CN104906805A - Safe remote model aerocraft control method and safe remote model aerocraft control system based on active attitude detection - Google Patents
Safe remote model aerocraft control method and safe remote model aerocraft control system based on active attitude detection Download PDFInfo
- Publication number
- CN104906805A CN104906805A CN201510297578.2A CN201510297578A CN104906805A CN 104906805 A CN104906805 A CN 104906805A CN 201510297578 A CN201510297578 A CN 201510297578A CN 104906805 A CN104906805 A CN 104906805A
- Authority
- CN
- China
- Prior art keywords
- remote
- aeromodelling aerocraft
- aerocraft
- attitude
- aeromodelling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000006243 chemical reaction Methods 0.000 claims abstract description 22
- 230000009466 transformation Effects 0.000 claims abstract description 5
- 238000005259 measurement Methods 0.000 claims description 8
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
Abstract
The invention relates to a safe remote model aerocraft control system based on active attitude detection, which comprises a remote control transmitter and a model aerocraft, wherein the model aerocraft is provided with an attitude sensor, a remote controller receiver and a master model aerocraft controller, the master model aerocraft controller is provided with an attitude conversion chip, the remote control transmitter is provided with an attitude detection circuit, the attitude detection circuit and the remote control transmitter are kept fixed relatively, joysticks and an antenna are arranged on a panel of the remote control transmitter, and the remote control transmitter is wirelessly connected with the model aerocraft through control signals transmitted by the antenna. In addition, the invention also relates to a safe remote model aerocraft control method based on active attitude detection. The system and the method enable the model aerocraft to automatically carry out coordinate transformation, so that the model aerocraft can be controlled in all directions relative to an operator, consequently, the operator can depend on intuition to complete operation, operation is simpler and more intuitive, and safety is increased.
Description
Technical field
The present invention relates to a kind of aeromodelling aerocraft safety remote control method and system based on active attitude detection, belong to radio remote control technology field.
Background technology
At present, aeromodelling aerocraft is on the market all need remote controller to control.Flight attitude control operation bar and throttle signal control operation bar is included in model airplane remote controller, flight attitude control operation bar be one can the rocking bar of action in the x-direction and the z-direction, rocking bar connects the reel cage in a Y-direction and the reel cage in an X-direction, reel cage in Y-direction exports elevator control signal by signal of telecommunication device, reel cage in X-direction exports aileron control signal by signal of telecommunication device, throttle signal control operation bar is that another can the rocking bar of action in the Y direction, and its signal of telecommunication device connected exports throttle signal.Practical operation control time, operating personnel on telecontrol panel for the control of flight attitude based on aerocraft real present position.Because aeromodelling aerocraft manipulation personnel and aircraft are in different coordinates, manipulation personnel need to judge mode of operation by observation flight device attitude, namely correctly will judge the heading of aircraft, the attitude of remote pilot is all determined according to this heading forward, backward, left, to the right.When aeromodelling aerocraft towards from manipulation personnel towards time different, manipulation personnel need predetermined flight path to be transformed into aeromodelling aerocraft institute in a coordinate system.Present control mode does not also meet the demand of the actual use of people, and we it is desirable for that the left-right and front-back motion of aircraft is all the position based on operating personnel under normal circumstances.In addition, if aeromodelling aerocraft distance manipulation personnel are comparatively far away, manipulation personnel possibly cannot judge aeromodelling aerocraft attitude, thus cannot carry out proper operation; Meanwhile, in case of emergency, manipulation personnel have little time to carry out Coordinate Conversion, easily trigger maloperation.
Summary of the invention
The object of this invention is to provide a kind of aeromodelling aerocraft safety remote control method and system based on active attitude detection, the described aeromodelling aerocraft security remote-control system based on active attitude detection by introducing the active detecting that attitude detection realizes remote controller attitude in remote-controlled launcher, and attitude data is sent to aeromodelling aerocraft, aeromodelling aerocraft is allowed automatically to complete Coordinate Conversion, thus realize all around direction controlling of aircraft relative to operating personnel, make manipulation personnel only intuitively with regard to energy complete operation, simpler, intuitively, improve security.
