A method for autonomous control of an unmanned aerial vehicle engine after a communication link between the engine and a controller is interrupted

Abstract

The present application relates to the technical field of unmanned aerial vehicle, in particular to a kind of unmanned aerial vehicle engine communication link interruption after engine autonomous control method, comprising: S1 when communication link is good, engine controller controls engine according to the real-time instruction of flight control computer, and engine controller obtains the control parameter in subsequent period from flight control computer, and continuously update in engine controller;S2 when communication link fails, engine controller controls engine according to the latest control parameter;S3 after communication link recovery, re-execute S1.It can guarantee the safe operation of unmanned aerial vehicle when the communication link of flight control computer and engine controller is interrupted, and reduce the security risk.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically, to a method for autonomous engine control after a UAV engine communication link is interrupted. Background Technology

[0002] Large and medium-sized unmanned aerial vehicles (UAVs) generally use aircraft engines as their power source. The UAV's flight control computer communicates with the engine controller via a communication bus according to a data transmission protocol, sending commands to the engine controller. The engine controller then controls the engine status according to the commands, enabling the UAV to obtain the required thrust.

[0003] During the operation of a drone, there is a possibility of communication link interruption between the flight control computer and the engine controller, which poses significant risks to the aircraft's operational status, return to base, and landing, and safety cannot be guaranteed.

[0004] In view of the above, this application is hereby submitted. Summary of the Invention

[0005] The purpose of this invention is to provide an autonomous engine control method for a drone engine after the communication link between the engine and the flight control computer is interrupted, which can ensure the safe operation of the drone and reduce safety risks when the communication link between the flight control computer and the engine controller is interrupted.

[0006] The embodiments of the present invention are implemented as follows:

[0007] A method for autonomous engine control after a communication link is interrupted in an unmanned aerial vehicle (UAV) engine, comprising:

[0008] S1: When the communication link is good, the engine controller controls the engine according to the real-time instructions of the flight control computer, and the engine controller obtains the control parameters for the subsequent period from the flight control computer and continuously updates them in the engine controller.

[0009] S2: In the event of a communication link failure, the engine controller controls the engine based on the latest control parameters;

[0010] S3: After the communication link is restored, S1 will be executed again.

[0011] Furthermore, the control parameters include: in the event of a communication link failure, if the UAV is in the process of taking off from the ground, the engine controller will shut down the engine.

[0012] Furthermore, the control parameters also include: in the event of a communication link failure, if the UAV is in flight and the last speed command received by the engine controller is less than or equal to 94%, the engine controller will control the engine speed to 90% and maintain this state.

[0013] Furthermore, the control parameters also include: in the event of a communication link failure, if the UAV is in flight and the engine controller receives a last clock speed command greater than 94%, the engine controller will control the engine speed to operate at the last clock speed for 5 minutes, then control the engine speed to adjust to 90% and maintain this state.

[0014] Furthermore, the control parameters also include: in the event of a communication link failure, if the UAV is in the process of starting up in the air, the engine controller controls the engine to start according to the preset fuel supply pattern, and after starting, accelerates to 90% and maintains the state.

[0015] Furthermore, the control parameters also include: in the event of a communication link failure, if the UAV is in an unexpected shutdown state and the last instruction received by the engine controller is "allow in-flight restart", the engine controller will control the engine to perform in-flight restart, and after the restart is completed, control the speed to 90% and maintain the state.

[0016] Furthermore, a control cycle is set so that after the engine controller controls the engine to maintain a certain state for one control cycle, the engine controller controls the engine speed to 76% and maintains that state.

[0017] Furthermore, after the engine controller controls the engine speed to 76% and maintains it in that state, when the engine controller receives the "altitude range state" command from the flight control computer through the discrete interface, the engine controller controls the engine speed to 55%; thereafter, if the "altitude range state" command is invalid, the engine controller will still maintain the speed control at 55%.

[0018] Furthermore, the control parameters include: in the event of a communication link failure, if the UAV is in the process of taking off from the ground and the remaining length of the runway is greater than or equal to the minimum safe distance required for the UAV to stop, the engine controller will control the engine to stop.

[0019] Furthermore, the control parameters include:

[0020] When performing takeoff, the UAV acquires visual images of the runway, determines the runway boundaries through image analysis, and marks the UAV's takeoff position.

