CN107037724A - A kind of unmanned plane redundant system based on CAN - Google Patents
A kind of unmanned plane redundant system based on CAN Download PDFInfo
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Abstract
The purpose of the application is to provide a kind of unmanned plane redundant system based on CAN, including：CAN physical layer, CAN physical layer includes CAN interface, and CAN interface is used in the control system of unmanned plane, unmanned plane internal wiring is reduced；The CAN protocol layer and unmanned aerial vehicle (UAV) control redundancy backup being connected respectively with CAN interface；The flag for the active/standby data that CAN protocol layer is used in preset unmanned aerial vehicle (UAV) control redundancy backup, unmanned aerial vehicle (UAV) control redundancy backup is used for flag and default redundancy backup mechanism based on active/standby data and active/standby data is defined as into effective Backup Data, the redundancy backup to the control system of unmanned plane is realized, the reliability of control system is improved.
Description
Technical Field
The application relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle redundancy system based on a CAN bus.
Background
Unmanned aerial vehicle has wide application in fields such as disaster prevention and rescue, scientific investigation, wind power generation are patrolled and examined, industrial level environmental protection, and unmanned aerial vehicle's flight control system is unmanned aerial vehicle's important component part, plays important effect in unmanned aerial vehicle intellectuality and practicality. Especially in industrial drones, the manufacturing cost of industrial drones is high, especially fixed wing drones, such as a fuselage made of carbon fiber material, is expensive; the system of the industrial unmanned aerial vehicle is complex, so that the system of the unmanned aerial vehicle can be subjected to a large amount of long-time flight tests before delivery to an end user, so that the reliability of the industrial unmanned aerial vehicle is improved, and the popularization and the application of the industrial unmanned aerial vehicle are facilitated.
In the prior art, it is very necessary to guarantee and promote the reliability of the industrial unmanned aerial vehicle in each link, for example, the quality risks of the industrial unmanned aerial vehicle are managed and controlled from part purchasing, semi-finished product processing, finished product assembling, complete machine testing, system testing and the like, but most of the quality risks influencing the reliability of the industrial unmanned aerial vehicle can be found and corrected in an early stage or created conditions are exposed in advance, some risks cannot be predicted, are limited by different environmental factors and can appear randomly or be limited by cost control, and faults in a later stage are exposed.
Therefore, trying to improve the reliability of the industrial unmanned aerial vehicle through various approaches is an important direction for future research on the industrial unmanned aerial vehicle, and how to effectively improve the reliability of the industrial unmanned aerial vehicle becomes a main subject of research in the industry.
Disclosure of Invention
The utility model aims at providing a redundant system of unmanned aerial vehicle based on CAN bus to solve current unmanned aerial vehicle's the problem that the system is complicated and the reliability is low.
According to an aspect of the application, provide a redundant system of unmanned aerial vehicle based on CAN bus, its characterized in that includes:
a CAN physical layer including a CAN bus interface;
a CAN protocol layer and an unmanned aerial vehicle control redundancy backup which are respectively connected with the CAN bus interface;
the CAN protocol layer is used for presetting an identification bit of main/standby data in the unmanned aerial vehicle control redundant backup, and the unmanned aerial vehicle control redundant backup is used for determining the main/standby data as effective backup data based on the identification bit of the main/standby data and a preset redundant backup mechanism;
the unmanned aerial vehicle control redundancy backup comprises a main/standby flight control unit, a main/standby GPS unit, a main/standby inertia measurement unit and a main/standby power supply management unit, wherein the main/standby GPS unit, the main/standby inertia measurement unit and the main/standby power supply management unit are respectively and correspondingly connected with the main/standby flight control unit through the CAN bus interface; and the main/standby flight control unit is used for controlling the flight state of the unmanned aerial vehicle according to the effective backup data acquired by the main/standby GPS unit, the main/standby inertia measurement unit and the main/standby power management unit.
Further, in the unmanned aerial vehicle redundancy system based on the CAN bus, the unmanned aerial vehicle control redundancy backup is a hot backup.
Further, in the redundant system of unmanned aerial vehicle based on CAN bus, the master/slave data includes master/slave flight positioning information, master/slave flight speed information and master/slave power status information, wherein,
the master/slave GPS unit is used for acquiring master/slave flight positioning information of the unmanned aerial vehicle;
the main/standby inertia measurement unit is used for acquiring main/standby flight speed information of the unmanned aerial vehicle in the flight process;
the main/standby power supply management unit is used for managing the main/standby power supply state information of the unmanned aerial vehicle;
further, in the redundant system of unmanned aerial vehicle based on CAN bus, the flight speed information includes flight angular velocity and flight acceleration.
