CN106200630A - A kind of ability of posture control remote manipulator system and remote control thereof - Google Patents
A kind of ability of posture control remote manipulator system and remote control thereof Download PDFInfo
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- CN106200630A CN106200630A CN201610542694.0A CN201610542694A CN106200630A CN 106200630 A CN106200630 A CN 106200630A CN 201610542694 A CN201610542694 A CN 201610542694A CN 106200630 A CN106200630 A CN 106200630A
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- 239000000872 buffer Substances 0.000 claims description 25
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- 230000003993 interaction Effects 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 7
- 230000002452 interceptive effect Effects 0.000 claims description 2
- 230000001133 acceleration Effects 0.000 claims 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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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Abstract
The invention provides a kind of ability of posture control remote manipulator system and remote control thereof, for realizing remote controller, unmanned plane is remotely controlled, including: for measuring the gyroscope accelerometer of the gesture data of remote controller, and the gesture data measured is sent to processor by gyroscope accelerometer；For the gesture data that gyroscope accelerometer sends being converted to ability of posture control signal and ability of posture control signal being sent to the processor of wireless communication device；Ability of posture control signal for being sent by processor is sent to the wireless communication device of unmanned plane, thus realizes being controlled the posture of unmanned plane by the posture changing remote controller, makes the posture of unmanned plane keep consistent with the posture of remote controller.
Description
Technical field
The present invention relates to technical field of integrated circuits, be specifically related to a kind of ability of posture control remote manipulator system and remote control thereof.
Background technology
UAV is called for short " unmanned plane ", is a kind of unmanned minute vehicle, can pass through wireless remotecontrol
Device Remote flies, or utilizes controller control realization autonomous flight.Can be divided into from technical standpoint definition: unmanned fixing
Wing machine, unmanned VTOL machine, unmanned airship, depopulated helicopter, unmanned multi-rotor aerocraft, unmanned parasol etc..
Unmanned plane presses application, can be divided into military and civilian.Military aspect, unmanned plane is divided into reconnaissance plane and target drone.The people
With aspect, unmanned plane+sector application, it is real just the needing of unmanned plane；At present taking photo by plane, agricultural, plant protection, auto heterodyne, express transportation,
Disaster relief, observation wild animal, monitoring infectious disease, mapping, news report, electric inspection process, the disaster relief, movies-making, manufacture wave
The application in unrestrained etc. field, has greatly expanded the purposes of unmanned plane itself, developed country also in actively extension sector application and
Development unmanned air vehicle technique.
The control of unmanned plane at present is mainly completed by remote controller, and unmanned controller in the market is mostly rocking bar
Type, so-called rocking bar is exactly two two-way potentiometers, and the processor of remote controller detects two by the way of detection voltage
The position of potentiometer, is then converted to corresponding controlled quentity controlled variable by the positional information of two potentiometers.Remote control is gone to fly in this way
Machine is subject to people's one Perceived control the most intuitively, because the change of the change of rocking bar and aircraft posture is inconsistent, and Xin Shou
Attempt typically can not quickly adapting to the when of remote control this remote control mode, only could grasp remote control by training for a long time
Skill, this utilizes unmanned plane to bring certain difficulty when taking photo by plane to ordinary populace.
Summary of the invention
In order to overcome problem above, it is desirable to provide a kind of ability of posture control remote manipulator system and remote control thereof, thus
Realize being controlled by the posture changing remote controller the posture of unmanned plane, make the posture of unmanned plane and the posture of remote controller keep one
Cause.
In order to achieve the above object, the invention provides a kind of ability of posture control remote manipulator system, be used for realizing remote controller pair
Unmanned plane is remotely controlled, including:
Gyroscope accelerometer, for measuring the gesture data of remote controller；And the gesture data measured is sent to
Processor；
Processor, for the gesture data that described gyroscope accelerometer sends is converted to ability of posture control signal, and
Ability of posture control signal is sent to wireless communication device；
Wireless communication device, is sent to unmanned plane for the ability of posture control signal sent by described processor.
