CN111487859A - Safety redundant method and device for automatic pilot of unmanned aerial vehicle - Google Patents
Safety redundant method and device for automatic pilot of unmanned aerial vehicle Download PDFInfo
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- CN111487859A CN111487859A CN202010353874.0A CN202010353874A CN111487859A CN 111487859 A CN111487859 A CN 111487859A CN 202010353874 A CN202010353874 A CN 202010353874A CN 111487859 A CN111487859 A CN 111487859A
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Abstract
The invention discloses a safety redundant method for an unmanned aerial vehicle autopilot, which comprises the following steps that two or more groups of IMUs are arranged in the unmanned aerial vehicle autopilot, when one IMU fails, the other IMU can bear the function of the IMU, if power of six shafts is redundant, the IMU can still fly when a single motor lacks power, when the aircraft is subjected to large vibration or placed horizontally, the IMU is displayed to be abnormal when the aircraft is subjected to power-on self-test, and at the moment, the IMU needs to be recalibrated: the unmanned aerial vehicle control redundancy backup system comprises an unmanned aerial vehicle control redundancy backup module, a computer, a remote control device and a starting module, wherein the unmanned aerial vehicle remote control is started, the App is connected, the unmanned aerial vehicle is placed on a horizontal table board, the App is started, flight control parameter setting, a sensor and IMU calibration are started, the unmanned aerial vehicle control redundancy backup module comprises the starting module and an air pressure sensor, the computer is in wireless connection with the remote control device, and the remote control device is in wireless connection with the starting module and the air pressure sensor respectively.
Description
Technical Field
The invention relates to the technical field of automatic pilots of unmanned aerial vehicles, in particular to a safety redundant method for the automatic pilots of the unmanned aerial vehicles and a safety redundant device for the automatic pilots of the unmanned aerial vehicles.
Background
Along with the development of science and technology, unmanned aerial vehicle technique has obtained very big development, and unmanned aerial vehicle technique also begins to be applied to each field. Meanwhile, the unmanned aerial vehicle technology is also rapidly developing forward, and various new technologies appear and are gradually applied to unmanned aerial vehicles. Unmanned aerial vehicle has wide application in fields such as disaster prevention and rescue, scientific investigation, wind power generation are patrolled and examined, industrial level environmental protection, and unmanned aerial vehicle's flight control system is unmanned aerial vehicle's important component part, plays important effect in unmanned aerial vehicle intellectuality and practicality. Especially in industrial drones, the manufacturing cost of industrial drones is high, especially fixed wing drones, such as a fuselage made of carbon fiber material, is expensive; the system of the industrial unmanned aerial vehicle is complex, so that the system of the unmanned aerial vehicle can be subjected to a large amount of long-time flight tests before delivery of an end user, so that the reliability of the industrial unmanned aerial vehicle is improved, and the popularization and application of the industrial unmanned aerial vehicle are facilitated
There are some security redundant devices on the market today. The principle basically adopts two autopilots to carry out safety precaution, and generally all be that high accuracy unmanned aerial vehicle or large-scale model aeroplane and model ship more than 100 ten thousand yuan will use, do not go on using to ordinary unmanned aerial vehicle. In addition, the price of the double automatic pilot is very high, the main functions are only used when switching is carried out, more functions are not added to the safety aspect, and the application range is narrow.
Disclosure of Invention
The invention aims to provide a safety redundant method and a safety redundant device for an automatic pilot of an unmanned aerial vehicle, which utilize two or more groups of IMUs to prevent redundant power generated by six shafts and power shortage of a motor from causing automatic pilot failure of the unmanned aerial vehicle when the IMUs are in fault, have low cost and are convenient to replace and maintain, and solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an unmanned aerial vehicle autopilot safety redundancy method, includes sets up two sets or more than two sets of IMU in unmanned aerial vehicle autopilot, can undertake its function by another IMU when an IMU trouble, six axles have redundancy if power, still can fly when single motor lacks power, receive big vibrations or place not levelly when the aircraft, can show IMU unusual when the power-on self-checking, need recalibrate IMU this moment, the step is as follows: the method comprises the steps of opening an unmanned aerial vehicle remote controller, connecting an App, placing the unmanned aerial vehicle on a horizontal table board, entering the App, opening flight control parameter setting, a sensor and IMU calibration, wherein the unmanned aerial vehicle cannot be moved in the calibration process, and the calibration time is about 5-10 minutes.
