CN106959699A - A kind of method for pattern of being maked a return voyage automatically based on the key put on the basis of manipulator - Google Patents
A kind of method for pattern of being maked a return voyage automatically based on the key put on the basis of manipulator Download PDFInfo
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- CN106959699A CN106959699A CN201611034338.4A CN201611034338A CN106959699A CN 106959699 A CN106959699 A CN 106959699A CN 201611034338 A CN201611034338 A CN 201611034338A CN 106959699 A CN106959699 A CN 106959699A
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- Prior art keywords
- remote control
- key
- main body
- machine body
- machine
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- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Abstract
A kind of method for pattern of being maked a return voyage automatically based on the key put on the basis of manipulator, including wireless remote control machine and remote control, described wireless remote control machine includes machine body, message processing module, is automatically positioned module, described message processing module is respectively fixedly disposed inside described machine body with module is automatically positioned, and six described axle sensors are fixedly installed on inside described remote control main body；Described wireless remote control machine passes through wireless signal linkage work with described remote control；Science innovation sets a key to make a return voyage automatically pattern, allow manipulator at any time, any position can a real-time key make a return voyage withdrawal wireless remote control machine, it is easy to make the beneficial effect of lower step telecommand in real time, is conducive to the higher efficiency completion work within the limited operation time of wireless remote control machine.
Description
Technical field
The present invention relates to wireless remote control field of machines, more particularly to a kind of returned automatically based on the key put on the basis of manipulator
The method of model plane formula.
Background technology
With the development of science and technology, wireless remote control machine has turned into the part that the modern life works, wireless remote control machine is
Exhibited one's skill to the full in each field in sea, land and sky, instead of the mankind complete can not much come to personally high-altitude, the water surface, under water, cave, pollution
Work in source, hazardous environment.
Be present the positional information for only storing former point of departure in traditional wireless remote control machine, write from memory automatically when sending and making a return voyage instruction
Recognize the former point of departure of return, and in practical operation, manipulator can carry out position movement mostly, leave former point of departure, traditional nothing
Line remote-controlled machine just can not find it is new make a return voyage a little, this not only have impact on the wireless remote control machine limited working time, also influence
The deficiencies such as the operating efficiency of manipulator.
The content of the invention
The technical problems to be solved by the invention be by scientific design it is a kind of based on the key put on the basis of manipulator from
The method of dynamic pattern of making a return voyage, solves the problem of existing wireless remote control machine can not follow the trail of the movement of manipulator position and make a return voyage automatically.
The present invention solve the technical scheme that is used of above-mentioned technical problem for：It is a kind of based on the key put on the basis of manipulator
The method of automatic pattern of making a return voyage, including wireless remote control machine and remote control, described wireless remote control machine include machine body, letter
Cease processing module, be automatically positioned module, described remote control includes remote control main body, antenna, display screen, green indicator lamp, red finger
Show that lamp, left control handle, a key make a return voyage key, right control handle and six axle sensors automatically；Described message processing module and
It is automatically positioned module to be respectively fixedly disposed inside described machine body, six described axle sensors are fixedly installed on described
Inside remote control main body；Described wireless remote control machine passes through wireless signal linkage work with described remote control.
When the machine body described in described wireless remote control machine from point of departure A to azimuthal point A1, azimuthal point A2 and orientation
During point A3 persistent movements, while during manipulator is also from azimuthal point B to azimuthal point B1, azimuthal point B2 persistent movements, by
In both sides all in occurring position movement, press a key described in described remote control main body and make a return voyage automatically key, described is red
Indicator lamp starts flicker, and described remote control main body instructs " key makes a return voyage automatically " the new side with described remote control main body
Position coordinate information gives described machine body by transmission of wireless signals, is fixedly installed on described inside described machine body
Message processing module receive " key makes a return voyage automatically " command information and that the transmission of described remote control subject radio comes is new
Azimuthal coordinates information, with reference to it is described be automatically positioned module provide described in machine body azimuthal coordinates information, through information
Show that the new azimuthal coordinates of described machine body are sat to the new orientation of described remote control main body after calculating, search process in real time
Target distance and angle, and voluntarily lasting adjustment moves to described remote control body position, described red indicator lamp extinguishes, institute
The green indicator lamp length stated is bright, completes described machine body " key makes a return voyage automatically " work；
Described machine body is during to the described new orientation persistent movement of remote control main body, and manipulator can lead to
The picture pick-up device for crossing device on described machine body is transferred on display screen described in described remote control main body and shown in real time
The image shown, is kept away by the machine body described in the left and right control handle remote control described in device in described remote control main body
Open barrier.
The beneficial effects of the present invention are setting a key to make a return voyage automatically pattern with science innovation, allow manipulator it is in office when
Between, any position can the key of real-time control wireless remote control machine one make a return voyage automatically to the new position of manipulator, be easy to it is quick in real time
Wireless remote control machine is reclaimed, the beneficial effect of lower step telecommand is made in time, is conducive to wireless remote control machine in limited operation
Higher efficiency completion work in time.
