CN107226206B - Multi-rotor unmanned aerial vehicle safety landing system and method - Google Patents
Multi-rotor unmanned aerial vehicle safety landing system and method Download PDFInfo
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- CN107226206B CN107226206B CN201610173688.2A CN201610173688A CN107226206B CN 107226206 B CN107226206 B CN 107226206B CN 201610173688 A CN201610173688 A CN 201610173688A CN 107226206 B CN107226206 B CN 107226206B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention provides a multi-rotor unmanned aerial vehicle safety landing system, which comprises: each rotor motor state detection part is used for detecting whether each rotor motor of the unmanned aerial vehicle works normally or not; the landing correction module is connected with the rotor motor state detection parts and is used for outputting control instructions for adjusting the rotating speeds of the rotor motors when the rotor motors work abnormally; and the rotor motor control part is connected with the landing correction module and drives the operation of each rotor motor according to the control instruction. The invention correspondingly provides a safe landing method of the multi-rotor unmanned aerial vehicle, when one rotor wing of the unmanned aerial vehicle fails, the rotation angular velocity of the unmanned aerial vehicle can be suddenly increased, acceleration values in multiple dip angles appear, and the attitude of the aircraft and the failed rotor wing can be rapidly judged through the abrupt change data values. And the landing correction module outputs a control instruction according to the information so as to balance the moment of the other motors, and the multi-rotor unmanned aerial vehicle rotates around the multi-rotor unmanned aerial vehicle to finally realize safe landing.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle safety, in particular to a multi-rotor unmanned aerial vehicle safety landing system and method.
Background
With the popularization of unmanned aerial vehicles, the application fields of the unmanned aerial vehicle are wider and wider, but the safety problem of the unmanned aerial vehicle is always the most concerned in any field. With the continuous development of unmanned aerial vehicle technology, unmanned aerial vehicle's safety guarantee has had very big improvement. It is inevitable that there will always be some unexpected situation that will result in the drone coming out of control.
The common four rotors, six rotors, eight rotors and the like of many rotor unmanned aerial vehicle, each rotor adopts regular polygon to distribute. For the current multi-rotor unmanned aerial vehicle, the flight characteristics of the multi-rotor unmanned aerial vehicle are different from those of a fixed-wing unmanned aerial vehicle and a helicopter unmanned aerial vehicle, and once the situation that the motors lose power or the torque output by each motor is unbalanced occurs, the flight accidents are very easy to cause. According to the investigation, it is almost impossible to land the multi-rotor unmanned aerial vehicle with minimal loss by flight control alone after a motor of the multi-rotor unmanned aerial vehicle loses power. Because the current multi-rotor unmanned aerial vehicle flight control system on the market is adjusted after one motor loses power, the degree of out-of-control of the multi-rotor unmanned aerial vehicle can be aggravated. At this time, how to minimize the loss of personnel and property becomes a problem to be solved urgently.
Disclosure of Invention
Accordingly, a primary object of the present invention is to provide a multi-rotor unmanned aerial vehicle safety landing system, comprising:
each rotor motor state detection part is used for detecting whether each rotor motor of the unmanned aerial vehicle works normally or not;
the landing correction module is connected with the rotor motor state detection parts and is used for outputting control instructions for adjusting the rotating speeds of the rotor motors when the rotor motors work abnormally;
a rotor motor control part connected with the landing correction module and driving the operation of each rotor motor according to the control instruction
By the above, when a certain rotor of unmanned aerial vehicle breaks down, unmanned aerial vehicle's rotation angular velocity will suddenly increase, and can suddenly appear the acceleration value of many inclination directions, can judge the gesture of aircraft and the rotor that breaks down fast through these abrupt data value. And the landing correction module outputs a control instruction according to the information so as to balance the moment of the other motors, and the multi-rotor unmanned aerial vehicle rotates around the multi-rotor unmanned aerial vehicle to finally realize safe landing.
