CN206671894U - Take off control device and its unmanned vehicle - Google Patents

Abstract

Disclose take off control device and its unmanned vehicle of a kind of unmanned vehicle, the control device that takes off includes being used for the measuring apparatus (1) and processor (2) for measuring unmanned vehicle state parameter, measuring apparatus (1) includes gyroscope, Inertial Measurement Unit, altimeter, velocity sensor, acceleration transducer, one or more of timer and electronic compass, the processor (2) of connection measuring apparatus (1) includes the comparator (3) for comparing unmanned vehicle state parameter, whether the hand-held unmanned vehicle of detection is in the detector (4) of stable state in the given time, for generating the instruction generator (5) for instruction of taking off and sending the prompting device (6) for prompting of taking off, instruction generator (5) connection comparator (3) and detector (4), prompting device (6) link order maker (5).Singlehanded two step automatic takeoff unmanned planes are realized, by rocking or similar gesture stability mode allows unmanned plane to obtain a warning order, then pass through the hand-held state for giving a stable horizontal, it is ensured that unmanned plane reliably takes off.

Description

Take off control device and its unmanned vehicle

Technical field

The utility model belongs to unmanned vehicle field, is taken off control device and nothing more particularly to a kind of unmanned vehicle People's aircraft.

Background technology

Taking off for traditional rotary wind type unmanned plane is generally placed upon on the ground, winged to be remotely controlled by the winged hand manipulation remote controller equipment of specialty Machine is taken off, and posture balancing and throttle size of aircraft etc. are controlled in take-off process, and the safe, normal of aircraft just can be achieved Take off.Higher is required to the operational capacity of user, Consumer's Experience is poor, and popularization is not high.

And hand is thrown and flies to take off to the requirement of user's operational capacity less than remote control.Existing hand throws takeoff method, directly by nothing Man-machine throw to is taken off in the air, and due to the randomness of hand throwing effect, existing hand throws winged taking off for mode unmanned plane and completes position Without controllability.

As can be seen here, current unmanned plane take off be mainly based upon by unmanned plane be placed in one more smoothly take off it is flat Platform, then by way of automatically controlling and taking off, allow unmanned plane to fly up and come.More fashionable mode is, by way of throwing and flying, Unmanned plane is allowed to sense oneself state, and complete aerial autobalance in the state of losing out by user.Both modes In, the former seems excessively mediocre and inconvenient；Although the latter is seemingly very cruel, actually mortality is very high, now simply individual Amusement.In addition, also there is unmanned plane production life to propose a kind of covert solution, exactly by the way that unmanned plane is placed on into palm On, the solution that then allows unmanned plane to take off.But no matter which kind of existing scheme, use all very not convenient.

A kind of unmanned plane disclosed in patent document CN201610802810 takes off control method, for controlling unmanned plane, institute Stating unmanned plane control method of taking off includes：Reception is taken off preparatory signal；According to the preparatory signal that takes off, the unmanned plane is controlled Rotor rotated with desired speed, the desired speed be less than rotor rated speed；The unmanned plane is controlled to hover.The patent In, unmanned plane is sent and taken off reserved instruction, the receiving unit of unmanned plane receives the preparation that will take off after the reserved instruction that takes off and referred to Order is converted to the preparatory signal that takes off and is sent to processor, and processor first controls rotor with predetermined after the preparatory signal that takes off is received Rotating speed is rotated, and unmanned plane is placed in into certain altitude position, and meets corresponding takeoff condition in desired speed rotary course, but The unmanned vehicle of the patent can not hold and be taken off, and use and inconvenient, and technology sense and experience sense be not high, takes off Success rate it is low and therefore reliability and security be not high.

Patent document CN105539874 A disclose a kind of unmanned plane hand and throw takeoff method, and this method comprises the following steps, Step 1：User triggers unmanned plane, enters unmanned plane and throws state in advance；While unmanned plane entrance throws state in advance, nobody Machine internal timer starts automatic countdown；Step 2：Unmanned plane is by detecting its own acceleration magnitude G and straight up speed Whether value V automatic decisions open rotor, are taken off.The patent document dish out after unmanned plane in the air automated intelligent detection, Start after judgement, final flight stops in the air, and whole take-off process is completely without remote control, but the unmanned vehicle of the patent It can not hold and be taken off, the success rate taken off is low and therefore reliability and security be not high.

