CN105938371A - Flight control system, method and remote controller of unmanned aerial vehicle - Google Patents
Flight control system, method and remote controller of unmanned aerial vehicle Download PDFInfo
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- CN105938371A CN105938371A CN201610452007.6A CN201610452007A CN105938371A CN 105938371 A CN105938371 A CN 105938371A CN 201610452007 A CN201610452007 A CN 201610452007A CN 105938371 A CN105938371 A CN 105938371A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000000694 effects Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 4
- 230000000875 corresponding effect Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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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
- G05D1/10—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)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a flight control system, method and remote controller of an unmanned aerial vehicle. The unmanned aerial vehicle comprises an aerial vehicle main body and a remote controller. The system comprises a state switching unit and a course angle memory unit which are disposed on the unmanned aerial vehicle main body, wherein the state switching unit is used for switching the unmanned aerial vehicle main body between a course locking state and a non-course locking state; and the navigation angle memory unit is used for storing a preset course angle. A flight control unit of the unmanned aerial vehicle main body controls the course of the unmanned aerial vehicle main body by use of the preset course angle when the unmanned aerial vehicle main body is at the course locking state. According to the invention, through arrangement of the course locking state, the unmanned aerial vehicle main body is enabled not to cause an accident caused by course deviation due to maloperation. When the system, method and remote controller are applied to aerial photography, the flight locus of the unmanned aerial vehicle main body can also be guaranteed through locking the course, lens jittering is reduced, and the shooting effect is improved.
Description
Technical field
The present invention relates to unmanned plane field, more particularly, it relates to a kind of unmanned vehicle flight control system,
Method and remote controller.
Background technology
Many rotor wing unmanned aerial vehicles are with features such as its simple in construction, with low cost, maneuverabilities so that take the photograph taking photo by plane
The application of the industries such as shadow, ground mapping, reconnaissance and surveillance is the most extensive.Above-mentioned many rotor wing unmanned aerial vehicles typically pass through
Wireless remote control or program handle flight.
Owing to unmanned plane flies in three dimensions, therefore the technology of operator is required of a relatively high.?
In operator (flying hands) training, unmanned plane is the primary project trained to tail flight, but unmanned plane
The course rocking bar of remote controller is often touched by mistake, so that the course of unmanned plane changes, causes operator
Member cannot revise course angle in time and have an accident.
Additionally, in application of taking photo by plane, the visual angle that need to keep filming apparatus is the most stable, if the operation of unmanned plane
Track is the most smooth, and aerial photography effect will be caused to be affected.
Summary of the invention
The technical problem to be solved in the present invention is, cause off-course for above-mentioned unmanned plane because of maloperation and
The problem caused the accident or affect aerial photography effect, it is provided that a kind of unmanned vehicle flight control system, method and
Remote controller.
The present invention solves the technical scheme of above-mentioned technical problem and is to provide a kind of unmanned vehicle flight and controls system
System, described unmanned vehicle includes that aircraft body and remote controller, described remote controller include the control of input
Signal is converted to the instruction converting unit of control instruction, and the control signal of described input includes course signal and institute
State control instruction and include directional command；It is single that described aircraft body includes that flight control units and this flight control
Unit for controlling the course of aircraft body according to the directional command from remote controller, and described aircraft body is also
Including status toggle unit and course angle memory element；Described status toggle unit is for by aircraft body
Switch between course lock-out state and non-course lock-out state；Described course angle memory element, is used for storing
Preset course angle；Described flight control units uses when aircraft body is in course lock-out state presets boat
The course of aircraft body is controlled to angle.
In unmanned vehicle flight control system of the present invention, the control signal of described input includes lock
Determining switching signal, described control instruction includes locking switching command；Described status toggle unit is cut according to locking
Change the state of instruction switching aircraft body.
In unmanned vehicle flight control system of the present invention, the control signal of described input includes boat
Set signal to angle, described control instruction includes that course angle sets instruction；Described aircraft body includes first
Course angle setup unit, arranges the storage of described course angle for setting instruction according to the course angle from remote controller
Default course angle in unit.
In unmanned vehicle flight control system of the present invention, described aircraft body includes the second boat
To angle setup unit, for aircraft body being switched to the course angle of course lock-out state moment, it is set to
Default course angle in described course angle memory element.
