CN104238469A - Flight vehicle control system - Google Patents
Flight vehicle control system Download PDFInfo
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- CN104238469A CN104238469A CN201310234039.5A CN201310234039A CN104238469A CN 104238469 A CN104238469 A CN 104238469A CN 201310234039 A CN201310234039 A CN 201310234039A CN 104238469 A CN104238469 A CN 104238469A
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- 238000004891 communication Methods 0.000 claims abstract description 166
- 230000006854 communication Effects 0.000 claims abstract description 166
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- 230000005540 biological transmission Effects 0.000 claims description 35
- 238000012545 processing Methods 0.000 claims description 17
- 230000000153 supplemental effect Effects 0.000 claims description 9
- 230000003993 interaction Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 12
- 238000012546 transfer Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000012512 characterization method Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000002776 aggregation Effects 0.000 description 1
- 238000004220 aggregation Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001149 cognitive effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000002093 peripheral effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B15/00—Systems controlled by a computer
- G05B15/02—Systems controlled by a computer electric
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Abstract
The invention discloses a flight vehicle control system. A control data collector comprises a processor, a plurality of remote control levers and a plurality of remote control switches. A main control unit comprises a processor and a first communication chip, and the first communication chip sends flight control data collected by the remote control levers and the remote control switches to a model flight vehicle. A remote control system comprises an intelligent terminal module comprising a second communication chip and further comprises the control data collector, and the first communication chip sends the flight control data to the model flight vehicle. The flight vehicle control system comprises the model flight vehicle and the remote control system. The flight control accuracy is high, operability is good, the high performance of the intelligent terminal module and various implementations are used, and therefore the high-performance control scheme is realized.
Description
Technical field
The present invention relates to a kind of flight control system, particularly relate to a kind of flight control system of the state of flight for Controlling model aircraft.
Background technology
At present model aerial vehicle on the market, main control mode is two kinds: the scheme of dedicated remote control combination model aircraft and smart mobile phone or panel computer combination model aircraft scheme.
Wherein the scheme of dedicated remote control aggregation model aircraft is the traditional control program of model aerial vehicle.Telepilot contains operating grip and controls expelling plate etc.Telepilot is due to the restriction of volume and cost, and generally not or only have several simple lampion or very little instruction screen to carry out the duty of display remote controller, remote-transmitter plate generally also only has simple single-chip microcomputer support performance.So described scheme is difficult to the use sense improving operator.
Wherein smart mobile phone or panel computer combination model aircraft scheme utilize existing smart mobile phone etc. to use as the telepilot of model aerial vehicle, and its advantage is that cost is low, and this is owing to directly using existing smart mobile phone, so decrease the cost of telepilot; And powerful, the operating system of smart mobile phone can complete various parameter designing, and can utilize existing smart mobile phone display screen.But its shortcoming is when manipulating aircraft, owing to there is no the remote-control handle of specialty, to the performance accuracy of aircraft and operability all far short of what is expected.And the performance accuracy of model aerial vehicle and operability are the use senses that aircraft personnel mainly pursue that uses a model, so described scheme seriously affects the use sense of operator.
Summary of the invention
The technical problem to be solved in the present invention be in order to overcome prior art the remote control mode operability difference of model aerial vehicle and the defect of function singleness, a kind of telechirics and flight control system thereof are provided, the present invention by the combination of intelligent terminal module with the remote control handset of specialty, thus realizes high performance control program.
The present invention solves above-mentioned technical matters by following technical proposals:
The invention provides a kind of flight control system, it comprises a model aerial vehicle, described model aerial vehicle comprises one of Flight Condition Data for gathering described model aerial vehicle and flies control plate and the video acquisition plate for gathering video data, be characterized in, described flight control system also comprises a telechirics and a relay station, the wherein said control plate that flies also comprises a third communication chip, described in fly the described flight control data controlling the described telechirics transmission that plate is received by described third communication chip;
Described video acquisition plate also comprises one the 4th communication chip, described relay station for receive described video acquisition plate by described 4th communication chip send video data and be forwarded to described telechirics.
Fly described in the present invention control the third communication chip of plate and the first communication chip of telechirics establish the link relation, the second communication chip of the 4th communication chip of described video acquisition plate and the intelligent terminal module of telechirics establishes the link relation.So flight control data transfers to third communication chip by means of only the first communication chip, same video data also transfers to second communication chip by means of only the 4th communication chip.
Wherein relay station described in the present invention is used for the forwarding of video data, thus to overcome in signals transmission signal attenuation to the impact of video data transmission.So described relay station can adopt any retransmission unit with signal forwarding and gain function, such as trunk desk etc. increase communication distance, the equipment of extended coverage range.
Present invention also offers a kind of flight control system, it comprises a model aerial vehicle, described model aerial vehicle comprises one of Flight Condition Data for gathering described model aerial vehicle and flies control plate and the video acquisition plate for gathering video data, be characterized in, described flight control system also comprises a telechirics, the wherein said control plate that flies also comprises a third communication chip, described in fly the described flight control data controlling the described telechirics transmission that plate is received by described third communication chip;
Described video acquisition plate also comprises one the 4th communication chip, and video data is sent to described telechirics by described 4th communication chip by a public communication network by described video acquisition plate.
