Unmanned aerial vehicle anti-icing and deicing comprehensive logic control method and system

Abstract

The invention discloses an unmanned aerial vehicle anti-icing and de-icing comprehensive logic control method and system, and the method comprises the steps: enabling an airborne control computer to judge whether a precondition for starting unmanned aerial vehicle anti-icing and de-icing is met or not according to the received power supply data sent by a main power supply and the unmanned aerial vehicle power data sent by a piston engine; the airborne control computer receives data sent by a sensor carried by the unmanned aerial vehicle, and judges whether the necessity of starting the unmanned aerial vehicle to prevent and remove ice is met or not; secondarily determining whether it is necessary to start the unmanned aerial vehicle to prevent and remove ice; determining an anti-icing and de-icing operation mode of the unmanned aerial vehicle; the airborne control computer issues an instruction to start the unmanned aerial vehicle for ice prevention and removal, and an ice prevention and removal execution device receives the instruction to complete corresponding actions; the airborne control computer collects the anti-icing and deicing operation data of the unmanned aerial vehicle, monitors the operation state, and automatically isolates and processes faults occurring in the operation process. According to the invention, unmanned aerial vehicle ice prevention and removal can be fully started as required, and unmanned aerial vehicle energy is saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle deicing, in particular to an unmanned aerial vehicle deicing comprehensive logic control method and system. BACKGROUND

[0002] During the flight of the unmanned aerial vehicle, supercooled water droplets existing in the atmospheric environment are prone to collide with each parts of the unmanned aerial vehicle and freeze, among which, the icing of the lifting surface has the greatest impact on the unmanned aerial vehicle, and in severe cases, it will lead to insufficient lift, reduced performance, maneuverability, stability and other problems. Therefore, in order to ensure the safe operation of the unmanned aerial vehicle, deicing technology is being more and more widely used in the field of unmanned aerial vehicles.

[0003] At present, the control logic of unmanned aerial vehicle deicing still has many limitations, lacks matching judgment of unmanned aerial vehicle system operation state, and is difficult to cope with complex icing conditions in actual application.

[0004] Firstly, the power supply capacity of the unmanned aerial vehicle is not considered, the power consumption of the unmanned aerial vehicle deicing is large, and the start and stop stages are prone to have a great impact on the power and power supply system, affecting the service life and flight safety of the unmanned aerial vehicle; secondly, the start and stop condition criterion is single and rigid, the unmanned aerial vehicle platform data is not fully and comprehensively utilized for accurate control, and there are safety risks such as false start and failure to start in time; finally, the control logic is dispersed, the degree of automation is low, the key parameters, operation state and fault alarm information are not timely and comprehensive, which increases the system complexity of the unmanned aerial vehicle and the operation and monitoring burden of the command and control personnel. SUMMARY

[0005] In view of this, the present application provides an unmanned aerial vehicle deicing comprehensive logic control method and system, which realizes unified control of deicing of each part of the unmanned aerial vehicle, expands the use scene of unmanned aerial vehicle deicing, and ensures the flight safety of the unmanned aerial vehicle in icing environment.

[0006] The present application discloses an unmanned aerial vehicle deicing comprehensive logic control method, which comprises: Step 1: The airborne control computer judges whether the preconditions for starting the unmanned aerial vehicle deicing are met according to the received power supply data sent from the main power supply and the unmanned aerial vehicle power data sent from the piston engine; Step 2: The airborne control computer receives data sent from the sensors carried by the unmanned aerial vehicle, and judges whether it is necessary to start the unmanned aerial vehicle deicing; Step 3: Whether it is necessary to start the unmanned aerial vehicle deicing is confirmed again through the airborne visual device of the unmanned aerial vehicle; Step 4: The operation mode of the unmanned aerial vehicle deicing is determined according to the actual use requirement and working scene; Step 5: The airborne control computer issues an instruction to start the UAV deicing, and the deicing execution device receives the instruction and performs corresponding actions; Step 6: The airborne control computer collects UAV deicing operation data and monitors the operation state, automatically isolates and handles faults occurring during operation to ensure safe operation of the UAV deicing.

