CN110308736B - Remote controller control system of vertical take-off and landing fixed wing unmanned aerial vehicle - Google Patents
Remote controller control system of vertical take-off and landing fixed wing unmanned aerial vehicle Download PDFInfo
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- 238000003384 imaging method Methods 0.000 abstract description 2
- 238000003825 pressing Methods 0.000 description 6
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- 230000002349 favourable effect Effects 0.000 description 4
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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
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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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
- G05D1/0858—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft specially adapted for vertical take-off of aircraft
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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Abstract
The invention discloses a remote controller control system of a vertical take-off and landing fixed wing unmanned aerial vehicle, which comprises: host system, rocker module, button module, wireless module and power module still include the intelligence flat board, and the intelligence is dull and stereotyped to be connected through serial ports communication with host system, and the intelligence is dull and stereotyped to include: the setting unit is used for setting control instructions for endowing different rockers and different poking directions of the rocker module with corresponding functions and endowing different keys of the key module with corresponding functions according to user settings; the monitoring unit is used for acquiring the flight state of the unmanned aerial vehicle and a shot image from the main control module and displaying the flight state, wherein the flight state at least comprises flight attitude information and GPS data; and the instruction issuing unit is used for displaying the function entrance, generating an operation instruction according to the triggering of the user on the function entrance and sending the operation instruction to the main control module. The invention can be used for imaging the flight state, is convenient for a flyer to adjust the corresponding functions of the rocker or the key according to the own operation habit, and reduces the operation difficulty and the threshold of a user.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to a remote controller control system of a vertical take-off and landing fixed wing unmanned aerial vehicle.
Background
Unmanned aerial vehicles have been developed in great quantities in recent years, and application fields of the unmanned aerial vehicles are gradually expanded, wherein the unmanned aerial vehicles have great application spaces in industries such as movie aerial photography, traffic planning aerial photography, aerial photography of national resources, plant protection, disaster relief search, power routing inspection, atmospheric sampling, anti-terrorism and the like; at present, most unmanned aerial vehicles can realize various powerful functions such as hovering, cruising on an appointed line, cruising in a pointed manner and the like due to built-in algorithms. However, due to the interference of the external environment and other reasons, the aircraft must be adjusted manually by using a remote controller during flying, so that the normal operation can be ensured. Sharing of both sides information of remote controller end and aircraft end is accomplished through configuration wireless communication device or built-in communication module mostly, and the normal operating that can the final guarantee unmanned aerial vehicle of only the operator of remote controller end is familiar with the manipulation skill of remote controller end and accurate timely information such as understanding the current flight state of aircraft end, speed and electric quantity.
However, at present, the remote controllers used by domestic unmanned aerial vehicles mostly adopt a mode of separating video image monitoring and airplane control, and the video image monitoring and the airplane various postures control cannot be simultaneously carried out when the unmanned aerial vehicle is operated, so that the use process is very inconvenient; in addition, current remote controller structural design is unreasonable, and the manipulation requirement of operation mode to user operation is very high, can not carry out adjustment setting according to operator's individual custom for in the operation use, the last hand time is longer, and it is very inconvenient to operate each button, and the action switches the dumb, causes the emergence of situations such as misoperation, unmanned aerial vehicle damage easily.
