CN108073186A - Breakpoint endurance control method and system of gyroplane - Google Patents
Breakpoint endurance control method and system of gyroplane Download PDFInfo
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- CN108073186A CN108073186A CN201711367119.2A CN201711367119A CN108073186A CN 108073186 A CN108073186 A CN 108073186A CN 201711367119 A CN201711367119 A CN 201711367119A CN 108073186 A CN108073186 A CN 108073186A
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- return voyage
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention provides a breakpoint endurance control method and a breakpoint endurance control system of a gyroplane, which comprise the following steps: when the gyroplane executes a flight path task and detects that an emergency state occurs, and when the gyroplane starts to return to the flight, a current return point is recorded and sent to a ground control end of the gyroplane; after the gyroplane returns and finishes an emergency task, a ground control end of the gyroplane executes a breakpoint cruising working mode under the control of an operator, and returns to a recorded return point from a current position; and after the gyroplane reaches a return point, automatically executing subsequent flight line tasks in the flight line tasks from the return point. The invention completes breakpoint cruising when executing an automatic air route task, can effectively improve the operating efficiency and reduce the operation difficulty and the complexity of a user.
Description
Technical field
The present invention relates to gyroplane technical field, the breakpoint continuation of the journey control method and system of more particularly to a kind of gyroplane.
Background technology
At present, when gyroplane performs course line task, majority of case is all that control is maked a return voyage manually by operating personnel, then
Some operations are performed to gyroplane, general position of making a return voyage then is flown to manually again, finally performs course line task again.Either jump
One section of course line among crossing directly reaches next destination and performs task.
Above-mentioned control mode is just present with the feelings that certain section of course line is missed among course line when taking photo by plane or agricultural plant protection
Condition.In addition, if intermediate certain section of course line tasks carrying is problematic, if it is desired to re-execute, it is necessary to whole course line re-executes,
It is extremely inefficient, and increase cost.
The content of the invention
The purpose of the present invention is intended at least solve one of described technological deficiency.
For this purpose, it is an object of the invention to propose a kind of breakpoint of gyroplane continuation of the journey control method and system.
To achieve these goals, the embodiment of the present invention provides a kind of breakpoint continuation of the journey control method of gyroplane, including
Following steps：
Step S1, gyroplane is when performing course line task, and when detecting that generation bursty state, startup are maked a return voyage, record is worked as
Before make a return voyage a little, and be sent to the ground control terminal of the gyroplane；
Step S2, after the gyroplane makes a return voyage and after completion pop-up mission, the ground control terminal of the gyroplane is being grasped
Make under the control of personnel, perform breakpoint continuation of the journey operating mode, maked a return voyage a little back to what is recorded in step S1 by current location；
Step S3, the gyroplane is after arrival is maked a return voyage a little, automatically from follow-up in an execution course line task of making a return voyage
Course line task.
Further, in the step S1, the bursty state includes：Supplying cell electricity is low, fuel tank fuel quantity to minimum
Value, agricultural plant protection machine liquid volume drop to extreme degree or artificially need to return to locality.
Further, the gyroplane record it is multiple make a return voyage a little, and be sent to the ground control terminal, controlled by the ground
End generates corresponding virtual controlling button on interactive interface.
Further, the gyroplane record 3 make a return voyage a little, including：First make a return voyage point, second make a return voyage point, the 3rd make a return voyage a little,
The ground control terminal generates corresponding virtual controlling button on the corresponding geographical location of interactive interface.
Further, after the gyroplane completes entire course line task, when detecting two neighboring or multiple points that make a return voyage
Between course line task when something goes wrong, the ground control terminal is sent under the control of the operating personnel to the gyroplane
The instruction of segment section course line task is re-executed, the gyroplane to be controlled to re-execute this section of course line task.
The present invention also proposes a kind of breakpoint continuation of the journey control system of gyroplane, including：Gyroplane and ground control terminal,
In, when performing course line task, when detecting that bursty state startup, which occurs, makes a return voyage, record currently makes a return voyage a little the gyroplane,
And it is sent to the ground control terminal of the gyroplane；
After the ground control terminal is used for after the gyroplane makes a return voyage and completes pop-up mission, in the control of operating personnel
Under, breakpoint continuation of the journey operating mode is performed, by current location making a return voyage a little back to record；
The gyroplane is appointed after arrival is maked a return voyage a little from the follow-up course line in an execution course line task of making a return voyage automatically
Business.
Further, the bursty state includes：Supplying cell electricity is low, fuel tank fuel quantity to minimum value, agricultural plant protection machine medicine
Liquid measure drops to extreme degree or artificially needs to return to locality.
Further, the gyroplane for record it is multiple make a return voyage a little, and the ground control terminal is sent to, by the ground
Control terminal generates corresponding virtual controlling button on interactive interface.
