CN116300997A - A plant protection drone and flight control system - Google Patents

Abstract

The invention discloses a plant protection unmanned aerial vehicle and a flight control system, which belong to the technical field of unmanned aerial vehicles and comprise an intelligent module, a power battery, a flight control module and a plurality of power modules; the intelligent module consists of an MCU main control unit, an intelligent power distribution unit and an ignition prevention unit which are integrated on the same circuit board; the MCU main control unit compares the stored second key with the stored first key of the power battery, so that potential safety hazards caused by misloading, mixed loading and unreliable installation of the power battery are avoided, meanwhile, the instantaneous current of the power battery is measured by the anti-ignition unit to protect the plant protection unmanned aerial vehicle, the power module is precharged, the safety of the plant protection unmanned aerial vehicle is guaranteed, and the MCU main control unit judges whether power failure or forced landing is needed according to flight data to protect the plant protection unmanned aerial vehicle or avoid potential safety hazards caused by paddles rotating at high speed to people.

Description

A plant protection drone and flight control system

technical field

The invention relates to a plant protection unmanned aerial vehicle and a flight control system, belonging to the technical field of unmanned aerial vehicles.

Background technique

Plant protection UAV, also known as unmanned aerial vehicle, as the name implies, is an unmanned aircraft used for agricultural and forestry plant protection operations. Composed of three parts, the spraying operation can be realized through ground remote control or navigation flight control, which can spray chemicals, seeds, powder, etc. With the rapid development of drone technology, "agricultural drones" with a broader meaning are gradually replacing "plant protection drones". Agricultural drones are not only used for spraying pesticides, but also for spreading fertilizers, seeds, and Feed and other work to meet the diverse needs of farmers and improve production efficiency.

Referring to Figure 2, the current plant protection UAV is composed of a distribution board, a power battery, a flight controller, multiple power batteries and a water pump. The power battery provides power to the distribution board, and the distribution board shunts the power to the flight controller, multiple Power batteries and water pumps, the flight controller controls multiple power batteries and water pumps, but the components in the plant protection drones currently on the market do not have data communication, monitoring, and management, which makes it difficult to analyze and solve the problem of product crashes, and The wiring is scattered and disturbed, and the reliability is low; in addition, the direct power-on impact current of the power battery is very large, which has a great impact on the life of the power battery and other components.

Contents of the invention

In view of the above-mentioned technical problems, the present invention provides a plant protection drone and a flight control system.

A plant protection drone, including an intelligent module, a power battery, a flight control module, and multiple power modules;

The intelligent module is composed of MCU main control unit, intelligent power distribution unit, anti-sparking unit, and signal interface unit integrated on the same circuit board; the MCU main control unit is connected to the flight control module, anti-sparking unit, intelligent distribution Electric unit, power battery, signal interface unit;

The power battery is connected to the flight control module, anti-ignition unit and intelligent power distribution unit, and is used to supply power to the MCU main control unit, flight control module, anti-ignition unit and intelligent power distribution unit, as well as the stored first key and The fault information is sent to the MCU main control unit through the CAN bus;

The anti-sparking unit is connected to all power modules for real-time measurement of the instantaneous current of the power battery, and generates current detection results and sends them to the MCU main control unit through the CAN bus; and pre-charges all power modules;

The intelligent power distribution unit is connected to all power modules, and is used to divide the power provided by the power battery to the intelligent power distribution unit into multiple channels, and provide one power supply for each power module;

Flight control module, connected to all power modules, used to collect flight data of all power modules, and send flight data to MCU main control unit through CAN bus;

The signal interface unit is connected to the MCU main control unit and the flight control module, and is used to receive the flight data of all power modules collected by the flight control module, and output the flight data to the MCU main control unit after anti-interference processing;

The MCU main control unit is connected to all power modules, and is used to receive the first key, fault information, current detection results and flight data. If the current detection result is a short circuit or fault information is received, the MCU main control unit and the flight control module are cut off. , the power supply of the anti-ignition unit and the intelligent power distribution unit, and is used to compare the first key with the pre-stored second key, and if they do not match, cut off the MCU main control unit, flight control module, anti- The power supply of the ignition unit and the intelligent power distribution unit, and judging whether the plant protection drone meets the normal flight conditions according to the flight data and the preset flight status judgment strategy, if the normal flight conditions are not met, and the plant protection drone is not flying stage, cut off the power supply of the MCU main control unit, flight control module, anti-ignition unit, and intelligent power distribution unit. Multiple power modules are sent, and multiple power modules are adjusted to zero according to the flight attitude to adjust the flight attitude of the plant protection drone to make it forced to land.

