CN205229811U - Unmanned vehicles controlling means and unmanned vehicles - Google Patents
Unmanned vehicles controlling means and unmanned vehicles Download PDFInfo
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- CN205229811U CN205229811U CN201521030185.7U CN201521030185U CN205229811U CN 205229811 U CN205229811 U CN 205229811U CN 201521030185 U CN201521030185 U CN 201521030185U CN 205229811 U CN205229811 U CN 205229811U
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Abstract
The utility model provides an unmanned vehicles controlling means, this unmanned vehicles controlling means is including flight towards sensor, flight height sensor, airborne equipment detection device, flight speedtransmitter, control chip and memory. The utility model provides an unmanned vehicles. The utility model discloses an unmanned vehicles controlling means and unmanned vehicles is after unmanned vehicles bumps, and use unmanned vehicles's flight position data carries out unmanned vehicles's flight position recovery, the problem of current unmanned vehicles controlling means can not carry out resume operation's technique to unmanned vehicles's state of flight is solved.
Description
Technical field
The utility model relates to unmanned vehicle control field, particularly relates to a kind of unmanned vehicle control device and unmanned vehicle.
Background technology
Along with popularizing of unmanned vehicle, increasing user brings into use unmanned vehicle to carry out various flight operation.But the experience of most of user not manipulation unmanned vehicle, is undertaken in the process of flying by these neophyty operation unmanned vehicles, the problem that airborne aircraft and aerial barrage thing collide often can be there is.
Existing unmanned vehicle is equipped with anticollision barrier simultaneously, and as unmanned vehicle generation primary collision, anticollision barrier can absorb the energy of collision preferably; As long as therefore at this moment the rotor of unmanned vehicle maintains outputting power, unmanned vehicle generally can recover to return from imbalance state.
But when unmanned vehicle collides, the reacting force of collision often makes unmanned vehicle that unpredictable motion can occur, and this motion makes the heading of the unmanned vehicle of collision rift unknowable; Can not locate accurately the direction of unmanned vehicle collision rift as operated user, unmanned vehicle generation secondary collision may be caused.Therefore need to arrange a set of control method to the unmanned vehicle after colliding, with ensure the unmanned vehicle after colliding can safety return to normal condition.
Application number be 201510606155.4 utility model patent disclose a kind of crashproof unmanned vehicle system and avoiding collision thereof.It carries out crashproof process automatically by CPU (central processing unit), but wherein do not disclose this unmanned vehicle be collided after processing mode.
Application number be 201520399771.2 utility model patent disclose a kind of prevent crash amphibious unmanned plane; it can carry out safeguard protection to the unmanned plane of collision rift by air bag and arranging of aerating device, but does not wherein carry out recovery operation to the state of flight of unmanned plane.
Therefore, be necessary to provide a kind of unmanned vehicle control device and unmanned vehicle, to solve the problem existing for prior art.
Utility model content
The utility model embodiment provides a kind of after unmanned vehicle collides, and can carry out unmanned vehicle control device and the unmanned vehicle of recovery operation to the state of flight of unmanned vehicle; To solve existing unmanned vehicle control device can not carry out recovery operation technical matters to the state of flight of unmanned vehicle.
The utility model embodiment provides a kind of unmanned vehicle control device, and be arranged on corresponding unmanned vehicle, it comprises:
Flight towards sensor, for by the flight of described unmanned vehicle towards real-time Transmission to storer;
Attitude sensors, for by the flying height real-time Transmission of described unmanned vehicle to storer;
Airborne equipment pick-up unit, for by the airborne equipment state real-time Transmission of described unmanned vehicle to storer;
Airspeed transducer, for transferring to control chip by the current flight speed of described unmanned vehicle;
Described control chip, for receiving the current flight speed of described unmanned vehicle from described airspeed transducer, and when described unmanned vehicle collides, receive described unmanned vehicle from described storer and preset the flight of some release time towards, flying height and airborne equipment state first; And
Described storer, for the flight that stores described unmanned vehicle towards, flying height and airborne equipment state.
In unmanned vehicle control device described in the utility model, described flight is magnetic field sensor towards sensor, and described attitude sensors is pressure type height sensor.
In unmanned vehicle control device described in the utility model, described airspeed transducer is three axial velocity sensors.
In unmanned vehicle control device described in the utility model, described unmanned vehicle control device also comprises:
Request transmit port, for by flight position recovery request to corresponding terminal, and receive the request-reply of described terminal.
