CN110415503A - A kind of no-manned machine distant control system based on Bluetooth control - Google Patents
A kind of no-manned machine distant control system based on Bluetooth control Download PDFInfo
- Publication number
- CN110415503A CN110415503A CN201910649149.5A CN201910649149A CN110415503A CN 110415503 A CN110415503 A CN 110415503A CN 201910649149 A CN201910649149 A CN 201910649149A CN 110415503 A CN110415503 A CN 110415503A
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- Prior art keywords
- remote controler
- bluetooth
- student
- coach
- control system
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Classifications
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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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
Abstract
The no-manned machine distant control system based on Bluetooth control that the invention discloses a kind of, including coach's remote controler and student's remote controler, train in remote controler and student's remote controler and are mounted on bluetooth communication to realize mutual communication function；The side of remote controler upper end is hinged with protection cap, and protection cap is connected by positioning device with remote controler, is connected with mobile phone by clamping mechanism in protection cap.Wherein the function of switching communication mode may be implemented in bluetooth communication, unmanned controller is trained when needing to carry out guidance command will send instructions to student's unmanned controller, and will open high speed transparent transmission mode when needing to carry out data double-way transmission with the mobile phone of clamping and realize mass data Bidirectional transparent transmission.The no-manned machine distant control system based on bluetooth communication has the advantages that instruct multiple students convenient for a coach, high speed transparent transmission mass data and can be effectively prevented air crash accident and occurs.
Description
Technical field
The present invention relates to no-manned machine distant control technical field, specially a kind of no-manned machine distant control system based on Bluetooth control.
Background technique
Unmanned plane, in general, reference is unpiloted aircraft.Be related in the present invention be exactly it is a kind of nobody
Drive quadrotor machine.As the innovation of technology develops, unmanned plane has application in many fields at this stage, for example plants
Protect, take photo by plane with logistics etc..Therefore, more and more people start to contact unmanned plane manipulation.For wireless remote control unmanned plane,
The operation for learning unmanned controller also becomes a kind of increasingly vigorous demand.If professional coach makes during study
Student is instructed with the mode of oral account, it is completely inconvenient, and be easy to cause contingency.And due to many unmanned planes
Price is not cheap, once crashing, will result in unnecessary loss.In addition, the manipulation button of existing unmanned controller and
None good protective device of interface, may be damaged in the case where not using.
Bluetooth is a kind of short-range wireless communication technique, be at the beginning of design in order to replace wired connection, it is robustness, low
Power consumption, characteristic of low cost have allowed it that various terminals product is widely applied.Bluetooth is developed so far, from 1.0 5.0 editions till now
This；Bluetooth 5.0 is either all more blue than an early generation in terms of its transmission rate, transmission range or in terms of its anti-interference ability
Tooth has and greatly improves.Compared to bluetooth 4.2, its transmission rate rises to 2 times, and transmission range expands as 4 times, communication
It is 8 times that capacity, which increases, while it also optimizes a series of bottom function.Particularly, bluetooth 5.0 realize it is extremely low standby and
Run power consumption because bluetooth 5.0 be it is backward compatible, during establishing connection can with autonomous negotiating Connecting quantity, so
There is no concern that connection can not be established with bluetooth 4.2 and version below.Bluetooth technology is applied to no-manned machine distant control operation and religion
Be Main Topics of the invention.
Summary of the invention
Goal of the invention: in view of the deficiencies of the prior art, it is an object of that present invention to provide a kind of based on Bluetooth control nobody
Machine remote control system has and instructs convenient for coach student, can be effectively prevented the benefit of air crash accident generation, solve
It is inconvenient to carry out real-time instruction to student by professional during study, and is easy the problem of causing contingency.And it examines
Demand Design clamping structure and the protective device that remote controler is transmitted with data in mobile phone are considered in order to use and extend making for remote controler
Use the service life.
