CN105843254A - UAV flight control mode switching method and device and UAV - Google Patents

UAV flight control mode switching method and device and UAV Download PDF

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Publication number
CN105843254A
CN105843254A CN201610282002.3A CN201610282002A CN105843254A CN 105843254 A CN105843254 A CN 105843254A CN 201610282002 A CN201610282002 A CN 201610282002A CN 105843254 A CN105843254 A CN 105843254A
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China
Prior art keywords
unmanned plane
remote
control mode
distance
remote controller
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Application number
CN201610282002.3A
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Chinese (zh)
Inventor
杨震
李大龙
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LeTV Holding Beijing Co Ltd
LeTV Sports Culture Develop Beijing Co Ltd
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LeTV Holding Beijing Co Ltd
LeTV Sports Culture Develop Beijing Co Ltd
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Application filed by LeTV Holding Beijing Co Ltd, LeTV Sports Culture Develop Beijing Co Ltd filed Critical LeTV Holding Beijing Co Ltd
Priority to CN201610282002.3A priority Critical patent/CN105843254A/en
Publication of CN105843254A publication Critical patent/CN105843254A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10Simultaneous control of position or course in three dimensions
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10Simultaneous control of position or course in three dimensions
    • G05D1/101Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10Simultaneous control of position or course in three dimensions
    • G05D1/101Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/102Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft

Abstract

The invention relates to a UAV (Unmanned Aerial Vehicle) flight mode switching method and device and a UAV. The UAV flight control mode switching method includes obtaining the distance between the UAV and a remote controller used for controlling flight of the UAV in a remote control way and determining the flight control modes, wherein the control modes include a remote control mode and a long range control mode and the UAV flight control modes are switched according to the distance between the UAV and the remote controller. According to the invention, control mode switching is performed according to the distance between the UAV and the remote controller, so that UAV control becomes more flexibly. Especially when the flight distance of the UAV surpasses a remote control distance, a mobile cell network is used for long range control, so that UAV flight control is facilitated.

Description

A kind of UAV Flight Control mode changing method, device and unmanned plane thereof
Technical field
The present invention relates to flight control method, particularly relate to a kind of UAV Flight Control mode side of switching Method, device and unmanned plane thereof.
Background technology
Unmanned plane, is the not manned vehicle utilizing remote controller to handle.Without driving cabin on machine, but install There is the equipment such as automatic pilot, presetting apparatus, except aloft flying under remote controller is handled Outward, ground control station personnel also by the equipment such as radar, unmanned plane can be tracked, location etc..
In realizing process of the present invention, inventor finds: prior art is mainly controlled by remote controller, Cannot realize switching between control mode, thus, control mode underaction.
Summary of the invention
The object of the invention aims to provide a kind of UAV Flight Control mode changing method, device and nothing thereof Man-machine, it is controlled mode according to the distance between unmanned plane and remote controller and switches so that unmanned plane Controlling more flexible, the beneficially flight of unmanned plane controls.
In first aspect, the embodiment of the present invention provides a kind of UAV Flight Control mode changing method, Including:
Obtaining the distance between described unmanned plane and remote controller, described remote controller is for remote control mode control Unmanned plane during flying processed,
Determining unmanned plane current flight control mode, described control mode includes remote control mode and remotely controls Mode processed,
According to the distance of described unmanned plane Yu remote controller, switch UAV Flight Control mode.
Alternatively, the distance between the described unmanned plane of described acquisition and remote controller, specifically include:
The current location of unmanned plane is obtained by satellite fix or radar,
Current location according to unmanned plane calculates the distance between unmanned plane and remote controller.
Alternatively, described determine unmanned plane current flight control mode, specifically include:
Receiving flight control signal, described flight control signal includes remote control signal or remotely controls Signal,
Unmanned plane current flight control mode is determined according to the described flight control signal received.
