TWI240882B - Portable controller - Google Patents

Abstract

A portable controller is adapted to transmit controlling signals to an unmanned aerial vehicle to control the vehicle. An unmanned aerial vehicle can transmit its own flying status signals to the portable controller. The portable controller includes a monitor suited for showing the controlling signals, the status signals, and a control stick suited for commanding the aviation the unmanned aerial vehicle or for commanding the image capturing device mounted on the aerial vehicle.

Description

Ι240882Γ1

V. Description of the invention (1) Manjj. The technology of the invention The invention relates to a portable controller, and a device with a downstream display, a flight navigation, and a special controller. ^ ° 又 疋 及 费 载 # hand-held control of the control function. Previous technology In today's technologically advanced era, human feet are used all over the world. Early production aircraft, piloting: After driving the Behr control aircraft to a set altitude, the pilot only needs to input the control factors such as gamma 22: i, speed, etc. into the computer-controlled equipment, then: = computer-controlled equipment To perform flight operations, it is only necessary to be controlled by the pilot when taking off and encountering an unexpected situation during the flight. ^ At the same time, the technology of unmanned aircraft has also begun to develop. The controller can wirelessly control the drone flying in the sky. However, the flight range of a man-aircraft can only be seen by the pilot's eyes and the flight distance is very limited. q gas .σ Please refer to Figure 1, which shows a schematic diagram of the control of a conventional unmanned aircraft. Known when operating an unmanned aircraft, the pilot must perform the operation of the unmanned aircraft only when the pilot is outdoors and able to witness unmanned 2. When the pilot wants to change the flying direction, speed or altitude of the drone, the pilot will operate the k-type controller 11 〇, and the portable controller 11 〇 will output signals (including analog and digital signals), and It is transmitted to the ground-based control station computer 122 for processing via a line belt. After the computer 122 completes the signal processing, the upload command tribute packet will be wirelessly transmitted through the transceiver module 124. The unmanned aircraft 13

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P 硖 Page V. Description of the invention (2) ΐ = After uploading the command data package, you can immediately perform signal processing and ordering (...) and UAV 130 keep the signal at the cross-link signal on the two person plane. T / # Flight data information, installed on _II ;:! = Take the control status information of the device and the transceiver module 124 of the image manipulation device, via electricity: the main v control station 120 mm ^ ^ ^-田 奄 月 自After processing at 122 meters, you can display the image capture device control of unmanned energy and evil, women's clothing on unmanned aircraft = 6, and / or daytime data such as that retrieved by the extraction device, etc., and display it on the monitor. -Ground = Tomb: i't lift controller 110 is a computer 122 that transmits control signals through a cord. If the handheld controller u〇 is off the ground =, the cord that the pilot needs to carry will be too bulky, and: The disconnection 'further affects the drone 130 at the critical moment of takeoff and landing = guilt and ingenuity. Moreover, the digital and analog k issued by the portable controller 需 need to be transmitted to the main ground control station through the line belt.丨 20, the report is getting longer: Hung! Causes the loss of analog signals transmitted through the line The situation is getting worse. If the right line $ is too short, it will cause inconvenience to the pilot's operation and mobile operations. In addition, the known portable controller i 丨 0 does not have a download display mechanism, so it is located on the ground leading control station. The pilots outside 1 20 could not know the flight information transmitted by the helmeted aircraft 130 at the first time. Only the monitoring personnel located in the ground-based control station could know the real-time flight of the unmanned aircraft 13 from the monitoring screen 126. Bad air traffic or other poor information, if the surveillance personnel find unmanned aircraft 丨 3 〇

I1H 12589twfl.ptd Page 9 1240882 V. Description of the invention (3) To be a Jiri Temple, it must be known orally and through the outside pilots, and therefore lose the timeliness of the ability to respond. )) Phoenix control mechanism and real-time In addition 菖 The computer of the ground-based control station 120 takes each trip $ i ^ and requires a restart time of more than 1 buckle. This blindness, the main plug-in plug-in control state 11 will not be able to upload commands to control the helmet, or even cause the above-mentioned situation to occur at the critical moment of take-off or landing, which is often guided]: If the aircraft 130 goes out of control, it will seriously affect personnel And flight safety s ... accidents. SUMMARY OF THE INVENTION In view of this, one of the purposes of the present invention is to provide one: having a display mechanism for uploading and downloading, which can be performed on the pilot ’s video. The second stated purpose is to provide a portable controller that can be controlled by a computer The unmanned aircraft allows the unmanned aircraft to maintain a constant speed σ, a constant altitude flight or a fixed direction. Another object of the present invention is to provide a portable controller that can operate an image capture device located on an unmanned aircraft. '

