CN-121979283-A - Unmanned aerial vehicle emergency recovery method and system capable of realizing unpowered autonomous return

CN121979283ACN 121979283 ACN121979283 ACN 121979283ACN-121979283-A

Abstract

The invention discloses an unmanned aerial vehicle emergency recovery method and system capable of realizing unpowered autonomous return, and relates to the field of unmanned aerial vehicles. The method comprises the steps of 1, judging the state of an engine, automatically starting an engine fault emergency measure if the engine is judged to be faulty, 2, judging whether the unpowered sliding down height of a fixed wing of the unmanned aerial vehicle is met, if yes, executing 3, otherwise, executing 5, calculating the unpowered sliding distance of the fixed wing of the unmanned aerial vehicle, judging whether the fixed wing can return to a platform position, if yes, generating a return route, otherwise, determining a landing candidate area and sliding down, 4, sliding down the fixed wing to the safe height, 5, switching a rotor control mode, confirming the landing position of the final unmanned aerial vehicle, 6, automatically landing in a rotor mode at a uniform speed after reaching the landing position, and closing a rotor motor of the unmanned aerial vehicle after grounding. The invention improves the safety and reliability of the emergency landing technology when the unmanned aerial vehicle encounters the problem of engine failure.

Inventors

YANG CHAOFENG
Hao Chenle
YAO XIN
WANG NA
WANG XIAOGANG
LU XIAODONG

Assignees

航天时代飞鸿技术有限公司

Dates

Publication Date: 20260505
Application Date: 20251211

Claims (10)