Technical solution: for achieving the above object, a kind of no-manned machine distant control based on Bluetooth control of the present invention
System, including coach's remote controler and student's remote controler, coach's remote controler and student's remote controler are equipped with bluetooth communication
And display module, when coach's remote controler is connected with student's remote controler by bluetooth communication, coach's remote controler is worked in
Host mode, student's remote controler work in slave mode；The operating mode of the bluetooth communication includes transparent transmission mode and refers to
Mode is enabled, when operating mode is instruction mode, coach's remote controler and student's remote controler can carry out bluetooth by instruction
Pairing connection；When work is transparent transmission mode, the display module is sent and received for showing by bluetooth communication
Include but is not limited to tutorial message；Coach's remote controler and student's remote controler pass through clamping mechanism respectively and are connected with mobile phone,
Coach's remote controler or student's remote controler are connect by bluetooth communication with mobile phone, and the bluetooth communication works in
When arq mode, the mobile phone that remote controler is clamped with it carries out data double-way transmission；Coach's remote controler is equipped with reset button, when
After reset button is pressed, reset instruction is sent to student's remote controler by bluetooth communication, student's remote controler receives reset and refers to
System reboot after order, the unmanned plane controlled reset.
Preferably, the bluetooth communication is 5.0 module of bluetooth, coach's remote controler passes through bluetooth communication
Connect multiple student's remote controlers.
Preferably, the side of the remote controler upper end is hinged with protection cap, the protection cap by positioning device with it is distant
Control device is connected, and is connected with mobile phone by clamping mechanism in the protection cap.
Preferably, the positioning device includes fixing groove, the first spring, fixed block, card slot and pull rod, the fixing groove
It is provided in protection cap, the card slot is provided with the position that remote controler corresponds to fixing groove, and first spring is fixedly connected on solid
Determine the slot bottom of slot, the fixed block is fixedly connected on the one end of the first spring far from fixing groove slot bottom, and slides and connect with fixing groove
It connects, the fixed block passes through the notch of fixing groove far from one end of the first spring and extends into card slot, and the pull rod is fixed to be connected
It connects in fixed block close to one end of the first spring, the pull rod sequentially passes through the first spring and fixing groove far from one end of fixed block
Slot bottom and extend outwardly.
Preferably, symmetrically offering limiting slot on the cell wall of the fixing groove, it is slidably connected in the limiting slot limited
Position block, the limited block passes through the notch of limiting slot far from one end of limiting slot slot bottom and extends outwardly, and is fixedly connected on
Determine on the correspondence side wall of block.
Preferably, the pull rod is fixedly connected with pull handle far from one end of fixed block.
Preferably, the clamping mechanism includes sliding slot, sliding block, second spring and clamping plate, four sliding slots are symmetrically opened
It is located on the inner wall of protection cap, the second spring is fixedly connected on the cell wall of sliding slot, and the sliding block is fixedly connected on second
The other end of spring, and being slidably connected with sliding slot, the Boards wall are connected to the opposite end of two sliding blocks, and in protection cap
Wall is slidably connected, and the mobile phone is located between two clamping plates, and offsets with it.
Preferably, being fixedly connected with stabiliser bar in the sliding slot, the stabiliser bar sequentially passes through second spring and sliding block
Setting, and be slidably connected with sliding block.
The utility model has the advantages that compared with prior art, the present invention have it is following the utility model has the advantages that
(1) no-manned machine distant control system of the invention trains remote controler and student's remote controler, Jiao Lianyao by correct operation
It controls to instruct by AT between device and student's remote controler and carries out Bluetooth pairing binding, coach can send out student's remote controler later
It send tutorial message to carry out action director to student's unmanned plane, is operated convenient for student；Operation of the student to unmanned plane simultaneously
Information can also feed back to coach's remote controler, and the operation trend of student is grasped convenient for coach.When student's misoperation, Jiao Lianye
Instruction control student's unmanned plane can be directly transmitted to realize the generation for avoiding artificial incorrect operation from leading to unmanned plane crash.
(2) no-manned machine distant control system of the invention can be by bluetooth 5.0 by unmanned controller and clamping hand on it
Machine carries out bluetooth connection, and into after blue teeth high speed transparent transmission mode, the bidirectional data transfers of the two may be implemented.That is no-manned machine distant control
Device can send a large amount of information to mobile phone, and mobile phone can also send control of the various instructions to remote controler realization to unmanned plane simultaneously
System.