Preferably, the unmanned aerial vehicle control redundant backup module is a hot backup, that is, a main/standby flight control unit, a main/standby GPS unit, a main/standby inertia measurement unit, and a main/standby power management unit in the unmanned aerial vehicle redundant backup are all in a hot backup mode in which a main/standby power management unit and a main/standby power management unit simultaneously operate, so that an uncontrollable risk is avoided during cold backup switching, wherein validity of data acquired by the main and standby flight control units and the main/standby GPS management unit is determined by the preset redundant backup mechanism.
Preferably, the IMU is a device for measuring three-axis attitude angles (or angular rates) and acceleration of an object, and generally, an IMU includes three single-axis accelerometers and three single-axis gyroscopes, wherein the accelerometers detect acceleration signals of the object on three independent axes of a carrier coordinate system, and the gyroscopes detect angular velocity signals of the carrier relative to a navigation coordinate system, and measure angular velocities and acceleration of the object in a three-dimensional space, and then solve the attitude of the object.
The invention also provides a safe redundant device of the automatic pilot of the unmanned aerial vehicle, which comprises the following components: including total control module and the redundant backup module of unmanned aerial vehicle control, total control module includes computer and remote control unit, the redundant backup module of unmanned aerial vehicle control is including starting module and baroceptor, the computer with remote control unit wireless connection, remote control unit respectively with starting module, baroceptor wireless connection.
Preferably, the remote control device comprises a remote control body, a bracelet, an anti-skid pad, a rocker, a display lamp switch, an emergency descending switch, an antenna, an ascending key and a descending key.
Preferably, the start module is that when the height that gathers unmanned aerial vehicle through the baroceptor is less than preset height value, STM32 chip output PWM signal, control throttle steering wheel and umbrella cabin steering wheel output receive the throttle respectively and open the umbrella action.
Preferably, the STM32 chip adds a full-speed USB (otg) interface to a brand-new STM32 interconnection type (Connectivity) microcontroller, so that the terminal product can serve as both a USB host and a USB slave when connected to another USB device; an Ethernet interface with hardware supporting IEEE1588 Precision Time Protocol (PTP) is also added, the protocol is realized by hardware, the CPU overhead can be reduced, and the response speed of the synchronous communication of real-time application and networking equipment is improved.
Preferably, the unmanned aerial vehicle control redundancy backup comprises a main/standby flight control unit, a main/standby GPS unit, a main/standby inertia measurement unit and a main/standby power management unit, which are respectively and correspondingly connected with the main/standby flight control unit through the CAN bus interface; the main/standby flight control unit is used for controlling the flight state of the unmanned aerial vehicle according to effective backup data acquired by the main/standby GPS unit, the main/standby inertia measurement unit and the main/standby power management unit, so that the unmanned aerial vehicle is effectively controlled.
Compared with the prior art, the invention has the beneficial effects that: utilize two sets of or two sets of above IMU, when preventing IMU trouble, six-shaft produced power has long and short miscellaneous, and the motor lacks power, leads to unmanned aerial vehicle autopilot to become invalid, and with low costs, is convenient for change the maintenance.
Drawings
Fig. 1 is a block diagram of a safety redundant device of an automatic pilot of an unmanned aerial vehicle according to the present invention;
fig. 2 is a flow chart of a safety redundant method for an automatic pilot of an unmanned aerial vehicle according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, the present invention provides a technical solution: the utility model provides an unmanned aerial vehicle autopilot safety redundancy method, includes sets up two sets or more than two sets of IMU in unmanned aerial vehicle autopilot, can undertake its function by another IMU when an IMU trouble, six axles have redundancy if power, still can fly when single motor lacks power, receive big vibrations or place not levelly when the aircraft, can show IMU unusual when the power-on self-checking, need recalibrate IMU this moment, the step is as follows: the method comprises the steps of opening an unmanned aerial vehicle remote controller, connecting an App, placing the unmanned aerial vehicle on a horizontal table board, entering the App, opening flight control parameter setting, a sensor and IMU calibration, wherein the unmanned aerial vehicle cannot be moved in the calibration process, and the calibration time is about 5-10 minutes.
