CN105867363A - UAV (unmanned aerial vehicle) control method, equipment and system - Google Patents
UAV (unmanned aerial vehicle) control method, equipment and system Download PDFInfo
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- CN105867363A CN105867363A CN201610364371.7A CN201610364371A CN105867363A CN 105867363 A CN105867363 A CN 105867363A CN 201610364371 A CN201610364371 A CN 201610364371A CN 105867363 A CN105867363 A CN 105867363A
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- 238000005516 engineering process Methods 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computing Systems (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a UAV (unmanned aerial vehicle) control method, equipment and system. The UAV control method comprises the following steps: receiving an operation instruction executed by a controller on a button in a preset flight direction and acquiring the on-off state of the button in the preset flight direction; converting the on-off state of the button in the preset flight direction into a flight instruction; sending the flight instruction to a UAV to enable the UAV to fly in the direction corresponding to the flight instruction. The flight instruction is acquired by receiving the operation instruction executed by the controller on the button in the preset flight direction, with arrangement of the button in the flight direction, compared with the condition that the flight instruction is acquired by receiving control of a traditional remote control or ground station control box by the controller, the control is more accurate and simpler, a convenient and direct control aiding function can be provided to the greatest extent, the control difficulty is simplified, the working efficiency is increased, the work load is reduced, and the faulty operation risk is avoided.
Description
Technical field
The present invention relates to aerospace equipment technical field, particularly relate to a kind of unmanned vehicle
Control method and equipment, the control system of unmanned vehicle.
Background technology
Unmanned vehicle is a kind of not carry people to fly with what wireless remotecontrol or Autonomous Control were flown
Device.Defining from housing construction, unmanned vehicle comprises: depopulated helicopter, unmanned many rotations
Rotor aircraft, unmanned Fixed Wing AirVehicle, unmanned airship, unmanned parasol and duct unmanned aerial vehicle
Deng.
Current unmanned vehicle control mode commonly uses traditional remote controller or earth station behaviour
Control case manipulates.They need manipulation personnel to stir control bar to send telecommand.And slap
Hold the position change amount controlling bar and the remote control result stirring rapid change and unmanned vehicle, need
Operator are wanted to carry out training and the exercise of some months the most a few year.Such control method
Cause the operating difficulties of unmanned vehicle, limit the development of unmanned vehicle application.
Summary of the invention
For defect of the prior art, the invention provides the manipulation side of a kind of unmanned vehicle
Method and equipment, the control system of unmanned vehicle.Reduce the operation easier of unmanned vehicle,
Improve the safety of unmanned vehicle operation.
First aspect, the invention provides the control method of a kind of unmanned vehicle, including:
Receive the operational order that the button in pre-set flight direction is performed by manipulator, obtain described pre-
If the on off state of the button of heading；
The switch state of the button in described pre-set flight direction is become flight directive；
Described flight directive is sent, so that described unmanned vehicle is to institute to described unmanned vehicle
State the direction flight that flight directive is corresponding.
Optionally, described flight directive includes that heading instructs；
Accordingly, the switch state of the button in described pre-set flight direction is become flight directive,
Including:
Obtain the on off state of the button in described pre-set flight direction；
Heading is become to instruct the switch state that described on off state changes.
Optionally, described flight directive also includes speed command；
Accordingly, before sending described flight directive to described unmanned vehicle, described method
Also include:
Judging whether to receive the speed command of manipulator's input, described speed command includes target
Flight speed；
The most then while sending the instruction of described heading to described unmanned vehicle, send out
Send described speed command, so that described unmanned vehicle is to the side of described heading instruction correspondence
To the target flight speed flight corresponding with described speed command；
Or,
If it is not, then send the instruction of described heading to described unmanned vehicle, so that described nothing
People's aircraft flies with pre-set flight speed to the direction that the instruction of described heading is corresponding.
Optionally, described pre-set flight direction includes: along the body coordinate of described unmanned vehicle
Being in OXYZ, the positive direction of OY axle is the heading of described unmanned vehicle, OX axle,
OY axle and three axles of OZ axle are mutually perpendicular to, with the center of gravity of described unmanned vehicle as coordinate system
The center O of OXYZ, horizontal forward flight, level are flown backward, level is flown to the left, level
To the right flight, straight up flight, straight down flight, be rotated clockwise along OZ axle and
Counterclockwise rotate along OZ axle.
