CN106970642A - A kind of multi-rotor unmanned aerial vehicle state monitoring apparatus - Google Patents
A kind of multi-rotor unmanned aerial vehicle state monitoring apparatus Download PDFInfo
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- CN106970642A CN106970642A CN201710261043.9A CN201710261043A CN106970642A CN 106970642 A CN106970642 A CN 106970642A CN 201710261043 A CN201710261043 A CN 201710261043A CN 106970642 A CN106970642 A CN 106970642A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 60
- 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 31
- 241001269238 Data Species 0.000 claims abstract description 11
- 230000005611 electricity Effects 0.000 claims abstract description 6
- 238000005259 measurement Methods 0.000 claims description 10
- 238000012360 testing method Methods 0.000 claims description 8
- 230000009187 flying Effects 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000007257 malfunction Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000007474 system interaction Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of multi-rotor unmanned aerial vehicle state monitoring apparatus, it includes the monitor controller interacted with flight control system, the galvanometer/potentiometer, sillometer and the buzzer that are connected with flight control system；Galvanometer/the potentiometer adjusts device and motor to be connected with sillometer by electricity, and the buzzer is connected with monitor controller；Galvanometer/the potentiometer is arranged on the horn of unmanned plane, and the flight control system is arranged on the sillometer in the body of multi-rotor unmanned aerial vehicle and is arranged on the motor mount of unmanned plane horn, and the sillometer is connected with monitor controller.The present invention reads output state, the target control status data of flight control system, gps data, IMU attitude datas, the altimeter data of each control passage of multi-rotor unmanned aerial vehicle by monitor controller, and contrasted with the target control parameter of flight control system, so as to realize the function of monitoring and record multi-rotor unmanned aerial vehicle actual working state.
Description
Technical field
The present invention relates to unmanned plane application field, more particularly to a kind of multi-rotor unmanned aerial vehicle state monitoring apparatus.
Background technology
Multi-rotor unmanned aerial vehicle device is a kind of new technical platform that can quickly realize and reach in the air, it army, electric inspection process,
The fields such as frontier defense inspection, environmental monitoring, geographical remote sensing, mapping, point duty, communication relaying, which, to be widely applied.Many rotors without
It is man-machine have the advantages that use cost is low, technology flexibly, be not required to personnel and directly reach primary scene, VTOL can be achieved, fixed
The functions such as point hovering, position locking, right place patrol.With the development and popularization of multi-rotor unmanned aerial vehicle application technology, respectively should
The ins and outs and function of unmanned plane are realized with field and industry and are proposed many deep requirements, wherein, to break away to nothing
Personnel Dependence of man-machine manipulation hand etc. realizes that the full-automation of unmanned plane or programming operations are following unmanned air vehicle technique development
Important directions.Therefore also bring UAS to become increasingly complex, function is stronger and stronger, automaticity more and more higher.
The monitoring of the running status of many rotor systems is the important component for maintaining UAS normally to run.How
UAS all parts, each subsystem and whole working state of system are checked for realization and monitoring is modern unmanned plane skill
The important directions and the reduction system failure of art development improve system reliability, the important content of the automatization level of raising system.
In existing technology, monitoring of the multi-rotor unmanned aerial vehicle to itself working condition is confined to control system operation mostly
Program in itself with self-inspection or operation of each component at the beginning of startup when break down after feedback of status, when system occurs in itself
During failure, the status monitoring function to itself is also lost simultaneously；Also lack the assessment to whole UAS simultaneously and pre-
Sentence ability, the particularly assessment to real load and desired operation and detection instrument.
In view of disadvantages described above, it is necessary to which the integrality monitoring technology to multi-rotor unmanned aerial vehicle is improved, many to improve
The reliability of rotor wing unmanned aerial vehicle and the automatization level for improving multi-rotor unmanned aerial vehicle.
Therefore, prior art has yet to be improved and developed.