[0007] Further, the step 1 comprises: During the UAV cruising phase, if the UAV power data received by the airborne control computer is greater than or equal to the preset power data, it is determined that the preconditions for starting the UAV deicing are met, and a power-on instruction is output to control the UAV deicing execution device to power on; otherwise, the UAV deicing is prohibited from starting. The UAV power data includes the speed of the piston engine. When the main power supply fails, the airborne control computer compares the received power data with the preset power data. If it is determined that the main power supply capacity is insufficient, only the airspeed pipe deicing power-on of the deicing execution device in other parts is allowed, and the lift surface deicing execution device and the power device deicing execution device are prohibited from powering on.

[0008] Further, the step 2 comprises: The airborne control computer receives data collected by sensors carried by the UAV, compares the received data with preset values, and determines whether the necessity of starting the UAV deicing is met. The sensors carried by the UAV include atmospheric data sensors, icing sensors, and wheel load sensors. The atmospheric data sensors are used to collect atmospheric parameters directly related to the flight environment around the UAV. The icing sensors are used to collect the ice accumulation on the surface of the UAV. The wheel load sensors are used to collect the wheel load state of the UAV to determine the position of the UAV. If the necessity of starting the UAV deicing is met, the airborne control computer outputs an operation instruction to control the deicing execution device to start the deicing task. The deicing execution device includes the lift surface deicing execution device, the power device deicing execution device, and the deicing execution device in other parts.

[0009] Further, the step 3 comprises: During the UAV cruising phase, if the data of the sensors carried by the UAV indicates that the UAV is not currently in an icing-prone weather environment or icing has not occurred, the operator of the ground command and control station makes a secondary judgment on the necessity of starting the UAV deicing by means of the pictures of the airborne image equipment and the forward-looking surveillance equipment provided by the UAV. If the operator confirms that the wing leading edge has been iced through the picture of the airborne image device, or confirms that the UAV is about to enter the cloud layer through the picture of the UAV forward-looking monitoring device, it is confirmed that it is necessary to start the UAV deicing, and the operator sends a forced permission remote control command. After the airborne control computer receives the remote control command, it outputs a running command to control the deicing execution device to start the deicing task.

[0010] Further, the step 4 comprises: The "automatic / manual mode" remote control command is set in the ground command control station to complete the selection of the UAV deicing mode through human-computer interaction. The default mode of the UAV deicing is the manual mode, and the automatic mode is automatically switched when the UAV data link system fails and remains; During the cruise phase of the UAV, the operator of the ground command control station sends an "automatic mode" remote control command through the monitoring software. After the airborne control computer receives the remote control command, it modifies the UAV deicing running mode to the automatic mode and sets the relevant running parameters according to the control law solution, preparing for the next step.

[0011] Further, the step 4 comprises: During the cruise phase of the UAV, if the data link system fails, the ground command control station cannot remotely control the UAV deicing operation, and the airborne control computer automatically switches the UAV deicing running mode to the automatic mode, allowing the next step to work.

[0012] Further, the step 5 comprises: The preconditions and necessity of starting the UAV deicing have been met, and the UAV deicing is in the automatic mode or the operator selects to manually start the deicing. The airborne control computer automatically outputs a power-on command, the power distribution device output channel switch is closed, the deicing execution device is powered on, the deicing running command is automatically output, and the deicing execution device starts the deicing task.

[0013] Further, the step 5 further comprises: During the approach and landing phase of the UAV, if the atmospheric static temperature is within the preset range and the UAV is not iced and the operator of the ground command control station does not send a forced permission remote control command, the airborne control computer confirms that all conditions for starting the UAV deicing are not met at present, automatically outputs a stop running command, the deicing execution device stops working, automatically outputs a power-off command, the power distribution device output channel switch is opened, and the deicing execution device is powered off.

[0014] Further, the step 6 comprises: The airborne control computer collects the operation data of the unmanned aerial vehicle deicing and comprehensively judges, monitors the operation state of the unmanned aerial vehicle deicing, and transmits the related data and the calculated state information to the command control station after integration, for the operator to view. If the unmanned aerial vehicle deicing fails, the airborne control computer locates the deicing device that fails according to the data source, stops the device from running, calculates the failure cause and type, generates failure alarm information, and transmits the failure information to the command control station to prompt the operator of the failure.

