CN104020777A - Motion-sensing follow-type flight control system and method - Google Patents
Motion-sensing follow-type flight control system and method Download PDFInfo
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Abstract
The invention discloses a motion-sensing follow-type flight control system and method. The motion-sensing follow-type flight control system comprises a remote controller and an aircraft. The remote controller comprises a power supply system, an acceleration sensor, a digital-analog converter, a microcontroller and a radio transmission module. The aircraft comprises an information receiving module, an acceleration sensor, a gyroscope sensor, a barometer sensor, a data processing module and a control driving module. The remote controller obtains the acceleration magnitude of the hand through the acceleration sensor, collects motion data of the hand, and processes the motion data through the digital-analog converter. Then, the microcontroller calculates the acceleration change of the aircraft according to the acceleration change of the hand, and transmits a corresponding control instruction to the aircraft through the radio transmission module, so that the aircraft follows motions of the hand to cope and magnify the control motions guided by the hand, the aircraft is guided to fly in various corresponding flight paths by following the motions of the hand, and the immersive feeling is brought to an operator.
Description
Technical field
The present invention relates to flying toy field, be specifically related to remote controller and aircraft that a kind of body sense is controlled, belong to toy airplane control technology field.
Background technology
Development along with toy art, the flying toy that can shake now control is very common, but the telepilot of existing general remote control distributor toy is all to rely on button and the distant bar of control to control the flight of toy airplane, button on its telepilot is more, override more complicated, needs a large amount of study and flying experiences could control preferably aircraft.Enter gate threshold higher, be not easy to common people, especially child's controls, and due to the finiteness of existing physical button formula telepilot knob quantity, also make the performed an action quantity of its aircraft of controlling be restricted, operation is also comparatively stiff simultaneously, be unfavorable for bringing manipulator impression on the spot in person, for this problem, researcher in this field has started to research and develop body sense class flight control technology, as Chinese patent literature CN201978499U discloses a kind of telepilot and aircraft that moves perception, it comprises action sensing module, the first wireless communication module and the first control module, the first control module is provided with data-reading unit and data processing unit, action sensing module is provided with acceleration transducer sum-product intergrator, the first control module is connected with action sensing module, the first wireless module respectively, for obtaining telepilot exercise data from action sensing module, and its exercise data is converted into the steering order of controlled end, by the first wireless communication module, send to controlled end.The document is described and can be gathered the movable information of user's hand, and this information is converted to control information for controlling the motion of controlled end, makes operator more on the spot in person in straighforward operation, and that improves its straighforward operation can be recreational.But this patent documentation is mainly used integrator to carry out speed calculating to integrated acceleration, its integration can make velocity error amplify rapidly, thereby cause its control very inaccurate, can not carry out precision navigation to aircraft, as do not realized by fixation locus, fly, as apply it on quadrotor, can't take into account stability and the response speed of aircraft simultaneously, the description of this patent documentation is fuzzy simultaneously, disclose insufficient, not mentioned its movable information is by what mode and how to be converted to control signal, and control signal is specifically undeclared whatever, according to the description of its instructions, be difficult to realize its intention.
Summary of the invention
For prior art above shortcomings, the present invention proposes a kind of body sense trailing type flight control system and control method thereof, this flight control system comprises telepilot and aircraft, and telepilot comprises electric power system, acceleration transducer, digital to analog converter, microcontroller and wireless radio transmission module; Aircraft comprises information receiving module, acceleration transducer, gyro sensor, barometer sensor, data processing module and control driver module.Telepilot obtains the accekeration of hand by acceleration transducer, gather the exercise data of hand, and by digital to analog converter, exercise data is processed, then microcontroller calculates the acceleration change of aircraft according to the acceleration change of hand, and corresponding steering order is sent to aircraft by wireless radio transmission module, thereby realize the action that aircraft is followed hand, copy and amplify the control action being guided by hand, vectored flight device is followed hand motion and is made various corresponding flight paths, thereby brings manipulator impression on the spot in person.