Further, in the above redundant system of the unmanned aerial vehicle based on the CAN bus, if the preset redundant backup mechanism is a self-controlled switching mechanism, the unmanned aerial vehicle controlled redundant backup is used for selecting effective backup data from the main/standby data based on the self-controlled switching mechanism and the identification bits of the main/standby data.
Further, in the above redundant system of the unmanned aerial vehicle based on the CAN bus, if the preset redundant backup mechanism is a redundant arbitration mechanism, the unmanned aerial vehicle controls the redundant backup to select effective backup data from the main/backup data based on the redundant arbitration mechanism and the identification bit of the main/backup data.
Further, in the redundant system of the unmanned aerial vehicle based on the CAN bus, the CAN physical layer comprises two independent CAN bus interfaces, namely a first CAN bus interface and a second CAN bus interface,
the main/standby inertia measurement unit and the main/standby GPS unit are respectively and correspondingly connected with the main/standby flight control unit through the first CAN bus interface.
And the master/standby power supply management unit is correspondingly connected with the master/standby flight control unit through the second CAN bus interface respectively.
Further, among the redundant system of unmanned aerial vehicle based on CAN bus above-mentioned, still include: an indication unit of a navigation light of the unmanned aerial vehicle, wherein,
the navigation light indicating unit is connected with the main/standby flight control unit through the second CAN bus interface and used for acquiring and indicating the flight state of the unmanned aerial vehicle in the flight process.
Further, among the redundant system of unmanned aerial vehicle based on CAN bus above-mentioned, still include: an electric tuning unit of an unmanned aerial vehicle, wherein,
the electric tuning unit is connected with the master/slave flight control unit through the second CAN bus interface and is used for acquiring the rotating speed information of a power brushless motor of the unmanned aerial vehicle and sending the rotating speed information to the master/slave flight control unit;
and the main/standby flight control unit is used for adjusting the rotating speed of the brushless motor based on the rotating speed information.
Further, among the redundant system of unmanned aerial vehicle based on CAN bus above-mentioned, still include: a data transmission unit of the drone, wherein,
the data transmission unit passes through second CAN bus interface with owner/be equipped with the flight control unit and connect for receive ground or controller send right unmanned aerial vehicle's flight control instruction, owner/be equipped with the flight control unit based on the flight control instruction adjustment unmanned aerial vehicle's flight mode.
Further, in the redundant system of unmanned aerial vehicle based on CAN bus, the data transmission unit is further configured to: and sending the current flight parameter information of the unmanned aerial vehicle to the ground.
Compared with the prior art, this application includes through the redundant system of unmanned aerial vehicle based on CAN bus that provides: the CAN physical layer comprises a CAN bus interface, the CAN bus interface is adopted in the control system of the unmanned aerial vehicle, so that internal wiring of the unmanned aerial vehicle is reduced, all units of the control system connected through the CAN bus CAN be mutually independent, system cutting is facilitated, simplicity and clarity of the control system of the unmanned aerial vehicle are guaranteed, and the control system of the unmanned aerial vehicle is easy and reliable to realize among all the units; a CAN protocol layer and an unmanned aerial vehicle control redundancy backup which are respectively connected with the CAN bus interface; the CAN protocol layer is used for presetting identification bits of main/standby data in the unmanned aerial vehicle control redundancy backup, the unmanned aerial vehicle control redundancy backup is used for determining the main/standby data as effective backup data based on the identification bits of the main/standby data and a preset redundancy backup mechanism so as to realize redundancy backup of a control system of the unmanned aerial vehicle, prevent downtime, data loss and the like caused after the control system of the unmanned aerial vehicle is abnormal, and further improve the reliability of the control system of the unmanned aerial vehicle. The unmanned aerial vehicle control redundancy backup comprises a main/standby flight control unit, a main/standby GPS unit, a main/standby inertia measurement unit and a main/standby power supply management unit, wherein the main/standby GPS unit, the main/standby inertia measurement unit and the main/standby power supply management unit are respectively and correspondingly connected with the main/standby flight control unit through the CAN bus interface; the main/standby flight control unit is used for controlling the flight state of the unmanned aerial vehicle according to effective backup data acquired by the main/standby GPS unit, the main/standby inertia measurement unit and the main/standby power management unit, so that the unmanned aerial vehicle is effectively controlled.
