CN108153325A - The control method and device of Intelligent unattended machine - Google Patents
The control method and device of Intelligent unattended machine Download PDFInfo
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- CN108153325A CN108153325A CN201711117927.3A CN201711117927A CN108153325A CN 108153325 A CN108153325 A CN 108153325A CN 201711117927 A CN201711117927 A CN 201711117927A CN 108153325 A CN108153325 A CN 108153325A
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- setting
- unmanned plane
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Classifications
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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
-
- 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
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0016—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/04—Control of altitude or depth
- G05D1/042—Control of altitude or depth specially adapted for aircraft
Abstract
Present invention is disclosed the control method and device of Intelligent unattended machine, including establishing communication connection with unmanned plane；The control model of unmanned plane is selected；The flight parameter of unmanned plane is set；Selection to station-keeping mode；Shooting is set；The style of shooting of unmanned plane is selected；It is taken off and selection of landing；It carries out forcing dead stick control；Image data in unmanned plane is read out, is edited, teletransmission.The present invention can realize Intelligent unattended machine control comprehensively, contain the control to unmanned plane overwhelming majority function, meet manipulation demand of the people to unmanned plane.It is additionally arranged the control models such as flight parameter setting, control model setting, strong control setting so that unmanned plane is more controllable, safer, more humane.Control is well defined, easily operated, suitable for promoting and applying.
Description
Technical field
Control method more particularly to a kind of control method and dress of Intelligent unattended machine the present invention relates to a kind of unmanned plane
It puts, belongs to the technical field of unmanned aerial vehicle (UAV) control device and method.
Background technology
UAV abbreviation unmanned plane, english abbreviation UAV are to utilize radio robot and the program provided for oneself
The not manned aircraft that control device manipulates.It can be divided into from technical standpoint definition：Unmanned helicopter, unmanned fixed-wing aircraft, nobody
Multi-rotor aerocraft, unmanned airship, unmanned parasol etc..
Unmanned plane is widely used in electric inspection process, crops monitoring, environmental monitoring, movies-making, streetscape shooting, express delivery throwing
Pass, Post disaster relief, remote sensing mapping etc. fields.
With the development of unmanned plane, unmanned plane is more and more intelligent, and correspondingly, unmanned plane function is increasingly abundanter, and needle
To these optimally functions, corresponding item controlled is more and more, and it is also more and more careful that control divides, therefore to unmanned plane
Control device and control method are proposed higher requirement.
Invention content
The present invention is to solve above-mentioned the deficiencies in the prior art, the control method of traditional unmanned plane and the limitation of control device
Property provides the control method and device of Intelligent unattended machine.
First purpose of the present invention is：The control method of Intelligent unattended machine is provided, including：
Communication connection is established with unmanned plane；
The control model of unmanned plane is selected, control model includes touch screen control, motion sensing control, simulation rocking bar control；
The flight parameter of unmanned plane is set, flight parameter is including highest flying height, flying height of making a return voyage, take off height
Degree；
Selection to station-keeping mode, station-keeping mode include GPS positioning, Big Dipper positioning, automatic control positioning；
Shooting is set, shooting setting includes screening-mode setting, the setting of shooting image, shooting effect setting, claps
Take the photograph scene setting；
The style of shooting of unmanned plane is selected, style of shooting includes shooting manually, human body tracking shooting, gesture instruction bat
It takes the photograph, gesture tracking is shot, general purpose routine shooting；
It is taken off and selection of landing；
It carries out forcing dead stick control；
Image data in unmanned plane is read out, is edited, teletransmission.
Preferably, it further includes：
Communication network is set, communication network setting includes communication connection setting, network setting.
Preferably, it further includes：
Calibration setting is carried out to unmanned plane, calibration setting includes compass calibration, accelerates meter calibrating.
Preferably, in calibration setting,
Compass calibration holds unmanned plane and carries out 8 font shuttling movements；
Accelerate meter calibrating, using the vertical normality of unmanned plane as standard, respectively carry out setting is turned on a left side, setting is turned on the right side, it is preceding turn over setting, after turn over
It erects and is inverted.
