CN105652889A - Remote control device of unmanned aerial vehicle and control method of remote control device - Google Patents
Remote control device of unmanned aerial vehicle and control method of remote control device Download PDFInfo
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Abstract
The invention provides a remote control device of an unmanned aerial vehicle and a control method of the remote control device. The remote control device comprises a recognition module (1) and a processing module (2), wherein the recognition module (1) is used for reading specific information and transmitting the specific information to the processing module (2); the processing module (2) connected with the recognition module (1) comprises a storage unit (3) of a database, which is used for storing control information corresponding to the specific information, and a processing unit (4); and the processing unit (4) is used for generating a flight control instruction of the unmanned aerial vehicle based on the control information and transmitting the flight control instruction to the unmanned aerial vehicle.
Description
Technical field
The invention belongs to unmanned vehicle field, particularly relate to a kind of unmanned vehicle remote control andIts control method.
Background technology
UAV is called for short " unmanned vehicle ", is the program control that utilizes radio robot and provide for oneselfThe not manned aircraft that device processed is handled. On machine, without driving cabin, but navigation and flight control, program control are installedThe equipment such as device processed. Ground remote control station personnel are by equipment such as radars, to its follow the tracks of, location, remote control,Remote measurement and Digital Transmission. Compared with manned aircraft, it has, and volume is little, cost is low, easy to use, to flightEnvironmental requirement low spot feature, therefore can be widely used in air remote sensing, meteorological research, agriculture plant seeds by airplane and disease and pest anti-In controlling, particularly in war, have more special advantage, can be widely used in aerial reconnaissance, supervision, communication,Antisubmarine, electronic interferences etc. In some specific place, need to provide the suitableeest to rapidly unmanned vehicle userUse the information of unmanned vehicle in this user, the most typical unmanned vehicle that can help user that comprises of this informationAutomatically the trajectory parameters or the flight control instruction collection that complete aerial mission, this information can also be also to comprise in additionGeographical features, briefing, points for attention, the reference information of the related contents such as no-fly zone notice.
First,, along with the digitlization of information, employing bar shaped Quick Response Code, figure Quick Response Code or its have been there isThe information source that his coded system represents. Taking Quick Response Code as example, this Quick Response Code itself just can carry certain informationAmount, and when information content is larger, can also represent a group network address with Quick Response Code, then with being somebody's turn to doOn sensing internet, the network address, one specifically provides the source of information, so can realize the work that information is guidedWith.
The mode that this information is guided is fully utilized, such as pointing to by this unique informationParticular web site, a charge of sensing link, point to one section of advertising information etc.
For instance, in tourist attractions, view and admire place, can near view, insert a Quick Response Code or oneIndividual graphic code carries out information scanning for user's hand-held mobile terminal, user by scanning this Quick Response Code orGraphic code just can be pre-stored in the information in this Quick Response Code or graphic code in advance, such as can be to thisThe background introduction of sight spot or Landscape Place and explanation. In addition, user, by scanning behavior, also can jump toThe network linking that certain is pre-set, removes to read the descriptive information setting in advance in this link place.
In a word, by insert a segment information in locality, can guide user taking this information as entrance, point toPredefined address or function.
But above-mentioned information is inserted and presentation mode, for ordinary consumer, is becoming chicken ribs, withThe function of user's handheld terminal (mobile phone) is constantly progressive, and user or consumer are often without such two dimensionCode or graphic code, just can be directly by manual input object feature, and enforcement searches for, and just can obtain oneselfThe result of wanting, so for some general information, it is impracticable that aforesaid way starts to become.