Brief description of the drawings
Fig. 1 is wireless remote control machine schematic diagram of the invention；
Fig. 2 is remote control schematic diagram of the invention；
Fig. 3 makes a return voyage implementation schematic diagram automatically for the key of wireless remote control machine one of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing embodiment.
Specific embodiment：
In this particular embodiment, as shown in Figure 1, Figure 2, Figure 3 shows, it is a kind of to be returned automatically based on the key put on the basis of manipulator
The method of model plane formula, including wireless remote control machine and remote control, described wireless remote control machine include machine body 1, at information
Reason module 2, it is automatically positioned module 3, described remote control includes remote control main body 5, antenna 4, display screen 6, green indicator lamp 7, red
Indicator lamp 8, left control handle 9, a key make a return voyage key 10, the axle sensor of right control handle 11 and six automatically；At described information
Reason module 2 is respectively fixedly disposed at the described the inside of machine body 1 with module 3 is automatically positioned, and six described axle sensors are fixed
It is arranged on the described the inside of remote control main body 5；Described wireless remote control machine is linked with described remote control by wireless signal
Work.
In this particular embodiment, as shown in Figure 1, Figure 2, Figure 3 shows, when the machine body described in described wireless remote control machine
1 from point of departure A to azimuthal point A1, during azimuthal point A2 and azimuthal point A3 persistent movements, at the same manipulator also from azimuthal point B to
During azimuthal point B1, azimuthal point B2 persistent movements, because both sides are in occurring position movement, described remote control master is pressed
A described key makes a return voyage key 10 automatically on body 5, and described red indicator lamp 8 starts flicker, and described remote control main body 5 is by " a key
Automatically make a return voyage " the new azimuthal coordinates information of instruction and described remote control main body 5 by transmission of wireless signals to described machine
Device main body 1, the described message processing module 2 for being fixedly installed on the described the inside of machine body 1 receives that " key is returned automatically
Boat " command information and described remote control main body 5 are wirelessly transferred the new azimuthal coordinates information come, and are automatically positioned with reference to described
The azimuthal coordinates information for the described machine body 1 that module 3 is provided, calculated through information, draw in real time after search process it is described
The new azimuthal coordinates of machine body 1 and are voluntarily persistently adjusted to the distance and angle of the new azimuthal coordinates of described remote control main body 5
Whole to move to the described position of remote control main body 5, described red indicator lamp 8 extinguishes, and described green indicator lamp 7 grows bright, completion institute
Machine body 1 " key makes a return voyage automatically " work stated；
In this particular embodiment, as shown in Figure 1, Figure 2, Figure 3 shows, described machine body 1 is to described remote control master
During the new orientation persistent movement of body 5, manipulator can be transferred to by the picture pick-up device of device on described machine body 1
The image shown in real time on described display screen 6 in described remote control main body 5, passes through device in described remote control main body 5
Described left and right control handle 9, the avoiding obstacles of machine body 1 described in 11 remote controls.
Specific implementation method：
In this particular embodiment, as shown in Figure 1, Figure 2, Figure 3 shows, described machine body 1 is receiving described remote control
After device main body 5 " key makes a return voyage automatically " instruction, described message processing module 2 is automatically positioned what module 3 was provided according to described
The new azimuthal coordinates data of described machine body 1 and described remote control main body 5 are wirelessly transferred the described remote control master come
The new azimuthal coordinates data calculation of body 5 goes out course angle yaw1, and calculates the remote control main body described in 5 pairs described of machine body
Course angle yaw2, instruct described machine body 1 to adjust the direction of head motion using both differences as information input,
Continuous positioning calculation difference in real time in motion, until moving in the described new position of remote control main body 5, " key is certainly for completion
It is dynamic to make a return voyage " work.
Computational methods：
In this particular embodiment, as shown in Figure 1, Figure 2, Figure 3 shows,
1. based on described machine body 1 and described 5 two azimuthal coordinates point longitude and latitude persistent movements of remote control main body
Update the calculating of the distance between two azimuthal coordinates points of yaw2 and use formula：
(wherein R is earth radius, α1、α2The latitude of respectively two azimuthal coordinates points, β1、β2Respectively two azimuthal coordinates
The longitude of point)
On the basis of the described azimuthal coordinates of remote control main body 5, the azimuthal coordinates of described machine body 1 are calculated, it is described
The azimuthal coordinates data with existing (α of remote control main body 51, β1), the described azimuthal coordinates data with existing (α of machine body 12, β2).It is first
The angle theta of two azimuthal coordinates point lines and meridian now is first calculated, closely estimated value is as follows：
In conjunction with the described azimuthal coordinates (α of remote control main body 51, β1), the described azimuthal coordinates (α of machine body 12, β2)
Position relationship can obtain a more rough yaw2.
2. course heading yaw2's is real-time with described machine body 1 and the persistent movement of described remote control main body 5
Update.
