CN110531789A - A kind of fixed-wing unmanned aerial vehicle guidance control handheld device - Google Patents
A kind of fixed-wing unmanned aerial vehicle guidance control handheld device Download PDFInfo
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- CN110531789A CN110531789A CN201910910123.1A CN201910910123A CN110531789A CN 110531789 A CN110531789 A CN 110531789A CN 201910910123 A CN201910910123 A CN 201910910123A CN 110531789 A CN110531789 A CN 110531789A
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- 238000004891 communication Methods 0.000 claims description 17
- 238000000034 method Methods 0.000 claims description 14
- 238000012545 processing Methods 0.000 claims description 13
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 5
- 229910052744 lithium Inorganic materials 0.000 claims description 5
- 238000012423 maintenance Methods 0.000 claims description 5
- 238000012795 verification Methods 0.000 claims description 4
- 241000218691 Cupressaceae Species 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 239000004065 semiconductor Substances 0.000 claims description 3
- 238000007726 management method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000013461 design Methods 0.000 description 6
- 239000011521 glass Substances 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
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- 229910052802 copper Inorganic materials 0.000 description 2
- 239000010949 copper Substances 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000005622 photoelectricity Effects 0.000 description 2
- 239000004593 Epoxy Substances 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- 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
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of fixed-wing unmanned aerial vehicles to guide control handheld device, the procapsid installation display screen, status lamp, indicator light, the power knob for adjusting engine speed, the thumb wheel for adjusting Nose Wheel Steering angle, the T-type push rod for adjusting brake pressure；Setting installation battery on the back casing；Keypad, CPU board, link module, power management module are installed inside the shell structure；Keypad includes pcb board and the function control switch that is mounted on pcb board；The CPU board includes CPU control chip and the memory that aobvious control processing software is connect and stored with CPU control chip, stores aobvious control processing software and runs on CPU control chip；Antenna, emergency button, power switch are set outside the shell structure.The present invention is provided simultaneously with suitable operating mechanism, emergency disposal mechanism, display module, and has reasonable, comfortable man-machine efficacy, is avoided that maloperation, substantially increases the usage experience of manipulator.
Description
Technical field
The invention belongs to unmanned plane manipulation device technical fields, and in particular to a kind of fixed-wing unmanned aerial vehicle guidance control
Handheld device.
Background technique
Fixed-wing unmanned plane in the taxiing procedures by aircraft gate to take-off line or by landing point to aircraft gate, needs before take-off
It fast, accurately to slide according to scheduled path to designated position, shorten and occupy the runway time.Unmanned plane equips a set of ground
Control system is guided, manipulator holds ground control and controls handheld device, controls aircraft by handheld device positioned at aircraft side
Power, brake, Nose Wheel Steering system, realize aircraft it is quick, high-precision, safety guidance control.
When unmanned plane is in the ground control stage, as the expression vector that manipulator is intended to, handheld device must have conjunction
Suitable operating mechanism, to realize the control to systems such as the power of aircraft, brake, Nose Wheel Steerings；Handheld device, which must have, answers
Anxious disposal function guarantees the safety guided under the state of emergency；Handheld device must have display module for manipulator's real time inspection
The status information that aircraft returns assesses aircraft state, adjusts boot flow in real time；It is reasonable, comfortable that handheld device must have
Man-machine efficacy is avoided that maloperation, and improves the usage experience of manipulator.
A kind of therefore, it is necessary to functions complete, high security, good man-machine efficacy fixed-wing unmanned aerial vehicle guide control
Handheld device processed realizes the safe and efficient guidance control of unmanned plane.
Summary of the invention
The present invention is in order to solve the fixation that the prior art lacks a kind of complete function, high security, good man-machine efficacy
The problem of wing unmanned aerial vehicle guidance control handheld device, provide that a kind of guidance control of fixed-wing unmanned aerial vehicle is hand-held to be set
It is standby, it is provided simultaneously with suitable operating mechanism, emergency disposal mechanism, display module, and there is reasonable, comfortable man-machine efficacy,
It is avoided that maloperation, substantially increases the usage experience of manipulator.