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Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
fig. 1 shows a schematic diagram of a functional unit partitioning module of a distributed architecture based on a CAN bus according to an aspect of the present application;
fig. 2 illustrates a block schematic diagram of a CAN bus based drone redundancy system in accordance with an aspect of the subject application;
fig. 3 is a schematic diagram illustrating data flow of functional units of a redundancy arbitration mechanism in a CAN bus-based redundant system for unmanned aerial vehicles according to an aspect of the present application;
fig. 4 shows a schematic diagram of a redundancy arbitration mechanism in a CAN bus based drone redundancy system according to an aspect of the present application.
The same or similar reference numbers in the drawings identify the same or similar elements.
Detailed Description
The present application is described in further detail below with reference to the attached figures.
In a typical configuration of the present application, the terminal, the device serving the network, and the trusted party each include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include non-transitory computer readable media (transient media), such as modulated data signals and carrier waves.
In order to ensure the reliability of the unmanned aerial vehicle, on one hand, a redundancy backup design needs to be carried out on an unmanned key subsystem, including hardware and software links of the unmanned aerial vehicle, and any single-point fault is required not to influence the normal operation of a control system of the unmanned aerial vehicle, and even if a key node fails, other parts in the control system of the unmanned aerial vehicle are required to have a basic emergency backup function; on the other hand, in the control redundancy backup of the unmanned aerial vehicle, when one of the main nodes fails, the backup node automatically takes over the main node to complete all functions and all services provided, further, in the process of switching the main node and the backup node, information is not allowed to be lost, and any event occurring in the switching process is not allowed to be lost; synthesize above-mentioned technological degree of difficulty, complexity, risk point etc. to unmanned aerial vehicle's control system's redundant design, this application provides an unmanned aerial vehicle redundant system based on CAN bus, and wherein this CAN bus is like the distributed architecture shown in figure 1, is convenient for carry out the redundancy backup to unmanned aerial vehicle's control system.
Fig. 2 shows a redundant system of a CAN bus based drone according to an aspect of the present application, comprising:
a CAN physical layer including a CAN bus interface; the CAN bus interface is adopted in the control system of the unmanned aerial vehicle, so that the internal wiring of the unmanned aerial vehicle is reduced, the units of the control system connected through the CAN bus CAN be mutually independent, the system cutting is convenient, the control system of the unmanned aerial vehicle is simple and clear, and the control system of the unmanned aerial vehicle is easy and reliable to realize;
a CAN protocol layer and an unmanned aerial vehicle control redundancy backup which are respectively connected with the CAN bus interface;
the CAN protocol layer is used for presetting an identification bit of main/standby data in the unmanned aerial vehicle control redundant backup, and the unmanned aerial vehicle control redundant backup is used for determining the main/standby data as effective backup data based on the identification bit of the main/standby data and a preset redundant backup mechanism; the redundancy backup of the control system of the unmanned aerial vehicle is realized, downtime, data loss and the like caused after the control system of the unmanned aerial vehicle is abnormal are avoided, and the reliability of the control system of the unmanned aerial vehicle is further improved. The unmanned aerial vehicle control redundancy backup comprises a main/standby flight control unit, a main/standby GPS unit, a main/standby inertia measurement unit and a main/standby power supply management unit, wherein the main/standby GPS unit, the main/standby inertia measurement unit and the main/standby power supply management unit are respectively and correspondingly connected with the main/standby flight control unit through the CAN bus interface; the main/standby flight control unit is used for controlling the flight state of the unmanned aerial vehicle according to effective backup data acquired by the main/standby GPS unit, the main/standby inertia measurement unit and the main/standby power management unit, so that the unmanned aerial vehicle is effectively controlled.
In order to reduce unmanned aerial vehicle's inside wiring and control system's the complexity and be convenient for among each the control system of unmanned aerial vehicle CAN be based on the mutual interactive data of CAN bus between each modular unit, the unmanned aerial vehicle of this application adopts like the CAN bus distributed architecture shown in figure 1, wherein, among the unmanned aerial vehicle flight control system of the distributed architecture based on CAN bus, the distributed architecture based on CAN bus divides unmanned aerial vehicle's control system, specifically include: the System comprises an Inertial Measurement Unit (IMU Unit), a GPS-Compass Unit (GPS Unit), a Data transmission Unit DTU (Data Transfer Unit)), a power management Unit pmu (powermanagement Unit), a navigation light indication Unit LED, a flight Control Unit fcu (flight Control Unit), an electric Control Unit esc (electronic Speed Control), and the like, wherein all the units are operated by mutually independent subsystems, and are interconnected and communicated through a CAN bus.
The inertial measurement unit IMU is connected with the flight control unit FCU through the CAN bus interface, and the built-in triaxial accelerometer, triaxial gyroscope, barometer etc. of this inertial measurement unit IMU gather and provide information such as every single move, roll, course, height, and then acquire unmanned aerial vehicle is at flight in-process's airspeed information, wherein, airspeed information includes flight angular velocity, flight acceleration, and passes through CAN bus interface output to flight control unit FCU to control unmanned aerial vehicle's airspeed.
