CN104656482A - Terminal remote control device - Google Patents
Terminal remote control device Download PDFInfo
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- CN104656482A CN104656482A CN201510054349.8A CN201510054349A CN104656482A CN 104656482 A CN104656482 A CN 104656482A CN 201510054349 A CN201510054349 A CN 201510054349A CN 104656482 A CN104656482 A CN 104656482A
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- control device
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- 238000000034 method Methods 0.000 claims description 20
- 238000006073 displacement reaction Methods 0.000 claims description 15
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 11
- 230000005611 electricity Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0421—Multiprocessor system
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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Abstract
The embodiment of the invention provides a terminal remote control device. The terminal remote control device comprises a professional operating unit for remotely controlling the terminal and a multifunctional intelligent terminal module; when controlling an aircraft, the terminal remote control device can achieve high flight control precision; meanwhile a positioning module of the terminal remote control device can be used for acquiring position information; the position information acquired by the positioning module of the terminal remote control device can be sent to a flight control panel of the aircraft; when the position information acquired by the positioning module of the terminal remote control device is effectively utilized by the flight control panel, the aircraft combines the self-position information, so that the aircraft can automatically follow the remote control terminal to move. Therefore, the practical feeling of an operator can be greatly improved.
Description
Technical field
The present invention relates to a kind of terminal remote control device, particularly, relating to a kind of terminal remote control device for controlling aircraft.
Background technology
At present on the market, unpiloted model aerial vehicle (such as fixed wing aircraft, rotor craft comprises helicopter), be widely used, such as in detecting, search and rescue, there is a lot of application the aspects such as model of an airplane amusement, the daily shooting of wedding.
Manipulation for aircraft is realized by terminal remote control device (also claiming " telechiric device ") by user usually, manipulator moves in operate aircraft, as in the process of unmanned vehicle, because unmanned vehicle average physique is less, when flying far away, (as four or five hundred meters) are with the naked eye difficult to see clearly, during because of manipulator's operate aircraft, himself usually can move, such manipulator can be absorbed in display screen, the last position that also may cause not making clear that unmanned vehicle is current, cause getting lost and even fly to lose in this case, or manipulator need move a segment distance to pick up unmanned vehicle, such Consumer's Experience is had a greatly reduced quality.Be difficult to the use sense improving operator.
Summary of the invention
In order to overcome the defect of the remote control mode operability function singleness of the aircraft of prior art, provide a kind of remote terminal: by the combination of intelligent terminal module with the remote terminal handle of specialty, thus realize the use sense improving operator.
For achieving the above object, the embodiment of the present invention adopts following scheme:
A kind of terminal remote control device, is characterized in that: have
For controlling the parts of aircraft movement; Master control board; Described master control board is provided with the processor for the treatment of data; Described terminal remote control device also has: FSK transceiver; Locating module; Data acquisition module; The current location information of locating module described in described data collecting module collected sends to described FSK transceiver by described processor process.
Preferably, the above-mentioned parts for controlling aircraft movement are handle or button.
Preferably, above-mentioned terminal remote control device also comprises the 5.8G WiFi module for receiving and sending messages, and above-mentioned FSK transceiver is the FSK transceiver adopting 2.4G.
Preferably, the information of the above-mentioned locating module of collection that above-mentioned data acquisition module is real-time.And the information gathered is sent to aircraft by (time interval is determined by program setting) of the timing of FSK transceiver.
Preferably, above-mentioned locating module is used for accepting gps signal, Beidou navigation signal and/or GLONASS signal.
Further, above-mentioned locating module is built in above-mentioned remote terminal.
Further, said apparatus makes lip pencil, rectangular shape is carried with for operator.
Preferably, said apparatus also includes the height sensor for measuring height.
Further, above-mentioned height sensor is baroceptor.
Preferably, described remote terminal also comprises intelligent terminal module, and the Flight Condition Data of the described aircraft received is sent to described intelligent terminal module by described control data collector.
Further, described intelligent terminal module also comprises display screen; Described display screen shows described state of flight information.
The embodiment of the present invention also provides a kind of terminal remote control device to control the method for aircraft: it is characterized in that: described method comprises:
The current location information of the collection locating module that the data acquisition unit of described terminal remote control device is real-time, and by after the treated device process of positional information that gathers, send to controlled aircraft by FSK transceiver;
When the positional information that aircraft response FSK transceiver sends; The master control borad module that described aircraft self carries simulates the mobile message of terminal remote control device by computing, and by the GPS module that described aircraft carries, obtains the positional information that described aircraft is current; Described aircraft, according to the displacement information of described terminal remote control device and self current positional information, calculates target location, and controls described aircraft and move to described target location.
