CN107807654A - Take off control method and device for unmanned vehicle - Google Patents
Take off control method and device for unmanned vehicle Download PDFInfo
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- CN107807654A CN107807654A CN201610817298.4A CN201610817298A CN107807654A CN 107807654 A CN107807654 A CN 107807654A CN 201610817298 A CN201610817298 A CN 201610817298A CN 107807654 A CN107807654 A CN 107807654A
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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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
A kind of control method of taking off for unmanned vehicle, including：The first trigger signal is received, first trigger signal is used to set the unmanned vehicle to enter pre- takeoff condition；First trigger signal is responded, controls the unmanned vehicle to enter the pre- takeoff condition；Wherein, when in the pre- takeoff condition, the airborne state detection module of the unmanned vehicle is actuated to detect the state of flight of the unmanned vehicle；When the unmanned vehicle is in the pre- takeoff condition, the second trigger signal is received, second trigger signal is used for the flying power system for starting the unmanned vehicle；And response second trigger signal, start the flying power system of the unmanned vehicle so that the unmanned vehicle enters floating state；Wherein, when in the floating state, the unmanned vehicle is maintained at the initial position residing for the unmanned vehicle when flying power system is activated.
Description
Technical field
The application is related to unmanned vehicle technology, more particularly, to a kind of controlling party of taking off for unmanned vehicle
Method and device.
Background technology
Unmanned vehicle is a kind of not manned vehicle manipulated using radio robot and airborne control device.Closely
Nian Lai, with the fast development of technology, the production and application of unmanned vehicle are flourished, and many companies are all proposed
Respective unmanned vehicle product.
In actual applications, people would generally utilize the external control terminal being connected with unmanned vehicle radio communication to control
Unmanned vehicle processed take off and airflight.For example, people can place unmanned vehicle on the ground, then operation should
External control terminal sends order to cause it to take off to unmanned vehicle.Normally, unmanned vehicle can first flight be arrived upwards
One predetermined altitude, then hover over the predetermined altitude.After hovering, people can operate unmanned vehicle again and fly to other positions
OK.
As can be seen that this control method of taking off is relative complex, people generally require the ability after prolonged training
It is enough to grasp.Therefore, it is necessary to a kind of take off control method and device for unmanned vehicle easy to operation.
The content of the invention
The first purpose of the application is to provide a kind of take off control method and dress for unmanned vehicle easy to operation
Put.
In the one side of the application, there is provided a kind of control method of taking off for unmanned vehicle, including：Receive the
One trigger signal, first trigger signal are used to set the unmanned vehicle to enter pre- takeoff condition；Respond described first
Trigger signal, the unmanned vehicle is controlled to enter the pre- takeoff condition；Wherein, when in the pre- takeoff condition, institute
State the state of flight that the airborne state detection module of unmanned vehicle is actuated to detect the unmanned vehicle；When it is described nobody
When aircraft is in the pre- takeoff condition, receive the second trigger signal, second trigger signal be used for start it is described nobody
The flying power system of aircraft；And second trigger signal is responded, start the flying power system of the unmanned vehicle
System is so that the unmanned vehicle enters floating state；Wherein, when in the floating state, the unmanned vehicle
It is maintained at the initial position residing for the unmanned vehicle when flying power system is activated.
In the another aspect of the application, a kind of control device that takes off for unmanned vehicle is additionally provided, including：First
Controlling switch, it is used to receive the first trigger signal, and first trigger signal is used to set the unmanned vehicle to enter in advance
Takeoff condition；Second controlling switch, its be used for receive the second trigger signal, second trigger signal be used for start it is described nobody
The flying power system of aircraft and cause the unmanned vehicle enter floating state；State detection module, it is used to detect
The state of flight of the unmanned vehicle；And controller, it is used to respond first trigger signal, and control is described, and nobody flies
Row device enters the pre- takeoff condition, wherein when in the pre- takeoff condition, the state detection module is actuated to examine
Survey the state of flight of the unmanned vehicle；And when the unmanned vehicle is in the pre- takeoff condition, described in response
Second trigger signal, start the flying power system of the unmanned vehicle so that the unmanned vehicle enters hovering shape
State, wherein when in the floating state, the unmanned vehicle is maintained at described in when the flying power system is activated
Initial position residing for unmanned vehicle.