Disclosed a kind of four rotor unmanned aircrafts based on outside vision of patent documentation 104808676A are certainly completeFlight control, described control system is by quadrotor hardware platform, independent flight control system,And Flight Data Processing System forms, quadrotor hardware platform comprises and is equipped with XBee radio communicationModule with the quadrotor, VIC-Foreign ON vision positioning system that enter embedded-type ARM microcontroller withAnd earth station's PC; Between earth station's PC and quadrotor, be connected also by wireless serial XBeeCommunicate; Earth station's PC is used for realizing main mission planning, track generates and control algolithm, and logicalCross wireless serial to aircraft sending controling instruction; VIC-Foreign ON vision positioning system is used for carrying out positionLocation, provides position feedback; Independent flight control system comprises airborne attitude controller, earth station's Position ControlDevice and trajectory planning device. Airborne attitude controller adopts Closed-loop Control Strategy, and carries out with 1000Hz frequencyControl, on the controlled basis of attitude stabilization, earth station's positioner enters position taking attitude as virtual input quantityRow is controlled, and its control instruction is issued airborne attitude controller by XBee wireless communication module, trajectory planning deviceBe used for generating rational reference locus curve; Flying quality after-treatment system is by the local storage module of flying quality,Critical data report generation module, and the visual playback module formation of flight course, flying quality adoptsMySQL kit in python is adopted it and is deposited in local MySQL database. This patent can adoptRealtime graphic information is adjusted foundation as controlling, and allows aircraft can realize four rotors unmanned by image recognition technologyAircraft carries out autonomous flight under indoor environment but this patent structure complexity accurately and rapidly, and object has beenThe complete flight of controlling unmanned vehicle, instead of unmanned vehicle obtains specific information to be adjusted at ad-hoc locationFlight is controlled; And this patent cannot be changed customizing messages and control instruction neatly, be unfavorable for unmanned flightThe popularization of device.
Patent documentation CN104680522A is disclosed a kind ofly to work based on smart mobile phone front camera and rear camera simultaneouslyVision positioning method, it comprises the following steps: (1) vision data obtains and pretreatment: smart mobile phone is positioned overIndoor environment, the front camera and rear camera carrying by smart mobile phone obtains visual image data; According to practical application fieldScape, selected fixing image acquisition rate, is designated as m frame/second, and m gets 10-20; Carry out in advance obtaining imageProcess; (2) IMU data acquisition and pretreatment: obtain IMU data, described IMU data are smart mobile phoneThe gyroscope carrying and accelerometer data; According to the performance of smart mobile phone sensor, selected fixing sensorData acquisition speed, is designated as n frame/second; (3) pre-according to the pretreated vision data of step 1 and step 2IMU data after treatment, carry out device location and attitude and estimate, comprise following sub-step: (3.1) are when onlyThere are IMU data, while not having view data to obtain, use IMU data to expand its state and covariance matrix;(3.2), in the time that view data arrives, carry out following operation: (3.2.1) obtain image by feature extraction algorithmThe characteristic point of data and description complete characteristic matching between one-sided picture frame, utilize characteristic point optimized algorithmReduce the error of characteristic matching; (3.2.2) image feature data and the step 3.1 that obtain according to step 3.2.1 obtainThe IMU state and covariance matrix and the view data that obtain, used EKF, acquisition cameraPosition and attitude are estimated; (3.2.3) camera position obtaining according to step 3.2.2 and attitude are estimated and are up-to-dateIMU data, expansion IMU state and covariance matrix; (3.3) if there is the one-sided camera of marked invalidData arrive, and use the current position of opposite side camera and attitude to estimate, dual camera phase on bonding apparatusTo position, regain invalid side camera initial position, and abandon former all camera attitude numbers of its correspondenceAccording to. This patent uses smart mobile phone to realize IMU and the auxiliary indoor positioning of vision, simplified on the one hand systemExploitation, need not oneself build complicated hardware and software platform, it can be combined with daily use on the other hand,Realize reinforced partly real world applications, but this patent cannot allow the required customizing messages of unmanned vehicle flight and userBetween interactive; And this patent cannot be changed customizing messages and control instruction neatly, be unfavorable for unmanned flightThe popularization of device.
