CN205507550U - Unmanned vehicles's flight control and flight controller - Google Patents
Unmanned vehicles's flight control and flight controller Download PDFInfo
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- CN205507550U CN205507550U CN201620133589.7U CN201620133589U CN205507550U CN 205507550 U CN205507550 U CN 205507550U CN 201620133589 U CN201620133589 U CN 201620133589U CN 205507550 U CN205507550 U CN 205507550U
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Abstract
The utility model mainly provides an unmanned vehicles's flight control, wherein, this flight control includes: flight controller, ground control station with the communication of above -mentioned flight controller, and action perception device, wherein, above -mentioned flight controller is connected with first instruction the sending device and second instruction the sending device at least respectively, and first instruction the sending device sends a control command and the 2nd control command to above -mentioned flight controller respectively with second instruction the sending device, and the 2nd control command is in relevancy with the testing result of action perception device, and the flight controller execution that has priority the 2nd control command. Furthermore, the utility model provides a flight controller. Adopting above -mentioned scheme, can carrying out flight control to unmanned vehicles through ground control station generally speaking, in the then accessible operator health action and controlling so that it can be in time out of danger unmanned vehicles of emergency lower time, easy operation keeps away the danger in time.
Description
Technical field
This utility model relates generally to unmanned vehicle field, particularly relates to the flight control aspect of unmanned vehicle.
Background technology
Along with the technology of unmanned vehicle is the most full-fledged, use and be mounted with the unmanned plane of video camera and carry out taking photo by plane and utilizes the technology taken photo by plane in real time in time Aerial Images to be passed back to the display near operator so that the technology of image that can be correlated with Real Time Observation of operator is the most universal.But, owing to external display is often arranged on the position separated, so with controlling device, for the operator of aircraft, needing to watch display device while manually aircraft being carried out flight control, increasing the weight of its work load undoubtedly, maloperation easily occurs.
In order to solve the problems referred to above, Chinese patent application CN201010503381.7 provides the head movement of a kind of user of utilization and the airborne tripod head of unmanned plane is controlled technical scheme, particularly as follows: utilize the head movement of wear-type attitude transducer detection operator, earth station is then calculated the deflection command of The Cloud Terrace according to head movement, and above-mentioned deflection command is sent to airborne tripod head so that the video camera carried on itself and its deflects to the desired direction of operator, and earth station shows the shooting video of video camera in real time, video that operator base area earth station shows and the deflection speed of revising airborne tripod head in real time and direction, video camera is made to be directed at desired target all the time.Use technique scheme, operator can be made to utilize its head movement to control the deflection of airborne tripod head, there is processing ease, the feature in use direction, and the work load of unmanned plane operator can be significantly reduced.
But, such scheme need whole process utilize the head movement of operator to carry out operating control, physical ability and spirit for operator the most extremely test, when utilize for a long time head movement aircraft is carried out flight control time, be especially easy to occur when unmanned vehicle urgent in danger time and operator cannot make corresponding avoiding action in time owing to being perfectly exhausted and cause the impaired situation of unmanned vehicle.It addition, in technique scheme, earth station also needs to the data such as the head movement direction according to the operator detected, angle and carries out calculating and just can obtain corresponding control instruction, carries out instruction output the most again.So, when unmanned vehicle is in dangerous situation, from the process being reacted directly into final control instruction output of operator, required is time-consuming the longest, and easily occur that mistake in computation causes maloperation to occur so that unmanned vehicle cannot avoid faced by danger and impaired.
Additionally, the enforcement of technique scheme also needs to by exterior display device, for the operation occasions such as field data collection, it is difficult to realize image synchronization and observe.
Utility model content
The purpose of this utility model is that providing a kind of is being easy to user operation, is reducing the flight control system that the physical ability to user requires, ensures in case of emergency to be controlled the flight attitude of unmanned plane in time and can provide the user good flight experience, specifically, this utility model offer techniques below scheme:
A kind of flight control system of unmanned vehicle, wherein, described flight control system includes:
Flight controller；
The ground control station communicated with described flight controller；And
Action sensing device；
Wherein, described flight controller is connected with the first instruction transmission equipment and the second instruction transmission equipment the most respectively, and described first instruction transmission equipment sends the first control instruction to described flight controller, described second instruction transmission equipment sends the second control instruction to described flight controller, described second control instruction is associated with the testing result of described action sensing device, and described flight controller preferentially performs described second control instruction.
