CN105427563A - Remote control device of unmanned aerial vehicle and remote control method thereof - Google Patents
Remote control device of unmanned aerial vehicle and remote control method thereof Download PDFInfo
- Publication number
- CN105427563A CN105427563A CN201510845754.1A CN201510845754A CN105427563A CN 105427563 A CN105427563 A CN 105427563A CN 201510845754 A CN201510845754 A CN 201510845754A CN 105427563 A CN105427563 A CN 105427563A
- Authority
- CN
- China
- Prior art keywords
- unmanned vehicle
- coordinate
- telepilot
- vehicle body
- axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title abstract description 6
- 238000004891 communication Methods 0.000 claims abstract description 42
- 238000006243 chemical reaction Methods 0.000 claims description 10
- 230000008676 import Effects 0.000 claims description 6
- 238000012423 maintenance Methods 0.000 claims description 6
- 230000001143 conditioned effect Effects 0.000 claims description 3
- 238000009795 derivation Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 abstract 3
- 238000010586 diagram Methods 0.000 description 7
- 230000003287 optical effect Effects 0.000 description 7
- 230000015572 biosynthetic process Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 4
- 239000005437 stratosphere Substances 0.000 description 4
- 238000013519 translation Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000019771 cognition Effects 0.000 description 2
- 230000001149 cognitive effect Effects 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000010295 mobile communication Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 241001310793 Podium Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000012905 input function Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Provided are a remote control device of an unmanned aerial vehicle and a remote control method thereof. The remote control device comprises a coordinate transformation module (2) arranged on an unmanned aerial vehicle body (1) and a remote controller (3) in wireless communication with the coordinate transformation module (2), wherein the remote controller (3) includes at least a first rocking bar (4) and a second rocking bar (5), the first rocking bar (4) controls the forward, backward, leftward and rightward movements of the unmanned aerial vehicle in a coordinate system (X, Y, Z) with the remote controller (3) as an original point, and the second rocking bar (5) controls the upward and downward movements of the unmanned aerial vehicle in the coordinate system (X, Y, Z) with the remote controller (3) as the original point. The coordinate transformation module (2) transforms the coordinate based on the coordinate system (X, Y, Z) into the original point of the unmanned aerial vehicle body (1), the horizontal plane where the unmanned aerial vehicle body (1) is located serves as a coordinate axis plane to form a new coordinate in a new coordinate system (X', Y', Z').
Description
Technical field
The invention belongs to field of remote control, particularly relate to a kind of telechiric device and remote control thereof thereof of unmanned vehicle.
Background technology
Along with popularizing of many rotary wind types unmanned vehicle, increasing people starts understand and use many rotary wind types unmanned vehicle.Current impact many rotary wind types unmanned vehicle, a key factor of even common unmanned vehicle, manipulates complexity exactly.Due to the equipment that unmanned vehicle is movable aloft, so degree of freedom is high, need the dimension of control more, the telepilot of existing manual manipulation aircraft is substantially all need both direction rudder.And; due to the development of unmanned vehicle industry; telepilot also starts standardization gradually, scale; the mentality of designing basic source of existing telepilot is in the control mode of original model plane industry for aircraft; and different according to telepilot factory source, be known as saying of " U.S.'s hand " and " Japanese hand " in addition.In fact, so-called U.S. hand and Japanese hand are exactly because from producer of the U.S. aircraft telepilot produced and the aircraft telepilot produced from Japan factory, with regard to some keys arrangements, inconsistent.Specifically, Japanese hand (right hand throttle) is exactly that left hand controls elevating rudder and yaw rudder, and the right hand controls throttle and aileron; And U.S.'s hand (left hand throttle) is exactly left hand control throttle and yaw rudder, the right hand controls lifting and aileron.
These control modes are for very unfriendly new hand, and new hand manipulates unmanned vehicle and generally comes up, and is all that headless fly is the same, are difficult to allow unmanned vehicle go action according to the mode that oneself is imagined.Trace it to its cause, mainly because, the manipulation thinking of unmanned vehicle is a kind of control mode of the third person in essence, but as a nature person, the existing all control modes of user are all the first persons, this dislocation substituting into sense, new hand can be allowed to be difficult to understand aircraft, and especially for flying speed aircraft faster, user switches in trick switching, haunting person, in the process of these complexity, be difficult to provide rapidly suitable instruction.Exactly because also this reason, result in the universal of unmanned vehicle and encounter some obstacles.