Second aspect, present invention also offers a kind of unmanned vehicle controlling equipment, including:
Operational order receiver module, performs the button in pre-set flight direction for receiving manipulator
Operational order；
On off state acquisition module, for obtaining the switch shape of the button in described pre-set flight direction
State；
Instruction modular converter, for the switch state by the button in described pre-set flight direction
Become flight directive；
Instruction sending module, for sending described flight directive to described unmanned vehicle, so that
Described unmanned vehicle flies to the direction that described flight directive is corresponding.
Optionally, described flight directive includes that heading instructs；
Accordingly, described instruction modular converter, it is used for:
Obtain the on off state of the button in described pre-set flight direction；
Heading is become to instruct the switch state that described on off state changes.
Optionally, described flight directive also includes speed command；
Described equipment also includes:
Judge module, for judging whether to receive the speed command of manipulator's input, described speed
Degree instruction includes target flight speed；
Accordingly, described instruction sending module, specifically for: receiving manipulator's input
During target flight speed, while sending the instruction of described heading to described unmanned vehicle,
Send described speed command, so that described unmanned vehicle is to described heading instruction correspondence
Fly with the target flight speed that described speed command is corresponding in direction；
Or,
Described instruction sending module, specifically for: fly in the target not receiving manipulator's input
During line speed, send the instruction of described heading to described unmanned vehicle, so that described unmanned
Aircraft flies with pre-set flight speed to the direction that the instruction of described heading is corresponding.
The third aspect, present invention also offers the control system of a kind of unmanned vehicle, including nothing
People's aircraft navigation controls equipment, wireless communications relay device and unmanned vehicle behaviour described above
Control equipment, described unmanned vehicle navigation control device is positioned on the body of described unmanned vehicle；
Described unmanned vehicle controlling equipment is connected with described wireless communications relay device communication, institute
State wireless communications relay device to be connected with described unmanned vehicle navigation control device communication.
Optionally, described unmanned vehicle navigation control device is provided with data pick-up, figure
Picture sensor, Navigation Control microprocessor and wireless terminal transmission radio station, described data pick-up,
Imageing sensor is all connected with described Navigation Control microprocessor, described imageing sensor and described
Navigation Control microprocessor is all connected with described wireless terminal transmission radio station.
Optionally, described unmanned vehicle controlling equipment, for sending flight directive to described
Wireless communications relay device；
Described wireless communications relay device, is used for receiving described unmanned vehicle controlling equipment and sends
Flight directive, and described flight directive is transferred to described unmanned vehicle navigation control device；
Described unmanned vehicle navigation control device, described for controlling according to described flight directive
Unmanned vehicle flies.
As shown from the above technical solution, the present invention provide a kind of unmanned vehicle control method and
Equipment, the control system of unmanned vehicle, by receiving the manipulator flight side to pre-setting
To button perform operational order obtain flight directive, owing to arranging the button of heading,
Relative to receiving manipulator, the manipulation of traditional remote controller or earth station's manipulation case is obtained flight
Instruction, its manipulation is more accurate and simple, it is possible to provides convenient to greatest extent and controls intuitively
Miscellaneous function, simplifies manipulation difficulty, improves work efficiency, alleviate homework burden, avoid simultaneously
The risk of maloperation.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below
The accompanying drawing used required in embodiment or description of the prior art will be briefly described, aobvious and
Easily insight, the accompanying drawing in describing below is only some embodiments of the present invention, for this area
From the point of view of those of ordinary skill, on the premise of not paying creative work, it is also possible to according to these
Figure obtains other accompanying drawing.
The flow process signal of the control method of the unmanned vehicle that Fig. 1 provides for one embodiment of the invention
Figure；
Unmanned vehicle body axis system that Fig. 2 provides for one embodiment of the invention and flight directive
Direction schematic diagram；
The structural representation of the unmanned vehicle controlling equipment that Fig. 3 provides for one embodiment of the invention；
The structural representation of the control system of the unmanned vehicle that Fig. 4 provides for one embodiment of the invention
Figure.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, to the technical side in the embodiment of the present invention
Case is clearly and completely described, it is clear that described embodiment is only the present invention one
Divide embodiment rather than whole embodiments.Based on the embodiment in the present invention, this area is general
The every other embodiment that logical technical staff is obtained under not making creative work premise,
Broadly fall into the scope of protection of the invention.
