CN105620737A - Voice remote control system used for helicopter type aircraft and helicopter type remote control aircraft - Google Patents
Voice remote control system used for helicopter type aircraft and helicopter type remote control aircraft Download PDFInfo
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- CN105620737A CN105620737A CN201610105936.XA CN201610105936A CN105620737A CN 105620737 A CN105620737 A CN 105620737A CN 201610105936 A CN201610105936 A CN 201610105936A CN 105620737 A CN105620737 A CN 105620737A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C19/00—Aircraft control not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
Abstract
The invention discloses a voice remote control system used for a helicopter type aircraft.An airborne flight control system comprises a first microcontroller, a posture instrument module, a motor drive module, a first wireless communication module, a first display module and an airborne power supply module.A ground voice remote control system comprises a second microcontroller, a voice recognition module, a second wireless communication module, a second display module and a ground power supply module.The voice recognition module is used for recognizing a non-specific human voice instruction and transmitting the human voice instruction to the aircraft through the second wireless communication module.The second wireless communication module is used for sending a voice recognition result to the aircraft and sending aircraft flight posture data back to the ground.The second display module is used for displaying postures of the aircraft.The ground power supply module supplies power supply voltage and current required by the ground voice remote control system.The invention further discloses the helicopter type aircraft.An ascending, descending and steering control algorithm is simple and easy to implement, the calculation quantity of the algorithm is small, and steering control is precise.
Description
Technical field
The present invention relates to a kind of remotely-piloted vehicle and control system thereof, particularly relate to a kind of voice telecontrol system for going straight up to type aircraft and go straight up to type remotely-piloted vehicle.
Background technology
Go straight up to taking off of type aircraft to realize by carry-on upper and lower two main rotor high speed rotating. Make wind down beat generation lift by main rotation Ji up and down by the mode that clockwise and inverse clock mode rotate, offset the spin owing to rotor wing rotation causes simultaneously. Additionally, aircraft can utilize the speed discrepancy of upper and lower rotor, aircraft is made to produce spin, such that it is able to make aircraft turn to. By controlling tail rotor forward or reverse, thus raising or drag down the afterbody of aircraft, aircraft is made to turn forward namely to fly forward or tilt backwards and namely fly backward. Three groups of actions such as lifting, left and right turn, forward-reverse and the combination of these three groups of actions can be realized for triple channel helicopter.
Along with the rise of small-sized aerial photography device and popular, the user demand that aircraft is carried aerial photography device by user is also gradually increased. After general aircraft dispatches from the factory, frame for movement and center of gravity are fixed, and lift-launch may result in after aerial photography device the center of gravity of aircraft and offset, thus reducing controllable property and the balance of aircraft.
The handle operation going straight up to type aircraft general remote controller controls, and each action that aircraft performs is all corresponding with the action of the several function handles on remote controller. If perform more complicated flare maneuver, generally requiring operation two or more function handle carry out trickle adjustment and just can complete simultaneously, this is accomplished by user and all has the higher coordination ability and more skilled operation level.
The remote controller that common helicopter flight device toy coordinates, often provides only simple handle operating function. If distant with manipulator during helicopter toy flight aloft, manipulator just cannot merely by the flying quality of vision acquisition helicopter and state. Additionally also some aerobat toy is equipped with the flight monitoring software of PC end, for grasping the state of flight of aircraft in real time. But the monitoring software so causing user to also must rely on PC when manipulating aircraft processed out of doors, makes the experience of manipulator have a greatly reduced quality.
Summary of the invention
It is an object of the invention to overcome disadvantages mentioned above, it is provided that a kind of voice telecontrol system for going straight up to type aircraft and go straight up to type remotely-piloted vehicle. The onboard flight of the present invention controls system and adopts inertial navigation technology and Intelligent closed-loop to control to ensure smooth flight, it is possible to reduce the dependency to body nodal point; The available voice of the remote controller on ground sends more complicated flight directive, can monitor the state of flight of aircraft in real time at telecontrol panel simultaneously.