The fourth purpose of the present invention is to provide a portable controller. When the pilot controls the unmanned aircraft in a dangerous state, the portable controller will not allow the unmanned aircraft to operate according to the pilot's instructions, but only allows the unmanned aircraft to operate according to the pilot's instructions. ^ The crew's expectation is to sail under the preset maximum critical condition, so as to reduce the operational risk caused by the operator's mishandling. The fifth object of the present invention is to provide a portable controller, which is a pilot

1240882

When a portable controller is being used to control one of the functions of the unmanned aircraft, the monitoring screen f will display the status information of the unmanned aircraft. This status information is related to the function of the pilot's operation, so the control of the portable controller can be detected Whether the mechanism is faulty and reduces the risk of manipulation. The sixth object of the present invention is to provide a portable controller that can use wireless transmission to perform signal transmission with the main ground control station. Therefore, the configuration of the cable is omitted, so that the pilot can move without moving. You need to carry a heavy wire strap, and at the same time, you can avoid the situation that the wire breaks due to pulling the wire strap. In addition, the use of wireless transmission can avoid the situation that the analog 失真 is distorted because the line is too long, or the inconvenience of the pilot's movement is caused because the line is too short. The seventh object of the present invention is to provide a portable controller, which can control unmanned aircraft even when the ground-based control station is down, so as to improve the safety of unmanned aircraft navigation. The eighth object of the present invention is to provide a portable controller, which may include at least two engine switches. 'When the engine switches are turned to a closed state at the same time, the engine of the unmanned aircraft will stop running.' This can prevent the pilot from accidentally touching it. The danger of an aircraft engine shutting down due to an engine switch. 'A ninth object of the present invention is to provide a portable controller, which can control other types of unmanned vehicles in addition to controlling unmanned aircraft. In order to achieve the above and other purposes of the invention, a portable controller is proposed, which is suitable for signal transmission with a ground-based control station to control two unmanned aircraft. The ground-based control station has a transceiver module. Keep the link with the drone, the hand-held controller is received through the ground main station

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V. Description of the invention (5) :: No .: Device, " Like the second fly == 15 can control the video consumption device relative to the unmanned fly-gate Ht lift controller at least including-monitor screen, at least -Joystick, -Secondary 2 ::: No .: Switch, a third switch, a fourth switch. The monitor screen can; Product: f: No. and aircraft status signal 'By switching of the first switch,: The two joysticks are switched to control the drone or control the image capture device & although the first switch is switched to control the image capture Rotate or horizontally rotate one at a time, set the focal length or the size of the image captured by the image capture device. Tilt: J-cut: J 2 For aircraft, you can control the vertical and horizontal steering angle and roll of the drone. Rotation angle or throttle size. When the second n / Khan starts, the drone can be controlled to keep flying at a constant speed. When I control ^ on ^ sweat, I control the drone to fly in a fixed direction. The transmission of 丨 ^ hand = ^ ^ ^ benefit can use wireless transmission method or wired controller can also ^^ = 丨 do signal transmission between the main control station. When the portable switch is off, the engine switch will be turned off when the engine switches are turned on at the same time: the bow of the engine will stop running. 4 Let the present invention above H 3 # be easy to understand, the other sons and daughters, and ^ society ^ other purposes, features, and advantages can be more obvious as follows: Inch cattle are more consistent with the examples, and in conjunction with the accompanying drawings, detailed description 1240882)