Preferably, described wireless communication device is additionally operable to receive unmanned plane and sends the actual postural cue of coming；Processor connects
Having a display, the actual postural cue of self is transferred to processor by wireless communication device by unmanned plane, and processor is by reality
Postural cue is converted to actual gesture data, and by real-time by display to the gesture data measured and actual gesture data
Show；The gesture data that processor is measured according to described gyroscope accelerometer and actual gesture data use PID control
Algorithm processed calculates Correction and Control amount, and the Correction and Control amount data calculated are sent by described processor by wireless communication device
To unmanned plane.
Preferably, described wireless communication device also has depositor, and described processor also has buffer and clock, described place
Described Correction and Control signal and/or ability of posture control signal are stored in buffer, by the clock setting break period, often by reason device
Being spaced the described break period, the Correction and Control signal in buffer and/or ability of posture control signal are written to institute by described processor
State in the depositor of wireless communication device.
Preferably, described actual gesture data and the gesture data measured are passed through pid control algorithm by described processor
Computing obtains Correction and Control amount, can be revised the parameter of described pid control algorithm by the human-computer interaction interface of described display.
Preferably, described system also has rocker regulation resistance and switch, by switch switch rocker regulation resistance and
Data channel between gyroscope accelerometer and processor；Rocker regulation resistance is connected with described processor, rocker regulation resistance institute
The action of conversion is sent to described processor, and the action converted is converted to rocking bar control signal and is sent to channel radio by processor
News device, the rocking bar control signal that processor is sent by wireless communication device is sent to unmanned plane.
In order to achieve the above object, present invention also offers and a kind of use above-mentioned remote controller to be remotely controlled method, its bag
Include:
Step 01: use described gyroscope accelerometer to measure the gesture data of remote controller；And described gyroscope adds
The gesture data measured is sent to described processor by velometer；
Step 02: the gesture data that described gyroscope accelerometer sends is converted to ability of posture control letter by described processor
Number, and ability of posture control signal is sent to described wireless communication device；
Step 03: the ability of posture control signal that described processor is sent by described wireless communication device is sent to unmanned plane.
Preferably, after step 03, also include: the actual postural cue of self is sent to wireless communication device by unmanned plane,
Actual postural cue is sent to processor by wireless communication device again, and actual postural cue is converted to actual posture number by processor
According to, and the gesture data measured and actual gesture data are shown in real time by a display；Processor is according to institute
State gesture data that gyroscope accelerometer measured and actual gesture data employing pid control algorithm calculates Correction and Control
Amount, the Correction and Control amount data calculated are sent to unmanned plane by wireless communication device by described processor.
Preferably, described Correction and Control signal is stored in a buffer by described processor, in being set by processor
Break time, at interval of the described break period, the described Correction and Control signal in buffer is written to described nothing by described processor
In the depositor of line communicator.
Preferably, described actual gesture data and the gesture data measured are passed through pid control algorithm by described processor
Computing obtains Correction and Control amount, can be revised the parameter of described pid control algorithm by the human-computer interaction interface of described display.
Preferably, in described step 02, described control signal is sent to wireless telecommunications by SPI protocol by described processor
Device.
The ability of posture control remote manipulator system of the present invention and remote control thereof, well solve current unmanned controller unfavorable
Problem in neophyty operation.This design is avoided that manipulator because remote controller posture is made by error deviates excessive angle.Respectively
Plant the design of hommization so that this remote controller is applicable to any colony, also reduce the technical threshold that remotely pilotless machine is driven.
Accompanying drawing explanation
Fig. 1 is the block chart of the ability of posture control remote manipulator system of a preferred embodiment of the present invention
Fig. 2 is the picture of the ability of posture control remote controller of a preferred embodiment of the present invention
Fig. 3 is the picture of the human-computer interaction interface of the display of a preferred embodiment of the present invention
Fig. 4 is the schematic flow sheet of the remote control thereof of a preferred embodiment of the present invention
Detailed description of the invention
For making present disclosure more clear understandable, below in conjunction with Figure of description, present disclosure is made into one
Step explanation.Certainly the invention is not limited in this specific embodiment, the general replacement known to those skilled in the art is also
Contain within the scope of the present invention.
