Launch control device and launch control method of micro aircraft and related equipment of launch control device and launch control method

Abstract

The invention relates to a launching control device, a launching control method and related equipment of a micro aircraft. The device comprises a computer board and a first relay control board. In the computer board, a DSP processor circuit module is used for generating multiple paths of first control signals, and an output control signal conditioning circuit is used for conditioning the multiple paths of first control signals into multiple paths of second control signals; wherein the path number of the control signals is consistent with the number of the aircrafts; in the first relay control panel, a first solid state relay control circuit is used for performing power supply control on the aircraft, and a second solid state relay control circuit is used for performing activation control on an initiating explosive device of the aircraft; wherein the first aircraft and the second aircraft have different power supply voltages; the computer board and the first relay control board are connected in a stacked mode through the first rectangular connector. According to the device, the wireless cable and miniaturization design is realized, the emission control accuracy is improved, the emission control effect is improved, the production cycle of the device is shortened, and the production cost of the device is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of aircraft launch control, and in particular to a launch control device, a launch control method and related equipment of a micro-aircraft. Background Art

[0002] In the related technology, the launch control device for micro-aircraft usually adopts an electromagnetic relay-based control method to realize functions such as power supply control of the aircraft and activation control of the corresponding pyrotechnics of the aircraft (devices that release energy through combustion, explosion, etc. The propulsion system of the micro-aircraft requires pyrotechnics to ignite the propellant to generate thrust).

[0003] Electromagnetic relays use the magnetic force generated by electromagnets to attract the armature, thereby closing or opening the contacts to achieve circuit switching. However, as a mechanical relay, electromagnetic relays have weak resistance to mechanical environments, are sensitive to vibrations, have failure modes such as poor contact, contact adhesion, contact malfunction, and have a low lifespan. When faced with strong vibrations, high impacts, long service life, and multiple switching applications during the launch of an aircraft, the electromagnetic relays used in related technologies have low launch control accuracy, which affects the launch control effect and limits the applicable scenarios of micro-aircraft.

[0004] On the other hand, in the related art, a functional circuit board and a passive motherboard are used for plugging into each other in the launch control device for micro-aircraft. The passive motherboard realizes signal transfer between the functional circuit board and the panel interface by welding wires. This kind of wire connection requires a considerable portion of the structural space to be allocated for wiring during the design, and the numerous wiring harnesses make the production process of the launch control device complicated, the production cycle long, and the production cost high.

[0005] With respect to the above-mentioned problems in the related technologies, no effective solutions have been proposed yet. Summary of the invention

[0006] The launch control device, launch control method and related equipment of a micro-aircraft provided in the embodiments of the present invention at least solve the problems existing in the launch control devices in the related art, such as poor launch control effect, low launch control accuracy, long production cycle and high production cost of the launch control devices, which further limit the applicable scenarios of the micro-aircraft.

[0007] In order to solve the above problems, one aspect of an embodiment of the present invention provides a launch control device for a micro-aircraft, comprising a computer board and a first relay control board; wherein:

[0008] The computer board is provided with a secondary power supply circuit module, a DSP processor circuit module, and an output control signal conditioning circuit module; wherein one end of the secondary power supply circuit module is connected to an external power supply, and is used to receive an external input voltage and convert the external input voltage into a plurality of isolated output voltages via a DC / DC voltage conversion circuit, and supply power to other circuit modules in the computer board via the other end; the DSP processor circuit module is used to generate a plurality of first control signals according to an external control instruction, and send the plurality of first control signals to the output control signal conditioning circuit module; the output control signal conditioning circuit is used to condition the plurality of first control signals into a plurality of second control signals; wherein the number of control signals is consistent with the number of aircraft;

[0009] The first relay control board is provided with a first solid relay control circuit and a second solid relay control circuit, the first solid relay control circuit is used for controlling the power supply of the first aircraft and the second aircraft according to the corresponding second control signal, and the second solid relay control circuit is used for controlling the activation of the pyrotechnics of the first aircraft and the second aircraft according to the corresponding second control signal; wherein the first aircraft and the second aircraft have different power supply voltages;

[0010] The computer board and the first relay control board are stacked and connected via a first rectangular connector to achieve signal switching.

[0011] In some of the embodiments, a third solid-state relay control circuit is also arranged on the first relay control board;

[0012] One end of the third solid relay control circuit is connected to the first rectangular connector, and the other end is connected to the second solid relay control circuit, and is used for pre-activation control of pyrotechnics of all aircraft.

[0013] In some of the embodiments, the launch control device further includes a second relay control board; wherein,

[0014] A fourth solid-state relay control circuit and a fifth solid-state relay control circuit are arranged on the second relay control board; the fourth solid-state relay control circuit is used to control the power supply of the third aircraft and the fourth aircraft according to the corresponding second control signal; the fifth solid-state relay control circuit is used to control the activation of the pyrotechnics of the third aircraft and the fourth aircraft according to the corresponding second control signal; wherein the power supply voltage of the third aircraft is consistent with the power supply voltage of the first aircraft, and the power supply voltage of the fourth aircraft is consistent with the power supply voltage of the second aircraft;

[0015] The second relay control board is stacked and connected with the first relay via a second rectangular connector to achieve signal switching.

[0016] In some of the embodiments, other circuit modules arranged on the computer board also include: a presence signal detection circuit module, an aircraft type identification detection circuit module, an RS422 communication control circuit module, a CAN bus communication circuit module, a filter circuit module, a program download interface circuit module, a power-on reset circuit module, and a storage unit circuit module; wherein,

[0017] A presence signal detection circuit module, used for receiving an aircraft presence detection signal;

[0018] An aircraft type identification detection circuit module is used to receive an aircraft type identification detection signal and send the aircraft type identification detection signal to the DSP processor circuit module to identify the aircraft type;

[0019] RS422 communication control circuit module, used to communicate with the aircraft;

[0020] A CAN bus communication circuit module is used to communicate with a ground control device to receive external control instructions sent by the ground control device;

[0021] One end of the filter circuit module is connected to the secondary power supply circuit module, and the other end is connected to the external power supply;

[0022] Program download interface circuit module, used for program download and online simulation debugging;

[0023] A power-on reset circuit module, used to implement power-on reset;

[0024] The storage unit circuit module includes SRAM memory and FLASH flash memory, wherein the SRAM memory is used for software program operation and data calculation processing, and the FLASH flash memory is used for program storage and data storage.

[0025] In some of the embodiments, the launch control device further comprises a structural member, wherein:

[0026] The structural parts include a front panel, a frame, a top plate, a bottom plate and copper columns connected by standard parts.

[0027] In order to solve the above problems, one aspect of an embodiment of the present invention provides a launch control method for a micro air vehicle, characterized in that the launch control device is applied to any of the above micro air vehicles, and the method comprises:

[0028] One end of the secondary power supply circuit module receives an external input voltage from an external power source, and converts the external input voltage into a plurality of isolated output voltages via a DC / DC voltage conversion circuit, and supplies power to other circuit modules in the computer board via the other end;

[0029] In response to an external control instruction sent by a ground control device, a DSP processor circuit module generates a plurality of first control signals according to the external control instruction, and an output control signal conditioning circuit conditions the plurality of first control signals into a plurality of second control signals; wherein the number of control signals is consistent with the number of aircraft;

[0030] The first solid-state relay control circuit on the first relay control board controls power supply to the first aircraft and the second aircraft according to the corresponding second control signal; the second solid-state relay control circuit on the first relay control board controls activation of the pyrotechnics of the first aircraft and the second aircraft according to the corresponding second control signal; wherein the first aircraft and the second aircraft have different power supply voltages.