[0021] Using the far edge of the runway as a reference object, the position and size changes of the reference object within the field of view are obtained during the drone's taxiing process. The distance between the drone and the reference object is determined by combining the speed changes and taxiing time of the drone during the taxiing process.

[0022] In the event of a communication link failure, if the UAV is in the process of taxiing and the distance between the UAV and the reference object is greater than or equal to the shortest safe distance, the engine controller will shut down the engine.

[0023] The beneficial effects of the technical solutions in the embodiments of the present invention include:

[0024] The autonomous engine control method provided in this embodiment of the invention, when the communication link of the UAV engine is interrupted, allows the engine controller to continuously acquire and update the control parameters for subsequent periods, preparing for unexpected interruptions in the communication link. If the communication link is unexpectedly interrupted at some point, the engine controller can continue to control the UAV based on the latest control parameters in the following period, thus providing a buffer time for the restoration of the communication link and ensuring the safety of the UAV during the interruption period.

[0025] Overall, the UAV engine autonomous control method provided in this embodiment of the invention can ensure the safe operation of the UAV when the communication link between the flight control computer and the engine controller is interrupted, thereby reducing safety risks. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 A schematic diagram illustrating the relationship between the flight control computer and the engine controller in the autonomous engine control method for unmanned aerial vehicle engine after communication link interruption provided in an embodiment of the present invention.

[0028] Figure 2 A schematic diagram of a reference object within the UAV's field of view in the UAV's autonomous control method after the UAV engine communication link is interrupted, provided in an embodiment of the present invention.

[0029] Figure 3 A schematic diagram of reference objects within the drone's field of vision after the drone has taxied a certain distance. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0032] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0033] It should be understood that the terms "system," "device," "unit," and / or "module," etc., used in this invention are methods for distinguishing different components, elements, parts, sections, or assemblies at different levels. However, if other terms can achieve the same purpose, they may be replaced by other expressions.

[0034] As indicated in this specification and claims, unless the context clearly indicates otherwise, the words "a," "the," etc., are not specifically singular and may include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0035] The flowcharts used in this specification are used to illustrate the operations performed by the system according to embodiments of this specification. It is understood that the steps are not necessarily performed in exact order. Instead, the steps can be processed in reverse order or simultaneously. Furthermore, other operations can be added to these processes, or one or more steps can be removed from them.

[0036] Example

[0037] Please refer to Figure 1 This embodiment provides a method for autonomous engine control after a communication link between an unmanned aerial vehicle (UAV) engine is interrupted, which includes:

[0038] S1: When the communication link is good, the engine controller controls the engine according to the real-time instructions of the flight control computer, and the engine controller obtains the control parameters for the subsequent period from the flight control computer and continuously updates them in the engine controller.

[0039] S2: In the event of a communication link failure, the engine controller controls the engine based on the latest control parameters;

[0040] S3: After the communication link is restored, S1 will be executed again.

[0041] With the above design, when the communication link is good, the engine controller can continuously acquire and update the control parameters for subsequent periods, preparing for unexpected communication link interruptions. If the communication link is unexpectedly interrupted at some point, the engine controller can continue to control the drone based on the latest control parameters for the following period, thus providing a buffer time for communication link restoration and ensuring the safety of the drone during the interruption period.

[0042] Overall, the autonomous engine control method after the communication link between the UAV engine and the engine controller is interrupted can ensure the safe operation of the UAV and reduce safety risks when the communication link between the flight control computer and the engine controller is interrupted.

[0043] It should be noted that the control parameters can be flexibly set according to different aircraft models and different weather conditions. The flight control computer controls the engine controller in real time according to the actual situation and updates the control parameters to the engine controller for subsequent periods.

[0044] This embodiment provides an example of the control parameters, but is not limited thereto.

[0045] For example, the control parameters include:

[0046] (1) In the event of a communication link failure, if the UAV is in the process of taking off from the ground, the engine controller will stop the engine.

[0047] (2) In the event of a communication link failure, if the UAV is in flight and the last speed command received by the engine controller is less than or equal to 94%, the engine controller will control the engine speed to 90% and maintain the state.