3. this numerical procedure acquiescence be the azimuthal coordinates using described remote control main body 5 as reference, and with described machine
The θ that the azimuthal coordinates point of device main body 1 updates realizes the alignment of the head degree of precision of described machine body 1 as real-time update,
The auxiliary judgment weight of the azimuthal coordinates point of machine body 1 described in period is with the described azimuthal coordinates point of remote control main body 5 and institute
The distance change for the azimuthal coordinates point of machine body 1 stated, distance is nearer, and weight is lower, and vice versa.
4. sat by the new azimuthal coordinates data and the described new orientation of machine body 1 of the remote control main body 5 described in calculating
Mark data obtain relative distance s and relative angle θ, and the velocity amplitude v that described machine body 1 is moved, fusion distance s, angle
θ, velocity amplitude v, are used as the accurate foundation for instructing " key makes a return voyage automatically " to move.
The beneficial effects of the present invention are setting a key to make a return voyage automatically pattern with science innovation, allow manipulator it is in office when
Between, any position can a real-time key make a return voyage automatically withdrawal wireless remote control machine, be easy to it is quick reclaim wireless remote control machine in real time,
It is easy to make the beneficial effect of lower step telecommand in real time in time, is conducive to wireless remote control machine in limited operation time Nei Genggao
Efficiency completion work.
Finally it should be noted that：Specific embodiment described herein is only to spirit explanation for example of the invention.
Those skilled in the art can to it is described with embodiment make it is various modification or supplement or
Substituted using similar mode, but without departing from the spiritual of the present invention or surmount model defined in appended claims
Enclose.
Although more having used machine body 1, message processing module 2 herein, being automatically positioned module 3, antenna 4, remote control
Device main body 5, display screen 6, green indicator lamp 7, red indicator lamp 8, left control handle 9, a key make a return voyage key 10, right control handle automatically
11st, the term such as six axle sensors, but it is not precluded from the possibility using other terms.Using these terms just for the sake of more square
Just describe and explain the structure of the present invention, assemble the beneficial effect that can be reached with operation workflow, be construed as any
A kind of additional limitation is all disagreed with spirit of the present invention.
Claims (1)
1. a kind of method for pattern of being maked a return voyage automatically based on the key put on the basis of manipulator, it is characterised in that：Including wireless remote control
Machine and remote control, described wireless remote control machine include machine body, message processing module, are automatically positioned module, described
Remote control include remote control main body, antenna, display screen, green indicator lamp, red indicator lamp, left control handle, a key make a return voyage automatically key,
Right control handle and six axle sensors；Described message processing module and be automatically positioned module be respectively fixedly disposed at it is described
Inside machine body, six described axle sensors are fixedly installed on inside described remote control main body；Described wireless remote control machine
Device passes through wireless signal linkage work with described remote control；
When the machine body described in described wireless remote control machine from point of departure A to azimuthal point A1, azimuthal point A2 and azimuthal point A3
During persistent movement, while during manipulator is also from azimuthal point B to azimuthal point B1, azimuthal point B2 persistent movements, due to double
Press a key described in described remote control main body all in occurring position movement and make a return voyage automatically key, described red instruction in side
Lamp starts flicker, and described remote control main body instructs " key makes a return voyage automatically " and the new orientation of described remote control main body is sat
Information is marked by transmission of wireless signals to described machine body, the described letter inside described machine body is fixedly installed on
The new orientation that breath processing module receives " key makes a return voyage automatically " command information and described remote control subject radio transmission comes
Coordinate information, with reference to it is described be automatically positioned module provide described in machine body azimuthal coordinates information, calculated through information,
Draw the new azimuthal coordinates of described machine body to the new azimuthal coordinates of described remote control main body after search process in real time
Distance and angle, and voluntarily lasting adjustment moves to described remote control body position, described red indicator lamp extinguishes, described
Green indicator lamp length is bright, completes described machine body " key makes a return voyage automatically " work；
Described machine body is during to the described new orientation persistent movement of remote control main body, and manipulator can pass through institute
The picture pick-up device of device is transferred to what is shown in real time on display screen described in described remote control main body on the machine body stated
Image, barrier is avoided by the machine body described in the left and right control handle remote control described in device in described remote control main body
Hinder thing.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611034338.4A CN106959699A (en) | 2016-11-10 | 2016-11-10 | A kind of method for pattern of being maked a return voyage automatically based on the key put on the basis of manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611034338.4A CN106959699A (en) | 2016-11-10 | 2016-11-10 | A kind of method for pattern of being maked a return voyage automatically based on the key put on the basis of manipulator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111596649A (en) * | 2019-02-21 | 2020-08-28 | 杭州零零科技有限公司 | Single-hand remote control device for aerial system |
| CN114355826A (en) * | 2022-01-21 | 2022-04-15 | 思翼科技（深圳）有限公司 | Unmanned aerial vehicle remote controller |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111596649A (en) * | 2019-02-21 | 2020-08-28 | 杭州零零科技有限公司 | Single-hand remote control device for aerial system |
| CN111596649B (en) * | 2019-02-21 | 2023-08-11 | 杭州零零科技有限公司 | Single hand remote control device for an air system |
| CN114355826A (en) * | 2022-01-21 | 2022-04-15 | 思翼科技（深圳）有限公司 | Unmanned aerial vehicle remote controller |
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