CN103345826A - Remote control terminal of unmanned flight vehicle, as well as flight auxiliary system and method of unmanned flight vehicle - Google Patents
Remote control terminal of unmanned flight vehicle, as well as flight auxiliary system and method of unmanned flight vehicle Download PDFInfo
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- CN103345826A CN103345826A CN2013102824622A CN201310282462A CN103345826A CN 103345826 A CN103345826 A CN 103345826A CN 2013102824622 A CN2013102824622 A CN 2013102824622A CN 201310282462 A CN201310282462 A CN 201310282462A CN 103345826 A CN103345826 A CN 103345826A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0094—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
Abstract
The invention discloses a remote control terminal of an unmanned flight vehicle, as well as a flight auxiliary system and method of the unmanned flight vehicle, and belongs to the field of unmanned flight vehicles. The remote control terminal comprises an information acquisition module, an information processing module and an information output module; the information acquisition module is used for acquiring position information of an observation position, and acquiring position information and flight state information of the unmanned flight vehicle through a wireless network; the information processing module is used for acquiring the position information, relatively to the observation position, of the unmanned flight vehicle, according to the position information of the unmanned flight vehicle and the position information of the observation position; the information output module is used for outputting the flight state information of the unmanned flight vehicle and the position information of the unmanned flight vehicle relativley to the observation information. According to the remote control terminal of the unmanned flight vehicle, as well as the flight auxiliary system and method of the unmanned flight vehicle, a manipulator controls a flight path of the unmanned flight vehicle in an assisting manner through mastering the current flight position and the flight state of the unmanned flight vehicle; the blind flight and thw lost flight are prevented; meanwhile, the flight experience of the manipulators is improved.
Description
Technical field
The present invention relates to unmanned vehicle, relate in particular to a kind of remote terminal, flight backup system and method for unmanned vehicle.
Background technology
In recent years, unpiloted aircraft (for example fixed wing aircraft, rotor craft comprises helicopter), motor vehicles, submarine or ship, and satellite, the space station, or airship etc. obtained using widely, for example in detecting, and fields such as search and rescue.Manipulation for these movable bodies is realized by telechiric device by the user usually.
Remotely-piloted vehicle, submarine, or motor vehicles can carry carrier, for example carry the carrier arrangement of camera or illuminating lamp.For instance, can be loaded with camera on a kind of telecontrolled aircraft takes photo by plane.
The manipulator is at the operational movement body, in the process as unmanned vehicle, because the unmanned vehicle average physique is less, (as four or five hundred meters) with the naked eye are difficult to see clearly under the situation far away flying, in this case, the manipulator is difficult to observe out the course heading of unmanned vehicle, just is equivalent to blind flying, if there is not the supplementary means of flight, unmanned vehicle just is easy to fly to lose.In addition, if use FPV(First Person View, first person) words that fly of pattern, too be absorbed in display screen, the last position of not making clear that unmanned vehicle is current of also may causing causes getting lost even flies and loses, Yi Bian and see FPV, note the position of unmanned vehicle on one side, then can allow the user experience and have a greatly reduced quality.
Summary of the invention
In view of this, the technical problem to be solved in the present invention provides a kind of remote terminal, flight backup system and method for unmanned vehicle, grasps the current flight position of unmanned vehicle and state to help the manipulator, and can control the flight of unmanned vehicle accordingly.
It is as follows that the present invention solves the problems of the technologies described above the technical scheme that adopts:
According to an aspect of the present invention, the remote terminal of a kind of unmanned vehicle that provides comprises information acquisition module, message processing module and message output module, wherein:
The information acquisition module is used for obtaining the positional information of observation place, obtains positional information and the state of flight information of unmanned vehicle by wireless network;
Message processing module is used for obtaining unmanned vehicle with respect to the positional information of observation place according to positional information and the observation place information of unmanned vehicle;
Message output module be used for to receive and shows that by display screen the state of flight information of unmanned vehicle and unmanned vehicle are with respect to the positional information of observation place;
Preferably, the observation place is manipulator's position or the position that unmanned vehicle takes off.
Preferably, this remote terminal also comprises position measuring module, is used for measuring the positional information of remote terminal as manipulator's positional information, and sends message processing module to.
