Unmanned Aerial Vehicle (UAV) boundary protection system and UAVs

Abstract

This utility model relates to the field of aircraft control technology, and more particularly to a drone boundary protection system and a drone. The drone boundary protection system, based on a flight control processor and GNSS sensors, adds a communication interface module, an independent monitoring processor, and a safety execution module. The communication interface module connects to both the flight control processor and the GNSS sensors, reusing their backup outputs to acquire positioning data and receive electronic fence information. The monitoring processor compares and analyzes the two types of data; once a boundary risk is detected, the safety execution module directly controls the actuators, independently cutting off power or triggering a parachute to force the drone to land safely. This utility model, by constructing a hardware monitoring layer independent of the main flight control unit, effectively prevents silent boundary crossings caused by single-point failures of the main processor or sensors at a lower cost and weight, significantly improving the safety and reliability of drone operation.

Description

Technical Field

[0001] This utility model relates to the field of aircraft control technology, and in particular to a drone boundary protection system and a drone. Background Technology

[0002] With the widespread adoption of drone technology, flight safety and airspace management issues are becoming increasingly prominent, especially for lightweight drones, which pose greater potential safety risks due to their small size, low cost, and flexible use. Therefore, civilian drones must be mandated to be equipped with electronic fence functionality to ensure that flight activities are conducted within approved airspace.

[0003] Currently, existing drone electronic fence implementation schemes mainly fall into two categories. The first category is software algorithm-based solutions, which integrate electronic fence algorithms into the drone's main flight control processor. This scheme relies on sensor data from Global Navigation Satellite System (GNSS), Inertial Measurement Unit (IMU), barometers, and other sensors, with the main processor performing position calculations and boundary violation detection. When the drone approaches the preset boundary, the system responds through warnings, deceleration, or forced landing. However, this scheme has a significant risk of single-point failure: if the main flight control processor experiences software malfunction, crashes, or abnormal sensor data, the entire boundary protection function will completely fail, causing the drone to lose control and cross the boundary, endangering public safety.

[0004] The second type of solution is mainly used for large, high-end drones, which uses two or three complete flight control systems (including processors and sensors) for redundancy. While this hardware redundancy design greatly improves the reliability of the system, its high cost, complex structure, and large size and weight make it completely unsuitable for lightweight consumer or industrial drones that are extremely sensitive to cost, weight, and size.

[0005] Therefore, a significant contradiction exists in existing technologies: lightweight drones, limited by cost, weight, and size, cannot employ highly reliable redundant protection schemes, while existing single-processor solutions cannot provide sufficient security guarantees. There is an urgent need for a technical solution that can both meet the constraints of lightweight drone platforms and effectively improve the clearance protection security level. Utility Model Content

[0006] This utility model provides a drone boundary protection system and a drone, which solves the shortcomings of existing technologies where lightweight drones are limited by cost, weight and size and cannot adopt a highly reliable redundant protection scheme, while the existing single processor scheme cannot provide sufficient security.

[0007] This utility model provides a drone boundary protection system, including a drone flight control processor and a GNSS sensor, and further including a communication interface module, a monitoring processor, and a safety execution module. The communication interface module is connected to the flight control processor and the GNSS sensor, and is used to receive electronic fence data from the flight control processor and drone positioning data from the GNSS sensor. The monitoring processor is connected to the communication interface module to realize information interaction with the flight control processor and the GNSS sensor. The safety execution module is connected to the monitoring processor and the drone's actuator, and is used to control the drone's actuator to perform protective actions based on the data processing results of the monitoring processor.

[0008] According to the present invention, a drone boundary protection system further includes an onboard sensor module, which includes a barometer and an inertial measurement unit. The barometer is connected to the monitoring processor to provide real-time altitude data of the drone; the inertial measurement unit is connected to the monitoring processor to provide real-time attitude data of the drone.

[0009] According to the UAV boundary protection system provided by this utility model, the onboard sensor module further includes a temperature sensor and a voltage sensor. The temperature sensor is connected to the monitoring processor to monitor the operating temperature of the monitoring processor; the voltage sensor is connected to the monitoring processor to monitor the operating voltage of the monitoring processor.

[0010] According to the present invention, a drone boundary protection system includes a communication interface module comprising a serial communication interface and a CAN bus interface. The serial communication interface is connected to the GNSS sensor to receive drone positioning data; the CAN bus interface is connected to the flight control processor for bidirectional communication.