Further, the gyroplane record 3 make a return voyage a little, including：First make a return voyage point, second make a return voyage point, the 3rd make a return voyage a little,
The ground control terminal generates corresponding virtual controlling button on the corresponding geographical location of interactive interface.
Further, after the gyroplane completes entire course line task, when the ground control terminal detect it is two neighboring or
It is multiple make a return voyage a little between course line task when something goes wrong, under the control of the operating personnel, to the gyroplane send weight
The instruction of new enforcement division segmentation course line task, the gyroplane to be controlled to re-execute this section of course line task.
The breakpoint continuation of the journey control method and system of gyroplane according to embodiments of the present invention, can or hand automatic in gyroplane
During dynamic execution course line task, due to needing to carry out certain operation back to home points during execution task, then controlled by ground
Button triggering in end processed automatically returns to again makes a return voyage a little, and after task is finished, and can also re-execute specified section boat
Line task.The present invention can provide multiple triggerings maked a return voyage a little in earth station and perform, and selective execution section course line task is real
Breakpoint continuation of the journey is completed when performing automatic course line task now, operating efficiency can be effectively improved, reduce the operation difficulty of user
And triviality.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
It obtains substantially or is recognized by the practice of the present invention.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination accompanying drawings below to embodiment
Substantially and it is readily appreciated that, wherein：
Fig. 1 is the flow chart according to the breakpoint continuation of the journey control method of the gyroplane of the embodiment of the present invention；
Fig. 2 is the schematic diagram continued a journey according to the breakpoint of the gyroplane of the embodiment of the present invention；
Fig. 3 is the button schematic diagram according to the ground control terminal of the embodiment of the present invention；
Fig. 4 is the structure chart according to the breakpoint continuation of the journey control system of the gyroplane of the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or has the function of same or like element.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
The present invention proposes the breakpoint continuation of the journey control method and system of a kind of gyroplane, this is a kind of for the new of gyroplane
Offline mode is a kind of automatically from the one mode for performing subsequent tasks of making a return voyage.Meanwhile the present invention can provide a kind of user
Or operator realizes the function of manipulation by one key of ground control terminal.
As depicted in figs. 1 and 2, the breakpoint control method of the gyroplane of the embodiment of the present invention, includes the following steps：
Step S1, gyroplane is when performing course line task, and when detecting that generation bursty state, startup are maked a return voyage, record is worked as
Before make a return voyage a little, and be sent to the ground control terminal of gyroplane.
In one embodiment of the invention, bursty state includes：Supplying cell electricity is low, fuel tank fuel quantity to minimum value,
Agricultural plant protection machine liquid volume drops to extreme degree or artificially needs to return to locality.
It should be noted that above-mentioned bursty state is only in order at exemplary purpose, other bursty states can also be included.By
Operating personnel are configured according to actual conditions, can be built in the control program of gyroplane, when there are these states, from
It is dynamic to start task of making a return voyage.
Step S2, after gyroplane makes a return voyage and after completion pop-up mission, the ground control terminal of gyroplane is operating personnel's
Under control, breakpoint continuation of the journey operating mode is performed, is maked a return voyage a little back to what is recorded in step S1 by current location.
In one embodiment of the invention, gyroplane can record it is multiple make a return voyage a little, and be sent to ground control terminal, by
Ground control terminal generates corresponding virtual controlling button on interactive interface.
As shown in Fig. 2, H is home points, i.e. gyroplane takeoff point, dotted line is to perform the passed by route of breakpoint continuation of the journey, rotation
The on-course position of wing machine is to make a return voyage a little, is triggered by one key of ground control terminal.
Step S3, gyroplane is after arrival is maked a return voyage a little, automatically from the follow-up course line task in an execution course line task of making a return voyage.
Specifically, when gyroplane complete entire course line task after, when detect it is two neighboring or it is multiple make a return voyage a little between
When something goes wrong, ground control terminal to gyroplane sends under the control of operating personnel and re-executes segment section boat course line task
The instruction of line task, gyroplane to be controlled to re-execute this section of course line task.
For example, as shown in figure 3, gyroplane record 3 make a return voyage a little, including：First make a return voyage point, second make a return voyage point, the 3rd return
Destination, ground control terminal generate corresponding virtual controlling button on the corresponding geographical location of interactive interface.
The present invention works in coordination in rotor generator terminal and ground control terminal, and gyroplane once makes a return voyage among the process of course line
Situation, gyroplane can write down it is current make a return voyage a little, next need gyroplane again from the task below of performing of making a return voyage when
It waits, as long as user or operator click on " breakpoint continuation of the journey 1 " or " breakpoint continuation of the journey 2 " or " breakpoint continuation of the journey 3 ", rotation in ground control terminal
Wing machine just directly flies to correspondence from home points and makes a return voyage a little, continues to execute task below.
