CN106200661A - One can expansion type rotor wing unmanned aerial vehicle control system - Google Patents
One can expansion type rotor wing unmanned aerial vehicle control system Download PDFInfo
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- CN106200661A CN106200661A CN201610625676.9A CN201610625676A CN106200661A CN 106200661 A CN106200661 A CN 106200661A CN 201610625676 A CN201610625676 A CN 201610625676A CN 106200661 A CN106200661 A CN 106200661A
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- 238000012544 monitoring process Methods 0.000 claims abstract description 55
- 238000004891 communication Methods 0.000 claims abstract description 33
- 230000005540 biological transmission Effects 0.000 claims abstract description 31
- 238000000034 method Methods 0.000 claims abstract description 12
- 230000008569 process Effects 0.000 claims abstract description 10
- 238000005183 dynamical system Methods 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 claims description 10
- 230000001133 acceleration Effects 0.000 claims description 6
- 238000005286 illumination Methods 0.000 claims description 4
- 238000000151 deposition Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
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- 230000000694 effects 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
- G05D1/08—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
- G05D1/10—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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- Automation & Control Theory (AREA)
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Abstract
The invention discloses one can expansion type rotor wing unmanned aerial vehicle control system, including mobile terminal, fixed terminal and the remote terminal being connected with fixed terminal two-way communication；Wherein, mobile terminal includes central controller and the communication unit being connected with central controller two-way communication, expands interface, sensing module, monitoring module, dynamical system, lighting module, power module, alarm module, data memory module；Fixed terminal includes data transmission module and terminal handler；Sensing module includes sensing processor and accelerometer interconnective with sensing processor, electronic compass, barometer, ultrasonic sensor, velocity sensor.The present invention disclosure satisfy that the modern life demand of more diversification, and subject range is extensive, and by the setting of central controller, alleviate the signal disturbing in tradition unmanned plane processor, reducing the operation burden of processor, improve the unmanned plane process reliability for flying quality, practicality is higher.
Description
Technical field
The invention belongs to unmanned plane field, particularly relating to one can expansion type rotor wing unmanned aerial vehicle control system.
Background technology
UAV is called for short " unmanned plane ", is to utilize radio robot and the presetting apparatus provided for oneself to handle
The most manned aircraft.Owing to it is driven without personnel, so more dangerous task can be performed, unmanned air vehicle technique is widely applied to
Investigation search field.UAV Flight Control System includes Digiplex, controls device and driving means.Operator according to
The current location of unmanned plane, is sent by Digiplex and controls parameter to the control device being arranged on unmanned plane, control dress
Put according to the flight parameter controlling state modulator driving means regulation unmanned plane, thus realize unmanned plane controlled in wireless.
But, traditional unmanned plane is all to be all to be carried out data process by same processor between each module, not only locates
Reason device load is relatively big, and expansibility is relatively low, it is impossible to adapt to the intellectualization times of high speed development.
Summary of the invention
It is an object of the invention to the problem above overcoming prior art to exist, it is provided that one can expansion type rotor wing unmanned aerial vehicle
Control system, it is possible to carrying out unmanned plane installing by expansion type, subject range is more extensive.
