CN107831788A - A kind of flight control system and control method - Google Patents
A kind of flight control system and control method Download PDFInfo
- Publication number
- CN107831788A CN107831788A CN201711251340.1A CN201711251340A CN107831788A CN 107831788 A CN107831788 A CN 107831788A CN 201711251340 A CN201711251340 A CN 201711251340A CN 107831788 A CN107831788 A CN 107831788A
- Authority
- CN
- China
- Prior art keywords
- communication module
- control system
- mcu processors
- flight control
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 48
- 230000001133 acceleration Effects 0.000 claims abstract description 38
- 238000001514 detection method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 241001269238 Data Species 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001143 conditioned effect Effects 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Theoretical Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Computing Systems (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Toys (AREA)
Abstract
The present invention discloses a kind of flight control system and control method, the flight control system includes controller and aircraft, the controller includes acceleration transducer, the first MCU processors and first communication module, and the acceleration transducer is all connected to the first MCU processors with first communication module；The aircraft includes the 2nd MCU processors, second communication module and power set, and the second communication module and power set are all connected to the 2nd MCU processors.The present invention to detect corresponding gesture motion, and is more intuitively controlled the heading of aircraft according to gesture motion, so as to reduce operation difficulty, is also improved flexibility using the controller with acceleration transducer.
Description
Technical field
The present invention relates to flight control method, more particularly to a kind of flight control system and control method.
Background technology
Aircraft is the flight equipment manipulated using radio robot and the presetting apparatus provided for oneself, and it also can be by
Car-mounted computer fully or intermittently independently operates.
Aircraft presses application field, can be divided into it is military with it is civilian.Civilian aspect, aircraft+sector application, it is that aircraft is true
Positive firm need；At present take photo by plane, agricultural, plant protection, miniature self-timer, express transportation, disaster relief, observation wild animal, monitoring pass
Catch an illness, survey and draw, news report, electric inspection process, the disaster relief, the application of movies-making, manufacture romance etc. field, greatly expand
The purposes of aircraft in itself, developed country is also in actively extension sector application and development vehicle technology.
In the prior art, aircraft function also imperfection, the control of its flare maneuver are controlled by equipment such as rocking bars
System, operation difficulty is high, and flexibility ratio is poor.
Therefore, prior art has yet to be improved and developed.
The content of the invention
In view of above-mentioned the deficiencies in the prior art, it is an object of the invention to provide a kind of flight control system and controlling party
Method, it is intended to solve the problems such as high existing flying vehicles control mode operation difficulty, flexibility ratio difference.
Technical scheme is as follows：
A kind of flight control system, wherein, including controller and aircraft, the controller include acceleration sensing
Device, the first MCU processors and first communication module, the acceleration transducer are all connected to described first with first communication module
MCU processors；The aircraft includes the 2nd MCU processors, second communication module and power set, the second communication module
The 2nd MCU processors are all connected to power set.
Described flight control system, wherein, the model OCT32F031 of the first MCU processors.
Described flight control system, wherein, the model OCT32F031 of the 2nd MCU processors.
Described flight control system, wherein, the controller also includes being used for acceleration transducer, the first MCU
The power module that processor and communication module are powered.
Described flight control system, wherein, the first communication module is 2.4G communication modules.
Described flight control system, wherein, the second communication module is 2.4G communication modules.
Described flight control system, wherein, the power set include blade and the horse for driving the blade
Up to device.
Described flight control system, wherein, the first MCU processors pass through I2C or SPI interface and the acceleration
Spend sensor connection.
As above a kind of control method of the flight control system described in any one, wherein, including step：
Acceleration transducer detects the acceleration of controller；
First MCU processors obtain the moving direction information of controller according to the acceleration；And pass through the first communication mould
Block sends the moving direction information of controller to aircraft；
Second communication module receives the moving direction information, and by the 2nd MCU processors according to the movement side
It is adjusted to information control power set according to moving direction.
Described control method, wherein, 2.4G RF modes are used between the first communication module and second communication module
Communicated.
Beneficial effect：The present invention is using the controller with acceleration transducer, to detect corresponding gesture motion, and root
The heading of aircraft is more intuitively controlled according to gesture motion, so as to reduce operation difficulty, also improves flexibility.
Brief description of the drawings
Fig. 1 is a kind of structured flowchart of flight control system preferred embodiment of the present invention.
Fig. 2 is a kind of flow chart of the control method preferred embodiment of flight control system of the present invention.
Fig. 3 is the schematic diagram of acceleration transducer.
Embodiment
The present invention provides a kind of flight control system and control method, to make the purpose of the present invention, technical scheme and effect
Fruit is clearer, clear and definite, and the present invention is described in more detail below.It should be appreciated that specific embodiment described herein is only
Only to explain the present invention, it is not intended to limit the present invention.
