CN107016840A - A kind of method based on the key alignment pattern of head one put on the basis of manipulator - Google Patents
A kind of method based on the key alignment pattern of head one put on the basis of manipulator Download PDFInfo
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- CN107016840A CN107016840A CN201611005262.2A CN201611005262A CN107016840A CN 107016840 A CN107016840 A CN 107016840A CN 201611005262 A CN201611005262 A CN 201611005262A CN 107016840 A CN107016840 A CN 107016840A
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- remote control
- machine body
- main body
- machine
- manipulator
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- 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 based on the key alignment pattern of head one put on the basis of manipulator, including wireless remote control machine and remote control, described wireless remote control machine include machine body, message processing module, are automatically positioned module, a key alignment keys；Science innovation sets the key alignment pattern of head one, allow manipulator at any time, any position, any angle can real-time and precise control wireless remote control machine head and manipulator between direction relationses, it is easy to make the beneficial effect of lower step telecommand in real time, be conducive to the higher efficiency completion work within the limited operation time of wireless remote control machine, also allow for manipulator and precisely manipulate.
Description
Technical field
The present invention relates to wireless remote control field of machines, more particularly to it is a kind of based on the key pair of head one put on the basis of manipulator
The method of quasi-mode.
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.
When traditional wireless remote control machine has distant or it is obscured by an obstacle after sight, manipulator can not precisely slap
Wireless remote control machine head institute is controlled towards direction, manipulator needs to grope to identify court of wireless remote control machine head institute by adjusting
Direction, can so consume the wireless remote control machine limited working time, so as to reduce operating efficiency, manipulator can not precisely grasp
The deficiencies such as control.
The content of the invention
The technical problems to be solved by the invention are a kind of based on the head one put on the basis of manipulator by scientific design
The method of key alignment pattern, solve existing wireless remote control machine can not precisely control head towards the problem of.
The present invention solve the technical scheme that is used of above-mentioned technical problem for：It is a kind of based on the head put on the basis of manipulator
The method of one key alignment pattern, 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 lamp, left control handle, a key alignment keys, right control handle；Described message processing module and to be automatically positioned module solid respectively
Surely it is arranged on inside described machine body；Described wireless remote control machine and described remote control are linked work by wireless signal
Make.
When the machine body described in described wireless remote control machine moves to A1 points from point of departure A, manipulator is also by B points
Move to B1 points, due to it is distant or be obscured by an obstacle can not understand control described in machine body head when, by institute
The remote control main body stated presses a key alignment keys described in described remote control main body towards any one direction, described
Red indicator lamp starts flicker, and described remote control main body sends " key alignment " to described machine body by wireless signal and referred to
Information is made, the described message processing module inside described machine body is fixedly installed on and receives " key alignment " instruction letter
Breath, according to it is described be automatically positioned module provide described in machine body azimuthal coordinates information, instructed after information processing
Described machine body moves to described remote control main body towards on the closest position A2 of directions of rays, and with it is described
Remote control main body is extinguished towards consistent, described red indicator lamp, and described green indicator lamp length is bright, completes described machine body machine
Head " key alignment " work；
Described machine body to described remote control main body towards directions of rays during moving, and manipulator can be with
It is transferred to by the picture pick-up device of device on described machine body on display screen described in described remote control main body in real time
The image of display, passes through the machine body described in the left and right control handle remote control described in device in described remote control main body
Avoiding obstacles.
The beneficial effects of the present invention are with science innovation set the key alignment pattern of head one, allow manipulator it is in office when
Between, any position, any angle can real-time and precise control wireless remote control machine head and manipulator between direction relationses,
It is easy to make the beneficial effect of lower step telecommand in real time, is conducive to wireless remote control machine higher efficiency within the limited operation time
Work is completed, manipulator is also allowed for and precisely manipulates.
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 implements schematic diagram for the key of head one alignment 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 based on the key pair of head one put on the basis of manipulator
The method of quasi-mode, 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 alignment keys 10, right control handle 11；Described message processing module 2 and automatic positioning die
Block 3 is respectively fixedly disposed at the described the inside of machine body 1；Described wireless remote control machine passes through wireless with described remote control
Signal linkage 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 move to A1 points when, manipulator also moves to B1 points by B points, due to distant or be obscured by an obstacle can not
During the head of the described machine body 1 of clear control, by described remote control main body 5 towards any one direction, press described
Remote control main body 5 on described key alignment keys 10, described red indicator lamp 8 starts flicker, described remote control main body 5 to
Described machine body 1 sends " key alignment " command information, is fixedly installed on the described letter of the described the inside of machine body 1
Breath processing module 2 receives " key alignment " command information, according to it is described the offer of module 3 is provided described in machine master
The azimuthal coordinates information of body 1, instructs described machine body 1 to move to the described direction of remote control main body 5 after information processing
On the closest position A2 of directions of rays, and extinguish with described remote control main body 5 towards consistent, described red indicator lamp 8,
Described green indicator lamp 7 grows bright, the described head of machine body 1 " key alignment " work of completion；Described machine body 1 to
During described remote control main body 5 is moved towards directions of rays, manipulator can pass through device on described machine body 1
Picture pick-up device be transferred to the image shown in real time on display screen 6 described in described remote control main body 5, by described distant
Control the described left and right control handle 9 of device in device main body 5, 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 alignment " instruction, described message processing module 2 is according to the described orientation for being automatically positioned the offer of module 3
Coordinate data calculates course angle yaw1, and calculates the course angle yaw2 of described remote control main body alignment, both differences
It is worth the direction that head is adjusted as the machine body 1 described in information input instruction, during exercise continuous positioning calculation difference in real time,
Until moving to, described remote control main body 5 is towards on the position of directions of rays, and reach the described head of machine body 1 with
Described remote control main body 5 is towards consistent；
Computational methods：
In this particular embodiment, as shown in Figure 1, Figure 2, Figure 3 shows,
1. yaw2 is updated based on described machine body 1 and described 5 two azimuthal coordinates point longitudes and latitudes of remote control main body
The distance between two azimuthal coordinates points calculate 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. the course heading yaw2 motion with described machine body 1 and real-time 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.
