Unmanned aerial vehicle dual-flight control system and method based on emergency processing

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle dual-flight control system and method based on emergency processing, in the system, a first power supply channel is connected with a first flight control system, and a second power supply channel is connected with a second flight control system to supply power respectively; the first flight control system and the second flight control system are connected with the power module so as to control the flight operation of the unmanned aerial vehicle through the power module; the second flight control system is also connected with the first power supply channel so as to close the first power supply channel when the first flight control system fails and further close the first flight control system; and the first flight control system is also connected with the second power supply channel, so that the second power supply channel is closed when the second flight control system fails, and then the second flight control system is closed. According to the invention, two sets of independent real-time flight control systems are operated at the same time, so that a basic flight task and a normal landing process can be ensured in an abnormal state of a certain flight control system.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to an emergency processing-based dual flight control system and method for unmanned aerial vehicles (UAVs). Background Art

[0002] With the advancement of science and technology, drones have played a key role in many fields and have become an important aviation tool. Drones have greatly shortened the time required for people to move in space and transmit information, breaking through geographical space limitations and making the flow of information and materials faster.

[0003] In harsh flight environments or when a high-risk fault occurs (such as damage to key components, circuit short circuit, etc.), the flight control system of the drone may fall into abnormal states such as communication blockage (unable to receive or execute operator instructions, unable to transmit flight data, etc.), system crash (software errors causing the system to fail to operate normally, internal program confusion, etc.), and system failure (failure of key functions such as attitude control and power control). These abnormal states can easily cause the drone to be damaged, fall, and other serious dangerous situations, which not only cause economic losses, but also pose a safety threat to surrounding personnel and facilities.

[0004] In view of the above abnormal conditions and dangerous consequences, there is an urgent need for a flight control system design method to reduce the flight risk of UAVs, so as to improve the reliability of the UAV system and ensure that it can still perform basic flight missions and land safely when the flight control system is abnormal. Summary of the invention

[0005] In view of this, the present invention provides a dual flight control system and method for a UAV based on emergency processing to solve the problem that the UAV cannot guarantee basic flight missions and normal landing procedures when a certain flight control system is in an abnormal state.

[0006] In a first aspect, the present invention provides a dual flight control system for a UAV based on emergency processing, the system is applied to a target UAV, the system comprising: a first flight control system, a second flight control system, a power module, a UAV controlled component, a first power channel, and a second power channel;

[0007] A first end of the first power supply channel is connected to a first end of the first flight control system, and is used to supply power to the first flight control system;

[0008] The second end of the first flight control system is connected to the first end of the power module, and is used to control the first flight operation of the target UAV through the power module;

[0009] The first end of the second power supply channel is connected to the first end of the second flight control system, and is used to supply power to the second flight control system;

[0010] The second end of the second flight control system is connected to the second end of the power module, and is used to control the second flight operation of the target UAV through the power module;

[0011] The third end of the second flight control system is connected to the second end of the first power supply channel, and the second flight control system is further used to shut down the first power supply channel through an instruction when the first flight control system fails, so as to shut down the first flight control system;

[0012] The third end of the first flight control system is connected to the second end of the second power supply channel. The first flight control system is also used to shut down the second power supply channel through instructions when the second flight control system fails, so as to shut down the second flight control system.

[0013] In an optional embodiment, the system further includes a UAV controlled component, and the third end of the power module is connected to the UAV controlled component to control the flight operation of the target UAV.

[0014] In an optional implementation, the first flight control system includes a first monitoring unit, and the second flight control system includes a second monitoring unit;

[0015] The first flight control system is further used to send the flight status information corresponding to the first flight control system to the second monitoring unit, and receive the flight status information corresponding to the second flight control system through the first monitoring unit, and when receiving the high-risk fault information of the second flight control system or the flight status information corresponding to the second flight control system is not received after a timeout, execute all the flight missions of the target UAV, and shut down the second power supply channel through an instruction to shut down the second flight control system;

[0016] The second flight control system is also used to send flight status information corresponding to the second flight control system to the first monitoring unit, and receive flight status information corresponding to the first flight control system through the second monitoring unit. When high-risk fault information of the first flight control system is received or the flight status information corresponding to the first flight control system is not received within a time limit, the second flight control system executes all flight missions of the target UAV, and shuts down the first power supply channel through instructions to shut down the first flight control system.