In order to solve the problems of unreasonable remote controller operation and long operation time, patent document with publication number CN108008731A discloses a remote controller of an unmanned aerial vehicle, the unmanned aerial vehicle and an unmanned aerial vehicle system, wherein the remote controller comprises a control key, a control module and a wireless communication module; the control module is used for generating different control instructions according to the time when the control key is pressed, and comprises: generating a first control instruction under the condition that the time for pressing the control key is greater than or equal to a first time threshold and smaller than a second time threshold, wherein the first control instruction is used for controlling the unmanned aerial vehicle to execute a set first action; under the condition that the time for pressing the control key is greater than a second time threshold, continuously generating a second control instruction within the time from the time for pressing the control key to the time for releasing the control key, wherein the second control instruction is used for controlling the unmanned aerial vehicle to continuously execute a second action; the operation difficulty is reduced to a certain extent, but the actual operation accuracy depends on the control of the pressing time by an operator, so that the situation that the operation mode desired by the operator is not matched with the actual operation result is easily caused, and misoperation is easily caused;
in order to facilitate simultaneous monitoring of video images and control of various postures of an airplane, patent document with publication number CN106023560A discloses a foldable unmanned aerial vehicle remote controller, which comprises a lower shell and an upper shell hinged on the lower shell, wherein the upper shell rotates upwards to open the lower shell or rotates downwards to close the lower shell, controllers for controlling the unmanned aerial vehicle are installed in the lower shell and the upper shell, an antenna assembly for receiving and transmitting signals is also installed in the lower shell, the controller is communicated with the antenna assembly, and the controller is a tablet computer or a mobile phone.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art, and provides a remote controller control system of a vertical take-off and landing fixed wing unmanned aerial vehicle, which can be used for imaging the flight state, is convenient for a flyer to adjust the corresponding functions of a rocker or a key according to the operation habit of the flyer, and reduces the operation difficulty and the threshold of a user.
In order to achieve the purpose, the invention adopts the technical scheme that:
a remote control system for a vertical take-off and landing fixed wing drone, comprising: the intelligent panel is in communication connection with the main control module through a serial port, and the power supply module is respectively connected with the power supply ports of the main control module, the rocker module, the key module, the wireless module and the intelligent panel to provide power; the smart tablet includes: the setting unit is used for setting control instructions for endowing different rocking bars and different shifting directions of the rocking bar module with corresponding functions and endowing different keys of the key module with corresponding functions according to user settings; the monitoring unit is used for acquiring the flight state of the unmanned aerial vehicle and a shot image from the main control module and displaying the flight state, wherein the flight state at least comprises flight attitude information and GPS data; and the instruction issuing unit is used for displaying the function entry, generating an operation instruction according to the triggering of the function entry by the user and sending the operation instruction to the main control module.
Through control system among the above-mentioned scheme, set up the convenient flier of unit and can correspond the function according to self operation habit adjustment rocker or button, the monitoring unit has carried out the graphics to the state of aircraft, greatly reduced the complexity of unmanned aerial vehicle operation, the instruction is assigned the unit and has been realized a key operation, operates more humanized, has reduced the operation degree of difficulty and user's threshold.
Further, still include voice module, voice module with the host system is connected for call and send corresponding warning sound from prestoring sound storehouse according to host system's control, the warning sound includes at least: a rocker prompt tone, a key prompt tone and a state abnormity prompt tone. Send rocker warning tone, button warning tone and the unusual warning tone of state through voice module, be favorable to the flyer to know oneself through sound to the operational aspect of aircraft to and the fault condition of aircraft itself.
Furthermore, the voice module calls corresponding prompt tones from a pre-stored sound library in an array polling mode. The calling speed is guaranteed, and the cost is saved.
Furthermore, the rocker module at least comprises two rockers capable of rocking up and down, left and right, and is used for adjusting the flight attitude, each rocker comprises two voltage output ends, the rocker is shifted up and down to form one voltage output end, the rocker is shifted left and right to form one voltage output end, the main control module comprises a main control chip, and each voltage output end is respectively connected with an IO pin of the main control chip, so that the main control chip can recognize the shifting direction of the rocker and the rocker while receiving the voltage signal through the IO pin, further can modulate the voltage signal to be a PWM square wave signal, acquire a control instruction corresponding to the shifting direction of the rocker and the rocker, and send the PWM square wave signal and the control instruction to the unmanned aerial vehicle through the wireless module. Through the design, the program is programmed by utilizing the channel, the operation instruction can be orderly and reliably sent to the airplane according to the ideal requirement of the flyer, and the controllability and the control accuracy of the airplane are improved.
Further, the key module includes: the main control module sends a one-key takeoff control instruction to the unmanned aerial vehicle through the wireless module after detecting that the takeoff key is pressed;
the main control module sends a one-key return control instruction to the unmanned aerial vehicle through the wireless module after detecting that the return key is pressed;
the main control module detects that the tripod head direction key is pressed down, and then sends a tripod head direction adjusting instruction to the unmanned aerial vehicle through the wireless module, and the tripod head direction key comprises a pitching key and a direction key. The airplane is convenient to take off, return and adjust the tripod head to one-key operation of the airplane common attitude adjustment, so that the operation convenience is improved, and the airplane-to-machine interaction is met.
