CN105539874B - A kind of unmanned plane hand throws winged method and system - Google Patents
A kind of unmanned plane hand throws winged method and system Download PDFInfo
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- CN105539874B CN105539874B CN201610012266.7A CN201610012266A CN105539874B CN 105539874 B CN105539874 B CN 105539874B CN 201610012266 A CN201610012266 A CN 201610012266A CN 105539874 B CN105539874 B CN 105539874B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/04—Launching or towing gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
Abstract
The invention discloses a kind of unmanned plane hands to throw winged method and system, this method comprises the following steps: user triggers unmanned plane, enter unmanned plane and throws state in advance, unmanned plane is into while throwing state in advance, unmanned plane internal timer starts automatic countdown, unmanned plane is taken off by detecting the acceleration value G of its own movement and straight up velocity amplitude V judges automatically whether open rotor；The system includes flight controller and acceleration transducer connected to it, timer, alarming device, and flight controller controls the starting of unmanned plane rotor.Take off compared with mode with the remote control of existing machinery formula, the entire take-off process of the present invention completely without remote controler, it can be achieved that unmanned plane it is quick, it is convenient take off, human-computer interaction is intelligent, and user-friendly, the user experience is improved, convenient for promoting the use of.In addition, the present invention, which can be effectively prevented from hand, throws the personal injury that may be generated to user when unmanned plane takes off, effectively guarantee personal safety.
Description
Technical field
The present invention relates to a kind of hand throwing type small drone technical fields, specifically for, be related to unmanned plane and take off
Method is that a kind of unmanned plane hand throws winged method and system.
Background technique
Traditional multi-rotor unmanned aerial vehicle is taken off, general in such a way that remote control is taken off.That is, being placed on ground for multi-rotor unmanned aerial vehicle
On, professional operator remotely controls unmanned plane by remote controler and takes off.But this mode taken off that is remotely controlled has to control
The necessary factors such as the posture balancing of unmanned plane, throttle size in take-off process processed are just able to achieve that unmanned plane is normal, safe
Fly.Remote control takeoff method needs professional to manually control many factors, therefore operator has to pass through the training of profession, white silk
Habit, examination just have the ability that control unmanned plane takes off, to guarantee unmanned plane success, safely take off.
It can be seen from the above: it is remotely controlled that requirement of the mode taken off to user is excessively high, and operating process is excessively complicated, and
And take-off process fully relies on remote manual control operation, intelligence degree is very low.In addition, remote control takes off and needs certain take off
Space and place, this cannot achieve certain applications of unmanned plane, thus remote control takes off and limits unmanned plane
Use scope wastes the superior function of unmanned plane.
Therefore, a kind of intelligent, automation is obtained, convenient for operation, the unmanned plane takeoff method that stability is good, highly-safe
Or launching apparatus becomes the target of the emphasis that those skilled in the art study always and pursuit.
Summary of the invention
It takes off to solve existing unmanned plane to user's operation skill requirement is high, success rate of taking off is low, stability is poor, safety
Many defects such as difference throw winged method and system the present invention provides a kind of unmanned plane hand, realize intelligent, automation control without
The man-machine technical purpose taken off, and the injury to people or unmanned plane body is avoided in take-off process.
To realize the above-mentioned technical purpose, the invention discloses a kind of unmanned plane hands to throw takeoff method, and this method includes as follows
Step,
Step 1: user triggers unmanned plane, enters unmanned plane and throws state in advance；Unmanned plane enters throws the same of state in advance
When, unmanned plane internal timer starts automatic countdown；
Step 2: whether unmanned plane is judged automatically by detection its own acceleration value G and straight up velocity amplitude V and is opened
Rotor takes off.
Unmanned plane hand of the invention throw takeoff method have the characteristics that it is intelligent, automate, convenience is good, high reliablity,
User, which needs not move through specialized training and successfully, expertly can operate unmanned plane, to take off, and the scope of application of the present invention is wider, Er Qiean
Overall coefficient is also very high, protects the user from injury.
The present invention innovatively judges the real-time state in which of unmanned plane in such a way that acceleration value and velocity amplitude combine,
This mode is more accurate for judging whether standby for takeoff and specific takeoff opportunity, and error rate is extremely low, almost nil, completely full
Foot user throws UAV Intelligent winged needs.