[0017] In an optional implementation, the hardware structures of the first flight control system and the second flight control system both include an AI processor, a DDR memory, and an EMMC storage chip.

[0018] In an optional embodiment, both the first flight control system and the second flight control system are integrated with a dual operating system consisting of a first operating system and a second operating system, wherein the first operating system is used to perform computing application tasks such as image processing, video processing and data transmission; and the second operating system is used to process real-time tasks of the UAV.

[0019] In an optional implementation manner, the first flight control system is further configured to run the second operating system to process real-time tasks of the UAV when both the first flight control system and the second flight control system are in a normal state; and to run the first operating system and the second operating system simultaneously to perform all flight tasks of the target UAV when the second flight control system fails;

[0020] The second flight control system is also used to run the first operating system to process computing power application tasks when both the first flight control system and the second flight control system are in normal state; and when the first flight control system fails, simultaneously run the dual operating system of the first operating system and the second operating system in the second flight control system to execute all flight missions of the target UAV.

[0021] In a second aspect, the present invention provides a dual flight control method for a UAV based on emergency processing, the method is applied to a dual flight control system for a UAV based on emergency processing as described above, the method comprising:

[0022] When both the first flight control system and the second flight control system are in normal state, the first flight control system runs the second operating system to process the real-time tasks of the UAV, and the second flight control system runs the first operating system to process the computing power application tasks, and the first flight control system sends the flight status information corresponding to the first flight control system to the second monitoring unit of the second flight control system, and the second flight control system sends the flight status information corresponding to the second flight control system to the first monitoring unit of the first flight control system.

[0023] In an optional implementation manner, the method further includes:

[0024] When the first monitoring unit of the first flight control system receives high-risk fault information of the second flight control system or fails to receive the corresponding flight status information of the second flight control system within a timeout period, the first flight control system is made to perform all flight missions of the target UAV, and the second power supply channel is turned off through an instruction to turn off the second flight control system;

[0025] When the second monitoring unit of the second flight control system receives high-risk fault information from the first flight control system or fails to receive the corresponding flight status information from the first flight control system within a certain period of time, the second flight control system is enabled to perform all flight missions of the target UAV, and the first power supply channel is shut down through instructions to shut down the first flight control system.

[0026] In a third aspect, the present invention provides a dual flight control device for a UAV based on emergency processing, the device is applied to a dual flight control system for a UAV based on emergency processing as described above, and the device comprises:

[0027] The dual control module is used to enable the first flight control system to run the second operating system to process the real-time tasks of the UAV when both the first flight control system and the second flight control system are in normal state, and enable the second flight control system to run the first operating system to process the computing power application tasks, and enable the first flight control system to send the flight status information corresponding to the first flight control system to the second monitoring unit of the second flight control system, and enable the second flight control system to send the flight status information corresponding to the second flight control system to the first monitoring unit of the first flight control system.

[0028] In a fourth aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the above-mentioned emergency processing-based dual flight control method for unmanned aerial vehicles by executing the computer instructions.

[0029] In a fifth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute a method for dual flight control of a drone based on emergency processing according to any one of the above-mentioned embodiments.

[0030] In a sixth aspect, the present invention provides a computer program product, including computer instructions, which are used to enable a computer to execute the above-mentioned dual flight control method for unmanned aerial vehicles based on emergency processing.

