WO2013159480A1

WO2013159480A1 - Control device and control method for remotely-controlled toy airplane

Info

Publication number: WO2013159480A1
Application number: PCT/CN2012/081156
Authority: WO
Inventors: 蔡东青
Original assignee: 广东奥飞动漫文化股份有限公司; 广东奥迪动漫玩具有限公司; 广州奥飞文化传播有限公司
Priority date: 2012-04-26
Filing date: 2012-09-07
Publication date: 2013-10-31
Also published as: CN102657941A; EP2842613A1; CN102657941B; EP2842613B1; EP2842613A4

Abstract

A control device and fixed height control method for a remotely-controlled toy airplane, the control device comprising a power supply module, a main control module, a flight control module, a height detection module, and a height control module; the height detection module transmits a signal, receives a reflected signal of the transmitted signal or a signal transmitted by a remote control, analyzes and transmits the received signal to the main control module for decoding to generate a height control signal; and the height control module is used to receive the decoded height control signal and control the motor drive to adjust the flight height of the toy airplane, thus achieving automatic hovering of the toy airplane as well as one key takeoff.

Description

Remote control toy aircraft control device and control method

Technical field

The invention relates to a toy aircraft control device, in particular to a remote control toy aircraft control device and a control method.

Background technique

At present, the control device includes a power module, a main control module and a flight control module, and sends a wireless signal to the main control module through the remote controller, and the main control module feeds back the signal to the flight control module to realize the toy airplane flight. The lifting and direction control of this toy aircraft must be manually operated, so the novice toy aircraft enthusiasts are often difficult to operate, prone to errors, causing the toy aircraft to hit obstacles or fall damage; and if you want the toy aircraft to hang If you stop at a certain height, you need toy aircraft enthusiasts to have higher control technology, such as control of propeller speed and control of toy airplane direction, so that the toy aircraft can hover in the air.

Summary of the invention

In view of the above problems in the prior art, an object of the present invention is to provide a remote control toy aircraft control device and a control method thereof which are ingeniously designed, can realize a simple operation of one-button fixed takeoff and automatic hovering.

In order to achieve the above object, the technical solution adopted by the present invention is: a remote control toy aircraft control device, comprising a power module, a main control module and a flight control module, and further comprising:
The height detecting module is configured to receive a fixed height remote control signal sent by the remote controller, and a height detection signal for emitting a height detection signal and receiving the reflected back signal, and analyzing all the received signals and transmitting the signals to the main control module for decoding. Generating a height control signal;
A height control module for accepting the decoded height control signal and controlling the motor speed to adjust the flying height of the toy aircraft.

Wherein, the height detecting module comprises a signal transmitting circuit for transmitting a height detecting infrared signal to the ground, and a signal for receiving a high-level remote control signal sent by the remote controller and receiving a height detecting infrared signal emitted by the transmitting circuit and reflected back to the ground. The receiving circuit, the signal transmitting circuit and the signal receiving circuit are respectively connected to the main control module.

In order to clearly and intuitively understand which control state the toy airplane is in, the present invention further includes a fixed height indicating module, and the fixed height indicating module includes a fixed height indicating circuit for prompting and distinguishing the toy aircraft to automatically set or It is manually set high. Wherein, the above-mentioned fixed height indicating circuit comprises two LED lamps, two resistors and a triode, and the two LED lamps are connected in parallel with a collector C of a resistor and a triode, and the emitter E of the triode is grounded. The base B of the triode is connected in series with another resistor and connected to the main control module.

In order to achieve a more stable flight state of the toy aircraft, the height control module includes a motor drive circuit and a gyro sensor circuit, and the motor drive circuit and the gyro sensor circuit are independent and each are connected to the main control module.

To further increase the use of the toy aircraft, the present invention also includes an emission control module for controlling the launch of a toy missile by a missile device on a toy aircraft.