1, for realizing above-mentioned technical purpose, the technical scheme that the present invention takes is: a kind of voice telecontrol system for going straight up to type aircraft, controls system and ground based voice remote control system including onboard flight;
Described onboard flight controls system and includes the first microcontroller, attitude instrument module, motor drive module, the first wireless communication module, the first display apparatus module and airborne power supply module; Attitude instrument module, motor drive module, the first wireless communication module, the first display apparatus module and airborne power supply module respectively with described first microcontroller for electrically connecting; Described attitude instrument module is used for gathering attitude of flight vehicle data and sending described first microcontroller to; Described motor drive module is used for the order performing described first microcontroller rotation direction and speed to control motor; Described first wireless communication module is for receiving the flight directive of ground remote control device, and gives ground remote control device passback flying quality; Described first display apparatus module is for showing the operational factor of aircraft, it is simple to user debugging and manipulation; Described airborne power supply module provides required supply voltage and electric current for controlling system for described onboard flight;
Described ground based voice remote control system includes the second microcontroller, sound identification module, the second wireless communication module, second display module and ground power supply module; Described sound identification module, the second wireless communication module, second display module and ground power supply module respectively with the second microcontroller are electrical connection; Described sound identification module is for realizing the identification of nonspecific voice phonetic order, and the result identified is sent to aircraft by described second wireless communication module; Described second wireless communication module, for sending voice identification result, the i.e. action command of aircraft to aircraft, returns the flight attitude data of aircraft simultaneously to ground; Described second display module is for showing the attitude of aircraft, in order to manipulates more intuitively and realizes good man-machine interaction; Described ground power supply module provides required supply voltage and electric current for described ground based voice remote control system.
Further, described attitude instrument module is made up of digital accelerometer, Together, digital gyroscope and digital compass; Together, digital gyroscope is for the angular velocity of sense aircraft fuselage motion; Digital accelerometer is for the angular acceleration of sense aircraft fuselage motion; Digital compass is for the angle of sense aircraft fuselage with the earth north.
Further, described first microcontroller and the second microcontroller all adopt STM32F103RBT6 chip. TM32F103RBT6 working frequency of chip is high, the speed of service is fast, good stability, I/O number are many, On-Chip peripheral is abundant, power attenuation is little.
Further, described attitude instrument module adopts the nine axle attitude transducers being made up of L3G4200D tri-axle Together, digital gyroscope, ADXL345 tri-axle digital accelerometer and HMC5883L geomagnetic sensor. Nine axle attitude transducer resolution are high, power consumption is little, peripheral circuit is few, communication is convenient.
Further, sound identification module adopts LD3320 chip. LD3320 chip is the nonspecific voice Voice ASIC that speed is fast, stability is high, accuracy of identification is high.
Further, described first wireless communication module and the second wireless communication module all adopt half-duplex NRF2401 wireless communication module. Half-duplex NRF2401 wireless communication module long transmission distance, stability are high, power consumption is little.
Further, described first display apparatus module and second display module all adopt 0.96 cun of OLED display screen. 0.96 cun of OLED display screen high brightness, low-power consumption, volume are little, light weight.
For realizing above-mentioned technical purpose, the another kind of technical scheme that the present invention takes is: go straight up to type remotely-piloted vehicle, including aircraft, also includes the voice telecontrol system for going straight up to type aircraft described above.
Further, aircraft includes the gimbal lever, upper main rotor, tail rotor, lower main rotor, main shaft, undercarriage, upper main rotation Ji motor and lower main rotation Ji motor adopt the high-power switch tube IRFR1205 drive circuit constituted, and adopt LP521-2 to carry out light-coupled isolation simultaneously.
Further, aircraft tailspin Ji motor adopts small-power integrated H bridge motorized motions chip L9110 to drive, and goes here and there small resistor and prevent the drive circuit interference to control signal.
The invention have the advantages that and effect:
The lifting of the present invention is simple with shift control algorithm, and algorithm amount is little. Being provided with three motors on board the aircraft, the lifting drive of main rotor is responsible for by two big motors, and the balanced power of tail rotor is responsible for by small machine. Owing to big motor does not need rotating, therefore single channel PWM is adopted to control the rotary speed of main rotor motor. The big motor of the main up and down rotation Ji that picking up characteristics is identical, when the PWM of given identical dutycycle controls, finds, aircraft is substantially free of generation spin phenomenon, therefore the dutycycle of the big motor of main rotation Ji up and down need not be adjusted and be compensated after tested. The control aspect of the dogled of aircraft does not need complicated algorithm, it is only necessary to the dutycycle of the PWM of main rotation Ji up and down is given certain difference.