Preferably, message output module specifically is used for: be presented at display screen with the state of flight information of unmanned vehicle with respect to the positional information of the observation place form by figure.
Preferably, unmanned vehicle comprises that with respect to the positional information of observation place distance between unmanned vehicle and the observation place and unmanned vehicle are with respect to the angle of observation place; State of flight information comprises the course of unmanned vehicle and/or the elevation information with respect to ground of unmanned vehicle.
Preferably, the information acquisition module also comprises terminal attitude measurement module, wherein: and terminal attitude measurement module, for detection of the position angle of the screen datum line of display screen; Message processing module is used for the described position angle of positive optical axis reverse rotation with the relative display screen of figure.
Preferably, message processing module, also be used for judging the position angle of screen datum line of display screen and unmanned vehicle with respect to azimuthal difference of observation place whether less than predetermined threshold value, and the elevation angle of display screen and unmanned vehicle with respect to the difference of the elevation angle of observation place less than predetermined threshold value, if then produce the target prompting information that captures at screen.
Preferably, predetermined threshold value is 10 degree.
According to another aspect of the present invention, the flight backup system of a kind of unmanned vehicle that provides comprises: the remote terminal in the technique scheme and be arranged on state measurement sensor on the unmanned vehicle, wherein:
The state measurement sensor be used for to be measured positional information and the state of flight information of unmanned vehicle, and sends positional information and the state of flight information of unmanned vehicle to remote terminal;
Remote terminal also is used for according to the state of flight information of unmanned vehicle and the unmanned vehicle positional information with respect to the observation place, the flight of control unmanned vehicle.
Preferably, when the observation place was manipulator's position, manipulator's positional information obtained by being attached to manipulator or the sensor on the entrained object of manipulator; When the observation place be unmanned vehicle take off the position time, the position that unmanned vehicle takes off obtains by the state measurement sensor.
According to a further aspect of the invention, the flight householder method of a kind of unmanned vehicle that provides is characterized in that, this method comprises:
Obtain the positional information of observation place information, unmanned vehicle and the state of flight information of unmanned vehicle;
Positional information and observation place information according to unmanned vehicle obtain unmanned vehicle with respect to the positional information of observation place; And with the state of flight information of unmanned vehicle with respect to the positional information output of observation place;
According to the state of flight information of unmanned vehicle of output and the unmanned vehicle positional information with respect to the observation place, the flight of control unmanned vehicle.
Preferably, the positional information of unmanned vehicle and state of flight information obtain by the state measurement sensor that is arranged on the unmanned vehicle; The observation place is for manipulator's position or the position that unmanned vehicle takes off, and when the observation place was manipulator's position, manipulator's positional information obtained by being attached to manipulator or the sensor on the entrained object of manipulator; When the observation place be unmanned vehicle take off the position time, the position that unmanned vehicle takes off obtains by being arranged on carry-on state measurement sensor.
Preferably, the positional information output with respect to the observation place of the state of flight information of unmanned vehicle and unmanned vehicle is comprised: be presented on the display screen with the state of flight of unmanned vehicle with respect to the positional information of the observation place form by figure.
Preferably, unmanned vehicle comprises that with respect to the positional information of observation place distance between unmanned vehicle and the observation place and unmanned vehicle are with respect to the angle of observation place; State of flight information comprises the course of unmanned vehicle and/or the elevation information with respect to ground of unmanned vehicle.
Preferably, this method also comprises: obtain the position angle of the screen datum line of display screen, and with the described position angle of positive optical axis reverse rotation of the relative display screen of figure that shows.
Preferably, this method also comprises: judge the position angle of screen datum line of display screen and unmanned vehicle with respect to azimuthal difference of observation place whether less than predetermined threshold value, and the elevation angle of display screen and unmanned vehicle with respect to the difference of the elevation angle of observation place less than predetermined threshold value, if then produce the target prompting information that captures at screen.
Preferably, predetermined threshold value is 10 degree.
The remote terminal of the unmanned vehicle of the embodiment of the invention, flight backup system and method, by real-time grasp unmanned vehicle current flight position and state of flight, help the manipulator to control the flight path of unmanned vehicle, improved manipulator's flight experience, avoided blind simultaneously and flown and fly to lose.