(3) no-manned machine distant control system of the invention passes through setting protection cap, positioning device and clamping mechanism, protection cap energy
Enough to effectively protect to remote controler, clamping mechanism is then convenient for for mobile phone being fixed in protection cap, observes convenient for user, when
Remote controler does not need to fix protection cap on a remote control in use, then passing through positioning device, is able to extend the use of remote controler
Service life.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiment of the present invention；
Fig. 2 is the overlooking structure diagram of remote controler in the embodiment of the present invention；
Fig. 3 is the side structure schematic view of remote controler in the embodiment of the present invention；
Fig. 4 is the enlarged drawing of part A in Fig. 3；
Fig. 5 is 5.0 logic chart of bluetooth in the embodiment of the present invention.
In figure: 1 unmanned plane, 2 main control modules, 3 display modules, 4 audio-frequency modules, 5 radio communication modules, 6 power managements
Module, 7 sensors and servo module, 8 bluetooth communications, 9 protection caps, 10 positioning devices, 101 fixing grooves, 102 first bullets
Spring, 103 fixed blocks, 104 card slots, 105 pull rods, 11 clamping mechanisms, 111 sliding slots, 112 sliding blocks, 113 second springs, 114 clamping plates,
12 mobile phones, 13 limiting slots, 14 limited blocks, 15 pull handles, 16 stabiliser bars.
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.
As shown in Figure 1, a kind of no-manned machine distant control system based on bluetooth communication disclosed by the embodiments of the present invention, remote control
Device role can be set as training remote controler (master remote controller) or student's remote controler (from remote controler) as desired, and remote controler is except normal
Advise the standby main control module 2 (microprocessor MPU) of remote control appliance, display module 3 (UI), audio-frequency module 4, radio communication module 5
(unmanned plane instruction transmitting-receiving), power management module 6 (PMU), sensor and servo module 7 etc. are outer to increase bluetooth communication 8,
5.0 module of bluetooth is used in this example.After remote controler passes through power management module (PMU) 6 electrifying startup, oneself can be set
Remote controler role --- if it is selected as master remote controller, can connect multiple from remote controler to realize to multiple students while manage
Function；If being selected as from remote controler, specified coach's remote controler can be selected to carry out by AT command set as shown in the table
Bluetooth binding connection, consequently facilitating receiving the information that coach's remote controler is sent.
After training remote controler and student's remote controler bluetooth connection success, transparent transmission mode can be entered by AT+MODE0,
Coach can send tutorial message to student's remote controler by remote controler at this time, and student can be according to right after receiving tutorial message
The information answered is operated；Meanwhile student also can be distant to training by the feedback of bluetooth communication 8 to the operating procedure of remote controler
It controls on device, grasped in real time convenient for training and student is instructed.When student's operation error, which may result in unmanned plane, crashes,
For coach by pressing the reset button on the power management module 4 on coach's remote controler in time, it is directly right by bluetooth to be equivalent to
Student's remote controler sends instruction AT+RESET, and the unmanned plane for operating student resets in time to save to it, while student
Remote controler will restart, can be effectively prevented air crash accident generation.
As in Figure 2-4, the side of remote controler upper end is hinged with protection cap 9, and protection cap 9 passes through positioning device 10 and remote control
Device is connected, and is connected with mobile phone 12 by clamping mechanism 11 in protection cap 9, protection cap 9 can effectively protect remote controler
Shield, clamping mechanism 11 are observed then convenient for mobile phone 12 to be fixed in protection cap 9 convenient for user, when remote controler do not need using
When, then it is by positioning device 10 that protection cap 9 is fixed on a remote control.
Positioning device 10 includes fixing groove 101, the first spring 102, fixed block 103, card slot 104 and pull rod 105, fixing groove
101 are provided in protection cap 9, and card slot 104 is provided with the position that remote controler corresponds to fixing groove 101, and the first spring 102 is fixedly connected
In the slot bottom of fixing groove 101, fixed block 103 is fixedly connected on first one end of spring 102 far from 101 slot bottom of fixing groove, and with
Fixing groove 101 is slidably connected, and fixed block 103 far from one end of the first spring 102 passes through the notch of fixing groove 101 and to card slot
Extend in 104, pull rod 105 is fixedly connected on fixed block 103 close to one end of the first spring 102, and pull rod 105 is far from fixed block
103 one end sequentially passes through the slot bottom of the first spring 102 and fixing groove 101 and extends outwardly, distant convenient for protection cap 9 to be fixed on
It controls on device, good protective effect has been risen to remote controler.