Tailspin Ji control algolithm amount of calculation during forward-reverse of the present invention is little, and real-time is high, decreases the aircraft dependency to body nodal point simultaneously. Tail Ji motor needs rotating and speed controlling. Rotating controls to adopt H-bridge circuit, is realized the rotating of motor by two passage PWM logic inputs; Utilize the rotating speed of the Duty ratio control motor of PWM simultaneously, advance thus controlling aircraft body and retreat. Owing to aircraft has the difference of front and back weight, aircraft can produce the inclination of certain angle forward or backward when flight, if the excessive balance being likely to affect flight in angle of inclination. For this problem, the flight attitude data that the present invention is returned by attitude transducer, direction of rotation and rotary speed to tail rotor carry out closed loop PID control, thus reducing the uneven fuselage unbalance caused of weight before and after aircraft, solve the aircraft dependency problem to body nodal point. In the control algolithm of tailspin Ji motor, adopt incremental PI control algolithm, amount of calculation is little, real-time is high advantage that it has.
The present invention makes the phonetic order that aircraft sends according to unspecified person perform flare maneuver, it is provided that good man machine language is mutual. For reducing the noise jamming of aircraft own and the impact on speech recognition effect of the voice transfer distance, sound identification module is separated with aircraft itself, designs the hand-held Voice command remote controller in independent ground. Sound identification module in remote controller adopts Voice ASIC LD3320, this chip internal integrated speech recognition processor, Flash flash memory and power amplifier etc., save peripheral circuit, it is not necessary to recording and training just can realize speech recognition, and recognition accuracy can reach the precision of 95%. This chip also supports MP3 playing function, and the second microcontroller only by the appointment depositor of required phonetic order write chip internal, just need to can realize voice recognition and speech play by simple serial or parallel interface accessing. User can to the quick left-hand seat of the control of aircraft without remembering numerous and diverse manipulation instruction.
The main control chip of the present invention adopts the STM32 High Speed Microcontroller based on ARMcortexm3 kernel, uses speech recognition technology and inertial navigation technology etc. to realize the intellectuality of flying vehicles control. The nine axle attitude instrument being made up of accelerometer (ADXL345), gyroscope (L3G4200D) and digital compass (HML5883L) build attitude of flight vehicle heading reference system (AHRS). Utilize the Quaternion Algorithm based on inertial navigation technology to resolve the flight attitude of aircraft, utilize Intelligent PID Control technology to realize the accurate of flight attitude and stability contorting. The sound identification module of ground remote control device adopts the nonspecific voice recognition chip of LD3320, speech recognition is realized by the second microcontroller programming, aircraft is enable to perform various flight running according to manipulator's phonetic order, the flight parameter of aircraft can be shown in the OLED display of remote controller in real time simultaneously, not need backlight owing to the characteristic of OLED itself determines it. OLED display supports that SPI digital interface accesses, and only needs 4 holding wires just can operate on it, saves MCU pin resource. Compare LCD liquid crystal display screen, the advantage such as frivolous, the power saving of its uniqueness, high brightness, it is provided that friendly man-machine interaction interface.
In a word, the lifting of the present invention is simple with shift control algorithm, and algorithm amount is little, and course changing control is accurate. Tailspin Ji control algolithm amount of calculation during forward-reverse of the present invention is little, and real-time is high, and forward-reverse controls precisely, and decreases the aircraft dependency to body nodal point. The ground remote control system of the present invention adopts sound identification module, the phonetic order that aircraft sends according to unspecified person is enable to perform flare maneuver, thering is provided good man machine language mutual, user can to the quick left-hand seat of the control of aircraft without remembering numerous and diverse manipulation instruction. The remote controller displays screen of the present invention adopts OLED display, not only provides friendly man-machine interaction interface, also has the advantages such as frivolous, power saving, high brightness. The flare maneuver of the aircraft of the voice remote control of the present invention controls precisely, and the speech control of remote controller is simple, provides the experience of excellent intellectuality and interest and appeal to user.
Accompanying drawing explanation
Fig. 1 is the global design block diagram of acoustic control flight instruments.
