WO2015135194A1 - 无人驾驶飞行器及其数据处理方法 - Google Patents

无人驾驶飞行器及其数据处理方法 Download PDF

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Publication number
WO2015135194A1
WO2015135194A1 PCT/CN2014/073424 CN2014073424W WO2015135194A1 WO 2015135194 A1 WO2015135194 A1 WO 2015135194A1 CN 2014073424 W CN2014073424 W CN 2014073424W WO 2015135194 A1 WO2015135194 A1 WO 2015135194A1
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Prior art keywords
control data
data
electronic
sets
optimal control
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PCT/CN2014/073424
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English (en)
French (fr)
Inventor
宋健宇
石峻
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to EP14885377.3A priority Critical patent/EP3118120B1/en
Priority to US15/125,059 priority patent/US9954466B2/en
Priority to CN201480002457.4A priority patent/CN104756394B/zh
Priority to JP2016526105A priority patent/JP6139791B2/ja
Priority to PCT/CN2014/073424 priority patent/WO2015135194A1/zh
Publication of WO2015135194A1 publication Critical patent/WO2015135194A1/zh

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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C39/00Aircraft not otherwise provided for
    • B64C39/02Aircraft not otherwise provided for characterised by special use
    • B64C39/024Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0055Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
    • G05D1/0077Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements using redundant signals or controls
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10Simultaneous control of position or course in three dimensions
    • G05D1/101Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00UAVs characterised by their flight controls
    • B64U2201/10UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00Propulsion; Power supply
    • B64U50/10Propulsion
    • B64U50/19Propulsion using electrically powered motors

Definitions

  • the invention relates to the field of aircraft models, and in particular to an unmanned aerial vehicle and a data processing method thereof.
  • FIG. 1 is a schematic structural view of a prior art unmanned aerial vehicle.
  • the arbiter 14 performs data transfer with each controller, and the arbiter 14 determines which controller's data is used by the electronic governor. Specifically, the arbiter 14 acquires data from the first controller 11, the second controller 12, and the second controller 13, and after acquiring the data, the arbiter 14 analyzes the data to obtain optimal control data, and the arbiter 14 controls The controller corresponding to the optimal control data (such as the first controller 11) performs data transmission with the electronic governor to cause the electronic governor to control the rotational speed of the motor according to the optimal control data.
  • the data of the electronic governor is guaranteed in the conventional mode, once the arbiter 14 fails, the controller's data transmission is not enough to the electronic governor, and the entire unmanned aerial vehicle will not work.
  • the technical problem mainly solved by the present invention is to provide an unmanned aerial vehicle and a data processing method thereof, which can directly acquire data from a controller through an electronic governor, and select an optimal control data to control the rotation speed of the motor, thereby effectively reducing the design cost. And security risks.
  • one technical solution adopted by the present invention is to provide an unmanned aerial vehicle including at least two controllers, at least two electronic governors, and at least two motors, wherein: The two electronic governors are electrically connected to the at least two controllers to respectively obtain at least two sets of control data from at least two controllers; at least two electronic governors are respectively electrically connected to a motor, at least The two electronic governors select optimal control data from at least two sets of control data, and control the rotational speed of the motor according to the optimal control data.
  • the at least two electronic governors further determine whether the difference between the optimal control data and the remaining control data is within a preset range after selecting the optimal control data, and if not, feedback the optimal control data to the rest. Control the controller corresponding to the data.
  • At least two electronic governors require at least two electronic governors to require the most control data in at least two sets of control data as the optimal control data.
  • At least two electronic governors sort the at least two sets of control data from large to small or from small to large, and determine whether the number of at least two sets of control data is an odd number, and if so, select the sorted number (n) +1)/2 sets of control data as optimal control data, if not, select the sorted n/2 or n/2+1 group control data as optimal control data, where n is the number of at least two sets of control data .
  • each of the at least two sets of control data includes pitch data, roll data, heading angle data, and altitude data.
  • another technical solution adopted by the present invention is to provide a data processing method for an unmanned aerial vehicle, the unmanned aerial vehicle including at least two controllers, at least two electronic governors, and at least two The motor, at least two electronic governors are electrically connected to at least two controllers, and at least two electronic governors are respectively electrically connected to a motor, and the method comprises: at least two electronic governors respectively from at least The two controllers acquire at least two sets of control data; at least two electronic governors select optimal control data from at least two sets of control data; at least two electronic governors control the rotational speed of the motor according to the optimal control data.