Preferably, said method, described terminal remote control device and described aircraft, also include height sensor respectively, the current location information of the described locating module of collection that the data acquisition unit of described remote terminal is real-time and described terminal remote control device are relative to the upper and lower displacement amount of place reference field, and by gather described information and described displacement after described processor process, send to controlled aircraft by described FSK transceiver; When the positional information that described aircraft response FSK transceiver sends; The master control borad that aircraft self carries simulates the mobile message of terminal remote control device by computing, and by the described GPS module that described aircraft carries, described height sensor obtains the current positional information of aircraft; Aircraft, according to the displacement information of remote terminal and self current positional information, calculates target location, and controls described aircraft and move to target location.
Further, in said method, described aircraft is also equipped with monopod video camera; Described terminal remote control device aimed at all the time by the camera lens of described monopod video camera.
Beneficial effect:
The terminal remote control device provided by the embodiment of the present invention, not only there is the operating grip of the remote terminal of specialty, there is again the multi-functional of intelligent terminal module, when controlling aircraft, achieve flight control accuracy high, simultaneously by the locating module of this terminal remote control device, by the positional information of the locating module collection by remote terminal send to aircraft fly control plate, the positional information of the locating module collection of remote terminal flown control plate effectively utilize time, aircraft is in conjunction with self positional information, aircraft is made to have the function of automatically following movement to remote terminal.Drastically increase the use sense of operator like this.
Accompanying drawing explanation
Below in conjunction with specific embodiment, such scheme is described further.Should be understood that these embodiments are not limited to for illustration of the present invention limit the scope of the invention.The implementation condition adopted in embodiment specifically can do further adjustment according to the condition of producer, and not marked implementation condition is generally the condition in normal experiment.
Fig. 1 is the Facad structure schematic diagram of the terminal remote control device of embodiments of the invention.
Fig. 2 is the structure schematic diagram of the terminal remote control device of embodiments of the invention.
Fig. 3 is the partial enlarged drawing of the back side A of the terminal remote control device of embodiments of the invention.
Fig. 4 is the Facad structure schematic diagram of the terminal remote control device of another 1 embodiment of the present invention.
Fig. 5 is the Electricity Functional module diagram of the terminal remote control device of embodiments of the invention.
The terminal remote control device that Fig. 6 is embodiments of the invention and the mould Electricity Functional module diagram of aircraft controlled.
The terminal remote control device that Fig. 7 is embodiments of the invention and the another 1 mould Electricity Functional module diagram of aircraft controlled.
Embodiment
Below in conjunction with specific embodiment, such scheme is described further.Should be understood that these embodiments are not limited to for illustration of the present invention limit the scope of the invention.The implementation condition adopted in embodiment can do further adjustment according to the condition of concrete producer, and not marked implementation condition is generally the condition in normal experiment.In embodiment scheme, terminal remote control device is referred to as " telechiric device ".
Embodiment:
Fig. 1 is the Facad structure schematic diagram of telechiric device, and Fig. 2 is the structure schematic diagram of telechiric device; Composition graphs 1,2 describes the structure of the telechiric device of this programme, and telechiric device has: for controlling the handle 1 of aircraft movement, intelligent terminal module 2; Master control board 3; FSK transceiver 4; And locating module 5; Master control board 3 is provided with processor, data acquisition module, cache module (not shown); Data acquisition module will pass through the outside transmission (time interval is determined by program) of FSK transceiver 4 timing after the positional information treated device process of the locating module 5 gathered, FSK transceiver 4 can be used for the Flight Condition Data receiving aircraft (not shown), and transferring to intelligent terminal module 2, this intelligent terminal module 2 shows the flight information of aircraft.
Be illustrated in figure 3 the partial enlarged drawing of locating module 5 in Fig. 2, can find out that the built-in mode of locating module 5 is fixed on telechiric device from figure.
As shown in Figure 4, the Facad structure schematic diagram of the telechiric device of another 1 embodiment of the present invention, distinguishes with scheme above and is, the mode inserted by the groove 6 on telechiric device for locating module 5 is connected on telechiric device.
In such scheme, locating module 5 is support the independence of GPS (GPS) and GLONASS (Global Navigation Satellite System) (GLONASS) signal or the synchronous module received.
As the distortion of such scheme, locating module 5 is only GPS module and also can.
In such scheme, telechiric device can be made into lip pencil and carries with for operator.
In such scheme, handle can be replaced button and also can realize moving control aircraft.
