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External safety control apparatus, method and system for flight of multi-rotor unmanned plane

A multi-rotor unmanned aerial vehicle, safety control technology, applied in the direction of control/adjustment system, three-dimensional position/course control, vehicle position/route/height control, etc., can solve the problem of low cost performance, and achieve strong versatility and calculation results Objective, easy to install and use

Pending Publication Date: 2017-02-22
GENERAL HOSPITAL OF CHINESE PEOPLES ARMED POLICEFORCES
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Problems solved by technology

[0004] It is not difficult to see from the above patents that the measurement and estimation of the current flight status of the UAV can be effectively realized by adding sensors to the UAV. Further, if the data measured by each sensor is used as a type of input and criterion to If it directly affects the flight control system of the UAV, it is possible to improve the flight safety of the UAV system
However, for the miniaturized multi-rotor UAV system, in addition to adding additional external sensors, it is also necessary to design a communication and control module between the external sensor and the small UAV flight control system. For low-cost small unmanned aerial systems, this approach is obviously less cost-effective

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  • External safety control apparatus, method and system for flight of multi-rotor unmanned plane
  • External safety control apparatus, method and system for flight of multi-rotor unmanned plane
  • External safety control apparatus, method and system for flight of multi-rotor unmanned plane

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Embodiment Construction

[0023] In order to make the object, technical solution and advantages of the present invention clearer, the implementation manner of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0024] The principle of the safe flight control method of the multi-rotor UAV is analyzed as follows:

[0025] (1) Taking the six-rotor UAV as an example to analyze the flight dynamics of the multi-rotor UAV

[0026] Such as figure 1 As shown in , is a schematic diagram of a UAV attitude angle definition method, where the angles ψ, θ, Yaw angle, roll angle, and pitch angle, respectively. In the figure, define R E =(O E ,X E ,Y E ,Z E ) represents the navigation coordinate system, and the origin O of the coordinate system E At the position of the center of gravity of the UAV motion carrier, O E x E Axis pointing east, O E Y E axis pointing north, O E ZE The axis points vertically upwards to the surface according to the rig...

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Abstract

The invention discloses an external safety control apparatus, method and system for flight of a multi-rotor unmanned plane. The external safety control apparatus for flight of a multi-rotor unmanned plane includes an external abnormal flight state determination module and an external alarm module. The external safety control method for flight of a multi-rotor unmanned plane includes the following steps: determining whether a multi-rotor unmanned plane is flying in an abnormal state in the current flight spatial domain; and if the multi-rotor unmanned plane is flying in an abnormal state, sending alarm information to enable a ground control staff to control a ground operation terminal after receiving the alarm information to send a motion control command to an airborne flight control subsystem of the multi-rotor unmanned plane, wherein the motion control command is used for indicating the multi-rotor unmanned plane to reduce the flight height. The external safety control system for flight of a multi-rotor unmanned plane includes the safety control apparatus, the ground operation terminal and the airborne flight control subsystem, and the safety control apparatus is the above mentioned external safety control apparatus. The external safety control apparatus for flight of a multi-rotor unmanned plane has the characteristics of being convenient to mount and being high in universality.

Description

technical field [0001] The invention belongs to the field of UAV flight control, and in particular relates to an external safety control device, method and system for multi-rotor UAV flight. Background technique [0002] In recent years, UAV systems have been more and more used in aerial surveying and mapping, disaster rescue information collection, and line inspection. Rotary-wing UAVs belong to a class of systems that provide lift through propeller rotation to drive the unmanned aerial vehicle body to fly in the air. Compared with fixed-wing UAVs, rotor UAVs can achieve low-speed flight and hovering in the air. The system has small size, The utility model has the characteristics of convenient portability and low manufacturing cost. Miniaturized multi-rotor UAVs are easy to carry and use, but miniaturized UAVs are extremely vulnerable to the influence of near-ground winds during flight, resulting in abnormal flight and even crashes. Usually, the flight of small multi-roto...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 陈金宏郑静晨吕明刘皓挺
Owner GENERAL HOSPITAL OF CHINESE PEOPLES ARMED POLICEFORCES
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