CN1152236C - Ground manipulating and monitor deivce for coaxial dual-rotor robot helicopter - Google Patents
Ground manipulating and monitor deivce for coaxial dual-rotor robot helicopter Download PDFInfo
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- CN1152236C CN1152236C CNB011445912A CN01144591A CN1152236C CN 1152236 C CN1152236 C CN 1152236C CN B011445912 A CNB011445912 A CN B011445912A CN 01144591 A CN01144591 A CN 01144591A CN 1152236 C CN1152236 C CN 1152236C
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Abstract
The present invention relates to a ground manipulating and monitoring device for a coaxial dual-rotor robot helicopter, which comprises a flight control station, an operating device, a host machine, a display, a remote-control telemetry sending and receiving device, and antennas, wherein the flight control station is connected with the operating device, the host machine and the remote-control telemetry sending and receiving device; an antenna tracking device and an antenna turntable are connected with the remote-control telemetry sending and receiving device; the antenna tracking device is connected with the antenna turntable, and the host machine is connected with the display. The monitoring device of the present invention can control the flight attitude, the exchange of the flying mode, and the input of flight track data of the robot helicopter in real time, and the present invention has very strong visual feelings, image feelings and present feelings.
Description
Technical field
The present invention relates to a kind of long-distance monitorng device, particularly relate to a kind of ground controlling and supervising device of axle-shared double-rotary wing pilotless helicopter.
Background technology
Pilotless helicopter is a kind of helicopter that utilizes radio remote-controlled telemetry system and airborne automatic control control loop flight, compare with fixed wing aircraft, the poor stability of pilotless helicopter flight, state of flight change rapidly, ground controlling control more complicated, therefore, pilotless helicopter has proposed harsh more requirement to the radio remote-controlled telemetry system.
A kind of axle-shared double-rotary wing pilotless helicopter remote control telemetering system of function admirable has constantly been improved, developed to electronic engineering of BJ University of Aeronautics ﹠ Astronautics remote-control romote-sensing group through unremitting effort.
This pilotless helicopter remote control telemetering system can be divided into ground and airborne portion.
Summary of the invention
The ground controlling and the supervising device that the purpose of this invention is to provide a kind of axle-shared double-rotary wing pilotless helicopter are that the data of gathering during with aircraft flight send the Ground Control chamber to, are monitored by ground, instruct aircraft flight.
The object of the present invention is achieved like this: a kind of ground controlling of axle-shared double-rotary wing pilotless helicopter and supervising device, it comprises flight control platform, maneuvering device, two main frames, three displays, remote-control romote-sensing transceiver, antenna tracking equipment, observing and controlling antenna etc.The flight control platform is connected with maneuvering device, two main frames and remote-control romote-sensing transceiver; The antenna tracking equipment is connected with the remote-control romote-sensing transceiver with antenna rotating platform, and the antenna tracking equipment also connects with the antenna turntable; Wherein first main frame connects with second display that shows the aircraft flight situation, and second main frame connects the first and the 3rd display; The dead ahead of maneuvering device is the flight control platform, and the front of flight control platform is separately installed with three displays, and the flight control platform also can connect a display again, is used for showing and whether checked operation gives an order correct; Antenna rotating platform is provided with observing and controlling antenna and camera is installed on mast, the mast, the external computing machine of antenna rotating platform; Maneuvering device is made up of yaw rudder, collective-pitch lever and operating rod, left-hand tread plate and right-hand tread plate are installed on the yaw rudder, the control knob of establishing on the operating rod, collective-pitch lever is installed in the left hand face at operator seat, operating rod is installed in the positive front upper place at operator seat, and left-hand tread plate and right-hand tread plate are installed in the below, dead ahead at operator seat; Remote transmitter, telemetering receiver are installed in the remote-control romote-sensing transceiver, and video camera is installed in the antenna tracking equipment.