Composition graphs 5,6; For telechiric device and the principle assumption diagram controlling aircraft thereof,
The current location information (longitude and latitude and translational speed) of the collection locating module 5 that the data acquisition unit of telechiric device is real-time, and by after the treated device process of positional information that gathers, send to controlled aircraft by FSK transceiver;
When the positional information that aircraft response FSK transceiver sends; The master control borad module that aircraft self carries simulates the mobile message of terminal remote control device by computing, simultaneously by the GPS module that aircraft carries, obtain the positional information that aircraft is current; Aircraft in conjunction with self current positional information, calculates target location according to the displacement information of telechiric device, and controls aircraft and move to target location.
As the distortion of Fig. 5,6 schemes,
Telechiric device is also provided with height sensor, current location information (the longitude and latitude of the collection locating module that the data acquisition unit of telechiric device is real-time, translational speed) and the upper and lower displacement amount relative to place reference field of remote control equipment, and by after the treated device process of positional information of collection, send to controlled aircraft by FSK transceiver;
When the positional information that aircraft response FSK transceiver sends; The master control borad that aircraft self carries simulates the mobile message (horizontal direction of terminal remote control device by computing, the displacement of vertical direction), simultaneously by the GPS module that aircraft carries, and height sensor obtains the current positional information of aircraft; Aircraft in conjunction with self current positional information, calculates target location according to the displacement information of telechiric device, and controls aircraft and move to target location.What also can realize aircraft follows object.
Fig. 7 is the another kind distortion of prior art scheme:
Fig. 7 is telechiric device and the Electricity Functional module diagram of the aircraft controlled.
Telechiric device is provided with locating module, height sensor; Aircraft is equipped with GPS module, height sensor and monopod video camera; The monopod video camera that aircraft carries makes its camera lens aim at telechiric device all the time;
Current location information (the longitude and latitude of the collection locating module that the data acquisition unit of telechiric device is real-time, translational speed) and the upper and lower displacement amount relative to place reference field of remote control equipment, and by after the treated device process of positional information of collection, send to controlled aircraft by FSK transceiver;
When the positional information that aircraft response FSK transceiver sends; The master control borad that aircraft self carries simulates the mobile message (horizontal direction of terminal remote control device by computing, the displacement of vertical direction), simultaneously by the GPS module that aircraft carries, and height sensor obtains the current positional information of aircraft; The displacement information of aircraft foundation telechiric device is in conjunction with self current positional information, and the target location of calculating aircraft and the anglec of rotation of camera lens, control aircraft moves to target location and makes platform-lens point to telechiric device simultaneously.
Technology illustrates:
Adopt 2.4G FSK transceiver to carry out information exchange between telechiric device and aircraft in such scheme.In such scheme, the positional information that aircraft response FSK transceiver sends refers to and performs the positional information that aircraft effectively utilizes FSK transceiver and sends aircraft and follow telechiric device.
Locating module in such scheme can be used for accepting gps signal, Beidou navigation signal and/or GLONASS signal.
Technique effect:
Technique scheme be based in operator's hand/locating module carried with, positional information can be issued controlled aircraft by FSK transceiver by this locating module, the order that what aerocraft real performed is " flying to here ".So namely, achieve unmanned vehicle to follow operator and move, greatly improve the experience sense of operator.
Above-described embodiment, only for technical conceive of the present invention and feature are described, its object is to person skilled in the art can be understood content of the present invention and implement according to this, can not limit the scope of the invention with this.All equivalent transformations of doing according to Spirit Essence of the present invention or modification, all should be encompassed within protection scope of the present invention.
Claims (10)
1. a terminal remote control device, is characterized in that: have the parts for controlling aircraft movement; Master control board; Described master control board is provided with the processor for the treatment of data; Described terminal remote control device also has: FSK transceiver; Locating module; Data acquisition module; The current location information of locating module described in described data collecting module collected sends to described FSK transceiver by described processor process.
2. device as claimed in claim 1, is characterized in that:
Described terminal remote control device also comprises the WiFi module of the 5.8G Hz for receiving and sending messages,
Described FSK transceiver is the FSK transceiver adopting 2.4GHz.
3. device as claimed in claim 1, is characterized in that:
The information of the described locating module of collection that described data acquisition module is real-time, sends to controlled aircraft by the timing of described FSK transceiver.
4. device as claimed in claim 1, is characterized in that: described locating module is used for accepting gps signal, Beidou navigation signal and/or GLONASS signal.
5. device as claimed in claim 4, is characterized in that:
Described locating module is built in described terminal remote control device.
6. device as claimed in claim 1, is characterized in that:
Described device makes lip pencil, rectangular shape is carried with for operator.
7. device as claimed in claim 1, is characterized in that:
Described device also includes the height sensor for measuring height.
