CN104898697A - Three-dimensional dynamic model of unmanned plane and control method - Google Patents
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Abstract
The invention discloses a three-dimensional dynamic model of unmanned plane and a control method. The three-dimensional dynamic model comprises an unmanned plane three-dimensional model, a data communication unit and a driving unit. The unmanned plane three-dimensional model corresponds to an unmanned plane entity in structure. The data communication unit is capable of obtaining flying parameters of the unmanned plane entity. The driving unit is capable of driving the unmanned plane three-dimensional model to move based on the flying parameters so as to allow the moving states of the unmanned plane three-dimensional model to be consistent with that of the unmanned plane entity. According to the invention, via the driving unit, it is achieved that the moving states of the unmanned plane three-dimensional model to be consistent with that of the unmanned plane entity, and then synchronous movement of the unmanned plane three-dimensional model and the unmanned plane entity is achieved. Thus, via the unmanned plane three-dimensional model, the real-time states of the unmanned plane entity can be directly displayed, and objectives of the invention are achieved.
Description
Technical field
The present invention relates to unmanned plane modelling technique field, particularly a kind of Three-Dimensional Dynamic model of unmanned plane and control method.
Background technology
Along with the development of science and technology, the application of rotor wing unmanned aerial vehicle in every field is increasingly extensive, at present, to the manipulation of rotor wing unmanned aerial vehicle and monitoring mainly on-the-spot in flight, undertaken by single, cannot intuitively for other people present the motion state of rotor wing unmanned aerial vehicle.
Summary of the invention
The object of the invention is to, a kind of Three-Dimensional Dynamic model and control method of unmanned plane can be provided, solve the technical matters that cannot present the motion state of rotor wing unmanned aerial vehicle in prior art intuitively.
The invention provides a kind of Three-Dimensional Dynamic model of unmanned plane, comprising:
No-manned plane three-dimensional model, the structure of described no-manned plane three-dimensional model is corresponding with the structure of unmanned plane entity;
Data communication units, described data communication units can obtain the flight parameter of described unmanned plane entity;
Driver element, described driver element can drive described no-manned plane three-dimensional model to move based on described flight parameter, makes the motion state of described no-manned plane three-dimensional model consistent with the motion state of described unmanned plane entity.
Above-mentioned Three-Dimensional Dynamic model, preferably, described no-manned plane three-dimensional model comprises:
Fuselage;
The rotor be connected with described fuselage.
Above-mentioned Three-Dimensional Dynamic model, preferred:
Described fuselage can carry out position based on the flight vector signal parameter in described flight parameter and move and attitude variation under the driving of described driver element, makes the motion state of described fuselage consistent with the motion state of the fuselage of described unmanned plane entity.
Above-mentioned Three-Dimensional Dynamic model, preferred:
Described rotor can carry out System of Rotating about Fixed Axis based on the flight start stop signal parameter in described flight parameter under the driving of described driver element, makes the motion state of described rotor consistent with the motion state of the rotor of described unmanned plane entity.
Above-mentioned Three-Dimensional Dynamic model, preferably, described data communication units comprises:
Data reception module, for receiving the flight parameter packet of described unmanned plane entity;
Data decode module, for decoding to described flight parameter packet, to obtain the flight parameter of described unmanned plane entity;
Parameter transmission module, for being sent to described driver element by described flight parameter.
Present invention also offers a kind of control method, be applied to no-manned plane three-dimensional model, the structure of described no-manned plane three-dimensional model is corresponding with the structure of unmanned plane entity, and described method comprises::
Obtain the flight parameter of described unmanned plane entity;
Control described no-manned plane three-dimensional model based on described flight parameter to move, make the motion state of described no-manned plane three-dimensional model consistent with the motion state of described unmanned plane entity.
Said method, preferably, the flight parameter of the described unmanned plane entity of described acquisition, comprising:
Receive the flight parameter packet of described unmanned plane entity;
Described flight parameter packet is decoded, to obtain the flight parameter of described unmanned plane entity.
Said method, preferably in, describedly control described no-manned plane three-dimensional model based on described flight parameter and move, comprising:
Carry out position based on fuselage described in the flight vector signal state modulator in described flight parameter to move and attitude variation, make the motion state of described fuselage consistent with the motion state of the fuselage of described unmanned plane entity;
And carry out System of Rotating about Fixed Axis based on rotor described in the flight start stop signal state modulator in described flight parameter, make the motion state of described rotor consistent with the motion state of the rotor of described unmanned plane entity.