Description of drawings
The structural representation of the remote terminal of a kind of unmanned vehicle that Fig. 1 provides for the embodiment of the invention;
A kind of synoptic diagram that shows the unmanned vehicle relative position of providing preferably is provided in Fig. 2 the present invention;
The demonstration synoptic diagram of a kind of display screen east-west direction horizontal positioned that Fig. 3 provides for the preferred embodiment of the present invention;
The demonstration synoptic diagram of a kind of display screen North and South direction horizontal positioned that Fig. 4 provides for the preferred embodiment of the present invention;
The position angle synoptic diagram that Fig. 5 provides for the embodiment of the invention;
Synoptic diagram when the position angle of the screen datum line of a kind of display screen that Fig. 6 provides for the preferred embodiment of the present invention is consistent with respect to the position angle of observation place with unmanned vehicle;
The positive optical axis of a kind of display screen that Fig. 7 preferred embodiment of the present invention provides is over against the synoptic diagram of unmanned vehicle;
The synoptic diagram of the elevation angle of the unmanned vehicle that Fig. 8 provides for the embodiment of the invention;
The synoptic diagram of the elevation angle of the display screen that Fig. 9 provides for the embodiment of the invention;
The process flow diagram of the flight householder method of a kind of unmanned vehicle that Figure 10 provides for the preferred embodiment of the present invention.
Embodiment
In order to make technical matters to be solved by this invention, technical scheme and beneficial effect clearer, clear, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explaining the present invention, and be not used in restriction the present invention.
Be the remote terminal structural representation of a kind of unmanned vehicle of providing of the embodiment of the invention as shown in Figure 1, this remote terminal comprises information acquisition module 10, message processing module 20 and message output module 30, wherein:
Information acquisition module 10 is used for obtaining the positional information of observation place, obtains positional information and the state of flight information of unmanned vehicle by wireless network;
Particularly, information acquisition module 10 further comprises observation place information acquisition module 101, and flight position state acquisition module 102, wherein, position information acquisition module 101 is used for obtaining manipulator's positional information or the positional information that unmanned vehicle takes off, when the observation place was manipulator's position, manipulator's positional information obtained by being attached to manipulator or the sensor on the entrained object of manipulator; Because this remote terminal is hand-held device, so the positional information of manipulator position and remote terminal is same information, can realize by the positional information of this remote terminal, so remote terminal also comprises position measuring module (such as the GPS module), be used for measuring the positional information of remote terminal as manipulator's positional information, and send message processing module 20 to.When the observation place be unmanned vehicle take off the position time, the position that unmanned vehicle takes off obtains by being arranged on carry-on state measurement sensor.The positional information of unmanned vehicle takeoff point be unmanned vehicle after powering on, the positional information that records when for the first time searching abundant position location satellite.
Flight position state acquisition module 102 is obtained positional information and the state of flight information of unmanned vehicle in real time by wireless network, and the positional information of unmanned vehicle and state of flight information obtain by the state measurement sensor measurement that is arranged on the unmanned vehicle.Flight position information comprises longitude and the latitude of flight position, and state of flight comprises pitching, roll and course, can also comprise the elevation information with respect to ground of unmanned vehicle.Wireless network comprises Wi-Fi (Wireless Fidelity) network, certainly, and still can the 2G network, 3G, 4G and following 5G network communicate.
Wherein, unmanned vehicle comprises with respect to the positional information of observation place: the distance between unmanned vehicle and the observation place and unmanned vehicle are with respect to the angle of observation place.
For more directly perceived, this step preferably is presented at the distance between course, unmanned vehicle and the observation place of unmanned vehicle and unmanned vehicle on the display screen with respect to the angle of the observation place form with figure.Wherein, unmanned vehicle comprises that with respect to the angle of observation place figure can be planar graph, also can be solid figure with respect to the position angle, observation place with respect to the elevation angle of observation place.See also Fig. 3 and Fig. 4, arrow in the figure that shows is represented the unmanned vehicle position, the sensing of arrow represents it is the course of unmanned vehicle, the position, observation place is represented in the center of circle, the line in arrow and the center of circle is represented the projection of line on ground level of position and the observation place of unmanned vehicle, the angle a in the positive north in line and ground represents that unmanned vehicle is with respect to the position angle of observation place, be several circles in the center of circle with the observation place, represent from the inside to surface unmanned vehicle from the distance of observation place from close to (be 50 meters such as the semidiameter the adjacent circle) far away, the safe distance of wherein representing flight in the dashed circle scope, when unmanned vehicle is outside safe distance, except showing, figure goes beyond the scope, can also remind the manipulator by voice or literal, the manipulator can fly its control by the path of control model flight in safe range, thereby avoid the blind (situation as shown in Figure 3 that flies and fly to lose, the manipulator only needs to make bar toward the lower left, just can allow unmanned vehicle fly back).