A method for controlling the height of a toy airplane, comprising the steps of:
a. Turn on the power of the toy aircraft. The toy aircraft modules are in standby mode. The toy aircraft stops on the ground. Use the remote control to control the takeoff mode. If you choose manual takeoff, go to step i. If you choose automatic takeoff, go to step b. ;
b. The signal receiving circuit of the toy aircraft detects and receives the fixed height remote control signal and amplifies it and feeds it back to the main control module. The main control module detects the voltage of the power module and sends a different PWM to the height control module. The motor starts to drive the toy aircraft to rise. Leave the ground;
c. The signal transmitting circuit of the height detecting module starts working, and the signal transmitting circuit transmits the height detecting signal to the ground at intervals, and is received by the signal receiving circuit after being reflected by the ground, and then amplified by the amplifying circuit and sent to the main control module for decoding production height. control signal;
d, judging the strength of the decoded height control signal, if the signal is weak, step e; if the signal is strong, step f; if the signal just meets the strength, then step g;
e, the main control module sends PWM to the height control module, so that the motor speed decreases, thereby reducing the flying height of the toy aircraft, and then repeating step c;
f, the main control module sends PWM to the height control module, so that the motor speed is increased, thereby increasing the flying height of the toy aircraft, and then repeating step c;
g. The main control module detects the voltage of the power module and adjusts the motor speed according to the change of the voltage, so that the toy aircraft is stable at a certain height, and the automatic height takeoff is completed. At this time, the operation handle of the remote controller can be operated, and the operation thereof is operated. The signal is fed back to the flight control module through the main control module to realize the front, rear, left and right flight of the toy aircraft;
h, cancel the automatic high state, the signal receiving circuit receives the fixed height remote control signal of the remote controller or receives the height manual control signal of the remote controller again, and then is amplified and fed back to the main control module, and the main control module controls the signal transmission circuit to stop. Work, the toy airplane enters full manual control state;
i. By manually operating the lifting handle of the remote controller, the main control module receives the lifting control signal of the remote controller and feeds back to the height control module, thereby changing the rotation speed of the motor to control the lifting and lowering of the toy aircraft;
j. If the signal receiving circuit receives the fixed height remote control signal of the remote controller in the manual flight state, the process returns to step c.

The invention adds a height detecting module and a height control module to the existing toy aircraft control device, and is configured to receive a fixed height remote control signal sent by the remote controller and a height detecting signal for emitting a height detecting signal and receiving the reflected back. And then the main control module feeds back to the height control module to control the motor drive to adjust the flying height of the toy aircraft, thereby realizing that the toy aircraft can automatically hover, and also can realize one-button take-off, by giving the signal to raise the toy airplane and at the height Under the control of the detection module, the motor speed in the height control module is continuously adjusted to automatically raise the toy aircraft to the set height, and the operation is simple and convenient. The invention can not only make the toy aircraft enthusiasts more easily manipulate the toy aircraft, but also faster. Familiar with and learn to operate toy airplanes, reduce the difficulty of beginners' operation, reduce the damage rate to toy airplanes, and apply the toy aircraft to items such as air sampling collection or other items that require high altitude and high altitude operations, making it easier for operators. Carry out various work; also because there are fixed lights The circuit uses the long light or flashing of two LED lights in the circuit to prompt and distinguish the toy aircraft from automatic height setting or manual height setting, thereby facilitating the distinction between toy aircraft enthusiasts and facilitating the operation in the night sky. Positioning of the toy aircraft position. The control device of the invention has simple operation and is suitable for use by toy aircraft enthusiasts of different stages, and can be widely applied to aviation models or other aerial tools for unmanned aerial work, and has broad prospects.

The invention will now be further described with reference to the accompanying drawings and embodiments.

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a schematic illustration of a control block of the present invention.
Figure 2 is a control circuit diagram of the present invention.
Figure 3 is a control flow chart of the present invention.

detailed description

As shown in FIG. 1 to FIG. 2, a remote control toy aircraft control device includes a power module, a main control module and a flight control module, and further includes a height detecting module for receiving a fixed height remote control signal sent by the remote controller and using The height detection signal is sent out after receiving the height detection signal and receiving the reflected signal, and all the received signals are analyzed and transmitted to the main control module for decoding to generate a height control signal; the height control module is configured to receive the decoded height control. Signal and control the motor speed to adjust the flying height of the toy aircraft, so that the toy aircraft can automatically hover, and also can achieve a one-button take-off, by giving the signal to the toy aircraft to rise and continuously adjust the height control module under the control of the height detection module. The motor speed in the robot automatically raises the toy airplane to the set height, and the operation is simple and convenient. The utility model can not only make the toy airplane enthusiast can more easily control the toy airplane, but also familiarize and learn to operate the toy airplane more quickly, reducing The difficulty of the beginner's operation, reducing the damage rate to the toy aircraft, also To the toy aircraft applications such as air sampling to collect, or other items needed given high altitude operations, allows the operator to more easily carry out the work.

