CN106943753A - Automatically the Multi-axis aircraft toy and its control method recalled - Google Patents
Automatically the Multi-axis aircraft toy and its control method recalled Download PDFInfo
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- CN106943753A CN106943753A CN201610469242.4A CN201610469242A CN106943753A CN 106943753 A CN106943753 A CN 106943753A CN 201610469242 A CN201610469242 A CN 201610469242A CN 106943753 A CN106943753 A CN 106943753A
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000001514 detection method Methods 0.000 claims abstract description 6
- 238000006073 displacement reaction Methods 0.000 claims description 17
- 238000005259 measurement Methods 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims 1
- 230000033001 locomotion Effects 0.000 description 7
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H27/00—Toy aircraft; Other flying toys
- A63H27/02—Model aircraft
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H30/00—Remote-control arrangements specially adapted for toys, e.g. for toy vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
- G08C23/04—Non-electrical signal transmission systems, e.g. optical systems using light waves, e.g. infrared
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Abstract
A kind of Multi-axis aircraft toy recalled automatically, including remote control and aircraft, direction of the remote control based on reference itself axis and form the first level direction reference system for being defined direction all around；Direction of the aircraft based on reference itself axis and form the second horizontal direction reference system for being defined direction all around, aircraft performs corresponding flare maneuver using the direction parameter of the second horizontal direction reference system；Remote control is provided with the first digital compass, aircraft is provided with the vertical rangefinder that a detection distance perpendicular to the ground is also equipped with the second digital compass, aircraft, and remote control is additionally provided with Infrared Projector, aircraft also installs multiple infrared signal receivers, and remote control, which is additionally provided with, recalls button.The present invention also provides a kind of control method.The present invention after aircraft takeoff, can a key return it to operator at one's side, but regardless of operator when sending return command where position whether changed relative to the position where when taking off.
Description
Technical field
The invention belongs to the technical field of aerobat toy, more particularly to a kind of Multi-axis aircraft toy recalled automatically and
Its control method.
Background technology
Multi-axis aircraft toy includes remote control and aircraft.Aircraft is provided with central controller and multiple rotor units,
Each rotor unit includes rotor, drives the motor of rotor rotational, and the motor of each rotor unit is controlled by central controller is unified
System.
During Multi-axis aircraft toy flying, central controller rotates clockwise a part of rotor, and another part rotor is inverse
Hour hands rotate, the rotating speed of each motor of central controller coordinates and between the flare maneuver for controlling whole aircraft, each rotor
Different conditions can constitute a variety of combinations, make the offline mode of aircraft rich and varied, and various fly can be made freely
Action is made.Common action has vertical motion, is horizontally diverted motion（Horizontal rotation）, horizontal translating movement etc..
So-called vertical motion, including rise and decline；It is so-called to be horizontally diverted motion, including rotate clockwise, turn counterclockwise
It is dynamic；So-called horizontal translating movement, including advance, retrogressing, left, right translation.
Connected between the remote control and aircraft of Multi-axis aircraft toy by wireless signal, remote control is sent to aircraft
Go out action command, aircraft performs the action command, the problem of these action commands need to be related to orientation mostly；Specifically
Say, when remote control commands aircraft is moved, it is necessary to tell that aircraft to which direction sporting flying, i.e., must be transmitted to aircraft
One orientation angles parameter（Abbreviation direction parameter, direction parameter be, for example, front, either rear or left, or right,
If if either front mass dryness fraction to the left or front mass dryness fraction to the right, if if either rear mass dryness fraction to the left or rear mass dryness fraction to the right,
Etc.）, aircraft upon receiving a command, the action of itself made according to direction parameter.So, remote control necessarily be formed useful
To define the direction reference system in direction all around, otherwise remote control can not just implement behaviour of the operator on direction all around
Control idea；Equally, aircraft necessarily be formed the direction reference system for being defined direction all around, otherwise, even if aircraft is received
It is related to the order in direction to remote control, can not also implements execution.
