transferred into main control unit 33；Wherein, control signal is used to control
The state of flight of unmanned plane；
Main control unit 33, the control signal sent respectively for receiving multiple control units 22, and judge the multiple of reception
Whether control signal is consistent, and unmanned plane is controlled according to judged result.
The unmanned aerial vehicle control system of the utility model embodiment includes：Main control unit 33, multiple control units 22 and collection
Unit 11, main control unit 33 are connected respectively with each control unit 22, and it is single that each control unit 22 is respectively connected with corresponding collection
Member 11, the unmanned aerial vehicle (UAV) control with using a controller in correlation technique, can not ensure that the security of unmanned plane is compared, it passes through
Collecting unit 11 gathers flying quality of the unmanned plane under current flight environment in real time, and flying quality is transferred into corresponding control
Unit 22 processed is handled the flying quality of reception in order to control unit 22, obtains the state of flight for controlling unmanned plane
Control signal, main control unit 33 then receives the control signal that multiple control units 22 are sent respectively, and judges to receive multiple
Whether control signal is consistent, unmanned plane is controlled according to judged result, it uses main control unit 33 and multiple control units
22 cooperating realizes unmanned aerial vehicle (UAV) control, controls reliable and stable.
Specifically, the collecting unit 11 in the unmanned aerial vehicle control system that the utility model embodiment is provided gathers nothing in real time
The man-machine flying quality under current flight environment, and by the annexation between collecting unit 11 and control unit 22, will
The flying quality of collection is sent to corresponding control unit 22, in order to the control unit 22 to the flying quality of reception at
Reason, obtains the control signal for controlling unmanned plane during flying state, all control units 22 are connected with main control unit 33, then
The control signal that main control unit 33 will receive multiple control units 22 and send respectively, and judge to whether there is in multiple control signal
The abnormal control signal different from other control signals, first control is taken unmanned plane when judging to exist abnormal signal
Mode, the second control mode is taken unmanned plane when judging and abnormal signal being not present, so as to be further ensured that unmanned plane control
The reliability and stability of system.
Wherein, the control unit 22 in the utility model embodiment is multiple, and multiple control units 22 with master control list
Member 33 is connected to carry out the data interaction between each control unit 22 and main control unit 33, then, each control unit 22 is equal
It is controlled by above-mentioned main control unit 33, the control signal that main control unit 33 can be sent respectively to multiple control units 22 carries out consistent
Property judge, and unmanned plane is controlled according to judged result.
In addition, the collecting unit 11 in the unmanned aerial vehicle control system that the utility model embodiment is provided is multiple, each
Collecting unit 11 can be connected with corresponding control unit 22 respectively, the nothing that control unit 22 then collects collecting unit 11
Man-machine flying quality is transmitted to main control unit 33, to carry out follow-up processing.Wherein, the wire harness of collecting unit 11 is from therewith
Drawn in corresponding control unit 22, wiring is succinct, cost is relatively low, and is easy to diagnosis and the investigation of failure, and practicality is preferable.
Referring to Fig. 1, the control unit 22 to match with multiple collecting units 11 has n, and the utility model logarithm value n does not do specific limit
System.
Further, the collecting unit 11 in the unmanned aerial vehicle control system that the utility model embodiment is provided can be fixed
Position unmanned plane GPS (Global Positioning System, global positioning system) module, for gather positional information and
Velocity information, in order to which control unit 22 generates the control signal of control unmanned plane during flying speed, additionally it is possible to be IMU
(Inertial measurement unit, Inertial Measurement Unit), compass, barometer, for gathering current flight environment respectively
Under unmanned plane attitude information (i.e. acceleration information and angular velocity information), directional information and air pressure elevation information, in order to
The control signal of the generation control unmanned plane during flying of control unit 22 posture, heading and flying height, additionally it is possible to be measurement nothing
The temperature sensor of man-machine ambient temperature, additionally it is possible to be the various combinations in above-mentioned collecting unit 11.For different user
Demand, the utility model embodiment can also set the sensor with other functions, and the utility model embodiment includes upper
Detection sensor is stated, but is not limited to above-mentioned detection sensor.
Further, in order to preferably realize the performance of unmanned aerial vehicle control system that the utility model embodiment provided,
Main control unit 33 in the utility model embodiment is when the multiple control signal for judging to receive is inconsistent, it is determined that problem be present
Control unit 22, and the control unit 22 of determination is restarted or isolated, with by other control units 22 to nobody
Machine is controlled；When the multiple control signal for judging to receive is consistent, unmanned plane is assisted by all control units 22
With control.