Wherein said public communication network refers to the communication network used in current mobile communication, such as 3G/4G communication network etc., but the present invention does not limit the type of described public communication network, any network that can be used in the transmission of public information data can be applied in the present invention.
Preferably, described telechirics comprises an intelligent terminal module, described intelligent terminal module comprises a second communication chip, described telechirics also comprises a control module, described control module comprises one for gathering the control data collector of the flight control data of Controlling model aircraft, and described second communication chip receives the video data of described model aerial vehicle.
Preferably, described control data collector comprises a processor, multiple remote-control lever and multiple teleswitch; Described control module also comprises one first communication chip;
Wherein said processor gathers the flight control data of user's input by described remote-control lever and described teleswitch, and described flight control data is sent to model aerial vehicle by described first communication chip.
Preferably, described first communication chip is also for receiving Flight Condition Data.
Flight Condition Data described in the present invention is model aerial vehicle collection the signal data of state of flight for characterization model aircraft in prior art.
Preferably, described first communication chip is 2.4G/5,8G ISM(Industrial Scientific Medical Band industrial scientific Medical frequency band) FSK(frequency shift keying) transceiver.
Preferably, described telechirics comprises an intelligent terminal module, described intelligent terminal module comprises a second communication chip, and described telechirics also comprises a control data collector as above, and wherein said second communication chip receives the video data of described model aerial vehicle.
Preferably, the Flight Condition Data of described model aerial vehicle that the first communication chip receives by described control data collector is sent to described intelligent terminal module.
Preferably, described control data collector is by a USART(universal synchronous/asynchronous serial reception/transmitter) interface, a USB(USB (universal serial bus)) interface, an I
2described Flight Condition Data is sent to described intelligent terminal module by C interface (Inter-IntegratedCircuit, twin wire universal serial bus) or a SPI interface (high-speed synchronous serial port).
Preferably, described intelligent terminal module also comprises a display screen; Described display screen shows described Flight Condition Data and/or described video data.
Flight Condition Data described in the present invention is model aerial vehicle collection the signal data of state of flight for characterization model aircraft in prior art.
Preferably, described intelligent terminal module is also for generating a state of flight configuration parameter;
Described control data collector reads in described state of flight configuration parameter, and by the first communication chip, described state of flight configuration parameter and flight control data is sent to model aerial vehicle jointly, or
Described state of flight configuration parameter is sent to model aerial vehicle by described second communication chip.
The configuration parameter of state of flight described in the present invention can be user inputted by intelligent terminal module the supplementary parameter data to flight control data, the supplemental characteristic of state of flight of allocation models aircraft, the supplemental characteristic of user preset or for the state of flight based on model aerial vehicle by supplemental characteristics such as experimental formulas.Do not limit the content of described state of flight configuration parameter in the present invention, the cognitive any and flight attitude of those skilled in the art, the relevant parameter such as state and control all can as described state of flight configuration parameter of the present invention.
Preferably, described second communication chip is 2.4G/5,8G WIFI(wireless fidelity Wireless Fidelity) communication chip, the 3G(third generation communication technology) communication chip or the 4G(forth generation communication technology) communication chip etc.Preferably, described Flight Condition Data is also sent to described telechirics by described third communication chip by the described control plate that flies, and described third communication chip also receives the state of flight of the state of flight configuration parameter Controlling model aircraft of described intelligent terminal CMOS macro cell by described first communication chip.
Preferably, described Flight Condition Data is also sent to described telechirics by described third communication chip by the described control plate that flies, described in fly to control plate also by the 4th communication chip of described video acquisition plate receive that described relay station forwards by the state of flight configuration parameter of described intelligent terminal CMOS macro cell.
Flight Condition Data described in the present invention and flight filling configuration parameter can by any one link tunnel above-mentioned.
And of the present invention fly control plate not only can based on the state of flight of control signal Controlling model aircraft, can also the duty of all parts in collection model aircraft.
Preferably, when described third communication chip cannot receive described flight control data, described in fly to control plate by the 4th communication chip transmission request information of described video acquisition plate, and be forwarded to described telechirics through described relay station;
After described telechirics receives described request information, the state of flight configuration parameter of the flight control data that described control data collector generates by described telechirics and intelligent terminal CMOS macro cell is sent by second communication chip, and is forwarded to described video acquisition plate through described relay station;
The described control plate that flies receives described flight control data and state of flight configuration parameter by the 4th communication chip of described video acquisition plate, and also sends described Flight Condition Data to described intelligent terminal module by described 4th communication chip.
In the present invention when the described communication link flown between control plate and control data collector disconnects, namely when the link between the first communication chip and third communication chip disconnects, the link transmission of the data such as flight control data by setting up in the middle of described video acquisition plate and intelligent terminal module that can will transmit in described link.