Fig. 2 is the flow chart that onboard flight controls system.
Fig. 3 is the configuration diagram that system is overall.
Fig. 4 is the schematic diagram of the increment type PI closed loop control of tailspin Ji.
Fig. 5 is the flow chart of ground based voice remote control system.
Fig. 6 is the flow chart of speech recognition.
Fig. 7 is the frame for movement model schematic of aircraft.
In order to make the purpose of the present invention, technical scheme and advantage clearly understand, below in conjunction with accompanying drawing and specific embodiment, the present invention is further elaborated. Should be appreciated that detailed description of the invention described herein is used only for explaining the present invention, be not intended to limit the present invention.
Detailed description of the invention
Embodiment 1
Referring to Fig. 1 to Fig. 7, this, for going straight up to the voice telecontrol system of type aircraft, controls system and ground based voice remote control system including onboard flight; Described onboard flight controls system and includes the first microcontroller, attitude instrument module, motor drive module, the first wireless communication module, the first display apparatus module and airborne power supply module; Attitude instrument module, motor drive module, the first wireless communication module, the first display apparatus module and airborne power supply module respectively with the first microcontroller for electrically connecting; Described attitude instrument module is used for gathering attitude of flight vehicle data and sending the first microcontroller to; Described motor drive module is used for the order performing the first microcontroller rotation direction and speed to control motor; Described first wireless communication module is for receiving the flight directive of ground remote control device, and gives ground remote control device passback flying quality; Described first display apparatus module is for showing the operational factor of aircraft, it is simple to user debugging and manipulation; Described airborne power supply module provides required supply voltage and electric current for controlling system for described onboard flight; Described ground based voice remote control system includes the second microcontroller, sound identification module, the second wireless communication module, second display module and ground power supply module; Described sound identification module, the second wireless communication module, second display module and ground power supply module respectively with the second microcontroller are electrical connection; Described sound identification module is for realizing the identification of nonspecific voice phonetic order, and the result identified is sent to aircraft by the second wireless communication module; Described second wireless communication module, for sending voice identification result, the i.e. action command of aircraft to aircraft, returns the flight attitude data of aircraft simultaneously to ground; Described second display module is for showing the attitude of aircraft, in order to manipulates more intuitively and realizes good man-machine interaction; Described ground power supply module provides required supply voltage and electric current for described ground based voice remote control system.
Further, described attitude instrument module is made up of digital accelerometer, Together, digital gyroscope and digital compass; Together, digital gyroscope is for the angular velocity of sense aircraft fuselage motion; Digital accelerometer is for the angular acceleration of sense aircraft fuselage motion; Digital compass is for the angle of sense aircraft fuselage with the earth north. Described first microcontroller and the second microcontroller all adopt the STM32F103RBT6 chip that operating frequency is high, the speed of service is fast, good stability, I/O number are many, On-Chip peripheral is abundant, power attenuation is little. Described attitude instrument module adopts the nine axle attitude transducers that resolution is high, power consumption is little, peripheral circuit is few, communication is made up of easily L3G4200D tri-axle Together, digital gyroscope, ADXL345 tri-axle digital accelerometer and HMC5883L geomagnetic sensor. Sound identification module adopts the nonspecific voice Voice ASIC LD3320 that speed is fast, stability is high, accuracy of identification is high. Described first wireless communication module and the second wireless communication module all adopt the half-duplex NRF2401 wireless communication module that long transmission distance, stability are high, power consumption is little. Described first display apparatus module and second display module all adopt that high brightness, low-power consumption, volume be little, 0.96 cun of OLED display screen of light weight.
Onboard flight set-up of control system the first microcontroller shown in Fig. 1. Described first microcontroller is connected to attitude instrument module, motor drive module, the first wireless communication module, the first display apparatus module and power module; Described attitude instrument module is connected to accelerometer, gyroscope and digital compass; Described attitude instrument module gathers the data such as pitch angle, roll angle, yaw angle, magnetic azinuth and passes to the first microcontroller with the communication mode of IIC; The first described micro controller module carries out resolving Algorithm according to the attitude data of fuselage, and performs closed loop PID control algorithm according to control instruction, and operation result passes to described motor drive module in the way of PWM control, for controlling turning to and speed of motor. Described first wireless communication module carries out two-way communication with the first microcontroller in the way of SPI, and the first wireless communication module receives the flight directive of ground remote control device and is sent to aircraft flight status data to ground remote control device. The first described display apparatus module and the first microcontroller adopt SPI mode to communicate, and are used for showing the important parameters such as pitch angle, roll angle, yaw angle, magnetic azinuth, flight time.