A kind of hand-held method for reclaiming and letting fly away unmanned plane includes disclosed in patent document CN105182986 A：Inspection in real time Survey the state parameter of unmanned plane；Judge that unmanned plane is let fly away or by hand-held recovery by hand-held by the state parameter；If Judge that unmanned plane is let fly away by hand-held, then control rotor wing rotation to start to take off；If it is determined that unmanned plane is by hand-held recovery, then control rotation The wing stops the rotation.The patent document eliminates the technology of remote controller, for unmanned plane, then more freely, not by it The control of his equipment, but the unmanned vehicle of the patent can not hold and be taken off, the success rate taken off is low and therefore reliability It is not high with security.

Therefore, current unmanned plane is summarized to take off scheme, mainly two kinds of thinkings：First, allow unmanned plane be in one compared with Safe state, then it is set to take off by way of Remote；Second, prior notice unmanned plane takes off, it is allowed to be in The state of standby for takeoff, then it is allowed to take off by way of directly operating unmanned plane.

In the example above, it is exactly to allow unmanned plane to be in a safe state typically to take off, for example is kept flat on the ground, so Taken off afterwards with remote control by it.In the example above, throw and fly to be exactly to allow unmanned plane to know that oneself will be spilled in advance, to carry out from flat The preparation of weighing apparatus, then by unmanned plane of dishing out by hand, unmanned plane is allowed and then to enter takeoff condition.However, typically the mode of taking off makes Use and inconvenient, technology sense and experience sense be not high；It is actually very immature to throw the realization for the mode of flying, flies not because throwing Controllable factor is too many, so the mortality that takes off is higher.

Therefore, technical problem real needs to be solved are as follows：1. one hand control unmanned plane, extra without remote control Let unmanned plane in the case of intervention fly away, one hand, with regard to energy automatic takeoff unmanned plane, is entered using two steps for example, the first step holds unmanned plane Row rocks, and determines user by IMU sensing it is required that unmanned plane takes off；Second step one hand horizontal unmanned plane so that nobody Machine automatic takeoff.2. two-step starts, it is ensured that unmanned plane takes off steadily, by rocking or similar gesture stability mode allows Unmanned plane obtains a warning order, then passes through the hand-held state for giving a stable horizontal, it is ensured that unmanned plane reliably takes off. Both easy-to-use, and can is reliably taken off.

Utility model content

The purpose of this utility model is to be achieved by the following technical programs.

According to of the present utility model in a first aspect, a kind of control device that takes off includes being used to measure unmanned vehicle state ginseng Several measuring apparatus and processor, the measuring apparatus include gyroscope, Inertial Measurement Unit, altimeter, velocity sensor, plus One or more of velocity sensor, timer and electronic compass, connect the measuring apparatus the processor include than Whether the hand-held unmanned vehicle of the comparator of the unmanned vehicle state parameter, detection is in the given time in stable The detector of state and the instruction generator for generating instruction of taking off, the instruction generator connect the comparator and detection Device.

In the control device described in the utility model that takes off, the processor includes the memory of storage predetermined condition, institute State comparator and connect the memory.

In the control device described in the utility model that takes off, the detector is equilibristat.

In the control device described in the utility model that takes off, the control device that takes off includes being used to correct unmanned vehicle The adjuster of stable state, the adjuster connecting detection device.

In the control device described in the utility model that takes off, the processor includes the prompting device for sending prompting of taking off, institute State prompting device and connect the instruction generator.

In the control device described in the utility model that takes off, the prompting device is the buzzer and/or hair to sound the alarm The warning lamp of optical signals.

In the control device described in the utility model that takes off, the comparator includes being used to identify unmanned vehicle action Action recognition device.

In the control device described in the utility model that takes off, the processor includes general processor, Digital Signal Processing Device, application-specific integrated circuit ASIC or on-site programmable gate array FPGA.

