CN107340782A - A kind of intelligence follows unmanned vehicle and its control method - Google Patents
A kind of intelligence follows unmanned vehicle and its control method Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a kind of intelligence to follow unmanned vehicle and its control method, and the unmanned vehicle includes cage main body, and processing unit, GPS module, gravity sensing module, centre of gravity adjustment module, bluetooth module, obstacle avoidance sensor in cage main body；The processing unit is electrically connected with GPS module, gravity sensing module, centre of gravity adjustment module, bluetooth module, obstacle avoidance sensor respectively；The cage main body includes：Three embed the annulus of radially movable connection and the propeller being flexibly connected with innermost circle annulus successively.The device have the advantages that：(1), propeller number is reduced to 1 from 4 by the present invention, and propeller is placed in inside whole design, is had shell protection in vitro, is both improved aesthetics, reduces overall volume again；(2), intelligent algorithm more accurately the positioning for three-dimensional space and intelligence can follow；(3), propeller is placed in fuselage body, derives various intelligent uses.
Description
Technical field
The present invention relates to unmanned vehicle field, and in particular to a kind of intelligence follows unmanned vehicle and its control method.
Background technology
In existing technology, unmanned vehicle is the manipulation Capability Requirement to operator by remote control manual control
Compare high, its flight line randomness is too strong, somewhat controls bad, is easy for dropping, hangs tree is upper, loses etc..And existing nothing
The flying height of people's aircraft is all higher, can typically fly to 100 meters to hundreds of meters, and serious even influences Aircraft
Line, endanger public security.
In the prior art, unmanned vehicle is by remote control manual control, is difficult to control, the manipulation energy to operator
Power requires higher.And the flying height of unmanned vehicle is very high, using the work high above the ground such as be also limited to take photo by plane, in some instances it may even be possible to
Influence flight landing and flight.
In existing location technology, there are bluetooth positioning, ultrasonic wave positioning, infrared positioning and laser positioning in wireless location scheme
Etc. mode.Infrared positioning and laser positioning are all that the form of all light excessively is propagated, and when field domain environmental change or have barrier
Shi Douhui influences its positioning action.Ultrasonic wave positioning be generally used for vehicle backing system, its orientation distance is very short, and easily by
Influenceed to barrier.
In the prior art, it is difficult to which unmanned vehicle stability contorting is being followed a little into accompanying flying nearby.Existing unmanned vehicle
It is the scheme that quadruple screw propeller provides lifting force mostly in technology, is the drawbacks of this scheme, volume is big, and propeller exposes
Outside, easily blocking foreign matter causes to fall.
The content of the invention
The present invention provides a kind of intelligence and follows unmanned vehicle and its control method, passes through intelligent algorithm, bluetooth, sensor
Deng comprehensive means processing so that unmanned vehicle can follow target point to fly automatically, and can be certainly after receiving to instruct
Professional etiquette draws rational routes, and then expands the application of more hommizations.
The present invention provides a kind of intelligence and follows unmanned vehicle, including cage main body first, and in cage main body
Processing unit, GPS module, gravity sensing module, centre of gravity adjustment module, bluetooth module, obstacle avoidance sensor；The processing unit point
It is not electrically connected with GPS module, gravity sensing module, centre of gravity adjustment module, bluetooth module, obstacle avoidance sensor；The cage master
Body includes：Three embed the annulus of radially movable connection and the propeller being flexibly connected with innermost circle annulus successively.
It is preferred that the propeller is in patty, radially connect with most interior annular via a connecting rod through patty axle center
Connect.
It is preferred that the processing unit, GPS module, gravity sensing module, centre of gravity adjustment module, bluetooth module are placed in
On propeller, the obstacle avoidance sensor is placed on outmost turns annulus.
Secondly, the present invention provides the control method that a kind of intelligence follows unmanned vehicle, comprises the following steps：
Processing unit starts；
Each module self-test；
Controller is connected and sent with an information, performs each flight function.
It is preferred that each module self-test includes：Bluetooth module self-test, GPS module self-test, the self-test of gravity sensing module, center of gravity
Adjusting module self-test, the self-test of anticollision module, electricity self-test.
It is preferred that each flight function of execution includes an accompanying flying pattern, followed a little with Bluetooth matching, triangle polyester fibre flight
Height and position, a little flown automatically according to following.
It is preferred that each flight function of execution includes a navigation pattern, gps data is obtained, determines flight path, according to
A position is followed, in front vectored flight.
It is preferred that each flight function of execution includes an interrupt mode, the interrupt mode is based on interrupt source, and interrupt source is
Anticollision, electricity are low, any one in new command, are returned after performing interrupt routine.
