Current monitoring system for flight control of unmanned aerial vehicle

Abstract

The utility model provides a current monitoring system for flight control of an unmanned aerial vehicle. The current monitoring system comprises a power management module; the data acquisition and processing module converts an analog signal into a digital signal through an A / D converter, and the digital signal is processed by the flight control system module; the display and alarm module is used for displaying the state and providing alarm warning; the communication module is used for realizing data communication and providing unmanned aerial vehicle position information; and the flight control system module controls a motor to realize stable flight of the unmanned aerial vehicle. When the unmanned aerial vehicle control circuit is in a normal working state, the MCU microcontroller receives a signal of the A / D converter, the signal is amplified through the amplifying circuit, the LCD display unit is controlled to display the system state, when the system detects abnormal current or voltage, the A / D converter converts an analog signal into a digital signal, the MCU microcontroller activates the amplifying circuit and the filter circuit, and the LCD display unit displays the state of the system. Noise is amplified and removed, then fault signals are processed, the unmanned aerial vehicle system is further protected against secondary damage, and the reliability and maintenance efficiency of the system are improved.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) control circuit technology, specifically a current monitoring system for UAV flight control. Background Technology

[0002] In the field of unmanned aerial vehicle (UAV) technology, especially when performing critical missions such as military reconnaissance, agricultural monitoring, air transport scheduling, and disaster relief, inadequate overvoltage protection is a serious problem that directly affects the reliability and safety of UAVs. Voltage spikes can be caused by power fluctuations, equipment startup, or external electromagnetic interference. When existing systems cannot effectively handle these spikes, they can damage reconnaissance equipment, affecting mission continuity and the real-time nature of intelligence. In agricultural monitoring, excessively low voltage can lead to mission interruption, affecting the accuracy and timeliness of crop monitoring. In air transport scheduling, inaccurate voltage monitoring can increase the risk of cargo damage. In disaster relief operations, slow response of protection mechanisms can cause UAVs to lose control during voltage anomalies, endangering the safety of rescue personnel.

[0003] The reasons mentioned above lie in the fact that existing protection mechanisms are too simplistic, unable to adapt to continuous voltage fluctuations in complex environments, and lack adaptability. In hardware design, TVS (Transient Voltage Suppressor) diodes are typically used to protect circuits from transient pulses. However, this protection only addresses transient pulses; for situations where the voltage exceeds the specified range for extended periods, other methods are needed to build voltage-limiting circuits to cut off the power supply when the voltage exceeds or falls below the specified range. This approach cannot adapt to continuous voltage fluctuations. Furthermore, in the design of UAV voltage control systems, traditional voltage monitoring systems cannot accurately detect voltage changes in real time and issue alarms or take timely measures when the voltage is too low. Such systems lack adaptability and cannot automatically adjust protection thresholds according to flight conditions and mission requirements to adapt to voltage changes in different environments. In addition, in some cases, UAV protection circuits may use solid-state relays instead of traditional relays to quickly cut off the power supply. However, this single protection measure cannot cope with complex voltage fluctuations, especially in extreme environments, where more complex multi-level protection strategies may be needed to ensure stability.

[0004] Therefore, there is an urgent need to propose a new type of current monitoring system for UAV flight control, which can solve this problem by using a more advanced voltage-sensitive device (VDR) and its adapter circuit in enhanced voltage spike protection. Utility Model Content

[0005] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a current monitoring system for UAV flight control, and to solve the problems in the existing technology.

