Automatic control detection system of unmanned aerial vehicle

Abstract

The invention provides an automatic control and detection system for an unmanned aerial vehicle. The automatic control and detection system comprises the unmanned aerial vehicle and a ground monitoring platform in communication connection with the unmanned aerial vehicle, the unmanned aerial vehicle comprises a flight control module; the CAN to PWM / SPI / IIC / UART module is connected with the flight control module through a CAN bus; the electric adjusting module is connected with a PWM interface on the CAN to PWM / SPI / IIC / UART module; a steering engine module; the current sensor is used for measuring the current i output to the steering engine module by the electronic speed controller module; the flight control module obtains the current i of the steering engine module through the CAN bus, and converts the current ik into the rotating speed r according to the pre-stored information of the steering engine module, and the rotating speed r meets the following conditions: r = (ik * U) / (P0 * x), U is the rated voltage of the motor, P0 is the full-load power of the motor, x is the full-load rotating speed of the motor, and k is a natural number greater than or equal to 1; the flight control module further calculates the service life y according to the rotating speed r and the running time t, and the accumulated value of the service life y is stored as a log; and the communication module is used for transmitting the data to a ground monitoring platform for real-time monitoring.

Description

Technical Field

[0001] The invention belongs to the field of electronic information technology, and in particular relates to an automatic control detection system for an unmanned aerial vehicle. Background Art

[0002] With the rapid development of the drone industry, drones will achieve large-scale normalized operation. Unlike drones in other application fields, drones have high flight frequency and require high reliability. In order to ensure the high reliability of the logistics drone itself, it is necessary to conduct detailed monitoring of the drone's own equipment and promptly repair or replace modules or components with faults or hidden dangers in the logistics drone.

[0003] At present, there are two ways to monitor the drone's own equipment: the onboard flight control computer monitors its own equipment in real time, but detailed monitoring will take up a lot of onboard computer resources, and when new monitoring points are added, the drone terminal software needs to be upgraded. For large-scale logistics drones, software upgrades increase the difficulty of system upgrade iterations; manual analysis of drone flight logs to monitor drone equipment is also a common method, but drones fly frequently, and the flight logs generated are also massive, and the efficiency of personnel analyzing flight logs is very low. Summary of the invention

[0004] The present invention provides an automatic control detection system for a UAV, which can effectively solve the above problems.

[0005] The present invention is achieved in that: An automatic control detection system for unmanned aerial vehicles, comprising: an unmanned aerial vehicle and a ground monitoring platform in communication connection with the unmanned aerial vehicle; The drone comprises: Flight control module; A CAN to PWM / SPI / IIC / UART module connected to the flight control module via a CAN bus; The electric speed adjustment module is connected to the PWM interface on the CAN to PWM / SPI / IIC / UART module; Servo module connected to the ESC module; A current sensor connected to the ADC interface on the CAN to PWM / SPI / IIC / UART module for measuring the current i output by the ESC module to the servo module; The flight control module obtains the current i of the steering gear module through the CAN bus, and converts the current i k Converted into speed r, it satisfies: r= (i k*U) / (P0*x), U is the rated voltage of the motor, P0 is the full load power of the motor, x is the full load speed of the motor, and k is a natural number greater than or equal to 1; the flight control module further calculates the service life y according to the speed r and the running time t, and stores the accumulated value of the life y value in a log; It also includes a communication module for transmitting the above data to the ground monitoring platform for real-time monitoring.

[0006] As a further improvement, the UAV automatic control detection system also includes an engine connected to the flight control module via the CAN bus. The flight control module obtains the engine speed, total mileage, and mileage from the last maintenance data via the CAN bus and stores them in a log, and then transmits the above data to the ground monitoring platform via the communication module for real-time monitoring.

[0007] As a further improvement, the UAV automatic control detection system also includes a BMS, an oil level gauge, RTK, and various sensors connected to the flight control module through the CAN bus; the flight control module obtains the data of the BMS, oil level gauge, RTK, and various sensors through the CAN bus and stores them in a log, and then transmits the above data to the ground monitoring platform through the communication module for real-time monitoring.

[0008] As a further improvement, the flight control module is further used to perform a functional self-check before the UAV performs a mission to detect whether each module can work normally and whether its life span needs maintenance or replacement; and store the relevant information in a log, and then transmit the above data to the ground monitoring platform through the communication module for real-time monitoring.