In unmanned vehicle control device described in the utility model, described unmanned vehicle control device also comprises:
Command reception port, recovers instruction for the flight position receiving user;
Described control chip also presets the flight of some release time towards, flying height and airborne equipment state for receiving described unmanned vehicle from described storer second;
Described storer comprises for storing described unmanned vehicle in the described first flight presetting some release time towards the first storage unit of, flying height and airborne equipment state and for storing described unmanned vehicle in second storage unit of the described second flight presetting some release time towards, flying height and airborne equipment state.
The utility model also provides a kind of unmanned vehicle, and it comprises body, be arranged on multiple rotor on described body and unmanned vehicle control device; Wherein said unmanned vehicle control device comprises:
Flight towards sensor, for by the flight of described unmanned vehicle towards real-time Transmission to storer;
Attitude sensors, for by the flying height real-time Transmission of described unmanned vehicle to storer;
Airborne equipment pick-up unit, for by the airborne equipment state real-time Transmission of described unmanned vehicle to storer;
Airspeed transducer, for transferring to control chip by the current flight speed of described unmanned vehicle;
Described control chip, for receiving the current flight speed of described unmanned vehicle from described airspeed transducer, and when described unmanned vehicle collides, receive described unmanned vehicle from described storer and preset the flight of some release time towards, flying height and airborne equipment state first; And
Described storer, for the flight that stores described unmanned vehicle towards, flying height and airborne equipment state.
In unmanned vehicle described in the utility model, described flight is magnetic field sensor towards sensor, and described attitude sensors is pressure type height sensor.
In unmanned vehicle described in the utility model, described airspeed transducer is three axial velocity sensors.
In unmanned vehicle described in the utility model, described unmanned vehicle control device also comprises:
Request transmit port, for by flight position recovery request to corresponding terminal, and receive the request-reply of described terminal.
In unmanned vehicle described in the utility model, described unmanned vehicle control device also comprises:
Command reception port, recovers instruction for the flight position receiving user;
Described control chip also presets the flight of some release time towards, flying height and airborne equipment state for receiving described unmanned vehicle from described storer second;
Described storer comprises for storing described unmanned vehicle in the described first flight presetting some release time towards the first storage unit of, flying height and airborne equipment state and for storing described unmanned vehicle in second storage unit of the described second flight presetting some release time towards, flying height and airborne equipment state.
Compared to prior art, unmanned vehicle control device of the present utility model and unmanned vehicle are after unmanned vehicle collides, and the flight position using the flight position data of unmanned vehicle to carry out unmanned vehicle recovers; Solve existing unmanned vehicle control device can not carry out recovery operation technical matters to the state of flight of unmanned vehicle.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the first preferred embodiment of unmanned vehicle control method of the present utility model;
Fig. 2 is the process flow diagram of the second preferred embodiment of unmanned vehicle control method of the present utility model;
Fig. 3 is the structural representation of the first preferred embodiment of unmanned vehicle control device of the present utility model;
Fig. 4 is the structural representation of the second preferred embodiment of unmanned vehicle control device of the present utility model;
Fig. 5 is the structural representation of the 3rd preferred embodiment of unmanned vehicle control device of the present utility model.
Embodiment
Unmanned vehicle control method of the present utility model and control device can be arranged on various unmanned vehicle, so that unmanned vehicle is after colliding, carry out recovery operation in time to the flight position of unmanned vehicle.
Please refer to Fig. 1, Fig. 1 is the process flow diagram of the first preferred embodiment of unmanned vehicle control method of the present utility model.The unmanned vehicle control method of this preferred embodiment can use above-mentioned unmanned vehicle to implement, and this unmanned vehicle control method comprises:
Step S101, by setting-up time interval, collects the Flight Condition Data of unmanned vehicle;
Step S102, according to current Flight Condition Data, judges whether unmanned vehicle collides;
Step S103, as unmanned vehicle collides, then obtains the flight position data that first presets the unmanned vehicle of some release time;
Step S104, the flight position data of the unmanned vehicle using put for the first default release time, carries out flight position recovery to unmanned vehicle.
The following detailed description of the idiographic flow of each step of the unmanned vehicle control method of this preferred embodiment.
In step S101, the setting-up time interval of user preset pressed by unmanned vehicle, collects the Flight Condition Data of unmanned vehicle.Here Flight Condition Data includes but not limited to the flying speed of unmanned vehicle.User can arrange setting-up time interval according to demand, as needs control more accurately, then setting-up time interval to be arranged less; As less in needs control energy consumption, then setting-up time interval can be arranged greatly.Forward step S102 to subsequently.