The present invention solves its technical matters, the technical scheme adopting is: a kind of body sense trailing type flight control system, comprise telepilot and aircraft, its design feature is: described aircraft comprises information receiving module, acceleration transducer, data processing module and control driver module, described information receiving module receives the accekeration of telepilot transmitting and is passed to data processing module, data processing module is decoded as described accekeration the control signal of aircraft movements and passes to control driver module, by controlling driver module control aircraft, according to its control signal, move accordingly, aircraft is in flight course, carry-on acceleration transducer just gathers the flight information of aircraft in good time, and the information collecting is fed back to the information receiving module of aircraft, by information receiving module by communication to data processing module, or acceleration transducer is directly transferred to data processing module by the information collecting, by data processing module, its data are carried out using it as feedback information, passing to control driver module after conversion process, by controlling driver module, accordingly the sporting flying of aircraft is adjusted in good time.
Above-mentioned body sense trailing type flight control system, described aircraft also comprises gyro sensor and air pressure flowmeter sensor, aircraft is in flight course, carry-on gyro sensor and air pressure flowmeter sensor just gather direction and the elevation information of aircraft in flight course in good time, and the information collecting is fed back to the information receiving module of aircraft, by information receiving module by communication to data processing module, or gyro sensor and air pressure flowmeter sensor are directly transferred to data processing module by the information collecting, by data processing module, its data are carried out using it as feedback information, passing to control driver module after conversion process, by controlling driver module, accordingly the sporting flying of aircraft is adjusted in good time.
Above-mentioned body sense trailing type flight control system, described telepilot comprises electric power system, acceleration transducer, digital to analog converter, microcontroller and wireless radio transmission module, described acceleration transducer is converted to voltage signal by the movable information collecting and passes to digital to analog converter, digital to analog converter carries out described voltage signal discretize processing and is converted to digital signal transfers to microcontroller, microcontroller calculates described digital signal to be converted to and controls the accekeration of aircraft action and pass to wireless radio transmission module, wireless radio transmission module is transmitted to aircraft by the accekeration receiving.
Above-mentioned body sense trailing type flight control system, described aircraft is quadrotor, also comprise power supply, four motors and quadruplet screw propeller, four motors and quadruplet screw propeller are arranged on respectively on four symmetry directions of quadrotor, be decussation structure, wherein the sense of rotation of adjacent two cover screw propellers is contrary, and the sense of rotation of relative two cover screw propellers is identical.Power supply, information receiving module, acceleration transducer, gyro sensor, barometer sensor, data processing module and control driver module are all installed concentratedly on the fuselage in the middle of quadrotor.
Above-mentioned body sense trailing type flight control system, the electric power system of described telepilot, comprises battery and stable-pressure device.
Above-mentioned body sense trailing type flight control system, the microcontroller of described telepilot is MCU microcontroller, or ARM microcontroller, or AVR microcontroller, the wireless radio transmission module of described telepilot is RF2401 radio receiving transmitting module.
The control method of above-mentioned body sense trailing type flight control system, comprises the steps:
Step 201: the acceleration transducer of telepilot is carried out to data initialization and calibration; Carry-on acceleration transducer is carried out to data initialization and calibration;
Step 202: utilize the acceleration transducer of telepilot to obtain the acceleration of motion of telepilot in XYZ direction, and the acceleration signal obtaining is carried out to pre-service, be converted to voltage signal and pass to digital to analog converter; By digital to analog converter, the voltage signal receiving carried out discretize processing and is converted to digital signal, passing to microcontroller;
Step 203: microcontroller calculates described digital signal, is converted to and controls the accekeration of aircraft action and pass to wireless radio transmission module;
Step 204: wireless radio transmission module is transmitted to the accekeration receiving the information receiving module of aircraft; Information receiving module passes to the accekeration receiving the data processing module of aircraft, by data processing module, carry out signal decoding, be converted to the control output signal of controlling aircraft movements, and this control output signal is passed to the control driver module of aircraft, by controlling driver module, control aircraft and follow the action of telepilot guiding and fly accordingly, hover or land;
Step 205: utilize carry-on acceleration transducer, gyro sensor and air pressure flowmeter sensor to gather aircraft from the information in sporting flying state, and the information collecting is fed back to the information receiving module of aircraft, by information receiving module, this information is received and is passed to the data processing module of aircraft, or the information collecting is directly transferred to data processing module, by data processing module, this information is carried out using it as feedback information, passing to control driver module after conversion process;
Step 206: the control driver module of aircraft is compared according to the transmitting information of this feedback information and telepilot or default standard information value, according to its difference, the sporting flying of aircraft is adjusted in good time.