Implementation Mode Preferred Example ^ ^ ^ ^ Control Cry 2〗 (1 β — ^ The machine control system includes a portable operator at ¥ control station 220 'The portable controller 210 can be used: ί: = ϊ or The wired transmission mode is collected with the ground leading control station 22: 2 ί The ground leading control station 22 0 includes a general computer 221 and one, two, two, and 22, and the manned aircraft 230 and the ground leading control station 22 When there is a coupling (g), through the navigation computer 2 ^ and the transceiver module 222 on the ground leading control station 22, the portable controller can upload the control signal and the unmanned aircraft 230 to control the unmanned The aircraft 23, and the unmanned aircraft 23 () can send an aircraft status signal to the portable controller 2 丨 〇, to inform the pilot of the real-time navigation status of the unmanned aircraft 2 30, so the unmanned aircraft 23 can perform in the sight of the pilot An image capture device 240 is set up on an unmanned aircraft 23o, for example, when the unmanned aircraft 230 and the ground-based control station 2220 are in a cross-linked state (...) The navigation computer 2 21 and the transceiver module through the ground-based control station 2 2 0 2 ^ 2 'The portable controller 21 can upload control signals to the unmanned aircraft 23 (), thereby controlling the image capturing device 2 40, and the unmanned aircraft 2 3 0 can download the status signal of the image capturing device 2 40 Give the hand-held controller 2 丨 〇 to inform the pilot of the real-time status of the image capture device 240. In addition, the ground-based control station 220 also includes a video receiver 223 and a video monitor 2 24 'the ground-based control station 220 can pass The video receiver 223 receives the video signal downloaded from the image capturing device 240 and transmits the video signal to the video

12589twfl.ptd Page 13 fl 1240882 V. Description of the invention (7) The information monitor 224, so that a person located in the ground-based control station 22 can observe the image capture device 24 from the video monitor 224 The picture. The ground-based master control station 2 2 0 also includes a global positioning system 2 25, which can inform the unmanned aircraft 2 3 0 of the coordinate position of the ground-based master control station 22, so that the unmanned aircraft 230 can return to the ground-based master control station 2 2 〇 by itself. Location. Secondly, after sending the transmitted telemetry data to the navigation computer 221, according to the unmanned flight, the coordinate data and attitude data of 230, and the attitude data of the image acquisition device 24o, after the calculation and processing by the navigation computer 221, the electronic map is processed. It can be known from the above that the coordinate position of the target object in the daytime surface captured by the image capturing device 240. After the video signal is transmitted to the navigation computer 221, after the same calculation processing, the image capture device 24 can know the area range marked by the electronic map. A countermeasure corresponds to reading, t: ^ station 220 then includes a modem 226. The navigation computer 221 can transmit signals to the remote base station in a wired or wireless manner. ΓΚΓΓ1 can receive data via the modem 226, wired or wireless. The signal from the retreating base station. Here, we will elaborate on the portable control dagger: !!!! According to FIG. 3, the green diagram is a schematic diagram of the operation mode of the wooden tethered state according to the present invention-preferred implementation. The navigator can use the joystick device 212 of the main controller m. She knows how to make a portable device with 4 fines. 3 When the device is closed, the two are operating the body 2 of the portable controller 210. 1 3 temporary storage, It can be used to transfer the digital control signal to the memory. When the data in the memory 213 is accessed before, the control signal read and stored can be calculated.

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Page 14 V. Description of the invention (8) The channel 2 1 5 transmits the control signal in series to the ground-based control station 2 2 0. ―Already, the body 213 can temporarily store the slave switch device 2 in addition. 〖} The I digital signal transmitted '2 can temporarily store the value transmitted by the arithmetic processor 214. When the navigator is operating the joystick device 212 of the portable controller 21, the joystick device 212 can send an analog control signal to the filter circuit 216, where the filter circuit 216 can, for example, transfer the high-voltage part of the control signal and the 'guyin ^' The part of the filter is filtered out, so that it can avoid the acquisition of the processor 214 and the calculation processor 214 because of the high voltage of the control signal, and also avoid the phenomenon that the drone frequency of the drone 23 is too high, and then the control signal can be transmitted to the calculation processing. The controller 214 performs calculations, and then transmits the control signals to the ground-based control station 220 in a serial manner through the serial communication circuit 215. The aircraft status signal transmitted by Hot Aircraft 230 can be transmitted to the handheld controller 21 through ground control = 220, and the serial status of the aircraft status signal is transmitted to the handheld controller 21 through the serial communication circuit 215. Processing = 2 = '❿ Aircraft status signal can be displayed on the portable operator's monitor = 217. Taxi. As mentioned above, in addition to displaying the aircraft-like complaint signal, it can also display the analog or digital control signal of the uploader. Please = according to the picture of the younger brother 4 'which shows the intention of the portable 4 wood control panel according to a preferred embodiment of the present invention. Fengdan_1 >, 1Π ^,… mouth The hand-held controller 210 has a connector