[0031] The technical solution provided by the present invention may include the following beneficial effects:

[0032] The dual flight control system of the unmanned aerial vehicle of the present invention realizes the redundant design and fault takeover mechanism of flight control by running two independent real-time flight control systems at the same time, which not only improves the flight performance and stability of the unmanned aerial vehicle under normal conditions, but also significantly enhances the safety and reliability under abnormal conditions. During the normal flight of the unmanned aerial vehicle, both flight control systems are in an active state, but each undertakes different tasks or works in collaboration. This division of labor and cooperation can be based on different control strategies, algorithms or data processing methods to ensure that when any single system has problems, the other system can quickly and effectively supplement its functions. At the same time, through mutual monitoring and verification, possible errors or deviations can be discovered and corrected in time, and the accuracy and stability of flight can be improved. Each flight control system has the ability to independently control the flight of the unmanned aerial vehicle. When one of the systems fails or the performance degrades, the other system can immediately take over the control task to ensure that the unmanned aerial vehicle continues to fly stably, greatly reducing the risk of the unmanned aerial vehicle losing control or crashing due to a single system failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 is a structural schematic diagram of a dual flight control system for a UAV based on emergency processing according to an embodiment of the present invention;

[0035] Figure 2 is a schematic block diagram of software design of a first flight control system and a second flight control system according to an embodiment of the present invention;

[0036] Figure 3 is a flow chart of a dual flight control method for a UAV based on emergency processing according to an embodiment of the present invention;

[0037] Figure 4 is a structural block diagram of a dual flight control device for a UAV based on emergency processing according to an embodiment of the present invention;

[0038] Figure 5 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0040] Figure 1 is a structural schematic diagram of a dual flight control system for a UAV based on emergency processing according to an embodiment of the present invention. Figure 1 As shown, the system is applied to a target UAV, and the system includes: a first flight control system, a second flight control system, a power module, a UAV controlled component, a first power channel, and a second power channel;

[0041] The first end of the first power channel (i.e., the output end of the first power channel) is connected to the first end of the first flight control system (i.e., the input end of the first flight control system) for supplying power to the first flight control system;

[0042] The second end of the first flight control system (i.e., the output end of the first flight control system) is connected to the first end of the power module (i.e., the input end of the power module) for controlling the first flight operation of the target UAV through the power module;

[0043] The first end of the second power supply channel (i.e., the output end of the second power supply channel) is connected to the first end of the second flight control system (i.e., the input end of the second flight control system) for supplying power to the second flight control system;

[0044] The second end of the second flight control system (i.e., the output end of the second flight control system) is connected to the second end of the power module (i.e., the other input end of the power module) for controlling the second flight operation of the target UAV through the power module;

[0045] The third end of the second flight control system (i.e., another output end of the second flight control system) is connected to the second end of the first power supply channel (i.e., the input end of the first power supply channel), and the second flight control system is further used to shut down the first power supply channel by command when the first flight control system fails, so as to shut down the first flight control system;

[0046] The third end of the first flight control system (i.e., the other output end of the first flight control system) is connected to the second end of the second power supply channel (i.e., the input end of the second power supply channel). The first flight control system is also used to shut down the second power supply channel by command when the second flight control system fails, so as to shut down the second flight control system.

[0047] Furthermore, in view of the occasional abnormal flight control system problem of the UAV in operation, this embodiment proposes a UAV dual flight control system to improve system reliability and ensure that the UAV can perform basic flight missions and complete normal landing procedures when the flight control system is abnormal. The system realizes that the UAV can ensure basic flight missions and normal landing procedures when a certain flight control system is abnormal by running a dual flight control system on the UAV end. As shown in the figure, the system includes a flight control system 1 (i.e., the first flight control system), a flight control system 2 (i.e., the second flight control system), a power module, a UAV controlled component, a power channel 1 (i.e., the first power channel), a power channel 2 (i.e., the second power channel), and other parts. In this embodiment, there are two independent flight control systems: the first flight control system and the second flight control system. Both flight control systems use power modules to control the flight of the UAV; the two flight control systems are powered by independent power channels; the first power channel supplies power to the first flight control system, and the second power channel supplies power to the second flight control system; the first power channel of the first flight control system can be turned off by instructions from the second flight control system, thereby turning off the first flight control system; the second power channel of the second flight control system can be turned off by instructions from the first flight control system, thereby turning off the second flight control system.