[0011] According to the UAV boundary protection system provided by this utility model, the GNSS sensor is provided with an independent main output port and a backup output port. The main output port of the GNSS sensor is connected to the flight control processor, and the backup output port of the GNSS sensor is connected to the serial communication interface of the communication interface module.

[0012] According to the present invention, a drone boundary protection system is provided, wherein the monitoring processor is a microcontroller, which is adapted to compare electronic fence data from the flight control processor and drone positioning data from the GNSS sensor, and output control signals to the safety execution module according to the comparison results.

[0013] According to the present invention, a drone boundary protection system includes a monitoring processor comprising a power-on initialization module, a self-test module, a sensor redundancy algorithm module, and an instruction generation module. The power-on initialization module initializes the external interface and locks the drone. The self-test module performs self-tests on the monitoring processor's hardware and software. The sensor redundancy algorithm module, connected to the communication interface module and the onboard sensor module, fuses multi-standard satellite data from the GNSS sensor, data from the barometer, and data from the inertial measurement unit to perform redundancy safety calculations and obtain drone positioning data. The instruction generation module, connected to the sensor redundancy algorithm module, generates warning, alarm, or safety response instructions in a tiered manner based on the comparison results between the drone positioning data and the electronic fence data.

[0014] According to the present invention, a drone boundary protection system includes an actuator comprising a flight controller electronic speed controller (ESC) enable switch and a parachute release mechanism. The ESC enable switch is used to control the start and stop of the drone's power motor, and the parachute release mechanism is used to control the opening of the parachute.

[0015] According to the present invention, a drone boundary protection system includes a safety execution module comprising an electronic speed controller (ESC) enable control circuit and a parachute control circuit. The output terminal of the ESC enable control circuit is connected to the flight controller ESC enable switch, and the output terminal of the parachute control circuit is connected to the parachute release mechanism.

[0016] This utility model also provides a drone that includes any one of the drone boundary protection systems described above.

[0017] The UAV boundary protection system provided by this utility model connects to the UAV's existing GNSS sensor and flight control processor via a communication interface module. This allows the system to reuse the GNSS sensor's backup output port to acquire positioning data and receive electronic fence boundary data from the flight control processor. The monitoring processor acquires and compares the electronic fence data and UAV positioning data through the communication interface module. Based on the comparison result, it outputs a control signal to the safety execution module. Finally, the safety execution module, controlled by the monitoring processor, directly connects to the UAV's actuators to perform protective actions, directly cutting off power and deploying the parachute to force the UAV to land. This forms a monitoring and execution path independent of the main flight control system. By adding a simplified, independent monitoring layer, this utility model effectively avoids the risk of "silent" boundary crossings caused by main flight control processor or single sensor failures without significantly increasing weight or cost, thus greatly improving the overall safety level and reliability of the system. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the principle structure of the unmanned aerial vehicle (UAV) boundary protection system provided by this utility model.

[0020] Reference numerals: 1. Flight controller processor; 2. GNSS sensor; 3. Communication interface module; 4. Monitoring processor; 5. Safety execution module; 6. Barometer; 7. Inertial measurement unit; 8. Flight controller ESC enable switch; 9. Parachute release mechanism. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0022] One embodiment of this utility model provides a drone clearance protection system, see [link]. Figure 1 As shown, the UAV boundary protection system includes a flight control processor 1 and a GNSS sensor 2 for the UAV, as well as a communication interface module 3, a monitoring processor 4, and a safety execution module 5. The communication interface module 3 connects the flight control processor 1 and the GNSS sensor 2 to receive electronic fence data from the flight control processor 1 and UAV positioning data from the GNSS sensor 2. The monitoring processor 4 connects to the communication interface module 3 to enable information interaction with the flight control processor 1 and the GNSS sensor 2. The safety execution module 5 connects the monitoring processor 4 and the UAV's actuator to control the UAV's actuator to perform protective actions based on the data processing results of the monitoring processor 4.

