CN203038112U - Unmanned aerial vehicle (UAV) automatic control system - Google Patents

Abstract

The utility model discloses an unmanned aerial vehicle (UAV) automatic control system, which comprises a processor unit, a controller, a first motor, a second motor, a third motor, a fourth motor, a signal processor and an unmanned aerial vehicle. The controller unit sends a control signal to the controller, and the control signal is divided into a first drive signal, a second drive signal, a third drive signal and a fourth drive signal by the controller, and the first drive signal, The second drive signal, the third drive signal and the fourth drive signal respectively control the first motor, the second motor, the third motor and the fourth motor, wherein, through the first motor, the second motor, the After the first drive signal, the second drive signal, the third drive signal and the fourth drive signal of the three motors and the fourth motor are synthesized by the signal processor, the movement of the drone is controlled. The utility model breaks the limitation of high-voltage line inspection in the prior art that "helicopter inspection is the main and manual inspection is auxiliary".

Description

Unmanned aerial vehicle UAV automatic control system

technical field

The utility model relates to the technical field of unmanned aerial vehicle (UAV) (Unmanned Aerial Vehicle), and particularly relates to the automatic control system of unmanned aerial vehicle UAV. the

Background technique

With the rapid development of information technology, the application of GPS (Global Positioning System) and high-resolution aerial photography sensors in aerial photography has greatly developed aerial photogrammetry technology, and has become a collection of remote sensing and remote control. , Telemetry technology and computer technology as one of the new practical technology. After entering the 21st century, this technology has been gradually applied from the military field to the civilian and industrial fields. The recently proposed concepts of "digital city" and "digital earth" are the concrete manifestation of this technology being transferred to civilian use.

Aerial photogrammetry technology is to digitize and two-dimensionally process aerial images collected during flight to obtain spatial information or state information of various ground targets to meet people's information needs for various specific applications. Now, aerial photogrammetry technology has been widely used in military affairs, disaster assessment, ecological research, transportation, surveying and mapping, urban planning and many other aspects; in power system, aerial photogrammetry technology has also begun to be applied, among which transmission line inspection is An important application direction.

The transmission line is responsible for the important responsibility of power transmission, and the regular inspection of the transmission line is a basic work to effectively ensure the safe operation of the transmission line and its equipment. With the rapid development of my country's economy, more and more ultra-high voltage, large-capacity, and long-distance transmission lines are being built, and the existing transmission line channel resources are becoming increasingly tight. The geographical environment is more complex. The traditional manual inspection operation method is increasingly limited by natural conditions and cannot meet actual needs. The helicopter transmission line inspection method has the advantages of high efficiency, fast, reliable, low cost, and not affected by the region, and has become an important method of transmission line inspection in my country. "Helicopter patrols are the main focus, and manual patrols are supplementary" is the main direction of my country's current high-voltage and ultra-high-voltage line inspections.

Long-term running found that there are many security risks, namely:

(1) In the daily helicopter inspection work, the working methods of helicopter inspection mainly include: visual inspection, instrument observation and instrument automatic inspection. Recorded images are used to judge line faults and hidden dangers. Obviously, this method is inefficient, greatly affected by subjective and objective factors, and measurement accuracy is difficult to guarantee, and because it is supplemented by manual inspection, the degree of automation of detection is greatly reduced;

(2) In order to protect the personal safety of the aerial photography personnel, the distance between the helicopter and the wires is generally 20-30 meters away. Such a long distance undoubtedly increases the difficulty of aerial photography between the camera and the measurement object, and sometimes affects to image clarity;

(3) For the images taken by helicopters, they are generally stored in a memory after aerial photography by the camera, and then through the video research after the event, the questionable areas are analyzed. In order to ensure the accuracy, sometimes a second or even Multiple shootings will undoubtedly increase the cost of the test;

(4) During the helicopter inspection process, visible light digital cameras, digital cameras, infrared thermal imagers and other equipment can be carried to record the image information of the inspection line. These image information include the basic characteristics and operating status of the transmission line, and do not The function of real-time analysis;

(5) The risk of using visual inspection by helicopter is very high, and it is prone to personal or hardware accidents; it increases the danger of the test;

(6) Due to the particularity of the helicopter inspection, the distortion, blur, distortion or noise mixed in the aerial image during the imaging process will cause the image quality to decline, which makes the post-processing very troublesome;

