CN109573024A - A kind of unmanned plane Emergency recovery technology based on power supply management equipment - Google Patents
A kind of unmanned plane Emergency recovery technology based on power supply management equipment Download PDFInfo
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- CN109573024A CN109573024A CN201811238289.5A CN201811238289A CN109573024A CN 109573024 A CN109573024 A CN 109573024A CN 201811238289 A CN201811238289 A CN 201811238289A CN 109573024 A CN109573024 A CN 109573024A
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- 238000011084 recovery Methods 0.000 title claims abstract description 37
- 238000005516 engineering process Methods 0.000 title claims abstract description 21
- 238000004891 communication Methods 0.000 claims abstract description 61
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 50
- 238000009826 distribution Methods 0.000 claims abstract description 41
- 238000001514 detection method Methods 0.000 claims abstract description 29
- 238000004064 recycling Methods 0.000 claims abstract description 29
- 238000002360 preparation method Methods 0.000 claims abstract description 17
- 238000012544 monitoring process Methods 0.000 claims abstract description 5
- 238000007726 management method Methods 0.000 claims description 59
- 238000005259 measurement Methods 0.000 claims description 13
- 238000000034 method Methods 0.000 claims description 9
- 238000004590 computer program Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 2
- 230000002159 abnormal effect Effects 0.000 abstract description 3
- 238000003860 storage Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
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- 230000037452 priming Effects 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
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- 230000004888 barrier function Effects 0.000 description 1
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Classifications
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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
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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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
- B64U70/80—Vertical take-off or landing, e.g. using rockets
- B64U70/83—Vertical take-off or landing, e.g. using rockets using parachutes, balloons or the like
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- Supply And Distribution Of Alternating Current (AREA)
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Abstract
The unmanned plane Emergency recovery technology based on power supply management equipment that the present invention provides a kind of, is related to unmanned plane Emergency recovery technical field, can guarantee that unmanned plane carries out parachuting recycling under a variety of abnormal conditions；The recovery technology is carried out different Emergency recoveries to unmanned plane according to the position of unmanned plane fault point and is operated；When failure causes heartbeat signal to disappear, airborne power supplying and distributing equipment control engine is shut down, and after monitoring that UAV Attitude transfinites, controls its recycling；When there is bus communication failure, when airborne detection and control terminal is working properly, flight control computer controls line traffic control unmanned plane during flying by serial communication bus and PWM or makes a return voyage, and is recycled；When flight control computer and bus communication failure, when airborne detection and control terminal is working properly, " making preparation for dropping " instruction that airborne detection and control terminal response ground is sent passes through serial communication bus and airborne power supply and distribution management equipment, control unmanned plane recycling.During technical solution provided by the invention is suitable for unmanned plane Emergency recovery.
Description
Technical field
The present invention relates to unmanned plane Emergency recovery technical field more particularly to a kind of unmanned planes based on power supply management equipment
Emergency recovery technology.
Background technique
In recent years, unmanned air vehicle technique has obtained continuous development and application.The safety of unmanned plane is proposed higher and higher
Requirement, parachuting unmanned plane, due to do not depend on airport, to emit and recycling site requirements it is lower, obtained extensively in Military and civil fields
General application.Because parachuting unmanned plane is per se with parachute, parachute-opening can be required to recycle according to instruction after completion task, met
In the case where catastrophic failure, the Emergency recovery of unmanned plane can be also realized by the parachute of institute's band in most cases, protects nothing
It is man-machine itself from loss.
But traditional unmanned aircraft parachute descent control flight-control computer is relied on it is higher, the execution of parachute-opening recycling movement be by
Flight control computer is issued according to the fault condition judged, or receives flight control computer sending after Emergency recovery instruction.Flying control
In the case where computer failure itself, unmanned plane Emergency recovery cannot achieve, in turn result in the damage and loss of unmanned plane.
This is just badly in need of a kind of new Emergency recovery technology, realizes in flight control computer failure, airborne detection and control terminal failure etc.