In unmanned vehicle flight control system of the present invention, described aircraft body includes that obstacle is detectd
Survey unit, preset the obstacle in course angle direction for the detecting when aircraft body is in course lock-out state,
And send alarm signal when detecting obstacle to remote controller.
The present invention also provides for a kind of unmanned vehicle flight control method, and described unmanned vehicle includes aircraft
Main body and remote controller, the Heading control signal of input is converted to directional command and sends in real time by described remote controller
To aircraft body, said method comprising the steps of:
Aircraft body is cut between course lock-out state and non-course lock-out state by described aircraft body
Change；
When being in course lock-out state, described aircraft body uses presets course angle control aircraft body
Course；
When being in non-course lock-out state, described aircraft body is according to the directional command control from remote controller
The course of aircraft body processed.
In unmanned vehicle flight control method of the present invention, described method also includes: described remote control
The course angle of input is set signal and is converted to course angle setting instruction and is sent to aircraft body by device；Described
Aircraft body sets instruction according to course angle and arranges default course angle.
In unmanned vehicle flight control method of the present invention, described method also includes: by aircraft
Course angle when main body is switched to course lock-out state is set to preset course angle.
The present invention also provides for a kind of unmanned vehicle remote controller, and this remote controller includes turning the control signal of input
Being changed to the instruction converting unit of control instruction, the control signal of described input includes that course angle sets signal, institute
State control instruction and include directional command；Described remote controller also includes that status toggle unit and course angle storage are single
Unit；Described status toggle unit is for cutting remote controller between course lock-out state and non-course lock-out state
Change；Described course angle memory element, is used for storing default course angle；Described instruction converting unit is at remote controller
Directional command is generated according to default course angle when being in course lock-out state.
In unmanned vehicle remote controller of the present invention, described status toggle unit is toggle switch, institute
State remote controller and include that course angle arranges unit, course angle is set deposits for arranging instruction according to the course angle of input
Default course angle in storage unit, or the course angle that toggle switch is allocated to course lock-out state moment sets
Determine the default course angle that signal arranges in course angle memory element.
Unmanned vehicle flight control system, method and the remote controller of the present invention, by arranging course locking shape
State so that aircraft body will not cause the accident because of maloperation in off-course.And when being applied to take photo by plane,
Ensure the flight path of aircraft body also by locking course, reduce the shake of camera lens, improve shooting effect
Really.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of unmanned vehicle flight control system embodiment of the present invention.
Fig. 2 is the schematic diagram of unmanned vehicle flight control method embodiment of the present invention.
Fig. 3 is the schematic diagram of unmanned vehicle remote control embodiment of the present invention.
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 reality
Execute example, the present invention is further elaborated.Only should be appreciated that specific embodiment described herein
Only in order to explain the present invention, it is not intended to limit the present invention.
As it is shown in figure 1, be the schematic diagram of unmanned vehicle flight control system embodiment of the present invention, above-mentioned nothing
People's aircraft includes passing through between aircraft body 10 and remote controller 20, and aircraft body 10 and remote controller 20
The modes such as radio wave, infrared signal or communication network connect, thus aircraft body 10 can be according to remote controller
The control signal flight of 20 or execution corresponding actions.
Above-mentioned remote controller 20 can be single controller, it is possible to uses and is provided with the common apparatus controlling software
(such as mobile phone etc.).Remote controller 20 in the present embodiment includes that the control signal of input is converted to control refers to
The instruction converting unit 21 of order.Above-mentioned input signal may be from the button on remote controller 20, rocking bar, switch etc.
Mechanical part, it is possible to from the virtual key etc. on touch screen.Further, the control signal of above-mentioned input includes
Course signal (such as from course rocking bar), correspondingly, the control instruction bag that instruction converting unit 21 generates
Include directional command.The communication module that above-mentioned control instruction (including directional command) is carried by remote controller is sent to
Aircraft body 10 performs.