In step s 102, the Flight Condition Data that the unmanned vehicle that unmanned vehicle obtains according to step S101 is current, judges whether unmanned vehicle collides.Flight Condition Data as current in unmanned vehicle and preset data differ greatly, then judge that unmanned vehicle collides; Flight Condition Data as current in unmanned vehicle meets pre-conditioned, then judge that unmanned vehicle is in regular flight condition.Forward step S103 to subsequently.
In step s 103, as judged in step s 102, unmanned vehicle collides, then unmanned vehicle obtains the flight position data that first presets the unmanned vehicle of some release time.Here the first default release time put the Preset Time point before referring to collision generation; Flight position data comprise unmanned vehicle towards data, altitude information and airborne equipment status data etc.Forward step S104 to subsequently.
In step S104, the flight position data of the unmanned vehicle that the first default release time that unmanned vehicle uses step S103 to obtain puts, carry out location restore to unmanned vehicle, namely the flight position data of unmanned vehicle returns to state when putting for the first default release time.
So namely, complete the control procedure of the unmanned vehicle of the unmanned vehicle control method of this preferred embodiment.
The unmanned vehicle control method of this preferred embodiment is after unmanned vehicle collides, the flight position using the flight position data of unmanned vehicle to carry out unmanned vehicle recovers, and avoids the possibility of unmanned vehicle due to the maloperation generation secondary collision of user.
Please refer to Fig. 2, Fig. 2 is the process flow diagram of the second preferred embodiment of unmanned vehicle control method of the present utility model.The unmanned vehicle control method of this preferred embodiment can use above-mentioned unmanned vehicle to implement, and this unmanned vehicle control method comprises:
Step S201, by setting-up time interval, collects the Flight Condition Data of unmanned vehicle;
Step S202, judges whether the flying speed of unmanned vehicle mates with flight steering order; Flying speed as unmanned vehicle is not mated with flight steering order, then forward step S203 to; Flying speed as unmanned vehicle is mated with flight steering order, then forward step S204 to;
Step S203, judges that unmanned vehicle collides; Forward step S206 to subsequently;
Step S204, judges that the rate of change of the flying speed at least two preset directions of unmanned vehicle is more than or equal to the first setting value; Rate of change as the flying speed at least two preset directions of unmanned vehicle is more than or equal to the first setting value, then forward step S203 to; Rate of change as the flying speed at least two preset directions of unmanned vehicle is less than the first setting value, then forward step S205 to;
Step S205, judges unmanned vehicle normal flight;
Step S206, obtains the flying speed before unmanned vehicle collision;
Step S207, according to the flying speed before unmanned vehicle collision, some release time is preset in setting first;
Step S208, obtains the flight position data that first presets the unmanned vehicle of some release time;
Step S209, the flight position data of the unmanned vehicle using put for the first default release time, carries out flight position recovery to unmanned vehicle.
The following detailed description of the idiographic flow of each step of the unmanned vehicle control method of this preferred embodiment.
In step S201, the setting-up time interval of user preset pressed by unmanned vehicle, collects the Flight Condition Data of unmanned vehicle.Here Flight Condition Data includes but not limited to the flying speed of unmanned vehicle.User can arrange setting-up time interval according to demand, as needs control more accurately, then setting-up time interval to be arranged less; As less in needs control energy consumption, then setting-up time interval can be arranged greatly.Forward step S202 to subsequently.
In step S202, whether the flying speed that unmanned vehicle determining step S201 obtains unmanned vehicle mates with flight steering order; Flying speed as unmanned vehicle is not mated with flight steering order, then forward step S203 to; Flying speed as unmanned vehicle is mated with flight steering order, then forward step S204 to.
In step S204, the flying speed as unmanned vehicle is mated with flight steering order, then unmanned vehicle judges that the rate of change of the flying speed at least two preset directions of unmanned vehicle is more than or equal to the first setting value; Rate of change as the flying speed at least two preset directions of unmanned vehicle is more than or equal to the first setting value, then forward step S203 to; Rate of change as the flying speed at least two preset directions of unmanned vehicle is less than the first setting value; Then forward step S205 to.
In step S205, judge unmanned vehicle normal flight;
In step S203, the flying speed as unmanned vehicle is not mated with flight steering order, and if flight directive is flight forward, the speed of the flight forward of unmanned vehicle is very little, and the speed of rising or descending flight is very large.Then judge that unmanned vehicle collides.Forward step S206 to subsequently.