Fig. 1 shows the control method of a kind of unmanned vehicle that one embodiment of the invention provides
Schematic flow sheet, as it is shown in figure 1, the method comprises the following steps:
101, receive the operational order that the button in pre-set flight direction is performed by manipulator, obtain institute
State the on off state of the button in pre-set flight direction.
It will be appreciated that the manipulation of the unmanned vehicle in the present embodiment is unmanned by earth station
Aircraft controlling equipment carries out manipulating, this equipment can be notebook computer, panel computer,
The hardware device such as smart mobile phone or game paddle, simultaneously, it is provided that multiple operation buttons of giving or
Switch, they only have closed mode 0 and 1 two states of opening, represent stopping respectively a certain
Plant flight or perform a certain kind flight.
For example, unmanned vehicle controlling equipment is panel computer, arranges on panel computer
Some direction keys, direction button can be physical button or switchgear, it is also possible to for fortune
The virtual unit etc. that the APP interface that row is installed on unmanned vehicle controlling equipment provides, manipulator
The state of button can be changed.
102, the switch state of the button in described pre-set flight direction is become flight directive.
Owing to the state of button can not be identified by unmanned vehicle, therefore the present embodiment
In also need to button on off state change time, need switch state is become flight directive,
So that unmanned vehicle can convert current heading according to flight directive.
103, described flight directive is sent to described unmanned vehicle, so that described unmanned vehicle
To the direction flight that described flight directive is corresponding.
Said method is by receiving the behaviour that the button of manipulator's heading to pre-setting performs
Make instruction and obtain flight directive, owing to arranging the button of heading, relative to receiving manipulator
The manipulation that traditional remote controller or earth station manipulate case obtains flight directive, and its manipulation is more
Accurate and simple, it is possible to provide convenient to greatest extent and controls miscellaneous function intuitively, simplify and grasp
Control difficulty, improves work efficiency, alleviates homework burden, avoid the risk of maloperation simultaneously.
Below by specific embodiment, step each in said method is described in detail.
Described flight directive in above-mentioned steps 102 includes that heading instructs；
Accordingly, above-mentioned steps 102 is by the switch state of the button in described pre-set flight direction
Become flight directive, the following sub-step including not shown in Fig. 1:
1021, the on off state of the button in described pre-set flight direction is obtained；
Described pre-set flight direction includes: as in figure 2 it is shown, along described unmanned vehicle Navigation Control
In the body axis system OXYZ of equipment 1, the positive direction of OY axle is the head of described unmanned vehicle
Direction, OX axle, OY axle and three axles of OZ axle are mutually perpendicular to, and navigate with described unmanned vehicle
The center of gravity of control equipment 1 is the center O of coordinate system OXYZ, and horizontal forward flight, level are backward
Flight, level is flown to the left, level is flown to the right, straight up flight, straight down flight,
It is rotated clockwise along OZ axle and counterclockwise rotates along OZ axle.
1022, heading is become to instruct the switch state that described on off state changes.
On off state in the present embodiment includes closed mode 0 and 1 two states of opening, example
The on off state of the button flown to the left such as level is 1 state, manipulator want to stop this level to
During left state of flight, it is only necessary to the on off state of change level flight button to the left is 0 state,
At this moment becoming heading to instruct the switch state of change, unmanned vehicle is receiving this
After heading instruction, meeting stop motion, and keep floating state；Attainable at another
In mode, the on off state at the button of horizontal forward flight is 0 state, wants to control manipulator
During the horizontal forward flight of unmanned vehicle, it is only necessary to change the switch of the button of horizontal forward flight
State is 1 state, at this moment becomes heading to instruct the switch state of change, unmanned flight
Device, can horizontal forward flight after receiving the instruction of this heading.
In the present embodiment, the speed of service of unmanned vehicle can be held according to the speed of manipulator's definition
Row can also preset the speed of service, and described flight directive also includes speed command；
Accordingly, above-mentioned steps 103 to described unmanned vehicle send described flight directive it
Before, described method also includes the step not shown in Fig. 1:
Judging whether to receive the speed command of manipulator's input, described speed command includes target
Flight speed；
The most then while sending the instruction of described heading to described unmanned vehicle, send out
Send described speed command, so that described unmanned vehicle is to the side of described heading instruction correspondence
To the target flight speed flight corresponding with described speed command；
Or,
If it is not, then send the instruction of described heading to described unmanned vehicle, so that described nothing
People's aircraft flies with pre-set flight speed to the direction that the instruction of described heading is corresponding.