Aircraft body 10 can be multi-rotor aerocraft, it is also possible to for Fixed Wing AirVehicle etc..The present embodiment
In aircraft body 10 in addition to flight mechanical part, communication module, also include flight control units 12,
Status toggle unit 11 and course angle memory element 13, above-mentioned flight control units 12, status toggle unit
11 and course angle memory element 13 (such as can control in conjunction with running on hardware corresponding in aircraft body 10
Chip, memory element etc.) software sharing.
Above-mentioned flight control units 12 is for performing the control instruction from remote controller 20, to control aircraft master
Body 10 flies, such as, control the course of aircraft body 10 (specifically according to the directional command from remote controller 20
Ground, can calculate course angle according to the directional command of real-time reception, and adjust corresponding motor according to this course angle
Operational factor).The control of the angle of pitch of aircraft body 10, roll angle etc. also can realize by the way.
Course angle memory element 13 is used for storing default course angle (or parameter relevant to course angle).State switches
Unit 11 is for switching aircraft body 10 between course lock-out state and non-course lock-out state.Especially
Ground, course lock-out state and non-course lock-out state can be realized by a status indicator, such as control chip
Depositor in a position, by revise this numerical value can change of flight device main body 10 course locking shape
State and non-course lock-out state.
In the present embodiment, flight control units 12 when aircraft body 10 is in non-course lock-out state,
Control the course of aircraft body 10 according to the directional command from remote controller 20, such as, become according to course rocking bar
Change course.And when aircraft body 10 is in course lock-out state, flight control units 12 uses presets boat
Control to angle the course of aircraft body 10, i.e. lock course angle and make aircraft body 10 keep with default boat
Fly to angle.Simultaneously in flight course, flight control units 12 compares the course of aircraft body 10 in real time
Angle and default course angle, and adjust rapidly the course of aircraft body 10 when both exist error (such as
Can be by the classical control algolithm such as PID control), thus in aircraft body 10 off-course because of air-flow etc.
Time, can retract in time.
Especially, control signal (such as virtual by a button or touch screen of input on remote controller 20
Button etc.) may also include locking switching signal, correspondingly, the control instruction bag that instruction converting unit 21 generates
Include locking switching command；The status toggle unit 11 of aircraft body 10 performs above-mentioned locking switching command, from
And aircraft body 10 is switched to non-course lock-out state by course lock-out state, or locked shape by non-course
State is switched to course lock-out state.
Default course angle in course angle memory element 13 may be accomplished by: inputs on remote controller 20
Control signal may also include course angle set signal, correspondingly, instruction converting unit 21 generate control refer to
Order includes that course angle sets instruction；Aircraft body 10 includes the first course angle setup unit, this first course
Angle setup unit sets instruction according to the course angle from remote controller 20 and arranges in course angle memory element 13
Preset course angle.
Additionally, the default course angle in course angle memory element 13 realizes also by the following manner: aircraft
Main body 10 includes the second course angle setup unit, this second course angle setup unit by aircraft body 10 from non-
Course lock-out state is switched to the course angle of (moment) during the lock-out state of course, is set to course angle storage
Default course angle in unit 13.
By the course of aircraft body 10 being locked, can make the aircraft body 10 will not be because of maloperation (example
Course rocking bar as on false touch remote controller 20) and off-course causes the accident.And in aircraft body 10
When being applied to take photo by plane, ensure the flight path of aircraft body 10 also by locking course, reduce it and carry
The shake of camera lens, improve shooting effect.
For avoiding after course locks, aircraft body 10 meets with obstacle in flight course, such as building,
Electric pole, branch etc., aircraft body 10 may also include obstacle detecting unit.This obstacle detecting unit is flying
Row device main body 10 starts when being in course lock-out state, and detecting real-time presets the obstacle in course angle direction,
Alarm signal is sent to remote controller 20 when detecting obstacle.So, remote controller operation personnel can adjust in time and bow
The elevation angle, roll angle etc., make aircraft body 10 cut-through.Certainly, operator can also select to fly
Row device main body 10 is switched to non-course lock-out state, and the course of change of flight device main body 10.
As in figure 2 it is shown, be the schematic diagram of unmanned vehicle flight control method embodiment of the present invention, above-mentioned nothing
People's aircraft includes aircraft body and remote controller, and wherein the Heading control signal of input is converted to by remote controller
Directional command is also sent to aircraft body in real time.The method of the present embodiment comprises the following steps:
Step S31: aircraft body is taken off under remote controller control, detailed process can with existing nobody fly
Row device is identical.