The present invention is achieved through the following technical solutions:
A kind of fixed-wing unmanned aerial vehicle guidance control handheld device, including being made of procapsid interconnected, back casing
Shell structure；
The procapsid, installation display screen, status lamp, indicator light, the power knob for adjusting engine speed, adjustment Nose Wheel Steering
The thumb wheel of angle, the T-type push rod for adjusting brake pressure；
The back casing is arranged the battery compartment of a charged pool warehouse lid, battery is installed in battery compartment, is provided on battery cabin cap
Charging interface；
Keypad, CPU board, link module, power management module are installed inside the shell structure；Keypad include pcb board and
The function control switch being mounted on pcb board, switch stretch out procapsid；The CPU board includes CPU control chip and controls with CPU
The memory of coremaking piece connection, the aobvious control processing software of storage and link ground processing software, it is soft to show control processing in the memory
Part and link ground processing software are run on CPU control chip；
Antenna, emergency button, power switch are set outside the shell structure；
CPU control chip simultaneously with display screen, status lamp, indicator light, knob, thumb wheel, T-type push rod, keypad
Pcb board, link module, memory, power management module, antenna, emergency button, power switch connection, CPU control chip pass through
Link module and unmanned plane long-distance radio communication, and power management module is also connect with the charging end of battery, discharge end；It is described
CPU control chip, will from knob, thumb wheel, T-type push rod, pcb board, emergency button, power switch acquisition control operation data
Remote-control data is sent to unmanned plane by link module, and CPU control chip also passes through link module and receives telemetering number from unmanned plane
According to status information is sent to status lamp, indicator light, display screen and is shown；
The display location is in the top left region of procapsid；The thumb wheel is located at the left region of procapsid, display screen
Lower section, and the rotation direction of thumb wheel is laterally；The power knob is located at the right regions of procapsid；The T-type push rod
Positioned at the lower right area of procapsid, the lower section of power knob, and the activity direction of T-type push rod is vertical；The emergency button, electricity
Source switch is mounted on the right side of shell structure outer tip end.
A kind of fixed-wing unmanned aerial vehicle guidance control handheld device disclosed by the invention, has suitable operating mechanism control
Aircraft related system processed, has emergency button, has display module and checks aircraft state, and has good man-machine efficacy.
Firstly, the type of function key in handheld device is described in detail:
1, power knob is set on the procapsid.Have multi gear knob or stepless knob in handheld device to adjust engine
Revolving speed.
2, T-type push rod is set on the procapsid.Has T-type push rod in handheld device to adjust brake pressure.
3, thumb wheel is set on the procapsid.Has thumb wheel in handheld device to adjust Nose Wheel Steering angle.
4, it is arranged on the procapsid and controls the indicator light that chip electric signal is connect with CPU on CPU board.Handheld device can
Receive unmanned slide speed, motor power, brake pressure, Nose Wheel Steering angle and other unmanned plane alarm status, and energy
It is enough that classification real-time display is carried out to above-mentioned unmanned plane key message, warning information can be given by way of light or voice
Prompt.
5, it is arranged on the procapsid and controls the status lamp that chip electric signal is connect with CPU on CPU board.Handheld device can
The self-tests such as link communication, hardware circuit, software scheduling are carried out, and gives and prompts in self test failure.
6, keypad is installed inside the shell structure, and the function control switch on keypad stretches out procapsid.It is hand-held
Have the function control switches such as key or button in equipment to adjust other working conditions of engine, brake or Nose Wheel Steering,
Or the working condition of other equipment or mechanism.
7, CPU board is set inside the shell structure and controls the link module that chip communication is connect with CPU on CPU board.
Engine speed, brake pressure, Nose Wheel Steering angle and the other working conditions that handheld device can adjust operator are converted
For the digital signal for meeting unmanned plane Specifications, it is sent to the corresponding equipment of unmanned plane in the form of Radio Link and holds
Row.
8, emergency button is set outside the shell structure.Has emergency button in handheld device, operator can be tight
When anxious state occurs, emergency button is pressed to control unmanned plane and stop to be moved into safe condition immediately, which has
Anti-misoperation measure.