(7) Due to the change of four seasons in a year, the natural environment and landform of the power transmission corridor are constantly changing. With the change of the environment, the background of various collected images becomes very complex, the contrast decreases, and the target interference increases. At the same time, other natural Landforms and artificial buildings also make the image background more complex. It is very difficult to extract and identify targets in complex natural backgrounds due to lack of implementation. Target extraction in complex environments is a major technical problem in current helicopter system measurement and bottleneck

(8) There are many types of equipment that need to be monitored in the transmission line inspection, and the types of faults are also diverse. Therefore, in the post-diagnosis process, it is necessary to analyze and calculate different equipment and fault types according to the video, and roughly estimate the location of the fault based on the data , and then secondarily determined by manual visual inspection.

Utility model content

In view of the above problems, the purpose of this utility model is to provide an unmanned aerial vehicle UAV automatic control system, which solves the limitation of high-voltage line inspection in the prior art that "helicopter patrol is the main and manual patrol is supplementary".

In order to solve the above-mentioned technical problems, a technical solution adopted by the utility model is to provide a UAV automatic control system for unmanned aerial vehicles, which is characterized in that it includes a processor unit, a controller, a first motor, a second motor, and a third motor , a fourth motor, a signal processor, and an unmanned aerial vehicle, the processor unit sends a control signal to the controller, and the control signal is divided into a first drive signal, a second drive signal, a second drive signal, and a second drive signal by the controller. Three driving signals and a fourth driving signal, the first driving signal, the second driving signal, the third driving signal and the fourth driving signal respectively control the first motor, the second motor, the third motor and the fourth motor motor, wherein, after the first drive signal, the second drive signal, the third drive signal and the fourth drive signal of the first motor, the second motor, the third motor and the fourth motor are synthesized by a signal processor, Control the movement of the drone.

In a preferred embodiment of the present utility model, described processor unit is a dual-core processor, comprises DSP processor, FPGA processor and is located at the upper computer system of DSP processor and FPGA processor, motion control system and The ground wireless device module, the host computer system includes a man-machine interface module, a GPS positioning module and an online output module, and the motion control system includes a multi-axis servo control module, a data acquisition storage module and an I/O control module. The ground wireless device module communicates with the multi-axis servo control module, wherein the DSP processor is used to control the man-machine interface module, GPS positioning module, online output module, data acquisition and storage module, I/O control module and the ground wireless device module, The FPGA processor is used to control the multi-axis servo control module, and the data exchange and call are performed in real time between the DSP processor and the FPGA processor.

In a preferred embodiment of the present invention, the UAV automatic control system for unmanned aerial vehicles also includes a battery, the battery is further connected to the output terminals of the first motor and the fourth motor, and the processor unit is further connected to A connection point between the output of the first motor and the battery and a connection point between the output of the fourth motor and the battery.

In a preferred embodiment of the present invention, the battery is further connected to the output terminals of the second motor and the third motor, and the processor unit is further respectively connected to the connection points between the output terminals of the second motor and the battery and The connection point between the third motor output and the battery.

In a preferred embodiment of the present invention, the multi-axis servo control module further includes a conversion module, and the conversion module includes an analog-to-digital converter and a digital-to-analog converter.

In a preferred embodiment of the present invention, the multi-axis servo control module also includes an encoder module, and the encoder module is used to detect the actual speed of the UAV to determine whether it meets the speed requirement or whether it is too fast Or too slow, and send a control signal.

In a preferred embodiment of the present invention, the multi-axis servo control module further includes a current module, and the current module is used to adjust the power supply of the battery to the range required by the drone.

In a preferred embodiment of the present invention, the multi-axis servo control module further includes a speed module, and the speed module is connected to the encoder module in communication. When the encoder module detects that the actual speed of the drone is too fast or too fast Slow, the speed module adjusts the actual speed of the drone according to the detection result of the encoder module.

In a preferred embodiment of the present invention, the multi-axis servo control module further includes a displacement module, and the displacement module is used to detect whether the UAV has reached a predetermined displacement, and if it is too far away from the predetermined displacement, it will send an acceleration command to Controller; if it is too close to the set position, send a deceleration command to the controller.

In a preferred embodiment of the present invention, the multi-axis servo control module further includes a height module, and the height module is used to detect whether the UAV has reached a predetermined height, and if it is too low from the predetermined height, an elevation command is issued to the controller; if the distance is too high, a lowering command is issued to the controller.