[0015] The application also discloses an unmanned aerial vehicle deicing comprehensive logic control system, which realizes the unmanned aerial vehicle deicing comprehensive logic control method, and comprises an airborne control computer, a piston engine, a main power supply, a power distribution device, deicing execution devices, sensors and a ground command control station. The power distribution device is connected with the deicing execution devices and is used for supplying power for the deicing execution devices. The unmanned aerial vehicle is provided with an airborne visual device, including an airborne image device and an unmanned aerial vehicle forward-looking monitoring device, which is used for secondary judgment of the necessity of deicing opening by the ground command control station. The deicing execution devices include lift surface deicing execution devices, power device deicing execution devices and other part deicing execution devices.

[0016] Due to the above technical solutions, the application has the following advantages: 1. The application fully considers the characteristics of large power consumption of the unmanned aerial vehicle deicing, innovatively introduces the unmanned aerial vehicle power and power supply state as a precondition for opening the unmanned aerial vehicle deicing, and effectively avoids the impact and damage of the instantaneous high load generated by opening the deicing on the unmanned aerial vehicle power and power supply system when the power supply capacity is insufficient; 2. The application innovatively integrates multi-aspect sensor data and visual results to describe the necessity of opening the unmanned aerial vehicle deicing, and sets up a two-level confirmation mechanism, which fully guarantees the on-demand opening of the unmanned aerial vehicle deicing and achieves the purpose of saving energy; 3. The unmanned aerial vehicle deicing automatic mode has the characteristics of high automation degree, and the operation state, working parameters and failure alarm of the unmanned aerial vehicle deicing are significantly displayed on the ground command control station monitoring interface, so that the ground command control station operator does not need to perform long-term monitoring work, and it is especially suitable for use in scenarios with limited personnel configuration; 4. The manual mode of the unmanned aerial vehicle deicing system can cover the use requirements in atypical environment, support the implementation of partial function test on the ground, and still enable the deicing function to be forcibly started in the emergency situation of unmanned aerial vehicle automation system failure, thereby effectively widening the use range of the unmanned aerial vehicle deicing system, reducing the use restrictions of the unmanned aerial vehicle deicing system, and improving the safety of the unmanned aerial vehicle flight in the icing environment; 5. The comprehensive logic control method of the unmanned aerial vehicle deicing system has strong versatility and portability, innovatively integrates the deicing control of the lift surface, power device and other parts of the unmanned aerial vehicle into a complete and unified logic, and executes the control logic by a machine-mounted control computer, thereby reducing the complexity of the unmanned aerial vehicle platform and the operation difficulty of the ground command and control station operator. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art based on these drawings.

[0018] Figure 1 A flowchart of a comprehensive logic control method of an unmanned aerial vehicle deicing system according to an embodiment of the present application; Figure 2 A block diagram of a comprehensive logic control system of an unmanned aerial vehicle deicing system according to an embodiment of the present application. DETAILED DESCRIPTION

[0019] The present application will be further described in combination with the drawings and embodiments. The described embodiments are only some of the embodiments of the present application, not all the embodiments. All other embodiments obtained by those skilled in the art should belong to the scope of protection of the embodiments of the present application.

[0020] Referring to Figure 1 , the present application provides an embodiment of a comprehensive logic control method of an unmanned aerial vehicle deicing system, which comprises: Step 1: The machine-mounted control computer judges whether the preconditions for starting the unmanned aerial vehicle deicing system are met according to the power supply data received from the main power supply and the unmanned aerial vehicle power data received from the piston engine; Step 2: The machine-mounted control computer receives the data sent from the sensors carried by the unmanned aerial vehicle, and judges whether the necessity of starting the unmanned aerial vehicle deicing system is met; Step 3: Whether it is necessary to start the unmanned aerial vehicle deicing system is confirmed again through the machine-mounted visual device of the unmanned aerial vehicle; Step 4: The operation mode of the unmanned aerial vehicle deicing system is determined according to the actual use requirements and working scenarios; Step 5: The airborne control computer issues an instruction to start the unmanned aerial vehicle deicing, and the deicing execution device receives the instruction and performs corresponding actions; Step 6: The airborne control computer collects unmanned aerial vehicle deicing operation data and monitors the operation state, automatically isolates and handles faults occurring in the operation process to ensure the safe operation of the unmanned aerial vehicle deicing.