Step S32: aircraft body judges currently whether be in course lock-out state, if being in course locking
State, then perform step S33, otherwise perform step S34.Specifically, aircraft body can be by one
Status indicator (such as register-bit) distinguishes course lock-out state and non-course locking mark.
Aircraft body can according to the control instruction from remote controller by aircraft body from course lock-out state
It is switched to non-course lock-out state, or is switched to course lock-out state from non-course lock-out state.
Step S33: aircraft instigator controls the course of aircraft body with presetting course angle.Above-mentioned default boat
Can be stored in the storage device of aircraft body to angle.
In this step, default course angle can be set by following steps: the course angle of input is set by remote controller
Determine signal and be converted to course angle setting instruction, and be sent to aircraft body；Aircraft body is according to course angle
Set instruction and default course angle is set.
Also can be set by following steps additionally, preset course angle: aircraft body is switched to course locking
Course angle during state is set to preset course angle.
Step S33: aircraft body controls the flight of aircraft body according to the directional command from remote controller
Course, this process can be identical with existing unmanned vehicle control mode.
Said method may also include that when aircraft body is in course lock-out state, and detecting real-time presets boat
To the obstacle of angular direction, send alarm signal when detecting obstacle to remote controller.So, remote controller operation
Personnel can adjust the angle of pitch, roll angle etc. in time, makes aircraft body cut-through.
The course angle locking of above-mentioned aircraft body realizes also by remote controller.As it is shown on figure 3, be this
The schematic diagram of unmanned vehicle remote control embodiment.This remote controller 40 can be nonshared control unit, it is possible to for dress
Having the mobile phone etc. of remote control software, it includes that instruction converting unit 42, status toggle unit 41 and course angle are deposited
Storage unit 43, above-mentioned status toggle unit 41, instruction converting unit 42 and course angle memory element 43 can be tied
Close the software sharing of hardware (such as control chip, memory element etc.) corresponding in running on remote controller 40.
Instruction converting unit 42 for will the control signal of input (such as by button, rocking bar and/or virtual
Button etc.) be converted to control instruction, above-mentioned control signal can be sent to flight by the communication module of remote controller 40
Device main body performs, to realize flight control.The control signal of above-mentioned input includes that course angle sets signal, and
Control instruction includes directional command.
Status toggle unit 41 is for cutting remote controller between course lock-out state and non-course lock-out state
Change.Course angle memory element 43 is used for storing default course angle.Above-mentioned instruction converting unit 42 is at remote controller 40
Directional command is generated according to the default course angle in course angle memory element 43 when being in course lock-out state；And
When remote controller 40 is in non-course lock-out state, according to control signal (the such as letter of course rocking bar of input
Number) produce directional command.
Above-mentioned status toggle unit 41 can be a toggle switch on remote controller, stirs out by stirring this
Close changeable course lock-out state.Remote controller 40 may also include course angle and arranges unit, for according to input
Course angle arranges the default course angle that instruction arranges in course angle memory element, or is allocated to by toggle switch
The course angle of course lock-out state moment sets signal and arranges the default course angle in course angle memory element 43.
The above, the only present invention preferably detailed description of the invention, but protection scope of the present invention not office
Being limited to this, any those familiar with the art, can be easily in the technical scope that the invention discloses
The change expected or replacement, all should contain within protection scope of the present invention.Therefore, the protection of the present invention
Scope should be as the criterion with scope of the claims.
Claims (10)
1. a unmanned vehicle flight control system, described unmanned vehicle includes aircraft body and distant
Control device, described remote controller includes the instruction converting unit that the control signal of input is converted to control instruction, institute
The control signal stating input includes that course signal and described control instruction include directional command；Described aircraft master
Body includes that flight control units and this flight control units are for controlling according to the directional command from remote controller
The course of aircraft body, it is characterised in that: described aircraft body also includes status toggle unit and boat
To angle memory element；Described status toggle unit is used for aircraft body in course lock-out state and non-course
Switch between lock-out state；Described course angle memory element, is used for storing default course angle；Described flight control
Unit processed uses when aircraft body is in course lock-out state presets course angle control aircraft body
Course.