Or unmanned vehicle is comparatively large at the rate of change of three of XYZ axle flying speeds axially, as flight forward speed diminishes rapidly, ascending velocity or decline rate become rapidly large simultaneously.As this rate of change be more than or equal to the first setting value time, then judge that unmanned vehicle collides and causes random multiple axial moving.Certainly Flight Condition Data time here also by colliding to unmanned vehicle carries out sample learning, thus generates corresponding judgment rule.Forward step S206 to subsequently.
In step S206, owing to judging that unmanned vehicle there occurs collision, the flying speed therefore before the collision of unmanned vehicle acquisition unmanned vehicle; Forward step S207 to subsequently.
In step S207, the flying speed before unmanned vehicle collides according to the unmanned vehicle that step S206 obtains, some release time is preset in setting first.Specifically can comprise the following steps:
Whether the flying speed before unmanned vehicle judges unmanned vehicle collision is more than or equal to the second setting value;
As the flying speed before unmanned vehicle collision is more than or equal to the second setting value, then the time point of first time period before setting collision is first preset some release time; As the flying speed before unmanned vehicle collision is less than the second setting value, then the time point of setting collision front second time period be first default release time point.Wherein first time period was less than for the second time period.
Like this can while the flight safety keeping unmanned vehicle, the flight position data of unmanned vehicle is returned to as far as possible with collide occurs front consistent.Therefore, when the flying speed of unmanned vehicle is larger, section release time can be arranged shorter; When the flying speed of unmanned vehicle is less, section release time can be arranged longer.As unmanned vehicle collision before flying speed be 8 meter per second time, then first time period can be 1 second; As unmanned vehicle collision before flying speed be 2 meter per second time, then first time period can be 3 seconds.Forward step S208 to subsequently.
In step S208, the first flight position data of unmanned vehicle presetting some release time that unmanned vehicle obtaining step S207 obtains, this flight position data include but not limited to unmanned vehicle towards data, altitude information and airborne equipment status data etc.Forward step S209 to subsequently.
In step S209, the flight position data of the unmanned vehicle that the first default release time that unmanned vehicle uses step S208 to obtain puts, location restore is carried out to unmanned vehicle, by unmanned vehicle return to default release time point unmanned vehicle towards, height and airborne equipment state.
Preferably, here in order to avoid carrying out the recovery of mistake to flight position data, when unmanned vehicle carries out flight position recovery, flight position recovery request can be sent to corresponding terminal, and the request-reply of receiving terminal; If this request-reply is that flight position recovery is carried out in agreement, then unmanned vehicle carries out flight position recovery; If this request-reply is not for agree to carry out flight position recovery, then unmanned vehicle proceeds corresponding flight operation.
The unmanned vehicle control method of this preferred embodiment also comprises step: the flight position data of real time record unmanned vehicle and corresponding time point data.Flight position data due to unmanned vehicle is a lasting data stream, for the ease of obtaining corresponding flight position data in time, needs here to carry out implementation record to flight position data and corresponding time point data.
Preferably, the flight position data of the whole flight course of unmanned vehicle and corresponding time point data can be recorded here completely, also can adopt the mode of mobile storage, the flight position data of real time record unmanned vehicle and corresponding time point data.As only recorded the flight position data of the nearest 30s of unmanned vehicle, up-to-date data are directly used to cover more than the flight position data of 30s.The flight position data before can returning to collision can be ensured like this, can amount of data storage be reduced again.
Preferably, the unmanned vehicle control method of this preferred embodiment also directly can receive the flight position recovery instruction of user, and the flight position data of the unmanned vehicle that instruction uses put the second default release time prestored is recovered according to this flight position, flight position recovery is carried out to unmanned vehicle.Namely, when user finds that abnormal flight appears in unmanned vehicle, directly can recover the flight position data of unmanned vehicle by sending flight position recovery instruction, and not need the generation waiting for collision.Concrete second setting presetting some release time can arrange a longer time point as required.Certainly also can recover instruction according to flight position here directly returns to a pre-set flight state by unmanned vehicle.
So namely, complete the control procedure of the unmanned vehicle of the unmanned vehicle control method of this preferred embodiment.
On the basis of the first preferred embodiment, the unmanned vehicle control method of this preferred embodiment has carried out condition judgment to collision, and set different default release time point, the accuracy that the flight position further increasing unmanned vehicle recovers and validity according to flying speed.
The utility model also provides a kind of unmanned vehicle control device, please refer to Fig. 3, and Fig. 3 is the structural representation of the first preferred embodiment of unmanned vehicle control device of the present utility model.The unmanned vehicle control device of this preferred embodiment can use above-mentioned unmanned vehicle control method to implement.This unmanned vehicle control device 30 comprises Flight Condition Data collection module 31, collision judgment module 32, flight position data acquisition module 33 and flight position and recovers module 34.
