Fully electronic safety system for micro UAV airborne energy-gathering devices

Abstract

The present invention discloses a micro-UAV airborne energy-gathering device fully electronic safety system, comprising a power supply module (1), a safety control module (2) and a boost output module (3); the signal output end of the safety control module (2) is connected to the input end of the boost output module (3); the signal input end of the safety control module (2) is connected to the sensor signal output end of the micro-UAV; the safety control module (2) is used to obtain information collected by the UAV sensor and release the energy-gathering device safety according to the obtained information; the boost output module (3) is used to receive the dynamic release signal output by the safety control module (2), complete the boost charging, and release energy to the airborne energy-gathering device under the control of the firing signal output by the safety control module (2). The micro-UAV airborne energy-gathering device fully electronic safety system of the present invention has a small size and good safety.

Description

Technical Field

[0001] The present invention belongs to the technical field of electronic safety of airborne energy-gathering devices, and in particular relates to a fully electronic safety system for airborne energy-gathering devices of a micro-UAV. Background Art

[0002] Micro-drones are generally defined in the drone industry as drones smaller than 15cm and with a flight time of 20 minutes to two hours. Equipped with energy-gathering devices, micro-drones accurately identify and track targets and perform variable-speed sprints. They continuously search for and lock onto targets in mid-air, then sprint toward them at varying speeds, achieving precise destruction.

[0003] As a new type of energy-gathering device, the all-electronic fuze differs from traditional mechanical and electromechanical fuzes by integrating microelectronics and high-energy initiation technologies. It offers advantages such as miniaturization, informationization, intelligence, high reliability, and the ability to acquire information from a variety of sensors.

[0004] The all-electronic safety system of the energy-gathering device is an important component of the all-electronic fuze. It is used to control the safe initiation of the all-electronic fuze and plays an important role in the all-electronic fuze to perform its function.

[0005] Existing fully electronic safety systems for energy-gathering devices, such as the one described in the Chinese invention patent "A Layer-Counting Fully Electronic Safety System" (Application Number: 202111096288.3, ​​Publication Date: January 18, 2022), disclose a layer-counting fully electronic safety system comprising a sensor module, a safety control module, an initiation module, and a power module. The sensor module's power input is connected to the power module's output, its signal input is connected to external environmental information, and its signal output is connected to the safety control module's input. The safety control module's power input is connected to the power module's output, its signal input is connected to the sensor module's output, and its signal output is connected to the initiation module's input. The initiation module's power input is connected to the power module's output, and its signal input is connected to the safety control module's output. The power module's output is connected to the power inputs of each of the aforementioned modules.

[0006] However, since the micro-UAV airborne energy-gathering device has no obvious overload environment when launched, and has a low speed (less than 20m / s) and no spin when flying, it is significantly different from the operating conditions of conventional energy-gathering devices and penetrating energy-gathering devices when launched, which have high overload (greater than 10,000g) and high flight speed (greater than 700m / s). Therefore, the safety and disarming environmental information for the micro-UAV airborne energy-gathering device can only come from the various sensors on the micro-UAV. This puts forward requirements for the real-time information obtained by each sensor and the safety of the disarming control logic of the full electronic safety system. At the same time, due to the size and load constraints of the micro-UAV itself, the full electronic safety system carried needs to be arranged within a limited volume. The above-mentioned full electronic safety system is applied to the micro-UAV airborne energy-gathering device, but there is a problem that it cannot provide environmental force information such as high overload and spin for safety control, and the overall volume of the above-mentioned full electronic system is large and cannot be carried on the micro-UAV platform. Summary of the Invention

[0007] The purpose of the present invention is to provide a fully electronic safety system for an energy-gathering device onboard a micro-UAV, which has a small size and good safety.