From such scheme, in the Three-Dimensional Dynamic model of a kind of unmanned plane provided by the invention and control method, by arranging two unit on the no-manned plane three-dimensional model corresponding with unmanned plane entity structure: data communication units and driver element, afterwards, after utilizing the flight parameter of data communication units acquisition unmanned plane entity, driver element is utilized to move to drive no-manned plane three-dimensional model, make the motion state of no-manned plane three-dimensional model consistent with the motion state of unmanned plane entity, and then realize being synchronized with the movement of no-manned plane three-dimensional model and unmanned plane entity, thus, the real-time status of unmanned plane entity can be presented intuitively by the no-manned plane three-dimensional model in the present invention, as intuitively presented the position and attitude etc. of unmanned plane entity, realize the object of the invention.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments of the invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to the accompanying drawing provided.
Fig. 1 is the structural representation of the Three-Dimensional Dynamic model embodiment one of a kind of unmanned plane provided by the invention;
Fig. 2 a, Fig. 2 b and Fig. 2 c are respectively the structural representation of the Three-Dimensional Dynamic model embodiment two of a kind of unmanned plane provided by the invention;
Fig. 3 is the part-structure schematic diagram of the Three-Dimensional Dynamic model of a kind of unmanned plane provided by the invention;
Fig. 4 is the process flow diagram of a kind of control method embodiment four provided by the invention;
Fig. 5 is the partial process view of a kind of control method embodiment five provided by the invention;
Fig. 6 is the partial process view of a kind of control method embodiment six provided by the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
With reference to figure 1, for the structural representation of the Three-Dimensional Dynamic model embodiment one of a kind of unmanned plane provided by the invention, wherein, the Three-Dimensional Dynamic model of described unmanned plane can present the real time status information of unmanned plane entity for user, as as described in unmanned plane entity positional information state and as described in the attitude information etc. of unmanned plane entity, concrete, the Three-Dimensional Dynamic model of described unmanned plane can realize its function by following structure:
No-manned plane three-dimensional model 1, the structure of described no-manned plane three-dimensional model 1 is corresponding with the structure of described unmanned plane entity.
That is, described no-manned plane three-dimensional model 1 is the simulation 3 d structure model of described unmanned plane entity, can show resemblance and the structure composition thereof of described unmanned plane entity.
Concrete, described no-manned plane three-dimensional model 1 can be realized by three-dimensional simulation model, presents with three-dimensional picture form, as being presented in the viewing area of display device, embodies resemblance and the structure composition thereof of this unmanned plane entity intuitively.
The data communication units 2 be connected with described no-manned plane three-dimensional model 1, described data communication units 2 can obtain the flight parameter of described unmanned plane entity.
Wherein, the flight parameter of described unmanned plane entity can include the attitude parameter information, positional information etc. of described unmanned plane entity, and this flight parameter can show the motion state of described unmanned plane entity.
It should be noted that, in described data communication units 2 can by the carrier of the present embodiment as the wireless data interface on the electronic equipment such as server or computer obtain as described in the flight parameter of unmanned plane entity.
The driver element 3 be connected with described no-manned plane three-dimensional model 1, described driver element 3 can drive described no-manned plane three-dimensional model 1 to move based on described flight parameter, makes the motion state of described no-manned plane three-dimensional model 1 consistent with the motion state of described unmanned plane entity.
Wherein, as described in the text, described flight parameter can show the motion state of described unmanned plane entity, in the present embodiment, described driver element 3 is utilized to drive described no-manned plane three-dimensional model 1 to move based on this flight parameter, to make the motion state of described no-manned plane three-dimensional model 1 corresponding with described flight parameter, and then make the motion state of described no-manned plane three-dimensional model 1 consistent with the motion state of described unmanned plane entity, thus realize being synchronized with the movement of described no-manned plane three-dimensional model 1 and described unmanned plane entity.
It should be noted that, described driver element 3 drives described no-manned plane three-dimensional model 1 to carry out motion based on described flight parameter to comprise: drive described no-manned plane three-dimensional model 1 integrally to move based on described flight parameter, and, each composition structure in described no-manned plane three-dimensional model 1 is driven to move accordingly, to make the motion state of described no-manned plane three-dimensional model 1 consistent with described unmanned plane entity based on this flight parameter.