The remote control mode of traditional unmanned vehicle is using the reference point of unmanned vehicle self as movement, designs remote control mode.Because unmanned vehicle self is movable within the scope of the axle of space six, general remote control mode then set up eight dimensions, be included in unmanned vehicle self towards the dimension of six when constant, that is: advance, retreat, rise, decline, to left, to right translation.Can change in addition in addition unmanned vehicle self towards be axle with space Z axis, turn clockwise and be rotated counterclockwise.It is contemplated that, if it is a fly able intelligent robot that unmanned vehicle is compared to, so this intelligent robot be equivalent to first cognitive arrived self-position and towards, then according to oneself wish according to the position of oneself with towards moving.According to this logic, the remote control design of unmanned vehicle is achieved.Accordingly, problem has also been come.Present remote control mode, the intact move mode indiscriminately imitating above-mentioned unmanned vehicle, telepilot is transplanted and is provided with the control mode corresponding with above-mentioned eight dimensions, modal is the instruction input making above-mentioned four dimensions of a rocking bar, is set up in parallel the instruction input that namely two rocking bars can complete eight dimensions.But think carefully, when user's hand-held remote controller, control two rocking bars when completing the operation to unmanned vehicle, the position of its real user is separated completely with unmanned vehicle, user must by the analysis of oneself and judgement, oneself is updated on the position of unmanned vehicle, and then provides suitable steering order.Namely user is cognitive according to self-centered logic, is transformed in the virtual cognition centered by unmanned vehicle, and then provides suitable instruction.The conversion of this cognition brings very big burden to new user, defines the obstacle of unmanned vehicle manipulation, and the potential security incident causing numerous unmanned plane.
Patent documentation CN103453875A discloses a kind of for the unmanned plane angle of pitch and roll angle real-time computing technique, it is characterized in that, calculation procedure is as follows: coordinate predefine: set up body axis system OXYZ, wherein initial point O is positioned at video camera photocentre place, OZ is parallel with optical axis and point to head, and OY vertically points to the earth's core; Set up image coordinate system O0uv, the both direction of the camera focal plane left upper apex of installing to be Oo, u and v be respectively focal plane horizontal and vertical on definition unmanned plane; The first step: the index J setting up search world cut-off rule, J=D (usky)+D (vsky)+D (ugrd)+D (vgrd) wherein D (usky) represents the variance on the optical flow field u direction of sky areas, D (vsky) represents the variance on optical flow field v direction, sky areas, D (ugrd) represents the variance on the optical flow field u direction of the earth region, and D (vgrd) represents the variance on the earth optical flow field v direction, region; Second step: utilize the camera acquisition image be arranged on unmanned plane, and obtain the optical flow field of image, extract the straight-line equation of world cut-off rule in image coordinate system O0uv based on index J; The detailed process of this step is: first, in image coordinate system O0uv, uses the image of a straight cuts camera acquisition, and straight line two side areas is defined as respectively sky areas and the earth region; Secondly, the variance of calculated line two side areas optical flow field on u and v direction respectively, obtains index J by the summation of these variances; Again, this straight line is moved on image until travel through whole image-region, straight line corresponding time minimum for index J value is defined as world cut-off rule, extracts the straight-line equation v=ku+b of world cut-off rule in image coordinate system O0uv, wherein k is straight slope and b is Linear intercept; 3rd step: the corresponding relation that k and b in the straight-line equation v=ku+b of world cut-off rule substitutes between body axis system and image coordinate system is expressed formula, calculates roll angle φ and pitching angle theta,
wherein α x and α y is the amplification coefficient in x direction and y direction from imaging plane to the plane of delineation respectively, u0 and v0 is respectively the length of image and wide.This patent uses video camera to come detection feature object or unique point thus calculates the angle of pitch and the roll angle of unmanned plane.But this patent cannot set up the first person control mode of customer-centric, be helpless to user intuitively instruction can be sent to unmanned vehicle although the angle of pitch and roll angle can be obtained, reduce the threshold of familiarization flight.
Disclosed above-mentioned information is only for strengthening the understanding to background of the present invention in the background section, therefore may comprise the information not being formed in prior art known to a person of ordinary skill in the art in this country.
Summary of the invention
The object of the invention is to be achieved by the following technical programs.
According to a first aspect of the invention, the invention discloses a kind of telechiric device of unmanned vehicle, described telechiric device comprises the telepilot with described unmanned vehicle body radio communication, and described telepilot at least comprises the first rocking bar and the second rocking bar.
Described first rocking bar with described telepilot for initial point, the surface level at described telepilot place is control described unmanned vehicle front, rear, left and right under the coordinate system of coordinate axis plane formation to move, described second rocking bar with described telepilot for initial point, the surface level at described telepilot place is control described unmanned vehicle under the coordinate system that formed of coordinate axis plane to move up and down.
Preferably, the level of described telepilot center line is to the right X-axis positive dirction; The positive dirction of Y-axis vertical with X-axis in described coordinate axis plane is the direction that X-axis positive dirction is rotated counterclockwise 90 degree; Be Z axis positive dirction with described coordinate axis plane orthogonal direction upwards.
Preferably, the coordinate conversion based on coordinate system becomes with unmanned vehicle body for initial point by described coordinate transferring, and the surface level at unmanned vehicle body place is the new coordinate under coordinate axis plane forms new coordinate system.
Preferably, described second rocking bar control under the coordinate system being initial point with described telepilot described unmanned vehicle move up and down and around Z axis suitable, be rotated counterclockwise.
Preferably, described first rocking bar is located at the position of the close left hand of described telepilot.