Below in conjunction with accompanying drawing 1-4 and specific embodiment, the present invention is described in further detail.It should be noted that, accompanying drawing is equal
Use the form simplified very much, use non-ratio accurately, and only in order to conveniently, clearly to reach to aid in illustrating the present embodiment
Purpose.
The ability of posture control remote manipulator system of the present embodiment, is remotely controlled unmanned plane, refers to Fig. 1 and 2, including:
Gyroscope accelerometer, for measuring the gesture data of remote controller；And the gesture data measured is sent to
Processor；Here gyroscope accelerometer can use MPU6050 six axle sensor chip, and it has a gyroscope and
Individual accelerometer.The data of gyroscope are more stable at short notice, but changing greatly with external environment, the most right
Temperature is very sensitive, and the time one is long, and the reliability of data just can not get ensure that.Accelerometer is insensitive to the change of environment,
Can keep relative stability in a long time, but the vibrated impact of accelerometer is bigger, can in the namely short time
Can produce a lot of unstable factor, so the data combining two attitude sensors just can synthesize a more stable angle
Degrees of data.The covariance of the data of our computing gyroscope data and accelerometer, obtain two data in the same time can
By degree, removing to take the percentage ratio of two data according to the degree of reliability, such as, gyro data is 40, and accelerometer data is 60,
Being 40% by the degree of reliability being calculated gyro data, the degree of reliability of accelerometer data is 60%, gyroscope number
According to 40*40%+ accelerometer data 60*60%, finally it is fused into a relatively reliable angle-data, this angle-data conduct
Gesture data is sent to processor.Gesture data includes angle-data and bearing data etc..
Processor, for being converted to ability of posture control signal by the gesture data that gyroscope accelerometer sends, and by appearance
Gesture control signal is sent to wireless communication device；In the present embodiment, processor is always according to set reference gesture data and current
The gesture data obtained compares, and draws ability of posture control data.Again these ability of posture control data are changed according to certain ratio,
This ratio is the ratio of ability of posture control scope of data and unmanned plane throttle scope, and such as, the ability of posture control scope of data obtained is
Being 0～300, the numerical range of throttle is 1000～2000, and the numerical range of throttle is 10/3 times of gesture data scope, so
The gesture data being sent to unmanned plane should be multiplied by 10/3.
Control signal is sent to wireless communication device 4 by SPI communications protocol by processor.Processor also has miniUSB
Interface 6.
Wireless communication device 4, for the ability of posture control signal that processor sends is sent to unmanned plane, also uses in the present embodiment
The actual postural cue of coming is sent in receiving unmanned plane.Here wireless communication device can be NRF24L01.
Processor connects a display 3, and ability of posture control data are shown by processor by display 3；Unmanned plane
By wireless communication device 4, the actual postural cue of self is transferred to processor, and actual postural cue is converted to reality by processor
Border gesture data, and the gesture data measured and actual gesture data are shown in real time by display 3；Processor
The gesture data measured according to described gyroscope accelerometer and actual gesture data calculate correction by pid control algorithm
Controlled quentity controlled variable, the Correction and Control amount data calculated are sent to unmanned plane by wireless communication device 4 by described processor.Processor
Connect and have button 2, revise pid control parameter by button 2 input.Here display 3 can be LCD display.
Wireless communication device 4 also has depositor, and processor also has buffer and clock, and processor is by ability of posture control signal
Being stored in buffer, set for the first break period by processor, at interval of the first break period, processor is by buffer
Ability of posture control signal be written in the depositor of wireless communication device 4.Here, buffer can include set flight ginseng
Number, flight parameter can be arranged by above-mentioned button 2 input.It should be noted that ability of posture control signal is stored by processor
Time in buffer, display 3 carries out refreshing the next ability of posture control data of display.When Correction and Control signal or ability of posture control are believed
When number being sent to unmanned plane by wireless communication device, also can the flight parameter of simultaneously refreshed real-time display unmanned plane in display 3.
