CN106494612B - Improve the method and unmanned plane patrol system of rotor craft autonomous flight stability - Google Patents
Improve the method and unmanned plane patrol system of rotor craft autonomous flight stability Download PDFInfo
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- CN106494612B CN106494612B CN201710016586.4A CN201710016586A CN106494612B CN 106494612 B CN106494612 B CN 106494612B CN 201710016586 A CN201710016586 A CN 201710016586A CN 106494612 B CN106494612 B CN 106494612B
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- 238000000034 method Methods 0.000 title claims abstract description 29
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 16
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 16
- 230000008859 change Effects 0.000 claims abstract description 10
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- 230000005540 biological transmission Effects 0.000 claims description 25
- 238000012544 monitoring process Methods 0.000 claims description 24
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- 238000005516 engineering process Methods 0.000 claims description 5
- 230000006698 induction Effects 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 4
- 230000001678 irradiating effect Effects 0.000 claims description 3
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- 238000013461 design Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
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- 230000001154 acute effect Effects 0.000 description 2
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- 238000010276 construction Methods 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 238000012423 maintenance 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
- 201000004569 Blindness Diseases 0.000 description 1
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Classifications
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- 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
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- 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
-
- 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
- G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
-
- 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]
- B64U2201/102—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] adapted for flying in formations
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Improve the method and unmanned plane patrol system of rotor craft autonomous flight stability, it is related to air vehicle technique field, the method for above-mentioned raising rotor craft autonomous flight stability is the following steps are included: obtain repeatedly lithium battery voltage value and corresponding PWM value of the rotor craft when executing various flare maneuvers and keeping flight stability state；The functional relation of battery voltage value and PWM value is fitted with PWM value according to lithium battery voltage value of the rotor craft when executing various flare maneuvers and keeping flight stability state；According to the functional relation and according to the real-time change of lithium battery voltage, the winged control unit of the rotor craft is allowed to be adjusted accordingly PWM value, to improve autonomous flight stability of the rotor craft when executing various flare maneuvers.
Description
Technical field
The present invention relates to air vehicle technique field, in particular to a kind of side for improving rotor craft autonomous flight stability
Method and unmanned plane patrol system.
Background technique
Multi-rotor aerocraft rapidly becomes the nova taken photo by plane with model plane Sports Field because having excellent handling, behaviour
It controls four remote sensing of device and operates the front and rear, left and right of corresponding aircraft, upper and lower and yaw direction movement, in terms of automatic pilot,
More rotor autopilot control methods are simple, and controller parameter adjusts also very simple.
Traditional multi-rotor aerocraft is controlled using manual remote control mode.In order to smoothly fly, aircraft needs steady
Take-off process, this needs manipulator that there is certain unmanned plane to drive professional skill, does not have unmanned plane driving efficiency very much
General population cannot upper hand quickly, can not safety operation multi-rotor unmanned aerial vehicle take off.Application No. is 2015102434546 China
Patent of invention discloses a kind of unmanned plane automatic lifting stick method and system, and solution is to allow multi-rotor unmanned aerial vehicle automatic steady
Rise fly to certain safe distance height (by determining Gao Danyuan, for example, ultrasonic distance-measuring sensor or baroceptor come it is true
Surely take off highly) after, fuselage program just authorizes remote operator using remote control mode come remote control operation unmanned plane, to reduce
It takes off difficulty.However in the autonomous take-off process of unmanned plane, with increasing for number of flights, cell voltage decline, electricity tune pair
The driving capability of motor declines, and the revolving speed of motor is declined, so that lift deficiency, control occurs in take-off process in unmanned plane
Effect is poor, and cannot steadily take off (particularly evident in the biggish situation of wind-force especially in ambient enviroment, voltage drop in flight course
It is low to be also possible to the unstable situation of aircraft occur) or even the up and down phenomenon of fuselage, if there is artificial prison in take-off process
Control, operator can also be adjusted according to the actual situation, however for entire flight course (including take off and descent)
The automated spacecraft of no manual intervention would be possible to occur taking off unsuccessfully, aircraft the case where crashing.
Current consumption grade unmanned plane be used primarily in video take photo by plane, device for electric power line patrol, Traffic monitoring and information collection and
In terms of police tracking, in above-mentioned application, unmanned plane generallys use GPS and digital map navigation, and flying vehicles control algorithm is opposite
It is complicated and to the more demanding of cruising ability, when flight path is longer, it is also necessary to manually be returned in terminal to unmanned plane
It receives.In addition, for the unmanned plane to fly between urban compact building, since GPS location precision is generally in 5 meters or so (positioning
Precision is related with the number of satellite of communication), if being blocked by building, precision can be lower, therefore necessarily requires the accuracy of map that can expire
The requirement of sufficient precision navigation, current commonly used Baidu/Amap error is generally at 3 meters or so, and for certain new
Building, trees and some small buildings it could even be possible to not marked in map navigation system (certainly in this feelings
It can also be unfavorable for existing Baidu/Amap on current market under condition, and use and draw map certainly, but draw map workload certainly
It is larger and have certain technical difficulty for some small enterprise/individuals), this just needs to give UAV flight's anti-collision system
(such as barrier automatic identification system is just equipped on the indoor unmanned plane of big boundary) knocks building or trees to avoid it, such as
This control algolithm for carrying out unmanned plane will be more complicated, and manufacturing cost also becomes higher, to limit to a certain extent
Application of the unmanned plane in the complicated grounds environment such as Big Residential District, campus, large scale industry garden and plant area.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of methods for improving rotor craft autonomous flight stability.Separately
On the one hand, the present invention also provides it is a kind of using based on the improved unmanned plane of this method fixed area (can be Big Residential District,
Campus, large scale industry garden or plant area) in the unmanned plane patrol system that is gone on patrol.