Preferably, shooting is set,
Screening-mode setting includes single bat pattern setting, burst mode setting and record setting；
Shooting image setting includes image resolution ratio setting, image white balance setting, image center are set, image network line is set
It is fixed；
Shooting effect setting includes U.S. face setting, defogging setting, pseudo-classic setting；
Photographed scene setting includes scenery setting, personage's setting.
Second object of the present invention is：The control device of Intelligent unattended machine is provided, including：
Communication unit, for establishing communication connection with unmanned plane；
Control unit selects for the control model to unmanned plane, and control model includes touch screen control, motion sensing control, mould
Intend rocking bar control；
Parameters unit sets for the flight parameter to unmanned plane, and flight parameter includes highest flying height, flight of making a return voyage
Highly, it takes off highly；
Positioning unit, for the selection to station-keeping mode, station-keeping mode includes GPS positioning, Big Dipper positioning, automatic control positioning；
Shooting unit, for being set to shooting, shooting setting includes screening-mode setting, the setting of shooting image, claps
Take the photograph effect setting, photographed scene setting；
Tracking cell selects for the style of shooting to unmanned plane, and style of shooting includes shooting manually, human body tracking is clapped
It takes the photograph, gesture instruction shooting, gesture tracking is shot, general purpose routine is shot；
Landing unit, for selection of being taken off and landed；
Strong control unit, for force dead stick control；
Transmission unit, for being read out, editing, teletransmission to image data in unmanned plane.
Preferably, it further includes：
Network element, for being set to communication network, communication network setting includes communication connection setting, network
Setting.
Preferably, it further includes：
Alignment unit, for carrying out calibration setting to unmanned plane, calibration setting includes compass calibration, accelerates meter calibrating.
Preferably, including：
Guide alignment unit for compass calibration, holds unmanned plane and carries out 8 font shuttling movements；
Accelerometer alignment unit for accelerating meter calibrating, using the vertical normality of unmanned plane as standard, carries out a left side and turns over setting, the right side respectively
Turn over setting, it is preceding turn over setting, after turn over setting and inversion.
Preferably, including：
Screening-mode unit is set for screening-mode, and pattern setting, burst mode setting and record setting are clapped including single；
Elementary area is shot, for shooting image setting, including image resolution ratio setting, image white balance setting, picture centre
Point setting, the setting of image network line；
Shooting effect unit is set for shooting effect, including the setting of U.S. face, defogging setting, pseudo-classic setting；
Photographed scene unit is set for photographed scene, including scenery setting, personage's setting.
The beneficial effects are mainly as follows：
1. control comprehensively can be realized to Intelligent unattended machine, the control to unmanned plane overwhelming majority function is contained, meets people couple
The manipulation demand of unmanned plane.
2. it is additionally arranged the control models such as flight parameter setting, control model setting, strong control setting so that unmanned plane more may be used
It controls, is safer, more humane.
3. control is well defined, easily operated, suitable for promoting and applying.
Description of the drawings
Fig. 1 is the flow chart of the control method of Intelligent unattended machine of the present invention.
Fig. 2 is the structure diagram of the control device of Intelligent unattended machine of the present invention.
Specific embodiment
The present invention provides a kind of control method and device of Intelligent unattended machine.Below in conjunction with attached drawing to technical solution of the present invention
It is described in detail, so that it is more readily understood and grasps.
The control method of Intelligent unattended machine, as shown in Figure 1, it includes：
Communication connection is established with unmanned plane, by communicating the control for connecting and realizing to unmanned plane；
The control model of unmanned plane is selected, control model includes touch screen control, motion sensing control, simulation rocking bar control, touches
Screen control and simulation rocking bar, which control, is provided with left and right manipulation, for example, left side is up and down, left-hand rotation, turning right controls, right side is
It moves ahead, rear row, left lateral, right lateral；For another example left side is moves ahead, rear row, left lateral, right lateral, right side is up and down, left-hand rotation, the right side
Turn control.And motion sensing control is up and down, left-hand rotation, turn right forward, the rear row for controlling touch-control and body-sensing, left lateral, right lateral control
System, such as control device are mobile phone, and mobile phone level is default conditions, and mobile phone leans forward, moves ahead, and hypsokinesis is then gone afterwards, left-leaning then left
Row, Right deviation then right lateral.