Main technical schemes of the present invention is as follows:
A kind of aeromodelling aerocraft security remote-control system based on active attitude detection, comprise remote-controlled launcher and aeromodelling aerocraft, described aeromodelling aerocraft is provided with attitude transducer, remote controller receiver and aeromodelling aerocraft master control, described aeromodelling aerocraft master control is provided with attitude conversion chip, described remote-controlled launcher is provided with attitude detection circuit, attitude detection circuit and remote-controlled launcher keep relative fixing, the panel of remote-controlled launcher is provided with steering rod and antenna, remote-controlled launcher is transmitted control signal and aeromodelling aerocraft wireless connections by antenna.
Described attitude detection circuit is provided with attitude chip, attitude chip is used for measurement collection remote-controlled launcher orientation information, described remote-controlled launcher is for being sent to the remote controller receiver on aeromodelling aerocraft by antenna by the remote-controlled launcher orientation information of the manipulation instruction of steering rod and attitude chip measurement collection, then aeromodelling aerocraft master control is sent to, described attitude transducer is used for measurement collection aeromodelling aerocraft orientation information, described attitude conversion chip sets up conversion between remote-controlled launcher coordinate and aeromodelling aerocraft coordinate for utilizing the remote-controlled launcher orientation information that receives and aeromodelling aerocraft orientation information, Coordinate Conversion is carried out in the manipulation instruction of steering rod simultaneously, obtain the actual yaw angle of correct operation in aeromodelling aerocraft coordinate space, control the rotating speed of aeromodelling aerocraft motor accordingly, make correct operation.
Preferably, the remote-controlled launcher orientation information of described attitude chip measurement collection is specially the angle α in the current earth coordinates towards pre-setting of remote-controlled launcher between a fixed-direction A, the measured aeromodelling aerocraft orientation information collected of described attitude transducer is specially the angle β in the current earth coordinates towards pre-setting of aeromodelling aerocraft between a fixed-direction A, the angle γ towards the earth coordinates that pre-set in a fixed-direction A between of described attitude conversion chip for by the manipulation instruction transformation of steering rod being current manipulation instruction, the actual yaw angle γ ' of correct operation in aeromodelling aerocraft coordinate space is obtained by formula γ '=γ+alpha-beta.
In described earth coordinates, a fixed-direction A can be set as magnetic north or magnetic south etc.
The invention still further relates to a kind of aeromodelling aerocraft safety remote control method based on active attitude detection, comprise the steps:
Step 1): the manipulation instruction of steering rod and remote-controlled launcher orientation information are sent to aeromodelling aerocraft by antenna by remote-controlled launcher;
Step 2): aeromodelling aerocraft correctly receives data and instruction;
Step 3): aeromodelling aerocraft utilizes the attitude transducer carried to measure aeromodelling aerocraft orientation information;
Step 4): aeromodelling aerocraft utilizes the remote-controlled launcher orientation information that receives and aeromodelling aerocraft orientation information to set up conversion between remote-controlled launcher coordinate and aeromodelling aerocraft coordinate, Coordinate Conversion is carried out in the manipulation instruction of steering rod simultaneously, obtain the actual yaw angle of correct operation in aeromodelling aerocraft coordinate space;
Step 5): according to step 4) the actual yaw angle that obtains controls the rotating speed of aeromodelling aerocraft motor, makes correct operation.
Preferably described step 1) in remote-controlled launcher orientation information be specially angle α in the current earth coordinates towards pre-setting of remote-controlled launcher between a fixed-direction A, described step 3) in aeromodelling aerocraft orientation information be specially angle β in the current earth coordinates towards pre-setting of aeromodelling aerocraft between a fixed-direction A, described step 4) to be specially the manipulation instruction transformation of steering rod be the angle γ in the earth coordinates pre-set between a fixed-direction A of current manipulation instruction, the actual yaw angle γ ' of correct operation in aeromodelling aerocraft coordinate space is obtained by formula γ '=γ+alpha-beta.
In described earth coordinates, a fixed-direction A can be set as magnetic north or magnetic south etc.
The invention has the beneficial effects as follows, by the remote controller of active attitude detection, allow aeromodelling aerocraft automatically complete attitude conversion, realize aircraft relative to remote-controlled launcher, i.e. the direction controlling all around of the coordinate system of operating personnel, make operation simpler, allow airplane hobbyist be more prone to left-hand seat and carry out flight control, meanwhile, for the aircraft commissioning staff of specialty, also become and be more prone to, shorten the R&D cycle.The most important thing is the security that improve aeromodelling aerocraft remote control.
