CN205670260U - A kind of unmanned vehicle - Google Patents
A kind of unmanned vehicle Download PDFInfo
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- CN205670260U CN205670260U CN201620171580.5U CN201620171580U CN205670260U CN 205670260 U CN205670260 U CN 205670260U CN 201620171580 U CN201620171580 U CN 201620171580U CN 205670260 U CN205670260 U CN 205670260U
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- unmanned vehicle
- communication module
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- analysis processor
- wireless communication
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Abstract
This utility model embodiment provides a kind of unmanned vehicle, this unmanned vehicle can detect the channel quality between control station by Multiple Channel Analysis processor, and determine whether to switch to, from pattern of automatically making a return voyage, the row mode that grounds according to channel quality, and receive the instruction of manually making a return voyage of control station.That is, unmanned vehicle can determine the channel quality between control station accurately according to many bar responses signal of control station, if channel quality is preferable, unmanned vehicle will switch to hovering flight, and receive the instruction of manually making a return voyage of control station, thus ensure that unmanned vehicle has stable channel communication quality under manual sail mode, and then ensure that unmanned vehicle makes a return voyage stability and safety.
Description
Technical field
The application relates to unmanned vehicle technical field, particularly relates to a kind of unmanned vehicle.
Background technology
Current little miniature unmanned vehicle starts to obtain extensive concern, due to little miniature unmanned vehicle work flying height
The highest, lightweight, flight flexibly, with hovering, can therefore suffer from the extensive concern of the general public, and its demand and application
Field is continuously developed.
For a kind of unmanned vehicle being commonly used in sighting distance operation, little miniature unmanned vehicle passes through channel radio
The mode of letter is controlled, and this communications band is often, and the frequency range based on 2.4Ghz is implemented.Yet with logical
Strongly, uncontrollable influence factor also compares many for the resource-constrained of letter frequency range, interference, so unmanned vehicle is aloft by dry
In the case of disturbing and cannot being controlled by control station, how can reclaim unmanned vehicle be one by the problem of extensive concern.
Prior art refer to one automatically make a return voyage technology, be exactly will by strong interference at unmanned vehicle in fact
Out of control the most out of control in the case of, based on user be given instruction or be switched to automatically be automatically performed the mould maked a return voyage
Formula.
This pattern of automatically making a return voyage, based on the reserved address stored before, forms the destination maked a return voyage.Then returning
During boat, the satellite navigation and location system that substantially places one's entire reliance upon is to judge the position of self, and confirms the rail of flight
Mark.
But pattern of automatically making a return voyage problematically, be easily subject to the interference of environment, the when of disturbing lighter, nothing can be caused
People's aircraft occurs position to lose, time serious during automatically making a return voyage, in some instances it may even be possible to because earth magnetism, landform interference etc., cause
Automatically making a return voyage towards wrong direction flight, the stability so causing unmanned vehicle automatically to make a return voyage is relatively low.
Utility model content
This utility model embodiment provides a kind of unmanned vehicle, automatic in order to solve unmanned vehicle in prior art
The problem that the stability maked a return voyage is relatively low.
Its concrete technical scheme is as follows:
A kind of unmanned vehicle, including: rack construction, rotor, wireless communication module, Multiple Channel Analysis processor, flight control
Device processed, described wireless communication module, described Multiple Channel Analysis processor, described flight controller be arranged in described control platform,
Wherein,
Rack construction, described rack construction includes middle control part and holder part, and described holder part contains with institute
State a plurality of cantilever centered by control part；
Rotor, is arranged on described cantilever, and fixing with the motor on described cantilever is connected；
Described wireless communication module, is arranged in described middle control part, is connected with described Multiple Channel Analysis processor；
Described flight controller, is arranged in described middle control part, is connected with described Multiple Channel Analysis processor.
Optionally, described wireless communication module includes: communication antenna and radio communication module, described communication antenna and institute
Stating radio communication module to connect, described radio communication module is connected with described Multiple Channel Analysis processor.
Optionally, described Multiple Channel Analysis processor includes: channel detecting chip and control signal generate chip, described letter
Road detecting chip is connected with described wireless communication module, and described channel detecting chip generates chip with described control signal and is connected.