Alternatively, the described distance switching UAV Flight Control side according to described unmanned plane with remote controller Formula, specifically includes:
When the current control mode of unmanned plane is that the distance between remote control mode, and unmanned plane and remote controller surpasses When going out to switch distance, unmanned plane is switched to remote controlled manner, or,
When the current control mode of unmanned plane be between remote controlled manner, and unmanned plane and remote controller away from From during less than switching distance, unmanned plane is switched to remote control mode.
Alternatively, described switching distance is less than the remote control distance of remote controller.
Alternatively, described remote controlled manner is mobile cellular communication control mode.
Alternatively, described method also includes:
Control station sends unmanned plane identity earthward, so that described ground control station is remotely controlling Remote control signal is sent according to described unmanned plane identity under mode.
In second aspect, the embodiment of the present invention provides a kind of UAV Flight Control mode switching device, Including:
Acquiring unit, for obtaining the distance between described unmanned plane and remote controller, described remote controller is used In controlling unmanned plane during flying with remote control mode,
Determining unit, be used for determining unmanned plane current flight control mode, described control mode includes distant Prosecutor formula and remote controlled manner,
Switch unit, for according to described unmanned plane and the distance controlling device, switching unmanned plane during flying Control mode.
Alternatively, described acquiring unit specifically for:
The current location of unmanned plane is obtained by satellite fix or radar,
Current location according to unmanned plane calculates the distance between unmanned plane and remote controller.
Alternatively, described determine unit specifically for:
Receiving flight control signal, described flight control signal includes remote control signal or remotely controls Signal,
Unmanned plane current flight control mode is determined according to the described flight control signal received.
Alternatively, described switch unit specifically for:
When the current control mode of unmanned plane is that the distance between remote control mode, and unmanned plane and remote controller surpasses When going out to switch distance, unmanned plane is switched to remote controlled manner, or,
When the current control mode of unmanned plane be between remote controlled manner, and unmanned plane and remote controller away from From during less than switching distance, unmanned plane is switched to remote control mode.
Alternatively, described switching distance is less than the remote control distance of remote controller.
Alternatively, described remote controlled manner is mobile cellular communication control mode.
Alternatively, described device also includes:
Transmitting element, sends unmanned plane identity for control station earthward, so that the control of described ground System stands in and sends remote control signal according to described unmanned plane identity under remote controlled manner.
In the third aspect, the embodiment of the present invention provides a kind of unmanned plane, including:
Telecontrol antenna, is used for receiving remote control signal,
Radio-frequency antenna, is used for receiving remote control signal,
Central processing unit, for obtaining the distance between described unmanned plane and remote controller, according to receiving Remote control signal or remote control signal, determine unmanned plane current flight control mode, according to institute State the distance of unmanned plane and remote controller, switch UAV Flight Control mode.
In embodiments of the present invention, by obtaining the distance between described unmanned plane and remote controller, described Remote controller, for controlling unmanned plane during flying with remote control mode, determines unmanned plane current flight control mode, Described control mode includes remote control mode and remote controlled manner, according to described unmanned plane and remote controller Distance, switches UAV Flight Control mode, it is achieved that the flexible switching of UAV Flight Control mode, The flight being conducive to unmanned plane controls.
Accompanying drawing explanation
Fig. 1 is that a kind of UAV Flight Control mode changing method flow process that the embodiment of the present invention provides is shown It is intended to;
Fig. 2 is that a kind of UAV Flight Control mode switching device structure that the embodiment of the present invention provides is shown It is intended to;
Fig. 3 is a kind of unmanned plane structural representation that the embodiment of the present invention provides.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing And embodiment, the present invention is further elaborated.Should be appreciated that described herein specifically Embodiment only in order to explain the present invention, is not intended to limit the present invention.
If additionally, technical characteristic involved in each embodiment of invention described below The conflict of not constituting each other just can be mutually combined.