The flight parameter of unmanned plane is set, flight parameter includes highest flying height, flying height of making a return voyage, takes off
Highly.Highest flying height is usually set to 30m ~ 60m, and unmanned plane during flying height can be controlled by being so designed that, prevents no return energy
Power, and this is highly convenient for control.Flying height of making a return voyage generally is set in 10m ~ 20m, unsuitable excessively high also unsuitable too low, excessively high to lead
It causes to make a return voyage automatically unstable, be affected by upper air current, it is too low easily to bump against building, it certainly, can in relatively flat area
To be arranged within 10m.Height of taking off is for unmanned plane automatic takeoff, and reaching a certain height, it is to be controlled to hover, the height that takes off
Degree can be set according to environmental requirement, generally 2m or so.
Selection to station-keeping mode, station-keeping mode include GPS positioning, Big Dipper positioning, automatic control positioning, and automatic control is positioned for
No satellite-signal or without being set during satellite-signal passes through operator and carries out free control.And GPS positioning and Big Dipper positioning
It contributes to be positioned using satellite-signal, the location information of unmanned plane can be monitored by satellite-signal.
Shooting is set, shooting setting includes screening-mode setting, shoots that image is set, shooting effect sets
It puts, photographed scene setting；The shooting is set for selecting image demand, feature-rich.
The style of shooting of unmanned plane is selected, style of shooting includes shooting manually, human body tracking shooting, gesture instruction
Shooting, gesture tracking shooting, general purpose routine shooting.
It specifically describes, shoots and shot by the control of operator manually；Human body tracking shooting is to pass through identification
Human body and after being positioned, realizes track up；Gesture instruction shooting is by identifying that the gesture of operator carries out instruction identification
After carry out corresponding autonomous control；Gesture tracking shooting is by after identifying gesture and being positioned, realizing track up；It is general
Path shooting is to carry out path shooting according to the shooting track that operator was originally set.
It is taken off and selection of landing, controls unmanned plane automatic takeoff and automatic landing, small drone is in take-off process
In, due to dynamical system and the also not connected stabilization of sensing system, data communication foundation does not timely feedback, and there are certain to take off
Operating barrier, therefore automatic takeoff pattern is devised, meet the needs of people.The more intelligent and people and the design landed automatically seems
Property, after operator completes flight control experience, the landing without active control unmanned plane.
It carries out forcing dead stick control；After unmanned plane operative sensor is out of control, prevents unmanned plane from losing and prevent pendant out of control
Machine causes casualty accident, can be by the way that dead stick is forced to realize the forced landing of unmanned plane.This control, which increases, prevents maloperation from designing, and sets
Control time threshold values or setting control number threshold values, for pressing key control, the continuous touch controlled key time is more than to force within 3 seconds to stop
Paddle or continuous touch controlled key force dead stick 3 times.
Image data in unmanned plane is read out, is edited, teletransmission.It can realize and the image data that unmanned plane is shot is carried out
Screen display after reading can be realized to the image data that unmanned plane is shot into edlin, the image data teletransmission that can shoot unmanned plane.
This method, which further includes, sets communication network, and communication network setting includes communication connection setting, network
Frequency is set.By taking WiFi as an example, WiFi passwords can be set, communication connection is realized by belonging to WiFi passwords, can also set WiFi
Frequency, such as 2.4GHz, 5GHz etc..
Refinement description is carried out to the calibration setting of unmanned plane, calibration setting includes compass calibration, accelerates meter calibrating.
Specifically, compass calibration holds unmanned plane and carries out 8 font shuttling movements, so as to fulfill the guide to unmanned plane
Stylus alignment.
