A dual receiver channel allocation system for uav channel expansion

Abstract

The utility model discloses a kind of dual-receiver channel distribution systems for unmanned aerial vehicle channel extension.It relates to unmanned aerial vehicle control technical field, and includes: first receiver module, second receiver module, flight control module and remote control module;First receiver module and second receiver module are connected flight control module respectively;First receiver module and second receiver module are connected remote control module respectively.The utility model can still control unmanned aerial vehicle safe return by another receiver when one receiver is out of control, not only can increase reliability, but also can achieve the purpose of expanding channel without using channel distributor, reduce technical difficulty, save cost.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) control technology, and more specifically to a dual receiver channel allocation system for UAV channel expansion. Background Technology

[0002] The development and progress of the drone industry have led to its widespread application in express delivery, film shooting, agricultural plant protection, power line inspection, and scientific research platforms. As drone functions become increasingly diverse, receivers need to connect to a large number of devices such as servos, ESCs, GPS modules, digital image transmission, camera gimbals, and flight controllers. However, current mainstream drone receivers are typically equipped with 6-9 physical ports. Insufficient port resources limit the expansion of drone functions, thus requiring dual receivers to expand the number of ports.

[0003] Given the deployment of dual-receiver systems, how to leverage the inherent high reliability of dual receivers to enhance the stability of UAV systems is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0004] In view of this, the present invention provides a dual-receiver channel allocation system for UAV channel expansion. Even if one receiver fails, the other receiver can still control the UAV to return safely. This not only increases reliability but also achieves the purpose of channel expansion without the use of a channel distributor, reducing technical difficulty and saving costs.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a dual receiver channel allocation system for UAV channel expansion, comprising: a first receiver module, a second receiver module, a flight control module, and a remote control module; the first receiver module and the second receiver module are respectively connected to the flight control module; the first receiver module and the second receiver module are respectively connected to the remote control module.

[0006] Preferably, the remote control module includes 16 channels; wherein the first to ninth channels are connected to the first receiver module, and the tenth to sixteenth channels are connected to the second receiver module.

[0007] Preferably, the flight control module includes an AER port, an A2-E2-G port, a flight control mode port, an OUT1 port, an OUT2 port, an OUT3 port, an OUT4 port, and an OUT5 port; the flight control mode port is connected to the first receiver module, and the AER port and the A2-E2-G port are respectively connected to the first receiver module and the second receiver module.

[0008] Preferably, the AER port includes a left aileron port, a first elevator port, and a directional port; the A2-E2-G port includes a right aileron port, a second elevator port, and a flight control sensitivity port.

[0009] Preferably, the first receiver module includes nine ports. The first port is connected to the first channel of the remote control module and the power unit of the UAV, respectively. The second port is connected to the second channel of the remote control module and the left aileron port, respectively. The third port is connected to the third channel of the remote control module and the right flap of the UAV, respectively. The fourth port is connected to the fourth channel of the remote control module and the first elevator port, respectively. The fifth port is connected to the fifth channel of the remote control module and the flight control mode port, respectively. The sixth port is connected to the sixth channel of the remote control module and the flight control sensitivity port, respectively. The seventh port is connected to the seventh channel of the remote control module and the landing gear of the UAV, respectively. The eighth and ninth ports are auxiliary ports, corresponding to the eighth and ninth channels of the remote control module.

[0010] Preferably, the second receiver includes nine ports. The first port is connected to the tenth channel of the remote control module and the power unit of the UAV, respectively. The second port is connected to the eleventh channel of the remote control module and the right aileron port, respectively. The third port is connected to the twelfth channel of the remote control module and the left flap of the UAV, respectively. The fourth port is connected to the thirteenth channel of the remote control module and the direction port, respectively. The fifth to seventh ports are auxiliary ports. The fifth to seventh ports are connected to the fourteenth to sixteenth channels of the remote control module, respectively.

[0011] As can be seen from the above technical solution, compared with the prior art, this utility model discloses a dual receiver channel allocation system for UAV channel expansion, with the following beneficial effects: By configuring the ports, the drone can still be safely returned to base using another receiver even if one receiver fails. This differs from common dual-receiver solutions that use channel splitters. Existing solutions use two identical receivers as backups, and only allow expansion of the S.BUS bus port count via a channel splitter. This invention not only increases reliability (allowing the drone to be controlled by the other receiver when one fails), but also achieves channel expansion without a channel splitter, reducing technical difficulty and saving costs. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0013] Figure 1 The system structure diagram provided for this utility model.