The GPS unit is connected with the flight control unit FCU through the CAN bus interface, is internally provided with a GPS module and a three-axis magnetometer, collects and provides the course, longitude and latitude coordinates and the like of the unmanned aerial vehicle so as to acquire the flight positioning information of the unmanned aerial vehicle, and outputs the flight positioning information to the flight control unit FCU through the CAN bus interface to control the flight course of the unmanned aerial vehicle.
The data transmission unit DTU is connected with the flight control unit FCU through the CAN bus interface, so that wireless data transmission of receiving and sending of the unmanned aerial vehicle is ensured, and a wireless data link function of the unmanned aerial vehicle is realized; through receiving ground or controller send right unmanned aerial vehicle's flight control instruction to through flight control unit FCU based on the flight control instruction adjustment unmanned aerial vehicle's flight mode realizes the remote unmanned aerial vehicle of observing and controling with data interaction such as the flight control instruction that goes on between ground station or the remote controller.
Power management unit PMU, through CAN bus interface with flight control unit FCU connects, is responsible for the management unmanned aerial vehicle's power state information manages like electric quantity management, real-time dynamic's battery voltage and current state monitoring, power failure, residual capacity that carry unmanned aerial vehicle, realizes carrying out real-time supervision to unmanned aerial vehicle's power state.
The navigation light indication LED: through CAN bus interface with flight control unit FCU connects, acquires unmanned aerial vehicle in real time at the flight in-process flight state and instruction, for example at unmanned aerial vehicle's visible distance within range, acquires and the suggestion in real time at the unmanned aerial vehicle's of air flight state, and the ground personnel of being convenient for CAN in time know unmanned aerial vehicle's flight state based on this suggestion.
The flight control unit FCU is the core unit of unmanned aerial vehicle's control system to regard as unmanned aerial vehicle brain aloft, obtain unmanned aerial vehicle's flight state such as unmanned aerial vehicle's flight positioning information and the power management unit PMU information that obtains according to inertial measurement unit IMU's flight speed information, GPS unit, wherein, flight control unit FCU has inside used double closed-loop control algorithm. The flight control unit FCU is also connected with the electric control unit ESC through a CAN bus interface to control the power brushless motor of the unmanned aerial vehicle. The flight control unit FCU is also connected with the data transmission unit DTU through a CAN bus interface, receives a flight control instruction of the unmanned aerial vehicle sent by the data transmission unit DTU, for example, obtains different flight modes of the unmanned aerial vehicle, such as track coordinates (a set of longitude and latitude coordinates, height information, and the like), take-off, landing, and adjusts the flight mode of the unmanned aerial vehicle according to the high flight control instruction.
Meanwhile, the data transmission unit DTU transmits the current flight parameter information (such as power state information, flight positioning information, flight speed information, flight state, flight mode and the like) of the unmanned aerial vehicle to the ground, so that the ground can know the flight state of the unmanned aerial vehicle in real time.
The ESC is connected with the flight control unit FCU through the CAN bus interface, and is the drive unit of the power brushless motor of unmanned aerial vehicle, acquires the rotating speed information of the power brushless motor of unmanned aerial vehicle in real time and sends to the FCU so that the FCU adjusts the rotating speed of the brushless motor based on the rotating speed information, and the command for acquiring the rotating speed of the brushless motor in real time and sending the command to the FCU is realized.
Through the control system of the unmanned aerial vehicle based on the distributed architecture of the CAN bus, the internal wiring and the bus communication in the control system of the unmanned aerial vehicle are reduced due to the adoption of the CAN bus interface. The unmanned aerial vehicle's control system in the unit is more, and the physical interconnection of communication, control, detected signal between each unit CAN increase organism internal wiring, has increased work load or uncertainty in production link, after sales maintenance link etc. even increases complete machine system's uncertainty, so the unmanned aerial vehicle's of this application control system adopts the CAN bus CAN reduce trouble like this.
In order to meet different application requirements or task requirements in the future, some functional units may be added or reduced, so that the workload of modification is increased, and meanwhile, the reliability risk is increased, so that the control system CAN be easily cut by adopting the CAN bus, and the reliability risk range of the control system is controllable.
