CN206975504U - A kind of multi-rotor unmanned aerial vehicle state monitoring apparatus - Google Patents
A kind of multi-rotor unmanned aerial vehicle state monitoring apparatus Download PDFInfo
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- CN206975504U CN206975504U CN201720418339.2U CN201720418339U CN206975504U CN 206975504 U CN206975504 U CN 206975504U CN 201720418339 U CN201720418339 U CN 201720418339U CN 206975504 U CN206975504 U CN 206975504U
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- aerial vehicle
- unmanned aerial
- monitoring apparatus
- monitor controller
- control system
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Abstract
The utility model discloses a kind of multi-rotor unmanned aerial vehicle state monitoring apparatus, and it includes and the monitor controller of flight control system interaction, the galvanometer/potentiometer, sillometer and the buzzer that are connected with flight control system；Galvanometer/the potentiometer adjusts device and motor to be connected with sillometer by electricity, and the buzzer is connected with monitor controller；Galvanometer/the potentiometer is arranged on the horn of unmanned plane, and the flight control system is arranged on the sillometer in the body of multi-rotor unmanned aerial vehicle and is arranged on the motor mount of unmanned plane horn, and the sillometer is connected with monitor controller.The utility model reads the output state of each control passage of multi-rotor unmanned aerial vehicle, the target control status data of flight control system, gps data, IMU attitude datas, altimeter data by monitor controller, and contrasted with the target control parameter of flight control system, so as to realize the function of monitoring and record multi-rotor unmanned aerial vehicle actual working state.
Description
Technical field
It the utility model is related to unmanned plane application field, more particularly to a kind of multi-rotor unmanned aerial vehicle status monitoring dress
Put.
Background technology
Multi-rotor unmanned aerial vehicle device is a kind of new technical platform that can quickly realize and reach in the air, it army, electric inspection process,
The fields such as frontier defense inspection, environmental monitoring, geographical remote sensing, mapping, point duty, communication relaying, which, to be widely applied.More rotors without
It is man-machine have the advantages that use cost is low, technology flexibly, be not required to personnel and directly reach primary scene, VTOL, fixed can be achieved
The functions such as point hovering, position locking, right place patrol.With the development and popularization of multi-rotor unmanned aerial vehicle application technology, respectively should
The ins and outs and function of unmanned plane are realized with field and industry and are proposed many deeply requirements, wherein, to break away to nothing
Personnel Dependence of man-machine manipulation hand etc. realizes the full-automation of unmanned plane or programming operations are following unmanned air vehicle technique development
Important directions.Therefore also bring UAS to become increasingly complex, function is stronger and stronger, automaticity more and more higher.
The monitoring of the running status of more rotor systems is to maintain the important component of UAS normal operation.How
UAS all parts, each subsystem and whole working state of system are checked for realization and monitoring is modern unmanned plane skill
The important directions and the reduction system failure of art development improve system reliability, the important content of the automatization level of raising system.
In existing technology, monitoring of the multi-rotor unmanned aerial vehicle to itself working condition is confined to control system operation mostly
Program in itself with broken down when self-test or operation of each component at the beginning of startup after feedback of status, when system occurs in itself
During failure, the status monitoring function to itself is also lost simultaneously；Also lack assessment to whole UAS and pre- simultaneously
Sentence ability, the particularly assessment to real load and desired operation and detection instrument.
In view of disadvantages described above, it is necessary to the integrality monitoring technology of multi-rotor unmanned aerial vehicle is improved, it is more to improve
The reliability of rotor wing unmanned aerial vehicle and the automatization level for improving multi-rotor unmanned aerial vehicle.
Therefore, prior art has yet to be improved and developed.
The content of the invention
The purpose of this utility model is to provide a kind of multi-rotor unmanned aerial vehicle state monitoring apparatus, it is intended to solves existing nothing
It is man-machine to lose the status monitoring function to itself when flight control system system breaks down in itself, easily lack to whole
The assessment of individual UAS and ability to predict, the particularly assessment to real load and desired operation and detection instrument
Technical problem.
The technical solution of the utility model is as follows：A kind of multi-rotor unmanned aerial vehicle state monitoring apparatus, it includes controlling with flight
The monitor controller of system interaction processed, galvanometer/potentiometer, sillometer and the buzzer being connected with flight control system；It is described
Galvanometer/potentiometer adjusts device and motor to be connected with sillometer by electricity, and the buzzer is connected with monitor controller；The electric current
Meter/potentiometer is arranged on the horn of unmanned plane, and the flight control system is arranged on described in the body of multi-rotor unmanned aerial vehicle
Sillometer is arranged on the motor mount of unmanned plane horn, for measuring unmanned plane during flying speed, and the sillometer and monitoring
Controller connects.