The disclosed unmanned vehicle of patent documentation CN104680522A is patrolled and examined image processing system and is comprised master control borad,Described master control borad and data receiving and transmitting controller, pilot controller, supply module, human-computer interaction module, channel radioLetter module, data memory module, locating module, rangefinder and altimeter communicate, described supply module withOn-board batteries connects; Described data receiving and transmitting controller comprises transmitting-receiving control module, and described transmitting-receiving control module respectivelyWith clock synchronous unit and Data Analysis unit communication, described transmitting-receiving control module is also communicated by letter with ancillary equipment, instituteState ancillary equipment and comprise image-forming module, camera, flight controller and cradle head controllor, described transmitting-receiving control listUnit is also by trigger relay control image-forming module and camera. This patent gathers photographic images and photographic imagesCorresponding electric power line pole tower and line facility information, identification and location unmanned vehicle are patrolled and examined in image and are takenTransmission line equipment. Improve and patrol and examine automation and the level of informatization of image processing, improve patrolling and examining resultRetrieval and treatment effeciency, reduce the cost of patrolling and examining result treatment. But it can not be generalized to other ad-hoc locationInteraction between customizing messages and unmanned vehicle; And this patent cannot be changed customizing messages and control neatlyInstruction processed, is unfavorable for the popularization of unmanned vehicle.
Therefore, the anxious technical issues that need to address in this area are: set up unmanned vehicle flight and control and certainInteractive connection between the customizing messages of putting, make that unmanned vehicle is scheduled to based on customizing messages nobody flyThe control of row device, is ensureing under the prerequisite of security, and can change neatly customizing messages and control instruction, carriesManipulation versatility and the popularization of high unmanned vehicle.
In background technology part, disclosed above-mentioned information is only for strengthening the understanding to background of the present invention, thereforeMay comprise the information that is not formed in prior art known to a person of ordinary skill in the art in this country.
Summary of the invention
For the such special dimension of unmanned vehicle, in addition, on public internet, be difficult to search for someObtain the control information that need to be provided by professional provider. Due to the flight control of current unmanned vehicleMode starts to be tending towards standard mode, and flight controls and tend towards stability, so for certain specific modelUnmanned vehicle, as long as give the flight directive collection corresponding with default flight path with, just can reproduce pre-Fixed flight regulation, thus the present invention proposes a kind ofly provide customizing messages identification at particular place, read and underThe message code carrying, user's unmanned vehicle is this specific letter of ability dynamic download in the time flying to this place onlyBreath, and according to default corresponding flight directive collection in this Download Info, complete default flare maneuver. Due to nothingWhat the flight directive set pair of people's aircraft was answered is a default flight path or flare maneuver, so at certainLocality, can fly on the spot by the unmanned vehicle that uses in advance various common model,And store corresponding flight directive collection, then according to default encoding law, be processed into message code for userDynamic download. In the time having user to use unmanned vehicle Download Info code, according to user's unmanned vehicleModel, offers the flight directive collection corresponding with it this user's unmanned vehicle, for it with reference to execution, andRepeat default flight path. Certainly, it is flight directive collection form that this message code is also not limited to, and also canTo be one group of flight path that comprises the continuous data such as geographical location information coordinate, flying height, unmanned like thisAircraft also can be downloaded this track, and implements flight automatically according to this track.
The object of the invention is to be achieved by the following technical programs.
According to a first aspect of the invention, a kind of remote control of unmanned vehicle comprises identification module and locatesReason module, described identification module reads customizing messages and sends to described processing module, connects described identification moduleDescribed processing module comprise the storage list storing corresponding to the database of the control information of described customizing messagesUnit and processing unit, described processing unit generates the flight control instruction of unmanned vehicle based on described control informationAnd send to described unmanned vehicle.
Preferably, described identification module is camera head, and the image of its shooting sends as described customizing messagesTo described processing module.
Preferably, described identification module is scanning means, and the Word message that it reads and/or 2 D code information are doneFor described customizing messages sends to described processing module.
Preferably, described identification module is sound processing apparatus, and its acoustic information reading is described specific letterBreath sends to described processing module.
Preferably, described identification module and processing module are all located on unmanned vehicle or hand-held console.
Preferably, described hand-held console is independent flight console or becomes one with personal terminal.