As the another kind of preferred version of present embodiment, information acquisition module 10 also comprises terminal attitude measurement module 103, is used for measuring display screen with respect to the position angle of the screen datum line of display screen, and this anglec of rotation is sent to message processing module 20; Message processing module 20 is with the described position angle of positive optical axis reverse rotation of the relative display screen of figure of demonstration.So that show on the display screen that it is reference that the relative position of unmanned vehicle and course angle keep with ground, have nothing to do with horizontal positioned direction and the vertical placement direction of the display screen of remote terminal.
Wherein, the screen datum line of display screen refers to the reference line parallel with one side of display screen, can be the line of following mid point on the display screen, bottom and upper segment refer to when the figure that shows be forward, and the screen datum line is forward make progress (as shown in Fig. 3 and Fig. 4).The position angle of the screen datum line of display screen refers to that the screen datum line is at the projection of ground level and the angle of direct north (B angle as shown in Figure 5).The positive optical axis of display screen refers to the axle perpendicular to display screen, in the time of also can thinking that the people watches display screen, is to observe (as shown in Figure 7) of display screen perpendicular to the angle of display screen.
When the display screen horizontal positioned of remote terminal, terminal attitude measurement module 103 can realize by magnetometer 1031, as benchmark, the screen datum line that obtains display screen is in the horizontal direction with respect to the position angle of direct north rotation with the sensing of magnetometer 1031.Message processing module 202 is with the described position angle of positive optical axis reverse rotation of the relative display screen of figure of demonstration.Here, the position angle reality of screen datum line just refers to the angle of screen datum line and direct north, see also Fig. 3 and Fig. 4, magnetometer can be realized by compass, such as according to the sensing of compass as benchmark, determine the position that unmanned vehicle shows in real time on display screen, guarantee as long as the position of unmanned vehicle and course do not change, how no matter the manipulator is rotated the change angle if holding remote terminal on the horizontal positioned direction, as long as the figure that shows with respect to the positive optical axis reverse rotation of display screen in real time according to the position angle of the screen datum line of display screen, the line that just can guarantee display screen upward arrow and the center of circle remains unchanged with respect to the angle of ground level, be that unmanned vehicle among Fig. 3 and Fig. 4 remains unchanged with respect to the position angle a of observation place, and the sensing of arrow also remain unchanged with respect to the angle of ground level.If there is not compass functional, can't accomplishes that then this angle a remains unchanged, but can guarantee that the actual relative position of unmanned vehicle and remote terminal can be reflected in arrow and the center of circle when display screen east-west direction horizontal positioned (as shown in Figure 3).
When the non-horizontal positioned of display screen of remote terminal, the position angle that terminal attitude measurement module 103 can be obtained the screen datum line of display screen by magnetometer 1031 and accelerometer 1032, the position angle of the screen datum line of display screen refers to that the screen datum line is at the projection of ground level and the angle of direct north here.Such as using magnetometer and accelerometer to calculate display screen attitude Rbg relative to the earth, position by unmanned vehicle and current screen position are asked poor vectorial Pg, the vector direction that shows at display screen is: the x of vector (Pb=Rbg*Pg), the y coordinate, thus the screen datum line that obtains display screen is at the projection of the ground level position angle with respect to the direct north rotation.Then with the figure that the shows described position angle of positive optical axis reverse rotation with respect to display screen, so that show on the display screen that it is reference that the relative position of unmanned vehicle and course angle keep with the ground level, have nothing to do with horizontal positioned direction or the vertical placement direction of the display screen of remote terminal.
Need to prove the inapplicable special circumstances when display screen is vertically placed of this programme.
