CN103365298A - Flight assisting system and method for unmanned aerial vehicle - Google Patents
Flight assisting system and method for unmanned aerial vehicle Download PDFInfo
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- G05D1/10—Simultaneous control of position or course in three dimensions
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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Abstract
The invention discloses a flight assisting system and method for an unmanned aerial vehicle, belonging to the field of the unmanned aerial vehicle. The system comprises a remote controller, a mobile terminal and a state measurement sensor, wherein the state measurement sensor is used for measuring the position information and the flight state information of the unmanned aerial vehicle; the mobile terminal is used for obtaining the position information relative to an observation position of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle and observation position information and outputting the flight state information of the unmanned aerial vehicle and the position information relative to the observation position of the unmanned aerial vehicle; and the remote controller is used for controlling the flight of the unmanned aerial vehicle. By mastering the flight position and the flight state of the unmanned aerial vehicle, the system and the method help operators control the flight path of the unmanned aerial vehicle to avoid of blind flying and lost flying. Meanwhile, the flight experience of the operators is increased.
Description
Technical field
The present invention relates to unmanned vehicle, relate in particular to a kind of flight assisting 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. is widely used, for example in detecting, and the 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 such as unmanned vehicle, because the unmanned vehicle average physique is less, with the naked eye be difficult to see clearly in the situation that fly (such as four or five hundred meters) far away, 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 flight assisting system and method for unmanned vehicle, grasps current flight position and the state of flight of unmanned vehicle to help the manipulator, and can control accordingly the flight of unmanned vehicle.
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, a kind of unmanned vehicle backup system that provides comprises telepilot, portable terminal and is arranged on state measurement sensor on the unmanned vehicle, wherein:
The state measurement sensor is for positional information and the state of flight information of measuring unmanned vehicle;
Portable terminal, be used for obtaining the positional information of observation place, also be used for obtaining by wireless network positional information and the state of flight information of unmanned vehicle, obtain unmanned vehicle with respect to the positional information of observation place according to positional information and the observation place information of unmanned vehicle; And the output state of flight information of unmanned vehicle and unmanned vehicle are with respect to the positional information of observation place;
Telepilot is used for according to the state of flight information of the unmanned vehicle of portable terminal output and the unmanned vehicle positional information with respect to the observation place, the flight of control unmanned vehicle.
Preferably, the observation place is manipulator's position and/or the position 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; 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, portable terminal comprises:
The acquisition of information module is used for obtaining the positional information of observation place, also is used for obtaining by wireless network positional information and the state of flight information of unmanned vehicle;
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 the state of flight information of output unmanned vehicle and unmanned vehicle with respect to the positional information of observation place.
Preferably, message output module is used for: with the state of flight information of unmanned vehicle be presented at the display screen of portable terminal by the form of figure with respect to the positional information of observation place.
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 acquisition of information 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, 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 so, then produce the target prompting information that captures at screen.
Preferably, described predetermined threshold value is 10 degree.
According to another aspect of the present invention, the flight householder method of the unmanned vehicle of a kind of unmanned vehicle that provides comprises the steps:
Positional information and state of flight information by state measurement sensor measurement unmanned vehicle;
Positional information by the acquisition for mobile terminal observation place, obtain positional information and the state of flight information of unmanned vehicle by wireless network, and obtain unmanned vehicle with respect to the positional information of observation place according to positional information and the observation place information of unmanned vehicle; State of flight information and the unmanned vehicle of unmanned vehicle are exported with respect to the positional information of observation place;
By telepilot according to the state of flight information of the unmanned vehicle of portable terminal output and the unmanned vehicle positional information with respect to the observation place, the flight of control unmanned vehicle.
Preferably, the observation place is manipulator's position and/or the position 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;
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 of portable terminal 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 method also comprises: obtain the position angle of the screen datum line of display screen phase, and with the described position angle of positive optical axis reverse rotation of the relative display screen of figure.
Preferably, the 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 so, then produce the target prompting information that captures at screen.
Preferably, described predetermined threshold value is 10 degree.
Unmanned vehicle backup system provided by the invention and flight householder 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 simultaneously manipulator's flight experience.
Description of drawings
The flight assisting system structural representation of a kind of unmanned vehicle that Fig. 1 provides for the embodiment of the invention;
The modular structure schematic diagram of a kind of portable terminal that Fig. 2 provides for the preferred embodiment of the present invention;
A kind of display screen east-west direction horizontal positioned that Fig. 3 provides for the preferred embodiment of the present invention shows the schematic diagram in unmanned vehicle position and course;
A kind of display screen North and South direction horizontal positioned that Fig. 4 provides for the preferred embodiment of the present invention shows the schematic diagram in unmanned vehicle position and course;
The position angle schematic diagram that Fig. 5 provides for the embodiment of the invention;
Schematic 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 schematic diagram of unmanned vehicle;
The schematic diagram of the elevation angle of the unmanned vehicle that Fig. 8 provides for the embodiment of the invention;
The schematic 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 explain the present invention, is not intended to limit the present invention.
