CN110308736A - A kind of VTOL fixed-wing unmanned controller control system - Google Patents
A kind of VTOL fixed-wing unmanned controller control system Download PDFInfo
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- CN110308736A CN110308736A CN201910592177.8A CN201910592177A CN110308736A CN 110308736 A CN110308736 A CN 110308736A CN 201910592177 A CN201910592177 A CN 201910592177A CN 110308736 A CN110308736 A CN 110308736A
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- 238000003756 stirring Methods 0.000 claims abstract description 17
- 238000012544 monitoring process Methods 0.000 claims abstract description 9
- 238000004891 communication Methods 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000002159 abnormal effect Effects 0.000 claims description 6
- 230000009194 climbing Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000036544 posture Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
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- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0858—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft specially adapted for vertical take-off of aircraft
-
- 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
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- Engineering & Computer Science (AREA)
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- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
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Abstract
The invention discloses a kind of VTOL fixed-wing unmanned controller control systems, it include: main control module, rocking bar module, key module, wireless module and power module, it further include Intelligent flat, Intelligent flat is connect with main control module by serial communication, Intelligent flat includes: setting unit, for being rocking bar module difference rocking bar and the different control instructions for stirring direction imparting corresponding function according to user setting and being the control instruction that key module different key assigns corresponding function；Monitoring unit, for obtaining unmanned plane during flying state and shooting image from main control module and showing, state of flight includes at least flight attitude information and GPS data；Instruction issuing unit is used for display function entrance, and generates operational order to the triggering of functional entrance according to user and be sent to main control module.The present invention can be graphical to state of flight, and convenient winged hand adjusts rocking bar or key corresponding function according to itself operating habit, reduces operation difficulty and user's threshold.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control technical field more particularly to a kind of VTOL fixed-wing unmanned controller controls
System processed.
Background technique
Unmanned plane also gradually expands obtaining huge development, application field in recent years, wherein take photo by plane in video display, traffic
Planning is taken photo by plane, and land resources are taken photo by plane, plant protection, disaster rescue searching, electric inspection process, and atmosphere sampling, the industries such as anti-terrorism all have huge
Rise applications space；For current majority unmanned planes since hovering may be implemented in built-in algorithm, cruise is given directions in given line cruise
Etc. a variety of powerful functions.But due to external environmental interference etc., when flight, which must also have, is manually adjusted using remote controler
It is whole, it just can guarantee normal work.Remote controler end and aircraft end two-sided information it is shared, mostly by configure wireless communication apparatus or
Communication module built in person completes, and the operator at only remote controler end is familiar with the manipulation skill and accurately and timely at remote controler end
Recognize the normal operation of the information such as aircraft end current flight state, speed and electricity ability ultimate guarantee unmanned plane.
However currently, remote controler used in domestic unmanned plane mostly uses greatly video frequency graphic monitoring and the separated mould of aircraft control
Formula cannot carry out the monitoring of video image and the control of the various postures of aircraft simultaneously when operating unmanned plane, lead to use process
It is inconvenient；In addition, existing remote controller structure design is unreasonable, mode of operation is very high to the gimmick requirement of user's operation, no
It can be arranged according to the being adjusted property of personal habits of operator, so that the upper hand time is longer during operating with, be operated each
Button is inconvenient, and movement switching is not flexible, be easy to cause the generation of the situations such as operation error, unmanned plane damage.
It is unreasonable in order to solve remote controler manipulation, the problem of upper hand time length, the patent of Publication No. CN108008731A
Document discloses a kind of " remote controler, unmanned plane and the UAV system of unmanned plane ", remote controler include control key, control module and
Wireless communication module；Control module is for generating different control instructions according to the time that the control key is pressed, comprising:
In the case that the time that the control key is pressed is more than or equal to first time threshold and is less than second time threshold, first is generated
Control instruction, first control instruction are used to control the first movement that unmanned plane executes setting；It is pressed in the control key
Time be greater than second time threshold in the case where, to the control key quilt from the control key is pressed second time threshold
In the time of release, it is continuously generated the second control instruction, second control instruction continuously carries out second for controlling unmanned plane
Movement；Operation difficulty reduces to a certain extent, but practical manipulation accuracy depends on control of the operator to the time is pressed, very
It is easy to appear operator and wants maneuverability pattern and the unmatched situation of manipulation of physical result, so easily lead to maloperation；
The monitoring of video image and the control of the various postures of aircraft are carried out simultaneously for convenience, Publication No. CN106023560A's
Patent document discloses a kind of " collapsible unmanned controller ", including lower case and the upper housing being hinged in lower case, institute
It states upper housing to be rotated up to open lower case or rotate down to close lower case, pacify in the lower case and upper housing
Equipped with the controller for controlling unmanned plane, the antenna sets for receiving and emitting signal are also equipped with inside the lower case
Part, the controller are connected with antenna module, and controller is tablet computer or mobile phone.