Because the first communication chip transmission range of described control data collector is generally smaller, so in the present invention when model aerial vehicle exceeds described first communication chip transmission range, utilize the feature of the transmission range of third communication chip in intelligent terminal module length to ensure that model aerial vehicle can obtain flight control data etc. all the time, thus model aerial vehicle is under user's control all the time.
Preferably, described third communication chip is 2.4G/5,8G ISM FSK transceiver, and described 4th communication chip is 2.4G/5,8G WIFI communication chip, 3G communication chip or 4G communication chip etc.
Preferably, described video acquisition plate controls plate interaction data by serial commu-nication interface and described flying.
Preferably, described serial communication interface be USART interface, SPI interface (Serial Peripheral Interface (SPI)), RS232 interface or RS485 interface (the asynchronous transmission standard interface that EIA formulates) etc.
Flying in flight control system of the present invention controls plate, video acquisition plate, intelligent terminal module and control data collector all have communication chip, now, described flight control data, Flight Condition Data, state of flight configuration parameter can transmit arbitrarily between each communication chip described, as long as fly described in described flight control data and state of flight configuration parameter finally transfer to control plate, described Flight Condition Data finally transfers to intelligent terminal module, in addition described video data only can transmit between described video acquisition plate and the communication chip of intelligent terminal module.
Preferably, a video processing module, a memory module, a load module and land station's data cache module is also comprised in intelligent terminal module as above;
Wherein said video processing module is used for that described Flight Condition Data and/or described video data are converted into display and exports described display screen to;
Described memory module is for storing described Flight Condition Data and/or described video data;
Described load module for reading in the parameter of input, and generates described state of flight configuration parameter based on described parameter;
The flight path data that described land station data cache module sends for buffer memory land station, flight attitude adjustment data, state of flight adjustment data, locator data and map datum etc.
Video processing module described in the present invention, memory module and load module are parts usual in intelligent terminal module, so be no longer described in detail it herein.
Described land station of the present invention data cache module can adopt the mode of buffer to be added in intelligent terminal module, because the data volume of land station's data is very large, so avoid taking the storer of a large amount of intelligent terminal module in the present invention by setting up independent land station's data cache module in intelligent terminal module.
Preferably, in described intelligent terminal module, also comprise a voice synthetic module and a loudspeaker, for described Flight Condition Data is converted into voice signal, and exported by loudspeaker.
Preferably, a sound identification module and a microphone is also comprised in described intelligent terminal module, the audio controls that described sound identification module gathers based on described microphone, generate supplemental characteristic, described load module also generates described state of flight configuration parameter based on described supplemental characteristic.
Voice synthetic module described in the present invention, loudspeaker, sound identification module and microphone are usual parts or module in the intelligent terminal module of prior art equally, so be no longer described in detail herein.
For convenience of description, in the present invention, described intelligent terminal module is divided into various module according to function and describes respectively, so when implementing of the present invention, the function of each module can be realized in same or multiple software and/or hardware.
On the basis meeting this area general knowledge, above-mentioned each optimum condition, can combination in any, obtains the preferred embodiments of the invention.
Positive progressive effect of the present invention is:
The advantage of telechirics of the present invention and flight control system thereof is the operating grip of the telepilot of existing specialty, have again and utilize the multi-functional of intelligent terminal module, so achieve flight control accuracy high, make use of the high-performance of intelligent terminal module and multiple realization while good operability, thus achieve high performance control program.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment 1 of flight control system of the present invention.
Fig. 2 is the structural representation of the intelligent terminal module of embodiments of the invention 1.
Fig. 3 is the structural representation of the control data collector of embodiments of the invention 1.
Fig. 4 is the structural representation of the embodiment 2 of flight control system of the present invention.
Fig. 5 is the structural representation of the embodiment 4 of flight control system of the present invention.
Fig. 6 is the structural representation of the embodiment 5 of flight control system of the present invention.
Embodiment
Mode below by embodiment further illustrates the present invention, but does not therefore limit the present invention among described scope of embodiments.
Embodiment 1:
Flight control system described in the present embodiment as shown in Figure 1, comprise telechirics 1, model of an airplane 2 and a relay station 3, wherein said relay station 3 can adopt trunk desk etc. to increase the equipment of communication distance and extended coverage range, described telechirics 1 comprises a control module and an intelligent terminal module 12, and described control module comprises control data collector 11 and a 2.4G ISM FSK transceiver 114.
And as shown in Figure 2, the described control data collector 11 of the present embodiment comprises a processor 111, two remote-control levers 112 and two teleswitches 113.
Wherein said processor 111 gathers the operation of user to described remote-control lever 112 and described teleswitch 113, and the signal that the operation of described user to described remote-control lever 112 and described teleswitch 113 generates constitutes the flight control data of Controlling model aircraft.
The ISM of 2.4G described in the present embodiment FSK transceiver 114 is for carrying out data interaction with the model of an airplane 2.
In addition the quantity of described remote-control lever 112 and teleswitch 113 can be arranged arbitrarily based on the needs of realistic model aircraft control command, is not limited in the quantity in the present embodiment.
