CN106444816A - Control system for sunshade of unmanned aerial vehicle and control method thereof - Google Patents
Control system for sunshade of unmanned aerial vehicle and control method thereof Download PDFInfo
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- CN106444816A CN106444816A CN201610993395.9A CN201610993395A CN106444816A CN 106444816 A CN106444816 A CN 106444816A CN 201610993395 A CN201610993395 A CN 201610993395A CN 106444816 A CN106444816 A CN 106444816A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 19
- 230000000694 effects Effects 0.000 claims description 9
- 239000003086 colorant Substances 0.000 claims description 6
- 230000001678 irradiating effect Effects 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 4
- 230000007423 decrease Effects 0.000 claims description 3
- 238000009432 framing Methods 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000004397 blinking Effects 0.000 description 1
- 238000009414 blockwork Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000035900 sweating Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- B64U2201/104—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] using satellite radio beacon positioning systems, e.g. GPS
Abstract
The invention relates to a control system for a sunshade of an unmanned aerial vehicle. The control system comprises a human wearing device, the unmanned aerial vehicle and a sunshade; the human wearing device comprises a recharging module, a power module, a CPU master control module, a differential GPS positioning module, a wireless communication module and an indicating module; the unmanned aerial vehicle comprises a recharging module, a power module, a control module, a photosensitive sensor and an indicating module. A control method comprises the steps of judging included angles among the sun light beam, the unmanned aerial vehicle and an operator and then moving the unmanned aerial vehicle till the unmanned aerial vehicle, the sun light beam and the operator locate on a same line, thereby achieving the purpose of shading the sunlight.
Description
Technical field
The present invention relates to a kind of control system of unmanned plane parasols and its control method.
Background technology
When summer is that people least find out, the sunlight of outside is dazzlingly strong, and temperature is very high, gos out one time, profuse sweating
Dripping, along with ultraviolet is very big to the injury of skin, the indispensability so shading sun-proof is gone out, especially for girl.
The sunshading method of people or hand-held parasols now, this people brings great inconvenience.When thing on hand is more,
That just can not support parasols；When cycle when also can not be support with handss always, even if be onboard mounted with parasols that
Can get on or off the bus to cyclist makes troubles.
Content of the invention
The problem existing for above-mentioned prior art, the present invention provides a kind of control system of unmanned plane parasols and its control
Method processed, it is possible to achieve without hand-held, without place on car, adjust automatically sunshade attitude, real-time sunshade.
To achieve these goals, the technical solution used in the present invention is：A kind of control system of unmanned plane parasols, bag
Include wearable device, unmanned plane and the parasols of people；The wearable device of described people, is wrist-watch or mobile phone；Wearable device includes filling
Electric module, power module, CPU main control module, differential GPS locating module, wireless communication module and indicating module, wherein indicate
Module is LED and the vibrator of red, green two kinds of colors；Described unmanned plane parasols, its Flight main body is four rotors
Aircraft, including charging module, power module, control module, light sensor and indicating module, wherein indicating module be red,
The LED of green two kinds of colors and buzzer.
Control module includes CPU main control module, differential GPS locating module, wireless communication module, gyro sensor, sieve
Disk module and altimeter.
There is the connecting rod of a connection parasols umbrella handle at the top of unmanned plane, after starting unmanned plane, the CPU master control of unmanned plane
Molding block works, and unmanned plane rises, and altimeter starts to measure the height of unmanned plane and ground, when unmanned plane rises to apart from ground
No longer rise when at 2.5 meters, wearable device and unmanned plane have differential GPS positioner, now between unmanned plane and people
Distance is 0.5 meter, and the differential GPS locating module on wearable device starts to position, and can get the longitude and latitude residing for people, by wireless
Location information is sent to unmanned plane by communication module, the framing signal that unmanned plane is located by wireless communication module recipient；No
Differential GPS locating module on man-machine is positioned, and can learn the longitude and latitude of unmanned plane, go out unmanned plane further according to Time Calculation
Angle and sun light beam between and the angle between people's unmanned plane and sun light beam, unmanned plane is according to measured angle
Calculate the geographical coordinate that unmanned plane will move to, the CPU main control module work of unmanned aerial vehicle (UAV) control module again, pass in gyroscope
Under the collective effect of sensor and compass module, at unmanned plane during flying to the geographical coordinate calculating, now two angles are all 0 °,
Illustrate the sun, unmanned plane and people point-blank it is achieved that sunshade purpose.