From such scheme, in the Three-Dimensional Dynamic model embodiment one of a kind of unmanned plane provided by the invention, by arranging two unit on the no-manned plane three-dimensional model corresponding with unmanned plane entity structure: data communication units and driver element, afterwards, after utilizing the flight parameter of data communication units acquisition unmanned plane entity, driver element is utilized to move to drive no-manned plane three-dimensional model, make the motion state of no-manned plane three-dimensional model consistent with the motion state of unmanned plane entity, and then realize being synchronized with the movement of no-manned plane three-dimensional model and unmanned plane entity, thus, the real-time status of unmanned plane entity can be presented intuitively by the no-manned plane three-dimensional model in the present embodiment, as intuitively presented the position and attitude etc. of unmanned plane entity, realize the object of the invention.
With reference to figure 2a, be the structural representation of the Three-Dimensional Dynamic model embodiment two of a kind of unmanned plane provided by the invention, wherein, described no-manned plane three-dimensional model 1 can include following structure:
Fuselage 4;
Wherein, described fuselage 4 can carry out position based on the flight vector signal parameter in described flight parameter and move and attitude variation under the driving of described driver element 3, as shown in figure 2b, make the motion state of described fuselage 4 consistent with the motion state of the fuselage of described unmanned plane entity.Such as, vector signal parameter of flying in described flight parameter shows fuselage moving displacement a in described unmanned plane entity and changes attitude when being b, being driven the same displacement a of the fuselage 4 in described no-manned plane three-dimensional model 1 by described driver element 3 and changed attitude in the present embodiment is b, makes the motion state of the fuselage in described no-manned plane three-dimensional model 1 consistent with the motion state of fuselage in described unmanned plane entity.
The rotor 5 be connected with described fuselage 4.
Wherein, described rotor 5 can carry out System of Rotating about Fixed Axis based on the flight start stop signal parameter in described flight parameter under the driving of described driver element 3, as illustrated in fig. 2 c, make the motion state of described rotor 5 consistent with the motion state of the rotor of described unmanned plane entity.Such as, start stop signal parameter of flying in described flight parameter shows that rotor 5 in described unmanned plane entity is when the T1 moment starts System of Rotating about Fixed Axis or stops System of Rotating about Fixed Axis in the T2 moment, drive the rotor 5 in described no-manned plane three-dimensional model 1 to start System of Rotating about Fixed Axis in the T1 moment or stop System of Rotating about Fixed Axis in the T2 moment equally by described driver element 3 in the present embodiment, make the motion state of the rotor 5 in described no-manned plane three-dimensional model 1 consistent with the motion state of rotor in described unmanned plane entity.
With reference to figure 3, be the structural representation of data communication units 2 described in the Three-Dimensional Dynamic model of a kind of unmanned plane provided by the invention, described data communication units 2 can be realized by following structure:
Data reception module 6, for receiving the flight parameter packet of described unmanned plane entity.
Wherein, described data reception module 6 can by the carrier of described Three-Dimensional Dynamic model as the wireless data interface on the electronic equipment such as server or computer receive as described in the flight parameter packet of unmanned plane entity.
Data decode module 7, for decoding to described flight parameter packet, to obtain the flight parameter of described unmanned plane entity.
Concrete, described data decode module 7, by decoding to described flight parameter packet and the operation such as separation, extracts the flight parameter of unmanned plane entity described in described packet.
It should be noted that, the situation not corresponding with described Three-Dimensional Dynamic model 1 may be there is in the data layout of flight parameter now, as as described in driver element 3 None-identified flight parameter now, therefore, can after described data decode module 7 obtains flight parameter in the present embodiment, Data Format Transform is carried out to this flight parameter, to obtain the flight parameter that described driver element 3 can identify.
Parameter transmission module 8, for transferring to described driver element 3 by described flight parameter.
Thus, described driver element 3 can drive described no-manned plane three-dimensional model 1 to move based on this flight parameter, make the motion state of described no-manned plane three-dimensional model 1 consistent with the motion state of described unmanned plane entity, realize being synchronized with the movement of described no-manned plane three-dimensional model 1 and described unmanned plane entity, and then displayed intuitively by the motion state of described no-manned plane three-dimensional model 1 by described unmanned plane entity.
With reference to figure 4, for the process flow diagram of a kind of control method embodiment four provided by the invention, wherein, described control method is applied to no-manned plane three-dimensional model, the structure of described no-manned plane three-dimensional model is corresponding with the structure of unmanned plane entity, that is, described no-manned plane three-dimensional model is the simulation 3 d structure model of described unmanned plane entity, resemblance and the structure composition thereof of described unmanned plane entity can be shown, concrete, described no-manned plane three-dimensional model can be realized by three-dimensional simulation model, present with three-dimensional picture form, embody resemblance and the structure composition thereof of this unmanned plane entity intuitively.