[0031] In some of the embodiments, when the emission control device is provided with a second relay control board, the method further comprises:

[0032] The third aircraft and the fourth aircraft are powered on and controlled according to the corresponding second control signal through the fourth solid-state relay control circuit arranged on the second relay control board; the pyrotechnics of the third aircraft and the fourth aircraft are activated and controlled according to the corresponding second control signal through the fifth solid-state relay control circuit arranged on the second relay control board; wherein the power supply voltage of the third aircraft is consistent with the power supply voltage of the first aircraft, and the power supply voltage of the fourth aircraft is consistent with the power supply voltage of the second aircraft.

[0033] In order to solve the above problems, one aspect of an embodiment of the present invention provides a launch control system for a micro-aircraft, the system comprising an external power supply, a ground control device, a launch control device for any of the above-mentioned micro-aircrafts, and a plurality of aircrafts; wherein:

[0034] an external power supply for supplying power to the launch control unit;

[0035] The ground control device is in communication connection with the launch control device and is used to send external control instructions to the launch control device;

[0036] A launch control device, used to execute power supply control of multiple aircraft and activation control of pyrotechnics in multiple aircraft based on external control instructions;

[0037] Multiple aircraft are used to perform corresponding launch operations based on power supply control results and activation control results of pyrotechnics.

[0038] In order to solve the above problems, one aspect of an embodiment of the present invention provides an electronic device, including: a processor, and a memory for storing a program, wherein the program includes instructions, and when the instructions are executed by the processor, the processor executes any of the above-mentioned launch control methods for a micro-aircraft.

[0039] In order to solve the above problems, one aspect of an embodiment of the present invention provides a non-transitory machine-readable medium storing computer instructions, where the computer instructions are used to enable a computer to execute any of the above-mentioned launch control methods for a micro air vehicle.

[0040] The beneficial effects of the embodiments of the present invention are as follows: a launch control device for a micro-aircraft is provided by using a computer board and a first relay control board; wherein a secondary power supply circuit module, a DSP processor circuit module, and an output control signal conditioning circuit module are arranged on the computer board; wherein one end of the secondary power supply circuit module is connected to an external power supply, and is used to receive an external input voltage and convert the external input voltage into a plurality of isolated output voltages via a DC / DC voltage conversion circuit, and supply power to other circuit modules in the computer board through the other end; the DSP processor circuit module is used to generate a plurality of first control signals according to an external control instruction, and send the plurality of first control signals to the output control signal conditioning circuit module; the output control signal conditioning circuit is used to condition the plurality of first control signals into a plurality of second control signals; wherein the number of control signals is consistent with the number of aircraft; a first solid relay control circuit and a second solid relay control circuit are arranged on the first relay control board, and the first solid relay control circuit is used to control the first aircraft and the second aircraft according to the corresponding second control signal Power supply control is performed, and the second solid-state relay control circuit is used to activate and control the pyrotechnics of the first aircraft and the second aircraft according to the corresponding second control signal; wherein the first aircraft and the second aircraft have different power supply voltages; wherein the computer board and the first relay control board are stacked and connected through the first rectangular connector to realize signal transfer, thereby overcoming the problems of poor launch control effect, low launch control accuracy, long production cycle and high production cost of the launch control device in the related technology, which further limits the applicable scenarios of the micro-aircraft, and realizes a launch control device with strong resistance to mechanical environment, strong control circuit overload capacity, long product life, multiple switching times, wireless communication, miniaturization and other advantages through a control circuit based on a solid-state relay and a rectangular connector for stacking connection, thereby achieving the technical effect of improving the launch control accuracy of the launch control device, enhancing the launch control effect, reducing the production cycle and production cost of the launch control device, thereby expanding the application scenarios of micro-UAVs and promoting the popularization and application of micro-UAVs.

[0041] The details of one or more embodiments of the invention are set forth in the following drawings and description so that other features, objects, and advantages of the invention are more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other embodiments can be obtained based on these drawings without creative work.

[0043] Figure 1 It is a schematic diagram of the main framework of a launch control device for a micro air vehicle according to an embodiment of the present invention.

[0044] Figure 2 It is a schematic diagram of the main framework of a launch control device for a micro air vehicle according to yet another embodiment of the present invention.

[0045] Figure 3 It is a main flow chart of a launch control method for a micro aerial vehicle according to an embodiment of the present invention.

[0046] Figure 4 It is a structural schematic diagram of the electronic device of the present invention. DETAILED DESCRIPTION

[0047] Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0048] In the launch control device for micro-aircraft in the related art, on the one hand, the electromagnetic relay attracts the armature through the magnetic force generated by the electromagnet, thereby closing or opening the contacts to achieve circuit switching. However, as a mechanical relay, the electromagnetic relay has weak resistance to mechanical environments (due to its mechanical structure, the electromagnetic relay is prone to failure in strong vibration and high impact environments. These environments may cause damage or failure of the mechanical components inside the relay), vibration-sensitive direction (the electromagnetic relay is sensitive to the direction of vibration, and vibrations in different directions may have different effects on its performance), poor contact (during long-term use, the contacts of the electromagnetic relay may have poor contact due to wear, oxidation or contamination), contact bonding (in high temperature or high humidity environments, the contacts of the electromagnetic relay may bond, causing the relay to fail to disconnect normally), contact malfunction (the contacts of the electromagnetic relay may malfunction due to external interference or internal failure, affecting the reliability and safety of the system), and other failure modes, as well as low lifespan (the mechanical contacts of the electromagnetic relay will gradually wear out after multiple switching, resulting in a relatively short service life). Faced with applications such as strong vibration, high impact, long service life requirements, and multiple switching times during aircraft launch, the electromagnetic relays used in related technologies have low launch control accuracy, which affects the launch control effect and limits the applicable scenarios of micro-aircraft.

[0049] On the other hand, in the related art, the launch control device for micro-aircraft uses a functional circuit board (also called a functional module or daughter card, which is a printed circuit board (PCB) containing electronic circuits with specific functions. Each board is usually dedicated to performing a certain function or a group of related functions, such as power management, signal processing, communication interface, etc.) and a passive motherboard (also called a backplane or baseboard, which is a large printed circuit board that provides a physical platform for installing multiple functional circuit boards and provides necessary wiring and interfaces for the connection between these boards) plug-in (refers to a design of inserting multiple functional circuit boards into designated slots on a passive motherboard to achieve electrical connection and mechanical fixation) Method), the passive motherboard realizes signal transfer between the functional circuit board and the panel interface by welding wires. The use of wire connection requires a considerable amount of structural space to be allocated for wiring during design, which not only increases the size of the device, but also limits the possibility of miniaturization design; the numerous wire harnesses require manual welding and wiring, which increases the production cycle and manufacturing complexity; a large number of manual operations and complex wiring processes lead to high production costs; wire connections are easily affected by external environments, such as vibration, temperature changes, etc., which may cause loose or broken connections, thereby reducing system reliability; once a fault occurs, it becomes difficult and time-consuming to find and repair the problem, increasing maintenance costs and downtime.

[0050] In summary, the aircraft launch control device in the relevant technology has obvious deficiencies in terms of mechanical environment resistance, system reliability, miniaturized design and production efficiency, and is in urgent need of improvement.