[0014] Figure 2 The control logic diagram corresponding to the set channel number provided by this utility model.

[0015] Figure 3 The connection diagram corresponding to the port module provided by this utility model.

[0016] Figure 4 A model diagram of the drone provided for this utility model. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0018] like Figure 1 As shown in the figure, this utility model embodiment discloses a dual receiver channel allocation system for UAV channel expansion, including: a first receiver module, a second receiver module, a flight control module, and a remote control module; the first receiver module and the second receiver module are respectively connected to the flight control module; the first receiver module and the second receiver module are respectively connected to the remote control module.

[0019] Specifically, the remote control module includes 16 channels; wherein the first to ninth channels are connected to the first receiver module, and the tenth to sixteenth channels are connected to the second receiver module.

[0020] Specifically, the flight control module includes an AER port, an A2-E2-G port, a flight control mode port, an OUT1 port, an OUT2 port, an OUT3 port, an OUT4 port, and an OUT5 port; the flight control mode port is connected to the first receiver module, and the AER port and the A2-E2-G port are respectively connected to the first receiver module and the second receiver module.

[0021] Specifically, the AER port includes a left aileron port, a first elevator port, and a directional port; the A2-E2-G port includes a right aileron port, a second elevator port, and a flight control sensitivity port.

[0022] Specifically, the first receiver module includes nine ports. The first port is connected to the first channel of the remote control module and the power unit of the UAV. The second port is connected to the second channel of the remote control module and the left aileron port. The third port is connected to the third channel of the remote control module and the right flap of the UAV. The fourth port is connected to the fourth channel of the remote control module and the first elevator port. The fifth port is connected to the fifth channel of the remote control module and the flight control mode port. The sixth port is connected to the sixth channel of the remote control module and the flight control sensitivity port. The seventh port is connected to the seventh channel of the remote control module and the landing gear of the UAV. The eighth and ninth ports are auxiliary ports, corresponding to the eighth and ninth channels of the remote control module.

[0023] Specifically, the second receiver includes nine ports. The first port is connected to the tenth channel of the remote control module and the power unit of the UAV; the second port is connected to the eleventh channel of the remote control module and the right aileron port; the third port is connected to the twelfth channel of the remote control module and the left flap of the UAV; the fourth port is connected to the thirteenth channel of the remote control module and the direction port; ports five to seven are auxiliary ports; ports five to seven are connected to channels fourteen to sixteen of the remote control module respectively. Ports eight and nine are only used as power supply ports and cannot be used for signal transmission.

[0024] In a specific embodiment of this utility model, such as Figure 2 As shown, the numbers 1-9 in the first column represent the ports of the two receivers, and the numbers 1-16 in the second column represent the channel numbers defined by the remote control module, with the specific functions set for each channel number annotated. Referring to Figure 2, channels 1-9 of the remote control are mapped to ports 1-9 of receiver 1. Ports 1-7 control the aircraft's left-side power unit (ESC / ducted motor, throttle servo, turbojet / turboprop / turboshaft engine ECU), left aileron, right flap, elevator, flight control mode (used to set flight control modes such as self-stabilization, return to home, and manual), flight control sensitivity (adjusting flight control sensitivity according to flight speed to prevent over-sensitivity from causing aircraft shaking or under-sensitivity from failing to correct flight deviations), and landing gear retraction and braking. Ports 8-9 are defined as auxiliary channels 1-2.

[0025] The remote controller's channels 10-16 are mapped to ports 1-7 of receiver 2, with ports 1-4 controlling the aircraft's right-side power, right aileron, left-side flaps, and steering, respectively. Ports 5-7 are defined as auxiliary channels 3-5, which can connect to more devices. These five auxiliary channels can be used for user-defined functions such as spoilers, gimbals, lights, and object throwing.

[0026] The flight controller uses a dual-channel aileron input mode. The remote controller is set to flap-aileron mixed control, which not only increases the aircraft's roll speed (only in flap-aileron linked mode), but also allows the UAV to be controlled using the control method of this embodiment when one receiver fails.

