CN106292711A - A kind of unmanned vehicle major-minor control system and control method thereof - Google Patents
A kind of unmanned vehicle major-minor control system and control method thereof Download PDFInfo
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- CN106292711A CN106292711A CN201610917628.7A CN201610917628A CN106292711A CN 106292711 A CN106292711 A CN 106292711A CN 201610917628 A CN201610917628 A CN 201610917628A CN 106292711 A CN106292711 A CN 106292711A
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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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Abstract
The invention discloses a kind of unmanned vehicle major-minor control system and control method thereof, belong to unmanned vehicle field.The present invention includes unmanned vehicle, main control terminal and at least one sub-control terminal；Described unmanned vehicle includes signal receiving module and controller；Described signal receiving module is connected with main control terminal and sub-control terminal called respectively；Described unmanned vehicle includes the judge module electrically connected respectively with signal receiving module and controller, is used for judging main control signal and sub-control signal and priority thereof.The present invention, by arranging sub-control end, supervises the flight of unmanned vehicle；When there is unsafe condition in main control end remotely pilotless aircraft, the remote control authority of sub-control end adapter unmanned vehicle in time, by the experienced user flight by sub-control terminal remote control unmanned vehicle, ensure pedestrian and the safety of unmanned vehicle.
Description
Technical field
The present invention relates to unmanned vehicle technical field, be specifically related to a kind of unmanned vehicle major-minor control system and control thereof
Method processed.
Background technology
The application in the field of taking photo by plane of many rotor unmanned aircrafts is ripe, has reversely promoted sending out of many rotor unmanned aircrafts
Exhibition, and promoted the progress of correlation technique.As can be seen here, ripe application and demand, the progress of technology can be promoted rapidly.
Unmanned vehicle with many rotary aircraft as representative, due to its can hover, flight framework design simple, control phase
For to safety etc. factor, obtained significant progress.Especially taking photo by plane, survey and draw, line walking, the various fields such as security protection, unmanned
Aircraft is the most extensively admitted.
But the evolution of above-mentioned unmanned vehicle remains on exist a lot of problem need solve.One typical need
Asking and be exactly, owing to being different from ground the vehicle of activity after all, the control difficulty that flight equipment aloft flies is higher, so its
The learning process that flight controls is more tediously long and complicated.Further, even have certain experiences, trained fly hands, also difficult
Exempt to cause aviation accident because of emergency situations.Now, even if periphery exists experienced director, it is also difficult to replace this
Control flies hands, implements to save to accident.Accordingly, there exist a kind of demand, it is simply that can allow for abecedarian or trainer from
By complete the control to unmanned vehicle while, it is also possible to allow a manager, by third party's means, at any time can
The control to aircraft of the intervention freely, when emergency situation occurs, it is possible to effectively utilize gerentocratic rich experiences to keep away
Exempt from serious consequence.
Prior art there is also and by multiple identical or different user terminals, same unmanned vehicle is entered
The scheme that row flight management and flight control, but prior art is concentrated mainly in both direction.One, unmanned by same
The carry-on Function Decomposition each other with stronger independence comes, different user terminals and different users come
Control；Its two, multiple identical or different user terminals, use the mode of timesharing or frequency dividing to carry out even with unmanned vehicle
Connect, only one of which user terminal and unmanned vehicle communication at the same time and/or in same frequency, but once this user
Terminal disconnects, then filled by another user terminal.
The direction of above two technology development, also mainly solves different technical problems respectively.The former is because some
Professional, high intensity, highly difficult unmanned vehicle control process, are only controlled by a user, and uncertainty is the highest, now
By this aircraft each other can be independent Function Decomposition to by different user terminals come independently control, multiple user terminals by
Multiple users control, and have worked in coordination with same aerial mission, it is possible to contribute to these effectors and concentrate one's energy to control part belonging to it
Function.The latter is then in order at the thinking that backup machine considers, when certain user terminal is because of fault or asking because of distance
When topic causes the control disconnecting between unmanned vehicle, the most prepared standby control terminal can access in time,
Avoid unmanned vehicle lost contact, and in some cases, moreover it is possible to realize the relay control geographically to unmanned vehicle.
