CN206057972U - For controlling the control terminal and its unmanned aerial vehicle control system of unmanned vehicle - Google Patents

For controlling the control terminal and its unmanned aerial vehicle control system of unmanned vehicle Download PDF

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Publication number
CN206057972U
CN206057972U CN201621063091.4U CN201621063091U CN206057972U CN 206057972 U CN206057972 U CN 206057972U CN 201621063091 U CN201621063091 U CN 201621063091U CN 206057972 U CN206057972 U CN 206057972U
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China
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unmanned vehicle
control terminal
control
processor
attitude
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杨珊珊
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High Domain (beijing) Intelligent Technology Research Institute Co Ltd
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High Domain (beijing) Intelligent Technology Research Institute Co Ltd
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Abstract

A kind of control terminal and its unmanned aerial vehicle control system for controlling unmanned vehicle, the control terminal(1)Including for wirelessly connecting the Wireless Telecom Equipment of the unmanned vehicle body(6), measure the unmanned vehicle body and control terminal(1)Between distance parameter distance measuring sensor(2), measure the control terminal(1)The attitude measurement equipment of attitude parameter(3)And processor(4), connect the distance measuring sensor(2)With attitude measurement equipment(3)The processor(4)Via the Wireless Telecom Equipment(6)Control instruction is sent to the unmanned vehicle body.

Description

For controlling the control terminal and its unmanned aerial vehicle control system of unmanned vehicle
Technical field
This utility model belongs to unmanned vehicle control field, more particularly to a kind of control for controlling unmanned vehicle Terminal processed and its unmanned aerial vehicle control system.
Background technology
As unmanned vehicle steps into consumer level market, especially multi-rotor aerocraft, typically, revolves such as four axles more Rotor aircraft, has become the preferred unit for implementing to take photo by plane.With the further subdivision of application market, unmanned vehicle is taken photo by plane neck Domain, just isolates current consumption level unmanned vehicle from professional consumer level unmanned vehicle, occur in that miniaturization, portability, The auto heterodyne unmanned vehicle of simple operation.Unmanned vehicle especially aerial photography aircraft have begun to extensively to receive publicity with it is general And, but still in reflection during real consumption person's use, the manipulation of aerial photography aircraft is still too difficult, have impact on flight of taking photo by plane The market prospect of device.Especially with the exploitation in consumer level aerial photography unmanned aerial vehicle market, more common consumer, especially So-called " little Bai " user in fact and is less concerned about the pertinences such as span of control, control precision, flight speed, flying height The problem of energy.These users are possible to only need to solve in the range of 3 meters to 20 meters of own circumference, the manipulation that can advise nobody The flight of aircraft.However, the control method of current unmanned vehicle be still generally using rocking bar control by the way of, User is needed on the space at least direction of 6 degree of freedom, is input into flight control instruction using multiple rocking bars, and due to Family is physically detached with unmanned vehicle, so user will also possess and can substitute into formula when unmanned vehicle is controlled Imagination unmanned vehicle locus ability, only in this way could control aircraft well.Such precondition, Cause the popularization of unmanned vehicle difficult.
Patent documentation CN205353766U disclose it is a kind of based on mobile phone manipulate unmanned aerial vehicle control system include client terminal, Data terminal, unmanned plane terminal;The client terminal includes cell phone apparatus, computer terminal, display, and the computer terminal is by connecting Catcher machine equipment and display, complete the transmission and manipulation of data, and the cell phone apparatus connect computer terminal by wireless data, So as to control unmanned machine equipment;The data terminal includes data center and control system, and the data center is by connecting computer Terminal and unmanned plane control system, finishing man-machine interaction, the control system are proofreaded to data by program and are adjusted Control;The unmanned plane terminal includes unmanned plane control system, movable sensor, rotor plate, work plate, the unmanned plane behaviour Control system completes the collection of information by connecting movable sensor, by the data center of connection data terminal data transfer to visitor Family terminal.The patent controls the work of unmanned plane by smart mobile phone using 4G networks so as in the presence of a harsh environment can be smoothly complete Into task, while on the display by cam feedback to client terminal.But the patent cannot allow user in a straightforward manner Control unmanned vehicle, during in particular for shooting, it is impossible to so that control terminal or smart mobile phone are accurate in relatively simple method After really control unmanned vehicle takes off, shooting direction, shooting angle such as determine at the operation, it is impossible to allow the user can be as using self-shooting bar It is such using taking photo by plane unmanned plane, it is impossible to reach that shooting operation is simple, the preferable purpose of shooting effect.