In order to solve the above-mentioned technical problem, the present invention adopts the following technical scheme: a kind of raising rotor craft independently flies
The method of row stability, comprising the following steps:
Obtain repeatedly lithium battery of the rotor craft when executing various flare maneuvers and keeping flight stability state
Voltage value and corresponding PWM value；
According to lithium battery voltage of the rotor craft when executing various flare maneuvers and keeping flight stability state
Value and PWM value fit the functional relation of battery voltage value and PWM value；
According to the functional relation and according to the real-time change of lithium battery voltage, the winged control list of the rotor craft is allowed
Member is adjusted accordingly PWM value, stablizes to improve autonomous flight of the rotor craft when executing various flare maneuvers
Property.
Further, the functional relation of the battery voltage value and PWM value is written that the rotor craft is included to fly
It controls in program.
Based on above-mentioned design, the present invention also provides a kind of unmanned plane patrol systems, including go on patrol monitoring station, revolved more by multi rack
The landing platform of unmanned plane cluster, quantity identical as the multi-rotor aerocraft that rotor aircraft forms is used for more rotations
Rotor aircraft provides the land marking of navigation and the nothing on the landing platform and with patrol monitoring station communication connection is arranged in
Line data collector；
The multi-rotor aerocraft improves its autonomous flight stability using the above method, and the landing platform can be stopped more
Rotor craft simultaneously provides charging to it, and each landing platform stops a frame multi-rotor aerocraft；
The land marking marks patrol route on the ground, and the patrol route is in end to end closed figure,
The landing platform is arranged at intervals on patrol route；
The multi-rotor aerocraft includes take photo by plane camera unit, mark recognition unit and wireless communication module, the mark
Recognition unit identification land marking guarantee multi-rotor aerocraft from current landing platform take off after can be along patrol route autonomous flight
And it drop to next landing platform；
When patrol, the patrol monitoring station passes through wireless communication module of the wireless receiver on multi-rotor aerocraft
Sending is taken off instruction, and all multi-rotor aerocrafts take off from landing platform where it simultaneously, in flight course, the camera shooting of taking photo by plane
Unit photographs correspond to the video image of beat, and the video information of shooting is sent to accordingly by the wireless communication module in real time
Wireless receiver, received video information is transmitted to patrol monitoring station by the wireless receiver, more rotations
Rotor aircraft successively flies to next landing platform from a landing platform along patrol route in a manner described, to realize in fixation
It is gone on patrol in region.
Wherein, the land marking includes being applied over the road surface identification lines of road surface and being applied on landing platform
Landing label symbol；
The mark recognition unit includes being located at the first of multi-rotor aerocraft front lower place land marking image for obtaining
Camera and for obtain be located at multi-rotor aerocraft immediately below land marking image second camera；
The image that first camera obtains isolates route ahead signal after processing, and the second camera obtains
Figure isolate current position signal after processing, the winged control unit combination route ahead signal of the multi-rotor aerocraft and
The corresponding multi-rotor aerocraft that controls of the variation of current position signal flies or turns forward along patrol route or drop to down
Landing platform.
Preferably, the road surface identification lines are the yellow/White traffic graticule for being applied over road surface, and the landing platform is logical
A fixed bracket is crossed to be connected on the light pole of road both sides.
It is furthermore preferred that wireless receiver on the wireless communication module of the multi-rotor aerocraft and landing platform it
Between carried out wireless communication using OFDM transmission technology, use cable modem between the wireless receiver and patrol monitoring station
Letter, the multi-rotor aerocraft is along patrol route flight course, and the wireless communication module is automatically in each wireless data transceiving
Soft handover is carried out between device, so that the video information real-time Transmission for camera unit shooting of taking photo by plane described in guaranteeing is to going on patrol monitoring station.
Further, the surface of the yellow/White traffic graticule and label symbol of landing is coated with one layer of reflectorized material,
LED spotlight for irradiating front lower place and underface road surface is installed on the multi-rotor aerocraft.
In above-mentioned unmanned plane patrol system, the landing platform further includes one for carrying out electromagnetism to multi-rotor aerocraft
The bottom of the wireless charging base of inductive charging, the multi-rotor aerocraft is equipped with power receiving coil, and the wireless charging base includes
What controller, power transmission coil, coil mounting base, electric resistance touch-control panel and the driving coil mounting base all around moved
Driving device, the power transmission coil are fixed in coil mounting base, and the coil mounting base and power transmission coil are all provided in electricity
The lower section of resistive touch panel, the landing label symbol is printed on electric resistance touch-control panel, on the multi-rotor aerocraft
Equipped with three or more supporting legs, the position of the power receiving coil is fixed relative to supporting leg and its position between supporting leg
Relationship is previously written in the control program of wireless charging base, after the multi-rotor aerocraft drops on landing platform, the branch
The bottom end of support leg is pressed on electric resistance touch-control panel, and the controller is first according to the change of electric resistance touch-control panel pressure spot resistance value
Change calculates accurate location of each supporting leg on electric resistance touch-control panel, further according between the power receiving coil and supporting leg
Positional relationship calculates the accurate location of power receiving coil, then controls the driving device driving coil mounting base movement, so that
The power transmission coil is accurately moved to the underface of power receiving coil, and before charging starts, the controller issues instruction cutting to electricity
The power supply of resistive touch panel, after charging complete, the controller issues power supply of the instruction cutting to power transmission coil.