Said method not only simplify the operation of manipulator, simultaneously can also self-defined flight speed,
Certainly, self-defining velocity amplitude, should less than the scope that can bear of unmanned vehicle self
Method achieves the easy operation to unmanned vehicle flight, reduces the operation of unmanned vehicle
Difficulty, improves the processing safety of unmanned vehicle.
Fig. 3 shows the structure of a kind of unmanned vehicle controlling equipment that the embodiment of the present invention provides
Schematic diagram, as it is shown on figure 3, this equipment includes:
Operational order receiver module 31, holds the button in pre-set flight direction for receiving manipulator
The operational order of row；
On off state acquisition module 32, for obtaining the switch of the button in described pre-set flight direction
State；
Instruction modular converter 33, for turning the on off state of the button in described pre-set flight direction
Change flight directive into；
Instruction sending module 34, for sending described flight directive to described unmanned vehicle, with
Described unmanned vehicle is made to fly to the direction that described flight directive is corresponding.
One of the present embodiment preferred embodiment in, described flight directive includes flight side
To instruction；
Accordingly, described instruction modular converter, it is used for:
Obtain the on off state of the button in described pre-set flight direction；
Heading is become to instruct the switch state that described on off state changes.
One of the present embodiment preferred embodiment in, described flight directive also includes speed
Instruction；
Described equipment also includes:
Judge module, for judging whether to receive the speed command of manipulator's input, described speed
Degree instruction includes target flight speed；
Accordingly, described instruction sending module, specifically for: receiving manipulator's input
During target flight speed, while sending the instruction of described heading to described unmanned vehicle,
Send described speed command, so that described unmanned vehicle is to described heading instruction correspondence
Fly with the target flight speed that described speed command is corresponding in direction；
Or,
Described instruction sending module, specifically for: fly in the target not receiving manipulator's input
During line speed, send the instruction of described heading to described unmanned vehicle, so that described unmanned
Aircraft flies with pre-set flight speed to the direction that the instruction of described heading is corresponding.
The control method of above-mentioned unmanned vehicle controlling equipment and above-mentioned unmanned vehicle is one a pair
The relation answered, the implementation detail of the control method of above-mentioned unmanned vehicle is equally applicable to above-mentioned nothing
The implementation detail of people's aircraft controlling equipment, the manipulation of above-mentioned unmanned vehicle is not set by the present embodiment
The standby details that is embodied as is described in detail.
Fig. 4 shows the knot of the control system of a kind of unmanned vehicle that the embodiment of the present invention provides
Structure schematic diagram, as shown in Figure 4, this system includes unmanned vehicle navigation control device 1, wireless
Communication relay set 2 and unmanned vehicle controlling equipment 3 described above, described unmanned vehicle is led
Boat control equipment is positioned on the body of described unmanned vehicle；
Described unmanned vehicle controlling equipment 3 is connected with the communication of described wireless communications relay device 2,
Described wireless communications relay device 2 is connected with the communication of described unmanned vehicle navigation control device 1.
It is provided with data pick-up 11, image sensing on described unmanned vehicle navigation control device 1
Device 12, Navigation Control microprocessor 13 and wireless terminal transmission radio station 14, described data pick-up
11, imageing sensor 12 is all connected with described Navigation Control microprocessor 13, described image sensing
Device 12 is all connected with described wireless terminal transmission radio station 14 with described Navigation Control microprocessor 13.
Wireless communications relay device 2 includes wireless data transmission radio station 21 and wireless image transmission electricity
Platform 22, described wireless data transmission radio station 21 and wireless image transmission radio station 22 all with described nothing
Line terminal transmission radio station 14 is connected.