  • the at least two electronic governors further comprise the following steps after determining the optimal control data: determining whether the difference between the optimal control data and the remaining control data is within a preset range, and if not, the optimal control The data is fed back to the controller corresponding to the remaining control data.
  • the at least two electronic governors select the optimal control data from the at least two sets of control data, including: at least two electronic governors, the at least two electronic governors require at most two of the control data of the two sets of control data As the optimal control data.
  • the at least two electronic governors select the optimal control data from the at least two sets of control data, including: at least two electronic governors sort the at least two sets of control data from large to small or from small to large, and determine Whether the number of control data of at least two groups is an odd number, and if so, selecting the (n+1)/2 group control data after sorting as the optimal control data, and if not, selecting the n/2th or n/2 after sorting.
  • +1 group control data is used as optimal control data, where n is the number of at least two sets of control data.
  • the unmanned aerial vehicle of the present invention comprises at least two controllers, at least two electronic governors and at least two motors, wherein: at least two electronic speed control And at least two controllers are electrically connected to obtain at least two sets of control data from at least two controllers; at least two electronic governors are respectively electrically connected to a motor, and at least two electronic speed adjustments are respectively
  • the controller selects the optimal control data from at least two sets of control data, and controls the rotational speed of the motor according to the optimal control data.
  • the electronic governor of the present invention can directly acquire data from the controller and select the optimal control data to control the rotational speed of the motor; in addition, if a controller is providing data for at least two electronic governors In the event of a fault, at least two electronic governors can flexibly acquire other controllers for normal data transmission; effectively reducing safety risks and design costs.
  • FIG. 1 is a schematic structural view of an unmanned aerial vehicle in the prior art
  • FIG. 2 is a schematic structural view of a first embodiment of an unmanned aerial vehicle of the present invention
  • FIG. 3 is a schematic structural view of a second embodiment of the unmanned aerial vehicle of the present invention.
  • FIG. 4 is a flow chart showing a data processing method of the unmanned aerial vehicle of the present invention.
  • FIG. 2 is a schematic structural view of a first embodiment of the unmanned aerial vehicle of the present invention.
  • the unmanned aerial vehicle includes at least two controllers, at least two electronic governors, and at least two motors.
  • At least two controllers generate at least two sets of control data, and at least two sets of control data include pitch data, roll data, heading angle data, altitude data, and other data.
  • the controller can be 2, 4, 5 or more, depending on the actual design.
  • the first controller 20 is connected to a first bus 23, the second controller 21 is connected to a second bus 24, and the third controller 22 is connected to a third bus 25.
  • the electronic governor is respectively connected to the controller through the bus to respectively obtain control data from each controller, that is, each electronic governor acquires pitch data, roll data, heading angle data, and Height data and other data.
  • the electronic governor can be 2, 3, 4, 5 or other numbers, depending on the actual design.
  • the unmanned aerial vehicle includes six electronic governors, respectively a first electronic governor 26, a second electronic governor 27, a third electronic governor 28, and a The fourth electronic governor 29, a fifth electronic governor 30 and a sixth electronic governor 31.
  • the first bus 23 and the first electronic governor 26, the second electronic governor 27, the third electronic governor 28, the fourth electronic governor 29, the fifth electronic governor 30 and the The six electronic governors 31 are all electrically connected.
  • the second bus 24 and the first electronic governor 26, the second electronic governor 27, the third electronic governor 28, the fourth electronic governor 29, the fifth electronic governor 30 and the The six electronic governors 31 are all electrically connected.
  • the third bus 25 and the first electronic governor 26, the second electronic governor 27, the third electronic governor 28, the fourth electronic governor 29, the fifth electronic governor 30 and the The six electronic governors 31 are all electrically connected.
  • Each electronic governor is also electrically connected to a motor, wherein the electronic governor selects optimal control data from the control data and controls the rotational speed of the motor according to the optimal control data.
  • the unmanned aerial vehicle includes six motors, which are a first motor 32, a second motor 33, a third motor 34, a fourth motor 35, a fifth motor 36, and A sixth motor 37.
