CN103585769B - A kind of telecontrolled aircraft and corresponding investigating method - Google Patents
A kind of telecontrolled aircraft and corresponding investigating method Download PDFInfo
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Abstract
The embodiment of the invention discloses a kind of telecontrolled aircraft and corresponding investigating method, for realizing the Based Intelligent Control of various flight function according to the flying height of telecontrolled aircraft.The method comprise the steps that height detection unit, feedback control unit and power unit；Described power unit is for providing the flying power of telecontrolled aircraft；Described height detection unit is for detecting the terrain clearance of described telecontrolled aircraft in real time, and in real time described terrain clearance is fed back to described feedback control unit；Described feedback control unit is for receiving the control instruction that user sends, and detects the state of flight of described telecontrolled aircraft according to the described terrain clearance of different time points and described control instruction, controls described power unit according to described state of flight.
Description
Technical field
The present invention relates to intelligent monitoring field, particularly relate to a kind of telecontrolled aircraft and corresponding investigating method.
Background technology
Telecontrolled aircraft common on market can realize remote control distributor, utilizes angular-rate sensor can realize preventing the functions such as spin and control turn to.But telecontrolled aircraft is except controlling to turn to, in addition it is also necessary to the height of flight is controlled.
In existing technology, user directly manipulates the power of telecontrolled aircraft rotor group in the vertical direction to realize the control of flying height by remote controller, but, the operation sense organ of user and the sensitivity of the power of regulatable rotor group are depended in the success or not that this control method controls, and user often causes the damage of telecontrolled aircraft because operation is not good at.
Summary of the invention
Embodiments provide a kind of telecontrolled aircraft and corresponding investigating method, for realizing the Based Intelligent Control of various flight function according to the flying height of telecontrolled aircraft.
Telecontrolled aircraft provided by the invention, including:
Height detection unit, feedback control unit and power unit；
Described power unit is for providing the flying power of telecontrolled aircraft；
Described height detection unit is for detecting the terrain clearance of described telecontrolled aircraft in real time, and in real time described terrain clearance is fed back to described feedback control unit；
Described feedback control unit is for receiving the control instruction that user sends, and detects the state of flight of described telecontrolled aircraft according to the described terrain clearance of different time points and described control instruction, controls described power unit according to described state of flight.
The investigating method of telecontrolled aircraft provided by the invention, including:
Detect the terrain clearance of telecontrolled aircraft in real time；
Receive the control instruction that user sends；
Described terrain clearance according to different time points and described control instruction detect the state of flight of described telecontrolled aircraft；
The flying power of described telecontrolled aircraft is controlled according to described state of flight.
As can be seen from the above technical solutions, the embodiment of the present invention has the advantage that
The telecontrolled aircraft of the present invention can measure the terrain clearance that this telecontrolled aircraft is current in real time, and in real time described terrain clearance is fed back to described feedback control unit, thus the feedback control unit of telecontrolled aircraft just can know the state of flight of this telecontrolled aircraft by the described terrain clearance of different time points, after receiving the control instruction that user sends, can according to the type of current state of flight and this control instruction, increase or reduce the flying power of telecontrolled aircraft intelligently, to be directly realized by the control purpose of user.
Accompanying drawing explanation
Fig. 1 is a logical structure schematic diagram of embodiment of the present invention telecontrolled aircraft；
Fig. 2 is another logical structure schematic diagram of embodiment of the present invention telecontrolled aircraft；
Fig. 3 is the schematic diagram of embodiment of the present invention distance-finding method；
Fig. 4 is a schematic flow sheet of the investigating method of a kind of telecontrolled aircraft of the embodiment of the present invention；
Fig. 5 is another schematic flow sheet of the investigating method of a kind of telecontrolled aircraft of the embodiment of the present invention.
Detailed description of the invention
Embodiments provide a kind of telecontrolled aircraft and corresponding investigating method, for realizing the Based Intelligent Control of various flight function according to the flying height of telecontrolled aircraft.