Under normal circumstances, the direction reference system that remote control is related to all around is based on reference itself axis direction and built,
It is referred to as first direction reference system in present specification, first direction reference system defines the front which direction is remote control,
And can further determine which direction is that the rear of remote control, which direction are that the left of remote control, which direction are accordingly
The right of remote control, can also identify again a certain specific direction for front it is to the left it is how many degree or front it is to the right it is how many degree or
Person rear how many degree to the left or rear how many degree to the right, etc..
Equally, the direction reference system that aircraft is related to all around is based on reference itself axis direction and built, the application
It is referred to as second direction reference system in file；Second direction reference system defines the front which direction is aircraft, and enters accordingly
One step can determine which direction is that the rear of aircraft, which direction are that left, which direction are rights, can also differentiate again
It is front how many degree to the left or front how many degree to the right or rear how many degree to the left or rear to go out a certain specific direction
How many degree to the right, etc..Aircraft performs corresponding flare maneuver according to second direction reference system（Because each difference of aircraft
Actuating unit correspond to what second direction reference system was arranged, and managed and controlled）.In most cases, remote control institute
The front of finger（That is the signified front of first direction reference system）The signified front with aircraft（That is second direction reference system is signified
Front）And differ, and constant corresponding relation is not present in both.
On the other hand, existing part Multi-axis aircraft toy is provided with " key makes a return voyage " function, and a so-called key makes a return voyage, referred to
After Multi-axis aircraft toy flies away from manipulator's certain distance, no matter how tortuous the path that aircraft leaves manipulator is, as long as
Press some button, Multi-axis aircraft toy can auto-returned, so show that Multi-axis aircraft toy is tamed and intelligence
Characteristic.
Existing Multi-axis aircraft realizes that the implementation of " key makes a return voyage " function mainly has following two, and the first is to rely on
GPS geo-location system is navigated；It is for second to remember to leave a series of actions after original point by central controller
Process, when needing a key to make a return voyage, then performs the inverse process according to original action process, that is, the track followed when leaving is reverse
Make a return voyage.
Existing above-mentioned " key makes a return voyage " mode has the following disadvantages：
Above-mentioned first way need to rely on GPS geo-location system, and the return path of the above-mentioned second way is not straight enough
Connect, it appears very fool and hello tremnble；
Had one disadvantage in that in addition, above two " key makes a return voyage " mode also exists jointly：After Multi-axis aircraft toy makes a return voyage, only
Original point when setting out can be returned to；But if in Multi-axis aircraft toy after original point is taken off, operator is due to the shifting of itself
It is dynamic and also can only be to return to its original point away from the original point, then after Multi-axis aircraft toy makes a return voyage, and the person that is unable to Proximity operation,
Operator can not be returned to after making a return voyage at one's side.From this angle, existing Multi-axis aircraft can only realize that auto-returned is original
Point, and can not realize and recall automatically.So-called " recalling ", refers to allow Multi-axis aircraft toy to order it to automatically return to after take off
At one's side, when being returned but regardless of Multi-axis aircraft toy, whether the place where operator there occurs change movement to operator（Relatively
When Multi-axis aircraft toy takes off）.
The content of the invention
A kind of Multi-axis aircraft toy recalled automatically and its behaviour are provided it is an object of the invention to overcome disadvantages mentioned above
Prosecutor method, it in Multi-axis aircraft toy after take off, can a key return it to operator at one's side, but regardless of operator hair
Position where when going out return command whether relative to operator in aircraft takeoff where position changed.