[0051] In order to solve the above problems, an embodiment of the present invention provides a launch control device for a micro-aircraft, such as Figure 1 As shown, the launch control device of the micro-aircraft mainly includes a computer board and a first relay control board; wherein the computer board is arranged with a secondary power supply circuit module, a DSP processor circuit module, and an output control signal conditioning circuit module; wherein one end of the secondary power supply circuit module is connected to an external power supply, and is used to receive an external input voltage and convert the external input voltage into a plurality of isolated output voltages via a DC / DC voltage conversion circuit, and supply power to other circuit modules in the computer board through the other end; the DSP processor circuit module is used to generate a plurality of first control signals according to an external control instruction, and send the plurality of first control signals to the output control signal conditioning circuit module; the output control signal conditioning circuit module The circuit is used to condition multiple first control signals into multiple second control signals; wherein the number of control signal circuits is consistent with the number of aircraft; the first relay control board is arranged with a first solid-state relay control circuit and a second solid-state relay control circuit, the first solid-state relay control circuit is used to control the power supply of the first aircraft and the second aircraft according to the corresponding second control signal, and the second solid-state relay control circuit is used to control the activation of the pyrotechnics of the first aircraft and the second aircraft according to the corresponding second control signal; wherein the first aircraft and the second aircraft have different power supply voltages; wherein the computer board and the first relay control board are stacked and connected through a first rectangular connector to realize signal transfer.

[0052] Among them, the solid relay provided in the embodiment of the present invention refers to an electronic switch without mechanical moving parts, which uses semiconductor devices (such as thyristors, MOSFETs, etc.) to control the on and off of the circuit. Specifically, since the solid relay has no mechanical parts, it is not affected by the direction of vibration and exhibits higher reliability in strong vibration and high impact environments. The physical contact-free design of the solid relay eliminates the risk of contact adhesion in high temperature or high humidity environments, reduces misoperation caused by external interference, and does not have the problem of contact wear, oxidation or contamination, ensuring long-term stable electrical connection. At the same time, the life span of the solid relay is significantly higher than that of the electromagnetic relay, and is suitable for applications with frequent switching.

[0053] Through the above settings, the launch control device provided by the embodiment of the present invention adopts a control circuit based on a solid relay, which overcomes the obvious deficiencies in the mechanical environment resistance, system reliability, production efficiency and production cost of the launch control device caused by the use of electromagnetic relays in the related art. Based on the characteristics of strong mechanical environment resistance, strong control circuit overload capacity, long product life and multiple switching times of the solid relay, the launch control device provided by the embodiment of the present invention has high launch control accuracy and good launch control effect even in strong vibration, high impact, long service life and multiple switching applications. At the same time, a rectangular connector is used between the computer board and the solid relay control board, which avoids the problems of increasing the volume of the device, limiting the possibility of miniaturization design, long production cycle, high manufacturing complexity and high production cost caused by the use of wire connection in the related art, and realizes wireless connection and miniaturization design, reduces the production cycle and production cost of the launch control device, and then expands the application scenarios of micro-UAVs and promotes the technical effect of promoting the application of micro-UAVs.

[0054] According to the embodiment of the present invention, a printed circuit board rectangular connector is used for signal transfer between modules. Since no additional space is required for wiring, the overall volume of the device is greatly reduced, and the miniaturization of the launch control device is achieved. In addition, the stacking connection method simplifies the assembly process, reduces the need for manual welding, improves production efficiency, reduces material consumption and complex manual operations, reduces manufacturing costs, eliminates the risk of failure caused by loose or broken wire connections, and enhances the stability of the system. The modular design makes fault diagnosis and maintenance more convenient, reducing maintenance costs and downtime.

[0055] According to an embodiment of the present invention, the functional circuit modules of the launch control device are divided into a computer board and a relay control board, and are stacked and connected through rectangular connectors, thereby allowing for easy addition or replacement of specific functional modules to accommodate different application requirements; when a module fails, it can be replaced individually without affecting the entire control system; further, through different module combinations, the configuration of the launch control device can be quickly adjusted to meet diverse mission requirements.

[0056] Specifically, the embodiment of the present invention introduces a secondary power supply circuit module into the computer board. After receiving the voltage input by the external power supply, the secondary power supply circuit module converts the external input voltage into multiple isolated output voltages through a DC / DC voltage conversion circuit, thereby supplying power to other circuit modules on the computer board. This helps to ensure that each circuit module obtains a stable and isolated power supply, avoids the same interference, and can improve the power conversion efficiency and reduce energy loss by adopting an efficient DC / DC converter.

[0057] The DSP processor circuit module provided in the embodiment of the present invention uses DSP (Digital Signal Processor) as the core controller and is responsible for generating multiple control signals. The DSP processor can quickly respond to and process complex control logic to ensure accurate control of each aircraft, and because it supports real-time data processing and decision-making, it improves the response speed and control accuracy of the system.

[0058] In some of the embodiments, a third solid-state relay control circuit is also arranged on the above-mentioned first relay control board; wherein, one end of the third solid-state relay control circuit is connected to the first rectangular connector, and the other end is connected to the second solid-state relay control circuit, which is used for pre-activation control of pyrotechnics of all aircraft.

[0059] Based on the above settings, the third solid-state relay control circuit is used as the master switch for the activation control of the pyrotechnics of all aircraft, so that the pyrotechnics of all aircraft can be activated at one time when needed. This not only simplifies the control logic, but also ensures that all aircraft are safely activated at the same time. At the same time, the pre-activation control provides an additional layer of safety, ensuring that the activation of the pyrotechnics is triggered only when all conditions are met, reducing the risk of misoperation. By introducing the third solid-state relay control circuit as the master control, even if a specific solid-state relay fails, activation control can still be achieved through other paths, thereby enhancing the fault tolerance of the control device.

[0060] In some of the embodiments, the launch control device further includes a second relay control board; wherein a fourth solid-state relay control circuit and a fifth solid-state relay control circuit are arranged on the second relay control board; the fourth solid-state relay control circuit is used to control the power supply of the third aircraft and the fourth aircraft according to the corresponding second control signal; the fifth solid-state relay control circuit is used to control the activation of the pyrotechnics of the third aircraft and the fourth aircraft according to the corresponding second control signal; wherein the power supply voltage of the third aircraft is consistent with the power supply voltage of the first aircraft, and the power supply voltage of the fourth aircraft is consistent with the power supply voltage of the second aircraft; wherein the second relay control board is stacked with the first relay through a second rectangular connector to realize signal transfer.

[0061] The embodiment of the present invention further provides a transmission control device including a second relay control board. The second relay control board is stacked and connected to the first relay control board via a second rectangular connector, thereby realizing signal switching.

[0062] By adding a second relay control board, the launch control device provided in an embodiment of the present invention can flexibly add or remove relay control boards according to mission requirements without making large-scale changes to the existing architecture, adapt to different numbers and types of aircraft configurations, and can easily support a larger number of aircraft (such as a third aircraft and a fourth aircraft).

[0063] Secondly, each relay control board is responsible for a specific aircraft control. Even if one control board fails, other control boards can still work normally, which enhances the fault tolerance and overall reliability of the launch control device. On the other hand, separating the power supply control and the pyrotechnic activation control to different relay control circuits reduces the complexity of a single circuit and reduces the probability of failure.