Accompanying drawing explanation
Fig. 1 represents geodetic coordinates direction, is north upward;
Fig. 2 is aeromodelling aerocraft, the direction of arrow be aircraft towards (towards east in this figure), wherein: 3-attitude transducer;
Fig. 3 is remote-controlled launcher, the direction of arrow be remote-controlled launcher towards (being exposed to the north in this figure), wherein: 5-steering rod, 6-attitude detection circuit, 7-antenna;
Fig. 4 is the logical flow chart of a kind of aeromodelling aerocraft safety remote control method based on active attitude detection of the present invention.
Detailed description of the invention
The present invention introduces attitude detection circuit in existing remote-controlled launcher, and keeps relative fixing with remote-controlled launcher.When operating personnel use remote-controlled launcher, the position of remote-controlled launcher can not be fixed, at this moment in remote controller, attitude detection circuit goes out the current angle α in earth coordinates between a certain fixed angle A (can be set to magnetic north) of remote-controlled launcher by the DATA REASONING of attitude chip, then remote-controlled launcher is wirelessly transmitted to the remote controller receiver be installed on aeromodelling aerocraft by data channel, then sends to aeromodelling aerocraft master control.Also there is attitude detection module at aeromodelling aerocraft self, the current angle β in earth coordinates between same fixed angle A (can magnetic north be set to) of aeromodelling aerocraft can be measured by its aeromodelling aerocraft.Aeromodelling aerocraft master control receives from the control signal of remote-controlled launcher and the data angle α of attitude detection module and angle β simultaneously, the basis of control signal namely relative to the yaw angle γ of remote-controlled launcher coordinate system adds the deviation effects of angle α and angle β, obtain the actual yaw angle γ '=γ+alpha-beta for aircraft coordinate system, complete the conversion to aircraft coordinate system of actuating signal that manipulation personnel send, and then control the rotating speed of motor, make correct operation.
Below, the present invention will be further described in conjunction with the accompanying drawings and embodiments:
As illustrated in the accompanying drawings from 1 to 3, a kind of aeromodelling aerocraft security remote-control system based on active attitude detection, forms primarily of the attitude transducer 3 on remote-controlled launcher, attitude detection circuit 6, aeromodelling aerocraft and aeromodelling aerocraft.
Described remote-controlled launcher can send control signals to aeromodelling aerocraft 2 by antenna 7, and is provided with steering rod 5 on its panel, in order to control the flight attitude all around of aeromodelling aerocraft.
Described attitude detection circuit 6 keeps relative with remote-controlled launcher 4 to be fixed.Attitude detection circuit 6 goes out the current angle α in Fig. 1 earth coordinates between a certain fixed angle A of remote-controlled launcher by the DATA REASONING of attitude chip, then remote-controlled launcher is wirelessly transmitted to the remote controller receiver be installed on aeromodelling aerocraft by antenna 7, then sends to aeromodelling aerocraft master control.
Attitude transducer 3 on described aeromodelling aerocraft can measure the current angle β in earth coordinates between same fixed angle A of aeromodelling aerocraft.
Appoint and get a certain fixed-direction A in earth coordinates, such as positive north.Attitude detection circuit 6 in described remote-controlled launcher detects and self is oriented positive north, is 0, and this angle is transferred to aeromodelling aerocraft by antenna 7 with A angle α.Now, if manipulation personnel want that allowing aeromodelling aerocraft be exposed to the north flies, because angle α is 0, now direct north is dead ahead for manipulation personnel, manipulation personnel only need to send " flying " the i.e. order of yaw angle γ=0 forward, namely stir steering rod 5 down, this control command yaw angle γ and the value of angle α that detects are sent to aeromodelling aerocraft by antenna 7.After aeromodelling aerocraft receives data, obtaining α is 0, recorded that aeromodelling aerocraft is current is actually oriented east again by the attitude transducer 3 carried, it is 90 ° with A angle β, by formula γ '=γ+alpha-beta, relative to actual yaw angle γ '=γ+alpha-beta=0+0-90 °=-90 ° of aeromodelling aerocraft coordinate system, " flying forward " (γ=0) order that manipulation personnel can be sent be converted to aeromodelling aerocraft and " fly " (γ '=-90 °) left, namely the conversion to aeromodelling aerocraft actual coordinates of actuating signal that manipulation personnel send is completed, and then aeromodelling aerocraft controls the rotating speed of motor, make correct operation.
