CN110083172A - A kind of unmanned vehicle control system - Google Patents
A kind of unmanned vehicle control system Download PDFInfo
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- CN110083172A CN110083172A CN201910422373.0A CN201910422373A CN110083172A CN 110083172 A CN110083172 A CN 110083172A CN 201910422373 A CN201910422373 A CN 201910422373A CN 110083172 A CN110083172 A CN 110083172A
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- control system
- unmanned vehicle
- ground
- unmanned
- control
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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
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
-
- 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
Abstract
The present invention discloses a kind of unmanned vehicle control system.In the unmanned vehicle control system, the signal output end of information Coupling device is connect with the signal input part of virtual image display system and vibration sound system；Information Coupling device and ground control system are sequentially connected, and the signal input part of information Coupling device and the signal output end of ground control system connect；Ground control system is connect with unmanned control system wireless bidirectional communication；Someone's control system provides operation equipment for user；Virtual image display system shows the environment picture around unmanned vehicle according to the vision signal that information Coupling device transmits；The vibration and sound that vibration sound system is used to generate in the driving Imitating unmanned vehicle flight of information Coupling device.Information Coupling device and ground control system are handed over for realizing the information of ground and unmanned plane to be transmitted.Unmanned vehicle control system of the invention can be improved the reducing degree of environment.
Description
Technical field
The present invention relates to flying vehicles control fields, more particularly to a kind of unmanned vehicle control system.
Background technique
Existing unmanned vehicle relies on sensing system abundant and control function, can supervise in real time in addition to flight function
Location sets, speed, height, the system failure and dump energy and return data, and there is stronger environment to adapt to and self-protection energy
Power can be completed to take photo by plane in the presence of controllers, patrol and the more complex tasks such as Security alert.With manned aircraft
It compares, navigation consumption can be reduced to the maximum extent, reduce security risk.Currently, unmanned vehicle is all by manipulator using biography
The instruction type of system controls, it may be assumed that unmanned vehicle executes demonstration flight in the sky after taking off, investigate or task of taking photo by plane, ground staff
By visual observation unmanned vehicle (in sighting distance) or by check real time data and figure pass picture (outside sighting distance) grasp space vehicle dynamic,
And pass through the long-range change of flight state of command interface of remote controler or ground control station, specific movement is executed, color cigarette is such as discharged,
It takes pictures, delivers article etc..
In instruction type control mode, controller generally observes aircraft with third person or first person.When
When using first person, manipulator's viewing be fixed on unmanned vehicle it is solid on the screen-picture passed back in real time of camera,
Unmanned vehicle posture speed is directly judged by scene change.However this view mode is only manipulator and provides visually
Information, environment reducing degree is lower.
Summary of the invention
The object of the present invention is to provide a kind of unmanned vehicle control systems, improve the reducing degree of environment.
To achieve the above object, the present invention provides following schemes:
A kind of unmanned vehicle control system, comprising: someone's control system, information Coupling device, ground control system, nothing
People's control system, virtual image display system and vibration sound system；
The signal output end of the information Coupling device and the signal input part of the virtual image display system and the shake
The signal input part connection of dynamic sound system；The information Coupling device and the ground control system are sequentially connected, and described
The signal input part of information Coupling device is connect with the signal output end of the ground control system；The ground control system with
The unmanned control system is connected by wireless bidirectional communication；
Someone's control system, the virtual image display system and the vibration sound system are installed in ground control room
It is interior；Someone's control system is used to provide operation equipment for user；The virtual image display system is used for according to the information coupling
Close the environment picture around the vision signal display unmanned vehicle of equipment transmission；The vibration sound system is used in the letter
Cease the vibration generated when the driving Imitating unmanned vehicle flight of Coupling device and sound；The information Coupling device is for examining
The operational motion of the operation equipment is surveyed, and the operational motion is converted into the machinery adaptable with the ground control system
Movement, and the mechanical action is driven to the ground control system；The information Coupling device is also used to the ground
The video signal transmission of control system transmission gives the virtual image display system, the flight number transmitted according to the ground control system
Vibration and sound are generated according to the driving vibration sound system；The ground control system is used to detect the mechanical action, and
The mechanical action is converted into control instruction, and the control instruction is transferred to the unmanned control system；The ground
Control system is also used to for vision signal and flying quality that the unmanned control system is transmitted being transferred to the information coupling and sets
It is standby；The unmanned control system is used to control the unmanned vehicle according to the control instruction and fly, and is also used to detect described
Environment around the flying quality of unmanned vehicle and the shooting unmanned vehicle forms vision signal, and by the flight number
The ground control system is given according to the video signal transmission.