But, the problem that prior art is not concerned with is, it is really by complete unmanned vehicle control authority
The when of paying the user terminal that a user is controlled, there is also the demand that this control authority is supervised.
Summary of the invention
The goal of the invention of the present invention is to provide a kind of unmanned vehicle major-minor control system and control method thereof, it is possible in nothing
When safe situation occurs jeopardizing in people's aircraft, experienced user manipulate sub-control end in time to adapter unmanned vehicle
Flight, ensures pedestrian and the safety of unmanned vehicle.
In order to solve above-mentioned technical problem, the technical solution used in the present invention is as follows:
A kind of unmanned vehicle major-minor control system, including unmanned vehicle, main control terminal and at least one sub-control
Terminal；Described unmanned vehicle includes signal receiving module and controller；Described signal receiving module respectively with main control terminal
Connect with sub-control terminal called, for the control signal receiving main control end and sub-control end is sent.
Further, described control signal include for remotely pilotless aircraft flight action fly control signal, and/or use
Auxiliary control signal in remotely pilotless aircraft auxiliary equipment.
Further, what described sub-control end sent flies the priority controlling signal higher than main control end；Described main control end
The priority of the auxiliary control signal sent is higher than sub-control end.
Further, the judge module being connected with unmanned vehicle communication is also included；Described judge module is used for judging master
Control signal and sub-control signal and priority thereof.
Further, described judge module includes by the competing decision package judging control signal priority normally；
Further, the controller of described unmanned vehicle receives the control signal that priority is high, and it is low to shield priority
Control signal.
Further, described sub-control terminal includes and the server of unmanned aerial vehicle control system communication connection, mobile
Terminal and/or earth station.
According to another aspect of the invention, it is proposed that a kind of unmanned vehicle major-minor control system operational approach, including with
Lower step:
Main control terminal and sub-control terminal are connected with unmanned vehicle communication respectively；
Judge module carries out decision-making according to input instruction；
According to decision-making, main control terminal or the flight of sub-control terminal remote control unmanned vehicle.
Further, described step judge module carries out the step of decision-making according to input instruction, particularly as follows: judge module district
Input instruction is divided to control signal for master signal or pair and judge its priority；Described judge module includes being carried out normally by competing
Decision-making.
Further, described step is according to decision-making, main control terminal or the flight of sub-control terminal remote control unmanned vehicle
Step, particularly as follows: according to the result of decision, main control end or sub-control end remotely pilotless aircraft that control signal priority is high fly
OK.
The invention discloses a kind of unmanned vehicle major-minor control system and control method thereof, by arranging sub-control end,
Supervise the flight of unmanned vehicle；Main control end and sub-control end are all connected with unmanned vehicle communication, when main control end is distant
When unsafe condition occurs in control unmanned vehicle, the remote control authority of sub-control end adapter unmanned vehicle in time, by experienced use
The family flight by sub-control terminal remote control unmanned vehicle, ensures pedestrian and the safety of unmanned vehicle.
Described above is only the general introduction of technical solution of the present invention, in order to make the technological means of the present invention clearer
Understand, reach the degree that those skilled in the art can be practiced according to the content of description, and in order to allow the present invention
Above and other objects, features and advantages can become apparent, illustrate with the detailed description of the invention of the present invention below
Explanation.
Accompanying drawing explanation
By reading the detailed description in hereafter preferred embodiment, the present invention various other advantage and benefit
Those of ordinary skill in the art be will be clear from understanding.Figure of description is only used for illustrating the purpose of preferred implementation,
And it is not considered as limitation of the present invention.It should be evident that drawings discussed below is only some embodiments of the present invention,
For those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain according to these accompanying drawings
Other accompanying drawing.And in whole accompanying drawing, it is presented with like reference characters identical parts.In the accompanying drawings:
Fig. 1 shows the unmanned vehicle major-minor Control system architecture schematic diagram of according to embodiments of the present invention；
Fig. 2 shows the unmanned vehicle urgent monitoring equipment structural representation of according to embodiments of the present invention two；
Fig. 3 shows the unmanned vehicle major-minor control system control method flow chart of according to embodiments of the present invention three.