Further, the landing platform further includes that a top is equipped with the closed cabin of electrically operated gate and for driving the electricity
The motor of dynamic door folding, the motor are controlled by a single-chip microcontroller, and the wireless charging base is integrally set in closed cabin, the electricity
It is also printed on landing label symbol on dynamic door, is additionally provided with a radio receiver in the electrically operated gate, on the multi-rotor aerocraft
Equipped with remote control module, the remote control module sends opening-closing door signal to radio receiver, single-chip microcontroller control motor just/
Reverse turn, so that the electrically operated gate overturning be driven to open/close.
Further, the wireless receiver is set to outside closed cabin, and the patrol monitoring station passes through no line number
Control mode switch instruction is issued according to wireless communication module of the transceiver on multi-rotor aerocraft, the multi-rotor aerocraft exists
It is switched between automatic control mode and manual control mode, under the manual control mode, the mark recognition unit
It stops working.
When the method provided through the invention can allow cell voltage to decline with the increase of working time, unmanned function
Enough correspondingly dynamic adjustment PWM value (throttle value), the electric driving capability adjusted to motor of effective guarantee, ensure that motor speed
Stability, to solve cell voltage decline influence caused by unmanned plane smooth flight.Such as lithium battery in flight course
Single-unit battery core is damaged suddenly, and cell voltage will drastically reduce moment at this time, and the acute variation of voltage will lead to unmanned plane and rise suddenly
Power is insufficient, quickly drops, and very likely generates fall machine/aircraft bombing event in such cases, is carried out using method provided by the invention
After improvement, even if occurring such situation suddenly, if remaining total electricity can still maintain unmanned plane normal flight at this time, it is single to fly control
Member meeting moment adjust automatically PWM value avoids air crash shape caused by unexpected lift deficiency to guarantee the steady of rotor revolving speed
Condition.
As another aspect of the present invention, unmanned plane patrol system provided by the invention is by identifying that land marking is led
Boat, patrol route are marked by land marking, are navigated during unmanned plane patrol without GPS and storing map, therefore it is controlled
Mode is relatively easy and is not in cause positioning accuracy to reduce because building blocks, fly and drift off the course or knock on the way building
The case where object is more importantly, due to precisely being navigated using land marking, as long as land marking is arranged in relatively spacious
Place, unmanned plane not need to avoid collision by anti-collision system.What is particularly worth mentioning is that provided by the invention
In unmanned plane patrol system, the unmanned plane cluster of multi rack multi-rotor aerocraft (more typical for quadrotor at present) composition
It respectively takes off simultaneously from different landing platforms, the patrol work to entire patrol route can be completed in a very short period of time.
Such as entire 70 kilometers of patrol route overall length, 14 landing platforms are arranged altogether, each in one landing platform of every 5 kilometers of settings
A frame quadrotor drone is stopped on landing platform, forms the cluster of a 14 frame unmanned planes, it is assumed that quadrotor drone is put down
Equal flying speed is 10m/s, then unmanned plane flies to the time of next landing platform from a landing platform less than 9 minutes, by
It takes off simultaneously in unmanned plane cluster and starts to go on patrol, then theoretically can just complete the patrol work of entire patrol route in 9 minutes
Make.It charges on landing platform after unmanned plane landing landing platform, by the common unmanned machine battery of consumer level is continuous on the market at present
Boat 20-25 minute, charging are calculated for time-consuming 120 minutes from 0% to 100%, and the electricity of consumption is about in above-mentioned 9 minutes flight time
40% or so, therefore landing platform only needs the just achievable charging to unmanned plane in 60 minutes or so, that is to say, that unmanned plane patrol system
Every 69 minutes are united with regard to achievable primary to 70 kilometers of routes patrols, patrol efficiency and frequency compare existing artificial patrol
To be increased dramatically, (the above citing is only used for being illustrated beneficial effects of the present invention, and those skilled in the art should be bright
It is white, when practical application can according to the conditions such as patrol frequency, unmanned plane cruise duration to the quantity of unmanned plane and landing platform into
Row is corresponding to be changed), in personnel's wage higher and higher today, obviously can be greatly reduced using above-mentioned unmanned plane patrol system
The human cost of large-scale infrastructure management company, AnBao Co., Ltd.
Detailed description of the invention
Fig. 1 is the graph of relation between the battery voltage value and PWM value being fitted in embodiment 1.
Fig. 2 is the entire block diagram of unmanned plane patrol system in embodiment 2.
Fig. 3 is the positive structure schematic of landing platform in embodiment 2.
Fig. 4 is the overlooking structure diagram of landing platform in embodiment 2.
Fig. 5 is the schematic diagram of internal structure of wireless charging base in embodiment 2.
Fig. 6 is the overlooking structure diagram of wireless charging base in embodiment 2.
Specific embodiment
In the description of the present invention, the meaning of " plurality " is refer to two and two or more.It needs to illustrate in advance, although
The present invention not in unmanned plane for guarantee its normal flight necessary to gyroscope, height sensor, accelerometer, electronic compass
And the units such as electricity tune are specifically described, but it will be appreciated by those skilled in the art that, in unmanned plane according to the present invention
In, it equally include these essential components.For convenient for those skilled in the art understand that the present invention compared with the existing technology
Improvements are below illustrated basic conception of the invention.
The method that multi-rotor aerocraft flight stability is improved in the present invention is based primarily upon following design: 1, in unmanned unit
By manually carrying out multiple test flight sampling to it after installing into and can flying, it is being executed respectively during obtaining manual control
Voltage value and corresponding PWM value when planting flare maneuver and keeping stabilized flight condition.2, according to obtaining in above-mentioned steps 1
Data acquisition system fits functional relation of the unmanned plane between the voltage value and PWM value when executing each flare maneuver.3, foundation
Functional relation obtained in step 2 allows winged control unit to be adjusted accordingly according to the real-time change of voltage to PWM value.It needs
Bright, allow and fly mode at least following two that control adjusts PWM value according to voltage change dynamic: one is unmanned planes and ground
Station carries out communication and by information of voltage real-time transmission to earth station, and earth station calculates accordingly according to above-mentioned functional relation
PWM value is simultaneously sent to unmanned plane, flies control unit and is adjusted accordingly according to the PWM value that earth station provides.Another kind is will be above-mentioned
Functional relation writes direct in the winged control program of unmanned plane, allows winged control processor to calculate automatically according to voltage value variation corresponding
PWM value and be independently adjusted.