For realizing above-mentioned technical purpose, reaching above-mentioned technique effect, the present invention is achieved through the following technical solutions:
One can expansion type rotor wing unmanned aerial vehicle control system, including mobile terminal, fixed terminal and two-way with fixed terminal
The remote terminal of communication connection；
Wherein, described mobile terminal include central controller and the communication unit being connected with central controller two-way communication,
Expand interface, sensing module, monitoring module, dynamical system, lighting module, power module, alarm module, data memory module；
Described fixed terminal includes data transmission module and terminal handler；
Described sensing module include sensing processor and accelerometer interconnective with sensing processor, electronic compass,
Barometer, ultrasonic sensor, velocity sensor；
Described accelerometer is for unmanned plane acceleration detection and sends acceleration signal to sensing processor, described electronics
Compass is for unmanned plane orientation detection and sends bearing signal to sensing processor, and described barometer detects also for high-altitude air pressure
Transmission air pressure signal is to sensing processor, and described ultrasonic sensor is for unmanned plane during flying distance detection and sends distance signal
To sensing processor, described velocity sensor is for unmanned plane during flying velocity measuring and sends rate signal to sensing processor；
Described monitoring module includes interconnective monitoring processor and monitoring means, described monitoring processor and centre
Reason device carries out two-way communication connection；
Wherein, described monitoring means is distributed in unmanned plane surface, for unmanned plane and flight range are monitored in real time,
Described monitoring processor transmission Monitoring and Controlling signal is to monitoring means, and this monitoring means forms monitoring signal and also feeds back at monitoring
Reason device, monitoring signal is sent to central controller after receiving monitoring signal by described monitoring processor；
Described dynamical system includes power processor, drives module and actuator；
Wherein, described central controller sends flight signal and receives, to power processor, described power processor, the letter that flies
By driving module control actuator to carry out flight adjustment after number；
Described lighting module includes lighting controller and illuminator；
Wherein, described lighting controller is for receiving the illumination control signal from central controller, and controls illumination system
System is opened；
Described power module is for providing electric energy to mobile terminal；
Described alarm module is for receiving the alarm control signal of central controller, and triggers the acousto-optic report in alarm module
Alarm device；
Described central controller receives to be deposited to data storage mould after the monitoring signal of monitoring processor
Block, described data memory module is for monitoring depositing in real time and transferring of signal；
Described central controller carries out data cube computation with expanding interface, and described expansion interface is used for external expansion equipment；
Described communication unit carries out two-way communication with central controller, data transmission module respectively and is connected, the control of described central authorities
Device processed transmission data signal is to communication unit, and described communication unit forms signal of communication after receiving data signal and sends to data
Transport module, described data transmission module forms terminal data signal after receiving signal of communication and is respectively sent to terminal handler
And remote terminal；
Described terminal handler and processes from the terminal data signal of data transmission module for reception, forms number
According to processing signal and feeding back to data transmission module；
Described remote terminal and processes from the terminal data signal of data transmission module for reception, forms terminal
Remote signal also feeds back to data transmission module.
Further, described actuator is for adjusting the flying height of unmanned plane, flight speed, flight attitude
Whole.
The invention has the beneficial effects as follows:
The present invention is connected with each other by the separate processor of central controller with each module, and arranges outside central controller
There is expansion interface, greatly facilitate and unmanned plane is carried out external expansion equipment, it is possible to meet the modern life of more diversification
Demand, subject range is extensive, and by the setting of central controller, the signal alleviated in tradition unmanned plane processor is done
Disturbing, reduce the operation burden of processor, improve the unmanned plane process reliability for flying quality, practicality is higher.
Accompanying drawing explanation
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the application, this
Bright schematic description and description is used for explaining the present invention, is not intended that inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the structured flowchart of the present invention.
Detailed description of the invention
Below with reference to the accompanying drawings and in conjunction with the embodiments, the present invention is described in detail.
One as shown in Figure 1 can expansion type rotor wing unmanned aerial vehicle control system, including mobile terminal, fixed terminal and with solid
Determine the remote terminal that terminal two-way communication connects；
Wherein, mobile terminal includes central controller and the communication unit being connected with central controller two-way communication, expansion