Optionally, the virtual image display system includes display and spherical reflector；The signal input part of the display
It is connect with the signal output end of the information Coupling device, for receiving the vision signal of the information Coupling device output and showing
Show the environment picture；The spherical reflector is located at the front of operative position, for the environment picture to be reflected into user
In eye.
Optionally, someone's control system includes: seat and operation equipment；The operation equipment is for transmitting user's
Operation is intended to.
Optionally, the information Coupling device include operation sensor, follow steering engine control panel, follow steering engine, electromagnetism from
Clutch, rocker-arm link；The operation sensor is mounted in the operation equipment, the operation sensor signal output end and institute
It states and the signal input part of steering engine control panel is followed to connect；The control output end for following steering engine control panel follows steering engine with described
Control signal connection；It is described that steering engine is followed to be sequentially connected by the electromagnetic clutch and the rocker-arm link；It is described to shake
Arm link and the ground control system are sequentially connected；
The operation sensor is used to acquire the motion information of the operation equipment, and the motion information is converted into electricity
Signal follows steering engine control panel described in passing to；It is described to follow steering engine control panel for the electricity according to the operation sensor output
Signal follows steering engine sending action to instruct to described；It is described to follow steering engine for being acted according to the action command generation；It is described
Electromagnetic clutch is used to that the movement to be passed to the rocker-arm link when being powered, and the rocker-arm link is used for the movement
Pass to the ground control system.
Optionally, the ground control system includes ground controller and driving lever；The driving lever and the rocker-arm link pass
Dynamic connection；The ground controller is connect with the driving lever, and is connect with the unmanned control system both-way communication；The driving lever
Movement is generated under the drive of the rocker-arm link；The ground controller is used to detect the kinematic parameter of the driving lever, and will
The kinematic parameter is converted into the control instruction, and the control instruction is sent to the unmanned control system.
Optionally, the information Coupling device further includes data analytical Calculation machine；The signal of the data analytical Calculation machine
Input terminal is connect with the signal output end of the ground controller, the data analytical Calculation machine signal output end respectively with it is described
Display is connected with the signal input part of the vibration sound system；
The ground controller is also used to for vision signal and flying quality that the unmanned control system is transmitted being transferred to
The data analytical Calculation machine；The data analytical Calculation machine is for solving the vision signal and the flying quality
Analysis, and give the video signal transmission after parsing to the display screen, the vibration is driven according to the flying quality after parsing
Sound system generates vibration and sound.
Optionally, the spherical reflector is concave mirror.
Optionally, the operation equipment includes but is not limited to control stick, pedal and throttle lever；The control stick is for controlling
The rolling direction of the unmanned vehicle and pitch orientation；The pedal is used to control the navigation direction of the unmanned vehicle；
The throttle is used to control the flying speed of the unmanned vehicle.
Optionally, the operation sensor includes but is not limited to control stick position sensor, pedal sensor and throttle lever
Position sensor；The control stick position sensor is used to detect the shift position of the control stick, and the pedal sensor is used
In the depression depths for detecting the pedal；The throttle lever position sensor is used to detect the position of the throttle lever.
Optionally, air-conditioning is additionally provided in the ground control room.
The specific embodiment provided according to the present invention, the invention discloses following technical effects: nothing disclosed in this invention
People's aircraft control system simulates unmanned vehicle by vibration sound system by virtual image display system display environment picture
The vibration generated when flight and sound improve environment reducing degree so that user provides vision, tactile and information acoustically.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the system construction drawing of unmanned vehicle control system embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Fig. 1 is the system construction drawing of unmanned vehicle control system embodiment of the present invention.