Unmanned plane patrol system provided by the invention is based primarily upon following design: 1, with multiple UAVs set up one nobody
Machine cluster, patrol monitoring station is by wireless receiver on each landing platform and UAV Communication to realize to the unmanned plane
Cluster is uniformly controlled.2, land marking is set, and land marking marks patrol route, is identified by the mark on unmanned plane single
Member identification land marking realizes patrol navigation, and navigation procedure is not based on GPS and storing map, therefore can avoid missing because of positioning accuracy
Difference leads to the case where aircraft impact building.3, the unmanned plane cluster is dispersed in each point on patrol route, it is all nobody
Machine takes off patrol simultaneously, and all unmanned plane Autonomous landings charge to landing platform after the completion of single patrol, to reduce list
The amount of battery consumption of secondary patrol time and single patrol, improves patrol efficiency and frequency.
For the ease of the understanding of those skilled in the art, below with reference to 2 specific embodiments and attached drawing to the present invention make into
The explanation of one step.
Embodiment 1:
A method of improving rotor craft autonomous flight stability, comprising the following steps:
1. obtaining lithium battery of the multiple rotor craft when executing various flare maneuvers and keeping flight stability state
(this implementation is only illustrated with regard to how to realize to stablize to take off, the test side of other flare maneuvers for pressure value and corresponding PWM value
Formula is similar with taking off).
The present embodiment selects the quadrotor drone being completed as test prototype, in lithium battery effective output
In range, lithium battery voltage value of 11 unmanned planes after manual control successful stabilization takes off and corresponding throttle value are measured
(i.e. PWM value), measurement data is as follows:
| Group number | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 |
| Throttle value | 420 | 425 | 430 | 440 | 440 | 450 | 460 | 465 | 470 | 475 | 480 |
| Voltage value (V) | 12.5 | 12.4 | 12.3 | 12.2 | 12.1 | 11.9 | 11.8 | 11.7 | 11.6 | 11.5 | 11.4 |
2. fitting the functional relation of battery voltage value and PWM value according to lithium battery voltage value in upper table and throttle Value Data
Formula, the throttle value fitted and voltage value graph of relation between the two are as can be seen from Figure 1 fitted as shown in attached drawing 1
Obtained formula is y=- 0.000004x2- 0.0143x+19.216, R2(goodness of fit) value is 0.9931, and degree of fitting is very high, therefore
The relationship between battery voltage value and throttle value can be truly represented with the above-mentioned formula approximation fitted.
3. according to above-mentioned functional relation and according to the real-time change of lithium battery voltage, the winged control list of quadrotor is allowed
Member is adjusted accordingly PWM value, to improve its autonomous flight stability.Fly control according to voltage change dynamic as previously mentioned, allowing
It adjusts mode at least following two of PWM value: being communicated one is unmanned plane with earth station and pass information of voltage in real time
It send to earth station, earth station calculates corresponding PWM value according to above-mentioned functional relation and is sent to unmanned plane, flies control unit root
It is adjusted accordingly according to the PWM value that earth station provides.Another kind is the winged control that above-mentioned functional relation is write direct to unmanned plane
In program, allows winged control processor to calculate corresponding PWM value automatically according to voltage value variation and be independently adjusted.It is preferred that using
Latter approach, because in this way can be to avoid bring response delay is communicated between unmanned plane and earth station, so that PWM value adjusts
More rapidly.
In the present embodiment, when cell voltage declines with the increase of working time, it is above-mentioned it is improved after nobody
Machine correspondingly dynamically can adjust PWM value (throttle value) according to the variation of voltage value, effective guarantee driving of the electric tune to motor
Ability, ensure that the stability of motor speed, to solve influence caused by cell voltage decline steadily takes off on unmanned plane.This
Outer above scheme can also improve stability of the aircraft when executing other flare maneuvers, such as lithium battery in flight course
Single-unit battery core is damaged suddenly, and cell voltage will drastically reduce moment at this time, and the acute variation of voltage will lead to unmanned plane and rise suddenly
Power is insufficient, quickly drops, very likely falls machine/aircraft bombing event in such cases, using method provided in this embodiment into
After row improves, even if occurring such situation suddenly, if remaining total electricity can still maintain unmanned plane normal flight at this time, fly control
Unit meeting moment adjust automatically PWM value avoids air crash thing caused by unexpected lift deficiency to guarantee the steady of rotor revolving speed
Part.