Optionally, the rotor motor status detection unit includes:
the inertial measurement module is used for detecting the flight state of the unmanned aerial vehicle;
the flight fault judging module is connected with the inertia measuring module and is used for judging whether the flight state is abnormal or not according to the flight state;
and the voltage detection module is used for detecting the voltage of the three-phase output in the rotor motor control part when the flying state is abnormal.
From the above, when many rotor unmanned aerial vehicle because some non-motor problems (such as many rotor unmanned aerial vehicle's screw rupture etc.) and the moment unbalance that takes place, unmanned aerial vehicle's rotation angular velocity will suddenly increase, and can appear the acceleration value of many inclination directions suddenly, detect these abrupt change's data value through triaxial gyroscope and accelerometer and can judge whether the gesture of aircraft breaks down fast. Further, by detecting the three-phase output voltage of the rotor motor control unit, when a certain phase is abnormal (for example, certain phase data in three phases is lower than other two phases for 2 seconds or more), this indicates that the rotor is faulty.
Optionally, the inertial measurement module includes a tri-axis gyroscope and an accelerometer.
Optionally, the rotor motor control part includes: the motor control module and the first rotor motor that connect gradually still include the electric current detection module who is connected with motor control module and first rotor motor, motor control module with the landing correction module is connected for according to control command drive first rotor motor operation, in order to adjust each rotor motor rotational speed.
Optionally, the current detection module comprises a current detection circuit, a current comparison circuit and a serial port which are sequentially connected, and further comprises a memory connected with the current comparison circuit;
the memory is pre-stored with the normal working current of the rotor motor.
By pre-storing the output current in normal operation, comparing the output current with the real-time measured value based on the pre-stored output current, and when the error exceeds the calculated allowable maximum value, a certain rotor motor can be considered to be not in the normal operation state. The multi-rotor unmanned aerial vehicle takes the moment of the other motors as an adjusting basis, balances the moment of the other motors, rotates the multi-rotor unmanned aerial vehicle by taking the multi-rotor unmanned aerial vehicle as a center, and finally realizes safe landing.
Optionally, the rotor motor control part further includes a voltage detection module connected to the motor driving circuit and configured to detect a three-phase output voltage of the motor driving circuit.
Correspondingly, the invention also provides a safe landing method of the multi-rotor unmanned aerial vehicle, which comprises the following steps:
A. the landing correction module receives the working data of each rotor motor;
B. c, judging whether the work of each rotor motor is normal or not by the landing correction module according to the work data, entering a step C when the work is abnormal, and repeating the step C if the work is abnormal;
c: regulating the rotating speed of each rotor motor, and controlling the unmanned aerial vehicle to land;
d: when the unmanned aerial vehicle approaches the ground, all rotor motors of the unmanned aerial vehicle are controlled to stop working.
By above, when a certain rotor of unmanned aerial vehicle breaks down, the landing correction module outputs control command according to fault information to balance the moment of other several motors, rotate many rotor unmanned aerial vehicle with oneself as the center, finally realize safe landing.
Optionally, adjusting the rotation speed of the rotor motor in step C includes:
shutting down the failed rotor motor and its diagonal rotor motor;
the rotating speed of the rotor motor which works normally is reduced.
Optionally, reducing the rotational speed of the remaining rotor motor includes:
ordering distances between the rotor motor which works normally and the fault rotor motor in the axial direction by taking the connection line of the fault rotor motor and the rotor motor on the diagonal line of the fault rotor motor as an axis;
sequentially decreasing the rotating speed of a normal rotor motor according to the distance from the near to the far;
the increment and decrement is 10% -15% of the current rotating speed.
By the above way, through the adjustment mode with decreasing rotation speed, the rotation speed adjustment is relatively smaller at the left and right positions close to the fault rotor wing, so that the position is close to the original rotation speed of the fault rotor wing, and the rotation speed adjustment is relatively larger at the position far away from the fault rotor wing, thereby achieving the purpose of balancing the unmanned aerial vehicle. Through above-mentioned adjustment mode, can make unmanned aerial vehicle steadily slow down, let the pulling force of other rotors reduce gradually to make unmanned aerial vehicle slowly drop. Secondly, through the adjustment mode, the moment generated by the fault rotor wing can be balanced. Finally, adopting different speed-reducing modes to prevent the thrust or the pitch from being out of control caused by sudden faults, thereby causing secondary danger.