[0048] That is to say, in this embodiment, flight control system 1 (first flight control system) is the first flight control system of the UAV, which is responsible for the flight control tasks of the UAV, such as navigation, attitude control, etc. It executes flight instructions through the power module to control the flight of the UAV. The first flight control system is powered by the first power supply channel to ensure its stable operation during flight. The power supply of the first flight control system (i.e., the first power supply channel) can be turned off by the second flight control system through instructions, which means that the second flight control system has control over the first flight control system. Flight control system 2 (second flight control system) is the second flight control system of the UAV, which operates independently of the first flight control system and also controls the flight of the UAV through the power module, but uses independent control logic and algorithms. The second flight control system is powered by the second power supply channel to ensure its independence. Similar to the first flight control system, the power supply of the second flight control system (i.e., the second power supply channel) can also be turned off by the first flight control system through instructions. The power module is the power source for the flight of the UAV, which controls the motor, propeller and other components of the UAV according to the instructions of the flight control system to achieve flight actions. In this system, both flight control systems control the flight of the UAV through the power module. Power channel 1 (first power channel) and power channel 2 (second power channel) provide power to the first flight control system and the second flight control system respectively. Their independence ensures that even if one power channel fails, the other flight control system can still work normally. At the same time, this design also allows one flight control system to control another flight control system by turning off the power of the other flight control system.

[0049] In an optional embodiment, the system further includes a UAV controlled component, and the third end of the power module is connected to the UAV controlled component to control the flight operation of the target UAV.

[0050] Furthermore, the controlled components of the drone are the drone's actuators, such as motors, electric regulators and propellers, which perform corresponding actions according to the instructions of the flight control system.

[0051] In an optional implementation, the first flight control system includes a first monitoring unit, and the second flight control system includes a second monitoring unit;

[0052] The first flight control system is also used to send the flight status information corresponding to the first flight control system to the second monitoring unit, and receive the flight status information corresponding to the second flight control system through the first monitoring unit, and when receiving the high-risk fault information of the second flight control system or the flight status information corresponding to the second flight control system is not received within a timeout, execute all the flight missions of the target UAV, and close the second power supply channel through an instruction to close the second flight control system;

[0053] The second flight control system is also used to send flight status information corresponding to the second flight control system to the first monitoring unit, and receive flight status information corresponding to the first flight control system through the second monitoring unit. When high-risk fault information of the first flight control system is received or the flight status information corresponding to the first flight control system is not received within a time limit, the second flight control system executes all flight missions of the target UAV, and shuts down the first power supply channel through instructions to shut down the first flight control system.

[0054] Furthermore, under normal conditions, the first flight control system is the main controller of the flight status of the UAV, responsible for key flight tasks such as navigation and attitude control of the UAV. The second flight control system assists the flight control system in processing algorithm-related tasks, such as data processing, flight path planning, etc., to reduce the burden of the first flight control system and improve its work efficiency. In order to ensure the collaborative work between the two flight control systems, they will report their own flight status information to the "watchdog" of the other flight control system in real time. The "watchdog" is a monitoring and fault detection mechanism for receiving and verifying the status information of another flight control system, such as the first monitoring unit and the second monitoring unit mentioned above. If the first flight control system reports high-risk fault information (such as sensor failure, processor failure, etc.), or does not report status information to the second flight control system after a timeout (this may mean that the first flight control system has failed or is in an abnormal state), the second flight control system will immediately take over all tasks of the first flight control system and fully take over the control of the UAV. At the same time, the first flight control system will issue a command to shut down the first power channel, thereby safely shutting down the first flight control system to prevent it from continuing to affect the flight of the UAV. The same logic applies to the second flight control system. If the second flight control system reports a high-risk fault message or times out without reporting status information to the first flight control system, the first flight control system will take over the tasks of the second flight control system, fully take over the drone, and shut down the second power channel to shut down the second flight control system.

