CN105759828A - Control command-based aircraft control device and control method - Google Patents
Control command-based aircraft control device and control method Download PDFInfo
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- CN105759828A CN105759828A CN201610215068.0A CN201610215068A CN105759828A CN 105759828 A CN105759828 A CN 105759828A CN 201610215068 A CN201610215068 A CN 201610215068A CN 105759828 A CN105759828 A CN 105759828A
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- control
- aircraft
- intelligent terminal
- coprocessor
- data
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Catching Or Destruction (AREA)
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Abstract
The invention discloses a control command-based aircraft control device and a control method. The device comprises an intelligent control terminal, a flight control system, a storage device and a coprocessor, wherein the intelligent control terminal is connected with the flight control system; the flight control system is connected with the memory device and the coprocessor; and the memory device is connected with the coprocessor. The device and the method of the invention have the beneficial effects that a method of updating and sharing operation of the aircraft in real time is provided, the usability of the aircraft is improved, the use threshold of a green hand is reduced, and communication and sharing by aircraft enthusiasts are also facilitated.
Description
Technical field
The present invention relates to aircraft field, it particularly relates to a kind of flying vehicles control device based on control command and control method.
Background technology
For the problem solving aircraft operation difficulty.Prior art is by the more built-in action prestored of aerocraft system: such as rolling, rotation etc., strengthens the playability of aircraft.But it is single to there is action, increasing new element needs brush machine to realize, complicated operation.
Summary of the invention
For the above-mentioned technical problem in correlation technique, the present invention proposes a kind of flying vehicles control device based on control command and control method, in order to solve problems of the prior art.
For realizing above-mentioned technical purpose, the technical scheme is that and be achieved in that:
A kind of flying vehicles control device based on control command, including control of intelligent terminal with fly control, memorizer and coprocessor, described control of intelligent terminal connect described in fly control, described in fly control and connect memorizer and coprocessor, described memorizer connects described coprocessor.
Further, fly control described in and include acceleration sensor, gravity sensor, GPS sensor.
Further, described control of intelligent terminal is mobile phone or panel computer.
Further, described memorizer is nonvolatile memory.
A kind of flying vehicles control method based on control command, the control method of described aircraft includes aircraft flight action record being controlled and aircraft flight action transmission being controlled successively；
Wherein: described be controlled comprising the steps: to aircraft flight action record
1) aircraft is indicated to enter recording mode by control of intelligent terminal, now fly the data that control record control of intelligent terminal sends, data include the numerical value of PWM in each control cycle, the state of acceleration sensor and gps data, and using the sequence number of current period as timestamp, the control information sent by control of intelligent terminal noted down in real time by coprocessor simultaneously, and notes down on nonvolatile memory；
2) after recording, it is necessary to indicate aircraft to exit recording mode by control of intelligent terminal, now fly control and coprocessor all stops record, and the Data Labels recorded is become once complete record；
Described aircraft flight action is transmitted is controlled comprising the steps:
1) at unmanned aerial vehicle when non-state of flight, when coprocessor is by aircraft flight action record, the data of record pass to control of intelligent terminal；
2) control of intelligent terminal is by these data of analysis, intercepts, according to the state of acceleration transducer, the data that customer controller sends, is optimized according to acceleration transducer and gravity sensor data, and emulation shows space vehicle dynamic on control of intelligent terminal；
3) after subscriber record, it is uploaded to memorizer, shares to network or preserve to local.
Further, the control method of described aircraft also includes aircraft flight action is reset being controlled.
Further, described aircraft flight action is reset is controlled as resetting at control of intelligent terminal, and comprise the steps: that control of intelligent terminal is by download on the net or recorded data, sequential according to record, be transferred to aircraft successively by data transmission channel, coprocessor is reset to flying control after receiving order.
Further, described aircraft flight action is reset is controlled as resetting at aircraft end, and comprising the steps: the user operation that aircraft pre-stored is recorded or downloaded, the instruction according to user, notice is flown to control this job sequence and re-executes one time by fixed time sequence by coprocessor.