3! 〇 'One end of the cordless controller 2 1 0 connected to the ground control station 220 is connected to the connector 3 1 0, so as to occupy the main plus L lane ^ LO fine to make the portable controller 210 and the ground master Can be used to transmit lean materials between the two. However, the application of the present invention is not limited. The U 210 can also use wireless means to perform signal transmission with the main ground control station 2 2 0. 12589twfl.ptd 1240882 V. Description of the invention (9) The portable controller 210 has a monitor screen 311, which can display the aircraft status signal, upload analog or digital control signal, etc., so that the pilot can use the monitor screen 31 1 Learn the status of the immediate drone 230. Through the portable controller 2 1 0, the navigation and operation of the unmanned aircraft 2 3 0 can be controlled, as described below. When the switch 312 is moved to the "boat control" state, the joystick 3 1 3 can be moved up and down to control the drone, the vertical pitch angle of the machine 230, and the joystick 313 can be moved left and right to heat the aircraft. The horizontal steering angle of 2 3 0, the joystick 3 丨 4 moves up and down, I j control, the size of the throttle of the drone 230, thereby changing the angle of the drone 230 P ^ The left and right movement of the rocker control joystick 314 can control the drone The roll of 230 is called Ή When the switch of Γxi switch 3 1 2 is moved to the state of "payload control", the control can be controlled to control the image capture device 240 relative to the drone. Relative to none: fly; each open M Ή 9 multi-action can control the focal length of the image capture device 240. Field switch 3, 1 and 2 are moved to "^. Retrieve; = For unmanned aircraft 2 heart rotation " v =. Make the video unmanned aircraft 23 ◦ keep waiting at an early speed = in the turned on state, But you can keep the same switch. " When the "head direction keeps the unmanned unmanned aircraft 23 and keeps flying at the same height, the unmanned aircraft 230 is directed toward a solid-the ancient switch 317 can control the port-direction flight. When the" autopilot "" switch 318 12589twfl.ptd Page 16 1240882 V. Description of the invention (10) In the open state, if the navigator is operating, the portable controller 210 will not instruct the current machine 230 to be in a dangerous state, and only the benefit person # is allowed. ° ... Aircraft 230 according to the maximum critical status set by the pilot == Expect to switch 230 ^ ^ Λ ^ ^ ^ ^ in advance to set the switch 3 1 8 to be on. The pilot helmet Lude 9 Q η > ~, Start & type controller 2 0 0 will not allow. f However, the aircraft 230 operates according to the instructions of the pilot + the aircraft 230 is in accordance with the pilot's expectations, and the taxis that can be safely executed at that time ... 丄 Ϊ 刼 Operation risks caused by control errors. I7. Airbnb is now known as a portable control device for controlling 钲 = 2V and when the “self-test” switch SB is turned on: the control screen 311 will show the unmanned aircraft 23 ° The function of operation is right M ^ ^ ring, when this state is poor, 91 η + π work is related. In this way, it is possible to detect whether the #control mechanism of the portable select batch of 210 tablets is faulty and reduce the risk of manipulation. When the switch W 2 of the field control flap 3 2 0 is turned on, the helmet can be sun-protected, and the switch 320 of the flap can be moved to the open state. 〇 When the descent fielder k-type control state 210 is down, you can dial "Reset the lift controller 21. Restart. Or, if you want to simulate unmanned flight: Off 2 of the ί state: When flying, you can also dial the" The switch 230 of the “set” may include a hand-held controller 21 and may not remain in a cross-linked state with the unmanned aircraft 230 for a period of time. The portable controller 210 also includes two-engine switches 322, 32 3, and the switches 322 labeled "Parking 0" and "Parking 1" are opened on the panel. Page 17 12589twfl.ptd 1240882 V. Description of the invention (11) Off 323 ° After the drone 23o landed, the engine switches 322, 323 can be turned to the off state, so the pilot does not need to go to the drone 230 to turn off the engine of the drone 23o, so It can avoid the danger of the pilot from approaching the drone. In addition, it is worth noting that when the engine switches 3 22 and 3 23 are turned off at the same time, the pilot engine of the unmanned aircraft 23 will stop running, so as to prevent the pilot from accidentally touching one of the engine switches 3 22, 323, causing the danger of engine shutdown of the flying drone 23. The manual k-type controller 21〇 also includes a brake rotation twist 324. When the rotation teaches the beam torsion 324, it can control the loosening & soaping of the braking mechanism of the drone 23〇. The manual controller 21 also includes a power monitoring light. 325 and the system monitoring light. You can know the “on-state” through the power monitoring light 325, and the system monitoring light 326 can be used as == type controller 2 1 0 as τ 赍 姑 π. The system is very useful for producing M β... It is important to note that the pilot can learn the possible abnormal points of the portable controller 210 from the flashing state of the Γ worker mound ... In summary, the portable type of the present invention The manipulator has at least the following portable manipulators of the present invention, and can be used in the following: and can be implemented in the collar: ::::::: UAV state machine, 2 allows the computer To control unmanned flying to keep flying at the same speed, flying at the same altitude, or 12589twfl.ptd Page 18 Year β ¾