[0055] In an optional implementation, the hardware structures of the first flight control system and the second flight control system both include an AI processor, a DDR memory, and an EMMC storage chip.

[0056] In an optional implementation, the first flight control system and the second flight control system are both integrated with a dual operating system of a first operating system and a second operating system, the first operating system is used to perform computing power application tasks such as image processing, video processing, and data transmission; the second operating system is used to process real-time tasks of the drone. The first operating system may be an Android operating system, and the second operating system may be an RTOS operating system.

[0057] For further information, see Figure 2The software design schematic diagram of the first flight control system and the second flight control system is shown. To achieve the above process goals, this embodiment needs to redesign the software system dedicated to the flight control system according to the target process, and the software system is applied to the first flight control system and the second flight control system at the same time. The software system design is based on hardware such as AI processors, DDR memory, EMMC storage chips, etc. On the basis of hardware, the Android operating system and the RTOS operating system are integrated through virtual machines and containers; wherein, the Android operating system is used for computing power application scenarios such as image processing, video processing, and large data transmission, and the RTOS operating system is used to process some real-time tasks and control instructions. The first flight control system and the second flight control system both run the same software system. Whether the first flight control system or the second flight control system takes over the drone, they will perform corresponding tasks according to the real-time status of the drone (such as position, speed, altitude, etc.). These tasks may include maintaining flight (maintaining the current flight state), maintaining stability (preventing the drone from losing control or crashing), returning (returning to the take-off point or a designated safe area) or selecting a safe landing (making an emergency landing at a suitable location). This design ensures that the drone can continue to fly and land safely when a single flight control system fails, thereby improving the reliability and safety of the drone. At the same time, through real-time status information sharing and fault detection mechanisms, the two flight control systems can work together to ensure the stable flight of the drone.

[0058] In an optional implementation manner, the first flight control system is further used to run the second operating system to process real-time tasks of the UAV when both the first flight control system and the second flight control system are in normal state; and to run the first operating system and the second operating system simultaneously to execute all flight tasks of the target UAV when the second flight control system fails;

[0059] The second flight control system is also used to run the first operating system to process computing power application tasks when both the first flight control system and the second flight control system are in normal state; and to run a dual operating system of the first operating system and the second operating system in the second flight control system at the same time when the first flight control system fails to execute all flight missions of the target UAV.

[0060] Furthermore, in the normal state, the first flight control system runs the RTOS operating system. This is because the RTOS operating system is very suitable for handling real-time tasks of drones, such as attitude control, navigation, and sensor data processing, with its real-time, efficient, stable, and low-latency characteristics. These characteristics of the RTOS operating system are essential to ensure the stable flight of drones in complex environments. The second flight control system runs the Android operating system, which, with its powerful application ecology and rich computing resources, is more suitable for computing-intensive applications such as image processing, video transmission, and complex flight path planning. In this way, the second flight control system can make full use of the advantages of the Android operating system and provide efficient computing support.

[0061] If the first flight control system fails or is abnormal, the second flight control system will take over the control of the drone. At this time, the second flight control system will not only continue to run its original Android operating system to process computing applications, but will also load and run the RTOS operating system to take over the real-time tasks originally responsible for the first flight control system. This design ensures that even if one flight control system fails, the drone can still continue to fly and complete the mission. Similarly, if the second flight control system fails or is abnormal, the first flight control system will take over the control of the drone. After taking over, the first flight control system will also run both Android and RTOS software systems. This means that the first flight control system will simultaneously undertake the computing application tasks originally undertaken by the second flight control system, as well as the real-time tasks originally responsible for it.