Under the conditions of a variety of catastrophe failures, unmanned plane emergency parachute-opening recycling further increases system reliability.Valence is applied with very high
Value.
Summary of the invention
In view of this, the present invention provides a kind of unmanned plane Emergency recovery technology based on power supply management equipment, Neng Gouti
The ability of high parachuting unmanned plane reply emergency, is also able to achieve in the state that UAV Flight Control computer breaks down
The Emergency recovery of unmanned plane lands.
On the one hand, the present invention provides a kind of unmanned plane Emergency recovery technology based on power supply management equipment, which is characterized in that
Different Emergency recoveries is carried out to unmanned plane according to the position of unmanned plane fault point to operate, specifically:
When unmanned plane failure causes heartbeat signal to disappear, airborne power supplying and distributing equipment control engine is shut down, and is monitoring nobody
After machine posture transfinites, control unmanned plane parachute-opening recycling；
When bus communication failure occurs in unmanned plane, but airborne detection and control terminal is working properly, flight control computer passes through serial communication
Bus and PWM control line traffic control unmanned plane during flying make a return voyage, and carry out normal parachute-opening recycling；
When flight control computer and bus communication failure, when airborne detection and control terminal is working properly, the airborne detection and control terminal is responsively
" making preparation for dropping " instruction that face operator sends is controlled unmanned plane and is existed by serial communication bus and airborne power supply and distribution management equipment
Current location parachute-opening recycling.
The aspect and any possible implementation manners as described above, it is further provided a kind of implementation is existed by setting
Attitude measurement module on the airborne power supplying and distributing equipment monitors UAV Attitude.
The aspect and any possible implementation manners as described above, it is further provided a kind of implementation determines unmanned plane
The standard that posture transfinites are as follows: the pitch angle of UAV Attitude and roll angle are compared with respective decision threshold respectively, bowed
The range that the elevation angle and/or roll angle exceed decision threshold then determines that UAV Attitude transfinites；If determining without departing from threshold range
The non-posture of unmanned plane transfinites, and continues to determine.
The aspect and any possible implementation manners as described above, it is further provided a kind of implementation, the pitch angle
The range that do not transfinite are as follows: -30 ° ~+30 °；The range that do not transfinite of the roll angle are as follows: -50 ° ~+50 °.
The aspect and any possible implementation manners as described above, it is further provided a kind of implementation, the posture are surveyed
Amount module selects 9 axis posture sensing chip of MPU-9250 to realize.
The aspect and any possible implementation manners as described above, it is further provided a kind of implementation, bus communication event
When barrier, flight control computer controls line traffic control unmanned plane during flying by serial communication bus and PWM or specifically leads to based on making a return voyage
Believe connection type are as follows: the mobile satellite location equipment of the flight control computer and unmanned aerial vehicle onboard, various kinds of sensors device, airborne observing and controlling are whole
Two kinds of communication connection modes of serial communication bus and communication bus are respectively adopted between end and airborne power supply and distribution management equipment to carry out
Connection；It is carried out between several steering engines of unmanned plane described in the flight control computer using two kinds of connection types of PWM and communication bus
Connection.
The aspect and any possible implementation manners as described above, it is further provided a kind of implementation, the airborne survey
Control terminal is controlled by serial communication bus and airborne power supply and distribution management equipment and is specifically communicated to connect based on unmanned plane recycling
Mode are as follows: serial communication bus and communication bus are used between the airborne detection and control terminal and the airborne power supply and distribution management equipment
Two kinds of communication connection modes are attached.
The aspect and any possible implementation manners as described above, it is further provided a kind of implementation, the winged control meter
Serial communication bus between calculation machine and the mobile satellite location equipment is specially RS422；The flight control computer and all kinds of sensings
Serial communication bus between device specifically includes: RS485, RS232 and RS422；The flight control computer and the airborne observing and controlling
Serial communication bus between terminal and airborne power supply and distribution management equipment is RS422.