8. terminal remote control device controls a method for aircraft, it is characterized in that:
The current location information of the described locating module of collection that the data acquisition unit of described terminal remote control device is real-time, and by after the treated device process of positional information that gathers, send to controlled aircraft by FSK transceiver; When the positional information that aircraft response FSK transceiver sends; The master control borad module that described aircraft self carries simulates the mobile message of terminal remote control device by computing, and by the GPS module that described aircraft carries, obtains the positional information that described aircraft is current; Described aircraft, according to the displacement information of described terminal remote control device and self current positional information, calculates target location, and controls described aircraft and move to described target location.
9. method as claimed in claim 8, is characterized in that:
Described terminal remote control device and described aircraft, also include height sensor respectively, the current location information of the described locating module of collection that the data acquisition unit of described remote terminal is real-time and described terminal remote control device are relative to the upper and lower displacement amount of place reference field, and by gather described information and described displacement after described processor process, send to controlled aircraft by described FSK transceiver; When the positional information that described aircraft response FSK transceiver sends; The master control borad that aircraft self carries simulates the mobile message of terminal remote control device by computing, and by the described GPS module that described aircraft carries, described height sensor obtains the current positional information of aircraft; Aircraft, according to the displacement information of remote terminal and self current positional information, calculates target location, and controls described aircraft and move to target location.
10. method as claimed in claim 9, is characterized in that: described aircraft is also equipped with monopod video camera; Described terminal remote control device aimed at all the time by the camera lens of described monopod video camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510054349.8A CN104656482A (en) | 2015-02-03 | 2015-02-03 | Terminal remote control device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510054349.8A CN104656482A (en) | 2015-02-03 | 2015-02-03 | Terminal remote control device |
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| CN104656482A true CN104656482A (en) | 2015-05-27 |
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| CN201510054349.8A Pending CN104656482A (en) | 2015-02-03 | 2015-02-03 | Terminal remote control device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104808686A (en) * | 2015-04-28 | 2015-07-29 | 零度智控（北京）智能科技有限公司 | System and method enabling aircraft to be flied along with terminal |
| CN104977938A (en) * | 2015-07-06 | 2015-10-14 | 杨珊珊 | Fixed-dimensionality flying type multi-rotor aircraft and flying control method |
| CN105116933A (en) * | 2015-06-29 | 2015-12-02 | 厦门狄耐克物联智慧科技有限公司 | Unmanned aircraft and method preventing unmanned aircraft from separation from control area |
| CN105204520A (en) * | 2015-09-17 | 2015-12-30 | 深圳市十方联智科技有限公司 | Method for controlling unmanned aerial vehicle |
| CN105278544A (en) * | 2015-10-30 | 2016-01-27 | 小米科技有限责任公司 | Control method and device of unmanned aerial vehicle |
| CN106621393A (en) * | 2015-08-03 | 2017-05-10 | 优利科技有限公司 | Terminal remote control device and terminal remote control system |
| CN106774435A (en) * | 2017-01-20 | 2017-05-31 | 亿航智能设备（广州）有限公司 | The high accuracy follower method and its system of a kind of unmanned plane |
| CN107608391A (en) * | 2017-09-19 | 2018-01-19 | 广东容祺智能科技有限公司 | A kind of unmanned plane plans routing and its method automatically in real time |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104808686A (en) * | 2015-04-28 | 2015-07-29 | 零度智控（北京）智能科技有限公司 | System and method enabling aircraft to be flied along with terminal |
| CN105116933A (en) * | 2015-06-29 | 2015-12-02 | 厦门狄耐克物联智慧科技有限公司 | Unmanned aircraft and method preventing unmanned aircraft from separation from control area |
| CN104977938A (en) * | 2015-07-06 | 2015-10-14 | 杨珊珊 | Fixed-dimensionality flying type multi-rotor aircraft and flying control method |
| CN106621393A (en) * | 2015-08-03 | 2017-05-10 | 优利科技有限公司 | Terminal remote control device and terminal remote control system |
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| CN105204520B (en) * | 2015-09-17 | 2018-07-06 | 深圳市十方联智科技有限公司 | A kind of control method of unmanned vehicle |
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| CN106774435A (en) * | 2017-01-20 | 2017-05-31 | 亿航智能设备（广州）有限公司 | The high accuracy follower method and its system of a kind of unmanned plane |
| CN107608391A (en) * | 2017-09-19 | 2018-01-19 | 广东容祺智能科技有限公司 | A kind of unmanned plane plans routing and its method automatically in real time |
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Effective date of registration: 20150716 Address after: Hongkong Hongguang Road No. 1, Kowloon Bay China billion centre 10 floor Applicant after: You Li Science and Technology Ltd. Address before: Jinxi town foxlink Kunshan road 215324 Suzhou City, Jiangsu province No. 388 Applicant before: Kunshan Yuneec International Co., Ltd. |
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