Embodiment 2:
As shown in Fig. 2, the present embodiment provides a kind of unmanned planes to patrol based on the improved unmanned plane of method in embodiment 1
Patrol system comprising the unmanned plane for going on patrol monitoring station (patrol monitoring station is by artificial on duty), being made of multi rack quadrotor
Cluster, quantity identical as quadrotor landing platform, for quadrotor provide navigation land marking with
And the wireless receiver (being not shown in Fig. 2) on landing platform and with patrol monitoring station communication connection is set；Landing is flat
Platform can stop quadrotor and provide charging to it, and each landing platform stops a frame quadrotor；Ground mark
Knowledge marks patrol route on the ground, and patrol route is in end to end closed figure, and all landing platforms are spaced setting
On patrol route；Including camera unit of taking photo by plane, mark recognition unit and wireless communication module, (quadrotor flies quadrotor
The specific structure of row device is not shown in the accompanying drawings), mark recognition unit identification land marking guarantees quadrotor from current
Landing platform along patrol route autonomous flight and can drop to next landing platform after taking off；When patrol, patrol monitoring station passes through
Wireless communication module of the wireless receiver on quadrotor issues instruction of taking off, and all quadrotors are simultaneously
Landing platform where from it takes off, and in flight course, mark recognition unit identification land marking realizes patrol route navigation, takes photo by plane
Camera unit shoots the video image of corresponding beat, and the video information of shooting is sent to wirelessly by wireless communication module in real time
Received video information is transmitted to patrol monitoring station by data collector, wireless receiver, and each quadrotor is by upper
It states mode and successively flies to next landing platform from a landing platform along patrol route, patrolled in diagram beat to realize
It patrols.
In the above-described embodiments, unmanned plane patrol system is by identifying that land marking navigates, and patrol route is by ground
Mark is marked, and is navigated during unmanned plane patrol without GPS and storing map, therefore its control mode is relatively easy and will not
Occur blocking because of building the case where causing positioning accuracy reduction, flight to drift off the course on the way or knock building, it is more important
, due to precisely being navigated using land marking, as long as land marking to be arranged in relatively spacious place, unmanned plane is at all
It does not need to avoid collision by anti-collision system.What is particularly worth mentioning is that going on patrol system in unmanned plane provided by the above embodiment
In system, the unmanned plane cluster of multi rack quadrotor composition respectively takes off from different landing platforms simultaneously, can be extremely short
Time in complete patrol work to entire patrol route.Such as shown in Fig. 2,70 kilometers of entire patrol route overall length, every 5 is public
In a landing platform is set, 14 landing platforms are set altogether, stop a frame quadrotor drone, group on each landing platform
At the cluster of a 14 frame unmanned planes, it is assumed that the flying speed of quadrotor drone is 10m/s, then unmanned plane is flat from a landing
Platform flew to the time of next landing platform less than 9 minutes, starts to go on patrol since unmanned plane cluster takes off simultaneously, then theoretically may be used
Just to complete the patrol work of entire patrol route in 9 minutes.It charges on landing platform after unmanned plane landing landing platform,
By common consumer level unmanned plane battery durable 20-25 minutes, charging come for time-consuming 120 minutes from 0% to 100% on the market at present
It calculates, the electricity consumed in above-mentioned 9 minutes flight time is about 40% or so, therefore only need 60 minutes or so can be complete for landing platform
The charging of pairs of unmanned plane, that is to say, that the unmanned plane patrol system every 69 minutes just achievable to 70 kilometers of route patrols one
It is secondary, it goes on patrol efficiency and frequency and is substantially improved compared to existing artificial patrol is available, it is higher and higher in personnel's wage
Today, using above-mentioned unmanned plane patrol system obviously can be greatly reduced large-scale infrastructure management company, AnBao Co., Ltd manpower at
This.
It should be noted that in the above-described embodiments, the mode that landing platform provides charging to quadrotor can be with
There are many, such as can be charged using wireless charging (induction or magnetic resonance type wireless charging), magnetic contact etc.,
In subsequent description, specific embodiment of the emphasis to induction wireless charging is elaborated.
It additionally needs, it is emphasized that in the present embodiment, land marking can use sightless Infrared ID, if adopting
With Infrared ID, then it is corresponding using infrared sensor to identify recognition unit, naturally it is also possible to using in two neighboring landing
The flexible LED lamp bar powered independently of one another is arranged between platform, and (flexible LED lamp bar includes multiple spaced LED light, preferably with red
Colored lights identifies convenient for daytime) it is formed, single led lamp is successively lighted along patrol route, when next LED light is lighted, previous LED
Lamp extinguishes, to form light navigation track, mark recognition unit tracks the movement of luminous point using visual identity tracer technique, from
And guaranteeing quadrotor can fly to next landing platform (landing platform along above-mentioned smooth light track from a landing platform
On landing label symbol or stroboscopic/be always on LED light as landing mark can be set).
In the present embodiment, it is preferred that land marking mainly include be applied over road surface road surface identification lines and
The landing label symbol being applied on landing platform, accordingly, mark recognition unit include flying for obtaining positioned at quadrotor
First camera of device front lower place land marking image and for obtain be located at quadrotor immediately below land marking figure
The second camera of picture, the image that the first camera obtains isolate route ahead signal after processing, and second camera obtains
Figure isolate current position signal after processing, the winged control unit combination route ahead signal of quadrotor and current
The variation of position signal is corresponding to be controlled the quadrotor and flies or turn forward or drop to landing down along patrol route
Platform.It is above-mentioned to apply the land marking building mode phase that lines identified and landed label symbol using in beat road surface
There is construction is simple than other schemes (such as LED light bar, Infrared ID etc.), the advantages of cost is relatively low corresponds to above-mentionedly
Face identifies building mode, and the flight control of unmanned plane can use following scheme: when the first camera and second camera obtain
Land marking image be mark lines, then unmanned plane continuation fly forward；When the first camera gets landing marker character
Number, and the land marking image that second camera obtains still is mark lines, then unmanned plane reduces speed now but continues to fly forward
Row；With the continuation of flight, when the land marking image that the first camera obtains is to identify lines, and second camera is got
When label symbol of landing, unmanned plane stopping flies forward and starts to land；When the first camera monitor mark lines curve, and
Second camera obtain land marking image be straight mark lines when, then unmanned plane reduce speed now forward flight and accordingly with
With front mark lines turning.In short, as long as when the land marking that second camera obtains is landing label symbol, nothing
Man-machine just to stop flying forward and starting to land, unmanned plane all keeps flying forward and (be supervised according to the first camera in the case of other
The front mark variation measured correspondingly adjusts flying speed and direction).Front road is monitored by above-mentioned two camera
Line variation and current location variation, it is ensured that unmanned plane more accurately lands and turns in the faster situation of flying speed
(actually in the scheme using LED light bar as land marking, it can also be single as mark identification using above-mentioned dual camera
Member, for tracking mobile luminous point, second camera is used to obtain the land marking immediately below unmanned plane the first camera, when the
One camera gets landing mark and second camera when landing mark has not been obtained, and unmanned plane reduces speed now, and takes the photograph when second
When getting landing mark as head, unmanned plane stopping flies forward and starts to land).