  • the first electronic governor 26 and the first motor 32 are electrically connected, the second electronic governor 27 and the second motor 33 are electrically connected, and the third electronic governor 28 and The third motor 34 is electrically connected, the fourth electronic governor 29 and the fourth motor 35 are electrically connected, and the fifth electronic governor 30 and the fifth motor 36 are electrically connected.
  • the sixth electronic governor 31 and the sixth motor 37 are electrically connected.
  • the first electronic governor 26 and the first motor 32 are taken as an example.
  • the first electronic governor 26 acquires control data, such as pitch data, roll data, heading angle data, altitude data, and other data from the first controller 20 through the first bus 23;
  • the first electronic governor 26 acquires control data from the second controller 21 via the second bus 24;
  • the first electronic governor 26 passes from the third bus 22 through the third bus Get control data.
  • the control data of the controller is required as follows: the first electronic governor 26 needs to select the control data of the first controller 20, and the second electronic governor 27 needs to select the For the control data of the first controller 20, the third electronic governor 28 needs to select the control data of the second controller 21, and the fourth electronic speed controller 29 needs to select the control data of the third controller 22,
  • the fifth electronic governor 30 needs to select the control data of the first controller 20, and the sixth electronic governor 31 needs to select the control data of the second controller 21, thereby knowing that all the electronic governors need to be
  • the number of control data of the first controller 20 is 3, the number of control data of the second controller 21 is required to be 2, and the number of control data of the third controller 22 is required to be 1, the The number of control data of the first controller 20 is the largest, and thus the control data of the first controller 20 is selected as the optimal control data.
  • the first electronic governor 26 sorts the control data from large to small or from small to large, and judges the control data. Whether the quantity is an odd number, if yes, the selected (n+1)/2 group control data is selected as the optimal control data, and if not, the sorted n/2 or n/2+1 group control data is selected as Optimal control data, where n is the number of at least three sets of control data. If n is 3, the control data of the second controller 21 is selected as the optimal control data.
  • the first electronic governor 26 determines whether the data in the control data meets the current required value, such as first determining pitch data, rolling Whether the data, heading angle data, altitude data, and other data exceed the preset value. If not, continue to determine whether the pitch data, roll data, heading angle data, altitude data, and other data are closest to the current unmanned aerial vehicle. The standard value, if yes, the control data conforms to the current required value, and the control data is selected as the optimal control data.
  • the current required value such as first determining pitch data, rolling Whether the data, heading angle data, altitude data, and other data exceed the preset value. If not, continue to determine whether the pitch data, roll data, heading angle data, altitude data, and other data are closest to the current unmanned aerial vehicle.
  • the standard value if yes, the control data conforms to the current required value, and the control data is selected as the optimal control data.
  • the pitch data, the roll data, the heading angle data, the altitude data, and other data of the first controller 20 and the second controller 21 do not exceed a preset value, and the first controller 20
  • the pitch data is not close to the standard value required for the operation of the current unmanned aerial vehicle
  • the pitch data of the second controller 21 is closest to the standard value required for the operation of the current unmanned aerial vehicle
  • the control data of the second controller 21 is in accordance with The current value is required
  • the control data of the second controller 21 is selected as the optimal control data.
  • the first electronic governor 26 selects the optimal control data, it is further determined whether the difference between the optimal control data and the remaining control data is within a preset range, and if not, the optimal control data is fed back.
  • the controller corresponding to the remaining control data is such that the controller corresponding to the remaining control data corrects the control data of the output.
  • the first electronic governor 26 controls the rotational speed of the first motor 32 according to the optimal control data, such as controlling the first motor according to pitch data, roll data, heading angle data, altitude data or other data. 32 corresponding speed.
  • control data of the first controller 20 is the optimal control data
  • the first electronic governor 26 re-from the second controller 21 and The optimal control data is selected from the control data of the third controller 22 so that the current unmanned aerial vehicle remains in normal operation.
  • the working principle of the second electronic governor 27, the third electronic governor 28, the fourth electronic governor 29, the fifth electronic governor 30 and the sixth electronic governor 31 and the first The working principle of the electronic governor 26 is the same, and will not be repeated here.
  • FIG. 3 is a schematic structural view of a second embodiment of the unmanned aerial vehicle of the present invention.
  • the unmanned aerial vehicle of the second embodiment works in the same manner as the unmanned aerial vehicle of the first embodiment, and the main difference is that the unmanned aerial vehicle further includes a fourth controller 41, and the fourth controller 41 and the first controller 41
  • the fourth bus 42 is electrically connected.