9, another for needing emphasis to capture in R&D process of the present invention is technically characterized in that: how to be had rationally, comfortably
Man-machine efficacy improve the usage experience of manipulator to avoid maloperation.The present invention is specially each to what is installed on procapsid
Design is optimized in functor, and the user experience that operator is all fully considered from details is chosen from distribution mode to model.Tool
Body is as follows: the display location is in the top left region of procapsid；The thumb wheel is located at the left region of procapsid, display screen
Lower section, and the rotation direction of thumb wheel be laterally；The power knob is located at the right regions of procapsid；The T-type pushes away
Bar is located at the lower section of the lower right area of procapsid, power knob, and the activity direction of T-type push rod is vertical；The emergency button,
Power switch is mounted on the right side of shell structure outer tip end.The design of handheld device operation panel of the present invention fully takes into account
Most people be dextromanual feature, by dextro manuality operating habit, in conjunction with two hands coordination manipulate convenience, design
State structure.
In addition to These characteristics, handheld device is also had the following characteristics that
A) handheld device has the function of receiving and return unmanned aerial vehicle (UAV) control permission from unmanned aerial vehicle (UAV) control station；
B) handheld device can control a frame or multiple UAVs by the matched mode of equipment；
C) layout of handheld device operating mechanism has good man-machine efficacy, is conducive to manipulator's operating habit, and can be effective
Prevent maloperation；
D unmanned plane) is not more than to engine speed, braking amount, the control precision of Nose Wheel Steering angle and range in handheld device
The control precision of main control computer；
E) maximum communication distance of the link device of handheld device and unmanned plane is not less than 100m；
F) communication bandwidth of handheld device and unmanned plane link device can sufficiently meet the needs of traffic, and the bit error rate is not more than
1×10-5；
G) handheld unit stream time is not less than 4 hours.
Further, in order to preferably realize the present invention, the CPU control chip includes the initialization process list of aobvious control
Member, the self-test unit of aobvious control show the remote control operation unit controlled, the system maintenance unit of aobvious control, the aobvious data communication units controlled, show
The status display unit of control；
The initialization process unit of the aobvious control initializes for peripheral hardware or transmits and receives cache initialization；
The self-test unit of the aobvious control is used for handheld device self-test or link self-test；
The remote control operation unit of the aobvious control, for Throttle Opening Control, brake control, course changing control, emergency braking；
The system maintenance unit of the aobvious control for calibrating, the test of channel selecting, equipment, is arranged；
The data communication units of the aobvious control are sent for data receiver, data, data are packaged, data parse, verification calculates；
The status display unit of the aobvious control is used for display switch amount state, throttle amount, braking amount, steering angle, power supply residue work
Make the time.
Further, in order to preferably realize the present invention, the CPU control chip includes the initialization process list of link
Member, the self-test unit of link, the data transmission unit of the data receipt unit of link, the data processing unit of link, link；
The initialization process unit of the link for initialization of (a) serial ports or transmits and receives cache initialization；
The self-test unit of the link, for starting self-test, sending self-detection result, waiting self-test order；
The data receipt unit of the link is received for acknowledgement command, remote-control data receives, telemetry receives, self-test life
It enables and receiving；
The data processing unit of the link, for remote-control data processing, Telemetering Data Processing, network keep alive test, master gage
It calculates；
The data transmission unit of the link is sent for remote-control data, telemetry is sent.
Further, in order to preferably realize the present invention, the organic glass of protection display screen is also installed on the procapsid
Panel.
Further, in order to preferably realize the present invention, the display screen is using the model for reaching photoelectricity clearly
The OLED screen of JXC67020GHS2, resolution ratio 256*128.
Further, in order to preferably realize the present invention, the power knob is multistage knob or stepless knob.It is described dynamic
Power knob uses wave band rotary switch.
Further, in order to preferably realize the present invention, the thumb wheel uses the model of APEM
The thumb wheel of CWB1GY1A00A0.
Further, in order to preferably realize the present invention, the T-type push rod uses Shenzhen little Long electric appliance Co., Ltd
Model SMC78-1 push rod.
Further, in order to preferably realize the present invention, the battery uses the lithium of the model 18650 of Panasonic Corporation
Battery.
Further, in order to preferably realize the present invention, the charging interface using model J30J 9PIN and/or
The electric connector of J30J 15PIN.
Further, in order to preferably realize the present invention, the function control switch uses the model of GRAYHILL company
For the key switch of 82-101-71.
Further, in order to preferably realize the present invention, the CPU control chip uses the model of ST company
The processor of STM32F427VIT6.
Further, in order to preferably realize the present invention, the memory uses the model of Cypress company
The ferroelectric memory of FM25V02A.
Further, in order to preferably realize the present invention, the power management module is using icepro Li Erte semiconductor company
Model LTC2952 chip.