It is the general introduction of the application above, the situation that may have simplified, summary and omissions of detail, therefore those skilled in the art
Member is it should be appreciated that the part is only Illustrative, and is not intended to restriction the application scope in any way.This general introduction portion
Divide the key feature or essential feature for being both not intended to determine claimed subject, nor be intended as claimed to determine
The supplementary means of the scope of theme.
Brief description of the drawings
Combined by following description and appended claims and with accompanying drawing, it will be more fully clearly understood that this
Apply for the above and other feature of content.It is appreciated that these accompanying drawings depict only some embodiments of teachings herein, because
This is not considered as the restriction to teachings herein scope.By using accompanying drawing, teachings herein will obtain definitely and
Explain.
Fig. 1 is the schematic diagram according to the unmanned vehicle of the application one embodiment；
Fig. 2 shows the block diagram of the electronic system of the unmanned vehicle shown in Fig. 1；
Fig. 3 shows the flow of the control method 300 of taking off for unmanned vehicle according to the application one embodiment
Figure；
Fig. 4 shows the schematic diagram adjusted according to the flight attitude of the unmanned vehicle of the application one embodiment.
Embodiment
In the following detailed description, with reference to form part thereof of accompanying drawing.In the accompanying drawings, the usual table of similar symbol
Show similar part, unless otherwise indicated by context.It is described in detail, the illustrative reality described in drawings and claims
The mode of applying is not intended to limit.In the case of without departing from the spirit or scope of the theme of the application, other implementations can be used
Mode, and other changes can be made.It is appreciated that can in the application general description, diagram is said in the accompanying drawings
The various aspects of bright teachings herein carry out a variety of differently composed configurations, replacement, combination, design, and all these all bright
Really form a part for teachings herein.
Fig. 1 shows the schematic diagram of the unmanned vehicle 100 according to the application one embodiment.The control of taking off of the application
Method and apparatus can be used for the takeoff operational for controlling the unmanned vehicle 100.Hereinafter, it is with unmanned vehicle 100
Application introduces take off control method and the device of the application, it will be recognized to those skilled in the art that this should not be used as
Limitation to the application application mode.
As shown in figure 1, the unmanned vehicle 100 includes fuselage 102, and the multiple rotors being fixed on fuselage 102
104.Wherein, can be with placing battery, control board and/or miscellaneous part (not shown) in fuselage 102.In some examples
In, unmanned vehicle 100 can include 4,6 or more rotors.Unmanned vehicle 100 also includes supporting member 106, its
Top is fixed on fuselage 102, and its underpart is then used for the state detection module 110 that is permanently connected.
State detection module 110 is fixedly coupled to fuselage 102 by supporting member 106, thus it can be with fuselage 102
With identical attitude motion.State detection module 110 can detect the state of flight of unmanned vehicle 100, such as positional information
(including vertical position (i.e. height) and horizontal level), movable information is (such as along the acceleration of different directions, speed and/or position
Move change) and attitude information.In certain embodiments, state detection module 110 can include one or more submodules, example
Such as velocity sensor, acceleration transducer, geomagnetic sensor, infrared sensor, light stream sensor, ultrasonic sensor, air pressure
Meter or alignment system etc..
State detection module 110 is conductively coupled to the control board in fuselage 102, the state detection signal that will be detected
It is sent to control board.Controller, image processing module or other Electronic Control Units are usually mounted with control board,
Using the control system as unmanned vehicle.Control board can receive picture signal and state detection signal, and to it
Handled, such as by controller or image processing module to handle picture signal, or controlled according to state detection signal
The flight of unmanned vehicle.Content on unmanned aerial vehicle control system will be explained further below.
In certain embodiments, unmanned vehicle 100 also includes image capture module 108, and it is arranged on such as fuselage
In 102.Similar with state detection module 110, image capture module 108 is also conductively coupled to the control board in fuselage 102, with
Data and signal transmission are carried out with it.For example, image capture module 108 can gather picture signal, and the figure that will be collected
As signal is sent to control board.It is appreciated that in certain embodiments, unmanned vehicle can not also include IMAQ
Module.
In some other embodiments, state detection module 110 can also be secured directly on fuselage 102, such as
It is integrated in control board.
Fig. 2 shows the block diagram of the electronic system of the unmanned vehicle shown in Fig. 1.