[0064] In some of the embodiments, other circuit modules arranged on the computer board include: an in-place signal detection circuit module, an aircraft type identification detection circuit module, an RS422 communication control circuit module, a CAN bus communication circuit module, a filter circuit module, a program download interface circuit module, a power-on reset circuit module, and a storage unit circuit module; wherein the in-place signal detection circuit module is used to receive an aircraft in-place detection signal; the aircraft type identification detection circuit module is used to receive an aircraft type identification detection signal and send the aircraft type identification detection signal to the DSP processor circuit module to identify the aircraft type; the RS422 communication control circuit module is used to communicate with the aircraft; the CAN bus communication circuit module is used to communicate with the ground control device to receive an external control instruction sent by the ground control device; one end of the filter circuit module is connected to the secondary power supply circuit module, and the other end is connected to the external power supply; the program download interface circuit module is used for program download and online simulation debugging; the power-on reset circuit module is used to achieve power-on reset; the storage unit circuit module includes an SRAM memory and a FLASH flash memory, wherein the SRAM memory is used for software program operation and data calculation processing, and the FLASH flash memory is used for program storage and data storage.

[0065] Based on the above settings, multiple additional circuit modules are arranged on the computer board, which together improve the functionality and reliability of the launch control device. Among them, the in-place signal detection circuit module is used to receive the aircraft in-place detection signal to ensure that the launch control device can understand the status of the aircraft in real time (such as whether it has been correctly installed), thereby improving the safety inspection before launch; the in-place signal detection circuit module cooperates with the DSP processor to realize automatic status monitoring and abnormal alarm, reducing the need for manual intervention.

[0066] The aircraft type identification detection circuit module can accurately identify different types of aircraft by receiving and processing aircraft type identification detection signals, thereby ensuring that the control system can be accurately configured according to the requirements of the specific aircraft; based on the aircraft type identification detection circuit module, the launch control device provided in the embodiment of the present invention can support multiple aircraft types, so that the same set of launch control devices can adapt to different models of aircraft, thereby enhancing the versatility of the launch control device and expanding the scope of application of the launch control device.

[0067] The RS422 communication control circuit module is used to communicate with the aircraft, supporting high-speed, full-duplex data transmission to ensure fast exchange of commands and data. Since the RS422 standard (Recommended Standard 422 is a serial communication standard developed by the Electronic Industries Alliance. It defines the electrical characteristics of balanced voltage digital interface circuits and is mainly used to achieve data transmission in point-to-point or multi-point networks) has strong anti-electromagnetic interference capabilities, it is suitable for use in complex electromagnetic environments, thereby improving the reliability of communication.

[0068] The CAN bus communication circuit module is used to communicate with the ground control device and receive external control instructions. The CAN bus (Controller Area Network, a serial communication protocol bus for real-time applications) protocol has high reliability and anti-interference characteristics and is suitable for long-distance and multi-node communications; the CAN bus communication circuit module can support distributed network architecture, facilitate the integration of other subsystems such as sensors, actuators, etc., and build a more complex control system. The filter circuit module can effectively remove noise and transient spikes in the input power supply and protect the internal circuit from damage (stable power supply ensures the normal operation of each circuit module and reduces the risk of failure caused by power fluctuations).

[0069] The program download interface circuit module can provide a JTAG interface (Joint Test Action Group, an international standard test protocol) or other matching settings to facilitate program downloading and online simulation debugging, simplify the development process, accelerate software iteration and testing, and facilitate subsequent system upgrades and maintenance, reducing update costs and technical barriers.

[0070] The power-on reset circuit module implements the power-on reset function by using a reset chip, ensuring that the system can enter a known initial state each time it is powered on, thereby avoiding uncertain behavior during the startup process; further, the optional watchdog timer function in the power-on reset circuit module can automatically reset when an abnormality occurs in the launch control device, thereby improving the self-recovery capability of the launch control device.

[0071] The storage unit circuit module consists of two parts: SRAM memory and FLASH flash memory. SRAM (Static Random-Access Memory) is used for software program running and data calculation processing, ensuring efficient real-time performance; FLASH flash memory is used for program storage and data storage, ensuring data persistence and security; the external large-capacity SRAM and FLASH provide sufficient storage space to support more complex algorithms and more data recording needs.

[0072] According to a specific implementation of the embodiment of the present invention, Figure 2 As shown, the launch control device functional circuit is divided into three circuit boards to form a computer board ( Figure 2 The computer board shown in the figure) and the relay board ( Figure 2 The relay board 1 and the relay board 2 are shown in FIG. 1 . The computer board and the relay control board 1 are connected by a pair of 50-core rectangular printed board connectors and a pair of 64-core rectangular printed board connectors to realize signal transfer. The relay control board 1 and the relay control board 2 are connected by two pairs of 64-core rectangular printed board connectors to realize signal transfer. Since the circuit boards are connected by the stacking of rectangular printed board connectors, the wiring space is saved. Through the reasonable layout design of the components, the size of the launch control device can be reduced to 204mm×178mm×75mm, and the maximum external installation size is 238mm×178mm×75mm. At the same time, since there is no wire connection inside, there is no need to spend time on wire electrical assembly, which greatly shortens the electrical assembly time, thereby reducing the production cost. Figure 2 In the computer board, the computer board includes a DSP processor core circuit (i.e., the above-mentioned DSP processor circuit module), a conditioning circuit (i.e., the above-mentioned output control signal conditioning circuit module), an in-place signal detection circuit (i.e., the above-mentioned in-place signal detection circuit module), an aircraft type identification detection circuit (i.e., the above-mentioned aircraft type identification detection circuit module), an RS422 communication circuit (i.e., the above-mentioned RS422 communication control circuit module), a CAN bus communication circuit (i.e., the above-mentioned CAN bus communication circuit module), a secondary power supply circuit (i.e., the above-mentioned secondary power supply circuit module), a filter circuit (i.e., the above-mentioned filter circuit module), a program download interface and a power-on reset circuit (i.e., the above-mentioned program download interface circuit module and the power-on reset circuit module), and a storage unit (i.e., the above-mentioned storage unit circuit module). Specifically,

[0073] The power supply input range of the external power supply corresponding to the launch control device is +24V~+31V. The secondary power supply circuit on the computer board converts the 28V input voltage into 3 isolated output voltages (one is 5V / 20W, and two are 5V / 5W) through a DC / DC voltage conversion circuit. Among them, 5V / 20W is converted to output 3.3V and 1.8V to power the DSP processor core circuit, conditioning circuit, in-place signal detection circuit, aircraft type identification detection circuit, RS422 communication control circuit, program download interface circuit, and storage unit circuit inside the computer board; 5V / 20W directly powers the RS422 communication circuit and power-on reset circuit. The two 5V / 5W circuits are used to power the two isolated CAN bus isolation and drive circuits respectively. Furthermore,