Further, in step 2, unmanned plane utilizes the obtained acceleration value G of detection and velocity amplitude V judgement straight up
Whether rotor is opened, if G ≠ 0, illustrates unmanned plane by external force, if it is fast upwards equal to 0, initial vertical to meet G simultaneously
Angle value V0Velocity amplitude V is descending greater than threshold value Vt and straight up is changed to rotor starting velocity amplitude, then unmanned plane during flying control
Device processed, which automatically controls, opens rotor, and unmanned plane takes off in the air.
Further, in step 2, if the acceleration value G that unmanned plane detects is equal to 0 and initial vertical upward velocity value
V0More than or equal to threshold value Vt, then unmanned plane by dishing out in user hand, into mode of taking off in the air.
The present invention can solve the certain special circumstances encountered in take-off process, upper after grabbing back, dishing out at once after such as dishing out
The problems such as encountering barrier during rising, once and unmanned plane by external force, acceleration transducer will sense in real time, obtain
Real-time G ≠ 0, thus can be avoided completely by way of judging whether acceleration value G is 0 it is above-mentioned there may be to user or
It is injured caused by person's unmanned plane, improves hand and throw winged safety.
Further, after unmanned plane enters the mode of taking off in the air, if the acceleration value G that unmanned plane detects is equal to 0
And velocity amplitude V is equal to rotor starting velocity amplitude straight up, then UAV Flight Control device automatically controls rotor starting, unmanned plane
It takes off in the air.
Further, the rotor starting velocity amplitude is 0 or 1/6*V0, wherein being 1/6*V in rotor starting speed0Situation
Under, unmanned plane by dish out in user hand into take off in the air mode when, record and store initial vertical that unmanned plane detects to
Upper velocity amplitude V0, 1/6*V is reduced to speed0Shi Xuanyi starting.
In general, the unlatching of rotor has certain delay, and the preferred V value of the present invention is decreased to 1/6V0When, unmanned plane flies
Line control unit automatically turns on rotor, i.e., gives rotor enabling signal in advance, and unmanned plane can be better achieved by, which having, takes off, improves
Unmanned plane takes off the technical effect of success rate.
Further, in step 1, state is thrown in advance more easily to enter unmanned plane, improves intelligence of the invention
And convenience, user trigger unmanned plane and enter the mode for throwing state in advance continuously to pat under unmanned plane body three, if unmanned plane
The acceleration signal detected within a preset time has continuous three pulse signals, then it is pre- to judge that unmanned plane enters for flight controller
Throw state.
Further, the preset time is the arbitrary value in 1 second to three-second area；Pulse signal amplitude is more than or equal to
It is effective when 2.5g；Acceleration signal passes through quadravalence butterworth digital filter, which is
8000hz, cutoff frequency 30hz；G is gravity acceleration value.
Further, it is preset value that unmanned plane throws state timing duration in advance, and the timing duration terminates and nobody
Machine does not take off, then flight controller control unmanned plane, which exits, pre- throws state.
Further, unmanned plane is into when throwing state in advance, and unmanned plane is reminded by issuing pre- alarm signal of throwing, to mention
The warning effect of high unmanned plane, make user more easily notice unmanned plane enter it is pre- throw state, it is described pre- to throw state
Alarm signal is light signal and/or voice signal.
Another goal of the invention of the invention is to provide a kind of unmanned plane hand and throws take-off system, including unmanned plane body and
Its internal flight controller, which further includes the acceleration transducer, timer, warning connecting respectively with flight controller
Device, flight controller control the starting of unmanned plane rotor；To improve the judgement precision and integrated level that hand of the present invention throws take-off system,
The flight controller is that Flight Control Division manages chip, and timer is that Flight Control Division manages chip timing module, acceleration sensing
Device is piezoresistive transducer.
After user dishes out unmanned plane, whether hand of the invention is thrown take-off system and had can be such that unmanned plane judges automatically to rise
Winged and takeoff opportunity effect, and the working condition of unmanned plane is significantly prompted, with convenience is good, stability of taking off
The advantages that high, highly-safe.
The invention has the benefit that the present invention realizes user's hand compared with mode is taken off in the remote control of existing machinery formula
Unmanned plane is thrown and achievees the purpose that unmanned plane takes off in the air, after the automated intelligent detection in the sky of the unmanned plane after dishing out, judgement
Starting, final flight stop it is aerial, entire take-off process completely without remote controler, the present invention can be realized unmanned plane quickly,
Simply, convenient to take off, mode of taking off is more flexible, and human-computer interaction is intelligent, and user-friendly, the user experience is improved, just
In promoting and using, conducive to the market for expanding product.In addition, the present invention, which can be effectively prevented from hand, throws possibility when unmanned plane takes off
To the personal injury that user generates, effectively guarantee personal safety.