[0008] The technical solution for achieving the purpose of the present invention is:

[0009] A fully electronic safety system for an energy-gathering device onboard a micro-UAV, comprising a power supply module, a safety control module and a boost output module; the output end of the power supply module is respectively connected to the power supply ends of the safety control module and the boost output module; the signal output end of the safety control module is connected to the input end of the boost output module; the signal input end of the safety control module is connected to the sensor signal output end of the micro-UAV; the power supply module is used to supply power to the micro-UAV and the safety control module and the boost output module; the safety control module is used to obtain information collected by the UAV sensor and, based on the obtained information, release the energy-gathering device insurance; the boost output module is used to receive a dynamic release signal output by the safety control module, complete boost charging, and release energy to the onboard energy-gathering device under the control of a firing signal output by the safety control module.

[0010] Compared with the prior art, the present invention has the following significant advantages:

[0011] 1. Small size: The present invention adopts a dual-core control architecture that shares a high-performance flight control chip with the micro-UAV, efficiently and accurately acquiring information from each sensor and effectively reducing the size of the microprocessor module. At the same time, the present invention's micro high-voltage boost circuit significantly reduces the size of the high-voltage boost circuit by adopting flyback boost technology, a customized transformer, high-voltage circuit magnetic isolation, and miniaturization of key components to meet the φ25mm×15mm volume constraint, tailored to the special operating conditions of the UAV's 3.3V lithium battery.

[0012] 2. Good safety: The present invention redesigns the safety control logic based on the weak environmental force conditions when the micro-UAV airborne energy-gathering device is working and the need to restore the insurance state when facing situations such as lost targets and recovery, meeting the design requirements of the full electronic safety system and the GJB373B-2019 design guidelines.

[0013] The present invention will be described clearly and completely below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a structural block diagram of the fully electronic safety system of the energy-gathering device onboard a micro-UAV of the present invention.

[0015] Figure 2 This is a working flow chart of the fully electronic safety system of the energy-gathering device onboard a micro-UAV of the present invention.

[0016] Figure 3 yes Figure 1 Circuit diagram of a medium- and high-voltage boost circuit.

[0017] Figure 4 yes Figure 3 The boost curve diagram of the high-voltage boost circuit shown.

[0018] In the figure, 1 is a power supply module, 2 is a safety control module, 3 is a boost and output module, MCU1 is the first microprocessor, MCU2 is the second microprocessor, 21 is the first static switch, 22 is the second static switch, 23 is the dynamic switch, 31 is a high-voltage boost circuit, 32 is a high-voltage ignition capacitor, 33 is a high-voltage isolation switch, 34 is an energy output circuit, T1 is a transformer, M1 is a field-effect transistor, C1-C3 is the first to third high-voltage capacitors, C4 is a high-voltage ignition capacitor, D1-D4 is the first to fourth high-voltage diodes, 41 is a UAV launch environment sensor, 42 is a UAV safety distance sensor, 43 is a UAV target recognition sensor, and 44 is a UAV target distance sensor. DETAILED DESCRIPTION

[0019] like Figure 1 As shown, the fully electronic safety system of the micro UAV airborne energy-gathering device of the present invention includes a power supply module 1, a safety control module 2 and a boost and output module 3.

[0020] The output end of the power supply module 1 is connected to the power supply end of the safety control module 2 and the boost and output module 3 respectively; the signal output end of the safety control module 2 is connected to the input end of the boost and output module 3; the signal input end of the safety control module 2 is connected to the sensor signal output end of the micro-UAV.

[0021] The power module 1 is used to supply power to the micro drone and the all-electronic safety system, and preferably uses a 3.3V fast-discharge lithium battery.

[0022] As a preferred solution, the output voltage of the lithium battery is stabilized at 3.3V by a linear voltage regulator to supply the microcontroller module with stable operation.

[0023] The safety control module 2 is used to obtain information collected by the drone sensor and release the energy-gathering device insurance according to the obtained information.

[0024] The boost output module 3 is used to receive the dynamic release signal output by the safety control module 2, complete the boost charging, and release energy to the airborne energy gathering device under the control of the ignition signal output by the safety control module 2.

[0025] like Figure 1 As shown, the safety control module 2 includes a first microprocessor MCU1 , a second microprocessor MCU2 , a first static switch 21 , a second static switch 22 and a dynamic switch 23 .