[0074] The conditioning circuit converts the 3.3V TTL level (TTL level refers to the Transistor-Transistor Logic level, which is a voltage standard widely used in digital circuits. The TTL level defines the specific voltage range of the high and low levels of digital signals to ensure compatibility between different devices and correct data transmission) milliampere control signal output by the DSP processor into an isolated 28V control signal that can drive the relay to operate. The in-place signal detection circuit receives the 28V level signal for aircraft in-place detection through optocoupler isolation, and then the output signal of the optocoupler is read by the GPIO of the DSP processor. The aircraft type detection circuit receives the level signal for identification and detection through optocoupler isolation, and then the output signal of the optocoupler is read by the GPIO of the DSP processor to distinguish the aircraft type. The launch control device software controls the power supply of aircraft with different supply voltages according to the aircraft type. The RS422 communication circuit converts the asynchronous bus parallel interface of the DSP processor into 4-way TTL-level asynchronous serial transceiver signals through an asynchronous serial communication controller, and then converts it into 4-way isolated RS422 bus asynchronous serial full-duplex communication interfaces through gate circuits and interface chips. The transmission rate is adjustable, up to 115.2kbps. The CAN bus communication circuit consists of a CAN bus controller and an isolation and drive circuit. The CAN bus controller uses two CAN bus controllers integrated in the DSP processor itself. The CAN bus controller transmits and receives signals through high-speed optocoupler isolation, and then generates a standard CAN bus communication signal through the CAN bus driver. The CAN bus communication signal is protected by current limiting, overvoltage protection, and high-frequency interference filtering. The transmission rate can be programmable and can reach up to 1Mbps. The access of the terminal matching resistor can be set. The filter circuit consists of a transient suppression circuit, an EMI filter, and a π-type filter circuit; among them, the transient suppression circuit is used to prevent the transient spikes generated by the power input voltage from damaging the internal circuit of the transmission control device; the EMI filter is used to suppress the conducted interference of the power line of the secondary power supply circuit; and the π-type filter circuit is used to filter out the high-frequency interference at the input end of the secondary power supply circuit. The program download interface circuit matches and sets the JTAG interface pins of the DSP processor and then transfers them to the external interface (J30J micro rectangular connector) of the launch control device for program download and online simulation debugging. The power-on reset circuit uses a reset chip to implement the power-on reset and watchdog control functions. The watchdog control function can be selectively connected and can be reset manually controlled externally. The storage unit includes two parts: SRAM memory and FLASH flash memory. The SRAM memory is composed of the DSP processor's own SRAM on the chip and the SRAM of the external expansion memory, and is used for software program operation and data calculation processing. The FLASH flash memory is composed of the DSP processor's own FLASH flash memory on the chip and the external expansion FLASH flash memory, and is used for program storage and data storage.The launch control device has RS422 communication function, can communicate with four micro-aircraft at the same time, has dual redundant CAN bus communication function, is compatible with CAN2.0B and CAN2.0A standards, has a secondary power supply circuit, a program download interface, reset and watchdog control functions and a storage unit.

[0075] According to another specific implementation of the embodiment of the present invention, the external power supply range corresponding to the launch control device is +24V~+31V. The DSP processor core circuit provides an operating platform for the launch control device. The DSP processor can adopt TMS320F28335, with a main frequency of up to 150MHz, a core 1.8V power supply, GPIO (General Purpose Input / Output, a pin on a microcontroller or processor, which can be configured as input or output state; when configured as input, GPIO can be used to read the state of external devices, such as switch state, sensor data, etc.; when configured as output, GPIO can be used to drive external devices, such as LEDs, relays or other electronic components) is 3.3V TTL level, and a 16MHz frequency crystal oscillator is used peripherally. The launch control device exchanges commands and information with the ground control device through the CAN bus according to the communication protocol. At this time, the ground control device is the master node device, and the launch control device is the slave node device. It is realized by the CAN bus communication circuit on the computer board, and the transmission rate can be programmably set, up to 1Mbps.

[0076] Then, the two-way CAN bus controller integrated in the DSP processor is used. The 3.3VTTL level receiving and sending signals of the single-way CAN bus controller are respectively isolated by two high-speed optocouplers, and then a standard CAN bus communication signal is generated through the CAN bus driver chip TJA1040. Current limiting protection is achieved by connecting 5Ω resistors in series on the bus CANH and CANL, 1000VDC overvoltage protection is achieved by connecting transient voltage suppression diodes PESD1CAN in parallel on the bus, and high-frequency interference is filtered out by connecting 22pF capacitors in parallel to the ground on CANH and CANL, and the access of 120Ω terminal matching resistors can also be set. The optocoupler power supply used to isolate the sending signal and the CAN bus driver power supply of the two CAN buses use two 5V / 5W isolated in the secondary power supply to form two independent dual redundant CAN buses.

[0077] Then, the launch control device exchanges commands and information with the aircraft through the RS422 communication circuit according to the communication protocol. At this time, the launch control device is the master device and the aircraft is the slave device. The RS422 communication circuit on the computer board is used to implement the transmission rate, which can be adjusted up to 115.2kbps. The asynchronous bus parallel XINTF interface of the DSP processor is converted into 4-way TTL level asynchronous serial transceiver signals through the asynchronous serial communication controller chip TL16C754B, and then converted into 4-way isolated RS422 bus asynchronous serial full-duplex communication interface through the gate circuit and interface chip. TL16C754B uses a 11.0592MHz frequency crystal oscillator. The XINTF interface of the DSP processor consists of 20 address lines, 32 data lines and 3 chip selection lines. One of the chip selection lines is connected to an enable terminal of the 38 decoder chip, the address bus XA3 and XA4 are connected to the input of the 38 decoder chip, and the output of the 38 decoder chip is connected to the chip select signal of the asynchronous serial communication controller chip TL16C754B to enable 4 asynchronous serial transceiver signals. The address lines A0 to A2 of the TL16C754B are connected to the address bus XA0 to XA2 of the XINTF interface to implement the addressing of the internal register of the TL16C754B. The data lines D0 to D7 of the TL16C754B are connected to the data bus XD0 to XD7 of the XINTF interface. The RS422 interface chip uses MAX1490, which is a single-chip opto-isolated RS422 full-duplex serial communication interface chip. It can easily construct a completely electrically isolated RS422 interface and significantly improve the anti-interference ability of serial communication. MAX1490 is powered by 5V, while the TL16C754B serial signal is TTL level. Therefore, the TL16C754B serial signal needs to be converted by the XOR gate chip 54LS86 and then connected to the transmitter input terminal DI and the receiver output terminal RO of the MAX1490.

[0078] Then the transmission control device parses the superior instruction and controls the DSP processor GPIO action. The DSP processor GPIO is a 3.3VTTL level milliampere control signal. The driving capability is enhanced through the bus transceiver IDT74LVCH16245A, and then converted into a 28V control signal that can drive the power solid relay to act through the G3VM-61D1 optical MOS solid relay. The low level is effective. After power-on, the GPIO is in a high-impedance state when it is not set, and it is easily interfered by the outside world. The enable end of IDT74LVCH16245A is effective at a low level. The enable end of IDT74LVCH16245A is connected to the 3.3V power supply through a pull-up resistor to avoid malfunction of the relay when the GPIO setting command is not received after power-on or the program runs away. The enable end of IDT74LVCH16245A is controlled by a GPIO, and the software sets the GPIO to enable the output of IDT74LVCH16245A.

[0079] In addition, the launch control device distinguishes between the two aircraft through the aircraft type identification detection circuit. After the aircraft type is determined, the power supply of the four aircraft is controlled. The power relay used to control the power supply of the aircraft adopts the JGX-298M / 028-01 solid-state relay. The maximum steady-state load can reach 25A, 50Vd.c., and the instantaneous overload can reach 50A, 100ms. Two types of power relays for power supply control of two aircrafts are arranged on the relay control board 1. Two types of power relays for power supply control of two aircrafts of each type are arranged on the relay control board 2.