In the control device described in the utility model that takes off, memory includes one or more read only memory ROMs, random Access memory RAM, flash memory or Electrical Erasable programmable read only memory EEPROM.

According to the utility model second aspect, a kind of unmanned vehicle is including being integrated on unmanned vehicle body or individually The described control device that takes off set.

In unmanned vehicle described in the utility model, the unmanned vehicle is more rotor unmanned aircrafts, described more The rotor of rotor unmanned aircraft is provided with protective cover.

The utility model proposes scheme, it is simple in construction, can hold and quickly take off, only by unmanned vehicle body Practical operation realize that the normal of unmanned vehicle takes off, come without relying upon remote control or other intelligent control devices indirect Start unmanned vehicle；User only needs to be hold by one hand unmanned vehicle with regard to that can complete unmanned vehicle take-off process, it is not necessary to according to Rely proficiency unmanned vehicle, the control mode of a hand controls, it is not required that unmanned vehicle is first well placed, then by distant The troublesome control mode that control device takes off；Fly so compared to throwing, it is necessary to quickly complete in a short time from inactive state to outstanding Stop state, also to keep the excessive risk of balance to take off pattern, application scheme takes full advantage of user and lets unmanned flight fly away naturally The booster action of device, supported by user by the function of its hand, be naturally done horizontal, keep optimal takeoff condition, greatly carry Success rate of taking off has been risen, has also enhanced the usage experience of user.

Brief description of the drawings

Fig. 1 is the structural representation according to the control device that takes off of the unmanned vehicle of the utility model one embodiment.

Fig. 2 is the structural representation according to the control device that takes off of the unmanned vehicle of the utility model another embodiment Figure.

Below in conjunction with drawings and examples, the utility model is further explained.

Embodiment

It is described in detail below be actually only it is exemplary and be not intended to limit application and use.In addition, it is not intended to By any clear and definite of above technical field, background, brief overview or middle presentation described in detail below or the theoretical constraint implied.Such as Use herein, term " module " or " unit " refer to any hardware, software, firmware, electronic control part, processing logic and/or Processor device includes but not limited to individually or with any combinations：Application-specific integrated circuit ASIC, electronic circuit, perform one The processors of individual or multiple softwares or firmware program is shared, special or groups of and memory, combinational logic circuit and/or offer Other described functional suitable parts.In addition, unless clearly have opposite description, otherwise word " comprising " and Its different modification should be understood implicit to include described part but be not excluded for any miscellaneous part.

Unmanned vehicle referred to as " unmanned vehicle ", english abbreviation be " UAV ", be using radio robot with provide for oneself Presetting apparatus manipulate not manned aircraft.It can be divided into from technical standpoint definition：Depopulated helicopter, unmanned fixed-wing Machine, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc..

Preferable unmanned vehicle is that more rotor unmanned aircrafts (or are more rotor flyings in the utility model embodiment Device), can be the unmanned vehicle that four rotors, six rotors and rotor quantity are more than six.Preferably, fuselage is by carbon fibre material system Into on the premise of higher use intensity and rigidity is met, can significantly mitigating the weight of fuselage, nobody flies so as to reduce more rotors The power demand of row device and the mobility for improving more rotor unmanned aircrafts.Certainly, in other embodiment of the present utility model In, fuselage can also be made up of plastics or other arbitrarily used materials.Fuselage is provided with multiple relative in the fuselage The slurry arm that is symmetric of symmetrical plane, each one end of slurry arm away from the fuselage is provided with paddle components, the blade Component includes the motor being arranged on the slurry arm and the blade being connected on the output shaft of the motor, the rotation per a piece of blade Shaft axis are respectively positioned on the same face of cylinder.

Certainly, the explanation of more rotor unmanned aircrafts is a simple declaration, is specifically also included many other Component is formed, also also has other many kinds of unmanned vehicle types, may be incorporated for realizing the purpose of this utility model, herein not Repeat again.