[0062] In summary, the dual flight control system of the unmanned aerial vehicle of this embodiment realizes the redundant design and fault takeover mechanism of flight control by running two independent real-time flight control systems at the same time, which not only improves the flight performance and stability of the unmanned aerial vehicle under normal conditions, but also significantly enhances the safety and reliability under abnormal conditions. During the normal flight of the unmanned aerial vehicle, both flight control systems are active, but each undertakes different tasks or works together. This division of labor and cooperation can be based on different control strategies, algorithms or data processing methods to ensure that when any single system has problems, the other system can quickly and effectively supplement its functions. At the same time, through mutual monitoring and verification, possible errors or deviations can be discovered and corrected in time, and the accuracy and stability of flight can be improved. Each flight control system has the ability to independently control the flight of the unmanned aerial vehicle. When one of the systems fails or its performance degrades, the other system can immediately take over the control task to ensure that the unmanned aerial vehicle continues to fly stably, greatly reducing the risk of the unmanned aerial vehicle losing control or crashing due to a single system failure.

[0063] According to an embodiment of the present invention, an embodiment of a dual flight control method for a UAV based on emergency processing is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that shown here.

[0064] In this embodiment, a dual flight control method for a UAV based on emergency processing is provided, which is applied to Figure 1 In the dual flight control system of a UAV based on emergency processing, Figure 3 is a flow chart of a dual flight control method for a UAV based on emergency processing according to an embodiment of the present invention. Figure 3 As shown, the process includes the following steps:

[0065] Step S301, when the first flight control system and the second flight control system are both in normal states, the first flight control system is enabled to run the second operating system to process real-time tasks of the UAV, the second flight control system is enabled to run the first operating system to process computing power application tasks, and the first flight control system sends flight status information corresponding to the first flight control system to the second monitoring unit of the second flight control system, and the second flight control system sends flight status information corresponding to the second flight control system to the first monitoring unit of the first flight control system.

[0066] Furthermore, under normal conditions, the first flight control system runs a second operating system (e.g., an RTOS system) and focuses on processing real-time tasks of the drone, such as attitude control, navigation, and sensor data processing. These tasks require the system to be efficient, stable, and low-latency. At the same time, the second flight control system runs the first operating system (e.g., an Android system) and is responsible for processing computing application tasks, such as image processing, video transmission, and complex flight path planning. In order to ensure synchronization and coordination between the two flight control systems, the first flight control system sends its corresponding flight status information to the second monitoring unit of the second flight control system, and vice versa. This helps the two systems understand each other's status and prepare for possible fault takeover.

[0067] In an optional implementation, the method further includes:

[0068] When the first monitoring unit of the first flight control system receives the high-risk fault information of the second flight control system or fails to receive the corresponding flight status information of the second flight control system within a timeout period, the first flight control system is made to perform all flight missions of the target UAV, and the second power supply channel is turned off by command to turn off the second flight control system;

[0069] When the second monitoring unit of the second flight control system receives high-risk fault information from the first flight control system or times out without receiving the corresponding flight status information from the first flight control system, the second flight control system is enabled to perform all flight missions of the target UAV, and the first power supply channel is shut down through instructions to shut down the first flight control system.

[0070] Further, when the first monitoring unit of the first flight control system receives the high-risk fault information sent by the second flight control system, it indicates that the second flight control system may not be able to continue to perform the mission. At this time, the first flight control system needs to take over all flight missions of the drone. If the first monitoring unit fails to receive the flight status information corresponding to the second flight control system within a timeout period, it may also mean that the second flight control system has a fault. Similarly, the first flight control system needs to take over the flight mission. While taking over the flight mission, the first flight control system closes the second power supply channel through an instruction to safely shut down the second flight control system to avoid interference or danger that may be caused by its continued operation. Similarly, when the second monitoring unit of the second flight control system receives the high-risk fault information of the first flight control system or fails to receive its flight status information within a timeout period, the second flight control system needs to take over all flight missions of the drone. While taking over the mission, the second flight control system closes the first power supply channel through an instruction to safely shut down the first flight control system. This emergency-handling-based dual flight control method for UAVs ensures the stable operation of the UAV when a single flight control system fails by running different operating systems on different flight control systems and realizing real-time exchange of flight status information and fault detection mechanism. When a fault is detected, the other flight control system can quickly take over control and continue to perform the UAV's flight mission, while shutting down the power channel of the faulty flight control system to improve the safety and reliability of the UAV.