For multiple control signal, if judging, one of control signal differs with other control signals, really
Control unit 22 corresponding to the fixed control signal be exception control unit, the utility model embodiment will take restart accordingly or
Quarantine measures, with the accuracy of definitely final control signal；For multiple control signal, if judging to control more than one of
Signal differs with other control signals, can not only take exception control unit the measure restarted or isolated, can be with
Specific processing is not done to improve fault-tolerance.
In view of the application scenarios of above-mentioned unmanned aerial vehicle control system, the control unit 22 in the utility model embodiment is preferred
For four.So, four control units 22 will correspond to four control signals, for four control signals, if one of them
Control signal differs with other three control signals, then judges one of control letter according to the method that the minority is subordinate to the majority
Control unit 22 corresponding to number is abnormal, then the utility model embodiment can restart the control unit 22 under the abnormality,
Until restart reach normal condition after be just operated, additionally it is possible to the control unit 22 directly isolated under the abnormality, make
It does not send data followed by main control unit 33；If two of which control signal differs with other two control signals,
Accordingly, two control units 22 under corresponding abnormality can be restarted or be isolated.It is single in view of different controls
The probability of the same time error of member 22 is smaller, can be controlled accordingly by the above-mentioned principle that the minority is subordinate to the majority, practical
Property is stronger.
Further, the control unit 22 in the unmanned aerial vehicle control system that the utility model embodiment is provided, is also received
The flying quality that the collecting unit 11 that is connected with control unit 22 is sent, and by flying quality be transferred to main control unit 33 in order to
Main control unit 33 receives the flying quality that multiple control units 22 are sent respectively, and judge receive multiple flying qualities whether one
Cause, unmanned plane is controlled according to judged result.
In the utility model embodiment, judgement and the judgement of above-mentioned control signal uniformity for flying quality uniformity
It is similar, it will not be described here.
Further, referring to Fig. 2, each control list in the unmanned aerial vehicle control system that the utility model embodiment is provided
Member 22 includes CPU221 (Central Processing Unit, central processing unit) and FPGA222 (Field-
Programmable Gate Array, field programmable gate array), and CPU221 and FPGA222 passes through PCI-E
(Peripheral Component Interconnect-Express, quick Peripheral Component Interconnect standard) bus is attached.
Corresponding, the main control unit 33 in the utility model embodiment is master control FPGA.
The excellent chip of process performance is needed in view of the unmanned aerial vehicle control system that the utility model embodiment is provided,
CPU221 in the utility model embodiment can use the PowerPC (Performance of Freescale companies
Optimization With Enhanced RISC-Performance Computing) processor P2020, it can also use
Intel agile processor ATOM, can also be that other have the processor of processing function, wherein, the above-mentioned external SD of CPU221
((Secure Digital Memory Card, safety digital storage card) card, Flash and DDR (Double Data Rate,
Double Data Rate) memory module such as memory；CPU221 is with serial ports, network interface, HDMI (High Definition Multimedia
Interface, HDMI) and the interface shape such as USB (Universal Serial Bus, USB)
Formula external data module；The external PWM of FPGA222 (Pulse-Width Modulation, pulse width modulation) interface, serial ports,
SPI (Serial Peripheral interface, SPI), I2C (Inter-Integrated Circuit, it is interior
Portion's integrated circuit), IO (Input/Output, input/output) and ADC (Analog-to-digital converter, modulus
Converter) etc. various data and interface.
Referring to Fig. 3, four remaining controls corresponding to the structure based on preferable four control units 22 and above-mentioned control unit 22
The structural representation of the unmanned aerial vehicle control system of system, as seen from the figure, FPGA222 communicate to connect with corresponding collecting unit 11；Appoint
Meaning adjacent C PU221 is attached, and forms ring topologies；Wherein,
FPGA222 receives the flying quality that the collecting unit 11 being connected with FPGA222 is sent, and flying quality is transferred to
The CPU221 being connected with FPGA222, in order to which CPU221 receives above-mentioned flying quality, flying quality is handled, controlled
Signal processed；
In addition, the ring topologies formed by all CPU221 can believe the control after any one CPU221 processing
Number transmit to adjacent CPU221.
In addition, from the figure 3, it may be seen that the collecting unit 11, CPU221 and the FPGA222 that match with four control units 22 are
Four.