The control method of above-mentioned body sense trailing type flight control system, the computation process of step 203 comprises:
Steps A: preset the flight path of aircraft with respect to the enlargement factor F of hand exercise track, and this value is given to the microcontroller of telepilot;
Step B: utilize the acceleration transducer of telepilot to gather hand-held remote controller at the acceleration of XYZ direction, and its accekeration conversion is decomposed into angle acceleration a1 θ and the radial acceleration a1r in each of section derivative time;
Step C: according to formula: a2r=F * a1r, can calculate the accekeration a2r of aircraft in each section derivative time; According to formula: a2 θ=a1 θ can calculate the angular acceleration values a2 θ of aircraft in each section derivative time.
The control method of above-mentioned body sense trailing type flight control system, step 205 comprises:
Steps A: the running orbit of aircraft is all divided into several short lines movement locus, the run duration of aircraft is divided into several of section derivative time, utilizes the acceleration transducer of aircraft to gather the acceleration information in the inherent flight course of each section derivative time of aircraft;
Step B: utilize carry-on gyro sensor, gather the directional information in the inherent flight course of each section derivative time of aircraft; Utilize barometer sensor to gather the elevation information in the inherent flight course of each section derivative time of aircraft;
Step C: the above-mentioned information that steps A and B are collected feeds back to the information receiving module of aircraft, by information receiving module by communication to data processing module, or the information that just steps A and B collect is directly transferred to data processing module;
Step D: its data are carried out passing to control driver module using it as feedback information after conversion process by data processing module.
The control method of above-mentioned body sense trailing type flight control system, enlargement factor F presets into fixed value and this value is given to the microcontroller of telepilot; Or enlargement factor F is redefined for to a value range, and when actual controlling, selecting on telepilot the analog value within the scope of this, its system of selection is that button is selected or rocking bar is selected or automatically sets according to the severe degree of rocking of hand-held remote controller again.
The control method of above-mentioned body sense trailing type flight control system, is set as 30 by enlargement factor F, or is set as 10 to 100 value ranges.
Compared with prior art, the invention has the beneficial effects as follows: the body sense trailing type flight control system that the present invention proposes, owing to being provided with acceleration transducer, digital to analog converter, microcontroller and wireless radio transmission module in telepilot; And in aircraft, be provided with information receiving module, acceleration transducer, data processing module and control driver module; Its beneficial effect is each movable information that the acceleration transducer of setting in telepilot can gather the hand that holds telepilot in good time, and its movable information is converted to the instruction of controlling aircraft flight track by the processing of digital to analog converter and the computing of microcontroller, guide aircraft to follow the action flight of hand, copy and amplify the control action being guided by hand, vectored flight device is followed hand motion and is made various corresponding flight paths, thereby brings manipulator impression on the spot in person.The present invention is also provided with acceleration transducer simultaneously on aircraft, its beneficial effect is to utilize this acceleration transducer to gather the flight information of aircraft in good time, and the information collecting is fed back to the information receiving module of aircraft, by information receiving module by communication to data processing module, by data processing module, its data are carried out using it as feedback information, passing to control driver module after conversion process, by controlling driver module, according to this feedback information and telepilot transmitting information, compare, according to its difference, the sporting flying of aircraft is adjusted in good time, to compensate its difference, thereby the track flight that keeps aircraft to provide according to hand accurately.The new direction that realizes man-machine interaction, is mapped to human action in game, produces interactive game effect on the spot in person.
The present invention arranges gyro sensor and air pressure flowmeter sensor on aircraft, in order to monitor directional information and the elevation information of aircraft in flight course, carry-on gyro sensor can gather its directional information in flight course in good time, barometer sensor can gather the elevation information of aircraft in flight course in good time, and the information collecting is fed back to the information receiving module of aircraft, by information receiving module by communication to data processing module, by data processing module, its data are carried out using it as feedback information, passing to control driver module after conversion process, by controlling driver module, accordingly the sporting flying of aircraft is adjusted in good time.