The invention has the advantages that：
(1) propeller number is reduced to 1 from 4 by, for above-mentioned prior art the shortcomings that, the present invention, and by spiral shell
Rotation oar is placed in inside whole design, there is shell protection in vitro.Both aesthetics is improved, reduces overall volume again；
(2), intelligent algorithm more accurately the positioning for three-dimensional space and intelligence can follow, and based on this
Patent, a variety of applications can be derived；
(3), propeller is placed in fuselage body, derives various intelligent uses.
Brief description of the drawings
Fig. 1 is that the intelligence of the present invention follows the composition frame chart of unmanned vehicle；
Fig. 2 is that the intelligence of the present invention follows the cage hardware structure diagram of unmanned vehicle；
Fig. 3 is the control method theory diagram of the present invention；
Fig. 4 is the telecommunication circuit schematic diagram between GPS module and CPU in the present invention；
Fig. 5 is unmanned vehicle flight force diagram in gravity sensing technology in the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, invention is described in detail.
Shown in reference picture 1 and Fig. 2, the present invention provides a kind of intelligence and follows unmanned vehicle, including cage main body 1 first,
And processing unit in cage main body 1, GPS module, gravity sensing module, centre of gravity adjustment module, bluetooth module, anticollision pass
Sensor；The processing unit respectively with GPS module, gravity sensing module, centre of gravity adjustment module, bluetooth module, obstacle avoidance sensor
It is electrically connected with；The cage main body 1 includes：Three successively embed radially movable connection annulus 11-13 and with innermost circle annulus
13 propellers 14 being flexibly connected.
Wherein, the propeller 14 is in patty, via the connecting rod 15 and most interior annular radial direction for passing through patty axle center
Connection.The processing unit, GPS module, gravity sensing module, centre of gravity adjustment module, bluetooth module are placed on propeller, institute
Obstacle avoidance sensor is stated to be placed on outmost turns annulus 11.
In preferred embodiment, above-mentioned processing unit is CPU.
Shown in reference picture 3, the present invention also provides the control method that a kind of intelligence follows unmanned vehicle, including following step
Suddenly：
Processing unit starts；
Each module self-test；
Controller is connected and sent with an information, performs each flight function.
Wherein, each module self-test includes：Bluetooth module self-test, GPS module self-test, the self-test of gravity sensing module, center of gravity are adjusted
The self-test of mould preparation block, the self-test of anticollision module, electricity self-test.
Each flight function is performed, mainly including following Three models：
(1), accompanying flying pattern：Followed a little with Bluetooth matching, triangle polyester fibre flying height and position, it is a little automatic winged according to following
OK.Specifically, after starting accompanying flying pattern, data that CPU obtains according to bluetooth module, distance between calculating and following a little, root
According to the accompanying flying distance being previously set, the moment a little maintains a certain distance with following.Under accompanying flying pattern, interrupt mode is to open.
(2), navigation pattern：Gps data is obtained, flight path is determined, according to a position is followed, in front vectored flight.
Specifically, before starting navigation pattern, CPU can receive the navigation purpose of user's transmission, after starting navigation pattern, CPU meetings
The data obtained according to bluetooth module, calculate for following the distance between a little, guided before following a little, if distance
Follow a little too remote, can return and follow a wait to follow a little.In navigation pattern, it can use to gps data progress remote navigation and draw
Lead, accurate position is set by bluetooth.Under navigation pattern, interrupt mode is to open.
(3), interrupt mode：The interrupt mode is based on interrupt source, and interrupt source is anticollision, electricity is low, any in new command
One kind, returned after performing interrupt routine.Specifically, interrupt mode is a CPU specific function, for processing real-time requirement
High function, such as：Anticollision, electricity is low, receives newer command etc. needs CPU to make an immediate response.When interrupt response occurs, CPU is stood
Stop the data handling, determine interrupt source, and carry out targetedly interrupt processing.
Fig. 4 show the circuit diagram of the present invention, wherein：
It (1), can select existing on the market by serial communication, GPS module between GPS module and CPU in the present invention
Module, Current protocols initial option NE0-7M；
(2), communicated between gravity sensing module and CPU by iic bus.It can just be transmitted by iic bus to CPU
The data of gravity sensing；
(3), readjusting between module and CPU is realized by general purpose I/O, by the motion of controlled motor so as to controlling
Make overall gravity." center of gravity and attitude regulating technology " is specifically shown in Table 1 and Fig. 5 associated description；
(4) it is, by usb bus transmission between CPU and bluetooth module；
(5), CPU and obstacle avoidance sensor permutation are connected by iic bus, and obstacle avoidance sensor can sense correspondence direction
With the presence or absence of barrier, when being less than safe distance apart from barrier, it can think that CPU transmits interrupt signal by iic bus, remind
CPU carries out measures to keep clear.