Ground remote control system shown in Fig. 1 is provided with the second microcontroller. The second described microcontroller connects sound identification module, the second wireless communication module, the second display module and Keysheet module. Described sound identification module passes to second micro controller module on ground the phonetic order identified in the way of SPI; The second described microcontroller sends carry-on first microcontroller aircraft maneuvers instruction by the second wireless communication module with the communication mode of SPI again; Second wireless communication module on ground receives the flight attitude data of the first airborne wireless communication module passback in the way of radio communication simultaneously; Described second display module adopts SPI mode to communicate with the second microcontroller, is used for showing the important parameters such as pitch angle, roll angle, yaw angle, magnetic azinuth, flight time. Described Keysheet module is connected with the second described micro controller module in common I/O mode, and keyboard arranges the function keys such as startup, reset, stopping.
Fig. 2 show the flow chart that onboard flight controls. The initialization of STM32 includes: clock initializes, GPIO initializes, and IIC initializes and SPI initializes. Equipment initializes and includes: attitude instrument module, OLED initialize, NRF2401 radio communication mold initialization block. The self-inspection of equipment includes the self-inspection of attitude instrument module and NRF2401 wireless communication module. The self checking method of attitude instrument module is to find equipment HMC58X3 by destination device address 0x3C, more whether reads the value of depositor 0X00 equal to 0x70, equal, and equipment finds and normally; Finding device A DXL345 by destination device address 0xA6, more whether read the value of depositor 0X00 equal to 0xE5, equal, equipment finds and normally; Finding equipment L3G4200 by destination device address 0xD2, more whether read the value of depositor 0x20 equal to 0x0f, equal, equipment finds and normally; Otherwise this module is reexamined in prompting; The detection method of NRF2401 wireless communication module is to write five 0XA5 to depositor 0x20, then reads five numerical value from depositor 0x10, if write is the same with what read, then NRF2401 wireless module is working properly; Otherwise this module is reexamined in prompting. The first airborne radio communication mode of operation adopts relatively from the mode of machine, is mainly used in receiving the instruction of second wireless communication module on ground. The data of accelerometer, gyroscope and digital compass, after Quaternion Method resolves and updates, can obtain correct flight attitude data. The control of tailspin Ji adopts closed loop increment type PI control mode.
Fig. 3 is the configuration diagram that system is overall. The programming of this software adopts modular mode, makes each functional module independent of subprogram, thus improving the readability of program and optimization property. Called by principal function circle logic, make system worked well.
The control that Fig. 4 is tailspin Ji adopts increment type PI control mode schematic diagram. Using aircraft keep flat time the attitude data passed back of attitude transducer as benchmark, the difference of the attitude produced when flight and reference value is taken advantage of in P value, and the difference adding last time is taken advantage of in I value as controlled quentity controlled variable increment, thus controlling stablizing of state of flight.
Fig. 5 is the flow chart of ground based voice remote control system. The initialization of STM32 includes: clock initializes, GPIO initializes, and IIC initializes, and SPI initializes and interrupts initializing. Equipment initializes and includes: the initialization of sound identification module, OLED initialize, NRF2401 radio communication mold initialization block. The self-inspection of equipment is mainly for sound identification module, by detecting equal to 0x33, depositor 0x1b, whether whether the internal register 0x35 of LD3320 chip be equal to equal to 0xaa, whether 0x55, depositor 0xb30 judge whether sound identification module is correctly connected with the second microcontroller, if equal, detection can be passed through, and otherwise cannot perform down-stream. After self-inspection is passed through, LD3320 module passes through loudspeaker playing alert tones, reminds user can carry out phonetic entry, and constantly carries out keyboard scan. After pressing " phonetic entry key ", start speech recognition program, and notify that aircraft is about to have instruction to input by the second wireless communication module. Voice is inputted by miaow head, after sound identification module identification, is sent on aircraft through the second wireless communication module.