Referring to Fig. 1, in the embodiment of the present invention, an embodiment of telecontrolled aircraft includes:
Height detection unit 101, feedback control unit 102 and power unit 103；
Described power unit 103 is for providing the flying power of telecontrolled aircraft；
Optionally, in actual applications, described power unit 103 can be telecontrolled aircraft rotor group in vertical direction, and the flying power controlling telecontrolled aircraft specifically can pass through to control the motor rotary speed realization of described rotor group；It is understood that in actual applications, the power unit of telecontrolled aircraft is not limited to rotor group in vertical direction, it is also possible to for other the device providing flying power, therefore, above are only and illustrates, the embodiment of the present invention does not constitute concrete restriction.
Described height detection unit 101 is for detecting the terrain clearance of described telecontrolled aircraft in real time, and described terrain clearance feeds back to described feedback control unit 102 in real time；
Optionally, in actual applications, telecontrolled aircraft can pass through the photographic head shooting range finding terrain clearance with telecontrolled aircraft, the certainty of measurement of which kind of measurement technique influence terrain clearance specifically used, and the cost of telecontrolled aircraft, have no effect on the realization of observing and controlling principle of the present invention；Concrete, subsequent embodiment will provide for the embodiment of photographic head shooting range finding.
Described feedback control unit 102 is for receiving the control instruction that user sends, and detects the state of flight of described telecontrolled aircraft according to the described terrain clearance of different time points and described control instruction, controls described power unit 103 according to described state of flight.
Optionally, in actual applications, feedback control unit 102 can be realized by CPU (CentralProcessingUnit, CPU), is responsible for the computing of the various parameters such as terrain clearance；Concrete, user can pass through remote controller and send control instruction to feedback control unit 102, feedback control unit 102 triggers preset various Action Events according to this control instruction, triggers the control to described power unit 103 by the operation result of the various parameters such as responsible terrain clearance.
In the telecontrolled aircraft of existing technology, the control of flying height must be operated by experience by user and directly operate the power of telecontrolled aircraft rotor group in the vertical direction and realize, and easily occurs falling machine problem, cause that Consumer's Experience is not good in actually used.
The telecontrolled aircraft of the present invention can measure the terrain clearance that this telecontrolled aircraft is current in real time, and in real time described terrain clearance is fed back to described feedback control unit, thus the feedback control unit of telecontrolled aircraft just can know the state of flight of this telecontrolled aircraft by the described terrain clearance of different time points, after receiving the control instruction that user sends, can according to the type of current state of flight and this control instruction, increase or reduce the flying power of telecontrolled aircraft intelligently, to be directly realized by the control purpose of user.
In actual applications, owing to the remote sensing distance of remote controller and the flight performance of telecontrolled aircraft do not have the contact of certainty, namely telecontrolled aircraft can fly away from the remote range of remote controller, if there is departing between this situation telecontrolled aircraft the control of user, it is easy to cause the damage of telecontrolled aircraft and bring potential safety hazard to way people；The invention provides the scheme solving the problems referred to above, specifically refer to Fig. 2, in the embodiment of the present invention, another embodiment of telecontrolled aircraft includes:
Height detection unit 101, feedback control unit 102 and power unit 103；
Described power unit 103 is for providing the flying power of telecontrolled aircraft；
Optionally, in actual applications, described power unit 103 can be telecontrolled aircraft rotor group in vertical direction, and the flying power controlling telecontrolled aircraft specifically can pass through to control the motor rotary speed realization of described rotor group；It is understood that in actual applications, the power unit of telecontrolled aircraft is not limited to rotor group in vertical direction, it is also possible to for other the device providing flying power, therefore, above are only and illustrates, the embodiment of the present invention does not constitute concrete restriction.