The UAV automatic control system of the utility model, in order to improve the operation speed and ensure the stability and reliability of the UAV control system of the drone, the utility model introduces an FPGA processor into a single-chip DSP processor to form a DSP-based +FPGA dual-core processor, and abandoned the structure of the traditional UAV using a fuel engine, and fully considered the role of the battery in this system, to realize the function of a single controller synchronously controlling four motors, and integrate the UAV UAV control system The multi-axis servo control module with the largest workload is handed over to the FPGA processor for processing, giving full play to the characteristics of fast data processing speed of the FPGA processor, while the man-machine interface module, GPS positioning module, online output module, data acquisition and storage module, I/ Functions such as the O control module and the ground wireless device module are handed over to the DSP processor to control, so that the division of labor between the DSP processor and the FPGA processor is realized, and the DSP processor is released from the heavy workload, breaking the existing technology. Limitations of high-voltage line patrols that "helicopter patrols are the mainstay and manual patrols are supplementary".

Description of drawings

Fig. 1 is the block diagram of the unmanned aerial vehicle UAV automatic control system of the preferred embodiment of the present utility model;

Fig. 2 is a block diagram of the processor unit in Fig. 1;

Fig. 3 is a force diagram of the UAV flying in a preferred embodiment of the present invention.

Detailed ways

The preferred embodiments of the utility model will be described in detail below in conjunction with the accompanying drawings, so that the advantages and characteristics of the utility model can be more easily understood by those skilled in the art, so that the protection scope of the utility model can be defined more clearly .

With the continuous development and maturity of microelectronics technology and computer integrated chip manufacturing technology, DSP processors are not only widely used in communication and video signal processing due to their fast computing capabilities, but also gradually used in various advanced control systems. AD's ADSP-21xx series provides low-cost, low-power consumption, high-performance processing capabilities and solutions. The ADSP-2188 instruction execution speed is as high as 75MIPS, plus an independent arithmetic logic unit, with powerful digital signal processing ability. In addition, large-capacity RAM is integrated into the chip, which can greatly simplify peripheral circuit design, reduce system cost and system complexity, and greatly improve data storage and processing capabilities.

The FPGA processor based on Field Programmable Gate Array and the hardware implementation method of EDA technology of modern electronic design automation are a new design idea that has emerged in recent years. Although the FPGA processor itself is just a standard cell array and does not have the functions of a general integrated circuit, users can use specific layout and routing tools to recombine and connect its interior according to their own design needs, and design in the shortest possible time. To produce its own ASIC, thus reducing costs and shortening the development cycle. Since the FPGA processor adopts software-based design ideas to realize the design of hardware circuits, the system designed based on the FPGA processor has good reusability and modification. This new design idea has been gradually applied to high-performance AC The drive is controlled and fast.

As shown in Figure 2, it is a block diagram of an unmanned aerial vehicle UAV automatic control system of a preferred embodiment of the present invention. In this embodiment, the UAV automatic control system for the drone includes a battery, a processing unit, a controller, a first motor, a second motor, a third motor, a fourth motor, a signal processor, and the drone. Wherein, the battery is a lithium ion battery, which is a power supply device and provides working voltage for the operation of the whole system. The battery is further connected to the output terminals of the first motor and the fourth motor, and the processor unit is further respectively connected to the connection point between the output terminal of the first motor and the battery and the connection point between the output terminal of the fourth motor and the battery The battery is further connected to the output terminals of the second motor and the third motor, and the processor unit is further respectively connected to the connection point between the output terminal of the second motor and the battery and the connection point between the output terminal of the third motor and the battery Junction.

The processor unit described in the utility model has a built-in control system and a control circuit. The processor unit sends a control signal to the controller, and the controller divides the control signal into a first driving signal, a second driving signal, and a second driving signal. Two drive signals, a third drive signal and a fourth drive signal, the first drive signal, the second drive signal, the third drive signal and the fourth drive signal control the first motor, the second motor, the fourth drive signal respectively The three motors and the fourth motor, wherein the first drive signal, the second drive signal, the third drive signal and the fourth drive signal of the first motor, the second motor, the third motor and the fourth motor pass through the signal After the processor synthesizes, it controls the motion of the drone.

