CN105575097A - Portable unmanned plane control device - Google Patents
Portable unmanned plane control device Download PDFInfo
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- CN105575097A CN105575097A CN201610116288.8A CN201610116288A CN105575097A CN 105575097 A CN105575097 A CN 105575097A CN 201610116288 A CN201610116288 A CN 201610116288A CN 105575097 A CN105575097 A CN 105575097A
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- 230000033001 locomotion Effects 0.000 claims description 22
- 230000001681 protective effect Effects 0.000 claims description 15
- 238000000034 method Methods 0.000 claims description 12
- 238000007667 floating Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 4
- 230000000630 rising effect Effects 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 239000012780 transparent material Substances 0.000 claims description 2
- 210000004247 hand Anatomy 0.000 description 8
- 230000007423 decrease Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000003825 pressing Methods 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000003678 scratch resistant effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K5/00—Casings, cabinets or drawers for electric apparatus
- H05K5/02—Details
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Computer Networks & Wireless Communication (AREA)
- Toys (AREA)
Abstract
The invention discloses a portable unmanned plane control device. The portable unmanned plane control device comprises a main control body and detachable holding handles connected with the main control body, and is characterized by also comprising a handheld strap, wherein the handheld strap is detachably connected with the bottom of the main control body, the detachable holding handles are divided into a left handle and a right handle which are respectively detachably connected with two ends of the main control body, the main control body is internally provided with a main control module and a wireless transmitting module, a display module, a posture module, a power supply module, a positioning module, a keystroke module and an acoustic-optic alarming module which are respectively connected with the main control module, and the data transmitted by each module are processed by the main control module. By combining the detachable handheld strap with the holding handles, an operator can select the holding way flexibly, so that the liberation and the control of two hands of the operator are facilitated; and by adopting the control device, an object can be simply and conveniently remotely controlled to complete complex actions and tasks, so that the requirement on the control skill of the operator is greatly alleviated.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control field, specifically a kind of Portable unmanned machine control device.
Background technology
Along with the fast development of manufacturing industry and Intelligent worn device, use portable intelligent remote control equipment control jobbie completes specific action and task has become a kind of more and more urgent demand, the remote control equipments such as such as telecar mould, model plane, unmanned plane, robot.But in most of the cases, operator does not have consummate manipulation technology, requires that again remote control thing is by the control of real-time intelligent and the movement of following operator simultaneously.
Existing hand-held remote control device generally needs operator's both hands to be held in respectively on handle portion, carries out corresponding operating on the control panel by the thumb of both hands, to reach the object of remote control.But this hand-held remote control device has significant limitation when operating, such as, the control needing both hands to continue during operator's remote control object, is unfavorable for the liberation of operator's both hands; When remote control object carries out complicated action, need both hands to carry out complicated operation, to the manipulation technology of operator, there is higher requirement; When remote control object need to follow manipulator move time, manipulator is particularly inconvenient to the manipulation of object.
Summary of the invention
For the deficiencies in the prior art, the invention provides the Portable unmanned machine control device that a kind of handled easily person completes various compound action and operation task.
For achieving the above object, the present invention adopts following technical scheme:
A kind of Portable unmanned machine control device, the detachable grip handle comprising master control body and be connected with master control body, unlike the prior art: also comprise hand held tape, hand held tape is connected with master control body bottom portion is detachable, detachable grip handle is left and right handle, be connected with master control body two ends are detachable respectively, wherein:
The built-in main control module of master control body and the wireless transmitter module be connected with main control module respectively, display module, gesture module, power module, locating module, key-press module and sound and light alarm module, processed the data sent by each module by main control module.
Further; also be provided with detachable waterproof protective case; master control body is arranged in this containment vessel; waterproof protective case is respectively equipped with the stud bump and display window that match with the button on master control body, display interface; insert master control body draw-in groove by self public plug to fix; for master control body waterproof, the protection such as scratch resistant, opertaing device is made to be applicable to multiple environment.
Further, the charging inlet be connected with power module and the cradle be connected with charging inlet is also configured with at master control body bottom portion; Cradle is made up of one and the groove of master control Ontology Matching, public plug, four hard contacts and USB interface; Four hard contacts are respectively that power supply is positive and negative, serial ports sending/receiving, charging inlet is made up of positive and negative two hard contacts, for contacting with positive and negative two hard contacts in four hard contacts of cradle, when the USB interface of cradle is by USB line access power-supply device, just can charge to opertaing device.
Further, download interface is provided with at master control body bottom portion, this download interface is sent and receives two hard contacts and forms by serial ports, for the transmission in four hard contacts of cradle with receive two hard contacts and contact, to carry out firmware upgrade and maintenance.
Further, be provided with general module draw-in groove in the master control body left and right sides, for waterproof protective case, holds handle is connected with the draw-in groove of cradle, with fixing waterproof protective case, holds handle and cradle.