Described rotor wing unmanned aerial vehicle state monitoring apparatus, wherein, the flight control system includes being used to measure unmanned plane
The GPS module of gps data, the IMU Inertial Measurement Units for measuring IMU attitude datas and the height for measuring altitude information
Meter, the GPS module, IMU Inertial Measurement Units and altimeter are connected with monitor controller respectively.
Described rotor wing unmanned aerial vehicle state monitoring apparatus, wherein, in addition to the display for defeated monitoring Unmanned Aerial Vehicle Data.
Described rotor wing unmanned aerial vehicle state monitoring apparatus, wherein, described test the speed is calculated as tachogenerator, the sensing that tests the speed
Device is connected with monitor controller.
Described rotor wing unmanned aerial vehicle state monitoring apparatus, wherein, the monitor controller is directly read by data-interface
Gps data, IMU attitude datas and the altitude information of flight control system.
Described rotor wing unmanned aerial vehicle state monitoring apparatus, wherein, the monitor controller is distinguished by each sensor interface
It is connected with GPS module, IMU Inertial Measurement Units and altimeter.
Described rotor wing unmanned aerial vehicle state monitoring apparatus, wherein, the buzzer exports failure by state output interface
Reason.
Described rotor wing unmanned aerial vehicle state monitoring apparatus, wherein, each horn of more rotors is provided with the monitor controller
The preset value of maximum working voltage and electric current.
Described rotor wing unmanned aerial vehicle state monitoring apparatus, wherein, more rotor flyings are additionally provided with the monitor controller
The maximum take-off weight output power value of device.
Beneficial effect：The utility model by excessively it is actual calculate and test to obtain multi-rotor unmanned aerial vehicle each in normal state
The relation curve of voltage, electric current, motor speed and load that motor exports, each horn passed through in multi-rotor unmanned aerial vehicle are installed
Sillometer, galvanometer, potentiometer, read multi-rotor unmanned aerial vehicle and respectively control the output state readed over, gps data, IMU posture numbers
According to, altimeter data, and contrasted with the target control status data of flight control system, so as to monitor relatively independently
The actual working state of multi-rotor unmanned aerial vehicle；And show it using sound or directly in control interface by certain monitoring strategies
Actual motion state and monitor automatic alarm during failure.The device is by monitoring the reality of work of each horn of multi-rotor unmanned aerial vehicle
State, infer its effective output, form complete control loop, provided to flight control system more excellent accurate, real-time
State foundation, so as to take optimal control strategy；And provide reliable monitoring number for depopulated helicopter whole service process
According to being easy to accident analysis and investigation.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the present utility model.
Fig. 2 is a kind of structural representation that sillometer is installed in the utility model.
Embodiment
To make the purpose of this utility model, technical scheme and advantage clearer, clear and definite, develop simultaneously implementation referring to the drawings
The utility model is further described example.
As shown in Figure 1-2, the utility model discloses a kind of multi-rotor unmanned aerial vehicle state monitoring apparatus, it includes and flight
The monitor controller 1 of control system interaction, galvanometer/potentiometer 2, sillometer 3 and the buzzer being connected with flight control system
4；Galvanometer/the potentiometer 2 adjusts device 5 and motor 6 to be connected with sillometer 3 by electricity, the buzzer 4 and monitor controller 1
Connection；Galvanometer/the potentiometer 2 be arranged on unmanned plane horn 7 on, the flight control system 8 be arranged on more rotors without
The sillometer is arranged on the motor mount 9 of unmanned plane horn 7 in man-machine body, for measuring unmanned plane during flying speed
Degree, and the sillometer is connected with monitor controller.
The utility model on multi-rotor unmanned aerial vehicle horn by installing tachometer, galvanometer, potentiometer, the more rotors of reading
The output state of each control passage of unmanned plane, the target control status data of flight control system, gps data, IMU posture numbers
According to, altimeter data, and with it is actually detected to data contrasted, so as to monitor multi-rotor unmanned aerial vehicle relatively independently
Actual working state, and shown using sound or directly in control interface by certain monitoring strategies its actual running status and
Monitor automatic alarm during failure.
Furtherly, the flight control system 8 includes being used to measure the GPS module 81 of unmanned plane gps data, for surveying
The IMU Inertial Measurement Units 82 of amount IMU attitude datas and the altimeter 83 for measuring altitude information, the GPS module 81,
IMU Inertial Measurement Units 82 and altimeter 83 are connected with monitor controller 1 respectively.