Detailed description of the invention
Fig. 1 is that unmanned plane hand throws winged method flow diagram.
Fig. 2 is that unmanned plane hand throws winged principle flow chart.
Fig. 3 is that unmanned plane hand throws winged the system composition block diagram.
Specific embodiment
Takeoff method is thrown to unmanned plane hand of the invention with reference to the accompanying drawings of the specification and hand is thrown take-off system and carried out in detail
Thin explanation and illustration.
Hand of the invention throws winged method, i.e., is thrown to unmanned plane in the air by manpower, unmanned plane is intelligently known in the sky
Other takeoff opportunity enters regular flight condition after then starting in the sky.Whole process, user only needs to trigger, it is dynamic to throw two
Make, taking off for unmanned plane can be smoothly completed.
As shown in Figure 1, 2, 3, a kind of unmanned plane hand throws takeoff method, and this method comprises the following steps:
Step 1: user, which triggers unmanned plane, is in unmanned plane in advance throws state, that is, allows unmanned plane to carry out and take off
Prepare, waits the operation of user's next step；Specific triggering mode those skilled in the art can select as needed, the present embodiment
In, preferred triggering mode is continuous beating unmanned plane body twice or more, for example, the acceleration transducer inside unmanned plane
When detecting continuous three strong pulse signals within a preset time, then judges that unmanned plane needs to enter to throw and fly preparation mould
Formula, that is, state is thrown in advance, and will be thrown winged preparatory signal and be sent to UAV Flight Control device, preset time is preferably 1 second
Arbitrary value in three-second area, " strong pulse signal " can be regarded as the pulse signal more than or equal to 2.5g, pulse at this time
Signal is useful signal, and g is gravity acceleration value.Certainly, the present invention can also directly press the touching being specially arranged on unmanned plane
Button is sent out, trigger button is pressed and gives flight controller one trigger signal, one kind may be selected in both modes, can also be same
When use, while using being conducive to increase safety of the invention.
Trigger action occurs, unmanned plane is into state is thrown in advance, has also given flight controller one trigger signal, flight control
Device processed controls the automatic countdown of unmanned plane internal timer, alarming device issues alarm signal, preferably throws in advance in the present invention
State alarm signal is the light signal of flashing, voice signal, and one or dual-purpose may be selected in the two, while using prompt effect
More preferably, the pre- state timing duration of throwing of unmanned plane internal timer is preset value, the timing duration in the present embodiment
Terminate and unmanned plane do not take off, then flight controller control unmanned plane exit it is pre- throw state, in other words, after countdown,
Unmanned plane can automatically exit from throwing and fly run-up mode, preset pre- a length of 5 to 10 when throwing state countdown in the present embodiment
Second in arbitrary value, such as need to throw again it is winged, must be again started up throwing fly run-up mode, countdown duration can according to user select and
Setting, for old man, a middle-aged person, children or other classes crowd, can according to actual needs reasonable set, such as the middle age
7 seconds countdown durations may be selected in people；It should be pointed out that timing tool of the invention can also be used inside flight controller
Timing program combine its internal clocking or crystal oscillator to realize.
Step 2: whether unmanned plane is judged automatically by detection its own acceleration value G and straight up velocity amplitude V and is opened
Rotor takes off.It should be pointed out that improve the accuracy that flight controller detects acceleration signal, the acceleration
Signal passes through the quadravalence butterworth digital filter of sample frequency 8000hz, cutoff frequency 30hz；Unmanned plane utilizes
The acceleration value G and it is determined whether to enable rotors by velocity amplitude V straight up that the flight controller of itself installation detects, if together
When meet G equal to 0, initial vertical upward velocity value V0Velocity amplitude V is descending greater than threshold value Vt and straight up is changed to rotation
The wing starts velocity amplitude, then UAV Flight Control device, which automatically controls, opens rotor, and unmanned plane takes off in the air；If unmanned plane detects
Acceleration value G be equal to 0 and initial vertical upward velocity value V0More than or equal to threshold value Vt, then unmanned plane by dishing out in user hand,
Into mode of taking off in the air；After unmanned plane enters the mode of taking off in the air, if the acceleration value G that unmanned plane detects is equal to 0
And velocity amplitude V is equal to rotor starting velocity amplitude straight up, then UAV Flight Control device automatically controls rotor starting, unmanned plane
It takes off in the air.
In the present embodiment, it can be 0 that rotor, which starts velocity amplitude to be,；The threshold value Vt be more than or equal to 2m/s, direction be vertically to
On.
