CN102650884A - Controller and method for adjusting control signals by utilizing controller - Google Patents
Controller and method for adjusting control signals by utilizing controller Download PDFInfo
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- CN102650884A CN102650884A CN2011100456646A CN201110045664A CN102650884A CN 102650884 A CN102650884 A CN 102650884A CN 2011100456646 A CN2011100456646 A CN 2011100456646A CN 201110045664 A CN201110045664 A CN 201110045664A CN 102650884 A CN102650884 A CN 102650884A
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- direction indication
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Abstract
The invention discloses a controller and a method for adjusting control signals by utilizing the controller. The method comprises the following steps of: acquiring the indication direction of an unmanned aerial vehicle detected by an electronic compass built in the unmanned aerial vehicle; acquiring the indication direction of the controller detected by an electronic compass built in the controller; calculating the angle difference between the indication direction of the unmanned aerial vehicle and the indication direction of the controller; automatically correcting a control instruction of the controller according to the calculated angle difference and generating a corrected control instruction; and transmitting the corrected control instruction to the unmanned aerial vehicle so as to control the flying of the unmanned aerial vehicle. The control instruction of the controller can be corrected automatically by utilizing the controller and the method.
Description
Technical field
The present invention relates to a kind of electronic installation and application process thereof, relate in particular to a kind of controller and utilize it to carry out the method for control signal adjustment.
Background technology
Traditional unmanned flight carrier (Unmanned Aerial Vehicle, UAV) controller in use, the operator only can rely on the visual body head position of distinguishing unmanned flight carrier, and with this reference frame as the unmanned flight of adjustment carrier heading.But; Because the body head orientation of unmanned flight carrier can constantly change along with the change of heading; And the body head position is difficult for judging after taking off sometimes; When unmanned flight carrier body head orientation and controller orientation not simultaneously, gross error possibly appear in the steering order that the operator assigned.
For example, when the orientation of the orientation of controller and unmanned flight carrier body head was identical, the operator only needed the control lever of controller is got final product to right-hand touching if unmanned flight carrier is adjusted into flight to the right.But; Under the opposite situation in the orientation of the orientation of unmanned flight carrier body head and controller; The operator is if be adjusted into flight to the right with unmanned flight carrier; But need the control lever of controller be pushed away left, but the reaction of operator's intuition is prone to the right-hand operation towards self correspondence, and control lever is pushed away to the right.Therefore, though the operator thinks that unmanned flight carrier will fly to the right, in fact be of the left flight of the unmanned flight of control carrier towards oneself, cause operational gross mistake so easily.
Summary of the invention
In view of above content, be necessary that a kind of controller is provided and utilize its method of carrying out the control signal adjustment, it can be according to the differential seat angle between the direction indication of the direction indication of unmanned flight carrier and controller, automatic Correction and Control device control instruction.
A kind of controller is used to carry out the control signal adjustment, and this controller comprises:
Acquisition module is used to obtain the direction indication of the unmanned flight carrier that the electronic compass built in the unmanned flight carrier detects;
Said acquisition module also is used to obtain the direction indication of the controller that the electronic compass built in the controller detects;
Computing module is used to calculate the differential seat angle between the direction indication of direction indication and controller of unmanned flight carrier;
Adjusting module is used for the instruction of controlling according to the automatic Correction and Control device of this differential seat angle that calculates, and generates the revised instruction of controlling; And
Transport module is used for controlling instruction and sending unmanned flight carrier to revised, to control the flight of unmanned flight carrier.
A kind of method of utilizing controller to carry out the control signal adjustment, this method comprises the steps:
Obtain the direction indication of the unmanned flight carrier that the electronic compass built in the unmanned flight carrier detects;
Obtain the direction indication of the controller that the electronic compass built in the controller detects;
Differential seat angle between the direction indication of the unmanned flight of calculating carrier and the direction indication of controller;
The instruction of controlling according to the automatic Correction and Control device of this differential seat angle that calculates generates the revised instruction of controlling; And
Control instruction and send unmanned flight carrier to revised, to control the flight of unmanned flight carrier.
