CN109343552A - The express delivery no-manned machine distant control system debug device of relay station is passed based on wifi- number - Google Patents
The express delivery no-manned machine distant control system debug device of relay station is passed based on wifi- number Download PDFInfo
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- CN109343552A CN109343552A CN201811270765.1A CN201811270765A CN109343552A CN 109343552 A CN109343552 A CN 109343552A CN 201811270765 A CN201811270765 A CN 201811270765A CN 109343552 A CN109343552 A CN 109343552A
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- wifi
- express delivery
- relay station
- cell phone
- phone application
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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
- G05D1/08—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 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
Abstract
The present invention proposes the express delivery no-manned machine distant control system debug device that relay station is passed based on wifi- number, belongs to no-manned machine distant control technical field, which includes cell phone application virtual remote controller, wifi- number biography relay station and express delivery unmanned plane test platform；Wifi- number passes relay station and is communicated by wifi module with cell phone application virtual remote controller, it is communicated by digital transmission module with express delivery unmanned plane test platform, the command range for extending cell phone application virtual remote controller realizes the transmission of express delivery UAV Attitude control parameter and the reception of state parameter；Replacement hardware circuit is not needed when the plant modification or upgrading, need to only modify cell phone application program coding and communication protocol, and research and development and maintenance cost are lower.
Description
Technical field
The present invention relates to no-manned machine distant control technical fields, and in particular to the express delivery unmanned plane of relay station is passed based on wifi- number
Remote control system debugging apparatus.
Background technique
Unmanned plane is widely applied to each rows such as military and national defense, aerial security, agricultural plant protection, power-line patrolling, logistics express delivery
Each industry.More and more University Enterprises begin one's study the high-grade, precision and advanced skill such as architectural characteristic, aeroperformance, long-range control of unmanned plane
Art；Express delivery unmanned plane begins to use in one, tier 2 cities at present, solves last 100 meters time-consuming expenses of delivering goods to the customers of courier
The worries of power；Express delivery no-manned machine distant control system is entity remote controler when courier uses at present, remote controler is expensive, volume and
Weight is larger, manipulation rocking bar is exposed outside, carries very inconvenient and is easily damaged；Cell phone application virtual remote controller is by program
Written in code forms, research and develop, upgrade, maintenance cost it is lower, the shortcomings that avoiding entity remote controler；Cell phone application virtual remote controller
It is mounted on daily regular handset used, express delivery unmanned plane can be remotely controlled by the wifi communication function of mobile phone and complete to appoint
Business, but communication distance is closer, within 30 meters.
In order to solve the problems, such as that cell phone application virtual remote controller communication distance is short, it would be highly desirable to develop a kind of wifi- number crossing after
It stands, wifi- number passes relay station by wifi module and cell phone application virtual remote controller information exchange, passes through digital transmission module and express delivery
Unmanned plane test platform information exchange, to greatly extend cell phone application virtual remote controller communication distance.
Summary of the invention
Aiming at the problem that present invention is in the presence of express delivery no-manned machine distant control system in research, propose based on wifi- number
Pass the express delivery no-manned machine distant control system debug device of relay station.
The express delivery no-manned machine distant control system debug device of relay station, including cell phone application virtual remote controller are passed based on wifi- number
(being mounted on mobile phone), drone status parameter display area, UAV Attitude adjustment area, unmanned aerial vehicle (UAV) control parameters revision area,
Wifi module, wifi- number pass relay station, relay station microprocessor, digital transmission module, receiver, express delivery system for flight control computer, fast
Pass unmanned plane test platform, acceleration transducer, electronic compass, electronic barometer, avoidance alarm sensor, electric power detection sensing
Device, GPS sensor, brushless motor, delivers gripper at camera；Cell phone application virtual remote controller (being mounted on mobile phone) is pacified above
Area, unmanned aerial vehicle (UAV) control parameters revision area are adjusted equipped with drone status parameter display area, UAV Attitude；The crossing of wifi- number after
It stands and wifi module, relay station microprocessor, digital transmission module is installed above；Reception is installed above express delivery unmanned plane test platform
Machine, express delivery system for flight control computer, acceleration sensor, electronic compass, electronic barometer, avoidance alarm sensor, electricity
Detection sensor, GPS sensor, brushless motor, delivers gripper at camera；Cell phone application virtual remote controller (is mounted on mobile phone
On) and the biography relay station radio connection of wifi- number, wifi- number biography relay station and the test platform radio connection of express delivery unmanned plane；
Wifi module, digital transmission module respectively with relay station microprocessor is wired is electrically connected, receiver, acceleration sensor, electronics sieve
Disk, electronic barometer, avoidance alarm sensor, electric power detection sensor, camera, GPS sensor, brushless motor, transaction apparatus
Machinery claw respectively with express delivery system for flight control computer is wired is electrically connected.