The utility model abandons the single-chip DSP processor adopted by the UAV automatic control system for overcoming the fact that the single-chip DSP processor in the prior art cannot meet the stability and rapidity requirements of the UAV automatic control system of the unmanned aerial vehicle The working mode provides a new control mode based on DSP+FPGA processor. The processor unit uses the FPGA processor as the processing core to realize real-time processing of digital signals, free the DSP processor from complex work, realize part of the signal processing algorithm and the control logic of the FPGA processor, and respond to interrupts to realize data processing. Communicate and store real-time signals.

Please refer to FIG. 2 , the processor unit is a dual-core processor, which includes a DSP processor and an FPGA processor, both of which can communicate with each other to exchange and call data in real time. Described processor unit also comprises the upper computer system that is located at DSP processor and FPGA processor, motion control system and ground wireless device module, and described upper computer system includes man-machine interface module, GPS positioning module and online output module , the motion control system includes a multi-axis servo control module, a data acquisition storage module and an I/O control module, the ground wireless device module communicates with the multi-axis servo control module, wherein the DSP processor is used to control the man-machine interface Module, GPS positioning module, online output module, data acquisition and storage module, I/O control module and ground wireless device module, FPGA processor is used to control the multi-axis servo control module.

The upper computer system includes a man-machine interface module, a GPS positioning module and an online output module. The human-machine interface module includes the start/restart button and function selection button; the GPS positioning module is used to locate the position of the high-voltage patrol line and parameter settings; the online output module is used to prompt the working status of the drone, such as the working process of the drone Incoming or arrival status prompt.

The motion control system includes a multi-axis servo control module, a data acquisition and storage module, and an I/O control module. Wherein, the data acquisition storage module is a memory; the I/O control module includes RS-232 serial interface, ICE port and so on. The multi-axis servo control module further includes a conversion module, an encoder module, a current module, a speed module, a displacement module and a height module.

Wherein, the conversion module includes an analog-to-digital converter (ADC, Analog to Digital Converter) and a digital-to-analog converter (DAC, Digital to Analog Converter); the encoder module is used to detect the actual speed of the drone and determine whether Meet the speed requirements, whether it is too fast or too slow, and send out a control signal.

The current module is connected with the battery, the controller and the conversion module. The conversion module judges the working power according to the current of the battery and the controller, and feeds back the power status to the battery. The current module is used to adjust the power supply of the battery to the range required by the drone.

The speed module communicates with the encoder module. When the encoder module detects that the actual speed of the UAV is too fast or too slow, the speed module adjusts the actual speed of the UAV according to the detection result of the encoder module.

The displacement module detects whether the drone has reached a predetermined position, and if it is too far away from the predetermined position, it sends an acceleration command to the controller; if it is too close to the predetermined position, it sends a deceleration command to the controller.

The height module is used to detect whether the drone has reached a predetermined height, and if it is too low from the predetermined height, it will send an elevation command to the controller; if it is too high, it will send a lowering command to the controller.

If the processor unit is a dual-core processor, when the power is turned on, the man-machine interface module works first, and then according to the actual work needs, select the area position of the drone on the man-machine interface, and the drone transmits the actual operation The parameters are given to the DSP processor in the processor unit, and the DSP processor communicates with the FPGA processor after processing, and then the FPGA processor processes the multi-axis servo control module of the four motors, and communicates the processing data to the DSP processor. The DSP processor continues to process subsequent operating states.

Combined with the above description, the upper computer system includes functions such as man-machine interface module, GPS positioning module, and online output module; the motion control system includes functions such as multi-axis servo control module, data acquisition and storage module, and I/O control module; the ground The wireless device module communicates with the multi-axis servo control module. Among them, the multi-axis servo control module with the largest workload is controlled by the FPGA processor, and the rest including the upper computer system and wireless device modules are controlled by the DSP processor, thus realizing the division of labor between the DSP processor and the FPGA processor. They can also communicate with each other, and exchange and call data in real time.

Please refer to Fig. 3, the concrete function of unmanned aerial vehicle UAV automatic control system realizes as follows in the utility model:

1) Before the UAV receives any instructions, it will generally be no different from ordinary helicopters. It will be fixed in a certain area, and will directly enter the self-locking state of vertical lifting movement after power on, waiting for instructions from the ground wireless tower or Airborne lift command;

2) When the UAV receives the command to raise or lower, it will first judge the power supply situation. If the power supply is abnormal, it will send an interrupt request to the DSP processor, and the DSP processor will respond to the interrupt immediately. If the DSP handles If the interrupt response of the controller has not been processed in time, the four motors on the UAV will be self-locked, and the UAV will be in a state of stop motion;