[0026] The power supply terminal of the first static switch 21 is connected to the positive power supply terminal of the power module 1, the signal input terminal thereof is connected to the signal output terminal of the first microprocessor MCU1, and the signal output terminal thereof is connected to the first signal input terminal of the dynamic switch 23;

[0027] The power supply end of the second static switch 22 is connected to the negative power supply terminal of the power module 1, the signal input end thereof is connected to the signal output end of the second microprocessor MCU2, and the signal output end thereof is connected to the second signal input end of the dynamic switch 23;

[0028] The third signal input terminal of the dynamic switch 23 is connected to the output terminals of the first microprocessor MCU1 and the second microprocessor MCU2 at the same time;

[0029] The first signal input terminal of the first microprocessor MCU1 is connected to the drone launch environment sensor, the second signal input terminal is connected to the drone safety distance sensor, and the third signal input terminal is connected to MCU2;

[0030] The first signal input terminal of the second microprocessor MCU2 is connected to the drone safety distance sensor, the second signal input terminal is connected to the drone target recognition sensor, the third signal input terminal is connected to the drone target distance sensor, and the fourth signal input terminal is connected to MCU1;

[0031] The fuse circuit consists of two microprocessors, MCU1 and MCU2, along with their peripheral circuitry, and two levels of static fuses and one level of dynamic fuses. Specifically, the present invention proposes a dual-core control architecture, comprised of a high-performance flight control chip shared with the micro-UAV, and a single microprocessor and its peripheral circuitry. This architecture efficiently and accurately identifies the arming environment information required for the micro-UAV during operation, outputs corresponding signals and instructions, controls the timing of the three-level fuse arming, reliably arming the fuses, and charges the high-voltage ignition capacitor to a preset voltage and maintains it in a ready-to-fire state. MCU1, a high-performance GD32F4 series flight control chip, is used on the micro-UAV to acquire real-time sensor information and enable information exchange. Because the flight control chip's onboard programs operate in parallel through the FreeRTOS operating system's multi-tasking and multi-threading, the relevant arming and information exchange processes within the flight control chip only account for a limited portion of the UAV's flight control process. The high-performance chip's processing speed far exceeds current control requirements, ensuring no impact on the drone's normal operation and enabling the arming action to execute normally. MCU2 in the schematic diagram uses an STM32L0 series microcontroller, which features ultra-low power consumption and a wide range of peripherals, adapting to the current safety control requirements of micro-UAVs. The architecture used in this invention effectively meets the dual-core control requirements of the fully electronic safety system design. The two processors are used to process different release information and can exchange information to ensure safe operation.

[0032] Static switch I is configured as a first-level static fuse, featuring a static electrical fuse that safely isolates the positive terminal of the power supply. Its arming signal is the information indicating the micro-UAV has separated from the mothership after a successful launch, ensuring that the full electronic safety system arming process is initiated only after the micro-UAV has successfully separated from the mothership. Static switch II is configured as a second-level static fuse, featuring a static electrical fuse that safely isolates the power ground. Its arming activation signal is derived from safety distance information, ensuring the safety of the micro-UAV within a safe distance. The dynamic switch is configured as a third-level fuse, featuring a dynamic electrical fuse that safely isolates the power supply ground. Its arming activation signal is derived from target identification information, ensuring that after the micro-UAV identifies and locks onto a target, it outputs a PWM wave of a specific frequency, triggering the dynamic switch to arm and charging the high-voltage ignition capacitor to a preset voltage. The implementation of the third-level dynamic fuse, which is triggered by target identification information, largely ensures the safety of the entire workflow of the present invention. The final energy output signal is generated only after all of the above arming processes have been completed in sequence, by calculating the target distance information and target identification information, ensuring its accuracy.