Here, processor connects four physical button K1, K2, K3, K4, by with being used in combination of display 3, permissible
Select corresponding option, then the amendment corresponding parameter of unmanned plane on display 3.Two buttons of K1 and K4 are aobvious for moving up and down
Showing the input cursor in device 3 interface, two buttons of K2 and K3 are used for adjusting the size of the parameter for controlling unmanned plane；When passing through
The when that K1 and K4 moving input cursor and make it rest on K2 or K3 parameter input frame, at this time permissible by K2 or K3
Adjust the size of parameter corresponding to corresponding input frame.The parameter value adjusted equally is saved in both the buffers.
Actual gesture data and the gesture data measured are calculated Correction and Control by pid control algorithm by processor
Amount, revises the parameter of pid control algorithm by the human-computer interaction interface of display 3.Owing to pid parameter is people in the art
Member could be aware that, repeats no more here.Correction and Control signal is also stored in buffer by processor, is set by processor
Second break period, such as 2ms, at interval of the second break period, the Correction and Control signal in buffer is written to by processor
In the depositor of wireless communication device.First break period can identical can also differ with the second terminal time.It is also preferred that the left please
Refering to Fig. 3, the human-computer interaction interface of display 3 includes: pid parameter shows and an amendment window (left side for human-computer interaction interface in Fig. 3
On), remote controller posture animation display window (upper right of human-computer interaction interface in Fig. 3), unmanned plane power size display window (figure
The lower section of human-computer interaction interface in 3), here power size display window show for unmanned plane throttle amount.
System also has rocker regulation resistance 1 and switch 5, switches rocker regulation resistance 1 by switch 5 and gyroscope adds
Data channel between velometer and processor, switch 5 can be switching key, and such as remote manipulator system acquiescence is in by shaking
Rod potentiometer 1 completes to control the state of function, presses switching key, rocker regulation resistance 1 can be made to disconnect with processor, and make top
Spiral shell instrument accelerometer is connected with processor, and when button is released, rocker regulation resistance 1 is connected with processor again.
It should be noted that when pressing mode switch and making gyroscope accelerometer be connected with processor, processor is remembered
Under record, the posture of current remote controller is as reference pose, and the postural change that follow-up remote controller occurs on this basis is as posture number
According to output.When being in default conditions, rocker regulation resistance 1 is connected with processor, and the action that rocker regulation resistance 1 is converted is sent to
Processor, the action converted is converted to rocking bar control signal and is sent to wireless communication device 4 by processor, and wireless communication device 4 will
The rocking bar control signal that processor sends is sent to unmanned plane.Now, rocking bar control signal is stored in buffer by processor,
By clock setting the 3rd break period, at interval of the 3rd break period, the rocking bar control signal in buffer is write by processor
Enter in the depositor of wireless communication device.
The actual postural cue of self is sent to processor by unmanned plane, and actual postural cue is converted to reality by processor
Gesture data, and the action converted by rocker regulation resistance and actual gesture data pass through display 3 and show in real time；Root
The action converted according to rocker regulation resistance 1, revises actual gesture data by the human-computer interaction interface of display 3；Processor
Revised actual gesture data is converted to Correction and Control signal and is sent to unmanned plane by wireless communication device 4.Processor
The action actual gesture data and rocker regulation resistance converted calculates Correction and Control amount by pid control algorithm, by aobvious
Show that the human-computer interaction interface of device 3 is to revise pid parameter.Correction and Control signal is also stored in buffer by processor, when passing through
Clock set for the 4th break period, and at interval of the 4th break period, the Correction and Control signal in buffer is written to nothing by processor
In the depositor of line communicator.3rd break period can identical can also differ with the 4th terminal time.