Further, the function entry displayed by the instruction issuing unit at least comprises: take-off, landing, climb, descent, level, hover, cruise, and home.
Further, the main control module selects a 32-bit STM32F103VCT6 singlechip as a main control chip.
Further, wireless module adopts the mode of passing through to communicate with unmanned aerial vehicle. The real-time and stability of the information are ensured.
The driving lever module comprises three sections of driving levers and is used for users to shift to realize switching between a multi-rotor mode and a fixed wing mode. The deflector rod module can also carry out the distribution of each section of state in the three sections of deflector rods for a multi-rotor wing mode and a fixed wing mode of the airplane through channel programming.
After the technical scheme is adopted, the invention has the beneficial effects that: the flight state can be imaged, the flyer can adjust the corresponding function of the rocker or the key according to the operation habit, and the operation difficulty and the threshold of a user are reduced.
Drawings
In order to more clearly illustrate embodiments of the present invention or prior art solutions, the drawings are as follows:
FIG. 1 is a block diagram of a remote control system for a VTOL fixed wing UAV provided by the present invention;
fig. 2 is a block diagram of a remote controller control system of a vertical take-off and landing fixed wing drone according to the present invention.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1, the present embodiment provides a remote controller control system for a vertical take-off and landing fixed wing drone, including: the intelligent keyboard comprises a main control module 1, a rocker module 2, a key module 3, a wireless module 4 and a power module, wherein the rocker module 2, the key module 3 and the wireless module 4 are respectively connected with the main control module 1, the intelligent keyboard also comprises an intelligent panel 6, the intelligent panel 6 is in communication connection with the main control module 1 through a serial port, and the power module is respectively connected with power ports of the main control module 1, the rocker module 2, the key module 3, the wireless module 4 and the intelligent panel 6 to provide power; the smart tablet 6 includes: the system comprises a setting unit 61, a monitoring unit 62 and a control unit, wherein the setting unit 61 is used for setting control instructions which are given to corresponding functions by different rockers and different poking directions of the rocker module 2 and control instructions which are given to corresponding functions by different keys of the key module 3 according to a user, and mainly realized by compiling program codes, the monitoring unit 62 is used for acquiring the flight state of the unmanned aerial vehicle from the main control module 1, shooting images and displaying the flight state, the flight state at least comprises flight attitude information and a GPS (global positioning system), and the flight attitude information comprises the flight state (comprising a rolling angle, a pitch angle and a yaw angle of the aircraft), voltage, height, speed (flight speed and climbing speed) and the like; and the instruction issuing unit 63 is used for displaying a function entry, generating an operation instruction according to the triggering of the function entry by a user, and sending the operation instruction to the main control module 1.
Specifically, the main control module 1 adopts a 32-bit single chip as a main control chip, and the chip has 100 pins, a maximum clock frequency of 72MHz, and rich communication interfaces. For processing the various signals and communicating with other modules to control the entire aircraft.
And the power supply module provides stable power supply output to supply power to each module and ensure the stable operation of the whole system.
The key module 3 is a key switch, and the key module 1 is used for processing each time when the aircraft is pressed to form a corresponding instruction and finding the instruction to the aircraft through the wireless module 4, the aircraft can make a corresponding response after receiving the instruction, and the key module 3 can realize the functions of one-key return navigation, one-key landing, one-key photographing, video recording and the like of the aircraft by programming the main control module 1 and identifying the pressing of each key and sending the corresponding instruction.
The wireless module 4 is used for transmitting various signals and instructions of the remote controller to the airplane in a wireless mode so as to realize the function of controlling the airplane in real time, and therefore the function can be realized by conventional wireless transmission equipment.