Referring to Fig. 1, the unmanned vehicle control system, comprising: someone's control system 1, information Coupling device 2, ground control
System 3, unmanned control system, virtual image display system 4 and vibration sound system 5 processed；
The signal input part of the signal output end of the information Coupling device 2 and the virtual image display system 4 and described
Shake the signal input part connection of sound system 5；The information Coupling device 2 is sequentially connected with the ground control system 3, and
The signal input part of the information Coupling device 2 is connect with the signal output end of the ground control system 3；The ground control
System 3 is connect with the unmanned control system by wireless bidirectional communication；
Someone's control system 1, the virtual image display system 4 and the vibration sound system 5 are installed in ground behaviour
It controls in room 6；Someone's control system 1 is used to provide operation equipment for user；The virtual image display system 4 is used for according to
The vision signal that information Coupling device 2 transmits shows the environment picture around unmanned vehicle 7；The vibration sound system 5 is used
The vibration generated when driving Imitating 7 flight of unmanned vehicle in the information Coupling device 2 and sound；The information coupling
The operational motion that equipment 2 is used to detect the operation equipment is closed, and the operational motion is converted into controlling with the ground and is
The adaptable mechanical action of system 3, and the mechanical action is driven to the ground control system 3；The information Coupling device 2
The video signal transmission for being also used to transmit the ground control system 3 gives the virtual image display system 4, is controlled according to the ground
The flying quality that system 3 processed is transmitted drives the vibration sound system 5 to generate vibration and sound；The ground control system 3 is used
In detecting the mechanical action, and the mechanical action is converted into control instruction, and the control instruction is transferred to described
Unmanned control system；The vision signal and flight number that the ground control system 3 is also used to transmit the unmanned control system
According to being transferred to the information Coupling device 2；The unmanned control system be used for according to the control instruction control it is described nobody fly
Row device 7 flies, and is also used to detect the environment around the flying quality and the shooting unmanned vehicle 7 of the unmanned vehicle 7
Vision signal is formed, and gives the flying quality and the video signal transmission to the ground control system 3.
The virtual image display system 4 includes display and spherical reflector；The signal input part of the display with it is described
The signal output end of information Coupling device 2 connects, for receiving the vision signal of the output of information Coupling device 2 and showing institute
State environment picture；The spherical reflector is located at the front of operative position, for the environment picture to be reflected into user's eye.
Someone's control system 1 includes: seat and operation equipment；The operation equipment is used to transmit the operation meaning of user
Figure.
Information Coupling device 2 is the medium between user and ground control system 3, and effect is that the practical operation of user is moved
Make, being converted into ground control system 3 can received movement.The information Coupling device 2 includes operation sensor, follows steering engine control
Making sheet follows steering engine, electromagnetic clutch, rocker-arm link and on-off button；The operation sensor is mounted on the operation equipment
On, the operation sensor signal output end is connect with the signal input part for following steering engine control panel；It is described to follow steering engine
The control output end of control panel is connect with the control signal for following steering engine；It is described that steering engine is followed to pass through the electromagnetic clutch
Device and the rocker-arm link are sequentially connected；The rocker-arm link and the ground control system 3 are sequentially connected.The on-off button
It is connect with the electromagnetic clutch.
The operation sensor is used to acquire the motion information of the operation equipment, and the motion information is converted into electricity
Signal follows steering engine control panel described in passing to；It is described to follow steering engine control panel for the electricity according to the operation sensor output
Signal follows steering engine sending action to instruct to described；It is described to follow steering engine for being acted according to the action command generation；It is described
Electromagnetic clutch is used to that the movement to be passed to the rocker-arm link when being powered, and the rocker-arm link is used for the movement
Pass to the ground control system 3.Power supply of the on-off button for electromagnetic clutch described in on-off.