V. Description of the invention (12) Flying in a fixed direction 1240882 3 · The portable controller of the present invention can control the image capturing device. … On the Hachimanji, 4. When the pilot controls the drone in a dangerous state, this mention controller will not allow the drone to follow the pilot ’s instructions ^ of = noon drones are in advance according to the pilot ’s expectations Set the maximum threshold: under the condition of navigation, this can reduce the risk of loss of control due to pilot control. 1 $ 双 之 刼 式 风 5. When the navigator is operating the portable controller for controlling no function, the status information of the monitor screen meeting of the portable controller of the present invention is related to that of the pilot M : 2 = flying level, so that the control of the handheld controller can be detected = low control risk. SHOPPING ’So P early, drop 6. The portable controller of the present invention can use a wireless wheel

Signal transmission between the main ground control station 'so S = can be omitted, so the pilot can avoid the need to carry a heavy line when moving, and can avoid disconnection caused by pulling the line The situation happened. ,: No loss can avoid "cause of: too long, because the line is too long. Or, because the line is too short, the inconvenience of pilot movement is difficult. Z7. The hand-held controller of the present invention, When standing ^ in the month, you can still control the drone, so you can expand the safety of the door. Door ... Enter Shuji 舭 Engine Gate U: The portable controller 'includes at least two engine switches, when the engine switches are dialed at the same time The drone's engine will not stop until it is turned off.

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An engine switch guides the 1240882 K machine;: ΐ: = ΐ: The pilot accidentally touched one of the aircraft: 主 'Master i: Two. In addition to the above-mentioned portable controller, it can control nobody, such as I% & & t other The types of unmanned vehicles, image capture device control, and lifter control can be performed in a different way, so I won't repeat them here. In addition, in practical applications, it is not limited to only taking pictures of jealousy steppers on ', ^ 爿 taking clothes and placing them on unmanned vehicles such as unmanned aircraft i: You can use other devices such as temperature detection devices, etc. The monitoring equipment is installed on the equipment, and the information obtained by the monitoring equipment can be transmitted to the ground-based control station. — Although: ,,,: The present invention has been disclosed as above using the plate t as an example, but it is not intended to be limited to the present invention. Anyone skilled in this art can make various changes without departing from the spirit and scope of the present invention. "Retouching" Therefore, the isolated Fanyuan of the present invention shall be determined by the scope of the attached patent application. ·