Further, each FPGA222 is connected with main control unit 33；Any two FPGA222 is attached, and is formed
Fully connected topology；The flying quality that can not only be received any one FPGA222 by the fully connected topology is transmitted to it
His FPGA222, additionally it is possible to transmitted any one FPGA222 control signals received to others by fully connected topology
FPGA222。
Specifically, FPGA222 receives the flying quality for the transmission of collecting unit 11 being connected with FPGA222, and by flight number
The main control unit 33 being connected according to being transferred to FPGA222 receives what is be connected with main control unit 33 in order to main control unit 33
The flying quality that FPGA222 is sent, and flying quality is transmitted to other FPGA222, i.e., can be with by fully connected topology
The interaction between flying quality is carried out, a collecting unit 11 can be achieved and used to multiple control units 22, and in some control
When unit 22 processed judges that the collecting unit 11 that is attached thereto is abnormal, data generation for other collecting units 11 can be used to be collected
Replace, or ask control FPGA222 restart certainly to main control unit 33.
In addition, above-mentioned FPGA222 can also receive the control signal that the CPU221 being connected with FPGA222 is sent, and will control
Signal processed is transferred to the main control unit 33 being connected with FPGA222 in order to which main control unit 33 receives above-mentioned control signal, and will control
Signal processed is transmitted to other FPGA222.
Further, in order to realize real-time monitoring of the main control unit 33 to control unit 22, above-mentioned CPU221 will be according to
One prefixed time interval provides the first WDT to main control unit 33, and above-mentioned FPGA222 will be according between the second preset time
Every providing the second WDT to main control unit 33, i.e. CPU221 and FPGA222 will provide main control unit 33 house dog letter
Number, when main control unit 33 detects that WDT is not normal, it is believed that the control unit 22 is in abnormality, can be by different
The normal control unit 22 of normal state communication multi-channel interrogation is right if abnormal to determine whether doubtful anomaly unit is really abnormal
Control unit 22 under the abnormality carries out restarting operation, when house dog is normal, as other multi-channel control units 22 are equal
When assigning the order for restarting some control unit 22, main control unit 33 will also be completed to restart operation.
The unmanned aerial vehicle control system that the utility model embodiment is provided is powered using isolated DC-DC chip, right
Unmanned owner's level face and winged control level face are isolated, and are not only improved and are flown the anti-external disturbance ability of control, moreover it is possible to by Power convert
To fly control level face routine 12V.Referring to Fig. 4, now the power module of the unmanned aerial vehicle control system of four remainings is further said
Bright, the power module is connected with master control FPGA, to be supplied to master control FPGA and with master control FPGA other devices being connected
Electricity.
As seen from the figure, after having carried out isolated from power, point four tunnels carry out 12V and turn 5V, and this step DC-DC need to carry enable pin,
Chip output can be completed to forbid and recover, the master control FPGA that can arrange in pairs or groups carries out power remove and boots.This stage, first and second liang
Road, third and fourth two-way power supply outlet chamber respectively increase a solid-state relay, controlled can opened, and complete single supply chip supply two
Road task.Therefore enough load capacity need to be reserved during power supply chip type selecting.
When control unit 22 produces significant trouble, the DC-DC chips that 12V turns 5V are turned off first, weight when waiting one section
Newly restore electricity, turn off 12V again when situation has no improvement and turn 5VDC-DC chips, then wait for a period of time and open relay,
Output of supplying power with double circuit is carried out, as situation can not still be improved, disconnects relay, chip is enabled when waiting longer, and
Continuous repeated attempt circulation.When being worse off, then relay is closed, only carry out boots operation, and extended between unsuccessfully wait
Every.
The unmanned aerial vehicle control system of the utility model embodiment includes：Main control unit 33, multiple control units 22 and collection
Unit 11, main control unit 33 are connected respectively with each control unit 22, and it is single that each control unit 22 is respectively connected with corresponding collection
Member 11, the unmanned aerial vehicle (UAV) control with using a controller in correlation technique, can not ensure that the security of unmanned plane is compared, it passes through
Collecting unit 11 gathers flying quality of the unmanned plane under current flight environment in real time, and flying quality is transferred into corresponding control
Unit 22 processed is handled the flying quality of reception in order to control unit 22, obtains the state of flight for controlling unmanned plane
Control signal, main control unit 33 then receives the control signal that multiple control units 22 are sent respectively, and judges to receive multiple
Whether control signal is consistent, unmanned plane is controlled according to judged result, it uses main control unit 33 and multiple control units
22 cooperating realizes unmanned aerial vehicle (UAV) control, controls reliable and stable.