Gyroplane can record 3 and make a return voyage a little, so ground control terminal has corresponding three buttons.First, user can be with
Gyroplane is allowed to continue to execute task below.In addition, once certain section of course line task goes wrong, that section can also be re-executed and occurred
The course line of problem, and without re-executing whole course line, idle work can be greatly decreased.
An as shown in figure 3, shared event of making a return voyage three times on the course line.After course line tasks carrying finishes, find the 2nd and return
Destination to the 3rd make a return voyage a little between tasks carrying situation it is abnormal, this section of course line task needs re-execute, then operator
As long as long as member performs " breakpoint continuation of the journey 2 " in ground control terminal.
To sum up, the breakpoint continuation of the journey control method of gyroplane provided by the invention, when gyroplane is performing automatic or manual boat
Line task is such as taken photo by plane, is surveyed and drawn, and the situations such as agricultural plant protection run into special circumstances, as supplying cell electricity is low or fuel tank fuel quantity arrives
Minimum value either agricultural plant protection machine liquid volume drop to it is to a certain degree etc. paroxysmal or artificial need to return to locality,
Then operating personnel carry out certain operation, such as replace battery, refuel, and after the operations such as dosing, then operating personnel are in gyroplane
Ground control terminal perform breakpoint continuation of the journey operating mode, gyroplane first flies to making a return voyage a little just now, then proceedes to take over sb.'s job after performing
Business.
As shown in figure 4, the embodiment of the present invention also proposes a kind of breakpoint continuation of the journey control system of gyroplane, including：Gyroplane 1
With ground control terminal 2.
Specifically, gyroplane 1, when performing course line task, when detecting that bursty state startup, which occurs, makes a return voyage, record is worked as
Before make a return voyage a little, and be sent to the ground control terminal 2 of gyroplane 1.
In one embodiment of the invention, bursty state includes：Supplying cell electricity is low, fuel tank fuel quantity to minimum value,
Agricultural plant protection machine liquid volume drops to extreme degree or artificially needs to return to locality.
It should be noted that above-mentioned bursty state is only in order at exemplary purpose, other bursty states can also be included.By
Operating personnel are configured according to actual conditions, can be built in the control program of gyroplane 1, when there are these states,
Automatic start is maked a return voyage task.
After ground control terminal 2 is used for after gyroplane 1 makes a return voyage and completes pop-up mission, under the control of operating personnel, hold
Row breakpoint continuation of the journey operating mode, by current location making a return voyage a little back to record.
In one embodiment of the invention, gyroplane 1 for record it is multiple make a return voyage a little, and be sent to ground control terminal 2,
Corresponding virtual controlling button is generated on interactive interface by ground control terminal 2.It makes a return voyage a little for example, gyroplane 1 records 3, bag
It includes：First make a return voyage point, second make a return voyage point, the 3rd make a return voyage a little, ground control terminal 2 generates on the corresponding geographical location of interactive interface
Corresponding virtual controlling button.
Gyroplane 1 is after arrival is maked a return voyage a little, automatically from the follow-up course line task in an execution course line task of making a return voyage.
Specifically, after gyroplane 1 completes entire course line task, when ground control terminal 2 detects two neighboring or multiple returns
Course line task between destination when something goes wrong, under the control of operating personnel, sends to gyroplane 1 and re-executes segment section boat
The instruction of line task, gyroplane 1 to be controlled to re-execute this section of course line task.
Gyroplane 1 can record 3 and make a return voyage a little, so ground control terminal 2 has corresponding three buttons.First, Yong Huke
Gyroplane 1 to be allowed to continue to execute task below.In addition, once certain section of course line task goes wrong, that section can also be re-executed
The course line to go wrong, and without re-executing whole course line, idle work can be greatly decreased.
An as shown in figure 3, shared event of making a return voyage three times on the course line.After course line tasks carrying finishes, find the 2nd and return
Destination to the 3rd make a return voyage a little between tasks carrying situation it is abnormal, this section of course line task needs re-execute, then operator
As long as long as member performs " breakpoint continuation of the journey 2 " in ground control terminal 2.
The breakpoint continuation of the journey control method and system of gyroplane according to embodiments of the present invention, can or hand automatic in gyroplane
During dynamic execution course line task, due to needing to carry out certain operation back to home points during execution task, then controlled by ground
Button triggering in end processed automatically returns to again makes a return voyage a little, and after task is finished, and can also re-execute specified section boat
Line task.The present invention can provide multiple triggerings maked a return voyage a little in earth station and perform, and selective execution section course line task is real
Breakpoint continuation of the journey is completed when performing automatic course line task now, operating efficiency can be effectively improved, reduce the operation difficulty of user
And triviality.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment of the present invention or example.In the present specification, schematic expression of the above terms is not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiments or example in combine in an appropriate manner.