Unmanned vehicle flight control system the most according to claim 1, it is characterised in that: described defeated
The control signal entered includes locking switching signal, and described control instruction includes locking switching command；Described state
Switch unit is according to the state of locking switching command switching aircraft body.
Unmanned vehicle flight control system the most according to claim 1, it is characterised in that: described defeated
The control signal entered includes that course angle sets signal, and described control instruction includes that course angle sets instruction；Described
Aircraft body includes the first course angle setup unit, for setting instruction according to the course angle from remote controller
Default course angle in described course angle memory element is set.
Unmanned vehicle flight control system the most according to claim 1, it is characterised in that fly described in:
Row device main body includes the second course angle setup unit, for aircraft body is switched to course lock-out state wink
Between course angle, be set to the default course angle in described course angle memory element.
Unmanned vehicle flight control system the most according to claim 1, it is characterised in that fly described in:
Row device main body includes obstacle detecting unit, presets for the detecting when aircraft body is in course lock-out state
The obstacle in course angle direction, and send alarm signal when detecting obstacle to remote controller.
6. a unmanned vehicle flight control method, described unmanned vehicle includes aircraft body and distant
Control device, the Heading control signal of input is converted to directional command and is sent to aircraft in real time by described remote controller
Main body, it is characterised in that: comprise the following steps:
Aircraft body is cut between course lock-out state and non-course lock-out state by described aircraft body
Change；
When being in course lock-out state, described aircraft body uses presets course angle control aircraft body
Course；
When being in non-course lock-out state, described aircraft body is according to the directional command control from remote controller
The course of aircraft body processed.
Unmanned vehicle flight control method the most according to claim 6, it is characterised in that: described side
Method also includes: the course angle of input is set signal and is converted to course angle setting instruction and sends by described remote controller
To aircraft body；Described aircraft body sets instruction according to course angle and arranges default course angle.
Unmanned vehicle flight control method the most according to claim 6, it is characterised in that: described side
Method also includes: course angle when aircraft body is switched to course lock-out state is set to preset course angle.
9. a unmanned vehicle remote controller, this remote controller includes being converted to the control signal of input control
The instruction converting unit of instruction, the control signal of described input includes that course angle sets signal, and described control refers to
Order includes directional command；It is characterized in that: described remote controller also includes that status toggle unit and course angle are deposited
Storage unit；Described status toggle unit for by remote controller course lock-out state and non-course lock-out state it
Between switch；Described course angle memory element, is used for storing default course angle；Described instruction converting unit is distant
Control device generates directional command according to default course angle when being in course lock-out state.
Unmanned vehicle remote controller the most according to claim 9, it is characterised in that: described state is cut
Changing unit is toggle switch, and described remote controller includes that course angle arranges unit, for the course angle according to input
The default course angle that instruction arranges in course angle memory element is set, or toggle switch is allocated to course lock
The course angle determining state moment sets the default course angle that signal arranges in course angle memory element.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610452007.6A CN105938371A (en) | 2016-06-21 | 2016-06-21 | Flight control system, method and remote controller of unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610452007.6A CN105938371A (en) | 2016-06-21 | 2016-06-21 | Flight control system, method and remote controller of unmanned aerial vehicle |
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| CN108109470B (en) * | 2018-02-08 | 2024-04-05 | 哈尔滨莱特兄弟飞行技术有限公司 | Servo control rocker operating device for simulating small aircraft |
| CN109445464A (en) * | 2019-01-08 | 2019-03-08 | 深圳市道通智能航空技术有限公司 | A kind of flight control method and flight control system |
| CN113994292A (en) * | 2020-05-26 | 2022-01-28 | 深圳市大疆创新科技有限公司 | Control method and device for unmanned aerial vehicle |
| WO2021237481A1 (en) * | 2020-05-26 | 2021-12-02 | 深圳市大疆创新科技有限公司 | Control method and device for unmanned aerial vehicle |
| CN115344060A (en) * | 2022-08-08 | 2022-11-15 | 北京天域航通科技有限公司 | Large-scale unmanned aerial vehicle rotor control system |
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Application publication date: 20160914 |