It is emphasized that recording and storing nobody when unmanned plane takes off mode by entrance of dishing out in user hand in the air
The initial vertical upward velocity value V that machine examination measures0, on this basis, rotor starting velocity amplitude of the invention can be 1/6*V0。
When it is implemented, user can mainly encounter following several situations:
The unmanned plane if user thoroughly dishes out, UAV Flight Control device automatically turn on rotor, and unmanned plane enters the shape that takes off
State after unmanned plane normally takes off, can pass through the subsequent flight attitude of remote control control, execution inter-related task；It is " thorough in the present invention
Dish out at bottom " be interpreted as user unmanned plane dished out, rather than weigh in the hand in the hand it is several under, accidentally fall or other are accidentally grasped
Make.
To overcome hand to throw winged mode human safety issues that may be present, as unmanned plane rotor is begun in user hand
Rotation is likely to cause personal injury alternatively, unmanned plane just rotates too early after just being dished out.Therefore, more specifically,
The acceleration value G and velocity amplitude V that the present invention innovatively uses acceleration transducer to obtain judge whether unmanned plane should open rotation
The wing takes off.If G=0, illustrate that unmanned plane is detached from user's palm, in the air, the present invention ignores the work of air drag
With saying that the external force that man-machine unmanned plane is generated by manpower or barrier, the present invention can also can be examined by having if G ≠ 0
The device for measuring the manpower palm judges whether unmanned plane is detached from manpower.For example, user is in the hand after unmanned plane enters the winged state of pre- throwing
It gently weighs several lower or unmanned planes in the hand accidentally to fall, at this time if the starting of unmanned plane rotor, is easy to damage user；Separately
Outside, if initial throwing is rapidly spent not enough, unmanned plane also can not normally take off in the sky, can also make to people or unmanned plane
At damage；By a large amount of field test, the present embodiment threshold value Vt is preferably 3m/s.
If encountering barrier in the uphill process after user grabs back at once after unmanned plane is dished out or unmanned plane is dished out,
UAV Flight Control device abandons starting rotor automatically；
Throw winged safety to further increase hand, overcome emergency case generate safety problem, the present invention in, if with
Family is grabbed back at once after unmanned plane is dished out, the external force that unmanned plane is applied by manpower again at this time, then G ≠ 0, unmanned plane during flying control
Device processed abandons starting rotor automatically, protects user's personal safety；Or unmanned plane dish out after uphill process in encounter barrier,
During encountering barrier, G ≠ 0, UAV Flight Control device abandons starting rotor automatically, and unmanned plane may also have at this time
Upward speed, when unmanned plane gets rid of barrier, G=0, if velocity amplitude V is reduced to 1/6V0Or when 0, unmanned plane can be sentenced automatically
Disconnected, starting wing.If user abandons unmanned plane of dishing out, after timer countdown, hand throwing again needs one weight of return step
New triggering, if user abandons unmanned plane of dishing out, G ≠ 0, UAV Flight Control device abandons starting rotor automatically.
Wherein, the external force that acceleration transducer sensitivity arrives is the active force of hand or barrier to body.
Before unmanned plane is from being tossed to taking off, unmanned plane is in aerial at this time, during unmanned plane rises, the value of V
From large to small, if the value of V is decreased to 0, speed is gradually reduced from 3m/s in the present embodiment, and it is speed that unmanned plane, which reaches highest point,
It is 0, UAV Flight Control device automatically turns on rotor, and unmanned plane enters takeoff condition；In addition, 1/6V can also be used in the present invention0
Entry condition, such as V0When=3m/s, in unmanned plane uphill process, if the value of V is decreased to 0.5m/s, UAV Flight Control
Device automatically turns on rotor, and unmanned plane enters takeoff condition, and the purpose set in this way is the starting of existing unmanned plane rotor sometimes
Between postpone, starting unmanned plane relatively earlier is conducive to more safely take off.
As shown in figure 3, the present invention also provides a kind of hands for throwing takeoff method using above-mentioned unmanned plane hand to throw take-off system,
Flight controller including unmanned plane body and its inside, the system further include that the acceleration connecting respectively with flight controller passes
Sensor, timer, alarming device, flight controller control the starting of unmanned plane rotor, and flight controller is connect with unmanned plane motor,
The affixed rotor of motor output shaft, alarming device are LED light and/or loudspeaker.Flight controller is flight control in the present embodiment
Chip is handled, can be arm processor, winged control centre is thrown for entire hand, obtain user's operation information, judge whether to hold
Row relevant action issues and whether starts rotor order etc., and acceleration transducer is MEMS piezoresistive sensor, can be used for obtaining nothing
Man-machine acceleration value G, acquisition speed value V, certainly, velocity amplitude V can also be obtained individually using velocity sensor.It rises and reminds
The LED light of effect is set on horn, and loudspeaker is installed on body upper.Consider from actual needs, the timer that the present invention uses
For the timing program inside count-down device or flight controller.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modification, equivalent replacement and simple modifications etc., should all be included in the protection scope of the present invention in content.