A kind of ground controlling of axle-shared double-rotary wing pilotless helicopter and supervising device in the present invention, first main frame is used to calculate and control the Flight Condition Data that is presented on second display, and second main frame is used to calculate and control the data that are presented at the heading instrument on first display and the 3rd display.What second display showed is 3-D view, the integrated flight data of aircraft flight, and what first display and the 3rd display showed is the situation of aircraft instrument.
Advantage of the present invention is: virtual reality technology is introduced in the remote control telemetering system of pilotless helicopter, form the depopulated helicopter remote real-time monitoring system of excellent performance in conjunction with quick, effective filtering method of telemetry, this system has improved the imagery display capabilities at telemetry parameter, improved the validity of remote measurement, strengthened the presence that the driver that disembarks controls helicopter, sense directly perceived, alleviated labour intensity, thereby reduced the driver that disembarks because of flight parameter the possibility that causes maloperation not directly perceived or overtired, improved the aerial mission success ratio.
Description of drawings
The present invention is described in further detail below in conjunction with drawings and Examples.
Fig. 1 is a structural representation of the present invention.
Parameter displayed map when Fig. 2 is the aircraft normal flight on display 7.
Situation displayed map when Fig. 3 is the aircraft normal flight on display 9.
Instrument parameter displayed map when Fig. 4 is the aircraft normal flight on display 8.
Among the figure: 1. flight control platform 2. yaw rudders 3. operating rods 4. collective-pitch levers 5. first main frames 6. second main frames 7. first displays 8. second displays 9. the 3rd display 10. cameras 11. observing and controlling antennas 12. antenna rotating platforms 13. remote-control romote-sensing transceivers 14. antenna tracking equipments 15. masts 16. left-hand tread plates 17. right-hand tread plates
Embodiment
Please referring to shown in Figure 1, a kind of ground controlling of axle-shared double-rotary wing pilotless helicopter and supervising device, it comprises flight control platform 1, maneuvering device, two main frames, three displays, remote-control romote-sensing transceiver 13, antenna tracking equipment 14, observing and controlling antenna 11 etc.Flight control platform 1 is connected with maneuvering device, first main frame 5, second main frame 6 and remote-control romote-sensing transceiver 13, and flight control platform 1 also can connect a display again, this display be used for showing and checked operation flight control platform 1 whether proper operation is given an order; Antenna tracking equipment 14 is connected with remote-control romote-sensing transceiver 13 with antenna rotating platform 12, and antenna tracking equipment 14 also connects with antenna turntable 12; First main frame 5 connects with second display 8, and second main frame 6 is connected with the 3rd display 9 with first display 7; The dead ahead of maneuvering device is a flight control platform 1, and the front of flight control platform 1 is three displays 7,8,9; Antenna rotating platform 12 is provided with observing and controlling antenna 11 and camera 10 is installed on mast 15, the mast 15, antenna rotating platform 12 external computing machines; Maneuvering device is made up of yaw rudder 2, collective-pitch lever 4 and operating rod 3, left-hand tread plate 15 and right-hand tread plate 16 are installed on the yaw rudder 2, the control knob of establishing on the operating rod 3, collective-pitch lever 4 is installed in the left hand face at operator seat, operating rod 3 is installed in the positive front upper place at operator seat, and left-hand tread plate 15 and right-hand tread plate 16 are installed in the below, dead ahead at operator seat.
First main frame 5 is used to calculate and control the Flight Condition Data that is presented on second display 8 in the present invention, and second main frame 6 is used to calculate and control the data that are presented at the heading instrument on first display 7 and the 3rd display 9.What second display 8 showed is 3-D view, the integrated flight data of aircraft flight, and what first display 7 and the 3rd display 9 showed is the situation of aircraft instrument.