Light sensor is also equipped with unmanned plane, according to sun light beam irradiate intensity and position calculation go out unmanned plane with too
Angle between solar beam, after starting unmanned plane, the CPU main control module work of unmanned plane, unmanned plane rises, and altimeter starts
The height on measurement unmanned plane and ground, no longer rises when unmanned plane rises at apart from 2.5 meters of ground, sun light beam is radiated at
When on light sensor, light sensor is according to the intensity of the sun light beam sensing and position judgment unmanned plane and sun light beam
Between angle, the wearable device of people and unmanned plane have differential GPS positioner, wearable device passes through wireless communication module
The location information of people is sent to unmanned plane, unmanned plane passes through wireless communication module receive information, the differential GPS of itself is fixed simultaneously
Position module is also positioning to unmanned plane, can obtain people's unmanned plane and the sun by the location information and time of people and unmanned plane
Angle between light beam, unmanned plane calculates, according to measured angle, the geographical coordinate that unmanned plane will move to again, unmanned
The CPU main control module work of machine control module, under the collective effect of gyro sensor and compass module, unmanned plane during flying arrives
At the geographical coordinate calculating, now two angles are all 0 °, illustrate the sun, unmanned plane and people point-blank it is achieved that
Sunshade purpose.
The angle being obtained by the location information of differential GPS and time with angle is obtained by light sensor, this is two
Kind of control method, the gradient irradiating people with sun light beam is different, and the position of unmanned plane also changes in real time, unmanned plane and people it
Between distance be 0.5 meter 3 meters, now the height apart from ground for the unmanned plane is 2.5 meters, when sun light beam irradiating angle occur
During change, the height of unmanned plane is constant, and unmanned plane flies backward, flies at the geographical coordinate calculating, now unmanned plane and people
The distance between become big or reduce；When the distance between unmanned plane and people are more than 3 meters or less than 0.5 meter, unmanned plane and people it
Between distance will no longer change, unmanned plane will select down or up, when decline or rise to calculating geographical coordinate when
Can stop, now unmanned plane parasols serves the effect of sunshade.The invention has the beneficial effects as follows the positioning letter using differential GPS
Cease the angle obtaining with the time and obtain angle using light sensor, this is two kinds of control methods, by selecting any one
Control method, can realize unmanned plane parasols from main modulation sunshade attitude, reach the purpose of sunshade.It is of course also possible to will
Parasols changes umbrella into, equally also enables the purpose that unmanned plane umbrella keeps off the rain.
Brief description：
Fig. 1 is unmanned plane parasols schematic diagram；
Fig. 2 is the comprising modules of unmanned plane parasols；
Fig. 3 is the control module composition of unmanned plane parasols；
The comprising modules of the wearable device that Fig. 4 behaves.
In figure：1st, unmanned plane, 2, parasols, 3, airflow hole.
Specific embodiment：
The invention will be further described below in conjunction with the accompanying drawings.
A kind of control system of unmanned plane parasols, including the wearable device of people, unmanned plane 1 and parasols 2.The wearing of people
Equipment, is wrist-watch or mobile phone.Wearable device include charging module, power module, CPU main control module, differential GPS locating module,
Wireless communication module and indicating module, as shown in Figure 4.Wherein indicating module is LED and the vibration of red, green two kinds of colors
Device.The Flight main body of unmanned plane parasols is a quadrotor, including charging module, power module, control module, light
Dependent sensor and indicating module, as shown in Figure 2.Wherein indicating module is LED and the buzzer of red, green two kinds of colors；Control
Module includes CPU main control module, differential GPS locating module, wireless communication module, gyro sensor, compass module and height
Degree meter.