Flight Condition Data collection module 31, for pressing setting-up time interval, collects the Flight Condition Data of unmanned vehicle; Collision judgment module 32, for according to current described Flight Condition Data, judges whether unmanned vehicle collides; Flight position data acquisition module 33 collides for such as unmanned vehicle, then obtain the flight position data that first presets the unmanned vehicle of some release time; Flight position recovers module 34 for the flight position data of unmanned vehicle using first to preset some release time, carries out flight position recovery to unmanned vehicle.
When the unmanned vehicle control device 30 of this preferred embodiment uses, first Flight Condition Data collection module 31 presses the setting-up time interval of user preset, collects the Flight Condition Data of unmanned vehicle.Here Flight Condition Data includes but not limited to the flying speed of unmanned vehicle.User can arrange setting-up time interval according to demand, as needs control more accurately, then setting-up time interval to be arranged less; As less in needs control energy consumption, then setting-up time interval can be arranged greatly.
The Flight Condition Data that the unmanned vehicle that obtains according to Flight Condition Data collection module 31 of collision judgment module 32 is current subsequently, judges whether unmanned vehicle collides.Flight Condition Data as current in unmanned vehicle and preset data differ greatly, then judge that unmanned vehicle collides; Flight Condition Data as current in unmanned vehicle meets pre-conditioned, then judge that unmanned vehicle is in regular flight condition.
Then as judged that unmanned vehicle collides, then flight position data acquisition module 33 obtains the flight position data that first presets the unmanned vehicle of some release time.Here the first default release time put the Preset Time point before referring to collision generation; Flight position data comprise unmanned vehicle towards data, altitude information and airborne equipment status data etc.
The flight position data of the unmanned vehicle that the first default release time that last flight position recovery module 34 uses flight position data acquisition module 33 to obtain puts, carry out location restore to unmanned vehicle, namely the flight position data of unmanned vehicle returns to state when putting for the first default release time.
So namely, complete the control procedure of the unmanned vehicle of the unmanned vehicle control device 30 of this preferred embodiment.
The unmanned vehicle control device of this preferred embodiment is after unmanned vehicle collides, the flight position using the flight position data of unmanned vehicle to carry out unmanned vehicle recovers, and avoids the possibility of unmanned vehicle due to the maloperation generation secondary collision of user.
Please refer to Fig. 4, Fig. 4 is the structural representation of the second preferred embodiment of unmanned vehicle control device of the present utility model.The unmanned vehicle control device of this preferred embodiment can use above-mentioned unmanned vehicle control method to implement.This unmanned vehicle control device 40 comprises Flight Condition Data collection module 41, collision judgment module 42, flight position data acquisition module 43, flight position recovery module 44 and logging modle 45.
When the unmanned vehicle control device 40 of this preferred embodiment uses, first Flight Condition Data collection module 41 presses the setting-up time interval of user preset, collects the Flight Condition Data of unmanned vehicle.Here Flight Condition Data includes but not limited to the flying speed of unmanned vehicle.User can arrange setting-up time interval according to demand, as needs control more accurately, then setting-up time interval to be arranged less; As less in needs control energy consumption, then setting-up time interval can be arranged greatly.
Collision judgment module 42 judges whether the flying speed of Flight Condition Data collection module acquisition unmanned vehicle mates with flight steering order subsequently;
Flying speed as unmanned vehicle is mated with flight steering order, then collision judgment module 42 judges that the rate of change of the flying speed at least two preset directions of unmanned vehicle is more than or equal to the first setting value; Rate of change as the flying speed at least two preset directions of unmanned vehicle is less than the first setting value; Then collision judgment module 42 judges unmanned vehicle normal flight;
Flying speed as unmanned vehicle is not mated with flight steering order, and if flight directive is flight forward, the speed of the flight forward of unmanned vehicle is very little, and the speed of rising or descending flight is very large.Then collision judgment module 42 judges that unmanned vehicle collides.
Or unmanned vehicle is comparatively large at the rate of change of three of XYZ axle flying speeds axially, as flight forward speed diminishes rapidly, ascending velocity or decline rate become rapidly large simultaneously.As this rate of change be more than or equal to the first setting value time, then collision judgment module 42 judges that unmanned vehicle collides and causes random multiple axial moving.Certainly Flight Condition Data time here also by colliding to unmanned vehicle carries out sample learning, thus generates corresponding judgment rule.
Owing to judging that unmanned vehicle there occurs collision, therefore flight position data acquisition module 43 obtain unmanned vehicle collision before flying speed.