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1240882 Brief Description of Drawings Figure 1 shows the control diagram of a conventional drone. FIG. 2 is a schematic diagram of an unmanned aircraft control system according to a preferred embodiment of the present invention. FIG. 3 is a schematic diagram showing an operation mode of a portable controller according to a preferred embodiment of the present invention. FIG. 4 is a schematic diagram of a panel of a portable controller according to a preferred embodiment of the present invention. [Illustration of diagrams] 110 Hand-held controller 120 Ground-based control station 122 Computer 124 Transceiver module 126 Monitoring screen 130 Unmanned ipl * 7fHi machine 210 Hand-held controller 211 Switching device 212 Rocker device 213 Memory 214 Calculation processing Controller 215 Serial communication circuit 216 Filter circuit 217 Monitoring screen 220 Ground-based control station 221 Navigation computer 222 Transceiver module 223 Video receiver 224 Video monitor 225 GPS 226 Modem 230 Unmanned aerial vehicle 240 Image manipulation device 310 connector 311 :: Monitor screen 312 Switch 313 :: Rocker 314 Rocker 315 Factory speed hold "switch

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1240882 Brief description of the diagram 3 1 6: Switch for "Hold Hold" 3 1 7: Switch for "Head Hold" 3 1 8: Switch for "Auto Drive" 319: Switch for "Self Test" 3 2 0: "Lapel Wing "switch 3 21:" Reset "switch 3 2 2:" Stop 0 "switch 3 2 3:" Stop 1 "switch 3 2 4: Brake rotation 3 2 5: Power monitoring light 3 2 6 : System monitoring light

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Claims (1)