Beneficial effects of the present invention: provide one can real-time update, and the method sharing oneself aircraft operation, improve the ease for use of aircraft, reduce new hand and use threshold, be also advantageous for the exchange of aircraft fan simultaneously and share.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment will be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the structural representation of the flying vehicles control device based on control command described according to embodiments of the present invention.
In figure:
1, control of intelligent terminal；2, control is flown；3, memorizer；4, coprocessor.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain, broadly fall into the scope of protection of the invention.
As shown in Figure 1, a kind of flying vehicles control device based on control command described according to embodiments of the present invention, including control of intelligent terminal 1 with fly control 2, memorizer 3 and coprocessor 4, described control of intelligent terminal 1 flies control 2 described in connecting, described flying controls 2 connection memorizer 3 and coprocessors 4, and described memorizer 3 connects described coprocessor 4.
Wherein, described in fly control and 2 include acceleration sensor, gravity sensor, GPS sensor, described control of intelligent terminal 1 is mobile phone or panel computer, and described memorizer 3 is nonvolatile memory.
A kind of flying vehicles control method based on control command, the control method of described aircraft includes aircraft flight action record being controlled and aircraft flight action transmission being controlled successively；
Wherein: described be controlled comprising the steps: to aircraft flight action record
1) aircraft is indicated to enter recording mode by control of intelligent terminal 1, the now control 2 that flies of aircraft records the data that control of intelligent terminal 1 sends, data include the numerical value of PWM in each control cycle, the state of acceleration sensor and gps data, and using the sequence number of current period as timestamp, coprocessor 4 is noted down in real time and is sent, by control of intelligent terminal 1, the control information of coming simultaneously, and notes down on nonvolatile memory；
2) after recording, it is necessary to indicate aircraft to exit recording mode by control of intelligent terminal 1, now aircraft fly control 2 and coprocessor 4 all stops record, and by record once complete for the Data Labels one-tenth that record；
Described aircraft flight action is transmitted is controlled comprising the steps:
1) at unmanned aerial vehicle when non-state of flight, when coprocessor 4 is by aircraft flight action record, the data of record pass to control of intelligent terminal 1；
2) control of intelligent terminal 1 is by these data of analysis, intercepts, according to the state of acceleration transducer, the data that customer controller sends, is optimized according to acceleration transducer and gravity sensor data, and emulation shows space vehicle dynamic on control of intelligent terminal 1；
3) after subscriber record, it is uploaded to memorizer 3, shares to network or preserve to local.
The control method of described aircraft also includes aircraft flight action is reset being controlled；
Described aircraft flight action is reset is controlled as resetting at control of intelligent terminal 1, and comprise the steps: that control of intelligent terminal 1 is by download on the net or recorded data, sequential according to record, be transferred to aircraft successively by data transmission channel, coprocessor 4 receives and after ordering, the control 2 that flies of aircraft is reset.
Described aircraft flight action is reset is controlled as resetting at aircraft end, and comprise the steps: the user operation that aircraft pre-stored is recorded or downloaded, instruction according to user, control 2 these job sequences that fly of notice aircraft are re-executed one time by fixed time sequence by coprocessor 4.
Aircraft of the present invention fly control for the control centre of aircraft, for controlling the attitude of aircraft, state of flight etc.；Timestamp: can Precise Representation current time data；PWM: pulse width modulation is the very effective technology of one utilizing the numeral output of microprocessor that analog circuit is controlled.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention.
Claims (8)
1. the flying vehicles control device based on control command, including control of intelligent terminal with fly control, memorizer and coprocessor, it is characterized in that: described control of intelligent terminal connect described in fly control, described in fly control and connect memorizer and coprocessor, described memorizer connects described coprocessor.
2. the flying vehicles control device based on control command according to claim 1, it is characterised in that: described in fly control and include acceleration sensor, gravity sensor, GPS sensor.
3. the flying vehicles control device based on control command according to claim 1, it is characterised in that: described control of intelligent terminal is mobile phone or panel computer.
4. the flying vehicles control device based on control command according to claim 1, it is characterised in that: described memorizer is nonvolatile memory.