  • the sixth electronic governor 48 is electrically connected.
  • FIG. 4 is a schematic flow chart of a data processing method of the unmanned aerial vehicle of the present invention.
  • the unmanned aerial vehicle of FIG. 4 corresponds to the unmanned aerial vehicle of FIG. 2 described above.
  • the method comprises the following steps:
  • the at least two electronic governors respectively acquire at least two sets of control data from at least two controllers.
  • each of the at least two sets of control data includes pitch data, roll data, heading angle data, altitude data, or other data.
  • S102 The at least two electronic governors select optimal control data from at least two sets of control data.
  • At least two electronic governors require all electronic governors to require the most control data in at least two sets of control data as the optimal control data.
  • At least two electronic governors perform at least two sets of control data from large to small or from small to large, and determine whether the number of at least two sets of control data is an odd number, and if so, select The sorted (n+1)/2 group control data is used as the optimal control data, and if not, the sorted n/2 or n/2+1 group control data is selected as the optimal control data, where n is at least The number of control data for both groups.
  • At least two electronic governors determine whether the data in the control data meets the current required value, such as determining whether the pitch data, the roll data, the heading angle data, the altitude data, and other data exceed the pre-predetermined value. Set the value, if not, continue to determine whether the pitch data, roll data, heading angle data, altitude data, and other data are closest to the standard values required for the current unmanned aerial vehicle operation, and if so, the control data meets the current required value Select the control data as the optimal control data.
  • At least two electronic governors determine whether the difference between the optimal control data and the remaining control data is within a preset range, and if not, the optimal control data Feedback to the controller corresponding to the remaining control data.
