CN207133812U

CN207133812U - Double SOC unmanned aerial vehicle control systems

Info

Publication number: CN207133812U
Application number: CN201720096608.8U
Authority: CN
Inventors: 刘汝寿; 陈再励; 杨国霞; 安征
Original assignee: Shenzhen Only Intelligent Technology Co Ltd
Current assignee: Shenzhen Only Intelligent Technology Co Ltd
Priority date: 2017-01-25
Filing date: 2017-01-25
Publication date: 2018-03-23
Anticipated expiration: 2027-01-25

Abstract

A kind of double SOC unmanned aerial vehicle control systems, including main SOC systems and from SOC systems, described main SOC system operations real time operating system, from SOC system operation multithreading non-real time operating systems；Main SOC systems from SOC systems by communication interface with communicating, status signal between transmission.When main SOC systems occur abnormal, abnormal state information is passed to from SOC systems, from SOC system rapid pipe connecting dynamical systems, close other thread tasks, single thread operation flies control task, controls unmanned plane safe falling, and the positional information in level point is sent into ground receiving system.By the way that module classification to be carried to different SOC systems respectively, the reliability of system is improved, reduces system point heat, improves the security of complete machine.

Description

Double SOC unmanned aerial vehicle control systems

Technical field

The utility model designs unmanned aerial vehicle (UAV) control technical field, more particularly to a kind of complete machine control using double SOC systems The method for carrying out emergency protection when scheme and the system failure to unmanned plane.

Background technology

Present consumer unmanned plane complete machine generally comprises：Fly control module, locating module, power plant module, image module, figure to pass Module, digital transmission module etc. are formed.At present, there are two kinds of complete machine schemes, one is discrete scheme, that is, flies control module, locating module, moves Power module, image module, figure transmission module, the respective independent operating of execution circuit module of digital transmission module and some other auxiliary, Then cooperate complete machine to work by communicating between each other, be also the mode of scoreboard arrangement in circuit design, or same On plank, and piecemeal arrangement, operate on different integrated circuits；The program causes inter-module communication interface excessive, reliably Property step-down, also result in that circuit board is more, and line redundancy between plate, structure is not compact, volume can not do it is small, moreover, whole scheme Cost is higher.

Another is risen within nearest 1 year based on SOC integrated circuit technique schemes, and it controls module, positioning mould by winged Block, image module, figure transmission module, digital transmission module are integrated on the processor integrated circuit of a multinuclear；In this way, in this scheme During circuit is formed, only SOC integrated circuit modules circuit, power plant module circuit and some other auxiliary circuit modular circuit, energy Enough effectively less circuit board quantity, it is compact-sized.But the SOC scheme common procurement polycaryon processor integrated circuits, its Body system is not that development difficulty compares, it is necessary to build the system of suitable unmanned plane product again for unmanned plane product development Greatly, development cost is high；Importantly, in unmanned plane module, control module like flying is, it is necessary to unusual high real-time, and general SOC systems System is not real time operating system, so needing integrated-circuit implementation business to support, specially prepares a core, to run real-time oss System, allow in the winged control module operation for require real-time under real time operating system, but this auxiliary real time operating system still needs Want the main non-real time operating systems of SOC to be scheduled cooperating, in this way, after master operating system crashes, can equally cause to aid in Real time operating system cisco unity malfunction, cause unmanned plane aircraft bombing；Past master operating system both for consumer circuit product, It is used for the real time operating system of industrial control field in relatively discrete scheme, reliability is not high；Finally, SOC schemes need higher rule Lattice integrated circuit is supported（Such as 4 cores, 8 cores）, such SOC practical solution cost is also higher, and SOC needs operation module more, fortune Calculation amount is big, and heating is big, it is necessary to design special heat dissipation design.

The content of the invention

In order to solve defect present in above-mentioned prior art, the utility model provides a kind of double SOC unmanned aerial vehicle (UAV) controls It scheme, can solve the problem that in SOC schemes, the problem of auxiliary real time operating system is relied on main non-real time operating system, improve system Reliability, and heating does not need special heat dissipation design less, the half SOC schemes that two SOC are formed, two systems phase interworking Emergency protection method when closing, independent operating, and providing system exception.

