CN113851024A - VR-based quad-rotor unmanned aerial vehicle remote controller training method and system - Google Patents
VR-based quad-rotor unmanned aerial vehicle remote controller training method and system Download PDFInfo
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Abstract
The invention provides a VR-based remote controller training system for a quad-rotor unmanned aerial vehicle, and relates to the field of quad-rotor unmanned aerial vehicle training. This four rotor unmanned aerial vehicle remote controller training systems based on VR, include VR glasses, cell-phone, APP, Arduino singlechip, remote controller, constitute with the receiver that the remote controller cooperation was used, Arduino singlechip sets up in the inside of VR glasses, and it has 5V lithium cell, USB to change TTL module, the female-female module of USB still to embed in the VR glasses, APP is produced by unity3D software programming packing, the VR background of APP is synthesized by PTgui software), states in the singlechip program that there are 6 signal pin, 5V pin and GND pin. The virtual unmanned aerial vehicle model is connected with the actual remote control operation through VR, the real training scene reappearance is realized, the real training scene reappearance is achieved, the real training scene reappearance is personally on the scene, the needed memory is small, the price is more impoverished and civilized compared with a computer flight simulator, the virtual unmanned aerial vehicle model is suitable for vast use groups, and the virtual unmanned aerial vehicle model has higher popularization value.
Description
Technical Field
The invention relates to the technical field of training of quad-rotor unmanned aerial vehicles, in particular to a VR-based quad-rotor unmanned aerial vehicle remote controller training system.
Background
At present, four rotor unmanned aerial vehicle uses more and more extensively, and more photographic fan, student etc. begin to purchase, make four rotor unmanned aerial vehicle. To the crowd of first contact unmanned aerial vehicle, it becomes a big difficult problem to use remote controller control unmanned aerial vehicle to adjust its flight gesture. Because no matter the remote controller throttle rocker or the direction rocker, only need very little stirring, unmanned aerial vehicle just has very big swing range. For the first-time users, the unmanned aerial vehicle is often crashed because the remote controller cannot be used skillfully.
Currently, simulation software such as RealFlight, Aerofly, CRRCSim and phoenix simulator are available in the market, and can connect a remote controller and a computer together through connecting wires of corresponding models, and the simulation software identifies a quad-rotor remote controller and enters a training page, but the simulation software still has the following defects:
1. the computer flight simulator software occupies a large memory and is complex to install. Because the computer simulator can simulate not only a quad-rotor unmanned aerial vehicle, but also a guided missile, a satellite and a spacecraft, and also needs to configure the simulated page background, the wind direction, the model size, the gravity and the like, the software occupies huge memory;
2. computer flight simulators are expensive. The expensive price dissuades many users, causing many users to operate the quad-rotor unmanned aerial vehicle for actual combat drilling in danger of falling;
3. different types of remote controls may require different connections and may need to be purchased separately. The problem of unmatched connecting wires can occur after the users purchase the connecting wires;
4. the computer simulator is like a common 3D computer game and is far from making the user feel personally on the scene;
5. the computer simulator can only select the background picture of the software, and the scene is single.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a VR-based remote controller training system for a quad-rotor unmanned aerial vehicle, which consists of VR glasses, a mobile phone APP, an Arduino single chip microcomputer, a mobile phone and a data line of a user, a remote controller of the user and a receiver. After the system connection succeeds, the user can observe the unmanned aerial vehicle flight attitude that cell-phone APP shows through wearing VR glasses when stirring four rotor unmanned aerial vehicle remote controller rockers. Let the flight gesture of unmanned aerial vehicle under the different rocker range of experience of user's experience personally on the scene. The system abandons the traditional computer software simulation, so that the user can carry out simulation training at any time and any place. The system is only directed at the quad-rotor unmanned aerial vehicle, has strong pertinence, does not need to be configured in the environment before use, and really achieves plug and play. Meanwhile, the user can shoot the surrounding environment, a 3D panorama is synthesized through software, when the unity3D software sets the background of the unmanned aerial vehicle model, the 3D panorama is imported, and when the user wears VR glasses to perform simulation training, the user seems to be in the real environment around the user. This system has more to immerse the sense when making the user train, carries out four rotor unmanned aerial vehicle remote controller training back through this system, goes the operation on the spot again, and the user holds remote controller rocker dynamics more easily, and the use of skilled four rotor remote controllers more easily has solved the problem of many-sided demands in controlling the training of the user who first enters four rotor unmanned aerial vehicle.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: a VR-based quad-rotor unmanned aerial vehicle remote controller training method comprises the following steps:
receiving training data of the mobile terminal to display training content on VR glasses;
receiving remote control information of a remote controller to forward the remote control information to the mobile terminal for data analysis and processing;
and receiving control information fed back by the mobile terminal and obtained after the data analysis and processing, and presenting corresponding control information on the VR glasses according to the control information, wherein the corresponding control information corresponds to the control of the four-rotor unmanned aerial vehicle.