  • S103 At least two electronic governors control the rotational speed of the motor according to the optimal control data.
  • the electronic governor re-selects optimal control data from the control data of the remaining controllers so that the current unmanned aerial vehicle remains normal work.
  • the unmanned aerial vehicle of the present invention includes at least two controllers, at least two electronic governors, and at least two motors, wherein: at least two electronic governors and at least two controllers are electrically Connecting to obtain at least two sets of control data from at least two controllers; at least two electronic governors are also respectively electrically connected to a motor, and at least two electronic governors are selected from at least two sets of control data Optimal control data and control of motor speed based on optimal control data.
  • the electronic governor of the present invention can directly acquire data from the controller and select the optimal control data to control the rotational speed of the motor; in addition, if a controller is providing data for at least two electronic governors In the event of a fault, at least two electronic governors can flexibly acquire other controllers for normal data transmission; effectively reducing safety risks and design costs.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Feedback Control In General (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

一种无人驾驶飞行器,其包括至少两个控制器、至少两个电子调速器以及至少两个电机,其中:电子调速器分别与控制器和电机电性连接,以分别从控制器获取控制数据,并从控制数据中选取最优控制数据,且根据最优控制数据控制电机的转速。还涉及一种无人驾驶飞行器的数据处理方法。能够通过电子调速器直接从控制器获取数据,并选出最优控制数据控制电机的转速,有效降低设计成本和安全风险。

Description

无人驾驶飞行器及其数据处理方法
【技术领域】
本发明涉及及航模领域,特别是涉及一种无人驾驶飞行器及其数据处理方法。
【背景技术】
在传统无人驾驶飞行器模式中,普遍应用仲裁器14进行数据处理。如图1所示,图1是现有技术中无人驾驶飞行器的结构示意图。仲裁器14与每一控制器进行数据传输,并且由仲裁器14决定电子调速器使用哪个控制器的数据。具体如:仲裁器14从第一控制器11、第二控制器12和第二控制器13获取数据,在获取数据后,仲裁器14对数据进行分析以得到最优控制数据,仲裁器14控制最优控制数据对应的控制器(如第一控制器11)与电子调速器进行数据传输,以使得电子调速器根据最优控制数据控制电机的转速。虽然传统的模式中电子调速器的数据得到了保证,然而,仲裁器14一旦出现故障,控制器的数据传输不到电子调速器,整个无人驾驶飞行器必将不能工作。
综上所述,有必要提供一种无人驾驶飞行器及其数据处理方法以解决上述问题。
【发明内容】
本发明主要解决的技术问题是提供一种无人驾驶飞行器及其数据处理方法,能够通过电子调速器直接从控制器获取数据,并选出最优控制数据控制电机的转速,有效降低设计成本和安全风险。
为解决上述技术问题,本发明采用的一个技术方案是:提供一种无人驾驶飞行器,无人驾驶飞行器包括至少两个控制器、至少两个电子调速器以及至少两个电机,其中:至少两个电子调速器与至少两个控制器均电性连接,以分别从至少两个控制器获取至少两组控制数据;至少两个电子调速器还分别对应与一电机电性连接,至少两个电子调速器均从至少两组控制数据中选取最优控制数据,并根据最优控制数据控制电机的转速。