[0048] (3) In the event of a communication link failure, if the UAV is in flight and the engine controller receives a last clock speed command greater than 94%, the engine controller will control the engine speed to work at the last clock speed for 5 minutes, then control the engine speed to adjust to 90% and maintain the state.

[0049] (4) In the event of a communication link failure, if the UAV is in the process of starting up in the air (e.g., in-air re-ignition, windmill start-up, etc.), the engine controller controls the engine to start according to the preset fuel supply pattern, and after the start-up is completed, it accelerates to 90% and maintains the state.

[0050] (5) In the event of a communication link failure, if the UAV is in an unexpected stop state and the last instruction received by the engine controller is "allow in-flight restart", the engine controller will control the engine to perform in-flight restart. After the restart is completed, the engine speed will be controlled to 90% and the state will be maintained.

[0051] With the above design, when the communication link between the engine controller and the flight control computer fails, the engine controller can operate in multiple states according to the needs of the UAV without affecting flight safety.

[0052] Furthermore, a control cycle can be set. In the above control parameters, the engine controller controls the engine to maintain a certain state for one control cycle, and then controls the engine speed to 76% and maintains that state.

[0053] The market cycle for control can be flexibly set according to actual needs.

[0054] Furthermore, if the communication link between the engine controller and the flight control computer fails, and the engine controller detects normal communication for n consecutive control cycles, it indicates that the communication link between the engine controller and the flight control computer has been restored. The engine controller then clears the communication fault switch signal and controls the engine according to the engine speed command given by the flight control computer, thus returning to state S1. The value of n can be flexibly set according to actual conditions; for example, n can be 10, but it is not limited to this.

[0055] Furthermore, after the engine controller controls the engine speed to 76% and maintains it in that state, when the engine controller receives the "altitude range state" command from the flight control computer through the discrete interface, the engine controller controls the engine speed to 55%; thereafter, if the "altitude range state" command is invalid, the engine controller will still maintain the speed control at 55%.

[0056] It should be noted that, in order to further improve safety, the above control parameters (1) include: in the event of a communication link failure, if the UAV is in the process of taking off from the ground and the remaining length of the runway is greater than or equal to the shortest safe distance required for the UAV to stop, the engine controller will control the engine to stop.

[0057] The shortest safe distance is the minimum taxiing distance required for the drone to stop at a given speed. Performing a stop operation in this state allows the drone to abort flight before takeoff, preventing more serious consequences from problems that cannot be resolved in time after takeoff.

[0058] For specific details, please refer to... Figure 2 and Figure 3 The control parameter (1) includes:

[0059] When a drone performs a takeoff operation, it uses its vision system to acquire visual images of the runway and determines the runway boundaries through image analysis.

[0060] At the same time, mark the takeoff position of the drone and designate the area between the takeoff position of the drone and the far edge of the runway in front of the drone as the area where it can take off.

[0061] Using the far edge of the runway as a reference object, after the UAV begins its takeoff run, the position and size changes of the reference object within the field of view are continuously acquired during the takeoff run. As the UAV begins its takeoff run, the UAV will get closer and closer to the reference object (the far edge of the runway), and the reference object will also become larger and closer within the UAV's field of view.

[0062] Based on the optical parameters of the drone's vision system, the actual distance between the drone and the reference object can be determined by analyzing the changes in the position and size of the reference object within the field of view during the takeoff and landing process, as well as the changes in the drone's speed and the duration of the takeoff. For example, after the drone begins its takeoff 7 seconds, the distance it covers during those 7 seconds can be calculated based on its acceleration. After covering this distance, the distance between the drone and the reference object decreases by the length of the takeoff distance, and the position and size of the reference object within the drone's field of view will change. Figure 2 Change to Figure 3 Based on the state of the drone and the changes in the distance traveled at different times and the distance the reference object is within the field of view, the actual distance between the drone and the reference object can be obtained.

[0063] In the event of a communication link failure, if the UAV is in the process of taxiing, the actual distance between the UAV and the reference object is calculated using the above method. If the actual distance between the UAV and the reference object is greater than or equal to the shortest safe distance, it indicates that the remaining runway length can meet the parking requirements of the UAV and it will not taxi off the runway. At this time, the engine controller can control the engine to stop.