The beneficial effects of the present invention are with science innovation set the key alignment pattern of head one, allow manipulator it is in office when
Between, any position, any angle can a real-time key operation by wireless remote control machine autonomous travel to remote control towards direction
On ray position, it is easy to make the beneficial effect of lower step telecommand in real time, is conducive to wireless remote control machine in limited operation
Interior higher 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 have embodiment make various modifications 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
The arts such as device main body 5, display screen 6, green indicator lamp 7, red indicator lamp 8, left control handle 9, a key alignment keys 10, right control handle 11
Language, but it is not precluded from the possibility using other terms.It is used for the purpose of more easily describing and explaining this using these terms
The structure of invention, the beneficial effect that can be reached with operation workflow is assembled, be construed as any additional limitation all
Disagreed with spirit of the present invention.
Claims (1)
1. a kind of method based on the key alignment pattern of head one 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 includes remote control main body, antenna, display screen, green indicator lamp, red indicator lamp, left control handle, a key alignment keys, right behaviour
Control handle；Described message processing module is respectively fixedly disposed inside described machine body with module is automatically positioned；It is described
Wireless remote control machine pass through wireless signal linkage work with described remote control；
When the machine body described in described wireless remote control machine moves to A1 points from point of departure A, manipulator is also moved by B points
, will be described due to distant or when being obscured by an obstacle the head that can not understand the machine body described in controlling to B1 points
Remote control main body presses a key alignment keys described in described remote control main body, described red finger towards any one direction
Show that lamp starts flicker, described remote control main body sends " key alignment " command information to described machine body, is fixedly installed
Message processing module described in inside the described machine body receives " key alignment " command information, according to it is described from
The azimuthal coordinates information for the described machine body that dynamic locating module is provided, instructs described machine body to transport after information processing
Described remote control main body is moved towards on the closest position A2 of directions of rays, and with described remote control main body towards one
Cause, described red indicator lamp extinguishes, and described green indicator lamp length is bright, completes described machine body head " key alignment " work
Make；
Described machine body to described remote control main body towards directions of rays during moving, and manipulator can pass through
The picture pick-up device of device is transferred on display screen described in described remote control main body and shown in real time on described machine body
Image, avoided by the machine body described in the left and right control handle remote control described in device in described remote control main body
Barrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611005262.2A CN107016840A (en) | 2016-11-10 | 2016-11-10 | A kind of method based on the key alignment pattern of head one put on the basis of manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611005262.2A CN107016840A (en) | 2016-11-10 | 2016-11-10 | A kind of method based on the key alignment pattern of head one put on the basis of manipulator |
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| CN2737443Y (en) * | 2004-10-21 | 2005-11-02 | 陈亮 | Remote control toy trailer |
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| CN204093038U (en) * | 2014-10-16 | 2015-01-14 | 江阴市翔诺电子科技有限公司 | A kind of control device of aeromodelling airplane |
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| CN105148541A (en) * | 2015-10-15 | 2015-12-16 | 王丽芸 | Remote control flight toy and remote control flight method |
| CN105469579A (en) * | 2015-12-31 | 2016-04-06 | 北京臻迪机器人有限公司 | Somatosensory remote control and somatosensory remote control flying system and method |
| CN105487554A (en) * | 2016-01-12 | 2016-04-13 | 武汉顶翔智控科技有限公司 | Multi-rotor unmanned aerial vehicle automatic homeward flight path planning algorithm |
| CN105652890A (en) * | 2016-01-29 | 2016-06-08 | 北京臻迪机器人有限公司 | Unmanned aerial vehicle control method and device |
| CN105730687A (en) * | 2016-04-13 | 2016-07-06 | 北京印刷学院 | Three-axis aircraft |
| CN105992980A (en) * | 2015-05-18 | 2016-10-05 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and device based on headless mode |
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Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA1163701A (en) * | 1980-06-30 | 1984-03-13 | Frederick H. Raab | Remote object position and orientation locator |
| CN2737443Y (en) * | 2004-10-21 | 2005-11-02 | 陈亮 | Remote control toy trailer |
| JP2011170844A (en) * | 2010-01-20 | 2011-09-01 | Ihi Aerospace Co Ltd | Control method for unmanned vehicle |
| CN104018676A (en) * | 2014-03-04 | 2014-09-03 | 三一汽车制造有限公司 | Engineering machinery, arm support control system and arm support control method |
| CN204093038U (en) * | 2014-10-16 | 2015-01-14 | 江阴市翔诺电子科技有限公司 | A kind of control device of aeromodelling airplane |
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| CN105148541A (en) * | 2015-10-15 | 2015-12-16 | 王丽芸 | Remote control flight toy and remote control flight method |
| CN105469579A (en) * | 2015-12-31 | 2016-04-06 | 北京臻迪机器人有限公司 | Somatosensory remote control and somatosensory remote control flying system and method |
| CN105487554A (en) * | 2016-01-12 | 2016-04-13 | 武汉顶翔智控科技有限公司 | Multi-rotor unmanned aerial vehicle automatic homeward flight path planning algorithm |
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