[0006] To achieve the above objectives, this utility model employs the following technical solution: A current monitoring system for UAV flight control includes a power management module comprising a battery and a battery management system (BMS). The battery supplies power to the entire system through the BMS, which simultaneously monitors the battery status and provides protection. A current protection module includes diodes D3 and D4, a capacitor C2, a voltage-sensitive device VDR2, and current transformers S1 and S2 for monitoring the current flowing through the UAV control circuit. Diodes D3 and D4 are respectively connected to the output terminals of current transformers S1 and S2 to prevent reverse current from flowing back to the current transformers. The voltage-sensitive device VDR2 is connected in series with the negative terminals of diodes D3 and D4 to detect voltage spikes. When the voltage exceeds a set value, the voltage-sensitive device VDR2 conducts, triggering the protection mechanism. The capacitor C2 is connected in series with the voltage-sensitive device VDR2 and then grounded to smooth voltage fluctuations and reduce false triggering. The data acquisition and processing module collects current data and converts the analog signal into a digital signal through an A / D converter for processing by the flight control system module. The display and alarm module displays the status and provides alarm warnings based on the output of the data acquisition and processing module. The communication module connects to the flight control system module to achieve data communication and provide UAV location information. The flight control system module receives sensor data from the UAV control circuit and controls the motors to achieve stable flight of the UAV.

[0007] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0008] This utility model proposes a cooperative method for a power management module, a current protection module, a data acquisition and processing module, a display and alarm module, a communication module, a flight control system module, and a fault display module. It provides effective overvoltage protection through the combination of a voltage-sensitive device VDR and MOSFETs Q3 and Q4, ensuring timely power cut-off in case of voltage abnormalities to protect the UAV circuitry. When the current detected by the CT current transformer is within the normal range, MOSFETs Q3 and Q4 are in the off state, allowing normal current flow, and diodes D3 and D4 are also in the off state to prevent reverse current. When the current detected by the CT current transformer exceeds the safety threshold, MOSFETs Q3 and Q4 will conduct according to the control signal, cutting off the side circuit of the CT current transformer, thereby protecting the UAV control circuit from overcurrent damage. When the voltage-sensitive device VDR2 detects a voltage spike exceeding the safety threshold, VDR2 conducts, triggering MOSFETs Q3 and Q4 to conduct, cutting off the side circuit of the CT current transformer. Simultaneously, capacitor C2 helps smooth voltage fluctuations and prevent malfunctions. Once the overcurrent or overvoltage situation is resolved, MOSFETs Q3 and Q4 will return to the off state, and the circuit will resume normal operation.

[0009] Meanwhile, when the UAV control circuit is operating normally, the proposed MCU microcontroller receives the signal from the A / D converter, amplifies it through the amplifier circuit, eliminates noise through the filter circuit, and finally controls the LCD display unit to display the system status. When the system detects abnormal current or voltage, the A / D converter converts the analog signal into a digital signal. After receiving these signals, the MCU microcontroller activates the amplifier and filter circuits to amplify and eliminate noise, then processes the fault signal and displays the fault information through the LCD display unit. This further protects the UAV system from secondary damage and improves the system's reliability and maintenance efficiency. Attached Figure Description

[0010] The disclosure of this utility model is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this utility model. In the drawings, the same reference numerals are used to refer to the same parts. Wherein:

[0011] Figure 1 This is a schematic diagram of the overall circuit structure of the current monitoring system for UAV flight control in one embodiment of the present invention;

[0012] Figure 2 This is a schematic diagram of the circuit structure logic flow of the battery management system (BMS) in one embodiment of the present invention;

[0013] Figure 3 This is a schematic diagram of the logic flow of the data acquisition and processing module in one embodiment of the present invention when collecting and analyzing current data;

[0014] Figure 4 This is a schematic diagram of the circuit structure and logic flow of the display and alarm module in one embodiment of the present invention. Detailed Implementation

[0015] It is readily understood that, based on the technical solution of this utility model, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of this utility model. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative descriptions of the technical solution of this utility model and should not be considered as the entirety of this utility model or as limitations or restrictions on the technical solution of this utility model.

[0016] like Figure 1 As shown in the figure, as an embodiment of the present invention, the present invention provides a technical solution: a current monitoring system for unmanned aerial vehicle (UAV) flight control, comprising:

[0017] The power management module includes a battery that powers the entire drone system and a battery management system (BMS) that monitors and manages the charging and discharging process of the battery. The battery supplies power to the entire system through the BMS, which also monitors the battery status and provides overcurrent and overheat protection.