Preferably, described first rocking bar is located at the position of the close right hand of described telepilot.
Preferably, described unmanned vehicle body is provided with wireless communication module, and described wireless communication module uses 3G/4G network or satellite communication network to make radio communication between described telepilot and described unmanned vehicle body as communications carrier.
According to a second aspect of the invention, the invention discloses a kind of telechiric device of unmanned vehicle, telechiric device comprises and is located at the coordinate transferring on unmanned vehicle body and the telepilot with described unmanned vehicle body radio communication, and described telepilot at least comprises the first rocking bar and the second rocking bar.Described telechiric device with described telepilot for initial point, the surface level at described telepilot place is that coordinate axis plane forms coordinate system, wherein, the straight line that described telepilot points to described unmanned vehicle body is projected as X-axis in described coordinate axis plane, and the direction pointing to unmanned vehicle body is X-axis positive dirction; The positive dirction of Y-axis vertical with X-axis in described coordinate axis plane is the direction that X-axis positive dirction is rotated counterclockwise 90 degree; Be Z axis positive dirction with described coordinate axis plane orthogonal direction upwards; Described first rocking bar controls described unmanned vehicle front, rear, left and right and moves under the coordinate system being initial point with described telepilot, and described second rocking bar controls described unmanned vehicle and moves up and down under the coordinate system being initial point with described telepilot; Coordinate conversion based on coordinate system becomes with unmanned vehicle body for initial point by described coordinate transferring, and the surface level at unmanned vehicle body place is the new coordinate under coordinate axis plane forms new coordinate system.
Preferably, described telepilot comprises coordinate change-over switch, described coordinate change-over switch is used for will with described telepilot for initial point, the surface level at described telepilot place is that coordinate axis plane formation coordinate system switches to unmanned vehicle body as initial point, the surface level at unmanned vehicle body place is the new coordinate system that coordinate axis plane is formed, after described coordinate change-over switch is opened, described coordinate transferring is closed.
Preferably, described telepilot comprises can according to the GIS module of the flight path of the described unmanned vehicle of pre-conditioned generation on electronic chart, described GIS module comprises GIS information and imports and exports unit, information display unit and information maintenance unit, wherein, described GIS information imports and exports unit for the importing of the information of the flight path of unmanned vehicle in GIS map and derivation; Described information display unit for showing the information of flight path in GIS map; Described information maintenance unit for browsing, editing and delete the information of flight path in GIS map.
Preferably, described telepilot comprises the display screen of display information.
According to a third aspect of the invention we, a kind of remote control thereof of the telechiric device of described unmanned vehicle that uses comprises the following steps.
In first step, described telepilot by radio communication send based on described telepilot for initial point, the surface level at described telepilot place is that coordinate axis plane forms the coordinate of coordinate system to described unmanned vehicle body.
In second step, described coordinate conversion is with unmanned vehicle body for initial point by described coordinate transferring, and the surface level at described unmanned vehicle body place is the new coordinate under the new coordinate system of coordinate axis plane formation.
In third step, described in the described new coordinate control of described unmanned vehicle execution, unmanned vehicle arrives the position that described coordinate is specified.
Preferably, described telepilot by radio communication send based on described telepilot for initial point, the surface level at described telepilot place is that coordinate axis plane forms the coordinate of coordinate system to described unmanned vehicle body, and described unmanned vehicle flies according to described coordinate.
The scheme that the present invention proposes can customer-centric, by moving the motion of remote controller manipulation unmanned vehicle intuitively, and do not need centered by unmanned vehicle, user must by the analysis of oneself and judgement, oneself is updated on the position of unmanned vehicle, and then provide suitable steering order, thus achieve the simple and easy of manipulation and hommization.
Accompanying drawing explanation
Fig. 1 is the structural representation of the telechiric device of unmanned vehicle according to an embodiment of the invention.
Fig. 2 is the coordinate schematic diagram of the telechiric device of unmanned vehicle according to an embodiment of the invention.
Fig. 3 is the structural representation of the telechiric device of unmanned vehicle in accordance with another embodiment of the present invention.
Fig. 4 is the coordinate schematic diagram of the telechiric device of unmanned vehicle in accordance with another embodiment of the present invention.
Fig. 5 is the step schematic diagram of the remote control thereof of the telechiric device using unmanned vehicle according to an embodiment of the invention.
Below in conjunction with drawings and Examples, the present invention is further explained.
Embodiment
Below describe in detail be in fact only exemplary and be not intended to limit application and use., and the theory constraint be not intended to by any clear and definite or hint presented in above technical field, background, brief overview or following detailed description in addition.As used herein, term " module " or " unit " refer to that any hardware, software, firmware, electronic control part, processing logic and/or processor device are individually or with any combination, include, without being limited to: the processors sharing of application-specific integrated circuit ASIC, electronic circuit, the one or more software of execution or firmware program, special or in groups with storer, combinational logic circuit and/or described functional parts that other are applicable to are provided.In addition, unless had contrary description clearly, otherwise word " comprises " and different modification should be understood to implicit and comprises described parts but do not get rid of any miscellaneous part.