[0021] In the embodiment of the application, step 1 comprises: In the cruising phase of the unmanned aerial vehicle, if the unmanned aerial vehicle power data received by the airborne control computer is greater than or equal to the preset power data, it is determined that the precondition for starting the unmanned aerial vehicle deicing is met, and a power-on instruction is output to control the unmanned aerial vehicle deicing execution device to be powered on; otherwise, the unmanned aerial vehicle deicing is prohibited from being started; the unmanned aerial vehicle power data includes the speed of the piston engine. When the main power supply fails, the airborne control computer compares the received power data with the preset power data, and if it is determined that the capacity of the main power supply is insufficient, only the airspeed pipe deicing power-on of the deicing execution device in other parts is allowed, and the lift surface deicing execution device and the power device deicing execution device are prohibited from being powered on.

[0022] In the embodiment of the application, step 2 comprises: The airborne control computer receives data collected by sensors carried by the unmanned aerial vehicle, compares the received data with preset values, and determines whether the necessity of starting the unmanned aerial vehicle deicing is met; the sensors carried by the unmanned aerial vehicle include atmospheric data sensors, icing sensors, and wheel load sensors; the atmospheric data sensors are used to collect atmospheric parameters directly related to the flight environment around the unmanned aerial vehicle; the icing sensors are used to collect the icing conditions on the surface of the unmanned aerial vehicle; and the wheel load sensors are used to collect the wheel load state of the unmanned aerial vehicle to determine the position of the unmanned aerial vehicle. If the necessity of starting the unmanned aerial vehicle deicing is met, the airborne control computer outputs an operation instruction to control the deicing execution device to start the deicing task; the deicing execution device includes a lift surface deicing execution device, a power device deicing execution device, and other deicing execution devices.

[0023] In the embodiment of the application, step 3 comprises: In the cruising phase of the unmanned aerial vehicle, if the data of the sensors carried by the unmanned aerial vehicle indicates that the unmanned aerial vehicle is not currently in an icing-prone weather environment or icing has not occurred, the operator of the ground command and control station makes a secondary judgment on the necessity of starting the unmanned aerial vehicle deicing by means of the pictures of the airborne image equipment and the forward-looking monitoring equipment provided by the unmanned aerial vehicle. If the operator confirms that the wing leading edge has been iced through the picture of the airborne image device, or confirms that the UAV is about to enter the cloud layer through the picture of the UAV forward-looking monitoring device, it is confirmed that it is necessary to start the UAV de-icing, the operator sends a forced permission remote control instruction, and the airborne control computer outputs a running instruction after receiving the remote control instruction, and controls the de-icing execution device to start executing the de-icing task.

[0024] In the embodiment of the application, step 4 comprises: The "automatic / manual mode" remote control instruction is arranged at the ground command control station to complete the selection of the UAV de-icing mode through human-computer interaction; the default mode of the UAV de-icing is the manual mode, and the automatic mode is automatically switched when the UAV data link system is interrupted and remains; During the cruising stage of the UAV, the operator of the ground command control station sends an "automatic mode" remote control instruction through the monitoring software, the airborne control computer modifies the UAV de-icing running mode to the automatic mode after receiving the remote control instruction, and sets relevant running parameters according to the control law solution result, and prepares for the next step work.

[0025] In the embodiment of the application, step 4 comprises: During the cruising stage of the UAV, if the data link system is interrupted, the ground command control station cannot remotely control the UAV de-icing running, the airborne control computer automatically switches the UAV de-icing running mode to the automatic mode, and allows the next step work.

[0026] In the embodiment of the application, step 5 comprises: The preconditions and necessity of starting the UAV de-icing are met, the UAV de-icing is in the automatic mode or the operator selects to manually start the de-icing, the airborne control computer automatically outputs a power-on instruction, the power distribution equipment output channel switch is closed, the de-icing execution device is powered on, an automatic de-icing running instruction is output, and the de-icing execution device starts executing the de-icing task.