The technical solution adopted in the utility model：A kind of double SOC unmanned aerial vehicle control systems, including main SOC systems and from SOC System, described main SOC system operations real time operating system, from SOC system operation multithreading non-real time operating systems；Main SOC System from SOC systems by communication interface with communicating, status signal between transmission.

Preferably, described real time operating system includes flying control module, locating module；Multithreading non-real time operating system bag Include image module, digital transmission module, figure transmission module, WIFI module；

Described winged control module includes gyroscope, magnetometer, barometer；Described locating module includes GPS module, interior Position camera lens and ultrasonic probe；

Described main SOC systems and independently operated on two different chips from SOC systems, power supply independently divides Open, and pass through USART interface communications；

Described main SOC systems and it is connected from SOC systems by output control module with dynamical system, main SOC systems The priority of dynamical system control is higher than from SOC systems；

Described dynamical system uses motor.

Preferably, described main SOC systems connect magnetometer and barometer by I2C interface；Top is connected by SPI interface Spiral shell instrument；Indoor positioning camera lens is connected by DCMI interfaces；Ultrasonic probe is connected by PWM interfaces；Connected by USART interfaces GPS module and from SOC systems.

Preferably, described dynamical system includes 4 motor and its supporting propeller；Described output control module It is connected, output control signal, is driven with 4 motor respectively by PWM interfaces and ATmega8 chips using STM32F103 chips Dynamic motor rotates, and propeller rotation is provided lift.

Preferably, described image module uses Panasonic's MN34110 image sensors；What described influence module collected Picture and transmission of video are to digital transmission module；Digital transmission module passes through RT8912 WIFI modules and ground receiver using UDP host-host protocols System mutually passes data；

A kind of double SOC unmanned aerial vehicle control systems failure emergency protection systems, system operation comprise the following steps：

S1：Main SOC system operations real time operating system, from SOC system operation multithreading non-real time operating systems；Main SOC System from SOC systems by communication interface with communicating, status signal between transmission；Described main SOC systems and from SOC systems point Do not operate on two different chips, power supply independently separates, and passes through USART interface communications；

S2：Main SOC systems and it is connected from SOC systems by output control module with dynamical system, checks principal and subordinate SOC systems The working condition of system, when main SOC working state of system is normal, main SOC System Priorities control dynamical system；

S3：When main SOC working state of system exception, abnormal information is passed to from SOC systems by USART interfaces, From SOC systems adapter dynamical system, and close other thread tasks immediately, only run and fly control mono-thread tasks, ensure unmanned plane Safe falling, and landing dot position information is sent to ground receiving system；

S4：When from SOC working state of system exceptions, ground receiving system can not normally collect the shape from SOC systems State signal, ground receiving system will report abnormal failure；Meanwhile main SOC systems control autonomous flight landing, ensure nobody Machine safe falling.

The working condition of inspection principal and subordinate's SOC systems described in step S2 comprises the following steps：

A1：Detect main SOC systems and dynamical system and from the communication state between SOC systems；Earthward connect from SOC systems Receipts system sends status signal；

A2：When detecting dynamical system and main SOC systems without communication, judge main SOC system exceptions, now will by from SOC system adapter dynamical systems；When detect from SOC systems and main SOC systems without communication when, judge main SOC system exceptions, by From SOC system adapter dynamical systems；

A3：When ground receiving system can not be collected normally from the status signal of SOC systems, judge from the event of SOC systems Barrier, main SOC systems control unmanned plane safe falling.

The beneficial effects of the utility model：（1）Winged control module, locating module, image module, figure are passed mould by the utility model Complete machine scheme is divided into two independent SOC systems according to the requirement to " real-time and reliability " by block, digital transmission module module, Also it is separately operable on hardware on two different chips；The module high to requirement of real-time operates in main SOC systems, to real-time Property and the relative module told somebody what one's real intentions are of reliability requirement operate in between SOC systems, master-slave system by communication interface real-time exchange Status information, improve the reliability of system（2）The power supply of principal and subordinate's SOC systems independently separates, and the abnormity of power supply of a system is not Influence whether another system.（3）Two SOC systems share task, and compared to single SOC systems, processing task amount is few, system point heat It is small, it is not necessary to special heat dissipation design, to solve heat dissipation problem.（4）During main SOC system exceptions, from SOC system rapid pipe connecting power System, ensure unmanned plane safe falling.