The present invention arranges acceleration transducer, gyro sensor and air pressure flowmeter sensor on aircraft, to gather the status information of aircraft in flight course in good time, and fed back to the control driver module of aircraft, by this control driver module, compared with the command value of standard value or telepilot transmitting accordingly, adjust its difference, thereby guaranteed that aircraft is more steady, safer, flight more accurately, adopt after this scheme, aircraft is better than prior art greatly at aspects such as the dirigibility of flying, stability, security, accuracies.
Aircraft of the present invention adopts quadrotor, because quadrotor is a kind of four-axle aircraft with four screw propellers, by the sense of rotation of adjacent two cover screw propellers is arranged on the contrary, the sense of rotation of relative two cover screw propellers is arranged to identical, and by changing the speed of each axle screw propeller, thereby can realize various complexity and flare maneuver flexibly, as hovering, landing, the accurately instruction such as orbit determination flight.The various load class devices that carry on aircraft are all arranged on the middle fuselage of aircraft, and its beneficial effect is in order to keep the high symmetry of aircraft in weight, to be beneficial to its smooth flight, is unlikely unbalance in weight.
In the electric power system of telepilot, installing stable-pressure device additional, is in order to make its output voltage signal more steady, thereby avoids the unstable and information distortion that causes institute's telepilot to gather and send of voltage signal.
The present invention is by being arranged on the control algolithm in telepilot microcontroller, and equal proportion is amplified the operation acceleration of telepilot and sent it to aircraft, and it allows aircraft understand people's intention by control algolithm, and is reflected in game control.Embodied a kind of new direction of man-machine interaction, not employment goes study to understand complicated telepilot, but allow machine understand people's intention, aircraft copies the control action being guided by hand, telepilot obtains the acceleration of hand, calculate the aircraft acceleration of amplification, then control aircraft and reach this acceleration, final realization action copies amplification.Allow user control aircraft by the most natural interactive mode.People only need to hold controller and gesticulate exercises aloft, and aircraft just can aloft amplify action show.And guaranteed the stability of aircraft flight and the accuracy of flight path, improved the response speed of aircraft, increased the maneuverability of aircraft.The present invention greatly reduces the threshold of playing games, and has increased interest simultaneously, can bring the shock in more visions and experience for operator.
Accompanying drawing explanation
Fig. 1 is control structure schematic diagram of the present invention;
Fig. 2 is motion amplification algorithm schematic diagram of the present invention;
Fig. 3 is the structural representation of quadrotor of the present invention;
In figure: 1 be telepilot, 2 for aircraft, 100 is for the electric power system of telepilot, 103 is the battery of electric power system, 105 stable-pressure devices that are electric power system; 110 is that the acceleration transducer, 120 arranging in telepilot is that digital to analog converter, 130 is that microcontroller, 140 is wireless radio transmission module; 200 be aircraft power supply, 210 for the information receiving module of aircraft, 220 for the acceleration transducer of aircraft, 230 for gyro sensor, 240 for barometer sensor, 250 data processing modules, 260 for controlling driver module, 270, be screw propeller, the 280 fuselage cavitys for aircraft middle part
Specific embodiments
Below in conjunction with accompanying drawing, embodiment of the present invention are elaborated.As shown in Figure 1 to Figure 3, the first embodiment of the present invention is, a kind of body sense trailing type flight control system, comprise telepilot 1 and aircraft 2, telepilot 1 comprises electric power system 100, acceleration transducer 110, digital to analog converter 120, microcontroller 130 and wireless radio transmission module 140, in the present embodiment, microcontroller 130 adopts MCU microcontroller, and microcontroller 130 can also adopt ARM microcontroller or AVR microcontroller in addition; Wireless radio transmission module 140 adopts RF2401 radio receiving transmitting module; Electric power system 100 comprises battery 103 and stable-pressure device 105, and its battery 103 adopts rechargeable type lithium battery, and battery 103 also can adopt dry cell certainly; Battery 103 is by stable-pressure device 105 and respectively to acceleration transducer 110, digital to analog converter 120, microcontroller 130 and 140 power supplies of wireless radio transmission module.The acceleration transducer 110 of telepilot gathers each movable information of the hand that holds remote controller, the movable information collecting is decomposed into X simultaneously, Y, the axial accekeration of Z tri-, and be converted to voltage signal and pass to digital to analog converter 120, the received voltage signal of digital to analog converter 120 carries out discretize processing and is converted to digital signal transfers to microcontroller 130, microcontroller 130 calculates described digital signal to be converted to and controls the accekeration of aircraft 2 actions and pass to wireless radio transmission module 140, wireless radio transmission module 140 is transmitted to aircraft 2 by the accekeration receiving by radio frequency or bluetooth approach.