Further, in order to preferably realize the present invention, the antenna is omnidirectional antenna.
Further, in order to preferably realize the present invention, the emergency button using APEM model 5036
Toggle switch.
Further, in order to preferably realize the present invention, the emergency button and power switch, which are also set up, to be prevented from missing respectively
The protection cap of operation.The protection cap uses MCR17-10B (RED) safety head of MULTICOMP company.
Beneficial effects of the present invention:
(1) present invention has suitable operating mechanism, to realize the control to systems such as the power of aircraft, brake, Nose Wheel Steerings.
(2) present invention has emergency disposal function, guarantees the safety guided under the state of emergency.
(3) present invention has the status information that display module is returned for manipulator's real time inspection aircraft, assesses aircraft state,
Adjustment boot flow in real time.
(4) display screen, thumb wheel on the operating surface of procapsid of the present invention, have rationally, power knob, T-type push rod cloth
Office has comfortable man-machine efficacy for dextromanual people, is avoided that maloperation, and improve the usage experience of manipulator.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the outside drawing of fixed-wing unmanned aerial vehicle guidance control handheld device.
Fig. 2 is the configuration schematic diagram of fixed-wing unmanned aerial vehicle guidance control handheld device.
Fig. 3 is the system block diagram of handheld device Yu fixed-wing unmanned plane.
Fig. 4 is CPU control chip signal circulation schematic diagram.
Fig. 5 is the connection block diagram of each functional module in fixed-wing unmanned aerial vehicle guidance control handheld device.
Fig. 6 is the functional schematic of aobvious control processing software.
Fig. 7 is the operational flow diagram of aobvious control processing software.
Fig. 8 is handheld device open and close, running state conversion schematic diagram.
Fig. 9 is the functional schematic of link ground processing software.
Figure 10 is the operational flow diagram of link ground processing software.
Wherein:
1, procapsid；2, display screen；3, panel；4, status lamp；5, indicator light；6, power knob；7, thumb wheel；8, T-type pushes away
Bar；9, keypad；10, function control switch；11, function control button；12, CPU board；13, link module；14, protection cap；
15, antenna；16, emergency button；17, power switch；18, back casing；19, battery cabin cap.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Ground description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.Usually exist
The component of the embodiment of the present application described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.
Therefore, the detailed description of the embodiments herein provided in the accompanying drawings is not intended to limit below claimed
Scope of the present application, but be merely representative of the selected embodiment of the application.Based on embodiments herein, those skilled in the art
Member's every other embodiment obtained without making creative work, shall fall in the protection scope of this application.
Embodiment 1:
As described in Fig. 1-Figure 10, a kind of fixed-wing unmanned aerial vehicle guidance control handheld device, including by front housing interconnected
The shell structure that body 1, back casing 18 form；
The procapsid 1, before installation display screen 2, status lamp 4, indicator light 5, the power knob 6 for adjusting engine speed, adjustment
It takes turns the thumb wheel 7 of angle of turn, adjust the T-type push rod 8 of brake pressure；
The battery compartment of a charged pool warehouse lid 19 is arranged in the back casing 18, installation battery in battery compartment, on battery cabin cap 19
It is provided with charging interface；
Keypad 9, CPU board 12, link module 13, power management module are installed inside the shell structure；Keypad 9 includes
Pcb board and the function control switch 10 and/or function control button 11 being mounted on pcb board, switch stretch out procapsid 1；It is described
CPU board 12 includes CPU control chip and controls the memory that chip is connect with CPU, and the aobvious control processing of storage is soft in the memory
Part and link ground processing software, aobvious control processing software and link ground processing software are run on CPU control chip；
Antenna 15, emergency button 16, power switch 17 are set outside the shell structure；
CPU control chip simultaneously with display screen 2, status lamp 4, indicator light 5, knob, thumb wheel 7, T-type push rod 8, key
Pcb board, link module 13, memory, power management module, antenna 15, emergency button 16, the power switch 17 of plate 9 connect,
CPU controls chip by link module 13 and unmanned plane long-distance radio communication, and power management module also with the charging of battery
End, discharge end connection；The CPU controls chip from knob, thumb wheel 7, T-type push rod 8, pcb board, emergency button 16, power supply
Remote-control data is sent to unmanned plane by link module 13 by 17 acquisition control operation data of switch, and CPU control chip also passes through
Link module 13 receives telemetry from unmanned plane, and status information is sent to status lamp 4, indicator light 5, display screen 2 and is shown；
The display screen 2 is located at the top left region of procapsid 1；The thumb wheel 7 is located at the left region of procapsid 1, display
The lower section of screen 2, and the rotation direction of thumb wheel 7 is laterally；The power knob 6 is located at the right regions of procapsid 1；It is described
T-type push rod 8 is located at the lower section of the lower right area of procapsid 1, power knob 6, and the activity direction of T-type push rod 8 is vertical；It is described
Emergency button 16, power switch 17 are mounted on the right side of shell structure outer tip end.