Described height detection unit 101 is for detecting the terrain clearance of described telecontrolled aircraft in real time, and described terrain clearance feeds back to described feedback control unit 102 in real time；
Concrete, described height detection unit 101 may include that
Two light source emitting module 1011, photographing module 1012 and high computational module 1013；
Said two light source emitting module 1011 is for the parallel range finding light source of transmitting earthward；Described photographing module 1012 is for obtaining the imaging of described range finding light source；
Described high computational module 1013 is for the distance of the imaging according to described range finding light source, the distance of two preset light source emitting module, and preset pick-up lens group is to the distance of imaging plane, calculates described terrain clearance.
Can installing two LASER Light Sources in telecontrolled aircraft, launch laser in the process of flight always, owing to the position of LASER Light Source is fixing, therefore, the actual pitch of the ray laser point projecting ground is also fixing, and the actual pitch of ray laser point is known parameters D；
Refer to and Fig. 3, Fig. 3 illustrate two laser drop point a and b processes of imaging on the imaging plane c of photographing module on ground.The photographic head of the photographing module in telecontrolled aircraft has fixing visual angle, the cam lens group of photographing module and the imaging plane distance of photographing module are fixing, utilize the height of triangle and the principle on base it can be seen that the cam lens group of photographing module exists proportionate relationship to distance (i.e. terrain clearance) H on ground and pick-up lens group to the distance h of imaging plane: d/h=D/H.
D in above formula is the distance of laser spots imaging (imaging of light source of namely finding range), it is possible to carries out shooting by image unit and obtains；H is known quantity, depends on the firmware configuration of photographing module；The terrain clearance that telecontrolled aircraft is current can be calculated according to described formula.
Described feedback control unit 102 is for receiving the control instruction that user sends, and detects the state of flight of described telecontrolled aircraft according to the described terrain clearance of different time points and described control instruction, controls described power unit 103 according to described state of flight.Concrete, state of flight can include propradation, decline state and flight speed etc..
Concrete, feedback control unit 102 can include Hovering control module 1021, at the uniform velocity controls module 1022 and height control module 1023；
Hovering control module 1021, for when the described control instruction received is for hovering instruction, difference according to current point in time Yu the described terrain clearance of previous time point, the state of flight determining described telecontrolled aircraft is propradation or decline state, and the flight speed in conjunction with described propradation or institute's decline state controls described power unit 103 (can be the rotating speed regulating rotor group motor).
At the uniform velocity control module 1022, for when the described control instruction received is at the uniform velocity instruction, difference according to current point in time Yu the described terrain clearance of previous time point, determine the described telecontrolled aircraft speed of service in vertical direction, and control described power unit 103 (can be the rotating speed regulating rotor group motor) according to the described speed of service.
Height control module 1023, for when the described terrain clearance that described height detection unit feeds back is more than or equal to preset height threshold, sending regulation and control instruction to described power unit so that described telecontrolled aircraft stops rising 103.
Concrete, described preset height threshold is less than the maximum remote sensing scope of remote controller, the regulation and control time (rotating speed namely reducing motor also has a process for deceleration) is needed because being automatically adjusted, therefore, to the maximum remote sensing with a certain distance from remote controller range up to time, it is necessary to trigger rise regulation and control instruction.
In actual applications, more Based Intelligent Control can also be realized by terrain clearance, not enumerate herein, and above-mentioned exemplified function should not be construed the restriction that the present invention is realized by terrain clearance intelligent control function.
In an embodiment of the present invention, user only needs, by an operated key, to realize object run, convenient and swift；Further, the telecontrolled aircraft of the embodiment of the present invention can be automatically obtained the remote sensing at remote controller apart from interior flight, it is not necessary to user guards against, and improves the safety of telecontrolled aircraft.
Below the embodiment of the method realizing telecontrolled aircraft of the present invention being illustrated, its flow chart refer to Fig. 4, and in the embodiment of the present invention, an embodiment of the investigating method of telecontrolled aircraft includes:
401, the terrain clearance of telecontrolled aircraft is detected in real time；
Height detection unit detects the terrain clearance of telecontrolled aircraft in real time, and in real time described terrain clearance is fed back to described feedback control unit.