1240882 VI. Patent Application Port 1: A portable controller suitable for controlling an unmanned aircraft, the portable ^ is suitable for uploading a control signal to the unmanned aircraft to control the unmanned claw, and the unmanned aircraft It is suitable for transmitting an aircraft status signal to the portable operator, and an image capture device is set up on the unmanned aircraft. The hand controller includes at least: Λ, a monitor screen, suitable for displaying the control signal and The aircraft status signal; and at least one 2. Roshen handheld controller aircraft rotation 3. Roshen handheld control 4. Roshen handheld control image size. 5 · Rushen The hand-held joystick is switched 6 · Rushen The image capture device can control this setting. 7. The joystick is suitable for controlling the drone and the image capture device. f The portable controller according to item 1 of the patent scope, wherein the joystick can control the image capture device relative to the non-zero, the portable controller according to item 1 of the patent scope, wherein the state The joystick can control the focal length of the image capture device. The portable manipulator described in item 1 of the patent scope, which can control the day and night captured by the image capture device, and the portable manipulator described in item 1 of the patent scope, where The device has a switch, and the switch can be used to control the UAV or the image capturing device. Please refer to the portable controller described in item 1 of the patent scope. In the middle, you should set :: Phase :! Rotate on the drone, and the manipulator's shirt will take the clothes back to the original position relative to the drone. Please refer to the portable manipulator described in item 1 of the patent scope, including to 12589twfl.ptd Page 23 1240882 6. Scope of patent application When these engine switches are turned to the off state at the same time, one engine of the drone will stop running. 50n: The portable controller described in the first scope of the patent, and when 1 level is turned on, the unmanned aircraft can be controlled to maintain a constant speed, MS19. Please refer to the portable controller described in the first scope of the patent] And, when the switch is turned on, you can control the unmanned aircraft to keep waiting for a high-degree 1 〇 · As stated in the item of the scope of the patent application of the patent] =: When the switch is on, you can control the unmanned fixed function The monitoring screen is used to control the status information of the unmanned aircraft. The status information is related to the collar:-status information, which is related to the function if a patent is applied for =. : The pilot controls the pilot of the drone, in which Dangya will not allow the unmanned danger m 妗, the hand-held control allows the drone to operate in accordance with the instructions of the pilot, and only allows sailing. Alas. Bei ’s expectation is at the pre-set maximum threshold. See U. For example, the scope of patent application & a wireless transmission method, and the portable controller described in item 1, use 1 The signal transmission between the control stations and the wired transmission wheel method. Xiao Yiwei's local brother = the portable controller described above, which uses __ face to do the signal transmission between the control station 12589twfl.ptd Zhen I2408 ^ i VI. Application for patent scope 15. — A portable controller suitable for signal transmission with a ground-based control station to control an unmanned vehicle, the place: paper group, and the unmanned vehicle Keep in the state of cross-bond J = control is to upload a control device through the transceiver module of the ground-based control station to control the unmanned vehicle, and the unmanned vehicle is "= the receiving and transmitting of the main control station The camera module sends down the vehicle status signal to the hand. The image manipulation device is set up on the unmanned vehicle, and = k type # 控器 1 to control the image manipulation device relative to the unmanned vehicle. Fang Yizhuan, the handheld controller includes at least ... The control signal and the vehicle status signal; at least one joystick; said first switch, by switching the first switch, can control whether the joystick is switched to control the unmanned vehicle or the image capture device, When the No .: switch is switched to control the image capture device, the image capture can be controlled to be set relative to 忒! The human carrier is rotated vertically or horizontally, the image capture, the focal length of the image, or the image The size of the target captured by the capture device, when the .Hidi switch is switched to control the unmanned vehicle, can control the vertical of the unmanned vehicle: elevation angle, horizontal steering angle, roll angle or throttle size; A switch 'when the second switch is on, it can control the unmanned vehicle to fly at the same speed; a third switch' when the third switch is on, it can control the unmanned vehicle to fly at the same height; and Four switches' When the fourth switch is turned on, the unmanned vehicle can be controlled to fly in a fixed direction. 1240882 VI. Scope of patent application Benefit 1 6. As described in item 15 of the scope of patent application, the portable controller is a means of transmitting cables to the ground control station for signal transmission. Including 1 丨 7. The portable controller as described in item 15 of the scope of patent application, which also includes = to Γ t bow 丨 engine switches, when these engine switches are turned to a closed state at the same time ^ ° mysterious human vehicle Only one engine will stop running. Each of the portable manipulators described in item 15 of the scope of the patent application, of which 21, the operator is operating the portable manipulator to control the strength of the unmanned vehicle. 监控] The monitoring screen will display the unmanned A state information of the vehicle, the evil bayan is related to the function that the pilot is operating. Each 1 9. The portable manipulator as described in item 15 of the scope of patent application, in which the two crying collars: when the unmanned vehicle is controlled in a dangerous state, the portable manipulator will not allow the The unmanned vehicle is operated according to the instructions of the pilot, and the state ί ii vehicle is in accordance with the pilot M ’s expectations at a preset maximum threshold λ A 2 0 · a portable controller as described in item 15 of the scope of patent application In A, the ϋth ϋ can be switched to a state, so that the image acquisition can be rotated back to the origin position relative to the unmanned vehicle. The device is equipped with 21. A portable manipulator suitable for controlling an unmanned vehicle, the type # 控 益 is suitable for transmitting a control signal to the unmanned vehicle, whereby the device is suitable for transmitting a vehicle status signal to two G Caimu control is that the hand-held controller includes at least: Catch Bayi monitor screen, suitable for displaying the control signal and display 22 • Hand-held controller as described in item 21 of the application range Angry / y tiger. The shirt image capturing strategy is mounted on the unmanned vehicle ’and the portable controller 12589twfl.ptd Page 26 1240882 6. Scope of patent application The image capture device can be controlled to rotate relative to the unmanned vehicle. 2 3 · The portable controller as described in item 21 of the scope of patent application, wherein an image capture device is mounted on the unmanned vehicle, and the portable controller can control the focal length of the image capture device. 2 4 · The portable manipulator described in item 21 of the scope of patent application, wherein an image capture device is mounted on the unmanned vehicle, and the portable manipulator can control the capture by the image capture device Portrait size. —25. According to the portable control cry as described in item 21 of the scope of patent application, the straight elephant image is mounted on the unmanned vehicle, and the portable controller j-switch and at least one joystick, # by the switch You can control the shaker, switch to control the unmanned vehicle or control the image capture device. The device is mounted on the unmanned vehicle and can be rotated relative to the unmanned vehicle. The hand-held image capture device can control the image relative to the unmanned vehicle rotation controller. The position of the hand described in item 21 ^ At least two engines are closed, and the engines will stop running when the engines are turned on and off, including an engine including the unmanned vehicle. Once closed, 12589twfl.ptd Page 27