Detailed description of the invention
It is more fully described the specific embodiment of the present invention below with reference to accompanying drawings.Although accompanying drawing shows the present invention's
Specific embodiment, it being understood, however, that may be realized in various forms the present invention and should not limited by embodiments set forth here
System.On the contrary, it is provided that these embodiments are able to be best understood from the present invention, and can be complete by the scope of the present invention
Convey to those skilled in the art.
It should be noted that employ some vocabulary in the middle of description and claim to censure specific components.Ability
Field technique personnel it would be appreciated that, hardware manufacturer may call same assembly with different nouns.This specification and power
In the way of profit requires that difference by noun is not used as distinguishing assembly, but it is used as distinguishing with assembly difference functionally
Criterion." comprising " or " including " as mentioned by the middle of description and claim in the whole text is an open language, therefore should
It is construed to " comprise but be not limited to ".Description subsequent descriptions is to implement the better embodiment of the present invention, and right described description is
For the purpose of the rule of description, it is not limited to the scope of the present invention.Protection scope of the present invention is when regarding appended power
Profit requires that defined person is as the criterion.
For ease of the understanding to the embodiment of the present invention, do as a example by several specific embodiments further below in conjunction with accompanying drawing
Explanation, and each accompanying drawing is not intended that the restriction to the embodiment of the present invention.
Unmanned vehicle is called for short " unmanned plane ", and english abbreviation is " UAV (unmanned aerial vehicle) ", is profit
The most manned aircraft handled with the presetting apparatus provided for oneself with radio robot.Can be divided into from technical standpoint definition:
Depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc..In recent years, along with biography
The raising of sensor technique, the progress of microprocessor technology, the improvement of power set and the increase of battery durable ability so that it is
The purposes of aspect military, civilian is constantly expanded at a high speed, and unmanned vehicle market has bright prospects.
In the embodiment of the present invention, preferred unmanned vehicle is many rotor unmanned aircrafts (or referred to as multi-rotor aerocraft),
It can be four rotors, six rotors and the rotor quantity unmanned vehicle more than six.
The unmanned vehicle that technical solution of the present invention uses is primarily referred to as many rotor unmanned aircrafts little, miniature, this nothing
People's aircraft volume is little, low cost, flight stability preferable, and flight cost is low.The present invention use aircraft, typically with
Four axle multi-rotor aerocrafts are representative.
Along with the technology of unmanned vehicle develops and specification, intelligent lifting.Unmanned vehicle more and more close to
One allows single user complete, and is capable of the smart machine of fool operation.Now, single user controls corresponding one of terminal
The control system general layout of unmanned vehicle, basically forms.But, a new user manipulates at several leading contact unmanned vehicle
Time, the when of being to be easiest to occur various manipulation problem, and movable with on ground, and other safer smart machines are different,
It is improper that aerial unmanned vehicle once manipulates, easily induction air crash accident, the aircraft bombing being namely commonly called as.Need so there is one
Ask, it is simply that on the basis of single user manipulation unmanned vehicle, build a set of and the communication connection of this unmanned vehicle pair simultaneously
Control system.So, when single user normally controls this unmanned plane when, secondary control system does not the most affect Consumer's Experience, and one
When dangerous situation occurs in denier, experienced user take over the control to unmanned vehicle by secondary control system, complete control
System emergency, it is possible to avoid the loss of user to the full extent, it is often more important that sending out of security incident can be evaded as far as possible
Raw.
Embodiment one, a kind of unmanned vehicle major-minor control system.
Fig. 1 is the unmanned vehicle major-minor Control system architecture schematic diagram of the embodiment of the present invention one, and the embodiment of the present invention will
It is specifically described in conjunction with Fig. 1.
As it is shown in figure 1, a kind of unmanned vehicle major-minor control system that the embodiment of the present invention provides, including unmanned vehicle
101, main control terminal 102 and at least one sub-control terminal 103；Described unmanned vehicle 101 includes data sink 105 He
Controller 104；Described data sink 105 is connected with main control terminal 102 and sub-control terminal 103 communication respectively, is used for connecing
The control signal that receipts main control terminal 102 and sub-control terminal 103 are sent respectively；The controller 104 of described unmanned vehicle connects
Receive the control signal that priority is high, and shield the control signal that priority is low.