As shown in Fig. 2 the electronic control system of unmanned vehicle includes controller 112, it for example can be microcontroller
(MCU), central processing unit (CPU), digital signal processor (DSP) or other can carry out data/signal transacting and operation control
The module of system.Controller 112 is couple to image capture module 108 and state detection module 110, to receive the figure of its collection respectively
As signal and state detection signal.These signals can be analog signal or data signal.Controller 112 can be transported
The various software programs of row, such as the program of the control method of taking off for realizing the application, so as to control nothing according to the program
People's aircraft takes off.
Electronic control system also includes memory 116, and it is used to store various data.Memory 116 is coupled to control
Device 112, it writes or read data under the control of controller 112.Passed through for example, memory 116 can receive from controller 112
The data of the video image of processing, and stored.In some alternative embodiments, video image or other numbers
According to, it can also be directly transmitted away via the communication module 114 of electronic control system, such as external control terminal 120 is sent to,
And stored or shown by the external control terminal 120.
Controller 112 is also coupled to flying power system 118, such as rotor drive motor, so as to for example be flown by operation
Control program controls flying power system 118 to run, to realize various flare maneuvers and flight path.In the reality of some replacements
Apply in example, flying power system 118 there can be single flight control modules (not shown).Correspondingly, controller 112
The flight control modules can be couple to, to control the flight of unmanned vehicle via the flight control modules.
In addition, the electronic control system of unmanned vehicle also includes one or more input control modules, it is used to receive
The operational order of operator's input, such as takeoff order.In the embodiment shown in Figure 2, input control module includes two controls
System switch, namely the first controlling switch 122 and the second controlling switch 124.The two controlling switches 122 and 124 can receive not
Same operational order is to generate different trigger signals, so that controller 112 can accordingly move according to these trigger signals
Make.The function of controlling switch 122 and 124 will be described below.It should be noted that, although in Fig. 2 electronic control system
2 controlling switches 122 and 124 are shown, but in some other embodiments, the input control module of unmanned vehicle
The controlling switch of more than two can be included.In some instances, the first controlling switch 122 and 124 can be key switch or
Knob switch.In other examples, unmanned vehicle can also use other kinds of controlling switch, such as acoustic control to open
Pass, touch sensible switch or inertia detection switch, etc..
In certain embodiments, the first controlling switch and the second controlling switch can be arranged on the difference of unmanned vehicle
Position, in order to which operator differentiates both, so as to reduce maloperation.For example, the first controlling switch can be arranged on nobody
The top of aircraft fuselage, and the second controlling switch can be arranged on bottom or the sidepiece of unmanned vehicle fuselage.So, grasp
Author can easily operate the second control and open when gripping unmanned vehicle side-of-body or lifting fuselage from underbelly
Close, and control unmanned vehicle to take off.In further embodiments, in the first controlling switch and the second controlling switch at least
One is arranged on position of the unmanned vehicle fuselage away from state detection module, during so as to avoid operator's operation-control switch
Occlusion state detection module, and influence its normal work.For example, state detection module can be arranged on unmanned vehicle fuselage
Side, and controlling switch can be arranged on the opposite side of unmanned vehicle fuselage；Or state detection module is arranged on
The bottom of unmanned vehicle fuselage or sidepiece, and controlling switch is arranged on the top of unmanned vehicle fuselage；Or state inspection
The top that module is arranged on unmanned vehicle fuselage is surveyed, and controlling switch is arranged on the bottom of unmanned vehicle fuselage；Or
Person, state detection module is arranged on the periphery or outside of unmanned vehicle fuselage, and controlling switch is arranged on unmanned flight
The intermediate region of device fuselage.In short, state detection module with it is at least one in controlling switch, it is preferable that with second control
Switch, at least separates certain distance, so as to which operator will not occlusion state detection module in one-handed performance controlling switch.
Fig. 3 shows the flow of the control method 300 of taking off for unmanned vehicle according to the application one embodiment
Figure.This takes off in the unmanned vehicle that control method 300 can be used for shown in such as Fig. 1 and Fig. 2, or for other structures
Unmanned vehicle.Using the control method 300 of taking off, operator can start unmanned vehicle according to being actually needed for oneself
And hover over position when taking off.
As shown in figure 3, this takes off, control method 300 starts from step S302, and unmanned vehicle receives the first trigger signal.Should
First trigger signal is used to set unmanned vehicle to enter pre- takeoff condition.For example, operator can pass through the control of operation first
Switch generates the first trigger signal to input order by the first controlling switch.Before the first trigger signal is not received,
Unmanned vehicle may be at inactive state, such as all electronic control systems therein and flying power system all do not open
It is dynamic.In certain embodiments, the first controlling switch can be arranged on the fuselage of unmanned vehicle, opened as airborne control
Close, so as to which operator can directly pick up unmanned vehicle and operate the first controlling switch.