Another preferred scheme as present embodiment, message processing module 20, also be used for judging the position angle of screen datum line of display screen and unmanned vehicle with respect to azimuthal difference of observation place whether less than predetermined threshold value, and the elevation angle of display screen and unmanned vehicle with respect to the difference of the elevation angle of observation place also less than predetermined threshold value, if then produce the target prompting information that captures at screen.Wherein, the screen datum line of display screen refers to the reference line parallel with one side of display screen, can be the line of following mid point on the display screen, bottom and upper segment refer to when the figure that shows be forward, and the screen datum line is forward make progress (as shown in Fig. 3 and Fig. 4).The position angle of the screen datum line of display screen refers to that the screen datum line is at the projection of ground level and the angle of direct north (B angle as shown in Figure 5).The elevation angle of display screen refers to the angle (rb angle as shown in Figure 9) of the positive optical axis of display screen and ground level, unmanned vehicle refers to that with respect to the position angle of observation place the line of unmanned vehicle and observation place is at the projection of ground level and the angle of ground level direct north (as a angle of Fig. 3, Fig. 4 and Fig. 5), the elevation angle of unmanned vehicle refers to the line of unmanned vehicle and observation place and the angle of ground level (ra angle as shown in Figure 8), and predetermined threshold value is 10 degree.
For instance, have relational expression: vv2=[v2x v2y v2z] ^T=Rgb* ([0 0 1] ^T)
Wherein, preceding two coordinates of v2=vv2, v1=[x2-x1, y2-y1] ^T, v1 represents vector is holded up, and v2 is that the z axle of display screen is in the expression of world coordinate system, get preceding two numbers and be illustrated in x, y direction projection, x1, y1 is the coordinate of display screen, and x2, y2 are the coordinates of unmanned vehicle, T is transposition, Rgb is the display screen attitude matrix, when the differential seat angle of v2 and v1 less than certain threshold value, the expression display screen is to the position to unmanned vehicle.
See also Fig. 6, when the display screen horizontal positioned of remote terminal, the manipulator can hold display screen and follow the arrow rotation to seek unmanned vehicle in the horizontal direction, follow arrow when display screen and rotate to the position angle of screen datum line of display screen when consistent with respect to the position angle of observation place with unmanned vehicle (a angle), at this moment, arrow should be positioned at display screen directly over.See also Fig. 7, when the manipulator at the position angle of the screen datum line of Fig. 6 display screen with the unmanned vehicle basis consistent with respect to the position angle of observation place on, hold elevation angle that display screen rotates to display screen in the vertical direction and unmanned vehicle when consistent with respect to the elevation angle of observation place, the positive optical axis of the display screen of non-horizontal positioned is oriented to the position of unmanned vehicle at this moment, produce the target prompting information that captures on the screen, can point out by the change color of arrow disappearance or arrow and capture target, improve manipulator's flight experience.
And in actual applications, under the positive optical axis of display screen levels off to the situation of aiming at unmanned vehicle (differential seat angle is less than predetermined threshold value), we also can think and have pointed to unmanned vehicle.Can so understand, be the summit of a upright cone with the center of circle among Fig. 7, the center of circle is the central axis of upright cone to the line of unmanned vehicle, predetermined threshold value is the drift angle of upright cone, like this, when lifting the position that display screen follows the direction of arrow to rotate to unmanned vehicle, the manipulator drops in the spatial dimension of upright cone, then can point out display screen over against having arrived unmanned vehicle, at this moment, position angle and the unmanned vehicle of the screen datum line of display screen reach unanimity with respect to the position angle of observation place, the elevation angle of display screen and unmanned vehicle reach unanimity with respect to the elevation angle of observation place, the positive optical axis of display screen is tending towards being oriented to the position of unmanned vehicle, also produce the target prompting information that captures at screen, this information can be the change color of arrow disappearance or arrow, has improved manipulator's flight experience.
See also Fig. 7, the manipulator can hold remote terminal and follow the direction rotation of the arrow that shows on the screen to seek unmanned vehicle, to follow arrow to rotate to the position angle of screen datum line of display screen consistent with respect to the position angle of observation place with unmanned vehicle when display screen, and when the elevation angle of display screen and unmanned vehicle are consistent with respect to the elevation angle of observation place, the positive optical axis of the display screen of non-horizontal positioned is oriented to the position of unmanned vehicle at this moment, produces the target prompting information that captures at screen.And in actual applications, under the positive optical axis of display screen levels off to the situation of aiming at unmanned vehicle (differential seat angle is less than predetermined threshold value), we also can think and have pointed to unmanned vehicle.Capture target prompting information in the screen generation, improved manipulator's flight experience.