The embodiment of the present invention is preferred, described unmanned vehicle 101 include respectively with data sink 105 and controller
The judge module 106 of 104 electrical connections, is used for distinguishing and judge main control signal and sub-control signal and priority thereof.Described sentence
Disconnected module 106 can also be arranged in main control terminal 102 or sub-control terminal 103, wireless with the controller of unmanned vehicle
Communication connects, and which decreases pressure and energy expenditure that unmanned vehicle controller processes for redundant data, improves unmanned
The response speed of aircraft.In order to avoid the control bothering main control terminal 102 to experience, for sub-control terminal as far as possible
In the case of creating input instruction between 103 and main control terminal 102, for the control function of different situations simultaneously, it is judged that
Module 106 is provided with different priority levels for the control instruction of input.
The embodiment of the present invention is preferred, and described control signal includes believing for the control that flies of remotely pilotless aircraft flight action
Number, and/or the auxiliary control signal for remotely pilotless aircraft auxiliary equipment.For having influence on unmanned vehicle 101 flight safety
, flight path control instruction etc. flies to control signal, and necessarily sub-control terminal 103 has higher priority level；For not shadow
Ring unmanned vehicle 101 flight safety, the auxiliary control signal such as attendant equipment control instruction, main control terminal 102 can be allowed to have
Higher priority.
The embodiment of the present invention is preferred, and described judge module includes judging determining of control signal priority normally by competing
Plan unit；For having influence on the control instruction of unmanned vehicle 101 flight safety, such as unmanned vehicle 101 is aloft
Under floating state, the control instruction rotated around self Z axis, could be arranged to main control terminal 102 and sub-control terminal 103 that
The priority of this competing conjunction；Typical competing conjunction two priority classes is as follows: a control terminal normally controls unmanned vehicle wherein
During 101, the input time of terminal of the input instruction less than 2 seconds is controlled for another, is considered as maloperation, unmanned flight
Device 101 is not responding to its instruction；Input instruction more than 2 seconds of the terminal continuous input time is controlled for another, is considered as instructing competing
Synthesis merit, the whole group control authority corresponding with this competing conjunction authority is transferred to this another control terminal.
The embodiment of the present invention is preferred, and described sub-control terminal 103 is by heart pattern with unmanned vehicle 101 communication even
Connect.When unmanned vehicle 101 works, main control terminal 102 and sub-control terminal 103 all keep logical with unmanned vehicle 101
Letter connects, when simply main control terminal 102 works, sub-control terminal 103 by appropriate frequency (with main control terminal 102 with frequency,
Frequency dividing or the mode of frequency hopping, avoid interference therebetween as far as possible) heart pattern keep with unmanned vehicle 101 logical
Letter, but have no effect on the normal work of main control terminal 102.
The embodiment of the present invention is preferred, and described sub-control terminal 103 is provided with palmic rate adjustment module 107.Sub-control is eventually
The frequency that end 103 is connected with the heart pattern of unmanned vehicle 101 is adjustable, in the case of low-speed operations, low altitude flight,
Due to unmanned vehicle 101, to be likely to occur the probability of emergency relatively low, now sub-control terminal 103 and unmanned vehicle 101
Heart pattern rate of connections can arrange relatively low, such as 1 time/second.When unmanned vehicle 101 is in flying of excessive risk probability
Under row mode, in the range of such as high speed, high-altitude, specific region etc. during situation, now can improve heart pattern rate of connections, such as
Bring up to 10 times/second etc..
The embodiment of the present invention is preferred, and sub-control terminal 103 both can have essentially identical with main control terminal 102
Control model, ratio is if independent completes the whole of unmanned vehicle 101 are controlled function by sub-control terminal 103.
But, sub-control terminal 103 only member-retaining portion can also control relevant control function to emergency flight.Such as: sub-control is eventually
End 103 can only possess the function that the flare maneuver to unmanned vehicle 101 is controlled, without being equipped with unmanned vehicle
The control function of the attendant equipment carried on 101, as a example by unmanned plane of taking photo by plane, sub-control terminal 103 can only possess control nothing
The function of people's aircraft 101 flight, and do not possess the function that the equipment of taking photo by plane is controlled.Such design is in order at sub-control
The core demand of terminal 103 and consider, sub-control terminal 103 is primarily to emergency of speedily carrying out rescue work uses, so in order to save system
System power consumption, can simplify, and only retains the flight with unmanned vehicle 101 and controls directly related part function.