Furtherly, monitor controller of the present utility model is made up of hardware and software two parts, and its hardware is by control electricity
Road, power supply, sensor input/output interface and state output bus composition, control circuit are defeated with power supply, sensor input respectively
Outgoing interface connects with state output bus.
Furtherly, in addition to for the defeated display 10 for monitoring Unmanned Aerial Vehicle Data；.
Furtherly, the sillometer 3 is tachogenerator, and the sensor that tests the speed is connected with monitor controller；It is described
Sillometer may be mounted on the motor of more horns, sillometer can be Hall sensor can also be infrared tachymeter or other
The sensor of rotary part rotating speed can be arbitrarily determined, by directly determining multi-rotor aerocraft revolution speed of propeller or transmission parts
Rotating speed simultaneously calculates rotor rotating speed by certain ratio..
Preferably, the monitor controller directly reads gps data, the IMU appearances of flight control system by data-interface
State data and altitude information.
Furtherly, the monitor controller 1 by each sensor interface respectively with GPS module 81, IMU inertia measurement lists
Member 82 and altimeter 83 connect；Also the status data of multi-rotor aerocraft can be obtained by installing sensor additional in addition；Monitoring control
Device processed carries out real-time malfunction monitoring and alarm by obtaining the status data of each sensor, using the default scheme of program.
Furtherly, the buzzer 4 exports failure cause by state output interface；The buzzer 4 is controlled with monitoring
Device 1 processed is connected, and when detecting controller monitoring to malfunction, triggers buzzer alarm, and defeated by state output interface
Be out of order reason..
Furtherly, the default of each horn maximum working voltage of more rotors and electric current is provided with the monitor controller 1
Value；The maximum take-off weight output power value of multi-rotor aerocraft is additionally provided with the monitor controller.
Especially, a kind of multi-rotor aerocraft state monitoring apparatus described in the utility model, realizes the monitoring of normal state
With the status data of record-setting flight process, and whether aircraft can be monitored by the throttle input/output state of monitoring and controlling passage
In due motion state, the rotating speed by rotor and the voltage/current condition monitoring by horn electron speed regulator revolve more
The state of the effective output of rotor aircraft, so as to calculate the total amount of taking off of multi-rotor aerocraft, whether load is in
In rational scope, and overloading and alarm is triggered under overload condition.
Each horn maximum working voltage of more rotors, electric current are set in monitor controller, when the voltage, the electric current that respectively detect
During more than setting value, pass through buzzer alarm.The maximum take-off weight output of multi-rotor aerocraft is set in monitor controller
Performance number.Each horn is separately monitored the working speed of its motor, and the relation of its rotating speed and load is by calculating or actually measuring
Arrive, and total take-off weight calculated according to this state relation, when each horn that multi-rotor aerocraft monitors add up it is defeated
When going out power more than power is set, as overload, now pass through the buzzer warning of supervising device.Whole record can also be realized
The state value of each sensor and each I/O channel of flight control system.
Operation principle：The payload of multi-rotor unmanned aerial vehicle has the rotating speed of each horn motor and propeller to determine, passes through reality
Border calculates and measurement can obtain multi-rotor unmanned aerial vehicle payload and the relation of motor speed, the operating current of horn, voltage is bent
Line.Tachometer, galvanometer and potentiometer are installed by each horn in multi-rotor unmanned aerial vehicle, determine the real work of each horn
State, the real output and load of multi-rotor unmanned aerial vehicle are can obtain, pass through the data that actual monitoring arrives and flight control system
Whether the data of system planning are contrasted may know that multi-rotor unmanned aerial vehicle in normal working range.Meanwhile this practicality is new
A kind of multi-rotor unmanned aerial vehicle state monitoring apparatus described in type reads the output state of each control passage of multi-rotor unmanned aerial vehicle, flown simultaneously
Target control status data, gps data, IMU attitude datas, the altimeter data of row control system, and arrived with actually detected
Data are contrasted, and so as to monitor the actual working state of depopulated helicopter relatively independently, and pass through certain monitoring strategies
The automatic alarm using sound or directly when showing its actual running status in control interface and monitoring failure.
The utility model on multi-rotor unmanned aerial vehicle horn by installing tachometer, galvanometer, potentiometer, the more rotors of reading
The output state of each control passage of unmanned plane, the target control status data of flight control system, gps data, IMU posture numbers
According to, altimeter data, and with it is actually detected to data contrasted, so as to monitor multi-rotor unmanned aerial vehicle relatively independently
Actual working state, and shown using sound or directly in control interface by certain monitoring strategies its actual running status and
Monitor automatic alarm during failure.
1st, a kind of multi-rotor unmanned aerial vehicle state monitoring apparatus provided by the utility model, can be independent of flight control system
The working condition of itself monitors the real work situation of multi-rotor aerocraft.