Its purpose can be realized by following scheme：Automatically the Multi-axis aircraft toy recalled includes remote control and flight
Device, remote control controls aircraft by wireless signal, and aircraft is provided with central controller；
Direction of the remote control based on reference itself axis and form the first level direction reference system for being defined direction all around；
Direction of the aircraft based on reference itself axis and form the second horizontal direction reference system for being defined direction all around,
Aircraft performs corresponding flare maneuver using the direction parameter of the second horizontal direction reference system；
Characterized in that, remote control is provided with the first digital compass, the first digital compass measurement remote control datum axis direction
Relative to the first deflection angle of north geographic pole；Remote control sends the first digital compass measurement result by wireless signal to
The central controller of aircraft；
Aircraft is provided with the second digital compass, and the second digital compass measurement aircraft datum axis direction is relative to geographic north
Second deflection angle of pole；Second digital compass connects central controller, and the second digital compass transmits its measurement result
To central controller；
The vertical rangefinder of a detection distance perpendicular to the ground is also equipped with aircraft, during vertical signal receiver is connected to
Entreat controller；
Remote control is additionally provided with Infrared Projector, and the Infrared Projector of remote control is towards the front of remote control；Aircraft
Multiple infrared signal receivers are also installed, each infrared signal receiver it is horizontally toward different, have towards aircraft
Front, have towards aircraft rear；Have towards aircraft left, have towards aircraft right, each IR signal reception
Device is connected to central controller；
Remote control, which is additionally provided with, recalls button；After this, which recalls button, presses, remote control and aircraft perform following act：It is vertical to survey
Distance meter starts, and central controller judges the vertical range on aircraft and ground according to the signal of vertical rangefinder；Aircraft is adjusted
Flying height, until the vertical distance between aircraft and ground reaches the vertical distance parameter of setting；Central controller according to
The testing result of first digital compass and the second digital compass, calculates the direction parameter in the second horizontal direction reference system,
Make the direction parameter in the second horizontal direction reference system calculated identical with the rear sensing of first level direction reference system
Geographic direction；Direction parameter flight of the aircraft in the second horizontal direction reference system；In aircraft according to the orientation
During parameter is flown, the Infrared Projector of remote control constantly sends out infrared signal, when which part infrared signal
Receiver is received after infrared signal, and the infrared signal intensity that central controller is received according to infrared signal receiver judges infrared
The distance of signal receiver and Infrared Projector, when having one of infrared signal receiver and Infrared Projector
Distance Shortened is to after setpoint distance parameter, and aircraft stops flight displacement.
Also installed on aircraft and be additionally provided with camera, aircraft have two infrared signal receivers in the middle of towards and shooting
The direction of head is opposite；After aircraft is called back and stops flight displacement, aircraft carries out horizontal rotation, until this two red
After infrared signal intensity that external signal receiver is received is equal, aircraft just stops horizontal rotation.So, when aircraft is called together
Hui Hou, the camera of aircraft is by the front of automatic basic alignment function person；Now, camera is photographed image and operator
The scene that front is seen is essentially identical, if further the image that camera is photographed is sent on mobile phone or other screens,
Then the image of screen display will be identical with the scene seen in front of operator.
Also installed on aircraft and be additionally provided with camera, aircraft have two infrared signal receivers in the middle of towards and shooting
The direction of head is identical；After aircraft is called back and stops flight displacement, aircraft carries out horizontal rotation, until this two red
After infrared signal intensity that external signal receiver is received is equal, aircraft just stops horizontal rotation.So, when aircraft is called together
Hui Hou, the camera of aircraft will basic alignment function person automatically；Due to front phase of the direction typically with remote control of operator
Together, now, camera will photograph the front of operator, if further by the image that camera is photographed be sent to mobile phone or
On other screens, then the content of screen display is by the direct picture including operator.
The vertical rangefinder is provided with vertical signal projector and vertical signal receiver, vertical signal projector and vertical
The ground of the direction of signal receiver downward, the signal that vertical signal projector is launched is sent to perpendicular after ground return
To signal receiver.
So-called infrared signal receiver " in front of towards aircraft ", and need not be strictly towards front, Ke Yishi
It is partial in front of aircraft；By that analogy, it is so-called towards aircraft rear, and need not be strictly towards dead astern,
It can be biased into aircraft rear；It is so-called and to be needed not be towards aircraft left strictly towards front-left, can be with
It is biased into aircraft left；It is so-called and to be needed not be towards aircraft right strictly towards front-right, can be inclined
To in aircraft right.So-called Infrared Projector is also similar with this towards " front of remote control ".