The content of the invention
It is an object of the invention to provide a kind of multi-rotor unmanned aerial vehicle state monitoring apparatus, it is intended to solves existing unmanned plane
When flight control system system breaks down in itself, the status monitoring function to itself can be lost, is easily lacked to whole nothing
The assessment of man-machine system and ability to predict, the particularly assessment to real load and desired operation and the technology for detecting instrument
Problem.
Technical scheme is as follows：A kind of multi-rotor unmanned aerial vehicle state monitoring apparatus, it includes and flight control system
The monitor controller of system interaction, galvanometer/potentiometer, sillometer and the buzzer being connected with flight control system；The electric current
Meter/potentiometer adjusts device and motor to be connected with sillometer by electricity, and the buzzer is connected with monitor controller；The galvanometer/
Potentiometer is arranged on the horn of unmanned plane, and the flight control system is arranged on described in the body of multi-rotor unmanned aerial vehicle test the speed
Meter is on the motor mount of unmanned plane horn, for measuring unmanned plane during flying speed, and the sillometer and monitoring and controlling
Device is connected.
Described rotor wing unmanned aerial vehicle state monitoring apparatus, wherein, the flight control system includes being used to measure unmanned plane
The GPS module of gps data, the IMU Inertial Measurement Units for measuring IMU attitude datas and the height for measuring altitude information
Meter, the GPS module, IMU Inertial Measurement Units and altimeter are connected with monitor controller respectively.
Described rotor wing unmanned aerial vehicle state monitoring apparatus, wherein, in addition to the display for defeated monitoring Unmanned Aerial Vehicle Data.
Described rotor wing unmanned aerial vehicle state monitoring apparatus, wherein, described test the speed is calculated as tachogenerator, the sensing that tests the speed
Device is connected with monitor controller.
Described rotor wing unmanned aerial vehicle state monitoring apparatus, wherein, the monitor controller is directly read by data-interface
Gps data, IMU attitude datas and the altitude information of flight control system.
Described rotor wing unmanned aerial vehicle state monitoring apparatus, wherein, the monitor controller is distinguished by each sensor interface
It is connected with GPS module, IMU Inertial Measurement Units and altimeter.
Described rotor wing unmanned aerial vehicle state monitoring apparatus, wherein, the buzzer exports failure by state output interface
Reason.
Described rotor wing unmanned aerial vehicle state monitoring apparatus, wherein, each horn of many rotors is provided with the monitor controller
The preset value of maximum working voltage and electric current.
Described rotor wing unmanned aerial vehicle state monitoring apparatus, wherein, many rotor flyings are additionally provided with the monitor controller
The maximum take-off weight output power value of device.
Beneficial effect：The present invention obtains multi-rotor unmanned aerial vehicle each motor in normal state by excessively actual calculating and test
The voltage of output, electric current, the relation curve of motor speed and load, are tested the speed by being installed in each horn of multi-rotor unmanned aerial vehicle
Meter, galvanometer, potentiometer, read output state, gps data, IMU attitude datas, height that multi-rotor unmanned aerial vehicle respectively controls to read over
Degree is counted, and is contrasted with the target control status data of flight control system, so as to monitor many rotations relatively independently
The actual working state of wing unmanned plane；And its reality is shown in control interface using sound or directly by certain monitoring strategies
Running status and monitor automatic alarm during failure.The device is by monitoring the reality of work shape of each horn of multi-rotor unmanned aerial vehicle
State, infers its effective output, forms complete control loop, and it is more excellent accurate, real-time to be provided to flight control system
State foundation, so as to take optimal control strategy；And provide reliable monitoring data for depopulated helicopter whole service process
It is easy to accident analysis and investigation.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the present invention.
Fig. 2 is a kind of structural representation of sillometer installation in the present invention.
Embodiment
To make the objects, technical solutions and advantages of the present invention clearer, clear and definite, develop simultaneously embodiment pair referring to the drawings
The present invention is further described.