Disclosed in patent documentation CN105469579 A, a kind of body-sensing remote control includes:Attitude sensor, controller and first Wireless data transmission module, and remote controller body;The attitude sensor, first wireless data transmission module and the controller are equal It is arranged on the remote controller body, the attitude sensor and first wireless data transmission module are electrically connected with the controller Connect;The attitude sensor is used for the initial state information of the current location for obtaining the remote controller body, and the remote control The mobile message of device body movement, and pass to the controller;The controller for according to the initial state information and Mobile message, is obtained flight directive, and is sent flight directive by first wireless data transmission module.The patent causes operation Person need not look for the centre bit of body-sensing remote control again, reduce the requirement of the technical merit to manipulator, be easy to manipulator to manipulate. But the patent does not account for the impact that distance is flown to attitude parameter and unmanned vehicle between unmanned vehicle and remote control, Distance between unmanned vehicle and remote control can not be controlled and adjust, and can not be in the attitude parameter under the coordinate of control terminal On the basis of consider flight of the distance vector parameter to unmanned vehicle and process, it is impossible to allow user to control in a straightforward manner Unmanned vehicle realizes preferable shooting effect with appropriate shooting distance, thus cannot allow user can as using self-shooting bar that The use of sample is taken photo by plane unmanned plane, it is impossible to reach that shooting operation is simple, the preferable purpose of shooting effect.
A kind of remote control micro based on mobile phone A pp disclosed in patent documentation CN105667775 A is taken photo by plane quadrotor, Using the APP on smart mobile phone using as remote control, realization is controlled to quadrotor, and quadrotor includes Quadrotor fuselage, be also equipped with the quadrotor fuselage WIFI connection and data transmission module (1), Bluetooth connection and data transmission module (2), minisize pick-up head (3), module of taking photo by plane (4), master controller (5), drive and control of electric machine Device (6), three acceleration transducers (7) and three angular-rate sensors (8);A number WIFI connection and data transmission module (1) Wirelessly it is connected for the WIFI module with mobile phone, receives video signal and picture signal that module (4) of taking photo by plane sends, pass through It is wireless to send video signal and picture signal to mobile phone A PP, receive mobile phone A PP and controlled by the image taking that WIFI module sends Signal;Image taking control signal is sent to module of taking photo by plane (4);Number bluetooth connection and data transmission module (2) for handss The bluetooth module of machine is wirelessly connected, and receives the flight of the quadrotor fuselage that mobile phone A pp is sent by bluetooth module The control command of speed, flight attitude and heading, and the order of reception is transferred to into master controller.The patent uses mobile phone App controls instead of physical remote control, reduces the volume and weight of four rotors, expands the scope of application taken photo by plane, mobile phone terminal Control instruction is transmitted to quadrotor by bluetooth respectively, wireless image transmission data is received by Wi-Fi technology, and is realized boat The function of bat.But the patent does not account for distance between unmanned vehicle and remote control and attitude parameter and unmanned vehicle is flown Capable impact, it is impossible to distance between control and adjustment unmanned vehicle and remote control, and can not be under the coordinate of control terminal Attitude parameter on the basis of consider flight of the distance vector parameter to unmanned vehicle and process, it is impossible to allow user with simple Mode control unmanned vehicle preferable shooting effect realized with appropriate shooting distance, therefore cannot allow the user can be as making With as self-shooting bar using unmanned plane of taking photo by plane, it is impossible to reach that shooting operation is simple, the preferable purpose of shooting effect.
Therefore, urgency technical issues that need to address in this area are to provide a kind of design simplicity to ordinary consumer user, Easy unmanned vehicle control device is manipulated, is primarily directed in sighting distance, implemented the control apart near aerial photography unmanned aerial vehicle Mode processed, user can use aerial photography unmanned aerial vehicle as using self-shooting bar.
Disclosed above- mentioned information is used only for strengthening the understanding to this utility model background in the background section, therefore The information of prior art known to a person of ordinary skill in the art in not constituting home may be included.
Utility model content
The purpose of this utility model is to be achieved by the following technical programs.
A kind of control terminal for controlling unmanned vehicle, the control terminal include for wirelessly connect it is described nobody The Wireless Telecom Equipment of aircraft body, the range finding biography for measuring distance parameter between the unmanned vehicle body and control terminal Sensor, the attitude measurement equipment and processor that measure the control terminal attitude parameter, connect the distance measuring sensor and attitude The processor of measuring apparatus sends control instruction to the unmanned vehicle body via the Wireless Telecom Equipment.
Preferably, the processor is provided with vector computer.It is highly preferred that the vector computer is whole based on the control The position vector parameter at end and the distance parameter generate the unmanned vehicle body position parameter.
Preferably, the processor is using the attitude parameter of the control terminal is as the attitude parameter of unmanned vehicle and sends out Send the unmanned vehicle body.
Preferably, the attitude measurement equipment includes in gyroscope, accelerometer, Magnetic Sensor and Hall element one It is individual or multiple, the attitude parameter include in the location parameter of the angle parameter and three-dimensional coordinate of 3-D walls and floor or It is multiple.