[0033] like Figure 2As shown, the specific control logic of this system is as follows: the micro UAV system is not powered before launch. After successful launch, the program control system is powered on to complete initialization and system self-test; after a successful self-test, MCU1 turns on the first-level insurance SW1. If the self-test is unsuccessful, it enters a fault state; if MCU1 detects that environmental signal 1, that is, the launch environment information, appears, MCU1 sends SW1 turn-on signal for the first-level insurance to release the insurance. If environmental information 1 does not appear, it continues to wait for the information; if MCU2 detects that SW1 is successfully turned on at this time, MCU2 turns on the second-level insurance SW2. If not detected, it continues to wait for the appearance of the signal; if MCU2 detects that environmental signal 2, that is, the safety distance information, appears, MCU2 sends SW2 turn-on signal The signal is used to disarm the second-level fuse. If Environmental Signal 2 does not appear, the system continues to wait for this signal. If MCU2 detects that SW2 is successfully opened, it activates the dynamic fuse SWD. If MCU1 detects that SW1 and SW2 are successfully opened, it begins to wait for Environmental Signal 3. If not, it continues to wait for this signal. If MCU1 detects Environmental Signal 3, i.e., target identification information, it sends a SWD opening signal to MCU2 for disarming the third-level dynamic fuse. If Environmental Signal 3 does not appear, the system continues to wait for this signal. If MCU2 detects that SWD is successfully opened and the voltage boost is complete, it sends a voltage boost completion signal to MCU1. After MCU1 comprehensively determines that the ignition conditions are met, it issues an ignition signal. Furthermore, if the comprehensive decision determines that the target is currently lost, MCU1 sends a safety restoration signal to MCU2. Upon receiving this signal and detecting that the ignition capacitor energy has been discharged, MCU2 returns to its pre-SWD opening state. If MCU2 receives this signal but detects that the ignition capacitor energy has not been discharged, it enters a fault state.

[0034] This control logic uses the launch environment information, safety distance information, and target identification information of the micro-UAV to perform safety control of the airborne energy-gathering device. It uses two microprocessors MCU1 and MCU2 to process different environmental information respectively to ensure the safety of the entire system process. At the same time, it has the ability to recover insurance and re-fly to search for targets, which is not available in conventional ammunition. It is more suitable for the actual use conditions of the current micro-UAV airborne energy-gathering devices.

[0035] like Figure 1 As shown, the boost and output module 3 includes a high-voltage boost circuit 31 , a high-voltage ignition capacitor 32 , a high-voltage isolation switch 33 and an energy output circuit 34 .

[0036] The power supply end of the high-voltage boost circuit 31 is connected to the output end of the power module 1, the signal input end thereof is connected to the signal output end of the dynamic switch, and the signal output end thereof is connected to the input end of the high-voltage ignition capacitor 32;

[0037] The first signal input terminal of the high-voltage isolation switch 33 is connected to the output terminal of the high-voltage ignition capacitor 32 , the second signal input terminal is connected to the ignition signal output terminal of the MCU1 , and the signal output terminal is connected to the energy output circuit 34 .

[0038] The high-voltage boost circuit 31 boosts the voltage to a preset high voltage of 300V or above within 400ms after the dynamic switch 23 is turned on, and charges the high-voltage ignition capacitor 32. After the high-voltage ignition capacitor 32 is charged, it waits for the ignition signal from the first microprocessor MCU1 to turn on the high-voltage isolation switch 33, and the energy stored in the high-voltage ignition capacitor 32 is output to the airborne energy gathering device through the energy output circuit 34.

[0039] As a preferred solution, the micro UAV airborne energy concentrator full electronic safety system of the present invention adopts the following Figure 3 The high voltage boost circuit shown.

[0040] like Figure 3 As shown, the high-voltage boost circuit 31 includes a transformer T1, a field effect transistor M1, first to third high-voltage capacitors C1-C3, a high-voltage ignition capacitor C4, and first to fourth high-voltage diodes D1-D4.

[0041] The upper end of the primary side of the high-voltage boost circuit transformer T1 is connected to the output end of the power module; the lower end of the primary side of the transformer T1 is connected to the D pole of the field-effect transistor M1, the G pole of the field-effect transistor M1 is connected to the output end of the MCU2 that outputs the PWM wave, and the S pole of the field-effect transistor M1 is connected to the power ground; the secondary side of the transformer T1 is connected to a four-fold voltage rectifier circuit composed of first to fourth diodes D1-D4, first to third high-voltage capacitors Cl-C3 and a high-voltage ignition capacitor C4.