As shown in FIG. 1, the height detecting module includes a signal transmitting circuit for transmitting a height detecting infrared signal to the ground, and a height detecting infrared light for receiving a fixed high-level remote control signal from the remote controller and receiving the transmitting circuit to be reflected back to the ground. The signal receiving circuit, the signal transmitting circuit and the signal receiving circuit of the signal are respectively connected to the main control module. In addition, a fixed height indicating module is included, and the fixed height indicating module includes a fixed height indicating circuit for prompting and distinguishing the toy aircraft from automatic height setting or manual height setting, so that the toy aircraft can be clearly and intuitively clear. Control status. The embodiment further includes a launch control module for controlling the missile device on the toy aircraft to launch the toy missile, so that the toy missile device can be installed on the toy aircraft and controlled by the launch control module to further increase the use of the toy aircraft. Features and fun to play. The power module of this embodiment is composed of a DC power supply and a 3.3V voltage stabilizing circuit.

As shown in FIG. 2, the main control module of this embodiment includes an IC chip U2 of the type MK7A23P, which has a total of 14 pins. The signal transmitting circuit of the embodiment is provided with an infrared transmitting tube IR1 capable of emitting infrared code, and the signal transmitting circuit is activated after the toy aircraft takes off, and the infrared transmitting tube IR1 can intermittently emit the encoded infrared light to the ground, and the signal transmitting circuit There are also three resistors R3, R23 and R24. The infrared transmitting tubes IR1 and R3 are connected in series, and then connected in parallel with R23 and in series with R24. Among them, R3 and R23 both play a parting role, and R24 acts as a current limiting function. The signal receiving circuit includes an infrared receiver IR2 for receiving signals and an amplifying circuit amp. The output of the infrared receiver IR2 is connected in series with a resistor R26 and the amplifying circuit amp, and is connected to U2, wherein R26 functions as a voltage divider. The amplifying circuit of this embodiment is composed of an amplifier, a resistor R27 and a capacitor Q9 in parallel. The fixed height indicating circuit of this embodiment comprises two LED lamps, two resistors R5, R25 and a transistor Q9. The two LED lamps are connected in parallel with the resistor R5 and the collector C of the transistor Q9 in series, and the emitter E of the transistor Q9 is grounded. The base B of the transistor Q9 is connected in series with another resistor R25 and connected to U2. When the aircraft is set high, U2 outputs a 3Hz square wave to R25, then the transistor Q9 is turned on, off, re-conducted, and then turned off continuously. When the transistor Q9 is turned on, the current passes through the voltage dividing resistor R5 and emits light. The diode LED1 passes through the transistor Q9 to the ground, so that the LED 1 is turned on; when the transistor Q9 is turned off, the LED 1 is turned off. In this way, LED1 will be lit, extinguished, re-lighted, and then extinguished according to the on/off, re-conduction and re-stop of Q9, and there will be non-stop flashing, indicating that the toy aircraft is automatically set in this state. mode.

The height control module of this embodiment comprises a motor drive circuit and a gyro sensor circuit, the motor drive circuit and the gyro sensor circuit are independent and respectively connected to the main control module, wherein the motor drive circuit is composed of two motors M1 and M2, respectively Upper and lower paddle motors; two capacitors C4, C5; two MOS tubes T1, T2, respectively, used to control the speed of two motors M1, M2; eight resistors R6, R7, R8, R9, R10, R11, R12, R13, M1, M2, the two motors must be in the opposite direction to ensure the stability of the toy aircraft. To make the aircraft rise, the speed of M1 and M2 needs to be increased. If the speed of M1 and M2 decreases, the aircraft will descend. R8 and R9 form the stuck protection circuit of M1. R10 and R11 form the stuck protection circuit of M2, while R6 and R13 play the role of voltage division, and R7 and R12 play the role of current limiting. The gyro sensor circuit includes a gyro sensor, a resistor R14 and a capacitor C6. The circuit is responsible for testing the angular acceleration variation of the aircraft in the horizontal direction and feeding the detection result to U2 with an electrical signal.

In the power module of this embodiment, U1 is a voltage regulator IC, which can stably output 3V voltage; C2 and C3 are filter capacitors to remove AC clutter in the power supply; R4 is a discharge resistor, and R1 and D1 form a power supply indication; wherein D1 is A common light-emitting diode is used to indicate that the power is on or off.