Present embodiments describe a kind of telechiric device of unmanned vehicle, the schematic diagram of the telechiric device of unmanned vehicle according to an embodiment of the invention as shown in Figure 1, telechiric device comprises and is located at the coordinate transferring 2 on unmanned vehicle body 1 and the telepilot 3 with described unmanned vehicle body 2 radio communication, and described telepilot 3 at least comprises the first rocking bar 4 and the second rocking bar 5.
In the art, unmanned vehicle refers to that employing controls automatically, has the unmanned vehicle of self-navigation.This unmanned vehicle can be preferably many rotary wind types unmanned vehicle.
In one embodiment, described first rocking bar 4 is located at the position of the close left hand of described telepilot 3.
In one embodiment, described first rocking bar 4 is located at the position of the close right hand of described telepilot 3.
Described telechiric device is with described telepilot 3 for initial point, and the surface level at described telepilot 3 place is that coordinate axis plane forms coordinate system X, Y, Z, and wherein, the level center line to the right of described telepilot is X-axis positive dirction; The positive dirction of Y-axis vertical with X-axis in described coordinate axis plane is the direction that X-axis positive dirction is rotated counterclockwise 90 degree; Be Z axis positive dirction with described coordinate axis plane orthogonal direction upwards; Described first rocking bar 4 controls described unmanned vehicle front, rear, left and right and moves under coordinate system X, Y, Z of being initial point with described telepilot 3, and described second rocking bar 5 controls described unmanned vehicle and moves up and down under coordinate system X, Y, Z of being initial point with described telepilot 3; Coordinate conversion based on coordinate system X, Y, Z becomes with unmanned vehicle body 1 for initial point by described coordinate transferring 2, and the surface level at unmanned vehicle body 1 place is the new coordinate under coordinate axis plane forms new coordinate system X ', Y ', Z '.
The coordinate schematic diagram of the telechiric device of unmanned vehicle according to an embodiment of the invention shown in Figure 2, can clearly find out in figure, when user's hand-held remote controller is towards the right of horizontal direction, unmanned vehicle towards going in surface level, if now user conventionally manipulates unmanned vehicle, object of reference will be changed by the thinking of self, such as, user have input the instruction that moves right on telepilot 3, user's intuition is felt, unmanned vehicle should be take user as coordinate, advance towards X-axis positive dirction, but in fact, unmanned vehicle is according to the reflection of this instruction, the coordinate axis X ' along unmanned vehicle, Y ', Z ' advances towards X ' direction, namely user it seems, this time, unmanned vehicle has up flown to.So the direction controlling to unmanned vehicle under this third person mode, depends on the conversion of the mode of thinking, need the sensation that the longer time goes cultivation to operate, and easily cause the security incident of operation.The present invention is oriented axle with telepilot 3, sets up the operation reference coordinate of unmanned vehicle.As shown in Figure 2, according to telepilot 3 towards the XYZ axle establishing space coordinates, now the skyborne position of unmanned vehicle is moved, and the scope according to defining at this XYZ axle moves.Telepilot has the steering order input function of eight dimensions equally.By the instruction that moves right that remote control inputs, to change into after changes in coordinates and unmanned vehicle is moved along X-direction forward, this time, no matter unmanned vehicle itself towards being towards which direction, move right as long as user have input, this aircraft is all move towards X-axis forward.Because multi-rotor aerocraft itself is substantially all multiple rotor symmetric designs, the flight of multi-rotor aerocraft itself is also that unmanned vehicle of the present invention is preferably multi-rotor aerocraft by realizing the adjustment of rotational speed of different rotor.Simple and the flight control mode of unmanned vehicle of structure of the present invention becomes the first person control mode of customer-centric, greatly reducing flight study threshold.
In one embodiment, described second rocking bar 5 control under coordinate system X, Y, Z of being initial point with described telepilot 3 described unmanned vehicle move up and down and around Z axis suitable, be rotated counterclockwise.These forward-reverse rise and fall all customer-centric are implemented, can not according to unmanned vehicle current towards and change.Unmanned vehicle suitable reverse rotation in the Z-axis direction, the skyborne movement of unmanned vehicle can not be had influence on completely, even because unmanned vehicle towards there occurs change, but the heading of unmanned vehicle not based on its towards, so to mention above around Z axis clockwise, be rotated counterclockwise operation and also can not want.But why still can retain aforesaid operations, be because unmanned vehicle may also be equipped with other equipment, these equipment towards may be need the Z axis by adjusting unmanned vehicle self counterclockwise to change clockwise.Such as unmanned vehicle is equipped with video camera, when can allow unmanned vehicle self that space displacement does not occur, rotates by self the shooting direction changing video camera.