Optionally, step C further includes: and taking any position of the unmanned aerial vehicle body as a reference center point, and performing closed-loop adjustment on the unmanned aerial vehicle to perform clockwise or anticlockwise rotation around the reference center point.
By above, through the rotatory landing of taking oneself as the center at forced landing in-process to assist unmanned aerial vehicle rotation landing at this in-process, can further increase unmanned aerial vehicle landing's stability, thereby improve factor of safety, make unmanned aerial vehicle finally safe landing.
Drawings
FIG. 1 is a schematic diagram of the present invention;
fig. 2 is a schematic diagram of a motor structure of a six-rotor unmanned aerial vehicle;
fig. 3 is a flowchart of the operation of the drop correction module.
Description of the embodiments
In order to overcome the defects in the prior art, the invention provides a safe landing system and a safe landing method for a multi-rotor unmanned aerial vehicle.
As shown in fig. 1, the multi-rotor unmanned aerial vehicle safety landing system includes: first to nth rotor motor control units 10, an inertial measurement module 30 provided in the unmanned plane, and a landing correction module 20 connected to the inertial measurement module 30 and the inertial measurement module, respectively. When a rotor fails, the landing correction module 20 calculates a control command to balance the torque of each rotor according to the operation conditions of each motor detected by the first to nth rotor motor control units 10 and the operation state of the unmanned aerial vehicle detected by the inertia measurement module 30.
The internal components of each rotor motor control unit 10 are the same, and a first rotor motor unit will be described as an example.
The rotor motor control unit 10 includes a motor control module 101 and a first rotor motor 102 connected in sequence, and further includes a current detection module 103 connected to each of the above modules.
The motor control module 101 is connected to the landing correction module 20, and drives the first rotor motor 102 to operate after performing processes such as amplification and isolation according to a control instruction sent by the landing correction module 20.
The current detection module 103 comprises a current detection circuit, a current comparison circuit and a serial port which are sequentially connected, and further comprises a memory connected with the current comparison circuit. The memory stores the normal operating current of the motor control module 101 and the first rotary wing motor 102. The current detection circuit detects the working currents of the three in real time, and detects the working currents through the current comparator, when the comparison result exceeds the safety threshold, the rotor is indicated to be not in a normal working state, and the working current exceeding the threshold is output to the landing correction module 20 through the serial port.
Or, the unmanned aerial vehicle flight attitude and the voltage phase output of the motor driving circuit 102 can be used for rotor fault judgment, and specifically, the following components are adopted for realizing:
the inertial measurement module 30 is configured to measure a motion state of the unmanned aerial vehicle through the tri-axial gyroscope and the accelerometer included in the inertial measurement module. The three-axis gyroscope is used for measuring the current rotation angular velocity of the unmanned aerial vehicle, and the accelerometer is used for measuring the acceleration of the unmanned aerial vehicle. When the torque of the multi-rotor unmanned aerial vehicle is unbalanced due to some non-motor problems (such as breakage of a propeller of the multi-rotor unmanned aerial vehicle, etc.), the rotation angular velocity of the unmanned aerial vehicle will suddenly increase, and the acceleration value of the multi-tilt angle direction will suddenly appear. By means of a flight fault determination module connected to the inertial measurement module 30, the attitude of the aircraft and the failed rotor motor can be rapidly determined by these abrupt data values, for example, when the inclination angle value is greater than 35 ° and lasts for more than 3 seconds, the failure is indicated.
The voltage detection module (not shown) is configured to detect the three-phase output voltage of the motor control module 101, and when a phase continuous abnormality occurs (for example, one phase data of the three phases is lower than the other two phases for more than 2 seconds), it indicates that the rotor motor fails.
The landing correction module 20 outputs control instructions to each rotor according to data transmitted by the rotor motor control part 10 or the inertia measurement module 30 (and the voltage detection module), and the motors of each rotor are coordinated to operate in a closed-loop control manner, so that the unmanned aerial vehicle lands stably.