In the present invention, the intelligence follows unmanned vehicle also to include following technical functionality：
1st, an information is followed to send：
A) follow and be a little worn on by children, adult etc. in wrist, according to software design patterns in wrist, control unmanned vehicle
Landing；
B) follow a little by low-power consumption bluetooth conceptual design, data can be sent to wide area space in real time, report and submit oneself position
And send control command；
C) follow a control command to include and be not limited to：Take off, land, spiraling, self-timer, social activity, navigate, go home；
D) it is 1~60 meter of interval range to follow a coverage, and with the one-to-one binding of unmanned vehicle, it is ensured that every
Instruction is simply sent to the unmanned vehicle authorized；
Table 1：
| Sequence number | X | Y | Z | X acceleration | Y acceleration | Z acceleration | Stress |
| 1 | -36 | 12390 | 9516 | 7 | -36 | 9 | 15622.66469 |
| 2 | 162 | 12266 | 9294 | 35 | -75 | 33 | 15390.23833 |
| 3 | 74 | 12264 | 9138 | 50 | -29 | 9 | 15294.25435 |
| 4 | -76 | 12378 | 9278 | -17 | 3 | -14 | 15469.38732 |
| 5 | -220 | 12532 | 9446 | -48 | -11 | -14 | 15694.78703 |
| 6 | -252 | 12666 | 9630 | -14 | 4 | -31 | 15913.13797 |
| 7 | -382 | 12984 | 10298 | -64 | 76 | -76 | 16576.45873 |
| 8 | -992 | 14200 | 12294 | -344 | 302 | -262 | 18808.68151 |
| 9 | -1184 | 16266 | 16666 | -925 | 919 | -728 | 23318.23681 |
| 10 | -1148 | 18826 | 26678 | -1905 | 1302 | -950 | 32671.88186 |
| 11 | -3166 | 21204 | 32767 | -2349 | 1427 | -953 | 39157.49559 |
| 12 | -5452 | 22588 | 32767 | -2394 | 1056 | -919 | 40169.86852 |
| 13 | -8544 | 26946 | 32767 | -2290 | 632 | -761 | 43275.43346 |
| 14 | -17134 | 32767 | 32767 | -2186 | -388 | -430 | 49405.73382 |
| 15 | -21200 | 32767 | 32767 | -1574 | -2651 | 321 | 50958.73407 |
| 16 | -18612 | 31962 | 17370 | 1080 | -3435 | -144 | 40861.87573 |
| 17 | -10766 | 12694 | 5840 | 2425 | -4396 | -663 | 17639.44421 |
| 18 | -6018 | 5870 | 670 | -1117 | -5943 | 1652 | 8433.393386 |
| 19 | -4126 | 2754 | -2704 | -4206 | -6391 | 2923 | 5649.779465 |
| 20 | -2934 | 618 | -3522 | -6307 | -6150 | 2799 | 4625.447438 |
| 21 | -2110 | -120 | -3682 | -6875 | -5129 | 1640 | 4245.423889 |
| 22 | -1118 | -486 | -3186 | -6918 | -3955 | 376 | 3411.263109 |
| 23 | -132 | -580 | -2710 | -6897 | -2788 | -1191 | 2774.513291 |
| 24 | 132 | -720 | -2360 | -7020 | -1385 | -2264 | 2470.91562 |
| 25 | 190 | -884 | -1976 | -7165 | -384 | -3327 | 2173.046709 |
E) follow a little can flying quality of the real-time reception from unmanned vehicle, including and be not limited to：Flying height, side
To, speed, barrier alarm etc..
2nd, bluetooth positioning follows technology：
Bluetooth positioning follows technology, is a little matched that (each is followed a little and unmanned vehicle with corresponding follow in advance
Have a unique identification number), software constantly calculates flying height and position by way of triangle polyester fibre in flight course
Put, while accurately distance is constantly corrected by the data of sensor feedback.
3rd, center of gravity and attitude regulating technology：
Referring to Fig. 2, core cage of the invention is made up of propeller, center of gravity sensor and centre of gravity adjustment part.Overall
Pose adjustment is made up of center of gravity sensor and centre of gravity adjustment part.Ensure that whichever posture of the invention is taken off, can adjust back
Correct posture.
4th, gravity sensing technology：
The data of table 1 are the measured datas of gravity sensitive, and simulation unmanned vehicle rises and then freely falling body out of control declines this
Action during one.By the data analysis of table 1, the overall stressing conditions of unmanned vehicle are obtained, as shown in figure 5, can be clear
The flight stressing conditions for seeing unmanned vehicle, according to this mode, unmanned vehicle can be held on each point
Acceleration and heading, after comprehensive computing, it is possible to depict after unmanned vehicle takes off in world's axle field domain
Flight path, and then the function of the absolute position positioned.
5th, derivative application：
A) wireless field domain networking function
Each unmanned vehicle can carry out networking, and synchronous transfer shared data according to mutual coding, meet social
The needs of function.