The schematic diagram of the telechiric device of unmanned vehicle according to another embodiment of the invention as shown in Figure 3, telechiric device comprises and is located at the coordinate transferring 2 on unmanned vehicle body 1 and the telepilot 3 with described unmanned vehicle body 2 radio communication, and described telepilot 3 at least comprises the first rocking bar 4 and the second rocking bar 5.Described telechiric device with described telepilot 3 for initial point, the surface level at described telepilot 3 place is that coordinate axis plane forms coordinate system X, Y, Z, wherein, the straight line that described telepilot 3 points to described unmanned vehicle body 1 is projected as X-axis in described coordinate axis plane, and the direction pointing to unmanned vehicle body 1 is X-axis positive dirction; The positive dirction of Y-axis vertical with X-axis in described coordinate axis plane is the direction that X-axis positive dirction is rotated counterclockwise 90 degree; Be Z axis positive dirction with described coordinate axis plane orthogonal direction upwards; Described first rocking bar 4 controls described unmanned vehicle front, rear, left and right and moves under coordinate system X, Y, Z of being initial point with described telepilot 3, and described second rocking bar 5 controls described unmanned vehicle and moves up and down under coordinate system X, Y, Z of being initial point with described telepilot 3; Coordinate conversion based on coordinate system X, Y, Z becomes with unmanned vehicle body 1 for initial point by described coordinate transferring 2, and the surface level at unmanned vehicle body 1 place is the new coordinate under coordinate axis plane forms new coordinate system X ', Y ', Z '.
The coordinate schematic diagram of the telechiric device of unmanned vehicle in accordance with another embodiment of the present invention shown in Figure 4, can clearly find out in figure, when user to aircraft give left or to the instruction of right translation time, because aircraft is constantly changing relative to the projection line in the horizontal plane of the air line distance between the telepilot in user's hand, constantly change centered by the telepilot in user's hand so be now equivalent to X-axis, so, although what receive is translation instruction, but aerocraft real is equivalent to do motion circumferentially at the central point around flight space.In this case, even if because the operating habit of user is bad, the telepilot in user's hand originally in constantly shaking, but is contacted directly because the direction of flight space and the direction of telepilot itself no longer include, and can be good at realizing controlling.
In one embodiment, described unmanned vehicle body 1 is provided with wireless communication module 6, and described wireless communication module 6 uses 3G/4G network or satellite communication network to make radio communication between described telepilot 3 and described unmanned vehicle body 1 as communications carrier.
In one embodiment, the described wireless communication module 6 described unmanned vehicle body 1 arranged forms by be selected from group that wireless local wire stitcher, mobile communications network device, Stratosphere Communication Network device and the satellite network communications device with different priority form one or more.
In one embodiment, mobile communication network device is formed primarily of 2G/3G/4G wireless communication chips group.WLAN devices can be one in bluetooth, ZigBee or Wi-Fi device, wireless local equipment sets up short haul connection by 2.4GHz communication frequency, preferably can set up the communication connection between unmanned vehicle body 1 and telepilot 3 by this equipment at outdoor environment that is indoor or low speed movement.Stratosphere Communication equipment generally uses helium-airship, balloon as the platform settling repeater station, podium level is apart from ground 17km ~ 22km, unmanned vehicle, when field flight on a large scale, preferably can set up the communication connection between unmanned vehicle body 1 and telepilot 3 by Stratosphere Communication.Satellite communication equipment utilizes satellite communication channel to set up communication connection between unmanned vehicle and telepilot 3, is generally when without other available wireless communication networks, can uses satellite communicator, as emergency communication.
In one embodiment, according to wireless network cost or wireless network access speed, select wireless-transmission network, it is precedence scheme that the application designs following, Wi-Fi network: priority is 0; 4G wireless network: priority is 1; 3G wireless network: priority is 2; Stratosphere Communication network: priority is 3; Satellite communication network: priority is 4; Priority level 0-4, from high to low, if namely there is multiple wireless signal simultaneously, and when signal intensity is effective, first unmanned vehicle can select Wi-Fi network as Radio Access Network to selected wireless network priority; When Wi-Fi signal strength is invalid, unmanned vehicle meeting the second choice of opimization 4G network is as Radio Access Network; The like.
In one embodiment, described telepilot 3 comprises coordinate change-over switch 7, described coordinate change-over switch 7 is for will with described telepilot 3 for initial point, the surface level at described telepilot 3 place is that coordinate axis plane formation coordinate system X, Y, Z switch to unmanned vehicle body 1 as initial point, the surface level at unmanned vehicle body 1 place is new coordinate system X ', Y ', the Z ' of the formation of coordinate axis plane, after described coordinate change-over switch 7 is opened, described coordinate transferring 2 is closed.
In one embodiment, telepilot 3 comprises can according to the GIS module 8 of the flight path of the described unmanned vehicle of pre-conditioned generation on electronic chart, described GIS module 8 comprises GIS information and imports and exports unit 9, information display unit 10 and information maintenance unit 11, wherein, described GIS information imports and exports unit 9 for the importing of the information of the flight path of unmanned vehicle in GIS map and derivation, and its form importing and derive includes but not limited to the form such as text, XML, CSV, EXCEL, WORD, PDF; Described information display unit 10 for showing the information of flight path in GIS map; Described information maintenance unit 11 for browsing, editing and delete the information of flight path in GIS map.