But come from the demand in consumer level market and user for the development trend of the manipulation convenience of flight shooting See, the flight capture apparatus of technical solutions of the utility model is primarily referred to as small, miniature more rotor unmanned aircrafts, this unmanned plane Small volume, cost are low, flight stability is preferable, and flight shooting cost is low etc..The aircraft that the utility model uses, typically with Four axle multi-rotor aerocrafts are representative.Also, this aircraft have begun to be widely used in take photo by plane, the neck such as aerial work, logistics Domain.

Fig. 1 is illustrated according to the structural representation of the control device that takes off of the unmanned vehicle of the utility model one embodiment Figure, the control device that takes off include being used for the measuring apparatus 1 and processor 2 for measuring unmanned vehicle state parameter, and the measurement is set Standby 1 is included in gyroscope, Inertial Measurement Unit, altimeter, velocity sensor, acceleration transducer, timer and electronic compass One or more, connecting the processor 2 of the measuring apparatus 1 includes the ratio of the unmanned vehicle state parameter Whether the unmanned vehicle hand-held compared with device 3, detection is in the detector 4 of stable state and for generating in the given time Fly the instruction generator 5 of instruction, further, in addition to send the prompting device 6 for prompting of taking off, the instruction generator 5 connects The comparator 3 and detector 4, the prompting device 6 connect the instruction generator 5.

In the control device of the present utility model that takes off, hand-held start unmanned vehicle is joined with changing unmanned vehicle state Number, when the change of unmanned vehicle state parameter meets predetermined condition, unmanned vehicle carries out preparation of taking off.Nobody is held to fly Row device causes unmanned vehicle to keep stable state in the given time, and the unmanned vehicle judges to rise after meeting takeoff condition Fly.

In the utility model, the unmanned vehicle flight status parameter includes but are not limited to unmanned vehicle three-dimensional Displacement, speed, angular speed, acceleration, angular acceleration and/or the state of flight for meeting any defined flare maneuver spatially Parameter sets.The predetermined condition can neatly make a reservation for according to the flight status parameter that unmanned vehicle can measure, for example, in advance Fixed condition is that the velocity variations on Z axis are more than N etc..

In the utility model, takeoff condition refers to the necessary condition that unmanned vehicle is taken off, for example, nobody flies Whether the gradient of the plane residing for row device, which meets, balances.Certainly, as needed, the utility model is preferably, and takeoff condition can To add the condition improved such as security in necessary condition.

The control device described in the utility model that takes off is preferably, and hand-held unmanned vehicle rocks, continuously rocks or empty Throw to change unmanned vehicle state parameter, when the change of state parameter meets predetermined condition, unmanned vehicle is taken off Prepare.Further, for example, hand-held unmanned vehicle is rocked, continuously rocked or wash sale is to change unmanned vehicle angle parameter, When the change of angle parameter meets predetermined condition, unmanned vehicle carries out preparation of taking off.For example, hand-held unmanned vehicle shakes It is dynamic, continuous to rock or wash sale is to change unmanned vehicle inertial parameter, when the change of inertial parameter meets predetermined condition, nobody Aircraft carries out preparation of taking off.

The control device described in the utility model that takes off is preferably, and is held unmanned flight and is caused unmanned vehicle in the palm Horizontal is kept just to put state in the given time, the unmanned vehicle judges to take off after meeting takeoff condition.

The control device described in the utility model that takes off is preferably, and holds unmanned vehicle to change unmanned vehicle shape State parameter, when the change of unmanned vehicle state parameter meets predetermined condition, unmanned vehicle enter idling takeoff condition or Each rotor rotational of intermittence driving unmanned vehicle is to judge whether to meet takeoff condition.

The control device described in the utility model that takes off is preferably, and the predetermined condition is default hand-held action, hand Start unmanned vehicle is held, when the action meets predetermined condition, unmanned vehicle carries out preparation of taking off.

The control device described in the utility model that takes off is preferably, and hand-held unmanned vehicle causes unmanned vehicle pre- Fix time interior holding stable state, the unmanned vehicle completes flow of taking off according to preset mode, and when user looses one's grip, nobody flies Row device takes off hovering, completes to take off.

The control device described in the utility model that takes off is preferably, and hand-held unmanned vehicle causes unmanned vehicle pre- Fix time interior holding stable state, unmanned vehicle is provided with correction feedback device to promote user to keep stable state, the nothing People's aircraft judges to take off after meeting takeoff condition.