On the other hand, the present invention provides the unmanned plane Emergency recovery device based on power supply management equipment, including memory, place
The computer program managing device and storage in the memory and can running on the processor, the processor execute institute
The step of as above any the method is realized when stating computer program.
Compared with prior art, the present invention can be obtained including following technical effect: can be improved the reply of parachuting unmanned plane
The ability of emergency；The Emergency recovery drop of unmanned plane can be realized in the state that UAV flight control breaks down
It falls；It is remarkably improved the safety of unmanned plane, guarantees that unmanned plane is able to carry out parachuting recycling under a variety of abnormal conditions.
Certainly, it implements any of the products of the present invention it is not absolutely required to while reaching all the above technical effect.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this field
For those of ordinary skill, without creative efforts, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the unmanned plane Emergency recovery technological system provided by one embodiment of the present invention based on power supply and distribution management equipment
Connection schematic diagram；
Fig. 2 is that firer's branch provided by one embodiment of the present invention is drivingly connected relational graph.
Specific embodiment
For a better understanding of the technical solution of the present invention, being retouched in detail to the embodiment of the present invention with reference to the accompanying drawing
It states.
It will be appreciated that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
Its embodiment, shall fall within the protection scope of the present invention.
The term used in embodiments of the present invention is only to be not intended to be limiting merely for for the purpose of describing particular embodiments
The present invention.In the embodiment of the present invention and the "an" of singular used in the attached claims, " described " and "the"
It is also intended to including most forms, unless the context clearly indicates other meaning.
In order to also be able to achieve the Emergency recovery drop of unmanned plane in the state that UAV Flight Control computer breaks down
It falls, the recycling of unmanned plane is directly handed over to airborne power supply and distribution management equipment and controlled by the present invention, and unmanned plane power supply can normally be held
Row parachute-opening recycling.Link will particularly be measured to the telemetry intelligence (TELINT) of flight control computer, while being distributed to airborne power supply and distribution management
Equipment；In the case where flight control computer failure, airborne power supply and distribution management equipment can respond the emergency of ground operator sending
It makes preparation for dropping instruction, completes parachute-opening recycling according to instruction.
Increase attitude measurement module in airborne power supply and distribution management equipment.Airborne power supply and distribution management equipment is usually micro- by monolithic
Controller (such as 8051 single-chip microcontrollers or ARM microcontroller or dsp processor) and its minimum circuit system, power circuit, communication
Circuit, firer's control circuit, supply input processing circuit, with the composition such as electricity output circuit, this is extensive in unmanned plane field
Using which is not described herein again for more specific circuit structure.The present invention is further added by original airborne power supply and distribution management equipment
Attitude measurement module, attitude measurement module include attitude-measuring sensor, for measuring the real-time flight posture of unmanned plane, by original
The power unit of airborne power supply and distribution management equipment is powered and is connect with the single chip microcontroller of airborne power supply and distribution management equipment.Flying
During row, when airborne power supplying and distributing equipment detects flight control computer Lungs from Non-Heart-Beating signal (i.e. flight control computer operation irregularity), and
When can not receive the remote information of bus or serial communication interface, the attitude measurement module of airborne power supplying and distributing equipment detects nobody
Machine posture transfinites, automatically by the control unmanned plane parachute-opening recycling of firer's control circuit.