The ground control system 3 includes ground controller and driving lever；The driving lever and the rocker-arm link are sequentially connected；
The ground controller is connect with the driving lever, and is connect with the unmanned control system both-way communication；The driving lever is described
Movement is generated under the drive of rocker-arm link；The ground controller is used to detect the kinematic parameter of the driving lever, and by the fortune
Dynamic Parameter Switch is sent to the unmanned control system at the control instruction, and by the control instruction.
The information Coupling device 2 further includes data analytical Calculation machine；The signal input part of the data analytical Calculation machine
Connect with the signal output end of the ground controller, the data analytical Calculation machine signal output end respectively with the display
It is connected with the signal input part of the vibration sound system 5；
The ground controller is also used to for vision signal and flying quality that the unmanned control system is transmitted being transferred to
The data analytical Calculation machine；The data analytical Calculation machine is for solving the vision signal and the flying quality
Analysis, and give the video signal transmission after parsing to the display screen, the vibration is driven according to the flying quality after parsing
Sound system 5 generates vibration and sound.
When normal operational, when user presses on-off button electromagnetic clutch is made to be powered, steering engine and driving lever is followed to become machinery
Hard link follows the movement of steering engine that driving lever is directly driven to generate corresponding mobile, and ground controller detects the kinematic parameter of driving lever
And corresponding control instruction being generated, and control instruction is sent to unmanned control system, unmanned control system receives control instruction
Corresponding movement is generated afterwards, is realized and is driven function；When user, which presses on-off button, powers off electromagnetic clutch, steering engine is followed
The driving lever of rocker-arm link and ground controller disengage, at this time no matter user how moving operation equipment, follow the movement of steering engine equal
It cannot be transmitted on driving lever, driving lever is in neutrality without instruction output position, and ground controller does not have control instruction sending, unmanned control
System processed keeps the stabilized flight of unmanned vehicle by homeostatic function.The effect of the electromagnetic clutch is to realize manually
Seamless transitions between flight and automatic stabilisation, reduce the difficulty and risk of beginner.
In information coupling process, the state of a control conversion of ground controller and unmanned control system is crucial.Ground control
On the one hand the mechanical movement of driving lever manipulation is converted to electric signal by device processed, on the other hand to manage and control the increasing of driving lever manipulation
Benefit, the size of gain directly affect automatic stabilisation with by instruction flight conversion opportunity, and by instruction flight when manipulation spirit
Sensitivity.Unmanned control system is moved to by driving lever machinery are as follows: 1) driving lever displacement is converted to voltage signal, is converted further into expression
The data u of displacement；2) to data u by gain transformations, the control input quantity u for indicating instruction size is obtainedk；3) judgement refers to
Enable ukAbsolute amplitude, if it is less than the idle stroke threshold value u of setting0, then a reference value of unmanned control system is 0, is in self-stabilization
State, if instruction ukAbsolute value is greater than idle stroke threshold value u0, a reference value of unmanned control system is not 0, and reference values Xu's
Size and instruction ukLeave idle stroke threshold value u0Size have positive correlation, specially Xu=uk-u0·sign(uk), sign
For sign function；4) unmanned control system controls aspect and speed meets benchmark input according to pid algorithm.
Data analytical Calculation machine connects the data output interface (such as USB) of ground controller, the flight that real-time reception is arrived
The flying qualities such as posture are parsed from data packet, then drive vibration sound by modes such as serial ports, Ethernet, fieldbus
Acoustic system, such as sound size variation, the variation of the amplitude of movement of simulation.
The introducing of information Coupling device, so that user gets rid of traditional unmanned aerial vehicle (UAV) control mode in information Perception and control response
The limitation of aspect is closer to the normal stress reaction process of people, makes in the user on ground as practical driving in the sky has
People's aircraft equally manipulates unmanned vehicle.
The spherical reflector is concave mirror.Environment picture is viewed by a user after passing through spherical reflector, makes to see user
It generates and the actually depth as video camera and apart from situation sense in the sky.
The operation equipment includes but is not limited to control stick, pedal and throttle lever；The control stick is for controlling the nothing
The rolling direction of people's aircraft 7 and pitch orientation；The pedal is used to control the navigation direction of the unmanned vehicle 7；It is described
Throttle is used to control the flying speed of the unmanned vehicle 7.