The control device described in the utility model that takes off is preferably, and holds unmanned vehicle to change unmanned vehicle shape State parameter, when the change of unmanned vehicle state parameter meets predetermined condition, issue the user with take off prompting and unmanned flight Device carries out preparation of taking off.

The control device described in the utility model that takes off is preferably, and the predetermined condition can be taken by default cancellation action Disappear, when hand-held unmanned vehicle performs the default cancellation action, unmanned vehicle enters standby mode.

Fig. 2 is the structural representation of the control device that takes off in another embodiment of the present utility model, and take off control dress Put including the measuring apparatus 1 and processor 2 for measuring unmanned vehicle state parameter, the measuring apparatus 1 include gyroscope, One or more of Inertial Measurement Unit, altimeter, velocity sensor, acceleration transducer, timer and electronic compass, even Comparator 3 of the processor 2 including the unmanned vehicle state parameter, the detection for connecing the measuring apparatus 1 are hand-held Unmanned vehicle in the given time whether in stable state detector 4, for generate take off instruction instruction generation Device 5 and the prompting device 6 for sending prompting of taking off, the instruction generator 5 connect the comparator 3 and detector 4, the prompting device The 6 connection instruction generators 5, the processor 2 include the memory 7 of storage predetermined condition, and the comparator 3 connects described Memory 7, the control device that takes off include being used for the adjuster 8 for correcting unmanned vehicle stable state, and the adjuster 8 connects Connect detector 4.

The control device described in the utility model that takes off is preferably, and the detector 4 is equilibristat.

The control device described in the utility model that takes off is preferably, and the prompting device 6 is the buzzer to sound the alarm And/or send the warning lamp of optical signal.

The control device described in the utility model that takes off is preferably, and the comparator 3 includes being used to identify unmanned flight The action recognition device of device action.

The control device described in the utility model that takes off is preferably, and the processor 2 includes general processor, numeral letter Number processor, application-specific integrated circuit ASIC or on-site programmable gate array FPGA.

The control device described in the utility model that takes off is preferably, and memory 7 includes one or more read-only storages ROM, random access memory ram, flash memory or Electrical Erasable programmable read only memory EEPROM.

In order to further illustrate the control device of the present utility model that takes off, it is exemplified below.

Embodiment 1

Illustrate the control device of the present utility model that takes off by taking more rotor unmanned aircrafts as an example first below.

Firstly, since more rotor unmanned aircrafts before are mainly external propeller, it is on surrounding side at most Protective cover is provided with, so taking off for more rotor unmanned aircrafts will depart from the control of human hand substantially, avoids the spiral shell rotated at a high speed Rotation oar injures human hand.But with demand lifting and performance transition, start to have occurred carrying out disposition to unmanned vehicle Design protection thinking, such unmanned vehicle can use under " low slow small " environment, even if periphery someone, due to flight The rotor of device is shrouded in protective cover completely, is also unlikely to hurt people.Exactly because the appearance of this aircraft, so flight Device initially enters the hand-holdable epoch.

By the protection of protective cover, user can arbitrarily hold unmanned vehicle and take off, or even be flown in unmanned vehicle During, directly caught with hand.Prior art is only the protection for contemplating protective cover during aircraft flight use Function, but do not expect completely, since aircraft can be fully protected, then throwing winged necessity just reduces.It is former It is because when dishing out why to throw winged, aircraft rotor can not rotate, and avoid hurting sb.'s feelings, after dishing out, aircraft rotor Need to start at once again, and can also keep rapidly balancing, so as to avoid taking off unsuccessfully.

Now due to the appearance of full protection cover thinking, new mode can occur completely in taking off for unmanned vehicle, be exactly It is hand-held to take off.

The application proposes a kind of novel, original creation unmanned vehicle based on the demand and taken off control device.

In the take-off process for the unmanned vehicle that one hand takes off under pattern, and it is not need to rely on the instruction of taking off of remote control Directly trigger take-off process, it is only necessary to which user holds unmanned vehicle, and it is kept an appropriate state, that is to say, that Meet takeoff condition, unmanned vehicle will voluntarily start take-off process, and take off.