The flight assisting system structural representation of a kind of unmanned vehicle that provides for the embodiment of the invention such as Fig. 1, this system comprises telepilot 30, portable terminal 20 and is arranged on state measurement sensor 101 on the unmanned vehicle 10, wherein:
State measurement sensor 10 is for positional information and the state of flight information of measuring unmanned vehicle 10;
Wherein, flight position information comprises longitude and latitude, and state of flight information can comprise pitching, roll and course, can also comprise the flying height information of unmanned vehicle 10.
Wherein, the observation place can be manipulator's position and the position that unmanned vehicle 10 takes off, and also can be in manipulator's position and the position that unmanned vehicle takes off any one.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 10 take off the position time, the position that unmanned vehicle 10 takes off obtains by being arranged on carry-on state measurement sensor 101.Specifically, the positional information of manipulator position and portable terminal 20 is same information, so can by the positional information of portable terminal 20 person's that comes the precise assembly positional information, also can obtain by being attached to manipulator or the sensor on the entrained object of manipulator.When portable terminal 20 has the GPS function, obtain the gps coordinate of portable terminal as manipulator's positional information.When portable terminal 20 does not have the GPS function, obtain the positional information of unmanned vehicle takeoff point, wherein, the positional information of takeoff point be unmanned vehicle after powering on, the positional information that records when for the first time searching abundant position location satellite.
The manipulator can select manipulator's position or position that unmanned vehicle takes off as the observation place as required, needs this moment one to select module.Also can just set at first the observation place, can't help the manipulator to select.
Wireless network comprises the Wi-Fi network, certainly, also communicate by other networks, such as 2G 3G 4G and following 5G, as long as unmanned vehicle 10 and portable terminal 20 all support these communication protocols to communicate.
Telepilot 30 is used for according to the state of flight information of the unmanned vehicle 10 of portable terminal output and unmanned vehicle 10 positional information with respect to the observation place, the flight of control unmanned vehicle 10.
Wherein, the state of flight information of output unmanned vehicle 10 comprises the course of unmanned vehicle 10, unmanned vehicle 10 comprises that with respect to the positional information of observation place unmanned vehicle 10 comprises distance between unmanned vehicle 10 and the observation place and unmanned vehicle 10 with respect to the angle of observation place with respect to the positional information of observation place, and telepilot 30 is the flight of information control unmanned vehicle 10 accordingly.
The modular structure schematic diagram of a kind of portable terminal that provides for the preferred embodiment of the present invention such as Fig. 2, this portable terminal 20 comprise and connect successively ground acquisition of information module 201, message processing module 202 and message output module 203, wherein:
Acquisition of information module 201 further comprises observation place acquisition of information module 2011 and flight position and state acquisition module 2012, and wherein, observation place acquisition of information module 2011 is used for obtaining the positional information of observation place; Flight position and state acquisition module 2012 is used for obtaining the positional information of unmanned vehicle and state of flight information.
Message processing module 202 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, and sends unmanned vehicle to message output module with respect to the positional information of observation place;
Message output module 203 is used for the state of flight information of output unmanned vehicle and unmanned vehicle with respect to the positional information of observation place.
As a kind of preferred scheme of the present embodiment, message output module 203 can be presented at the distance between unmanned vehicle and the observation place and unmanned vehicle on the display screen with respect to the course of the angle of observation place, the unmanned vehicle form by 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 represents the unmanned vehicle position in the figure that shows, the sensing of arrow represents it is the course of unmanned vehicle, the center of circle represents the position, observation place, the line in arrow and the center of circle represents 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, take the observation place as several circles in the center of circle, 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 that wherein expression is flown 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 be controlled at it in safe range by the path of control model flight and fly, 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 the present embodiment, acquisition of information module 201 also comprises terminal attitude measurement module 2013, 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 202; 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.Keep being take ground reference so that show the relative position of screen display unmanned vehicle and course angle, have nothing to do with horizontal positioned direction and the vertical placement direction of the display screen of portable 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, can think that also the people soon during 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 portable terminal, terminal attitude measurement module 2013 can realize by magnetometer 20131, 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 20131.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 portable 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 portable 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 portable terminal, the position angle that terminal attitude measurement module 2013 can be obtained the screen datum line of display screen by magnetometer 20131 and accelerometer 20132, 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, in the vector direction that shows screen display be: 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, keep take ground level as reference so that show the relative position of screen display unmanned vehicle and course angle, have nothing to do with horizontal positioned direction or the vertical placement direction of the display screen of portable terminal.