[0023] It is understood that this UAV boundary protection system in this embodiment introduces a monitoring processor 4, independent of the main flight controller processor 1, as the safety core in its hardware structure. It connects to the UAV's original GNSS sensor 2 and the flight controller processor 1 via a communication interface module 3, thereby reusing the backup output port of the GNSS sensor 2 to acquire positioning data and receiving electronic fence boundary data from the flight controller processor 1 (even if the flight controller processor 1 malfunctions, the boundary data has already been transmitted when the flight controller processor 1 is functioning normally, without the need for real-time intervention from the flight controller processor 1). The monitoring processor 4 acquires and compares the electronic fence data and UAV positioning data through the communication interface module 3, and outputs a control signal to the safety execution module 5 based on the comparison result. Finally, the safety execution module 5, controlled by the monitoring processor 4, directly connects to the UAV's actuators to perform protective actions, directly cutting off power and deploying the parachute to force the UAV to land, forming a monitoring and execution path independent of the main flight controller. This embodiment effectively avoids the risk of "silent" out-of-bounds errors caused by the failure of the main flight control processor or a single sensor by adding a minimally simplistic independent monitoring layer, without significantly increasing weight or cost, thus greatly improving the overall safety level and reliability of the system.

[0024] In some embodiments of the drone boundary protection system of this utility model, the drone boundary protection system further includes an onboard sensor module, which includes a barometer 6 and an inertial measurement unit 7. The barometer 6 is connected to the monitoring processor 4 to provide real-time altitude data of the drone; the inertial measurement unit 7 is connected to the monitoring processor 4 to provide real-time attitude data of the drone.

[0025] Understandably, this embodiment further integrates a proprietary onboard sensor module into the UAV boundary protection system. This onboard sensor module is directly connected to the monitoring processor 4, which serves as the core of the safety system, forming an independent data acquisition and verification system. The core components of the onboard sensor module include a barometer 6 and an inertial measurement unit 7. The barometer 6 is connected to the monitoring processor 4 and is responsible for collecting atmospheric pressure data and calculating it into the UAV's real-time absolute or relative altitude information. The inertial measurement unit 7 is also connected to the monitoring processor 4 via a digital bus. The inertial measurement unit 7 can integrate a three-axis accelerometer and a three-axis gyroscope, enabling continuous measurement of the UAV's acceleration and angular velocity, thereby providing real-time dynamic data reflecting the UAV's flight attitude and maneuver changes.

[0026] In this embodiment, the monitoring processor 4 no longer relies solely on the positioning information provided by the external GNSS sensor 2, but instead synchronously reads and fuses data from its dedicated onboard sensor module. The monitoring processor 4's operating software is configured with a dedicated sensor fusion algorithm, continuously receiving altitude data from the barometer 6 and raw attitude data from the inertial measurement unit 7. This data is first used for data redundancy verification: for example, the altitude calculated by the barometer 6 is cross-compared with the altitude provided by the GNSS sensor 2 to identify anomalies or failures of a single sensor. Simultaneously, the acceleration and angular velocity data provided by the inertial measurement unit 7 are used for motion consistency judgment, effectively detecting anomalies such as signal loss or jumps in the GNSS sensor 2 signal, or unauthorized violent maneuvers by the UAV. This process achieves multi-source, heterogeneous, and redundant monitoring of the UAV's status, greatly enhancing the reliability and security of the position calculation results, and providing a solid data foundation for subsequent accurate boundary judgments and safety decisions.

[0027] Furthermore, in some specific examples, the onboard sensor module also includes a temperature sensor and a voltage sensor. The temperature sensor is connected to the monitoring processor 4 to monitor the operating temperature of the monitoring processor 4; the voltage sensor is connected to the monitoring processor 4 to monitor the operating voltage of the monitoring processor 4.

[0028] Understandably, the functionality of the onboard sensor module in this example has been further enhanced by integrating sensors for self-monitoring of system health. Specifically, the onboard sensor module adds a temperature sensor and a voltage sensor, both of which are directly connected to the analog-to-digital converter (ADC) pin of the monitoring processor 4 or a dedicated monitoring interface. The temperature sensor typically employs a thermistor or a digital temperature chip (such as the DS18B20), which is physically mounted near the chip of the monitoring processor 4 or in a critical area of ​​the printed circuit board (PCB) to directly acquire the analog temperature signal of the processor chip or its operating environment and convert it into a digital value. The voltage sensor is typically a precision resistor divider network, with its input connected to the power supply line of the monitoring processor 4 and its output connected to the processor's ADC pin to acquire the analog signal of its operating voltage in real time and convert it into a digital reading.