Described detachable grip handle, anti-skidding process is carried out on surface, and handle shapes is similar with game handle, and the public plug by self inserts and controls body draw-in groove.
Described waterproof protective case, surface is transparent material, and its shape is elliposoidal, and the public plug by self inserts and controls body draw-in groove.
Described hand held tape, it adopts the material with elastic shrinkage to make, and sawtooth striped is arranged at bottom, and when hand held tape is through when controlling the body back side, its sawtooth striped can be fixed by the card article of master control body, and this function can regulate accordingly according to arm size and fix.
Described key-press module is connected with the control button of master control body outer wall, and button comprises: a key take off/land button, follow/hover button, rising button, landing button, gesture stability button, start/shutdown button, photographic imagerecord mode switching key, start/stop photographic imagerecord button;
Described display module is connected with the display interface of master control body surface, for display: communication signal strength, controlled object battery electric quantity, opertaing device battery electric quantity, a satnav number; Switch display to comprise: motion state of taking off, dropping motion state, all around motion state, floating state, accompany movement state, around the movement state, photograph state, video state etc.; Above-mentioned display state all carries out lively display in real time with cartoon figure or picture;
Described main control module is the core of master control body, and the data be responsible for control body modules sends process.
Described wireless transmitter module is provide wireless communication link between opertaing device and controlled object.
Described gesture module is connected with main control module, can obtain current opertaing device acceleration, angular velocity and magnetic force three number of axle certificate by gesture module.
Described power module can export different voltage, and to provide corresponding power supply to the modules in master control body, it charges online by charging inlet simultaneously.
Described locating module, accurately can locate the information such as the longitude and latitude height above sea level speed of current opertaing device.
Described sound and light alarm module is when opertaing device operation irregularity or when needing instruction, send sound and light alarm and instruction.
Compared to prior art, the invention has the beneficial effects as follows:
1. combined by detachable hand held tape and holds handle, operator can select holding mode flexibly, is conducive to liberation and the manipulation of operator's both hands;
2., by opertaing device of the present invention, complicated action and task can be completed by simple and convenient remote control object, greatly reduce the control technology requirement to operator;
3. by of the present inventionly following/around button, do not need operator to monitor in real time, just can be simple and convenient make remote control object follow manipulator move or around;
4., by display interface of the present invention, operator according to the motion state image of its display, can specify the current state of controlled object;
5., by detachable waterproof protective case of the present invention, operator can carry out straighforward operation in a variety of contexts.
Accompanying drawing explanation
Fig. 1 is total structure figure of the present invention;
Fig. 2 is general principles block diagram of the present invention;
Fig. 3 is the workflow diagram of control device of the present invention;
Wherein: 1, master control body; 2, hand held tape; 3, holds handle; 4, waterproof cover; 5, display interface; 6, button; 7, general purpose card slot.
Embodiment
Below by specific embodiment, also the present invention is described in further detail by reference to the accompanying drawings.
See Fig. 1, Portable unmanned machine control device of the present invention comprises master control body 1, hand held tape 2, detachable grip handle 3 and cradle.Wherein master control body 1 can select hand held tape 2 or holds handle 3 to manipulate according to the control mode of manipulator:
When selecting hand held tape 2, control device just becomes wearable control bracelet; Hand held tape 2 is connected with detachable bottom master control body 1, it adopts the material with elastic shrinkage to make, sawtooth striped is arranged at bottom, when hand held tape 2 is through master control body 1 back side, its sawtooth striped can be fixed by the card article of master control body 1, and this function can regulate accordingly according to arm size and fix.
When selecting detachable grip handle 3, opertaing device just becomes common hand-held remote controller.Anti-skidding process is carried out on detachable grip handle 3 surface, and handle shapes is similar with game handle, and the public plug by self inserts and controls body draw-in groove.
When manipulating under rainy humidity etc. comparatively rugged surroundings; waterproof protective case 4 can be installed additional protect; master control body 1 is arranged in this containment vessel 4; waterproof protective case 4 is respectively equipped with the stud bump and display window that match with the button 6 on master control body 1, display interface 5; the general purpose card slot 7 being inserted master control body 1 by self public plug is fixed; for master control body 1 waterproof, the protection such as scratch resistant, opertaing device is made to be applicable to multiple environment.Be provided with general module draw-in groove 7 in master control body 1 left and right sides, for waterproof protective case 4, holds handle 3 is connected with the draw-in groove of cradle, with fixing waterproof protective case 4, holds handle 3 and cradle.