Preferably, the practical training data comprises data of the quad-rotor unmanned aerial vehicle, flight background data and control scene data in a quad-rotor unmanned aerial vehicle cabin.
Preferably, the flight background data is obtained by downloading pictures and/or videos from the mobile terminal through a network, and/or is obtained by a shooting device.
Preferably, the mobile terminal is a mobile phone and/or a tablet computer, the practical training content is manufactured by processing an APP, the APP is generated by programming and packaging unit 3D software, and the flight background of the APP is synthesized by PTgui software.
Preferably, the remote control information comprises one or more of 7 signals of ascending, descending, advancing, backing, spinning, hovering and returning to the initial state.
The invention also discloses a VR-based quad-rotor unmanned aerial vehicle remote controller training system, which comprises:
mobile terminal, remote controller and VR glasses for realize as above four rotor unmanned aerial vehicle remote controller training method.
Preferably, according to the VR-based quad-rotor unmanned aerial vehicle remote controller training system of claim 6, a single chip microcomputer is arranged inside VR glasses, and a 5V lithium battery, a USB-to-TTL module and a USB female-female module are embedded in the VR glasses;
the single program is provided with 6 signal pins, 5V pins and GND pins.
Preferably, the 5V lithium battery is electrically connected with the single chip microcomputer, the single chip microcomputer is in electric signal connection with the USB-to-TTL module, the USB-to-TTL module is connected with the USB female-female module, and USB male port output signals of the USB-to-TTL module are converted into USB female port signal output.
Preferably, the mobile terminal is a mobile phone, and the USB female port is connected to the mobile phone through a mobile phone data line.
Preferably, the surface of VR glasses is provided with the receiver socket, and receiver socket and 6 signal pins, 5V pin and GND pin electric connection, the receiver socket is the adaptation with the receiver.
(III) advantageous effects
The invention provides a VR-based quad-rotor unmanned aerial vehicle remote controller training system. The method has the following beneficial effects:
1. the virtual unmanned aerial vehicle model is connected with the actual remote control operation through VR, so that the real training scene reappears, and the virtual unmanned aerial vehicle has the feeling of being personally on the scene.
2. Through the unit 3D software programming, the data transmission is completed through the self-established protocol innovatively. The self-establishing protocol is as follows: the channel signals of the CH1-CH6 of the receiver are marked as 'a', b ', d', e 'and f', and the signals of the corresponding channels are distinguished by the mobile phone APP through recognizing characters, so that the mobile phone APP is more convenient and faster.
3. The PTgui software is utilized to synthesize the 3D panorama serving as a background map of a training environment, the background can be a playground, a laboratory, a cell and the like where a user is located, scenes in training simulation are more colorful, and meanwhile the user can quickly transit from simulation training to field drilling.
4. The training simulator based on VR not only needs a small memory, but also is more impoverished in price compared with a computer flight simulator, is suitable for vast use groups, and has higher popularization value.
5. Utilize the cell-phone data line to connect, realized the unity of connected mode, solved the unmatched problem of connecting wire.