Preferably, the unmanned vehicle body is provided with the capture apparatus for shooting image, when the capture apparatus enter When row is autodyned, the processor points to the control terminal all the time based on the camera lens that the attitude parameter generates the capture apparatus Control command.
Preferably, the control terminal is provided with entity or dummy keyboard and/or thumb wheel for input instruction.
Preferably, the control terminal is provided with for adjusting the distance measuring sensor and/or attitude measurement device measuring frequency The variable frequency adjustment module of rate, further, the distance measuring sensor and/or attitude measurement equipment are brushed in real time according to preset frequency Newly.
Preferably, the control terminal is that smart mobile phone or flight remote controller, the processor include CPU, RAM and interior Deposit, the distance measuring sensor is that wireless distance finding sensor, the attitude measurement equipment include three axis MEMS gyro and three axles Mems accelerometer, the capture apparatus are that CCD camera, and/or the Wireless Telecom Equipment are included with different priorities One or more in wireless LAN communication equipment, the Stratosphere Communication network equipment and satellite network communications equipment.
Preferably, the processor for connecting the distance measuring sensor and attitude measurement equipment is provided with based on the distance ginseng The control instruction maker of number and attitude parameter.
Preferably, processor connection keyboard and/or thumb wheel, the processor are provided with based on from keyboard and/or dialling The instruction of wheel and the control instruction maker corresponding to the attitude parameter.
A kind of unmanned aerial vehicle control system, which includes described control instruction maker, the control instruction maker The described control terminal in control unmanned vehicle of wireless connection..
A kind of unmanned vehicle, which includes the described control terminal for controlling unmanned vehicle.
Described above is only the general introduction of technical solutions of the utility model, in order to cause technological means of the present utility model Become more apparent, reach the degree that those skilled in the art can be practiced according to the content of description, and in order to Above and other objects, features and advantages of the present utility model can be become apparent, below with of the present utility model concrete Embodiment is illustrated.
Description of the drawings
By reading the detailed description hereafter in preferred embodiment, the various other advantage of this utility model and Benefit will be clear from understanding for those of ordinary skill in the art.Figure of description is only used for the mesh for illustrating preferred implementation , and be not considered as to restriction of the present utility model.It should be evident that drawings discussed below is only of the present utility model Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with according to this A little accompanying drawings obtain other accompanying drawings.And in whole accompanying drawing, it is presented with like reference characters identical part.
In the accompanying drawings:
Fig. 1 is the structural representation for controlling the control terminal of unmanned vehicle according to this utility model one embodiment Figure;
Fig. 2 is the three-dimensional coordinate for controlling the control terminal of unmanned vehicle according to this utility model one embodiment The schematic diagram of system;
Fig. 3 is the structural representation for controlling the control terminal of unmanned vehicle according to this utility model one embodiment Figure;
Fig. 4 is the structural representation for controlling the control terminal of unmanned vehicle according to this utility model one embodiment Figure.
Below in conjunction with drawings and Examples, the utility model is further explained.
Specific embodiment
Specific embodiment of the utility model is more fully described below with reference to accompanying drawings.Although this reality is shown in accompanying drawing With new specific embodiment, it being understood, however, that may be realized in various forms this utility model and should not be illustrated here Embodiment limited.On the contrary, there is provided these embodiments are able to be best understood from this utility model, and can be by What scope of the present utility model was complete conveys to those skilled in the art.
It should be noted that some vocabulary used in are censuring specific components in description and claim.Ability Field technique personnel it would be appreciated that, technical staff may call same component with different nouns.This specification and right Require not in the way of the difference of noun is used as distinguishing component, but the difference with component functionally is used as what is distinguished Criterion."comprising" or " including " as mentioned in the description in the whole text and claim are worked as is an open language, therefore should be solved It is interpreted into " include but be not limited to ".Description subsequent descriptions are enforcement better embodiment of the present utility model, the so description It is, for the purpose of the rule of description, to be not limited to scope of the present utility model.Protection domain of the present utility model When being defined depending on the defined person of claims.
For ease of the understanding to this utility model embodiment, below in conjunction with accompanying drawing do by taking several specific embodiments as an example into The explanation of one step, and each accompanying drawing does not constitute the restriction to this utility model embodiment.
Fig. 1 is the structural representation for controlling the control terminal of unmanned vehicle of one embodiment of the present utility model Figure, this utility model embodiment will be specifically described with reference to Fig. 1.