The present invention makes manipulation personnel without the need to being concerned about the concrete attitude of aircraft, realizes based on operating personnel, i.e. the direction controlling all around of remote-controlled launcher coordinate system, thus the direction controlling of aeromodelling aerocraft is more prone to, and also reduces the generation of maloperation simultaneously.
Fig. 4 is the aeromodelling aerocraft security remote-control system actual logic flow chart of this kind based on active attitude detection.Comprise remote-controlled launcher and directional information and manipulation instruction are sent to aeromodelling aerocraft, aeromodelling aerocraft correctly accepts data and instruction, aeromodelling aerocraft utilizes the attitude transducer carried to obtain the bearing data of aeromodelling aerocraft self, aeromodelling aerocraft utilizes the remote-controlled launcher direction and aeromodelling aerocraft direction that receive, set up the conversion between remote-controlled launcher coordinate and aeromodelling aerocraft coordinate, Coordinate Conversion is carried out in the manipulation instruction of steering rod, obtain the correct operation in aeromodelling aerocraft coordinate space, aeromodelling aerocraft makes correct maneuver six part run.
Claims (7)
1. the aeromodelling aerocraft security remote-control system based on active attitude detection, comprise remote-controlled launcher and aeromodelling aerocraft, it is characterized in that, described aeromodelling aerocraft is provided with attitude transducer (3), remote controller receiver and aeromodelling aerocraft master control, described aeromodelling aerocraft master control is provided with attitude conversion chip, described remote-controlled launcher is provided with attitude detection circuit (6), attitude detection circuit (6) and remote-controlled launcher keep relative fixing, the panel of remote-controlled launcher is provided with steering rod (5) and antenna (7), remote-controlled launcher is transmitted control signal and aeromodelling aerocraft wireless connections by antenna (7).
2. a kind of aeromodelling aerocraft security remote-control system based on active attitude detection according to claim 1, it is characterized in that, described attitude detection circuit (6) is provided with attitude chip, attitude chip is used for measurement collection remote-controlled launcher orientation information, described remote-controlled launcher is for being sent to the remote controller receiver on aeromodelling aerocraft by antenna (7) by the remote-controlled launcher orientation information of the manipulation instruction of steering rod (5) and attitude chip measurement collection, then aeromodelling aerocraft master control is sent to, described attitude transducer (3) is for measurement collection aeromodelling aerocraft orientation information, described attitude conversion chip sets up conversion between remote-controlled launcher coordinate and aeromodelling aerocraft coordinate for utilizing the remote-controlled launcher orientation information that receives and aeromodelling aerocraft orientation information, Coordinate Conversion is carried out in the manipulation instruction of steering rod (5) simultaneously, obtain the actual yaw angle of correct operation in aeromodelling aerocraft coordinate space, control the rotating speed of aeromodelling aerocraft motor accordingly, make correct operation.
3. a kind of aeromodelling aerocraft security remote-control system based on active attitude detection according to claim 2, it is characterized in that, the remote-controlled launcher orientation information of described attitude chip measurement collection is specially the angle α in the current earth coordinates towards pre-setting of remote-controlled launcher between a fixed-direction A, the measured aeromodelling aerocraft orientation information collected of described attitude transducer (3) is specially the angle β in the current earth coordinates towards pre-setting of aeromodelling aerocraft between a fixed-direction A, the angle γ towards the earth coordinates that pre-set in a fixed-direction A between of described attitude conversion chip for by the manipulation instruction transformation of steering rod (5) being current manipulation instruction, the actual yaw angle γ ' of correct operation in aeromodelling aerocraft coordinate space is obtained by formula γ '=γ+alpha-beta.
4. a kind of aeromodelling aerocraft security remote-control system based on active attitude detection according to claim 3, it is characterized in that, in described earth coordinates, a fixed-direction A is magnetic north or magnetic south.
5., based on an aeromodelling aerocraft safety remote control method for active attitude detection, it is characterized in that, comprise the steps:
Step 1): the manipulation instruction of steering rod (5) and remote-controlled launcher orientation information are sent to aeromodelling aerocraft by antenna (7) by remote-controlled launcher;
Step 2): aeromodelling aerocraft correctly receives data and instruction;
Step 3): aeromodelling aerocraft utilizes the attitude transducer (3) carried to measure aeromodelling aerocraft orientation information;
Step 4): aeromodelling aerocraft utilizes the remote-controlled launcher orientation information that receives and aeromodelling aerocraft orientation information to set up conversion between remote-controlled launcher coordinate and aeromodelling aerocraft coordinate, Coordinate Conversion is carried out in the manipulation instruction of steering rod (5) simultaneously, obtain the actual yaw angle of correct operation in aeromodelling aerocraft coordinate space;
Step 5): according to step 4) the actual yaw angle that obtains controls the rotating speed of aeromodelling aerocraft motor, makes correct operation.
