CN108681326B - Novel flight control equipment for controlling unmanned performance machine - Google Patents
Novel flight control equipment for controlling unmanned performance machine Download PDFInfo
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- CN108681326B CN108681326B CN201810320129.9A CN201810320129A CN108681326B CN 108681326 B CN108681326 B CN 108681326B CN 201810320129 A CN201810320129 A CN 201810320129A CN 108681326 B CN108681326 B CN 108681326B
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- revolute pair
- spherical revolute
- linear displacement
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- displacement sensor
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- 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 28
- 238000006073 displacement reaction Methods 0.000 claims description 42
- 230000000694 effects Effects 0.000 claims description 5
- 238000012423 maintenance Methods 0.000 abstract description 2
- 230000007547 defect Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
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, 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
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
The invention discloses novel flight control equipment for controlling an unmanned performance machine. The existing unmanned performance machine flight control equipment is complex in structure, more in equipment components, too few in implementation functions and required to be maintained by professionals. In order to overcome the defects, a novel flight control device for operating the unmanned performance machine is designed. The control equipment has the advantages of simple structure, few equipment components, multiple realization functions and no need of professional maintenance. Can meet the performance requirement of unmanned aerial vehicle.
Description
Technical Field
The invention belongs to flight control equipment of unmanned performance machines, and relates to novel flight control equipment of unmanned performance machines.
Background
The flight control equipment of the novel unmanned performance machine is required to accurately and flexibly realize various performance actions in the air. The existing unmanned performance machine flight control equipment is complex in structure, more in equipment components, too few in implementation functions and required to be maintained by professionals. Directly affecting the accuracy, functionality and economy of the flight. Therefore, there is a need for a new type of flight control device for unmanned performance machines that can improve the accuracy, functionality and economy of flight.
Disclosure of Invention
Aiming at the problems that the existing unmanned aerial vehicle flight control equipment is complex in structure, more in equipment components, too few in implementation functions and required to be maintained by professionals, the invention provides novel unmanned aerial vehicle flight control equipment.
A novel flight control device for controlling an unmanned performance machine comprises a handle, a handle support, an upper flat plate, an upper spherical revolute pair, a linear displacement sensor, a lower spherical revolute pair and a base;
the handle bracket comprises two arc-shaped connecting rods and two fixed supports, and one end of each arc-shaped connecting rod is fixedly connected with one fixed support; the bottom surface of the handle is fixedly connected with the other ends of the two arc-shaped connecting rods of the handle bracket, the two fixed supports are fixedly arranged on the upper bottom surface of the upper flat plate, and the lower bottom surface of the upper flat plate is respectively connected with the upper ends of the three linear displacement sensors through three upper spherical revolute pairs; the lower ends of the three linear displacement sensors are respectively connected with the upper plane of the base through three lower spherical revolute pairs; the three upper spherical revolute pairs comprise a first upper spherical revolute pair, a second upper spherical revolute pair and a third upper spherical revolute pair; the connecting lines of the second upper spherical revolute pair and the third upper spherical revolute pair are parallel to the connecting lines of the two fixed supports; the distance from the first upper spherical revolute pair to the second upper spherical revolute pair is equal to the distance from the first upper spherical revolute pair to the third upper spherical revolute pair; the three lower spherical revolute pairs comprise a first lower spherical revolute pair, a second lower spherical revolute pair and a third lower spherical revolute pair; the connecting lines of the second lower spherical revolute pair and the third lower spherical revolute pair are parallel to the connecting lines of the two fixed supports; the distance from the first lower spherical revolute pair to the second lower spherical revolute pair is equal to the distance from the first lower spherical revolute pair to the third lower spherical revolute pair.
Preferably, the novel flight control equipment for controlling the unmanned aerial vehicle is characterized in that four electric control buttons are respectively arranged on the left and right sides of the upper plane of a handle, and the functions are that the unmanned aerial vehicle realizes one-key take-off, the unmanned aerial vehicle hovers, one-key sails back and a headless mode is started; and a photographing mode and a video recording mode are started, the unmanned aerial vehicle realizes 360-degree rotation special effects, and light shows are started.