Concrete, the measurement real-time in unmanned vehicle flight course of data pick-up 11 is unmanned
The status data of aircraft, including position, speed, highly, acceleration, rotational angular velocity,
Course etc..Data pick-up 11 and imageing sensor 12 are obtained by Navigation Control microprocessor 13
Data carry out pretreatment, and the data after processing (i.e. unmanned vehicle controlling equipment can
The data identified) it is separately sent to wireless data transmission radio station by wireless terminal transmission radio station 14
21 and wireless image transmission radio station 22.Wireless data transmission radio station 21 and wireless image transmission electricity
Platform 22 transfers data to unmanned vehicle controlling equipment 3, unmanned vehicle controlling equipment 3 again
After receiving these data, friendly shows so that manipulator manipulates unmanned vehicle；
When manipulator manipulates operational and controlled key button on unmanned vehicle controlling equipment, manipulator is to described behaviour
The manipulation instruction that control button performs is converted into flight directive, and by wireless communications relay device 2
Flight directive is sent in unmanned vehicle navigation control device 1, to control unmanned vehicle.
In said system, the connected mode of each equipment can be, but not limited to by WiFi, bluetooth, 3G
Any one in mobile network, 4G LTE, self-defining modulation system or communications protocol comes real
Existing.
In said system, described unmanned vehicle controlling equipment 3, for sending flight directive
To described wireless communications relay device 2；
Described wireless communications relay device 2, is used for receiving described unmanned vehicle controlling equipment 3
The flight directive sent, and described flight directive is transferred to described unmanned vehicle Navigation Control sets
Standby 1；
Described unmanned vehicle navigation control device, described for controlling according to described flight directive
Unmanned vehicle flies.
Concrete, below the concrete structure of above-mentioned control system and the transmission means of data are entered
Row describes in detail.
It is provided with data pick-up 11, image sensing on described unmanned vehicle navigation control device 1
Device 12 and wireless terminal receiver 13, described data pick-up 11, imageing sensor 12 are all and institute
State wireless terminal receiver 13 to be connected.
Concrete, the measurement real-time in unmanned vehicle flight course of data pick-up 11 is unmanned
The data of aircraft, including position, speed, highly, acceleration, rotational angular velocity, course
Deng.The data of data pick-up 11 and imageing sensor 12 pass through wireless terminal receiver 13 points
It is not sent to wireless data transmission radio station 21 and wireless image transmission radio station 22.Wireless data transmission
Radio station 21 and wireless image transmission radio station 22 transfer data to unmanned vehicle controlling equipment again
3, unmanned vehicle controlling equipment 3 after receiving these data, friendly show so that
Unmanned vehicle is manipulated in manipulator；When manipulator manipulates behaviour on unmanned vehicle controlling equipment
During control button, the manipulation instruction that described operational and controlled key button is performed by manipulator is converted into flight directive,
And by wireless communications relay device 2, flight directive is sent to unmanned vehicle Navigation Control and sets
In standby 3, to control heading and the flight speed of unmanned vehicle.
Described wireless communications relay device 2 also includes charger 23, described charger 23 and described nothing
Line data transmission radio station 21 is connected with wireless image transmission radio station 22, is used for as described wireless data
Transmission radio station 21 and wireless image transmission radio station 22 power, can be lithium battery (such as 12V),
Rechargeable battery or solar energy charging battery etc., the present embodiment is not limited thereof.
Certainly, wireless data transmission radio station 21 described above and wireless image transmission radio station 22 are also
Have certain transmission band, such as, the frequency range in wireless data transmission radio station 21 433MHz,
840MHz, 900MHz, 1.4GHz, 2.4GHz or 5.8GHz, transmitting power be 150mW,
500mW or 1W.The signal frequency range in wireless image transmission radio station 22 is at 1.2GHz, 2.4GHz
Or 5.8GHz, launching power is 200mW, 500mW or 1W.Described control system
Also including is connected with described line data transmission radio station and wireless image transmission radio station be connected respectively outside
Put gain rotable antenna.
Described wireless communications relay device and described unmanned vehicle controlling equipment are by wireless or blue
Tooth connects, and relative in prior art, unmanned vehicle controlling equipment and trunking is passed through line
Connecting, its wireless communications relay device is more flexible with the layout of unmanned vehicle controlling equipment just
Prompt.
Unmanned vehicle controlling equipment in said system instead of use tradition of the prior art
Remote controller or earth station manipulation case manipulate, reduce the operation easier of unmanned vehicle,
Improve the processing safety of unmanned vehicle.