Summary of the invention
It can be to state of flight the technical problem to be solved by the present invention is in view of the above shortcomings of the prior art, provide one kind
Graphically, convenient winged hand adjusts rocking bar or key corresponding function according to itself operating habit, reduces operation difficulty and user's door
The VTOL fixed-wing unmanned controller control system of sill.
To achieve the goals above, the technical solution adopted by the present invention are as follows:
A kind of VTOL fixed-wing unmanned controller control system, comprising: main control module, rocking bar module, key module, nothing
Wire module and power module, the rocking bar module, the key module and the wireless module respectively with the master control mould
Block connection, further includes Intelligent flat, the Intelligent flat is connect with the main control module by serial communication, the power module
Respectively with the electricity of the main control module, the rocking bar module, the key module, the wireless module and the Intelligent flat
Source port is connected to provide power supply；The Intelligent flat includes: setting unit, for being the rocking bar module according to user setting
Different rocking bars and difference stir the control instruction of direction imparting corresponding function and are key module different key imparting pair
Answer the control instruction of function；Monitoring unit, for obtaining unmanned plane during flying state and shooting image from the main control module and showing
Show, the state of flight includes at least flight attitude information and GPS data；Instruction issuing unit is used for display function entrance, and
Operational order is generated to the triggering of the functional entrance according to user and is sent to the main control module.
Middle control system through the above scheme, setting unit conveniently fly hand can according to itself operating habit adjust rocking bar or
Key corresponding function, monitoring unit have carried out the complexity for graphically greatly reducing unmanned plane operation to the state of aircraft,
Instruction issuing unit realizes a key operation, and operation is more humane, reduces operation difficulty and user's threshold.
It further, further include voice module, the voice module is connected to the main control module, for according to the master
Corresponding prompt tone is called from pre-stored voice library and is issued in the control of control module, and the prompt tone includes at least: rocking bar prompt tone,
Key prompting voice and abnormal state prompt tone.It is different that rocking bar prompt tone, key prompting voice and state are issued by voice module
Normal prompt tone is conducive to winged hand by sound and understands oneself to the operational circumstances of aircraft and the fault condition of aircraft itself.
Further, the voice module calls corresponding prompt tone by the way of array poll from pre-stored voice library.
It calls speed secure, saves cost.
Further, the rocking bar module includes at least two rocking bars that can be shaken up and down, for realizing flight appearance
The adjustment of state, each rocking bar include two voltage output ends, wherein being stirred up and down as a voltage output end, left and right is stirred
For a voltage output end, the main control module includes main control chip, each voltage output end respectively with the master control core
One I/O pin of piece connects, and identification rocking bar and rocking bar are dialled while receiving voltage signal by I/O pin so as to the main control chip
Dynamic direction, and then can modulate the voltage signal is PWM square-wave signal obtains and stirs the corresponding control in direction with the rocking bar and rocking bar
System instruction, and the PWM square-wave signal and the control instruction are sent to by unmanned plane by the wireless module.It is set by above-mentioned
Meter can send operational order to aircraft orderly and reliably according to the desirable of winged hand using channel to programming,
Improve the controllability and precise control of aircraft.
Further, the key module includes: the key that takes off, after the main control module detects the key pressing of taking off,
A key is sent to unmanned plane by the wireless module to take off control instruction；
Make a return voyage key, after the main control module detects the key pressing of making a return voyage, sends one to unmanned plane by the wireless module
Key makes a return voyage control instruction；
Holder directionkeys, after the main control module detects holder direction key pressing, by the wireless module to nobody
Machine sends holder direction adjustment instruction, and the holder directionkeys includes pitching key and key position.It is convenient to take off, make a return voyage and holder
These aircrafts of tuning often use a key operation of pose adjustment, are conducive to improve degree of operating conveniently, meet human-computer interaction.