Interface, sensing module, monitoring module, dynamical system, lighting module, power module, alarm module, data memory module；
Fixed terminal includes data transmission module and terminal handler；
Sensing module includes sensing processor and accelerometer interconnective with sensing processor, electronic compass, air pressure
Meter, ultrasonic sensor, velocity sensor；
Accelerometer is for unmanned plane acceleration detection and sends acceleration signal and is used for sensing processor, electronic compass
Unmanned plane orientation detection also sends bearing signal to sensing processor, and barometer concurrently send air pressure signal for the detection of high-altitude air pressure
To sensing processor, ultrasonic sensor is for unmanned plane during flying distance detection and sends distance signal to sensing processor, speed
Degree sensor for unmanned plane during flying velocity measuring and sends rate signal to sensing processor；
Monitoring module includes that interconnective monitoring processor and monitoring means, monitoring processor are carried out with central processing unit
Two-way communication connects；
Wherein, monitoring means is distributed in unmanned plane surface, for unmanned plane and flight range are monitored in real time, and monitoring
Processor transmission Monitoring and Controlling signal is to monitoring means, and this monitoring means forms monitoring signal and also feeds back to monitoring processor, prison
Monitoring signal is sent to central controller after receiving monitoring signal by control processor；
Dynamical system includes power processor, drives module and actuator；
Wherein, central controller transmission flight signal passes through after receiving flight signal to power processor, power processor
Driving module to control actuator and carry out flight adjustment, wherein, actuator is used for the flying height to unmanned plane, flight speed
Degree, flight attitude are adjusted；
Lighting module includes lighting controller and illuminator；
Wherein, lighting controller is for receiving from the illumination control signal of central controller, and controls illuminator and open
Open；
Power module is for providing electric energy to mobile terminal；
Alarm module is for receiving the alarm control signal of central controller, and triggers the sound and light alarm dress in alarm module
Put；
Central controller receives to be deposited to data memory module after the monitoring signal of monitoring processor, and data store
Module is for monitoring depositing in real time and transferring of signal；
Central controller carries out data cube computation with expanding interface, expands interface for external expansion equipment；
Communication unit carries out two-way communication with central controller, data transmission module respectively and is connected, and central controller sends
Data signal is to communication unit, and communication unit forms signal of communication and sends to data transmission module, number after receiving data signal
Form terminal data signal after receiving signal of communication according to transport module and be respectively sent to terminal handler and remote terminal；
Terminal handler and processes from the terminal data signal of data transmission module for reception, is formed at data
Reason signal also feeds back to data transmission module；
Remote terminal and processes from the terminal data signal of data transmission module for reception, forms terminal remote control
Signal also feeds back to data transmission module.
The present invention is connected with each other by the separate processor of central controller with each module, and arranges outside central controller
There is expansion interface, greatly facilitate and unmanned plane is carried out external expansion equipment, it is possible to meet the modern life of more diversification
Demand, subject range is extensive, and by the setting of central controller, the signal alleviated in tradition unmanned plane processor is done
Disturbing, reduce the operation burden of processor, improve the unmanned plane process reliability for flying quality, practicality is higher.
The ultimate principle of the present invention, principal character and advantages of the present invention have more than been shown and described.The technology of the industry
Personnel, it should be appreciated that the present invention is not restricted to the described embodiments, simply illustrating this described in above-described embodiment and description
The principle of invention, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these become
Change and improvement both falls within scope of the claimed invention.
Claims (2)
1. one kind can expansion type rotor wing unmanned aerial vehicle control system, it is characterised in that: include mobile terminal, fixed terminal and with fixing
The remote terminal that terminal two-way communication connects；
Wherein, described mobile terminal includes central controller and the communication unit being connected with central controller two-way communication, expansion
Interface, sensing module, monitoring module, dynamical system, lighting module, power module, alarm module, data memory module；
Described fixed terminal includes data transmission module and terminal handler；
Described sensing module includes sensing processor and accelerometer interconnective with sensing processor, electronic compass, air pressure
Meter, ultrasonic sensor, velocity sensor；
Described accelerometer is for unmanned plane acceleration detection and sends acceleration signal to sensing processor, described electronic compass
For unmanned plane orientation detection and send bearing signal to sensing processor, described barometer detects for high-altitude air pressure and sends