Preferably, be located at the described identification module on mobile phone or PAD and be located at the processing mould on unmanned vehiclePiece is via wireless communication module wireless communications.
Preferably, described database can real-time update.
Preferably, described control information can be included in and on electronic chart, add no-fly region or information.
According to a further aspect in the invention, a kind of control of the remote control that uses described unmanned vehicleMethod comprises the following steps.
In first step, described identification module reads customizing messages and sends to described processing module.
In second step, the described processing module that connects described identification module is storing corresponding to described specific letterIn the memory cell of the database of the control information of breath, search corresponding control information.
In third step, the flight control that described processing unit generates unmanned vehicle based on described control information refers toMake and send to described unmanned vehicle.
The scheme that the present invention proposes is identified default customizing messages by identification module, is then being stored in storage listIn database in unit, search corresponding control information, then send to unmanned via processing unit generation control instructionAircraft, sets up unmanned vehicle flight and controls the interactive connection between customizing messages, makes unmanned vehicleThe flight of being scheduled to based on customizing messages, is ensureing under the prerequisite of security, improves user and manipulates unmanned flightThe property of participation of device, and can change neatly manipulation object and flight control by the sequencing setting to processing moduleInstruction processed, the manipulation versatility and the popularization that improve unmanned vehicle.
Brief description of the drawings
Fig. 1 is the structural representation of the remote control of unmanned vehicle according to an embodiment of the invention.
Fig. 2 is the structural representation of the remote control of unmanned vehicle in accordance with another embodiment of the present inventionFigure.
Fig. 3 be use according to an embodiment of the invention unmanned vehicle remote control fly controlThe step schematic diagram of method.
Below in conjunction with drawings and Examples, the present invention is further explained.
Detailed description of the invention
Below describe in detail be in fact only exemplary and be not intended to limit application and use. In addition, noBe intended to be subject to any clear and definite or hint presenting in above technical field, background, brief overview or following detailed descriptionTheory constraint. As used herein, term " module " or " unit " refer to any hardware, software, firmware,Electronic control part, processing logic and/or processor device individually or with any combination, comprise and do not limitIn: the processor of application-specific integrated circuit ASIC, electronic circuit, the one or more software of execution or firmware programShared, special or in groups with memory, combinational logic circuit and/or provide described functional otherApplicable parts. In addition, unless there is clearly contrary description, word " comprises " and is differentModification should be understood to implicit and comprises described parts but do not get rid of any miscellaneous part.
Embodiments of the invention have been described a kind of remote control of unmanned vehicle, basis as shown in Figure 1The remote control of the unmanned vehicle of one embodiment of the present of invention comprises identification module 1 and processing module2, described identification module 1 reads customizing messages and sends to described processing module 2, connects described identification module 1Described processing module 2 comprise the storage storing corresponding to the database of the control information of described customizing messagesUnit 3 and processing unit 4, described processing unit 4 generates the flight of unmanned vehicle based on described control informationControl instruction and send to described unmanned vehicle. Identification module 1 can be simultaneously compatible to spoken and written languages, figure withAnd coding read and identify, for example, identification module can be to the words identification in " a line sky " of tourist attractionBoard reads the Word message in a line sky or reads the 2 D code information in certain 2 D code information code board, identificationModule also can to reading as the image of the logo of company, for example, read the logo image of certain company, identificationModule 1 can also to as the sound of " turning right in front " read, these words, as the coding of Quick Response CodeInformation, image and acoustic information all belong to customizing messages, and characteristic information roughly refers to that be documented in arbitrarily can be throughOn the carrier of being identified by identification module can be stored in flight control information in database corresponding such asThe information of word, coded message, image and acoustic information. Processing module 2 can be server or general placeReason device, wherein, processing unit 4 can be also to comprise general processor, digital signal processor, special integratedCircuit ASIC, on-site programmable gate array FPGA, analog circuit, digital