Fig. 1 is the unmanned plane Emergency recovery technological system provided by one embodiment of the present invention based on power supply and distribution management equipment
Connection schematic diagram.As shown in Figure 1, a kind of unmanned plane Emergency recovery technology based on power supply management equipment, including unmanned aerial vehicle onboard
It is " making preparation for dropping " sender unit at flight control computer, ground control equipment at power supply and distribution management equipment, ground control, airborne
Detection and control terminal module, airborne parachute-opening firer controller and it is airborne cut umbrella firer's controller, power supply and distribution management equipment is calculated to control is flown
Machine, detection and control terminal module and two firer's controller power supplies.It power supply and distribution management and parachute-opening firer controller and cuts umbrella firer and controls
The power supply power supply mode that device processed is all made of belt switch is powered connection, can control parachute-opening firer's controller and carry out parachute-opening operation
And control cuts umbrella firer's controller and carries out cutting umbrella operation when detecting that unmanned plane contacts to earth.Parachute-opening recycling control is by priming system
Movement cutting umbrella hatchcover wound and bound rope is completed.The driving of priming system is directly driven by airborne power supplying and distributing equipment, is calculated without winged control
The other equipment such as machine, ensure that can parachute-opening under conditions of having power supply supply.
Flight control computer and power supply and distribution management equipment communicate to connect, and can send heartbeat signal and give power supply and distribution management equipment.
Flight control computer, detection and control terminal module and power supply and distribution management equipment divide two-way connection type, and the first via is flight control computer, observing and controlling
Terminal module and power supply and distribution management equipment three are communicated to connect by communication bus, which refers to CAN bus or RS485
Bus；Second tunnel is bi-directionally connected for detection and control terminal module by serial communication bus RS422 flight control computer, while again and for matching
Electric management equipment RS422 communication connection.It is designed using 1 point 2, it is airborne even if guaranteeing in the state of the failure of airborne communication bus
Power supply and distribution management equipment can also receive emergency " making preparation for dropping " instruction that airborne detection and control terminal issues.Detection and control terminal module and ground control
" making preparation for dropping " instruction issuing apparatus communication connection at equipment, receives " making preparation for dropping " signal and to the detection and control terminal module of sending.It is standby
After drop button is pressed, ground control station passes through wired mode first and receives " making preparation for dropping " instruction of control device sending (the two is logical
Cross wired connection), ground control station is by surface-mounted ground observing and controlling terminal, and " will make preparation for dropping " instruction wirelessly (
It is using wireless link circuitry between face and unmanned plane), it is sent to unmanned plane, the airborne detection and control terminal installed on unmanned plane receives
" making preparation for dropping " instruction sent to ground, by communication bus and RS422 communication line, sends flight control computer and power supply and distribution management to
Equipment.
Using communication bus connection and two kinds of communication connection modes of PWM connection between flight control computer and each steering engine.Fly
Using communication bus connection and serial communication bus between the mobile satellite location equipment of control computer and unmanned plane, various kinds of sensors device
Connect both communication connection modes.It can still realize that flying control calculates when communication bus breaks down using 1 point 2 of design
Machine controls the recycling of unmanned plane.For the airborne equipment of unmanned plane, can by pwm signal line traffic control steering engine, simultaneously because
Distance is limited between UAV flight control and steering engine, also applicable PWM control.
Power supply and distribution management equipment is equipped with attitude measurement module, attitude measurement module be used to the flight attitude of unmanned plane into
Row measurement, and determine unmanned plane whether posture transfinites.The practical 9 axis posture sensing chip of selection MPU-9250 of attitude measurement module
It realizes, the current pitch angle and roll angle of aircraft is calculated by 9 axis posture sensing chip of MPU-9250, by practical survey
The pitch angle angle value of amount is compared whether posture transfinites to determine current unmanned plane with the pitching threshold value of setting；Pitching threshold value root
According to the setting of the demand of actual needs or different type of machines, generally may be configured as being greater than 30 degree and being less than -30 degree is pitch angle threshold value, rolling
Corner transfinites, and determination method is identical, and general roll angle threshold value is set greater than 50 degree and is less than -50 degree.Flight control computer provides the heart
Signal is jumped to airborne power supply and distribution management equipment, when unmanned plane flies in the sky and heartbeat signal disappears, airborne power supplying and distributing equipment
Can according to pose discrimination execute Emergency recovery, i.e., attitude measurement module determine unmanned plane be in posture transfinite state when, power supply and distribution
Management equipment controls parachute-opening firer controller and carries out parachute-opening operation.