其中,至少两个电子调速器在选取最优控制数据之后,进一步判断最优控制数据与其余控制数据之间的差值是否在预设范围内,如果否,将最优控制数据反馈至其余控制数据所对应的控制器。
其中,至少两个电子调速器将至少两个电子调速器需要至少两组控制数据中数量最多的控制数据作为最优控制数据。
其中,至少两个电子调速器对至少两组控制数据进行从大到小或从小到大的排序,并判断至少两组控制数据的数量是否为奇数,如果是,选取排序后的第(n+1)/2组控制数据作为最优控制数据,如果否,选取排序后的第n/2或n/2+1组控制数据作为最优控制数据,其中n为至少两组控制数据的数量。
其中,至少两组控制数据中的每一者均包括俯仰数据、横滚数据、航向角数据以及高度数据。
为解决上述技术问题,本发明采用的另一个技术方案是:提供一种无人驾驶飞行器的数据处理方法,无人驾驶飞行器包括至少两个控制器、至少两个电子调速器以及至少两个电机,至少两个电子调速器与至少两个控制器均电性连接,至少两个电子调速器还分别对应与一电机电性连接,方法包括:至少两个电子调速器分别从至少两个控制器获取至少两组控制数据;至少两个电子调速器均从至少两组控制数据中选取最优控制数据;至少两个电子调速器根据最优控制数据控制电机的转速。
其中,至少两个电子调速器在选取最优控制数据之后,进一步包括以下步骤:判断最优控制数据与其余控制数据之间的差值是否在预设范围内,如果否,将最优控制数据反馈至其余控制数据所对应的控制器。
其中,至少两个电子调速器从至少两组控制数据中选取最优控制数据包括:至少两个电子调速器将至少两个电子调速器需要至少两组控制数据中数量最多的控制数据作为最优控制数据。
其中,至少两个电子调速器从至少两组控制数据中选取最优控制数据包括:至少两个电子调速器对至少两组控制数据进行从大到小或从小到大的排序,并判断至少两组控制数据的数量是否为奇数,如果是,选取排序后的第(n+1)/2组控制数据作为最优控制数据,如果否,选取排序后的第n/2或n/2+1组控制数据作为最优控制数据,其中n为至少两组控制数据的数量。
本发明的有益效果是:区别于现有技术的情况,本发明的无人驾驶飞行器包括至少两个控制器、至少两个电子调速器以及至少两个电机,其中:至少两个电子调速器与至少两个控制器均电性连接,以分别从至少两个控制器获取至少两组控制数据;至少两个电子调速器还分别对应与一电机电性连接,至少两个电子调速器均从至少两组控制数据中选取最优控制数据,并根据最优控制数据控制电机的转速。通过上述方式,本发明的的电子调速器能够直接从控制器获取数据,并选出最优控制数据控制电机的转速;另外,如果正在为至少两个电子调速器提供数据的一控制器出现故障,则至少两个电子调速器可以灵活获取其他控制器进行正常数据传输;有效降低安全风险和设计成本。
【附图说明】
图1是现有技术中无人驾驶飞行器的结构示意图;
图2是本发明无人驾驶飞行器的第一实施例的结构示意图;
图3是本发明无人驾驶飞行器的第二实施例的结构示意图;
图4是本发明无人驾驶飞行器的数据处理方法的流程示意图。
【具体实施方式】
下面结合附图和实施方式对本发明进行详细说明。
如图2所示,图2是本发明无人驾驶飞行器的第一实施例的结构示意图。无人驾驶飞行器包括至少两个控制器、至少两个电子调速器以及至少两个电机。
其中,至少两个控制器产生至少两组控制数据,至少两组控制数据均包括俯仰数据、横滚数据、航向角数据、高度数据以及其他数据。当然,控制器可以为2个、4个、5个或者更多,具体需要根据实际设计而定。在本实施例中,控制器为三个,分别为:一第一控制器20、一第二控制器21和一第三控制器22。优选地,该第一控制器20和一第一总线23连接,该第二控制器21和一第二总线24连接,该第三控制器22和一第三总线25连接。
在本实施例中,电子调速器通过总线分别与控制器连接,以分别从各个控制器获取控制数据,即每一电子调速器从控制器获取俯仰数据、横滚数据、航向角数据、高度数据以及其他数据。其中,电子调速器可以为2个、3个、4个、5个或者其他个数,具体需要根据实际设计而定。
在本实施例中,所述无人驾驶飞行器包括六个电子调速器,分别为一第一电子调速器26、一第二电子调速器27、一第三电子调速器28、一第四电子调速器29、一第五电子调速器30和一第六电子调速器31。所述第一总线23与所述第一电子调速器26、第二电子调速器27、第三电子调速器28、第四电子调速器29、第五电子调速器30和第六电子调速器31均电性连接。所述第二总线24与所述第一电子调速器26、第二电子调速器27、第三电子调速器28、第四电子调速器29、第五电子调速器30和第六电子调速器31均电性连接。所述第三总线25与所述第一电子调速器26、第二电子调速器27、第三电子调速器28、第四电子调速器29、第五电子调速器30和第六电子调速器31均电性连接。
每一电子调速器还分别与一电机电性连接,其中电子调速器从控制数据中选取最优控制数据,并根据最优控制数据控制电机的转速。在本实施例中,所述无人驾驶飞行器包括六个电机,其分别为一第一电机32、一第二电机33、一第三电机34、一第四电机35、一第五电机36和一第六电机37。所述第一电子调速器26和所述第一电机32电性连接,所述第二电子调速器27和所述第二电机33电性连接,所述第三电子调速器28和所述第三电机34电性连接,所述第四电子调速器29和所述第四电机35电性连接,所述第五电子调速器30和所述第五电机36电性连接,所述第六电子调速器31和所述第六电机37电性连接。