[0080] The launch control device can be used to activate and detonate the pyrotechnics of four aircrafts. Each channel uses dual-channel control at both the positive and negative ends, and each channel is connected in series with an electric shock-resistant metal oxide film fixed resistor RY99 as a current-limiting resistor for pyrotechnics. The power relay used to activate and detonate the aircraft uses a 4JGMK4-2 / 028-060Y solid relay. 4JGMK4-2 / 028-060Y has a total of 4 channels. The maximum steady-state load of a single channel can reach 4A, 60Vd.c., and the overload capacity of a single channel can reach 32A, 250ms, 10 times. An additional unlocking control circuit can be set as the main switch for all pyrotechnic activation control. The unlocking control circuit uses a 4JGMK4-2 / 028-060Y solid relay, and then the unlocking control power relay and the pyrotechnic activation and detonation control power relays of the two aircrafts are arranged on the relay control board 1. The pyrotechnic activation and detonation control power relays of the two aircrafts are arranged on the relay control board 2.

[0081] Specifically, the storage unit includes two parts: SRAM memory and FLASH flash memory. Among them, the SRAM memory is composed of 68KB SRAM on the DSP processor chip and 1MB SRAM IS61WV51216EDBLL-10TLI, which is used for software program operation and data calculation processing. The FLASH flash memory is composed of 512KB FLASH flash memory on the DSP processor chip and 2MB FLASH flash memory SM29LV160, which is used for program storage and data storage. The 1MB SRAM and 2MB FLASH flash memory are expanded through the XINTF interface of the DSP processor. The address lines A0~A18 of IS61WV51216EDBLL-10TLI are connected to the address bus XA0~XA18 of the XINTF interface, and the data lines D0~D15 of IS61WV51216EDBLL-10TLI are connected to the data bus XD0~XD15 of the XINTF interface. The address lines A0~A19 of SM29LV160 are connected to the address bus XA0~XA19 of the XINTF interface, and the data lines D0~D15 of SM29LV160 are connected to the data bus XD0~XD15 of the XINTF interface. The filter circuit consists of a transient suppression circuit, an EMI filter and a π-type filter circuit; among them, the transient suppression circuit is used to prevent the transient spikes generated by the power input voltage from damaging the internal circuit of the emission control device, and a transient voltage suppression diode SY5647A is used. The EMI filter is used to suppress the conducted interference of the power line of the secondary power supply circuit; the π-type filter circuit is used to filter out the high-frequency interference at the input end of the secondary power supply circuit. The power-on reset circuit uses the reset chip MAX813LMJA to realize the power-on reset and watchdog control functions. The watchdog control function can be selectively connected and can be reset manually controlled externally. The working level of MAX813LMJA is 5V, which needs to be converted to a 3.3V level signal by the bidirectional bus transceiver SN74LVC4245APW before connecting to the DSP processor.

[0082] It should be noted that the above-mentioned numerical values ​​and models of components such as chips and processors provided in the embodiments of the present invention are all examples and are not intended to limit the present invention. It can be understood that corresponding numerical values, models, etc. can be selected according to actual needs.

[0083] In some of the embodiments, the launch control device 100 further includes structural components, wherein the structural components include a front panel, a frame, a top plate, a bottom plate, and copper pillars connected by standard components.

[0084] The front panel, frame, top plate, bottom plate and copper column are firmly connected by standard parts (such as bolts, nuts, etc.), forming a solid overall structure that can withstand external shocks and vibrations and ensure the safety and stability of internal electronic components; among them, the copper column, as a supporting element, provides additional rigidity, enhances the vibration resistance of the entire device, and is particularly suitable for use in strong vibration environments. Through the above settings, the use of standard parts connection allows each component to be quickly disassembled and assembled, simplifies the assembly process, and shortens the production cycle; the metal front panel, top plate and bottom plate can play a good electromagnetic shielding role, reduce the impact of external electromagnetic interference on the internal circuit, and prevent internal signal leakage, thereby improving the electromagnetic compatibility of the system; the copper column has excellent thermal conductivity, which can effectively conduct the heat generated by the internal heating element to the outer shell, promote air circulation, help heat dissipation, and ensure the stable operation of the system in a high temperature environment; the standardized design makes the cooperation between the various components more close, maximizes the use of limited space, and helps to achieve overall miniaturization and lightweight design. That is, through the above-mentioned structural parts, not only the mechanical stability and reliability of the launch control device of the micro-aircraft are enhanced, but also its heat dissipation performance and electromagnetic compatibility are optimized, and the installation and maintenance process are simplified, making it more adaptable to diverse working environments.

[0085] The launch control device of the micro-aircraft provided in the embodiment of the present invention adopts the launch control device of the micro-aircraft including a computer board and a first relay control board; wherein the computer board is arranged with a secondary power supply circuit module, a DSP processor circuit module, and an output control signal conditioning circuit module; wherein one end of the secondary power supply circuit module is connected to an external power supply, and is used to receive an external input voltage and convert the external input voltage into a plurality of isolated output voltages via a DC / DC voltage conversion circuit, and supply power to other circuit modules in the computer board through the other end; the DSP processor circuit module is used to generate a plurality of first control signals according to external control instructions, and send the plurality of first control signals to the output control signal conditioning circuit module; the output control signal conditioning circuit is used to condition the plurality of first control signals into a plurality of second control signals; wherein the number of control signals is consistent with the number of aircraft; the first relay control board is arranged with a first solid relay control circuit and a second solid relay control circuit, and the first solid relay control circuit is used to control the first aircraft according to the corresponding second control signal The first aircraft and the second aircraft are powered by the second solid relay control circuit, and the second solid relay control circuit is used to activate and control the pyrotechnics of the first aircraft and the second aircraft according to the corresponding second control signal; wherein the first aircraft and the second aircraft have different power supply voltages; wherein the computer board and the first relay control board are stacked and connected through the first rectangular connector to realize signal transfer, which overcomes the problems of poor launch control effect, low launch control accuracy, long production cycle and high production cost of the launch control device in the related technology, thereby limiting the applicable scenarios of the micro-aircraft, and realizes a launch control device with strong resistance to mechanical environment, strong control circuit overload capacity, long product life, multiple switching times, wireless communication, miniaturization and other advantages through a control circuit based on a solid relay and a rectangular connector for stacking connection, so as to achieve the technical effect of improving the launch control accuracy of the launch control device, improving the launch control effect, reducing the production cycle and production cost of the launch control device, thereby expanding the application scenarios of the micro-UAV and promoting the popularization and application of the micro-UAV.

[0086] In order to solve the above problems, an embodiment of the present invention provides a launch control method for a micro air vehicle, such as Figure 3 As shown, the launch control method of the micro air vehicle mainly includes:

[0087] Step S301, based on one end of the secondary power supply circuit module receiving an external input voltage of an external power source, and converting the external input voltage into multiple isolated output voltages via a DC / DC voltage conversion circuit, supplying power to other circuit modules in the computer board through the other end.

[0088] Among them, the launch control method of the micro-aircraft provided in the embodiment of the present invention is applied to any of the above-mentioned launch control devices. The launch control device based on the above-mentioned wireless communication, miniaturized design, and control circuit using a fixed relay reduces the production cycle and production cost of the launch control device. The launch control method of the micro-aircraft executed by the launch control device has the technical effects of high launch control accuracy and good launch control effect, which helps to expand the application scenarios of micro-UAVs and promote the popularization and application of micro-UAVs.

[0089] Specifically, based on the above settings, a single external input voltage can be converted into multiple isolated output voltages through a DC / DC voltage conversion circuit, ensuring that each circuit module obtains an independent and stable power supply and avoiding mutual interference between different modules; the isolated output voltage design not only provides different voltage levels, but also realizes electrical isolation, preventing the failure of one module from affecting other modules, thereby improving the reliability and safety of the system; it can accept a wider range of external input voltages (such as +24V~+31V), so that the launch control device can adapt to different types of power supplies, enhancing the flexibility and applicability of the system.