Beneficial effects of the present invention: cell phone application virtual remote controller (being mounted on mobile phone) and wifi- number in the debugging apparatus
It passes relay station and information exchange is carried out by wifi communication function, wifi- number passes relay station and passes through with express delivery unmanned plane test platform
Wireless data sending functional information interaction, to extend the distance of cell phone application virtual remote controller control express delivery unmanned plane test platform；
Pose adjustment parameter and control algolithm corrected parameter in cell phone application virtual remote controller pass relay station by wifi- number and are sent to
Express delivery system for flight control computer, adjustment brushless motor deliver the executing agencies such as gripper；The acquisition of express delivery system for flight control computer adds
Acceleration transducer, electronic compass, electronic barometer, avoidance alarm sensor, electric power detection sensor, camera, GPS sensing
The sensor informations such as device pass relay station by wifi- number and are sent to cell phone application virtual remote controller, and it is aobvious to update drone status parameter
Show the data in area；Replacement hardware circuit is not needed when debugging apparatus transformation or upgrading, need to only modify cell phone application program coding
And communication protocol, research and development and maintenance cost are lower.
Detailed description of the invention
Fig. 1 is the structural representation that the express delivery no-manned machine distant control system debug device of relay station is passed the present invention is based on wifi- number
Figure.
1- cell phone application virtual remote controller (being mounted on mobile phone), 2- drone status parameter display area, 3- unmanned plane in figure
Pose adjustment area, 4- unmanned aerial vehicle (UAV) control parameters revision area, 5-wifi module, 6-wifi- number pass relay station, 7- relay station micro process
Device, 8- digital transmission module, 9- receiver, 10- express delivery system for flight control computer, 11- express delivery unmanned plane test platform, 12- acceleration
Sensor, 13- electronic compass, 14- electronic barometer, 15- avoidance alarm sensor, 16- electric power detection sensor, 17- camera shooting
Head, 18-GPS sensor, 19- brushless motor, 20- deliver gripper.
Specific embodiment
As shown in Figure 1, passing the express delivery no-manned machine distant control system debug device of relay station, including cell phone application based on wifi- number
Virtual remote controller (being mounted on mobile phone) 1, drone status parameter display area 2, UAV Attitude adjust area 3, unmanned aerial vehicle (UAV) control
Parameters revision area 4, wifi module 5, wifi- number pass relay station 6, relay station microprocessor 7, digital transmission module 8, receiver 9, express delivery
System for flight control computer 10, express delivery unmanned plane test platform 11, acceleration transducer 12, electronic compass 13, electronic barometer 14,
Avoidance alarm sensor 15, camera 17, GPS sensor 18, brushless motor 19, delivers gripper at electric power detection sensor 16
20；Cell phone application virtual remote controller (being mounted on mobile phone) 1 is equipped with drone status parameter display area 2, UAV Attitude above
Adjust area 3, unmanned aerial vehicle (UAV) control parameters revision area 4；Wifi- number passes relay station 6 and is equipped with the micro- place of wifi module 5, relay station above
Manage device 7, digital transmission module 8；Express delivery unmanned plane test platform 11 is equipped with receiver 9 above, express delivery system for flight control computer 10, adds
Velocity sensor 12, electronic compass 13, electronic barometer 14, avoidance alarm sensor 15, electric power detection sensor 16, camera
17, GPS sensor 18, brushless motor 19, delivery gripper 20；Cell phone application virtual remote controller (being mounted on mobile phone) 1 with
Wifi- number passes 6 radio connection of relay station, and wifi- number passes relay station 6 and 11 radio connection of express delivery unmanned plane test platform；
Wifi module 5, digital transmission module 8 respectively with relay station microprocessor 7 is wired is electrically connected, receiver 9, acceleration transducer 12, electricity
Sub- compass 13, electronic barometer 14, avoidance alarm sensor 15, electric power detection sensor 16, camera 17, GPS sensor 18,
Brushless motor 19, deliver gripper 20 respectively with express delivery system for flight control computer 10 is wired is electrically connected.
Before express delivery no-manned machine distant control system data communication normal work, cell phone application virtual remote controller (is mounted on mobile phone
On) 1 the wifi module 5 built in relay station 6 is passed by the wifi function of mobile phone and wifi- number code is matched, wifi-
Number passes relay station 6 and match code by built-in digital transmission module 8 and the receiver 9 built in express delivery unmanned plane test platform 11
It is right.
In express delivery no-manned machine distant control system data transmission process, cell phone application virtual remote controller (being mounted on mobile phone) 1 will
UAV Attitude leads to after adjusting the movement adjustment data in area 3 and the algorithm amendment data encoding in unmanned aerial vehicle (UAV) control parameters revision area 4
It crosses wifi communication and is transmitted to the wifi module 5 that wifi- number passes relay station 6, movement adjustment data and algorithm correct the relayed station of data
Microprocessor 7 is transmitted to digital transmission module 8 after decoding, digital transmission module 8 will pass through after movement adjustment data and algorithm amendment data encoding
Wireless digital transmission communication is transmitted to the receiver 9 built in express delivery unmanned plane test platform 11, and movement adjustment data fly through express delivery unmanned plane
Control brushless motor 19 and delivery gripper 20, realize the pose adjustment of express delivery unmanned plane after control system 10 decodes；Algorithm amendment
The logic parameter of data modification express delivery system for flight control computer 10 improves the control precision of express delivery unmanned plane.