Then, in step s 304, the first trigger signal received is responded, unmanned vehicle enters pre- takeoff condition.
When in pre- takeoff condition, at least part module of unmanned vehicle electronic control system is activated, such as airborne state
Detection module is activated, so that the real-time flight state of unmanned vehicle can be detected.In addition, controller can also be by
Start, the state detection signal generated in order to reception state detection module simultaneously handles the signal.
In certain embodiments, state detection module comprises at least ultrasonic sensor and light stream sensor, wherein ultrasound
Wave sensor can detect the height and position of unmanned vehicle, and light stream sensor can be used for detecting external object and scene
Change, so that it is determined that the horizontal level of unmanned vehicle and/or other movable informations.So, the skyborne position of unmanned vehicle
Putting to be accurately determined.It should be noted that the state detection signal of state detection module generation is for unmanned vehicle
Control of taking off is indispensable, so if because a variety of causes state detection module can not provide effective state-detection
Signal, then controller can generate alarm signal, to prompt operator.For example, if light stream sensor is hidden by the hand of operator
Gear is unable to normally detect, then controller can generate the alarm signal for indicating the state.Operator can incite somebody to action after being prompted
Hand is removed from light stream sensor, so that light stream sensor recovers normal work.Otherwise, unmanned vehicle can suspend
Fly.
In certain embodiments, state detection module can also include other submodules, such as barometer is used to detect nothing
The height and position of people's aircraft, acceleration transducer are used for the acceleration for detecting unmanned vehicle, and/or gyroscope is used to detect
The angular speed of unmanned vehicle.The information of these motion states can be provided to controller, to assist control of taking off.Another
In some embodiments, these submodules can also substitute sonac and/or light stream sensor to detect unmanned vehicle
Position.
Different from the startup of state detection module, when in pre- takeoff condition, the flying power system of unmanned vehicle
(such as rotor drive motor) is not activated.Therefore, the rotor of unmanned vehicle can't rotate, and operator still can incite somebody to action
During unmanned vehicle is hand held, and continue other operations.For example, operator can be continued to move to unmanned vehicle with hand
Desired position.
In certain embodiments, when unmanned vehicle is in pre- takeoff condition, the controller of unmanned vehicle is also simultaneously
Generate the dynamic Control signal for controlling flying power system to start.But the dynamic Control signal and it is not provided to winged
Take action Force system, thus flying power system will not be triggered startup.For example, the signal between controller and flying power system
Bang path is turned off (such as being controlled by switching), so as to which dynamic Control signal can not temporarily be delivered to flying power system
System.For another example controller or circuit module downstream get up dynamic Control signal buffering (such as passing through register), only
After continuing trigger signal upon receipt, dynamic Control signal can just be provided to flying power system.Why in the pre- shape that takes off
Dynamic Control signal is generated during state, is because operator may input order at any time to start nobody in pre- takeoff condition
Aircraft, and previously generate dynamic Control signal can so that unmanned vehicle take off response it is rapider.In addition, take off in advance
Unmanned vehicle under state would generally take off in the short period of time, and therefore, dynamic Control signal can't in this case
Significantly increase the power consumption of unmanned vehicle.
In certain embodiments, the dynamic Control signal generated when unmanned vehicle is in pre- takeoff condition is substantially
The dynamic Control signal needed for unmanned vehicle hovering, namely the rotary speed parameter of each rotor is enabled to be hanged with unmanned vehicle
The stopping time rotary speed parameter of dynamic Control signal is essentially identical.But due to dynamic Control signal and it is not applied to flying power
System, therefore flying power system can't operate.By taking four rotor unmanned aircrafts as an example, dynamic Control signal can include making
Obtain the drive signal of the rotor constant speed rotation counterclockwise of a pair of opposing, and the rotor up time that another pair is oppositely arranged
The drive signal of pin constant speed rotation (from same direction, such as from the top of unmanned vehicle).These driving letters
Number rotor can be driven correspondingly to rotate, and lift summation caused by 4 rotors can compensate gravity just, so that nothing
People's aircraft hovers in the air.In actual applications, rotor size, the weight of unmanned vehicle that can be according to unmanned vehicle
Etc. the actual parameter value that the dynamic Control signal is set or adjusted in factor.It is appreciated that in some other embodiments, when
When unmanned vehicle is in pre- takeoff condition, dynamic Control signal can not also be generated.