Preferably, the triangle formed by the three upper spherical revolute pairs and the triangle formed by the three lower spherical revolute pairs are similar triangles.
Preferably, the novel flight control device for controlling the unmanned performance machine has the advantages that the triangle formed by the three lower spherical revolute pairs is similar to the triangle formed by the three upper spherical revolute pairs, and the area of the triangle is larger than that of the triangle formed by the three upper spherical revolute pairs.
The lower flat plate supports the whole mechanism and can be installed at a proper position according to requirements, so that flight control can be conveniently realized in multiple environments.
The invention has the following beneficial effects:
the invention provides a novel flight control equipment scheme for controlling an unmanned aerial vehicle, which solves the problems that the existing flight control equipment for controlling the unmanned aerial vehicle is complex in structure, more in equipment components, too few in implementation functions, needs professional maintenance and the like and directly influences the accuracy, functionality and economy of flight. Thereby improving the accuracy, functionality and economy of flight.
Drawings
Fig. 1 is a schematic view of a flight control apparatus for manipulating an unmanned aerial vehicle in accordance with the present invention.
Fig. 2 is a front view of a flight control apparatus for manipulating an unmanned aerial vehicle in accordance with the present invention.
Fig. 3 is a side view of the flight control apparatus of the present invention for maneuvering an unmanned aerial vehicle.
Detailed Description
As shown in fig. 1, a novel flight control device for manipulating an unmanned performance machine comprises a handle 1, a handle bracket 2, an upper flat plate 3, an upper spherical revolute pair, a linear displacement sensor, a lower spherical revolute pair and a base 7;
as shown in fig. 1 and 3, the handle bracket 2 comprises two arc-shaped connecting rods 9 and two fixed supports 10, and one end of each arc-shaped connecting rod is fixedly connected with one fixed support 10; the bottom surface of the handle is fixedly connected with the other ends of two arc-shaped connecting rods 9 of the handle bracket 2, two fixed supports 10 are fixedly arranged on the upper bottom surface of the upper flat plate 3, and the lower bottom surface of the upper flat plate is respectively connected with the upper ends of three linear displacement sensors through three upper spherical revolute pairs; the lower ends of the three linear displacement sensors are respectively connected with the upper plane of the base through three lower spherical revolute pairs; the three upper spherical revolute pairs comprise a first upper spherical revolute pair 4-1, a second upper spherical revolute pair 4-2 and a third upper spherical revolute pair 4-3; the connecting lines of the second upper spherical revolute pair and the third upper spherical revolute pair are parallel to the connecting lines of the two fixed supports 10; the distance from the first upper spherical revolute pair to the second upper spherical revolute pair is equal to the distance from the first upper spherical revolute pair to the third upper spherical revolute pair; the three lower spherical revolute pairs comprise a first lower spherical revolute pair 6-1, a second lower spherical revolute pair 6-2 and a third lower spherical revolute pair 6-3; the connecting lines of the second lower spherical revolute pair and the third lower spherical revolute pair are parallel to the connecting lines of the two fixed supports 10; the distance from the first lower spherical revolute pair to the second lower spherical revolute pair is equal to the distance from the first lower spherical revolute pair to the third lower spherical revolute pair.
Preferably, the triangle formed by the three upper spherical revolute pairs and the triangle formed by the three lower spherical revolute pairs are similar triangles.
Preferably, the novel flight control device for controlling the unmanned performance machine has the advantages that the triangle formed by the three lower spherical revolute pairs is similar to the triangle formed by the three upper spherical revolute pairs, and the area of the triangle is larger than that of the triangle formed by the three upper spherical revolute pairs.