One typical state is unmanned vehicle keep level, and in the state of substantially static.

Above-mentioned state and posture judge to realize by commonly using the gyroscope carried on unmanned vehicle and IMU, by In and not this Applicant's Abstract graph utility model point will not be repeated here.

The usage scenario for illustrating the application is as follows：

User starts one hand and taken off after pattern, and unmanned vehicle enters idling takeoff condition, now unmanned vehicle The monitoring to current state can be kept, whether real-time judge possesses takeoff condition.In addition, unmanned vehicle also can be intermittent suitable When driving each rotor rotational, attempt to regulate whether to disclosure satisfy that takeoff condition by the short time.

User can now hold unmanned vehicle freely activity, select suitable flight locations.User holds nobody and flown During row device, without the state for deliberately keeping unmanned vehicle just putting, walked about under gripping unmanned vehicle four that completely can be random, The selection takeoff point loosened.Because when user, which arbitrarily grips, to be walked about under unmanned vehicle four, unmanned vehicle does not reach suitable all the time When takeoff condition, so user is without unmanned vehicle high loaded process rotor is worried, into formal pattern of taking off.

When user chooses appropriate departure location or opportunity, user is only needed the unmanned vehicle horizontal of gripping just Put, make it into the state for meeting takeoff condition, unmanned vehicle, which senses, itself is maintained at the state for a period of time, then judges The unmanned vehicle that takes off is needed for user, therefore take-off process can be completed according to preset mode automatically, then user looses one's grip, nobody Aircraft then normally takes off hovering, completes take-off process.In this mode, even if because user arbitrarily grips unmanned vehicle four In lower walk process, fuselage state of the unmanned vehicle in some moment meets takeoff condition, but due to keeping the state Time is inadequate, should also be judged to being unsatisfactory for takeoff condition.

In addition, above-mentioned unmanned vehicle batch (-type) drives each rotor rotational, to come less than the situation for power consumption of normally taking off Attempt the process taken off, it helps make a good take off completion.For example user grips unmanned vehicle on a selected good enclave Point, unmanned vehicle is remained into horizontal and just puts state, such as one hand is held in the palm or singlehanded support is on facies palmaris, it is desirable to allow nothing People's aircraft takeoff, now may be due to user's manual control error so that and unmanned vehicle does not really keep horizontal just to put in fact, But with respect to the horizontal plane there is certain angle, now, unmanned vehicle suitably adjusts each according to the signal of gyroscope feedback After the output of rotor, helping unmanned vehicle to be completed in user's palm control range more, accurately horizontal just puts state, by Now do want to let unmanned vehicle fly away in user, therefore can also coordinate the adjustment of the unmanned vehicle working condition, when nobody Aircraft keeps a period of time in this case, that is to say, that within one section of scheduled time, the state of the unmanned vehicle is all the time After meeting takeoff condition, then it is judged as that user does want to unmanned vehicle to be let fly away, therefore, into normal pattern of taking off.

In the above-described embodiments, the triggering of singlehanded pattern of taking off is to be passed through by remote control or user on unmanned vehicle What input unit was done directly, in fact, the one hand takes off, the triggering of pattern can also possess a prerequisite pattern.

The prerequisite pattern can further allow the operation of unmanned vehicle humanized and more intelligent.

Typical mode includes, and is judged using equipment such as the IMU of unmanned vehicle, gyroscopes, whether unmanned vehicle Receive a specific gripping input instruction.For example, when unmanned vehicle is under open state, remain etc. waiting The state instructed.Now, general fashion is to input an instruction of taking off by remote control, and then unmanned vehicle is based on being somebody's turn to do Take off instruction, normally take off.But under application scheme, user can keep gripping the state of unmanned vehicle, free walker Go on foot and select departure location.When user finds suitable departure location, user can grip the state of unmanned vehicle, right The unmanned vehicle carry out a wash sale action, or carry out one repeatedly horizontal and horizontal positioned unmanned vehicle repeatedly Action, so as to give one trigger condition of unmanned vehicle, the preparation that allows it to carry out implementing singlehanded pattern of taking off, this process is also It is that an one hand takes off the prerequisite pattern of pattern.After the prerequisite pattern confirms, user is only needed according to first embodiment Mode, horizontal positioned unmanned vehicle, and kept for a period of time, then the unmanned vehicle that can be completed under singlehanded control is flown over Journey.