The work process of the invention includes: (1) ground controlling equipment setting emergency " making preparation for dropping " button, after pressing the button,
Ground control station will send " making preparation for dropping " instruction to airborne power supplying and distributing equipment by link, and the transmission of the instruction is not depended on to fly to control and be calculated
Machine executes, and the power supply and distribution management equipment acted by driving priming system is directly received and executed.(2) connection of airborne communication bus is airborne
Flight control computer, airborne power supply and distribution management equipment, each sensor.(3) universal serial bus that detection and control terminal is communicated with flight control computer,
By increasing cable branch, while it being connected to airborne power supplying and distributing equipment, realize that an equipment is sent, two equipment receive, that is, fly
Detection and control terminal data can be received by serial communication interface simultaneously by controlling computer and airborne power supplying and distributing equipment.(4) flight control computer
Output heartbeat signal line is connected to power supply and distribution management equipment, and power supply and distribution management equipment passes through monitoring flight control computer heartbeat signal,
Can determine whether flight control computer is working properly, under flight control computer fault condition, airborne power supplying and distributing equipment starts from master control
Engine cut-off processed and the permission of parachute-opening recycling.(5) airborne power supply and distribution management equipment increases attitude measurement chip, can monitor nothing
Man-machine flight attitude.
The present invention can be improved the reliability recycling of system, be arranged using the safety that the unmanned plane of recovery technology of the present invention has
It applies as follows:
Safety measure 1: in normal flight operations, unmanned plane is instructed according to ground control and is flown, and is grasped after completion task according to ground
The instruction for making personnel reaches specified ground downhill race recycling or parachute-opening recycling, system task are finished；
Safety measure 2: in flight course, there is abnormal failure in unmanned plane, such as engine cut-off failure, if flight control computer at this time
Normal with airborne link terminal, rudder face manipulation instruction can be transmitted in ground controlling personnel, controls unmanned plane in specific position parachute-opening
Recycling；Rudder face control command is sent by ground controller by the control seat in the devices such as ground remote control device or control cabinet,
Corresponding control button is pressed as needed, i.e., capable of emitting corresponding instruction, unmanned plane receives instruction after transmission, can control corresponding
Steering engine acted, steering engine movement after, unmanned plane can carry out rolling or lifting, thus control unmanned plane change of flight course or
Highly, fly to specific position；The specific position refer to the ground of operator's selection it is open, without building and gathering of people, nobody
Machine, which falls, will not bring the place of making preparation for dropping of subsidiary personnel or building loss；
Safety measure 3: in flight course, there is flight control computer failure in unmanned plane, but airborne link terminal is working properly, at this time
Airborne power supply and distribution management equipment takes over airborne communication bus, and the rudder face manipulation that unmanned plane is able to respond ground controlling personnel transmission refers to
It enables and " making preparation for dropping " instruction, arrival specific position (place of making preparation for dropping) parachute-opening is recycled, when solving flight control computer failure, aircraft is not
It is controlled can not safe retrieving the problem of；
Safety measure 4: in flight course, there is bus communication failure in unmanned plane, but airborne detection and control terminal module is working properly, this
When airborne flight control computer can control unmanned plane during flying by serial communication bus and PWM control line or make a return voyage, return to this
The problem of normal parachute-opening recycling afterwards, solves under airborne-bus fault condition, and unmanned plane can not be manipulated and be recycled；
Safety measure 5: in flight course, there is flight control computer failure and bus communication failure, airborne detection and control terminal work is just
Often, airborne power supply and distribution management equipment can be responded " making preparation for dropping " that ground operator sends by serial communication bus and be instructed, control
Unmanned plane processed is recycled in current location parachute-opening, solve in the case of UAV flight control failure and bus failure unmanned plane without
The failure of method recycling；
Safety measure 6: in flight course, there is flight control computer failure and airborne detection and control terminal failure, airborne power supply in unmanned plane
Management equipment controls engine cut-off, is monitoring UAV Attitude (pitch angle or rolling by powering off to engine controller
Angle) it is more than control unmanned plane parachute-opening recycling after defined threshold value.