Referring to Fig. 1, Fig. 1 is a kind of structured flowchart of flight control system preferred embodiment of the present invention, wherein, including
Controller 10 and aircraft 20, the controller 10 include acceleration transducer 11, the first MCU processors 12 and the first communication mould
Block 13, the acceleration transducer 11 are all connected to the first MCU processors 12 with first communication module 13；The aircraft
20 include the 2nd MCU processors 22, second communication module 23 and power set 21, the second communication module 23 and power set
21 are all connected to the 2nd MCU processors 22.
The present invention is acted using the controller 10 with acceleration transducer 11, and by aircraft 20 according to described
Action is acted accordingly, and such present invention can be controlled with relative straightforward to aircraft 20, reduce operation difficulty
It is simultaneously more flexible.
Further, the model OCT32F031 of the first MCU processors 12.Preferably, the 2nd MCU processors
22 model OCT32F031.The OCT32F031 is the MCU chip of Shenzhen Yi Shi Science and Technology Ltd.s, and its stability is good,
Control performance is good.Certainly, two MCU processors of the invention can also use other chips of the prior art, such as
Atmega16 chips, it can equally realize the purpose of the present invention.
Acceleration transducer 11 in the present invention can specifically use MMA7455 3-axis acceleration sensors, and it has signal
Conditioning, low pass filter, temperature-compensating, test oneself, be configurable by the interrupt pin detection function such as 0g and pulse detection.
MMA7455 includes 14 pins, can simultaneously tactful tri- axles of X/Y/Z acceleration, support SPI/I2C buses, entered by CS
Row selection.Its pin is respectively pin 1, pin 2, pin 3, pin 4, pin 5, pin 6, pin 7, pin 8, pin 9, pin
10th, pin 11, pin 12, pin 13, pin 14.Wherein, pin 1 is 3.3V power inputs (numeral)；Pin 2 is grounded；Draw
Pin 3 is empty pin, does not connect or is grounded；Pin 4 is I2C addresses 0；Pin is ground connection；Pin 6 is 3.3V power input (moulds
Intend)；7 SPI of pin enable (0), and I2C enables (1)；Pin 8 is 1/ data ready of interruption；Pin 9 is interruption 2；Pin 10 is
Empty pin, does not connect or is grounded；Pin 11 is empty pin, does not connect or is grounded；Pin 12 exports for SPI serial datas；Pin 13 is
The output of the line interface serial data of I2C serial datas output/SPI serial date transfers/3；Pin 14 be I2C clock signals output/
SPI clock signals export.
MMA7455 mainly includes data register, status register, detection source register, null offset register, pattern
Control register, interrupt latch reseting register, the first microcontroller, the second microcontroller.
Preferably, the controller 10 also includes being used for acceleration transducer 11, the first MCU processors 12 and communication mould
The power module 14 that block 13 is powered.The power module 14 can be the power supply modules such as lithium battery, can also use other
The power module of form.Preferably, lithium battery supply voltage 11.1V, multiplying power 20C, the milliohm of internal resistance 3.2~4, weight 175g.
Further, the first communication module 13 is 2.4G communication modules.Further, the second communication module 23 is
2.4G communication module.Such as first communication module 13 is bluetooth module, second communication module 23 is also bluetooth module.Or first
Communication module 13 is WiFi module, and second communication module 23 is also WiFi module.
Further, the power set 21 include blade and the motor apparatus for driving the blade.The blade is set
Put on the top of aircraft 20, the motor apparatus is arranged on the inside of aircraft 20, and the motor apparatus is connected by rotating shaft
The blade, forms that are multiple, such as can be set to 3 oars or 4 oars can be set in the blade, and are uniformly distributed.
The motor uses brshless DC motor, such as appearance and size is 27.8mm*27mm, weight 48g, output shaft 3mm,
Brshless DC motor can be set multiple, such as set 4, so as to provide more than 3kg lift, brshless DC motor can use complete
Bridge-type type of drive, its power is high, torque ripple is small, and full-bridge type type of drive includes the 33 of the star-like connection of three-phase brushless in addition
Conduction mode and two or two conduction modes of the star-like connection of three-phase brushless, present invention preferably employs two or two conduction modes, it is identical
Under conditioned matrix, the time used is short, low in energy consumption.Additionally, due to when driving brshless DC motor, produced when voltage and current is larger
Heat amount heat up, therefore select MOSFET pipes be used as power tube, between Electrical inputs and MOSFET add stage transistor, with
The conducting speed of accelerating power FET, reduce power consumption.Power-on voltage 11V, the electric current 15.6A of the blade, up to 6810
Turn.