As shown in Figure 1-2, the invention discloses a kind of multi-rotor unmanned aerial vehicle state monitoring apparatus, it includes and flight control
The monitor controller 1 of system interaction, the galvanometer/potentiometer 2 being connected with flight control system, sillometer 3 and buzzer 4；Institute
State galvanometer/potentiometer 2 adjusts device 5 and motor 6 to be connected with sillometer 3 by electricity, and the buzzer 4 is connected with monitor controller 1；
Galvanometer/the potentiometer 2 is arranged on the horn 7 of unmanned plane, and the flight control system 8 is arranged on multi-rotor unmanned aerial vehicle
The sillometer is arranged on the motor mount 9 of unmanned plane horn 7 in body, for measuring unmanned plane during flying speed, and should
Sillometer is connected with monitor controller.
The present invention by installed on multi-rotor unmanned aerial vehicle horn tachometer, galvanometer, potentiometer, read many rotors nobody
The output state of each control passage of machine, the target control status data of flight control system, gps data, IMU attitude datas, height
Degree is counted, and with it is actually detected to data contrasted, so as to monitor the reality of multi-rotor unmanned aerial vehicle relatively independently
Working condition, and its actual running status and monitoring are shown in control interface using sound or directly by certain monitoring strategies
To automatic alarm during failure.
Furtherly, the flight control system 8 includes being used to measure the GPS module 81 of unmanned plane gps data, for surveying
The IMU Inertial Measurement Units 82 of amount IMU attitude datas and the altimeter 83 for measuring altitude information, the GPS module 81,
IMU Inertial Measurement Units 82 and altimeter 83 are connected with monitor controller 1 respectively.
Furtherly, monitor controller of the invention is made up of hardware and software two parts, and its hardware is by control circuit, electricity
Source, sensor input/output interface and state output bus composition, control circuit respectively with power supply, sensor input/output interface
With the connection of state output bus.
Furtherly, in addition to for the defeated display 10 for monitoring Unmanned Aerial Vehicle Data；.
Furtherly, the sillometer 3 is tachogenerator, and the sensor that tests the speed is connected with monitor controller；It is described
Sillometer may be mounted on the motor of many horns, sillometer can be Hall sensor can also be infrared tachymeter or other
The sensor of rotary part rotating speed can be arbitrarily determined, by directly determining multi-rotor aerocraft revolution speed of propeller or drive disk assembly
Rotating speed simultaneously calculates rotor rotating speed by certain ratio.
Preferably, the monitor controller directly reads gps data, the IMU appearances of flight control system by data-interface
State data and altitude information.
Furtherly, the monitor controller 1 by each sensor interface respectively with GPS module 81, IMU inertia measurement lists
Member 82 and altimeter 83 are connected；Also the status data of multi-rotor aerocraft can be obtained by installing sensor additional in addition；Monitoring control
Device processed carries out real-time malfunction monitoring and alarm by obtaining the status data of each sensor using the default scheme of program.
Furtherly, the buzzer 4 exports failure cause by state output interface；The buzzer 4 is controlled with monitoring
Device 1 processed is connected, and when detecting controller monitoring to malfunction, triggers buzzer alarm, and defeated by state output interface
Be out of order reason..
Furtherly, the default of each horn maximum working voltage of many rotors and electric current is provided with the monitor controller 1
Value；The maximum take-off weight output power value of multi-rotor aerocraft is additionally provided with the monitor controller.
Especially, a kind of multi-rotor aerocraft state monitoring apparatus of the present invention, realizes monitoring and the note of normal state
The status data of flight course is recorded, and can monitor whether aircraft is in by the throttle input/output state of monitoring and controlling passage
Due motion state, the rotating speed by rotor and many rotors of voltage/current condition monitoring by horn electron speed regulator fly
The state of the effective output of row device, so as to whether calculate the total amount of taking off of multi-rotor aerocraft, load in reasonable
In the range of, and the triggering alarm under overload and overload condition.
Each horn maximum working voltage of many rotors, electric current are set in monitor controller, when the voltage, electric current that respectively detect
During more than setting value, pass through buzzer alarm.The maximum take-off weight output of multi-rotor aerocraft is set in monitor controller
Performance number.Each horn is separately monitored the working speed of its motor, and the relation of its rotating speed and load is by calculating or actually measuring
Arrive, and calculate according to this state relation total take-off weight, cumulative defeated of each horn monitored when multi-rotor aerocraft
When going out power more than power is set, as overload, now pass through the buzzer warning of supervising device.Whole record can also be realized
The state value of each sensor and each I/O channel of flight control system.