Preceding method can be carried out by electronic installation, and wherein this electronic installation has and attached one or more processors, storer and be kept at one or more modules, program or the instruction set that is used to carry out these methods in the storer.In certain embodiments, this electronic installation provides the multiple function that comprises radio communication.
The instruction that is used for carrying out preceding method can be included in and be configured to the computer program carried out by one or more processors.
Compared to prior art; Described controller and utilize it to carry out the method for control signal adjustment; It can be according to the differential seat angle between the direction indication of the direction indication of unmanned flight carrier and controller, automatic Correction and Control device control instruction, thereby avoided controlling the generation of instruction errors.
Description of drawings
Fig. 1 is the block diagram of controller preferred embodiment of the present invention.
Fig. 2 is the functional block diagram of control signal Adjustment System.
Fig. 3 utilizes controller to carry out the process flow diagram of preferred embodiment of the method for control signal adjustment.
Fig. 4 is the synoptic diagram of direction indication of direction indication and the controller of the unmanned flight of detecting carrier.
Fig. 5 is the differential seat angle synoptic diagram that calculates between the direction indication of direction indication and controller of unmanned flight carrier.
The main element symbol description
| Controller | ?2 |
| The control signal Adjustment System | ?20 |
| Storer | ?21 |
| Electronic compass | ?22 |
| Network modules | ?24 |
| Processor | ?26 |
| Acquisition module | ?201 |
| Computing module | ?202 |
| Adjusting module | ?203 |
| Transport module | ?204 |
Following embodiment will combine above-mentioned accompanying drawing to further specify the present invention.
Embodiment
As shown in Figure 1, be the block diagram of controller preferred embodiment of the present invention.In the present embodiment, this controller 2 comprises storer 21, electronic compass 22, network modules 24 and the processor 26 that links to each other through data bus.In the present embodiment, said controller 2 is used to control unmanned flight carrier (Unmanned Aerial Vehicle, heading UAV).Said controller 2 comprises a control lever.This control lever can be pulled front, rear, left and right, to control unmanned flight carrier, southwards,, move northwards westwards eastwards.
Wherein, Store control signal Adjustment System 20 in the said storer 21; This control signal Adjustment System 20 is used for according to the differential seat angle between the direction indication of the direction indication of unmanned flight carrier and controller 2, automatic Correction and Control device 2 control instruction, detailed process is referring to the description of Fig. 3.
In the present embodiment, said electronic compass 22 is the electronic compass chip that is built in a group in the controller 2, can make controller 2 possess the function of compass.Its operation principles is identical with conventional compass; All discern the South Pole and the arctic through the induction magnetic field of the earth; Only electronic compass has changed needle into magnetoresistive transducer, has used Hall effect, utilizes Lip river logical sequence magnetic force can cause the deflection of electronics in the electric current; Calculate the data of change in voltage, thereby learn the direction indication of controller 2.
Said network modules 24 is used for through wired or wireless Network Transmission mode, and network communication function and the data-transformation facility of controller 2 with other electronic equipment (like unmanned flight carrier) are provided.Above-mentioned wired or wireless Network Transmission mode comprises, but is not limited to legacy network connection, GPRS, Wi-Fi/WLAN, 3G/WCDMA, 3.5G/HSDPA etc.
For realizing and the communication of controller 2, in the said unmanned flight carrier electronic compass and signal receiver are installed.Said electronic compass is used to detect the direction indication of unmanned flight carrier, and sends the direction indication of unmanned flight carrier to controller 2.Said signal receiver is used to receive the instruction of controlling that controller sends over.
In the present embodiment; Said control signal Adjustment System 20 can be divided into one or more modules; Said one or more module is stored in the said storer 21 and is configured to and carried out by one or more processors (present embodiment is a processor 26), to accomplish the present invention.For example, consult shown in Figure 2ly, said control signal Adjustment System 20 is divided into acquisition module 201, computing module 202, adjusting module 203 and transport module 204.The alleged module of the present invention is to accomplish the program segment of a specific function, is more suitable in describing the implementation of software in controller 2 than program.
As shown in Figure 3, be to utilize controller to carry out the process flow diagram of preferred embodiment of the method for control signal adjustment.
