CN202758243U

CN202758243U - Unmanned aerial vehicle flight control system

Info

Publication number: CN202758243U
Application number: CN 201220453902
Authority: CN
Inventors: 左国玉; 王恺; 阮晓钢; 李振
Original assignee: Beijing University of Technology
Current assignee: Beijing University of Technology
Priority date: 2012-09-06
Filing date: 2012-09-06
Publication date: 2013-02-27
Anticipated expiration: 2022-09-06

Abstract

An unmanned aerial vehicle flight control system relates to the field of unmanned aerial vehicle control. This system can be widely used in smart mobile devices including mobile phones and tablet computers. The system can be divided into two parts: UAV as the execution end, measuring the attitude angle, latitude and longitude, height information of the body, and sending the information to the smart mobile device through the wireless data transmission module or Wi-Fi module, and receiving the smart mobile device at the same time Send back the control information and execute the corresponding flight operation. By tilting and rolling the smart mobile device, the angle data output by the gyroscope and accelerometer on the device are collected, so that the drone can make the same action as the device. The smart mobile device can receive and display data, and set instructions and flight information according to the touch screen. , to send information back to the drone through an external wireless data transmission module or Wi-Fi. This system improves the flexibility of the UAV system, and also makes operating the UAV system as simple as playing a game.

Description

A kind of unmanned plane during flying control system

Technical field

The utility model relates to the unmanned aerial vehicle (UAV) control field, specifically is applied in the system that the Intelligent mobile equipment that comprises mobile phone, panel computer and unmanned plane form.

Background technology

The unmanned plane technology has entered all-round developing period, aspect navigation, reach its maturity, but at civil area, particularly home-use place and aspect, entertainment place, still do not have a kind of UAS of maturation to occur, sum up and get up to have 3 reasons to restrict the development of civil area unmanned plane; First is because the unmanned plane operation easier is larger, and new hand fast left-hand seat uses, otherwise will face at any time because of the not familiar of operation the risk of aircraft bombing, and this result is the waste of money, again certain threat has been caused in user's personal safety; Second point is mutual this link of operating system and unmanned plane, now all on computers face execution of most of land stations, mouse, these outside plants of keyboard are used in operating process, thereby cause complicated operability and user's low experience property, so that the user is to using this type systematic interest blank; Thirdly, be that this has just restricted the place environment that uses owing to all on computers face execution of most of land stations equally, so that the user can only can operate unmanned plane in the movable certain limit at computer.

Native system is for above-mentioned three large problems, a kind of novel unmanned aerial vehicle flight path control method has been proposed, can be widely used in comprising on the Intelligent mobile equipment of mobile phone, panel computer, greatly improved the dirigibility of UAS, by inclination, lift-over Intelligent mobile equipment, the angle-data of gyroscope, accelerometer output on the collecting device, make unmanned plane make the action identical with equipment, control the state of flight of unmanned plane by touch-screen, make the simple as playing games of operation UAS change, for promoting civilian unmanned plane market good help is arranged.

The utility model content

For make UAS can offer the user lower enter gate threshold, better operating experience and more convenient environment for use, the utility model provides that a kind of cost is low, adaptability good, constitutionally stable unmanned aerial vehicle flight path control method.

The utility model adopts following technical scheme:

A kind of unmanned plane during flying control system, it is characterized in that this system comprises following two large divisions: unmanned plane and Intelligent mobile equipment are equipped with touch-screen, gyroscope and accelerometer on the Intelligent mobile equipment;

Unmanned plane comprises following part:

1) boat appearance frame of reference: boat appearance frame of reference comprises three-axis gyroscope, three axis accelerometer, three axle magnetic compasses;

2) GPS receiver;

3) fixed high module is comprised of pressure-altitude sensor, ultrasonic sensor;

4) communication module comprises wireless data transfer module and Wi-Fi; When remote, using wireless data transfer module, closely the time, use Wi-Fi send and receive data;

5) flight control panel, core processor is singlechip chip, is responsible for receiving the information that above-mentioned four kinds of modules send, and data are processed, and the control unmanned plane during flying links to each other with communication module by serial ports, simultaneously with the Intelligent mobile equipment communication;

6) the unmanned plane hardware system that is formed by motor, steering wheel, electron speed regulator, battery.

Whole beneficial effect of the present utility model is:

1, adopts Intelligent mobile equipment as carrier, native system can more used under the complex environment, and movability strengthens greatly.

2, use two kinds of offline mode realizing on the Intelligent mobile equipment, will bring the user better operating experience.

3, reduce user's the ABC of operation threshold, made the user needn't know the implementation of unmanned plane, only needed to specify its flight result to get final product.

4, a kind of novel unmanned plane mode of operation has been started in the combination of unmanned plane autonomous flight function and Intelligent mobile equipment, has broken through before the on computers mode of mouse, keyboard, makes unmanned plane during flying become more interesting.