[0009] As a further improvement, the flight control module is further used to obtain data from each module through the CAN bus when the UAV performs a mission, and then transmit the data from each module to the ground monitoring platform through the communication module for real-time monitoring.

[0010] As a further improvement, the flight control module obtains the current i of the servo module through the CAN bus k Specifically include: By formula Calculate the current i of the servo module k ,i k-1 is the current calculated by the servo module at the last moment, y k is the current reading, α is the constant of the low-pass filter, and satisfies , where τ and T are the time constant and sampling period of the low-pass filter respectively.

[0011] As a further improvement, the flight control module is further used to obtain real-time speed r data through the CAN bus when the UAV performs a mission, and then transmit the real-time speed r data to the ground monitoring platform through the communication module. The ground monitoring platform calculates the sudden abnormal changes in the data based on the real-time speed r data, thereby issuing an early warning.

[0012] As a further improvement, the flight control module further calculates the service life y according to the rotation speed r and the running time t, specifically including: convolving the rotation speed r and the running time t to obtain the service life.

[0013] The beneficial effects of the present invention are: The automatic control detection system of the drone of the present invention can obtain the operation data of each key module of the drone in real time, such as the current, rotation speed, service life and other information of the steering gear module, through the communication connection between the flight control module and the ground monitoring platform, so as to realize the refined monitoring of the drone status, timely discover potential faults or hidden dangers, ensure the high reliability operation of the drone, and greatly reduce the resources of the onboard computer. In addition, compared with the traditional method of manually analyzing flight logs, the system can automatically collect and analyze data, greatly reducing the workload of manual analysis and improving monitoring efficiency. It is particularly suitable for application scenarios such as logistics drones with high flight frequency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 It is an architecture diagram of the automatic control detection system of the unmanned aerial vehicle provided by an embodiment of the present invention.

[0016] Figure 2 It is an architectural diagram of the local structure of the UAV automatic control detection system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions 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, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0018] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0019] Reference Figure 1-2 As shown, an embodiment of the present invention provides an automatic control detection system for a UAV, including: a UAV and a ground monitoring platform in communication connection with the UAV; The drone comprises: Flight control module 10; A CAN to PWM / SPI / IIC / UART module 14 connected to the flight control module 10 via a CAN bus; The electric adjustment module 15 is connected to the PWM interface on the CAN to PWM / SPI / IIC / UART module 14; A servo module 18 connected to the electric control module 15; Current sensor 19, connected to the ADC interface on the CAN to PWM / SPI / IIC / UART module 14, for measuring the current i output by the electric adjustment module 15 to the servo module 18; The flight control module 10 obtains the current i of the steering engine module 18 through the CAN bus, and converts the current i k Converted into speed r, it satisfies: r= (i k*U) / (P0*x), U is the rated voltage of the motor, P0 is the full load power of the motor, x is the full load speed of the motor, and k is a natural number greater than or equal to 1; the flight control module 10 further calculates the service life y according to the speed r and the running time t, and stores the accumulated value of the life y value in a log; It also includes a communication module for transmitting the above data to the ground monitoring platform for real-time monitoring. The automatic control detection system of the unmanned aerial vehicle of the present invention can obtain the operating data of each key module of the unmanned aerial vehicle in real time, such as the current, rotation speed, service life and other information of the servo module 18, through the communication connection between the flight control module 10 and the ground monitoring platform, so as to realize the refined monitoring of the state of the unmanned aerial vehicle, timely discover potential faults or hidden dangers, ensure the high reliability operation of the unmanned aerial vehicle, and greatly reduce the resources of the onboard computer. In addition, compared with the traditional method of manually analyzing flight logs, the system can automatically collect and analyze data, greatly reducing the workload of manual analysis and improving monitoring efficiency. It is particularly suitable for application scenarios such as logistics unmanned aerial vehicles with high flight frequency.

[0020] As a further improvement, the UAV automatic control detection system also includes an engine 13 connected to the flight control module 10 via the CAN bus. The flight control module 10 obtains the speed, total mileage, and mileage from the last maintenance of the engine 13 via the CAN bus and stores them in a log, and then transmits the above data to the ground monitoring platform via the communication module for real-time monitoring.