In embodiments of the present invention, unmanned plane can carry out flight control by remote controller, it is also possible to by Ground control station carries out flight control, and the flight control mode being carried out flight control by remote controller is distant Prosecutor formula, the flight control mode being controlled by ground control station is remote controlled manner.Far In process control mode, signal transmission, mobile cellular communication can be carried out by mobile cellular communication mode Mode includes various wireless communication system, such as, 2G, 3G or 4G communication mode, and, far Under process control mode, a ground controller can control multiple stage unmanned plane, and every unmanned plane is arranged There are mobile cellular communication unit, such as, 2G, 3G or 4G communication unit.For realizing ground controller Flight to multiple stage unmanned plane controls, and can be the nothing of flight in its command range by ground controller Man-machine distribution identity.
In embodiments of the present invention, unmanned plane can be provided with global position system, such as, GPS Global position system, can be obtained the current location of unmanned plane, thus obtain by global position system Distance between unmanned plane and remote controller and ground controller, in order to according to unmanned plane and remote controller it Between distance realize the switching between remote control mode and remote controlled manner.
In the embodiment of the present invention, unmanned plane may include that unmanned fixed-wing aircraft, unmanned VTOL machine, Unmanned airship, depopulated helicopter, unmanned multi-rotor aerocraft, unmanned parasol etc..
Combine concrete accompanying drawing with unmanned multi-rotor aerocraft below the embodiment of the present invention is specifically addressed.
Fig. 1 is that a kind of UAV Flight Control mode changing method flow process that the embodiment of the present invention provides is shown It is intended to.As it is shown in figure 1, the method comprises the following steps:
S11, the distance obtained between described unmanned plane and remote controller, described remote controller is for remote control side Formula controls unmanned plane during flying.
In embodiments of the present invention, unmanned plane is mainly carried out flight control by remote controller with remote control mode, In flight course, the present bit of unmanned plane can be obtained by the satellite fix on unmanned plane or radar Put, and calculate the distance between unmanned plane and remote controller according to current location.Unmanned plane passes through remote control mode Carry out there is certain remote control distance, such as, remote control distance 2KM, beyond this distance then when flight controls Needing to switch to remote controlled manner, under remote controlled manner, unmanned plane can be controlled by ground The satellite fix stood or the current location of radar system monitoring unmanned plane, and obtain unmanned plane and remote controller Between distance.Such as, ground control station can position unmanned respectively respectively by GPS alignment system Machine and the position of remote controller, thus obtain the distance between unmanned plane and remote controller, and it is sent to unmanned Machine.
S13, determining unmanned plane current flight control mode, described control mode includes remote control mode and remote Process control mode.
In embodiments of the present invention, in the flight course of unmanned plane, unmanned plane can pass through remote control system System and mobile cellular communication unit receive remote control signal and remote control signal, respectively according to institute State the flight control signal received and determine unmanned plane current flight control mode.When unmanned plane receives During remote control signal, unmanned plane current flight control mode is remote control mode, when unmanned plane receives During remote control signal, unmanned plane current flight control mode is remote controlled manner.
S15, distance according to described unmanned plane Yu remote controller, switch UAV Flight Control mode.
In embodiments of the present invention, in order to realize the switching of UAV Flight Control mode, especially when Unmanned plane during flying distance will beyond the remote control distance of remote controller time, for realizing safe flight, need by Unmanned plane is switched to remote controlled manner by remote control mode.Therefore, according to described unmanned plane and remote controller Distance, switching UAV Flight Control mode during, need to pre-set switching control mode Switching distance, switching distance should be less than the remote control distance of remote controller, in order at aircraft beyond distant The switching of flight control mode is carried out, to ensure flight safety before control device remote range.
In embodiments of the present invention, the described distance switching unmanned plane according to described unmanned plane with remote controller Flight control mode, specifically includes:
When the current control mode of unmanned plane is that the distance between remote control mode, and unmanned plane and remote controller surpasses When going out to switch distance, unmanned plane is switched to remote controlled manner, or,
When the current control mode of unmanned plane be between remote controlled manner, and unmanned plane and remote controller away from From during less than switching distance, unmanned plane is switched to remote control mode.