Step S1, acquisition module 201 obtain the direction indication of the unmanned flight carrier that the electronic compass built in the unmanned flight carrier detects.
In the present embodiment; Consult shown in Figure 4; The direction indication of said unmanned flight carrier comprises main direction indication, offset direction and deviation angle, and wherein, first English digital is the main direction indication of unmanned flight carrier; Second English digital is the offset direction of unmanned flight carrier, and the 3rd bit digital is a deviation angle.The direction indication of for example unmanned flight carrier is N-E20 °, and wherein, main direction indication is the north (N), and the offset direction is east (E), and deviation angle is 20 degree.
Step S2, acquisition module 201 obtain the direction indication of the controller 2 that the electronic compass 22 built in the controller 2 detects.
In the present embodiment; Consult shown in Figure 4; The direction indication of said controller 2 comprises main direction indication, offset direction and deviation angle, and wherein, first English digital is the main direction indication of controller 2; Second English digital is the offset direction of controller 2, and the 3rd bit digital is a deviation angle.For example the direction indication of controller 2 is N-E45 °, and wherein, main direction indication is the north (N), and the offset direction is east (E), and deviation angle is 45 degree.
Step S3, the differential seat angle between the direction indication of the unmanned flight of computing module 202 calculating carrier and the direction indication of controller 2.Consult shown in Figure 5, the differential seat angle between the direction indication of supposing the unmanned flight of θ representative carrier and the direction indication of controller 2, then θ=45 degree-20 degree=25 are spent.
Step S4, adjusting module 203 generates the revised instruction of controlling according to the instruction of controlling of the automatic Correction and Control device 2 of this differential seat angle that calculates.In the present embodiment, the direction indication that no matter unmanned so-called correction be meant flight carrier why, all control instruction all by the differential seat angle that calculates, and are modified to the instruction of controlling with respect to controller 2 direction indications automatically.
With Fig. 5 is that example describes; Differential seat angle between the direction indication of unmanned flight carrier and the direction indication of controller 2 is 25 degree; Suppose that the operator upwards pulls the control lever of controller 2; Then the instruction of controlling of controller 2 is that the unmanned flight of control carrier northwards flies, and instructs to spending flight in the unmanned flight of control carrier north by east 25 through adjusting module 203 revised controlling.
Step S5, transport module 204 be through being installed in the signal projector in the controller 2, controls the signal receiver that instruction sends unmanned flight carrier to revised.Unmanned flight carrier is controlled instruction and is flown according to revised.
What should explain at last is; Above embodiment is only unrestricted in order to technical scheme of the present invention to be described; Although the present invention is specified with reference to preferred embodiment; Those of ordinary skill in the art should be appreciated that and can make amendment or be equal to replacement technical scheme of the present invention, and do not break away from the spirit and the scope of technical scheme of the present invention.
Claims (8)
1. a method of utilizing controller to carry out the control signal adjustment is characterized in that this method comprises the steps:
Obtain the direction indication of the unmanned flight carrier that the electronic compass built in the unmanned flight carrier detects;
Obtain the direction indication of the controller that the electronic compass built in the controller detects;
Differential seat angle between the direction indication of the unmanned flight of calculating carrier and the direction indication of controller;
The instruction of controlling according to the automatic Correction and Control device of this differential seat angle that calculates generates the revised instruction of controlling; And
Control instruction and send unmanned flight carrier to revised, to control the flight of unmanned flight carrier.
2. the method for utilizing controller to carry out the control signal adjustment as claimed in claim 1 is characterized in that, the direction indication of said unmanned flight carrier comprises main direction indication, offset direction and deviation angle.
3. the method for utilizing controller to carry out the control signal adjustment as claimed in claim 1 is characterized in that the direction indication of said controller comprises main direction indication, offset direction and deviation angle.
4. the method for utilizing controller to carry out the control signal adjustment as claimed in claim 1; It is characterized in that; The instruction of controlling of the automatic Correction and Control device of this differential seat angle that calculates of said basis is meant: according to the differential seat angle that calculates, this is controlled instruction be modified to the instruction of controlling with respect to the controller direction indication.