Aircraft 2 adopts quadrotor, have four motors and quadruplet screw propeller 270, four motors and quadruplet screw propeller 270 are arranged on respectively on four symmetry directions of quadrotor, be decussation structure, wherein the sense of rotation of adjacent two cover screw propellers 270 is contrary, the sense of rotation of relative two cover screw propellers 270 is identical, thereby can guarantee the symmetry of fuselage on four direction, so that aircraft can smooth flight.280 li of the fuselage cavitys at aircraft 2 middle parts, be provided with power supply 200, information receiving module 210, acceleration transducer 220, gyro sensor 230, barometer sensor 240, data processing module 250, control driver module 260, with telepilot 1 in like manner, at power supply 200, also add stable-pressure device (not shown) below, power supply 200 also adopts rechargeable type lithium battery, can certainly adopt dry cell; Power supply 200 is powered to information receiving module 210, acceleration transducer 220, gyro sensor 230, barometer sensor 240, data processing module 250, control driver module 260 and motor respectively by stable-pressure device, by 270 rotations of driven by motor screw propeller.
Information receiving module 210 on aircraft 2 receives the accekeration of wireless radio transmission module 140 transmittings of telepilot 1, and passed to data processing module 250 by information receiving module 210, data processing module 250 is decoded as this accekeration to control the flight directive signal of aircraft 2 motions and pass to controls driver module 260, by controlling driver module 260 control aircraft 2, according to its flight directive signal, moves accordingly, aircraft 2 is in flight course, acceleration transducer 220 on aircraft 2 just gathers aircraft 2 at X in good time, Y, flying speed information in Z-direction, gyro sensor 230 on aircraft 2 gathers the directional information of aircraft 2 in flight course in good time, barometer sensor 240 on aircraft 2 gathers the elevation information of aircraft 2 in flight course in good time, and the above-mentioned information collecting is all fed back to the information receiving module 210 of aircraft, by information receiving module 210 by these communications to data processing module 250, certainly the relevant information that above-mentioned three sensors collect also can directly feed back to data processing module 250, by data processing module 250, its data are carried out using it as feedback information, passing to control driver module 260 after conversion process, controlling driver module 260 compares according to standard value default in this feedback information and telepilot 2 transmitting information or system, according to the difference between feedback information and the command value of standard value or telepilot 2 transmittings, and the sporting flying of aircraft is adjusted in good time, as feedback information shows that the actual acceleration value of current flight device 2 is lower than the acceleration command value of telepilot 2 transmittings, according to its difference, to aircraft 2 appropriateness, accelerate the instruction of flight.
Present embodiment adopts human body temperature type telepilot to control the control method of aircraft flight, comprises the steps:
Step 201: the acceleration transducer 110 to telepilot 1 carries out data initialization and calibration; Acceleration transducer 220 on aircraft 2, gyro sensor 230 and air pressure flowmeter sensor 240 are carried out to data initialization and calibration;
Step 202: utilize the acceleration transducer 110 of telepilot 1 to obtain the movement locus of hand in XYZ direction, and the acceleration signal obtaining is carried out to pre-service, be converted to voltage signal and pass to digital to analog converter 120; Voltage signal by 120 pairs of receptions of digital to analog converter carries out discretize processing and is converted to digital signal, passes to microcontroller 130;
Step 203: microcontroller 130 calculates described digital signal, is converted to and controls the accekeration of aircraft 2 actions and pass to wireless radio transmission module 140; Its computation process comprises:
Steps A: set the flight path of aircraft with respect to the enlargement factor F of hand exercise track, and this value is given to the microcontroller of telepilot; Enlargement factor F can preset into fixed value, as F is set as to 30, and this value is given to the microcontroller 130 of telepilot 1; Or enlargement factor F is redefined for to a value range, as present embodiment is set as 10 to 100 value ranges by F value, by user, on telepilot 1, the value range of from 10 to 100 times of modes by button, selected arbitrarily as required, certainly the selection mode of multiple F can also adopt the selection mode of rocking bar, or rocks severe degree Lookup protocol according to hand-held remote controller;
