CN101807051A - Automatic control and remote control switching system of unmanned aerial vehicle - Google Patents
Automatic control and remote control switching system of unmanned aerial vehicle Download PDFInfo
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- CN101807051A CN101807051A CN201010100606A CN201010100606A CN101807051A CN 101807051 A CN101807051 A CN 101807051A CN 201010100606 A CN201010100606 A CN 201010100606A CN 201010100606 A CN201010100606 A CN 201010100606A CN 101807051 A CN101807051 A CN 101807051A
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Abstract
A remote control and automatic control switching system of an unmanned aerial vehicle (UAV) belongs to the field of UAV flight control and is characterized by comprising a remote control command detection module and a control switching module, wherein the remote control command detection module is used for detecting and quantizing the remote control command and the remote control/automatic control switching command of each flight control channel of the UAV and transmitting the detected remote control command to a flight control computer; the control switching module is used for switching the remote control and automatic control commands and sending the commands to each steering engine of the UAV; and when remote control is switched to automatic control, the flight control computer uses the finally obtained remote control command as the equilibrium point of control and controls flight on that basis, thereby realizing seamless switching from remote control to automatic control.
Description
Technical field
The present invention is used for unmanned plane to carry out device for switching between remote control distributor and auto-flare system, can realize the seamless switching between unmanned plane is from remote control distributor to the auto-flare system.Be mainly used in the UAV Flight Control field.
Background technology
The flight control of unmanned plane mainly contains two kinds of forms, i.e. remote control distributor and auto-flare system.Remote control in the past only is that telecommand and automatic flight control instruction are directly switched with controlling switched system automatically, and does not consider both difference.If automatically steering order and telecommand differ greatly, then unmanned plane may enter another state of flight from the equilibrium point of expectation, when serious even the air crash accident may take place.Therefore, traditional remote control is applied to may produce hidden danger on the unmanned plane with the security of control switched system is lower automatically.The present invention is switched preceding remote control command signal by detecting, and begins automatic flight control as the starting point of control, thereby can realize the seamless switching of remote control distributor to auto-flare system.Therefore, compare with automatic control switched system, use unmanned plane of the present invention and have safety, reliable and switch advantage stably with traditional remote control.
Summary of the invention
The object of the present invention is to provide a kind of system that is used for no-manned machine distant control flight and auto-flare system seamless switching.
The invention is characterized in, contain: remote-control receiver, remote control/control automatically switched system and flight-control computer.Wherein, remote control/control automatically switched system is by telecommand detection module and remote control/control handover module automatically to form.No-manned machine distant control and the automatic core of control switched system are that a CPLD or other possess the control chip that I/O selects, and can select the telecommand of telepilot receiver and the automatic control instruction of flight-control computer to send to steering wheel.
Remote-control receiver outputs to remote control manipulator's control command no-manned machine distant control and controls switched system automatically, wherein, except the some passages that are used for flight control, (be called for short the telecommand passage), also set one and be used for the passage (being called for short the switching command passage) that steering order is switched.The telecommand detection module can judge that by detecting the signal of switching command passage current is remote control distributor mode or auto-flare system mode.
No-manned machine distant control and automatic control switched system are by telecommand detection module and remote control/control handover module automatically to form.Wherein, the telecommand detection module is used for the telecommand of each flight control passage and remote control/control automatically switching command is detected and quantizes, and sends the telecommand that detection obtains to flight-control computer; Remote control/control automatically handover module is used to switch remote control and steering order automatically, and sends it to the steering wheel of unmanned plane.
When remote control distributor mode, remote control/control automatically handover module directly sends the remote control distributor instruction of remote-control receiver output each steering wheel of unmanned plane to, realizes the remote control distributor of unmanned plane; When automatic control mode, remote control/control automatically handover module directly sends to each steering wheel of unmanned plane with the automatic flight control instruction of flight-control computer output, realizes the auto-flare system of unmanned plane;
When automatic control was switched, remote control/control handover module automatically the remote control steering order is cut off directly sent to automatic steering order each steering wheel of unmanned plane simultaneously in remote control.Flight-control computer is according to the telecommand that obtains at last, with this as equilibrium point and send it to flight-control computer.Flight-control computer is noted equilibrium point, and with this starting point as flight control.Because the remote control manipulator can remain on unmanned plane the equilibrium point of expectation before switching, so unmanned plane will begin automatic flight control with the equilibrium point of this expectation after control is switched, thereby realize the seamless switching of remote control to automatic control.
Automatically controlling when remote control is switched, remote control/controlling handover module automatically switches automatic steering order, directly the remote control steering order is sent to each steering wheel of unmanned plane simultaneously, thereby can realize remote control distributor immediately.