In certain embodiments, unmanned vehicle can also include one or more status indicator lamps or similar devices, its
It can be arranged on the fuselage of unmanned vehicle, for indicating the working condition of unmanned vehicle.For example, work as unmanned vehicle
During in pre- takeoff condition, status indicator lamp can be lit as red.
In step S306, when unmanned vehicle is in pre- takeoff condition, its receive second trigger signal, this second touch
Signal for the flying power system for starting unmanned vehicle, so that unmanned vehicle can take off.For example, operator
Related command can be inputted by operating the second controlling switch, and the second trigger signal is generated by the second controlling switch.
In certain embodiments, the second controlling switch can be arranged on the fuselage of unmanned vehicle, so as to operator
Unmanned vehicle can directly be picked up and operate the second controlling switch.The second trigger signal generated can be provided to control
Device, and then trigger controller sends the flight control signal for starting the system to flying power system.
It should be noted that, although the first trigger signal and the second trigger signal are by two differences in the present embodiment
Controlling switch input respectively, but in other embodiments, the first trigger signal and the second trigger signal can also be by same
One controlling switch inputs.In other words, the first controlling switch and the second controlling switch can be same switches.For example, operator can
With operate for the first time the first controlling switch generate the first trigger signal, and operate for the second time the first controlling switch then generate second touch
Signal.For another example operator can generate the first trigger signal with the controlling switch of long-press first, and the controlling switch of short-press first is given birth to
Into the second trigger signal.
In step S308, the second trigger signal is responded, the flying power system of unmanned vehicle is activated, so that
Unmanned vehicle enters floating state.When in floating state, when unmanned vehicle is maintained at flying power system and is activated
Initial position residing for it.In other words, the position of unmanned vehicle upon actuation can be held essentially constant.
Specifically, when in floating state, the controller of unmanned vehicle can be generated for controlling flying power system
The dynamic Control signal of startup, and the dynamic Control signal is provided to flying power system, so that flying power system
System correspondingly starts.While flying power system starts and runs, state detection module still normal work, it can be examined
The various flight status parameters of survey unmanned vehicle, such as positional information (including vertical position (i.e. height) and horizontal level),
Movable information (such as along the acceleration of different directions, speed and/or change in displacement) and attitude information.Attitude information can example
The attitude angle (such as the angle of pitch, yaw angle and roll angle) of unmanned vehicle in this way.These information of state detection module detection
Controller can be fed back to control for flight.
It should be noted that when operator operates the second controlling switch or other input units the second trigger signal of offer
Afterwards, it can remove hand from unmanned vehicle so that unmanned vehicle be no longer influenced by operator lift power or other outside
The support of portion's support force.In the moment removed, because unmanned vehicle can lose the holding power of hand application, therefore it may be because
Action of Gravity Field and slightly decline.But because the flying power system of unmanned vehicle is activated, its climbing power provided can be with
Holding power is soon substituted to realize stress balance, so that unmanned vehicle stably hovers in the air, and is returned to
Initial position when flying power system starts.The slightly change of unmanned vehicle position in the process is still appreciated that
Position is maintained at initial position, thus still falls within the protection domain of the application.It is bright as before stated, in some embodiments
In, controller is supplied to the dynamic Control signal of flying power system to be so that turn when unmanned vehicle can hover in the air
Fast parameter, or slightly larger than the rotary speed parameter but it is equal to the rotary speed parameter afterwards in a short time.When unmanned vehicle hovers
During state, status indicator lamp can be switched to be different from color during pre- takeoff condition, such as green, so as to prompt operator
The floating state.
Specifically, in order that unmanned vehicle can be maintained at initial position in hovering, unmanned vehicle can be with
Obtain its initial position when flying power system starts, for example, when receiving the second trigger signal residing for unmanned vehicle just
Beginning position, it is for example including horizontal level P and height and position H.Then, the flying power system of unmanned vehicle is activated, together
When state detection module detect the horizontal level P ' and height and position H ' of unmanned vehicle in real time.If the two horizontal levels
P and P ' is essentially identical and two height and positions H and H ' are also essentially identical (for example, the difference for position of playing chess is less than 1 centimetre, 2 lis
Rice or 5 centimetres), then the rotor rotary speed parameter for being supplied to the dynamic Control signal of flying power system to be included can not change.