Aircraft sends the flying quality that collects to the remote-control romote-sensing transceiver 13 on ground under state of flight, after remote-control romote-sensing transceiver 13 receives the telesignalisation of pilotless helicopter transmission, with signal through the telemetering receiver demodulation, despreading, the deciphering of remote measurement demoder, decoding, transfer to the ground monitoring computer system after separating frame, the ground monitoring computer system is carried out quick filter with these telesignalisations with software, extract utilize after the reliable telemetry virtual reality technology with these telemetries with three-dimensional graph, stereo sound, the mode of emulation instrument is presented at first display 7, second display 8, supply operator's reference on the 3rd display 9, the operator is according to the telesignalisation that shows on the display, by the monitoring of flight control platform 1 enforcement to pilotless helicopter.Ground control system with operator's various control command signals through the remote data collection unit collection, the telecommand encoder encodes, compile frame, transfer to master transmitter after the encryption and carry out spread spectrum, modulation, high frequency amplifies, send to pilotless helicopter from remote-control romote-sensing transceiver 13 at last, pilotless helicopter receives the remote signal of ground control system after remote-control receiver demodulation despreading, the remote control decoder deciphering, decoding, separate frame and transfer to command decoder, various control commands and navigation instruction transfer to automated driving system together and finally finish control to pilotless helicopter.
Supervising device of the present invention makes the operator that very strong sense directly perceived, image sense and telepresenc be arranged owing to adopted three-dimensional image and 3 D stereo sound technology, and the sensation that is in beam riding in the cabin is arranged.
Claims (10)
1, a kind of ground controlling of axle-shared double-rotary wing pilotless helicopter and supervising device, it is characterized in that: it comprises flight control platform (1), maneuvering device, two main frames, three displays, remote-control romote-sensing transceiver (13), antenna tracking equipment (14), observing and controlling antenna (11), antenna rotating platform (12), flight control platform (1) is connected with maneuvering device, first main frame (5), second main frame (6) and remote-control romote-sensing transceiver (13), antenna tracking equipment (14) is connected with remote-control romote-sensing transceiver (13) with antenna rotating platform (12), antenna tracking equipment (14) also connects with antenna turntable (12), first main frame (5) connects with second display (8), and second main frame (6) is connected with the 3rd display (9) with first display (7).
2, the ground controlling of a kind of axle-shared double-rotary wing pilotless helicopter according to claim 1 and supervising device, it is characterized in that: the dead ahead of maneuvering device is flight control platform (1), and the front of flight control platform (1) is three displays (7), (8), (9).
3, the ground controlling of a kind of axle-shared double-rotary wing pilotless helicopter according to claim 1 and supervising device is characterized in that: flight control platform (1) also can connect a display again, is used for showing and whether checked operation gives an order correct.
4, the ground controlling of a kind of axle-shared double-rotary wing pilotless helicopter according to claim 1 and supervising device, it is characterized in that: antenna rotating platform (12) is provided with observing and controlling antenna (11) and camera (10), the external computing machine of antenna rotating platform (12) is installed on mast (15), the mast (15).
5, the ground controlling of a kind of axle-shared double-rotary wing pilotless helicopter according to claim 1 and supervising device is characterized in that: flight control platform (1) is provided with the manipulation control knob.
6, the ground controlling of a kind of axle-shared double-rotary wing pilotless helicopter according to claim 1 and supervising device, it is characterized in that: maneuvering device is made up of yaw rudder (2), collective-pitch lever (4) and operating rod (3), left-hand tread plate (15) and right-hand tread plate (16) are installed on the yaw rudder (2), the control knob of establishing on the operating rod (3), collective-pitch lever (4) is installed in the left hand face at operator seat, operating rod (3) is installed in the positive front upper place at operator seat, and left-hand tread plate (15) and right-hand tread plate (16) are installed in the below, dead ahead at operator seat.
7, the ground controlling of a kind of axle-shared double-rotary wing pilotless helicopter according to claim 1 and supervising device, it is characterized in that: first main frame (5) is used for calculating and control is presented at Flight Condition Data on second display (8), and second main frame (6) is used for calculating and control is presented at the data of the heading instrument on first display (7) and the 3rd display (9).