In express delivery no-manned machine distant control system data receive process, express delivery system for flight control computer 10 acquires acceleration sensing
Device 12, electronic compass 13, electronic barometer 14, avoidance alarm sensor 15, electric power detection sensor 16, camera 17 and GPS
The digital and analogue signals of the output of sensor 18 are simultaneously converted to express delivery drone status data, connecing built in express delivery unmanned plane test platform 11
Receipts machine 9 status data is encoded after by wireless digital transmission communication be transmitted to wifi- number pass relay station 6 built in digital transmission module 8, state
The relayed station microprocessor 7 of data is transmitted to wifi module 5 after decoding, and wifi module 5 is led to after encoding status data by wifi
Letter is transmitted to cell phone application virtual remote controller (being mounted on mobile phone) 1, and status data is after drone status parameter display area 2 decodes
Show the behavior state of express delivery unmanned plane, so that manipulator grasps the dynamic of express delivery unmanned plane in real time.
During express delivery no-manned machine distant control system data communication, wifi- number pass relay station 6 built in wifi module 5, in
Data are used for while received after station microprocessor 7 and digital transmission module 8 and send data, carry out full duplex information exchange, ensure that
The real-time of data communication.
Claims (2)
1. passing the express delivery no-manned machine distant control system debug device of relay station based on wifi- number, which is characterized in that including cell phone application
Virtual remote controller (1), drone status parameter display area (2), UAV Attitude adjust area (3), unmanned aerial vehicle (UAV) control parameters revision
Area (4), wifi module (5), wifi- number pass relay station (6), relay station microprocessor (7), digital transmission module (8), receiver (9),
Express delivery system for flight control computer (10), express delivery unmanned plane test platform (11), acceleration transducer (12), electronic compass (13),
Electronic barometer (14), avoidance alarm sensor (15), electric power detection sensor (16), camera (17), GPS sensor
(18), brushless motor (19), delivery gripper (20)；Cell phone application virtual remote controller (1) is equipped with drone status parameter above
Viewing area (2), UAV Attitude adjust area (3), unmanned aerial vehicle (UAV) control parameters revision area (4)；Wifi- number passes relay station (6) above
Wifi module (5), relay station microprocessor (7), digital transmission module (8) are installed；Express delivery unmanned plane test platform (11) is pacified above
Equipped with receiver (9), express delivery system for flight control computer (10), acceleration transducer (12), electronic compass (13), electronic barometer
(14), avoidance alarm sensor (15), electric power detection sensor (16), camera (17), GPS sensor (18), brushless motor
(19), gripper (20) are delivered；Cell phone application virtual remote controller (1) and wifi- number pass relay station (6) radio connection, wifi-
Number passes relay station (6) and express delivery unmanned plane test platform (11) radio connection；Wifi module (5), digital transmission module (8) respectively with
Relay station microprocessor (7) wired electrical connection, receiver (9), acceleration transducer (12), electronic compass (13), electronics air pressure
Count (14), avoidance alarm sensor (15), electric power detection sensor (16), camera (17), GPS sensor (18), brushless electricity
Machine (19), deliver gripper (20) respectively with express delivery system for flight control computer (10) is wired is electrically connected.
2. the express delivery no-manned machine distant control system debug device according to claim 1 for passing relay station based on wifi- number, special
Sign is: during express delivery no-manned machine distant control system data communication, it is virtual with cell phone application respectively that wifi- number passes relay station (6)
Remote controler (1) and express delivery unmanned plane test platform (11) radio connection, for being cell phone application virtual remote controller (1) and express delivery
Remote data communication between unmanned plane test platform (11) provides data exchange hinge；Wifi- number passes in relay station (6)
Wifi module (5), relay station microprocessor (7) and the digital transmission module (8) set are used for while receiving data and send data, carry out
Full duplex information exchange.
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| CN201811270765.1A CN109343552A (en) | 2018-10-29 | 2018-10-29 | The express delivery no-manned machine distant control system debug device of relay station is passed based on wifi- number |
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| CN201811270765.1A CN109343552A (en) | 2018-10-29 | 2018-10-29 | The express delivery no-manned machine distant control system debug device of relay station is passed based on wifi- number |
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Cited By (3)
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| CN110703808A (en) * | 2019-11-28 | 2020-01-17 | 西华师范大学 | Universal flight control system and method |
| CN111277817A (en) * | 2020-01-15 | 2020-06-12 | 广东中科瑞泰智能科技有限公司 | Unmanned aerial vehicle camera test method, device, equipment and storage medium |
| CN114039649A (en) * | 2021-11-04 | 2022-02-11 | 国网福建省电力有限公司电力科学研究院 | Satellite-ground integrated unmanned aerial vehicle positioning method, terminal equipment and power inspection system |
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