1. An unmanned aerial vehicle emergency recovery method capable of realizing unpowered autonomous return is characterized by comprising the following steps: the unmanned plane control system judges the engine state in real time, and if the unmanned plane control system judges that the engine fails, the emergency measure of the engine failure is automatically started; step 2, judging whether the unpowered sliding height of the fixed wing of the unmanned aerial vehicle is met after the engine fault emergency measure is started, and executing the step 3 if the unpowered sliding height of the fixed wing of the unmanned aerial vehicle is met; Step 3, according to an optimal energy conversion algorithm, calculating an unmanned plane sliding ratio, calculating an unpowered sliding distance of a fixed wing of the unmanned plane, judging whether the fixed wing can return to a platform position, and if so, generating a return route; step 4, performing fixed wing sliding down according to a route planned in real time, performing pitch angle control by adopting a pitch angle control rate, and performing track control by adopting a track control rate until the fixed wing sliding down reaches a safe height, and executing step 5; Step 5, switching the unmanned aerial vehicle into a rotor wing control mode, entering a rotor wing energy management mode, and confirming the landing position of the final unmanned aerial vehicle according to the energy of the residual battery; and 6, when the unmanned aerial vehicle reaches the landing position, the unmanned aerial vehicle starts to autonomously land at a uniform speed in a rotor wing mode, and when the unmanned aerial vehicle is grounded, the rotor wing motor of the unmanned aerial vehicle is closed.
2. The unmanned aerial vehicle emergency recovery method capable of automatically returning without power according to claim 1, wherein in the step 1, the unmanned aerial vehicle control system judges the engine state in real time through a fault monitoring subsystem, and if the engine speed is lower than 1500 RPM, the fault monitoring system gives an abnormal warning and judges that the engine is faulty.
3. The unmanned aerial vehicle emergency recovery method capable of automatically returning without power according to claim 2, wherein in the step 1, after the engine fault emergency measure is started, the unmanned aerial vehicle control system turns off the load equipment and automatically enters the energy-saving mode.
4. The unmanned aerial vehicle emergency recovery method capable of unpowered autonomous return according to claim 1, wherein the manner of determining the landing candidate zone is: And determining a landing candidate area by combining the digital elevation model data at the current position of the unmanned aerial vehicle, rasterizing the landing candidate area, performing flatness analysis on each grid candidate area, and selecting a grid with optimal flatness as the landing candidate area.
5. The unmanned aerial vehicle emergency recovery method capable of unpowered autonomous return according to claim 1, wherein in the step 3, the optimal energy conversion algorithm means that the unmanned aerial vehicle slides down at an airspeed and a sliding angle corresponding to a maximum lift-drag ratio.
6. The unmanned aerial vehicle emergency recovery method capable of unpowered autonomous return according to claim 4, wherein S3 further comprises: If the resolution of the landing candidate area does not meet the rotor wing landing requirement, continuing to perform secondary rasterization on the landing candidate area, calculating the flatness of each grid candidate area, and then selecting a grid with the optimal flatness again as the landing candidate area to serve as an unmanned aerial vehicle navigation target point, and updating a landing route in real time until the landing candidate area meets the rotor wing landing requirement.
7. The unmanned aerial vehicle emergency recovery method capable of unpowered autonomous return according to claim 1, wherein the step 4 specifically comprises: Step 41, the unmanned aerial vehicle performs fixed wing sliding down according to a route planned in real time, pitch angle control rate is adopted to control the pitch angle of the unmanned aerial vehicle, and meanwhile, track control rate is adopted to perform track control; step 42, judging whether the unmanned aerial vehicle reaches the sliding down safety height of the fixed wing, if so, performing step 5, otherwise, performing step 43; And 43, judging whether the unmanned aerial vehicle reaches the platform position or the landing candidate zone, if so, coiling and descending until the landing safety height of the fixed wing is reached, and otherwise, continuing flying along the route until the landing safety height of the fixed wing is reached.
8. The unmanned aerial vehicle emergency recovery method capable of unpowered autonomous return according to claim 1, wherein the step 5 specifically comprises: step 51, switching the unmanned aerial vehicle into a rotor wing control mode, entering a rotor wing energy management mode, and monitoring the energy of the residual battery in real time; And 52, confirming whether the unmanned aerial vehicle flies to the platform position or a preset landing candidate zone, confirming whether the unmanned aerial vehicle meets the rotor flight distance requirement according to the residual battery energy, if so, the unmanned aerial vehicle flies to the platform position or the preset landing candidate zone, and if not, the unmanned aerial vehicle reselects the landing candidate zone at the current position.
9. The unmanned aerial vehicle emergency recovery method capable of automatically returning without power according to claim 1, wherein in the step 6, when the trim throttle is smaller than the safety value and the relative height of the unmanned aerial vehicle is not changed any more, the unmanned aerial vehicle is determined to be grounded, and the safe landing is completed.
10. Unmanned aerial vehicle emergency recovery system capable of unpowered autonomous return, characterized in that it operates on the basis of the method according to any one of claims 1 to 9, comprising: The state monitoring module is used for judging the state of the engine in real time, and automatically starting an engine fault emergency measure if the state is judged to be the engine fault; the sliding height judging module is used for judging whether the unpowered sliding height of the fixed wing of the unmanned aerial vehicle is met after the engine fault emergency measures are started, and judging the sliding distance if the unpowered sliding height of the fixed wing of the unmanned aerial vehicle is met; The sliding distance judging module is used for calculating the unpowered sliding distance of the fixed wing of the unmanned aerial vehicle according to the optimal energy conversion algorithm, calculating the unpowered sliding distance of the fixed wing of the unmanned aerial vehicle, judging whether the fixed wing can return to the platform position, and generating a return route if the fixed wing can return to the platform position; The fixed wing sliding-down control module is used for controlling the unmanned aerial vehicle to slide down the fixed wing according to a route planned in real time, controlling a pitch angle by adopting a pitch angle control rate, simultaneously controlling a track by adopting a track control rate until the fixed wing slides down to a safe height, and controlling a rotor wing; The rotor control module is used for switching the unmanned aerial vehicle into a rotor control mode, entering a rotor energy management mode and confirming the landing position of the final unmanned aerial vehicle according to the residual battery energy; and the descent control module is used for starting to descend at a rotor wing mode at uniform speed after the unmanned aerial vehicle reaches a descent position, and closing a rotor wing motor of the unmanned aerial vehicle after the unmanned aerial vehicle is grounded.