6. a kind of aeromodelling aerocraft safety remote control method based on active attitude detection according to claim 5, it is characterized in that, described step 1) in remote-controlled launcher orientation information be specially angle α in the current earth coordinates towards pre-setting of remote-controlled launcher between a fixed-direction A, described step 3) in aeromodelling aerocraft orientation information be specially angle β in the current earth coordinates towards pre-setting of aeromodelling aerocraft between a fixed-direction A, described step 4) to be specially the manipulation instruction transformation of steering rod (5) be the angle γ in the earth coordinates pre-set between a fixed-direction A of current manipulation instruction, the actual yaw angle γ ' of correct operation in aeromodelling aerocraft coordinate space is obtained by formula γ '=γ+alpha-beta.
7. a kind of aeromodelling aerocraft safety remote control method based on active attitude detection according to claim 6, it is characterized in that, in described earth coordinates, a fixed-direction A is magnetic north or magnetic south.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510297578.2A CN104906805B (en) | 2015-06-03 | 2015-06-03 | Safe remote model aerocraft control method and safe remote model aerocraft control system based on active attitude detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510297578.2A CN104906805B (en) | 2015-06-03 | 2015-06-03 | Safe remote model aerocraft control method and safe remote model aerocraft control system based on active attitude detection |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104906805A true CN104906805A (en) | 2015-09-16 |
| CN104906805B CN104906805B (en) | 2017-05-17 |
Family
ID=54076498
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510297578.2A Active CN104906805B (en) | 2015-06-03 | 2015-06-03 | Safe remote model aerocraft control method and safe remote model aerocraft control system based on active attitude detection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104906805B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105148541A (en) * | 2015-10-15 | 2015-12-16 | 王丽芸 | Remote control flight toy and remote control flight method |
| CN105427563A (en) * | 2015-11-27 | 2016-03-23 | 杨珊珊 | Remote control device of unmanned aerial vehicle and remote control method thereof |
| CN105717930A (en) * | 2016-01-19 | 2016-06-29 | 深圳一电科技有限公司 | Method, device and system for controlling drone |
| CN105739514A (en) * | 2016-03-23 | 2016-07-06 | 普宙飞行器科技（深圳）有限公司 | Operation and control method of unmanned aerial vehicle and unmanned aerial vehicle system |
| CN106527493A (en) * | 2016-11-29 | 2017-03-22 | 深圳市元征科技股份有限公司 | Unmanned aerial vehicle control method based on terrestrial magnetism mode and unmanned aerial vehicle |
| CN106843266A (en) * | 2016-12-30 | 2017-06-13 | 歌尔科技有限公司 | A kind of remote control of aircraft, towards control system and orientation indicating method |
| WO2017185317A1 (en) * | 2016-04-29 | 2017-11-02 | 深圳飞豹航天航空科技有限公司 | Remote control device for aircraft |
| JP2019511044A (en) * | 2016-02-29 | 2019-04-18 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | Method and system for motion control of a flying device |
| CN109739295A (en) * | 2018-12-19 | 2019-05-10 | 上海邦邦机器人有限公司 | A kind of remote manipulator and its remote control method of mobile device |
| CN110658853A (en) * | 2018-06-29 | 2020-01-07 | 天津深之蓝海洋设备科技有限公司 | Remote control method for delivery vehicle, remote controller and remote control system |
| CN107655470B (en) * | 2016-07-26 | 2020-02-21 | 广州亿航智能技术有限公司 | Method and system for calibrating yaw angle value of unmanned aerial vehicle |
| CN112015193A (en) * | 2020-08-18 | 2020-12-01 | 江阴市翔诺电子科技有限公司 | Model airplane control system and control method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW201041637A (en) * | 2009-05-26 | 2010-12-01 | Univ Nat Formosa | A system and method to control the flight of a remote-control helicopter by detecting the motion of a remote controller |
| CN101937234A (en) * | 2010-08-18 | 2011-01-05 | 深圳市沈氏彤创航天模型有限公司 | Method and device for controlling motion attitude |