Limiting slot 13 is symmetrically offered on the cell wall of fixing groove 101, limited block 14 is slidably connected in limiting slot 13, is limited
Block 14 passes through the notch of limiting slot 13 far from one end of 13 slot bottom of limiting slot and extends outwardly, and is fixedly connected on fixed block 103
Correspondence side wall on, prevent fixed block 103 to be detached from out of fixing groove 101.
Pull rod 105 is fixedly connected with pull handle 15 far from one end of fixed block 103, convenient for pulling pull rod 105.
Clamping mechanism 11 includes sliding slot 111, sliding block 112, second spring 113 and clamping plate 114, and four sliding slots 111 are symmetrically opened
It is located on the inner wall of protection cap 9, second spring 113 is fixedly connected on the cell wall of sliding slot 111, and sliding block 112 is fixedly connected on
The other end of two springs 113, and be slidably connected with sliding slot 111, clamping plate 114 is fixedly connected on the opposite end of two sliding blocks 112, and
It is slidably connected with 9 inner wall of protection cap, mobile phone 12 is located between two clamping plates 114, and offsets with it, convenient for mobile phone is fixed on guarantor
On protecting cover 9.
Stabiliser bar 16 is fixedly connected in sliding slot 111, stabiliser bar 16 sequentially passes through second spring 113 and sliding block 112 is arranged,
And be slidably connected with sliding block 112, so that sliding block 112 is movably more stable in sliding slot 111.
When mobile phone is connected on unmanned plane, unmanned plane can also carry out bluetooth binding connection with mobile phone thereon and be counted
According to transmission.Due to the backward compatible characteristic of bluetooth 5.0, so that the remote control system can be realized almost and all mobile phones on the market
Bluetooth connection.Remote controler and mobile phone are acting as the role of master remote controller when being attached, mobile phone is by selecting corresponding set
The standby connection carried out with remote controler, it is same after connection that transparent transmission mode is entered by AT+MODE0.High speed can be carried out later
The data penetration transmission of rate, mobile phone can send information to unmanned controller, while remote controler can also send selected one
Fixed number is according to mobile phone.
In conclusion student carries out unmanned plane using student's remote controler certain when student is when learning unmanned plane operation
Operation；The coach's remote controler for carrying out bluetooth connection with it is sent by student's remote controler that 5.0 module of bluetooth is used to student
The step of tutorial message operates convenient for student, and student is to student's remote controler can then pass through 5.0 module feedback of bluetooth to religion
Practice on remote controler, grasped in real time convenient for training and student is instructed, when student's operation error may result in unmanned plane pendant
When ruining, coach is directly distant to student by bluetooth by pressing the reset button on the power management module on coach's remote controler
It controls device and emits reset instruction, unmanned plane is saved, so that instructing convenient for coach student, and can be effectively prevented
Air crash accident occurs.Meanwhile remote controler also can carry out bluetooth connection with the mobile phone of clamping on it and realize bi-directional data high speed
The function of transmission.Protection cap 9 can effectively protect remote controler, and clamping mechanism 1 is then convenient for mobile phone 12 being fixed on guarantor
It on protecting cover 9, is observed convenient for user, when remote controler does not need in use, being then fixed on protection cap 9 by positioning device 10 distant
It controls on device, it is protected.
For the instruction set transmission between existing unmanned controller and the short range transmission mass data with mobile phone
Scene, low-power consumption bluetooth communication pattern can play its greatly act on.Combination of embodiment of the present invention bluetooth 5.0 and nobody
The development actual conditions of machine remote-control radio communication, coach remote controler and student's remote controler etc. are to be grasped based on embedded RTOS mutually
The unmanned controller communication mode for making the core chips of system, the principal and subordinate for realizing remote controler communication module is machine integrated, AT
The functions such as instruction set order and Bidirectional transparent transmission, which, which can realize, carries out bluetooth connection with most of mobile phones on the market
Data and energy stable operation are transmitted, local test transparent transmission rate is up to 10KB/s.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (8)
1. a kind of no-manned machine distant control system based on Bluetooth control, it is characterised in that: the remote control system includes coach's remote controler
With student's remote controler, coach's remote controler and student's remote controler are equipped with bluetooth communication and display module, the coach
When remote controler is connected with student's remote controler by bluetooth communication, coach's remote controler works in host mode, student's remote controler
Work in slave mode；The operating mode of the bluetooth communication includes transparent transmission mode and instruction mode, is in operating mode
When instruction mode, coach's remote controler can carry out Bluetooth pairing by instruction with student's remote controler and connect；It is in work
When arq mode, the display module is for showing the information sent and received by bluetooth communication；Coach's remote control
Device and student's remote controler pass through clamping mechanism respectively, and to be connected with mobile phone, coach's remote controler or student's remote controler logical by bluetooth
Letter module is connect with mobile phone, and when the bluetooth communication works in transparent transmission mode, the mobile phone that remote controler is clamped with it is counted
According to transmitted in both directions；Coach's remote controler is equipped with reset button, after reset button is pressed, by bluetooth communication to
Member's remote controler sends reset instruction, and student's remote controler receives system reboot after reset instruction, and the unmanned plane controlled resets.