A further improvement to the above technical solution is: the flight data includes the voltage value of the motor and the ESC, the current value of the motor and the ESC, the rotational speed of the motor, and the state of the motor and the ESC.

Further, the intelligent module also includes a signal interface unit;

The signal interface unit is connected to the power battery, the MCU main control unit, and the flight control module, and is used to receive the flight data of all the power modules collected by the flight control module, and output the flight data to the MCU main control unit after anti-interference processing;

The power battery is used to supply power to the signal interface.

Further, it also includes a backup power supply;

Backup power supply, connected to the MCU main control unit, used to supply power to the MCU main control unit;

MCU main control unit, used to store flight data.

Further, it also includes a communication interface, which is connected to the MCU main control unit, and is used for communicating with the intelligent terminal, so as to realize the exchange of flight data between the MCU main control unit and the intelligent terminal.

Further, the smart module also includes a Bluetooth unit;

The Bluetooth unit is connected to the power battery and the MCU main control unit, and is used to exchange wireless information between the MCU main control unit and the smart terminal.

Further, the flight status judgment strategy includes:

If all power modules are in normal working condition, the plant protection drone is in flight.

A plant protection UAV flight control system, including a plant protection UAV, and also includes a smart terminal and a server, and both the plant protection UAV and the smart terminal are connected to the server through communication;

Among them, the intelligent terminal is used to send the take-off command to the plant protection drone, and the plant protection drone receives the take-off command and flies off the ground according to the take-off command; and is used to send the preset flight trajectory to the plant protection drone, and the plant protection drone The machine receives the preset flight trajectory, and flies according to the preset flight trajectory, and is used to send the watering command to the plant protection drone, and the plant protection drone receives the watering command, and starts the water pump according to the watering command to perform the watering operation; and, It is used to send the return command to the plant protection drone, and the plant protection drone receives the return command, adjusts the flight attitude according to the return command and flies back to the original place.

It can be seen from the above technical solution that the plant protection drone provided by the present invention sends the stored first key to the MCU main control unit through the power battery, and the MCU main control unit combines the first key with the pre-stored key after receiving the first key. The second key is compared with the second key. Only when the comparison is successful, the plant protection drone is allowed to be powered on. Loss and undervoltage of various hardware inside the human-machine, various irreparable hardware damages caused by long-term use, and various hazards such as smoke explosion and burning of plant protection drones during use, causing personal injury.

At the same time, the power battery is also used to send the stored fault information to the MCU main control unit through the CAN bus. When the plant protection drone fails, the fault information will be written into the storable medium inside the power battery. If the fault information is detected, the power battery is prohibited from powering the plant protection drone, so as to prevent the power battery from damaging the plant protection drone and ensure the safety and service life of the plant protection drone.

At the same time, the anti-ignition unit measures the instantaneous current of the power battery in real time, and generates the current detection result and sends it to the MCU main control unit through the CAN bus; after the MCU main control unit receives the instantaneous current, if the current detection result is a short circuit, the power supply is disabled. The battery supplies power to the plant protection drone to ensure the safety of the plant protection drone and the safety of personnel.

At the same time, the anti-ignition unit is also used to pre-charge all power modules; to reduce spark arcing when the contactor contacts, reduce impact and increase safety.

The flight control module also collects the flight data of all power modules, and sends the flight data to the MCU main control unit through the CAN bus. Prohibit the power supply of the power battery to the plant protection drone, or adjust the flight attitude of the plant protection drone to make it make a forced landing to protect the plant protection drone and avoid the safety hazards caused by the high-speed rotating blades.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a schematic diagram of the plant protection drone provided by the present invention.

Fig. 2 is a schematic diagram of a plant protection drone provided by the prior art.

Fig. 3 is a schematic diagram of the intelligent module in the plant protection drone provided by the present invention.

Fig. 4 is a block diagram of the plant protection drone provided by the present invention.