Further, the first MCU processors 12 are connected by I2C or SPI interface with the acceleration transducer 11.Institute
It is to obtain the acceleration information that acceleration transducer 11 is sensed by I2C or SPI interface to state the first MCU processors 12.
The present invention also provides a kind of control method of the flight control system described in as above any one, as shown in Fig. 2 its
Including step：
S1, acceleration transducer detection controller acceleration；
S2, the first MCU processors obtain the moving direction information of controller according to the acceleration；And pass through the first communication
Module sends the moving direction information of controller to aircraft；
S3, second communication module receive the moving direction information, and by the 2nd MCU processors according to the movement
Directional information control power set are adjusted according to moving direction.
Preferably, communicated between the first communication module and second communication module using 2.4G RF modes.
Specifically, acceleration transducer first obtains the acceleration of controller, and transfers to the first MCU processors, passes through first
MCU processors are sent to first communication module to obtain the moving direction information of controller, then by moving direction information, and first is logical
Letter module, which sends moving direction information to the second communication module of aircraft, second communication module, sends moving direction information
To the 2nd MCU processors, the 2nd MCU processors control power set are acted, so that appearance of the aircraft according to controller
State is flown, so the instrument without manipulation bar etc, and need to only be flown according to the action of human hand, so significantly
The flexibility of flight control is improved, reduces operation difficulty.
Wherein, acceleration transducer can be as shown in Figure 3：
Accx=1g*sin θ * cos φ ... ... (1)
Accy=-1g*sin θ * sin φ ... ... (2)
Accz=1g*cos θ ... ... (3)
So：
(2)/(1):Accy/accx=-tan φ ... ... (4)
According to (3), (4) can obtain φ, θ, so as to obtain the transformational relation of acceleration transducer and terrestrial coordinate system.
According to spin matrix：
The acceleration fastened in terrestrial coordinates can be obtained, so as to learn mobile side that controller is fastened in terrestrial coordinates
To.
In summary, the present invention is using the controller with acceleration transducer, to detect corresponding gesture motion, and root
The heading of aircraft is more intuitively controlled according to gesture motion, so as to reduce operation difficulty, also improves flexibility.
It should be appreciated that the application of the present invention is not limited to above-mentioned citing, for those of ordinary skills, can
To be improved or converted according to the above description, all these modifications and variations should all belong to the guarantor of appended claims of the present invention
Protect scope.
Claims (10)
1. a kind of flight control system, it is characterised in that including controller and aircraft, the controller passes including acceleration
Sensor, the first MCU processors and first communication module, the acceleration transducer and first communication module are all connected to described the
One MCU processors；The aircraft includes the 2nd MCU processors, second communication module and power set, the second communication mould
Block and power set are all connected to the 2nd MCU processors.
2. flight control system according to claim 1, it is characterised in that the model of the first MCU processors
OCT32F031。
3. flight control system according to claim 1, it is characterised in that the model of the 2nd MCU processors
OCT32F031。
4. flight control system according to claim 1, it is characterised in that the controller also includes being used for acceleration
The power module that degree sensor, the first MCU processors and communication module are powered.
5. flight control system according to claim 1, it is characterised in that the first communication module communicates for 2.4G
Module.
6. flight control system according to claim 1, it is characterised in that the second communication module communicates for 2.4G
Module.
7. flight control system according to claim 1, it is characterised in that the power set include blade and are used for
Drive the motor apparatus of the blade.
8. flight control system according to claim 1, it is characterised in that the first MCU processors by I2C or
SPI interface is connected with the acceleration transducer.
A kind of 9. control method of flight control system as described in any one of claim 1~8, it is characterised in that including
Step：
Acceleration transducer detects the acceleration of controller；
First MCU processors obtain the moving direction information of controller according to the acceleration；And will by first communication module
The moving direction information of controller is sent to aircraft；
Second communication module receives the moving direction information, and is believed by the 2nd MCU processors according to the moving direction
Breath control power set are adjusted according to moving direction.