As shown in figure 1, one embodiment of the present utility model provides a kind of control end for controlling unmanned vehicle End, the control terminal 1 are included for wirelessly connecting the Wireless Telecom Equipment 6 of the unmanned vehicle body, measuring the nothing The distance measuring sensor 2 of distance parameter between people's aircraft body and control terminal 1, measure 1 attitude parameter of control terminal Attitude measurement equipment 3 and processor 4, connect the processor 4 of the distance measuring sensor 2 and attitude measurement equipment 3 via institute State Wireless Telecom Equipment 6 control instruction is sent to the unmanned vehicle body.
In embodiment, unmanned vehicle body is the body part of unmanned vehicle, unmanned vehicle referred to as " unmanned plane ", English abbreviation is " UAV " (unmanned aerial vehicle), is using radio robot and the programme-control provided for oneself The not manned aircraft that device is manipulated.Can be divided into from technical standpoint definition:Depopulated helicopter, unmanned fixed-wing aircraft, rotation more than nobody Rotor aircraft, unmanned airship, unmanned parasol etc..
In this utility model embodiment preferred unmanned vehicle be many rotor unmanned aircrafts, many rotor unmanned aircrafts It can be the unmanned vehicle of four rotors, six rotors and rotor quantity more than six.
The unmanned vehicle that technical solutions of the utility model are adopted is primarily referred to as little, miniature many rotor unmanned aircrafts, this Plant unmanned vehicle small volume, low cost, flight stability preferably, flight cost is low.The aircraft that this utility model is used, Typically with four axle multi-rotor aerocrafts as representative.Therefore, in one embodiment, unmanned vehicle body may, for example, be many Rotor unmanned aircraft body.
This utility model embodiment is preferably, and control terminal 1 is handheld device, can typically use common intelligence Mobile phone, naturally it is also possible to be the flight remote controller of special design, as long as the equipment can be realized based on the distance parameter and appearance State parameter generates control instruction and sends the unmanned vehicle body, and the concrete carrier of the equipment is unrestricted.This practicality is new The control terminal 1 of type solves two problems, and first problem is solved between control terminal 1 and unmanned vehicle body Distance perspective should;Second Problem is that the spatial attitude for solving control terminal 1 judges, and is converted into the flight mesh of unmanned vehicle Ground.In turn below the problems referred to above are illustrated, due to existing frequently-used smart mobile phone disclosure satisfy that substantially it is practical New physical hardware demand, the following examples control unmanned vehicle using specific smart mobile phone as control terminal 1 Carry out as a example by the flight of body.
First, there is very many sensors on mobile phone, including distance measuring sensor 2, the principle of common distance measuring sensor It is similar, generally by the ripple of one section of characteristic frequency of transmitting, then according to the time of the echo for receiving sentencing Turn-off from.Further, it is also possible to the distance between two equipment with GPS module are judged by way of GPS location.But The mode of above-mentioned distance measuring sensor, is primarily directed to not special object, and the mode of GPS, and precision is not high.It is new for this practicality For type, it is preferred to use the mode of radio communication range finding, principle are also similar in fact, by determining during the transmission of wireless signal Between carry out judging distance.For specific to the situation with mobile phone control unmanned vehicle, can be flown with nobody in mobile phone by setting up Wireless communication signals between row device body carry out the time of transmission back and remove judging distance, can also be by sending out that recipient senses Penetrate the signal attenuation degree put and carry out judging distance, specific algorithm can such as be RSSI algorithms based on WIFI etc..In view of these Specific method for measuring distance, is not the emphasis of application scheme, will not be described here.In addition, above-mentioned communication Can be various, either using bluetooth, infrared, or other communication protocols, as long as can realize that distance perspective should all can be 's.Finally, due to the problem that this utility model is mainly solved is the portability of flight control operation, and not provide a kind of high-precision The unmanned vehicle control mode of accuracy, so, although no matter for which kind of mode such as GPS, WiFi communication, for the survey of distance Surely there is certain error, but for when this utility model is so primarily upon operating handle, and which should Mainly concentrated in sighting distance with field, the applicable cases such as closely, so the error of these distance measuring sensors 2 is in tolerable Within the scope of.
Smart mobile phone can realize the monitoring to itself attitude using the ripe sensor such as Hall element, IMU, this Technology is highly developed, and is widely used in various APP or mobile phone games.By the monitoring of attitude, can be easily And the direction for judging that smart mobile phone is current of high speed.