[0029] During system implementation, the monitoring processor 4's operating software incorporates a continuous self-test thread. This thread actively reads digital values ​​from temperature and voltage sensors at fixed intervals. The monitoring processor 4 internally stores normal operating temperature thresholds (e.g., -40℃ to +85℃) and voltage thresholds (e.g., 3.0V to 3.6V). During implementation, the monitoring processor 4 compares the real-time readings with these preset thresholds. If an excessive operating temperature is detected, it may indicate an impending calculation error or hardware damage due to overheating. If an abnormal operating voltage (undervoltage or overvoltage) is detected, it indicates power system instability, potentially leading to a sudden processor reset or crash. Upon detecting such an anomaly, the self-test thread immediately triggers the highest level of safety response. The monitoring processor 4 can then determine its impending failure and, before completely losing control, preemptively execute final protection commands such as forced landing through the safety execution module 5. This achieves a leap from passive fault protection to proactive fault prediction and self-protection, significantly improving the reliability and safety of the entire clearance protection system.

[0030] In some embodiments of the UAV boundary protection system of this utility model, the communication interface module 3 includes a serial communication interface and a CAN bus interface. The serial communication interface is connected to the GNSS sensor 2 to receive UAV positioning data; the CAN bus interface is connected to the flight control processor 1 for bidirectional communication. It can be understood that the communication interface module 3 in this embodiment is specifically embodied as a combination of hardware and logic interfaces containing heterogeneous, multi-protocol channels, the core of which consists of the serial communication interface and the CAN bus interface. The serial communication interface usually refers to UART, which is represented in hardware as a set of RX / TX pins. It is directly connected to the spare data output port of GNSS sensor 2 through a level conversion chip (such as MAX3232) to receive the raw positioning data stream of NMEA-0183 protocol format or other custom protocols that it continuously outputs. The CAN bus interface is jointly implemented by the CAN controller inside the monitoring processor 4 and the external CAN transceiver chip (such as TJA1050). This interface is connected to the CAN bus network of flight control processor 1 through a pair of differential signal lines (CAN_H, CAN_L), and follows the CAN 2.0A / B protocol standard to establish a reliable bidirectional digital communication link.

[0031] During implementation, the monitoring processor 4 interacts with the existing UAV system in parallel through the two types of interfaces of the communication interface module 3. At the data input level, the UART driver built into the communication interface module 3 parses the serial data acquired from the dedicated port of the GNSS sensor 2 in real time, extracting key positioning information such as latitude, longitude, speed, and timestamps to provide the raw data source for redundant calculations. At the bidirectional interaction level, the CAN protocol stack of the communication interface module 3 (such as CANopen integrated in the microcontroller firmware or a custom application layer protocol) manages communication with the flight control processor 1: on the one hand, it periodically receives electronic fence data packets (containing configuration parameters such as geographical boundary coordinates and safe altitude) broadcast or responded to by the flight control processor 1 from the CAN bus; on the other hand, when the monitoring processor 4 determines that an early warning is needed, its application generates a corresponding alarm message and sends it to the flight control processor 1 through the CAN interface, attempting to prioritize the resolution of boundary crossing risks through the main control system. This interface design ensures that the monitoring system can passively listen to key sensor data without interfering with the main system, while also actively exchanging necessary control commands, forming a safety monitoring architecture that is both independent and collaborative.

[0032] In some embodiments of the UAV boundary protection system of this utility model, the GNSS sensor 2 is provided with an independent main output port and a backup output port. The main output port of the GNSS sensor 2 is connected to the flight control processor 1, and the backup output port of the GNSS sensor 2 is connected to the serial communication interface of the communication interface module 3. It can be understood that this embodiment has specifically designed the hardware interface of the UAV's GNSS sensor 2. The GNSS sensor 2 no longer provides only a single data output port, but is configured to have one main output port and one backup output port. From a physical structure perspective, this means that the circuit board of the GNSS sensor 2 is designed with two sets of independent UART serial transmit (TX) pins. The main output port is directly connected to the serial receive pin of the flight control processor 1 via a serial line, serving as its primary and sole source of position information; the backup output port is connected to the serial communication interface in the newly added communication interface module 3 of this utility model via another independent serial line, thereby providing a parallel, physically isolated data channel for the monitoring system.