10. control method according to claim 9, it is characterised in that the first communication module and second communication module
Between communicated using 2.4G RF modes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711251340.1A CN107831788A (en) | 2017-12-01 | 2017-12-01 | A kind of flight control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711251340.1A CN107831788A (en) | 2017-12-01 | 2017-12-01 | A kind of flight control system and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107831788A true CN107831788A (en) | 2018-03-23 |
Family
ID=61647327
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711251340.1A Pending CN107831788A (en) | 2017-12-01 | 2017-12-01 | A kind of flight control system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107831788A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111459180A (en) * | 2020-03-03 | 2020-07-28 | 深圳蚁石科技有限公司 | Gesture-controlled airplane |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104020777A (en) * | 2014-06-17 | 2014-09-03 | 成都华诚智印科技有限公司 | Motion-sensing follow-type flight control system and method |
| CN104199460A (en) * | 2014-08-29 | 2014-12-10 | 河南科技大学 | Intelligent four-rotor aircraft reconnoitering system based on image recognition and tracking |
| CN106054914A (en) * | 2016-08-17 | 2016-10-26 | 腾讯科技（深圳）有限公司 | Aircraft control method and aircraft control device |
| CN106054911A (en) * | 2016-07-22 | 2016-10-26 | 华南理工大学 | Quadrocopter capable of gesture identification operation and method thereof |
| CN106406331A (en) * | 2016-11-25 | 2017-02-15 | 广州亿航智能技术有限公司 | Flight control method, device and system for aircraft |
| US20170101178A1 (en) * | 2015-10-07 | 2017-04-13 | Hoi Hung Herbert LEE | Flying apparatus with multiple sensors and gesture-based operation |
| CN207457839U (en) * | 2017-12-01 | 2018-06-05 | 深圳蚁石科技有限公司 | A kind of flight control system |
-
2017
- 2017-12-01 CN CN201711251340.1A patent/CN107831788A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104020777A (en) * | 2014-06-17 | 2014-09-03 | 成都华诚智印科技有限公司 | Motion-sensing follow-type flight control system and method |
| CN104199460A (en) * | 2014-08-29 | 2014-12-10 | 河南科技大学 | Intelligent four-rotor aircraft reconnoitering system based on image recognition and tracking |
| US20170101178A1 (en) * | 2015-10-07 | 2017-04-13 | Hoi Hung Herbert LEE | Flying apparatus with multiple sensors and gesture-based operation |
| CN106054911A (en) * | 2016-07-22 | 2016-10-26 | 华南理工大学 | Quadrocopter capable of gesture identification operation and method thereof |
| CN106054914A (en) * | 2016-08-17 | 2016-10-26 | 腾讯科技（深圳）有限公司 | Aircraft control method and aircraft control device |
| CN106406331A (en) * | 2016-11-25 | 2017-02-15 | 广州亿航智能技术有限公司 | Flight control method, device and system for aircraft |
| CN207457839U (en) * | 2017-12-01 | 2018-06-05 | 深圳蚁石科技有限公司 | A kind of flight control system |
Non-Patent Citations (1)
| Title |
|---|
| 张栋;肖利梅;卢冰;李策;: "基于PSoC的手势可控四旋翼飞行器设计", 电子技术与软件工程, no. 21 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111459180A (en) * | 2020-03-03 | 2020-07-28 | 深圳蚁石科技有限公司 | Gesture-controlled airplane |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104950695B (en) | A kind of general unmanned plane vision emulation platform | |
| CN105955305A (en) | Four-axis unmanned aerial vehicle | |
| CN104331086A (en) | Flight control system of small multi-rotor for power line patrol | |
| CN207457839U (en) | A kind of flight control system | |
| CN107831788A (en) | A kind of flight control system and control method | |
| CN206440662U (en) | The universal atmosphere environment supervision gondola of multi-rotor unmanned aerial vehicle | |
| CN109782782A (en) | Multi-rotor unmanned aerial vehicle attitude flight control system | |
| CN110398574B (en) | Water surface movable water quality monitoring node device based on raspberry pie | |
| CN105955286B (en) | A kind of more rotor flying controllers of double-core | |
| CN205450664U (en) | Flight control system and unmanned aerial vehicle | |
| CN107571990A (en) | A kind of highly sensitive three axles unmanned plane | |
| CN207833333U (en) | A kind of unmanned plane gateway apparatus for mountainous region citrus orchard environment information acquisition | |
| CN204650270U (en) | A kind of flight control system for SUAV (small unmanned aerial vehicle) | |
| CN203894636U (en) | STM32-based flight control system for agricultural unmanned airplane | |
| CN205997821U (en) | A kind of state of motion of vehicle detection means | |
| CN206920932U (en) | A kind of four rotor intelligence expanding devices | |
| CN209327827U (en) | Embedded flight controller | |
| CN106707836A (en) | Robot control system based on motor control | |
| CN107526361A (en) | A kind of built-in type 4 axis air vehicle experimental device | |
| CN207932005U (en) | A kind of fixed-wing unmanned vehicle | |
| CN206726055U (en) | A kind of autonomous cruise aerocraft system | |
| CN220962202U (en) | Unmanned aerial vehicle's flight control board | |
| CN204270149U (en) | A kind of micro air attitude measurement and pen recorder | |
| CN104793624B (en) | A kind of UAV Attitude senses remote control | |
| CN106383481A (en) | Flight control panel based on bi-processor configuration |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |