CN105321317A - Intelligent Bluetooth control system with posture induction function - Google Patents
Intelligent Bluetooth control system with posture induction function Download PDFInfo
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- CN105321317A CN105321317A CN201510421571.7A CN201510421571A CN105321317A CN 105321317 A CN105321317 A CN 105321317A CN 201510421571 A CN201510421571 A CN 201510421571A CN 105321317 A CN105321317 A CN 105321317A
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Abstract
The invention provides an intelligent Bluetooth control system with a posture induction function. The intelligent Bluetooth control system is characterized by comprising a wristband control part and a flight control part in wireless connection with the wristband control part, wherein the wristband control part comprises an intelligent wristband main control panel and a GPS positioning module and a Bluetooth module which are connected with the master control panel; The flight control part comprises a flight controller and a GPS positioning module, a Bluetooth module and a cloud deck which are connected with the controller. The intelligent Bluetooth control system has the advantages that the system is convenient to carry, simple, practical and easy to operate, convenience and timeliness in controlling an unmanned aerial vehicle aircraft to conduct shooting and aerial photography are effectively improved, control over the unmanned aerial vehicle aircraft without a remote control is achieved, and the problems that most unmanned aerial vehicles are controlled by the remote controls, and the limitation and complexity that unmanned aerial vehicle operation achieved through the remote controls is high in professional technical requirement exist are solved.
Description
Technical field
The present invention relates to model plane unmanned plane field, specifically a kind of blue-tooth intelligence control system with attitude induction.
Background technology
Along with the development of sensor and Intelligent hardware technology, unmanned aerial vehicle (UAV) control technology was having very fast development in recent years, and the Intelligent control of unmanned plane is also more and more diversified.But the manipulation of most of unmanned plane is all realized by telepilot, and be there is professional technique and require high limitation and complicacy in the unmanned plane manipulation realized by telepilot.
Summary of the invention
The object of the invention is to provide a kind of and be convenient for carrying, the blue-tooth intelligence control system of simple and practical, easy-operating band attitude induction, this system effectively raises that manipulation unmanned plane during flying device is taken pictures, the simplicity of taking photo by plane and ageing.
The technical scheme realizing the object of the invention is:
With a blue-tooth intelligence control system for attitude induction, comprise bracelet control section and the Flight Control Section with the wireless connections of bracelet control section, wherein:
Bracelet control section comprises Intelligent bracelet master control borad and the GPS locating module be connected with this master control borad respectively and bluetooth module;
Flight Control Section comprises flight controller and the GPS locating module, bluetooth module and the The Cloud Terrace that are connected with this controller respectively.
Described Intelligent bracelet master control borad, flight controller are also connected with battery respectively, realize respectively powering to bracelet control section and Flight Control Section.
Described battery is lithium battery.
The embedded attitude induction module of described Intelligent bracelet master control borad, by gravity and the attitude of this module induction bracelet, realizes the pitching of control aircraft, roll and course.
Described Intelligent bracelet master control borad is provided with multiple function button and the LED light be connected with button respectively, is indicated the state of this function by pilot lamp, realizes the identification of manipulation instruction, transmission, processing data information and state display.
Described function button comprises power switch button, urgent receives oily button, automatic takeoff/landing button, follows/hover button ,/record key of taking pictures, start/stop button, advance/rising button, retrogressing/decline button and relay indicating light window, wherein:
Power switch button: click this function button LED Chang Liang, represents that bracelet system powers on, then clicks LED light extinguishing, represents and closes bracelet system;
The oily button of urgent receipts: the long rotation then closing all motors on aircraft by this function button for 2 seconds;
Automatic takeoff/landing button: be final election button, take off vertically after can controlling aircraft locking current location after pressing this button " automatic takeoff ", after being elevated to the height of 3 meters, aircraft hovers in the air, carry-on The Cloud Terrace also can calculate luffing angle with the change of height automatically, the real-time adjustment control camera moment aims at the people of band bracelet, then clicks this button once then for automatically landing;
Follow/hover button: for being final election button; click is " following " function; flight controller can control aircraft according to the current location of aircraft and Intelligent bracelet position and follow bracelet voluntarily; automatically be followed by safeguard protection apart from minimum 3M, aircraft can be controlled all around fly in the process of following.Click and once then become " hovering " function, flight controller can control aircraft and enter hover mode;
To take pictures/record key: be final election button, take pictures/record key under the normal bright expression of LED light be in " taking pictures " pattern, LED light flicker expression is in " video recording " pattern;
Start/stop button: be final election button, click " start/stop " button under " taking pictures " pattern, the LED light of this button can be glimmered, often presses lamp next time and dodges and take pictures one; Press rear LED under " video recording " pattern and just start continuous flicker, video recording starts, and enters video recording after " stoppings " pattern and terminates, LED maintenance Chang Liang until press once this button again;
Rising/forward key: by this key table, length shows that aircraft advances, the button operation being less than for 1 second represents rising;
Decline/Reverse keys: by this key table, length shows that aircraft retreats, the button operation being less than for 1 second represents decline;
Relay indicating light window: the electricity being used to refer to bracelet, the positioning states of GPS module A on bracelet, the duty of GPS module B and the state of flight controller on aircraft.