Fig. 5 is a schematic diagram of the flight control system of the plant protection drone provided by the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Referring to Figure 1, Figure 3 and Figure 4, a plant protection UAV includes an intelligent module, a power battery, a flight control module, and multiple power modules;

The intelligent module is composed of MCU main control unit, intelligent power distribution unit, anti-sparking unit, and signal interface unit integrated on the same circuit board; the MCU main control unit is connected to the flight control module, anti-sparking unit, intelligent distribution Electric unit, power battery, signal interface unit;

Referring to Fig. 1, Fig. 3 and Fig. 4, the power battery, generally a storage battery, provides power for the plant protection drone in the present invention, and the power battery is connected to the flight control module, the anti-ignition unit and the intelligent power distribution unit for supplying power to the MCU. The main control unit, the flight control module, the anti-ignition unit and the intelligent power distribution unit are powered; and the stored first key is sent to the MCU main control unit. After the MCU main control unit receives the first key, it sends the first key Compare it with the pre-stored second key. If it does not match, the power battery is prohibited from powering the plant protection drone. It is not difficult to imagine that the power battery is equipped with a storable medium, and the storable medium stores the first key. ; Both the first key and the second key are set during the production stage of the plant protection drone, and are respectively stored in the power battery and the MCU main control unit adapted to it. Generally speaking, in this way, It avoids the wrong installation and mixed installation of the power battery, which leads to the deviation or instability of the rated current and voltage of the power supply circuit, which leads to the loss and undervoltage of various hardware inside the plant protection drone, and various irreparable hardware damage caused by long-term use. , and various hazards such as smoke explosion and burning of plant protection drones and personal injuries during use. The power battery is also used to send the stored fault information to the MCU main control unit through the CAN bus. Similarly, the fault information is also Stored in the storable medium inside the power battery, the fault information is written later. When the plant protection drone fails and is identified as a power battery fault, the fault information can be sent to the main control unit through the MCU or other methods. Write it into the storable medium inside the power battery. At this time, the power battery is a faulty battery. When the MCU main control unit receives and detects the fault information, it prohibits the power battery from powering the plant protection drone to avoid damage to the plant protection by the power battery. UAVs ensure the safety and service life of plant protection drones.

Referring to Figure 1, the anti-ignition unit is connected to all power modules for real-time measurement of the instantaneous current of the power battery, and generates the current detection result and sends it to the MCU main control unit through the CAN bus; after the MCU main control unit receives the instantaneous current, if If the current detection result is a short circuit, the power supply of the power battery to the plant protection drone is prohibited to ensure the safety of the plant protection drone and the safety of personnel. At the same time, the best solution is to also have a backup power supply. When the power supply of the drone is interrupted, the backup power supply is used to supply power to the plant protection drone, and the flight attitude of the plant protection drone is adjusted to return to the ground.

The anti-sparking unit is also used to precharge all the power modules; in the power module, the moment the power is turned on, the voltage across the capacitor will not change suddenly, but the current across the capacitor will change suddenly. The contactor will be stuck or damaged due to high current, which will affect the safety and reliability of the motor controller of the power module, and the pre-charging treatment of the anti-ignition unit will charge the large capacitor to reduce sparks when the contactor is in contact. arc, reducing impact and increasing safety.

Referring to Figure 1, Figure 3 and Figure 4, the intelligent power distribution unit is connected to all power modules, and is used to divide the power provided by the power battery to the intelligent power distribution unit into multiple channels, providing a separate power supply for each power module. The electric unit is connected to the power battery, and the voltage of the power battery is distributed to different power modules.

Referring to Figure 1, Figure 3 and Figure 4, the flight control module is connected to all power modules to automatically maintain the normal flight attitude of the plant protection drone. The flight control module is equipped with a gyroscope, an accelerometer, a geomagnetic sensor, and a control circuit Etc., the flight control module is also used to receive the incoming remote control signal, and is responsible for controlling the ESC and dispatching the current according to the instruction, so that the machine of the power module rotates at different speeds, and adjusts the machine attitude of the plant protection drone.