Taking a six-rotor unmanned aerial vehicle as an example for explanation, fig. 2 shows a schematic diagram of a motor of the six-rotor unmanned aerial vehicle. When a rotor of the unmanned plane fails, taking the rotor motor failure No. 1 in fig. 2 as an example, in order to keep balance in the horizontal direction, the adjustment principle of the landing correction module 20 is as follows: the motor of the failed rotor No. 1 is cut off preferentially, and the power supply of the motor of the rotor No. 4 on the diagonal line is cut off preferentially. And secondly, the rotating speeds are reduced along the left side and the right side of the fault motor, namely the rotating speeds of the No. 2 rotor motor and the No. 6 rotor motor on the two sides of the No. 1 rotor motor are reduced, and the rotating speeds are reduced to 85% -90% of the current rotating speed. And secondly, the rotating speeds of the rotor motors No. 2 and No. 6 are reduced to 70% -85% of the current rotating speed. Similarly, the above adjustment is applicable to four rotors, eight rotors, and so on.
Through the adjustment mode of decreasing the rotating speed, the rotating speed adjustment is relatively smaller at the left and right positions close to the fault rotor wing, so that the position is close to the original rotating speed of the fault rotor wing, and the rotating speed adjustment is relatively larger at the position far away from the fault rotor wing, thereby achieving the purpose of balancing the unmanned aerial vehicle. Through above-mentioned adjustment mode, can make unmanned aerial vehicle steadily slow down, let the pulling force of other rotors reduce gradually to make unmanned aerial vehicle slowly drop. Secondly, through the adjustment mode, the moment generated by the fault rotor wing can be balanced. Finally, adopting different speed-reducing modes to prevent the thrust or the pitch from being out of control caused by sudden faults, thereby causing secondary danger.
By the method, the acceleration and the rotation angular velocity of the unmanned aerial vehicle are stabilized near a balance value, and forced landing under the condition of losing one-side power can be completed.
When the unmanned aerial vehicle approaches the ground, all rotor motors of the unmanned aerial vehicle are controlled to stop working, so that safe forced landing is realized. Based on unmanned aerial vehicle for the detection of ground distance, can adopt inertial measurement module to realize, unnecessary description.
Furthermore, the embodiment further includes a control mode for increasing the autorotation landing of the unmanned aerial vehicle in the descending process based on the control mode. That is, the landing correction module 20 uses any position of the unmanned aerial vehicle body as a reference center point according to the data detected by the three-axis gyroscope in the inertial measurement module 30 during the descent of the unmanned aerial vehicle, and performs the clockwise (counter) rotation around the reference center point by closed loop adjustment of the unmanned aerial vehicle. The unmanned aerial vehicle landing stability can be further increased by taking the unmanned aerial vehicle as the center to rotate for landing in the forced landing process and assisting in the unmanned aerial vehicle to rotate for landing in the forced landing process, so that the safety coefficient is improved, and the unmanned aerial vehicle finally lands safely.
In this embodiment, the landing correction module 20 is implemented by using an ARM single-chip microcomputer of STM32 series. In addition to the stable output of the pulse waveform, the invention requires monitoring of the entire operation process and even automatic shut-off of the operation of the device when necessary. Therefore, a single chip microcomputer which is simple, powerful in function and efficient and stable in operation becomes a key factor. The STM32 ARM single-chip microcomputer can monitor the operation of each module in the equipment during stable operation, can timely receive external signals when special conditions occur, and forces the pulse control module to operate according to certain instructions, so that the safety coefficient is high.
Fig. 3 is a flowchart showing the operation of the drop correction module 20, including the steps of:
s10: the drop correction module 20 receives rotational angular velocity, acceleration, and current or voltage data detected by each rotor motor section, which are detected by the inertial measurement module 30.
S20: the landing correction module 20 determines whether the operation of each rotor motor is normal, and if not, it proceeds to step S30, otherwise, it repeats the step.
S30: and the unmanned aerial vehicle is used as a rotation center to control the unmanned aerial vehicle to rotate and drop.