[0027] In the embodiment of the application, step 5 further comprises: During the approach and landing stage of the UAV, if the atmospheric static temperature is within the preset range, the UAV is not iced, and the operator of the ground command control station does not send a forced permission remote control instruction, the airborne control computer confirms that all conditions for starting the UAV de-icing are not met at present, automatically outputs a stop running instruction, the de-icing execution device stops working, automatically outputs a power-off instruction, the power distribution equipment output channel switch is opened, and the de-icing execution device is powered off.

[0028] In the embodiment of the application, step 6 comprises: The airborne control computer collects the operation data of the unmanned aerial vehicle deicing and comprehensively judges the operation state of the unmanned aerial vehicle deicing, monitors the operation state of the unmanned aerial vehicle deicing, and transmits the related data and the calculated state information to the command control station for the operator to view. If the unmanned aerial vehicle deicing fails, the airborne control computer locates the deicing device that fails according to the data source, stops the device from running, calculates the failure cause and type, generates failure alarm information, and transmits the failure information to the command control station to prompt the operator that a failure has occurred.

[0029] Referring to Figure 2 , the application also provides an embodiment of an unmanned aerial vehicle deicing comprehensive logic control system, which implements the unmanned aerial vehicle deicing comprehensive logic control method described in the above embodiment, and includes an airborne control computer, a piston engine, a main power supply, a power distribution device, deicing execution devices, sensors, and a ground command control station. The airborne control computer is connected with the engine, the main power supply, the power distribution device, the deicing execution devices, the sensors, and the ground command control station respectively. The power distribution device is connected with the deicing execution devices respectively and is used for supplying power to the deicing execution devices. The unmanned aerial vehicle is provided with an airborne visual device including an airborne image device and an unmanned aerial vehicle forward-looking monitoring device, which is used for secondary judgment of the necessity of deicing opening by the ground command control station. The deicing execution devices include lift surface deicing execution devices, power device deicing execution devices, and other part deicing execution devices.

[0030] For ease of understanding, the application provides a more specific embodiment: As Figure 1 shown, a method for unmanned aerial vehicle deicing comprehensive logic control includes the following steps: S1, judging whether the preconditions for opening the unmanned aerial vehicle deicing are met according to the power and power supply state of the unmanned aerial vehicle; For example, according to the design of a certain type of unmanned aerial vehicle, the condition for the main power supply of the front end of the unmanned aerial vehicle deicing to be stable under load is that the piston engine speed is ≥4100±100 rpm. To leave a safety margin, the precondition for opening the unmanned aerial vehicle deicing set in this embodiment is that the piston engine speed is ≥4500 rpm. Under the above setting, during the cruise phase of a certain flight, the engine speed is 4650 rpm, the airborne control computer judges that the engine speed meets the requirements after receiving the data, can output the power supply connection instruction, and then controls the unmanned aerial vehicle deicing execution devices to be powered on, as Figure 2 shown; during the cruise phase of a certain flight, the main power supply fails, the airborne control computer judges that the main power supply capacity is insufficient after receiving the data, only allows the pitot tube deicing power supply to be connected, and prohibits the lift surface, propeller, and other part execution devices from being powered on.

[0031] S2, judging the necessity of starting the anti-icing of the UAV according to the sensor data of the UAV; For example, a certain type of UAV is equipped with atmospheric data sensors, icing sensors, and wheel load sensors to measure, collect, and report relevant data, as shown in FIG. 2. Figure 2 The necessity judgment condition set in this embodiment is that the UAV is in the air and the atmospheric static temperature is less than or equal to 5℃ for 10 seconds or the UAV has been iced. Under the above setting, during the cruise phase of a certain flight, the atmospheric static temperature is 0℃ and the UAV has been iced. After receiving the data, the on-board control computer determines that it is necessary to start the anti-icing of the UAV, and can output a running instruction to control the anti-icing execution device to start working, as shown in FIG. 3. Figure 2