The control method of unmanned plane parasols：Open the wearable device of people and the power module of unmanned plane, both instructions
The green light Chang Liang of module.Two kinds of mode of operation buttons are had on wearable device, mode of operation 1 represents the positioning letter by differential GPS
The angle that breath and time obtain, calculates the geographical coordinate that unmanned plane moves to；Mode of operation 2 represents by photosensitive on unmanned plane
Sensor obtains angle, then calculates the geographical coordinate that unmanned plane moves to.
When selecting mode of operation 1, the CPU main control module work of unmanned plane, unmanned plane rises, and altimeter starts measurement no
The man-machine height with ground, no longer rises when unmanned plane rises at apart from 2.5 meters of ground.On wearable device and unmanned plane all
There is differential GPS positioner, now the distance between unmanned plane and people are 0.5 meter.Differential GPS locating module on wearable device
Start to position（Reference GPS receivers are had on ground）, can get the longitude and latitude residing for people, letter will be positioned by wireless communication module
Breath is sent to unmanned plane, the framing signal that unmanned plane is located by wireless communication module recipient；Differential GPS on unmanned plane is fixed
Position module is positioned, and can learn the longitude and latitude of unmanned plane, go out between unmanned plane and sun light beam further according to Time Calculation
Angle between angle and people's unmanned plane and sun light beam.Unmanned plane calculates unmanned plane again according to measured angle will
Geographical coordinate to be moved to.The CPU main control module work of unmanned aerial vehicle (UAV) control module, in gyro sensor and compass module
Under collective effect, at unmanned plane during flying to the geographical coordinate calculating, now two angles are all 0 °, and the sun, unmanned plane are described
With people point-blank it is achieved that sunshade purpose.
Select mode of operation 2, the CPU main control module work of unmanned plane, unmanned plane rises, and it is unmanned that altimeter starts measurement
The height on machine and ground, no longer rises when unmanned plane rises at apart from 2.5 meters of ground.Sun light beam is radiated at light sensor
When on device, light sensor is according to the folder between the intensity of the sun light beam sensing and position judgment unmanned plane and sun light beam
Angle.There is differential GPS positioner, wearable device passes through wireless communication module determining people on the wearable device of people and unmanned plane
Position information is sent to unmanned plane, and unmanned plane passes through wireless communication module receive information, the differential GPS locating module of itself simultaneously
Unmanned plane is being positioned, can obtained between people's unmanned plane and sun light beam by the location information and time of people and unmanned plane
Angle.Unmanned plane calculates, according to measured angle, the geographical coordinate that unmanned plane will move to again.Unmanned aerial vehicle (UAV) control mould
The CPU main control module work of block, under the collective effect of gyro sensor and compass module, unmanned plane during flying is to calculating
At geographical coordinate, now two angles are all 0 °, illustrate the sun, unmanned plane and people point-blank it is achieved that sunshade purpose.
The gradient irradiating people with sun light beam is different, and the position of unmanned plane also changes in real time.Between unmanned plane and people
Distance be 0.5 meter 3 meters, now the height apart from ground for the unmanned plane is 2.5 meters, when the irradiating angle of sun light beam becomes
During change, the height of unmanned plane is constant, and unmanned plane flies backward, flies at the geographical coordinate calculating, now unmanned plane and people it
Between distance become big or reduce；When the distance between unmanned plane and people are more than 3 meters or are less than 0.5 meter, between unmanned plane and people
Distance will no longer change, unmanned plane will select down or up, when decline or rise to calculating geographical coordinate when meeting
Stop, now unmanned plane parasols serves the effect of sunshade.It is of course also possible to parasols is changed into umbrella, equally also can be real
The purpose that existing unmanned plane umbrella keeps off the rain.In addition, having airflow hole on parasols, more air-flows can be allowed to enter it is ensured that unmanned plane work
Steady air current in the range of work.Unmanned plane parasols in the course of the work, when the not enough power supply of unmanned plane, the finger on unmanned plane
Show that the blinking red lamp of module and buzzer send chimes of doom；When the not enough power supply of wearable device, the red light of its indicating module dodges
Bright and vibrator vibrates under 2-3.