A kind of fixed-wing unmanned aerial vehicle guidance control handheld device disclosed by the invention, has suitable operating mechanism control
Aircraft related system processed, has emergency button 16, has display module and checks aircraft state, and has good man-machine efficacy
Property.
Firstly, the type of function key in handheld device is described in detail:
1, power knob 6 is set on the procapsid 1.Have multi gear knob or stepless knob in handheld device to adjust engine
Revolving speed.
2, T-type push rod 8 is set on the procapsid 1.Has T-type push rod 8 in handheld device to adjust brake pressure.
3, thumb wheel 7 is set on the procapsid 1.Has thumb wheel 7 in handheld device to adjust Nose Wheel Steering angle
Degree.
4, it is arranged on the procapsid 1 and controls the indicator light 5 that chip electric signal is connect with CPU on CPU board 12.Handheld device
It can receive unmanned slide speed, motor power, brake pressure, Nose Wheel Steering angle and other unmanned plane alarm status,
And classification real-time display can be carried out to above-mentioned unmanned plane key message, it can be to warning information by way of light or voice
It gives and prompts.
5, it is arranged on the procapsid 1 and controls the status lamp 4 that chip electric signal is connect with CPU on CPU board 12.Handheld device
The self-tests such as link communication, hardware circuit, software scheduling are able to carry out, and gives and prompts in self test failure.
6, keypad 9 is installed inside the shell structure, and the function control switch 10 on keypad 9 stretches out procapsid 1.
Have the function control switches such as key or button 10 in handheld device to adjust other work of engine, brake or Nose Wheel Steering
The working condition of state or other equipment or mechanism.
7, CPU board 12 is set inside the shell structure and controls the link mould that chip communication is connect with CPU on CPU board 12
Block 13.Engine speed, brake pressure, Nose Wheel Steering angle and the other working conditions that handheld device can adjust operator
The digital signal for meeting unmanned plane Specifications is converted to, the corresponding equipment of unmanned plane is sent in the form of Radio Link
It executes.
8, emergency button 16 is set outside the shell structure.Has emergency button 16 in handheld device, operator can
When the state of emergency occurs, emergency button 16 is pressed to control unmanned plane and stop to be moved into safe condition immediately, this is promptly pressed
Key 16 has anti-misoperation measure.
9, another for needing emphasis to capture in R&D process of the present invention is technically characterized in that: how to be had rationally, comfortably
Man-machine efficacy improve the usage experience of manipulator to avoid maloperation.The present invention is specially each to installing on procapsid 1
Design is optimized in a functor, and the user experience that operator is all fully considered from details is chosen from distribution mode to model.
Specific as follows: the display screen 2 is located at the top left region of procapsid 1；The thumb wheel 7 be located at procapsid 1 left region,
The lower section of display screen 2, and the rotation direction of thumb wheel 7 is laterally；The power knob 6 is located at the right regions of procapsid 1；
The T-type push rod 8 is located at the lower section of the lower right area of procapsid 1, power knob 6, and the activity direction of T-type push rod 8 is vertical；
The emergency button 16, power switch 17 are mounted on the right side of shell structure outer tip end.Handheld device operation panel of the present invention
Design fully take into account most people be dextromanual feature, by dextro manuality operating habit, in conjunction with two hands coordination manipulate
Convenience, design above structure.