The operation sensor includes but is not limited to control stick position sensor, pedal sensor and throttle lever position sensing
Device；The control stick position sensor is used to detect the shift position of the control stick, and the pedal sensor is for detecting institute
State the depression depths of pedal；The throttle lever position sensor is used to detect the position of the throttle lever.
Air-conditioning is additionally provided in the ground control room 6.
Flying quality includes flight attitude, position and height.The unmanned control system includes attitude transducer, position biography
Sensor, height sensor and aircraft steering engine.The attitude transducer is used to detect the flight attitude of unmanned vehicle 7, described
Position sensor is used to detect the position of unmanned vehicle 7, and the height sensor is used to detect the height of unmanned vehicle 7；
The aircraft steering engine realizes stabilized flight for controlling rudder face and power output.Unmanned control system of the invention has certainly
Stabilizing power.
The specific embodiment provided according to the present invention, the invention discloses following technical effects: nothing disclosed in this invention
People's aircraft control system simulates unmanned vehicle by vibration sound system by virtual image display system display environment picture
The vibration generated when flight and sound improve environment reducing degree so that user provides vision, tactile and information acoustically.
In addition to this, the present invention also has following technical effect that
1. the manipulation of user is converted into transporting suitable for the mechanical of ground control system by the present invention by information Coupling device
It is dynamic, so that unmanned vehicle control system of the invention is mating to be applicable in the existing unmanned flight with ground control system
Device, the interface and equipment of the not broken original unmanned vehicle of ring do not influence the independent of subsequent unmanned vehicle and use.
2. getting rid of ordinary screen using the virtual image display system for having spherical reflector and being displayed without depth and distance perception
Limitation, reduces aerial visual effect completely, so that user is obtained more true flight experience, and plus sound and movement thorn
Swash, enables users to generate the feeling for driving actual airplane, to keep the control to unmanned vehicle more intuitive, accurate.
3. user directly perceives environmental change from the angle of airflight, than flying by nobody merely in terms of complex decision
The self-stabilization control of row device is more reliable, safe.
4. realizing that people's control and the moment of automatic control are converted using information Coupling device, while promoting flight experience, drop significantly
Low manipulation risk, makes the applicable object of system be not limited solely to trained professional people personage, ordinary people can also be straight
It connects using and difficulty is gradually increased according to own situation, become the effective means of study flight.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of unmanned vehicle control system characterized by comprising someone's control system, information Coupling device, ground control
System, unmanned control system, virtual image display system and vibration sound system processed；
The signal output end of the information Coupling device and the signal input part of the virtual image display system and the vibration sound
The signal input part of acoustic system connects；The information Coupling device and the ground control system are sequentially connected, and the information
The signal input part of Coupling device is connect with the signal output end of the ground control system；The ground control system with it is described
Unmanned control system is connected by wireless bidirectional communication；
Someone's control system, the virtual image display system and the vibration sound system are installed in ground control room；
Someone's control system is used to provide operation equipment for user；The virtual image display system is used to be set according to information coupling
The vision signal of standby transmission shows the environment picture around unmanned vehicle；The vibration sound system is used in the information coupling
Close the vibration generated when the driving Imitating unmanned vehicle flight of equipment and sound；The information Coupling device is for detecting institute
The operational motion of operation equipment is stated, and the operational motion is converted into moving with the machinery that the ground control system is adapted
Make, and the mechanical action is driven to the ground control system；The information Coupling device is also used to control on the ground
The video signal transmission of system transmission processed gives the virtual image display system, the flying quality transmitted according to the ground control system
The vibration sound system is driven to generate vibration and sound；The ground control system is used to detect the mechanical action, and will
The mechanical action is converted into control instruction, and the control instruction is transferred to the unmanned control system；The ground control
System processed is also used to vision signal and flying quality that the unmanned control system is transmitted being transferred to the information Coupling device；
The unmanned control system is mounted on the unmanned vehicle；The unmanned control system is used for according to the control instruction control
The unmanned vehicle flight is made, be also used to detect the flying quality of the unmanned vehicle and shoots the unmanned vehicle week
The environment enclosed forms vision signal, and gives the flying quality and the video signal transmission to the ground control system.