Specifically, the unmanned aerial vehicle control redundant backup module is a hot backup, that is, a main/standby flight control unit, a main/standby GPS unit, a main/standby inertia measurement unit and a main/standby power management unit in the unmanned aerial vehicle redundant backup are all in a hot backup mode in which a main power supply and a standby power supply simultaneously work, so that an uncontrollable risk is avoided during cold backup switching, wherein validity of data acquired by the main power supply and the standby power supply is determined by the preset redundant backup mechanism.
Specifically, the IMU is a device for measuring the three-axis attitude angle (or angular rate) and acceleration of an object, and generally, an IMU includes three single-axis accelerometers and three single-axis gyroscopes, where the accelerometers detect acceleration signals of the object in three independent axes of a carrier coordinate system, and the gyroscopes detect angular velocity signals of the carrier relative to a navigation coordinate system, and measure the angular velocity and acceleration of the object in a three-dimensional space, and then solve the attitude of the object.
The invention also provides a safety redundant device of the automatic pilot of the unmanned aerial vehicle, which comprises a master control module and an unmanned aerial vehicle control redundant backup module, and is characterized in that: the master control module comprises a computer and a remote control device, the unmanned aerial vehicle control redundancy backup module comprises a starting module and an air pressure sensor, the computer is in wireless connection with the remote control device, and the remote control device is in wireless connection with the starting module and the air pressure sensor respectively.
Specifically, remote control unit includes remote control body, bracelet, slipmat, rocker, display lamp switch, urgent decline switch, antenna, rise key, decline key.
Specifically, when the height that starts the module and gather unmanned aerial vehicle through as air pressure sensor is less than preset height value, STM32 chip output PWM signal, control throttle steering wheel and umbrella cabin steering wheel output receive the throttle respectively and open the umbrella action.
Specifically, the STM32 chip adds a full-speed USB (otg) interface to a brand-new STM32 interconnection type (Connectivity) microcontroller, so that a terminal product can serve as both a USB host and a USB slave when connected to another USB device; an Ethernet interface with hardware supporting IEEE1588 Precision Time Protocol (PTP) is also added, the protocol is realized by hardware, the CPU overhead can be reduced, and the response speed of the synchronous communication of real-time application and networking equipment is improved.
Specifically, the unmanned aerial vehicle control redundancy backup comprises a main/standby flight control unit, a main/standby GPS unit, a main/standby inertia measurement unit and a main/standby power management unit, wherein the main/standby GPS unit, the main/standby inertia measurement unit and the main/standby power management unit are respectively and correspondingly connected with the main/standby flight control unit through the CAN bus interface; the main/standby flight control unit is used for controlling the flight state of the unmanned aerial vehicle according to effective backup data acquired by the main/standby GPS unit, the main/standby inertia measurement unit and the main/standby power management unit, so that the unmanned aerial vehicle is effectively controlled.
This embodiment uses two sets of IMUs.
To sum up, the following steps are carried out: set up two sets of IMUs in unmanned aerial vehicle autopilot, can undertake its function by another IMU when an IMU trouble, six have redundantly if power, still can fly when single motor lacks power, receive big vibrations or place the disalignment when the aircraft, can show IMU unusual when the power-on self-checking, need recalibrate IMU this moment, the step is as follows: opening a remote controller of the unmanned aerial vehicle, connecting an App, placing the unmanned aerial vehicle on a horizontal table, entering the App, opening flight control parameter setting, sensor and IMU calibration, wherein the unmanned aerial vehicle cannot be moved in the calibration process, and the calibration time is about 5-10 minutes;
the master control module comprises a computer and a remote control device, the unmanned aerial vehicle control redundancy backup module comprises a starting module and an air pressure sensor, the computer is in wireless connection with the remote control device, and the remote control device is in wireless connection with the starting module and the air pressure sensor respectively.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides an unmanned aerial vehicle autopilot safety redundancy method, includes sets up two sets or more than two sets of IMU in unmanned aerial vehicle autopilot, can undertake its function by another IMU when an IMU trouble, six axles have redundancy if power, still can fly when single motor lacks power, receive big vibrations or place not levelly when the aircraft, can show IMU unusual when the power-on self-checking, need recalibrate IMU this moment, the step is as follows: the method comprises the steps of opening an unmanned aerial vehicle remote controller, connecting an App, placing the unmanned aerial vehicle on a horizontal table board, entering the App, opening flight control parameter setting, a sensor and IMU calibration, wherein the unmanned aerial vehicle cannot be moved in the calibration process, and the calibration time is about 5-10 minutes.