5. the flying vehicles control method based on control command, it is characterised in that: the control method of described aircraft includes aircraft flight action record being controlled and aircraft flight action transmission being controlled successively；Wherein:
Described it is controlled comprising the steps: to aircraft flight action record
1) aircraft is indicated to enter recording mode by control of intelligent terminal, now fly the data that control record control of intelligent terminal sends, data include the numerical value of PWM in each control cycle, the state of acceleration sensor and gps data, and using the sequence number of current period as timestamp, the control information sent by control of intelligent terminal noted down in real time by coprocessor simultaneously, and notes down on nonvolatile memory；
2) after recording, it is necessary to indicate aircraft to exit recording mode by control of intelligent terminal, now fly control and coprocessor all stops record, and the Data Labels recorded is become once complete record；
Described aircraft flight action is transmitted is controlled comprising the steps:
1) unmanned aerial vehicle is when non-state of flight, and when coprocessor is by aircraft flight action record, the data of record pass to control of intelligent terminal；
2) control of intelligent terminal is by these data of analysis, intercepts, according to the state of acceleration transducer, the data that customer controller sends, is optimized according to acceleration transducer and gravity sensor data, and emulation shows space vehicle dynamic on control of intelligent terminal；
3) after subscriber record, it is uploaded to memorizer, shares to network or preserve to local.
6. the flying vehicles control method based on control command according to claim 5, it is characterised in that: the control method of described aircraft also includes aircraft flight action is reset being controlled.
7. the flying vehicles control method based on control command according to claim 6, it is characterized in that: described aircraft flight action is reset is controlled as resetting at control of intelligent terminal, and comprise the steps: that control of intelligent terminal is by download on the net or recorded data, sequential according to record, be transferred to aircraft successively by data transmission channel, coprocessor is reset to flying control after receiving order.
8. the flying vehicles control method based on control command according to claim 6, it is characterized in that: described aircraft flight action is reset is controlled as resetting at aircraft end, and comprise the steps: the user operation that aircraft pre-stored is recorded or downloaded, instruction according to user, notice is flown to control this job sequence and re-executes one time by fixed time sequence by coprocessor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610215068.0A CN105759828B (en) | 2016-04-08 | 2016-04-08 | Aircraft control device and control method based on control command |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610215068.0A CN105759828B (en) | 2016-04-08 | 2016-04-08 | Aircraft control device and control method based on control command |
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| CN105759828A true CN105759828A (en) | 2016-07-13 |
| CN105759828B CN105759828B (en) | 2023-10-13 |
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| US20160093124A1 (en) * | 2014-09-30 | 2016-03-31 | SZ DJI Technology Co., Ltd. | System and method for data recording and analysis |
| CN205608523U (en) * | 2016-04-08 | 2016-09-28 | 北京米文动力科技有限公司 | Aircraft controlling means based on control command |
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2016
- 2016-04-08 CN CN201610215068.0A patent/CN105759828B/en active Active
Patent Citations (9)
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| CN105283816A (en) * | 2013-07-31 | 2016-01-27 | 深圳市大疆创新科技有限公司 | Remote control method and terminal |
| CN203773717U (en) * | 2013-11-12 | 2014-08-13 | 武汉大学 | Remote visual touch screen control system for unmanned plane |
| CN105247593A (en) * | 2014-04-17 | 2016-01-13 | 深圳市大疆创新科技有限公司 | Flight control for flight-restricted regions |
| US20160093124A1 (en) * | 2014-09-30 | 2016-03-31 | SZ DJI Technology Co., Ltd. | System and method for data recording and analysis |
| CN104597912A (en) * | 2014-12-12 | 2015-05-06 | 南京航空航天大学 | Tracking flying control system and method of six-rotor unmanned helicopter |
| CN104820428A (en) * | 2015-04-20 | 2015-08-05 | 余江 | Memory type track reproduction method of unmanned aerial vehicle and device |
| CN204871600U (en) * | 2015-05-22 | 2015-12-16 | 刘道满 | Long unmanned aerial vehicle system of time of endurance |
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| CN205608523U (en) * | 2016-04-08 | 2016-09-28 | 北京米文动力科技有限公司 | Aircraft controlling means based on control command |
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| CN105759828B (en) | 2023-10-13 |
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