Described flight controller realize the position information process of GPS module, bluetooth data transmission information processing, the control of unmanned plane during flying device, the control of The Cloud Terrace, the control of camera and and Intelligent bracelet between communication.
Advantage of the present invention is: be convenient for carrying, simple and practical, easy to operate, effectively raise that manipulation unmanned plane during flying device is taken pictures, the simplicity of taking photo by plane and ageing, achieve manipulating without telepilot of unmanned plane during flying device, the manipulation solved because of most of unmanned plane is all realized by telepilot, and the unmanned plane manipulation realized by telepilot is existed professional technique and requires high limitation and the problem of complicacy.
Accompanying drawing explanation
Fig. 1 is connection block diagram of the present invention;
Fig. 2 is bracelet panel feature button schematic diagram of the present invention;
Fig. 3 is theory diagram of the present invention;
Fig. 4 is that The Cloud Terrace of the present invention follows functional schematic automatically;
Fig. 5 is the process flow diagram of bracelet control module of the present invention;
Fig. 6 is the process flow diagram of airflight control system of the present invention.
Embodiment
Below in conjunction with drawings and Examples, technical scheme of the present invention is described.
As shown in Figure 1, a kind of blue-tooth intelligence control system with attitude induction of the present invention, is made up of bracelet control section and Flight Control Section, and bracelet control section to be connected with the first bluetooth module and battery by bracelet master control borad, a GPS locating module and to form; Flight Control Section is connected by flight controller, the 2nd GPS locating module, the second bluetooth module and The Cloud Terrace and forms, camera is arranged on The Cloud Terrace, be connected with The Cloud Terrace, bracelet control section realizes intercoming mutually by the first bluetooth module and the second bluetooth module with Flight Control Section.
As Figure 2-3, function button on bracelet master control borad comprises power switch, promptly receives oil, automatic takeoff/automatically land, follows/hover, takes pictures/to record a video, start/stop, advance/rising and retreat/decline, and each button has corresponding LED to carry out state display.The embedded attitude induction module of bracelet master control borad, by gravity and the attitude of this module induction bracelet, realizes the pitching of control aircraft, roll and course.Push button after " automatic takeoff ", take off vertically after can controlling aircraft locking current location, and now flight controller can calculate luffing angle along with the change of height and control The Cloud Terrace adjustment automatically, realize the shooting people that camera camera moment aligning wears Intelligent bracelet.
As shown in Figure 4, flight controller calculates distance D between 2 according to the coordinate between 2 o'clock; Height sensor is utilized to calculate the current height H of unmanned plane during flying device; θ angle is calculated by trigonometric function relation.Thus control the rotation that The Cloud Terrace makes respective angles.
Principle of work of the present invention is:
1. Intelligent bracelet identifies the attitude of the function button that user presses or bracelet automatically, controls corresponding LED and shows in a different manner, and by bluetooth, steering order is sent to flight controller according to the operation of button and the change in attitude direction;
2. the positional information at unmanned plane during flying device place that flight controller is determined according to the GPS module collected directly calculates the position relationship of unmanned plane during flying device and Intelligent bracelet, and the data of each sensor that flight controller connecting inner is integrated calculate the attitude of unmanned plane during flying device by Attitude Algorithm and the steering order of combining position information and Intelligent bracelet controls unmanned plane during flying device or The Cloud Terrace makes corresponding control;
3. its work state information is sent to Intelligent bracelet by bluetooth module by flight controller;
4. The Cloud Terrace controls camera according to the instruction that flight controller sends and performs corresponding action.
As shown in Figure 5, the workflow of bracelet control section of the present invention is:
S501: start, flight controller, GPS module, bluetooth module, The Cloud Terrace, camera are installed on board the aircraft as requested, Intelligent bracelet is installed.
S502: to system electrification, waits for that GPS locating module locate successfully, bluetooth module successful matching, bracelet control panel starts to read the data that inner Flash data, the electricity of bracelet, the attitude information data of bracelet and bluetooth module transmit;
S503: key command and bracelet attitude judge, bracelet control panel judges button on bracelet whether without the attitude whether level and changing without attitude of the operational order be pressed and bracelet.
S503-1-1: if not, is indicated without button operation also without the steering order that attitude changes, is then exported the mode controlling LED and glimmer by key command; If so, then signals collecting and filtering is continued.
S503-1-2: without steering order, aircraft does not make change, continues to perform and automatically follows.Get back to key command after complete, bracelet attitude judges;
S504: signals collecting and filtering, the positional information that collection button is pressed and the data message according to the attitude induction module on bracelet adopt Kalman Filter Technology to carry out filtering;
S505: data fusion, adopts Quaternion method to solve attitude orientation angle to attitude induction module;
S505: data coding and decoding, then encode according to by the steering order of the button steering order under pressing or the representative of bracelet attitude, decode to the Bluetooth information that the flight controller read transmits;
The display of S506:LED lamp, steering order send, and provide the flicker of steering order control LED etc., the steering order encoded are sent to flight controller by bluetooth, gets back to the judgement of key command, bracelet attitude information after complete.