Optionally, in actual applications, telecontrolled aircraft can measure the terrain clearance of telecontrolled aircraft by the technology of the Laser feedback time difference, photographic head shooting range finding can also be passed through, the certainty of measurement of which kind of measurement technique influence terrain clearance specifically used, and the cost of telecontrolled aircraft, have no effect on the realization of observing and controlling principle of the present invention；Concrete, subsequent embodiment will provide for the embodiment of photographic head shooting range finding.
402, the control instruction that user sends is received；
Feedback control unit receives the control instruction that user sends；In actual applications, user can send control instruction by the button (with a set of Macintosh) of remote controller to the feedback control unit of telecontrolled aircraft, realizes object run controlling telecontrolled aircraft.
403, the state of flight of described telecontrolled aircraft is detected according to the described terrain clearance of different time points and described control instruction；
Feedback control unit detects the state of flight of described telecontrolled aircraft according to the described terrain clearance of different time points and described control instruction.
Concrete, state of flight can include propradation, decline state and flight speed etc..
Exemplary, the difference of the terrain clearance that feedback control unit can be checked according to two time points, know that the state of flight of telecontrolled aircraft is propradation or decline state；Telecontrolled aircraft flight speed in vertical direction can also be calculated according to the difference of the time difference of said two time point and described terrain clearance.
404, the flying power of described telecontrolled aircraft is controlled according to described state of flight.
Feedback control unit according to the demand of described state of flight and current control instruction (as, if telecontrolled aircraft is in propradation, and control instruction is hovering instruction, then feedback control unit then needs to indicate described power unit to slow down), send acceleration or deceleration instruction to the power unit of telecontrolled aircraft.
Optionally, in actual applications, described power unit can be telecontrolled aircraft rotor group in vertical direction, and the flying power controlling telecontrolled aircraft specifically can pass through to control the motor rotary speed realization of described rotor group；It is understood that in actual applications, the power unit of telecontrolled aircraft is not limited to rotor group in vertical direction, it is also possible to for other the device providing flying power, therefore, above are only and illustrates, the embodiment of the present invention does not constitute concrete restriction.
Below the investigating method of telecontrolled aircraft of the present invention being described in detail, its flow chart refer to Fig. 5, and in the embodiment of the present invention, another embodiment of the investigating method of telecontrolled aircraft includes:
501, the vertical range finding light source of transmitting earthward；
The range finding light source of transmitting earthward that light source emitting module is vertical.
502, the distance of the imaging of said two range finding light source is obtained；
The imaging of photographing module two described range finding light sources of shooting, and described imaging is sent to high computational module so that the high computational module distance according to the imaging of described imaging calculating said ranging light source.
503, terrain clearance is calculated according to the parameter obtained；
The high computational module distance according to the imaging of described range finding light source, the actual range of two preset light sources, and preset pick-up lens group is to the distance of imaging plane, calculates described terrain clearance.
504, the control instruction that user sends is received；
Feedback control unit receives the control instruction that user sends, and described control instruction can be hovering instruction or at the uniform velocity instruction.
505, the state of flight of described telecontrolled aircraft is detected according to the described terrain clearance of different time points and described control instruction；
Optionally, when described control instruction is for hovering instruction, the described described terrain clearance according to different time points and described control instruction detect the state of flight of described telecontrolled aircraft, particularly as follows: the difference according to current point in time Yu the described terrain clearance of previous time point, it is determined that the state of flight of described telecontrolled aircraft is propradation or decline state.
Optionally, when described control instruction is at the uniform velocity instruction, the described described terrain clearance according to different time points and described control instruction detect the state of flight of described telecontrolled aircraft, particularly as follows: the difference according to current point in time Yu the described terrain clearance of previous time point, it is determined that the described telecontrolled aircraft speed of service in vertical direction.
506, the flying power of described telecontrolled aircraft is controlled according to described state of flight；
Optionally, when described control instruction is for hovering instruction, the described flying power controlling described telecontrolled aircraft according to described state of flight, particularly as follows: the flight speed according to described propradation or institute's decline state increases or reduces the flying power of described telecontrolled aircraft, to reach the purpose of hovering.