下面结合实施例解释无人驾驶飞行器的工作原理。
以所述第一电子调速器26和所述第一电机32为例。首先,所述第一电子调速器26通过所述第一总线23从所述第一控制器20获取控制数据,如俯仰数据、横滚数据、航向角数据、高度数据以及其他数据;所述第一电子调速器26通过所述第二总线24从所述第二控制器21获取控制数据;所述第一电子调速器26通过所述第三总线25从所述第三控制器22获取控制数据。
其次,所述第一电子调速器26获取控制数据后,优选将所有电子调速器需要至少三组控制数据中数量最多的控制数据作为最优控制数据。如在所有电子调速器需要控制器的控制数据情况如下:所述第一电子调速器26需要选择所述第一控制器20的控制数据,所述第二电子调速器27需要选择所述第一控制器20的控制数据,所述第三电子调速器28需要选择第二控制器21的控制数据,所述第四电子调速29器需要选择第三控制器22的控制数据,所述第五电子调速器30需要选择第一控制器20的控制数据,所述第六电子调速器31需要选择第二控制器21的控制数据,由此可知所有电子调速器需要所述第一控制器20的控制数据的数量是3,需要所述第二控制器21的控制数据的数量是2,需要所述第三控制器22的控制数据的数量是1,则需要所述第一控制器20的控制数据的数量最多,因此选择所述第一控制器20的控制数据作为最优控制数据。
当然,在其他实施例中,所述第一电子调速器26获取数据后,所述第一电子调速器26对控制数据进行从大到小或从小到大的排序,并判断控制数据的数量是否为奇数,如果是,选取排序后的第(n+1)/2组控制数据作为最优控制数据,如果否,选取排序后的第n/2或n/2+1组控制数据作为最优控制数据,其中n为至少三组控制数据的数量。如n为3,则选择所述第二控制器21的控制数据作为最优控制数据。
当然,在其他实施例中,所述第一电子调速器26获取数据后,所述第一电子调速器26判断控制数据中的数据是否符合当前需要值,如先判断俯仰数据、横滚数据、航向角数据、高度数据以及其他数据是否超出预设值,如果否,则继续判断俯仰数据、横滚数据、航向角数据、高度数据以及其他数据是否最接近当前无人驾驶飞行器工作需要的标准值,如果是,则该控制数据符合当前需要值,选择该控制数据为最优控制数据。例如,所述第一控制器20和所述第二控制器21的俯仰数据、横滚数据、航向角数据、高度数据以及其他数据都没有超出预设值,而所述第一控制器20的俯仰数据不接近当前无人驾驶飞行器工作需要的标准值,所述第二控制器21的俯仰数据最接近当前无人驾驶飞行器工作需要的标准值,则所述第二控制器21的控制数据符合当前需要值,选择所述第二控制器21的控制数据作为最优控制数据。
然后,在所述第一电子调速器26选取最优控制数据后,进一步判断最优控制数据与其余控制数据之间的差值是否在预设范围内,如果否,将最优控制数据反馈至其余控制数据所对应的控制器,以使其余控制数据所对应的控制器修正其输出的控制数据。
最后,所述第一电子调速器26根据最优控制数据控制所述第一电机32的转速,如根据俯仰数据、横滚数据、航向角数据、高度数据或其他数据控制所述第一电机32对应的转速。
另外,当所述第一控制器20的控制数据为最优控制数据时,如果所述第一控制器20出现故障时,则所述第一电子调速器26重新从第二控制器21和第三控制器22的控制数据中选出最优控制数据,以使得当前无人驾驶飞行器保持正常工作。
其中,所述第二电子调速器27、第三电子调速器28、第四电子调速器29、第五电子调速器30和第六电子调速器31的工作原理与上述第一电子调速器26的工作原理相同,在此不一一赘述。
如图3所示,图3是本发明无人驾驶飞行器的第二实施例的结构示意图。第二实施例的无人驾驶飞行器与第一实施例的的无人驾驶飞行器工作原理相同,主要区别在于:无人驾驶飞行器还包括一第四控制器41,所述第四控制器41与一第四总线42电性连接。其中,所述第四总线42与所述第一电子调速器43、第二电子调速器44、第三电子调速器45、第四电子调速器46、第五电子调速器47和第六电子调速器48均电性连接。
如图4所示,图4是本发明无人驾驶飞行器的数据处理方法的流程示意图。图4中的无人驾驶飞行器与上述图2中的无人驾驶飞行器对应。其中,该方法包括以下步骤:
S101: 至少两个电子调速器分别从至少两个控制器获取至少两组控制数据。
其中,至少两组控制数据中的每一者均包括俯仰数据、横滚数据、航向角数据、高度数据或者其他数据。
S102: 至少两个电子调速器从至少两组控制数据中选取最优控制数据。
在本实施例中,至少两个电子调速器将所有电子调速器需要至少两组控制数据中数量最多的控制数据作为最优控制数据。
当然,在其他实施例中,至少两个电子调速器对至少两组控制数据进行从大到小或从小到大的排序,并判断至少两组控制数据的数量是否为奇数,如果是,选取排序后的第(n+1)/2组控制数据作为最优控制数据,如果否,选取排序后的第n/2或n/2+1组控制数据作为最优控制数据,其中n为至少两组控制数据的数量。
当然,在其他实施例中,至少两个电子调速器通过判断控制数据中的数据是否符合当前需要值,如先判断俯仰数据、横滚数据、航向角数据、高度数据以及其他数据是否超出预设值,如果否,则继续判断俯仰数据、横滚数据、航向角数据、高度数据以及其他数据是否最接近当前无人驾驶飞行器工作需要的标准值,如果是,则该控制数据符合当前需要值,选择该控制数据为最优控制数据。