Specifically, described action sensing device is wearing type glasses
Specifically, described first instruction transmission equipment is arranged at described ground control station with described second instruction transmission equipment, described action sensing device includes action sensor and the radio transmitting device being connected with described ground control station, wherein, described ground control station receives the actuating signal detected by described action sensor that described radio transmitting device sends, generate described second control instruction, and send described second control instruction to described flight controller via described second instruction transmission equipment.
Specifically, described first instruction transmission equipment is arranged on described ground control station, and described second instruction transmission equipment is the radio transmitting device being arranged on described action sensing device；And described action sensing device also includes the action sensor that detects the body action signal of described operator.
Specifically, described action sensing device also includes an instruction generator, and it receives described actuating signal, generates described second control instruction, and exports to described flight controller via described radio transmitting device.
Specifically, described flight controller includes an instruction generator, and it receives described actuating signal, generates described second control instruction.
Specifically, described flight control system also includes a memorizer prestoring described actuating signal and the information of the second corresponding control instruction.
Specifically, described memorizer is arranged on described flight controller or described ground control station or described action sensing device.
This utility model also provides for a kind of flight controller, and for unmanned vehicle is carried out flight control, wherein, described flight controller includes:
Wireless transmitter, receives and dispatches control instruction；
The microprocessor being connected with described wireless transmitter, it receives described control instruction and described unmanned vehicle performs flight control；
Wherein, described wireless transmitter is at least connected with the first instruction transmission equipment and the second instruction transmission equipment, described first instruction transmission equipment and described second instruction transmission equipment send the first control instruction and the second control instruction respectively to described wireless transmitter, wherein, described second control instruction is associated with the body action of described unmanned vehicle, and described microprocessor preferentially performs described second control instruction.
Specifically, described flight controller also includes an instruction generator, and it receives the body motion data of described operator, generates described second control instruction, and exports described second control instruction to described wireless transmitter.
Use technique scheme, the operator of unmanned vehicle can carry out flight control by ground control station to unmanned vehicle in the ordinary course of things, then by its body action, unmanned vehicle can be controlled such that, and it can be the most out of danger time in case of emergency, simple to operate, and without requiring that operator has higher physical ability.It is additionally, since and is previously stored with the control instruction relevant to body action, it is not necessary to too much calculate, therefore can by the body action of operator, unmanned vehicle be controlled in time at Emergency time.Further, owing to have employed wearing type glasses, also person convenient to operate can observe the image information transmitted in real time in time, even if also can conveniently observe the view data of passback when carrying out data acquisition in the wild, and driving experience on the spot in person can also be brought for operator.
Accompanying drawing explanation
Fig. 1 is the composition schematic diagram of this utility model embodiment one unmanned vehicle；
Fig. 2 is the composition schematic diagram of this utility model embodiment one flight controller；
Fig. 3 is the composition schematic diagram of this utility model embodiment one flight control system；
Fig. 4 is the schematic flow sheet of this utility model embodiment one flight control method；
Fig. 5 be this utility model embodiment one flight control method step S2 be embodied as flow process；
Fig. 6 is the direction schematic diagram of this utility model embodiment one unmanned vehicle；
Fig. 7 is the composition schematic diagram of this utility model embodiment two action sensing device；
Fig. 8 is the composition schematic diagram of this utility model embodiment three flight controller.
Symbol description:
10 unmanned vehicles, 101 power supplys, 102 sensor integration, 103,130 flight controllers, 1031,1302 wireless transmitter, 103,1303 microprocessor, 104 power set, 2 ground control stations, 3,30 action sensing device, 31,301 radio transmitting device, 32,302 action sensors, 303,1301 instruction generators.