Above to a kind of unmanned plane Emergency recovery technology based on power supply management equipment provided by the embodiment of the present application, into
It has gone and has been discussed in detail.The description of the example is only used to help understand the method for the present application and its core ideas；Meanwhile it is right
In those of ordinary skill in the art, according to the thought of the application, change is had in specific embodiments and applications
Place, in conclusion the contents of this specification should not be construed as limiting the present application.
In the above-described embodiments, can come wholly or partly by software, hardware, firmware or any combination thereof real
It is existing.When using entirely or partly realizing in the form of a computer program product, the computer program product include one or
Multiple computer instructions.When loading on computers or executing the computer program instructions, entirely or partly generate according to
Process described in the embodiment of the present invention or function.The computer can be general purpose computer, special purpose computer, computer network
Network or other programmable devices.The computer instruction may be stored in a computer readable storage medium, or from one
Computer readable storage medium is transmitted to another computer readable storage medium, for example, the computer instruction can be from one
A web-site, computer, server or data center pass through wired (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)
Or wireless (such as infrared, wireless, microwave etc.) mode is carried out to another web-site, computer, server or data center
Transmission).The computer-readable storage medium can be any usable medium or include one that computer can access
The data storage devices such as a or multiple usable mediums integrated server, data center.The usable medium can be magnetic Jie
Matter, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state hard disk Solid
State Disk (SSD)) etc..
Some vocabulary has such as been used to censure specific components in specification and claims.Those skilled in the art
, it is to be appreciated that hardware manufacturer may call the same component with different nouns.Present specification and claims are not
In such a way that the difference of title is as component is distinguished, but with the difference of component functionally as the criterion of differentiation.Such as
It is an open language in "comprising", " comprising " of the specification and claims in the whole text mentioned in, therefore " packet should be construed to
Containing/including but not limited to "." substantially " refer within the acceptable error range, those skilled in the art can centainly miss
The technical problem is solved in poor range, basically reaches the technical effect.Specification subsequent descriptions be implement the application compared with
Good embodiment, so the description is being not intended to limit the scope of the present application for the purpose of the rule for illustrating the application.
The protection scope of the application is subject to view the appended claims institute defender.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
Include, so that commodity or system including a series of elements not only include those elements, but also including not clear
The other element listed, or further include for this commodity or the intrinsic element of system.In the feelings not limited more
Under condition, the element that is limited by sentence "including a ...", it is not excluded that in the commodity or system for including the element also
There are other identical elements.
It should be appreciated that term "and/or" used herein is only a kind of incidence relation for describing affiliated partner, indicate
There may be three kinds of relationships, for example, A and/or B, can indicate: individualism A, exist simultaneously A and B, individualism B these three
Situation.In addition, character "/" herein, typicallys represent the relationship that forward-backward correlation object is a kind of "or".
Above description shows and describes several preferred embodiments of the present application, but as previously described, it should be understood that the application
Be not limited to forms disclosed herein, should not be regarded as an exclusion of other examples, and can be used for various other combinations,
Modification and environment, and the above teachings or related fields of technology or knowledge can be passed through in application contemplated scope described herein
It is modified.And changes and modifications made by those skilled in the art do not depart from spirit and scope, then it all should be in this Shen
It please be in the protection scope of the appended claims.