In embodiments of the present invention, before unmanned plane switches to remote controlled manner, need unmanned plane Control station sends unmanned plane identity earthward, or, ground control station it is that unmanned plane distributes nothing Man-machine identity so that described ground control station under remote controlled manner according to described unmanned fuselage Part mark sends remote control signal.
In embodiments of the present invention, in order to realize the long-range control to unmanned plane, unmanned plane is controlled with ground Use mobile cellular communication system to communicate between system station, therefore, unmanned plane needs shifting is installed Dynamic cellular communication unit, such as, 2G, 3G or 4G communication unit.
In embodiments of the present invention, by obtaining the distance between described unmanned plane and remote controller, described Remote controller, for controlling unmanned plane during flying with remote control mode, determines unmanned plane current flight control mode, Described control mode includes remote control mode and remote controlled manner, according to described unmanned plane and remote controller Distance, switches UAV Flight Control mode, it is achieved that the flexible switching of UAV Flight Control mode, Especially when unmanned plane during flying distance is beyond remote control distance, mobile cellular network is utilized remotely to control The flight of system, beneficially unmanned plane controls.
Fig. 2 is that a kind of UAV Flight Control mode switching device structure that the embodiment of the present invention provides is shown It is intended to, as in figure 2 it is shown, described device includes:
Acquiring unit 21, for obtaining the distance between described unmanned plane and remote controller, described remote controller For controlling unmanned plane during flying with remote control mode,
Determining unit 22, be used for determining unmanned plane current flight control mode, described control mode includes Remote control mode and remote controlled manner,
Switch unit 23, for the distance according to described unmanned plane Yu remote controller, switches unmanned plane during flying Control mode.
In embodiments of the present invention, acquiring unit 21 specifically for:
The current location of unmanned plane is obtained by satellite fix or radar,
Current location according to unmanned plane calculates the distance between unmanned plane and remote controller.
In embodiments of the present invention, described determine unit 22 specifically for:
Receiving flight control signal, described flight control signal includes remote control signal or remotely controls Signal,
Unmanned plane current flight regime is determined according to the described flight control signal received.
In embodiments of the present invention, described switch unit 22 specifically for:
When the current control mode of unmanned plane is that the distance between remote control mode, and unmanned plane and remote controller surpasses When going out to switch distance, unmanned plane is switched to remote controlled manner, or,
When the current control mode of unmanned plane be between remote controlled manner, and unmanned plane and remote controller away from From during less than switching distance, unmanned plane is switched to remote control mode.
In embodiments of the present invention, unmanned plane is obtained by satellite fix or radar by acquiring unit 21 The current location of unmanned plane, thus obtains the distance between unmanned plane and remote controller, and by determining unit 22 determine the current flight control mode of unmanned plane according to the flight control signal received, and then switch Unit 23, according to the distance between unmanned plane and remote controller, the flight control mode of switching unmanned plane, is cut During changing, switch unit 23 is carried out by the distance between unmanned plane and remote controller and between switching distance Relatively, if the distance between unmanned plane and remote controller is more than switching distance, and unmanned plane currently controls Mode is remote control mode, then unmanned plane is switched to remote controlled manner, if unmanned plane and remote controller Between distance less than switching distance, and the current control mode of unmanned plane is remote controlled manner, then will Unmanned plane switches to remote control mode, wherein, in order to realize the Flight safety control of unmanned plane, described in cut Change the distance remote control distance less than remote controller.
In embodiments of the present invention, described remote controlled manner mobile cellular communication control mode.In order to Realize the long-range control to unmanned plane, between unmanned plane and ground control station, use mobile cellular communication system System communicates, and therefore, unmanned plane needs be provided with mobile cellular communication unit, such as, 2G, 3G or 4G communication unit.
In embodiments of the present invention, described device also includes:
Transmitting element 24, sends unmanned plane identity for control station earthward, so that described ground Control station sends remote control signal according to described unmanned plane identity under remote controlled manner.