[0042] The four-fold voltage rectifier circuit is a prior art circuit, and its internal connection relationship is as follows: Figure 3 As shown, this article will not go into details.

[0043] The present invention optimizes the parameters of the high-voltage boost circuit according to the operating conditions of the micro-UAV. Reasonable parameter design is conducive to reducing the ripple of the output voltage and shortening the charging time of the ignition capacitor. The primary side input voltage of the transformer V INmax =3.3V, transformer secondary side output voltage V out , output current I out 、The maximum duty cycle D of the PWM signal max , switching frequency f sw , estimated efficiency η, ripple factor K FR , diode voltage drop V D . Calculate the parameters of the required components based on the above listed parameters:

[0044] (1) The transformer is a key component of the circuit. Its main function is to boost the 3.3V AC voltage generated by the repeated switching of the MOSFET through electromagnetic induction between the transformer coils. The maximum primary inductance of the transformer is calculated according to the following formula based on the initial parameters:

[0045]

[0046] Next, calculate the required turns ratio (n s1 ). We still use the minimum input voltage and maximum duty cycle to get the worst-case value, and increase the forward voltage drop of the diode to make the calculation more accurate. Use formula (1.2) to estimate n s1 :

[0047]

[0048] (2) MOSFET is a key component in the boost circuit controlled by the dynamic release signal. It requires a suitable voltage and current to stably complete the dynamic release action. The maximum withstand voltage and maximum current allowed to pass through the MOSFET are calculated according to the following formula based on the parameters of the invention:

[0049]

[0050]

[0051] The miniature high-voltage boost circuit, derived from the aforementioned formula, is controlled by a 0.5 duty cycle PWM wave output by a single-chip microcomputer, achieving varying boost effects at different frequencies, such as 100V at 5kHz and 300V at 50kHz. The field-effect transistor's operating voltage is greater than 7.56V, and its current is greater than 2.37A. The system requires a transformer with a maximum primary inductance of less than 34.9μH and a turns ratio greater than 1:26. The voltage-doubling rectifier capacitor has an operating voltage of 250V, while the voltage-doubling rectifier diode has an operating voltage of 1000V and a current greater than 1A.

[0052] Using the parameters derived from the optimization calculations above, key components were selected, resulting in the STANSON ST1002 field-effect transistor, and the associated transformer was custom-made. Furthermore, by utilizing flyback boost technology, combined with a custom transformer tailored to the micro-UAV operating conditions and key components, the volume of the high-voltage boost circuit was significantly reduced, achieving efficient boost control under 3.3V battery power. Incorporating optoelectronic isolation and high-voltage magnetic isolation, the system meets the electromagnetic compatibility requirements of the fully electronic safety system.

[0053] The present invention optimizes the architecture by sharing high-performance flight control processing with micro-UAVs, solving the dual-core control problem under strict size and payload constraints. Compared with the existing technology, the micro-UAV all-electronic safety system of the present invention has a volume reduced to φ25mm×15mm.

[0054] Figure 4 The voltage boost curve of the experimentally verified boost circuit shows that the designed boost circuit can achieve a voltage boost of over 300V within 400ms under 50KHz PWM wave control, achieving the preset boost target of the invention.

[0055] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art who, within the technical scope disclosed by the present invention, makes equivalent substitutions or changes based on the technical solutions and inventive concepts of the present invention shall be covered by the scope of protection of the present invention.