So-called " the middle direction of two infrared signal receivers ", in present specification, it is defined as follows：If two red
External signal receiver is respectively horizontally toward, towards a and towards b, and to set the centre of two infrared signal receivers and be oriented
Towards c, then it is equal to towards c with the corner dimension towards a towards c and the corner dimension towards b, and two angles are all to be sharp
Angle.
A kind of control method for the Multi-axis aircraft toy recalled automatically, it is characterised in that using it is above-mentioned recall automatically it is many
Axle aerobat toy, comprises the following steps:
（a）Aircraft is manipulated using remote control, aircraft flight is left operator；
（b）Operator holds remote control, and makes the forward direction of remote control towards aircraft；
（c）" recalling " button of remote control is pressed；Vertical rangefinder starts, and central controller is according to the signal of vertical rangefinder
Judge the vertical range on aircraft and ground；Aircraft adjusts flying height, until the vertical distance between aircraft and ground
Reach the vertical distance parameter of setting；Central controller is according to the first digital compass and the detection knot of the second digital compass
Really, the direction parameter in the second horizontal direction reference system is calculated, makes the orientation in the second horizontal direction reference system for calculating
Point to identical geographic direction in the rear of parameter and first level direction reference system；Aircraft is according to the second horizontal direction reference
Direction parameter flight in system；During aircraft flies according to the parameter, the Infrared Projector of remote control is continuous
Infrared signal is sent out, after which part infrared signal receiver receives infrared signal, central controller is according to infrared
The infrared signal intensity that signal receiver is received judges the distance of infrared signal receiver and Infrared Projector, when having wherein
The Distance Shortened of one infrared signal receiver and Infrared Projector is to after setpoint distance parameter, and aircraft stops flight and moved
Position.
Also installed on aircraft and be additionally provided with camera, aircraft have two infrared signal receivers in the middle of towards and shooting
The direction of head is opposite；After aircraft is called back and stops flight displacement, aircraft carries out horizontal rotation, until this two red
After infrared signal intensity that external signal receiver is received is equal, aircraft just stops horizontal rotation.So, when aircraft is called together
Hui Hou, the camera of aircraft is by the front of automatic basic alignment function person；Now, if further photographed camera
Image is sent on mobile phone or other screens, then the image of screen display will be identical with the scene seen in front of operator.
Also installed on aircraft and be additionally provided with camera, aircraft have two infrared signal receivers in the middle of towards and shooting
The direction of head is identical；After aircraft is called back and stops flight displacement, aircraft carries out horizontal rotation, until this two red
After infrared signal intensity that external signal receiver is received is equal, aircraft just stops horizontal rotation.So, when aircraft is called together
Hui Hou, the camera of aircraft will basic alignment function person automatically；Now, if the image for further photographing camera is passed
It is sent on mobile phone or other screens, then the content of screen display is by the direct picture including operator.
The present invention has advantages below and effect：
First, following five kinds of key elements are dexterously combined and realize aircraft " recalling " operator at one's side by the present invention：（1）、
The front of remote control is towards aircraft；（2）, central controller make rear of the aircraft towards remote control using two digital compass
Flight；（3）, aircraft be adjusted to setting flying height position；（4）, remote control launch infrared letter for detecting distance
Number there is provided give for aircraft as positioning target reference point；（5）, be reduced to one when the space length of aircraft and remote control
When determining degree, aircraft stops displacement.Due to the combination of above-mentioned five kinds of key elements, just realize and aircraft is directly recalled into manipulator
At one's side（Beside remote control）, realize that a key is recalled, and need not rely upon GPS geo-location system, without allowing aircraft edge
Zhe Yuan makes a return voyage on road, and the path recalled is simple, direct.
Even if the 2, sending when recalling order, the operator position when position where operator is relative to aircraft takeoff
Significantly alterred, aircraft also can return to operator at one's side, without the origin being to revert to during aircraft takeoff.
3rd, after aircraft returns to operator at one's side, aircraft can also be automatically regulated to be proper posture, i.e., will take the photograph automatically
As head is towards front or behind, intelligent and interest is more shown.
Brief description of the drawings
Fig. 1 is the structure and use state schematic diagram of the first specific embodiment of the invention.