And because the control system of the whole unmanned aerial vehicle is more complex, the number of functional units is more, the number of newly added functional units is increased in the future, the control system becomes more complex, and the realization of a single board becomes difficult, so the system architecture of the distributed multifunctional unit which needs to be realized in the control system of the unmanned aerial vehicle CAN be realized by adopting the CAN bus, the realization of the system architecture of the distributed multifunctional unit becomes easy and reliable, further, the CAN bus is adopted, the multi-machine system distribution in the flight control system is favorably realized, and the guarantee of high-speed communication, high real-time performance, high reliability and high self-error correction capability is provided.
And because this application adopts the distributed architecture of CAN bus for each functional unit of unmanned aerial vehicle's control system all CAN regard as a subsystem and function is clear and definite, from angles such as technique, product, each functional unit solidification in the control system gets off, is favorable to aircraft system's reliability, is favorable to the product service in market.
The mutual independence and the wiring complexity among all functional units of the control system of the unmanned aerial vehicle are ensured through a distributed architecture of a CAN bus, in order to ensure the reliability of data of a core control system of the unmanned aerial vehicle, the application also needs to perform redundant backup on important functional units in the control system on the basis of adopting the CAN bus distributed architecture shown in figure 1, as shown in figure 2, a flight control unit FCU, an inertia measurement unit IMU, a GPS unit and a power management unit PMU in a control redundancy system of the unmanned aerial vehicle, namely, the unmanned aerial vehicle control redundancy backup in figure 2 comprises a main/standby flight control unit FCU, and a main/standby GPS unit which is correspondingly connected with the main/standby flight control unit through the CAN bus interface respectively, namely, the main GPS unit is connected with the main flight control unit FCU through the CAN bus interface, the standby GPS unit is connected with the standby flight control unit FCU through the CAN bus interface; by analogy, as CAN be seen from fig. 2, the primary inertia measurement unit is connected to the primary flight control unit FCU through the CAN bus interface; the standby inertia measurement unit is connected with the standby flight control unit FCU through the CAN bus interface; the main power management unit is connected with the main flight control unit FCU through the CAN bus interface; the standby power supply management unit is connected with the standby flight control unit FCU through the CAN bus interface, and the control system of the unmanned aerial vehicle is backed up.
Next, in the above embodiment of the present application, according to the drone control redundancy backup in the drone redundancy system shown in fig. 2, it is seen that the drone control redundancy backup is configured to determine, based on the identification bit of the master/backup data and a preset redundancy backup mechanism, the master/backup data in the valid backup data includes master/backup flight positioning information, master/backup flight speed information, and master/backup power state information, where the master/backup GPS unit is configured to obtain the master/backup flight positioning information of the drone; the main/standby inertia measurement unit is used for acquiring main/standby flight speed information of the unmanned aerial vehicle in the flight process; the main/standby power management unit is used for managing main/standby power state information of the unmanned aerial vehicle, and the flight control unit also performs redundancy backup, so that the main/standby flight control unit also corresponds to corresponding main/standby flight control data, such as main/standby rotating speed information, main/standby flight control instructions, main/standby flight states and the like, so as to realize effective backup of data of the flight control unit FCU, the GPS unit, the inertial measurement unit IMU and the power management unit PMU.
Following the above embodiments of the present application, if a large amount of data is active on the CAN bus, the load factor of the CAN bus should be considered. From the perspective of data analysis, each frame of data that is active on the CAN bus corresponds to only one Producer (an object that generates the frame of data), and corresponds to a plurality of consumers (an object that needs to use the frame of data), in the control system of the unmanned aerial vehicle of the present application, which functional units are producers, which functional units are consumers (consumers), or which functional units are both producers and consumers, and how many sub-parameters and corresponding output modes are provided for the parameter group of each functional unit to calculate the load rate of the CAN bus, the present application presets the bus load rate of the CAN bus to be less than 30%, and the specific distribution form of the control system of the unmanned aerial vehicle is determined by the bus load rate and the data roles of the functional units is shown in fig. 3: wherein,
according to the data flow direction in the control system of the unmanned aerial vehicle, the GPS unit and the inertial measurement unit IMU are high in frequency for a data producer, high in real-time requirement and large in proportion in a bus load rate value of a CAN bus; the electric adjusting unit ESC and the navigation light indicating unit LED are data consumers, the data volume is not large, the frequency is relatively low, and the periodicity requirement is strict; the data transmission unit DTU, the flight control unit FCU and the power management unit PMU are a producer and a consumer; when the redundancy design is considered, the inertial measurement unit IMU, the GPS unit, the flight control unit FCU and the power management unit PMU provide redundancy backup, if all the functional units are interconnected on one CAN bus, the bus load rate is too high, the real-time performance of the bus is influenced, the later expansion is not facilitated, and meanwhile, the reliability of the system is also reduced, so that double CAN buses are provided in the control system of the unmanned aerial vehicle. And determining the specific topological form of the CAN bus according to the functions of different functional units in the control system, the bus data flow and other factors.