The utility model embodiment additionally provides a kind of unmanned plane, and the unmanned plane is carried out using above-mentioned unmanned aerial vehicle control system
Control, reliable and stable, practicality is stronger.
In embodiment provided by the utility model, it should be understood that disclosed device, can be by another way
Realize.Device embodiment described above is only schematical, for example, the division of the unit, only a kind of logic
Function divides, and can have other dividing mode when actually realizing, in another example, multiple units or component can combine or can be with
Another system is integrated into, or some features can be ignored, or do not perform.It is another, it is shown or discussed mutual
Coupling or direct-coupling or communication connection can be the INDIRECT COUPLING or communication link by some communication interfaces, device or unit
Connect, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in embodiment provided by the utility model can be integrated in a processing unit,
Can also be that unit is individually physically present, can also two or more units it is integrated in a unit.
If the function is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, the technical solution of the utility model substantially or
Person says that the part of the part to be contributed to prior art or the technical scheme can be embodied in the form of software product,
The computer software product is stored in a storage medium, including some instructions are causing a computer equipment (can be with
Personal computer, server, or network equipment etc.) perform each embodiment methods described of the utility model whole or portion
Step by step.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), with
Machine access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with Jie of store program codes
Matter.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing, in addition, term " the
One ", " second ", " the 3rd " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
Finally it should be noted that：Embodiment described above, only specific embodiment of the present utility model, to illustrate this
The technical scheme of utility model, rather than its limitations, the scope of protection of the utility model is not limited thereto, although with reference to foregoing
The utility model is described in detail embodiment, it will be understood by those within the art that：It is any to be familiar with this skill
For the technical staff in art field in the technical scope that the utility model discloses, it still can be to the skill described in previous embodiment
Art scheme is modified or can readily occurred in change, or carries out equivalent substitution to which part technical characteristic；And these modifications,
Change is replaced, and the essence of appropriate technical solution is departed from the spirit and model of the utility model embodiment technical scheme
Enclose.It should all cover within the scope of protection of the utility model.Therefore, the scope of protection of the utility model described should be wanted with right
The protection domain asked is defined.
Claims (9)
- A kind of 1. unmanned aerial vehicle control system, it is characterised in that including：Main control unit, multiple control units and collecting unit, it is described Main control unit is connected respectively with each described control unit, and each described control unit is respectively connected with corresponding collecting unit；The collecting unit, for gathering flying quality of the unmanned plane under current flight environment in real time, and by the flight number The control unit being connected according to being transferred to the collecting unit；Described control unit, the flying quality sent for receiving the collecting unit being connected with described control unit, to institute State flying quality to be handled, obtain control signal, and the control signal is transferred to the main control unit；Wherein, it is described Control signal is used for the state of flight for controlling the unmanned plane；The main control unit, the control signal sent respectively for receiving the multiple control unit, and judge the multiple of reception Whether control signal is consistent, and the unmanned plane is controlled according to judged result.
- 2. unmanned aerial vehicle control system according to claim 1, it is characterised in that it is fixed that the collecting unit comprises at least the whole world One or more in position System GPS module, Inertial Measurement Unit IMU, compass and barometer；The GPS module, for gathering positional information and velocity information of the unmanned plane under current flight environment in real time, use The control signal of the unmanned plane during flying speed is controlled in described control unit generation；The IMU, for gathering acceleration information and angular velocity information of the unmanned plane under current flight environment in real time, use The control signal of the unmanned plane during flying posture is controlled in described control unit generation；The compass, for gathering geomagnetic field information of the unmanned plane under current flight environment in real time, for the control Unit generation controls the control signal in the unmanned plane during flying direction；The barometer, for gathering pressure altitude information of the unmanned plane under current flight environment in real time, for described Control unit generation controls the control signal of the unmanned plane during flying height.
- 3. unmanned aerial vehicle control system according to claim 1, it is characterised in thatDescribed control unit, it is additionally operable to receive the flying quality that the collecting unit being connected with described control unit is sent, and The flying quality is transferred to the main control unit；The main control unit, it is additionally operable to receive the flying quality that the multiple control unit is sent respectively, and judges the more of reception Whether individual flying quality is consistent, and the unmanned plane is controlled according to judged result.