Accelerate meter calibrating, using the vertical normality of unmanned plane as standard, respectively carry out setting is turned on a left side, setting is turned on the right side, it is preceding turn over setting,
After turn over setting and inversion.It is realized by vertical six face of unmanned plane and accelerates meter calibrating.
Refinement description is carried out to shooting setting,
Screening-mode setting includes single bat pattern setting, burst mode setting and record setting；
Shooting image setting includes image resolution ratio setting, image white balance setting, image center are set, image network line is set
It is fixed；
Shooting effect setting includes U.S. face setting, defogging setting, pseudo-classic setting；
Photographed scene setting includes scenery setting, personage's setting.
It is the explanation to the control device of this case Intelligent unattended machine below, as shown in Fig. 2, it includes：
Communication unit, for establishing communication connection with unmanned plane；
Control unit selects for the control model to unmanned plane, and control model includes touch screen control, motion sensing control, mould
Intend rocking bar control；
Parameters unit sets for the flight parameter to unmanned plane, and flight parameter includes highest flying height, flight of making a return voyage
Highly, it takes off highly；
Positioning unit, for the selection to station-keeping mode, station-keeping mode includes GPS positioning, Big Dipper positioning, automatic control positioning；
Shooting unit, for being set to shooting, shooting setting includes screening-mode setting, the setting of shooting image, claps
Take the photograph effect setting, photographed scene setting；
Tracking cell selects for the style of shooting to unmanned plane, and style of shooting includes shooting manually, human body tracking is clapped
It takes the photograph, gesture instruction shooting, gesture tracking is shot, general purpose routine is shot；
Landing unit, for selection of being taken off and landed；
Strong control unit, for force dead stick control；
Transmission unit, for being read out, editing, teletransmission to image data in unmanned plane.
The device further includes：
Network element, for being set to communication network, communication network setting includes communication connection setting, network
Setting.
The device further includes：
Alignment unit, for carrying out calibration setting to unmanned plane, calibration setting includes compass calibration, accelerates meter calibrating.
It specifically describes, guide alignment unit, for compass calibration, holds unmanned plane and carry out 8 font shuttling movements；Add
Fast meter calibrating unit, for accelerating meter calibrating, using the vertical normality of unmanned plane as standard, respectively carry out setting is turned on a left side, setting is turned on the right side,
Before turn over setting, after turn over setting and inversion.
Shooting unit is specifically described：
Screening-mode unit is set for screening-mode, and pattern setting, burst mode setting and record setting are clapped including single；
Elementary area is shot, for shooting image setting, including image resolution ratio setting, image white balance setting, picture centre
Point setting, the setting of image network line；
Shooting effect unit is set for shooting effect, including the setting of U.S. face, defogging setting, pseudo-classic setting；
Photographed scene unit is set for photographed scene, including scenery setting, personage's setting.
By foregoing description, the present invention can realize Intelligent unattended machine control comprehensively, contain to the unmanned plane overwhelming majority
The control of function meets manipulation demand of the people to unmanned plane.It is additionally arranged flight parameter setting, control model is set, strong control is set
The control models such as fixed so that unmanned plane is more controllable, safer, more humane.Control is well defined, easily operated, suitable for promoting
Using.
Technical scheme of the present invention is fully described above, it should be noted that specific embodiment party of the invention
Formula is simultaneously not limited by the description set out above, the Spirit Essence of those of ordinary skill in the art according to the present invention structure, method or
All technical solutions that function etc. is formed using equivalents or equivalent transformation, all fall within protection scope of the present invention
Within.
Claims (10)
1. the control method of Intelligent unattended machine, it is characterised in that including：
Communication connection is established with unmanned plane；
The control model of unmanned plane is selected, control model includes touch screen control, motion sensing control, simulation rocking bar control；
The flight parameter of unmanned plane is set, flight parameter is including highest flying height, flying height of making a return voyage, take off height
Degree；
Selection to station-keeping mode, station-keeping mode include GPS positioning, Big Dipper positioning, automatic control positioning；
Shooting is set, shooting setting includes screening-mode setting, the setting of shooting image, shooting effect setting, claps
Take the photograph scene setting；
The style of shooting of unmanned plane is selected, style of shooting includes shooting manually, human body tracking shooting, gesture instruction bat
It takes the photograph, gesture tracking is shot, general purpose routine shooting；
It is taken off and selection of landing；
It carries out forcing dead stick control；
Image data in unmanned plane is read out, is edited, teletransmission.