Claims (9)
1. a kind of unmanned plane hand throws winged control method, it is characterised in that: this method comprises the following steps,
Step 1: user triggers unmanned plane, enters unmanned plane and throws state in advance；While unmanned plane entrance throws state in advance,
Unmanned plane internal timer starts automatic countdown；
Step 2: it is determined whether to enable rotors by velocity amplitude V using the obtained acceleration value G of detection and straight up for unmanned plane, if
Meet G simultaneously equal to 0, initial vertical upward velocity value V0Velocity amplitude V is descending greater than threshold value Vt and straight up is changed to
Rotor starts velocity amplitude, then UAV Flight Control device, which automatically controls, opens rotor, and unmanned plane takes off in the air.
2. unmanned plane hand according to claim 1 throws winged control method, it is characterised in that: in step 2, if unmanned plane
The acceleration value G detected is equal to 0 and initial vertical upward velocity value V0More than or equal to threshold value Vt, then unmanned plane is by user hand
It dishes out, into taking off mode in the air.
3. unmanned plane hand according to claim 2 throws winged control method, it is characterised in that: unmanned plane enters described aerial
After mode of taking off, if the acceleration value G that unmanned plane detects is equal to 0 and velocity amplitude V is equal to rotor starting velocity amplitude straight up,
Then UAV Flight Control device automatically controls rotor starting, and unmanned plane takes off in the air.
4. unmanned plane hand according to claim 3 throws winged control method, it is characterised in that: the rotor starts velocity amplitude
For 0 or 1/6*V0, wherein being 1/6*V in rotor starting speed0In the case of, unmanned plane is taken off in the air by dishing out to enter in user hand
When mode, the initial vertical upward velocity value V that unmanned plane detects is recorded and stored0, 1/6*V is reduced to speed0Shi Xuanyi is opened
It is dynamic.
5. throwing winged control method to unmanned plane hand described in any claim in 4 according to claim 1, it is characterised in that:
In step 1, user triggers unmanned plane and enters the mode for throwing state in advance continuously to pat under unmanned plane body three, if unmanned plane
The acceleration signal detected within a preset time has continuous three pulse signals, then it is pre- to judge that unmanned plane enters for flight controller
Throw state.
6. unmanned plane hand according to claim 5 throws winged control method, it is characterised in that: the preset time is 1 second
Arbitrary value in three-second area；Pulse signal amplitude is more than or equal to effective when 2.5g；Acceleration signal passes through quadravalence
Butterworth digital filter, which is 8000hz, cutoff frequency 30hz；G is acceleration of gravity
Value.
7. unmanned plane hand according to claim 1 throws winged control method, it is characterised in that: unmanned plane throws state meter in advance
Constantly a length of preset value, the timing duration terminates and unmanned plane does not take off, then flight controller control unmanned plane exits
State is thrown in advance.
8. unmanned plane hand according to claim 7 throws winged control method, it is characterised in that: unmanned plane enters throws shape in advance
When state, unmanned plane throws alarm signal prompting by issuing in advance, and the pre- state alarm signal of throwing is light signal and/or sound
Sound signal.
9. a kind of unmanned plane hand throws takeoff control system, the flight controller including unmanned plane body and its inside, feature exists
In: the unmanned plane hand throws takeoff control system and throws winged control method using any unmanned plane hand of claim 1-8；
The system further includes the acceleration transducer, timer, alarming device connecting respectively with flight controller, flight controller
Control the starting of unmanned plane rotor；The flight controller is that Flight Control Division manages chip, and timer is that Flight Control Division manages chip
Timing module, acceleration transducer are piezoresistive transducer.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610012266.7A CN105539874B (en) | 2016-01-08 | 2016-01-08 | A kind of unmanned plane hand throws winged method and system |
| US15/090,597 US20170197731A1 (en) | 2016-01-08 | 2016-04-04 | Method and apparatus for hand launching unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610012266.7A CN105539874B (en) | 2016-01-08 | 2016-01-08 | A kind of unmanned plane hand throws winged method and system |
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