Optionally, when described control instruction is at the uniform velocity instruction, the described flying power controlling described telecontrolled aircraft according to described state of flight, particularly as follows: increase or reduce the flying power of described telecontrolled aircraft, to reach the purpose flied at a constant speed according to the described speed of service.
In actual applications, more Based Intelligent Control can also be realized by terrain clearance, not enumerate herein, and above-mentioned exemplified function should not be construed the restriction that the present invention is realized by terrain clearance intelligent control function.
If 507 when exceeding preset height threshold, then reduce the flying power that described telecontrolled aircraft rises.
In actual applications, when the described terrain clearance detected is more than or equal to preset height threshold, feedback control unit then reduces the flying power that described telecontrolled aircraft rises, and rises to stop described telecontrolled aircraft to continue.
Concrete, described preset height threshold is less than the maximum remote sensing scope of remote controller, the regulation and control time (rotating speed namely reducing motor also has a process for deceleration) is needed because being automatically adjusted, therefore, to the maximum remote sensing with a certain distance from remote controller range up to time, it is necessary to trigger rise regulation and control instruction.
In several embodiments provided herein, it should be understood that disclosed apparatus and method can realize by another way.Such as, device embodiment described above is merely schematic, such as, the division of described unit, being only a kind of logic function to divide, actual can have other dividing mode when realizing, for instance multiple unit or assembly can in conjunction with or be desirably integrated into another system, or some features can ignore, or do not perform.Another point, shown or discussed coupling each other or direct-coupling or communication connection can be through INDIRECT COUPLING or the communication connection of some interfaces, device or unit, it is possible to be electrical, machinery or other form.
The described unit illustrated as separating component can be or may not be physically separate, and the parts shown as unit can be or may not be physical location, namely may be located at a place, or can also be distributed on multiple NE.Some or all of unit therein can be selected according to the actual needs to realize the purpose of the present embodiment scheme.
It addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it is also possible to be that unit is individually physically present, it is also possible to two or more unit are integrated in a unit.Above-mentioned integrated unit had both comprised the module adopting the form of hardware to realize, and also comprised the module adopting the form of SFU software functional unit to realize.
If described integrated unit is using the form realization of SFU software functional unit and as independent production marketing or use, it is possible to be stored in a computer read/write memory medium.Based on such understanding, part or all or part of of this technical scheme that prior art is contributed by technical scheme substantially in other words can embody with the form of software product, this computer software product is stored in a storage medium, including some instructions with so that a computer equipment (can be personal computer, server, or the network equipment etc.) perform all or part of step of method described in each embodiment of the present invention.And aforesaid storage medium includes: USB flash disk, portable hard drive, read only memory (ROM, Read-OnlyMemory), the various media that can store program code such as random access memory (RAM, RandomAccessMemory), magnetic disc or CD.
The above; being only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, any those familiar with the art is in the technical scope that the invention discloses; change can be readily occurred in or replace, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should described be as the criterion with scope of the claims.
Claims (10)
1. a telecontrolled aircraft, it is characterised in that including:
Height detection unit, feedback control unit and power unit；
Described power unit is for providing the flying power of telecontrolled aircraft；
Described height detection unit is for detecting the terrain clearance of described telecontrolled aircraft in real time, and in real time described terrain clearance is fed back to described feedback control unit；
Described feedback control unit is for receiving the control instruction that user sends, and detects the state of flight of described telecontrolled aircraft according to the described terrain clearance of different time points and described control instruction, controls described power unit according to described state of flight.
2. telecontrolled aircraft according to claim 1, it is characterised in that described feedback control unit, including:
Hovering control module, for when the described control instruction received is for hovering instruction, difference according to current point in time Yu the described terrain clearance of previous time point, the state of flight determining described telecontrolled aircraft is propradation or decline state, and the flight speed in conjunction with described propradation or described decline state controls described power unit.