5. a controller is used to carry out the control signal adjustment, it is characterized in that this controller comprises:
Storer;
Electronic compass;
One or more processors; And
One or more modules, said one or more modules are stored in the said storer and are configured to and carried out by said one or more processors, and said one or more modules comprise:
Acquisition module is used to obtain the direction indication of the unmanned flight carrier that the electronic compass built in the unmanned flight carrier detects;
Said acquisition module also is used to obtain the direction indication of the controller that the electronic compass built in the controller detects;
Computing module is used to calculate the differential seat angle between the direction indication of direction indication and controller of unmanned flight carrier;
Adjusting module is used for the instruction of controlling according to the automatic Correction and Control device of this differential seat angle that calculates, and generates the revised instruction of controlling; And
Transport module is used for controlling instruction and sending unmanned flight carrier to revised, to control the flight of unmanned flight carrier.
6. controller as claimed in claim 5 is characterized in that, the direction indication of said unmanned flight carrier comprises main direction indication, offset direction and deviation angle.
7. controller as claimed in claim 5 is characterized in that the direction indication of said controller comprises main direction indication, offset direction and deviation angle.
8. the controller of stating like claim 5; It is characterized in that; Said adjusting module is meant according to the instruction of controlling of the automatic Correction and Control device of this differential seat angle that calculates: according to the differential seat angle that calculates, this is controlled instruction be modified to the instruction of controlling with respect to the controller direction indication.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011100456646A CN102650884A (en) | 2011-02-25 | 2011-02-25 | Controller and method for adjusting control signals by utilizing controller |
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| CN2011100456646A CN102650884A (en) | 2011-02-25 | 2011-02-25 | Controller and method for adjusting control signals by utilizing controller |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103057712A (en) * | 2012-12-31 | 2013-04-24 | 北京航空航天大学 | Integration flight control system for miniature flying robot |
| CN104166348A (en) * | 2014-08-07 | 2014-11-26 | 北京理工大学 | Dynamic stability judgment method of single-slider variable-mass-center control aircraft |
| CN105278538A (en) * | 2015-11-24 | 2016-01-27 | 深圳飞马机器人科技有限公司 | Device and method of remote control of unmanned aerial vehicle with aeroplane heading indication |
| WO2018018982A1 (en) * | 2016-07-26 | 2018-02-01 | 广州亿航智能技术有限公司 | Yaw angle value calibration method and system for unmanned aerial vehicle |
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| CN101126766A (en) * | 2007-09-14 | 2008-02-20 | 浙江工业大学 | Tri-dimensional wind speed wind direction measuring apparatus based on omnidirectional vision |
| US20090076665A1 (en) * | 2007-09-14 | 2009-03-19 | Hoisington Zachary C | Method and System to Control Operation of a Device Using an Integrated Simulation with a Time Shift Option |
| CN201620406U (en) * | 2009-12-24 | 2010-11-03 | 上海交通大学 | Offshore city type artificial archipelago |
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| CN2087569U (en) * | 1990-07-30 | 1991-10-30 | 张旭 | Omnibearing angle-measuring gauging rule |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103057712A (en) * | 2012-12-31 | 2013-04-24 | 北京航空航天大学 | Integration flight control system for miniature flying robot |
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| CN104166348A (en) * | 2014-08-07 | 2014-11-26 | 北京理工大学 | Dynamic stability judgment method of single-slider variable-mass-center control aircraft |
| CN104166348B (en) * | 2014-08-07 | 2016-08-17 | 北京理工大学 | A kind of dynamic stability decision method of single sliding block Moving mass control aircraft |
| CN105278538A (en) * | 2015-11-24 | 2016-01-27 | 深圳飞马机器人科技有限公司 | Device and method of remote control of unmanned aerial vehicle with aeroplane heading indication |
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| WO2018018982A1 (en) * | 2016-07-26 | 2018-02-01 | 广州亿航智能技术有限公司 | Yaw angle value calibration method and system for unmanned aerial vehicle |
| CN111207736A (en) * | 2016-07-26 | 2020-05-29 | 广州亿航智能技术有限公司 | Method, system, equipment and readable storage medium for calibrating yaw angle of unmanned aerial vehicle |
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Application publication date: 20120829 |