2nd, a kind of multi-rotor unmanned aerial vehicle state monitoring apparatus provided by the utility model, by installing rotating speed in each horn
Meter, potentiometer, galvanometer, the effective power output state of multi-rotor unmanned aerial vehicle can be monitored in real time, by with calculating and surveying
Rotating speed, electric current, the voltage relationship function pair ratio arrived, so as to monitor multi-rotor unmanned aerial vehicle actual working state whether in reasonable
In the range of.
3rd, a kind of multi-rotor unmanned aerial vehicle state monitoring apparatus provided by the utility model, it is each by reading multi-rotor unmanned aerial vehicle
The control parameter of control passage output, target control status data, gps data, IMU attitude datas, the height of flight control system
Degree counts, and is contrasted with the target control parameter of flight control system, so as to realize monitoring and record more rotors nobody
The function of machine actual working state.
4th, a kind of multi-rotor unmanned aerial vehicle state monitoring apparatus provided by the utility model, sound is used by certain monitoring strategies
Sound or the automatic alarm directly when showing its actual running status in control interface and monitoring failure.
It should be appreciated that application of the present utility model is not limited to above-mentioned citing, those of ordinary skill in the art are come
Say, can according to the above description be improved or converted, all these modifications and variations should all belong to the appended power of the utility model
The protection domain that profit requires.
Claims (9)
- A kind of 1. multi-rotor unmanned aerial vehicle state monitoring apparatus, it is characterised in that：Including the monitoring control interacted with flight control system Device processed, galvanometer/potentiometer, sillometer and the buzzer being connected with flight control system；Galvanometer/the potentiometer passes through electricity Device and motor is adjusted to be connected with sillometer, the buzzer is connected with monitor controller；Galvanometer/the potentiometer is arranged on nobody On the horn of machine, the flight control system is arranged on the sillometer in the body of multi-rotor unmanned aerial vehicle and is arranged on unmanned plane machine On the motor mount of arm, for measuring unmanned plane during flying speed, and the sillometer is connected with monitor controller.
- 2. rotor wing unmanned aerial vehicle state monitoring apparatus according to claim 1, it is characterised in that the flight control system bag Include for measure unmanned plane gps data GPS module, IMU Inertial Measurement Units for measuring IMU attitude datas and for surveying The altimeter of altitude information is measured, the GPS module, IMU Inertial Measurement Units and altimeter are connected with monitor controller respectively.
- 3. rotor wing unmanned aerial vehicle state monitoring apparatus according to claim 2, it is characterised in that also include being used for defeated monitoring nothing The display of man-machine data.
- 4. rotor wing unmanned aerial vehicle state monitoring apparatus according to claim 3, it is characterised in that described test the speed is calculated as the biography that tests the speed Sensor, the sensor that tests the speed are connected with monitor controller.
- 5. rotor wing unmanned aerial vehicle state monitoring apparatus according to claim 4, it is characterised in that the monitor controller passes through Data-interface directly reads the gps data of flight control system, IMU attitude datas and altitude information.
- 6. rotor wing unmanned aerial vehicle state monitoring apparatus according to claim 5, it is characterised in that the monitor controller passes through Each sensor interface is connected with GPS module, IMU Inertial Measurement Units and altimeter respectively.
- 7. rotor wing unmanned aerial vehicle state monitoring apparatus according to claim 6, it is characterised in that the buzzer passes through state Output interface exports failure cause.
- 8. rotor wing unmanned aerial vehicle state monitoring apparatus according to claim 7, it is characterised in that set in the monitor controller It is equipped with the preset value of each horn maximum working voltage of more rotors and electric current.
- 9. rotor wing unmanned aerial vehicle state monitoring apparatus according to claim 7, it is characterised in that in the monitor controller also It is provided with the maximum take-off weight output power value of multi-rotor aerocraft.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720418339.2U CN206975504U (en) | 2017-04-20 | 2017-04-20 | A kind of multi-rotor unmanned aerial vehicle state monitoring apparatus |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720418339.2U CN206975504U (en) | 2017-04-20 | 2017-04-20 | A kind of multi-rotor unmanned aerial vehicle state monitoring apparatus |
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| CN206975504U true CN206975504U (en) | 2018-02-06 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106970642A (en) * | 2017-04-20 | 2017-07-21 | 佛山科学技术学院 | A kind of multi-rotor unmanned aerial vehicle state monitoring apparatus |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106970642A (en) * | 2017-04-20 | 2017-07-21 | 佛山科学技术学院 | A kind of multi-rotor unmanned aerial vehicle state monitoring apparatus |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180206 Termination date: 20190420 |