Detailed description of the invention
Main technical schemes of the present utility model is: the flight controller being arranged on unmanned vehicle preferentially performs the control instruction relevant to operator's body action, so that when dangerous situation encountered by unmanned vehicle, i.e. unmanned vehicle can be carried out flight attitude control by the body action of operator and make it avoid encountered danger or obstacle, utilize body action that aircraft is manipulated for a long time without operator, it is to avoid its too much physical demands.
The technical scheme to this utility model that describes below by way of specific embodiment makes comprehensive, detailed description.It should be noted that these specific descriptions simply allow those of ordinary skill in the art be more prone to, clearly understand the present invention, rather than to limited explanation of the present utility model.
Embodiment one:
Fig. 1 is the composition schematic diagram of the unmanned vehicle of the present embodiment.As shown in Figure 1, unmanned vehicle 10 includes: for the sensor integration 102 of the various status informations of real-time monitor and detection aircraft 10, in the present embodiment, " sensor integration 102 " is to represent the multiple sensors being arranged on unmanned vehicle 10, and each sensor all can work independently, wherein, the common sensor being arranged on unmanned vehicle 10 has gyro sensor, barometer sensor etc.；Integrated with the sensor 102 are connected to receive various data that the sensor integrated 102 detected and can receive various control instructions that ground control station 2 sends, unmanned vehicle 10 is carried out the flight controller 103 of flight control and adjustment according to received data and control instruction；Receive the control of above-mentioned flight controller 103 and be unmanned vehicle 10 power set 104 that flying power is provided；And power supply 101 integrated 102 for the sensor, that flight controller 103, power set 104 provide electric power.Moreover it is preferred that in the present embodiment, above-mentioned unmanned vehicle is also equipped with video camera (not shown) to take photo by plane.
Fig. 2 is the composition schematic diagram of the flight controller of the present embodiment.As in figure 2 it is shown, in the present embodiment, above-mentioned flight controller 103 includes: for receiving the information receiving module of control instruction, specifically, this information receiving module is wireless signal transceiver 1031 or other similar device；And be connected, according to the control instruction received, unmanned vehicle 103 is carried out the control module that flight controls with above-mentioned information receiving module, concrete, in the present embodiment, above-mentioned control module can be microprocessor 1032 or other similar device.
Fig. 3 is the composition schematic diagram of the flight control system of the present embodiment.As it is shown on figure 3, in the present embodiment, flight control system includes: aforementioned flight controller 103；It is connected to carry out the ground control station 2 of data/control instruction transmission/mutual with flight controller 103, specifically, this ground control station 2 includes electric power system, microcontroller, wireless radio transmission module etc., via above-mentioned wireless radio transmission module, the control instruction that microcontroller generates can be delivered to flight controller 103；Action sensing device 3, it is connected with operator to collect its body action signal, and collected body action signal is sent to above-mentioned ground control station 2, specifically, this action sensing device 3 includes the action sensing module for collecting above-mentioned body action signal and action data is sent the communication module to ground control station 2, wherein, in the present embodiment, above-mentioned action sensing module is action sensor 32, above-mentioned communication module is radio transmitting device 31, and this radio transmitting device 31 can be any one of infrared transceiver device or bluetooth or WIFI module or communications module.
In order to reduce operator's physical consumption in operation, and ensure that its manipulation is convenient, preferably, in the present embodiment, above-mentioned flight controller 103 at least is connected to receive two groups of different control instructions from the first instruction transmission equipment and the second instruction transmission equipment, the most above-mentioned ground control station 2 can send the different control instruction of at least two to flight controller 103, such as, first control instruction and the second control instruction, wherein, above-mentioned second control instruction is associated with the body action of operator；It is to say, above-mentioned second control instruction is body action based on operator and generates.And, in order to achieve the above object, above-mentioned flight controller 103, when receiving above two control instruction, preferentially performs the second control instruction, the most preferentially utilizes the body action of operator in time the flight attitude of unmanned vehicle 10 is adjusted and is controlled.Specifically, in the present embodiment, above-mentioned first instruction transmission equipment and the second instruction transmission equipment are arranged on ground control station 2, can be by the aforementioned wireless radio transmission module composition being arranged on ground control station 2.