In embodiments of the present invention, before unmanned plane switches to remote controlled manner, need unmanned plane Control station sends unmanned plane identity earthward, or, ground control station it is that unmanned plane distributes nothing Man-machine identity so that described ground control station under remote controlled manner according to described unmanned fuselage Part mark sends remote control signal.
It should be noted that due to UAV Flight Control mode changing method and UAV Flight Control Mode switching device is based on identical inventive concept, embodiment of the method and the corresponding skill in device embodiment Art content can be the most applicable, the most no longer describes in detail.
In embodiments of the present invention, by obtaining the distance between described unmanned plane and remote controller, described Remote controller, for controlling unmanned plane during flying with remote control mode, determines unmanned plane current flight control mode, Described control mode includes remote control mode and remote controlled manner, according to described unmanned plane and remote controller Distance, switches UAV Flight Control mode, it is achieved that the flexible switching of UAV Flight Control mode, Especially when unmanned plane during flying distance is beyond remote control distance, mobile cellular network is utilized remotely to control The flight of system, beneficially unmanned plane controls.
Fig. 3 is a kind of unmanned plane structural representation that the embodiment of the present invention provides.As it is shown on figure 3, should Unmanned plane includes:
Telecontrol antenna 31, is used for receiving remote control signal,
Radio-frequency antenna 32, is used for receiving remote control signal,
Central processing unit 33, for obtaining the distance between described unmanned plane and remote controller, according to reception The remote control signal arrived or remote control signal, determine unmanned plane current flight control mode, according to Described unmanned plane and the distance of remote controller, switch UAV Flight Control mode.
In the embodiment of the present invention, unmanned plane can be unmanned fixed-wing aircraft, unmanned VTOL machine, nothing People's dirigible, depopulated helicopter, unmanned multi-rotor aerocraft, unmanned parasol etc..
In embodiments of the present invention, central processing unit is the control centre of this unmanned plane, utilizes various connecing Mouth and the various piece of the whole electronic equipment of connection, be stored in memory cell by running or performing Interior software program and/or module, and call the data being stored in memory cell, to perform electronics The various functions of equipment and/or process data.Described processor can be made up of integrated circuit, it is also possible to Formed by connecting many identical functions or the integrated chip of envelope table of difference in functionality.I.e. processor can be The combination of the control chip in GPU, digital signal processor and communication unit.
Professional should further appreciate that, describes in conjunction with the embodiments described herein The unit of each example and algorithm steps, it is possible to electronic hardware, computer software or the knot of the two Incompatible realization, in order to clearly demonstrate the interchangeability of hardware and software, has pressed Composition and the step of each example is generally described according to function.These functions are actually with hardware or soft Part mode performs, and depends on application-specific and the design constraint of technical scheme.Professional technique people Each specifically should being used for can be used different methods to realize described function by member, but this Realize it is not considered that beyond the scope of this invention.Described computer software can be stored in computer-readable Taking in storage medium, this program is upon execution, it may include such as the flow process of the embodiment of above-mentioned each method. Wherein, described storage medium can be magnetic disc, CD, read-only store-memory body or random store-memory Body etc..
In embodiments of the present invention, by obtaining the distance between described unmanned plane and remote controller, described Remote controller, for controlling unmanned plane during flying with remote control mode, determines unmanned plane current flight control mode, Described control mode includes remote control mode and remote controlled manner, according to described unmanned plane and remote controller Distance, switches UAV Flight Control mode, it is achieved that the flexible switching of UAV Flight Control mode, The flight being conducive to unmanned plane controls.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all Any amendment, equivalent and the improvement etc. made within the spirit and principles in the present invention, all should comprise Within protection scope of the present invention.

Claims (15)

1. a UAV Flight Control mode changing method, it is characterised in that including:
Obtaining the distance between described unmanned plane and remote controller, described remote controller is for remote control mode control Unmanned plane during flying processed,
Determining unmanned plane current flight control mode, described control mode includes remote control mode and remotely controls Mode processed,
According to the distance of described unmanned plane Yu remote controller, switch UAV Flight Control mode.