On the basis of such scheme, sub-control terminal 103 can also only possess in flight control maximally related with safety
Function key, as sub-control terminal 103 only remain hovering key (corresponding brake function) and/or rapid descent function and/or
Control model without a head (under Headless mode, aircraft with control terminal for initial point fly, do not differentiate between its head towards, in order to behaviour
Control person only controls the flare maneuver of aircraft).Such it is designed to reduce further in whole control system, sub-control terminal
103 keep standby communication to be connected with unmanned vehicle 101 and power consumption time urgency communication connects and control response speed.
The embodiment of the present invention is preferred, and described sub-control terminal can also is that and communicates to connect with unmanned aerial vehicle control system
Server, mobile terminal and/or earth station.The form of the sub-control terminal described in the embodiment of the present invention is not limited to remote control eventually
The control end that end is the same, it is also possible to be at server, on mobile terminal and/or earth station, by arranging such scheme, get final product shape
Become sub-control terminal of the present invention.
The embodiment of the invention discloses a kind of unmanned vehicle major-minor control system, by arranging at least one sub-control eventually
End, when unsafe condition occurs in the flight of main control terminal remote control unmanned vehicle, in time by sub-control terminal adapter flight authority,
Ensure flight safety.
Embodiment two, a kind of urgent monitoring equipment of unmanned vehicle.
Fig. 2 is the unmanned vehicle urgent monitoring equipment structural representation of the embodiment of the present invention two, and the embodiment of the present invention will
It is specifically described in conjunction with Fig. 2.
A kind of urgent monitoring equipment of unmanned vehicle, including central processing unit 202, signal projector 203 and Emergency Takeover
Button 204；Described signal projector 203 electrically connects with central processing unit 202, and launches the control of high authority to unmanned vehicle
Signal；Described Emergency Takeover button 204 electrically connects with central processing unit 202.
The embodiment of the present invention is preferred, and described signal projector 203 is connected with unmanned vehicle communication by heart pattern.
Described urgent monitoring equipment 201 is additionally provided with palmic rate actuator 205, and it electrically connects with central processing unit 202, and sends out to signal
Emitter 203 sends FM signal.
The embodiment of the present invention is preferred, and described Emergency Takeover button 204 includes substantially flying for remotely pilotless aircraft
Action fly control button.Urgent monitoring equipment 201 once receives input instruction, the most immediately enjoys the operation higher than main control terminal
Authority, now by instructing the mode compared or carrying out the enforcement of the instruction to different rights according to the priority level pre-set
The mode of shielding, the control system of this unmanned vehicle is regardless of whether remain in that and connect while major-minor control end command
Receive, but the input only in response to urgent monitoring equipment 201 instructs.
Due to urgent monitoring equipment 201 effector be usually more experienced user, so by above-mentioned can be at any time
Get involved the mechanism controlled can effectively avoid using the effector of main control terminal because lacking experience, or under the state of emergency
Control aircraft bombing event or other negative effects that the reason such as error is caused.
The embodiment of the invention discloses a kind of urgent monitoring equipment of unmanned vehicle, at unmanned vehicle, critical condition occurs
Time, manipulate urgent monitoring equipment 201 can adapter control authority in time, unmanned vehicle is receiving urgent monitoring equipment 201
After control signal, shield the response of main control terminal control signal in time, only in response to the control signal of urgent monitoring equipment 201,
Avoid the generation of unsafe condition in time, ensure safety.
Embodiment three, a kind of unmanned vehicle major-minor control system control method.
Figure three is the unmanned vehicle major-minor control system control method flow chart of the embodiment of the present invention three, and the present invention implements
Example will be specifically described in conjunction with Fig. 3.
As it is shown on figure 3, embodiments provide a kind of unmanned vehicle major-minor control system control method, specifically wrap
Include following steps:
Step S301: main control terminal and sub-control terminal are connected with unmanned vehicle communication respectively；
Step S302: judge module carries out decision-making according to input instruction；
Step S303: according to decision-making, main control terminal or the flight of sub-control terminal remote control unmanned vehicle.