For example, according to the importance of each functional unit of the unmanned aerial vehicle in the whole control system, according to the active data volume and periodicity of each functional unit on the CAN bus, and considering the load rate problem of the CAN bus, the control system of the unmanned aerial vehicle is divided into two independent CAN buses, namely a high-speed CAN bus and a low-speed CAN bus, so that in the redundant system of the unmanned aerial vehicle, the CAN physical layer comprises two independent CAN bus interfaces, namely a first CAN bus interface and a second CAN bus interface in a T-type topology form, wherein the first CAN bus interface is an interface of 1000Kbit/s (namely a high-speed CAN bus interface CAN 1), the second CAN bus interface is an interface of 250Kbit/s (namely a low-speed CAN bus CAN 2), and the first CAN bus interface and the second CAN bus interface respectively conform to the specification standards of ISO11898 (high speed) and ISO11519 (low speed) on the physical layer.
Next, in the above embodiment of the present application, in the unmanned aerial vehicle control redundancy backup in the unmanned aerial vehicle redundancy system, considering that the data volume provided by the inertial measurement unit IMU and the GPS unit is large and the periodic output frequency is high (200Hz), and when the redundancy backup of the inertial measurement unit IMU and the GPS unit is provided, the data volume of the CAN bus is larger, and the load rate of the CAN bus is increased by multiples, in this embodiment of the present application, the main/standby inertial measurement unit and the main/standby GPS unit are respectively and correspondingly interconnected with the main/standby flight control unit through the first CAN bus interface (i.e., high-speed CAN bus interface CAN 1) and have a bus rate of 1000 Kbit/s; other functional units in the drone are as follows: power management unit PMU, unmanned aerial vehicle's electricity accent unit ESC, unmanned aerial vehicle's data transmission unit DTU and unmanned aerial vehicle's navigation light indicating unit LED pass through respectively second CAN bus interface (low-speed CAN bus interface CAN2 promptly) respectively with the flight control unit corresponds the interconnection and is 250 Kbit/s's bus rate, and wherein, real-time owner/spare power management unit PMU passes through second CAN bus interface (low-speed CAN bus interface CAN2 promptly) respectively with owner/spare flight control unit corresponds the connection.
Next, in the above embodiment of the present application, the unmanned aerial vehicle control redundant backup is a hot backup, that is, the main/standby flight control unit, the main/standby GPS unit, the main/standby inertia measurement unit, and the main/standby power management unit in the unmanned aerial vehicle redundant backup are all in a hot backup mode in which the main and the standby operate simultaneously, so that an uncontrollable risk is avoided when cold backup is switched. Wherein the validity of the primary and backup retrieved data is determined by the predetermined redundant backup mechanism.
Next, in the foregoing embodiment of the present application, if the preset redundant backup mechanism is a self-controlled switching mechanism, the unmanned aerial vehicle controlled redundant backup is configured to select effective backup data from the main/standby data based on the self-controlled switching mechanism and the identification bits of the main/standby data. The self-control switching mechanism is characterized in that a master device and a slave device communicate with each other, determine who quits the master device and the slave device (by adopting a hot backup mode), do not relate to a third-party arbitration unit to determine which data between the master device and the slave device is effective to backup data, reduce the workload and technical risk of developing the third-party arbitration unit, and avoid high-risk points of the reliability of the whole system from concentrating on the third-party arbitration unit, wherein the distributed architecture of the CAN bus is arranged on a CAN physical layer, a data link layer and a CAN protocol layer (mechanism for arbitrating and switching the master device and the slave device), so that the realization flexibility and rationality are provided for the self-control switching mechanism; for example, if the primary GPS unit obtains the primary flight positioning information LMaster and slaveThe spare flight positioning information acquired by the spare GPS unit is LPrepare forWherein the zone bits are used to distinguish whether the flight positioning information is acquired by the main GPS unitThe system also comprises a standby GPS unit, and determines which flight positioning information is effective backup data according to factors such as respective loads, data transmission rates and periodicity of the main GPS unit and the standby GPS unit; furthermore, if the load, data transmission rate and periodicity of the standby GPS unit have priority over the main GPS unit, the main/standby GPS unit automatically determines that the main GPS unit exits, namely determines the standby flight positioning information L acquired by the standby GPS unitPrepare forIn order to effectively fly the positioning information, the automatic control type switching between the main GPS unit and the standby GPS unit is realized, so that the reliability of the whole system is ensured.