In the description of the present invention, illustrate a large amount of detail.It is to be appreciated, however, that this
Inventive embodiment can be put into practice in the case of not having these details.In some instances,
It is not shown specifically known method, structure and technology, in order to the not fuzzy reason to this specification
Solve.
Similarly, it will be appreciated that disclose to simplify the present invention and help to understand each invented party
One or more in face, above in the description of the exemplary embodiment of the present invention, this
Each bright feature is grouped together in single embodiment, figure or descriptions thereof sometimes.
But, should the method for the disclosure not explained the most required for protection in reflecting an intention that
Application claims feature more more than the feature being expressly recited in each claim.More true
Say with cutting, as the following claims reflect as, inventive aspect is less than above
All features of disclosed single embodiment.Therefore, it then follows the claim of detailed description of the invention
Book is thus expressly incorporated in this detailed description of the invention, and the most each claim itself is as this
The independent embodiment of invention.
It will be understood by those skilled in the art that and the module in the equipment in embodiment can be carried out
Adaptively change and they are provided in one or more equipment that this embodiment is different
In.Module in embodiment or unit or assembly can be combined into a module or unit or group
Part, and multiple submodule or subelement or sub-component can be put them in addition.Except this
At least some in the feature of sample and/or process or unit is mutually exclusive part, can use
Any combination to this specification (including adjoint claim, summary and accompanying drawing) disclosed in
All features and so disclosed any method or all processes of equipment or unit carry out group
Close.Unless expressly stated otherwise, this specification (includes adjoint claim, summary and attached
Figure) disclosed in each feature can by provide identical, equivalent or the alternative features of similar purpose
Replace.
Although additionally, it will be appreciated by those of skill in the art that embodiments more described herein
Including some feature included in other embodiments rather than further feature, but different enforcement
The combination of the feature of example means to be within the scope of the present invention and formed different enforcement
Example.Such as, in the following claims, embodiment required for protection one of arbitrarily
Can mode use in any combination.
The all parts embodiment of the present invention can realize with hardware, or with at one or many
The software module run on individual processor realizes, or realizes with combinations thereof.This area
It will be appreciated by the skilled person that microprocessor or digital signal processor can be used in practice
(DSP) realize some in the equipment of a kind of browser terminal according to embodiments of the present invention or
The some or all functions of the whole parts of person.The present invention is also implemented as performing here
Part or all equipment of described method or device program (such as, computer
Program and computer program).The program of such present invention of realization can be stored in computer
On computer-readable recording medium, or can be to have the form of one or more signal.Such signal can
Obtain to download on internet website, or on carrier signal provide, or with any its
He provides form.
The present invention will be described rather than carries out the present invention to it should be noted above-described embodiment
Limit, and those skilled in the art without departing from the scope of the appended claims may be used
Design alternative embodiment.In the claims, any reference between bracket should not will be located in
Symbol construction becomes limitations on claims.Word " comprise " do not exclude the presence of be not listed in right want
Element in asking or step.Word "a" or "an" before being positioned at element does not excludes the presence of multiple
Such element.The present invention can by means of include some different elements hardware and by
Realize in properly programmed computer.If in the unit claim listing equipment for drying,
Several in these devices can be specifically to be embodied by same hardware branch.Word first,
Second and third use do not indicate that any order.Can be title by these word explanations.
It is last it is noted that various embodiments above is only in order to illustrate technical scheme,
It is not intended to limit；Although the present invention being described in detail with reference to foregoing embodiments,
It will be understood by those within the art that: it still can be to described in foregoing embodiments
Technical scheme modify, or the most some or all of technical characteristic carried out equivalent replace
Change；And these amendments or replacement, do not make the essence of appropriate technical solution depart from the present invention each
The scope of embodiment technical scheme, it all should be contained in the claim of the present invention and description
In the middle of scope.
Claims (10)
1. the control method of a unmanned vehicle, it is characterised in that including:
Receive the operational order that the button in pre-set flight direction is performed by manipulator, obtain described pre-
If the on off state of the button of heading；
The switch state of the button in described pre-set flight direction is become flight directive；
Described flight directive is sent, so that described unmanned vehicle is to institute to described unmanned vehicle
State the direction flight that flight directive is corresponding.
Method the most according to claim 1, it is characterised in that described flight directive includes
Heading instructs；
Accordingly, the switch state of the button in described pre-set flight direction is become flight directive,
Including:
Obtain the on off state of the button in described pre-set flight direction；
Heading is become to instruct the switch state that described on off state changes.