[0033] In this embodiment, the GNSS sensor 2 implements a "one-transmit, two-receive" data transmission mechanism. During operation, the GNSS sensor 2's internal firmware simultaneously and from the same source broadcasts its calculated navigation and positioning data (typically NMEA-0183 statements) to both the primary and backup output ports. This means that the raw GNSS data received by the flight control processor 1 and the monitoring processor 4 are highly consistent in content and timing. For the monitoring processor 4, directly acquiring first-hand GNSS data through the backup port allows its calculations to be completely independent of the software state and data processing flow of the flight control processor 1. Even if the flight control processor 1 malfunctions and incorrectly parses or completely discards GNSS data due to a software failure, the monitoring processor 4 can still obtain complete, unaltered raw information for independent calculation and judgment. This structure in this embodiment fundamentally eliminates the risk of the monitoring system becoming "blind" due to software errors in the flight control processor 1.

[0034] In some embodiments of the UAV boundary protection system of this utility model, the monitoring processor 4 is a microcontroller. The microcontroller is suitable for comparing the electronic fence data from the flight control processor 1 and the UAV positioning data from the GNSS sensor 2, and outputs control signals to the safety execution module 5 according to the comparison results. The monitoring processor 4 includes a power-on initialization module, a self-test module, a sensor redundancy algorithm module, and an instruction generation module. The power-on initialization module is used to initialize the external interface and put the UAV in a locked state. The self-test module is used to perform self-tests on the monitoring processor's own hardware and software. The sensor redundancy algorithm module is connected to the communication interface module and the onboard sensor module, and is used to fuse multi-standard satellite data from the GNSS sensor, barometer data, and inertial measurement unit data to perform redundancy safety calculations and obtain UAV positioning data. The instruction generation module is connected to the sensor redundancy algorithm module, and is used to generate warning, alarm, or safety handling instructions in a graded manner according to the comparison results of the UAV positioning data and the electronic fence data.

[0035] It is understood that the monitoring processor 4 in this embodiment uses an embedded microcontroller as its computing and control core. This microcontroller integrates a CPU, RAM, ROM, timers, and various communication peripherals (such as UART, CAN controller, SPI, I2C, and ADC). Its general purpose input / output (GPIO) pins are connected to the communication interface module 3, the onboard sensor module, and the safety execution module 5, respectively. At the software level, the microcontroller's program memory contains a control logic algorithm specifically designed for boundary protection, enabling it to independently complete data reception, fusion calculation, logical comparison, and finally generate control commands. The substantive function of the monitoring processor 4 is to continuously receive and compare the electronic fence geographical boundary information from the flight controller processor 1 and the real-time positioning data stream from the GNSS sensor 2, and based on this comparison result, output high / low level control signals to the safety execution module 5 through its GPIO pins, thereby directly driving the actuator to move.

[0036] Specifically, after the system is powered on, the monitoring processor 4 first disables the output of the ESC enable control circuit through the power-on initialization module to ensure that the UAV is in a safe locked state. Subsequently, it performs a rigorous power-on self-test through the self-test module. The hardware self-test process includes: reading data from the temperature and voltage sensors to determine if they are within the normal operating range; and checking the integrity of the RAM and ROM. The software self-test process involves: verifying the CRC checksum of its own program code and exchanging software version information with the flight controller processor 1 via the CAN bus for comparison.

[0037] If the self-test fails, the system remains locked and reports the error to the flight controller processor 1 via the CAN bus. After the self-test passes, the system enters normal operation, and the monitoring processor 4 begins continuous redundant calculations of the position information: the sensor redundancy algorithm module synchronously receives raw data from multiple satellite systems (such as GPS, BeiDou, and GLONASS signals) from the backup port of the GNSS sensor 2, and prioritizes position information calculated from at least two different systems that is consistent within the error range as valid data; it fuses data from the barometer 6 to correct and supplement the altitude information, improving the accuracy and anti-interference capability of the altitude data; and it refers to the data from the inertial measurement unit 7 to determine whether there are jumps in the position information or discrepancies with the inertial motion trend, thereby eliminating instantaneous anomalies in the GNSS signal (such as brief loss of lock or multipath interference). Through the above process, the monitoring processor 4 finally obtains a highly reliable "safe position information" that has undergone multiple verifications.

[0038] The instruction generation module of the monitoring processor 4 compares the "safe location information" calculated by the sensor redundancy algorithm module with the "electronic fence data" obtained from the flight control processor 1 in real time, and makes hierarchical decisions based on the relationship between the UAV and the boundary. The decisions (control signals) can be divided into early warning level decisions, alarm level decisions, and safety handling level decisions.