Brief description of the drawings

Fig. 1 is the double SOC unmanned plane complete machine scheme schematic diagrames of the utility model；

Fig. 2 is the double SOC UASs schematic diagrams of the utility model, signal transmission figure.

Embodiment

Embodiment one：As shown in Fig. 2 using two integrated circuits in the present embodiment, two integrated circuits are included in one On circuit board, an integrated circuit uses ST（STMicw Electronics）、DSP（Digital Signal Processing）Deng flight control, interior is fixed Position algorithm is operated on this integrated circuit, and for main SOC systems, indoor positioning algorithms use light stream location algorithm.Meanwhile will be with Its related sensor（Gyroscope, magnetometer, barometer, GPS, indoor positioning camera lens, ultrasonic probe）By I2C, SPI, The Peripheral Interfaces such as USART, DCMI, ADC are connected with this integrated circuit.Another uses image processing IC, will scheme As gathering, coding and decoding video and the transmission of video, the algorithm of video are operated on this integrated circuit, are from SOC systems. Meanwhile image sensor is connected by parallel port with this integrated circuit, by video transmission interface by transmission of video to ground Reception system；Two integrated circuits are communicated by USART, status signal between transmission.

In addition to two master integrated circuit circuits, the present embodiment also includes dynamical system and electric power management circuit, power supply pipe Manage circuit independently to power to two master integrated circuits, two master integrated circuits are all entered with dynamical system by USART interfaces Row is connected, and can control power；The circumferential distribution of dynamical system and electric power management circuit along circuit board.

During main SOC systems normal operation, dynamical system is controlled by main SOC system output signals, transported from SOC systems multithreading The tasks such as row IMAQ, coding and decoding video, transmission of video.When main SOC systems occur abnormal, dynamical system or from SOC systems System detects abnormal state information, from SOC system rapid pipe connecting dynamical systems, closes other thread tasks, single thread operation flies Control task, unmanned plane safe falling is controlled, and the positional information in level point is sent to ground receiving system.

From SOC system normal operations when, can constantly earthward reception system send status signal, work as ground receiving system Can not normally collect from the status signal of SOC systems when, judge from the SOC system failures, now main SOC systems control unmanned plane Safe falling.

Embodiment two, in the present embodiment, using two integrated circuits, two integrated circuits are arranged in two circuits On plate, connected between two circuit boards by soft arranging wire and/or connector, realize every control function.

Claims

A kind of 1. double SOC unmanned aerial vehicle control systems, it is characterised in that：Including main SOC systems and from SOC systems, described main SOC System operation real time operating system, from SOC system operation multithreading non-real time operating systems；Main SOC systems from SOC systems with leading to Cross communication interface communication, status signal between transmission.
2. double SOC unmanned aerial vehicle control systems according to claim 1, it is characterised in that：Described real time operating system bag Include and fly control module, locating module；Multithreading non-real time operating system includes image module, digital transmission module, figure transmission module, WIFI moulds Block；

Described winged control module includes gyroscope, magnetometer, barometer；Described locating module includes GPS module, indoor positioning Camera lens and ultrasonic probe；

Described main SOC systems and independently being operated on two different chips from SOC systems, power supply independently separates, and Pass through USART interface communications；

Described main SOC systems and it is connected from SOC systems by output control module with dynamical system, main SOC systems are to dynamic The priority of Force system control is higher than from SOC systems；

Described dynamical system uses motor.
3. double SOC unmanned aerial vehicle control systems according to claim 2, it is characterised in that：Described main SOC systems pass through I2C interface connects magnetometer and barometer；Gyroscope is connected by SPI interface；Indoor positioning camera lens is connected by DCMI interfaces； Ultrasonic probe is connected by PWM interfaces；GPS module is connected and from SOC systems by USART interfaces.
4. double SOC unmanned aerial vehicle control systems according to claim 2, it is characterised in that：Described dynamical system includes 4 Motor and its supporting propeller；Described output control module using STM32F103 chips by PWM interfaces and ATmega8 chips are connected with 4 motor respectively, output control signal, and motor rotates, and are provided propeller rotation and are risen Power.
5. double SOC unmanned aerial vehicle control systems according to claim 2, it is characterised in that：Described image module is using pine Lower MN34110 image sensors；The picture and transmission of video that described image module collects are to digital transmission module；Digital transmission module is adopted Data are mutually passed by RT8912 WIFI modules and ground receiving system with UDP host-host protocols.