Optionally, also include:
Signal strength detector, is arranged in described middle control part, described signal strength detector and described radio communication
Module and described channel detecting chip connect, and detect chip signal output intensity level to described channel.
Optionally, also include:
Bit-error rate detector, is arranged in described middle control part, described bit-error rate detector and described wireless communication module
And Multiple Channel Analysis processor connects, and detect chip output error rate to described channel.
Optionally, described flight controller includes: flight control signal generates chip and flight parameter processes chip, institute
Stating flight parameter process chip to be connected with described wireless communication module, described flight control signal generates chip and described flight
Parameter processing chip connects.
Optionally, also include:
Enumerator, is arranged in described middle control part, is connected with described wireless communication module.
Optionally, also include:
Memorizer, is arranged in described middle control part, connects with described Multiple Channel Analysis processor and described flight controller
Connect.
Optionally, also include:
Display, is arranged in described middle control part, described display respectively with described flight controller and described letter
Trace analysis processor connects, and described display shows in the flight parameter in flight controller and described Multiple Channel Analysis processor
Processing parameter.
Optionally, described control equipment also includes:
Power supply, is arranged in described middle control part, respectively with described wireless communication module, described Multiple Channel Analysis processor,
Described flight controller, described signal strength detector, described bit-error rate detector, described enumerator, described memorizer, described
Display connects.
Providing a kind of unmanned vehicle in this utility model embodiment, this unmanned vehicle passes through Multiple Channel Analysis processor
The channel quality between control station can be detected, and determine whether to switch to stop from pattern of automatically making a return voyage according to channel quality
Offline mode, and receive the instruction of manually making a return voyage of control station.It is to say, unmanned vehicle can be according to a plurality of sound of control station
Induction signal determines the channel quality between control station accurately, if channel quality is preferable, unmanned vehicle will switching
To hovering flight, and receive the instruction of manually making a return voyage of control station, thus ensure that unmanned vehicle has surely under manual sail mode
Fixed channel communication quality, and then ensure that unmanned vehicle makes a return voyage stability and safety.
Accompanying drawing explanation
Fig. 1 is one of structural representation of a kind of unmanned vehicle in this utility model embodiment；
Fig. 2 is in this utility model embodiment the two of the structural representation of a kind of unmanned vehicle；
Fig. 3 is in this utility model embodiment the three of the structural representation of a kind of unmanned vehicle；
Fig. 4 is in this utility model embodiment the four of the structural representation of a kind of unmanned vehicle；
Fig. 5 is in this utility model embodiment the five of the structural representation of a kind of unmanned vehicle.
Detailed description of the invention
Below by accompanying drawing and specific embodiment, technical solution of the present invention is described in detail, it will be appreciated that this reality
It is the explanation to technical solution of the present invention rather than restriction with the concrete technical characteristic in new embodiment and embodiment,
In the case of not conflicting, the concrete technical characteristic in this utility model embodiment and embodiment can be mutually combined.
First, from the point of view of, there is a lot of potential risk in unmanned vehicle during navigation, such as satellite positioning navigation
In the case of system loses signal, aircraft is in runaway condition completely；For another example under mechanism of automatically making a return voyage, a kind of typical
Flight control mode is, no matter which kind of flying height aircraft is currently at, first by the flying height of aircraft relative in advance
Making a return voyage of record a little promotes 20 meters again, and using height now as cruise-in altitude, then on the basis of cruise-in altitude, it is a little right to complete
Point flight, returns to make a return voyage a little；But this flying method is likely to cause aircraft accident because running into aerial barrage thing；Again
Have, existing mode also has user by making repeated attempts by the way of the state of making a return voyage automatically switches back into Non-follow control state, taste
Test mass newly controls unmanned vehicle, but due to, this mode of operation, it is intended to repeatedly interrupt automatically making a return voyage of unmanned vehicle
Pattern, and constantly implement pattern switching, so add unmanned vehicle pattern switch in, the dropout caused and mistake
The risk of control, user is difficult to the opportunity effectively being judged to recover to control by any reference factor, can only rely on the experience of self,
And this control mode is the most subjective and insecure, for new hand, substantially can not realize.