Next, in the foregoing embodiment of the present application, if the preset redundancy backup mechanism is a redundancy arbitration mechanism, the drone-controlled redundancy backup is configured to select valid backup data from the primary/secondary data based on the redundancy arbitration mechanism and the identification bit of the primary/secondary data.
For example, the redundancy arbitration mechanism is shown in fig. 4, and takes the form of a "guess chain" and defines specific arbitration elements (e.g., data transmission rate, periodicity, and real-time requirements, etc.) for each selected redundant backup object (e.g., flight control unit, GPS unit, inertial measurement unit, and power management unit), and determines whether the primary data is valid or the backup data is valid according to the confidence level of the arbitration elements. For example, the inertial measurement unit IMU has two sets of a main inertial measurement unit IMU and a standby inertial measurement unit IMU in a redundant backup, where the main inertial measurement unit IMU and the standby inertial measurement unit IMU are both data producers (Producer) and are used by the flight control unit FCU, and the flight control unit FCU is used as a data Consumer (Consumer), where the data Consumer has the right to use a redundant arbitration mechanism to decide which data is used as valid backup data according to an arbitration factor of a redundant backup object, and of course, in the control system of the unmanned aerial vehicle, the functional unit may be an arbiter or an arbitrated unit, and mainly depends on a data flow direction of the CAN bus, as shown in fig. 3, the flight control unit FCU may be both an arbiter or an arbitrated unit. When the flight control unit FCU is the arbiter, for example, the redundant backup objects are the primary inertial measurement unit IMU and the backup,if the flight control unit FCU selects the spare flight speed information of the spare inertial measurement unit IMU as effective backup data through a redundancy arbitration mechanism, the flight control unit FCU selects the spare flight speed information of the spare inertial measurement unit IMU as effective backup data according to the spare flight speed information FPrepare forIdentification bit of (a): "backup" determines that the valid backup data (valid airspeed information) corresponding to the data transmitted to the flight control unit FCU is backup airspeed information FPrepare forAnd further, effective backup data can be selected through a redundancy arbitration mechanism.
To sum up, the unmanned aerial vehicle redundancy system based on the CAN bus provided by the application realizes simplicity and reliability in physical form, and has great flexibility, expansibility and industrial practical value.
To sum up, this application includes through the redundant system of unmanned aerial vehicle based on CAN bus that provides: the CAN physical layer comprises a CAN bus interface, the CAN bus interface is adopted in the control system of the unmanned aerial vehicle, so that internal wiring of the unmanned aerial vehicle is reduced, all units of the control system connected through the CAN bus CAN be mutually independent, system cutting is facilitated, simplicity and clarity of the control system of the unmanned aerial vehicle are guaranteed, and the control system of the unmanned aerial vehicle is easy and reliable to realize among all the units; a CAN protocol layer and an unmanned aerial vehicle control redundancy backup which are respectively connected with the CAN bus interface; the CAN protocol layer is used for presetting identification bits of main/standby data in the unmanned aerial vehicle control redundancy backup, the unmanned aerial vehicle control redundancy backup is used for determining the main/standby data as effective backup data based on the identification bits of the main/standby data and a preset redundancy backup mechanism so as to realize redundancy backup of a control system of the unmanned aerial vehicle, prevent downtime, data loss and the like caused after the control system of the unmanned aerial vehicle is abnormal, and further improve the reliability of the control system of the unmanned aerial vehicle. The unmanned aerial vehicle control redundancy backup comprises a main/standby flight control unit, a main/standby GPS unit, a main/standby inertia measurement unit and a main/standby power supply management unit, wherein the main/standby GPS unit, the main/standby inertia measurement unit and the main/standby power supply management unit are respectively and correspondingly connected with the main/standby flight control unit through the CAN bus interface; the main/standby flight control unit is used for controlling the flight state of the unmanned aerial vehicle according to effective backup data acquired by the main/standby GPS unit, the main/standby inertia measurement unit and the main/standby power management unit, so that the unmanned aerial vehicle is effectively controlled.