In the above-described embodiment, road surface identification lines can be using the already existing yellow/white of road surface script
Traffic marking, and landing platform is connected on the light pole of road both sides by a fixed bracket.Utilize road surface original
Traffic marking existing for this can save tag line item as land marking and apply work, shorten the establishment of unmanned plane patrol system
Time, while advantageously reducing construction cost.It further, can also be in yellow/White traffic graticule and landing label symbol
Surface coat one layer of reflectorized material, install on multi-rotor aerocraft and penetrated for irradiating the LED of front lower place and underface road surface
Lamp, under the irradiation of LED spotlight, the reflective material layer reflection light on traffic marking surface can allow graticule and landing label clear
It is clear as it can be seen that this to improve unmanned plane mark recognition unit night identification accuracy be highly useful.
In addition, in above-mentioned unmanned plane patrol system, it is preferred that the wireless communication module of quadrotor and landing are flat
It is carried out wireless communication between wireless receiver on platform using OFDM transmission technology, wireless receiver and patrol monitor
Wire communication is used between standing, quadrotor is along patrol route flight course, and wireless communication module is automatically each wireless
Soft handover is carried out between data collector, so that the video information real-time Transmission for camera unit shooting of taking photo by plane described in guaranteeing extremely is gone on patrol
Monitoring station.
Further, in above-mentioned unmanned plane patrol system, it is preferred that as it can be seen in figures 5 and 6, landing platform further includes one
For carrying out the wireless charging base of induction charging to quadrotor, the bottom of quadrotor is equipped with by electric wire
Circle, wireless charging base includes controller, power transmission coil, coil mounting base, the electric resistance touch-control panel (knot of electric resistance touch-control panel
Structure with and the driving device (driving device is not shown in the accompanying drawings) that all around moves of driving coil mounting base, power transmission coil
It is fixed in coil mounting base, coil mounting base and power transmission coil are all provided in the lower section of electric resistance touch-control panel, landing mark
Note symbol is printed on electric resistance touch-control panel, and quadrotor is equipped with three or more supporting legs, the position of power receiving coil
It is fixed relative to supporting leg and its positional relationship between supporting leg is previously written in the control program of wireless charging base, when four
After rotor craft drops on landing platform, the bottom end of supporting leg is pressed on electric resistance touch-control panel, and controller is first according to electricity
The variation of resistive touch panel pressure spot resistance value calculates accurate location of each supporting leg on electric resistance touch-control panel, then root
The accurate location of power receiving coil is calculated according to the positional relationship between power receiving coil and supporting leg, then controls driving device driving
Coil mounting base is mobile, so that power transmission coil is accurately moved to the underface of power receiving coil, before charging starts, controller sending refers to
Power supply of the cutting to electric resistance touch-control panel is enabled, after charging complete, controller issues power supply of the instruction cutting to power transmission coil.It is many
Well known, the charge efficiency of induction wireless charging is closely related with the contraposition accuracy of coil, although in the prior art
Have some technical solutions that accurate contraposition is realized by the movement of power transmission coil, but it is by constantly comparing and calculating mostly
It is faradic in power transmission coil moving process to change to find the position of power receiving coil, it is finally completed contraposition.Such as millet is public
Department's application is exactly that using the above scheme, such coil is automatic application No. is the Chinese invention patent of " 2016102524424 "
Alignment mode there are in fact certain blindness, and the process for completing contraposition takes a long time, and the present invention is touched by using resistance-type
Supporting plate of the panel as cradle is controlled, when the supporting leg of unmanned plane is pressed on electric resistance touch-control panel, controller can be accurate
It determines the position of supporting leg, then the position of power receiving coil can be accurately calculated by the positional relationship of power receiving coil and supporting leg, most
Corresponding be moved to immediately below power receiving coil of power transmission coil need to only be aligned by driving device afterwards, power transmission coil pair
Bit rate is fast and accurate.
Further, shown in seeing figures 3 and 4, above-mentioned landing platform further include a top be equipped with electrically operated gate closed cabin and
Motor for driving electrically operated gate to open and close, the motor control (motor and single-chip microcontroller are not shown in the accompanying drawings) by a single-chip microcontroller,
Wireless charging base is integrally set in closed cabin, and landing label symbol is also printed in electrically operated gate, a radio is additionally provided in electrically operated gate
Receiver is equipped with remote control module on quadrotor, sends opening-closing door letter to radio receiver by remote control module
Number, single-chip microcontroller controls the positive/negative rotation of motor, so that it may realize that electrically operated gate overturning opens/closes.When aircraft lands, first pass through distant
It controls module and sends opening signal opening electrically operated gate, then aircraft is down into closed cabin, and stable landing is in electric resistance touch-control
On panel, door signal is sent by remote control module at this time, closes electrically operated gate；Before taking off, aircraft is sent out by remote control module again
Opening signal is sent, electrically operated gate is opened, just executes takeoff maneuver later, after completion is taken off, aircraft is sent by remote control module again
Door signal can close electrically operated gate.Cradle, which is set in closed cabin, following benefit: 1, can usually close electrically operated gate, prevent
Only electric resistance touch-control panel surface is contaminated.2, the closed cabin can be used as the stop storehouse of aircraft, when not going on patrol, aircraft
Being parked in closed cabin can be to avoid being exposed to the sun and rain.