[0027] In specific embodiments of this utility model, such as Figures 3-4 As shown, the receiver model in the example is Tiandifei RF209S, the flight controller is HobbyEagle A3 Super 4, and the remote controller is Tiandifei WFLY ET16S.

[0028] 1. All ports on the receiver are output ports; A2, E2, G, A, E, R, and Serial RX / M on the flight controller are input ports, and OUT1, OUT2, OUT3, OUT4, and OUT5 are output ports.

[0029] 2. Connect ports 1, 3, 7, 8, and 9 of receiver 1, and ports 1, 3, 5, 6, and 7 of receiver 2 to the corresponding ESCs or servos, but do not connect them to the flight controller.

[0030] 3. As shown in the connection diagram, channels 2, 4, 5, and 6 of receiver 1 and channels 2 and 4 of receiver 2 are connected to the corresponding ports of the flight controller. Channel 5 of receiver 1 supplies power to the flight controller (i.e., one wire on the interface is the PWM input of the flight controller, and the other two wires are the power supply lines). The other ports only input one PWM signal.

[0031] 4. Ports 8 and 9 of receiver 1, and ports 5, 6 and 7 of receiver 2 can be configured with other functions. Do not connect E2 and OUT5 of the flight controller.

[0032] The working principle of this utility model is as follows: 1. The receiver is disconnected from the flight controller, and there is no signal input to the flight controller (the receiver is powered off or the wiring to the flight controller module is disconnected): After reliable testing, it was found that when one receiver (denoted as A) is disconnected from the flight controller, another receiver (denoted as B) can indirectly control the actuators that should be controlled by A through the flight controller module. Taking the aileron as an example: when A and B are normally connected to the flight controller, manually disconnecting port 2 of A and discontinuing its connection with the flight controller module, while B remains in normal operation, when the remote controller outputs the aileron actuation command, both the left and right ailerons actuate simultaneously. This is because after A is disconnected from the flight controller module, the flight controller cannot read the aileron control commands from A, and automatically enters single-channel aileron input mode, with B controlling both ailerons.

[0033] 1. The first receiver module is disconnected from the flight control module, while the second receiver module is connected normally.

[0034] At this point, the second receiver module can control the aircraft normally. The second receiver module can control the ailerons on both sides to induce roll, and can also work in conjunction with the left flap to increase roll speed and maneuverability. If all ports of the first receiver module except the ailerons are normally connected to the flight control module, the user can choose whether to activate the flight control as needed, and the other channels can also be controlled normally. If all ports of the first receiver module are disconnected from the flight control module, the flight control module will automatically activate self-stabilization mode. In this mode, pitch is controlled by the flight control, ascent and descent are controlled by the user through the right-side throttle, and the landing gear and auxiliary controls 1 and 2 can be controlled normally (if the first receiver module is powered off, it will be uncontrollable).

[0035] 2. The second receiver module is disconnected from the flight control module, while the first receiver module is connected normally.

[0036] Similar to scenario 1 in Hypothesis 1, the first receiver module can control roll. If the ports of the second receiver module, except for the ailerons, are normally connected to the flight control module, the other channels can also be controlled normally; if all ports of the second receiver module are disconnected from the flight control module, the first receiver module can still control the left throttle, right flap (selectable whether to link with the aileron as needed), pitch, flight control mode, flight control sensitivity, landing gear, and auxiliary 1-2. In this case, yaw is achieved by roll and pitch to achieve roll-pitch coordinated steering.

[0037] 2. The receiver and remote control are disconnected.

[0038] After rigorous and reliable simulation testing, when one receiver (denoted as A) malfunctions, the receiver that is not malfunctioning (denoted as B) can only control the actuator connected to B, and cannot indirectly control the actuator connected to A through the flight controller as in the first scenario. This is because A still sends a fixed command to the flight controller module (return to center / hold / custom, pre-set by the user, issued only in the event of a malfunction). Due to this command, B can only control the actuator connected to B. Taking the aileron as an example again, when A and B are normally connected to the remote controller, a continuous fixed PWM signal (simulating the malfunction protection mode) is input to the A port of the flight controller module (controlling the left aileron). B remains normal. B cannot control the aileron that should be controlled by A because the flight controller module cannot enter the single-channel aileron input mode (the aileron has two signal inputs).