The embodiment of the present invention is preferred, described step main control terminal and sub-control terminal respectively with unmanned vehicle communication
Connect, particularly as follows: main control terminal is connected with unmanned vehicle wireless telecommunications；Sub-control terminal is by same with main control terminal
Frequently, the heart pattern of frequency dividing or frequency hopping is connected with unmanned vehicle communication.
The embodiment of the present invention is preferred, and the judge module of described step unmanned vehicle carries out decision-making according to input instruction
Step, particularly as follows: it is main control terminal or the control signal of sub-control terminal transmission that judge module distinguishes input instruction, and judges
Its priority authority；Fly to control signal for affecting flight safety, it is judged that module judges that pair control signal has higher priority；
For not affecting the auxiliary control signals such as flight safety, remote control attendant equipment, it is judged that module judges that main control terminal has higher
Priority；Described judge module includes by the competing decision package judging control signal priority normally；Typical competing conjunction is excellent
First level controls as follows: during a control terminal normally controls unmanned vehicle wherein, control terminal for another
Input time, the input instruction less than 2 seconds, was considered as maloperation, and unmanned vehicle is not responding to its instruction；Another is controlled eventually
The input instruction more than 2 seconds of the end continuous input time, is considered as instructing competing synthesis merit, by the whole group control corresponding with this competing conjunction authority
Authority processed be transferred to this another control terminal.
The embodiment of the present invention is preferred, and according to decision-making, main control terminal or sub-control terminal remote control, nobody flies described step
The step of row device flight, particularly as follows: the control signal priority sent according to the result of decision, main control terminal or sub-control terminal
The control end remotely pilotless aircraft flight that authority is high.Judge module judges that input instruction is high as pair control signal and its priority,
Then sub-control end remotely pilotless aircraft flight；Judge module judges that input instruction is high as master signal and its priority, then lead
Control end remotely pilotless aircraft flight.
The invention discloses a kind of unmanned vehicle major-minor control system and control method thereof, by arranging sub-control end,
Supervise the flight of unmanned vehicle；Main control end and sub-control end are all connected with unmanned vehicle communication, when main control end is distant
When unsafe condition occurs in control unmanned vehicle, the remote control authority of sub-control end adapter unmanned vehicle in time, by experienced use
The family flight by sub-control terminal remote control unmanned vehicle, ensures pedestrian and the safety of unmanned vehicle.
Content during other content sees foregoing invention embodiment in the embodiment of the present invention, does not repeats them here.
Obviously, those skilled in the art can carry out various change and the modification essence without deviating from the present invention to the present invention
God and scope.So, if these amendments of the present invention and modification belong to the scope of the claims in the present invention and equivalent technologies thereof
Within, then the present invention is also intended to comprise these change and modification.
Claims (10)
1. a unmanned vehicle major-minor control system, it is characterised in that: include unmanned vehicle, main control terminal and at least one
Individual sub-control terminal；Described unmanned vehicle includes signal receiving module and controller；Described signal receiving module respectively with master
Control terminal and sub-control terminal called to connect, for the control signal receiving main control end and sub-control end is sent.
Unmanned vehicle major-minor control system the most according to claim 1, it is characterised in that: described control signal includes using
Fly to control signal in remotely pilotless aircraft flight action, and/or for the auxiliary control signal of remotely pilotless aircraft auxiliary equipment.
Unmanned vehicle major-minor control system the most according to claim 2, it is characterised in that: described sub-control end sends
Fly the priority controlling signal higher than main control end；The priority of the auxiliary control signal that described main control end sends is higher than sub-control end.
Unmanned vehicle major-minor control system the most according to claim 1, it is characterised in that: also include and unmanned vehicle
The judge module that communication connects；Described judge module is used for judging main control signal and sub-control signal and priority thereof.
Unmanned vehicle major-minor control system the most according to claim 4, it is characterised in that: described judge module includes leading to
Cross the competing decision package judging control signal priority normally.
Unmanned vehicle major-minor control system the most according to claim 1, it is characterised in that: the control of described unmanned vehicle
Device processed receives the control signal that priority is high, and shields the control signal that priority is low.