Step B: the differential movement locus dL1 that the running orbit of hand-held remote controller 1 is divided into several short lines, the run duration of telepilot 1 and aircraft 2 is all divided into several derivative time of section dt, according to formula: dL2=dL1 * F, can calculate aircraft 2 at the corresponding differential movement locus dL2 that each derivative time, section dt should fly;
Step C: utilize the acceleration transducer 110 of telepilot 1 to gather hand-held remote controllers at the acceleration of XYZ direction, and its accekeration conversion is decomposed into angle acceleration a1 θ and the radial acceleration a1r in each of section derivative time; Simultaneously according to formula: dr1=a1r * dt, can calculate the differential radius dr1 of telepilot 1 in each section derivative time; According to formula: dr2=F * dr1, can calculate the differential radius dr2 of aircraft 2 in each section derivative time; According to formula: d θ=a1 θ * dt can calculate hand-held remote controller 1 and the aircraft 2 differential angle d θ in each section dt derivative time;
Step D: according to formula: a2r=F * a1r=F * (dr1/dt), can calculate the accekeration a2r of aircraft 2 in each section derivative time; According to formula: a2 θ=a1 θ can calculate the angular acceleration values a2 θ of aircraft 2 in each section derivative time.
The movement locus of the little ellipse representation telepilot 1 in Fig. 2, the movement locus of large ellipse representation aircraft 2, as can be seen from Figure 2, sets after a suitable magnification ratio F, just can change the acceleration that obtains aircraft 2, and three dimensions acceleration amplifies also similar.Present embodiment is to calculate acceleration under polar coordinate system, as also similar with it in directly processed acceleration under XYZ coordinate system.Generally, enlargement factor F is set as to 30 times.
Step 204: wireless radio transmission module 140 is transmitted to the accekeration receiving the information receiving module 210 of aircraft 2; Information receiving module 210 passes to the accekeration receiving the data processing module 250 of aircraft 2, by data processing module 250, carry out signal decoding, be converted to the control output signal of controlling aircraft movements, and this control output signal is passed to the control driver module 260 of aircraft 2, by controlling driver module 260, control aircraft 2 and follow the action of hand guiding and fly accordingly, hover or land;
Step 205: utilize the acceleration transducer 220 on aircraft 2 in good time to gather aircraft 2 at X, Y, flying speed information in Z-direction, gyro sensor 230 on aircraft 2 gathers the directional information of aircraft 2 in flight course in good time, barometer sensor 240 on aircraft 2 gathers the elevation information of aircraft 2 in flight course in good time, and the above-mentioned information collecting is all fed back to the information receiving module 210 of aircraft, by information receiving module 210 by these communications to data processing module 250, or the information that three sensors are collected is directly transferred to data processing module 250, by data processing module 250, its data are carried out using it as feedback information, passing to control driver module 260 after conversion process, specifically comprise as follows step by step:
Steps A: the running orbit of aircraft 2 is all divided into several short lines movement locus, the run duration of aircraft 2 is divided into several of section derivative time, utilizes the acceleration transducer 220 of aircraft 2 to gather each of section aircraft 2 acceleration of motion derivative time;
Step B: utilize the gyro sensor 230 on aircraft 2, gather the directional information in the inherent flight course of aircraft 2 each section derivative time; Utilize barometer sensor 240 to gather the elevation information in the inherent flight course of aircraft 2 each section derivative time;
Step C: the above-mentioned information that steps A and B are collected feeds back to the information receiving module 210 of aircraft 2, by information receiving module 210 by communication to data processing module 250, or the above-mentioned information that steps A and B collect is directly transferred to data processing module 250;
Step D: its data are carried out passing to control driver module 260 using it as feedback information after conversion process by data processing module 250;
Step 206: the control driver module 260 of aircraft 2 is compared according to standard value default in this feedback information and telepilot 2 transmitting information or system, according to the difference between feedback information and the command value of standard value or telepilot 2 transmittings, and the sporting flying of aircraft 2 is adjusted in good time.