When the low electricity of opertaing device or when needing carry out firmware upgrade and safeguard, opertaing device is put into supporting charging socket and just can charge online or firmware upgrade and maintenance; The charging inlet be connected with power module and the cradle be connected with charging inlet is also configured with at master control body bottom portion; Cradle is made up of one and the groove of master control Ontology Matching, public plug, hard contact and USB interface; Charging inlet is made up of positive and negative two hard contacts, for contacting, to charge with positive and negative two hard contacts in four hard contacts of cradle.Be provided with download interface at master control body bottom portion, this download interface is sent and receives two hard contacts and forms by serial ports, for the transmission in four hard contacts of cradle with receive two hard contacts and contact, to carry out firmware upgrade and maintenance.
See Fig. 2, the built-in main control module of master control body 1 and the wireless transmitter module be connected with main control module respectively, display module, gesture module, power module, locating module, key-press module and sound and light alarm module.When length presses switch/closing key, power module is started working, and start controlling equipment, the locating module that simultaneously master control body is built-in obtains the positional information of current controlling equipment, and carry out radio communication by its built-in wireless transmitter module and controlled object and shake hands and link, shake hands and successfully, obtain the current state of controlled object, and shown the motion state of current controlled object by display module;
When long pressing take off landing key time, display interface shows controlled object takeoff condition, when takeoff maneuver completes, display interface shows controlled object floating state, when vice-minister lands button by taking off again, display interface shows controlled object landing state, and when dropping action completes, display interface shows controlled object stationary state;
When controlled object be in hovering or around pattern under time; press and follow button; the positional information that locating module obtains is sent to controlled object by controlling equipment; controlled object follows controlled object of which movement according to this positional information, and simultaneously display interface shows controlled object and follows the picture that people moves together.If again press when following button, controlled object will become floating state, and display interface shows the hovering of controlled object simultaneously;
When controlled object is in floating state or following state, press lifting key and decline key simultaneously, the controlled object segment distance that will outwards fly stops, and using this segment distance as radius around with the position of controlling equipment for round dot moves in a circle, simultaneously display interface shows controlled object and moves in a circle around round dot.When again pressing lifting key and decline key simultaneously, controlled object will be cancelled around becoming floating state, and display interface shows the hovering of controlled object simultaneously;
When controlled object is in state of flight, press lifting key or decline key, controlled object can rise with certain acceleration or decline, and display interface shows the rising of controlled object or descending motion state simultaneously.When unclamping rising or decline button, controlled object can terminate to rise or descending motion state immediately, and hovers in present position;
Under any motion state of controlled object, pin attitude button not put, controlled object can enter attitude control mode, the direction of motion of controlled object is now controlled by the attitude of controlling equipment, when controlling equipment in the face of controlled object is outside, then controlled object is anterior flies towards the direction away from controlling equipment, controlling equipment is inside, then controlled object is anterior flies towards the direction towards controlling equipment, when controlling equipment is towards a left side or right bank, then controlled object is towards controlling equipment towards left or right direction flight.When unclamping attitude button, then controlled object enter gesture stability before motion state.Display interface is according to the motion state of controlled object simultaneously, carries out display accordingly and switches;
Under any motion state of controlled object, press video recording switch mode button of taking pictures, current operation mode can be shown, and by display interface display camera icon or camera icon, RECORD mode of taking pictures is switched when again clicking this switching key, simultaneously icon (camera icon or camera icon) can disappear automatically after a while, and the interface of controlled object moving state before returning to;
Under any motion state of controlled object, when under exposal model, press start/stop photographic imagerecord button, display interface shows action of taking pictures, and automatically disappears after a while, the front interface of recovery.When under RECORD mode, press start/stop photographic imagerecord button, then display interface shows dot above interface, and with the display of certain frequency scintillation, represents and record a video.When again pressing start/stop photographic imagerecord button, then terminate video recording, the dot icon of display interface display disappears, and represents and stops video recording, and other are constant for display interface;
When controlling equipment or controlled object are in abnormality, sound and light alarm module sends sound and light alarm, and performs corresponding protection instruction;
See Fig. 3, the workflow of control device of the present invention is:
Step S201 program starts, and then performs step S202 system and each module initialization; After initialization is complete, performs step S203 and read address and configuration parameter; Read successfully and perform step S204LCD display; Show successfully, perform S205, judge that system has abnormal conditions? if had, perform step S206 abnormality processing; Otherwise then perform step S207, judge whether that button is pressed? if do not pressed, then continue to perform S207; Otherwise then perform step S208, the each task of system, task comprise take pictures video recording hand-off process, follow hovering process, rise process, decline process, around hovering process, gesture stability process, video record processing of taking pictures, landing of taking off processes, because program designs with modularization, master routine only needs the arrival of wait task, performs corresponding operation when task arrives, and the succinct and real-time of calling program is more strengthened; After tasks carrying is complete, and then performs step S210, LCD display and switch, the image corresponding according to the display of different tasks; Switch after having shown, perform the process of step S211 wireless transmission, relevant information is sent to controlled object by wireless module; Be sent completely rear execution step S212, judge whether abnormal conditions; If there is exception, then performs step S213 and terminate; If not abnormal, then get back to step S207 and judged whether that button is pressed, constantly circulate with this.