| CN102120088A (en) * | 2011-01-28 | 2011-07-13 | 深圳市格兰之特科技有限公司 | System and method for state detection and safety control of flying toy |
| DE102011113162A1 (en) * | 2011-09-14 | 2013-03-14 | Jürgen Büddefeld | Automatic mechanism for vertical take-off and landing of remote controlled model aircraft e.g. helicopter, detects relevant attitude, aircraft movement, flight position data and environmental data to generate necessary control signals |
| US20140008496A1 (en) * | 2012-07-05 | 2014-01-09 | Zhou Ye | Using handheld device to control flying object |
-
2015
- 2015-06-03 CN CN201510297578.2A patent/CN104906805B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW201041637A (en) * | 2009-05-26 | 2010-12-01 | Univ Nat Formosa | A system and method to control the flight of a remote-control helicopter by detecting the motion of a remote controller |
| CN101937234A (en) * | 2010-08-18 | 2011-01-05 | 深圳市沈氏彤创航天模型有限公司 | Method and device for controlling motion attitude |
| CN102120088A (en) * | 2011-01-28 | 2011-07-13 | 深圳市格兰之特科技有限公司 | System and method for state detection and safety control of flying toy |
| DE102011113162A1 (en) * | 2011-09-14 | 2013-03-14 | Jürgen Büddefeld | Automatic mechanism for vertical take-off and landing of remote controlled model aircraft e.g. helicopter, detects relevant attitude, aircraft movement, flight position data and environmental data to generate necessary control signals |
| US20140008496A1 (en) * | 2012-07-05 | 2014-01-09 | Zhou Ye | Using handheld device to control flying object |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105148541A (en) * | 2015-10-15 | 2015-12-16 | 王丽芸 | Remote control flight toy and remote control flight method |
| CN105427563A (en) * | 2015-11-27 | 2016-03-23 | 杨珊珊 | Remote control device of unmanned aerial vehicle and remote control method thereof |
| CN105717930A (en) * | 2016-01-19 | 2016-06-29 | 深圳一电科技有限公司 | Method, device and system for controlling drone |
| JP2019511044A (en) * | 2016-02-29 | 2019-04-18 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | Method and system for motion control of a flying device |
| US10946980B2 (en) | 2016-02-29 | 2021-03-16 | SZ DJI Technology Co., Ltd. | Methods and systems for movement control of flying devices |
| US11572196B2 (en) | 2016-02-29 | 2023-02-07 | SZ DJI Technology Co., Ltd. | Methods and systems for movement control of flying devices |
| CN105739514A (en) * | 2016-03-23 | 2016-07-06 | 普宙飞行器科技（深圳）有限公司 | Operation and control method of unmanned aerial vehicle and unmanned aerial vehicle system |
| WO2017185317A1 (en) * | 2016-04-29 | 2017-11-02 | 深圳飞豹航天航空科技有限公司 | Remote control device for aircraft |
| CN107655470B (en) * | 2016-07-26 | 2020-02-21 | 广州亿航智能技术有限公司 | Method and system for calibrating yaw angle value of unmanned aerial vehicle |
| CN106527493B (en) * | 2016-11-29 | 2020-01-14 | 深圳市元征科技股份有限公司 | Unmanned aerial vehicle control method based on geomagnetic mode and unmanned aerial vehicle |
| CN106527493A (en) * | 2016-11-29 | 2017-03-22 | 深圳市元征科技股份有限公司 | Unmanned aerial vehicle control method based on terrestrial magnetism mode and unmanned aerial vehicle |
| CN106843266A (en) * | 2016-12-30 | 2017-06-13 | 歌尔科技有限公司 | A kind of remote control of aircraft, towards control system and orientation indicating method |
| CN106843266B (en) * | 2016-12-30 | 2024-04-05 | 歌尔科技有限公司 | Remote controller, orientation control system and azimuth indication method of aircraft |
| CN110658853A (en) * | 2018-06-29 | 2020-01-07 | 天津深之蓝海洋设备科技有限公司 | Remote control method for delivery vehicle, remote controller and remote control system |
| CN109739295A (en) * | 2018-12-19 | 2019-05-10 | 上海邦邦机器人有限公司 | A kind of remote manipulator and its remote control method of mobile device |
| CN109739295B (en) * | 2018-12-19 | 2024-03-15 | 上海邦邦机器人有限公司 | Remote controller of mobile device and remote control method thereof |
| CN112015193A (en) * | 2020-08-18 | 2020-12-01 | 江阴市翔诺电子科技有限公司 | Model airplane control system and control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104906805B (en) | 2017-05-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104906805A (en) | Safe remote model aerocraft control method and safe remote model aerocraft control system based on active attitude detection | |