Further, the functional entrance that described instruction assigns that unit is shown includes at least: take off, land, climbing, declining,
Fixed height spirals, cruises and goes home.
Further, the main control module selects 32 STM32F103VCT6 single-chip microcontrollers as main control chip.
Further, the wireless module is communicated using transparent transmission mode with unmanned plane.Ensure that the real-time of information and
Stability.
It further, further include the driving lever module being connected to the main control module, the driving lever module includes three sections of driving levers,
For stirring the switching realized between more rotor modes and fixed-wing mode for user.Driving lever module can also be programmed by channel,
More rotor modes and fixed-wing mode to aircraft carry out the distribution of every section of state in three sections of driving levers.
After adopting the above technical scheme, the beneficial effects of the present invention are: can be graphical to state of flight, convenient winged hand root
Rocking bar or key corresponding function are adjusted according to itself operating habit, reduces operation difficulty and user's threshold.
Detailed description of the invention
In order to illustrate the embodiments of the present invention more clearly or the technical solution of the prior art, attached drawing are as follows:
Fig. 1 is a kind of VTOL fixed-wing unmanned controller control system block diagram provided by the invention；
Fig. 2 is preferably a kind of VTOL fixed-wing unmanned controller control system block diagram of the present invention.
Specific embodiment
Following is a specific embodiment of the present invention in conjunction with the accompanying drawings, technical scheme of the present invention will be further described,
However, the present invention is not limited to these examples.
As shown in Figure 1, the present embodiment provides a kind of VTOL fixed-wing unmanned controller control systems, comprising: main
Control module 1, rocking bar module 2, key module 3, wireless module 4 and power module, the rocking bar module 2, the key module 3
And the wireless module 4 is connect with the main control module 1 respectively, further includes Intelligent flat 6, the Intelligent flat 6 with it is described
Main control module 1 is connected by serial communication, the power module respectively with the main control module 1, the rocking bar module 2, described
The power port of key module 3, the wireless module 4 and the Intelligent flat 6 is connected to provide power supply；The Intelligent flat
6 include: setting unit 61, for being that the different rocking bars of the rocking bar module 2 and difference stir direction imparting pair according to user setting
It answers the control instruction of function and assigns the control instruction of corresponding function for 3 different key of key module, mainly pass through journey
Sequence code writes realization, monitoring unit 62, for obtaining unmanned plane during flying state and shooting image simultaneously from the main control module 1
It has been shown that, the state of flight include at least flight attitude information and GPS, and flight attitude information includes state of flight (including aircraft
Roll angle, pitch angle, yaw angle), voltage, height, speed (flying speed and climbing speed) etc.；Instruction issuing unit 63,
For display function entrance, and operational order is generated to the triggering of the functional entrance according to user and is sent to the main control module
1。
Specifically, for main control module 1 using 32 single-chip microcontrollers as main control chip, which possesses 100 pins, 72MHz
Maximum clock frequency and communication interface abundant.It is communicated to handle various signals, and with other modules, to control
Make entire aircraft.
Power module provides stable power supply output, to be powered to each module, it is ensured that whole system stablizes fortune
Row.
Key module 3 is key switch, presses the processing for running past main control module 1 every time, forms corresponding instruction simultaneously
Find that, to aircraft, aircraft will make corresponding reaction after receiving by wireless module 4, by being programmed to main control module 1, identification
Corresponding instruction is pressed and sent to each key, a key of the realization aircraft of key module 3 can be made to make a return voyage, key landing, one
Key such as is taken pictures and records a video at the functions.
Wireless module 4 is to be wirelessly transferred to aircraft for the various signals of remote controler, instruction, to realize reality
When control aircraft effect, therefore can conventional wireless transmission equipment can be realized.
Intelligent flat 6 includes visualized operation panel, can be set by contact action, the Intelligent flat 6 of the present embodiment
The function of setting the various channels (rocking bar difference stirs direction) of remote controler, the video that the transmission of aircraft captured in real-time can also be presented are drawn
Face and the skyborne running track of aircraft and flight attitude.
Middle control system through the above scheme, the convenient winged hand of setting unit 61 can adjust rocking bar according to itself operating habit
Or key corresponding function, monitoring unit 62 have carried out the complexity for graphically greatly reducing unmanned plane operation to the state of aircraft
Degree, instruction issuing unit 63 realize a key operation, and operation is more humane, reduces operation difficulty and user's threshold.