The intelligent terminal module 12 of the present embodiment as shown in Figure 3, comprises a video processing module 121a, a display screen 121b, memory module 122, load module 123, voice synthetic module 125, loudspeaker 126, sound identification module 127, microphone 128 and a WIFI communication chip 1211.
Wherein said video processing module 121a is used for Flight Condition Data to be converted into the display screen 121b that display exports described intelligent terminal module 12 to, and described display screen 121b correspondingly shows.Described memory module 122 is for storing described Flight Condition Data.Described load module 125 for reading in the parameter of input, and generates state of flight configuration parameter based on described parameter.The configuration parameter of state of flight described in the present embodiment is used for adjusting Flight Condition Data and supplementing.
Described voice synthetic module 125 is for being converted into voice signal by Flight Condition Data and exporting outside to by loudspeaker 126, thus user can hear the voice signal of the content comprising Flight Condition Data.
The audio controls that described sound identification module 127 gathers based on described microphone 128, generates supplemental characteristic, and described load module 123 also generates state of flight configuration parameter based on described supplemental characteristic.
The communication chip of WIFI described in the present embodiment 1211 is for carrying out data interaction with the model of an airplane 2.
Wherein the intelligent terminal module 2 of the present embodiment adopts iOS, Android(Android), Symbian(Saipan) etc. intelligent system, and correspondingly configure intelligent terminal module 2 described in rear formation the present embodiment.
As shown in Figure 1, the described model of an airplane 2 comprises one and flies to control plate 21, the wherein said control plate that flies comprises a 2.4G ISM FSK transceiver 212, described 2.4G ISM FSK transceiver 212 mates to described 2.4G ISMFSK transceiver 114 and carries out corresponding data interaction, namely sets up data link between described 2.4G ISM FSK transceiver 212 and described 2.4G ISM FSK transceiver 114.Wherein said flying controls plate 21 based on the flare maneuver of the flight control data Controlling model aircraft 2 received, and the correspondingly Flight Condition Data that forms of the status data of all parts of collection model aircraft 2.
A video acquisition plate 22 is also comprised in the model of an airplane 2 of the flight control system of the present embodiment, wherein said video acquisition plate 22 comprises a WIFI communication chip 222, data link is set up between described WIFI communication chip 222 and described WIFI communication chip 1211, and the data such as transmitting video data.
Wherein said video acquisition plate 22 for gathering video data, such as, in the model of an airplane 2 flight image etc. of camera collection.
The collector of control data described in the present embodiment 11 carries out data transmission by USART interface and intelligent terminal module 12.In addition the collector of control data described in the present embodiment 11 and intelligent terminal module 12 can also adopt USART interface, USB interface, I
2the communication modes such as C interface or SPI interface carry out data transmission.
As shown in Figure 1, the flow process of the data transmission of the present embodiment is as follows:
The described processor 111 of first described control data collector 11 gathers the flight control data that the operation of user to described remote-control lever 112 and described teleswitch 113 generates.
Then described 2.4G ISM FSK transceiver 114 described flight control data is sent to described in fly control plate 21, or the state of flight configuration parameter that described processor 111 is generated jointly by intelligent terminal module 12 modules described in USART interface, and fly to control plate 21 described in by described 2.4G ISM FSK transceiver 114 described flight control data and state of flight configuration parameter being sent to.
After this fly to control the flare maneuver of flight control data that plate 21 receives based on 2.4G ISM FSK transceiver 212 or flight control data and state of flight configuration parameter Controlling model aircraft 2, meanwhile, fly control plate 21 described in and also by described 2.4G ISM FSK transceiver 212, the Flight Condition Data of the model of an airplane is sent to the described 2.4G ISM FSK transceiver 114 mated with it.
Finally, described 2.4G ISM FSK transceiver 114 receives described Flight Condition Data, and transfer to intelligent terminal module 12 by USB interface, after this Flight Condition Data is converted into the display screen 121b that display exports described intelligent terminal module 12 to by intelligent terminal module 12 video processing module 121a, and then described display screen 121b correspondingly shows.
While above-mentioned flow process is carried out, video data is sent to described relay station 3 by WIFI communication chip 222 by described video acquisition plate 22 all the time, described relay station 3 forward described video data to intelligent terminal module 12 WIFI communication chip 1211 while, the video data that it sends can also be carried out to gain thus can expand signal cover, and the video data that WIFI communication chip 1211 receives is converted into the display screen 121b that display exports described intelligent terminal module 12 to by the video processing module 121a of after this described intelligent terminal module 12, then described display screen 121b correspondingly shows.
Embodiment 2:
In the present embodiment and the difference of embodiment 1 flight control system be: the plate of video acquisition described in the present embodiment 22 and described fly to control between plate 21 carry out data transmission by the mode of SPI interface.In addition user can also adopt other serial communication interfaces, and such as USART interface, RS232 interface or RS485 interface etc. transmit described flight control data.