Unmanned vehicle major-minor control system the most according to claim 1, it is characterised in that: described sub-control terminal includes
With the server of unmanned aerial vehicle control system communication connection, mobile terminal and/or earth station.
8. a unmanned vehicle major-minor control system operational approach, it is characterised in that comprise the following steps:
A: main control terminal and sub-control terminal are connected with unmanned vehicle communication respectively；
B: judge module carries out decision-making according to input instruction；
C: according to decision-making, main control terminal or the flight of sub-control terminal remote control unmanned vehicle.
Unmanned vehicle major-minor control system operational approach the most according to claim 8, it is characterised in that:
Described step judge module carries out the step of decision-making according to input instruction, particularly as follows: judge module distinguishes input instruction is
Master signal or pair are controlled signal and judge its priority；Described judge module includes carrying out decision-making normally by competing.
Unmanned vehicle major-minor control system operational approach the most according to claim 8, it is characterised in that:
Described step is according to decision-making, main control terminal or the step of sub-control terminal remote control unmanned vehicle flight, particularly as follows: root
According to the result of decision, main control end that control signal priority is high or sub-control end remotely pilotless aircraft flight.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN108700891A (en) * | 2017-08-30 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Control method, unmanned plane and the machine readable storage medium of unmanned plane |
| CN109032181A (en) * | 2018-08-19 | 2018-12-18 | 上海交通大学 | A kind of unmanned aerial vehicle control system and control method of double remote control controls |
| 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 |
| CN112567435A (en) * | 2020-03-10 | 2021-03-26 | 深圳市大疆创新科技有限公司 | Device management method, device, movable platform and storage medium |
| CN114677832A (en) * | 2021-12-22 | 2022-06-28 | 深圳市富斯科技有限公司 | Movable terminal and control system |
| CN115076763A (en) * | 2022-04-06 | 2022-09-20 | 上海林内有限公司 | Heating stove and temperature controller cloud end linkage control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108513638A (en) * | 2017-04-21 | 2018-09-07 | 深圳市大疆创新科技有限公司 | Processing method, remote controler and flight control system |
| CN107121987A (en) * | 2017-06-08 | 2017-09-01 | 广东容祺智能科技有限公司 | A kind of unmanned plane multiterminal remotely continue the chain-circuit system of control |
| CN107329492A (en) * | 2017-08-18 | 2017-11-07 | 上海顺砾智能科技有限公司 | A kind of formation control method of unmanned plane cluster |
| CN108700891B (en) * | 2017-08-30 | 2022-06-17 | 深圳市大疆创新科技有限公司 | Control method of unmanned aerial vehicle, unmanned aerial vehicle and machine-readable storage medium |
| CN108700891A (en) * | 2017-08-30 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Control method, unmanned plane and the machine readable storage medium of unmanned plane |
| CN108469834B (en) * | 2018-03-19 | 2021-07-13 | 上海歌尔泰克机器人有限公司 | Unmanned aerial vehicle control method and device and computer readable storage medium |
| CN108469834A (en) * | 2018-03-19 | 2018-08-31 | 上海歌尔泰克机器人有限公司 | Unmanned aerial vehicle (UAV) control method, apparatus and computer readable storage medium |
| CN109032181A (en) * | 2018-08-19 | 2018-12-18 | 上海交通大学 | A kind of unmanned aerial vehicle control system and control method of double remote control controls |
| 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 |
| CN112567435A (en) * | 2020-03-10 | 2021-03-26 | 深圳市大疆创新科技有限公司 | Device management method, device, movable platform and storage medium |
| CN114677832A (en) * | 2021-12-22 | 2022-06-28 | 深圳市富斯科技有限公司 | Movable terminal and control system |
| CN114677832B (en) * | 2021-12-22 | 2023-12-26 | 深圳市富斯科技有限公司 | Mobile terminal and control system |
| CN115076763A (en) * | 2022-04-06 | 2022-09-20 | 上海林内有限公司 | Heating stove and temperature controller cloud end linkage control method |
| CN115076763B (en) * | 2022-04-06 | 2024-01-23 | 上海林内有限公司 | Cloud linkage control method for heating furnace and temperature controller |
| WO2023193611A1 (en) * | 2022-04-08 | 2023-10-12 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle, and control method, apparatus and system therefor |
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