3. telecontrolled aircraft according to claim 1, it is characterised in that described feedback control unit, also includes:
At the uniform velocity control module, for when the described control instruction received is at the uniform velocity instruction, difference according to current point in time Yu the described terrain clearance of previous time point, it is determined that the described telecontrolled aircraft speed of service in vertical direction, and control described power unit according to the described speed of service.
4. telecontrolled aircraft according to claim 1, it is characterised in that described feedback control unit, also includes:
Height control module, for when the described terrain clearance that described height detection unit feeds back is more than or equal to preset height threshold, sending regulation and control instruction to described power unit so that described telecontrolled aircraft stops rising.
5. the telecontrolled aircraft according to Claims 1-4 any one, it is characterised in that described height detection unit, including:
Two light source emitting module, photographing module and high computational module；
Said two light source emitting module is for the parallel range finding light source of transmitting earthward；
Described photographing module is for obtaining the imaging of two described range finding light sources；
Described high computational module is for the distance of the imaging according to described range finding light source, the distance of two preset light source emitting module, and preset pick-up lens group is to the distance of imaging plane, calculates described terrain clearance.
6. the investigating method of a telecontrolled aircraft, it is characterised in that including:
Detect the terrain clearance of telecontrolled aircraft in real time；
Receive the control instruction that user sends；
Described terrain clearance according to different time points and described control instruction detect the state of flight of described telecontrolled aircraft；
The flying power of described telecontrolled aircraft is controlled according to described state of flight.
7. the investigating method of telecontrolled aircraft according to claim 6, it is characterised in that when described control instruction is for hovering instruction, the described described terrain clearance according to different time points and described control instruction detect the state of flight of described telecontrolled aircraft, including:
Difference according to current point in time Yu the described terrain clearance of previous time point, it is determined that the state of flight of described telecontrolled aircraft is propradation or decline state；
The described flying power controlling described telecontrolled aircraft according to described state of flight, including:
Flight speed according to described propradation or institute's decline state increases or reduces the flying power of described telecontrolled aircraft, to reach the purpose of hovering.
8. the investigating method of telecontrolled aircraft according to claim 6, it is characterised in that when described control instruction is at the uniform velocity instruction, the described described terrain clearance according to different time points and described control instruction detect the state of flight of described telecontrolled aircraft, including:
Difference according to current point in time Yu the described terrain clearance of previous time point, it is determined that the described telecontrolled aircraft speed of service in vertical direction；
The described flying power controlling described telecontrolled aircraft according to described state of flight, including:
Increase or reduce the flying power of described telecontrolled aircraft according to the described speed of service, to reach the purpose flied at a constant speed.
9. the investigating method of telecontrolled aircraft according to claim 6, it is characterised in that after the described terrain clearance detecting telecontrolled aircraft in real time, including:
When the described terrain clearance detected is more than or equal to preset height threshold, reduce the flying power that described telecontrolled aircraft rises, rise to stop described telecontrolled aircraft to continue.
10. the investigating method of the telecontrolled aircraft according to claim 6 to 9 any one, it is characterised in that the terrain clearance of described detection telecontrolled aircraft, including:
The vertical range finding light source of transmitting earthward；
Obtain the distance of the imaging of two described range finding light sources；
The distance of the imaging according to described range finding light source, the actual range of two preset light sources, and preset pick-up lens group is to the distance of imaging plane, calculates described terrain clearance.
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| CN104167087B (en) * | 2014-07-25 | 2017-12-29 | 小米科技有限责任公司 | Information transferring method, device and system |
| CN104330985B (en) * | 2014-09-02 | 2017-07-28 | 小米科技有限责任公司 | Information processing method and device |
| CN104890861B (en) * | 2015-05-05 | 2017-05-31 | 高域（北京）智能科技研究院有限公司 | The control method and multi-rotor aerocraft of multi-rotor aerocraft |
| CN106647788B (en) * | 2016-12-01 | 2019-08-27 | 北京奇虎科技有限公司 | UAV Flight Control method and device |
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