[0032] S3, to ensure flight safety, when the first judgment of necessity is not met, the necessity of starting the anti-icing of the UAV is judged again according to the visual results of the UAV. This embodiment sets a "forced permission" remote control instruction in the command and control station, which functions to interact with the human when it is determined that it is necessary to start the anti-icing of the UAV, and allows the anti-icing of the UAV to be started. The following conditions are set: the priority of the second judgment result is the same as that of the first judgment result. Under the above setting, during the cruise phase of a certain flight, the sensors are faulty and cannot obtain the atmospheric static temperature, icing conditions, and wheel load state. The operator of the command and control station retrieves the real-time image of the on-board image device of the UAV and confirms that the leading edge of the wing has been iced. The operator retrieves the real-time image of the forward-looking monitoring device of the UAV and confirms that the UAV is about to enter the cloud layer. The operator determines that it is necessary to start the anti-icing of the UAV and sends a "forced permission" remote control instruction. After receiving the instruction, the on-board control computer can output a running instruction to control the anti-icing execution device to start working.

[0033] S4, determining the running mode of the anti-icing of the UAV; This embodiment sets an "automatic / manual mode" remote control instruction in the command and control station, which functions to select the mode of the anti-icing of the UAV through human-computer interaction. The following conditions are set: the default mode of the anti-icing of the UAV is manual mode, and the anti-icing mode is automatically switched to automatic mode and maintained when the data link system of the UAV fails. ​Under the above settings, the pre-planning of a certain flight mission shows that the weather environment of the planned flight area is complex, the liquid water content of the cloud layer is high, and the UAV is expected to have moderate or above icing during the flight, with high flight risk. After decision-making, the UAV anti-icing should be turned on for a long time during the cruise phase. During the cruise phase of a certain flight mission, the command and control station operator sends the "automatic mode" remote control command through the monitoring software. After receiving the command, the airborne control computer modifies the UAV anti-icing operation mode to automatic mode and sets relevant operation parameters according to the control law solution, preparing for the next step. During the cruise phase of a certain flight mission, the data link system fails, and the command and control station cannot control the UAV anti-icing operation. The airborne control computer automatically switches the UAV anti-icing operation mode to automatic mode, allowing the next step to proceed.

[0034] S5, the airborne control computer issues an instruction to turn on the UAV anti-icing, and the anti-icing execution device receives the instruction and completes the corresponding action; For example, during the cruise phase of a certain flight mission, the preconditions and necessity for turning on the UAV anti-icing have been met, and the UAV anti-icing is in automatic mode. The airborne control computer automatically outputs a power-on command, the power distribution equipment output channel switch is closed, the anti-icing execution device is powered on, and then the anti-icing operation command is automatically output, and the anti-icing execution device starts to work. For example, during the approach and landing phase of a certain flight mission, the atmospheric static temperature is 20°C, the UAV is not iced, and the command and control station operator has not sent a "forced permission" remote control command. The airborne control computer determines that all conditions for turning on the UAV anti-icing are not met, automatically outputs a stop operation command, the anti-icing execution device stops working, and then automatically outputs a power-off command, the power distribution equipment output channel switch is opened, and the anti-icing execution device is powered off.

[0035] S6, UAV anti-icing operation data collection, state monitoring, and automatic fault handling; For example, a certain type of UAV is equipped with propeller electric heating anti-icing devices, whose working current is reported to the airborne control computer, as shown in Figure 2 One of the fault judgment conditions set in this embodiment is that the propeller electric heating anti-icing device is in working state for 3 minutes continuously and the working current is ≤2A, otherwise it is normal; Under the above settings, during the cruise phase of a certain flight mission, the propeller electric heating anti-icing device is automatically running, and the working current is maintained at about 35A. The airborne control computer determines that the propeller electric heating anti-icing device is in normal state according to the data, and transmits the information "propeller electric heating anti-icing working current: 35A" and "propeller electric heating anti-icing working normally" to the command and control station, which is finally displayed on the monitoring software interface for the operator to check; Under the above settings, during a certain flight stage, the propeller electric heating anti-icing device fails, the working current decreases from 35A to 1A, the airborne control computer judges the propeller electric heating anti-icing state to be failure according to the data, outputs the stop running instruction and the power supply disconnecting instruction in succession, transmits the "propeller electric heating anti-icing failure" information to the command control station, and finally displays the information in the form of alarm on the monitoring software interface, prompting the operator of the failure.