As shown in fig. 2, as an optimization, the novel flight control device for controlling the unmanned aerial vehicle is characterized in that four electric control buttons are respectively arranged on the left and right sides of the upper plane of a handle, and the functions are that the unmanned aerial vehicle realizes one-key take-off, the unmanned aerial vehicle hovers, one-key sails back and a headless mode is started; and a photographing mode and a video recording mode are started, the unmanned aerial vehicle realizes 360-degree rotation special effects, and light shows are started.
The invention uses the following working procedures:
1) Unmanned aerial vehicle flight special effect control process
Pressing the button 1-1 to realize one-key take-off of the unmanned aerial vehicle, pressing the button 1-2 to realize hovering of the unmanned aerial vehicle, pressing the button 1-3 to realize one-key return of the unmanned aerial vehicle, and pressing the button 1-4 to start an unmanned aerial vehicle headless mode; pressing a button 1-5 to start a photographing mode, pressing a button 1-6 to start a video recording mode, pressing a button 1-7 to realize a 360-degree rotation special effect of the unmanned aerial vehicle, and pressing a button 1-8 to start a lamp light show of the unmanned aerial vehicle;
2) Unmanned aerial vehicle flight direction control process
The first, second and third linear displacement sensors 5-1, 5-2 and 5-3 respectively collect displacement movements of the front, the left lower and the right lower. The upper end of the upper flat plate is lifted, the second and third linear displacement sensors 5-2 and 5-3 do not generate displacement, the first linear displacement sensor 5-1 generates displacement, and the unmanned performance machine takes a lifting posture; the left end of the upper flat plate is lifted, the first linear displacement sensor 5-1 and the third linear displacement sensor 5-3 do not generate displacement, the second linear displacement sensor 5-2 generates displacement, and the unmanned performance machine takes a right deflection posture; the right end of the upper flat plate is lifted, the first linear displacement sensor 5-1 and the second linear displacement sensor 5-2 do not generate displacement, the third linear displacement sensor 5-3 generates displacement, and the unmanned performance machine takes a left deflection posture.
Claims (4)
1. A novel flight control device for manipulating an unmanned show machine, characterized in that: the device comprises a handle, a handle bracket, an upper flat plate, an upper spherical revolute pair, a linear displacement sensor, a lower spherical revolute pair and a base;
the handle bracket comprises two arc-shaped connecting rods and two fixed supports, and one end of each arc-shaped connecting rod is fixedly connected with one fixed support; the bottom surface of the handle is fixedly connected with the other ends of the two arc-shaped connecting rods of the handle bracket, the two fixed supports are fixedly arranged on the upper bottom surface of the upper flat plate, and the lower bottom surface of the upper flat plate is respectively connected with the upper ends of the three linear displacement sensors through three upper spherical revolute pairs; the lower ends of the three linear displacement sensors are respectively connected with the upper plane of the base through three lower spherical revolute pairs; the three upper spherical revolute pairs comprise a first upper spherical revolute pair, a second upper spherical revolute pair and a third upper spherical revolute pair; the connecting lines of the second upper spherical revolute pair and the third upper spherical revolute pair are parallel to the connecting lines of the two fixed supports; the distance from the first upper spherical revolute pair to the second upper spherical revolute pair is equal to the distance from the first upper spherical revolute pair to the third upper spherical revolute pair; the three lower spherical revolute pairs comprise a first lower spherical revolute pair, a second lower spherical revolute pair and a third lower spherical revolute pair; the connecting lines of the second lower spherical revolute pair and the third lower spherical revolute pair are parallel to the connecting lines of the two fixed supports; the distance from the first lower spherical revolute pair to the second lower spherical revolute pair is equal to the distance from the first lower spherical revolute pair to the third lower spherical revolute pair;
the first, second and third linear displacement sensors respectively collect displacement movements of the front, the left lower part and the right lower part; the upper end of the upper flat plate is lifted, the second linear displacement sensor and the third linear displacement sensor do not generate displacement, the first linear displacement sensor generates displacement, and the unmanned performance machine takes on a lifting posture; lifting the left end of the upper flat plate, wherein the first linear displacement sensor and the third linear displacement sensor do not generate displacement, the second linear displacement sensor generates displacement, and the unmanned performance machine takes a right deflection posture; the right end of the upper flat plate is lifted, the first linear displacement sensor and the second linear displacement sensor do not generate displacement, the third linear displacement sensor generates displacement, and the unmanned performance machine takes a left deflection posture.