In addition, remote terminal can also comprise voice module, the positional information and the flight attitude information that are used for the voice suggestion unmanned vehicle, comprise at how many degree of which direction of manipulator, unmanned vehicle the elevation angle of how many rice, unmanned vehicle is arranged is what to unmanned vehicle etc. apart from the manipulator, for instance, voice broadcast " unmanned vehicle is at your north-east 30 degree, and 50 degree that please come back can be seen unmanned vehicle ", thus manipulator's flight experience better improved.
Unmanned vehicle system by present embodiment, the manipulator is according to the relative position information that shows on the display screen and course heading, just can recognize the position at unmanned vehicle place like a cork, the display screen that eyes do not need to leave remote terminal just can carry out freely the flight path of controlling unmanned vehicle to unmanned vehicle, avoided blind and flown and fly to lose, improved manipulator's flight experience.
Be a kind of unmanned vehicle backup system structural representation that the invention process provides as shown in Figure 2, this system comprises: comprise any remote terminal in the technique scheme and be arranged on state measurement sensor on the unmanned vehicle, wherein:
The state measurement sensor be used for to be measured positional information and the state of flight information of unmanned vehicle, and sends positional information and the state of flight information of unmanned vehicle to remote terminal;
Remote terminal also is used for according to the state of flight information of unmanned vehicle and the unmanned vehicle positional information with respect to the observation place, the flight of control unmanned vehicle.
Preferably, when the observation place was manipulator's position, manipulator's positional information obtained by being attached to manipulator or the sensor on the entrained object of manipulator; When the observation place be unmanned vehicle take off the position time, the position that unmanned vehicle takes off obtains by the state measurement sensor.
Need explanatorily be that all technical schemes of the remote terminal of front equally all are suitable in the present embodiment, no longer repeat here.
The flight householder method of a kind of unmanned vehicle that provides for the embodiment of the invention as shown in figure 10, this method comprises:
S1002, the positional information of obtaining observation place information, unmanned vehicle and state of flight information;
Specifically, the positional information of unmanned vehicle and state of flight information obtain by the state measurement sensor that is arranged on the unmanned vehicle; The observation place is for manipulator's position or the position that unmanned vehicle takes off, and when the observation place was manipulator's position, manipulator's positional information obtained by being attached to manipulator or the sensor on the entrained object of manipulator; When the observation place be unmanned vehicle take off the position time, the position that unmanned vehicle takes off obtains by being arranged on carry-on state measurement sensor.
S1004, obtain unmanned vehicle with respect to the positional information of observation place according to positional information and the observation place information of unmanned vehicle;
The state of flight information of S1006, output unmanned vehicle and with respect to the positional information of observation place;
Specifically, unmanned vehicle comprises that with respect to the positional information of observation place distance between unmanned vehicle and the observation place and unmanned vehicle are with respect to the angle of observation place; State of flight information comprises the course of unmanned vehicle and/or the elevation information with respect to ground of unmanned vehicle.
Preferably, the positional information output with respect to the observation place of the state of flight information of unmanned vehicle and unmanned vehicle is comprised: the distance between unmanned vehicle and the observation place and unmanned vehicle are presented on the display screen with respect to the course of the angle of observation place, the unmanned vehicle form by figure.
S1008, according to the state of flight information of unmanned vehicle and the unmanned vehicle positional information with respect to the observation place, the flight of control unmanned vehicle.
A kind of preferred scheme as the embodiment of the invention also comprises among the step S1006: obtain the position angle of the screen datum line of display screen, and with the described position angle of positive optical axis reverse rotation of the relative display screen of figure.So that the relative position of the unmanned vehicle that shows on the display screen and course angle to keep with ground be reference, with the horizontal positioned direction of the display screen of telepilot or vertical placement direction have nothing to do (a angle referring to Fig. 3 and Fig. 4 is constant).Wherein, the screen datum line of display screen refers to the reference line parallel with one side of display screen, can be the line of following mid point on the display screen, bottom and upper segment refer to when the figure that shows be forward, and the screen datum line is forward make progress (as shown in Fig. 3 and Fig. 4).The position angle of the screen datum line of display screen refers to that the screen datum line is at the projection of ground level and the angle of direct north (B angle as shown in Figure 5).The positive optical axis of display screen refers to the axle perpendicular to display screen, in the time of also can thinking that the people watches display screen, is to observe (as shown in Figure 7) of display screen perpendicular to the angle of display screen.