[0039] 1. The first receiver module malfunctioned, while the second receiver module functioned normally.

[0040] The first receiver module enters the runaway protection mode, automatically activating the flight control autostabilization mode (user-defined), closing the left throttle, aligning altitude (controlled by the flight control module), lowering the landing gear, and executing assists 1-2 according to the user's pre-set parameters. The second receiver module controls roll via the right aileron and left flap, and normally controls the right throttle, steering, and assists 3-5. Similar to scenario 1 in Hypothesis 1, pitch is controlled by the flight control module, and altitude and descent are controlled by throttle position.

[0041] 2. The second receiver module malfunctioned, while the first receiver module functioned normally.

[0042] Similar to scenario 1 of hypothesis 2, the second receiver module enters the runaway protection mode, shutting down the right throttle, centering the turn (controlled by the flight controller), and executing auxiliary functions 3-5 according to the user's pre-set parameters. The first receiver module controls roll via the left aileron and right flap, and normally controls the left throttle, elevator, flight control mode, flight control sensitivity, landing gear, and auxiliary functions 1-2. Similar to scenario 2 of hypothesis 1, yaw is achieved through roll and pitch maneuvers to achieve a coordinated roll-pitch turn.

[0043] 3. Both the first receiver module and the second receiver module malfunctioned.

[0044] First, it should be noted that the probability of this situation is extremely small. If it does occur, close both throttles (to prevent injury and protect the aircraft) and stabilize the aircraft using the flight control's self-stabilization mode to allow it to glide to a forced landing, or use the flight control's return-to-home mode to allow the aircraft to land safely.

[0045] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0046] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A dual-receiver channel allocation system for UAV channel extension, characterized in that, include: First receiver module, second receiver module, flight control module, and remote control module; The first receiver module and the second receiver module are respectively connected to the flight control module; The first receiver module and the second receiver module are respectively connected to the remote control module.

2. The dual receiver channel allocation system for UAV channel extension according to claim 1, characterized in that, The remote control module includes 16 channels; channels 1 to 9 are connected to the first receiver module, and channels 10 to 16 are connected to the second receiver module.

3. A dual-receiver channel allocation system for UAV channel expansion according to claim 2, characterized in that, The flight control module includes an AER port, an A2-E2-G port, a flight control mode port, an OUT1 port, an OUT2 port, an OUT3 port, an OUT4 port, and an OUT5 port; the flight control mode port is connected to the first receiver module, and the AER port and the A2-E2-G port are respectively connected to the first receiver module and the second receiver module.

4. A dual-receiver channel allocation system for UAV channel expansion according to claim 3, characterized in that, The AER port includes a left aileron port, a first elevator port, and a directional port; the A2-E2-G port includes a right aileron port, a second elevator port, and a flight control sensitivity port.

5. A dual-receiver channel allocation system for UAV channel expansion according to claim 4, characterized in that, The first receiver module includes nine ports. The first port is connected to the first channel of the remote control module and the power unit of the UAV. The second port is connected to the second channel of the remote control module and the left aileron port. The third port is connected to the third channel of the remote control module and the right flap of the UAV. The fourth port is connected to the fourth channel of the remote control module and the first elevator port. The fifth port is connected to the fifth channel of the remote control module and the flight control mode port respectively; the sixth port is connected to the sixth channel of the remote control module and the flight control sensitivity port respectively; the seventh port is connected to the seventh channel of the remote control module and the landing gear of the UAV respectively; the eighth and ninth ports are auxiliary ports, which are connected to the eighth and ninth channels of the remote control module respectively.

6. A dual-receiver channel allocation system for UAV channel extension according to claim 4, characterized in that, The second receiver includes nine ports. The first port is connected to the tenth channel of the remote control module and the power unit of the UAV. The second port is connected to the eleventh channel of the remote control module and the right aileron port. The third port is connected to the twelfth channel of the remote control module and the left flap of the UAV. The fourth port is connected to the thirteenth channel of the remote control module and the direction port. Ports 5 through 7 are auxiliary ports; ports 5 through 7 are connected to channels 14 through 16 of the remote control module.

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