Based on above-mentioned problem, this utility model embodiment provides the control equipment of a kind of unmanned vehicle, such as Fig. 1
Showing the structural representation controlling equipment of a kind of unmanned vehicle in this utility model embodiment, this control equipment includes:
Rack construction 101, rotor 102, wireless communication module 103, Multiple Channel Analysis processor 104, flight controller 105, radio communication
Module 103, Multiple Channel Analysis processor 104 and flight controller 105 are arranged in middle control part 101a of rack construction 101,
Wireless communication module 103 is connected with Multiple Channel Analysis processor 104, and flight controller 105 is connected with Multiple Channel Analysis processor 104.
This rack construction 101 includes middle control part 101a and holder part 101b, and holder part contains with middle control portion
Divide a plurality of cantilever centered by 101a；
Rotor 102, is arranged on cantilever, and fixing with the motor on cantilever is connected；
Wireless communication module 103, receives the N bar response signal that control station heartbeat signal based on unmanned vehicle returns；
Multiple Channel Analysis processor 104, it is determined that whether there is the channel matter of continuous print M bar response signal in N bar response signal
Amount parameter meets pre-conditioned；
Flight controller 105, switches to hovering flight pattern from pattern of automatically making a return voyage, and receives manually making a return voyage of control station
Control instruction, or continue the response signal of instruction wireless communication module 103 MonitorConsole.
Further, as in figure 2 it is shown, the wireless communication module 103 in this unmanned vehicle also includes: communication antenna 201 with
And radio communication module 202, communication antenna 201 is connected with radio communication module 202, radio communication module 202 and Multiple Channel Analysis
Processor 104 connects.
Communication antenna 201 mainly receives the response signal that control platform sends, and sends unmanned vehicle to control station
Heartbeat signal.
Radio communication module 202, mainly carries out preliminary process to the response signal received, and the sound after processing
Induction signal transmits to Multiple Channel Analysis processor 104.Certainly, this radio communication module 202 also receive Multiple Channel Analysis processor 104 with
And the signal of flight controller 105, and transmit a signal to communication antenna 201, so that communication antenna 201 sends to control station.
Further, as it is shown on figure 3, the Multiple Channel Analysis processor 104 in this unmanned vehicle includes: channel detecting chip
301 and control signal generate chip 302, channel detecting chip 301 be connected with wireless communication module 103, channel detect chip
301 generate chip 302 with control signal is connected.
Channel detecting chip 301, when receiving the response signal of control station, determines that the sign in response signal is descending
First evaluating of channel communication quality and the second evaluating of sign up channel communication quality, namely this channel
The radio communication channel of unmanned vehicle is mainly detected by detecting chip 301.
Control signal generates chip 302, generates the heartbeat signal of the unmanned vehicle sent to control station, heart beating here
Signal contains the various parameters of unmanned vehicle, such as channel quality, position coordinates etc..
Further, as shown in Figure 4, this unmanned vehicle also includes: signal strength detector 401 and bit-error rate detector
402。
Signal strength detector 401 is arranged in described middle control part 101b, described signal strength detector 401
Detect chip 301 with described wireless communication module 103 and described channel to be connected, and export to described channel detecting chip 301
Signal strength values.
Bit-error rate detector 402, is arranged in described middle control part 101b, described bit-error rate detector 401 and described nothing
Line communication module 103 and Multiple Channel Analysis processor 104 connect, and detect chip 301 output error rate to described channel.
Further, as it is shown in figure 5, the flight controller 105 of unmanned vehicle includes: flight control signal generates chip
501 and flight parameter process chip 502, described flight parameter process chip 502 be connected with described wireless communication module 103,
Described flight control signal generates chip 501 and is connected with described flight parameter process chip 502.
Flight control signal generates chip 501 generation control unmanned vehicle and switches to hovering flight from pattern of automatically making a return voyage
The control instruction of pattern, this control instruction will be transferred to wireless communication module 103.
Flight parameter processes chip 502, obtains the flight parameter of unmanned vehicle, and this flight parameter carries out correspondence
Process, and will process after flight parameter transmit to wireless communication module 103, thus by wireless communication module 103 will flight
Parameter sends to control station.
Further, in this utility model embodiment, this unmanned vehicle also includes:
Enumerator, is arranged in described middle control part 101b, is connected with described wireless communication module 103.This enumerator master
It is used for counting meeting pre-conditioned response signal.