Schematic diagram for controlling the three-dimensional system of coordinate of the control terminal of unmanned vehicle as shown in Figure 2, smart mobile phone For common flat rectangular body shape, now in rectangular segment plane XaYa, X represents length, and Y represents width.And rectangular thickness Degree is then the thickness of mobile phone, and the coordinate system residing for the vector is represented with Za.So in this utility model, actually should Smart mobile phone, when unmanned vehicle body is directly over user then exists as a sensing unmanned vehicle body Operation is used equivalent to the remote control of a sensing Z axis positive direction during beginning.For example, when user's hand-held intelligent mobile phone, And after having been verified by completing to be connected with unmanned vehicle, the hand-held smart mobile phone of user is equivalent to a unmanned vehicle Remote control, it is assumed that the user grips smart mobile phone so that the smart mobile phone is in erectility, namely X-axis and gravity direction It is parallel, and the positive state towards sky of X-axis, and now the smart mobile phone under the user's control state just targeted by the air The unmanned vehicle of flight.When user confirms current aligned unmanned vehicle, now user is on smart mobile phone Corresponding confirmation instruction is given, represents that the smart mobile phone can be communicated with unmanned vehicle as a remote control Connection is locked.Now by above-mentioned distance and attitude measurement, the distance between unmanned vehicle and smart mobile phone can be perceived, And the attitudes vibration of smart mobile phone, smart mobile phone that the attitudes vibration and above-mentioned monitoring based on smart mobile phone is obtained and nobody The distance between aircraft parameter, then can just calculate, user wish the destination that unmanned vehicle goes to, and by the mesh Ground parameter be converted into flight control instruction, the flight control instruction is sent to into unmanned vehicle, it is desirable to unmanned vehicle fly Row is located in the purpose.Now, after the X-axis of user's smart mobile phone is directed at unmanned vehicle and implements to confirm code, phase When in the virtual link for constituting a smart mobile phone and unmanned vehicle composition, user is only needed to by changing hand-held intelligence The attitude and direction of mobile phone, just can send flight control instruction, and this control mode for common use to unmanned vehicle For family, it is very directly perceived and intelligible.
As shown in figure 3, one embodiment of the present utility model provides a kind of control end for controlling unmanned vehicle End, the control terminal 1 are included for wirelessly connecting the Wireless Telecom Equipment 6 of the unmanned vehicle body, measuring the nothing The distance measuring sensor 2 of distance parameter between people's aircraft body and control terminal 1, measure 1 attitude parameter of control terminal Attitude measurement equipment 3 and processor 4, connect the processor 4 of the distance measuring sensor 2 and attitude measurement equipment 3 via institute State Wireless Telecom Equipment 6 control instruction is sent to the unmanned vehicle body, wherein, the processor 4 is provided with Vector operation Device 5, position vector parameter of the vector computer 5 based on the control terminal and the distance parameter generate it is described nobody fly Row device body position parameter.Vector computer 5 can be the computing unit based on trivector, in kinesiology, based on one The vector and distance parameter of three-dimensional position can obtain the vector parameters i.e. location parameter of another three-dimensional position, in a reality Apply in example, the vector computer 5 is a kind of coordinate transform computing module.
In order to make it easy to understand, the above-mentioned explanation carried out by taking XYZ axles as an example, but it is actually used during, also not necessarily Want user that X-axis forward direction is set as remote control direction, can be according to actually used situation come appropriate setting.Such as can be in the control Initial, the virtual link line between detected unmanned vehicle body and control terminal 1, i.e. distance vector that system starts, Set it to virtual link direction N.Now whether the XYZ axles of control terminal 1 itself are consistent with N overlapping of axles and less weigh Will because under this manipulation, Main Basiss be itself attitude of control terminal 1 situation of change, and not certain specific appearance State itself.As long as user virtually confirms that now control terminal 1 is directed to unmanned vehicle as a remote control unit, then control Terminal processed 1 only need to calculate after control terminal 1 attitude itself situation of change and control terminal 1 and unmanned vehicle between Distance, just easy can calculate in spatial dimension, the air objective ground of unmanned vehicle.Thus, for a user, Manipulation gets up convenient, and user even separately need not go to understand and verify the current direction of hand-held remote control device at this moment, Just directly the locus of unmanned vehicle can be adjusted by changing the direction of hand-held control terminal 1.
Under the basis that above-mentioned distance and attitude data are monitored, a control end with unmanned vehicle is actually established A coordinate system centered on end 1, now can uniquely determine a flight mesh using virtual link axle N and range data d Ground, be exactly the air objective actually distance under with remote control as the space coordinates of origin O, in N axle directions That point of origin for d.Either in an outdoor environment using NAVSTAR come determine air objective ground, or Under indoor environment without NAVSTAR using other modes such as inertial guidance, wireless locations determining unmanned vehicle Under the technical background on air objective ground, as long as attitudes vibration of the control terminal 1 in center can be calculated, add apart from number The air objective ground of unmanned vehicle can just be uniquely determined according to d.
In one embodiment, the processor 4 using the attitude parameter of the control terminal 1 as unmanned vehicle appearance State parameter and the transmission unmanned vehicle body.That is, the hand-held control terminal of user is made such as pitching, rolling and is deflected Deng action, attitude measurement equipment 3 measures the attitude parameter of the action and is sent to unmanned vehicle body, the unmanned flight Attitude parameter described in device body local also makes identical action, therefore, user can easily manipulate unmanned vehicle sheet Body.