In one embodiment, described telepilot 3 comprises the display screen 12 of display information.Display screen can be liquid crystal display further, and it can be used to the state of flight showing unmanned vehicle.
See Fig. 5, the remote control thereof of the telechiric device of described unmanned vehicle is used to comprise the following steps according to an embodiment of the invention.
In first step S1, described telepilot 3 by radio communication send based on described telepilot 3 for initial point, the surface level at described telepilot 3 place is that coordinate axis plane forms the coordinate of coordinate system X, Y, Z to described unmanned vehicle body 1.
In second step S2, described coordinate conversion is with unmanned vehicle body 1 for initial point by described coordinate transferring 2, and the surface level at described unmanned vehicle body 1 place is the new coordinate under the new coordinate system X ' of coordinate axis plane formation, Y ', Z '.
In third step S3, described in the described new coordinate control of described unmanned vehicle execution, unmanned vehicle arrives the position that described coordinate is specified.
In another embodiment, described telepilot 3 by radio communication 6 send based on described telepilot for initial point, the surface level at described telepilot place is that coordinate axis plane forms the coordinate of coordinate system to described unmanned vehicle body 1, and described unmanned vehicle body 1 flies according to described coordinate.
This method establishes the control mode of the first person, customer-centric point, allows all mobile of unmanned vehicle control, sets up according to the mode of user-center.Compared to traditional third person control mode, this control mode can allow user's left-hand seat faster, completes the manipulation to aircraft and understanding rapidly, thus achieves the simple and easy of manipulation and hommization.
Although be below described embodiment of the present invention by reference to the accompanying drawings, the present invention is not limited to above-mentioned specific embodiments and applications field, and above-mentioned specific embodiments is only schematic, guiding, instead of restrictive.Those of ordinary skill in the art, under the enlightenment of this instructions and when not departing from the scope that the claims in the present invention are protected, can also make a variety of forms, and these all belong to the row of the present invention's protection.
Claims (10)
1. the telechiric device of a unmanned vehicle, described telechiric device comprises the telepilot (3) with unmanned vehicle body (1) radio communication, described telepilot (3) at least comprises the first rocking bar (4) and the second rocking bar (5), it is characterized in that: described first rocking bar (4) with described telepilot (3) for initial point, the surface level at described telepilot (3) place is the coordinate system (X that coordinate axis plane is formed, Y, Z) before controlling described unmanned vehicle under, after, left, move right, described second rocking bar (5) with described telepilot (3) for initial point, the surface level at described telepilot (3) place is the coordinate system (X that coordinate axis plane is formed, Y, Z) control on described unmanned vehicle under, lower movement.
2. the telechiric device of unmanned vehicle according to claim 1, is characterized in that: the level center line to the right of described telepilot is X-axis positive dirction; The positive dirction of Y-axis vertical with X-axis in described coordinate axis plane is the direction that X-axis positive dirction is rotated counterclockwise 90 degree; Be Z axis positive dirction with described coordinate axis plane orthogonal direction upwards.
3. the telechiric device of unmanned vehicle according to claim 1, it is characterized in that: described telechiric device comprises coordinate transferring (2), described coordinate transferring (2) will become with unmanned vehicle body (1) for initial point based on the coordinate conversion of coordinate system (X, Y, Z), and the surface level at unmanned vehicle body (1) place is the new coordinate under coordinate axis plane forms new coordinate system (X ', Y ', Z ').
4. the telechiric device of unmanned vehicle according to claim 1, is characterized in that: described second rocking bar (5) control under the coordinate system (X, Y, Z) being initial point with described telepilot (3) described unmanned vehicle move up and down and around Z axis suitable, be rotated counterclockwise.
5. the telechiric device of unmanned vehicle according to claim 1, is characterized in that: described first rocking bar (4) is located at the close left hand of described telepilot (3) or the position of the right hand.
6. the telechiric device of unmanned vehicle according to claim 1, it is characterized in that: described telechiric device with described telepilot (3) for initial point, the surface level at described telepilot (3) place is that coordinate axis plane forms coordinate system (X, Y, Z), wherein, the straight line that described telepilot (3) points to described unmanned vehicle body (1) is projected as X-axis in described coordinate axis plane, and the direction pointing to unmanned vehicle body (1) is X-axis positive dirction; The positive dirction of Y-axis vertical with X-axis in described coordinate axis plane is the direction that X-axis positive dirction is rotated counterclockwise 90 degree; Be Z axis positive dirction with described coordinate axis plane orthogonal direction upwards.
7. the telechiric device of unmanned vehicle according to claim 3, it is characterized in that: described telepilot (3) comprises coordinate change-over switch (7), described coordinate change-over switch (7) is for will with described telepilot (3) for initial point, the surface level at described telepilot (3) place is that coordinate axis plane forms coordinate system (X, Y, Z) switch to unmanned vehicle body (1) as initial point, the surface level at unmanned vehicle body (1) place be coordinate axis plane formed new coordinate system (X ', Y ', Z '), after described coordinate change-over switch (7) is opened, described coordinate transferring (2) is closed.