Memorizer, is arranged in described middle control part, is connected and flight controller with described Multiple Channel Analysis processor 104
105 connect, and for preserving the parameter in the parameter in Multiple Channel Analysis processor 104 and flight controller 105, also supply
Multiple Channel Analysis processor 104 and flight controller 105 call parameters.
Display, is arranged in described middle control part 101b, described display respectively with described flight controller 105 and
Described Multiple Channel Analysis processor 104 connects, the flight parameter in described display display flight controller 105 and described channel
Processing parameter in analysis processor 104.
Power supply, is arranged in described middle control part 101b, respectively with described wireless communication module 103, described Multiple Channel Analysis
Processor 104, described flight controller 105, described signal strength detector 401, described bit-error rate detector 402, described meter
Number device, described memorizer, described display connect.
Below by actual scene, the principle that realizes of the unmanned vehicle of said structure is illustrated, specific as follows:
Unmanned vehicle is during automatically making a return voyage, and the control signal of unmanned vehicle generates chip 302 and sends heart beating
Signal, contains the relevant parameter of some unmanned vehicles in this heartbeat signal.
Unmanned vehicle receives the response signal of control station by radio communication module 202, detects chip by channel
301 pairs of response signals are analyzed, and get the second evaluating characterizing uplink communication channel quality in this response signal,
This second evaluating comprises and has included at least signal strength values and the bit error rate.
Signal strength detector 401 in unmanned vehicle judges that whether signal strength values is more than secondary signal intensity threshold
Value, if signal strength values is more than secondary signal intensity threshold, then channel quality between explanation unmanned vehicle and control station
Higher；If signal intensity is less than secondary signal intensity threshold, then the channel matter between explanation unmanned vehicle and control station
Measure poor.
Certainly, unmanned vehicle can also detect the bit error rate by bit-error rate detector 402 and determines channel quality, the most just
It is to judge that the bit error rate, whether less than the second bit error rate threshold, if the bit error rate is less than the second bit error rate threshold, then illustrates channel
Quality is preferable；If the bit error rate is more than the second bit error rate threshold, then explanation channel quality is poor.Then unmanned vehicle is by right
The testing result of channel quality carries out record, and preserves this detection structure to memorizer.
Certainly, the bit error rate judges and signal intensity judges to combine judgement, so so that channel quality
It is the most accurate to detect.
The result detected based on signal strength detector 401 is signal strength values when being more than predetermined threshold value, then inform and fly
Row control signal generates chip 501, thus flight control signal generates chip 501 and generates unmanned vehicle from the offline mode that makes a return voyage
Switch to the control instruction of hovering flight pattern；
Unmanned vehicle based on said structure, this unmanned vehicle can judge unmanned vehicle and control station accurately
Between channel quality, then compared with threshold value, thus more by a plurality of mutual heartbeat signal and response signal
Determine the communication quality of communication channel accurately, it is ensured that when unmanned vehicle switches to MANUAL CONTROL mode, unmanned vehicle with
There is between control station moderately good communication channel, then improve stability and safety that unmanned vehicle manually makes a return voyage
Property.
Although having been described for the preferred embodiment of the application, but one of ordinary skilled in the art once knowing substantially
Creative concept, then can make other change and amendment to these embodiments.So, claims are intended to be construed to bag
Include preferred embodiment and fall into all changes and the amendment of the application scope.
Obviously, those skilled in the art can carry out various change and the modification essence without deviating from the application to the application
God and scope.So, if these amendments of the application and modification belong to the scope of the application claim and equivalent technologies thereof
Within, then the application is also intended to comprise these change and modification.
Claims (9)
1. a unmanned vehicle, it is characterised in that including: rack construction, rotor, wireless communication module, Multiple Channel Analysis process
Device, flight controller, described wireless communication module, described Multiple Channel Analysis processor, described flight controller are arranged at described control
In platform processed, wherein,
Rack construction, described rack construction includes middle control part and holder part, and described holder part contains with in described
A plurality of cantilever centered by control part；
Rotor, is arranged on described cantilever, and fixing with the motor on described cantilever is connected；
Described wireless communication module, is arranged in described middle control part, is connected with described Multiple Channel Analysis processor；
Described flight controller, is arranged in described middle control part, is connected with described Multiple Channel Analysis processor.