[0036] The application has strong universality and portability, integrates the anti-icing control of each part of the unmanned aerial vehicle, and effectively reduces the impact and damage of the start and operation of the high-power unmanned aerial vehicle anti-icing on the power and power supply system of the unmanned aerial vehicle through the specific "precondition + necessity" judgment, fully saves energy during the cruise stage, and helps to increase the range of the unmanned aerial vehicle. In addition, the various operation modes of the unmanned aerial vehicle anti-icing cover various state use scenarios and use conditions, widen the use range of the unmanned aerial vehicle anti-icing, reduce the use restrictions of the unmanned aerial vehicle anti-icing, and effectively protect the flight safety of the unmanned aerial vehicle in the icing environment.

[0037] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the application and not to limit them, although the application has been described in detail with reference to the above examples, those skilled in the art should understand that: the specific embodiments of the application can still be modified or replaced, without departing from the spirit and scope of the application, any modification or equivalent replacement, which should be covered within the protection scope of the claims of the application.

Claims

1. A comprehensive logic control method for anti-icing and de-icing of unmanned aerial vehicles (UAVs), characterized in that, include: Step 1: The onboard control computer determines whether the prerequisites for activating the drone's anti-icing function are met based on the power supply data received from the main power source and the drone power data received from the piston engine. Step 2: The onboard control computer receives data from the sensors carried by the drone and determines whether the necessity of activating the drone's anti-icing function is met. Step 3: Use the onboard drone visualization equipment to confirm whether it is necessary to activate the drone's anti-icing function; Step 4: Determine the anti-icing and de-icing operation mode of the drone based on actual usage needs and work scenarios; Step 5: The onboard control computer issues a command to activate the drone's anti-icing and de-icing mechanism, and the anti-icing and de-icing actuators receive the command and complete the corresponding actions. Step 6: The onboard control computer collects anti-icing and de-icing operation data of the UAV, monitors its operating status, and automatically isolates and handles faults that occur during operation to ensure the safe operation of the UAV's anti-icing and de-icing process.

2. The integrated logic control method for anti-icing and de-icing of unmanned aerial vehicles according to claim 1, characterized in that, Step 1 includes: During the drone's cruise phase, if the drone's power data received by the onboard control computer is greater than or equal to the preset power data, it confirms that the preconditions for starting the drone's anti-icing and de-icing functions are met, outputs a power-on command, and controls the drone's anti-icing and de-icing actuators to power on; otherwise, starting the drone's anti-icing and de-icing functions is prohibited; the drone's power data includes the piston engine's rotational speed. When the main power supply fails, the airborne control computer compares the received power supply data with the preset power supply data. If it is confirmed that the main power supply capacity is insufficient, it will only allow the airspeed tube anti-icing power supply in other anti-icing actuators to be connected, and prohibit the lifting surface anti-icing actuators and the power unit anti-icing actuators from being powered on.

3. The integrated logic control method for anti-icing and de-icing of unmanned aerial vehicles according to claim 1, characterized in that, Step 2 includes: The onboard control computer receives data collected from sensors carried by the drone, compares the received data with preset values, and determines whether the necessity to activate the drone's anti-icing function is met. The sensors carried by the drone include an atmospheric data sensor, an icing sensor, and wheel-mounted sensors. The atmospheric data sensor is used to collect atmospheric parameters directly related to the drone's surrounding flight environment. The icing sensor is used to collect information on the icing condition on the drone's surface. The wheel-mounted sensors are used to collect information on the drone's wheel status to determine the drone's position. If the necessity for activating the drone's anti-icing function is met, the onboard control computer outputs operating instructions to control the anti-icing actuators to begin performing the anti-icing task; the anti-icing actuators include the lifting surface anti-icing actuators, the power unit anti-icing actuators, and other parts anti-icing actuators.

4. The integrated logic control method for anti-icing and de-icing of unmanned aerial vehicles according to claim 1, characterized in that, Step 3 includes: During the drone's cruise phase, if the data from the sensors carried by the drone indicates that the drone is not currently in an icing-prone weather environment or has not iced, the operators at the ground command and control station will use the images from the drone's onboard imaging equipment and forward-looking monitoring equipment to make a secondary assessment of the necessity of activating the drone's anti-icing function. If the operator confirms through the onboard imaging equipment that the leading edge of the wing is icy, or confirms through the drone's forward-looking surveillance equipment that the drone is about to enter the cloud layer, then it is necessary to activate the drone's anti-icing function. The operator sends a forced remote control permission command. After receiving the remote control command, the onboard control computer outputs the operation command and controls the anti-icing actuators to begin performing the anti-icing task.