circuit and combination thereof or itsHis processor known or later exploitation. Memory cell 3 can be volatile memory or non-volatile memoriesDevice. Memory cell 3 can comprise one or more read only memory ROMs, random access memory ram,The memory of flash memory, electronics Erasable Programmable Read Only Memory EPROM EEPROM or other type. DepositThe database of the control information corresponding to described customizing messages of storage unit storage can be predefined searchingTable can be also characteristic information and the control information database based on corresponding relation. Because unmanned vehicle usesProfessional, the format requirement of data, so open information is searched for by database inapplicable similar BaiduRetrieval, database is by having predefined data format and data channel to complete special data messageExtract. In one embodiment, the database of sealing adopts and is managed by special operation user completely, orPerson also can add that the user who is registered by real name assists the pattern of management. If completely by special operationUser manages, and for the information pair in each database, is all audited and is imported by keeper, rightThere is control in source in information, and therefore this information is more reliable. If the user who is registered by real name carries outAuxiliary management, can use so a large amount of real name registered users and promote rapidly the right information of information in databaseAmount owing to being the information that real name registered user adds, therefore, for the reliability of information, also improves simultaneously. Wherein, the control information in database is not limited only to as flight control instruction collection, flight path coordinate set etc.Flight control information, can also comprise the use information of unmanned vehicle, as the electronic chart at unmanned vehicleAutomatically the interim no-fly zone information that arranges for this scenic spot, the artwork electronically at unmanned vehicle of adding in moduleIn piece, automatically add the information indicating for locality, such as recommend sight spot in flying through scenic spot temporarilyTime, unmanned vehicle will provide the prompting of light flash or the walking map in scenic spot be offered to unmanned vehicleSo that carrying out the service of conducting a sightseeing tour for its user, unmanned vehicle provides data basis etc. In one embodiment, locateReason unit 4 is on-site programmable gate array FPGAs, and it generates flying of unmanned vehicle based on described control informationRow control instruction, for example, generate the concrete flight control of unmanned vehicle based on the control information of enclosing around certain position threeInstruction processed joins in the flight control system of unmanned vehicle unmanned vehicle is realized around certain position three circleEffect.
In one embodiment, identification module 1 is scanning means, the Word message that it reads and/or Quick Response CodeInformation sends to described processing module 2 as described customizing messages. Scanning means can pass through as the side of OCRFormula reads and identifies Word message, is then further processed according to this information. Such as in museum, canBy showing that the name of works reads and identify customizing messages, and by this Information Delivery to processing module2 process. Rear end is according to predetermined control information, realizes corresponding according to the customizing messages of this Word messageEffect. Such as, unmanned vehicle reads a width world famous painting, processing module in museum in OCR mode2 according to this customizing messages, and the flight control that allows unmanned vehicle automatically implement continuous dipping and heaving flight three times refers toOrder, this performance, the unmanned vehicle that seems seem provided a similar people obtain after viewing and admiring famous painting satisfied,And the external manifestation of nodding continuously under three. In the case, as the data of flight control instruction collection or flight pathWarehouse compartment is in memory cell 3 or be positioned at third party's data, and unmanned vehicle triggers by identification customizing messagesSubsequent treatment, then by search corresponding control information in database, and completes default flight path. ThisDevice can also be supported, by modes such as Quick Response Code scannings, to read and identify carrying through coded system processingThere are bar code and the graphic code of customizing messages.
In the art, preferably many rotary wind types unmanned vehicle of unmanned vehicle.
In one embodiment, described identification module 1 is camera head, and the image of its shooting is as described spyDetermine information and send to described processing module 2. Camera head is taken and is comprised the customizing messages of controlling unmanned vehicleImage. In one embodiment, camera head can be visible ray high-definition camera or camera, camera headAlso can be the camera on digital mobile terminal equipment, as the camera on mobile phone or pad. This device also canRead and recognition image in the mode of taking by camera. Such as on certain company foreground, can pass through to takeThe logo of company reads and identifies customizing messages, and this communication is processed to processing module 2.Similar procedure repeats no more.