Drawings
Fig. 1 is a data flow diagram of a VR-based quad-rotor drone remote control training system proposed by the present invention;
fig. 2 is a block diagram of a hardware connection structure of a VR-based quad-rotor unmanned aerial vehicle remote controller training system according to the present invention;
fig. 3 is a schematic diagram of a hardware circuit connection of the VR-based quad-rotor drone remote controller training system according to the present invention;
fig. 4 is a flowchart of the program execution of the single chip microcomputer of the VR-based quad-rotor unmanned aerial vehicle remote controller training system provided by the present invention;
fig. 5 is a flowchart of a mobile phone end program control of the VR-based quad-rotor drone remote controller training system provided in the present invention;
fig. 6 is a block diagram of the overall structure of the VR-based quad-rotor drone remote controller training system provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
as shown in fig. 1-6, an embodiment of the present invention provides a VR-based remote control training system for a quad-rotor unmanned aerial vehicle, which includes VR glasses, a mobile phone, an APP, a single chip microcomputer, a remote controller, and a receiver used in cooperation with the remote controller, where the single chip microcomputer is Arduin, and is disposed inside the VR glasses, 5V lithium batteries are further embedded in the VR glasses, a USB to TTL module, and a USB female-female module, where the 5V lithium batteries supply power to the single chip microcomputer, and the USB to TTL module transmits a signal sent by the single chip microcomputer to a USB port, so that a user can use his or her mobile phone and a charging wire to connect the system, and the system converts a USB male port output signal of the USB to TTL module into a USB female port signal through the USB female-female module and then outputs the USB male port signal. The user only needs to connect the USB female port led out by the VR glasses with the USB port of the mobile phone through the mobile phone data line, and then the connection between the mobile phone and the single chip microcomputer can be completed.
After starting the embedded switch of VR glasses, the singlechip is gone up with the receiver simultaneously, stirs four rotor unmanned aerial vehicle remote controller rockers after, the remote controller sends the PWM ripples to the receiver. The receiver has 6 passageways, receives the signal that throttle rocker, direction rocker, two special function rockers of remote controller sent respectively:
receiver channels (CH1, CH 2): and receiving signals when the remote controller is dialed up, down, left and right by the direction rocker. When the direction rocker of the remote controller is shifted upwards, the duty ratios of PWM waves received by the receivers CH1 and CH2 are reduced; when the direction rocker of the remote controller is dialed downwards, the duty ratios of PWM waves received by the receivers CH1 and CH2 are increased; when the direction rocker of the remote controller is shifted to the left, the duty ratio of the PWM wave received by the receiver CH1 is increased, and the duty ratio of the PWM wave received by the CH2 is reduced; when the remote controller is shifted to the right, the duty ratio of the PWM wave received by the receiver CH1 is reduced, and the duty ratio of the PWM wave received by the CH2 is increased;
receiver channels (CH3, CH 4): and receiving signals when the accelerator rocker of the remote controller is shifted up, down, left and right. When the accelerator rocker of the remote controller is pulled upwards, the duty ratio of the PWM wave received by the receiver CH3 is reduced. When the accelerator rocker of the remote controller is shifted downwards, the duty ratio of the PWM wave received by the receiver CH3 is increased; when the accelerator rocker of the remote controller is shifted to the left, the duty ratio of the PWM wave received by the receiver CH4 is reduced; when the accelerator rocker of the remote controller is shifted to the right, the duty ratio of the PWM wave received by the receiver CH4 is increased;
receiver channel (CH 5): and when the remote controller CH5 is switched to the upper side, the middle side and the lower side by a rocker of the remote controller CH5, the duty ratios of PWM waves received by the receiver CH5 are increased in sequence. The system controls hovering, returning to a starting point and self-rotating of the quad-rotor unmanned aerial vehicle in a VR scene through CH 5;
receiver channel (CH 6): and when the remote controller CH6 is switched to the upper side, the middle side and the lower side by a rocker of the remote controller CH6, the duty ratios of PWM waves received by the receiver CH6 are increased in sequence. The system obtains the maximum and minimum values of PWM wave duty ratios output by CH1-CH5 channels through CH6, so that the quad-rotor unmanned aerial vehicle with VR view adapts to the PWM wave duty ratio range of the remote controller.
The channel CH6 captures and realizes the maximum value and the minimum value of the PWM duty ratio output by CH1-CH5 as follows:
when a user profits on the remote controller by using the system, firstly, the accelerator rocker, the direction rocker and the special function rocker (CH5) of the remote controller are dialed to the middle, the special function rocker (CH6) is dialed to the upper part, and then the power switch is turned on to electrify the singlechip and the receiver. After the remote controller is paired with the receiver, the receiver receives the PWM waves of the 6 channels sent by the remote controller. At the moment, the singlechip detects that the CH6 rocker is dialed to the upper side, and the singlechip enters a capturing program. At the moment, a user dials an accelerator rocker, a direction rocker and a CH5 rocker of the remote controller by hand, the singlechip records the minimum value and the maximum value of the PWM wave duty ratio of each channel, and the duty ratio range of the PWM signal of each channel when the rocker is dialed is obtained. After a user dials the CH6 rocker below, the single chip microcomputer ends the PWM wave duty ratio capture and enters the motion control program of the unmanned aerial vehicle model.