3) When the UAV receives the flight command, if the power supply is normal, the UAV will perform a normal lifting movement, and the controller will simultaneously increase the output power of the four rotor motors M1, M2, M3, M4 through the PWM output, and Ensure that the four rotors are in the same plane, and the rotor speed increases accordingly, so that the total pulling force u=f1+f2+f3+f4 increases and can overcome the UAV's own gravity mg. When u-mg> 0, no one is The machine rises vertically upwards, and the pressure sensor for judging the altitude will work. When it enters the preset altitude, the output power of the four rotor motors M1, M2, M3, and M4 will be slowly reduced at the same time through the PWM output, so that the total pulling force u =f1+f2+f3+f4 decreases, when u–mg=0, the current power of each motor is locked, the aircraft enters a straight-line flight state, and the aerial photography device is turned on, ready to send back images to the ground in real time;

4) When the UAV receives a ground wireless altitude lowering request in a straight-line flight state, the controller will simultaneously reduce the output power of the four rotor motors M1, M2, M3, and M4 through the PWM output, and ensure that the four rotors are in one At this time, the rotor speed decreases accordingly, so that the total pulling force u=f1+f2+f3+f4 also decreases accordingly. When u-mg< 0, the UAV makes a vertical landing flight downwards. At this time, it is judged that The altitude pressure sensor will work. When entering the preset altitude, the output power of the four rotor motors M1, M2, M3, and M4 will be slowly increased at the same time through the PWM output, so that the total pulling force u=f1+f2+f3+f4 will increase , when u–mg=0, the current power of each motor is locked, the aircraft enters a straight-line flight state, and the aerial photography device is turned on, ready to send back images to the ground in real time;

5) When controlling the speed of the M3 motor to increase, its pulling force f3 increases accordingly, and at the same time controlling the speed of the M1 motor to decrease, its pulling force f1 decreases accordingly, keeping the speed of other rotors unchanged, so that the pulling force f3 generated by the M3 motor is symmetrical to it The difference between the pulling force f1 generated by the M1 motor is greater than zero, that is, f3-f1>0, which can make the rotor pulling force produce a forward horizontal component, and the fuselage pitches forward and rolls, resulting in a pitch angle θ, so it can control the flight forward flight;

6) When controlling the speed of the M1 motor to increase, its pulling force f1 increases accordingly, and at the same time controlling the speed of the M3 motor to decrease, its pulling force f3 decreases accordingly, keeping the speed of other rotors unchanged, so that the pulling force f1 generated by the M1 motor is symmetrical to it The difference between the pulling force f3 generated by the M3 motor is greater than zero, that is, f1–f3>0, which can make the rotor pulling force produce a backward horizontal component, and the fuselage pitches and rolls backwards, resulting in a pitch angle θ, so the flight can be controlled backwards flight;

7) When the speed of the M2 motor increases, its pulling force f2 increases accordingly, and at the same time, the rotating speed of the M4 motor is controlled to decrease, and its pulling force f4 decreases accordingly, keeping the speed of other rotors unchanged, so that the pulling force f2 generated by the M2 motor is symmetrical to it The difference between the pulling force f4 generated by the M4 motor is greater than zero, that is, f2-f4>0, which can cause the rotor pulling force to produce a horizontal component to the right, and the fuselage to roll to the right, resulting in a lateral roll angle φ, so the flight can be controlled fly right;

8) When the speed of the M4 motor increases, its pulling force f4 increases accordingly. At the same time, the rotating speed of the M2 motor is controlled to decrease, and its pulling force f2 decreases accordingly. Keep the speed of other rotors unchanged, so that the pulling force f4 generated by the M4 motor is symmetrical to it. The difference between the pulling force f2 generated by the M2 motor is greater than zero, that is, f4–f2>0, which can cause the rotor pulling force to generate a horizontal component to the left, and the fuselage to roll to the left, resulting in a lateral roll angle φ, so the flight can be controlled Fly to the left;

9) In order to make the UAV perform a horizontal clockwise yaw movement in the desired direction, the speed of the M1 motor and the M3 motor can be controlled to increase, so that the upward pull forces f1 and f3 generated by it can be increased at the same time. At the same time, the control of the M2 motor and the The speed of the M4 motor is reduced, so that the upward pulling forces f2 and f4 generated by it are reduced at the same time, so that the total pulling force u of the quadrotors of the UAV in the air is equal to the UAV's own gravity mg, and the UAV can be controlled at this time. Clockwise yaw flight action, otherwise, control the UAV to perform horizontal counterclockwise yaw flight action;