[0071] In summary, the dual flight control system of the unmanned aerial vehicle of this embodiment realizes the redundant design and fault takeover mechanism of flight control by running two independent real-time flight control systems at the same time, which not only improves the flight performance and stability of the unmanned aerial vehicle under normal conditions, but also significantly enhances the safety and reliability under abnormal conditions. During the normal flight of the unmanned aerial vehicle, both flight control systems are active, but each undertakes different tasks or works together. This division of labor and cooperation can be based on different control strategies, algorithms or data processing methods to ensure that when any single system has problems, the other system can quickly and effectively supplement its functions. At the same time, through mutual monitoring and verification, possible errors or deviations can be discovered and corrected in time, and the accuracy and stability of flight can be improved. Each flight control system has the ability to independently control the flight of the unmanned aerial vehicle. When one of the systems fails or its performance degrades, the other system can immediately take over the control task to ensure that the unmanned aerial vehicle continues to fly stably, greatly reducing the risk of the unmanned aerial vehicle losing control or crashing due to a single system failure.

[0072] In this embodiment, a dual flight control device for a drone based on emergency handling is also provided, which is used to implement the above embodiments and preferred implementations, and will not be repeated for what has been described. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0073] This embodiment provides a dual flight control device for a drone based on emergency processing, such as Figure 4 As shown, including:

[0074] The dual control module 401 is used to enable the first flight control system to run the second operating system to process real-time tasks of the UAV when both the first flight control system and the second flight control system are in normal states, and enable the second flight control system to run the first operating system to process computing power application tasks, and enable the first flight control system to send flight status information corresponding to the first flight control system to the second monitoring unit of the second flight control system, and enable the second flight control system to send flight status information corresponding to the second flight control system to the first monitoring unit of the first flight control system.

[0075] In some optional embodiments, the device is also used for:

[0076] When the first monitoring unit of the first flight control system receives the high-risk fault information of the second flight control system or fails to receive the corresponding flight status information of the second flight control system within a timeout period, the first flight control system is made to perform all flight missions of the target UAV, and the second power supply channel is turned off by command to turn off the second flight control system;

[0077] When the second monitoring unit of the second flight control system receives high-risk fault information from the first flight control system or times out without receiving the corresponding flight status information from the first flight control system, the second flight control system is enabled to perform all flight missions of the target UAV, and the first power supply channel is shut down through instructions to shut down the first flight control system.

[0078] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0079] In this embodiment, a dual flight control device for a drone based on emergency handling is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0080] The embodiment of the present invention also provides a computer device, see Figure 5 , Figure 5 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 5 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 5 A processor 10 is taken as an example.

[0081] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0082] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0083] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0084] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0085] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0086] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0087] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0088] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the defined scope.

Claims

1. A dual flight control system for unmanned aerial vehicles based on emergency handling, characterized in that: The system is applied to a target UAV, and the system includes: a first flight control system, a second flight control system, a power module, a UAV controlled component, a first power channel, and a second power channel; A first end of the first power supply channel is connected to a first end of the first flight control system, and is used to supply power to the first flight control system; The second end of the first flight control system is connected to the first end of the power module, and is used to control the first flight operation of the target UAV through the power module; The first end of the second power supply channel is connected to the first end of the second flight control system, and is used to supply power to the second flight control system; The second end of the second flight control system is connected to the second end of the power module, and is used to control the second flight operation of the target UAV through the power module; The third end of the second flight control system is connected to the second end of the first power supply channel, and the second flight control system is further used to shut down the first power supply channel through an instruction when the first flight control system fails, so as to shut down the first flight control system; The third end of the first flight control system is connected to the second end of the second power supply channel. The first flight control system is also used to shut down the second power supply channel through instructions when the second flight control system fails, so as to shut down the second flight control system.