Description

Unmanned aerial vehicle emergency recovery method and system capable of realizing unpowered autonomous return Technical Field The invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle emergency recovery method and system capable of realizing unpowered autonomous return. Background With the continuous development and perfection of the unmanned aerial vehicle industry, unmanned aerial vehicle technology gradually becomes a technology which is very widely applied in the modern society, and unmanned aerial vehicle figures exist in the fields of disaster resistance and fire control, transportation logistics, geological survey, military operations and the like. The power system is used as the heart of the unmanned aerial vehicle, and the reliability of the power system has a decisive influence on the safety of the unmanned aerial vehicle, so that the emergency landing method of the unmanned aerial vehicle in the unpowered state is also an important subject in the technical field of unmanned aerial vehicles. When unmanned aerial vehicle's engine breaks down and loses power, unmanned aerial vehicle is very likely to take place out of control, the risk of crash to personnel, building and unmanned aerial vehicle itself in landing area cause serious loss. In the prior art, the unmanned aerial vehicle engine fault mainly carries out landing recovery through manual control unmanned aerial vehicle, and the method is simple and mature and easy to realize, but has the problems of lower safety, untimely operation and the like, so that when the unmanned aerial vehicle engine is in fault, the unmanned aerial vehicle engine fault has a safe and reliable emergency landing control method which is also very important. Disclosure of Invention In order to achieve the purpose, the invention provides the unmanned aerial vehicle emergency recovery method and the unmanned aerial vehicle emergency recovery system capable of realizing unpowered autonomous return, the unmanned aerial vehicle emergency recovery method and the unmanned aerial vehicle emergency recovery system combine an autonomous route planning technology and an emergency conversion landing technology, a fixed wing recovery route is formulated through an energy management strategy, and safe landing is performed by combining a rotor wing mode, so that the safety and the reliability of the emergency landing technology when the unmanned aerial vehicle encounters an engine failure problem are improved. According to a first aspect of the technical scheme of the invention, an unmanned aerial vehicle emergency recovery method capable of unpowered autonomous return is provided, comprising the following steps: the unmanned plane control system judges the engine state in real time, and if the unmanned plane control system judges that the engine fails, the emergency measure of the engine failure is automatically started; step 2, judging whether the unpowered sliding height of the fixed wing of the unmanned aerial vehicle is met after the engine fault emergency measure is started, and executing the step 3 if the unpowered sliding height of the fixed wing of the unmanned aerial vehicle is met; Step 3, according to an optimal energy conversion algorithm, calculating an unmanned plane sliding ratio, calculating an unpowered sliding distance of a fixed wing of the unmanned plane, judging whether the fixed wing can return to a platform position, and if so, generating a return route; step 4, performing fixed wing sliding down according to a route planned in real time, performing pitch angle control by adopting a pitch angle control rate, and performing track control by adopting a track control rate until the fixed wing sliding down reaches a safe height, and executing step 5; Step 5, switching the unmanned aerial vehicle into a rotor wing control mode, entering a rotor wing energy management mode, and confirming the landing position of the final unmanned aerial vehicle according to the energy of the residual battery; and 6, when the unmanned aerial vehicle reaches the landing position, the unmanned aerial vehicle starts to autonomously land at a uniform speed in a rotor wing mode, and when the unmanned aerial vehicle is grounded, the rotor wing motor of the unmanned aerial vehicle is closed. Further, in the step 1, the unmanned plane control system determines the engine state in real time through the fault monitoring subsystem, and if the engine speed is lower than 1500 RPM (Revolutions Per Minute, i.e. revolutions per minute), the fault monitoring system issues an abnormal warning and determines that the engine is faulty. Further, in the step 1, after the engine fault emergency measure is started, the unmanned plane control system closes the load equipment and automatically enters the energy-saving mode. Further, the manner of determining the drop candidate area is: And determining landing candidate areas by combining digital elevation mode