Claims (10)
1. a kind of unmanned plane Emergency recovery technology based on power supply management equipment, which is characterized in that according to unmanned plane fault point
Position is carried out different Emergency recoveries to unmanned plane and is operated, specifically:
When unmanned plane failure causes heartbeat signal to disappear, airborne power supplying and distributing equipment control engine is shut down, and is monitoring nobody
After machine posture transfinites, control unmanned plane parachute-opening recycling；
When bus communication failure occurs in unmanned plane, but airborne detection and control terminal is working properly, flight control computer passes through serial communication
Bus and PWM control line traffic control unmanned plane during flying make a return voyage, and carry out normal parachute-opening recycling；
When flight control computer and bus communication failure, when airborne detection and control terminal is working properly, the airborne detection and control terminal is responsively
" making preparation for dropping " instruction that face operator sends is controlled unmanned plane and is existed by serial communication bus and airborne power supply and distribution management equipment
Current location parachute-opening recycling.
2. the unmanned plane Emergency recovery technology according to claim 1 based on power supply management equipment, which is characterized in that pass through
Attitude measurement module on the airborne power supplying and distributing equipment is set to monitor UAV Attitude.
3. the unmanned plane Emergency recovery technology according to claim 1 based on power supply management equipment, which is characterized in that determine
The standard that UAV Attitude transfinites are as follows: carry out the pitch angle of UAV Attitude and roll angle with respective decision threshold respectively pair
Then determine that UAV Attitude transfinites beyond the range of decision threshold than, pitch angle and/or roll angle；If without departing from threshold range,
Then determine that the non-posture of unmanned plane transfinites, continues to determine.
4. the unmanned plane Emergency recovery technology according to claim 3 based on power supply management equipment, which is characterized in that described
The range that do not transfinite of pitch angle are as follows: -30 ° ~+30 °；The range that do not transfinite of the roll angle are as follows: -50 ° ~+50 °.
5. the unmanned plane Emergency recovery technology according to claim 2 based on power supply management equipment, which is characterized in that described
Attitude measurement module selects 9 axis posture sensing chip of MPU-9250 to realize.
6. the unmanned plane Emergency recovery technology according to claim 1 based on power supply management equipment, which is characterized in that bus
When communication failure, flight control computer by serial communication bus and PWM controls line traffic control unmanned plane during flying or based on making a return voyage
Specific communication connection mode are as follows: the mobile satellite location equipment of the flight control computer and unmanned aerial vehicle onboard, various kinds of sensors device, airborne
Two kinds of communication connection sides of serial communication bus and communication bus are respectively adopted between detection and control terminal and airborne power supply and distribution management equipment
Formula is attached；Two kinds of connection sides of PWM and communication bus are used between several steering engines of unmanned plane described in the flight control computer
Formula is attached.
7. the unmanned plane Emergency recovery technology according to claim 1 based on power supply management equipment, which is characterized in that described
Airborne detection and control terminal is controlled by serial communication bus and airborne power supply and distribution management equipment specifically to be led to based on unmanned plane recycling
Believe connection type are as follows: use serial communication bus between the airborne detection and control terminal and the airborne power supply and distribution management equipment and lead to
Letter two kinds of communication connection modes of bus are attached.
8. the unmanned plane Emergency recovery technology according to claim 6 based on power supply management equipment, which is characterized in that described
Serial communication bus between flight control computer and the mobile satellite location equipment is specially RS422；The flight control computer and each
Serial communication bus between class sensor specifically includes: RS485, RS232 and RS422；The flight control computer and the machine
The serial communication bus carried between detection and control terminal and airborne power supply and distribution management equipment is RS422.
9. the unmanned plane Emergency recovery technology according to claim 7 based on power supply management equipment, which is characterized in that described
Serial communication bus mode between airborne detection and control terminal and the airborne power supply and distribution management equipment is RS422.
10. a kind of unmanned plane Emergency recovery device based on power supply management equipment, including memory, processor and it is stored in institute
State the computer program that can be run in memory and on the processor, it is characterised in that: the processor executes the meter
The step of the method as any such as claim 1-9 is realized when calculation machine program.
Priority Applications (1)
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| CN112379690A (en) * | 2020-11-05 | 2021-02-19 | 浙江点辰航空科技有限公司 | Automatic charging and cruising method for unmanned aerial vehicle and unmanned aerial vehicle system |
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