2. The unmanned aerial vehicle autopilot safety redundancy method according to claim 1, characterized in that: the IMU is a device for measuring the three-axis attitude angle (or angular rate) and acceleration of an object, and generally, an IMU includes three single-axis accelerometers and three single-axis gyroscopes, wherein the accelerometers detect acceleration signals of the object in three independent axes of a carrier coordinate system, and the gyroscopes detect angular velocity signals of the carrier relative to a navigation coordinate system, and measure the angular velocity and acceleration of the object in a three-dimensional space, and then calculate the attitude of the object.
3. An unmanned aerial vehicle autopilot safety redundancy device according to claim 1, comprising a master control module and an unmanned aerial vehicle control redundancy backup module, characterized in that: the master control module comprises a computer and a remote control device, the unmanned aerial vehicle control redundancy backup module comprises a starting module and an air pressure sensor, the computer is in wireless connection with the remote control device, and the remote control device is in wireless connection with the starting module and the air pressure sensor respectively.
4. The unmanned aerial vehicle autopilot safety redundancy device of claim 3, characterized in that: the remote control device comprises a remote control body, a bracelet, an anti-skid pad, a rocker, a display lamp switch, an emergency descending switch, an antenna, an ascending key and a descending key.
5. The unmanned aerial vehicle autopilot safety redundancy device of claim 3, characterized in that: the unmanned aerial vehicle control redundant backup module is a hot backup, namely a main/standby flight control unit, a main/standby GPS unit, a main/standby inertia measurement unit and a main/standby power supply management unit in the unmanned aerial vehicle redundant backup are all in a hot backup mode in which a main power supply and a standby power supply simultaneously work, so that an uncontrollable risk is avoided when cold backup is switched, wherein the effectiveness of data acquired by the main power supply and the standby power supply is determined by a preset redundant backup mechanism.
6. The unmanned aerial vehicle autopilot safety redundancy device of claim 3, characterized in that: the start module is through when baroceptor gathered unmanned aerial vehicle's height is less than preset height value, STM32 chip output PWM signal, and control throttle steering wheel and umbrella cabin steering wheel output receive the throttle respectively and open the umbrella action.
7. The unmanned aerial vehicle autopilot safety redundancy device of claim 6, wherein: the STM32 chip adds a full-speed USB (OTG) interface to a brand-new STM32 interconnection type (Connectivity) series microcontroller, so that a terminal product can serve as a USB host and a USB slave when being connected with another USB device; an Ethernet interface with hardware supporting IEEE1588 Precision Time Protocol (PTP) is also added, the protocol is realized by hardware, the CPU overhead can be reduced, and the response speed of the synchronous communication of real-time application and networking equipment is improved.
8. The unmanned aerial vehicle autopilot safety redundancy device of claim 3, characterized in that: the unmanned aerial vehicle control redundancy backup comprises a main/standby flight control unit, a main/standby GPS unit, a main/standby inertia measurement unit and a main/standby power supply management unit, wherein the main/standby GPS unit, the main/standby inertia measurement unit and the main/standby power supply management unit are respectively and correspondingly connected with the main/standby flight control unit through the CAN bus interface; the main/standby flight control unit is used for controlling the flight state of the unmanned aerial vehicle according to effective backup data acquired by the main/standby GPS unit, the main/standby inertia measurement unit and the main/standby power management unit, so that the unmanned aerial vehicle is effectively controlled.
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