Claims

1. A fully electronic safety system for energy-gathering devices onboard a micro-UAV, characterized by: It comprises a power supply module (1), a safety control module (2) and a boost output module (3); The output end of the power supply module (1) is connected to the power supply end of the safety control module (2) and the boost output module (3), respectively; the signal output end of the safety control module (2) is connected to the input end of the boost output module (3); and the signal input end of the safety control module (2) is connected to the sensor signal output end of the micro-UAV; The power supply module (1) is used to supply power to the micro-UAV, the safety control module (2), and the boost output module (3); The safety control module (2) is used to obtain information collected by the drone sensors (41-44) and release the energy-gathering device insurance based on the obtained information; The boost output module (3) is used to receive the dynamic release signal output by the safety control module (2), complete the boost charging, and release energy to the airborne energy-gathering device under the control of the firing signal output by the safety control module (2); The safety control module (2) comprises a first microprocessor (MCU1), a second microprocessor (MCU2), a first static switch (21), a second static switch (22) and a dynamic switch (23); The power supply end of the first static switch (21) is connected to the positive power supply terminal of the power module (1), the signal input end thereof is connected to the signal output end of the first microprocessor (MCU1), and the signal output end thereof is connected to the first signal input end of the dynamic switch (23); The power supply end of the second static switch (22) is connected to the negative power supply terminal of the power module (1), the signal input end thereof is connected to the signal output end of the second microprocessor (MCU2), and the signal output end thereof is connected to the second signal input end of the dynamic switch (23); The third signal input terminal of the dynamic switch (23) is simultaneously connected to the output terminals of the first microprocessor (MCU1) and the second microprocessor (MCU2); The first signal input terminal of the first microprocessor (MCU1) is connected to the UAV launch environment sensor (41), the second signal input terminal is connected to the UAV safety distance sensor (42), and the third signal input terminal is connected to (MCU2); The first signal input end of the second microprocessor (MCU2) is connected to the drone safety distance sensor (42), the second signal input end is connected to the drone target recognition sensor (43), the third signal input end is connected to the drone target distance sensor (44), and the fourth signal input end is connected to the first microprocessor (MCU1).

2. The all-electronic safety system according to claim 1, characterized in that: The boost output module (3) comprises a high-voltage boost circuit (31), a high-voltage ignition capacitor (32), a high-voltage isolation switch (33) and an energy output circuit (34); The power supply end of the high-voltage boost circuit (31) is connected to the output end of the power module (1), the signal input end thereof is connected to the signal output end of the dynamic switch (23), and the signal output end thereof is connected to the input end of the high-voltage ignition capacitor (32); The first signal input end of the high-voltage isolation switch (33) is connected to the output end of the high-voltage ignition capacitor (32), the second signal input end is connected to the ignition signal output end of the first microprocessor (MCU1), and the signal output end is connected to the energy output circuit (34); The energy output circuit (34) is used to output energy to the airborne energy concentrating device.

3. The all-electronic safety system according to claim 2, characterized in that: The high-voltage boost circuit (31) comprises a transformer (T1), a field effect tube (M1), first to third high-voltage withstand capacitors (C1-C3), a high-voltage withstand ignition capacitor (C4), and first to fourth high-voltage withstand diodes (D1-D4); The upper end of the primary side of the transformer (T1) is connected to the output end of the power module (1); the lower end of the primary side of the transformer (T1) is connected to the D pole of the field effect tube (M1), the G pole of the field effect tube (M1) is connected to the output end of the second microprocessor (MCU2), and the S pole of the field effect tube (M1) is connected to the power ground; the secondary side of the transformer (T1) is connected to a four-fold voltage rectifier circuit composed of first to fourth diodes (D1-D4), first to third high-voltage capacitors (C1-C3) and a high-voltage ignition capacitor (C4).

4. The all-electronic safety system according to claim 3, characterized in that: The maximum primary inductance L of the transformer (T1) Pmax Calculate and determine according to the following formula: The turns ratio n of the transformer (T1) s1 Calculate and determine according to the following formula: Where, the transformer primary side input voltage V INmax =3.3V, transformer secondary side output voltage V out , output current I out 、The maximum duty cycle D of the PWM signal max , switching frequency f sw , estimated efficiency η, ripple factor K FR , diode voltage drop V D .

5. The all-electronic safety system according to claim 4, characterized in that: The maximum withstand voltage value V of the field effect tube (M1) MOS Calculate and determine according to the following formula: The maximum current value I allowed to pass through the field effect tube (M1) MOS Calculate and determine according to the following formula:

6. The all-electronic safety system according to any one of claims 1 to 5, characterized in that: The power module (1) uses a 3.3V fast-discharging lithium battery.

7. The all-electronic safety system according to claim 6, characterized in that: A linear voltage regulator is connected in series to the output end of the 3.3V fast-discharging lithium battery.

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