[0090] Step S302, in response to the external control instructions sent by the ground control device, a plurality of first control signals are generated according to the external control instructions by the DSP processor circuit module, and the plurality of first control signals are conditioned into a plurality of second control signals by the output control signal conditioning circuit; wherein the number of control signals is consistent with the number of aircraft.

[0091] Based on the above settings, the DSP processor can quickly parse the external control instructions from the ground control device and immediately generate the corresponding first control signal, ensuring real-time control of the aircraft; Multi-channel concurrent processing: The DSP processor can generate multiple control signals at the same time, realizing the simultaneous control of multiple aircraft and improving the concurrent processing capability of the system. Furthermore, the DSP processor can dynamically adjust the generated control signals according to different external control instructions, support a variety of control logics and strategies, and adapt to different task requirements. The DSP processor centrally manages the generation of all control signals, reducing the risk of failure caused by decentralized control and enhancing the reliability and fault tolerance of the system.

[0092] Step S303, power supply to the first aircraft and the second aircraft are controlled according to the corresponding second control signal through the first solid-state relay control circuit on the first relay control board; activation of the pyrotechnics of the first aircraft and the second aircraft are controlled according to the corresponding second control signal through the second solid-state relay control circuit on the first relay control board; wherein the first aircraft and the second aircraft have different power supply voltages.

[0093] Through the above settings, each aircraft (such as the first aircraft and the second aircraft) has an independent solid-state relay control circuit for power supply control, ensuring accurate power supply management for different aircraft. Since the first aircraft and the second aircraft have different power supply voltages, the solid-state relay control circuit can provide corresponding power supply voltages according to specific voltage requirements to meet the power supply requirements of different aircraft. The solid-state relay provides an electrical isolation function to prevent electrical interference between different aircraft and improve the safety and reliability of the system. The second solid-state relay control circuit is specifically used for the activation control of pyrotechnics, ensuring accurate and independent activation operations for pyrotechnics of different aircraft. Separating the power supply control and pyrotechnic activation control to different solid-state relay control circuits makes the system design more modular, which is convenient for future expansion or adding more types of aircraft.

[0094] In some of the embodiments, when the launch control device is provided with a second relay control board, the launch control method further includes: controlling the power supply of the third aircraft and the fourth aircraft according to the corresponding second control signal through a fourth solid relay control circuit arranged on the second relay control board; controlling the activation of the pyrotechnics of the third aircraft and the fourth aircraft according to the corresponding second control signal through a fifth solid relay control circuit arranged on the second relay control board; wherein the power supply voltage of the third aircraft is consistent with the power supply voltage of the first aircraft, and the power supply voltage of the fourth aircraft is consistent with the power supply voltage of the second aircraft.

[0095] By adding a second relay control board, the launch control method provided by the embodiment of the present invention can support a larger number of aircraft (such as the third aircraft and the fourth aircraft) without making large-scale changes to the existing architecture. Each relay control board is responsible for the control of a specific aircraft. Even if a control board fails, other control boards can still work normally, thereby enhancing the fault tolerance and overall reliability of the launch control device. On the other hand, separating the power supply control and the pyrotechnic activation control to different relay control circuits reduces the complexity of a single circuit and reduces the probability of failure.

[0096] The launch control method of the micro-aircraft provided in the embodiment of the present invention adopts the launch control device of the micro-aircraft, receives the external input voltage of the external power supply through one end of the secondary power supply circuit module, converts the external input voltage into multiple isolated output voltages through the DC / DC voltage conversion circuit, and supplies power to other circuit modules in the computer board through the other end; in response to the external control instruction sent by the ground control device, generates multiple first control signals according to the external control instruction through the DSP processor circuit module, and adjusts the multiple first control signals into multiple second control signals through the output control signal conditioning circuit; wherein the number of control signals is consistent with the number of aircraft; the first solid relay control circuit on the first relay control board controls the power supply of the first aircraft and the second aircraft according to the corresponding second control signal; the second solid relay control circuit on the first relay control board controls the activation of the pyrotechnics of the first aircraft and the second aircraft according to the corresponding second control signal; wherein the first aircraft and the second aircraft have different power supply voltages. The technical means of improving the launch control accuracy, enhancing the launch control effect, expanding the application scenarios of micro-UAVs, and promoting the promotion and application of micro-UAVs are achieved.

[0097] In order to solve the above problems, an embodiment of the present invention further provides a launch control system for a micro-aircraft, the system comprising an external power supply, a ground control device, a launch control device of any of the above-mentioned micro-aircraft, and multiple aircraft; wherein the external power supply is used to supply power to the launch control device; the ground control device is communicatively connected with the launch control device, and is used to send external control instructions to the launch control device; the launch control device is used to perform power supply control on multiple aircraft and activation control of pyrotechnics in multiple aircraft based on the external control instructions; and the multiple aircraft are used to perform corresponding launch operations based on the power supply control results and the activation control results of the pyrotechnics.

[0098] The launch control system based on the above-mentioned micro-aircraft has achieved the effect of improving the launch control accuracy, enhancing the launch control effect, expanding the application scenarios of micro-UAVs, and promoting the popularization and application of micro-UAVs.

[0099] An embodiment of the present invention further provides a non-transitory machine-readable medium storing a computer program, wherein the computer program, when executed by a processor of a computer, is used to cause the computer to execute the method of the embodiment of the present invention.

[0100] The embodiment of the present invention further provides a computer program product, including a computer program, wherein the computer program is used to make the computer perform the method of the embodiment of the present invention when executed by a processor of the computer. The computer program product should be understood as a software product that mainly implements the above method of the present application through a computer program.

[0101] An embodiment of the present invention further provides an electronic device, comprising: at least one processor; and a memory in communication with the at least one processor. The memory stores a computer program executable by the at least one processor, and when the at least one processor executes the computer program, the electronic device executes the method of the embodiment of the present invention.

[0102] refer to Figure 4 , a block diagram of an electronic device that can be used as a server or client of an embodiment of the present invention will now be described, which is an example of a hardware device that can be applied to various aspects of the present invention. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0103] like Figure 4 As shown, the electronic device includes a computing unit 401, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 402 or a computer program loaded from a storage unit 408 into a random access memory (RAM) 403. In RAM 403, various programs and data required for the operation of the electronic device can also be stored. The computing unit 401, ROM 402, and RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0104] Multiple components in the electronic device are connected to the I / O interface 405, including: an input unit 406, an output unit 407, a storage unit 408, and a communication unit 409. The input unit 406 can be any type of device that can input information to the electronic device, and the input unit 406 can receive input digital or character information, and generate key signal input related to user settings and / or function control of the electronic device. The output unit 407 can be any type of device that can present information, and can include but is not limited to a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 408 can include but is not limited to a disk, an optical disk. The communication unit 409 allows the electronic device to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and can include but is not limited to a modem, a network card, an infrared communication device, and / or a wireless communication transceiver, such as a Bluetooth device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0105] The computing unit 401 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 401 include, but are not limited to, a CPU, a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing units, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 401 performs the various methods and processes described above. For example, in some embodiments, the method embodiments of the present invention may be implemented as a computer program, which is tangibly contained in a machine-readable medium, such as a storage unit 408. In some embodiments, part or all of the computer program may be loaded and / or installed on an electronic device via ROM 402 and / or communication unit 409. In some embodiments, the computing unit 401 may be configured to perform the above-described method in any other appropriate manner (e.g., by means of firmware).