Description of drawings

Fig. 1 is the relational structure synoptic diagram of unmanned plane and Intelligent mobile equipment

Fig. 2 is the system flowchart of unmanned plane

Fig. 3 is the system architecture diagram of unmanned plane

Fig. 4 is the sub-structure block diagram of unmanned plane

Embodiment

Below in conjunction with the drawings and specific embodiments, the utility model is further described:

A kind of novel unmanned aerial vehicle flight path control method, as shown in Figure 1, receive the data that unmanned plane is beamed back by Intelligent mobile equipment, on screen, show the some of them critical data with panel board form intuitively, such as the three-axis attitude angle, highly, velocity information, and according to touch-screen instruction, flight path control information are set, control information is sent it back unmanned plane by external wireless data transfer module or Wi-Fi.Unmanned plane is as actuating station, measure attitude angle, longitude and latitude, the height every terms of information of body by various kinds of sensors, after internal algorithm calculating, draw the concrete operations (such as motor speed, steering wheel corner) that current unmanned plane need to carry out, and send to Intelligent mobile equipment by external wireless data transfer module or Wi-Fi, receive simultaneously the control information that Intelligent mobile equipment sends and carry out corresponding flight operation.

As shown in Figure 2, mode of operation is divided into two kinds:

1, opening initialization and enter the remote synchronization offline mode after, the user is by inclination, lift-over Intelligent mobile equipment, Intelligent mobile equipment gathers the angle value of exporting after the self-sensor device calculates, and this angle value sent it back by wireless transmission carry out limit value behind the unmanned plane and process, angle value after processing is measured as reference, compare with the current flight attitude, the output controlled quentity controlled variable, be used for controlling motor, steering wheel duty, finally reach the flight attitude that comes the synchronous manipulation unmanned plane by the attitude of Intelligent mobile equipment.The angle of user on Intelligent mobile equipment changes, and needs to bring limit value into divided by 2 first again, and the preset value that limit value is processed is, course angle variation range (25 °, 25 °), (15 ° of angle of pitch variation ranges, 25 °), roll angle variation range (25 °, 25 °).For example, the user is 70 ° at the roll angle that Intelligent mobile equipment manipulation lift-over obtains, and then becomes 35 ° first after 2, brings limit value into again, becomes 25 °, is the accident that causes for fear of unmanned plane angle excessive variation like this.

2, set the latitude and longitude coordinates point that unmanned plane during flying will pass through at Intelligent mobile equipment, these coordinate points data are sent it back the flight control panel, and with unmanned plane on the current coordinate points that records of GPS receiver compare, bring the navigation algorithm module into, calculate the angle (crab angle) that departs from set course, the distance (driftage distance) that departs from set course, and with these two data as original bulk, calculate controlled quentity controlled variable control steering wheel corner.Pressure-altitude sensor, ultrasonic sensor, GPS surveyed highly carry out data fusion, calculate current aircraft altitude, and compare with preset value, the output motor controlled quentity controlled variable realizes fixed high.With the attitude information of unmanned plane, pass in real time Intelligent mobile equipment back simultaneously, and show the information of beaming back thereon.

As shown in Figure 3, UAS integral body is divided into 4 parts, is respectively host computer 1, controller 2, actuating station 3, power supply 4.Host computer 1 is comprised of Intelligent mobile equipment, communication module, controller 2 is comprised of flight control panel, boat appearance frame of reference, fixed high module, GPS receiver, communication module, actuating station 3 is comprised of four steering wheels, brushless electric machines, and power supply 4 is comprised of electron speed regulator, lithium battery

As shown in Figure 4, UAS can further be subdivided into following several part:

1) boat appearance frame of reference 1(AHRS) passes through I ²The C bus sends data to flight control panel 5.

2) the GPS receiver 2, send data to flight control panel 5 by serial ports.

3) fixed high module 3 is comprised of pressure-altitude sensor, ultrasonic sensor, and the altitude information of the air pressure of pressure-altitude sensor and temperature data, ultrasonic sensor passes through respectively I ²The C bus sends to flight control panel 5.

4) communication module 4, when use wireless data transfer module send and receive data when remote, are connected with flight control panel 5 by serial ports, turn serial port module by USB and are connected with Intelligent mobile equipment; Use Wi-Fi send and receive data closely the time, two kinds of communication modes all need to add communication module at unmanned plane and Intelligent mobile equipment two ends, in order to can receive and send data.

5) flight control panel 5 is responsible for receiving the information that above-mentioned four kinds of modules send, and is calculated final controlled quentity controlled variable by internal algorithm, the control unmanned plane during flying.

6) Intelligent mobile equipment 6, are responsible for showing unmanned plane during flying track and state, and can be operated by the user, specify flight path and the state of flight of unmanned plane.

7) the unmanned plane hardware system that is formed by motor, steering wheel, electron speed regulator, battery, fuselage, wherein battery links to each other with electron speed regulator by plug, and the 5V out-put supply of electron speed regulator joins with flight control panel 5, is 5 power supplies of flight control panel; Three-direction plug and the motor of electron speed regulator join, and are the motor power supply; The output port of flight control panel 5 links to each other with steering wheel, is the steering wheel power supply.

Claims

1. A drone flight control system is characterized in that the system includes following two parts: unmanned aerial vehicle and smart mobile device, and touch screen, gyroscope and accelerometer are installed on the smart mobile device;

Drones include the following parts:

1) Attitude reference system: The attitude reference system includes a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetic compass;

2) GPS receiver;

3) Altitude determination module, composed of barometric altitude sensor and ultrasonic sensor;

4) Communication module, including wireless data transmission module and Wi-Fi; use the wireless data transmission module at a long distance, and use Wi-Fi to send and receive data at a short distance;

5) The flight control board, the core processor is a single-chip microcomputer chip, which is responsible for receiving the information sent by the above four modules, data processing, and controlling the flight of the drone. At the same time, it is connected to the communication module through the serial port to communicate with the smart mobile device;

6) UAV hardware system composed of motor, steering gear, electronic governor and battery.