If on the contrary, two height and positions H and H ' be slightly different (be, for example, less than 20 centimetres and more than 1 centimetre, less than 20 centimetres and be more than
2 centimetres or less than 20 centimetres and more than 5 centimetres), then dynamic Control signal can correspondingly change, such as increase in short time
Or rotor rotating speed is reduced, so that the present level position H ' of unmanned vehicle returns to elemental height position H as early as possible.It is similar
Ground, if two horizontal levels P and P ' are also different, then dynamic Control signal, which similarly first can also be temporarily increased or reduce, to be turned
Fast (depending on specific horizontal flight algorithm).After initial position being returned in the position of unmanned vehicle, dynamic Control signal
Also return to parameter when enabling the unmanned vehicle to hover over the initial position.
In certain embodiments, step S308 also includes：After the flying power system of unmanned vehicle is started, if nothing
The flight attitude of people's aircraft is non-horizontal posture, then it is horizontal attitude that unmanned vehicle, which adjusts its flight attitude,.For example, nobody
Aircraft can detect the change of its state of flight using state detection module, determine whether to depart from from operator's hand；
If it is determined that without departing from unmanned vehicle will not carry out the adjustment of flight attitude, if instead it is determined that from operator's hand
Depart from, then whether flight attitude when unmanned vehicle further detects its disengaging or after disengaging is horizontal attitude.If it is determined that
Flight attitude is non-horizontal posture, then it is horizontal attitude that unmanned vehicle, which can adjust its flight attitude,.This pose adjustment mode
It can avoid accidentally injuring operator because of pose adjustment.In some instances, unmanned vehicle can by detect its present level,
Acceleration and/or angular speed judge whether to depart from from operator's hand.
It should be noted that when unmanned vehicle is horizontal attitude by non-horizontal pose adjustment, the rotation of its rotor is not
It is same as the rotation of rotor during the hovering of unmanned vehicle keep level posture.For example, one that vertical height is relatively low during from hand
Or multiple rotors are possibly set to have of a relatively high initial speed, so that its is slightly elevated until and vertical height
Of a relatively high one or more rotors are concordant.After this, all rotors can keep identical rotating speed, so that nobody
Aircraft hovers in the air.It is appreciated that the inclined degree of unmanned vehicle is different, the initial speed of relatively low rotor can not yet
Together.For example, when the angle of inclination of unmanned vehicle is larger, the initial speed of relatively low rotor may be arranged to higher value.
In actual applications, operator or designer can believe dynamic Control according to the practical flight operating experience of unmanned vehicle
Number parameter pre-set or be stored in unmanned vehicle, and unmanned vehicle can read or call these when taking off
Parameter drives the operation of rotor.
Fig. 4 shows the schematic diagram adjusted according to the flight attitude of the unmanned vehicle of the application one embodiment.Such as Fig. 4
Shown, when unmanned vehicle just starts and taken off, unmanned vehicle might not can be maintained at preferable water by operator
Flat posture, but may horizontal by certain angle, such as shown in figure about 30 to 40 degree angles.Unmanned vehicle
Part of module in state detection module, such as acceleration transducer, gyroscope and/or geomagnetic sensor can assist to carry out it
The detection of flight attitude.But after unmanned vehicle is completed to take off and hover in the air, it is no longer influenced by the beam of operator
Tie up, thus the flight attitude of itself can be automatically adjusted to horizontal attitude, in order to which follow-up airflight controls.Due to nothing
People's aircraft can automatically adjust flight attitude after take off, therefore unmanned vehicle is without being in horizontal appearance when taking off
State, this operator that is also more convenient for are operated.
As can be seen that the control method of taking off of the unmanned vehicle of the embodiment of the present application can control unmanned vehicle rising
Position when taking off promptly is maintained at after flying, without being hovered in the air again after flight to certain altitude upwards.Therefore, operate
Person can accurately control the position of unmanned vehicle, and which greatly simplifies the operation of unmanned vehicle and control.For example, operation
Person can set unmanned vehicle to be in pre- takeoff condition, then optionally be moved into a certain position, and the position is, for example,
Operator wishes the position that the onboard image acquisition module of unmanned vehicle is found a view.It is determined that behind position, operator can be defeated again
Enter order to provide the second trigger signal, so as to start unmanned vehicle and so that it hovers over the position being moved to before.