It should be noted that the present application may be implemented in software and/or a combination of software and hardware, for example, implemented using Application Specific Integrated Circuits (ASICs), general purpose computers or any other similar hardware devices. In one embodiment, the software programs of the present application may be executed by a processor to implement the steps or functions described above. Likewise, the software programs (including associated data structures) of the present application may be stored in a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. Additionally, some of the steps or functions of the present application may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
In addition, some of the present application may be implemented as a computer program product, such as computer program instructions, which when executed by a computer, may invoke or provide methods and/or techniques in accordance with the present application through the operation of the computer. Program instructions which invoke the methods of the present application may be stored on a fixed or removable recording medium and/or transmitted via a data stream on a broadcast or other signal-bearing medium and/or stored within a working memory of a computer device operating in accordance with the program instructions. An embodiment according to the present application comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform a method and/or a solution according to the aforementioned embodiments of the present application.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the apparatus claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Claims (11)
1. The utility model provides a redundant system of unmanned aerial vehicle based on CAN bus which characterized in that includes:
a CAN physical layer including a CAN bus interface;
a CAN protocol layer and an unmanned aerial vehicle control redundancy backup which are respectively connected with the CAN bus interface;
the CAN protocol layer is used for presetting an identification bit of main/standby data in the unmanned aerial vehicle control redundant backup, and the unmanned aerial vehicle control redundant backup is used for determining the main/standby data as effective backup data based on the identification bit of the main/standby data and a preset redundant backup mechanism;
the unmanned aerial vehicle control redundancy backup comprises a main/standby flight control unit, a main/standby GPS unit, a main/standby inertia measurement unit and a main/standby power supply management unit, wherein the main/standby GPS unit, the main/standby inertia measurement unit and the main/standby power supply management unit are respectively and correspondingly connected with the main/standby flight control unit through the CAN bus interface; and the main/standby flight control unit is used for controlling the flight state of the unmanned aerial vehicle according to the effective backup data acquired by the main/standby GPS unit, the main/standby inertia measurement unit and the main/standby power management unit.
2. The CAN-bus based redundant system of drones of claim 1, wherein the drone controlled redundant backup is a hot backup.
3. The CAN-bus based redundant system of unmanned aerial vehicles of claim 1, wherein the master/backup data includes master/backup flight positioning information, master/backup flight speed information, and master/backup power status information, wherein,
the master/slave GPS unit is used for acquiring master/slave flight positioning information of the unmanned aerial vehicle;
the main/standby inertia measurement unit is used for acquiring main/standby flight speed information of the unmanned aerial vehicle in the flight process;
and the master/standby power supply management unit is used for managing master/standby power supply state information of the unmanned aerial vehicle.
4. The CAN-bus based redundant system of unmanned aerial vehicles of claim 3, wherein the airspeed information includes angular speed of flight, acceleration of flight.
5. The CAN-bus based redundant system for UAVs according to claim 1, wherein if the predetermined redundant backup mechanism is a self-controlled switching mechanism, the UAV controlled redundant backup is used to select valid backup data from the main/standby data based on the self-controlled switching mechanism and an identification bit of the main/standby data.
6. The CAN-bus based redundant system for UAVs according to claim 1, wherein if the predetermined redundancy backup mechanism is a redundancy arbitration mechanism, the UAV controlled redundancy backup is configured to select valid backup data from the primary/secondary data based on the redundancy arbitration mechanism and an identification bit of the primary/secondary data.
7. The CAN-bus based unmanned aerial vehicle redundancy system of claims 1 to 6, wherein the CAN physical layer comprises independent dual CAN bus interfaces, a first CAN bus interface and a second CAN bus interface respectively,
the main/standby inertia measurement unit and the main/standby GPS unit are respectively and correspondingly connected with the main/standby flight control unit through the first CAN bus interface,
and the master/standby power supply management unit is correspondingly connected with the master/standby flight control unit through the second CAN bus interface respectively.
8. The CAN-bus based redundant system of unmanned aerial vehicles of claim 7, further comprising: an indication unit of a navigation light of the unmanned aerial vehicle, wherein,
the navigation light indicating unit is connected with the main/standby flight control unit through the second CAN bus interface and used for acquiring and indicating the flight state of the unmanned aerial vehicle in the flight process.
9. The CAN-bus based redundant system of unmanned aerial vehicles of claim 7, further comprising: an electric tuning unit of an unmanned aerial vehicle, wherein,
the electric tuning unit is connected with the master/slave flight control unit through the second CAN bus interface and is used for acquiring the rotating speed information of a power brushless motor of the unmanned aerial vehicle and sending the rotating speed information to the master/slave flight control unit;
and the main/standby flight control unit is used for adjusting the rotating speed of the brushless motor based on the rotating speed information.
10. The CAN-bus based redundant system of unmanned aerial vehicles of claim 7, further comprising: a data transmission unit of the drone, wherein,
the data transmission unit passes through second CAN bus interface with owner/be equipped with the flight control unit and connect for receive ground or controller send right unmanned aerial vehicle's flight control instruction, owner/be equipped with the flight control unit based on the flight control instruction adjustment unmanned aerial vehicle's flight mode.
11. The CAN-bus based redundant system of unmanned aerial vehicles of claim 10, wherein the data transmission unit is further configured to: and sending the current flight parameter information of the unmanned aerial vehicle to the ground.
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