And in the present embodiment, improve the data transmission stream journey of embodiment 1.So as shown in Figure 4, the flow process of the data transmission of the present embodiment is as follows:
The described processor 111 of first described control data collector 11 gathers the flight control data that the operation of user to described remote-control lever 112 and described teleswitch 113 generates.
Then described 2.4G ISM FSK transceiver 114 described flight control data is sent to described in fly control plate 21, and fly to control plate 21 described in by described 2.4G ISM FSK transceiver 114 described flight control data being sent to, meanwhile, the state of flight configuration parameter that modules generates by the WIFI communication chip 1211 of described intelligent terminal module 12 is jointly sent to relay station 3, and described relay station 3 is forwarded to described video frequency collection card 22 by after the gain of state of flight configuration parameter.
The WIFI communication chip 222 of described video frequency collection card 22 receives the described state of flight configuration parameter that described relay station 3 forwards, and is transferred to by SPI interface and fly to control plate 21.
After this fly to control the flight control data of plate 21 based on reception and the flare maneuver of state of flight configuration parameter Controlling model aircraft 2, meanwhile, fly control plate 21 described in and also by described 2.4G ISM FSK transceiver 212, the Flight Condition Data of the model of an airplane is sent to the described 2.4G ISM FSK transceiver 114 mated with it.
Finally, described 2.4G ISM FSK transceiver 114 receives described Flight Condition Data, and transfer to intelligent terminal module 12 by USB interface, after this Flight Condition Data is converted into the display screen 121b that display exports described intelligent terminal module 12 to by intelligent terminal module 12 video processing module 121a, and then described display screen 121b correspondingly shows.
While above-mentioned flow process is carried out, video data is sent to described relay station 3 by WIFI communication chip 222 by described video acquisition plate 22 all the time, described relay station 3 will forward the WIFI communication chip 1211 of described video data to intelligent terminal module 12 again after described video data gain, and the video data that WIFI communication chip 1211 receives is converted into the display screen 121b that display exports described intelligent terminal module 12 to by the video processing module 121a of described intelligent terminal module 12, then described display screen 121b correspondingly shows.
Embodiment 3:
The present embodiment is the further improvement based on embodiment 2, communication linkage is established in example 2 between described 2.4G ISMFSK transceiver 114 and 2.4G ISM FSK transceiver 212, equally, described WIFI communication chip 1211, also establish communication connection between relay station 3 and WIFI communication chip 222.
Because the signal transmission distance of 2.4G ISM FSK transceiver is less than WIFI communication chip, and the flight control signal flying to control plate 21 reception in embodiment 2 is all completed by 2.4G ISM FSK transceiver, so during the transmission range of the distance between the model of an airplane and telechirics more than 2.4G ISM FSK transceiver, the model of an airplane is by out of hand, because WIFI communication chip self has farther communication distance, and have employed relay station 3 as communication link node WIFI communication there is farther communication distance, so utilize the WIFI communication chip 222 of video acquisition plate 22 in the present embodiment, the communication link of relay station 3 and WIFI communication chip 1211 continues to transmit flight control data etc., thus the flight of Controlling model aircraft can be continued, and expanded the remote control distance of the model of an airplane.
So when described 2.4G ISM FSK transceiver 114 is identical with embodiment 2 with workflow when can also communicate between 2.4G ISM FSK transceiver 212 in the present embodiment, so be no longer described in detail herein.
When between described 2.4G ISM FSK transceiver 114 and 2.4G ISM FSK transceiver 212, communication linkage disconnects, the principle of work of described flight control system is as follows:
When the 2.4G ISM FSK transceiver 212 flying to control plate 21 cannot receive the described flight control data of described 2.4G ISM FSK transceiver 114 transmission, described flying controls WIFI communication chip 222 transmission request information of plate 21 by described video acquisition plate 22 to relay station 3, and the gain of described relay station 3 also forwards described request information to described telechirics 1.
After described telechirics 1 receives described request information, the flight control data that described control data collector 11 generates by described telechirics 1 and the state of flight configuration parameter that intelligent terminal module 12 generates are sent to relay station 3 by the WIFI communication chip 1211 of intelligent terminal module 12, after gain, be forwarded to described video acquisition plate 22 by described relay station 3.
The described control plate 21 that flies receives described flight control data and state of flight configuration parameter by the WIFI communication chip 222 of described video acquisition plate 22, and also sending described Flight Condition Data to relay station 3 by described WIFI communication chip 222, the gain of described relay station 3 also forwards described Flight Condition Data to described intelligent terminal module 12.
After this Flight Condition Data is converted into the display screen 121b that display exports described intelligent terminal module 12 to by intelligent terminal module 12 video processing module 121a, and then described display screen 121b correspondingly shows.
And those skilled in the art will recognize that embodiment 1, embodiment 2 and embodiment 3 data transmission flow process can and deposit and same flight control system, flight control system can need according to the transmission of self flow process adopting the transmission of different data.