In order to allow the operator to utilize body action that aircraft is controlled in time, simplify the generation process of the second control instruction, shorten the instruction transmission time, preferably, in the present embodiment, above-mentioned flight control system also includes the given body action of the person that prestores aforesaid operations and the memorizer (not shown) of the information of the second corresponding control instruction.And, in the present embodiment, this memorizer is arranged on ground control station 2.
Fig. 4 is the flow chart of the flight control method of the present embodiment.Understanding according to shown in the flight control method of Fig. 4, the flight control method of above-mentioned unmanned vehicle 10 includes following two step:
Step S1: receiving the first control instruction and/or the second control instruction, wherein, the second control instruction is different from the first control instruction, and the second control instruction is relevant to the body action of the operator of unmanned vehicle 10；
Specifically, in the present embodiment, above-mentioned action data, by collecting the body motion data of operator and sending it to ground control station 2, is processed to generate above-mentioned second control instruction by action sensing device 3 via the microcontroller of ground control station 2.
Step S2: according to described first control instruction/described second control instruction, described unmanned vehicle 10 is carried out flight control, wherein, preferentially according to described second control instruction, described unmanned vehicle 10 is performed flight and control.
Specifically, in this step, detailed description of the invention can be: if flight controller 103 is to perform if control instruction successively, then when receiving the first control instruction and the second control instruction, need to be ranked up the control instruction received, wherein, the second control instruction is positioned at more forwardly of position than the first control instruction；Or, as it is shown in figure 5, flight controller 103 is when performing the first control instruction every time, the most first determining whether the second control instruction having not carried out or the most also receive the second control instruction, if existing, then first carrying out the second control instruction；Otherwise, then the first control instruction is first carried out；So, can fully ensure that the second control instruction always can preferentially be performed.
Moreover it is preferred that in the present embodiment, above-mentioned first control instruction is general controls instruction, and above-mentioned second control instruction is urgent danger prevention instruction；Unmanned vehicle 10 may utilize general controls instruction and carries out flight control the most in the ordinary course of things, and is in emergency circumstances at unmanned vehicle 10, then use the urgent danger prevention relevant to operator's body action to instruct and carry out danger and evade；So, directly can evade reaction via operator is subconscious and directly generates maximally efficient instruction of evading under dangerous situation so that unmanned vehicle 10 can be rapidly separated danger, and without consuming the physical ability of operator too much.
Further, in order to provide the user with good visual experience, it is preferable that above-mentioned action sensing device 3 is a wearing type glasses, it has display device and constitutes the wear-type attitude transducer of above-mentioned action sensing module.So, use above-mentioned wearing type glasses, in addition to can making operator and the view data of video camera passback of real-time unmanned vehicle the most all be can be observed, oneself has been treated as aircraft 10 by operator with can substituting into formula, when the aerial barrage run in unmanned vehicle 10 flight course, it is similar to the threat to observer's head in a way, for this, in such a case, it is possible to by by corresponding with the flight avoiding action of aircraft for the instinct sexual act of operator's head to realize effective avoiding action in time.
Specifically, in the case of using above-mentioned wearing type glasses, above-mentioned second control instruction can be set moving of fore-and-aft direction up and down according to the head of operator.Table 1 below is corresponding relation between headwork and second control instruction generated of operator in the present embodiment, and in the present embodiment, this table 1 information is stored in the microprocessor of ground control station in case calling.According to the information of table 1, operator can utilize the action of its head that unmanned vehicle 10 carries out flight control, adjustment at any time, makes unmanned vehicle 10 can move certain amplitude X in the corresponding direction according to the moving direction of head.Wherein, the value of X can be default through an accepted value of test, such as 5 meters, 8 meters or 10 meters etc..Certainly the value of X can also be adjusted according to actual needs by user；When the value of default X obtains relatively big, such as, in the case of being 10 meters, operator can implement to adjust by stepless regulating mode, i.e. when rank is 100%, X is 10 meters, when rank is 0%, then this X is 2 meters, and when this rank is 50%, then this X is 6 meters etc..