8. the telechiric device of unmanned vehicle according to claim 1, it is characterized in that: described telepilot (3) comprises can according to the GIS module (8) of the flight path of the described unmanned vehicle of pre-conditioned generation on electronic chart, described GIS module (8) comprises GIS information and imports and exports unit (9), information display unit (10) and information maintenance unit (11), wherein, described GIS information imports and exports unit (9) for the importing of the information of the flight path of unmanned vehicle in GIS map and derivation; Described information display unit (10) for showing the information of flight path in GIS map; Described information maintenance unit (11) for browsing, editing and delete the information of flight path in GIS map.
9. the telechiric device of unmanned vehicle according to claim 1, it is characterized in that: described unmanned vehicle body (1) is provided with wireless communication module (6), described wireless communication module (6) uses 3G/4G network or satellite communication network to make radio communication between described telepilot (3) and described unmanned vehicle body (1) as communications carrier, and described telepilot (3) comprises the display screen (12) of display information.
10. use a remote control thereof for the telechiric device of the unmanned vehicle according to claim 1-9, it comprises the following steps:
In first step (S1), described telepilot (3) by radio communication send based on described telepilot (3) for initial point, the surface level at described telepilot (3) place is that coordinate axis plane forms the coordinate of coordinate system (X, Y, Z) to described unmanned vehicle body (1);
In second step (S2), described coordinate conversion is with unmanned vehicle body (1) for initial point by described coordinate transferring (2), and the surface level at described unmanned vehicle body (1) place is the new coordinate under the new coordinate system (X ', Y ', Z ') that formed of coordinate axis plane;
In third step (S3), described in the described new coordinate control of described unmanned vehicle execution, unmanned vehicle arrives the position that described coordinate is specified.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510845754.1A CN105427563A (en) | 2015-11-27 | 2015-11-27 | Remote control device of unmanned aerial vehicle and remote control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510845754.1A CN105427563A (en) | 2015-11-27 | 2015-11-27 | Remote control device of unmanned aerial vehicle and remote control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105427563A true CN105427563A (en) | 2016-03-23 |
Family
ID=55505738
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510845754.1A Pending CN105427563A (en) | 2015-11-27 | 2015-11-27 | Remote control device of unmanned aerial vehicle and remote control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105427563A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105955291A (en) * | 2016-04-29 | 2016-09-21 | 深圳市哈博森科技有限公司 | Unmanned plane flight route track recording and automatic flight control mode |
| CN106774416A (en) * | 2017-01-11 | 2017-05-31 | 联想(北京)有限公司 | Information processing method and device, control device, UAS |
| CN107291094A (en) * | 2017-05-08 | 2017-10-24 | 大陆智源科技（北京）有限公司 | Unmanned plane robot cooperating system |
| CN107454676A (en) * | 2016-05-30 | 2017-12-08 | 中国移动通信有限公司研究院 | Method and device for robot communication and control |
| WO2018133041A1 (en) * | 2017-01-20 | 2018-07-26 | 深圳市大疆创新科技有限公司 | Control method for unmanned aerial vehicle, and unmanned aerial vehicle |
| CN108803641A (en) * | 2018-06-08 | 2018-11-13 | 深圳臻迪信息技术有限公司 | flight control method and aircraft |
| CN111665827A (en) * | 2019-03-07 | 2020-09-15 | 北京奇虎科技有限公司 | Information processing method, control equipment and controlled equipment |
| CN114269000A (en) * | 2021-12-01 | 2022-04-01 | 飞天联合（北京）系统技术有限公司 | Wireless network access method and device for aircraft |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100125366A1 (en) * | 2008-11-14 | 2010-05-20 | Shanghai Nine Eagles Electronic Technology Co., Ltd. | Remote controller for aircraft model |
| CN102520730A (en) * | 2011-12-16 | 2012-06-27 | 新时代集团国防科技研究中心 | Realization method applied to unmanned vehicle control terminal |
| CN203400505U (en) * | 2013-07-29 | 2014-01-22 | 杜超 | Model airplane remote control |
| CN203816224U (en) * | 2014-02-28 | 2014-09-10 | 杜文龙 | Aeromodelling airplane remote controller |
| CN104503466A (en) * | 2015-01-05 | 2015-04-08 | 北京健德乾坤导航系统科技有限责任公司 | Micro-miniature unmanned plane navigation unit |
| CN104760695A (en) * | 2015-03-23 | 2015-07-08 | 松翰科技(深圳)有限公司 | Method for controlling quadrotor aircraft by vector rotation method |
| CN104906805A (en) * | 2015-06-03 | 2015-09-16 | 南京邮电大学 | Safe remote model aerocraft control method and safe remote model aerocraft control system based on active attitude detection |
-
2015