The intelligent panel 6 comprises a visual operation panel and can be operated through a touch screen, the intelligent panel 6 of the embodiment can be provided with functions of various channels (different poking directions of a rocker) of a remote controller, and can also present video pictures shot and transmitted by the airplane in real time, and the moving track and flying posture of the airplane in the air.
Through control system among the above-mentioned scheme, set up unit 61 and make things convenient for the flier to adjust rocker or button according to self operation habit and correspond the function, monitoring unit 62 has carried out the graphics to the state of aircraft, greatly reduced the complexity of unmanned aerial vehicle operation, the instruction is assigned unit 63 and has been realized a key operation, operates more humanized, has reduced the operation degree of difficulty and user's threshold.
Further, as shown in fig. 2, the mobile phone further includes a voice module 7, where the voice module 7 is connected to the main control module 1, and is configured to call and send out a corresponding prompt sound from a pre-stored sound library according to the control of the main control module 1, where the prompt sound at least includes: a rocker prompt tone, a key prompt tone and a state abnormity prompt tone. Send rocker prompt tone through voice module 7, button prompt tone and the unusual prompt tone of state, be favorable to the flyer to know the operating conditions of oneself to the aircraft through sound, whether the sound of sending after pressing the button or stirring the rocker judges to the aircraft and has sent corresponding instruction, be favorable to knowing the trouble condition of aircraft itself according to the unusual prompt tone of state, it can not the same with button prompt tone to prefer rocker prompt tone and optimization, the unusual prompt tone of state can be including the electric quantity low, rotor trouble etc. different rotatory different prompt tones of trouble are used for the trouble to distinguish.
The voice module 7 calls corresponding prompt tones from a pre-stored sound library in an array polling mode. The calling speed is guaranteed, and the research and development cost is saved. The corresponding prompt tone is recorded in the memory card in advance, the prompt tone of the remote controller is operated, the sound of the airplane attitude playing, the alarm sound of the airplane warning and other prompt sounds are played, and the voice module 7 calls and plays the corresponding prompt tone in the memory card.
The rocker module 2 at least comprises two rockers capable of rocking up and down, left and right, and is used for adjusting flight postures, each rocker comprises two voltage output ends, the rockers are shifted up and down to form one voltage output end, the rockers are shifted left and right to form one voltage output end, the main control module 1 comprises a main control chip, each voltage output end is respectively connected with an IO pin of the main control chip, so that the main control chip can recognize the shifting directions of the rockers and the rockers when receiving voltage signals through the IO pins, further the voltage signals can be modulated to be PWM square wave signals, control instructions corresponding to the shifting directions of the rockers and the rockers are obtained, and the wireless module 4 sends the PWM square wave signals and the control instructions to the unmanned aerial vehicle to control various postures of the unmanned aerial vehicle to move. The rocker module 2 is provided with two rockers connected with the main control module 1, occupies four channels, each channel is equivalent to a variable resistor, when the resistance value of the resistor changes, a variable voltage signal can be generated, the calling program of the main control module 1 is programmed by the channels, the operation instruction can be sent to the airplane according to the ideal requirement of the flyer in order and reliably, and the controllability and the control accuracy of the airplane are improved.
The key module 3 includes: the main control module 1 sends a one-key takeoff control instruction to the unmanned aerial vehicle through the wireless module 4 after detecting that the takeoff key is pressed;
the main control module 1 sends a one-key return control instruction to the unmanned aerial vehicle through the wireless module 4 after detecting that the return key is pressed;
the main control module 1 detects that the tripod head direction key is pressed down, and the wireless module 4 sends a tripod head direction adjusting instruction to the unmanned aerial vehicle, and the tripod head direction key comprises a pitching key and a direction key. The design facilitates one-key operation of taking off, returning and adjusting the cradle head to the common attitude adjustment of the airplanes, is favorable for improving the operation convenience, and accords with human-computer interaction.
Further, the function entries displayed by the command issuing unit 63 at least include: take-off, landing, climb, descent, level, hover, cruise, and home.
The main control module 1 selects a 32-bit STM32F103VCT6 singlechip as a main control chip.
Wireless module 4 adopts the mode of passing through to communicate with unmanned aerial vehicle. The real-time and stability of the information are ensured.