In one embodiment, the attitude measurement equipment 3 includes that gyroscope, accelerometer, Magnetic Sensor and Hall are passed One or more in sensor, the attitude parameter include the location parameter of the angle parameter and three-dimensional coordinate around 3-D walls and floor In one or more.In one embodiment, the gyroscope be MEMS gyroscope, the accelerometer be MEMS acceleration Meter, wherein it is possible to use MEMS (Micro Electro Mechanical System) MEMS gyroscope sensors with Track simultaneously catches the motion in three dimensions of control terminal 1.The gyroscope is made up of the chip of one piece of encapsulation, is believed when driving When number loading on driving capacitance sheet, sheet metal will produce vibration, when control terminal 1 deflects, inclines, due to Coriolis The effect of power, sheet metal produce skew in X, Y, Z axis, and special circuit can perceive these small rotational angular velocities, and by its turn Change digital signal into, to complete the measurement to actions such as rotation, deflections, such gyroscope is referred to as three-axis gyroscope sensor, And coordinate mems accelerometer to reach the more accurate purpose for catching 1 attitude of control terminal.MEMS gyroscope and accelerometer Integrate referred to as six axle combination sensors.And further, the configuration gyroscope+accelerometer of control terminal 1+magnetic sensing Device is used as nine axle combination sensors.Such gyroscope combination is for more accurately obtaining 1 attitude of control terminal, and to nothing People's aircraft body sends and is accurately controlled instruction.
This utility model embodiment is preferably, and the unmanned vehicle body is provided with the shooting for shooting image and sets Standby, when the capture apparatus are autodyned, the processor 4 generates the camera lens of the capture apparatus based on the attitude parameter All the time point to the control command of the control terminal 1.The camera lens direction of unmanned vehicle can be by one group of special control Key is being adjusted.In addition, for the present embodiment, preferably can also obtain by using in above-mentioned Flight Control Scheme The attitudes vibration situation of the control terminal 1 known, then controls the camera lens of unmanned vehicle all the time towards user, and perfection is simulated certainly Clap effect.In one embodiment, when the capture apparatus are autodyned, in the control instruction, unmanned vehicle body Yaw angle be equal to the yaw angle of control terminal 1 plus substantially 180 degree.It is when the capture apparatus carry out rotary taking, described In control instruction, the course angle of nobody the winged device body is equal to the course angle of control terminal 1 plus time multiplication by constants, pitching Angle is equal to the angle of pitch of control terminal 1 and adds time multiplication by constants.
In one embodiment, the control terminal 1 be provided with for input instruction entity or dummy keyboard and/or dial Wheel.Can be by the input of control terminal 1 to change in real time apart from d on N axles, naturally it is also possible to be default based on one Value.For auto heterodyne unmanned vehicle body, this preset value can such as be 5 meters, so pass through this reality equivalent to user Controlled with new during unmanned vehicle, unmanned vehicle body remains the distance of 5 meters of distance users, then according to user In handss, the attitude of remote control equipment is changing its concrete aerial position.
User can also be adjusted by control keys such as the entity that is arranged on remote control equipment or dummy keyboard or thumb wheels Whole above-mentioned data, such as can make 5 meters of distance values into 3 meters or 10 meters.
In one embodiment, the flight speed of unmanned vehicle and flying height scope can be limited, so as to true Protect its flight safety.In addition, in view of the security consideration of unmanned vehicle, it is possible to use the avoidance technology such as wireless radar, solve low Collision hidden danger in the case of speed.
As shown in figure 4, one embodiment of the present utility model provides a kind of control end for controlling unmanned vehicle End, the control terminal for controlling unmanned vehicle include measuring distance between the unmanned vehicle body and control terminal 1 The distance measuring sensor 2 of parameter, the attitude measurement equipment 3 for measuring 1 attitude parameter of control terminal, processor 4 and for wireless Connect the Wireless Telecom Equipment 6 of the unmanned vehicle body, the processor 4 is based on the distance parameter and attitude parameter is given birth to Into control instruction and send the unmanned vehicle body.