Claims (5)
1. a kind of control system of unmanned plane parasols is it is characterised in that include the wearable device of people, unmanned plane and parasols；
The wearable device of described people, is wrist-watch or mobile phone；Wearable device includes charging module, power module, CPU main control module, difference
Divide d GPS locating module, wireless communication module and indicating module, wherein indicating module is the LED of red, green two kinds of colors and shakes
Dynamic device；Described unmanned plane parasols, its Flight main body is a quadrotor, including charging module, power module, control
Molding block, light sensor and indicating module, wherein indicating module are LED and the buzzers of red, green two kinds of colors.
2. a kind of control system of unmanned plane parasols according to claim 1 is it is characterised in that control module includes
CPU main control module, differential GPS locating module, wireless communication module, gyro sensor, compass module and altimeter.
3. a kind of control method of unmanned plane parasols is it is characterised in that have a connection parasols umbrella handle at the top of unmanned plane
Connecting rod, after starting unmanned plane, the work of the CPU main control module of unmanned plane, unmanned plane rises, and it is unmanned that altimeter starts measurement
The height on machine and ground, no longer rises when unmanned plane rises at apart from 2.5 meters of ground, wearable device and unmanned plane has
Differential GPS positioner, now the distance between unmanned plane and people are 0.5 meter, and the differential GPS locating module on wearable device is opened
Begin positioning, can get the longitude and latitude residing for people, by wireless communication module, location information is sent to unmanned plane, unmanned plane passes through
The framing signal that wireless communication module recipient is located；Differential GPS locating module on unmanned plane is positioned, and can learn no
Man-machine longitude and latitude, goes out angle and people's unmanned plane and the sunlight between unmanned plane and sun light beam further according to Time Calculation
Angle between bundle, unmanned plane calculates the geographical coordinate that unmanned plane will move to, unmanned plane again according to measured angle
The CPU main control module work of control module, under the collective effect of gyro sensor and compass module, unmanned plane during flying is to meter
At good geographical coordinate, now two angles are all 0 °, illustrate the sun, unmanned plane and people point-blank it is achieved that hiding
Positive purpose.
4. a kind of control method of unmanned plane parasols according to claim 3 is it is characterised in that be also equipped with unmanned plane
Light sensor, the intensity irradiated according to sun light beam and position calculation go out the angle between unmanned plane and sun light beam, start
After unmanned plane, the CPU main control module work of unmanned plane, unmanned plane rises, and altimeter starts to measure the height of unmanned plane and ground
Degree, no longer rises when unmanned plane rises at apart from 2.5 meters of ground, when sun light beam is radiated on light sensor, photosensitive
Sensor is according to the angle between the intensity of the sun light beam sensing and position judgment unmanned plane and sun light beam, the wearing of people
There is differential GPS positioner, wearable device passes through wireless communication module and sends the location information of people on equipment and unmanned plane
To unmanned plane, unmanned plane passes through wireless communication module receive information, and the differential GPS locating module of itself is also to unmanned plane simultaneously
Positioning, can obtain the angle between people's unmanned plane and sun light beam by the location information of people and unmanned plane and time, no
Angle measured by man-machine basis calculates the geographical coordinate that unmanned plane will move to, the CPU master of unmanned aerial vehicle (UAV) control module again
Control module work, under the collective effect of gyro sensor and compass module, unmanned plane during flying is to the geographical coordinate calculating
Place, now two angles are all 0 °, illustrate the sun, unmanned plane and people point-blank it is achieved that sunshade purpose.