Need to prove the inapplicable special circumstances when display screen is vertically placed of this programme.
Another preferred scheme as the present embodiment, message processing module 202, 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 the threshold value of being scheduled to, 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 so, 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 (such 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, the first two coordinate 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 the first two number 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 portable terminal, the manipulator can hold display screen and follow in the horizontal direction the arrow rotation to seek unmanned vehicle, 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, the center of circle in Fig. 7 is the summit of a vertical cone, the center of circle is the central axis of vertical cone to the line of unmanned vehicle, predetermined threshold value is the drift angle of vertical cone, like this, when lifting display screen, the manipulator follow the direction rotation of arrow to drop on to the position of unmanned vehicle in the spatial dimension of vertical 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 portable 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.
Certainly, can also comprise voice module in the portable terminal, 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.The flight assisting system of the unmanned vehicle by the present embodiment, the manipulator is according to the relative position information and the course that show screen display, just can recognize like a cork the position at unmanned vehicle place, the display screen that eyes do not need to leave portable 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 simultaneously manipulator's flight experience.
Be the flight householder method process flow diagram of the unmanned vehicle of a kind of unmanned vehicle of providing of the preferred embodiment of the present invention as shown in figure 10, the method comprises:
S1002, by positional information and the state of flight information of state measurement sensor measurement unmanned vehicle;
Wherein, flight position information comprises longitude and latitude, and state of flight information comprises pitching, roll and course, also comprises the flying height information of unmanned vehicle 10.
S1004, by the positional information of acquisition for mobile terminal observation place, also obtain positional information and the state of flight information of unmanned vehicle by wireless network;
Specifically, portable terminal and unmanned vehicle are set up the Wi-Fi network and are carried out point-to-point communication, obtain its current positional information and state of flight information from unmanned vehicle in real time.
Wherein, the observation place can be manipulator's position and the position that unmanned vehicle takes off, and also can be in manipulator's position and the position that unmanned vehicle takes off any.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; Certainly, because the positional information of manipulator position and portable terminal is same information, preferred version is the positional information by the GPS module precise assembly person of portable terminal.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.
S1006, obtain unmanned vehicle with respect to the positional information of observation place according to positional information and the observation place information of unmanned vehicle;
Specifically, unmanned vehicle comprises distance between unmanned vehicle and the observation place and unmanned vehicle with respect to the angle of observation place with respect to the positional information of observation place, and state of flight information comprises the course of unmanned vehicle.
S1008, unmanned vehicle is presented on the display screen with respect to distance, angle and the course of the observation place mode with figure;
Specifically, the position angle refers to display screen with respect to the angle of rotating in the horizontal direction on ground, and elevation angle refers to that display screen is with respect to the elevation angle of rotating in the vertical direction on ground.
S1010, the position angle that obtains the screen datum line of display screen, and with the positive optical axis reverse rotation described position angle of figure with respect to display 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 positive optical axis of display screen refers to the axle perpendicular to display screen, can think that also the people soon during display screen, is to observe (as shown in Figure 7) of display screen perpendicular to the angle of display screen.
Specifically, when the display screen horizontal positioned of portable terminal, can realize by magnetometer, 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.And by with the positive optical axis reverse rotation described position angle of figure with respect to display screen, keep take ground level as reference, with the horizontal positioned orientation independent of display screen so that show relative position and the course of the unmanned vehicle of screen display.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 portable 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 portable 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 portable terminal, can obtain by magnetometer and accelerometer the position angle of the screen datum line of display screen, 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, in the vector direction that shows screen display be: 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, keep take ground level as reference so that show the relative position of screen display unmanned vehicle and course angle, have nothing to do with horizontal positioned direction or the vertical placement direction of the display screen of portable terminal.
Need to explanatorily be, the step S1010 in the present embodiment be optional step, when not considering display screen in the horizontal direction with the rotation of vertical direction, can omit step, and the inapplicable special circumstances when display screen is vertically placed of this step.
S1012, by relative position and the course of telepilot according to the unmanned vehicle of portable terminal output, the flight of control unmanned vehicle.
As another preferred embodiment of the present invention, the method also comprise the position angle of the screen datum line of also judging mobile terminal 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 so, then produce the target prompting information that captures at screen.Wherein, the position angle of the screen datum line of display screen refers to that the positive optical axis of display screen is at the projection on ground and the angle of ground direct north, the elevation angle of display screen refers to the angle on the positive optical axis of display screen and ground, 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 on ground and the angle of ground direct north, the elevation angle of unmanned vehicle refers to the line of unmanned vehicle and observation place and the angle on ground, and predetermined threshold value is 10 degree.Also just says when the manipulator holds portable terminal and follows the direction rotation of the arrow that shows on the screen to seek unmanned vehicle, when the positive optical axis sensing of display screen during over against the position of unmanned vehicle, capture target prompting information in the screen generation.See also Fig. 7, the manipulator can hold portable 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 display screen 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.Produce the target prompting information that captures at screen, can point out by the change color of arrow disappearance or arrow and capture target, improved manipulator's flight experience.