After above-mentioned prerequisite pattern is added, it is several to reduce further the issuable erroneous judgement of taking off of unmanned vehicle Rate, and significantly reduce the power consumption caused by attempting because continuous implementation is taken off.

Because one hand takes off pattern foundation user to the posture change of unmanned vehicle body to judge to realize, in order to avoid Under cas fortuit, because unexpected unmanned vehicle action caused by continuous maloperation, for the specific of above-mentioned unmanned vehicle State, it can be given and reminded to user by appropriate ways, such as：By modes such as acousto-optic electric signals, for unmanned vehicle The different mode being currently entering is reminded, including：" take off！", " being taken off pattern into one hand, takeoff point please be select ", " take off and be near completion, please loose one's grip！" etc..

Further, since the singlehanded pattern of taking off wishes that user can be completely by the operation and control to unmanned vehicle body To realize, so can also be pre-designed the action that can cancel unmanned vehicle present mode.For example user can be set and held Under unmanned vehicle state, the continuous action for shaking unmanned vehicle is considered as cancelling the instruction of unmanned vehicle present mode, No matter in the case of which kind of, as long as user grips unmanned vehicle and continuously shakes unmanned vehicle, then unmanned vehicle is controlled Into standby mode.

In addition, application scheme is optimal to be applied to small-sized more rotor unmanned aircrafts, and the situation with full protection cover, Now, user, which is hold by one hand the unmanned vehicle, can obtain optimal usage experience.But also it is not excluded for some shapes and passes through More rotor unmanned aircrafts of particular design, can be in the situation for not possessing full protection cover by outstanding Design of Mechanical Structure Under, also it can farthest avoid user directly to touch the rotor that may injure user's body, at this time it is also possible to be applicable this Shen Please scheme.For example, unmanned vehicle possesses outwardly directed Handheld Division, and user can hold the Handheld Division, move freely Unmanned vehicle, and when discharging and receiving unmanned vehicle, completed also by the Handheld Division.

The utility model additionally provides a kind of unmanned vehicle, and the unmanned vehicle includes being integrated in unmanned vehicle sheet On body or the described control device that takes off that is separately provided.

In one embodiment, the unmanned vehicle is more rotor unmanned aircrafts, more rotor unmanned aircrafts Rotor be provided with protective cover.

In one embodiment, unmanned vehicle is set including take off control device, the control device that wherein takes off including measurement Standby 1 and the processor 2 with memory, I/O Interface, function device, location equipment, power unit and other.Each member Part is directly or indirectly electrically connected between each other, to realize the transmission of data or interaction.For example, these elements between each other may be used Realized and be electrically connected with by one or more communication bus or signal wire.The control device that takes off include it is at least one can with software or Firmware firmware form is stored in the processor 2 in the memory or processor.The processor is deposited for performing this The executable processor 2 being stored in memory or processor, the processor, can described in execution after execute instruction is received The program that the software function module of execution includes, the utility model embodiment any embodiment disclose unmanned vehicle performed by Function can apply in processor, or realized by processor.

Wherein, the memory is used for the Various types of data for storing the unmanned vehicle.The memory can be described The internal storage of unmanned vehicle, or removable memory, memory be may be, but not limited to, and arbitrary access is deposited Reservoir (Random Access Memory, RAM), read-only storage (Read Only Memory, ROM), it may be programmed read-only deposit Reservoir (Programmable Read-Only Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM), electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc..Wherein, memory can be used for storage program.

Processor is probably a kind of IC chip, has the disposal ability of signal.Above-mentioned processor can be logical With processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processing unit 103 (Network Processor, abbreviation NP) etc.；Can also be digital signal processor (DSP), application specific integrated circuit (ASIC), Ready-made programmable gate array (FPGA) either other PLDs, discrete gate or transistor logic, discrete hard Part component.It can realize or perform disclosed each method, step and the logic diagram in the utility model embodiment.General place Reason device can be microprocessor or the processor can also be any conventional processor etc..