5. The integrated logic control method for anti-icing and de-icing of unmanned aerial vehicles according to claim 1, characterized in that, Step 4 includes: Set the "automatic / manual mode" remote control command at the ground command and control station to select the anti-icing mode of the UAV through human-machine interaction; the default anti-icing mode of the UAV is manual mode, and it will automatically switch to automatic mode and maintain it when the UAV data link system is interrupted. During the drone's cruise phase, operators at the ground command and control station send a "automatic mode" remote control command through monitoring software. After receiving the command, the onboard control computer changes the drone's anti-icing and de-icing operation mode to automatic mode and sets the relevant operating parameters based on the control law calculation results, preparing for the next step of the operation.

6. The integrated logic control method for anti-icing and de-icing of unmanned aerial vehicles according to claim 5, characterized in that, Step 4 includes: If the data link system fails during the drone's cruise phase and the ground command and control station is unable to remotely control the drone for de-icing, the onboard control computer will automatically switch the drone's de-icing operation mode to automatic mode, allowing the next step of the operation to proceed.

7. The integrated logic control method for anti-icing and de-icing of unmanned aerial vehicles according to claim 1, characterized in that, Step 5 includes: The prerequisites and necessity for starting the drone's anti-icing and de-icing have been met. The drone's anti-icing and de-icing is in automatic mode or the operator chooses to manually start the anti-icing and de-icing process. The onboard control computer automatically outputs a power supply connection command, the power distribution equipment output channel switch is closed, the anti-icing and de-icing actuators are powered on, and the anti-icing and de-icing operation command is automatically output. The anti-icing and de-icing actuators begin to perform the anti-icing and de-icing task.

8. The integrated logic control method for anti-icing and de-icing of unmanned aerial vehicles according to claim 7, characterized in that, Step 5 further includes: During the drone's entry and landing phase, if the atmospheric temperature is within the preset range, the drone is not iced, and the ground command and control station operator has not sent a mandatory remote control permission command, the onboard control computer will confirm that all conditions for the drone's anti-icing and de-icing activation are not met, automatically output a stop operation command, the anti-icing and de-icing actuators will stop operating, automatically output a power disconnect command, the power distribution equipment output channel switch will be disconnected, and the anti-icing and de-icing actuators will be powered down.

9. The integrated logic control method for anti-icing and de-icing of unmanned aerial vehicles according to claim 1, characterized in that, Step 6 includes: The airborne control computer collects operational data on the anti-icing and de-icing of the UAV and makes comprehensive judgments. It monitors the operational status of the UAV's anti-icing and de-icing, integrates the relevant data and calculated status information, and then transmits it to the command and control station for operators to view. If the anti-icing function of the drone malfunctions, the onboard control computer will locate the faulty anti-icing device based on the data source, stop the operation of the device accordingly, calculate the cause and type of the malfunction, generate a fault alarm message, and transmit the fault information to the command and control station to alert the operator to the malfunction.

10. A drone anti-icing and de-icing integrated logic control system, implementing the drone anti-icing and de-icing integrated logic control method according to any one of claims 1-9, characterized in that, It includes an airborne control computer, a piston engine, a main power supply, power distribution equipment, anti-icing and de-icing actuators, sensors, and a ground command and control station. The airborne control computer is connected to the engine, main power supply, power distribution equipment, anti-icing and de-icing actuators, sensors, and ground command and control station. The power distribution equipment is connected to the anti-icing and de-icing actuators to supply power to them. The UAV carries airborne visualization equipment, including airborne image equipment and UAV forward-looking surveillance equipment, for the ground command and control station to make a secondary judgment on the necessity of activating anti-icing and de-icing. The anti-icing and de-icing actuators include lifting surface anti-icing actuators, power unit anti-icing actuators, and other anti-icing actuators.

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