In one embodiment, described identification module 1 is sound processing apparatus, and its acoustic information reading is instituteThe customizing messages of stating sends to described processing module 2. This device can also be by the acoustic processing dress as phonographic recorderPut and receive and read the entrained acoustic information of sound wave, such as the sound such as turning round, sound processing apparatus is by this soundMessage breath sends to processing module 2, and processing unit 4 finds corresponding to acoustic information in memory cell 3Control information, processing unit 4 generates flight control instruction and the transmission of unmanned vehicle based on described control informationTo described unmanned vehicle, unmanned vehicle is turned round.
In the above-described embodiments, the information after character input modes identification is exactly one section of spoken and written languages information, such asDraw name, sight spot title etc.; Information after pattern input mode identification is exactly the image of a width specific format, conventionallyThe similar logo of company, small-sized vector graphics etc.; Information after coding input mode is identified is that this coding is through separatingA segment information after code may be the character string that English, numeral, symbol etc. mix composition. Above-mentioned word,The input mode of figure and coding all can be identified module 1 and identify, and reads customizing messages wherein.
In one embodiment, described identification module 1 and processing module 2 are all located at unmanned vehicle or hand-held controlOn platform processed. Hand-held console is independent flight console or becomes one with personal terminal. Further,Personal terminal can be mobile phone or pad etc.
In one embodiment, the remote control of unmanned vehicle comprises identification module 1 and processing module 2,Described identification module 1 directly reads the flight path of for example unmanned vehicle and/or the specific letter of flight directive collectionCease and send to described processing module 2, connecting the described processing module 2 of described identification module 1 by described placeReason unit 4 generates the flight control instruction of unmanned vehicle based on described flight path and sends to described unmannedAircraft or described processing module 2 directly send unmanned vehicle by identified flight directive collection and carry out.
The remote control of unmanned vehicle according to an embodiment of the invention as shown in Figure 2 comprisesIdentification module 1 and processing module 2, described identification module 1 reads customizing messages and sends to described processing module2, described processing module 2 comprises the storage storing corresponding to the database of the control information of described customizing messagesUnit 3 and processing unit 4, described processing unit 4 generates the flight of unmanned vehicle based on described control informationControl instruction and send to described unmanned vehicle, is located at described identification module 1 on mobile phone or PAD and establishesProcessing module 2 on unmanned vehicle is via wireless communication module 5 wireless communications.
In one embodiment, described wireless communication module 5 is by being selected from the WLAN with different prioritysCommunication equipment, mobile communication network device, the Stratosphere Communication network equipment and satellite network communication equipment compositionOne or more compositions in group.
In one embodiment, mobile communication network device is mainly made up of 2G/3G/4G wireless communication chips group,Be responsible for setting up remote control and unmanned vehicle radio communication each other by mobile communications network. NothingLine local area network communication equipment can be in bluetooth, ZigBee or Wi-Fi device, and wireless local equipment can lead toCross 2.4GHz communication frequency and set up short haul connection, can establish by preferred this at outdoor environment indoor or that low speed movesFor setting up the communication connection between unmanned vehicle and remote control. Stratosphere Communication equipment is general with filling heliumDirigible, balloon are as the platform of settling repeater station, and podium level is apart from ground 17km～22km, unmanned vehicleIn the time of field flight on a large scale, preferably Stratosphere Communication is set up between unmanned vehicle and remote controlCommunication connection. Satellite communication equipment utilize satellite communication channel set up unmanned vehicle and remote control itBetween communication connection, be generally without other available wireless communication networks in the situation that, can use satellite communication device,As emergency communication.
In one embodiment, according to wireless network cost or wireless network access speed, select wireless transmission netNetwork, it is precedence scheme that the application designs following, Wi-Fi network: priority is 0; 4G wireless network: excellentFirst level is 1; 3G wireless network: priority is 2; Stratosphere Communication network: priority is 3; Satellite communicationNetwork: priority is 4; Priority level 0-4, selected wireless network priority from high to low, if withTime there is multiple wireless signal, and signal strength signal intensity is when effective, remote control and unmanned vehicle are each otherRadio communication can first select Wi-Fi network as Radio Access Network; In the time that Wi-Fi signal strength signal intensity is invalid,Radio communication meeting the second choice of opimization 4G network is as Radio Access Network; The like.