After unmanned vehicle takes off and hovers, operator can continue other operations, such as operate external control terminal
To send flight control signal to unmanned vehicle, wherein the flight control signal after controlling unmanned vehicle hovering for flying
OK, such as unmanned vehicle can be controlled from motion tracking predeterminated target (either statically or dynamically), or nobody can be controlled to fly
Row device is according to projected path flight, etc..Correspondingly, unmanned vehicle can receive flight control signal, and according to
The flight control signal is correspondingly flown in the air.
The those skilled in the art of those the art can be by studying specification, disclosure and accompanying drawing and appended
Claims, understand and implement other changes to the embodiment of disclosure.In the claims, word " comprising " is not arranged
Except other elements and step, and wording " one ", "one" be not excluded for plural number.In the practical application of the application, one zero
The function of cited multiple technical characteristics in the possible perform claim requirement of part.Any reference in claim should not manage
Solve as the limitation to scope.
Claims (18)
- A kind of 1. control method of taking off for unmanned vehicle, it is characterised in that including：The first trigger signal is received, first trigger signal is used to set the unmanned vehicle to enter pre- takeoff condition；First trigger signal is responded, controls the unmanned vehicle to enter the pre- takeoff condition；Wherein, when in described During pre- takeoff condition, the airborne state detection module of the unmanned vehicle is actuated to detect the flight of the unmanned vehicle State；When the unmanned vehicle is in the pre- takeoff condition, the second trigger signal is received, second trigger signal is used In the flying power system for starting the unmanned vehicle；AndSecond trigger signal is responded, starts the flying power system of the unmanned vehicle so that the unmanned flight Device enters floating state；Wherein, when in the floating state, the unmanned vehicle is maintained at the flying power system Initial position when being activated residing for the unmanned vehicle.
- 2. control method according to claim 1 of taking off, it is characterised in that described when in the pre- takeoff condition Unmanned vehicle generates the dynamic Control signal for controlling the flying power system to start, and the dynamic Control signal The flying power system is not provided to, is started so as to not trigger the flying power system.
- 3. control method according to claim 2 of taking off, it is characterised in that when in the floating state, the nothing People's aircraft generates the dynamic Control signal for controlling the flying power system to start, and the dynamic Control signal quilt The flying power system is supplied to, is started so as to trigger the flying power system.
- 4. control method according to claim 1 of taking off, it is characterised in that the state detection module passes including ultrasonic wave Sensor and light stream sensor.
- 5. control method according to claim 1 of taking off, it is characterised in that start the flying power of the unmanned vehicle System is so that the unmanned vehicle includes the step of entering floating state：Obtain the initial position of the unmanned vehicle when the flying power system starts；AndThe flying power system is controlled, to cause the unmanned vehicle to be maintained at the initial bit when in floating state Put.
- 6. control method according to claim 5 of taking off, it is characterised in that start the flying power of the unmanned vehicle System is so that the unmanned vehicle also includes the step of entering floating state：After the flying power system of the unmanned vehicle is started, if the flight attitude of the unmanned vehicle is non-horizontal Posture, then it is horizontal attitude that the unmanned vehicle, which adjusts its flight attitude,.
- 7. control method according to claim 6 of taking off, it is characterised in that moved in the flight for starting the unmanned vehicle After Force system, if the flight attitude of the unmanned vehicle is non-horizontal posture, the unmanned vehicle adjusts its flight The step of posture is horizontal attitude includes：After the flying power system of the unmanned vehicle is started, detected using the state detection module it is described nobody fly The state of flight change of row device, so that it is determined that whether the unmanned vehicle departs from from operator's hand, and determines the nothing Whether the flight attitude of people's aircraft is non-horizontal posture；AndWhen it is determined that the unmanned vehicle departs from and determined that the flight attitude of the unmanned vehicle is non-from operator's hand After horizontal attitude, the flight attitude for adjusting the unmanned vehicle is horizontal attitude.
- 8. control method according to claim 1 of taking off, it is characterised in that first trigger signal is by airborne first Controlling switch inputs.
- 9. the control method of taking off according to claim 1 or 8, it is characterised in that second trigger signal is by airborne Second controlling switch inputs.
- 10. control method according to claim 1 of taking off, it is characterised in that methods described also includes：After the unmanned vehicle enters the floating state, flight control signal is received, and control according to the flight Signal processed controls the unmanned vehicle to be flown from motion tracking predeterminated target or according to projected path.
