CN109032181A - A kind of unmanned aerial vehicle control system and control method of double remote control controls - Google Patents
A kind of unmanned aerial vehicle control system and control method of double remote control controls Download PDFInfo
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- CN109032181A CN109032181A CN201810944420.3A CN201810944420A CN109032181A CN 109032181 A CN109032181 A CN 109032181A CN 201810944420 A CN201810944420 A CN 201810944420A CN 109032181 A CN109032181 A CN 109032181A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses the unmanned aerial vehicle control system and control method of a kind of double remote control controls, which includes: major and minor remote controler, major and minor remote control receiver, switching module and flight control system；Master remote controller is connected with master remote controller receiver, and sub remote controller is connected with sub remote controller receiver；Two receivers are connected with switching module；Switching module is connected with flight control system.This method comprises: master remote controller sends main control signal and switching switching signal gives master remote controller receiver, sub remote controller sends sub-control signal and gives sub remote controller receiver；Master remote controller receiver sends a signal to switching module, and sub remote controller receiver sends a signal to switching module；Main control signal or sub-control signal are sent to flight control system by switching module；Flight control system controls unmanned plane.The unmanned aerial vehicle control system and control method of double remote control controls of the invention can shorten coach when accident occurs and obtain the time weighed to unmanned plane manipulation, reduce the generation of aircraft accident.
Description
Technical field
The present invention relates to air vehicle technique field, in particular to the unmanned aerial vehicle control system of a kind of double remote control controls and control
Method processed.
Background technique
The development of unmanned plane in recent years is than very fast, since unmanned plane has advantage of lower cost, no one was injured risk, machine
Dynamic performance is good, the advantages such as easy to use, and unmanned plane, which the fields such as makes an inspection tour in Aerial photography, geological exploration, ultra-high-tension power transmission line, pole
For wide application prospect.Therefore have and the demand that hand carries out flight training is flown to unmanned plane.
Traditional unmanned plane teaching is usually that student is led to carry out unmanned plane during flying teaching by coach, and instructor station is in student
It instructs at one's side and takes into account prevention student's flight generation aircraft accident out of control while student's flight operation.But in traditional teaching mode
In, unmanned plane only one remote controler, student occur flight it is out of control in the case where student need to give remote controler into religion
Practice, there is certain handover time in the meantime, if the situation is critical is easy to that aircraft accident occurs.
Application No. is: the Chinese invention patent of 201610077891.X discloses a kind of double remote control systems of unmanned plane, the hair
It is bright to propose a kind of double remote control systems of unmanned plane, for controlling unmanned plane.But have between master-slave telecontrol device in the invention
Communication connection, this is just needed between master-slave telecontrol device, and model is identical (or compatible), forms matched remote controller, and master-slave telecontrol device
Between communication cable can interfere coach and flying cadet flight operation.In addition, in the invention, when master remote controller have it is any
Just the control from remote controler is deprived when operation, this just makes coach, and unintentionally touching rocking bar can interfere control of the student to unmanned plane
System, to cause aircraft accident or teaching inconvenient.
Summary of the invention
The present invention is directed to above-mentioned problems of the prior art, proposes a kind of unmanned aerial vehicle (UAV) control system of double remote control controls
System and control method, coach when accident occurs that can effectively shorten obtains the time to unmanned plane manipulation power, to be effectively reduced
The generation of aircraft accident in unmanned plane teaching；Also remote multi-remote-controller relay control unmanned plane may be implemented.
In order to solve the above technical problems, the present invention is achieved through the following technical solutions:
The present invention provides a kind of unmanned aerial vehicle control system of double remote control controls comprising: master remote controller, master remote controller connect
Receipts machine, sub remote controller, sub remote controller receiver, switching module and flight control system；Wherein,
The master remote controller includes: switching switch, and the master remote controller is connected with the master remote controller receiver, the master
Remote controler is used for main control signal and switching omicronff signal transmission to the master remote controller receiver；
The sub remote controller is connected with the sub remote controller receiver, and the sub remote controller is for transmitting sub-control signal
To the sub remote controller receiver；
The master remote controller receiver and the sub remote controller receiver are connected with the switching module, and the master is distant
Control device receiver is used to receive the main control signal and switching switching signal of the master remote controller, and by the main control signal
And switching omicronff signal transmission gives the switching module；The sub remote controller receiver is used to receive the pair of the sub remote controller
Signal is controlled, and the sub-control signal is transferred to the switching module；
The switching module is connected with the flight control system；
When the switching module receives the main control signal and the sub-control signal simultaneously, the switching module
For judging the switching switching signal, the switching switching signal includes: the first signal and second signal；When the switching
When switching signal is the first signal, the switching module is used to the main control signal being transferred to the flight control system；Work as institute
When to state switching switching signal be second signal, the switching module is used to for the sub-control signal being transferred to the winged control system
System；
When the switching module only receives the main control signal or only receives the sub-control signal, the switching mould
Block is used to the main control signal received or the sub-control signal being transferred to the flight control system；
The flight control system is used to control unmanned plane according to the main control signal or sub-control signal that receive.