Certainly, the mode that positional information and the flight attitude information exchange of unmanned vehicle are crossed voice or screen text can also be informed the manipulator in this method, at how many degree of which direction of manipulator, unmanned vehicle the elevation angle of how many rice, unmanned vehicle is arranged is what etc. apart from the manipulator such as unmanned vehicle, for instance, voice broadcast " unmanned vehicle is at your north-east 30 degree; 50 degree that please come back can be seen unmanned vehicle ", thus manipulator's flight experience better improved.
The flight assisting system of the unmanned vehicle that the embodiment of the invention provides 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 simultaneously manipulator's flight experience.
Above with reference to the accompanying drawings of 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 (15)
1. the flight assisting system of a unmanned vehicle is characterized in that, this system comprises telepilot, portable terminal and be arranged on state measurement sensor on the unmanned vehicle, wherein:
Described state measurement sensor is for positional information and the state of flight information of measuring unmanned vehicle;
Described portable terminal, be used for obtaining the positional information of observation place, also be used for obtaining by wireless network positional information and the state of flight information of described unmanned vehicle, obtain unmanned vehicle with respect to the positional information of observation place according to positional information and the observation place information of described unmanned vehicle; And export the state of flight information of described unmanned vehicle and unmanned vehicle with respect to the positional information of observation place;
Described telepilot is used for according to the state of flight information of the unmanned vehicle of described portable terminal output and the unmanned vehicle positional information with respect to the observation place, the flight of control unmanned vehicle.
2. the flight assisting system of unmanned vehicle according to claim 1 is characterized in that, described observation place is manipulator's position and/or the position 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;
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.
3. the flight assisting system of unmanned vehicle according to claim 1 is characterized in that, described portable terminal comprises:
The acquisition of information module is used for obtaining the positional information of observation place, also is used for obtaining by wireless network positional information and the state of flight information of unmanned vehicle;
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;
Message output module be used for to receive and exports the state of flight information of described unmanned vehicle and unmanned vehicle with respect to the positional information of observation place.
4. according to claim 1 and 2 or the flight assisting system of 3 described unmanned vehicles, it is characterized in that, described message output module is used for: with the state of flight information of unmanned vehicle be presented at the display screen of described portable terminal by the form of figure with respect to the positional information of observation place.
5. the flight assisting system of unmanned vehicle according to claim 4, 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 flight assisting system of unmanned vehicle according to claim 5 is characterized in that, described acquisition of information 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 relatively described display screen of described figure.
7. the flight assisting system 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 the threshold value of being scheduled to, 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 so, then produce the target prompting information that captures at screen.
8. the flight assisting system of unmanned vehicle according to claim 7, described predetermined threshold value are 10 degree.
9. the flight householder method of the unmanned vehicle of a unmanned vehicle is characterized in that, the method comprises the steps:
Positional information and state of flight information by state measurement sensor measurement unmanned vehicle;
Positional information by the acquisition for mobile terminal observation place, obtain positional information and the state of flight information of described unmanned vehicle by wireless network, and obtain unmanned vehicle with respect to the positional information of observation place according to positional information and the observation place information of described unmanned vehicle; State of flight information and the unmanned vehicle of described unmanned vehicle are exported with respect to the positional information of observation place;
By telepilot according to the state of flight information of the unmanned vehicle of described portable terminal output and the unmanned vehicle positional information with respect to the observation place, the flight of control unmanned vehicle.
10. the flight householder method of unmanned vehicle according to claim 9 is characterized in that, described observation place is manipulator's position and/or the position 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;
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.
11. according to claim 9 or the flight householder method of 10 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 of described portable terminal with the state of flight information of described unmanned vehicle with respect to the positional information of the observation place form by figure.
12. the flight householder method of unmanned vehicle according to claim 11, 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.
13. the flight householder method of unmanned vehicle according to claim 12 is characterized in that, the 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 relatively described display screen of described figure.
14. the flight householder method of unmanned vehicle according to claim 13 is characterized in that,
The 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 so, then produce the target prompting information that captures at screen.
15. the flight householder method of unmanned vehicle according to claim 14, described predetermined threshold value are 10 degree.
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| CN201310283350.9A CN103365298B (en) | 2013-07-05 | 2013-07-05 | The flight assisting system and method for unmanned vehicle |
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| CN103365298B (en) | 2017-06-20 |
| CN107203219A (en) | 2017-09-26 |
| CN107203219B (en) | 2020-10-23 |
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