The present invention adopts the thought of differential, by the motion of wild trajectory be many compared with short lines motion and, thereby on each line element, aircraft 2 all can be approximated to be rectilinear motion and controls, and the error of each step motion is obtained by acceleration transducer 220 signal integrations that carry on aircraft 2, thereby each step motion all carries out to aircraft 2 stability and the accuracy that feedback regulation has guaranteed aircraft 2 motions.It is worth mentioning that, the hovering of aircraft 2 and stable landing can be used as a special case of aircraft 2 TRAJECTORY CONTROL.For example, hovering can be passed through the feedback information of acceleration transducer 220, constantly adjust the motor output of aircraft 2, take and keep the acceleration of aircraft 2 in all directions as zero, stable landing still can pass through the feedback information of acceleration transducer 220, make aircraft 2 first have downward acceleration, and post-acceleration is reverse gradually, so that the end speed after aircraft decline certain height approaches zero, then can powered-down 200.
To domestic consumer, child particularly, the object of the aircraft of playing is to control the motion of aircraft, the shock that brings vision and experience.For example, everybody often sees child and holds the model of an airplane and gesticulate exercises aloft.Object of the present invention has just been to provide a kind of user of allowing and has controlled aircraft by the most natural interactive mode.People only need to hold telepilot 1 and gesticulate exercises aloft, and aircraft 2 just can aloft amplify action show.The present invention has realized by aircraft 2 and has copied the control action being guided by hand, obtained accurately the acceleration of hand, and by microcontroller 130, calculate the aircraft acceleration of amplification, and then control aircraft 2 and reach this acceleration, finally realize action and copy amplification.And on aircraft 2, be provided with acceleration transducer 220, gyro sensor 230 and air pressure flowmeter sensor 240, to gather the status information of aircraft 2 in flight course in good time, and fed back to the control driver module 260 of aircraft 2, by this control driver module 260, compared with the command value of standard value or telepilot transmitting accordingly, adjust its difference, thus guaranteed aircraft 2 can be more steady, safer, more accurately, flight more flexibly.
Claims (10)
1. a body sense trailing type flight control system, comprise telepilot and aircraft, it is characterized in that: described aircraft comprises information receiving module, acceleration transducer, data processing module and control driver module, described information receiving module receives the accekeration of telepilot transmitting and is passed to data processing module, data processing module is decoded as described accekeration the control signal of aircraft movements and passes to control driver module, by controlling driver module control aircraft, according to its control signal, moves accordingly; Aircraft is in flight course, carry-on acceleration transducer just gathers the flight information of aircraft in good time, and the information collecting is fed back to the information receiving module of aircraft, by information receiving module by communication to data processing module, or acceleration transducer is directly transferred to data processing module by the information collecting, by data processing module, its data are carried out using it as feedback information, passing to control driver module after conversion process, by controlling driver module, accordingly the sporting flying of aircraft is adjusted in good time.
2. a kind of body sense trailing type flight control system according to claim 1, it is characterized in that: described aircraft also comprises gyro sensor and air pressure flowmeter sensor, aircraft is in flight course, carry-on gyro sensor and air pressure flowmeter sensor just gather direction and the elevation information of aircraft in flight course in good time, and the information collecting is fed back to the information receiving module of aircraft, by information receiving module by communication to data processing module, or gyro sensor and air pressure flowmeter sensor are directly transferred to data processing module by the information collecting, by data processing module, its data are carried out using it as feedback information, passing to control driver module after conversion process, by controlling driver module, accordingly the sporting flying of aircraft is adjusted in good time.
3. a kind of body sense trailing type flight control system according to claim 2, it is characterized in that: described telepilot comprises electric power system, acceleration transducer, digital to analog converter, microcontroller and wireless radio transmission module, described acceleration transducer is converted to voltage signal by the movable information collecting and passes to digital to analog converter, digital to analog converter carries out described voltage signal discretize processing and is converted to digital signal transfers to microcontroller, microcontroller calculates described digital signal to be converted to and controls the accekeration of aircraft action and pass to wireless radio transmission module, wireless radio transmission module is transmitted to aircraft by the accekeration receiving.
4. a kind of body sense trailing type flight control system according to claim 1 and 2, it is characterized in that: described aircraft is quadrotor, also comprise power supply, motor and quadruplet screw propeller, quadruplet screw propeller is arranged on respectively on four symmetry directions of quadrotor, be decussation structure, wherein the sense of rotation of adjacent two cover screw propellers is contrary, and the sense of rotation of relative two cover screw propellers is identical.