[0039] Early warning level decision: When the drone approaches the electronic fence boundary but is still at a safe distance, the monitoring processor 4 sends an early warning message to the flight control processor 1 via the CAN bus, and the flight control processor 1 takes the lead in executing routine operations such as returning to home or hovering.

[0040] Alarm-level decision: If the drone continues to approach the boundary or the flight control processor 1 fails to respond effectively to the warning, the monitoring processor 4 determines that there is a risk and can send a higher-level alarm signal again.

[0041] Safety-level decision-making: If the drone has crossed the electronic fence boundary or the monitoring processor 4 detects a complete failure of the flight control system (such as CAN communication interruption or abnormal flight control data), the monitoring processor 4 will bypass the flight control processor 1 and directly execute the final protection measures through the safety execution module 5, forcing the drone to land.

[0042] In some embodiments of the unmanned aerial vehicle (UAV) boundary protection system of this utility model, the actuator includes a flight control electronic speed controller (ECS) enable switch 8 and a parachute release mechanism 9. The ESC enable switch 8 is used to control the start and stop of the UAV's power motor, and the parachute release mechanism 9 is used to control the opening of the parachute. The safety execution module 5 includes an ESC enable control circuit and a parachute control circuit. The output terminal of the ESC enable control circuit is connected to the flight control ESC enable switch 8; the output terminal of the parachute control circuit is connected to the parachute release mechanism 9.

[0043] It is understood that the final safety action of the UAV boundary protection system in this embodiment is achieved through two independent actuators: the flight controller electronic speed controller (ESC) enable switch 8 and the parachute release mechanism 9. The ESC enable switch 8 is typically a high-current-capacity MOSFET or relay circuit connected in series in the main power supply circuit or enable signal line of the UAV's electronic speed controller (ESC), acting as the main switch of the power system and capable of hard-wiredly cutting off the power to all motors. The parachute release mechanism 9 is typically a device based on an electric detonator (E-match) or a powerful solenoid valve, which mechanically locks the parachute pack and releases the parachute instantaneously upon triggering. To drive the ESC enable switch 8 and the parachute release mechanism 9, this invention specifically designs a safety execution module 5, which contains two independent drive circuits: an ESC enable control circuit and a parachute control circuit. The ESC enable control circuit is an optocoupler or isolation relay circuit, whose output is directly connected to the control terminal of the flight controller ESC enable switch 8; the parachute control circuit is a high-current switching circuit (usually composed of a Darlington transistor or a thyristor), whose output is connected to the trigger interface of the parachute release mechanism 9.

[0044] During system implementation, after the monitoring processor 4 makes the final safety decision, its general purpose input / output (GPIO) pins output specific digital control signals to the safety execution module 5. For ESC enable control, one GPIO pin of the monitoring processor 4 outputs a low-level (or high-level) signal to the input of the ESC enable control circuit. The ESC enable control circuit then acts, changing the state of its output (e.g., from closed to open), thereby directly cutting off the control loop of the flight control ESC enable switch 8, causing all the drone's motors to stop immediately, achieving a forced power-off landing. For parachute control, another GPIO pin of the monitoring processor 4 outputs a high-level pulse signal to the input of the parachute control circuit. The parachute control circuit is designed to provide a large instantaneous current (typically above 2A). This current is directly supplied to the detonator or solenoid valve coil of the parachute release mechanism 9, using the generated thermal or magnetic effects to trigger the mechanical release action and open the parachute. In this embodiment, these two execution paths are physically and electrically independent and are both directly controlled by the monitoring processor 4, ensuring reliable execution of final physical protection in the most critical situations.

[0045] This utility model also provides a drone, including the drone clearance protection system in any of the above embodiments or examples, including but not limited to a monitoring processor 4, a communication interface module 3, an onboard sensor module (including a barometer 6, an inertial measurement unit 7, etc.), and a safety execution module 5. The various components of the drone clearance protection system are reasonably arranged within the drone's fuselage structure and are electrically and mechanically connected to the drone's original system (including a flight control processor 1, a GNSS sensor 2, a flight control ESC enable switch 8, and a parachute release mechanism 9) through internal cables, together forming a complete flight platform with high reliability clearance protection capabilities.