10) In order to make the UAV yaw counterclockwise in the desired direction, the speed of the M2 motor and the M4 motor can be controlled to increase, so that the rising pull forces f2 and f4 generated by it can increase at the same time. At the same time, control the M1 motor and the The rotation speed of the M3 motor is reduced, so that the upward pulling forces f1 and f3 generated by it are reduced at the same time, so as to ensure that the total pulling force u of the quadrotors of the UAV in the air is equal to the UAV’s own gravity mg. At this time, the UAV can be controlled to operate horizontally. Counterclockwise flight action;

11) Adjust the lifting force f1, f2, f3, f4 and synthetic torque T generated by the four-rotor motors M1, M2, M3, M4 through the controller so that they act together on the UAV to achieve the control of the angular velocity of each rotor rotor. Control, so that various attitudes of the UAV can be controlled and circular motion can be realized;

12) The UAV is added with a humidity detection system, which is composed of a humidity sensor, a measurement circuit and a recording device, and completes the functions of information acquisition, conversion and processing respectively, so that when the UAV enters the humidity In a high environment, the humidity detection system will work, and if it is found that it is not suitable for work, it will automatically return to the flight, effectively protecting the drone;

.13) The UAV is equipped with a variety of alarm systems. Through the UAV obstacle detection system, it can automatically hover before it hits an obstacle, and it has been hovering at the current position, and it can be judged according to the nature of the obstacle. Whether to fly around or return, this ensures its adaptation to the surrounding environment during the exercise and reduces the interference of the environment on it.

The beneficial effect that the utility model unmanned aerial vehicle UAV automatic control system has is:

1: The brushless DC motor speed control system is used to replace the ordinary DC motor speed control system, which makes the control system smaller in size, lighter in weight, greater in output, and better in starting and braking performance;

2: During the control process, the role of the lithium-ion battery in this system is fully considered. Based on the DSP+FPGA processor, the operating status and parameters of the lithium-ion battery are monitored and calculated at all times. When it is found that the energy is not enough to complete the task It will notify the ground wireless device and return automatically to ensure the safety of the drone;

3: Due to the use of UAV cruising, this allows the UAV to approach the high-voltage line to the maximum limit without causing problems such as human injury;

4: Due to the use of UAV cruising, this allows the UAV to approach the high-voltage line to the maximum limit, so that the interference of the natural environment and landform changes of the transmission corridor on various collected images is greatly reduced;

5: This UAV is designed for high-voltage line inspection, so a high-precision GPS positioning system is added, as long as the position of each tower is input at the beginning of the mission, it can automatically patrol the line;

6: In order to improve the clarity of the aerial photography of the UAV automatic control system, a high-definition aerial photography device has been added;

7: The full digital servo control of the four motors is processed by the FPGA processor, which greatly improves the computing speed, solves the bottleneck of the slow operation of the single-chip DSP processor, shortens the development cycle, and has strong program portability;

8: The single board control is fully realized, which not only saves the space occupied by the control board, but also fully realizes the synchronization of multi-axis motor control signals, which is conducive to improving the stability and dynamic performance of the drone;

9: Since the FPGA processor is used to process a large amount of data and algorithms, and the interference of the high-voltage source to the system is fully considered, and the DSP processor is freed from the heavy workload, it effectively prevents the system from "running away". The anti-interference ability is greatly enhanced;

10: The navigation of the UAV mainly depends on the GPS signal. However, the GPS signal is easily interfered, and it is difficult to receive the signal in indoor and other environments. Therefore, a small UAV navigation system based on visual navigation has been developed. When the GPS signal After being interfered, the ground wireless device module will send navigation instructions to control its navigation according to the timely transmission screen;

11: The UAV has added an automatic hovering function. When the UAV encounters an emergency and receives a ground wireless change task request, the controller will issue a parking command on the spot, and quickly adjust the status of the current four motors, so that no HMI hovers in the current state;

12: Since the UAV is used to cruise and send back the control screen in a timely manner, if the ground tower finds suspicious situations, the UAV can be hovered and then processed and judged in time;

13: The UAV can also be added to the humidity detection system. This humidity detection system is composed of several parts such as a humidity sensor, a measurement circuit and a recording device, which respectively complete the functions of information acquisition, conversion and processing. In a higher environment, the humidity detection system will work, and if it is found that it is not suitable for work, it will automatically return to the flight, effectively protecting the drone;

14: The UAV can also be equipped with a variety of alarm systems. Through the UAV obstacle detection system, it can automatically hover before it hits an obstacle, and it has been hovering at the current position, and it can be judged according to the nature of the obstacle. Flying or returning, this ensures the adaptation to the surrounding environment during the exercise and reduces the interference of the environment on it.