Finally, above-mentioned wireless receiver be set to closed cabin outside, patrol monitoring station by wireless receiver to
Wireless communication module on quadrotor issues control mode switch instruction, quadrotor automatic control mode with
It is switched between manual control mode, under manual control mode, mark recognition unit stops working.Oneself that can be switched is set
Dynamic control model and manual control mode may be implemented in emergency circumstances to carry out manual intervention to aircraft certain, avoid accident
Occur, and when needing to replace battery (or other daily maintenances) to all aircraft, it can also be flown by manual control
Device drops on the ground of patrol route one by one by it or flies to patrol monitoring station, so as to mitigate nothing to a certain extent
Man-machine maintenance workload improves line service efficiency.
In order to allow those of ordinary skill in the art more easily to understand the improvements of the present invention compared with the existing technology, this
Some attached drawings of invention and description have been simplified, and for the sake of clarity, present specification is omitted some other members
Element, the element that those of ordinary skill in the art should be aware that these are omitted also may make up the contents of the present invention.
Claims (8)
1. a kind of unmanned plane patrol system, it is characterised in that:
Including patrol monitoring station, the unmanned plane cluster being made of multi rack multi-rotor aerocraft, identical as the multi-rotor aerocraft
The landing platform of quantity, the land marking for providing navigation to the multi-rotor aerocraft and setting are in the landing platform
Wireless receiver upper and with patrol monitoring station communication connection；
The multi-rotor aerocraft improves its autonomous flight stability using following methods: obtaining the repeatedly multi-rotor aerocraft
Lithium battery voltage value and corresponding PWM value when executing various flare maneuvers and keeping flight stability state；According to described
Lithium battery voltage value of the multi-rotor aerocraft when executing various flare maneuvers and keeping flight stability state is fitted with PWM value
The functional relation of battery voltage value and PWM value；More rotors are written in the functional relation of the battery voltage value and PWM value
In the included winged control program of aircraft；According to the functional relation and according to the real-time change of lithium battery voltage, allow described more
The winged control unit of rotor craft is adjusted accordingly PWM value, so that improving the multi-rotor aerocraft is executing various flights
Autonomous flight stability when movement；
The landing platform can stop multi-rotor aerocraft and provide charging to it, and each landing platform stops the more rotors of a frame
Aircraft；
The land marking marks patrol route on the ground, and the patrol route is in end to end closed figure, described
Landing platform is arranged at intervals on patrol route；
The multi-rotor aerocraft includes take photo by plane camera unit, mark recognition unit and wireless communication module, the mark identification
Unit identification land marking guarantees along patrol route autonomous flight and to drop after multi-rotor aerocraft takes off from current landing platform
Drop down onto next landing platform；
When patrol, the patrol monitoring station is issued by wireless communication module of the wireless receiver on multi-rotor aerocraft
It taking off instruction, all multi-rotor aerocrafts take off from landing platform where it simultaneously, in flight course, the camera unit of taking photo by plane
The video image of corresponding beat is shot, the video information of shooting is sent to wireless data by the wireless communication module in real time
Received video information is transmitted to patrol monitoring station by transceiver, the wireless receiver, and the multi-rotor aerocraft is pressed
Aforesaid way successively flies to next landing platform from a landing platform along patrol route, patrols in fixed area to realize
It patrols.
2. unmanned plane patrol system according to claim 1, it is characterised in that:
The land marking includes the landing mark for being applied over the road surface identification lines of road surface and being applied on landing platform
Remember symbol；
The mark recognition unit includes for obtaining the first camera shooting for being located at multi-rotor aerocraft front lower place land marking image
Head and for obtains be located at multi-rotor aerocraft underface land marking image second camera；
The image that first camera obtains isolates route ahead signal, the figure that the second camera obtains after processing
As isolating current position signal after processing, winged control unit the combination route ahead signal of the multi-rotor aerocraft and currently
The variation of position signal is corresponding to be controlled the multi-rotor aerocraft and flies or turn forward or drop to landing down along patrol route
Platform.
3. unmanned plane patrol system according to claim 2, it is characterised in that: the road surface identification lines are to be applied over road
The yellow in face/White traffic graticule, the landing platform are connected on the light pole of road both sides by a fixed bracket.
4. unmanned plane patrol system described in any one of -3 according to claim 1, it is characterised in that: more rotor flyings
It is carried out wireless communication between wireless receiver on the wireless communication module and landing platform of device using OFDM transmission technology,
Wire communication is used between the wireless receiver and patrol monitoring station, the multi-rotor aerocraft flies along patrol route
In the process, the wireless communication module carries out soft handover between each wireless receiver automatically, to take photo by plane described in guaranteeing
The video information real-time Transmission of camera unit shooting is to going on patrol monitoring station.
5. unmanned plane patrol system according to claim 3, it is characterised in that: the yellow/White traffic graticule and drop
The surface of drop marker symbol is coated with one layer of reflectorized material, is equipped on the multi-rotor aerocraft for irradiating front lower place and just
The LED spotlight on lower section road surface.