Claims (10)
1. a Portable unmanned machine control device, the detachable grip handle comprising master control body and be connected with master control body, it is characterized in that: also comprise hand held tape, hand held tape is connected with master control body bottom portion is detachable, detachable grip handle is left and right handle, be connected with master control body two ends are detachable respectively, wherein:
The built-in main control module of master control body and the wireless transmitter module be connected with main control module respectively, display module, gesture module, power module, locating module, key-press module and sound and light alarm module, processed the data sent by each module by main control module.
2. Portable unmanned machine control device according to claim 1; it is characterized in that: be also provided with detachable waterproof protective case; master control body is arranged in this containment vessel; waterproof protective case is respectively equipped with the stud bump and display window that match with the button on master control body, display interface, inserts master control body draw-in groove by self public plug and fix.
3. Portable unmanned machine control device according to claim 1, is characterized in that: be also configured with the charging inlet be connected with power module and the cradle be connected with charging inlet at master control body bottom portion; Cradle is made up of one and the groove of master control Ontology Matching, public plug, hard contact and USB interface; The hard contact of cradle is respectively that power supply is positive and negative, serial ports sending/receiving, and charging inlet is made up of positive and negative two hard contacts, for contacting to charge with positive and negative two hard contacts in four hard contacts of cradle.
4. Portable unmanned machine control device according to claim 1, it is characterized in that: be provided with download interface at master control body bottom portion, this download interface is sent and receives two hard contacts and forms by serial ports, for the transmission in four hard contacts of cradle with receive two hard contacts and contact.
5. Portable unmanned machine control device according to claim 1; it is characterized in that: be provided with general module draw-in groove in the master control body left and right sides, for waterproof protective case, holds handle is connected with the draw-in groove of cradle; and fixing waterproof protective case, holds handle and cradle.
6. Portable unmanned machine control device according to claim 1, it is characterized in that: described detachable grip handle, anti-skidding process is carried out on surface, and handle shapes is similar to game handle, and the public plug by self inserts and controls body draw-in groove.
7. Portable unmanned machine control device according to claim 2, is characterized in that: described waterproof protective case, and surface is transparent material, and its shape is elliposoidal, and the public plug by self inserts and controls body draw-in groove.
8. Portable unmanned machine control device according to claim 1, it is characterized in that: described hand held tape, it adopts the material with elastic shrinkage to make, sawtooth striped is arranged at bottom, when hand held tape is through when controlling the body back side, its sawtooth striped can be fixed by the card article of master control body, regulates accordingly and fix according to arm size.
9. Portable unmanned machine control device according to claim 1, it is characterized in that: described key-press module is connected with the control button of master control body outer wall, and button comprises: a key take off/land button, follow/hover button, rising button, landing button, gesture stability button, start/shutdown button, photographic imagerecord mode switching key, start/stop photographic imagerecord button.
10. Portable unmanned machine control device according to claim 1, it is characterized in that: described display module is connected with the display interface of master control body surface, for display: communication signal strength, controlled object battery electric quantity, opertaing device battery electric quantity, a satnav number; Switch display to comprise: motion state of taking off, dropping motion state, all around motion state, floating state, accompany movement state, around the movement state, photograph state, video state etc.; Above-mentioned display state all carries out lively display in real time with cartoon figure or picture.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610116288.8A CN105575097A (en) | 2016-03-02 | 2016-03-02 | Portable unmanned plane control device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610116288.8A CN105575097A (en) | 2016-03-02 | 2016-03-02 | Portable unmanned plane control device |
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| CN105575097A true CN105575097A (en) | 2016-05-11 |
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| CN105867363A (en) * | 2016-05-26 | 2016-08-17 | 北京飞旋天行科技有限公司 | UAV (unmanned aerial vehicle) control method, equipment and system |
| CN105938372A (en) * | 2016-06-03 | 2016-09-14 | 南京奇蛙智能科技有限公司 | Combined type wearable unmanned aerial vehicle controller |
| CN106215431A (en) * | 2016-09-21 | 2016-12-14 | 广州七百虎信息科技有限公司 | A kind of unmanned plane one hand remote controller |
| CN108008731A (en) * | 2017-11-20 | 2018-05-08 | 上海歌尔泰克机器人有限公司 | Remote controler, unmanned plane and the UAV system of unmanned plane |
| CN108107903A (en) * | 2017-12-01 | 2018-06-01 | 北京臻迪科技股份有限公司 | Unmanned plane Hovering control method, apparatus and system |
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| CN108107903A (en) * | 2017-12-01 | 2018-06-01 | 北京臻迪科技股份有限公司 | Unmanned plane Hovering control method, apparatus and system |
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Application publication date: 20160511 |