The above is only an embodiment of the utility model, and does not limit the patent scope of the utility model. Any equivalent structure or equivalent process conversion made by using the utility model specification and accompanying drawings, or directly or indirectly used in other Related technical fields are all included in the patent protection scope of the present utility model in the same way.

Claims (10)

1. unmanned plane UAV automatic control system, it is characterized in that, comprise processor unit, controller, first motor, second motor, the 3rd motor, the 4th motor, signal processor and unmanned plane, described processor unit sends and controls signal to described controller, by described controller control signal is divided into first and drives signal, second drives signal, the 3rd drives signal and the moving signal of 4 wheel driven, described first drives signal, second drives signal, the moving signal of the 3rd driving signal and 4 wheel driven is controlled described first motor respectively, second motor, the 3rd motor and the 4th motor, wherein, by described first motor, second motor, first of the 3rd motor and the 4th motor drives signal, second drives signal, after the moving signal of the 3rd driving signal and 4 wheel driven is synthetic through signal processor, the motion of control unmanned plane.

2. unmanned plane UAV automatic control system according to claim 1, it is characterized in that, described processor unit is a dual core processor, comprise dsp processor, FPGA processor and be located at dsp processor and the master system of FPGA processor, kinetic control system and terrestrial wireless apparatus module, described master system comprises the GPS locating module, described kinetic control system comprises the multiple-axis servo control module, data acquisition memory module and I/O control module, described terrestrial wireless apparatus module and the communication of multiple-axis servo control module, wherein, dsp processor is used for control GPS locating module, the data acquisition memory module, I/O control module and terrestrial wireless apparatus module, the FPGA processor is used for control multiple-axis servo control module, and carries out exchanges data between dsp processor and the FPGA processor in real time and call.

3. unmanned plane UAV automatic control system according to claim 1, it is characterized in that, described unmanned plane UAV automatic control system also comprises battery, described battery further is connected with the output terminal of first motor with the 4th motor, and processor unit further is connected to tie point between first motor output end and the battery and the tie point between the 4th motor output end and the battery respectively.

4. unmanned plane UAV automatic control system according to claim 3, it is characterized in that, described battery further is connected with the output terminal of second motor with the 3rd motor, and processor unit further is connected to tie point between second motor output end and the battery and the tie point between the 3rd motor output end and the battery respectively.

5. unmanned plane UAV automatic control system according to claim 2 is characterized in that, described multiple-axis servo control module also comprises modular converter, and described modular converter is used for digital signal is converted to simulating signal.

6. unmanned plane UAV automatic control system according to claim 2, it is characterized in that, described multiple-axis servo control module also comprises coder module, described coder module is for detection of the actual speed of unmanned plane, judge whether to meet rate request, whether too fast or slow excessively, and send control signal.

7. unmanned plane UAV automatic control system according to claim 3 is characterized in that, described multiple-axis servo control module also comprises current module, and the output power that described current module is used for the adjustment battery reaches the scope that unmanned plane needs.

8. unmanned plane UAV automatic control system according to claim 6, it is characterized in that, described multiple-axis servo control module also comprises the speed module, described speed module is connected with the coder module communication, too fast or slow excessively when coder module detection unmanned plane actual speed, the speed module is regulated the unmanned plane actual speed according to the result that coder module detects.

9. unmanned plane UAV automatic control system according to claim 2, it is characterized in that described multiple-axis servo control module also comprises displacement module, whether described displacement module arrives set displacement for detection of unmanned plane, if from set excessively away from, send assisted instruction to controller; If close to set displacement excessively, then send deceleration instruction to controller.

10. unmanned plane UAV automatic control system according to claim 1, it is characterized in that described multiple-axis servo control module also comprises altitude module, whether described altitude module reaches both take the altitudes for detection of unmanned plane, if from set low excessively, sending raises instructs to controller; If from set too high, then send to reduce and instruct to controller.

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