2. the control method of Intelligent unattended machine according to claim 1, which is characterized in that further include：
Communication network is set, communication network setting includes communication connection setting, network setting.
3. the control method of Intelligent unattended machine according to claim 1, which is characterized in that further include：
Calibration setting is carried out to unmanned plane, calibration setting includes compass calibration, accelerates meter calibrating.
4. the control method of Intelligent unattended machine according to claim 3, it is characterised in that：
Compass calibration holds unmanned plane and carries out 8 font shuttling movements；
Accelerate meter calibrating, using the vertical normality of unmanned plane as standard, respectively carry out setting is turned on a left side, setting is turned on the right side, it is preceding turn over setting, after turn over
It erects and is inverted.
5. the control method of Intelligent unattended machine according to claim 1, it is characterised in that：
Screening-mode setting includes single bat pattern setting, burst mode setting and record setting；
Shooting image setting includes image resolution ratio setting, image white balance setting, image center are set, image network line is set
It is fixed；
Shooting effect setting includes U.S. face setting, defogging setting, pseudo-classic setting；
Photographed scene setting includes scenery setting, personage's setting.
6. the control device of Intelligent unattended machine, it is characterised in that including：
Communication unit, for establishing communication connection with unmanned plane；
Control unit selects for the control model to unmanned plane, and control model includes touch screen control, motion sensing control, mould
Intend rocking bar control；
Parameters unit sets for the flight parameter to unmanned plane, and flight parameter includes highest flying height, flight of making a return voyage
Highly, it takes off highly；
Positioning unit, for the selection to station-keeping mode, station-keeping mode includes GPS positioning, Big Dipper positioning, automatic control positioning；
Shooting unit, for being set to shooting, shooting setting includes screening-mode setting, the setting of shooting image, claps
Take the photograph effect setting, photographed scene setting；
Tracking cell selects for the style of shooting to unmanned plane, and style of shooting includes shooting manually, human body tracking is clapped
It takes the photograph, gesture instruction shooting, gesture tracking is shot, general purpose routine is shot；
Landing unit, for selection of being taken off and landed；
Strong control unit, for force dead stick control；
Transmission unit, for being read out, editing, teletransmission to image data in unmanned plane.
7. the control device of Intelligent unattended machine according to claim 6, which is characterized in that further include：
Network element, for being set to communication network, communication network setting includes communication connection setting, network
Setting.
8. the control device of Intelligent unattended machine according to claim 6, which is characterized in that further include：
Alignment unit, for carrying out calibration setting to unmanned plane, calibration setting includes compass calibration, accelerates meter calibrating.
9. the control device of Intelligent unattended machine according to claim 8, which is characterized in that including：
Guide alignment unit for compass calibration, holds unmanned plane and carries out 8 font shuttling movements；
Accelerometer alignment unit for accelerating meter calibrating, using the vertical normality of unmanned plane as standard, carries out a left side and turns over setting, the right side respectively
Turn over setting, it is preceding turn over setting, after turn over setting and inversion.
10. the control device of Intelligent unattended machine according to claim 6, which is characterized in that including：
Screening-mode unit is set for screening-mode, and pattern setting, burst mode setting and record setting are clapped including single；
Elementary area is shot, for shooting image setting, including image resolution ratio setting, image white balance setting, picture centre
Point setting, the setting of image network line；
Shooting effect unit is set for shooting effect, including the setting of U.S. face, defogging setting, pseudo-classic setting；
Photographed scene unit is set for photographed scene, including scenery setting, personage's setting.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117336821A (en) * | 2023-10-17 | 2024-01-02 | 中国电子科技集团公司第十五研究所 | Multi-mode signal transmission method and device |
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