In the flight control module of this embodiment, Q1, Q2, Q3, and Q4 constitute a motor forward and reverse circuit, and are responsible for controlling the motor M3. When R18 is high, the current is passed by the power supply through the transistor Q2, then to the R16, then to the motor M3, and then through the transistor Q4 to the ground. At this time, the motor M3 rotates forward to push the aircraft forward; if R17 is high, Then the current is passed through the triode Q1, then to R15, then through the motor M3, and then through the triode Q3 to the ground, at this time the motor M3 reverses, pulling the aircraft back.

As shown in FIG. 3, the control method for the toy aircraft height determination of this embodiment includes the following steps:
a. Turn on the power of the toy aircraft. The toy aircraft modules are in standby mode. The toy aircraft stops on the ground. Use the remote control to control the takeoff mode. If you choose manual takeoff, go to step i. If you choose automatic takeoff, go to step b. ;
b. The signal receiving circuit of the toy aircraft detects and receives the fixed height remote control signal and amplifies it and feeds it back to the main control module. The main control module detects the voltage of the power module and sends a different PWM to the height control module. The motor starts to drive the toy aircraft to rise. Leave the ground;
c. The signal transmitting circuit of the height detecting module starts working, and the signal transmitting circuit transmits the height detecting signal to the ground at intervals, and is received by the signal receiving circuit after being reflected by the ground, and then amplified by the amplifying circuit and sent to the main control module for decoding production height. control signal;
d, judging the strength of the decoded height control signal, if the signal is weak, step e; if the signal is strong, step f; if the signal just meets the strength, then step g;
e, the main control module sends PWM to the height control module, so that the motor speed decreases, thereby reducing the flying height of the toy aircraft, and then repeating step c;
f, the main control module sends PWM to the height control module, so that the motor speed is increased, thereby increasing the flying height of the toy aircraft, and then repeating step c;
g. The main control module detects the voltage of the power module and adjusts the motor speed according to the change of the voltage, so that the toy aircraft is stable at a certain height, and the automatic height takeoff is completed. At this time, the operation handle of the remote controller can be operated, and the operation thereof is operated. The signal is fed back to the flight control module through the main control module to realize the front, rear, left and right flight of the toy aircraft;
h, cancel the automatic high state, the signal receiving circuit receives the fixed height remote control signal of the remote controller or receives the height manual control signal of the remote controller again, and then is amplified and fed back to the main control module, and the main control module controls the signal transmission circuit to stop. Work, the toy airplane enters full manual control state;
i. By manually operating the lifting handle of the remote controller, the main control module receives the lifting control signal of the remote controller and feeds back to the height control module, thereby changing the rotation speed of the motor to control the lifting and lowering of the toy aircraft;
j. If the signal receiving circuit receives the fixed height remote control signal of the remote controller in the manual flight state, the process returns to step c.

The toy airplane of the invention has two main ways of playing:

1) One-button takeoff:
Place the toy airplane on the ground. Just press the takeoff switch on the remote control, the toy airplane will take off automatically and slowly rise to the originally set height, then stabilize at this height and stabilize, while controlling the toy aircraft through the remote control, Rear, left, and right, and the flying height of the toy airplane will remain at the set height. If the remote control person wants to control himself and only needs to push the remote control throttle or press the take-off button again, the toy airplane immediately exits the automatic driving mode and changes to manual control, which is exactly the same as the control of the ordinary toy airplane.

2) Fixed height during flight:
When the toy airplane controls the flight of the toy airplane manually, the remote control personnel wants the toy airplane to fly automatically. Just press the takeoff button on the remote control while the toy airplane is steady. The toy airplane will automatically fly to the original set height and stabilize at that height. The remote control controls the front, back, left and right of the toy airplane. The flying height of the toy airplane will remain at the set height. If the remote control person wants to exit the automatic mode, just press the takeoff button or push the throttle to exit the automatic mode.

Although the present invention has been described with reference to the specific embodiments, this description is not intended to limit the invention. Other variations to the disclosed embodiments are contemplated by those skilled in the art in light of the description of the invention.