8, the ground controlling of a kind of axle-shared double-rotary wing pilotless helicopter according to claim 1 and supervising device, it is characterized in that: what second display (8) showed is 3-D view, the integrated flight data of aircraft flight, and what first display (7) and the 3rd display (9) showed is the situation of aircraft instrument.
9, the ground controlling of a kind of axle-shared double-rotary wing pilotless helicopter according to claim 1 and supervising device is characterized in that: the remote-control romote-sensing transceiver is equipped with remote transmitter, telemetering receiver in (13).
10, the ground controlling of a kind of axle-shared double-rotary wing pilotless helicopter according to claim 1 and supervising device is characterized in that: video camera is installed in the antenna tracking equipment (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB011445912A CN1152236C (en) | 2001-12-21 | 2001-12-21 | Ground manipulating and monitor deivce for coaxial dual-rotor robot helicopter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB011445912A CN1152236C (en) | 2001-12-21 | 2001-12-21 | Ground manipulating and monitor deivce for coaxial dual-rotor robot helicopter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1356529A CN1356529A (en) | 2002-07-03 |
| CN1152236C true CN1152236C (en) | 2004-06-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB011445912A Expired - Fee Related CN1152236C (en) | 2001-12-21 | 2001-12-21 | Ground manipulating and monitor deivce for coaxial dual-rotor robot helicopter |
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| Country | Link |
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| CN (1) | CN1152236C (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101833336A (en) * | 2010-04-28 | 2010-09-15 | 北京航空航天大学 | Dual-redundancy attitude control system and debug method of coaxial unmanned helicopter |
| CN101101650B (en) * | 2007-07-02 | 2011-04-06 | 北京理工大学 | Low altitude penetration missile three-dimensional route planning method |
| TWI456426B (en) * | 2011-11-08 | 2014-10-11 |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100444069C (en) * | 2007-01-19 | 2008-12-17 | 北京航空航天大学 | Double measurement and control system in use for coaxial dual rotors of unmanned helicopter |
| TWI380843B (en) * | 2009-05-22 | 2013-01-01 | Centre Clock Industry Co Ltd | Remote control toys and electronic game integrated interface |
| CN102355297B (en) * | 2011-07-05 | 2014-08-20 | 成都睿兴通电子科技有限公司 | Receiver array based aviation telemetering system and implementation method thereof |
| CN102426458B (en) * | 2011-11-28 | 2013-06-05 | 北京航空航天大学 | Ground control system applicable to rotor-wing unmanned aerial vehicle |
| CN103777625B (en) * | 2014-01-10 | 2017-01-18 | 北京航空航天大学 | Generalized helicopter laboratory measurement and control system |
| CN103770947B (en) * | 2014-01-23 | 2017-02-08 | 中国人民解放军总参谋部第六十研究所 | Investigation irradiation system and method for unmanned helicopter |
| CN104166054A (en) * | 2014-06-30 | 2014-11-26 | 成都点阵科技有限公司 | Air radio monitoring system based on multi-rotor robot |
| CN106716272B (en) * | 2014-09-30 | 2021-03-09 | 深圳市大疆创新科技有限公司 | System and method for flight simulation |
| WO2016050099A1 (en) | 2014-09-30 | 2016-04-07 | SZ DJI Technology Co., Ltd. | System and method for supporting simulated movement |
-
2001
- 2001-12-21 CN CNB011445912A patent/CN1152236C/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101101650B (en) * | 2007-07-02 | 2011-04-06 | 北京理工大学 | Low altitude penetration missile three-dimensional route planning method |
| CN101833336A (en) * | 2010-04-28 | 2010-09-15 | 北京航空航天大学 | Dual-redundancy attitude control system and debug method of coaxial unmanned helicopter |
| CN101833336B (en) * | 2010-04-28 | 2012-01-04 | 北京航空航天大学 | Dual-redundancy attitude control system and debug method of coaxial unmanned helicopter |
| TWI456426B (en) * | 2011-11-08 | 2014-10-11 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1356529A (en) | 2002-07-03 |
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| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20040602 Termination date: 20101221 |