2. A novel flight control apparatus for manipulating unmanned aerial vehicles as recited in claim 1, wherein: four electric control buttons are respectively arranged on the left and right sides of the upper plane of the handle, the functions are that the unmanned aerial vehicle realizes one-key take-off, the unmanned aerial vehicle hovers, one-key return voyage, and a headless mode is started; and a photographing mode and a video recording mode are started, the unmanned aerial vehicle realizes 360-degree rotation special effects, and light shows are started.
3. A novel flight control apparatus for manipulating unmanned aerial vehicles as recited in claim 1, wherein: the triangle formed by the three upper spherical revolute pairs and the triangle formed by the three lower spherical revolute pairs are similar triangles.
4. A novel flight control apparatus for manipulating an unmanned show machine as claimed in claim 3, wherein: the area of the triangle formed by the three lower spherical revolute pairs is larger than that of the triangle formed by the three upper spherical revolute pairs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810320129.9A CN108681326B (en) | 2018-04-11 | 2018-04-11 | Novel flight control equipment for controlling unmanned performance machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810320129.9A CN108681326B (en) | 2018-04-11 | 2018-04-11 | Novel flight control equipment for controlling unmanned performance machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108681326A CN108681326A (en) | 2018-10-19 |
| CN108681326B true CN108681326B (en) | 2024-01-16 |
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Citations (6)
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|---|---|---|---|---|
| CN1645284A (en) * | 2004-12-17 | 2005-07-27 | 华北电力大学（北京） | Power circuit scanning test robot airplane and controlling system |
| CN103885452A (en) * | 2012-12-21 | 2014-06-25 | 中国直升机设计研究所 | Unmanned helicopter ground control terminal equipment |
| CN104369182A (en) * | 2014-11-06 | 2015-02-25 | 燕山大学 | 4SPR+2R type four-freedom-degree parallel mechanism |
| CN106125747A (en) * | 2016-07-13 | 2016-11-16 | 国网福建省电力有限公司 | Based on the servo-actuated Towed bird system in unmanned aerial vehicle onboard the first visual angle mutual for VR |
| JP2017065467A (en) * | 2015-09-30 | 2017-04-06 | キヤノン株式会社 | Drone and control method thereof |
| WO2018018983A1 (en) * | 2016-07-27 | 2018-02-01 | 广州亿航智能技术有限公司 | Remote control handle for unmanned aerial vehicle |
-
2018
- 2018-04-11 CN CN201810320129.9A patent/CN108681326B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1645284A (en) * | 2004-12-17 | 2005-07-27 | 华北电力大学（北京） | Power circuit scanning test robot airplane and controlling system |
| CN103885452A (en) * | 2012-12-21 | 2014-06-25 | 中国直升机设计研究所 | Unmanned helicopter ground control terminal equipment |
| CN104369182A (en) * | 2014-11-06 | 2015-02-25 | 燕山大学 | 4SPR+2R type four-freedom-degree parallel mechanism |
| JP2017065467A (en) * | 2015-09-30 | 2017-04-06 | キヤノン株式会社 | Drone and control method thereof |
| CN106125747A (en) * | 2016-07-13 | 2016-11-16 | 国网福建省电力有限公司 | Based on the servo-actuated Towed bird system in unmanned aerial vehicle onboard the first visual angle mutual for VR |
| WO2018018983A1 (en) * | 2016-07-27 | 2018-02-01 | 广州亿航智能技术有限公司 | Remote control handle for unmanned aerial vehicle |
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| CN108681326A (en) | 2018-10-19 |
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