Fig. 6 is the flow chart of speech recognition. The voice recognition chip sound to collecting carries out spectrum analysis and obtains phonetic feature, speech recognition device contrast extracting phonetic feature with the content identified in item list, find out the key words that similarity is the highest, and export recognition result. After LD3320 speech chip Initialize installation, the constantly recursive call speech recognition subprogram of the second microcontroller, control speech chip normal operation. Owing to, except speech recognition program, also having other subprogram to be likely to needs and calling, the design adopts the called method once performing twice at speech recognition of subprogram, to improve the real-time and accuracy identified.
In order to reduce wireless communication transmissions data volume, invention defines simple communication pattern and communication protocol. The first wireless communication module on second wireless communication module relative flight device, plays a leading role, but is controlled by voice recognition instruction to switch transmission mode, and the result of concurrent sending voice identification is numbered to aircraft. Airborne radio communication mode of operation adopts relatively from the mode of machine: be initialized as reception pattern, and then prompting receives successfully when data is received, and rests on reception pattern, is otherwise switched to sending mode; When being in sending mode, send success and point out and sends successfully, being otherwise switched to again reception pattern, such circular flow, take orders from the mode of operation of terrestrial wireless module, it is achieved dominating role airborne faced by ground. The wireless communication protocol of the present invention adopts the mode transmitting numbering, is carried out the instruction repertorie corresponding to this numbering when receiving this numbering. Illustrate as shown in table 1.
Table 1
Embodiment 2
Originally going straight up to type remotely-piloted vehicle, including aircraft, aircraft includes the gimbal lever 1, upper main rotor 2, tail rotor 3, lower main rotor 4, main shaft 5, undercarriage 6, also includes the voice telecontrol system for going straight up to type aircraft described in embodiment 1. On aircraft, main rotation Ji 2 motor and lower main rotation Ji 4 motor adopt the high-power switch tube IRFR1205 drive circuit constituted, and adopt LP521-2 to carry out light-coupled isolation simultaneously. Aircraft tailspin Ji 4 motor adopts small-power integrated H bridge motorized motions chip L9110 to drive, and goes here and there small resistor and prevent the drive circuit interference to control signal. Something in common no longer describes in detail.
Claims (10)
1., for going straight up to a voice telecontrol system for type aircraft, control system and ground based voice remote control system including onboard flight; It is characterized in that:
Described onboard flight controls system and includes the first microcontroller, attitude instrument module, motor drive module, the first wireless communication module, the first display apparatus module and airborne power supply module; Attitude instrument module, motor drive module, the first wireless communication module, the first display apparatus module and airborne power supply module respectively with described first microcontroller for electrically connecting; Described attitude instrument module is used for gathering attitude of flight vehicle data and sending described first microcontroller to; Described motor drive module is used for the order performing described first microcontroller rotation direction and speed to control motor; Described first wireless communication module is for receiving the flight directive of ground remote control device, and gives ground remote control device passback flying quality; Described first display apparatus module is for showing the operational factor of aircraft, it is simple to user debugging and manipulation; Described airborne power supply module provides required supply voltage and electric current for controlling system for described onboard flight;
Described ground based voice remote control system includes the second microcontroller, sound identification module, the second wireless communication module, second display module and ground power supply module; Described sound identification module, the second wireless communication module, second display module and ground power supply module respectively with the second microcontroller are electrical connection; Described sound identification module is for realizing the identification of nonspecific voice phonetic order, and the result identified is sent to aircraft by described second wireless communication module; Described second wireless communication module, for sending voice identification result, the i.e. action command of aircraft to aircraft, returns the flight attitude data of aircraft simultaneously to ground; Described second display module is for showing the attitude of aircraft, in order to manipulates more intuitively and realizes good man-machine interaction; Described ground power supply module provides required supply voltage and electric current for described ground based voice remote control system.
2. the voice telecontrol system for going straight up to type aircraft according to claim 1, it is characterised in that: described attitude instrument module is made up of digital accelerometer, Together, digital gyroscope and digital compass; Described Together, digital gyroscope is for the angular velocity of sense aircraft fuselage motion; Described digital accelerometer is for the angular acceleration of sense aircraft fuselage motion; Described digital compass is for the angle of sense aircraft fuselage with the earth north.