[0021] As a further improvement, the automatic control detection system of the UAV also includes a BMS 16, an oil level gauge 11, an RTK 12, and various sensors connected to the flight control module 10 through the CAN bus; the flight control module 10 obtains the data of the BMS 16, the oil level gauge 11, the RTK 12, and various sensors through the CAN bus and stores them in a log, and then transmits the above data to the ground monitoring platform through the communication module for real-time monitoring. The power supply 17 is respectively connected to the flight control module 10, namely the BMS 16. The system of the present invention connects the engine 13, the BMS 16, the oil level gauge 11, the RTK 12 and other key modules and sensors through the CAN bus to achieve comprehensive monitoring of the overall status of the UAV and provide comprehensive data support for the maintenance and management of the UAV.

[0022] As a further improvement, the flight control module 10 is further used to perform a functional self-check before the UAV performs a mission to detect whether each module can work normally and whether its life span needs maintenance or replacement; and store the relevant information in a log, and then transmit the above data to the ground monitoring platform through the communication module for real-time monitoring.

[0023] As a further improvement, the flight control module 10 is further used to obtain data of each module through the CAN bus when the UAV performs a mission, and then transmit the data of each module to the ground monitoring platform through the communication module for real-time monitoring, so as to ensure that the UAV is in the best state before the mission is performed, thereby improving the success rate and safety of the mission.

[0024] In other embodiments, in order to accurately obtain the current i of the drone servo module 18 and remove the related noise, a low-pass filter is designed to enable the flight control module 10 to obtain the accurate current i of the servo module 18 through the CAN bus. k , the specific steps include: By formula Calculate the current i of the steering engine module 18 k ,i k-1 is the current calculated by the servo module at the last moment, y k is the current reading, α is the constant of the low-pass filter, and satisfies , where τ and T are the time constant and sampling period T of the low-pass filter respectively. α is a constant between 0 and 1, which determines the degree of noise suppression of the filter. The smaller the value, the better the filtering effect, but it may cause signal distortion.

[0025] The validity of the above model can be verified by simulation data. Specifically: Assume that the real current i is a sine wave and the noise n is Gaussian noise, which satisfies: ; ; , where σ is the standard deviation of the Gaussian noise distribution.

[0026] Substitute into the formula to obtain: .

[0027] By adding i filtered Compare with the true i(t) to evaluate the filtering effect.

[0028] In other embodiments, the flight control module 10 is further used to obtain real-time speed r data through the CAN bus when the UAV performs a mission, and then transmit the real-time speed r data to the ground monitoring platform through the communication module, and the ground monitoring platform calculates the abnormal mutation in the data according to the real-time speed r data, so as to issue an early warning. The flight control module 10 can issue a fault early warning based on real-time data, such as detecting and analyzing the mutation of the speed data, timely discovering mechanical faults, and performing preventive maintenance in advance, thereby reducing flight accidents and equipment damage caused by faults, and reducing maintenance costs and operational risks.

[0029] The specific implementation method is as follows: The rotation speed r data transmitted by the drone is considered as a discrete time series: .

[0030] Then calculate the moving average within the sliding window (used to smooth the data and eliminate short-term fluctuations): Among them, n is the size of the sliding window, r t-i+1 It refers to the speed data at a certain time point t-i+1 during the speed monitoring process.

[0031] Calculate the residual between the current speed data and the moving average as the basis for anomaly detection: , and assume that the residual ϵt follows a normal distribution N(μ,σ 2 ), where μ is the mean and σ is the standard deviation.

[0032] The outliers are determined by calculating the probability density of each residual point. For example, a threshold γ is set, which is usually a probability value greater than the 95% or 99% confidence interval. The corresponding residual absolute value critical point is , where z γ is the quantile of the standard normal distribution.

[0033] if , it is considered that there is a sudden change in the current speed data.

[0034] Assuming that the speed data of the drone is stable when flying normally, according to statistics, μ=1200RPM, σ=50RPM, and γ=99.7%, the corresponding =1200±3×50=1050 / 1350RPM. When the wing parts of the drone are damaged, the speed suddenly drops from 1200 to 1000RPM. =1000-1200=-200RPM, exceeding the critical value, triggering an alarm. At the same time, the scanning statistics detected a downward trend in speed for a period of time, further confirming that it was a mechanical failure of the wing.