Operation principle：The rotating speed and propeller that the payload of multi-rotor unmanned aerial vehicle has each horn motor are determined, pass through reality
Border is calculated and measurement can obtain multi-rotor unmanned aerial vehicle payload and the relation of motor speed, the operating current of horn, voltage is bent
Line.Tachometer, galvanometer and potentiometer are installed by each horn in multi-rotor unmanned aerial vehicle, the real work of each horn is determined
State, can obtain the real output and load of multi-rotor unmanned aerial vehicle, the data arrived by actual monitoring and flight control system
Whether the data of system planning are contrasted may know that multi-rotor unmanned aerial vehicle in normal working range.Meanwhile, institute of the present invention
A kind of multi-rotor unmanned aerial vehicle state monitoring apparatus is stated while reading the output state of each control passage of multi-rotor unmanned aerial vehicle, flight control
Target control status data, gps data, IMU attitude datas, the altimeter data of system processed, and with the actually detected data arrived
Contrasted, so as to monitor the actual working state of depopulated helicopter relatively independently, and used by certain monitoring strategies
Sound directly shows its actual running status in control interface and monitors automatic alarm during failure.
The present invention by installed on multi-rotor unmanned aerial vehicle horn tachometer, galvanometer, potentiometer, read many rotors nobody
The output state of each control passage of machine, the target control status data of flight control system, gps data, IMU attitude datas, height
Degree is counted, and with it is actually detected to data contrasted, so as to monitor the reality of multi-rotor unmanned aerial vehicle relatively independently
Working condition, and its actual running status and monitoring are shown in control interface using sound or directly by certain monitoring strategies
To automatic alarm during failure.
1st, a kind of multi-rotor unmanned aerial vehicle state monitoring apparatus that the present invention is provided, can be independent of flight control system in itself
Working condition monitor the real work situation of multi-rotor aerocraft.
2nd, a kind of multi-rotor unmanned aerial vehicle state monitoring apparatus that the present invention is provided, by installing tachometer, electricity in each horn
Pressure meter, galvanometer, the effective power output state of multi-rotor unmanned aerial vehicle can be monitored in real time, by with calculating and surveying obtained turn
Speed, electric current, voltage relationship function pair ratio, so as to monitor whether multi-rotor unmanned aerial vehicle actual working state is in zone of reasonableness
It is interior.
3rd, a kind of multi-rotor unmanned aerial vehicle state monitoring apparatus that the present invention is provided, is respectively controlled by reading multi-rotor unmanned aerial vehicle
The control parameter of passage output, the target control status data of flight control system, gps data, IMU attitude datas, altimeter
Data, and contrasted with the target control parameter of flight control system, so as to realize that monitoring and record multi-rotor unmanned aerial vehicle are real
The function of border working condition.
4th, a kind of multi-rotor unmanned aerial vehicle state monitoring apparatus for providing of the present invention, by certain monitoring strategies using sound or
Its actual running status is directly shown in control interface and automatic alarm during failure is monitored.
It should be appreciated that the application of the present invention is not limited to above-mentioned citing, for those of ordinary skills, can
To be improved or converted according to the above description, all these modifications and variations should all belong to the guarantor of appended claims of the present invention
Protect scope.
Claims (9)
1. a kind of multi-rotor unmanned aerial vehicle state monitoring apparatus, it is characterised in that：Including the monitoring control interacted with flight control system
Device processed, galvanometer/potentiometer, sillometer and the buzzer being connected with flight control system；Galvanometer/the potentiometer passes through electricity
Device and motor is adjusted to be connected with sillometer, the buzzer is connected with monitor controller；Galvanometer/the potentiometer is arranged on nobody
On the horn of machine, the flight control system is arranged on the sillometer in the body of multi-rotor unmanned aerial vehicle and is arranged on unmanned plane machine
On the motor mount of arm, for measuring unmanned plane during flying speed, and the sillometer is connected with monitor controller.