[0106] The computer programs for implementing the methods of the embodiments of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer programs are executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer programs may be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0107] In the context of an embodiment of the present invention, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable signal medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, or infrared systems, devices, or equipment, or any suitable combination of the foregoing. More specific examples of machine-readable storage media may include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0108] It should be noted that the term "including" and its variations used in the embodiments of the present invention are open inclusions, that is, "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". The modifications of "one" and "multiple" mentioned in the embodiments of the present invention are illustrative rather than restrictive. Those skilled in the art should understand that unless the context clearly indicates otherwise, it should be understood as "one or more".

[0109] The information / data involved in the embodiments of the present invention (including but not limited to information / data used for analysis, information / data stored, information / data displayed, etc.) are all information / data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant information / data must comply with relevant laws, regulations and standards of relevant countries and regions, and corresponding operation entrances are provided for users to choose to authorize or refuse.

[0110] The various steps described in the method implementation methods provided in the embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method implementation methods may include additional steps and / or omit the steps shown. The scope of protection of the present invention is not limited in this respect.

[0111] The term "embodiment" in this specification refers to specific features, structures or characteristics described in conjunction with the embodiment that can be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily mean the same embodiment, nor does it mean that it is mutually exclusive with other embodiments and is independent or optional. The various embodiments in this specification are described in a related manner, and the same or similar parts between the various embodiments refer to each other. In particular, for the device, equipment, and system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts refer to the partial description of the method embodiment.

[0112] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of protection. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the attached claims.

Claims

1. A launch control device for a micro air vehicle, characterized in that: It includes a computer board and a first relay control board; wherein, The computer board is provided with a secondary power supply circuit module, a DSP processor circuit module, and an output control signal conditioning circuit module; wherein one end of the secondary power supply circuit module is connected to an external power supply, and is used to receive an external input voltage and convert the external input voltage into a plurality of isolated output voltages via a DC / DC voltage conversion circuit, and supply power to other circuit modules in the computer board through the other end; the DSP processor circuit module is used to generate a plurality of first control signals according to an external control instruction, and send the plurality of first control signals to the output control signal conditioning circuit module; the output control signal conditioning circuit is used to condition the plurality of first control signals into a plurality of second control signals; wherein the number of control signals is consistent with the number of aircraft; The first relay control board is provided with a first solid relay control circuit and a second solid relay control circuit, the first solid relay control circuit is used to control the power supply of the first aircraft and the second aircraft according to the corresponding second control signal, and the second solid relay control circuit is used to control the activation of the pyrotechnics of the first aircraft and the second aircraft according to the corresponding second control signal; wherein the first aircraft and the second aircraft have different power supply voltages; Wherein, the computer board and the first relay control board are stacked and connected via a first rectangular connector to achieve signal switching.

2. The device according to claim 1, characterized in that A third solid-state relay control circuit is also arranged on the first relay control board; One end of the third solid relay control circuit is connected to the first rectangular connector, and the other end is connected to the second solid relay control circuit, and is used for pre-activation control of pyrotechnics of all aircraft.

3. The device according to claim 1, characterized in that The launch control device also includes a second relay control board; wherein, A fourth solid relay control circuit and a fifth solid relay control circuit are arranged on the second relay control board; the fourth solid relay control circuit is used to control the power supply of the third aircraft and the fourth aircraft according to the corresponding second control signal; the fifth solid relay control circuit is used to control the activation of the pyrotechnics of the third aircraft and the fourth aircraft according to the corresponding second control signal; wherein the power supply voltage of the third aircraft is consistent with the power supply voltage of the first aircraft, and the power supply voltage of the fourth aircraft is consistent with the power supply voltage of the second aircraft; The second relay control board is stacked and connected with the first relay via a second rectangular connector to achieve signal switching.

4. The device according to claim 1, characterized in that Other circuit modules arranged on the computer board also include: in-position signal detection circuit module, aircraft type identification detection circuit module, RS422 communication control circuit module, CAN bus communication circuit module, filter circuit module, program download interface circuit module, power-on reset circuit module, storage unit circuit module; wherein, The in-place signal detection circuit module is used to receive an aircraft in-place detection signal; The aircraft type identification detection circuit module is used to receive an aircraft type identification detection signal and send the aircraft type identification detection signal to the DSP processor circuit module to identify the aircraft type; The RS422 communication control circuit module is used to communicate with the aircraft; The CAN bus communication circuit module is used to communicate with the ground control device to receive external control instructions sent by the ground control device; One end of the filter circuit module is connected to the secondary power supply circuit module, and the other end is connected to the external power supply; The program download interface circuit module is used for program download and online simulation debugging; The power-on reset circuit module is used to implement power-on reset; The storage unit circuit module includes an SRAM memory and a FLASH flash memory, wherein the SRAM memory is used for software program running and data calculation processing, and the FLASH flash memory is used for program storage and data storage.

5. The device according to claim 1, characterized in that The launch control device also includes a structural member, wherein: The structural parts include a front panel, a frame, a top plate, a bottom plate and copper columns connected by standard parts.

6. A launch control method for a micro air vehicle, characterized in that: The emission control device applied to any one of claims 1 to 5, the method comprising: Based on one end of the secondary power supply circuit module receiving an external input voltage from an external power source, the external input voltage is converted into a plurality of isolated output voltages via a DC / DC voltage conversion circuit, and power is supplied to other circuit modules in the computer board via the other end; In response to an external control instruction sent by a ground control device, the DSP processor circuit module generates a plurality of first control signals according to the external control instruction, and the output control signal conditioning circuit conditions the plurality of first control signals into a plurality of second control signals; wherein the number of control signals is consistent with the number of aircraft; The first solid-state relay control circuit on the first relay control board controls power supply to the first aircraft and the second aircraft according to the corresponding second control signal; the second solid-state relay control circuit on the first relay control board controls activation of the pyrotechnics of the first aircraft and the second aircraft according to the corresponding second control signal; wherein the first aircraft and the second aircraft have different power supply voltages.

7. The method according to claim 6, characterized in that When the emission control device is provided with a second relay control board, the method further comprises: The third aircraft and the fourth aircraft are powered on and controlled according to the corresponding second control signal through the fourth solid-state relay control circuit arranged on the second relay control board; the pyrotechnics of the third aircraft and the fourth aircraft are activated and controlled according to the corresponding second control signal through the fifth solid-state relay control circuit arranged on the second relay control board; wherein the power supply voltage of the third aircraft is consistent with the power supply voltage of the first aircraft, and the power supply voltage of the fourth aircraft is consistent with the power supply voltage of the second aircraft.

8. A launch control system for a micro air vehicle, characterized in that: The system comprises an external power supply, a ground control device, a launch control device of the micro air vehicle according to any one of claims 1 to 5, and a plurality of aircraft; wherein, The external power supply is used to supply power to the launch control device; The ground control device is in communication connection with the launch control device, and is used to send external control instructions to the launch control device; The launch control device is used to perform power supply control on the multiple aircraft and activation control of pyrotechnics in the multiple aircraft based on the external control instructions; The multiple aircraft are used to perform corresponding launch operations based on power supply control results and activation control results of pyrotechnics.

9. An electronic device, comprising: A processor, and a memory storing a program, wherein the program comprises instructions, which, when executed by the processor, cause the processor to perform the method according to any one of claims 6-7.

10. A non-transitory machine-readable medium storing computer instructions, characterized in that: The computer instructions are used to cause the computer to execute the method according to any one of claims 6-7.

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