Embodiment 4:
Be with the difference of embodiment 1 flight control system in the present embodiment: as shown in Figure 5, obviate relay station in the present embodiment, and the WIFI communication chip 1211 of the WIFI communication chip 222 of described video acquisition plate 22 and described intelligent terminal module 12 is replaced with 3G communication chip 222a and 3G communication chip 1211a.Thus described video acquisition plate 22 and described intelligent terminal module 12 utilize public communication network to set up communication link.
In addition the communication chip that 4G communication chip etc. mates with public communication network can also be adopted in the present embodiment to utilize public communication network to set up communication link between described video acquisition plate 22 and described intelligent terminal module 12, thus realize the transmission of data.
The flow process of the data transmission of the present embodiment is as follows:
The described processor 111 of first described control data collector 11 gathers the flight control data that the operation of user to described remote-control lever 112 and described teleswitch 113 generates.
Then described 2.4G ISM FSK transceiver 114 described flight control data is sent to described in fly control plate 21, or the state of flight configuration parameter that described processor 111 is generated jointly by mobile intelligent terminal module 12 modules described in USART interface, and fly to control plate 21 described in by described 2.4G ISM FSK transceiver 114 described flight control data and state of flight configuration parameter being sent to.
After this fly to control the flare maneuver of flight control data that plate 21 receives based on 2.4G ISM FSK transceiver 212 or flight control data and state of flight configuration parameter Controlling model aircraft 2, meanwhile, fly control plate 21 described in and also by described 2.4G ISM FSK transceiver 212, the Flight Condition Data of the model of an airplane is sent to the described 2.4G ISM FSK transceiver 114 mated with it.
Finally, described 2.4G ISM FSK transceiver 114 receives described Flight Condition Data, and transfer to mobile intelligent terminal module 12 by USB interface, after this Flight Condition Data is converted into the display screen 121b that display exports described mobile intelligent terminal module 12 to by mobile intelligent terminal module 12 video processing module 121a, and then described display screen 121b correspondingly shows.
While above-mentioned flow process is carried out, video data is sent to the 3G communication chip 1211a of mobile intelligent terminal module 12 by described video acquisition plate 22 all the time by 3G communication chip 222a, and the video data that 3G communication chip 1211a receives is converted into the display screen 121b that display exports described mobile intelligent terminal module 12 to by the video processing module 121a of described mobile intelligent terminal module 12, then described display screen 121b correspondingly shows.
Embodiment 5:
In the present embodiment and the difference of the flight control system of embodiment 4 be: the plate of video acquisition described in the present embodiment 22 and described fly to control between plate 21 carry out data transmission by the mode of SPI interface.In addition user can also adopt other serial communication interfaces, and such as USART interface, RS232 interface or RS485 interface etc. transmit described flight control data.
And in the present embodiment, improve the data transmission stream journey of embodiment 4.So as shown in Figure 6, the flow process of the data transmission of the present embodiment is as follows:
The described processor 111 of first described control data collector 11 gathers the flight control data that the operation of user to described remote-control lever 112 and described teleswitch 113 generates.
Then described 2.4G ISM FSK transceiver 114 described flight control data is sent to described in fly control plate 21, and fly to control plate 21 described in by described 2.4G ISM FSK transceiver 114 described flight control data being sent to, meanwhile, the state of flight configuration parameter that modules generates by the 3G communication chip 1211a of described mobile intelligent terminal module 12 is jointly sent to video frequency collection card 22.
The 3G communication chip 222a of described video frequency collection card 22 receives described state of flight configuration parameter, and by SPI interface transfer to fly control plate 21.
After this fly to control the flight control data of plate 21 based on reception and the flare maneuver of state of flight configuration parameter Controlling model aircraft 2, meanwhile, fly control plate 21 described in and also by described 2.4G ISM FSK transceiver 212, the Flight Condition Data of model aerial vehicle is sent to the described 2.4G ISMFSK transceiver 114 mated with it.
Finally, described 2.4G ISM FSK transceiver 114 receives described Flight Condition Data, and transfer to mobile intelligent terminal module 12 by USB interface, after this Flight Condition Data is converted into the display screen 121b that display exports described mobile intelligent terminal module 12 to by mobile intelligent terminal module 12 video processing module 121a, and then described display screen 121b correspondingly shows.
While above-mentioned flow process is carried out, video data is sent to the 3G communication chip 1211a of mobile intelligent terminal module 12 by described video acquisition plate 22 all the time by 3G communication chip 222a, and the video data that 3G communication chip 1211a receives is converted into the display screen 121b that display exports described mobile intelligent terminal module 12 to by the video processing module 121a of described mobile intelligent terminal module 12, then described display screen 121b correspondingly shows.
Embodiment 6:
The present embodiment is the further improvement based on embodiment 5, and it improves, and principle is identical with embodiment 3 just to be repeated no more here.
And when described 2.4G ISM FSK transceiver 114 is identical with embodiment 5 with workflow when can also communicate between 2.4G ISM FSK transceiver 212 in its present embodiment, so be also no longer described in detail herein.