Flight position data acquisition module 43 is according to the flying speed before the unmanned vehicle collision obtained subsequently, and some release time is preset in setting first.Specifically can comprise:
Whether the flying speed before flight position data acquisition module 43 judges unmanned vehicle collision is more than or equal to the second setting value;
As the flying speed before unmanned vehicle collision is more than or equal to the second setting value, then the time point of first time period before flight position data acquisition module 43 sets collision is first preset some release time; As the flying speed before unmanned vehicle collision is less than the second setting value, then flight position data acquisition module 43 set the time point of collision front second time period be first default release time point.Wherein first time period was less than for the second time period.
Like this can while the flight safety keeping unmanned vehicle, the flight position data of unmanned vehicle is returned to as far as possible with collide occurs front consistent.Therefore, when the flying speed of unmanned vehicle is larger, section release time can arrange shorter by flight position data acquisition module 43; When the flying speed of unmanned vehicle is less, section release time can arrange longer by flight position data acquisition module 43.As unmanned vehicle collision before flying speed be 8 meter per second time, then first time period can be 1 second; As unmanned vehicle collision before flying speed be 2 meter per second time, then first time period can be 3 seconds.
Then flight position data acquisition module 43 obtains the flight position data of unmanned vehicle that first presets some release time, this flight position data include but not limited to unmanned vehicle towards data, altitude information and airborne equipment status data etc.Here airborne equipment status data comprises the acquisition parameters etc. of the shooting camera of unmanned vehicle.
The flight position data of the unmanned vehicle that the first default release time that last flight position recovery module 44 uses flight position data acquisition module 43 to obtain puts, location restore is carried out to unmanned vehicle, by unmanned vehicle return to default release time point unmanned vehicle towards, height and airborne equipment state.
Preferably, here in order to avoid carrying out the recovery of mistake to flight position data, when unmanned vehicle carries out flight position recovery, flight position recovers module 44 can send flight position recovery request to corresponding terminal, and the request-reply of receiving terminal; If this request-reply is that flight position recovery is carried out in agreement, then unmanned vehicle carries out flight position recovery; If this request-reply is not for agree to carry out flight position recovery, then unmanned vehicle proceeds corresponding flight operation.
The unmanned vehicle control device 40 of this preferred embodiment also comprises logging modle 45, and logging modle 45 is for the flight position data of real time record unmanned vehicle and corresponding time point data.Flight position data due to unmanned vehicle is a lasting data stream, and for the ease of obtaining corresponding flight position data in time, logging modle 45 needs to carry out real time record to flight position data and corresponding time point data here.
Preferably, here logging modle 45 can record the flight position data of the whole flight course of unmanned vehicle and corresponding time point data completely, also the mode of mobile storage can be adopted, the flight position data of real time record unmanned vehicle and corresponding time point data.As only recorded the flight position data of the nearest 30s of unmanned vehicle, up-to-date data are directly used to cover more than the flight position data of 30s.The flight position data before can returning to collision can be ensured like this, can amount of data storage be reduced again.
Preferably, the flight position of this preferred embodiment recovers the flight position recovery instruction that module 44 also directly can receive user, and the flight position data of the unmanned vehicle that instruction uses put the second default release time prestored is recovered according to this flight position, flight position recovery is carried out to unmanned vehicle.Namely, when user finds that abnormal flight appears in unmanned vehicle, directly can recover the flight position data of unmanned vehicle by sending flight position recovery instruction, and not need the generation waiting for collision.Concrete second setting presetting some release time can arrange a longer time point as required.Certainly also can recover instruction according to flight position here directly returns to a pre-set flight state by unmanned vehicle.
So namely, complete the control procedure of the unmanned vehicle of the unmanned vehicle control device 40 of this preferred embodiment.
On the basis of the first preferred embodiment, the unmanned vehicle control device of this preferred embodiment has carried out condition judgment to collision, and set different default release time point, the accuracy that the flight position further increasing unmanned vehicle recovers and validity according to flying speed.
Please refer to Fig. 5, Fig. 5 is the structural representation of the 3rd preferred embodiment of unmanned vehicle control device of the present utility model.The unmanned vehicle control device 50 of this preferred embodiment comprises flight towards sensor 51, attitude sensors 52, airborne equipment pick-up unit 53, airspeed transducer 54, control chip 55 and storer 56.