The specific control process is the same as the workflow of the landing correction module 20 described earlier, including controlling the unmanned aerial vehicle to spin down with itself as the center, and finally realizing safe landing. The specific process is not described in detail.
S40: when the unmanned aerial vehicle approaches the ground, all rotor motors of the unmanned aerial vehicle are controlled to stop working.
The above description is only of the preferred embodiments of the present invention, and is not intended to limit the present invention. In general, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A multi-rotor unmanned aerial vehicle safety landing system, comprising:
each rotor motor state detection part is used for detecting whether each rotor motor of the unmanned aerial vehicle works normally or not;
the landing correction module is connected with the rotor motor state detection parts and is used for outputting control instructions for adjusting the rotating speeds of the rotor motors when the rotor motors work abnormally;
a rotor motor control part connected with the landing correction module and driving the rotor motors to run according to the control instruction;
adjusting the rotational speed of each rotor motor includes:
shutting down the failed rotor motor and its diagonal rotor motor;
ordering distances between the rotor motor which works normally and the fault rotor motor in the axial direction by taking the connection line of the fault rotor motor and the rotor motor on the diagonal line of the fault rotor motor as an axis;
according to the distance from the near to the far, the rotating speed of the rotor motor which works normally is sequentially decreased in a different speed decreasing mode.
2. The system of claim 1, wherein each rotor motor status detection section comprises:
the inertial measurement module is used for detecting the flight state of the unmanned aerial vehicle;
the flight fault judging module is connected with the inertia measuring module and is used for judging whether the flight state is abnormal or not according to the flight state;
and the voltage detection module is used for detecting the voltage of the three-phase output in the rotor motor control part when the flying state is abnormal.
3. The system of claim 2, wherein the inertial measurement module comprises a tri-axis gyroscope and an accelerometer.
4. The system of claim 1, wherein the rotor motor control portion comprises: the motor control module and the first rotor motor that connect gradually still include the electric current detection module who is connected with motor control module and first rotor motor, motor control module with the landing correction module is connected for according to control command drive first rotor motor operation, in order to adjust rotor motor rotational speed.
5. The system of claim 4, wherein the current detection module comprises a current detection circuit, a current comparison circuit and a serial port connected in sequence, and further comprising a memory connected with the current comparison circuit;
the memory is pre-stored with the normal working current of the rotor motor.
6. The safe landing method of the multi-rotor unmanned aerial vehicle is characterized by comprising the following steps of:
A. the landing correction module receives the working data of each rotor motor;
B. c, judging whether the work of each rotor motor is normal or not by the landing correction module according to the work data, entering a step C when the work is abnormal, and repeating the step C if the work is abnormal;
c: regulating the rotating speed of each rotor motor, and controlling the unmanned aerial vehicle to land;
d: when the unmanned aerial vehicle approaches the ground, controlling all rotor motors of the unmanned aerial vehicle to stop working;
the adjusting the rotation speed of each rotor motor in the step C includes:
shutting down the failed rotor motor and its diagonal rotor motor;
ordering distances between the rotor motor which works normally and the fault rotor motor in the axial direction by taking the connection line of the fault rotor motor and the rotor motor on the diagonal line of the fault rotor motor as an axis;
according to the distance from the near to the far, the rotating speed of the rotor motor which works normally is sequentially decreased in a different speed decreasing mode.
7. The method of claim 6, wherein the step of providing the first layer comprises,
the increment is 10% -15% of the current rotating speed.
8. The method of claim 6, wherein step C further comprises: and taking any position of the unmanned aerial vehicle body as a reference center point, and performing closed-loop adjustment on the unmanned aerial vehicle to perform clockwise or anticlockwise rotation around the reference center point.
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| CN116714777A (en) * | 2023-08-09 | 2023-09-08 | 北京卓翼智能科技有限公司 | Unmanned aerial vehicle rotor wing fault identification method and device, unmanned aerial vehicle and storage medium |
| CN117944912B (en) * | 2024-03-21 | 2024-05-28 | 浙江华视智检科技有限公司 | Unmanned aerial vehicle double-power system, control method thereof, unmanned aerial vehicle system and related device |
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