[0018] The current protection module includes diodes D3 and D4, capacitor C2, voltage-sensitive device VDR2, and current transformers S1 and S2 for monitoring the current flowing through the UAV control circuit. Diodes D3 and D4 are connected to the output terminals of current transformers S1 and S2 respectively to prevent reverse current from flowing back to the current transformers. Voltage-sensitive device VDR2 is connected in series with the negative terminals of diodes D3 and D4 to detect voltage spikes. When the voltage exceeds the set value, voltage-sensitive device VDR2 conducts, triggering the protection mechanism. Capacitor C2 is connected in series with voltage-sensitive device VDR2 and then grounded to smooth voltage fluctuations and reduce false triggering.

[0019] The data acquisition and processing module collects current data and converts analog signals into digital signals via an A / D converter for processing by the flight control system module.

[0020] The display and alarm module displays the status and provides alarm alerts based on the output of the data acquisition and processing module.

[0021] The communication module connects to the flight control system module to enable data communication and provide UAV location information.

[0022] The flight control system module receives sensor data from the UAV's control circuitry and controls the motors to achieve stable flight of the UAV.

[0023] In one embodiment of this utility model, the data acquisition and processing module includes MOSFETs Q3 and Q4. The drains of MOSFETs Q3 and Q4 are respectively connected to the S1 and S2 output terminals of the CT current transformer to manage the conduction state of the secondary circuit of the CT current transformer. The gates of MOSFETs Q3 and Q4 are respectively connected to the QD terminal of the output circuit. By receiving control signals sent by the flight control system module, the gate voltage is adjusted to control the conduction and cutoff of the MOSFETs. The sources of MOSFETs Q3 and Q4 are respectively grounded. The function of MOSFETs Q3 and Q4 is to act as switches to control whether the signal of the CT current transformer is transmitted to the subsequent circuit. A voltage-sensitive device VDR is connected in parallel between the drains of MOSFETs Q3 and Q4 to realize overvoltage protection. When the voltage exceeds the safety threshold, the voltage-sensitive device VDR conducts, triggering the protection mechanism, MOSFETs Q3 and Q4 are cut off, the circuit is disconnected, and the system is protected from overvoltage damage. An A / D converter receives the signals from MOSFETs Q3 and Q4 and converts the analog signals into digital signals for processing by the MCU microcontroller. The MCU microcontroller processes the digital signals from the A / D converter and adjusts the states of MOSFETs Q3 and Q4 based on the analysis results to deal with faults or abnormalities detected in the UAV control circuit.

[0024] In one embodiment of this utility model, the display and alarm module includes: a light-emitting diode V3, a resistor R8, a resistor R9, and an optocoupler chip U2. The light-emitting diode V3 is a status indicator light connected in series with the resistor R8 to display the power status or alarm status of the drone. One end of the resistor R8 is connected to the QD terminal of the output circuit, and the other end is grounded. The positive pin 1 of the optocoupler chip U2 is connected to one end of the resistor R9, and the other end of the resistor R9 is grounded. The negative pin 2 of the optocoupler chip U2 is grounded, and pins 4 and 3 are connected to the output circuit to output remote transmission signals K1 and K2. The optocoupler chip U2 is used to isolate the flight control system from the display circuit, and simultaneously drives the LED indicator light and the buzzer to provide remote transmission signals. Under normal operating conditions, the QD terminal of the output circuit provides an appropriate voltage, causing the voltage across the resistor R8 to... When the voltage is high enough, LED V3 illuminates, indicating that the drone is in normal operating condition. When the drone system detects an abnormal state, the flight control system module sends a control signal to conduct pin 1 of the optocoupler chip U2, thereby illuminating LED V3 and activating the buzzer to emit an audible alarm. Upon receiving the control signal, pin 1 of the optocoupler chip U2 illuminates its internal LED, activating the phototransistor and connecting pins 4 and 3, thus driving the subsequent LED indicator or buzzer. When the flight control system module does not send a control signal or the system is in normal condition, pin 1 of the optocoupler chip U2 has no voltage, the internal LED does not illuminate, the phototransistor is cut off, the circuit between pins 4 and 3 is cut off, and the LED indicator and buzzer do not function. This method ensures that the LED indicator displays the power status when the drone is operating normally, and provides visual and audible alarms by isolating and driving the LED and buzzer through the optocoupler chip when an abnormality is detected, enhancing the system's safety and reliability.