The single chip microcomputer obtains the PWM of 6 channels of the receiver through a program, calculates the duty ratio of PWM waves of each channel, and obtains the states of a direction rocker, an accelerator rocker and two channels with special functions of the remote controller at the moment. Through program processing, the control signal is transmitted to the USB interface through the TXD pin and then transmitted to the mobile phone through the USB mother-mother module and the data line.
The method comprises the steps that an APP is generated by packaging after being programmed by unit 3D software, VR backgrounds of the APP are synthesized by PTgui software, a USB female port is connected with a mobile phone through a mobile phone data line, the APP and the mobile phone are matched for manufacturing a later background graph, a four-rotor unmanned aerial vehicle model drawn by using 3D Max is introduced into the unit 3D software, a C # program is written in the unit 3D, and movement of the unmanned aerial vehicle model is controlled. If a user wants to use the environment where the user is located as the background, a large number of pictures of the surrounding environment can be taken through a mobile phone, a VR panorama is made in PTgui software, and the panorama is imported into unity3D software to serve as the background picture of the four-rotor unmanned aerial vehicle model.
And simultaneously writing a program for reading the USB data of the mobile phone, firstly reading protocol characters of 'a, b, c, d, e, f and g' through a communication protocol of the single chip microcomputer and the mobile phone APP to determine which type of control signal is transmitted next by the remote controller, then reading the transmitted integer, and controlling the unmanned aerial vehicle model to perform actions of different levels according to the quantization level of the integer. After the Unity3D model interface and the program are completed, the generated scene is packaged into a mobile phone APP on the APP packaging page of Unity 3D.
Open the APP of formation at the cell-phone end, wear behind the VR glasses, the user can be on the spot the flight gesture of impression quad-rotor unmanned aerial vehicle. When the mobile phone is connected with the USB female-female module embedded in the VR glasses through the data line, the communication of the whole system can be realized by starting the remote controller and the singlechip
Wherein 6 signal pins, 5V pins and GND pins are declared in the program of the singlechip, and a user can realize the connection between the receiver and the singlechip only by inserting the remote controller receiver into the receiver socket. And then the remote controller is matched with the receiver to complete the connection of the remote controller, the receiver, the singlechip and the mobile phone.
Firstly, a program captures the range of PWM duty ratio output by a remote controller CH1-CH5, before the singlechip supplies power, a CH6 rocker is dialed to the upper side, then the singlechip is supplied with power, and at the moment, the program enters a PWM wave duty ratio capturing program of each channel. And C, toggling the rocker corresponding to CH1-CH5 to enable the single chip microcomputer to capture the PWM wave duty ratio of each channel rocker at different positions to obtain the PWM wave duty ratio range corresponding to each channel. And after the CH6 rocker is dialed to the lower part, the singlechip stops capturing the PWM wave duty ratio and enters a control program.
The 5V lithium battery is electrically connected with the single chip microcomputer, the single chip microcomputer is in electric signal connection with the USB-to-TTL module, the USB-to-TTL module is connected with the USB female-female module, and USB male port output signals of the USB-to-TTL module are converted into USB female port signal output.
Wherein the surface of VR glasses is provided with the receiver socket, and receiver socket and 6 signal pin, 5V pin and GND pin electric connection, wherein the receiver socket is mutually supporting with the receiver.
The 6 signal pins are sequentially named as CH1-CH6 according to the sequence of the signal pins of the receiver, wherein the control signals transmitted to the mobile phone by the single chip microcomputer have 7 signals of ascending, descending, advancing, retreating, spinning, hovering and returning to an initial state, the 7 signals are sequentially marked according to a-g, only one signal wire is arranged for a USB-to-TTL module and a mobile phone data wire, so that the data cannot be transmitted in parallel, only one control signal can be transmitted at the same time, when the control signals are sent, a protocol mark is transmitted first, and if the four rotors are controlled to ascend, the single chip microcomputer transmits a character 'a' to the mobile phone first to indicate that the 'ascending' control signals are transmitted next. The singlechip quantizes different duty ratio wave bands into a plurality of grades through calculating the duty ratios of PWM waves of all channels of the receiver, each grade is provided with an integer, and when control signals are transmitted, the integers are only required to be transmitted.