- A kind of 11. control device that takes off for unmanned vehicle, it is characterised in that including：First controlling switch, it is used to receive the first trigger signal, and first trigger signal is used to set the unmanned flight Device enters pre- takeoff condition；Second controlling switch, it is used to receive the second trigger signal, and second trigger signal is used to start the unmanned flight The flying power system of device and cause the unmanned vehicle enter floating state；State detection module, it is used for the state of flight for detecting the unmanned vehicle；AndController, it is used to respond first trigger signal, controls the unmanned vehicle to enter the pre- takeoff condition, its In when in the pre- takeoff condition, the state detection module is actuated to detect the flight shape of the unmanned vehicle State；And when the unmanned vehicle is in the pre- takeoff condition, respond second trigger signal, start it is described nobody The flying power system of aircraft is so that the unmanned vehicle enters floating state, wherein when in the floating state When, the unmanned vehicle is maintained at the initial position residing for the unmanned vehicle when flying power system is activated.
- 12. the control device according to claim 11 that takes off, it is characterised in that the controller is configured as：When described When unmanned vehicle is in the pre- takeoff condition, the dynamic Control letter for controlling the flying power system to start is generated Number, but the dynamic Control signal is not supplied to the flying power system, so as to not trigger the flying power system Start.
- 13. the control device according to claim 11 that takes off, it is characterised in that the controller is configured as：When described When unmanned vehicle is in the floating state, the dynamic Control signal for controlling the flying power system to start is generated, And the dynamic Control signal is supplied to the flying power system, started so as to trigger the flying power system.
- 14. the control device according to claim 11 that takes off, it is characterised in that the state detection module includes ultrasonic wave Sensor and light stream sensor.
- 15. the control device according to claim 11 that takes off, it is characterised in that the controller is configured as：Obtain and work as The initial position of the unmanned vehicle when flying power system of the unmanned vehicle starts, and the control flight are dynamic Force system, to cause the unmanned vehicle to be maintained at the initial position when in floating state.
- 16. the control device according to claim 15 that takes off, it is characterised in that the controller is additionally configured to：Control After the flying power system of the unmanned vehicle is started, if the flight attitude of the unmanned vehicle is non-horizontal appearance State, then the flying power system of the unmanned vehicle is adjusted to cause the flight attitude of the unmanned vehicle as horizontal appearance State.
- 17. the control device according to claim 16 that takes off, it is characterised in that the controller is additionally configured to：Opening After the flying power system for moving the unmanned vehicle, flying for the unmanned vehicle that the state detection module detects is obtained Row state change, so that it is determined that whether the unmanned vehicle departs from from operator's hand, and determine the unmanned vehicle Flight attitude whether be non-horizontal posture；And when the determination unmanned vehicle departs from from operator's hand and determines institute The flight attitude of unmanned vehicle is stated as after non-horizontal posture, the flight attitude for adjusting the unmanned vehicle is horizontal attitude.
- 18. the control device according to claim 11 that takes off, it is characterised in that the controller is additionally configured to：Receive Flight control signal, and the unmanned vehicle is controlled from motion tracking predeterminated target according to the flight control signal or pressed Flown according to projected path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610817298.4A CN107807654A (en) | 2016-09-09 | 2016-09-09 | Take off control method and device for unmanned vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610817298.4A CN107807654A (en) | 2016-09-09 | 2016-09-09 | Take off control method and device for unmanned vehicle |
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| CN107807654A true CN107807654A (en) | 2018-03-16 |
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| CN201610817298.4A Pending CN107807654A (en) | 2016-09-09 | 2016-09-09 | Take off control method and device for unmanned vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109556587A (en) * | 2018-11-30 | 2019-04-02 | 广东司马航模实业有限公司 | A kind of aircraft automatically corrects the method and aircraft of earth magnetism |
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2016
- 2016-09-09 CN CN201610817298.4A patent/CN107807654A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109556587A (en) * | 2018-11-30 | 2019-04-02 | 广东司马航模实业有限公司 | A kind of aircraft automatically corrects the method and aircraft of earth magnetism |
| CN109556587B (en) * | 2018-11-30 | 2021-04-16 | 广东司马航模实业有限公司 | Method for automatically correcting geomagnetism of aircraft and aircraft |
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Application publication date: 20180316 |