When between described 2.4G ISM FSK transceiver 114 and 2.4G ISM FSK transceiver 212, communication linkage disconnects, the principle of work of described flight control system is as follows:
When flying to control the 2.4G ISM FSK transceiver 212 of plate 21 and cannot receiving the described flight control data that described 2.4G ISM FSK transceiver 114 sends, described in fly to control the 3G communication chip 222a transmission request information of plate 21 by described video acquisition plate 22 to described telechirics 1.
After described telechirics 1 receives described request information, the flight control data that described control data collector 11 generates by described telechirics 1 and the state of flight configuration parameter that mobile intelligent terminal module 12 generates are sent to described video acquisition plate 22 by the 3G communication chip 1211a of mobile intelligent terminal module 12.
The described control plate 21 that flies receives described flight control data and state of flight configuration parameter by the 3G communication chip 222a of described video acquisition plate 22, and also sends described Flight Condition Data to described mobile intelligent terminal module 12 by described 3G communication chip 222a.
After this Flight Condition Data is converted into the display screen 121b that display exports described mobile intelligent terminal module 12 to by mobile intelligent terminal module 12 video processing module 121a, and then described display screen 121b correspondingly shows.
And those skilled in the art will recognize that embodiment 4, embodiment 5 and embodiment 6 data transmission flow process can and deposit and same flight control system, flight control system can need according to the transmission of self flow process adopting the transmission of different data.
Each embodiment in this instructions all adopts the mode of going forward one by one to describe, between each embodiment identical similar part mutually see, what each embodiment stressed is the difference with other embodiments.
Although the foregoing describe the specific embodiment of the present invention, it will be understood by those of skill in the art that these only illustrate, protection scope of the present invention is defined by the appended claims.Those skilled in the art, under the prerequisite not deviating from principle of the present invention and essence, can make various changes or modifications to these embodiments, but these change and amendment all falls into protection scope of the present invention.
Claims (20)
1. a flight control system, it comprises a model aerial vehicle, described model aerial vehicle comprises one of Flight Condition Data for gathering described model aerial vehicle and flies control plate and the video acquisition plate for gathering video data, it is characterized in that, described flight control system also comprises a telechirics and a relay station, the wherein said control plate that flies also comprises a third communication chip, described in fly the described flight control data controlling the described telechirics transmission that plate is received by described third communication chip;
Described video acquisition plate also comprises one the 4th communication chip, described relay station for receive described video acquisition plate by described 4th communication chip send video data and be forwarded to described telechirics.
2. a flight control system, it comprises a model aerial vehicle, described model aerial vehicle comprises one of Flight Condition Data for gathering described model aerial vehicle and flies control plate and the video acquisition plate for gathering video data, it is characterized in that, described flight control system also comprises a telechirics, the wherein said control plate that flies also comprises a third communication chip, described in fly the described flight control data controlling the described telechirics transmission that plate is received by described third communication chip;
Described video acquisition plate also comprises one the 4th communication chip, and video data is sent to described telechirics by described 4th communication chip by a public communication network by described video acquisition plate.
3. flight control system as claimed in claim 1 or 2, it is characterized in that, described telechirics comprises an intelligent terminal module, described intelligent terminal module comprises a second communication chip, described telechirics also comprises a control module, described control module comprises one for gathering the control data collector of the flight control data of Controlling model aircraft, and described second communication chip receives the video data of described model aerial vehicle.
4. flight control system as claimed in claim 3, it is characterized in that, described control data collector comprises a processor, multiple remote-control lever and multiple teleswitch; Described control module also comprises one first communication chip;
Wherein said processor gathers the flight control data of user's input by described remote-control lever and described teleswitch, and described flight control data is sent to model aerial vehicle by described first communication chip.
5. flight control system as claimed in claim 4, it is characterized in that, described first communication chip is also for receiving Flight Condition Data.
6. flight control system as claimed in claim 5, it is characterized in that, described first communication chip is 2.4G/5.8G ISM FSK transceiver.
7. flight control system as claimed in claim 6, is characterized in that, the Flight Condition Data of the described model aerial vehicle that the first communication chip also receives by described control module is sent to described intelligent terminal module.
8. flight control system as claimed in claim 7, it is characterized in that, described intelligent terminal module is also for generating a state of flight configuration parameter;
Described control module receives described state of flight configuration parameter, and by the first communication chip, described state of flight configuration parameter and flight control data is sent to model aerial vehicle jointly.
9. flight control system as claimed in claim 7, is characterized in that, described control module is by a USART interface, a USB interface, an I
2described Flight Condition Data is sent to described intelligent terminal module by C interface or a SPI interface.
10. flight control system as claimed in claim 7, it is characterized in that, described intelligent terminal module also comprises a display screen; Described display screen shows described Flight Condition Data and/or described video data.
11. flight control systems as claimed in claim 7, is characterized in that, described second communication chip is 2.4G/5.8G WIFI communication chip, 3G communication chip or 4G communication chip.
12. flight control systems according to any one of claim 6-11, is characterized in that, also comprise a video processing module, a memory module and a load module in described intelligent terminal module;
Wherein said video processing module is used for that described Flight Condition Data and/or described video data are converted into display and exports described display screen to;
Described memory module is for storing described Flight Condition Data and/or described video data;
Described load module for reading in the parameter of input, and generates described state of flight configuration parameter based on described parameter.