Wherein fly towards sensor 51 for by the flight of unmanned vehicle towards real-time Transmission to storer 56; This flight is preferably magnetic field sensor towards sensor 51.Attitude sensors 52 for by the flying height real-time Transmission of unmanned vehicle to storer 56; This attitude sensors 56 is preferably pressure type height sensor.Airborne equipment pick-up unit 53 for by the airborne equipment state real-time Transmission of unmanned vehicle to storer 56; This airborne equipment can be Airborne Camera or video camera etc.Airspeed transducer 54 is for transferring to control chip 55 by the current flight speed of unmanned vehicle, and this airspeed transducer 54 preferably can detect three axial velocity sensors of XYZ tri-axial velocity.Storer 56 for the flight that stores unmanned vehicle towards, flying height and airborne equipment state.Control chip 55 is for receiving the current flight speed of unmanned vehicle from airspeed transducer 54, and when colliding according to current flight velocity estimated unmanned vehicle, receive unmanned vehicle from storer 56 and preset the flight of some release time towards, flying height and airborne equipment state first, and use this first flight presetting some release time to carry out flight position recovery towards, flying height and airborne equipment state to unmanned vehicle.
When this unmanned vehicle control device 50 carries out flight position recovery simultaneously, can by request transmit port 57 by flight position recovery request extremely corresponding terminal, and the request-reply of receiving terminal, thus determine whether to carry out flight position recovery according to this request-reply.
In addition this unmanned vehicle control device 50 also comprises command reception port 58, this command reception port 58 recovers instruction for the flight position receiving user, such control chip 55 can recover instruction according to this flight position, receive unmanned vehicle from storer 56 and preset the flight of some release time towards, flying height and airborne equipment state second, and use this second flight presetting some release time to carry out flight position recovery towards, flying height and airborne equipment state to unmanned vehicle.
Wherein unmanned vehicle is stored in the first storage unit of storer 56 towards, flying height and airborne equipment state in the first flight presetting some release time, and unmanned vehicle is stored in the second storage unit of storer 56 in the second flight presetting some release time towards, flying height and airborne equipment state.
Description in the specific works principle of the 3rd preferred embodiment of the unmanned vehicle control device 50 of this preferred embodiment and the second preferred embodiment of above-mentioned unmanned vehicle control method is same or similar, specifically refers to the associated description in the second preferred embodiment of above-mentioned unmanned vehicle control method.
The utility model also provides a kind of unmanned vehicle, and this unmanned vehicle comprises body, be arranged on multiple rotor on body and unmanned vehicle control device.
This unmanned vehicle control device comprises flight towards sensor, attitude sensors, airborne equipment pick-up unit, airspeed transducer, control chip and storer.
Fly towards sensor and be used for the flight of unmanned vehicle towards real-time Transmission to storer; Attitude sensors is used for the flying height real-time Transmission of unmanned vehicle to storer; Airborne equipment pick-up unit is used for the airborne equipment state real-time Transmission of unmanned vehicle to storer; Airspeed transducer is used for the current flight speed of unmanned vehicle to transfer to control chip; Control chip is used for the current flight speed receiving unmanned vehicle from airspeed transducer, and when unmanned vehicle collides, receive unmanned vehicle from storer and preset the flight of some release time towards, flying height and airborne equipment state first; Storer for the flight that stores unmanned vehicle towards, flying height and airborne equipment state.
Preferably, flying towards sensor is magnetic field sensor, and attitude sensors is pressure type height sensor.
Preferably, airspeed transducer is three axial velocity sensors.
Preferably, unmanned vehicle control device also comprises request transmit port, and this request transmit port is used for by flight position recovery request to corresponding terminal, and receives the request-reply of described terminal.
Preferably, unmanned vehicle control device also comprises command reception port, and this command reception port recovers instruction for the flight position receiving user; Control chip also presets the flight of some release time towards, flying height and airborne equipment state for receiving unmanned vehicle from storer second; Storer comprises for storing unmanned vehicle in the first flight presetting some release time towards the first storage unit of, flying height and airborne equipment state and for storing unmanned vehicle in second storage unit of the second flight presetting some release time towards, flying height and airborne equipment state.
Description in the specific works principle of unmanned vehicle of the present utility model and the second preferred embodiment of above-mentioned unmanned vehicle control method is same or similar, specifically refers to the associated description in the second preferred embodiment of above-mentioned unmanned vehicle control method.
Unmanned vehicle control method of the present utility model, control device and unmanned vehicle are after unmanned vehicle collides, and the flight position using the flight position data of unmanned vehicle to carry out unmanned vehicle recovers; Solve existing unmanned vehicle control device can not carry out recovery operation technical matters to the state of flight of unmanned vehicle.