2. The system according to claim 1, characterized in that The system also includes a UAV controlled component, and the third end of the power module is connected to the UAV controlled component to control the flight operation of the target UAV.

3. The system according to claim 1, characterized in that The first flight control system includes a first monitoring unit, and the second flight control system includes a second monitoring unit; The first flight control system is further used to send the flight status information corresponding to the first flight control system to the second monitoring unit, and receive the flight status information corresponding to the second flight control system through the first monitoring unit, and when receiving the high-risk fault information of the second flight control system or the flight status information corresponding to the second flight control system is not received after a timeout, execute all the flight missions of the target UAV, and shut down the second power supply channel through an instruction to shut down the second flight control system; The second flight control system is also used to send flight status information corresponding to the second flight control system to the first monitoring unit, and receive flight status information corresponding to the first flight control system through the second monitoring unit. When high-risk fault information of the first flight control system is received or the flight status information corresponding to the first flight control system is not received within a time limit, the second flight control system executes all flight missions of the target UAV, and shuts down the first power supply channel through instructions to shut down the first flight control system.

4. The system according to claim 1, characterized in that The hardware structures of the first flight control system and the second flight control system both include an AI processor, a DDR memory, and an EMMC storage chip.

5. The system according to claim 1, characterized in that Both the first flight control system and the second flight control system are integrated with a dual operating system of a first operating system and a second operating system. The first operating system is used for performing computing power application tasks such as image processing, video processing and data transmission; the second operating system is used for processing real-time tasks of the drone.

6. The system according to claim 5, characterized in that The first flight control system is further configured to run the second operating system to process real-time tasks of the drone when both the first flight control system and the second flight control system are in a normal state; and when the second flight control system fails, the first operating system and the second operating system are simultaneously operated to perform all flight missions of the target UAV; The second flight control system is further configured to run the first operating system to process computing power application tasks when both the first flight control system and the second flight control system are in a normal state; And when the first flight control system fails, a dual operating system of the first operating system and the second operating system in the second flight control system is run simultaneously to execute all flight missions of the target UAV.

7. A dual flight control method for unmanned aerial vehicles based on emergency handling, characterized in that: The method is applied to a dual flight control system for unmanned aerial vehicles based on emergency processing according to any one of claims 1 to 6, and the method comprises: When both the first flight control system and the second flight control system are in normal state, the first flight control system runs the second operating system to process the real-time tasks of the UAV, and the second flight control system runs the first operating system to process the computing power application tasks, and the first flight control system sends the flight status information corresponding to the first flight control system to the second monitoring unit of the second flight control system, and the second flight control system sends the flight status information corresponding to the second flight control system to the first monitoring unit of the first flight control system.

8. The method according to claim 7, characterized in that The method further comprises: When the first monitoring unit of the first flight control system receives high-risk fault information of the second flight control system or fails to receive the corresponding flight status information of the second flight control system within a timeout period, the first flight control system is made to perform all flight missions of the target UAV, and the second power supply channel is turned off through an instruction to turn off the second flight control system; When the second monitoring unit of the second flight control system receives high-risk fault information from the first flight control system or fails to receive the corresponding flight status information from the first flight control system within a certain period of time, the second flight control system is enabled to perform all flight missions of the target UAV, and the first power supply channel is shut down through instructions to shut down the first flight control system.

9. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the emergency handling-based dual flight control method for unmanned aerial vehicles as described in claim 7 or 8 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the dual flight control method for unmanned aerial vehicles based on emergency processing as described in claim 7 or 8.

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