[0046] In the implementation of this invention's UAV, its boundary protection function operates as a built-in, underlying safety feature. Whether during pre-flight ground preparation or normal in-flight operation, this protection system continuously performs self-checks and monitoring. If the UAV is about to violate or has already violated the preset electronic fence restrictions due to any reason (such as main flight control software failure, electromagnetic interference, or human error), the protection system integrated within the UAV will automatically intervene in flight control based on its independent judgment. It first attempts to alert the main flight control system via the communication link; if this is ineffective, it ultimately exceeds the main flight control system's authority, directly cutting off power or triggering a parachute through hardware circuitry to force the UAV to perform a safe landing. Therefore, the UAV provided by this invention, by embedding a low-cost, low-weight independent safety monitoring layer into a traditional architecture, significantly improves its ability to cope with single-point failure risks. This allows it to meet the stringent constraints of lightweight UAVs while achieving the reliability to meet higher safety level certifications (such as SIL2), greatly expanding its safe operation capabilities in sensitive airspaces such as densely populated areas and areas surrounding critical infrastructure.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. An unmanned aerial vehicle bounding box protection system comprising a flight control processor (1) of an unmanned aerial vehicle and a GNSS sensor (2), characterized in that, Also includes: The communication interface module (3) connects the flight control processor (1) and the GNSS sensor (2) and is used to receive electronic fence data from the flight control processor (1) and UAV positioning data from the GNSS sensor (2); The monitoring processor (4) is connected to the communication interface module (3) to realize information interaction with the flight control processor (1) and the GNSS sensor (2); The safety execution module (5) is connected to the monitoring processor (4) and the execution mechanism of the UAV, and is used to control the execution mechanism of the UAV to perform protective actions according to the data processing results of the monitoring processor (4).

2. The drone bounding protection system of claim 1, wherein, The unmanned aerial vehicle (UAV) boundary protection system also includes an onboard sensor module, which comprises: A barometer (6) is connected to the monitoring processor (4) to provide real-time altitude data of the UAV; An inertial measurement unit (7) is connected to the monitoring processor (4) to provide real-time attitude data of the UAV.

3. The drone bounding protection system of claim 2, wherein, The onboard sensor module also includes: A temperature sensor is connected to the monitoring processor (4) to monitor the operating temperature of the monitoring processor (4); A voltage sensor is connected to the monitoring processor (4) to monitor the operating voltage of the monitoring processor (4).

4. The drone bounding protection system of any one of claims 1 to 3, wherein, The communication interface module (3) includes: A serial communication interface is provided, which is connected to the GNSS sensor (2) to receive UAV positioning data. A CAN bus interface is connected to the flight controller processor (1) for bidirectional communication.

5. The drone bounding protection system of claim 1, wherein, The GNSS sensor (2) is equipped with an independent main output port and a backup output port. The main output port of the GNSS sensor (2) is connected to the flight control processor (1), and the backup output port of the GNSS sensor (2) is connected to the serial communication interface of the communication interface module (3).

6. The drone bounding protection system of any one of claims 1 to 3, wherein, The monitoring processor (4) is a microcontroller, which is adapted to compare the electronic fence data from the flight control processor (1) and the UAV positioning data from the GNSS sensor (2), and output control signals to the safety execution module (5) according to the comparison results.

7. The unmanned aerial vehicle (UAV) clearance protection system according to claim 2, characterized in that, The monitoring processor (4) includes: The power-on initialization module is used to initialize the external interfaces and put the drone in a locked state. The self-test module is used to perform self-tests on the hardware and software of the monitoring processor (4); The sensor redundancy algorithm module is connected to the communication interface module (3) and the onboard sensor module. It is used to fuse the multi-system satellite data of the GNSS sensor, the data of the barometer (6) and the data of the inertial measurement unit (7) to perform redundancy safety calculations and obtain UAV positioning data. The instruction generation module, connected to the sensor redundancy algorithm module, is used to generate warning, alarm, or safety handling instructions in a tiered manner based on the comparison results between UAV positioning data and electronic fence data.

8. The drone bounding protection system of any one of claims 1 to 3, wherein, The actuator includes a flight control ESC enable switch (8) and a parachute release mechanism (9) for the UAV. The flight control ESC enable switch (8) is used to control the start and stop of the UAV's power motor, and the parachute release mechanism (9) is used to control the opening of the parachute.

9. The drone bounding protection system of claim 8, wherein, The secure execution module (5) includes: An ESC enable control circuit, the output of which is connected to the flight controller ESC enable switch (8); Parachute control circuit, the output of which is connected to the parachute release mechanism (9).

10. A drone, characterized in that, The unmanned aerial vehicle (UAV) boundary protection system includes any one of claims 1 to 9.

Images