In the present embodiment, described control method can be realized by following steps:
Step 401: the flight parameter obtaining described unmanned plane entity.
Wherein, the flight parameter of described unmanned plane entity can include the attitude parameter information, positional information etc. of described unmanned plane entity, and this flight parameter can show the motion state of described unmanned plane entity.
It should be noted that, in the present embodiment can by the carrier of described no-manned plane three-dimensional model as the wireless data interface on the electronic equipment such as server or computer obtain as described in the kinematic parameter of unmanned plane entity.
Step 402: control described no-manned plane three-dimensional model based on described flight parameter and move, make the motion state of described no-manned plane three-dimensional model consistent with the motion state of described unmanned plane entity.
Wherein, flight parameter can show the motion state of described unmanned plane entity as described in the text, in the present embodiment, described no-manned plane three-dimensional model is driven to move based on this flight parameter, to make the motion state of described no-manned plane three-dimensional model corresponding with described kinematic parameter, and then make the motion state of described no-manned plane three-dimensional model consistent with the motion state of described unmanned plane entity, thus realize being synchronized with the movement of described no-manned plane three-dimensional model and described unmanned plane entity.
It should be noted that, in the present embodiment, drive described no-manned plane three-dimensional model 1 to carry out motion based on described flight parameter to comprise: drive described no-manned plane three-dimensional model integrally to move based on described flight parameter, and, each composition structure in described no-manned plane three-dimensional model is driven to move accordingly, to make the motion state of described no-manned plane three-dimensional model consistent with described unmanned plane entity based on this flight parameter.
From such scheme, in a kind of control method embodiment four provided by the invention, by arranging two unit on the no-manned plane three-dimensional model that acquisition unmanned plane entity structure is corresponding: data communication units and driver element, afterwards, after utilizing the flight parameter of data communication units acquisition unmanned plane entity, driver element is utilized to move to drive no-manned plane three-dimensional model, make the motion state of no-manned plane three-dimensional model consistent with the motion state of unmanned plane entity, and then realize being synchronized with the movement of no-manned plane three-dimensional model and unmanned plane entity, thus, the real-time status of unmanned plane entity can be presented intuitively by the no-manned plane three-dimensional model in the present embodiment, as intuitively presented the position and attitude etc. of unmanned plane entity, realize the object of the invention.
It should be noted that, the specific implementation structure of described no-manned plane three-dimensional model with reference to the content of corresponding no-manned plane three-dimensional model in embodiment above, no longer can describe in detail herein.
With reference to figure 5, be the realization flow figure of step 401 described in a kind of control method embodiment five provided by the invention, wherein, described step 401 can be realized by following steps:
Step 411: the flight parameter packet receiving described unmanned plane entity.
Wherein, in the present embodiment can by the carrier of described Three-Dimensional Dynamic model as the wireless data interface on the electronic equipment such as server or computer receive as described in the flight parameter packet of unmanned plane entity.
Step 412: decode to described flight parameter packet, to obtain the flight parameter of described unmanned plane entity.
Concrete, the present embodiment by being decrypted described flight parameter packet and the operation such as classification, can extract the flight parameter of unmanned plane entity described in described packet.
It should be noted that, the situation not corresponding with described Three-Dimensional Dynamic model may be there is in the data layout of described flight parameter, as as described in no-manned plane three-dimensional model None-identified flight parameter now in Three-Dimensional Dynamic model, therefore, can after obtaining described flight parameter in the present embodiment, Data Format Transform is carried out to this flight parameter, to obtain the flight parameter that described no-manned plane three-dimensional model can identify.
With reference to figure 6, be the realization flow figure of step 402 described in a kind of control method embodiment six provided by the invention, wherein, described step 402 can be realized by following steps:
Step 421: carry out position based on fuselage described in the flight vector signal state modulator in described flight parameter and move and attitude variation, make the motion state of described fuselage consistent with the motion state of the fuselage of described unmanned plane entity.
Such as, vector signal parameter of flying in described flight parameter shows fuselage moving displacement a in described unmanned plane entity and changes attitude when being b, being driven the same displacement a of the fuselage 4 in described no-manned plane three-dimensional model 1 by described driver element 3 and changed attitude in the present embodiment is b, makes the motion state of the fuselage in described no-manned plane three-dimensional model 1 consistent with the motion state of fuselage in described unmanned plane entity.