2. rotor wing unmanned aerial vehicle state monitoring apparatus according to claim 1, it is characterised in that the flight control system bag
Include for the GPS module for measuring unmanned plane gps data, the IMU Inertial Measurement Units for measuring IMU attitude datas and for surveying
The altimeter of altitude information is measured, the GPS module, IMU Inertial Measurement Units and altimeter are connected with monitor controller respectively.
3. rotor wing unmanned aerial vehicle state monitoring apparatus according to claim 2, it is characterised in that also including for defeated monitoring nothing
The display of man-machine data.
4. rotor wing unmanned aerial vehicle state monitoring apparatus according to claim 3, it is characterised in that described test the speed is calculated as the biography that tests the speed
Sensor, the sensor that tests the speed is connected with monitor controller.
5. rotor wing unmanned aerial vehicle state monitoring apparatus according to claim 4, it is characterised in that the monitor controller passes through
Data-interface directly reads the gps data of flight control system, IMU attitude datas and altitude information.
6. rotor wing unmanned aerial vehicle state monitoring apparatus according to claim 5, it is characterised in that the monitor controller passes through
Each sensor interface is connected with GPS module, IMU Inertial Measurement Units and altimeter respectively.
7. rotor wing unmanned aerial vehicle state monitoring apparatus according to claim 6, it is characterised in that the buzzer passes through state
Output interface exports failure cause.
8. rotor wing unmanned aerial vehicle state monitoring apparatus according to claim 7, it is characterised in that set in the monitor controller
It is equipped with the preset value of each horn maximum working voltage of many rotors and electric current.
9. rotor wing unmanned aerial vehicle state monitoring apparatus according to claim 7, it is characterised in that in the monitor controller also
It is provided with the maximum take-off weight output power value of multi-rotor aerocraft.
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Cited By (11)
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| CN107390123A (en) * | 2017-07-25 | 2017-11-24 | 上海俏动智能化科技有限公司 | A kind of multi-rotor unmanned aerial vehicle dynamic failure monitoring method and monitoring system |
| CN107942851A (en) * | 2017-10-31 | 2018-04-20 | 上海拓攻机器人有限公司 | A kind of unmanned plane time-based maintenance reminding method and system |
| CN108073115A (en) * | 2018-02-26 | 2018-05-25 | 广东翔龙航空技术有限公司 | A kind of monitoring unmanned device and method based on cloud computing |
| CN108387843A (en) * | 2018-02-26 | 2018-08-10 | 广东翔龙航空技术有限公司 | A kind of unmanned plane electrical fault online test method |
| CN108614573A (en) * | 2018-05-15 | 2018-10-02 | 上海扩博智能技术有限公司 | The automatic fault tolerant attitude control method of six rotor wing unmanned aerial vehicles |
| CN108803726A (en) * | 2018-07-20 | 2018-11-13 | 上海小蚁科技有限公司 | The method for controlling video transmission and device of unmanned plane, storage medium, terminal |
| CN110375710A (en) * | 2018-08-14 | 2019-10-25 | 北京京东尚科信息技术有限公司 | The determination method, apparatus and aerocraft system of aircraft altitude |
| CN110969724A (en) * | 2019-12-23 | 2020-04-07 | 拓攻（南京）机器人有限公司 | Method, device and equipment for analyzing flight performance of unmanned aerial vehicle and storage medium |
| CN114252785A (en) * | 2021-12-13 | 2022-03-29 | 深圳市道通智能航空技术股份有限公司 | Control method of unmanned aerial vehicle, electronic equipment and storage medium |
| CN114684373A (en) * | 2020-12-29 | 2022-07-01 | 中国科学院沈阳自动化研究所 | Electric multi-rotor flight state monitoring system |
| CN116184986A (en) * | 2023-03-07 | 2023-05-30 | 珠海紫燕无人飞行器有限公司 | Unmanned aerial vehicle fault detection method and system based on flight control log |
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