In addition to These characteristics, handheld device is also had the following characteristics that
A) handheld device has the function of receiving and return unmanned aerial vehicle (UAV) control permission from unmanned aerial vehicle (UAV) control station；
B) handheld device can control a frame or multiple UAVs by the matched mode of equipment；
C) layout of handheld device operating mechanism has good man-machine efficacy, is conducive to manipulator's operating habit, and can be effective
Prevent maloperation；
D unmanned plane) is not more than to engine speed, braking amount, the control precision of Nose Wheel Steering angle and range in handheld device
The control precision of main control computer；
E) maximum communication distance of the link device of handheld device and unmanned plane is not less than 100m；
F) communication bandwidth of handheld device and unmanned plane link device can sufficiently meet the needs of traffic, and the bit error rate is not more than
1×10-5；
G) handheld unit stream time is not less than 4 hours.
Further, the aobvious control processing software is with the following functions:
A) initialization process specifically includes peripheral hardware initialization or transmits and receives cache initialization；
B) self-test specifically includes handheld device self-test or link self-test；
C) remote control operation specifically includes Throttle Opening Control, brake control, course changing control, emergency braking；
D) system maintenance specifically includes calibration, channel selecting, equipment test, setting；
E) data communication specifically includes data receiver, data are sent, data are packaged, data parsing, verification calculating；
F) status display specifically includes display switch amount state, throttle amount, braking amount, steering angle, the power supply remaining working time.
Further, the link ground processing software is with the following functions:
A) initialization process specifically includes initialization of (a) serial ports or transmits and receives cache initialization；
B) self-test specifically includes starting self-test, sends self-detection result, waits self-test order；
C) data receiver specifically includes acknowledgement command reception, remote-control data receives, telemetry receives, self-test order receives；
D) data processing specifically includes remote-control data processing, Telemetering Data Processing, network keep alive test, verification calculating；
E) data are sent, and specifically include remote-control data transmission, telemetry is sent.
Further, in order to preferably realize the present invention, organic glass of protection display screen 2 is also installed on the procapsid 1
The panel 3 of glass.
Further, in order to preferably realize the present invention, the display screen 2 is using the model for reaching photoelectricity clearly
The OLED screen of JXC67020GHS2, resolution ratio 256*128 have the function of character library and basic picture.
The OLED screen key property and technical indicator of model JXC67020GHS2 is as follows:
A drawing, display function) are carried；It is shown including described point, straight line, rectangle, circle, circular frame, contrast adjustment, character；
B) has SPI interface；
C) operating temperature: ~+80 degree of -40 degree；
D) service life 30000 hours.
Further, in order to preferably realize the present invention, the power knob 6 is multistage knob or stepless knob.It is described
Power knob 6 uses wave band rotary switch.
Further, in order to preferably realize the present invention, the thumb wheel 7 uses the model of APEM
The thumb wheel of CWB1GY1A00A0.
The thumb wheel key property and technical indicator of model CWB1GY1A00A0 is as follows:
A) supply voltage: 5V ± 0.01V；
B) reversed maximum voltage: -10V；
C) positive maximum overpressure: 20V；
D) output impedance: 2 Ω；
E) mechanical movement angle: ± 45 °；
F) operating temperature: ~+85 degree of -40 degree；
G) life cycle: 3000000 times；
H mode in) returning: during spring returns.
Further, in order to preferably realize the present invention, the T-type push rod 8 is public using the small imperial electric appliance Limited Liability in Shenzhen
The push rod of the model SMC78-1 of department.
The push rod key property and technical indicator of model SMC78-1 is as follows:
A) sensing element: uniaxial hall device；
B) service life: greater than 5,000,000 time；
C) linear current: 0-20MA；
D) rotational angle: 0-76 degree；
E it) positions: spring self-return；
F) operating temperature: ~+85 degree of -40 degree.
Further, in order to preferably realize the present invention, the battery uses the lithium of the model 18650 of Panasonic Corporation
Battery.
The lithium battery key property and technical indicator of model 18650 are as follows:
A) energy is 3 times of lead-acid battery, 5 times of nickel-metal hydride battery；It is bigger by 20% than common lithium battery energy；
B) the battery charging and discharging service life: 1200-2800 times, capacity declines 10%-15%, using under capacity within the scope of -40 DEG C ~ 60 DEG C
Drop 5%；
C) 40 degrees below zero 0.5C discharge capacitance > 85%, 1C discharge capacitance > 80%, 65 degree 1C discharge capacity is kept
Rate > 95%.
Further, in order to preferably realize the present invention, the charging interface using model J30J 9PIN and/or
The electric connector of J30J 15PIN.
Further, in order to preferably realize the present invention, the function control switch 10 uses the type of GRAYHILL company
Number be 82-101-71 key switch.