Fig. 2 is the parsing schematic diagram of the definition of the middle direction of two infrared signal receivers.
Fig. 3 is the structure and use state schematic diagram of second of specific embodiment of the invention.
Embodiment
Embodiment one
Embodiment one is a kind of Multi-axis aircraft toy recalled automatically.Shown in Fig. 1, the Multi-axis aircraft toy recalled automatically
Including remote control 1 and aircraft 3, remote control 1 controls aircraft 3 by wireless signal, and aircraft 3 is provided with central controller；
Direction of the remote control 1 based on reference itself axis and form the first level direction reference for being defined direction all around
System；
Direction of the aircraft 3 based on reference itself axis and form the second horizontal direction reference for being defined direction all around
System, aircraft performs corresponding flare maneuver using the direction parameter of the second horizontal direction reference system；
Remote control 1 is provided with the first digital compass, and the first digital compass measurement remote control datum axis direction is relative to geography
First deflection angle of the arctic；Remote control sends the first digital compass measurement result in aircraft by wireless signal to
Entreat controller；
Aircraft 3 is provided with the second digital compass, and the second digital compass measurement aircraft datum axis direction is relative to geography
Second deflection angle of the arctic；Second digital compass connects central controller, and the second digital compass passes its measurement result
It is sent to central controller；
The vertical rangefinder of a detection distance perpendicular to the ground is also equipped with aircraft 3, vertical rangefinder is provided with vertical letter
The ground of the direction of number transmitter and vertical signal receiver, vertical signal projector and vertical signal receiver downward,
The signal that vertical signal projector is launched is sent to vertical signal receiver, vertical signal receiver connection after ground return
To central controller；
Shown in Fig. 1, remote control 1 is additionally provided with Infrared Projector 11, and the Infrared Projector 11 of remote control is towards remote control
Front, Infrared Projector 11 is towards as shown in arrow e in Fig. 1；Six IR signal receptions are also installed on aircraft 2
Device, each infrared signal receiver it is horizontally toward different, two of which infrared signal receiver 31,32 is towards aircraft
Front, two infrared signal receivers 34,35 are towards aircraft rear, and an infrared signal receiver 33 is left towards aircraft
Side, an infrared signal receiver 36 is towards aircraft right（It is each infrared in horizontally toward such as Fig. 1 of each infrared signal receiver
Shown in arrow beside signal receiver）；Each infrared signal receiver 31,32,33,34,35,36 is all connected to central control
Device；
Also installed on aircraft and be additionally provided with camera 2, aircraft has the middle direction of two infrared signal receivers 31,32 with taking the photograph
As the direction (as shown in Fig. 1 arrows d) of head is identical, i.e. Fig. 2 arrows c is identical with Fig. 1 arrows d direction, as shown in Figure 1 and Figure 2.
The middle direction of so-called two infrared signal receivers 31,32, it is defined as shown in Fig. 2 and following word：If one of them is red
External signal receiver 31 be horizontally toward towards a, another infrared signal receiver 32 be horizontally toward towards b, and
If the centre of two infrared signal receivers is oriented towards c, then towards c and the angle towards a（Such as ∠ 4 in Fig. 2）Size etc.
In the angle towards c and towards b（Such as ∠ 5 in Fig. 2）Size, and two angles（Such as ∠ 5 and ∠ 4 in Fig. 2）All it is acute angle.
In Fig. 1, the middle direction of two infrared signal receivers 31,32 is as shown in Fig. 2 arrows c.