This utility model is preferably in applying example, and the Wireless Telecom Equipment 6 is by the wireless local with different priorities One or more compositions in Network Communication equipment, the Stratosphere Communication network equipment and satellite network communications equipment.WLAN Communication equipment can be bluetooth, one in ZigBee or Wi-Fi devices, wireless local equipment can be built by 2.4GHz communication frequencys Vertical short haul connection, indoors or low speed movement outdoor environment preferably can set up control terminal 1 and unmanned vehicle by the equipment Communication connection between body.Stratosphere Communication equipment is typically with helium-airship, balloon as the platform for disposing repeater station, platform , away from ground 17km~22km, unmanned vehicle is in field flight on a large scale for height, it may be preferred to which Stratosphere Communication sets up control Communication connection between terminal 1 and unmanned vehicle body.Satellite communication equipment sets up control terminal 1 using satellite communication channel And the communication connection between unmanned vehicle body, usually in the case of without other available wireless communication networks, can use Satellite communicator, as emergency communication.In one embodiment, according to wireless network cost or wireless network access speed, choosing Wireless-transmission network is selected, this utility model design is following for precedence scheme, Wi-Fi network:Priority is 0;Stratosphere Communication Network:Priority is 1;Satellite communication network:Priority is 2;Priority level 0-2, selected wireless network priority by height to It is low, if that is, while there are various wireless signals, and signal intensity it is effective when, between control terminal 1 and unmanned vehicle body Radio communication can select Wi-Fi network first as Radio Access Network, the like.Preferably, Wireless Telecom Equipment pair 2G, 3G and 4G move networking communication setting priority, wherein, 4G priority is more than 3G, and the priority of 3G is more than 2G.
This utility model is applied in example preferably, the control terminal 1 be provided with for adjust the distance measuring sensor 2 and/ Or the variable frequency adjustment module 7 of 3 measurement frequency of attitude measurement equipment causes the distance measuring sensor 2 and/or attitude measurement equipment 3 to press Refresh according to preset frequency in real time.As described above, refreshing according to certain frequency in real time and monitoring the control terminal 1 such as smart mobile phone Attitude parameter and distance parameter, and the appropriate setting frequency, just constantly can provide next flight to unmanned vehicle The data of destination, and unmanned vehicle then can complete flight in order according to the coordinate on the air objective ground.So, from reality From the point of view of manipulation effect, just look like have between the remote control served as by smart mobile phone and the unmanned vehicle controlled by which one it is empty The connecting rod of plan, unmanned vehicle are implemented to fly with the attitude and position change of remote control, constantly, such control mode, For domestic consumer, it is that the camera part of self-shooting bar is unmanned vehicle using a virtual self-shooting bar to just look like, The portion of the handle of self-shooting bar is exactly the control device of unmanned vehicle, and the connecting rod in the middle of self-shooting bar, then it is virtual.
In one embodiment, the control terminal 1 is that smart mobile phone or flight remote controller, the processor 4 include CPU, RAM and internal memory, the distance measuring sensor 2 are wireless distance finding sensor, the attitude measurement equipment 3 includes 3 axis MEMS top Spiral shell instrument and 3 axis MEMS accelerometer, the capture apparatus are that CCD camera, and/or the Wireless Telecom Equipment 6 include having not One or many in the wireless LAN communication equipment of same priority, the Stratosphere Communication network equipment and satellite network communications equipment It is individual.
In one embodiment, control terminal 1 can be the radio robot of unmanned vehicle, and for example, control is eventually End 1 may include unmanned vehicle flight control station for controlling the flight of unmanned vehicle body 1.Further, control terminal 1 Can also be user's mobile device, the individual mobile terminal such as mobile phone, pad, and for example in one embodiment, user's end 1 is held for smart mobile phone, the processor 4 includes CPU, RAM and internal memory, 4 real-time update attitude parameter of the processor and distance Parameter.In this utility model embodiment preferably, the processor 4 can compile, organize or analyze data in internal memory to hold Calculating of the row to data is analyzed.The processor 4 is with including general processor, digital signal processor, special IC ASIC, on-site programmable gate array FPGA, analog circuit, digital circuit, and combinations thereof, or other known or exploitation later places Reason device.
In one embodiment, core processing module of the processor 4 as smart mobile phone, is responsible for multi-task scheduling, Including access attitude measurement equipment, access Wireless Telecom Equipment and distance measuring sensor data processing etc..The processor 4 can be wrapped Memorizer is included, memorizer can be volatile memory or nonvolatile memory.Memorizer only can include one or more Read memorizer ROM, random access memory ram, flash memory, Electrical Erasable programmable read only memory EEPROM or its The memorizer of its type.
In one embodiment, user terminal 2 provides user interface, completes key screening-mode setting, for example: " self-timer mode ", mobile phone each real time sensor parameter is sent to unmanned vehicle.Processor 4 may include media stream process mould Block, which receives the video or image data of unmanned vehicle body passback, carries out decompressing, decoding process, by image or video Hold and present to user.Wireless Telecom Equipment 6 is main to be responsible for setting up and unmanned vehicle between by all kinds of cordless communication networks Communication lines are by the unmanned vehicle flight control signal and types of applications layer instruction message of transmission;Unmanned vehicle is received simultaneously The video of collection, audio frequency, sensing data and other application information.