Table 1 headwork and the corresponding table of instruction
| Headwork | Second control instruction |
| Nod the most rapidly | Forward |
| Face upward the most rapidly head | Retreat |
| Come back | Rise |
| Bow | Decline |
| It is axial left-hand rotation head or to left avertence head with neck | Left |
Additionally, Fig. 6 is the schematic diagram utilizing unmanned vehicle to define six direction front and back up and down, wherein, in Fig. 6, symbol " W " both can represent unmanned vehicle 10, also video camera can be represented, it is to say, above-mentioned six direction both can determine based on video camera, it is also possible to according to the flight of above-mentioned aircraft 10 towards and be set.And, for using The Cloud Terrace to carry the unmanned vehicle 10 of video camera, owing to The Cloud Terrace is movable, adjustable position, so that the shooting angle of video camera also can be adjusted, now, corresponding up and down before and after six direction, can be defined according to the real time position of The Cloud Terrace, i.e. need via video camera towards with being transformed towards relation of unmanned vehicle, be not equal to traditional space six axle.
Use technique scheme so that operator both may utilize ground control station and has been controlled unmanned vehicle, it is possible to utilize its body action to be controlled unmanned vehicle, convenient manipulation, and without consuming the physical ability of operator too much；And, by enabling the control instruction relevant to operator's body action preferentially to be performed, not only make the flight of operator control simpler, also make the flight in case of emergency of above-mentioned aircraft control the most timely.
Embodiment two:
The present embodiment differs primarily in that with embodiment one, in the present embodiment, action sensing device 30 and flight controller 103 are joined directly together and connect with in directly output the second control instruction to controller 103, so, set up communication path respectively with action sensing device 30 and ground control station mutual to carry out information for flight controller 103.
Fig. 7 is the particular make-up schematic diagram of action sensing device in the present embodiment.As shown in Figure 7, this action sensing device 30 except include with flight controller 103 carry out the mutual radio transmitting device of information 301, collect operator's body motion data action sensor 302 in addition to, also include that one generates the data processing module of the second control instruction according to collected action data, and the second control instruction generated then is transmitted to flight controller 103 to be controlled aircraft via above-mentioned radio transmitting device 301.Specifically, above-mentioned data processing module can be that in an instruction generator 303, and this instruction generator 303, storage has the action data relevant information with corresponding second control instruction.In other words, in the present embodiment, above-mentioned action data stores in memory with the relevant information of corresponding second control instruction, and this memorizer is arranged on/is integrated on above-mentioned data processing module.
It addition, in the present embodiment, the first instruction transmission equipment sending the first control instruction is arranged on ground control station, and the second instruction transmission equipment sending the second control instruction is arranged on action sensing device 30, is above-mentioned radio transmitting device 301.
Remaining content is similar with embodiment one, and therefore not to repeat here.
Embodiment three:
The present embodiment differs primarily in that with embodiment two, in the present embodiment, action sensing device 3 and flight controller 130 are joined directly together and connect to be delivered on flight controller 130 collected action data, and instruction generator (data processing module) 1301 is arranged on flight controller 130 to receive above-mentioned action data and generates corresponding second control instruction based on above-mentioned action data.
Fig. 8 is the composition schematic diagram of the flight controller of the present embodiment.As shown in Figure 8, flight controller 130 includes being sequentially connected instruction generator 1301, wireless transmitter 1302 and the microprocessor 1303 connect.
Remaining content is similar with embodiment one or two, and therefore not to repeat here.
It will be recognized by one of ordinary skill in the art that above-mentioned flight controller both may be installed on above-mentioned unmanned vehicle, it is possible to arrange independent of above-mentioned unmanned vehicle.
Last it should be noted that described above is only most preferred embodiment of the present utility model, not this utility model is done any pro forma restriction.Any those of ordinary skill in the art; in the range of without departing from technical solutions of the utility model; technical solutions of the utility model are made many possible variation and simple replacement etc. by the way and the technology contents that all may utilize the disclosure above, and these broadly fall into the scope of technical solutions of the utility model protection.
Claims (10)
1. a flight control system for unmanned vehicle, wherein, described flight control system includes:
Flight controller；
The ground control station communicated with described flight controller；And
Action sensing device；
It is characterized in that, described flight controller is connected with the first instruction transmission equipment and the second instruction transmission equipment the most respectively, and described first instruction transmission equipment sends the first control instruction to described flight controller, described second instruction transmission equipment sends the second control instruction to described flight controller, wherein, described second control instruction is associated with the testing result of described action sensing device, and described flight controller preferentially performs described second control instruction.