Although the embodiment of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, those of ordinary skill in the art are not departing from the principle of the present invention and objective
In the case of above-described embodiment can be changed within the scope of the invention, change, replace and modification.The scope of the present invention
By appended claims and its equivalent limit.
Claims (10)
1. the breakpoint continuation of the journey control method of a kind of gyroplane, which is characterized in that include the following steps：
Step S1, gyroplane is when performing course line task, and when detecting that generation bursty state, startup are maked a return voyage, record currently returns
Destination, and it is sent to the ground control terminal of the gyroplane；
Step S2, after the gyroplane makes a return voyage and after completion pop-up mission, the ground control terminal of the gyroplane is in operator
Under the control of member, breakpoint continuation of the journey operating mode is performed, is maked a return voyage a little back to what is recorded in step S1 by current location；
Step S3, the gyroplane is after arrival is maked a return voyage a little, automatically from the follow-up course line in an execution course line task of making a return voyage
Task.
2. the breakpoint continuation of the journey control method of gyroplane as described in claim 1, which is characterized in that in the step S1, institute
Stating bursty state includes：Supplying cell electricity is low, fuel tank fuel quantity to minimum value, agricultural plant protection machine liquid volume drop to extreme degree or
Person artificially needs to return to locality.
3. the breakpoint continuation of the journey control method of gyroplane as described in claim 1, which is characterized in that the gyroplane records multiple
It makes a return voyage a little, and is sent to the ground control terminal, corresponding virtual controlling is generated on interactive interface by the ground control terminal
Button.
4. the breakpoint continuation of the journey control method of gyroplane as claimed in claim 3, which is characterized in that the gyroplane records 3
Make a return voyage a little, including：First make a return voyage point, second make a return voyage point, the 3rd make a return voyage a little, the ground control terminal in interactive interface correspondingly
Reason generates corresponding virtual controlling button on position.
5. the breakpoint continuation of the journey control method of gyroplane as claimed in claim 3, which is characterized in that when gyroplane completion is whole
After a course line task, when detect it is two neighboring or it is multiple make a return voyage a little between course line task when something goes wrong, ground control
End processed sends the instruction for re-executing segment section course line task to the gyroplane under the control of the operating personnel, with control
It makes the gyroplane and re-executes this section of course line task.
6. a kind of breakpoint continuation of the journey control system of gyroplane, which is characterized in that including：Gyroplane and ground control terminal, wherein, institute
Gyroplane is stated when performing course line task, when detecting that bursty state startup, which occurs, makes a return voyage, record currently makes a return voyage a little, and sends
To the ground control terminal of the gyroplane；
After the ground control terminal is used for after the gyroplane makes a return voyage and completes pop-up mission, under the control of operating personnel,
Breakpoint continuation of the journey operating mode is performed, by current location making a return voyage a little back to record；
The gyroplane is after arrival is maked a return voyage a little, automatically from the follow-up course line task in an execution course line task of making a return voyage.
7. the breakpoint continuation of the journey control system of gyroplane as claimed in claim 6, which is characterized in that the bursty state includes：
Supplying cell electricity is low, fuel tank fuel quantity to minimum value, agricultural plant protection machine liquid volume drop to extreme degree or artificial needs return to
Locality.
8. the breakpoint continuation of the journey control system of gyroplane as claimed in claim 6, which is characterized in that the gyroplane is used to record
It is multiple to make a return voyage a little, and the ground control terminal is sent to, it is generated by the ground control terminal on interactive interface corresponding virtual
Control button.
9. the breakpoint continuation of the journey control system of gyroplane as claimed in claim 8, which is characterized in that the gyroplane records 3
Make a return voyage a little, including：First make a return voyage point, second make a return voyage point, the 3rd make a return voyage a little, the ground control terminal in interactive interface correspondingly
Reason generates corresponding virtual controlling button on position.
10. the breakpoint continuation of the journey control system of gyroplane as claimed in claim 6, which is characterized in that the gyroplane is completed whole
After a course line task, when the ground control terminal detect it is two neighboring or it is multiple make a return voyage a little between course line task go wrong
When, under the control of the operating personnel, the instruction for re-executing segment section course line task is sent to the gyroplane, with control
The gyroplane re-executes this section of course line task.
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| CN201711367119.2A CN108073186B (en) | 2017-12-18 | 2017-12-18 | Breakpoint endurance control method and system of gyroplane |
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| CN201711367119.2A CN108073186B (en) | 2017-12-18 | 2017-12-18 | Breakpoint endurance control method and system of gyroplane |
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| CN108073186B CN108073186B (en) | 2021-02-23 |
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ID=62158405
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| Publication number | Publication date |
|---|---|
| CN108073186B (en) | 2021-02-23 |
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