[0025] In one embodiment of this utility model, the current monitoring system further includes a fault display module, which comprises: a control current amplifier circuit composed of resistor R21, capacitor C21, and operational comparator A1; a filter circuit composed of resistor R17 and capacitor C17; and an LCD display unit. Resistor R21 is connected to the input terminal of operational comparator A1 to set the gain of the amplifier circuit. Capacitor C21 is connected in parallel with resistor R21 to stabilize the operating point of operational comparator A1 or filter out high-frequency noise. Operational comparator A1, as the core of the current amplifier circuit, has its output terminal connected to the MCU microcontroller to receive and amplify the processed signal. Resistor R17 and capacitor C17 are connected in series to form an RC filter. Its output terminal is connected to the MCU microcontroller to clear high-frequency noise in the output signal of the amplifier circuit. The other end of capacitor C17 is grounded. Under normal working conditions, the MCU microcontroller receives the signal from the A / D converter, amplifies it through the control current amplifier circuit, clears noise through the filter circuit, and finally processes the signal and controls the LCD display unit to display the system status. When the system detects abnormal current or voltage, the A / D converter converts the analog signal into a digital signal. After receiving this signal, the MCU microcontroller activates the control current amplifier circuit and the filter circuit to amplify and clear noise, and displays it through the LCD display unit. The main control chip of the MCU microcontroller is STM32F103T8U6.

[0026] In one embodiment of this utility model, the communication module includes a wireless communication module and a GPS module, which are respectively connected to the flight control system module.

[0027] In one embodiment of the present invention, the current monitoring system further includes a sensor system module and an electronic speed controller (ESC) module, which are respectively connected to the flight control system module and connected to the UAV control circuit.

[0028] Based on the above technical concept, it can be understood that the power management module provides power to all modules; the current protection module works in conjunction with the power management module to ensure the safety of the CT current transformer; the data acquisition and processing module collects current data and converts analog signals into digital signals through an A / D converter for processing by the flight control system; the display and alarm module displays the status and provides alarms based on the output of the data acquisition and processing module; the fault display module is connected to the data acquisition and processing module for fault diagnosis; the communication module is connected to the flight control system to realize remote control and data transmission; and the flight control system module integrates all sensor data and controls the motor control module to achieve stable flight of the UAV.

[0029] like Figure 2As shown in the figure, in a specific implementation, the power management module can also be equipped with an overcurrent protection circuit, which is connected in series with the battery and includes a fuse and a PolySwitch PPTC for overcurrent protection. The battery management system (BMS) is connected to loads 1-5, which represent different loads on the UAV, such as the flight control system, sensors, and communication modules, and performs current monitoring, voltage monitoring, and temperature monitoring to monitor the current, voltage, and temperature status of the battery and loads in real time.

[0030] like Figure 3 As shown in the figure, as an embodiment of this utility model, it can be understood that the data acquisition and processing module is a key part of the UAV current monitoring system, responsible for collecting current data and performing real-time analysis: First, the current sensor monitors the current flow in the UAV circuit in real time and converts the analog current signal into a voltage signal. Then, the voltage signal output by the current sensor is amplified and filtered by the signal conditioning circuit to adapt to the input requirements of the A / D converter. The conditioned voltage signal is sent to the A / D converter to convert the analog signal into a digital signal so that the microcontroller can process it. The microcontroller receives the digital signal and runs data processing algorithms to analyze the current data, such as calculating the average current, detecting abnormal fluctuations, or identifying current patterns. It should be noted that the algorithm in the microcontroller includes at least moving average filtering and Fourier transform for current data analysis to identify normal operating conditions or potential faults. Based on the data processing results, the microcontroller generates a PWM signal to control the electronic speed controller (ESC), adjust the motor speed, and achieve stable flight of the UAV. The microcontroller interacts with the wireless communication module through the communication interface to send or receive control commands. At the same time, the microcontroller controls the LED indicator and buzzer according to the current status to provide visual and auditory alarms.