B) barrier avoids technology in advance
The top of unmanned vehicle, bottom, above, below, left side, right side respectively have two electrical distance sensors, pass through
The mode of interruption notifies unmanned vehicle to avoid barrier.
C) GPS assisting navigations technology
Unmanned vehicle can match GPS module, complementary by GPS+ bluetooths, realize and be remotely accurately positioned aircraft, fixed point
Patrol, flying pigeon pass the functions such as book.
Case：Fixed point patrol --- circuit, anchor point and the flying height of unmanned vehicle patrol is previously set, at dead of night
When, Intelligent unattended aircraft will be gone on patrol along the circuit being previously set, with unmanned vehicle carry infrared sensor with
When sense the presence of personnel, once detecting physical activity, then start recording function, and real-time delivery image is returned in control
The heart, alerted to control centre.In whole process patrol, if unmanned vehicle detects the loss of power totally, fed back to control centre,
New unmanned vehicle is sent to go on patrol, oneself then returns to airport wireless charging.
D) field domain scanner uni data storage technology
Unmanned vehicle can preserve substantial amounts of flying quality, to record the flight environment of vehicle of field domain, it is possible to achieve flight
The function that process is recurred, led the way.
Case：Tourism is led the way：Intelligent unattended aircraft takes on the function of scenic spot guide.Intelligent unattended aircraft external form can be with
Require to convert according to scenic spot.Intelligent unattended aircraft leads travel party to play each sight spot according to the route being previously set, in way
Sight spot is introduced to travel party by phonetic function.
E) wireless location and automatic charging technology
Pass through pinpoint function, it is possible to achieve the function of the unmanned vehicle automatic charging after patrol.
6th, major products application：
According to above technology, making is a, and nobody follows aircraft, as the spirit in cartoon, follows children to fly
OK.
Unmanned vehicle modular volume is as far as possible small, can be put into toy body, it is ensured that children's safety.Adjusted by gravity,
Realize the pose adjustment function of toy pets；By technology described above, implement function such as：
A) following a little with children is followed；
B) avoidance is realized by infrared and sensor and tracks into the function in room；
C) social functions are realized in communication between different unmanned vehicles；
D) follow and to send order, control realization is taken off, landed, spiraling, self-timer, social activity, the work(such as navigate, go home, alarming
Energy；
E) increase voice module and realize dialogue and chat feature；
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art in the technical scope of present disclosure, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (8)
1. a kind of intelligence follows unmanned vehicle, it is characterised in that including cage main body, and the processing list in cage main body
Member, GPS module, gravity sensing module, centre of gravity adjustment module, bluetooth module, obstacle avoidance sensor；The processing unit respectively with
GPS module, gravity sensing module, centre of gravity adjustment module, bluetooth module, obstacle avoidance sensor are electrically connected with；The cage main body bag
Include：Three embed the annulus of radially movable connection and the propeller being flexibly connected with innermost circle annulus successively.
2. intelligence according to claim 1 follows unmanned vehicle, it is characterised in that the propeller is in patty, warp
It is radially connected through the connecting rod in patty axle center and most interior annular by one.
3. intelligence according to claim 2 follows unmanned vehicle, it is characterised in that the processing unit, GPS module,
Gravity sensing module, centre of gravity adjustment module, bluetooth module are placed on propeller, and the obstacle avoidance sensor is placed in outmost turns annulus
On.
4. a kind of intelligence follows the control method of unmanned vehicle, it is characterised in that comprises the following steps：
Processing unit starts；
Each module self-test；
Controller is connected and sent with an information, performs each flight function.
5. intelligence according to claim 4 follows the control method of unmanned vehicle, it is characterised in that each module self-test bag
Include：Bluetooth module self-test, GPS module self-test, the self-test of gravity sensing module, the self-test of centre of gravity adjustment module, the self-test of anticollision module, electricity
Measure self-test.
6. intelligence according to claim 4 follows the control method of unmanned vehicle, it is characterised in that described to perform each fly
Row function includes an accompanying flying pattern, is followed a little with Bluetooth matching, triangle polyester fibre flying height and position, a little automatic winged according to following
OK.
7. intelligence according to claim 4 follows the control method of unmanned vehicle, it is characterised in that described to perform each fly
Row function includes a navigation pattern, obtains gps data, flight path is determined, according to a position is followed, in front vectored flight.
8. intelligence according to claim 4 follows the control method of unmanned vehicle, it is characterised in that described to perform each fly
Row function includes an interrupt mode, and the interrupt mode is based on interrupt source, and interrupt source is anticollision, electricity is low, any in new command
One kind, returned after performing interrupt routine.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114180039A (en) * | 2021-12-07 | 2022-03-15 | 中国人民解放军总参谋部第六十研究所 | System and method for adjusting gravity center of transportation unmanned helicopter |
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Application publication date: 20171110 |
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