Further, in order to preferably realize the present invention, the CPU control chip uses the model of ST company
The processor of STM32F427VIT6.
The processor key property and technical indicator of STM32F427VIT6 is as follows:
A) kernel of STM32F427 processor is Cortex-M4, including 32 8-digit microcontroller kernels and floating-point delivery unit；
B) processor performance up to 210DMIPS [566 CoreMark] in 168MHz；
C 2MB on piece flash memory and 256KB SRAM) are used for；
D) communication interface: 4 road USART, 4 road UART, 6 road SPI；
E) there are 12,2 tunnel DAC and 12,3 tunnels ADC, up to 17 16/32 bit timing devices；
F) temperature index: ~+85 degree of -40 degree.
Further, in order to preferably realize the present invention, the memory uses the model of Cypress company
The ferroelectric memory of FM25V02A.
Further, in order to preferably realize the present invention, the power management module is using icepro Li Erte semiconductor company
Model LTC2952 chip.
Further, in order to preferably realize the present invention, the antenna 15 is omnidirectional antenna 15.
Further, in order to preferably realize the present invention, the emergency button 16 using APEM model 5036
Toggle switch.
Further, in order to preferably realize the present invention, the emergency button 16 and power switch 17 also set up and prevent respectively
The only protection cap 14 of maloperation.
Further, the protection cap 14 uses MCR17-10B (RED) safety head of MULTICOMP company.
Further, the emergency button 16 uses the toggle switch of the model 5036 using APEM.
The toggle switch key property and technical indicator of model 5036 are as follows:
A) case material: DAP, high temperature plastics UL94-V0；
B) torsion bar material: copper, nickel；
C) contact material: copper is gold-plated, vermeil；
D torque) is stirred: maximum 1.25 Ns of rice；
E) packing forms: epoxy；
F) temperature index: ~+85 degree of -40 degree.
The above is only presently preferred embodiments of the present invention, not does limitation in any form to the present invention, it is all according to
According to technical spirit any simple modification to the above embodiments of the invention, equivalent variations, protection of the invention is each fallen within
Within the scope of.
Claims (10)
1. a kind of fixed-wing unmanned aerial vehicle guidance control handheld device, including by procapsid interconnected (1), back casing
(18) shell structure formed, it is characterised in that:
The procapsid (1), installation display screen (2), status lamp (4), indicator light (5), the power knob for adjusting engine speed
(6), it adjusts the thumb wheel (7) of Nose Wheel Steering angle, adjust the T-type push rod (8) of brake pressure；
The back casing (18) is arranged the battery compartment of a charged pool warehouse lid (19), installs battery, battery cabin cap in battery compartment
(19) charging interface is provided on；
Keypad (9), CPU board (12), link module (13), power management module are installed inside the shell structure；Keypad
(9) function control switch (10) and/or function control button (11) for including pcb board and being mounted on pcb board, before switch stretches out
Shell (1)；The CPU board (12) include CPU control chip and with the memory that connect of CPU control chip, in the memory
The aobvious control processing software of storage and link ground processing software show control processing software and link ground processing software in CPU and control core
On piece operation；
Antenna (15), emergency button (16), power switch (17) are set outside the shell structure；
The CPU control chip is pushed away with display screen (2), status lamp (4), indicator light (5), knob, thumb wheel (7), T-type simultaneously
Bar (8), the pcb board of keypad (9), link module (13), memory, power management module, antenna (15), emergency button
(16), power switch (17) connects, and CPU controls chip and passes through link module (13) and unmanned plane long-distance radio communication, and power supply
Management module is also connect with the charging end of battery, discharge end；The CPU control chip is pushed away from knob, thumb wheel (7), T-type
Bar (8), pcb board, emergency button (16), power switch (17) acquisition control operation data, pass through link module for remote-control data
(13) it is sent to unmanned plane, CPU control chip also passes through link module (13) and receives telemetry from unmanned plane, by status information
It is sent to status lamp (4), indicator light (5), display screen (2) display；
The display screen (2) is located at the top left region of procapsid (1)；The thumb wheel (7) is located at the left area of procapsid (1)
Domain, display screen (2) lower section, and the rotation direction of thumb wheel (7) be laterally；The power knob (6) is located at procapsid (1)
Right regions；The T-type push rod (8) is located at the lower section of the lower right area of procapsid (1), power knob (6), and T-type push rod
(8) activity direction is vertical；The emergency button (16), power switch (17) are mounted on the right side of shell structure outer tip end
Side.