[0031] Example: Suppose that during an agricultural monitoring mission, the drone's battery power gradually decreases. The data acquisition and processing module monitors current changes in real time. When the current sensor detects a drop in current to a preset threshold, the signal conditioning circuit adjusts the signal, the A / D converter converts it into a digital signal, and the MCU microcontroller analyzes this signal and adjusts the ESC output via PWM to optimize motor efficiency and extend flight time. Simultaneously, if the current drops close to the low-battery protection threshold, the microcontroller will issue a visual alarm via LED indicators and may also issue an audible alarm via a buzzer to remind the operator to pay attention to the battery status. Therefore, through the coordinated work of the current sensor, signal conditioning circuit, A / D converter, and microcontroller, real-time monitoring and analysis of the drone's current are achieved. This modular design ensures the stability and safety of the drone during critical missions, while providing fault warning and protection mechanisms to prevent flight risks caused by power fluctuations.

[0032] like Figure 4 As shown in the illustration, in one embodiment of this utility model, the display and alarm module is intended to display the drone's status information and fault alarms. Its processing logic is as follows: Status Information Collection: The flight control system (FC) collects the drone's status information, including flight parameters, battery level, system health status, etc. Alarm Signal Generation: When the FC detects an abnormal status or fault data, it generates an alarm signal and sends it to the buzzer and LED indicator via the optocoupler chip U2. The optocoupler chip U2 provides electrical isolation, ensuring electrical isolation between the FC and the display and alarm components, improving system safety and reliability. At this time, the LED indicator receives the signal from the optocoupler chip U2 and illuminates through the isolation drive circuit, providing a visual status indication to the operator. The buzzer also receives the signal from the optocoupler chip U2 and emits an audible alarm when a fault or alarm condition is detected. Furthermore, the FC also transmits fault location data to the remote controller or ground control station via the wireless communication module TX, enabling the operator to take appropriate measures. During this period, the data processing and display process is as follows: the current amplification circuit and the filter circuit process the current data collected by the CT current transformer protection unit, and then convert it into a digital signal through the A / D converter A1. The MCU microcontroller processes these digital signals and analyzes the data through the data processing algorithm. Finally, the processing results are sent to the LCD display unit to provide the operator with detailed fault information.

[0033] The technical scope of this utility model is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this utility model, and all such modifications and variations should fall within the protection scope of this utility model.

Claims

1. A current monitoring system for unmanned aerial vehicle (UAV) flight control, characterized in that: include: The power management module includes a battery and a battery management system (BMS). The battery supplies power to the entire system through the BMS, which also monitors the battery status and provides protection. The current protection module includes diodes D3 and D4, capacitor C2, voltage-sensitive device VDR2, and current transformers S1 and S2 for monitoring the current flowing through the UAV control circuit. Diodes D3 and D4 are connected to the output terminals of current transformers S1 and S2 to prevent reverse current from flowing back into the current transformers. Voltage-sensitive device VDR2 is connected in series with the negative terminals of diodes D3 and D4 to detect voltage spikes. When the voltage exceeds a set value, voltage-sensitive device VDR2 conducts, triggering the protection mechanism. Capacitor C2 is connected in series with voltage-sensitive device VDR2 and then grounded to smooth voltage fluctuations and reduce false triggering. The data acquisition and processing module collects current data and converts analog signals into digital signals via an A / D converter for processing by the flight control system module. The display and alarm module displays the status and provides alarm alerts based on the output of the data acquisition and processing module. The communication module connects to the flight control system module to enable data communication and provide UAV location information. The flight control system module receives sensor data from the UAV control circuit and controls the motors to achieve stable flight of the UAV.