2. unmanned vehicle as claimed in claim 1, it is characterised in that described wireless communication module includes: communication antenna with
And radio communication module, described communication antenna is connected with described radio communication module, described radio communication module and described channel
Analysis processor connects.
3. unmanned vehicle as claimed in claim 1, it is characterised in that described Multiple Channel Analysis processor includes: channel is detected
Chip and control signal generate chip, and described channel detecting chip is connected with described wireless communication module, and described channel is detected
Chip generates chip with described control signal and is connected.
4. unmanned vehicle as claimed in claim 3, it is characterised in that also include:
Signal strength detector, is arranged in described middle control part, described signal strength detector and described wireless communication module
And described channel detecting chip connects, and detect chip signal output intensity level to described channel.
5. unmanned vehicle as claimed in claim 3, it is characterised in that also include:
Bit-error rate detector, is arranged in described middle control part, described bit-error rate detector and described wireless communication module and
Multiple Channel Analysis processor connects, and detects chip output error rate to described channel.
6. unmanned vehicle as claimed in claim 1, it is characterised in that described flight controller includes: flight control signal
Generating chip and flight parameter processes chip, described flight parameter processes chip and is connected with described wireless communication module, described
Flight control signal generates chip and is connected with described flight parameter process chip.
7. unmanned vehicle as claimed in claim 1, it is characterised in that also include:
Enumerator, is arranged in described middle control part, is connected with described wireless communication module.
8. unmanned vehicle as claimed in claim 1, it is characterised in that also include:
Memorizer, is arranged in described middle control part, is connected with described Multiple Channel Analysis processor and described flight controller.
9. unmanned vehicle as claimed in claim 1, it is characterised in that also include:
Display, is arranged in described middle control part, and described display divides with described flight controller and described channel respectively
Analysis processor connects, the flight parameter in described display display flight controller and the place in described Multiple Channel Analysis processor
Reason parameter.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620171580.5U CN205670260U (en) | 2016-03-07 | 2016-03-07 | A kind of unmanned vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620171580.5U CN205670260U (en) | 2016-03-07 | 2016-03-07 | A kind of unmanned vehicle |
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| CN205670260U true CN205670260U (en) | 2016-11-02 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108255161A (en) * | 2016-12-28 | 2018-07-06 | 昊翔电能运动科技(昆山)有限公司 | Aircraft control device and telecontrolled aircraft |
| CN109119738A (en) * | 2018-06-22 | 2019-01-01 | 北京北广科技股份有限公司 | A kind of rotor lift type vertical radiator |
| CN110999223A (en) * | 2017-06-05 | 2020-04-10 | 阿雷特埃姆私人有限公司 | Secure encrypted heartbeat protocol |
| WO2021035640A1 (en) * | 2019-08-29 | 2021-03-04 | 深圳市大疆创新科技有限公司 | Method for remotely controlling electronic device, remote control device and remote control system |
-
2016
- 2016-03-07 CN CN201620171580.5U patent/CN205670260U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108255161A (en) * | 2016-12-28 | 2018-07-06 | 昊翔电能运动科技(昆山)有限公司 | Aircraft control device and telecontrolled aircraft |
| CN110999223A (en) * | 2017-06-05 | 2020-04-10 | 阿雷特埃姆私人有限公司 | Secure encrypted heartbeat protocol |
| CN109119738A (en) * | 2018-06-22 | 2019-01-01 | 北京北广科技股份有限公司 | A kind of rotor lift type vertical radiator |
| WO2021035640A1 (en) * | 2019-08-29 | 2021-03-04 | 深圳市大疆创新科技有限公司 | Method for remotely controlling electronic device, remote control device and remote control system |
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| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170516 Address after: 100052 Beijing City West Road No. 12 Chaoyang District Building No. 2 (national advertising Industrial Park incubator No. 25978) Patentee after: High domain (Beijing) Intelligent Technology Research Institute Co., Ltd. Address before: 100000 Beijing city Shunyi District Sha Yu Xiang day north lemon Lake Villa 2123 Patentee before: Tan Yuanyuan |
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| TR01 | Transfer of patent right |