2. a kind of fixed-wing unmanned aerial vehicle guidance control handheld device according to claim 1, which is characterized in that described
CPU controls chip using the processor of the model STM32F427VIT6 of ST company；The memory uses Cypress company
Model FM25V02A ferroelectric memory.
3. a kind of fixed-wing unmanned aerial vehicle guidance control handheld device according to claim 1, which is characterized in that described
Power knob (6) is multistage knob or stepless knob；The power knob (6) uses wave band rotary switch.
4. a kind of fixed-wing unmanned aerial vehicle guidance control handheld device according to claim 1, which is characterized in that described
Thumb wheel (7) uses the thumb wheel of the model CWB1GY1A00A0 of APEM.
5. a kind of fixed-wing unmanned aerial vehicle guidance control handheld device according to claim 1, which is characterized in that described
T-type push rod (8) uses the push rod of the model SMC78-1 of Shenzhen little Long electric appliance Co., Ltd.
6. a kind of fixed-wing unmanned aerial vehicle guidance control handheld device according to claim 1, which is characterized in that described
Battery uses the lithium battery of the model 18650 of Panasonic Corporation；The charging interface using model J30J 9PIN and/or
The electric connector of J30J 15PIN；The power management module is using the model LTC2952's for insulting Li Erte semiconductor company
Chip.
7. a kind of fixed-wing unmanned aerial vehicle guidance control handheld device according to claim 1, which is characterized in that described
Function control switch (10) uses the key switch of the model 82-101-71 of GRAYHILL company.
8. a kind of fixed-wing unmanned aerial vehicle guidance control handheld device according to claim 1, which is characterized in that described
Emergency button (16) and power switch (17) also set up the protection cap (14) for preventing maloperation respectively, and protection cap (14) is from dextrad
It raises on a left side；The protection cap (14) uses MCR17-10B (RED) safety head of MULTICOMP company；The emergency button (16)
Using the toggle switch of the model 5036 of APEM.
9. a kind of fixed-wing unmanned aerial vehicle guidance control handheld device according to claim 1, which is characterized in that described
CPU control chip includes the initialization process unit of aobvious control, the self-test unit of aobvious control, the remote control operation unit of aobvious control, aobvious control
System maintenance unit, the data communication units of aobvious control, the status display unit of aobvious control；
The initialization process unit of the aobvious control initializes for peripheral hardware or transmits and receives cache initialization；
The self-test unit of the aobvious control is used for handheld device self-test or link self-test；
The remote control operation unit of the aobvious control, for Throttle Opening Control, brake control, course changing control, emergency braking；
The system maintenance unit of the aobvious control for calibrating, the test of channel selecting, equipment, is arranged；
The data communication units of the aobvious control are sent for data receiver, data, data are packaged, data parse, verification calculates；
The status display unit of the aobvious control is used for display switch amount state, throttle amount, braking amount, steering angle, power supply residue work
Make the time.
10. a kind of fixed-wing unmanned aerial vehicle guidance control handheld device according to claim 1, which is characterized in that institute
State data receipt unit, the link that CPU control chip includes the initialization process unit of link, the self-test unit of link, link
Data processing unit, link data transmission unit；
The initialization process unit of the link for initialization of (a) serial ports or transmits and receives cache initialization；
The self-test unit of the link, for starting self-test, sending self-detection result, waiting self-test order；
The data receipt unit of the link is received for acknowledgement command, remote-control data receives, telemetry receives, self-test life
It enables and receiving；
The data processing unit of the link, for remote-control data processing, Telemetering Data Processing, network keep alive test, master gage
It calculates；
The data transmission unit of the link is sent for remote-control data, telemetry is sent.
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| CN201910910123.1A CN110531789B (en) | 2019-09-25 | 2019-09-25 | Fixed wing unmanned aerial vehicle ground guide control handheld device |
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|---|---|---|---|
| CN201910910123.1A CN110531789B (en) | 2019-09-25 | 2019-09-25 | Fixed wing unmanned aerial vehicle ground guide control handheld device |
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| CN110531789B CN110531789B (en) | 2022-01-25 |
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Cited By (1)
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|---|---|---|---|---|
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