Method the most according to claim 1, it is characterised in that the described unmanned plane of described acquisition with Distance between remote controller, specifically includes:
The current location of unmanned plane is obtained by satellite fix or radar,
Current location according to unmanned plane calculates the distance between unmanned plane and remote controller.
Method the most according to claim 1, it is characterised in that described determine that unmanned plane currently flies Row control mode, specifically includes:
Receiving flight control signal, described flight control signal includes remote control signal or remotely controls Signal,
Unmanned plane current flight control mode is determined according to the described flight control signal received.
4. according to the method described in any one of claim 1-3, it is characterised in that described in described basis Unmanned plane and the distance switching UAV Flight Control mode of remote controller, specifically include:
When the current control mode of unmanned plane is that the distance between remote control mode, and unmanned plane and remote controller surpasses When going out to switch distance, unmanned plane is switched to remote controlled manner, or,
When the current control mode of unmanned plane be between remote controlled manner, and unmanned plane and remote controller away from From during less than switching distance, unmanned plane is switched to remote control mode.
Method the most according to claim 4, it is characterised in that described switching distance is less than remote control The remote control distance of device.
Method the most according to claim 4, it is characterised in that described remote controlled manner is for moving Dynamic cellular communication control mode.
Method the most according to claim 5, it is characterised in that described method also includes:
Control station sends unmanned plane identity earthward, so that described ground control station is remotely controlling Remote control signal is sent according to described unmanned plane identity under mode.
8. a UAV Flight Control mode switching device, it is characterised in that including:
Acquiring unit, for obtaining the distance between described unmanned plane and remote controller, described remote controller is used In controlling unmanned plane during flying with remote control mode,
Determining unit, be used for determining unmanned plane current flight control mode, described control mode includes distant Prosecutor formula and remote controlled manner,
Switch unit, for according to described unmanned plane and the distance controlling device, switching unmanned plane during flying Control mode.
Device the most according to claim 8, it is characterised in that described acquiring unit specifically for:
The current location of unmanned plane is obtained by satellite fix or radar,
Current location according to unmanned plane calculates the distance between unmanned plane and remote controller.
Device the most according to claim 8, it is characterised in that described determine that unit is specifically used In:
Receiving flight control signal, described flight control signal includes remote control signal or remotely controls Signal,
Unmanned plane current flight control mode is determined according to the described flight control signal received.
11. devices described in-10 any one according to Claim 8, it is characterised in that described switching list Unit specifically for:
When the current control mode of unmanned plane is that the distance between remote control mode, and unmanned plane and remote controller surpasses When going out to switch distance, unmanned plane is switched to remote controlled manner, or,
When the current control mode of unmanned plane be between remote controlled manner, and unmanned plane and remote controller away from From during less than switching distance, unmanned plane is switched to remote control mode.
12. devices according to claim 11, it is characterised in that described switching distance is less than distant The remote control distance of control device.
13. devices according to claim 11, it is characterised in that described remote controlled manner is Mobile cellular communication control mode.
14. devices according to claim 13, it is characterised in that described device also includes:
Transmitting element, sends unmanned plane identity for control station earthward, so that the control of described ground System stands in and sends remote control signal according to described unmanned plane identity under remote controlled manner.
15. 1 kinds of unmanned planes, it is characterised in that including:
Telecontrol antenna, is used for receiving remote control signal,
Radio-frequency antenna, is used for receiving remote control signal,
Central processing unit, for obtaining the distance between described unmanned plane and remote controller, according to receiving Remote control signal or remote control signal, determine unmanned plane current flight control mode, according to institute State the distance of unmanned plane and remote controller, switch UAV Flight Control mode.
CN201610282002.3A 2016-04-29 2016-04-29 UAV flight control mode switching method and device and UAV Pending CN105843254A (en)

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