In one embodiment, described remote control is independently to install, in another embodiment, and instituteState remote control and can be located at as on the digital mobile terminal such as mobile phone, pad, further in certain conditionUnder, described remote control can be located on unmanned vehicle.
In addition, for security consideration, when unmanned vehicle conversion enters under remote control control, nobody fliesThe flying speed of row device, flying height, flight range are all controlled in a suitable threshold range, therebyAvoid unmanned vehicle because receive unsuitable flight control instruction, thereby produce flight safety accident. ?In an embodiment, described unmanned vehicle is provided with flight restriction module to limit flight parameter in preset rangeIn. Due to scope of activities and the manner of unmanned vehicle, for safety is locked in a safety in advanceThreshold range in, so the now security of the flight control procedure of unmanned vehicle has also obtained guarantee.
In one embodiment, at certain tourist attraction, provide and be set to specially for knowing to unmanned vehicleThe not message code board of use, by the coded system of appointing in advance, on this message code board, very easily to be readGet and identify, and there is the RM of antijamming capability, such as Quick Response Code identification, data have increased check bitEtc. conventional treatment mode, by be suitable for that unmanned vehicle uses as flight control instruction collection data or flight pathThe customizing messages of data has carried out coding to be processed, and is apparent in the space of prominence on this board, and this message code is sameSample also can directly be printed on the specific status of scenic spot map, can not be identified by ordinary people due to this information andUnderstand, can generation information not disturb, but for unmanned vehicle, by the side of reading making an appointmentFormula and decoding process, just can obtain being suitable for control information that unmanned vehicle uses such as: flight is controlled and is referred toOrder collection, flight path coordinate set etc., then unmanned vehicle just can be according to the information reading, and implements automatically to flyRow is controlled. Specifically, this row control information is such as comprising: complete some recommendation boat of recommending at this scenic spotClap the automatic flight in region and take task; In the electric map module of the flight management system of unmanned vehicle fromThe moving interim no-fly zone information arranging for this scenic spot of adding; At the electronics of the flight management system of unmanned vehicleAutomatically interim interpolation in ground module, for the information indicating of locality, such as pushing away in flying through scenic spotWhile recommending sight spot, unmanned vehicle will provide the prompting of light flash; Walking map in scenic spot is offered unmannedAircraft, provides data basis etc. so that unmanned vehicle is carried out the service of conducting a sightseeing tour for its user.
In one embodiment, be also not limited to leave no choice but directly fly by nobody with reading for the identification of message codeThe camera arranging on row device is directly realized, and can be also other similar clients such as the mobile phone hand-held by userEnd goes to read and identify, and identification module is located on mobile phone, then utilizes the special APP number arrangingAccording to processing, directly the control information of the customizing messages representative as message code is turned by default communications bandIssuing unmanned vehicle and go to carry out, in the situation that data volume is larger, can be also that message code had both comprised onePoint direct information, also comprises the address of a part of collateral information, then by this address from third party database orPerson directly, from the database of APP, obtains corresponding control information, is then transmitted to unmanned vehicle and goesCarry out.
In one embodiment, described database can real-time update. The database that this device provides can be based on geographyPosition and download is dynamically provided, well realized data with using with deleting. The control obtaining in the above-described embodimentsInformation processed, or provided at that time, be finished deletion; Or provided at that time, within second day, delete; Can also beProvided at that time, and left this geographical coordinate scope and delete; Can also be finally to provide at that time accuratelyLocation information, corresponding control information is gone accurately to download in the position of indicating by this address information. Pay than needsGo out technostress complete, static of the aspects such as a large amount of database volumes, Data Update, exchanges dataDatabase, database that can real-time update has region and ageing.
In one embodiment, described control information can be included in and on electronic chart, add no-fly region or prompting letterBreath.
Referring to Fig. 3, use according to an embodiment of the invention the remote control of described unmanned vehicleControl method comprise the following steps.