Preferably, the master remote controller and the sub remote controller are remote controler of the same race or are remote controler not of the same race.
Preferably, the submaster controller includes multiple.
The present invention also provides a kind of control methods of unmanned plane comprising following steps:
S11: master remote controller sends main control signal and switching switching signal to master remote controller receiver and/or secondary remote control
Device sends sub-control signal and gives sub remote controller receiver；
S12: the main control signal received and switching switching signal are sent to by the master remote controller receiver
The sub-control signal received is sent to switching module by switching module and/or the sub remote controller receiver；
S13: the switching module judges the signal received, when the signal received includes the main control signal, cuts
When changing switching signal and the sub-control signal, judge to switch switching signal for the first signal or second signal, when being the
When one signal, the main control signal is sent to flight control system, when for second signal, the sub-control signal is sent to
The flight control system；When the signal received only has the main control signal or the only sub-control signal, by the master
Control signal or the sub-control signal are sent to flight control system；
S14: the flight control system according to the main control signal or the sub-control signal received to unmanned plane into
Row control.
Preferably, the step S11 specifically: master remote controller sends main control signal and switching switching signal is distant to master
Control device receiver and/or sub remote controller send sub-control signal and give sub remote controller receiver；
The step S12 specifically: the master remote controller receiver is by the main control signal received and switching
The sub-control signal received is sent to switching module by switching signal and/or the sub remote controller receiver.
Preferably, the master remote controller and the sub remote controller are remote controler of the same race or are remote controler not of the same race.
Compared to the prior art, the invention has the following advantages that
(1) unmanned aerial vehicle control system and control method of double remote control controls of the invention, a unmanned plane is by double remote controls
Device manipulation, to the control of unmanned plane, coach when accident occurs that effectively shortens obtains to nothing coach's two remote controlers of free switching
The time of man-machine manipulation power also may be implemented remote how distant so that the generation of aircraft accident in unmanned plane teaching be effectively reduced
It controls device relay and controls unmanned plane；
(2) unmanned aerial vehicle control system and control method of double remote control controls of the invention, master remote controller and sub remote controller
It can be the remote controler of different brands different model, it is practical；
(3) unmanned aerial vehicle control system and control method of double remote control controls of the invention, master remote controller and from remote controler
Between there is no the communication connection of wired or wireless form, will not interfere coach and flying cadet flight operation；
(4) unmanned aerial vehicle control system and control method of double remote control controls of the invention can be used for unmanned plane teaching,
Hand-held master remote controller is trained, student uses sub remote controller, and coach can switch real-time guard by the switching on master remote controller
The safety of member's manipulation unmanned plane.
Certainly, it implements any of the products of the present invention and does not necessarily require achieving all the advantages described above at the same time.
Detailed description of the invention
Embodiments of the present invention are described further with reference to the accompanying drawing:
Fig. 1 is the unmanned aerial vehicle control system schematic diagram of double remote control controls of one embodiment of the invention；
Fig. 2 a-2c is the input/output module circuit diagram of the switching module of one embodiment of the invention；
Fig. 3 a-3d is the logic selecting module circuit diagram of the switching module of one embodiment of the invention；
Fig. 4 is the flow chart of the control method of the unmanned plane of one embodiment of the invention；
Fig. 5 is the flow chart of the step S13 of the control method of the unmanned plane of one embodiment of the invention；
Fig. 6 is the application scenario diagram of one embodiment of the invention.
Label declaration: 1- master remote controller, 2- sub remote controller, 4- switching module, 5- flight control system；
31- master remote controller receiver, 32- sub remote controller receiver.
Specific embodiment
It elaborates below to the embodiment of the present invention, the present embodiment carries out under the premise of the technical scheme of the present invention
Implement, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to following implementation
Example.