| US10571779B2 (en) | Flying camera with string assembly for localization and interaction | |
| EP3299920B1 (en) | Unmanned aerial vehicle control method and device based on no-head mode | |
| CN106716272B (en) | System and method for flight simulation | |
| US20160189537A1 (en) | Device and method for transmitting remote control signal, device and method for receiving remote control signal and remote control equipment | |
| KR101117207B1 (en) | Auto and manual control system for unmanned aerial vehicle via smart phone | |
| CN104808675B (en) | Body-sensing flight control system and terminal device based on intelligent terminal | |
| KR101263441B1 (en) | Method and system of flight control for unmanned aerial vehicle | |
| CN203433367U (en) | Over-the-horizon wireless remote control system of small unmanned aerial vehicle | |
| CN104597912A (en) | Tracking flying control system and method of six-rotor unmanned helicopter | |
| CN107272740A (en) | A kind of new four rotor wing unmanned aerial vehicles control system | |
| CN203038112U (en) | Unmanned aerial vehicle (UAV) automatic control system | |
| WO2014064431A3 (en) | Micro unmanned aerial vehicle and method of control therefor | |
| CN106598060B (en) | Carrier rocket information integration electrical system | |
| CN103235599A (en) | Smart phone based flight control system | |
| CN102854881A (en) | Automatic control system of unmanned aerial vehicle (UAV) | |
| CN205334106U (en) | Remote controller for unmanned aerial vehicle | |
| CN107608366A (en) | More parafoil UASs based on event triggering | |
| CN205216197U (en) | Model aeroplane and model ship aircraft safety remote control system based on active gesture detects | |
| CN205620816U (en) | Unmanned helicopter flight control system | |
| CN205353629U (en) | Unmanned aerial vehicle uses novel remote controller | |
| CN202044782U (en) | Machine flying man | |
| CN104536460A (en) | Method for patrolling concave mountain slope electric transmission line by unmanned aerial vehicle | |
| CN202120126U (en) | Unmanned aerial vehicle and remote controller | |
| JP5969903B2 (en) | Control method of unmanned moving object |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20150916 Assignee: NANJING UNIVERSITY OF POSTS AND TELECOMMUNICATIONS NANTONG INSTITUTE Co.,Ltd. Assignor: NANJING University OF POSTS AND TELECOMMUNICATIONS Contract record no.: 2018320000057 Denomination of invention: Safe remote model aerocraft control method and safe remote model aerocraft control system based on active attitude detection Granted publication date: 20170517 License type: Common License Record date: 20180314 |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20181210 Address after: 226000 Room 8319, Building 11, Happy New Town, Gangzha District, Nantong City, Jiangsu Province Patentee after: NANJING UNIVERSITY OF POSTS AND TELECOMMUNICATIONS NANTONG INSTITUTE Co.,Ltd. Address before: 210003 new model road 66, Gulou District, Nanjing, Jiangsu Patentee before: NANJING University OF POSTS AND TELECOMMUNICATIONS |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220309 Address after: 226000 Room 102, building 4, No. 109, Yongfu Road, Tangzha Town Street, Chongchuan District, Nantong City, Jiangsu Province Patentee after: Nantong Ruineng Automobile Technology Co.,Ltd. Address before: Room 8319, building 11, Xingfu new town, Gangzha District, Nantong City, Jiangsu Province, 226000 Patentee before: NANJING UNIVERSITY OF POSTS AND TELECOMMUNICATIONS NANTONG INSTITUTE Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230719 Address after: 712, 7th floor, 288 Yangcun Road, choujiang street, Yiwu City, Jinhua City, Zhejiang Province (self declaration) Patentee after: Fengte (Zhejiang) new material Co.,Ltd. Address before: 226000 Room 102, building 4, No. 109, Yongfu Road, Tangzha Town Street, Chongchuan District, Nantong City, Jiangsu Province Patentee before: Nantong Ruineng Automobile Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right |