3. the voice telecontrol system for going straight up to type aircraft according to claim 2, it is characterised in that: described attitude instrument module adopts the nine axle attitude transducers being made up of L3G4200D tri-axle Together, digital gyroscope, ADXL345 tri-axle digital accelerometer and HMC5883L geomagnetic sensor.
4. the voice telecontrol system for going straight up to type aircraft according to claim 1 and 2, it is characterised in that: described first microcontroller and the second microcontroller all adopt STM32F103RBT6 chip.
5. the voice telecontrol system for going straight up to type aircraft according to claim 1 and 2, it is characterised in that: described sound identification module adopts LD3320 chip.
6. the voice telecontrol system for going straight up to type aircraft according to claim 1 and 2, it is characterised in that: described first wireless communication module and the second wireless communication module all adopt half-duplex NRF2401 wireless communication module.
7. the voice telecontrol system for going straight up to type aircraft according to claim 1 and 2, it is characterised in that: described first display apparatus module and second display module all adopt 0.96 cun of OLED display screen.
8. go straight up to a type remotely-piloted vehicle, including aircraft, it is characterised in that: also include the voice telecontrol system for going straight up to type aircraft according to any one of claim 1 to 7.
9. according to claim 8 go straight up to type remotely-piloted vehicle, it is characterised in that: aircraft includes the gimbal lever (1), upper main rotor (2), tail rotor (3), lower main rotor (4), main shaft (5), undercarriage (6); On aircraft, main rotation Ji (2) motor and lower main rotation Ji (4) motor adopt the high-power switch tube IRFR1205 drive circuit constituted, and adopt LP521-2 to carry out light-coupled isolation simultaneously.
10. according to claim 8 go straight up to type remotely-piloted vehicle, it is characterised in that: aircraft tailspin Ji (4) motor adopts small-power integrated H bridge motorized motions chip L9110 to drive, and goes here and there small resistor and prevent the drive circuit interference to control signal.
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| CN106054911A (en) * | 2016-07-22 | 2016-10-26 | 华南理工大学 | Quadrocopter capable of gesture identification operation and method thereof |
| CN106921480A (en) * | 2017-03-21 | 2017-07-04 | 西北工业大学 | A kind of algorithm for realizing Fixed Wing AirVehicle half-duplex operation |
| CN107270888A (en) * | 2017-06-20 | 2017-10-20 | 歌尔科技有限公司 | A kind of method, device and camera for measuring longitude and latitude |
| WO2018058311A1 (en) * | 2016-09-27 | 2018-04-05 | 深圳市大疆创新科技有限公司 | Control method, control device, and electronic device |
| CN108172221A (en) * | 2016-12-07 | 2018-06-15 | 广州亿航智能技术有限公司 | The method and apparatus of manipulation aircraft based on intelligent terminal |
| CN108974366A (en) * | 2018-08-08 | 2018-12-11 | 杜浩津 | A kind of unmanned plane |
| CN109979459A (en) * | 2019-02-28 | 2019-07-05 | 西安爱生技术集团公司 | A kind of four-rotor aircraft control system based on signer-independent sign language recognition |
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| CN106054911A (en) * | 2016-07-22 | 2016-10-26 | 华南理工大学 | Quadrocopter capable of gesture identification operation and method thereof |
| WO2018058311A1 (en) * | 2016-09-27 | 2018-04-05 | 深圳市大疆创新科技有限公司 | Control method, control device, and electronic device |
| CN108172221A (en) * | 2016-12-07 | 2018-06-15 | 广州亿航智能技术有限公司 | The method and apparatus of manipulation aircraft based on intelligent terminal |
| CN106921480A (en) * | 2017-03-21 | 2017-07-04 | 西北工业大学 | A kind of algorithm for realizing Fixed Wing AirVehicle half-duplex operation |
| CN107270888A (en) * | 2017-06-20 | 2017-10-20 | 歌尔科技有限公司 | A kind of method, device and camera for measuring longitude and latitude |
| CN108974366A (en) * | 2018-08-08 | 2018-12-11 | 杜浩津 | A kind of unmanned plane |
| CN109979459A (en) * | 2019-02-28 | 2019-07-05 | 西安爱生技术集团公司 | A kind of four-rotor aircraft control system based on signer-independent sign language recognition |
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