Further, as shown in Fig. 2, further including voice module 7, the voice module 7 is connect with the main control module 1,
For calling and issuing corresponding prompt tone from pre-stored voice library according to the control of the main control module 1, the prompt tone is at least
It include: rocking bar prompt tone, key prompting voice and abnormal state prompt tone.Rocking bar prompt tone, key are issued by voice module 7
Prompt tone and abnormal state prompt tone are conducive to fly the hand operational circumstances that understand oneself to aircraft by sound, according to pressing
Key stirs the sound issued after rocking bar to determine whether having sent command adapted thereto to aircraft, is conducive to be mentioned according to abnormal state
Show that sound understands the fault condition of aircraft itself, preferably rocking bar prompt tone and key prompting voice will not be identical, abnormal state prompt tone
It may include low, rotor failure of electricity etc., different faults rotate different prompt tones to fault distinguish.
The voice module 7 calls corresponding prompt tone by the way of array poll from pre-stored voice library.Call speed
It is secure, save research and development cost.Corresponding prompt tone record in advance there are in RAM card, the prompt tone of remote controller flies
The sound that machine posture plays, the alarm and other equal prompting sounds that aircraft alerts, voice module 7 is to accordingly mentioning in RAM card
Show that sound is called broadcasting.
The rocking bar module 2 includes at least two rocking bars that can be shaken up and down, for realizing the adjustment of flight attitude,
Each rocking bar includes two voltage output ends, wherein being stirred up and down as a voltage output end, left and right is stirred as an electricity
Press output end, the main control module 1 include main control chip, each voltage output end respectively with an IO of the main control chip
Pin connection, identification rocking bar and rocking bar stir direction while receiving voltage signal by I/O pin so as to the main control chip,
And then can modulate the voltage signal is PWM square-wave signal, obtains and stirs the corresponding control instruction in direction with the rocking bar and rocking bar,
And the PWM square-wave signal and the control instruction are sent to by unmanned plane by the wireless module 4, to control the various of unmanned plane
Posture movement.Rocking bar module 2 is arranged two rocking bars and connect with main control module 1, occupies four channels, each channel is equivalent to one
Variable resistance can produce variable voltage signal, using channel to the calling journey of main control module 1 when resistance variation
Sequence is programmed, and be can be realized orderly and is reliably improved winged according to the desirable of winged hand to aircraft transmission operational order
The controllability and precise control of machine.
The key module 3 includes: the key that takes off, after the main control module 1 detects the key pressing of taking off, by described
Wireless module 4 sends a key to unmanned plane and takes off control instruction；
Make a return voyage key, after the main control module 1 detects the key pressing of making a return voyage, is sent by the wireless module 4 to unmanned plane
One key makes a return voyage control instruction；
Holder directionkeys, after the main control module 1 detects holder direction key pressing, by the wireless module 4 to nothing
Man-machine transmission holder direction adjustment instruction, the holder directionkeys include pitching key and key position.Above-mentioned design, it is convenient take off,
It makes a return voyage and holder tuning these aircrafts often uses a key operation of pose adjustment, be conducive to improve degree of operating conveniently, meet man-machine
Interaction.
Further, described instruction assign unit 63 display functional entrance include at least: take off, land, climbing, under
Drop, spirals, cruises and goes home at fixed height.
The main control module 1 selects 32 STM32F103VCT6 single-chip microcontrollers as main control chip.
The wireless module 4 is communicated using transparent transmission mode with unmanned plane.It ensure that the real-time and stability of information.
It further include the driving lever module 8 being connect with the main control module 1, the driving lever module 8 includes three sections of driving levers, for supplying
User stirs the switching realized between more rotor modes and fixed-wing mode.Three sections of driving levers are the toggle switch of three-stage, can
To stir three positions of upper, middle and lower, each position corresponds to different voltage output values, can be programmed by channel, to the more of aircraft
Rotor mode and fixed-wing mode carry out the distribution of every section of state in three sections of driving levers, such as up stirring is more rotor modes, past
Under stir as fixed-wing mode, and then the unmanned plane that system operatio can be facilitated to fly with more rotor landings with fixed-wing improves
The manipulation range of the present embodiment system.
Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (9)
1. a kind of VTOL fixed-wing unmanned controller control system, comprising: main control module, rocking bar module, key module,
Wireless module and power module, the rocking bar module, the key module and the wireless module respectively with the master control
Module connection, which is characterized in that further include Intelligent flat, the Intelligent flat and the main control module are connected by serial communication
Connect, the power module respectively with the main control module, the rocking bar module, the key module, the wireless module and
The power port of the Intelligent flat is connected to provide power supply；The Intelligent flat includes: setting unit, for being set according to user
It is set to the rocking bar module difference rocking bar and different direction of stirring assigns the control instructions of corresponding function and for the key mould
The control instruction of block different key imparting corresponding function；Monitoring unit, for obtaining unmanned plane during flying shape from the main control module
State and shooting image simultaneously show that the state of flight includes at least flight attitude information and GPS data；Instruction issuing unit is used
In display function entrance, and operational order is generated to the triggering of the functional entrance according to user and is sent to the main control module.
2. a kind of VTOL fixed-wing unmanned controller control system according to claim 1, which is characterized in that also
Including voice module, the voice module is connected to the main control module, for according to the control of the main control module from prestoring
Corresponding prompt tone is called and issued in voice bank, and the prompt tone includes at least: rocking bar prompt tone, key prompting voice and state
Abnormal prompt tone.
3. a kind of VTOL fixed-wing unmanned controller control system according to claim 2, which is characterized in that institute
It states voice module and calls corresponding prompt tone from pre-stored voice library by the way of array poll.
4. a kind of VTOL fixed-wing unmanned controller control system according to claim 1, which is characterized in that institute
It states rocking bar module and includes at least two rocking bars that can be shaken up and down, it is each described to shake for realizing the adjustment of flight attitude
Bar includes two voltage output ends, wherein being stirred up and down as a voltage output end, left and right is stirred as a voltage output end, institute
Stating main control module includes main control chip, and each voltage output end is connect with an I/O pin of the main control chip respectively, with
Toilet states identification rocking bar and rocking bar while main control chip receives voltage signal by I/O pin and stirs direction, and then can modulate
The voltage signal is PWM square-wave signal, obtains and stirs the corresponding control instruction in direction with the rocking bar and rocking bar, and passes through the nothing
The PWM square-wave signal and the control instruction are sent to unmanned plane by wire module.
5. a kind of VTOL fixed-wing unmanned controller control system according to claim 1, which is characterized in that institute
Stating key module includes: the key that takes off, after the main control module detects the key pressing of taking off, by the wireless module to nothing
Man-machine one key of transmission takes off control instruction；
Make a return voyage key, after the main control module detects the key pressing of making a return voyage, sends one to unmanned plane by the wireless module
Key makes a return voyage control instruction；
Holder directionkeys, after the main control module detects holder direction key pressing, by the wireless module to nobody
Machine sends holder direction adjustment instruction, and the holder directionkeys includes pitching key and key position.
6. a kind of VTOL fixed-wing unmanned controller control system according to claim 1, which is characterized in that institute
It states the functional entrance that instruction issuing unit is shown to include at least: taking off, lands, climbing, declining, fixed height, spiraling, cruise and return
Boat.
7. a kind of VTOL fixed-wing unmanned controller control system according to claim 1, which is characterized in that institute
Stating main control module selects 32 STM32F103VCT6 single-chip microcontrollers as main control chip.
8. a kind of VTOL fixed-wing unmanned controller control system according to claim 1, which is characterized in that institute
Wireless module is stated to be communicated using transparent transmission mode with unmanned plane.
9. a kind of VTOL fixed-wing unmanned controller control system according to claim 1, which is characterized in that also
Including the driving lever module being connected to the main control module, the driving lever module includes three sections of driving levers, for stirring realization for user
Switching between more rotor modes and fixed-wing mode.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110703801A (en) * | 2019-10-30 | 2020-01-17 | 上海歌尔泰克机器人有限公司 | Unmanned aerial vehicle simulation method, device and equipment and storage medium |
| CN112965519A (en) * | 2021-02-02 | 2021-06-15 | 北京京东乾石科技有限公司 | Unmanned aerial vehicle landing guiding equipment, method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110703801A (en) * | 2019-10-30 | 2020-01-17 | 上海歌尔泰克机器人有限公司 | Unmanned aerial vehicle simulation method, device and equipment and storage medium |
| CN112965519A (en) * | 2021-02-02 | 2021-06-15 | 北京京东乾石科技有限公司 | Unmanned aerial vehicle landing guiding equipment, method and system |
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