I/O Interface is used to receive the control terminal of unmanned vehicle by data that are wired or transmitting wirelessly, or Person, I/O Interface are whole by the control of wired or wireless transmission unmanned vehicle data to the unmanned vehicle End, realization control terminal interact with the unmanned vehicle.

Function device includes picture pick-up device, LED, buzzer and infrared generator etc., is held for unmanned vehicle Row particular flight task is for example, take pictures, the flicker of lamp, infrared telemetry etc..

Location equipment includes guider for example, GPS, laser radar and barometer etc., for working as to unmanned vehicle Front position is positioned.

Power unit includes electron speed regulator, motor, rotor etc., wherein, the electron speed regulator is electrically connected with motor, Rotor is arranged on motor, the control signal that the electron speed regulator reception processing device is sent, controlled motor rotation, so as to drive rotation The rotation of the wing, electron speed regulator obtains the rotating speed of motor, and rotating speed by the motor etc. feeds back to the control device that takes off.

Although embodiment of the present utility model is described above in association with accompanying drawing, the utility model does not limit to In above-mentioned specific embodiments and applications field, above-mentioned specific embodiment is only schematical, directiveness, without It is restricted.One of ordinary skill in the art is under the enlightenment of this specification and is not departing from the utility model claims In the case of the scope protected, the form of many kinds can also be made, these belong to the row of the utility model protection.

Claims (10)

1. The control device 1. one kind is taken off, it includes being used for the measuring apparatus (1) and processor for measuring unmanned vehicle state parameter (2), it is characterised in that：The measuring apparatus (1) includes gyroscope, Inertial Measurement Unit, altimeter, velocity sensor, acceleration One or more of sensor, timer and electronic compass are spent, connects the processor (2) bag of the measuring apparatus (1) Include the hand-held unmanned vehicle of the comparator (3) of unmanned vehicle state parameter described in comparison, detection in the given time whether Detector (4) in stable state and the instruction generator (5) for generating instruction of taking off, the instruction generator (5) is even Connect the comparator (3) and detector (4).
2. A kind of 2. control device as claimed in claim 1 that takes off, it is characterised in that：It is predetermined that the processor (2) includes storage The memory (7) of condition, the comparator (3) connect the memory (7).
3. A kind of 3. control device as claimed in claim 1 that takes off, it is characterised in that：The detector (4) is equilibristat.
4. A kind of 4. control device as claimed in claim 1 that takes off, it is characterised in that：The control device that takes off includes being used for school The adjuster (8) of positive unmanned vehicle stable state, adjuster (8) the connecting detection device (4).
5. A kind of 5. control device as claimed in claim 1 that takes off, it is characterised in that：The processor (2) includes sending taking off The prompting device (6) of prompting, the prompting device (6) connect the instruction generator (5), and the prompting device (6) is to sound the alarm Buzzer and/or send the warning lamp of optical signal.
6. A kind of 6. control device as claimed in claim 1 that takes off, it is characterised in that：The comparator (3) includes being used to identify The action recognition device of unmanned vehicle action.
7. A kind of 7. control device as claimed in claim 1 that takes off, it is characterised in that：The processor (2) includes general procedure Device, digital signal processor, application-specific integrated circuit ASIC or on-site programmable gate array FPGA.
8. A kind of 8. control device as claimed in claim 2 that takes off, it is characterised in that：Memory (7) includes one or more Read memory ROM, random access memory ram, flash memory or Electrical Erasable programmable read only memory EEPROM.
9. 9. a kind of unmanned vehicle, it is characterised in that the unmanned vehicle includes being integrated on unmanned vehicle body or list The control device that takes off as any one of claim 1-8 solely set.
10. A kind of 10. unmanned vehicle as claimed in claim 9, it is characterised in that：The unmanned vehicle be more rotors nobody Aircraft, the rotor of more rotor unmanned aircrafts are provided with protective cover.