A kind of preferred scheme as the embodiment of the invention, also comprise among the step S1006: judge the position angle of screen datum line of display screen and unmanned vehicle with respect to azimuthal difference of observation place whether less than predetermined threshold value, and the elevation angle of display screen and unmanned vehicle with respect to the difference of the elevation angle of observation place less than predetermined threshold value, if then produce the target prompting information that captures at screen.That is to say when the manipulator holds display screen and follows the direction rotation of arrow to seek unmanned vehicle, when the positive optical axis of display screen levels off to when pointing to unmanned vehicle (differential seat angle less than predetermined threshold time), produce the target prompting information that captures at screen.This information can be the change color of arrow disappearance or arrow, thereby has improved manipulator's flight experience (please participate in Fig. 7).
In addition, remote terminal can also comprise voice module, the positional information and the flight attitude information that are used for the voice suggestion unmanned vehicle, comprise at how many degree of which direction of manipulator, unmanned vehicle the elevation angle of how many rice, unmanned vehicle is arranged is what to unmanned vehicle etc. apart from the manipulator, for instance, voice broadcast " unmanned vehicle is at your north-east 30 degree, and 50 degree that please come back can be seen unmanned vehicle ", thus manipulator's flight experience better improved.
Need to prove, the various technical schemes of the remote terminal of above-mentioned unmanned vehicle, suitable equally in the flight householder method of this unmanned vehicle, identical detailed content no longer repeats.
The remote terminal of the unmanned vehicle that the embodiment of the invention provides, assisting in flying system and method, by grasping flight position and the state of flight of unmanned vehicle, help the manipulator to control the flight path of unmanned vehicle, avoided blind and flown and fly to lose, improved manipulator's flight experience simultaneously.
Above with reference to description of drawings the preferred embodiments of the present invention, be not so limit to interest field of the present invention.Those skilled in the art do not depart from the scope and spirit of the present invention, and can have multiple flexible program to realize the present invention, obtain another embodiment such as the feature as an embodiment can be used for another embodiment.Allly using any modification of doing within the technical conceive of the present invention, be equal to and replace and improve, all should be within interest field of the present invention.
Claims (17)
1. the remote terminal of a unmanned vehicle is characterized in that, this remote terminal comprises information acquisition module, message processing module and message output module, wherein:
Described information acquisition module is used for obtaining the positional information of observation place, obtains positional information and the state of flight information of unmanned vehicle by wireless network;
Described message processing module is used for obtaining unmanned vehicle with respect to the positional information of observation place according to positional information and the observation place information of described unmanned vehicle;
Described message output module be used for to receive and shows that by display screen the state of flight information of described unmanned vehicle and unmanned vehicle are with respect to the positional information of observation place.
2. the remote terminal of unmanned vehicle according to claim 1 is characterized in that, described observation place is manipulator's position or the position that unmanned vehicle takes off.
3. the remote terminal of unmanned vehicle according to claim 2 is characterized in that, this remote terminal also comprises position measuring module, is used for measuring the positional information of described remote terminal as manipulator's positional information, and sends described message processing module to.
4. according to the remote terminal of claim 1 or 2 or 3 described unmanned vehicles, it is characterized in that described message output module specifically is used for: be presented at display screen with the state of flight information of described unmanned vehicle with respect to the positional information of the observation place form by figure.
5. the remote terminal of unmanned vehicle according to claim 4, it is characterized in that, it is characterized in that described unmanned vehicle comprises that with respect to the positional information of observation place distance between unmanned vehicle and the observation place and unmanned vehicle are with respect to the angle of observation place; Described state of flight information comprises the course of unmanned vehicle and/or the elevation information with respect to ground of unmanned vehicle.