In sum; although the utility model discloses as above with preferred embodiment; but above preferred embodiment is also not used to limit the utility model; those of ordinary skill in the art; not departing from spirit and scope of the present utility model; all can do various change and retouching, the scope that therefore protection domain of the present utility model defines with claim is as the criterion.
Claims (10)
1. a unmanned vehicle control device, is arranged on corresponding unmanned vehicle, it is characterized in that, comprising:
Flight towards sensor, for by the flight of described unmanned vehicle towards real-time Transmission to storer;
Attitude sensors, for by the flying height real-time Transmission of described unmanned vehicle to storer;
Airborne equipment pick-up unit, for by the airborne equipment state real-time Transmission of described unmanned vehicle to storer;
Airspeed transducer, for transferring to control chip by the current flight speed of described unmanned vehicle;
Described control chip, for receiving the current flight speed of described unmanned vehicle from described airspeed transducer, and when described unmanned vehicle collides, receive described unmanned vehicle from described storer and preset the flight of some release time towards, flying height and airborne equipment state first; And
Described storer, for the flight that stores described unmanned vehicle towards, flying height and airborne equipment state.
2. unmanned vehicle control device according to claim 1, is characterized in that, described flight is magnetic field sensor towards sensor, and described attitude sensors is pressure type height sensor.
3. unmanned vehicle control device according to claim 1, is characterized in that, described airspeed transducer is three axial velocity sensors.
4. unmanned vehicle control device according to claim 1, is characterized in that, described unmanned vehicle control device also comprises:
Request transmit port, for by flight position recovery request to corresponding terminal, and receive the request-reply of described terminal.
5. unmanned vehicle control device according to claim 1, is characterized in that, described unmanned vehicle control device also comprises:
Command reception port, recovers instruction for the flight position receiving user;
Described control chip also presets the flight of some release time towards, flying height and airborne equipment state for receiving described unmanned vehicle from described storer second;
Described storer comprises for storing described unmanned vehicle in the described first flight presetting some release time towards the first storage unit of, flying height and airborne equipment state and for storing described unmanned vehicle in second storage unit of the described second flight presetting some release time towards, flying height and airborne equipment state.
6. a unmanned vehicle, is characterized in that, comprises body, is arranged on multiple rotor on described body and unmanned vehicle control device; Wherein said unmanned vehicle control device comprises:
Flight towards sensor, for by the flight of described unmanned vehicle towards real-time Transmission to storer;
Attitude sensors, for by the flying height real-time Transmission of described unmanned vehicle to storer;
Airborne equipment pick-up unit, for by the airborne equipment state real-time Transmission of described unmanned vehicle to storer;
Airspeed transducer, for transferring to control chip by the current flight speed of described unmanned vehicle;
Described control chip, for receiving the current flight speed of described unmanned vehicle from described airspeed transducer, and when described unmanned vehicle collides, receive described unmanned vehicle from described storer and preset the flight of some release time towards, flying height and airborne equipment state first; And
Described storer, for the flight that stores described unmanned vehicle towards, flying height and airborne equipment state.
7. unmanned vehicle according to claim 6, is characterized in that, described flight is magnetic field sensor towards sensor, and described attitude sensors is pressure type height sensor.
8. unmanned vehicle according to claim 6, is characterized in that, described airspeed transducer is three axial velocity sensors.
9. unmanned vehicle according to claim 6, is characterized in that, described unmanned vehicle control device also comprises:
Request transmit port, for by flight position recovery request to corresponding terminal, and receive the request-reply of described terminal.
10. unmanned vehicle according to claim 6, is characterized in that, described unmanned vehicle control device also comprises:
Command reception port, recovers instruction for the flight position receiving user;
Described control chip also presets the flight of some release time towards, flying height and airborne equipment state for receiving described unmanned vehicle from described storer second;
Described storer comprises for storing described unmanned vehicle in the described first flight presetting some release time towards the first storage unit of, flying height and airborne equipment state and for storing described unmanned vehicle in second storage unit of the described second flight presetting some release time towards, flying height and airborne equipment state.
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| CN201521030185.7U CN205229811U (en) | 2015-12-11 | 2015-12-11 | Unmanned vehicles controlling means and unmanned vehicles |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112389640A (en) * | 2020-11-27 | 2021-02-23 | 东莞火萤科技有限公司 | Unmanned aerial vehicle control system that stalls |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112389640A (en) * | 2020-11-27 | 2021-02-23 | 东莞火萤科技有限公司 | Unmanned aerial vehicle control system that stalls |
| CN112389640B (en) * | 2020-11-27 | 2022-07-19 | 东莞火萤科技有限公司 | Unmanned aerial vehicle control system that stalls |
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