Remote control 1, which is additionally provided with, recalls button, after this, which recalls button, presses, and remote control and aircraft perform following act：
Vertical rangefinder starts, and central controller judges the vertical range on aircraft and ground according to the signal of vertical rangefinder；Flight
Device adjusts flying height, until the vertical distance between aircraft and ground reaches the vertical distance parameter of setting；Center control
Device calculates the orientation in the second horizontal direction reference system according to the testing result of the first digital compass and the second digital compass
Parameter, points to the direction parameter in the second horizontal direction reference system calculated and the rear of first level direction reference system
Identical geographic direction；Direction parameter flight of the aircraft in the second horizontal direction reference system；In aircraft according to this
During parameter is flown, the Infrared Projector of remote control constantly sends out infrared signal, when which part infrared signal
Receiver is received after infrared signal, and the infrared signal intensity that central controller is received according to infrared signal receiver judges infrared
The distance of signal receiver and Infrared Projector, when having one of infrared signal receiver and Infrared Projector
Distance Shortened is to after setpoint distance parameter, and aircraft stops flight displacement；After aircraft is called back and stops flight displacement,
Followed by follow-up operation, i.e., aircraft carries out horizontal rotation, until two infrared signal receivers 31 positioned at front,
After the 32 infrared signal intensity received are equal, aircraft just stops horizontal rotation.So, after aircraft is called back, flight
The camera 2 of device will basic alignment function person automatically；Now, if the image transmission for further photographing camera 2 is in one's hands
On machine or other screens, then the content of screen display is by the direct picture including operator.
Embodiment two
Embodiment two is also a kind of Multi-axis aircraft toy recalled automatically.In the embodiment two, aircraft has two infrared
The middle direction of signal receiver 34,35（As shown in arrow c in Fig. 3）With the direction of camera 2（As shown in arrow d in Fig. 3）
Conversely；After aircraft is called back and stops flight displacement, aircraft carries out horizontal rotation, until two infrared signals connect
Receive the infrared signal intensity that receives of device 34,35 it is equal after, aircraft just stops horizontal rotation；That is, in embodiment two
In, the control horizontal rotation of aircraft ability stopping is infrared signal receiver 34,35.So, after aircraft is called back, flight
The camera of device is by the front of automatic basic alignment function person；Now, if the image for further photographing camera is transmitted
Onto mobile phone or other screens, then the image of screen display will be identical with the front scene of operator.Remaining aspect of embodiment two
It is identical with embodiment one.
Embodiment three
Embodiment three is a kind of control method for the Multi-axis aircraft toy recalled automatically, and automatic using above-described embodiment one is called together
The Multi-axis aircraft toy returned, comprises the following steps:
（a）Aircraft 3 is manipulated using remote control 1, the flight of aircraft 3 is left operator；
（b）Operator holds remote control 1, and makes the forward direction of remote control 1 just towards aircraft 3；
（c）" recalling " button of remote control is pressed；Vertical rangefinder starts, and central controller is according to the signal of vertical rangefinder
Judge the vertical range on aircraft and ground；Aircraft adjusts flying height, until the vertical distance between aircraft and ground
Reach the vertical distance parameter of setting（In embodiment three, vertical distance parameter is 1.2 meters）；Central controller is according to the first electricity
The testing result of sub- compass and the second digital compass, calculates the direction parameter in the second horizontal direction reference system, makes calculating
It is geographical that the direction parameter in the second horizontal direction reference system out points to identical with the rear of first level direction reference system
Direction；Direction parameter flight of the aircraft in the second horizontal direction reference system；Flown in aircraft according to the parameter
During, the Infrared Projector of remote control constantly sends out infrared signal,
After which part infrared signal receiver receives infrared signal, central controller is received according to infrared signal receiver
Infrared signal intensity judge the distance of infrared signal receiver and Infrared Projector, connect when there is one of infrared signal
The Distance Shortened of device and Infrared Projector is received to after setpoint distance parameter（In embodiment three, setpoint distance parameter is 1.0
Rice）, aircraft, which stops flying, to be shifted；After aircraft stops flight displacement, aircraft carries out horizontal rotation, until before being located at
After the infrared signal intensity that receives of two infrared signal receivers 31,32 of side is equal, aircraft just stops horizontal rotation.This
Sample, after aircraft 3 is called back, the camera 2 of aircraft 3 will basic alignment function person automatically, as shown in figure 1, aircraft
The direction of camera 2 is as shown in the arrow d in Fig. 1；Now, if the image transmission for further photographing camera 2 is in one's hands
On machine or other screens, then the content of screen display is by the direct picture including operator.