After the auto-flare system switching was finished, flight-control computer will be with the starting point of new equilibrium point as control in each remote control distributor.Therefore, fail to begin to carry out work, only need carry out a remote control distributor again and get final product to the switching of auto-flare system with the equilibrium point of expectation if find unmanned plane after certain switching is finished.
Description of drawings
Fig. 1 is no-manned machine distant control and the theory diagram of controlling switched system automatically.
Among Fig. 1,1. telepilot receiver, 2. remote control/control automatically switched system, 3. flight-control computer, 4. unmanned plane steering wheel, 5. telecommand detection module, 6. remote control/control automatically handover module.
Embodiment
In Fig. 1, no-manned machine distant control contains with automatic control switched system: remote-control receiver (1), remote control/control automatically switched system (2) and flight-control computer (3).Wherein, remote control/control automatically switched system (2) is by telecommand detection module (5) and remote control/control handover module (6) automatically to form.
Remote-control receiver (1) output remote control distributor command signal (being called for short " telecommand ") and remote control/control switching command (being called for short " switching command ") automatically, flight-control computer (3) is exported automatic flight directive signal (being called for short " automatic control instruction ").Remote control/control automatically switched system (2) is used for realizing selection to telecommand and automatic control instruction according to " switching command ", and the instruction after will selecting sends to the steering wheel 4 of unmanned plane, and realization is to the manipulation of unmanned plane.
The telecommand to switching command and each flight control passage of being used for telecommand detection module (5) detects and quantizes, and send testing result to flight-control computer (2), remote control/control automatically handover module (6) is used to switch remote control and steering order automatically, and sends it to the steering wheel (4) of unmanned plane.
When automatic control was switched, the telecommand that flight-control computer (3) sends telecommand detection module (5) at last was as equilibrium point, as the starting point of equilibrium point as flight control in remote control.Simultaneously, remote control/control handover module (6) automatically to select the automatic control instruction of flight-control computer (3) to send to steering wheel (4) according to the testing result of telecommand detection module (5), unmanned plane is transformed into auto-flare system from remote control distributor thereupon.Because the remote control manipulator can enter the equilibrium point of expectation switching the front control unmanned plane, so unmanned plane will begin automatic flight control with this expectation balance point after control is switched, thereby realize the seamless switching of remote control to automatic control.
Automatically controlling when remote control is switched, remote control/control handover module (6) automatically to select the telecommand of remote-control receiver (1) to send to steering wheel (4) according to the testing result of telecommand detection module (5), unmanned plane is transformed into remote control distributor from auto-flare system thereupon.
Claims (1)
1. no-manned machine distant control and control switched system automatically, it is characterized in that, contain telecommand detection module and control handover module, wherein: the telecommand detection module is used for the telecommand of each flight control passage of unmanned plane and remote control/control automatically switching command is detected and quantizes, and send the telecommand that detection obtains to flight-control computer, the control handover module is used to switch remote control and automatic steering order, and sends it to each steering wheel of unmanned plane, wherein:
In remote control when automatic control is switched, flight-control computer is according to detecting the equilibrium point that the telecommand that obtains obtains unmanned plane during flying in last time period, and on the basis of this equilibrium point, carry out automatic flight control, control handover module simultaneously automatic steering order is sent to each steering wheel, thereby realized the seamless switching of remote control to automatic control; Automatically controlling when remote control is switched, the control handover module directly cuts off automatic steering order, simultaneously telecommand is sent to each steering wheel, thereby realizes operator's remote control distributor, it should be noted that:
Utilize this control switched system, unmanned plane can switch between remote control distributor and auto-flare system easily.If the discovery unmanned plane switches to after the automatic flight control near equilibrium point, do not fly, only need remake a remote control/auto-flare system switching again and get final product.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010100606A CN101807051A (en) | 2010-01-22 | 2010-01-22 | Automatic control and remote control switching system of unmanned aerial vehicle |
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|---|---|---|---|
| CN201010100606A CN101807051A (en) | 2010-01-22 | 2010-01-22 | Automatic control and remote control switching system of unmanned aerial vehicle |
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| CN101807051A true CN101807051A (en) | 2010-08-18 |
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| CN201010100606A Pending CN101807051A (en) | 2010-01-22 | 2010-01-22 | Automatic control and remote control switching system of unmanned aerial vehicle |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101976498A (en) * | 2010-09-30 | 2011-02-16 | 清华大学 | Double-receiver parallel dynamic parameter model identification system |
| CN102193559A (en) * | 2011-04-06 | 2011-09-21 | 嘉兴电力局 | Ground station remote control device of unmanned vehicle |
| CN102442424A (en) * | 2011-10-21 | 2012-05-09 | 北京工业大学 | System and method for controlling fixed-height flight of fixed-wing unmanned aerial vehicle |
| CN102508447A (en) * | 2011-12-30 | 2012-06-20 | 北京理工大学 | Bidirectional switching system for small unmanned vehicle |
| CN102717893A (en) * | 2011-03-31 | 2012-10-10 | 昆山弧光信息科技有限公司 | Automatic flight controller |
| CN102945046A (en) * | 2012-11-15 | 2013-02-27 | 中国兵器工业计算机应用技术研究所 | Control method of unmanned aircraft |
| CN103034185A (en) * | 2012-11-21 | 2013-04-10 | 深圳一电科技有限公司 | Communication system and ground station thereof |
| CN104820428A (en) * | 2015-04-20 | 2015-08-05 | 余江 | Memory type track reproduction method of unmanned aerial vehicle and device |
| CN105467871A (en) * | 2015-11-26 | 2016-04-06 | 中国航空工业集团公司沈阳飞机设计研究所 | Unmanned aerial vehicle emergency control switching system |
| CN105892482A (en) * | 2016-04-01 | 2016-08-24 | 哈尔滨飞机工业集团有限责任公司 | Trimming adapter of automatic flight control system |
| CN108886824A (en) * | 2018-06-14 | 2018-11-23 | 北京小米移动软件有限公司 | Method for sending information, method of reseptance, device, equipment and storage medium |
| CN108983805A (en) * | 2018-08-30 | 2018-12-11 | 芜湖翼讯飞行智能装备有限公司 | A kind of unmanned plane autopilot facility based on cloud computing |
| CN109147309A (en) * | 2017-06-16 | 2019-01-04 | 徐海东 | More remote control systems based on unmanned plane |
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2010
- 2010-01-22 CN CN201010100606A patent/CN101807051A/en active Pending
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101976498B (en) * | 2010-09-30 | 2012-05-23 | 清华大学 | Double-receiver parallel dynamic parameter model identification system |
| CN101976498A (en) * | 2010-09-30 | 2011-02-16 | 清华大学 | Double-receiver parallel dynamic parameter model identification system |
| CN102717893A (en) * | 2011-03-31 | 2012-10-10 | 昆山弧光信息科技有限公司 | Automatic flight controller |
| CN102193559A (en) * | 2011-04-06 | 2011-09-21 | 嘉兴电力局 | Ground station remote control device of unmanned vehicle |
| CN102442424A (en) * | 2011-10-21 | 2012-05-09 | 北京工业大学 | System and method for controlling fixed-height flight of fixed-wing unmanned aerial vehicle |
| CN102508447B (en) * | 2011-12-30 | 2013-09-04 | 北京理工大学 | Bidirectional switching system for small unmanned vehicle |
| CN102508447A (en) * | 2011-12-30 | 2012-06-20 | 北京理工大学 | Bidirectional switching system for small unmanned vehicle |
| CN102945046A (en) * | 2012-11-15 | 2013-02-27 | 中国兵器工业计算机应用技术研究所 | Control method of unmanned aircraft |
| CN103034185A (en) * | 2012-11-21 | 2013-04-10 | 深圳一电科技有限公司 | Communication system and ground station thereof |
| CN103034185B (en) * | 2012-11-21 | 2016-02-03 | 深圳一电科技有限公司 | Communication system and land station thereof |
| CN104820428A (en) * | 2015-04-20 | 2015-08-05 | 余江 | Memory type track reproduction method of unmanned aerial vehicle and device |
| CN104820428B (en) * | 2015-04-20 | 2017-11-07 | 余江 | The memory-type flight path reproducting method and its device of a kind of unmanned plane |
| CN105467871A (en) * | 2015-11-26 | 2016-04-06 | 中国航空工业集团公司沈阳飞机设计研究所 | Unmanned aerial vehicle emergency control switching system |
| CN105892482A (en) * | 2016-04-01 | 2016-08-24 | 哈尔滨飞机工业集团有限责任公司 | Trimming adapter of automatic flight control system |
| CN109147309A (en) * | 2017-06-16 | 2019-01-04 | 徐海东 | More remote control systems based on unmanned plane |
| CN108886824A (en) * | 2018-06-14 | 2018-11-23 | 北京小米移动软件有限公司 | Method for sending information, method of reseptance, device, equipment and storage medium |
| US11760480B2 (en) | 2018-06-14 | 2023-09-19 | Beijing Xiaomi Mobile Software Co., Ltd. | Information sending and receiving method and apparatus, device, and storage medium |
| CN108983805A (en) * | 2018-08-30 | 2018-12-11 | 芜湖翼讯飞行智能装备有限公司 | A kind of unmanned plane autopilot facility based on cloud computing |
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Open date: 20100818 |