Embodiment 1:
In conjunction with Fig. 1, the unmanned aerial vehicle control system of double remote control controls of the invention is described in detail in the present embodiment, such as
Shown in Fig. 1 comprising: master remote controller 1, sub remote controller 2, master remote controller receiver 31, sub remote controller 32, switching module 4 and
Flight control system 5；Wherein, master remote controller 1 includes: switching switch, and master remote controller 1 is connected with master remote controller receiver 31, main remote control
Device 1 is used for main control signal and switching omicronff signal transmission to master remote controller receiver 31；Sub remote controller 2 connects with sub remote controller
Receipts machine 32 is connected, and sub remote controller 2 is used to sub-control signal being transferred to sub remote controller receiver 32；Master remote controller receiver 31 with
And sub remote controller 32 is connected with switching module 4 respectively, master remote controller receiver 31 is used to receive the main control signal of master remote controller 1
And switching switching signal, and by main control signal and switching omicronff signal transmission to switching module 4；Sub remote controller receiver
32 for receiving the sub-control signal of sub remote controller 2, and sub-control signal is transferred to switching module 4；Switching module 4 and winged control
System 5 is connected；When switching module 4 receives main control signal and sub-control signal simultaneously, switching module 4 is for judging switching
Switching signal, switching switching signal includes: the first signal and second signal；When switching switching signal is the first signal, cut
Mold changing block 4 is used to main control signal being transferred to flight control system 5；When switching switching signal is second signal, switching module 4 is used
In sub-control signal is transferred to flight control system 5；When switching module only receives main control signal or only receives sub-control signal,
Switching module is used to the main control signal received or sub-control signal being transferred to flight control system 5；Flight control system 5 is used for basis and connects
Main control signal or sub-control signal the control unmanned plane received.When switching module had both been not received by main control signal or did not had
When receiving sub-control signal, the protection signal set in advance can be sent to flight control system, protection signal, which can be, to make a return voyage
Deng instruction.
It is as shown in Figure 2,3 the circuit diagram of the switching module of an embodiment, is as shown in figs. 2 a-2 c switching module
Input/output module, the secondary control signal input such as the master signal input in Fig. 2 a and in Fig. 2 b is respectively master remote controller receiver
31 and sub remote controller receiver 32 be passed to the signal of switching module 4, such as the output signal of switching module in Fig. 2 c, SBUS in Fig. 2 a
I1 is the signal that main remote control receiver 31 is passed to switching module 4；SBUS I2 cuts in Fig. 2 b for sub remote controller receiver 32 is incoming
The signal of block 4 is changed the mold, SBUS O is output signal of the switching module after judgement in Fig. 2 c.It is as illustrated in figs. 3 a-3d switching
Signal is passed to by the logic selecting module of module, master remote controller receiver 31 by I1 mouthfuls of SBUS in Fig. 3 b, and sub remote controller connects
Signal is passed to by receipts machine 32 by I2 mouthfuls of SBUS in Fig. 3 d.When the signal of incoming switching module only has signal all the way, switching
Module just directly controls signal is transmitted to winged control by SBUS O mouthfuls, and remote controler current at this time just obtains the control of unmanned plane
Power.When the signal of incoming switching module has two-way, in switching module, just detected in incoming SBUS I1 mouthfuls of signal
The switching of master remote controller switchs corresponding channel signal.It is 1 when the switching for detecting master remote controller switchs corresponding channel signal
When, switching module will pass through O mouthfuls of SBUS and master remote controller control signal be transmitted to winged control, and master remote controller obtains unmanned plane at this time
Control；When it is 0 that the switching for detecting master remote controller, which switchs corresponding channel signal, switching module will pass through O mouthfuls of SBUS will
Sub remote controller control signal is transmitted to winged control, and sub remote controller obtains the control of unmanned plane at this time.In the present embodiment, with chip
For EP2C5T144C8N, in different embodiments, other chips can also be used to realize, as long as can be realized required function i.e.
It can.
In preferred embodiment, sub remote controller include it is multiple, control to multiple students may be implemented in coach in this way.
Embodiment 2:
In conjunction with Fig. 4, the control method of unmanned plane of the invention is described in detail in the present embodiment, is illustrated in figure 4 it
Flow chart comprising following steps:
S11: master remote controller sends main control signal and switching switching signal to master remote controller receiver and/or secondary remote control
Device sends sub-control signal and gives sub remote controller receiver；
S12: the main control signal received and switching switching signal are sent to switching module by master remote controller receiver
And/or the sub-control signal received is sent to switching module by sub remote controller receiver；
S13: switching module judges the signal received, when the signal received includes main control signal, switching switch letter
Number and when sub-control signal, judge to switch switching signal for the first signal or second signal, when for the first signal, will lead
Control signal is sent to flight control system, i.e. master controller works, and when for second signal, sub-control signal is sent to winged control
System, i.e. sub remote controller work；When the signal received only has main control signal or only sub-control signal, by main control
Signal or sub-control signal are transmitted directly to flight control system, i.e., current remote controler works, as shown in Figure 5；
Specifically, in the present embodiment, switching switching signal uses binary signal, and such as the first signal is 1, and second signal is
0.There are many channels on remote controler under normal conditions, and there are some vacant not used channels, it is assumed that on master remote controller
Channel 10 is not used, some switch that master remote controller is arranged is set as switching switch, its state is mapped to channel 10, works as switching
Master remote controller obtains the control of unmanned plane when dialling on switch, and it is 1 that remote controler channel 10, which is transmitted to the signal of receiver, at this time；When cutting
The control that sub remote controller when switch is set aside obtains unmanned plane is changed, it is 0 that remote controler channel 10, which is transmitted to the signal of receiver, at this time.