Example IV
The difference of example IV and embodiment three, is the multiaxis automatically recalled flight of the example IV using above-described embodiment two
Device toy（And embodiment three is using the Multi-axis aircraft toy recalled automatically of above-described embodiment one）；In addition in example IV
Step c in, after aircraft stops flight displacement, aircraft carries out horizontal rotation, until two infrared letters being located behind
After infrared signal intensity that number receiver 34,35 is received is equal, aircraft just stops horizontal rotation.So, when aircraft quilt
After recalling, the camera 2 of aircraft is by the front of automatic basic alignment function person, as shown in figure 3, the direction of camera 2 such as Fig. 3
In arrow d shown in；Now, if further the image that camera is photographed is sent on mobile phone or other screens, shield
The image of curtain display will be identical with the scene seen in front of operator.
In above-described embodiment, the vertical distance parameter set between aircraft and ground is readily modified as 2.3 meters, or 2.0
Rice, either 1.5 meters or 1.0 meters, or 0.8 meter, etc.；
In above-described embodiment, to control aircraft to stop the setpoint distance parameter of flight displacement（I.e. infrared signal receiver with
Setpoint distance parameter between Infrared Projector）2.0 meters are readily modified as, either 1.5 meters or 0.8 meter, or 0.5 meter,
Etc..
Claims (7)
1. a kind of Multi-axis aircraft toy recalled automatically, including remote control and aircraft, remote control pass through wireless signal control
Aircraft, aircraft is provided with central controller；
Direction of the remote control based on reference itself axis and form the first level direction reference system for being defined direction all around；
Direction of the aircraft based on reference itself axis and form the second horizontal direction reference system for being defined direction all around,
Aircraft performs corresponding flare maneuver using the direction parameter of the second horizontal direction reference system；
It is characterized in that it is characterized in that：Remote control is provided with the first digital compass, the first digital compass measurement remote control base
First deflection angle of the quasi- axis direction relative to north geographic pole；Remote control passes through the first digital compass measurement result wireless
Signal sends the central controller of aircraft to；
Aircraft is provided with the second digital compass, and the second digital compass measurement aircraft datum axis direction is relative to geographic north
Second deflection angle of pole；Second digital compass connects central controller, and the second digital compass transmits its measurement result
To central controller；
The vertical rangefinder of a detection distance perpendicular to the ground is also equipped with aircraft, during vertical signal receiver is connected to
Entreat controller；
Remote control is additionally provided with Infrared Projector, and the Infrared Projector of remote control is towards the front of remote control；Aircraft
Multiple infrared signal receivers are also installed, each infrared signal receiver it is horizontally toward different, have towards aircraft
Front, have towards aircraft rear；Have towards aircraft left, have towards aircraft right, each IR signal reception
Device is connected to central controller；
Remote control, which is additionally provided with, recalls button；After this, which recalls button, presses, remote control and aircraft perform following act：It is vertical to survey
Distance meter starts, and central controller judges the vertical range on aircraft and ground according to the signal of vertical rangefinder；Aircraft is adjusted
Flying height, until the vertical distance between aircraft and ground reaches the vertical distance parameter of setting；Central controller according to
The testing result of first digital compass and the second digital compass, calculates the direction parameter in the second horizontal direction reference system,
Make the direction parameter in the second horizontal direction reference system calculated identical with the rear sensing of first level direction reference system
Geographic direction；Direction parameter flight of the aircraft in the second horizontal direction reference system；In aircraft according to the orientation
During parameter is flown, the Infrared Projector of remote control constantly sends out infrared signal, when which part infrared signal
Receiver is received after infrared signal, and the infrared signal intensity that central controller is received according to infrared signal receiver judges infrared
The distance of signal receiver and Infrared Projector, when having one of infrared signal receiver and Infrared Projector
Distance Shortened is to after setpoint distance parameter, and aircraft stops flight displacement.