It should be noted that when switch 5 switches, be equivalent to make remote manipulator system enter rocking bar control model or enter
Enter ability of posture control pattern, so that this remote controller is applicable to any colony, also reduce the technology door that remotely pilotless machine is driven
Sill.
Additionally, refer to Fig. 4, the present embodiment additionally provides and a kind of uses above-mentioned remote controller to be remotely controlled
Method, including:
Step 01: use gyroscope accelerometer to measure the gesture data of remote controller；And gyroscope accelerometer will
The gesture data measured is sent to processor；
Step 02: the gesture data that gyroscope accelerometer sends is converted to ability of posture control signal by processor, and will
Ability of posture control signal is sent to wireless communication device；
Concrete, control signal is sent to wireless communication device by SPI protocol by processor.
Step 03: the ability of posture control signal that processor is sent by wireless communication device is sent to unmanned plane.
Concrete, after the ability of posture control signal that sent by processor when wireless communication device is sent to unmanned plane, unmanned plane
The actual postural cue of self is sent to wireless communication device, and this reality is sent to process by wireless communication device again at platform signal
Device, actual postural cue is converted to actual gesture data by processor, and by the gesture data measured and actual posture number
Show in real time according to by a display；The gesture data measured according to gyroscope accelerometer, by the people of display
Machine interactive interface revises actual gesture data；Revised actual gesture data is converted to Correction and Control signal also by processor
It is sent to unmanned plane by wireless communication device.It is also preferred that the left Correction and Control signal is stored in a buffer by processor, by one
The clock setting break period, at interval of the break period, the Correction and Control signal in buffer is written to wireless telecommunications by processor
In the depositor of device.It is also preferred that the left actual gesture data and the gesture data measured are calculated by processor by pid control algorithm
Go out Correction and Control amount, pid parameter can be revised by the human-computer interaction interface of display.
It should be noted that the remote control thereof of the present embodiment also includes: turn on the power, be not turned on switch, then, operation
The conversion action of rocker regulation resistance, processor obtains the conversion action of rocker regulation resistance, then is converted to shake by this conversion action
Bar control signal and being stored in buffer, display refreshing simultaneously, processor is sent to wireless communication device, wireless communication device
The rocking bar control signal that processor sends is sent to unmanned plane.
Although the present invention discloses as above with preferred embodiment, right embodiment is illustrated only for the purposes of explanation, and
Be not used to limit the present invention, those skilled in the art can make without departing from the spirit and scope of the present invention some more
Moving and retouching, the protection domain that the present invention is advocated should be as the criterion with claims.
Claims (10)
1. an ability of posture control remote manipulator system, is used for realizing remote controller and is remotely controlled unmanned plane, it is characterised in that including:
Gyroscope accelerometer, for measuring the gesture data of remote controller；And it is sent to the gesture data measured process
Device；
Processor, for being converted to ability of posture control signal by the gesture data that described gyroscope accelerometer sends, and by appearance
Gesture control signal is sent to wireless communication device；
Wireless communication device, is sent to unmanned plane for the ability of posture control signal sent by described processor.
Ability of posture control remote manipulator system the most according to claim 1, it is characterised in that described wireless communication device is additionally operable to connect
Receive unmanned plane and send the actual postural cue of coming；Processor connects a display, and unmanned plane is by the actual postural cue of self
Be transferred to the processor of remote controller by wireless communication device, actual postural cue is converted to actual gesture data by processor, and
And the gesture data measured and actual gesture data are shown in real time by display；Processor is according to described gyroscope
The gesture data that accelerometer is measured and actual gesture data use pid control algorithm to calculate Correction and Control amount, described place
The Correction and Control amount data calculated are sent to unmanned plane by wireless communication device by reason device.
Ability of posture control remote manipulator system the most according to claim 2, it is characterised in that described wireless communication device also has to be posted
Storage, described processor also has buffer and outer clock circuit, and described processor is by described Correction and Control signal and/or appearance
Gesture control signal is stored in buffer, sets the break period by processor, at interval of described break period, described processor
Correction and Control signal in buffer and/or ability of posture control signal are written in the depositor of described wireless communication device.