5. a kind of body sense trailing type flight control system according to claim 3, is characterized in that: the microcontroller of described telepilot is MCU microcontroller, or ARM microcontroller, or AVR microcontroller.
6. a body sense trailing type flight control method, right to use requires the body sense trailing type flight control system described in 3, it is characterized in that, comprises the steps:
Step 201: the acceleration transducer of telepilot is carried out to data initialization and calibration; Carry-on acceleration transducer is carried out to data initialization and calibration;
Step 202: utilize the acceleration transducer of telepilot to obtain the acceleration of motion of telepilot in XYZ direction, and the acceleration signal obtaining is carried out to pre-service, be converted to voltage signal and pass to digital to analog converter; By digital to analog converter, the voltage signal receiving carried out discretize processing and is converted to digital signal, passing to microcontroller;
Step 203: microcontroller calculates described digital signal, is converted to and controls the accekeration of aircraft action and pass to wireless radio transmission module;
Step 204: wireless radio transmission module is transmitted to the accekeration receiving the information receiving module of aircraft; Information receiving module passes to the accekeration receiving the data processing module of aircraft, by data processing module, carry out signal decoding, be converted to the control output signal of controlling aircraft movements, and this control output signal is passed to the control driver module of aircraft, by controlling driver module, control aircraft and follow the action of telepilot guiding and fly accordingly, hover or land;
Step 205: utilize carry-on acceleration transducer, gyro sensor and air pressure flowmeter sensor to gather aircraft from the information in sporting flying state, and the information collecting is fed back to the information receiving module of aircraft, by information receiving module, this information is received and is passed to the data processing module of aircraft, or the information collecting is directly transferred to data processing module, by data processing module, this information is carried out using it as feedback information, passing to control driver module after conversion process;
Step 206: the control driver module of aircraft is compared according to the transmitting information of this feedback information and telepilot or default standard information value, according to its difference, the sporting flying of aircraft is adjusted in good time.
7. a kind of body sense trailing type flight control method according to claim 6, is characterized in that, the computation process of step 203 comprises:
Steps A: preset the flight path of aircraft with respect to the enlargement factor F of hand exercise track, and this value is given to the microcontroller of telepilot;
Step B: utilize the acceleration transducer of telepilot to gather hand-held remote controller at the acceleration of XYZ direction, and its accekeration conversion is decomposed into angle acceleration a1 θ and the radial acceleration a1r in each of section derivative time;
Step C: according to formula: a2r=F * a1r, can calculate the accekeration a2r of aircraft in each section derivative time; According to formula: a2 θ=a1 θ can calculate the angular acceleration values a2 θ of aircraft in each section derivative time.
8. a kind of body sense trailing type flight control method according to claim 6, is characterized in that, step 205 comprises:
Steps A: the running orbit of aircraft is all divided into several short lines movement locus, the run duration of aircraft is divided into several of section derivative time, utilizes the acceleration transducer of aircraft to gather the acceleration information in the inherent flight course of each section derivative time of aircraft;
Step B: utilize carry-on gyro sensor, gather the directional information in the inherent flight course of each section derivative time of aircraft; Utilize barometer sensor to gather the elevation information in the inherent flight course of each section derivative time of aircraft;
Step C: the above-mentioned information that steps A and B are collected feeds back to the information receiving module of aircraft, by information receiving module by communication to data processing module, or the information that just steps A and B collect is directly transferred to data processing module;
Step D: its data are carried out passing to control driver module using it as feedback information after conversion process by data processing module.
9. a kind of body sense trailing type flight control method according to claim 7, is characterized in that: enlargement factor F presets into fixed value and this value is given to the microcontroller of telepilot; Or enlargement factor F is redefined for to a value range, and when actual controlling, selecting on telepilot the analog value within the scope of this, its system of selection is that button is selected or rocking bar is selected or automatically sets according to the severe degree of rocking of hand held controller again.
10. according to a kind of body sense trailing type flight control method described in claim 7 or 9, it is characterized in that: enlargement factor F is set as to 30, or is set as 10 to 100 value ranges.
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