2. unmanned vehicle control system according to claim 1, which is characterized in that the virtual image display system includes aobvious
Show device and spherical reflector；The signal input part of the display is connect with the signal output end of the information Coupling device, is used
In the vision signal for receiving the information Coupling device output and show the environment picture；The spherical reflector is located at operation
The front of position, for the environment picture to be reflected into user's eye.
3. unmanned vehicle control system according to claim 2, which is characterized in that someone's control system includes:
Seat and operation equipment；The operation that the operation equipment is used to transmit user is intended to.
4. unmanned vehicle control system according to claim 3, which is characterized in that the information Coupling device includes behaviour
Make sensor, follows steering engine control panel, follows steering engine, electromagnetic clutch, rocker-arm link；The operation sensor is mounted on described
It operates in equipment, the operation sensor signal output end is connect with the signal input part for following steering engine control panel；It is described
The control output end of steering engine control panel is followed to connect with the control signal for following steering engine；It is described to follow steering engine described in
Electromagnetic clutch and the rocker-arm link are sequentially connected；The rocker-arm link and the ground control system are sequentially connected；
The operation sensor is used to acquire the motion information of the operation equipment, and the motion information is converted into electric signal
Steering engine control panel is followed described in passing to；It is described to follow steering engine control panel for the electric signal according to the operation sensor output
Steering engine sending action is followed to instruct to described；It is described to follow steering engine for being acted according to the action command generation；The electromagnetism
Clutch is used to that the movement to be passed to the rocker-arm link when being powered, and the rocker-arm link is used to transmit the movement
To the ground control system.
5. unmanned vehicle control system according to claim 4, which is characterized in that the ground control system includes ground
Face controller and driving lever；The driving lever and the rocker-arm link are sequentially connected；The ground controller is connect with the driving lever, and
It is connect with the unmanned control system both-way communication；The driving lever generates movement under the drive of the rocker-arm link；Describedly
Face controller is used to detect the kinematic parameter of the driving lever, and the kinematic parameter is converted into the control instruction, and by institute
It states control instruction and is sent to the unmanned control system.
6. unmanned vehicle control system according to claim 5, which is characterized in that the information Coupling device further includes
Data analytical Calculation machine；The signal input part of the data analytical Calculation machine and the signal output end of the ground controller connect
Connect, the data analytical Calculation machine signal output end respectively with the display and it is described vibration sound system signal input part
Connection；
The ground controller is also used to for vision signal and flying quality that the unmanned control system is transmitted being transferred to described
Data analytical Calculation machine；The data analytical Calculation machine is used to parse the vision signal and the flying quality, and
It gives the video signal transmission after parsing to the display screen, the vibration sound equipment system is driven according to the flying quality after parsing
System generates vibration and sound.
7. unmanned vehicle control system according to claim 2, which is characterized in that the spherical reflector is concave surface
Mirror.
8. unmanned vehicle control system according to claim 4, which is characterized in that the operation equipment includes but unlimited
In control stick, pedal and throttle lever；The control stick is used to control rolling direction and the pitch orientation of the unmanned vehicle；Institute
Pedal is stated for controlling the navigation direction of the unmanned vehicle；The throttle is used to control the flight speed of the unmanned vehicle
Degree.
9. unmanned vehicle control system according to claim 8, which is characterized in that the operation sensor includes but not
It is limited to control stick position sensor, pedal sensor and throttle lever position sensor；The control stick position sensor is for examining
The shift position of the control stick is surveyed, the pedal sensor is used to detect the depression depths of the pedal；The throttle lever position
Sensor is set for detecting the position of the throttle lever.
10. unmanned vehicle control system according to claim 1, which is characterized in that in the ground control room also
It is provided with air-conditioning.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110658835A (en) * | 2019-09-19 | 2020-01-07 | 中国航空无线电电子研究所 | Unmanned aerial vehicle flight control method and system |
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