S14: flight control system controls unmanned plane according to the main control signal or sub-control signal that receive.
In above-described embodiment, master remote controller and sub remote controller can be remote controler of the same race, or remote controler not of the same race,
It is practical.
The unmanned aerial vehicle control system and control method of double remote control controls of above-described embodiment can be used for unmanned plane religion
It learns, trains hand-held master remote controller, student uses sub remote controller, and coach can be switched by the major-minor remote controler on master remote controller to open
Close the safety that real-time guard student manipulates unmanned plane.It can be also used for expanding the control range to nobody, as shown in fig. 6, flying hand A
Control range to unmanned plane is first region, and flying hand B is second region, first region and the intersection of second region to the control range of unmanned plane
Region is Zone switched.When winged hand A control unmanned plane flies into Zone switched, stirring switching switch makes unmanned plane by flying hand B behaviour
Control, unmanned plane can be manipulated in the flight of second region by flying hand B.It is being greater than effective control area weight when winged hand needs to manipulate unmanned plane
When multiple operation, major-minor remote controler can be used to control unmanned plane.Compared to one winged hand manipulation unmanned plane has being greater than
It imitates control area and repeats operation, double remote control control unmanned planes can allow winged hand not need first, second region again and walk up and down, significantly
Reduce winged hand workload, and improves operating efficiency.
Disclosed herein is merely a preferred embodiment of the present invention, these embodiments are chosen and specifically described to this specification, is
Principle and practical application in order to better explain the present invention is not limitation of the invention.Anyone skilled in the art
The modifications and variations done within the scope of specification should all be fallen in the range of of the invention protect.
Claims (5)
1. a kind of control system of double remote control control unmanned planes characterized by comprising master remote controller, master remote controller receive
Machine, sub remote controller, sub remote controller receiver, switching module and flight control system；Wherein,
The master remote controller includes: switching switch, and the master remote controller is connected with the master remote controller receiver, the main remote control
Device is used for main control signal and switching omicronff signal transmission to the master remote controller receiver；
The sub remote controller is connected with the sub remote controller receiver, and the sub remote controller is used to sub-control signal being transferred to institute
State sub remote controller receiver；
The master remote controller receiver and the sub remote controller receiver are connected with the switching module, the master remote controller
Receiver is used to receive the main control signal and switching switching signal of the master remote controller, and by the main control signal and
Switch omicronff signal transmission to the switching module；The sub remote controller receiver is used to receive the sub-control of the sub remote controller
Signal, and the sub-control signal is transferred to the switching module；
The switching module is connected with the flight control system；
When the switching module receives the main control signal and the sub-control signal simultaneously, the switching module is used for
Judge the switching switching signal, the switching switching signal includes: the first signal and second signal；When the switching switchs
When signal is the first signal, the switching module is used to the main control signal being transferred to the flight control system；It is cut when described
When to change switching signal be second signal, the switching module is used to the sub-control signal being transferred to the flight control system；
When the switching module only receives the main control signal or only receives the sub-control signal, the switching module is used
In the main control signal received or the sub-control signal are transferred to the flight control system；
The flight control system is used to control unmanned plane according to the main control signal or sub-control signal that receive.
2. the unmanned aerial vehicle control system of double remote control controls according to claim 1, which is characterized in that the master remote controller
It is remote controler of the same race or for remote controler not of the same race with the sub remote controller.
3. the unmanned aerial vehicle control system of double remote control controls according to claim 1, which is characterized in that the sub remote controller
Including multiple.
4. a kind of control method of unmanned plane, which comprises the following steps:
S11: master remote controller sends main control signal and switching switching signal gives master remote controller receiver, and sub remote controller sends secondary
Control signal gives sub remote controller receiver；
S12: the main control signal received and switching switching signal are sent to switching by the master remote controller receiver
The sub-control signal received is sent to switching module by module and/or the sub remote controller receiver；
S13: the switching module judges the signal received, when the signal received includes the main control signal, switches and open
When OFF signal and the sub-control signal, judges to switch switching signal for the first signal or second signal, believe when for first
Number when, the main control signal is sent to flight control system, when for second signal, the sub-control signal is sent to described
Flight control system；When the signal received only has the main control signal or the only sub-control signal, by the main control
Signal or the sub-control signal are sent to flight control system；
S14: the flight control system controls unmanned plane according to the main control signal or the sub-control signal that receive
System.
5. the control method of unmanned plane according to claim 4, which is characterized in that the master remote controller and the secondary remote control
Device is remote controler of the same race or is remote controler not of the same race.
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