Ability of posture control remote manipulator system the most according to claim 2, it is characterised in that described processor is by described actual appearance
Gesture data and the gesture data measured obtain Correction and Control amount by pid control algorithm computing, by the people of described display
The parameter of pid control algorithm described in machine interactive interface correction.
5. according to the ability of posture control remote manipulator system described in claim 1-4 any one, it is characterised in that described system also has
There are rocker regulation resistance and switch, switched between rocker regulation resistance and gyroscope accelerometer and processor by switch
Data channel；Rocker regulation resistance is connected with described processor, and the action that rocker regulation resistance is converted is sent to described processor, place
The action converted is converted to rocking bar control signal and is sent to wireless communication device by reason device, and processor is sent by wireless communication device
Rocking bar control signal is sent to unmanned plane.
6. one kind uses the remote controller described in claim 1 to be remotely controlled method, it is characterised in that including:
Step 01: use described gyroscope accelerometer to measure the gesture data of remote controller；And described gyroscope acceleration
The gesture data measured is sent to described processor by meter；
Step 02: the gesture data that described gyroscope accelerometer sends is converted to ability of posture control signal by described processor, and
And ability of posture control signal is sent to described wireless communication device；
Step 03: the ability of posture control signal that described processor is sent by described wireless communication device is sent to unmanned plane.
Remote control thereof the most according to claim 6, it is characterised in that after step 03, also includes: unmanned plane by self
Actual postural cue is sent to wireless communication device, and actual postural cue is sent to remote controller processor by wireless communication device again, place
Actual postural cue is converted to actual gesture data by reason device, and the gesture data measured and actual gesture data is passed through
One display shows in real time；The gesture data that processor is measured according to described gyroscope accelerometer and actual posture number
According to using pid control algorithm to calculate Correction and Control amount, the Correction and Control amount data calculated are passed through nothing by described processor
Line communicator is sent to unmanned plane.
Remote control thereof the most according to claim 7, it is characterised in that described Correction and Control signal is stored by described processor
In a buffer, setting the break period by processor, at interval of the described break period, described processor is by buffer
Described Correction and Control signal is written in the depositor of described wireless communication device.
Remote control thereof the most according to claim 7, it is characterised in that described processor is by described actual gesture data and institute
The gesture data measured obtains Correction and Control amount by pid control algorithm computing, by the human-computer interaction interface of described display
Revise the parameter of described pid control algorithm.
Remote control thereof the most according to claim 6, it is characterised in that in described step 02, described processor is by described control
Signal processed is sent to wireless communication device by SPI communications protocol.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109343552A (en) * | 2018-10-29 | 2019-02-15 | 山东交通学院 | The express delivery no-manned machine distant control system debug device of relay station is passed based on wifi- number |
| CN111399487A (en) * | 2018-12-17 | 2020-07-10 | 沈阳新松机器人自动化股份有限公司 | AGV hand control device of adjustable rudder angle |
| CN113777960A (en) * | 2021-08-05 | 2021-12-10 | 深圳市谷粒科技有限公司 | Somatosensory auxiliary handheld rocker control device and method |
| CN113971876A (en) * | 2020-07-22 | 2022-01-25 | 北京字节跳动网络技术有限公司 | Terminal communication method, terminal device, terminal and storage medium |
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| CN111399487A (en) * | 2018-12-17 | 2020-07-10 | 沈阳新松机器人自动化股份有限公司 | AGV hand control device of adjustable rudder angle |
| CN113971876A (en) * | 2020-07-22 | 2022-01-25 | 北京字节跳动网络技术有限公司 | Terminal communication method, terminal device, terminal and storage medium |
| CN113777960A (en) * | 2021-08-05 | 2021-12-10 | 深圳市谷粒科技有限公司 | Somatosensory auxiliary handheld rocker control device and method |
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