The single chip microcomputer firstly transmits a, b, c, d, e, f and g transmission protocol characters at a TXD pin by calculating a PWM duty ratio, and then transmits corresponding quantization integers. Cell-phone end APP is through receiving transmission protocol and integer size, and control four rotor unmanned aerial vehicle accomplishes corresponding action.
Although only one signal is transmitted at a time, only about 20us is required for one signal to complete from transmission, and if seven signals are transmitted alternately, the total time for transmitting the seven signals once is about 150 us. Most of the time only needs to transmit five control signals of ascending, descending, advancing, backing and hovering, and at the moment, the time of only about 100us is needed for completing the transmission of the five signals respectively. This transfer time has little effect on the state of motion of the quad-rotor drone model in the VR.
Example two:
the difference from the first embodiment is that the communication between the single chip microcomputer and the mobile phone can be realized by adopting a Bluetooth module or a WiFi module, and the method can replace a mobile phone data line to realize communication. However, when the method is used for communication, Bluetooth or WiFi needs to be started. If this system function continues to be perfect, for example add the sound that unmanned aerial vehicle flies, need establish the contact with bluetooth headset and user's sense of hearing this time, if adopt bluetooth module to communicate, the bluetooth is occupied, and sound can only be put outward this moment, influences user experience. If again, this training system continues to perfect, uses the wiFi module to return the computer with four rotor unmanned aerial vehicle's remote controller training scene in real time and save and debug, and the wiFi module is occupied this moment, will unable this debugging function of realization. Therefore, when VR training is carried out, the mobile phone charging port which is not occupied all the time is the best choice for data transmission.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A VR-based quad-rotor unmanned aerial vehicle remote controller training method is characterized by comprising the following steps:
receiving training data of the mobile terminal to display training content on VR glasses;
receiving remote control information of a remote controller to forward the remote control information to the mobile terminal for data analysis and processing;
and receiving control information fed back by the mobile terminal and obtained after the data analysis and processing, and presenting corresponding control information on the VR glasses according to the control information, wherein the corresponding control information corresponds to the control of the four-rotor unmanned aerial vehicle.
2. The VR-based quad-rotor drone remote control training method of claim 1, wherein the training data includes quad-rotor drone data, flight background data, and quad-rotor drone in-bin control scene data.
3. The VR-based quad-rotor drone remote control training method according to claim 2, wherein flight background data is obtained by the mobile terminal downloading pictures and/or videos over a network, and/or by capturing with a camera.
4. The VR-based quad-rotor unmanned aerial vehicle remote control training method of claim 3, wherein the mobile terminal is a mobile phone and/or a tablet computer, the training content is manufactured by processing APP, the APP is generated by programming and packaging unity3D software, and the flight background of the APP is synthesized by PTgui software.
5. The VR-based quad-rotor drone remote control training method of claim 1, wherein the remote control information includes one or more of 7 signals to go up, down, go forward, go back, spin, hover, go back to initial state.
6. The utility model provides a four rotor unmanned aerial vehicle remote controller training systems based on VR which characterized in that includes:
mobile terminal, remote controller and VR glasses for implementing the method of training a quad-rotor drone remote controller according to any of claims 1-5.
7. The VR-based quad-rotor unmanned aerial vehicle remote control training system of claim 6, wherein a single chip microcomputer is arranged inside VR glasses, and a 5V lithium battery, a USB-to-TTL module and a USB female-female module are embedded in the VR glasses;
the single program is provided with 6 signal pins, 5V pins and GND pins.
8. The VR-based quad-rotor drone remote control training system of claim 7, wherein: the 5V lithium battery is electrically connected with the single chip microcomputer, the single chip microcomputer is in electric signal connection with the USB-to-TTL module, the USB-to-TTL module is connected with the USB female-female module, and USB male port output signals of the USB-to-TTL module are converted into USB female port signal output.
9. The VR-based quad-rotor drone remote control training system of claim 8, wherein: the mobile terminal is a mobile phone, and the USB female port is connected with the mobile phone through a mobile phone data line.
10. The VR-based quad-rotor drone remote control training system of claim 8, wherein: the surface of VR glasses is provided with the receiver socket, and receiver socket and 6 signal pin, 5V pin and GND pin electric connection, the receiver socket is with receiver looks adaptation.
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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 |
| CN111816024A (en) * | 2020-06-18 | 2020-10-23 | 四川沃洛佳科技有限公司 | Simulation platform-based unmanned aerial vehicle simulation training system and use method thereof |
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