In one embodiment, connect the distance measuring sensor 2 and the processor 4 of attitude measurement equipment 3 is provided with base In the control instruction maker of the distance parameter and attitude parameter.
In one embodiment, the connection keyboard of the processor 4 and/or thumb wheel, the processor 4 are provided with based on from key The instruction of disk and/or thumb wheel and the control instruction maker corresponding to the attitude parameter.
A kind of unmanned aerial vehicle control system, the described control instruction maker of its bag, the control instruction maker without The described control terminal in control unmanned vehicle of line connection..
A kind of unmanned vehicle, which includes the described control terminal for controlling unmanned vehicle.
Although being described to embodiment of the present utility model above in association with accompanying drawing, this utility model does not limit to In above-mentioned specific embodiments and applications field, above-mentioned specific embodiment is only schematic, directiveness, and not It is restricted.One of ordinary skill in the art is under the enlightenment of this specification and without departing from this utility model claim In the case of the scope protected, the form of many kinds can also be made, and these belong to the row of this utility model protection.

Claims (10)

1. a kind of control terminal for controlling unmanned vehicle, the control terminal (1) are included for wirelessly connecting the nothing The Wireless Telecom Equipment (6) of people's aircraft body, measure distance parameter between the unmanned vehicle body and control terminal (1) Distance measuring sensor (2), measure the attitude measurement equipment (3) and processor (4) of control terminal (1) attitude parameter, its spy Levy and be:Connect the processor (4) of the distance measuring sensor (2) and attitude measurement equipment (3) via the radio communication Equipment (6) sends control instruction to the unmanned vehicle body.
2. the control terminal for controlling unmanned vehicle according to claim 1, it is characterised in that:The processor (4) it is provided with vector computer (5).
3. the control terminal for controlling unmanned vehicle according to claim 1, it is characterised in that:The control terminal (1) it is smart mobile phone or flight remote controller, the processor (4) including CPU, RAM and internal memory, the distance measuring sensor (2) is Wireless distance finding sensor or the attitude measurement equipment (3) are including three axis MEMS gyro and 3 axis MEMS accelerometer.
4. the control terminal for controlling unmanned vehicle according to claim 1, it is characterised in that:The processor (4) it is located on unmanned vehicle.
5. the control terminal for controlling unmanned vehicle according to claim 1, it is characterised in that:The attitude measurement Equipment (3) includes one or more in gyroscope, accelerometer, Magnetic Sensor and Hall element, and the radio communication sets Standby (6) include the wireless LAN communication equipment with different priorities, the Stratosphere Communication network equipment and satellite network communications One or more in equipment.
6. the control terminal for controlling unmanned vehicle according to claim 1, it is characterised in that:The unmanned flight Device body is provided with the capture apparatus for shooting image, and the control terminal (1) is provided with entity or void for input instruction Intend keyboard and/or thumb wheel.
7. the control terminal for controlling unmanned vehicle according to claim 1, it is characterised in that:The control terminal (1) it is provided with for adjusting the variable frequency adjustment module of the distance measuring sensor (2) and/or attitude measurement equipment (3) measurement frequency (7)。
8. the control terminal for controlling unmanned vehicle according to claim 1, it is characterised in that:Connect the range finding The processor (4) of sensor (2) and attitude measurement equipment (3) is provided with the control based on the distance parameter and attitude parameter Instruction generator.
9. the control terminal for controlling unmanned vehicle according to claim 8, it is characterised in that:The processor (4) keyboard and/or thumb wheel are connected, the processor (4) is provided with based on the instruction from keyboard and/or thumb wheel and corresponding to institute State the control instruction maker of attitude parameter.
10. a kind of unmanned aerial vehicle control system, which includes the control instruction maker described in claim 8, and the control refers to Maker is made wirelessly to connect the control terminal in control unmanned vehicle any one of claim 1-3.
CN201621063091.4U 2016-09-19 2016-09-19 For controlling the control terminal and its unmanned aerial vehicle control system of unmanned vehicle Active CN206057972U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108122397A (en) * 2017-12-19 2018-06-05 广州亿航智能技术有限公司 Aircraft, remote controler and aircraft are with remote controler to the method for frequency
CN110654537A (en) * 2017-10-13 2020-01-07 南京涵曦月自动化科技有限公司 Four rotor unmanned aerial vehicle intelligent control terminals

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110654537A (en) * 2017-10-13 2020-01-07 南京涵曦月自动化科技有限公司 Four rotor unmanned aerial vehicle intelligent control terminals
CN110654537B (en) * 2017-10-13 2021-05-28 南京涵曦月自动化科技有限公司 Four rotor unmanned aerial vehicle intelligent control terminals
CN108122397A (en) * 2017-12-19 2018-06-05 广州亿航智能技术有限公司 Aircraft, remote controler and aircraft are with remote controler to the method for frequency

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