6. the remote terminal of unmanned vehicle according to claim 5 is characterized in that, described information acquisition module also comprises terminal attitude measurement module, wherein:
Described terminal attitude measurement module is for detection of the position angle of the screen datum line of described display screen;
Described message processing module is used for the described position angle of positive optical axis reverse rotation with the described relatively display screen of described figure.
7. the remote terminal of unmanned vehicle according to claim 6 is characterized in that,
Described message processing module, also be used for judging the position angle of screen datum line of display screen and unmanned vehicle with respect to azimuthal difference of observation place whether less than predetermined threshold value, and the elevation angle of display screen and unmanned vehicle with respect to the difference of the elevation angle of observation place less than predetermined threshold value, if then produce the target prompting information that captures at screen.
8. the remote terminal of unmanned vehicle according to claim 7, described predetermined threshold value are 10 degree.
9. the flight backup system of a unmanned vehicle is characterized in that, this system comprises the power any described remote terminal of claim of 1-8 and be arranged on state measurement sensor on the unmanned vehicle, wherein:
Described state measurement sensor be used for to be measured positional information and the state of flight information of unmanned vehicle, and sends positional information and the state of flight information of described unmanned vehicle to described remote terminal;
Described remote terminal also is used for according to the state of flight information of described unmanned vehicle and the unmanned vehicle positional information with respect to the observation place, the flight of control unmanned vehicle.
10. the flight backup system of unmanned vehicle according to claim 9 is characterized in that,
When the observation place was manipulator's position, manipulator's positional information obtained by being attached to manipulator or the sensor on the entrained object of manipulator;
When the observation place be unmanned vehicle take off the position time, the position that unmanned vehicle takes off obtains by described state measurement sensor.
11. the flight householder method of a unmanned vehicle is characterized in that, this method comprises:
Obtain the positional information of observation place information, unmanned vehicle and the state of flight information of unmanned vehicle;
Positional information and observation place information according to described unmanned vehicle obtain unmanned vehicle with respect to the positional information of observation place; And with the state of flight information of described unmanned vehicle with respect to the positional information output of observation place;
According to the state of flight information of the unmanned vehicle of described output and the unmanned vehicle positional information with respect to the observation place, the flight of control unmanned vehicle.
12. the flight householder method of unmanned vehicle according to claim 11 is characterized in that, the positional information of described unmanned vehicle and state of flight information obtain by the state measurement sensor that is arranged on the unmanned vehicle; Described observation place is for manipulator's position or the position that unmanned vehicle takes off, and when the observation place was manipulator's position, manipulator's positional information obtained by being attached to manipulator or the sensor on the entrained object of manipulator; When the observation place be unmanned vehicle take off the position time, the position that unmanned vehicle takes off obtains by being arranged on carry-on state measurement sensor.
13. the flight householder method according to claim 11 or 12 described unmanned vehicles, it is characterized in that, the positional information output with respect to the observation place of the state of flight information of described unmanned vehicle and unmanned vehicle is comprised: be presented on the display screen with the state of flight of described unmanned vehicle with respect to the positional information of the observation place form by figure.
14. the flight householder method of unmanned vehicle according to claim 13, it is characterized in that described unmanned vehicle comprises that with respect to the positional information of observation place distance between unmanned vehicle and the observation place and unmanned vehicle are with respect to the angle of observation place; Described state of flight information comprises the course of unmanned vehicle and/or the elevation information with respect to ground of unmanned vehicle.
15. the flight householder method of unmanned vehicle according to claim 14 is characterized in that, this method also comprises:
Obtain the position angle of the screen datum line of described display screen, and with the described position angle of positive optical axis reverse rotation of the described relatively display screen of described figure.
16. the flight householder method of unmanned vehicle according to claim 16, it is characterized in that, this method also comprises: judge the position angle of screen datum line of display screen and unmanned vehicle with respect to azimuthal difference of observation place whether less than predetermined threshold value, and the elevation angle of display screen and unmanned vehicle with respect to the difference of the elevation angle of observation place less than predetermined threshold value, if then produce the target prompting information that captures at screen.
17. the flight householder method of unmanned vehicle according to claim 16, described predetermined threshold value are 10 degree.
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| CN107256030B (en) | 2021-01-12 |
| CN107256030A (en) | 2017-10-17 |
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