The driving lever module 8 is connected with the main control module 1, and the driving lever module 8 comprises three sections of driving levers and is used for users to shift to realize switching between a multi-rotor mode and a fixed-wing mode. Three-section driving lever is three-section toggle switch for, can stir three position about in, every position all corresponds different voltage output value, and accessible passageway programming carries out the distribution of every section state in the three-section driving lever to the many rotor modes of aircraft and stationary vane mode, for example up stirs to be many rotor modes, down stirs to the stationary vane mode, and then can make things convenient for the system operation to take off and land the unmanned aerial vehicle with the stationary vane flight with many rotors, improves the control scope of this embodiment system.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (7)
1. A remote control system for a vertical take-off and landing fixed wing drone, comprising: the intelligent tablet is characterized by further comprising an intelligent tablet, wherein the intelligent tablet is in communication connection with the main control module through a serial port, and the power supply module is respectively connected with the power supply ports of the main control module, the rocker module, the key module, the wireless module and the intelligent tablet to provide power; the smart tablet includes: the setting unit is used for setting control instructions for endowing different rocking bars and different shifting directions of the rocking bar module with corresponding functions and endowing different keys of the key module with corresponding functions according to user settings; the monitoring unit is used for acquiring the flight state of the unmanned aerial vehicle and a shot image from the main control module and displaying the flight state, wherein the flight state at least comprises flight attitude information and GPS data; the instruction issuing unit is used for displaying a function entrance, generating an operation instruction according to the triggering of a user on the function entrance and sending the operation instruction to the main control module;
the function entrance displayed by the order issuing unit at least comprises: take-off, landing, climbing, descending, leveling, hovering, cruising and homing;
still include voice module, voice module with host system connects for according to host system's control calls and sends corresponding warning sound from prestoring the sound storehouse, the warning sound includes at least: a rocker prompt tone, a key prompt tone and a state abnormity prompt tone.
2. The remote control system of claim 1, wherein the voice module invokes the corresponding alert tone from a pre-stored sound library in an array polling manner.
3. The remote control system of claim 1, it is characterized in that the rocker module at least comprises two rockers which can rock up and down, left and right and are used for realizing the adjustment of the flight attitude, each rocker comprises two voltage output ends, wherein the upper and lower toggle is a voltage output end, the left and right toggle is a voltage output end, the main control module comprises a main control chip, each voltage output end is respectively connected with an IO pin of the main control chip, so that the main control chip can identify the rocker and the poking direction of the rocker while receiving the voltage signal through the IO pin, further modulating the voltage signal into a PWM square wave signal, acquiring a control instruction corresponding to the rocker and the poking direction of the rocker, and the PWM square wave signal and the control instruction are sent to the unmanned aerial vehicle through the wireless module.
4. The remote control system of claim 1, wherein the key module comprises: the main control module sends a one-key takeoff control instruction to the unmanned aerial vehicle through the wireless module after detecting that the takeoff key is pressed;
the main control module sends a one-key return control instruction to the unmanned aerial vehicle through the wireless module after detecting that the return key is pressed;
the main control module detects that the tripod head direction key is pressed down, and then sends a tripod head direction adjusting instruction to the unmanned aerial vehicle through the wireless module, and the tripod head direction key comprises a pitching key and a direction key.
5. The remote control system for the VTOL fixed wing UAVs of claim 1, wherein the main control module selects a 32-bit STM32F103VCT6 single chip microcomputer as a main control chip.
6. The remote control system of claim 1, wherein the wireless module communicates with the drone in a transparent mode.
7. The remote control system of claim 1, further comprising a toggle module connected to the main control module, wherein the toggle module comprises three sections of toggles for a user to toggle between a multi-rotor mode and a fixed-wing mode.
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| CN110703801A (en) * | 2019-10-30 | 2020-01-17 | 上海歌尔泰克机器人有限公司 | Unmanned aerial vehicle simulation method, device and equipment and storage medium |
| CN112965519A (en) * | 2021-02-02 | 2021-06-15 | 北京京东乾石科技有限公司 | Unmanned aerial vehicle landing guiding equipment, method and system |
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