The flight control module also collects flight data of all power modules, and sends flight data to the MCU main control unit through the CAN bus. The flight data includes motor and ESC voltage values, motor and ESC current values, motor speed, motor and ESC State, after the MCU main control unit receives the flight data, it judges whether the plant protection UAV meets the normal flight conditions according to the flight data and the preset flight state judgment strategy. If it does not meet the normal flight conditions, and the plant protection UAV is not flying. , the power supply of the power battery to the plant protection drone is prohibited. If the normal flight conditions are not met and the plant protection drone is in the flight stage, a flight attitude adjustment command is generated and sent to multiple power modules. Attitude Adjust the flight attitude of the plant protection drone to make it forced to land.

Referring to Figure 1 and Figure 3, the signal interface unit is connected to the power battery, the MCU main control unit, and the flight control module, and is used to receive the flight data of all power modules collected by the flight control module, and output the flight data to the MCU after anti-interference processing The main control unit and the signal interface unit are actually anti-interference circuits, which are used to filter out various clutter, harmonics, and interference signals to ensure the normal transmission of flight data.

Referring to Figure 1, Figure 3 and Figure 4, the MCU main control unit is connected to all power modules to receive the first key, fault information, current detection results and flight data. If the current detection result is short circuit or fault information is received, Then cut off the power supply of the MCU main control unit, the flight control module, the anti-ignition unit and the intelligent power distribution unit, and compare the first key with the pre-stored second key, and if they do not match, then cut off The power supply of the MCU main control unit, the flight control module, the anti-ignition unit and the intelligent power distribution unit, and, according to the flight data and the preset flight state judgment strategy, judge whether the plant protection UAV meets the normal flight conditions, and if it does not meet the normal flight conditions Conditions, and the plant protection UAV is in the non-flying stage, then cut off the power supply of the MCU main control unit, flight control module, anti-ignition unit and intelligent power distribution unit, if the normal flight conditions are not met, and the plant protection UAV is in the flight stage , the flight attitude adjustment command is generated and sent to multiple power modules, and the multiple power modules are adjusted to zero according to the flight attitude to adjust the flight attitude of the plant protection drone to make it forced to land.

In other embodiments, it also includes a backup power supply; the backup power supply is connected to the MCU main control unit, and is used to supply power to the MCU main control unit; the backup power supply can be configured as a button battery to ensure that when the power battery does not provide power to the MCU main control unit, Supply power to the MCU main control unit.

The MCU main control unit has a built-in storage FLASH, which can continuously record all flight data in a loop.

In some other embodiments, it also includes a communication interface, the communication interface is connected to the MCU main control unit, and is used to communicate with the intelligent terminal to realize the exchange of flight data between the MCU main control unit and the intelligent terminal. The communication interface can be a TYPC interface.

Referring to Fig. 1 and Fig. 3, in some other embodiments, the smart module further includes a Bluetooth unit; the Bluetooth unit is connected to the power battery and the MCU main control unit, and is used for exchanging wireless information between the MCU main control unit and the smart terminal.

The flight data can be viewed through the TYPC interface computer or mobile APP for historical fault analysis and flight data analysis, which greatly improves the ability to analyze and solve problems

The flight state judgment strategy includes: if all power modules are in normal working state, the plant protection UAV is in the flight stage.

A plant protection UAV flight control system, including a plant protection UAV, and also includes a smart terminal and a server, and both the plant protection UAV and the smart terminal are connected to the server through communication;

Among them, the intelligent terminal is used to send the take-off command to the plant protection drone, and the plant protection drone receives the take-off command and flies off the ground according to the take-off command; and is used to send the preset flight trajectory to the plant protection drone, and the plant protection drone The machine receives the preset flight trajectory, and flies according to the preset flight trajectory, and is used to send the watering command to the plant protection drone, and the plant protection drone receives the watering command, and starts the water pump according to the watering command to perform the watering operation; and, It is used to send the return command to the plant protection drone, and the plant protection drone receives the return command, adjusts the flight attitude according to the return command and flies back to the original place.

The present invention has been further described above with the help of specific embodiments, but it should be understood that the specific description herein should not be construed as limiting the spirit and scope of the present invention. Various modifications made in the embodiments all belong to the protection scope of the present invention.