13. flight control systems as claimed in claim 12, be is characterized in that, also comprise a voice synthetic module and a loudspeaker in described intelligent terminal module, for described Flight Condition Data is converted into voice signal, and exported by loudspeaker.
14. flight control systems according to any one of claim 12-13, it is characterized in that, a sound identification module and a microphone is also comprised in described intelligent terminal module, the audio controls that described sound identification module gathers based on described microphone, generate supplemental characteristic, described load module also generates described state of flight configuration parameter based on described supplemental characteristic.
15. flight control systems as claimed in claim 14, it is characterized in that, described Flight Condition Data is also sent to described telechirics by described third communication chip by the described control plate that flies, and described third communication chip also receives the state of flight of the state of flight configuration parameter Controlling model aircraft of described intelligent terminal CMOS macro cell by described first communication chip.
16. flight control systems as claimed in claim 14, it is characterized in that, described Flight Condition Data is also sent to described telechirics by described third communication chip by the described control plate that flies, described in fly to control plate also by the 4th communication chip of described video acquisition plate receive that described relay station forwards by the state of flight configuration parameter of described intelligent terminal CMOS macro cell.
17. flight control systems as described in claims 14 or 15, it is characterized in that, when described third communication chip cannot receive described flight control data, described flying controls the four communication chip transmission request information of plate by described video acquisition plate, and is forwarded to described telechirics through described relay station;
After described telechirics receives described request information, the state of flight configuration parameter of the flight control data that described control data collector generates by described telechirics and intelligent terminal CMOS macro cell is sent by second communication chip, and is forwarded to described video acquisition plate through described relay station;
The described control plate that flies receives described flight control data and state of flight configuration parameter by the 4th communication chip of described video acquisition plate, and also sends described Flight Condition Data to described intelligent terminal module by described 4th communication chip.
18. flight control systems as claimed in claim 17, is characterized in that, described third communication chip is 2.4G/5.8G ISM FSK transceiver, and described 4th communication chip is 2.4G/5.8G WIFI communication chip, 3G communication chip or 4G communication chip.
19. flight control systems as claimed in claim 17, is characterized in that, described video acquisition plate controls plate interaction data by serial commu-nication interface and described flying.
20. flight control systems as claimed in claim 19, is characterized in that, described serial communication interface is USART interface, SPI interface, RS232 interface or RS485 interface.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310234039.5A CN104238469B (en) | 2013-06-13 | 2013-06-13 | Flight control system |
| PCT/CN2014/079119 WO2014198188A1 (en) | 2013-06-13 | 2014-06-04 | Aircraft control system |
| HK15105921.6A HK1205295A1 (en) | 2013-06-13 | 2015-06-22 | Aircraft control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310234039.5A CN104238469B (en) | 2013-06-13 | 2013-06-13 | Flight control system |
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| Publication Number | Publication Date |
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| CN104238469A true CN104238469A (en) | 2014-12-24 |
| CN104238469B CN104238469B (en) | 2018-01-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310234039.5A Active CN104238469B (en) | 2013-06-13 | 2013-06-13 | Flight control system |
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| CN (1) | CN104238469B (en) |
| HK (1) | HK1205295A1 (en) |
| WO (1) | WO2014198188A1 (en) |
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| CN104750113A (en) * | 2015-04-01 | 2015-07-01 | 深圳市华海技术有限公司 | Aircraft and remote control method thereof |
| CN104765309A (en) * | 2015-04-08 | 2015-07-08 | 何春旺 | Remote controller, remote control driving device and remote control driving device control system and method thereof |
| WO2017071043A1 (en) * | 2015-10-30 | 2017-05-04 | 小米科技有限责任公司 | Method, device and system for establishing wireless network connection |
| CN109217910A (en) * | 2017-07-05 | 2019-01-15 | 昊翔电能运动科技(昆山)有限公司 | Signal trunking method and system based on unmanned plane |
| CN109426273A (en) * | 2017-08-29 | 2019-03-05 | 深圳市道通智能航空技术有限公司 | A kind of flying vehicles control method and device |
| CN111708374A (en) * | 2020-06-22 | 2020-09-25 | 西北工业大学 | Distributed power unmanned aerial vehicle control system |
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| CN105812814B (en) * | 2016-03-24 | 2018-12-28 | 湖南优象科技有限公司 | A kind of flight data visualization coding and transmission method based on UAV Video |
| CN108600976A (en) * | 2018-04-02 | 2018-09-28 | 中国人民解放军海军工程大学 | A kind of WiFi mobile wireless audio/video communication systems based on MESH structures |
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| CN104765309A (en) * | 2015-04-08 | 2015-07-08 | 何春旺 | Remote controller, remote control driving device and remote control driving device control system and method thereof |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2014198188A1 (en) | 2014-12-18 |
| CN104238469B (en) | 2018-01-16 |
| HK1205295A1 (en) | 2015-12-11 |
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