[0064] The above design allows for takeoff operations from non-standard or temporary runways, further improving the safety and environmental adaptability of the drone.

[0065] In summary, the UAV engine autonomous control method provided in this embodiment of the invention can ensure the safe operation of the UAV when the communication link between the flight control computer and the engine controller is interrupted, thereby reducing safety risks.

[0066] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for autonomous engine control after a communication link is interrupted in an unmanned aerial vehicle (UAV) engine, characterized in that, The method is applicable to scenarios where the communication link between the flight control computer and the engine controller is interrupted, including: S1: When the communication link is good, the engine controller controls the engine according to the real-time instructions of the flight control computer, and the engine controller obtains the control parameters for the subsequent period from the flight control computer and continuously updates them in the engine controller. The engine controller can continuously obtain and update the control parameters for the subsequent period to prepare for the unexpected interruption of the communication link. S2: In the event of a communication link failure, the engine controller controls the engine according to the latest control parameters, thereby providing a buffer time for the restoration of the communication link and ensuring the safety of the UAV during the communication link interruption period. S3: After the communication link is restored, S1 will be executed again.

2. The method for autonomous engine control after communication link interruption of UAV engine according to claim 1, characterized in that, The control parameters include: in the event of a communication link failure, if the UAV is in the process of taking off from the ground, the engine controller will control the engine to stop.

3. The method for autonomous engine control after communication link interruption of UAV engine according to claim 2, characterized in that, The control parameters also include: in the event of a communication link failure, if the UAV is in flight and the last speed command received by the engine controller is less than or equal to 94%, the engine controller controls the engine speed to 90% and maintains this state.

4. The method for autonomous engine control after communication link interruption of UAV engine according to claim 2, characterized in that, The control parameters also include: in the event of a communication link failure, if the UAV is in flight and the engine controller receives a last clock speed command greater than 94%, the engine controller controls the engine speed to operate at the last clock speed for 5 minutes, then controls the engine speed to adjust to 90% and maintains that state.

5. The method for autonomous engine control after communication link interruption of UAV engine according to claim 2, characterized in that, The control parameters also include: in the event of a communication link failure, if the UAV is in the process of starting up in the air, the engine controller controls the engine to start according to a preset fuel supply pattern, and after starting, accelerates to 90% and maintains the state.

6. The method for autonomous engine control after communication link interruption of UAV engine according to claim 2, characterized in that, The control parameters also include: in the event of a communication link failure, if the UAV is in an unexpected shutdown state and the last instruction received by the engine controller is "allow in-flight restart", then the engine controller controls the engine to perform in-flight restart, and after the restart is completed, controls the speed to 90% and maintains the state.

7. The method for autonomous engine control after communication link interruption of UAV engine according to any one of claims 3 to 6, characterized in that, A control cycle is set, and after the engine controller controls the engine to maintain a state for one control cycle, the engine controller controls the engine speed to 76% and maintains that state.

8. The method for autonomous engine control after communication link interruption of UAV engine according to claim 7, characterized in that, After the engine controller controls the engine speed to 76% and maintains it in that state, when the engine controller receives the "altitude range state" command from the flight control computer through the discrete interface, the engine controller controls the engine speed to 55%; thereafter, if the "altitude range state" command is invalid, the engine controller will still maintain the speed control at 55%.

9. The method for autonomous engine control after communication link interruption of UAV engine according to claim 2, characterized in that, The control parameters include: in the event of a communication link failure, if the UAV is in the process of taking off from the ground and the remaining length of the runway is greater than or equal to the shortest safe distance required for the UAV to stop, the engine controller controls the engine to stop.

10. The method for autonomous engine control after communication link interruption of UAV engine according to claim 9, characterized in that, The control parameters include: When performing takeoff, the UAV acquires visual images of the runway, determines the runway boundaries through image analysis, and marks the UAV's takeoff position. Using the far edge of the runway as a reference object, during the drone's taxiing process, the position and size changes of the reference object within the field of view are obtained, and the distance between the drone and the reference object is determined by combining the speed changes and taxiing time of the drone during the taxiing process. In the event of a communication link failure, if the UAV is in the process of taxiing and the distance between the UAV and the reference object is greater than or equal to the minimum safe distance, the engine controller will stop the engine.

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