- 4. unmanned aerial vehicle control system according to claim 3, it is characterised in that the main control unit, be additionally operable to judging Go out reception multiple flying qualities it is inconsistent when, determine control unit of problems, and the described control unit of determination is entered Row is restarted or isolated, to be controlled by other control units to the unmanned plane；In the multiple flights for judging to receive When data are consistent, Collaborative Control is carried out to the unmanned plane by all control units.
- 5. unmanned aerial vehicle control system according to claim 1, it is characterised in that also including quick Peripheral Component Interconnect standard PCI-E buses；Described control unit includes central processor CPU and on-site programmable gate array FPGA；The CPU is connected by the PCI-E buses with the FPGA.
- 6. unmanned aerial vehicle control system according to claim 5, it is characterised in that the FPGA and the corresponding collection are single Member communication connection；Any one CPU is connected with two adjacent CPU, forms ring topologies；The FPGA, for receiving the flying quality of the collecting unit being connected with FPGA transmission, and by the flight Data transfer gives the CPU of the FPGA connections；The CPU, the flying quality sent for receiving the FPGA being connected with the CPU, is carried out to the flying quality Processing, obtains control signal；The CPU, it is additionally operable to transmit the control signal after processing to adjacent CPU by the ring topologies.
- 7. unmanned aerial vehicle control system according to claim 5, it is characterised in that each FPGA with the master control list Member connection；Any one FPGA is connected with other FPGA, forms fully connected topology；The FPGA, it is additionally operable to receive the flying quality that the collecting unit being connected with the FPGA is sent, and flies described Row data are transferred to the main control unit being connected with the FPGA；The main control unit, it is additionally operable to receive the flying quality for the FPGA transmissions being connected with the main control unit, and by institute Flying quality is stated to transmit to other FPGA；And/orThe FPGA, it is additionally operable to receive the control signal for the CPU transmissions being connected with the FPGA, and by the control signal It is transferred to the main control unit being connected with the FPGA；The main control unit, it is additionally operable to receive the control signal for the FPGA transmissions being connected with the main control unit, and by institute Control signal is stated to transmit to other FPGA；The FPGA, it is additionally operable to transmit the flying quality of reception to other FPGA by the fully connected topology, and/ Or, the control signal of reception is transmitted to other FPGA by the fully connected topology.
- 8. unmanned aerial vehicle control system according to claim 5, it is characterised in thatThe CPU, it is additionally operable to provide the first WDT to the main control unit according to the first prefixed time interval；The FPGA, it is additionally operable to provide the second WDT to the main control unit according to the second prefixed time interval；The main control unit, it is additionally operable to judge whether first WDT and/or second WDT are in Abnormality, and when judging to be in abnormality, determines control unit corresponding to abnormality, and by the control list of determination Member is restarted or isolated.
- A kind of 9. unmanned plane of the unmanned aerial vehicle control system including any one of claim 1 to 8.
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| CN201720347694.5U CN206877150U (en) | 2017-04-05 | 2017-04-05 | A kind of unmanned aerial vehicle control system and unmanned plane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720347694.5U CN206877150U (en) | 2017-04-05 | 2017-04-05 | A kind of unmanned aerial vehicle control system and unmanned plane |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108693885A (en) * | 2017-04-05 | 2018-10-23 | 北京深远世宁科技有限公司 | A kind of unmanned aerial vehicle control system and unmanned plane |
| CN109062028A (en) * | 2018-09-04 | 2018-12-21 | 北京实干兴邦科技有限公司 | A kind of redundance control system of flight control computer |
| CN110187717A (en) * | 2019-06-25 | 2019-08-30 | 北京山鹰航空技术有限公司 | UAV Flight Control System and unmanned plane |
| CN113726324A (en) * | 2021-08-09 | 2021-11-30 | 成都凯天电子股份有限公司 | Synchronous output method for multi-redundancy program-controlled proximity switch |
-
2017
- 2017-04-05 CN CN201720347694.5U patent/CN206877150U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108693885A (en) * | 2017-04-05 | 2018-10-23 | 北京深远世宁科技有限公司 | A kind of unmanned aerial vehicle control system and unmanned plane |
| CN109062028A (en) * | 2018-09-04 | 2018-12-21 | 北京实干兴邦科技有限公司 | A kind of redundance control system of flight control computer |
| CN110187717A (en) * | 2019-06-25 | 2019-08-30 | 北京山鹰航空技术有限公司 | UAV Flight Control System and unmanned plane |
| CN113726324A (en) * | 2021-08-09 | 2021-11-30 | 成都凯天电子股份有限公司 | Synchronous output method for multi-redundancy program-controlled proximity switch |
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