Claims

A remote control toy aircraft control device comprises a power module, a main control module and a flight control module, characterized in that the method further comprises:

The height detecting module is configured to receive a fixed height remote control signal sent by the remote controller, and a height detection signal for emitting a height detection signal and receiving the reflected back signal, and analyzing all the received signals and transmitting the signals to the main control module for decoding. Generating a height control signal;

A height control module for accepting the decoded height control signal and controlling the motor speed to adjust the flying height of the toy aircraft.
A remote control toy aircraft control apparatus according to claim 1, wherein said height detecting module comprises a signal transmitting circuit for transmitting a height detecting infrared signal to the ground, and a receiving high-level remote control signal sent from the remote controller and receiving said The transmitting circuit transmits a signal receiving circuit for detecting the infrared signal reflected from the ground, and the signal transmitting circuit and the signal receiving circuit are respectively connected to the main control module.
The remote control toy aircraft control device according to claim 2, wherein said signal transmitting circuit is provided with an infrared transmitting tube capable of emitting encoded infrared rays, and said signal transmitting circuit is activated after the toy aircraft takes off, said infrared transmitting tube Intermittently emits coded infrared rays to the ground.
The remote control toy aircraft control apparatus according to claim 2, wherein said signal receiving circuit comprises an infrared receiver for receiving a signal and an amplifying circuit, said amplifying circuit being coupled to the main control module.
The remote control toy aircraft control device according to claim 1, further comprising a fixed height indicating module, wherein the fixed height indicating module comprises a fixed height indicating circuit for prompting and distinguishing the automatic height of the toy aircraft or Manually set high.
The remote control toy aircraft control device according to claim 5, wherein said constant height indicating circuit comprises two LED lamps, two resistors and a triode, and the two LED lamps are connected in parallel with a collector of a resistor and a triode. C is connected in series, the emitter E of the triode is grounded, and the base B of the triode is connected in series with another resistor and connected to the main control module.
The remote control toy aircraft control apparatus according to claim 1, wherein said main control module comprises an IC chip of the type MK7A23P.
The remote control toy aircraft control apparatus according to claim 1, wherein said height control module comprises a motor drive circuit and a gyro sensor circuit, said motor drive circuit and said gyro sensor circuit being independent and each connected to said main control module.
The remote control toy aircraft control apparatus of claim 1 further comprising a launch control module for controlling the launch of the toy missile by a missile device on the toy aircraft.
A method for controlling the height of a toy airplane, comprising the steps of:

a. Turn on the power of the toy aircraft. The toy aircraft modules are in standby mode. The toy aircraft stops on the ground. Use the remote control to control the takeoff mode. If you choose manual takeoff, go to step i. If you choose automatic takeoff, go to step b. ;

b. The signal receiving circuit of the toy aircraft detects and receives the fixed height remote control signal and amplifies it and feeds it back to the main control module. The main control module detects the voltage of the power module and sends a different PWM to the height control module. The motor starts to drive the toy aircraft to rise. Leave the ground;

c. The signal transmitting circuit of the height detecting module starts working, and the signal transmitting circuit transmits the height detecting signal to the ground at intervals, and is received by the signal receiving circuit after being reflected by the ground, and then amplified by the amplifying circuit and sent to the main control module for decoding production height. control signal;

d, judging the strength of the decoded height control signal, if the signal is weak, step e; if the signal is strong, step f; if the signal just meets the strength, then step g;

e, the main control module sends PWM to the height control module, so that the motor speed decreases, thereby reducing the flying height of the toy aircraft, and then repeating step c;

f, the main control module sends PWM to the height control module, so that the motor speed is increased, thereby increasing the flying height of the toy aircraft, and then repeating step c;

g. The main control module detects the voltage of the power module and adjusts the motor speed according to the change of the voltage, so that the toy aircraft is stable at a certain height, and the automatic height takeoff is completed. At this time, the operation handle of the remote controller can be operated, and the operation thereof is operated. The signal is fed back to the flight control module through the main control module to realize the front, rear, left and right flight of the toy aircraft;

h, cancel the automatic high state, the signal receiving circuit receives the fixed height remote control signal of the remote controller or receives the height manual control signal of the remote controller again, and then is amplified and fed back to the main control module, and the main control module controls the signal transmission circuit to stop. Work, the toy airplane enters full manual control state;

i. By manually operating the lifting handle of the remote controller, the main control module receives the lifting control signal of the remote controller and feeds back to the height control module, thereby changing the rotation speed of the motor to control the lifting and lowering of the toy aircraft;

j. If the signal receiving circuit receives the fixed height remote control signal of the remote controller in the manual flight state, the process returns to step c.