2. The current monitoring system for UAV flight control according to claim 1, characterized in that: The data acquisition and processing module includes: MOSFETs Q3 and Q4 are connected to the S1 and S2 output terminals of the CT current transformer, respectively. The gates of MOSFETs Q3 and Q4 are connected to the QD terminal of the output circuit. The gate voltage is adjusted by receiving the control signal sent by the flight control system module to control the conduction and cutoff of the MOSFETs. The sources of MOSFETs Q3 and Q4 are grounded to control whether the signal of the CT current transformer is transmitted to the subsequent circuit. A voltage-sensitive device VDR is connected in parallel between the drains of MOSFETs Q3 and Q4 to achieve overvoltage protection. When the voltage exceeds the safety threshold, the voltage-sensitive device VDR turns on, triggering the protection mechanism, and MOSFETs Q3 and Q4 turn off, thus disconnecting the circuit. The A / D converter receives signals from MOSFETs Q3 and Q4 and converts analog signals into digital signals for processing by the MCU microcontroller. The MCU microcontroller processes the digital signals from the A / D converter and adjusts the states of MOSFETs Q3 and Q4 based on the analysis results to deal with faults or abnormalities detected in the UAV control circuit.

3. The current monitoring system for UAV flight control according to claim 1, characterized in that: The display and alarm module includes: a light-emitting diode V3, a resistor R8, a resistor R9, and an optocoupler chip U2, wherein... The LED V3 is a status indicator, connected in series with resistor R8, used to display the power status or alarm status of the UAV; one end of resistor R8 is connected to the QD terminal of the output circuit, and the other end is grounded; the positive pin 1 of the optocoupler chip U2 is connected to one end of resistor R9, the other end of resistor R9 is grounded, the negative pin 2 of optocoupler chip U2 is grounded, and pins 4 and 3 are connected to the output circuit to output remote transmission signals K1 and K2. Optocoupler chip U2 is used to isolate the flight control system from the display circuit, and at the same time drives the LED indicator and buzzer to provide remote transmission signals; Under normal operating conditions, the output circuit provides an appropriate voltage at the QD terminal, causing the voltage across resistor R8 to illuminate LED V3, indicating that the drone is in normal operating condition. When the drone system detects an abnormal state, the flight control system module uses a control signal to turn on the positive pin 1 of the optocoupler chip U2, thereby illuminating LED V3 and activating the buzzer to emit an audible alarm. When the flight control system module does not send a control signal or the system is in normal condition, there is no voltage on the positive pin 1 of the optocoupler chip U2, and the circuit between pins 4 and 3 is cut off, so the LED indicator and buzzer do not work.

4. The current monitoring system for UAV flight control according to claim 1, characterized in that: It also includes a fault display module, which comprises: The control current amplifier circuit composed of resistor R21, capacitor C21, and operational comparator A1; and The filter circuit consisting of resistor R17 and capacitor C17; and LCD display unit, wherein Resistor R21 is connected to the input terminal of operational comparator A1 and is used to set the gain of the amplifier circuit. Capacitor C21 is connected in parallel with resistor R21 and is used to stabilize the operating point of operational comparator A1 or filter out high-frequency noise. The output terminal of operational comparator A1 is connected to the MCU microcontroller to receive and amplify the processed signal. Resistor R17 and capacitor C17 are connected in series to form an RC filter, and its output terminal is connected to the MCU microcontroller to remove high-frequency noise from the output signal of the amplifier circuit. The other end of capacitor C17 is grounded. Under normal operating conditions, the MCU receives the signal from the A / D converter, amplifies it through the control current amplifier circuit, eliminates noise through the filter circuit, and finally processes the signal and controls the LCD display unit to display the system status. When the system detects abnormal current or voltage, the A / D converter converts the analog signal into a digital signal. After receiving this signal, the MCU activates the control current amplifier circuit and the filter circuit to amplify and eliminate noise, and displays it through the LCD display unit.

5. A current monitoring system for UAV flight control according to claim 1, characterized in that: The communication module includes a wireless communication module and a GPS module, which are respectively connected to the flight control system module.

6. A current monitoring system for UAV flight control according to claim 1, characterized in that: It also includes a sensor system module and an electronic speed controller (ESC) module, which are connected to the flight control system module and integrated into the UAV control circuit.

7. A current monitoring system for UAV flight control according to claim 2, characterized in that: The main control chip of the MCU microcontroller is STM32F103T8U6.

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