In first step S1, described identification module 1 reads customizing messages and sends to described processing module 2.
In second step S2, the described processing module 2 that connects described identification module 1 is storing corresponding to instituteState in the memory cell 3 of database of the control information of customizing messages and search corresponding control information.
In third step S3, described processing unit 4 generates the flight of unmanned vehicle based on described control informationControl instruction and send to described unmanned vehicle.
For general unmanned vehicle, now till the control information of forbidding and recommend behavior of its useAll little, so-called prohibitive behavior, typically such as, no-fly zone information management; So-called recommendation behavior, allusion quotationType such as, what the sight spot of taking photo by plane at the famous applicable unmanned vehicle at certain scenic spot provided take photo by plane recommends promptingDeng. In this method, user by identification module identify set in advance as the customizing messages on nameplate, pass throughIn the database of cell stores, search corresponding control information, form flight by the processing of processing unitControl instruction realizes prompting or the order etc. that this customizing messages provides. This method can be widely used in museumInformation display, history relic information regeneration, commercial advertisement information are issued, official information announcement explanation etc. need to haveThe occasion of stronger public credibility, and adopt this method can support to guide in a variety of forms user to obtain above-mentioned spyDetermine information.
Although below by reference to the accompanying drawings embodiment of the present invention are described, the present invention is not limited toThe specific embodiments and applications field of stating, above-mentioned specific embodiments is only schematic, guiding,Instead of restrictive. Those of ordinary skill in the art is under the enlightenment of this description and do not departing from the present inventionIn the situation of the scope that claim is protected, can also make a variety of forms, these all belong to the present inventionThe row of protection.
Claims (10)
1. a remote control for unmanned vehicle, it comprises identification module (1) and processing module (2),It is characterized in that: described identification module (1) reads customizing messages and sends to described processing module (2), connectThe described processing module (2) that connects described identification module (1) comprises the control storing corresponding to described customizing messagesThe memory cell (3) of the database of information processed and processing unit (4), described processing unit (4) is based on describedControl information generates the flight control instruction of unmanned vehicle and sends to described unmanned vehicle.
2. the remote control of unmanned vehicle according to claim 1, is characterized in that: described knowledgeOther module (1) is camera head, and the image of its shooting sends to described processing mould as described customizing messagesPiece (2).
3. the remote control of unmanned vehicle according to claim 1, is characterized in that: described knowledgeOther module (1) is scanning means, and the Word message that it reads and/or 2 D code information are as described specific letterBreath sends to described processing module (2).
4. the remote control of unmanned vehicle according to claim 1, is characterized in that: described knowledgeOther module (1) is sound processing apparatus, and its acoustic information reading is described in described customizing messages sends toProcessing module (2).
5. the remote control of unmanned vehicle according to claim 1, is characterized in that: described knowledgeOther module (1) and processing module (2) are all located on unmanned vehicle or hand-held console.
6. the remote control of unmanned vehicle according to claim 5, is characterized in that: described handTo hold console be independent flight console or become one with personal terminal.
7. the remote control of unmanned vehicle according to claim 1, is characterized in that: be located at handDescribed identification module (1) on machine or PAD be located at processing module (2) on unmanned vehicle via nothingLine communication module (5) wireless communications.
8. the remote control of unmanned vehicle according to claim 1, is characterized in that: described numberCan real-time update according to storehouse.
9. the remote control of unmanned vehicle according to claim 1, is characterized in that: described inControl information can be included in adds no-fly region or information on electronic chart.
10. a use is according to the remote control of the unmanned vehicle described in any one in claim 1-9Control method, it comprises the following steps:
In first step (S1), described identification module (1) reads customizing messages and sends to described processing mouldPiece (2);
In second step (S2), the described processing module (2) that connects described identification module (1) is storingIn memory cell (3) corresponding to the database of the control information of described customizing messages, search corresponding control letterBreath;
In third step (S3), described processing unit (4) generates unmanned vehicle based on described control informationFlight control instruction and send to described unmanned vehicle.
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