Air pressure signal is to sensing processor, and described ultrasonic sensor is for unmanned plane during flying distance detection and sends distance signal to passing
Sense processor, described velocity sensor is for unmanned plane during flying velocity measuring and sends rate signal to sensing processor；
Described monitoring module includes interconnective monitoring processor and monitoring means, described monitoring processor and central processing unit
Carry out two-way communication connection；
Wherein, described monitoring means is distributed in unmanned plane surface, for monitoring unmanned plane and flight range in real time, described
Monitoring processor transmission Monitoring and Controlling signal is to monitoring means, and this monitoring means forms monitoring signal and also feeds back to monitoring process
Device, monitoring signal is sent to central controller after receiving monitoring signal by described monitoring processor；
Described dynamical system includes power processor, drives module and actuator；
Wherein, described central controller transmission flight signal is to power processor, after described power processor receives flight signal
Flight adjustment is carried out by driving module to control actuator；
Described lighting module includes lighting controller and illuminator；
Wherein, described lighting controller is for receiving from the illumination control signal of central controller, and controls illuminator and open
Open；
Described power module is for providing electric energy to mobile terminal；
Described alarm module is for receiving the alarm control signal of central controller, and triggers the sound and light alarm dress in alarm module
Put；
Described central controller receives to be deposited to data memory module after the monitoring signal of monitoring processor, described data
Memory module is for monitoring depositing in real time and transferring of signal；
Described central controller carries out data cube computation with expanding interface, and described expansion interface is used for external expansion equipment；
Described communication unit carries out two-way communication with central controller, data transmission module respectively and is connected, described central controller
Transmission data signal is to communication unit, and described communication unit forms signal of communication and sends to data transmission after receiving data signal
Module, described data transmission module receives and forms terminal data signal after signal of communication and be respectively sent to terminal handler and distant
Control terminal；
Described terminal handler and processes from the terminal data signal of data transmission module for reception, is formed at data
Reason signal also feeds back to data transmission module；
Described remote terminal and processes from the terminal data signal of data transmission module for reception, forms terminal remote control
Signal also feeds back to data transmission module.
One the most according to claim 1 can expansion type rotor wing unmanned aerial vehicle control system, it is characterised in that: described execution machine
Structure is for being adjusted the flying height of unmanned plane, flight speed, flight attitude.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610625676.9A CN106200661A (en) | 2016-08-02 | 2016-08-02 | One can expansion type rotor wing unmanned aerial vehicle control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610625676.9A CN106200661A (en) | 2016-08-02 | 2016-08-02 | One can expansion type rotor wing unmanned aerial vehicle control system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106802661A (en) * | 2017-03-13 | 2017-06-06 | 安徽朗巴智能科技有限公司 | Multi-rotor unmanned aerial vehicle control system based on dual controller |
| CN108216664A (en) * | 2016-12-15 | 2018-06-29 | 潘征 | A kind of unmanned flight's system and its flight instruments, mobile terminal |
| CN108216562A (en) * | 2016-12-15 | 2018-06-29 | 潘征 | A kind of unmanned flight's system and its flight instruments |
| CN108227724A (en) * | 2016-12-13 | 2018-06-29 | 中国科学院沈阳自动化研究所 | A kind of detection and guidance integral system based on Intelligent mobile equipment |
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| US5716032A (en) * | 1996-04-22 | 1998-02-10 | United States Of America As Represented By The Secretary Of The Army | Unmanned aerial vehicle automatic landing system |
| CN103984357A (en) * | 2014-05-30 | 2014-08-13 | 中国人民解放军理工大学 | Unmanned aerial vehicle automatic obstacle avoidance flight system based on panoramic stereo imaging device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108227724A (en) * | 2016-12-13 | 2018-06-29 | 中国科学院沈阳自动化研究所 | A kind of detection and guidance integral system based on Intelligent mobile equipment |
| CN108216664A (en) * | 2016-12-15 | 2018-06-29 | 潘征 | A kind of unmanned flight's system and its flight instruments, mobile terminal |
| CN108216562A (en) * | 2016-12-15 | 2018-06-29 | 潘征 | A kind of unmanned flight's system and its flight instruments |
| CN106802661A (en) * | 2017-03-13 | 2017-06-06 | 安徽朗巴智能科技有限公司 | Multi-rotor unmanned aerial vehicle control system based on dual controller |
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| CB02 | Change of applicant information | ||
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Address after: 230000 Embedded R&D Building 409, No. 1, Institute of Advanced Technology, China University of Science and Technology, No. 5089 Wangjiangxi Road, Hefei High-tech Zone, Anhui Province Applicant after: Anhui Lang Ba Intelligent Technology Co., Ltd. Address before: 230000 Room 201, D8 Building, Innovation Industrial Park, 800 Wangjiangxi Road, Hefei High-tech Zone, Anhui Province Applicant before: Anhui Lang Ba Intelligent Technology Co., Ltd. |
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Application publication date: 20161207 |