Claims (7)

1. A plant protection unmanned aerial vehicle, characterized in that it includes an intelligent module, a power battery, a flight control module, and a plurality of power modules; The intelligent module is composed of an MCU main control unit, an intelligent power distribution unit, an anti-ignition unit, and a signal interface unit integrated on the same circuit board; the MCU main control unit is respectively connected to the flight control module, the The anti-ignition unit, the intelligent power distribution unit, the power battery, and the signal interface unit; The power battery is connected to the flight control module, the anti-ignition unit, the signal interface unit and the intelligent power distribution unit, and is used to provide power to the MCU main control unit, the flight control module, the The anti-ignition unit, the signal interface unit and the intelligent power distribution unit supply power, and send the stored first key and fault information to the MCU main control unit through the CAN bus; The anti-sparking unit is connected to all the power modules, and is used to measure the instantaneous current of the power battery in real time, and generate a current detection result and send it to the MCU main control unit through the CAN bus; and, for all The power module is pre-charged; The intelligent power distribution unit is connected to all the power modules, and is used to divide the power provided by the power battery to the intelligent power distribution unit into multiple channels, and provide one power supply for each of the power modules; The flight control module is connected to all the power modules, and is used to collect flight data of all the power modules, and send the flight data to the MCU main control unit through the CAN bus; The signal interface unit is connected to the MCU main control unit and the flight control module, and is used to receive the flight data of all the power modules collected by the flight control module, and perform anti-interference on the flight data output to the MCU main control unit after processing; The MCU main control unit is connected to all the power modules, and is used to receive the first key, the fault information, the current detection result and the flight data, if the current detection result is a short circuit or receive If fault information is received, then cut off the power supply of the MCU main control unit, the flight control module, the anti-ignition unit and the intelligent power distribution unit, and use the first encryption key with the pre-stored The second key is compared, if they do not match, then cut off the power supply of the MCU main control unit, the flight control module, the anti-ignition unit and the intelligent power distribution unit, and, according to the flight data Judging whether the plant protection UAV meets the normal flight conditions with the preset flight state judgment strategy, if the normal flight conditions are not met, and the plant protection UAV is in the non-flying stage, then cut off the MCU main control unit , if the power supply of the flight control module, the anti-ignition unit and the intelligent power distribution unit does not meet the normal flight conditions, and the plant protection drone is in the flight stage, then generate a flight attitude adjustment command, The order is sent to a plurality of the power modules, and the plurality of the power modules are adjusted to zero according to the flight attitude to adjust the flight attitude of the plant protection drone to make it forced to land. 2. The plant protection unmanned aerial vehicle according to claim 1, wherein the flight data includes motor and ESC voltage value, motor and ESC current value, motor speed, motor and ESC status. 3. The plant protection drone according to claim 1, further comprising a backup power supply; The backup power supply is connected to the MCU main control unit for supplying power to the MCU main control unit; The MCU main control unit is used to store the flight data. 4. The plant protection unmanned aerial vehicle as claimed in claim 3, characterized in that, it also includes a communication interface connected to the MCU main control unit for communicating with the intelligent terminal to realize the communication between the MCU main control unit and the MCU main control unit. exchange of the flight data between the smart terminals. 5. The plant protection unmanned aerial vehicle as claimed in claim 1, wherein said smart module also includes a bluetooth unit; The bluetooth unit is connected to the power battery and the MCU main control unit, and is used for exchanging wireless information between the MCU main control unit and the smart terminal. 6. plant protection unmanned aerial vehicle as claimed in claim 1, is characterized in that, described flight state judging strategy comprises: If all the power modules are in normal working condition, the plant protection drone is in flight. 7. A plant protection UAV flight control system, characterized in that, comprising the plant protection UAV according to any one of claims 1 to 7, also comprising an intelligent terminal and a server, the plant protection UAV and the intelligent The terminals are all communicated with the server; Wherein, the intelligent terminal is used to send a take-off command to the plant protection drone, and the plant protection drone receives the take-off command and flies off the ground according to the take-off command; and is used to send a preset flight trajectory to the plant protection UAV, the plant protection UAV receives the preset flight trajectory, and flies according to the preset flight trajectory; and, for sending watering instructions to the plant protection UAV, the The plant protection UAV receives the watering instruction, and starts the water pump according to the watering instruction to perform the watering operation; and, is used to send a return instruction to the plant protection UAV, and the plant protection UAV receives the return instruction , adjust the flight attitude according to the return instruction and fly back to the original place.

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