Step 422: carry out System of Rotating about Fixed Axis based on rotor described in the flight start stop signal state modulator in described flight parameter, make the motion state of described rotor consistent with the motion state of the rotor of described unmanned plane entity.
Such as, start stop signal parameter of flying in described flight parameter shows that rotor 5 in described unmanned plane entity is when the T1 moment starts System of Rotating about Fixed Axis or stops System of Rotating about Fixed Axis in the T2 moment, drive the rotor 5 in described no-manned plane three-dimensional model 1 to start System of Rotating about Fixed Axis in the T1 moment or stop System of Rotating about Fixed Axis in the T2 moment equally by described driver element 3 in the present embodiment, make the motion state of the rotor 5 in described no-manned plane three-dimensional model 1 consistent with the motion state of rotor in described unmanned plane entity.
It should be noted that, each embodiment in this instructions all adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar part mutually see.
Finally, also it should be noted that, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, article or equipment and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, method, article or equipment.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment comprising described key element and also there is other identical element.
Above the Three-Dimensional Dynamic model of a kind of unmanned plane that the application provides and control method are described in detail, apply specific case herein to set forth the principle of the application and embodiment, the explanation of above embodiment is just for helping method and the core concept thereof of understanding the application; Meanwhile, for one of ordinary skill in the art, according to the thought of the application, all will change in specific embodiments and applications, in sum, this description should not be construed as the restriction to the application.
Claims (8)
1. a Three-Dimensional Dynamic model for unmanned plane, is characterized in that, comprising:
No-manned plane three-dimensional model, the structure of described no-manned plane three-dimensional model is corresponding with the structure of unmanned plane entity;
Data communication units, described data communication units can obtain the flight parameter of described unmanned plane entity;
Driver element, described driver element can drive described no-manned plane three-dimensional model to move based on described flight parameter, makes the motion state of described no-manned plane three-dimensional model consistent with the motion state of described unmanned plane entity.
2. Three-Dimensional Dynamic model according to claim 1, is characterized in that, described no-manned plane three-dimensional model comprises:
Fuselage;
The rotor be connected with described fuselage.
3. Three-Dimensional Dynamic model according to claim 2, is characterized in that:
Described fuselage can carry out position based on the flight vector signal parameter in described flight parameter and move and attitude variation under the driving of described driver element, makes the motion state of described fuselage consistent with the motion state of the fuselage of described unmanned plane entity.
4. the Three-Dimensional Dynamic model according to Claims 2 or 3, is characterized in that:
Described rotor can carry out System of Rotating about Fixed Axis based on the flight start stop signal parameter in described flight parameter under the driving of described driver element, makes the motion state of described rotor consistent with the motion state of the rotor of described unmanned plane entity.
5. Three-Dimensional Dynamic model according to claim 1, is characterized in that, described data communication units comprises:
Data reception module, for receiving the flight parameter packet of described unmanned plane entity;
Data decode module, for decoding to described flight parameter packet, to obtain the flight parameter of described unmanned plane entity;
Parameter transmission module, for being sent to described driver element by described flight parameter.
6. a control method, is characterized in that, is applied to no-manned plane three-dimensional model, and the structure of described no-manned plane three-dimensional model is corresponding with the structure of unmanned plane entity, and described method comprises::
Obtain the flight parameter of described unmanned plane entity;
Control described no-manned plane three-dimensional model based on described flight parameter to move, make the motion state of described no-manned plane three-dimensional model consistent with the motion state of described unmanned plane entity.
7. method according to claim 6, is characterized in that, the flight parameter of the described unmanned plane entity of described acquisition, comprising:
Receive the flight parameter packet of described unmanned plane entity;
Described flight parameter packet is decoded, to obtain the flight parameter of described unmanned plane entity.
8. method according to claim 6, is characterized in that, describedly controls described no-manned plane three-dimensional model based on described flight parameter and moves, and comprising:
Carry out position based on fuselage described in the flight vector signal state modulator in described flight parameter to move and attitude variation, make the motion state of described fuselage consistent with the motion state of the fuselage of described unmanned plane entity;
And carry out System of Rotating about Fixed Axis based on rotor described in the flight start stop signal state modulator in described flight parameter, make the motion state of described rotor consistent with the motion state of the rotor of described unmanned plane entity.
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