6. unmanned plane patrol system according to claim 1, it is characterised in that: the landing platform further include one for
Multi-rotor aerocraft carries out the wireless charging base of induction charging, and the bottom of the multi-rotor aerocraft is equipped with by electric wire
Circle, the wireless charging base include controller, power transmission coil, coil mounting base, electric resistance touch-control panel and the driving line
The driving device that circle mounting base all around moves, the power transmission coil are fixed in coil mounting base, the coil peace
Dress seat and power transmission coil are all provided in the lower section of electric resistance touch-control panel, and the landing label symbol is printed on electric resistance touch-control panel
On, the multi-rotor aerocraft is equipped with three or more supporting legs, and the position of the power receiving coil is fixed relative to supporting leg
And its positional relationship between supporting leg is previously written in the control program of wireless charging base, the multi-rotor aerocraft landing
After on to landing platform, the bottom end of the supporting leg is pressed on electric resistance touch-control panel, and the controller is first touched according to resistance-type
The variation of control panel pressure spot resistance value calculates accurate location of each supporting leg on electric resistance touch-control panel, further according to described
Positional relationship between power receiving coil and supporting leg calculates the accurate location of power receiving coil, then controls the driving device and drives
Moving winding mounting base is mobile, so that the power transmission coil is accurately moved to the underface of power receiving coil, before charging starts, the control
Device processed issues power supply of the instruction cutting to electric resistance touch-control panel, and after charging complete, the controller issues instruction cutting to sending
The power supply of electric coil.
7. unmanned plane patrol system according to claim 6, it is characterised in that: the landing platform further includes that a top is set
There are the closed cabin of electrically operated gate and the motor for driving the electrically operated gate folding, the motor to control by a single-chip microcontroller, institute
It states wireless charging base to be integrally set in closed cabin, landing label symbol is also printed in the electrically operated gate, is also set in the electrically operated gate
There is a radio receiver, the multi-rotor aerocraft is equipped with remote control module, and the remote control module is sent out to radio receiver
Opening-closing door signal is sent, the single-chip microcontroller controls the positive/negative rotation of motor, so that the electrically operated gate overturning be driven to open/close.
8. unmanned plane patrol system according to claim 7, it is characterised in that: the wireless receiver is set to closed
Portion out of my cabin, the patrol monitoring station issue control by wireless communication module of the wireless receiver on multi-rotor aerocraft
Pattern switching instruction, the multi-rotor aerocraft switches between automatic control mode and manual control mode, described
Under manual control mode, the mark recognition unit stops working.
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| CN106814752A (en) * | 2017-03-21 | 2017-06-09 | 广东容祺智能科技有限公司 | A kind of round-the-clock City Surveillance System based on unmanned plane cluster |
| CN107219794B (en) * | 2017-06-13 | 2022-03-04 | 长沙灵动航空科技有限公司 | Manual and automatic voltage switching control method and device for long-endurance unmanned aerial vehicle electromechanical system |
| CN108622432B (en) * | 2018-04-27 | 2021-09-14 | 内蒙古工业大学 | Intelligent take-off and landing and autonomous cruising system of pick up type vehicle-mounted unmanned aerial vehicle |
| CN109521791A (en) * | 2018-09-28 | 2019-03-26 | 易瓦特科技股份公司 | Identification method and device based on earth station |
| CN111401146A (en) * | 2020-02-26 | 2020-07-10 | 长江大学 | Unmanned aerial vehicle power inspection method, device and storage medium |
| CN111439382B (en) * | 2020-04-14 | 2023-06-06 | 上海航天电子有限公司 | Intelligent combined unmanned aerial vehicle system |
| CN112319833B (en) * | 2020-10-30 | 2022-08-12 | 北京京东乾石科技有限公司 | Automatic airport and unmanned aerial vehicle charging system, method, equipment and storage medium |
| CN112319807B (en) * | 2020-11-12 | 2022-05-10 | 广东联合金地不动产评估勘测设计有限公司 | Unmanned aerial vehicle control platform control method based on intelligent equipment |
| CN112596453A (en) * | 2021-03-04 | 2021-04-02 | 南京纬多科技有限公司 | Standardized unmanned aerial vehicle electric power control system |
| CN114237282B (en) * | 2021-11-29 | 2023-10-27 | 南京邮电大学 | Unmanned aerial vehicle flight path intelligent planning method for intelligent industrial park monitoring |
| CN114750972B (en) * | 2022-04-27 | 2024-05-14 | 西安理工大学 | Multi-rotor unmanned aerial vehicle recycling auxiliary navigation device and method |
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| CN201399244Y (en) * | 2009-04-27 | 2010-02-10 | 上海九鹰电子科技有限公司 | Model airplane remote controller capable of displaying throttle dynamic manipulated variable |
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| US8296036B2 (en) * | 2009-09-23 | 2012-10-23 | Aerovironment, Inc. | Aircraft power management |
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| CN104590552A (en) * | 2014-12-08 | 2015-05-06 | 天津大学 | Miniature multi-rotor aircraft based on visual navigation |
| CN104765360B (en) * | 2015-03-27 | 2016-05-11 | 合肥工业大学 | A kind of unmanned plane autonomous flight system based on image recognition |
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| CN205525004U (en) * | 2016-03-01 | 2016-08-31 | 深圳市大疆创新科技有限公司 | Controlling means , driving system and unmanned vehicles of motor |
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| CN201399244Y (en) * | 2009-04-27 | 2010-02-10 | 上海九鹰电子科技有限公司 | Model airplane remote controller capable of displaying throttle dynamic manipulated variable |
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Inventor after: Xiao Dongrui Inventor after: Yao Shengxing Inventor after: Li Zulin Inventor after: Wang Ren Inventor after: Wang Xiaohu Inventor after: Yan Yazhou Inventor after: Zhang Wenxiang Inventor before: Xiao Dongrui Inventor before: Yao Shengxing |
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