- 2015-11-27 CN CN201510845754.1A patent/CN105427563A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100125366A1 (en) * | 2008-11-14 | 2010-05-20 | Shanghai Nine Eagles Electronic Technology Co., Ltd. | Remote controller for aircraft model |
| CN102520730A (en) * | 2011-12-16 | 2012-06-27 | 新时代集团国防科技研究中心 | Realization method applied to unmanned vehicle control terminal |
| CN203400505U (en) * | 2013-07-29 | 2014-01-22 | 杜超 | Model airplane remote control |
| CN203816224U (en) * | 2014-02-28 | 2014-09-10 | 杜文龙 | Aeromodelling airplane remote controller |
| CN104503466A (en) * | 2015-01-05 | 2015-04-08 | 北京健德乾坤导航系统科技有限责任公司 | Micro-miniature unmanned plane navigation unit |
| CN104760695A (en) * | 2015-03-23 | 2015-07-08 | 松翰科技(深圳)有限公司 | Method for controlling quadrotor aircraft by vector rotation method |
| CN104906805A (en) * | 2015-06-03 | 2015-09-16 | 南京邮电大学 | Safe remote model aerocraft control method and safe remote model aerocraft control system based on active attitude detection |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105955291A (en) * | 2016-04-29 | 2016-09-21 | 深圳市哈博森科技有限公司 | Unmanned plane flight route track recording and automatic flight control mode |
| CN107454676A (en) * | 2016-05-30 | 2017-12-08 | 中国移动通信有限公司研究院 | Method and device for robot communication and control |
| CN107454676B (en) * | 2016-05-30 | 2020-01-07 | 中国移动通信有限公司研究院 | A method and device for robot communication and control |
| CN106774416A (en) * | 2017-01-11 | 2017-05-31 | 联想(北京)有限公司 | Information processing method and device, control device, UAS |
| WO2018133041A1 (en) * | 2017-01-20 | 2018-07-26 | 深圳市大疆创新科技有限公司 | Control method for unmanned aerial vehicle, and unmanned aerial vehicle |
| CN107291094A (en) * | 2017-05-08 | 2017-10-24 | 大陆智源科技（北京）有限公司 | Unmanned plane robot cooperating system |
| CN108803641A (en) * | 2018-06-08 | 2018-11-13 | 深圳臻迪信息技术有限公司 | flight control method and aircraft |
| CN111665827A (en) * | 2019-03-07 | 2020-09-15 | 北京奇虎科技有限公司 | Information processing method, control equipment and controlled equipment |
| CN114269000A (en) * | 2021-12-01 | 2022-04-01 | 飞天联合（北京）系统技术有限公司 | Wireless network access method and device for aircraft |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205211142U (en) | Unmanned vehicles's remote control unit | |
| CN105427563A (en) | Remote control device of unmanned aerial vehicle and remote control method thereof | |
| KR102236339B1 (en) | Systems and methods for controlling images captured by an imaging device | |
| CN112378408A (en) | Path planning method for realizing real-time obstacle avoidance of wheeled mobile robot | |
| CN105022401B (en) | Vision-based collaborative SLAM method for multi-quadrotor UAVs | |
| CN107577247B (en) | Target tracking system and method | |
| Chen et al. | Reachability-based safety and goal satisfaction of unmanned aerial platoons on air highways | |
| WO2022095060A1 (en) | Path planning method, path planning apparatus, path planning system, and medium | |
| CN110347186B (en) | An autonomous tracking system for ground moving targets based on bionic binocular linkage | |
| CN107329487A (en) | A kind of unmanned plane and robot link job platform in the air | |
| CN115639830B (en) | An air-ground agent cooperative formation control system and formation control method thereof | |
| CN115164890B (en) | An autonomous motion planning method for swarm drones based on imitation learning | |
| CN111857145A (en) | A joint formation system of reconnaissance UAV and unmanned armored vehicle | |
| CN207249489U (en) | A kind of unmanned plane and robot link job platform in the air | |
| Olivares-Mendez et al. | Setting up a testbed for UAV vision based control using V-REP & ROS: A case study on aerial visual inspection | |
| WO2022061614A1 (en) | Movable platform control method, control apparatus, movable platform, and computer storage medium | |
| CN116430902B (en) | Autonomous cruising and autonomous water-to-air transition method for amphibious drones in aquaculture | |
| WO2022226720A1 (en) | Path planning method, path planning device, and medium | |
| CN113853596A (en) | Method, apparatus, removable platform and computer storage medium for updating restricted area data | |
| Leong et al. | Vision-based sense and avoid with monocular vision and real-time object detection for uavs | |
| CN116661501A (en) | Combined planning method for obstacle avoidance and moving platform landing in high dynamic environment for UAV swarms | |
| CN115758687A (en) | Unmanned aerial vehicle autopilot simulation platform | |
| CN107598970A (en) | A kind of design method for the flying robot's communication system for carrying redundancy mechanical arm | |
| CN115454130B (en) | An indoor UAV formation control method based on relative positioning of airborne view | |
| Saska et al. | Vision-based high-speed autonomous landing and cooperative objects grasping-towards the MBZIRC competition |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160323 |