Method the most according to claim 2, it is characterised in that described flight directive also wraps
Include speed command；
Accordingly, before sending described flight directive to described unmanned vehicle, described method
Also include:
Judging whether to receive the speed command of manipulator's input, described speed command includes target
Flight speed；
The most then while sending the instruction of described heading to described unmanned vehicle, send out
Send described speed command, so that described unmanned vehicle is to the side of described heading instruction correspondence
To the target flight speed flight corresponding with described speed command；
Or,
If it is not, then send the instruction of described heading to described unmanned vehicle, so that described nothing
People's aircraft flies with pre-set flight speed to the direction that the instruction of described heading is corresponding.
4. according to the method according to any one of claim 1-3, it is characterised in that described default
Heading includes: along the body axis system OXYZ of described unmanned vehicle, and OY axle is just
Direction is the heading of described unmanned vehicle, and OX axle, OY axle and three axles of OZ axle are mutual
Vertically, the center O being coordinate system OXYZ with the center of gravity of described unmanned vehicle, horizontal forward fly
Row, level is flown backward, level is flown to the left, level is flown to the right, straight up flight,
Fly straight down, be rotated clockwise along OZ axle and counterclockwise rotate along OZ axle.
5. a unmanned vehicle controlling equipment, it is characterised in that including:
Operational order receiver module, performs the button in pre-set flight direction for receiving manipulator
Operational order；
On off state acquisition module, for obtaining the switch shape of the button in described pre-set flight direction
State；
Instruction modular converter, for the switch state by the button in described pre-set flight direction
Become flight directive；
Instruction sending module, for sending described flight directive to described unmanned vehicle, so that
Described unmanned vehicle flies to the direction that described flight directive is corresponding.
Controlling equipment the most according to claim 5, it is characterised in that described flight directive
Instruct including heading；
Accordingly, described instruction modular converter, it is used for:
Obtain the on off state of the button in described pre-set flight direction；
Heading is become to instruct the switch state that described on off state changes.
Controlling equipment the most according to claim 6, it is characterised in that described flight directive
Also include speed command；
Described equipment also includes:
Judge module, for judging whether to receive the speed command of manipulator's input, described speed
Degree instruction includes target flight speed；
Accordingly, described instruction sending module, specifically for: receiving manipulator's input
During target flight speed, while sending the instruction of described heading to described unmanned vehicle,
Send described speed command, so that described unmanned vehicle is to described heading instruction correspondence
Fly with the target flight speed that described speed command is corresponding in direction；
Or,
Described instruction sending module, specifically for: fly in the target not receiving manipulator's input
During line speed, send the instruction of described heading to described unmanned vehicle, so that described unmanned
Aircraft flies with pre-set flight speed to the direction that the instruction of described heading is corresponding.
8. the control system of a unmanned vehicle, it is characterised in that include that unmanned vehicle is led
Boat control equipment, wireless communications relay device and nobody as according to any one of claim 5-7
Aircraft controlling equipment, described unmanned vehicle navigation control device is positioned at described unmanned vehicle
Body on；
Described unmanned vehicle controlling equipment is connected with described wireless communications relay device communication, institute
State wireless communications relay device to be connected with described unmanned vehicle navigation control device communication.
Control system the most according to claim 8, it is characterised in that described unmanned flight
Data pick-up, imageing sensor, the micro-process of Navigation Control it is provided with on device navigation control device
Device and wireless terminal transmission radio station, described data pick-up, imageing sensor all with described navigation
Controlling microprocessor to be connected, described imageing sensor and described Navigation Control microprocessor are all and institute
State wireless terminal transmission radio station to be connected.
Control system the most according to claim 9, it is characterised in that described unmanned flight
Device controlling equipment, for sending flight directive to described wireless communications relay device；
Described wireless communications relay device, is used for receiving described unmanned vehicle controlling equipment and sends
Flight directive, and described flight directive is transferred to described unmanned vehicle navigation control device；
Described unmanned vehicle navigation control device, described for controlling according to described flight directive
Unmanned vehicle flies.
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| CN201610364371.7A CN105867363A (en) | 2016-05-26 | 2016-05-26 | UAV (unmanned aerial vehicle) control method, equipment and system |
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