2. flight control system as claimed in claim 1, it is characterised in that described action sensing device is wearing type glasses.
3. flight control system as claimed in claim 1 or 2, it is characterized in that, described first instruction transmission equipment is arranged at described ground control station with described second instruction transmission equipment, described action sensing device includes action sensor and the radio transmitting device being connected with described ground control station, wherein, described ground control station receives the actuating signal detected by described action sensor that described radio transmitting device sends, generate described second control instruction, and send described second control instruction to described flight controller via described second instruction transmission equipment.
4. flight control system as claimed in claim 1 or 2, it is characterised in that described first instruction transmission equipment is arranged on described ground control station, and described second instruction transmission equipment is the radio transmitting device being arranged on described action sensing device；And described action sensing device also includes the action sensor that detects the body action signal of operator.
5. flight control system as claimed in claim 4, it is characterized in that, described action sensing device also includes an instruction generator, and it receives described actuating signal, generate described second control instruction, and export to described flight controller via described radio transmitting device.
6. flight control system as claimed in claim 4, it is characterised in that described flight controller includes an instruction generator, and it receives described actuating signal, generates described second control instruction.
7. flight control system as claimed in claim 1 or 2, it is characterised in that described flight control system also includes a memorizer prestoring described actuating signal and the information of the second corresponding control instruction.
8. flight control system as claimed in claim 7, it is characterised in that described memorizer is arranged on described flight controller or described ground control station or described action sensing device.
9. a flight controller, for unmanned vehicle is carried out flight control, wherein, described flight controller includes:
Wireless transmitter, receives and dispatches control instruction；
The microprocessor being connected with described wireless transmitter, it receives described control instruction and described unmanned vehicle is performed flight and controls；
It is characterized in that, described wireless transmitter is connected with the first instruction transmission equipment and the second instruction transmission equipment, described first instruction transmission equipment and described second instruction transmission equipment send the first control instruction and the second control instruction respectively to described wireless transmitter, wherein, described second control instruction is associated with the body action of described unmanned vehicle, and described microprocessor preferentially performs described second control instruction.
10. flight controller as claimed in claim 9, it is characterized in that, described flight controller also includes an instruction generator, and it receives the body motion data of operator, generate described second control instruction, and export described second control instruction to described wireless transmitter.
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| CN2015209373074 | 2015-11-23 | ||
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444461A (en) * | 2016-11-28 | 2017-02-22 | 广州艾想电子科技有限公司 | System and method of controlling associated device through movement information |
| CN108268121A (en) * | 2016-12-30 | 2018-07-10 | 昊翔电能运动科技(昆山)有限公司 | Control method, control device and the control system of unmanned vehicle |
| WO2018187916A1 (en) * | 2017-04-10 | 2018-10-18 | 深圳市大疆创新科技有限公司 | Cradle head servo control method and control device |
| CN108698694A (en) * | 2017-04-10 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Control method, flight control system and rotor craft |
| CN109270954A (en) * | 2018-10-30 | 2019-01-25 | 西南科技大学 | A kind of unmanned plane interactive system and its control method based on gesture recognition |
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2016
- 2016-02-23 CN CN201620133589.7U patent/CN205507550U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444461A (en) * | 2016-11-28 | 2017-02-22 | 广州艾想电子科技有限公司 | System and method of controlling associated device through movement information |
| CN108268121A (en) * | 2016-12-30 | 2018-07-10 | 昊翔电能运动科技(昆山)有限公司 | Control method, control device and the control system of unmanned vehicle |
| WO2018187916A1 (en) * | 2017-04-10 | 2018-10-18 | 深圳市大疆创新科技有限公司 | Cradle head servo control method and control device |
| CN108698694A (en) * | 2017-04-10 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Control method, flight control system and rotor craft |
| CN109270954A (en) * | 2018-10-30 | 2019-01-25 | 西南科技大学 | A kind of unmanned plane interactive system and its control method based on gesture recognition |
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