2. a kind of no-manned machine distant control system based on Bluetooth control according to claim 1, it is characterised in that: the bluetooth
Communication module is 5.0 module of bluetooth, and coach's remote controler connects multiple student's remote controlers by bluetooth communication.
3. a kind of no-manned machine distant control system based on Bluetooth control according to claim 1, it is characterised in that: the coach
The side of remote controler and student's remote controler upper end is hinged with protection cap, and the protection cap is connected by positioning device with remote controler
It connects, mobile phone is connected with by clamping mechanism in the protection cap.
4. a kind of no-manned machine distant control system based on Bluetooth control according to claim 3, it is characterised in that: the positioning
Device includes fixing groove, the first spring, fixed block, card slot and pull rod, and the fixing groove is provided in protection cap, and the card slot is opened
It is located at the position that remote controler corresponds to fixing groove, first spring is fixedly connected on the slot bottom of fixing groove, and the fixed block is fixed
It is connected to the one end of the first spring far from fixing groove slot bottom, and is slidably connected with fixing groove, the fixed block is far from the first spring
One end pass through fixing groove notch and extend into card slot, the pull rod is fixedly connected on fixed block close to the one of the first spring
End, the pull rod sequentially pass through the slot bottom of the first spring and fixing groove far from one end of fixed block and extend outwardly.
5. a kind of no-manned machine distant control system based on Bluetooth control according to claim 4, it is characterised in that: the fixation
Limiting slot is symmetrically offered on the cell wall of slot, limited block is slidably connected in the limiting slot, the limited block is far from limiting slot
One end of slot bottom passes through the notch of limiting slot and extends outwardly, and is fixedly connected on the correspondence side wall of fixed block.
6. a kind of no-manned machine distant control system based on Bluetooth control according to claim 4, it is characterised in that: the pull rod
One end far from fixed block is fixedly connected with pull handle.
7. a kind of no-manned machine distant control system based on Bluetooth control according to claim 3, it is characterised in that: the clamping
Mechanism includes sliding slot, sliding block, second spring and clamping plate, and four sliding slots are symmetrically provided on the inner wall of protection cap, and described
Two springs are fixedly connected on the cell wall of sliding slot, and the sliding block is fixedly connected on the other end of second spring, and slides with sliding slot
Connection, the Boards wall is connected to the opposite end of two sliding blocks, and is slidably connected with protection cap inner wall, and the mobile phone is located at two
Between a clamping plate, and offset with it.
8. a kind of no-manned machine distant control system based on Bluetooth control according to claim 7, it is characterised in that: the sliding slot
It is inside fixedly connected with stabiliser bar, the stabiliser bar sequentially passes through second spring and sliding block setting, and is slidably connected with sliding block.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910649149.5A CN110415503A (en) | 2019-07-18 | 2019-07-18 | A kind of no-manned machine distant control system based on Bluetooth control |
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| CN201910649149.5A CN110415503A (en) | 2019-07-18 | 2019-07-18 | A kind of no-manned machine distant control system based on Bluetooth control |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112947253A (en) * | 2021-03-26 | 2021-06-11 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle control method and device, remote controller and storage medium |
| WO2022088208A1 (en) * | 2020-10-30 | 2022-05-05 | 南京拓攻自动驾驶技术研究院有限公司 | Unmanned aerial vehicle remote control system |
| WO2022213861A1 (en) * | 2021-04-08 | 2022-10-13 | 深圳市道通智能航空技术股份有限公司 | Unmanned aerial vehicle remote control and unmanned aerial vehicle assembly |
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Application publication date: 20191105 |