[0035] Furthermore, you can use scanning statistics to find local trend changes in time series. Scanning statistics compares statistics in different time windows to determine whether there is an abnormal trend: , where k is the scan window length, r t+i It refers to the speed data at a certain time point t+i during the speed monitoring process. is the average speed from time t to t+k. Slide the window over time t, calculate all possible St,k, and record the maximum value S max . Set the threshold τ, if S max >τ, it is determined that there is a trend change.

[0036] As a further improvement, the flight control module further calculates the service life y according to the rotation speed r and the running time t, specifically including: convolving the rotation speed r and the running time t to obtain the service life Y. The running mileage of the motor is its service life Y, which satisfies: Y = ∑△y; and △y=△t* , where △t is the sampling interval, and The sampling interval can be selected according to actual conditions, for example, it can be 1s, 5s, or 10s.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic control detection system for unmanned aerial vehicles, characterized in that: include: An unmanned aerial vehicle and a ground monitoring platform in communication with the unmanned aerial vehicle; The drone comprises: Flight control module; A CAN to PWM / SPI / IIC / UART module connected to the flight control module via a CAN bus; The electric speed adjustment module is connected to the PWM interface on the CAN to PWM / SPI / IIC / UART module; Servo module connected to the ESC module; A current sensor connected to the ADC interface on the CAN to PWM / SPI / IIC / UART module for measuring the current i output by the ESC module to the servo module; The flight control module obtains the current i of the steering gear module through the CAN bus, and converts the current i k Converted into speed r, it satisfies: r= (i k *U) / (P0*x), U is the rated voltage of the motor, P0 is the full load power of the motor, x is the full load speed of the motor, and k is a natural number greater than or equal to 1; the flight control module further calculates the service life y according to the speed r and the running time t, and stores the accumulated value of the life y value in a log; It also includes a communication module for transmitting the above data to the ground monitoring platform for real-time monitoring.

2. The automatic control detection system for unmanned aerial vehicles according to claim 1, characterized in that: It also includes an engine connected to the flight control module through the CAN bus. The flight control module obtains the engine speed, total mileage, and mileage from the last maintenance through the CAN bus and stores them in a log, and then transmits the above data to the ground monitoring platform through the communication module for real-time monitoring.

3. The automatic control detection system for unmanned aerial vehicles according to claim 1, characterized in that: It also includes a BMS, an oil level gauge, an RTK, and various sensors connected to the flight control module through the CAN bus; the flight control module obtains the data of the BMS, the oil level gauge, the RTK, and various sensors through the CAN bus and stores them in a log, and then transmits the above data to the ground monitoring platform through the communication module for real-time monitoring.

4. The automatic control detection system for unmanned aerial vehicles according to claim 1, characterized in that: The flight control module is further used to perform a functional self-check before the UAV performs a mission to detect whether each module can work normally and whether its life span needs maintenance or replacement; and store the relevant information in a log, and then transmit the above data to the ground monitoring platform through the communication module for real-time monitoring.

5. The automatic control detection system for unmanned aerial vehicles according to claim 1, characterized in that: The flight control module is further used to obtain data of each module through the CAN bus when the UAV performs a mission, and then transmit the data of each module to the ground monitoring platform through the communication module for real-time monitoring.

6. The automatic control detection system for unmanned aerial vehicles according to claim 1, characterized in that: The flight control module obtains the current i of the servo module through the CAN bus k Specifically include: By formula Calculate the current i of the servo module k ,i k-1 is the current calculated by the servo module at the last moment, y k is the current reading, α is the constant of the low-pass filter, and satisfies , where τ and T are the time constant and sampling period of the low-pass filter respectively.

7. The automatic control detection system for unmanned aerial vehicles according to claim 5, characterized in that: The flight control module is further used to obtain real-time rotational speed r data through the CAN bus when the UAV performs a mission, and then transmit the real-time rotational speed r data to the ground monitoring platform through the communication module. The ground monitoring platform calculates the sudden abnormal changes in the data based on the real-time rotational speed r data, thereby issuing an early warning.

8. The automatic control detection system for unmanned aerial vehicles according to claim 1, characterized in that: The flight control module further calculates the service life y according to the rotation speed r and the running time t, specifically including: convolving the rotation speed r and the running time t to obtain the service life.

Images