5. a kind of control method of unmanned plane parasols according to claim 3 is it is characterised in that pass through differential GPS
The angle that location information and time obtain with angle is obtained by light sensor, this is two kinds of control methods, with sunlight
The gradient that bundle irradiates people is different, and the position of unmanned plane also changes in real time, and the distance between unmanned plane and people are 0.5 meter 3 meters,
Now the height apart from ground for the unmanned plane is 2.5 meters, and when the irradiating angle of sun light beam changes, the height of unmanned plane is not
Become, unmanned plane flies backward, flies at the geographical coordinate calculating, now unmanned plane is big with the distance between people change or reduces；
When the distance between unmanned plane and people are more than 3 meters or less than 0.5 meter, the distance between unmanned plane and people will no longer become
Change, unmanned plane will select down or up, when decline or rise to calculating geographical coordinate when can stop, now unmanned plane sunshade
Umbrella serves the effect of sunshade.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610993395.9A CN106444816A (en) | 2016-11-11 | 2016-11-11 | Control system for sunshade of unmanned aerial vehicle and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610993395.9A CN106444816A (en) | 2016-11-11 | 2016-11-11 | Control system for sunshade of unmanned aerial vehicle and control method thereof |
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| CN106444816A true CN106444816A (en) | 2017-02-22 |
Family
ID=58207364
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| CN201610993395.9A Pending CN106444816A (en) | 2016-11-11 | 2016-11-11 | Control system for sunshade of unmanned aerial vehicle and control method thereof |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107373937A (en) * | 2017-08-25 | 2017-11-24 | 王春良 | A kind of non-contact type Portable mobile umbrella |
| CN107977015A (en) * | 2017-12-07 | 2018-05-01 | 蔡璟 | A kind of intelligence auxiliary mountain-climbing system for mountaineering |
| CN108132677A (en) * | 2017-12-28 | 2018-06-08 | 何佳林 | A kind of sunshade unmanned aerial vehicle control system and control method |
| CN108445904A (en) * | 2018-03-30 | 2018-08-24 | 如皋千骏工具有限公司 | A kind of unmanned plane shading system and its control method |
| CN108445915A (en) * | 2018-02-28 | 2018-08-24 | 深圳臻迪信息技术有限公司 | Flight control method and device |
| CN110550210A (en) * | 2018-06-01 | 2019-12-10 | 昆山安费诺正日电子有限公司 | Aircraft with umbrella-shaped structure |
| CN110664066A (en) * | 2019-09-25 | 2020-01-10 | 上海交通大学 | Intelligent sunshade based on thin-film solar cell umbrella fabric |
| CN111278274A (en) * | 2017-10-10 | 2020-06-12 | 野浦幸助 | Method for covering fixed land mass by using flying object |
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| CN105744212A (en) * | 2014-12-10 | 2016-07-06 | 西安联控电气有限责任公司 | Unmanned plane inspection system for unattended transformer station |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107373937A (en) * | 2017-08-25 | 2017-11-24 | 王春良 | A kind of non-contact type Portable mobile umbrella |
| US11465742B2 (en) | 2017-10-10 | 2022-10-11 | Kosuke NOURA | Method for shading fixed tracts of land using flying objects |
| CN111278274B (en) * | 2017-10-10 | 2022-06-07 | 野浦幸助 | Method for covering fixed land mass by using flying object |
| CN111278274A (en) * | 2017-10-10 | 2020-06-12 | 野浦幸助 | Method for covering fixed land mass by using flying object |
| CN107977015A (en) * | 2017-12-07 | 2018-05-01 | 蔡璟 | A kind of intelligence auxiliary mountain-climbing system for mountaineering |
| CN108132677A (en) * | 2017-12-28 | 2018-06-08 | 何佳林 | A kind of sunshade unmanned aerial vehicle control system and control method |
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| CN108132677B (en) * | 2017-12-28 | 2021-06-11 | 何佳林 | Sunshade unmanned aerial vehicle control system and control method |
| CN108445915B (en) * | 2018-02-28 | 2021-09-14 | 深圳臻迪信息技术有限公司 | Flight control method and device |
| CN108445915A (en) * | 2018-02-28 | 2018-08-24 | 深圳臻迪信息技术有限公司 | Flight control method and device |
| CN108445904A (en) * | 2018-03-30 | 2018-08-24 | 如皋千骏工具有限公司 | A kind of unmanned plane shading system and its control method |
| CN110550210A (en) * | 2018-06-01 | 2019-12-10 | 昆山安费诺正日电子有限公司 | Aircraft with umbrella-shaped structure |
| CN110664066A (en) * | 2019-09-25 | 2020-01-10 | 上海交通大学 | Intelligent sunshade based on thin-film solar cell umbrella fabric |
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Application publication date: 20170222 |