2. Multi-axis aircraft toy according to claim 1, it is characterised in that it is characterized in that：Also install and also set on aircraft
There is camera, aircraft has the middle direction of two infrared signal receivers opposite with the direction of camera；When aircraft is called together
Return and stop after flight displacement, aircraft carries out horizontal rotation, until two infrared signal receivers receive it is infrared
After signal intensity is equal, aircraft just stops horizontal rotation.
3. the Multi-axis aircraft toy according to claim 1 recalled automatically, it is characterised in that it is characterized in that：Aircraft
On also install to be additionally provided with camera, aircraft also to install and be additionally provided with camera, aircraft has two infrared signal receivers
Middle direction is identical with the direction of camera；After aircraft is called back and stops flight displacement, aircraft carries out level certainly
Turn, until after the infrared signal intensity that receives of two infrared signal receivers is equal, aircraft just stops horizontal rotation.
4. the Multi-axis aircraft toy recalled automatically according to claim 1,2 or 3, it is characterised in that：The vertical survey
Distance meter is provided with the direction court of vertical signal projector and vertical signal receiver, vertical signal projector and vertical signal receiver
Ground downwards, the signal that vertical signal projector is launched is sent to vertical signal receiver after ground return.
5. a kind of control method for the Multi-axis aircraft toy recalled automatically, it is characterised in that using described in claim 1 from
The dynamic Multi-axis aircraft toy recalled, comprises the following steps:
（a）Aircraft is manipulated using remote control, aircraft flight is left operator；
（b）Operator holds remote control, and makes the forward direction of remote control towards aircraft；
（c）" recalling " button of remote control is pressed；Vertical rangefinder starts, and central controller is according to the signal of vertical rangefinder
Judge the vertical range on aircraft and ground；Aircraft adjusts flying height, until the vertical distance between aircraft and ground
Reach the vertical distance parameter of setting；Central controller is according to the first digital compass and the detection knot of the second digital compass
Really, the direction parameter in the second horizontal direction reference system is calculated, makes the orientation in the second horizontal direction reference system for calculating
Point to identical geographic direction in the rear of parameter and first level direction reference system；Aircraft is according to the second horizontal direction reference
Direction parameter flight in system；During aircraft flies according to the parameter, the Infrared Projector of remote control is continuous
Infrared signal is sent out, after which part infrared signal receiver receives infrared signal, central controller is according to infrared
The infrared signal intensity that signal receiver is received judges the distance of infrared signal receiver and Infrared Projector, when having wherein
The Distance Shortened of one infrared signal receiver and Infrared Projector is to after setpoint distance parameter, and aircraft stops flight and moved
Position.
6. the control method of Multi-axis aircraft toy according to claim 5, it is characterised in that it is characterized in that：Aircraft
On also install and be additionally provided with camera, aircraft have two infrared signal receivers in the middle of towards opposite with the direction of camera；
After aircraft is called back and stops flight displacement, aircraft carries out horizontal rotation, until two infrared signal receivers
After the infrared signal intensity that receives is equal, aircraft just stops horizontal rotation.
7. the control method of the Multi-axis aircraft toy according to claim 5 recalled automatically, it is characterised in that：On aircraft also
Installation, which is additionally provided with camera, aircraft also to install, is additionally provided with camera, and aircraft has the centre of two infrared signal receivers
Direction is identical with the direction of camera；After aircraft is called back and stops flight displacement, aircraft carries out horizontal rotation, directly
After the infrared signal intensity that receives to two infrared signal receivers is equal, aircraft just stops horizontal rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610469242.4A CN106943753A (en) | 2016-06-25 | 2016-06-25 | Automatically the Multi-axis aircraft toy and its control method recalled |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610469242.4A CN106943753A (en) | 2016-06-25 | 2016-06-25 | Automatically the Multi-axis aircraft toy and its control method recalled |
Publications (1)
| Publication Number | Publication Date |
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| CN106943753A true CN106943753A (en) | 2017-07-14 |
Family
ID=59465395
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610469242.4A Pending CN106943753A (en) | 2016-06-25 | 2016-06-25 | Automatically the Multi-axis aircraft toy and its control method recalled |
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Application publication date: 20170714 |