在本实施例中,至少两个电子调速器在选取最优控制数据之后,判断最优控制数据与其余控制数据之间的差值是否在预设范围内,如果否,将最优控制数据反馈至其余控制数据所对应的控制器。
S103: 至少两个电子调速器根据最优控制数据控制电机的转速。
在本实施例中,如果提供最优控制数据的一控制器出现故障,则电子调速器重新从其他余下的控制器的控制数据中选出最优控制数据,以使得当前无人驾驶飞行器保持正常工作。
综上所述,本发明的无人驾驶飞行器包括至少两个控制器、至少两个电子调速器以及至少两个电机,其中:至少两个电子调速器与至少两个控制器均电性连接,以分别从至少两个控制器获取至少两组控制数据;至少两个电子调速器还分别对应与一电机电性连接,至少两个电子调速器均从至少两组控制数据中选取最优控制数据,并根据最优控制数据控制电机的转速。通过上述方式,本发明的的电子调速器能够直接从控制器获取数据,并选出最优控制数据控制电机的转速;另外,如果正在为至少两个电子调速器提供数据的一控制器出现故障,则至少两个电子调速器可以灵活获取其他控制器进行正常数据传输;有效降低安全风险和设计成本。
以上所述仅为本发明的实施方式,并非因此限制本发明的专利范围,凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换,或直接或间接运用在其他相关的技术领域,均同理包括在本发明的专利保护范围内。

Claims (9)

  1. 一种无人驾驶飞行器,其中,所述无人驾驶飞行器包括至少两个控制器、至少两个电子调速器以及至少两个电机,其中:
    所述至少两个电子调速器与所述至少两个控制器均电性连接,以分别从所述至少两个控制器获取至少两组控制数据;
    所述至少两个电子调速器还分别对应与一所述电机电性连接,所述至少两个电子调速器均从所述至少两组控制数据中选取最优控制数据,并根据所述最优控制数据控制所述电机的转速。
  2. 根据权利要求1所述的无人驾驶飞行器,其中,所述至少两个电子调速器在选取所述最优控制数据之后,进一步判断所述最优控制数据与其余控制数据之间的差值是否在预设范围内,如果否,将所述最优控制数据反馈至其余控制数据所对应的所述控制器。
  3. 根据权利要求1所述的无人驾驶飞行器,其中,所述至少两个电子调速器将所述至少两个电子调速器需要所述至少两组控制数据中数量最多的所述控制数据作为所述最优控制数据。
  4. 根据权利要求1所述的无人驾驶飞行器,其中,所述至少两个电子调速器对所述至少两组控制数据进行从大到小或从小到大的排序,并判断所述至少两组控制数据的数量是否为奇数,如果是,选取排序后的第(n+1)/2组控制数据作为所述最优控制数据,如果否,选取排序后的第n/2或n/2+1组控制数据作为所述最优控制数据,其中n为所述至少两组控制数据的数量。
  5. 根据权利要求1所述的无人驾驶飞行器,其中,所述至少两组控制数据中的每一者均包括俯仰数据、横滚数据、航向角数据以及高度数据。
  6. 一种无人驾驶飞行器的数据处理方法,其中,所述无人驾驶飞行器包括至少两个控制器、至少两个电子调速器以及至少两个电机,所述至少两个电子调速器与所述至少两个控制器均电性连接,所述至少两个电子调速器还分别对应与一所述电机电性连接,所述方法包括:
    所述至少两个电子调速器分别从所述至少两个控制器获取至少两组控制数据;
    所述至少两个电子调速器均从所述至少两组控制数据中选取最优控制数据;
    所述至少两个电子调速器根据所述最优控制数据控制所述电机的转速。
  7. 根据权利要求6所述的方法,其中,所述至少两个电子调速器在选取所述最优控制数据之后,进一步包括以下步骤:
    判断所述最优控制数据与其余控制数据之间的差值是否在预设范围内,如果否,将所述最优控制数据反馈至其余控制数据所对应的控制器。
  8. 根据权利要求6所述的方法,其中,所述至少两个电子调速器从所述至少两组控制数据中选取最优控制数据包括:
    所述至少两个电子调速器将所述至少两个电子调速器需要所述至少两组控制数据中数量最多的所述控制数据作为所述最优控制数据。
  9. 根据权利要求6所述的方法,其中,所述至少两个电子调速器从所述至少两组控制数据中选取最优控制数据包括:
    所述至少两个电子调速器对所述至少两组控制数据进行从大到小或从小到大的排序,并判断所述至少两组控制数据的数量是否为奇数,如果是,选取排序后的第(n+1)/2组控制数据作为所述最优控制数据,如果否,选取排序后的第n/2或n/2+1组控制数据作为所述最优控制数据,其中n为所述至少两组控制数据的数量。
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EP3118120A1 (en) 2017-01-18
JP6139791B2 (ja) 2017-05-31
CN104756394B (zh) 2017-09-08
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US20170025971A1 (en) 2017-01-26
EP3118120B1 (en) 2019-11-06

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