As shown in Figure 6, the workflow of Flight Control Section of the present invention is:
S601: start, flight controller, GPS module, bluetooth module are connected installation on board the aircraft on request;
S602: to system electrification, flight controller initialization, waits for that GPS locating module and GPS beacon module are located successfully, and flight controller reads the parameter of inner Flash and the positional information of GPS locating module and blue-teeth data;
S603: key command and bracelet attitude judge, judges button on bracelet whether without the attitude whether level and changing without attitude of the operational order be pressed and bracelet.
S503-1-1: if not, is indicated without button operation also without the steering order that attitude changes, is then exported the mode controlling LED and glimmer by key command; If so, then signals collecting and filtering is continued.
S503-1-2: without steering order, aircraft does not make change, continues to perform and automatically follows.Get back to key command after complete, bracelet attitude judges;
S604: signals collecting and filtering, gather the attitude information of the information of button or bracelet attitude induction module, GPS locating information and flight controller, according to the output characteristics of the micro mechanical sensor data on flight controller, Kalman Filter Technology is adopted to carry out filtering; And be entrained with high frequency noise in the output data of high precision baroceptor, adopt differential mode to carry out filtering process to baroceptor;
S605: data fusion, distance between aircraft and bracelet, is highly calculated according to the attitude information of the GPS information collected and flight controller, The Cloud Terrace follows the angle that will rotate automatically, and the Distance geometry flight controller of sensing and movement that flight controller will control aircraft flight will control the output quantity that the motor of aircraft or steering wheel will provide.
S606: data coding and decoding, what transmit bluetooth module is decoded by the steering order of the button steering order under pressing or the representative of bracelet attitude, and to the data message of bracelet will be sent to encode;
S607: actuator exports, exports to corresponding motor or steering wheel by the controlled quentity controlled variable controlling The Cloud Terrace or aircraft that needs resolving out;
S608: aircraft, camera control, aircraft controls aircraft flight according to the controlled quentity controlled variable received, and camera carries out the rotation of angle according to the controlled quentity controlled variable received; Get back to key command and the judgement of bracelet attitude after complete, wait for the instruction of next round.
Claims (5)
1. the blue-tooth intelligence control system with attitude induction, is characterized in that: comprise bracelet control section and the Flight Control Section with the wireless connections of bracelet control section, wherein:
Bracelet control section comprises Intelligent bracelet master control borad and the GPS locating module be connected with this master control borad respectively and bluetooth module;
Flight Control Section comprises flight controller and the GPS locating module, bluetooth module and the The Cloud Terrace that are connected with this controller respectively.
2. blue-tooth intelligence control system according to claim 1, is characterized in that: described Intelligent bracelet master control borad, flight controller are also connected with battery respectively.
3. blue-tooth intelligence control system according to claim 1, is characterized in that: the embedded attitude induction module of described Intelligent bracelet master control borad.
4. blue-tooth intelligence control system according to claim 1, is characterized in that: described Intelligent bracelet master control borad is provided with multiple function button and the LED light be connected with button respectively.
5. blue-tooth intelligence control system according to claim 1, is characterized in that: described function button comprises power switch button, urgent receives oily button, automatic takeoff/landing button, follows/hover button ,/record key of taking pictures, start/stop button, advance/rising button, retrogressing/decline button and relay indicating light window.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510421571.7A CN105321317A (en) | 2015-07-17 | 2015-07-17 | Intelligent Bluetooth control system with posture induction function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510421571.7A CN105321317A (en) | 2015-07-17 | 2015-07-17 | Intelligent Bluetooth control system with posture induction function |
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| CN105321317A true CN105321317A (en) | 2016-02-10 |
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| CN201510421571.7A Pending CN105321317A (en) | 2015-07-17 | 2015-07-17 | Intelligent Bluetooth control system with posture induction function |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105575097A (en) * | 2016-03-02 | 2016-05-11 | 广西师范大学 | Portable unmanned plane control device |
| CN105836127A (en) * | 2016-03-18 | 2016-08-10 | 普宙飞行器科技（深圳）有限公司 | Control method of unmanned plane and unmanned plane system |
| CN106094864A (en) * | 2016-06-30 | 2016-11-09 | 成都西可科技有限公司 | A kind of aircraft bracelet and exchange method thereof |
| CN106327854A (en) * | 2016-09-22 | 2017-01-11 | 北京奇虎科技有限公司 | Unmanned plane system and infrared remote control equipment for unmanned plane |
| CN107097187A (en) * | 2017-05-02 | 2017-08-29 | 文博创造展览展示（天津）有限公司 | A kind of intelligent historical relic repairs desktop system |
| TWI598143B (en) * | 2016-06-03 | 2017-09-11 | 博泰科技有限公司 | Following remote controlling method for aircraft |
| WO2018157287A1 (en) * | 2017-02-28 | 2018-09-07 | 深圳市大疆创新科技有限公司 | Method and device for controlling landing of unmanned aerial vehicle, and unmanned aerial vehicle |
| CN109270959A (en) * | 2018-12-01 | 2019-01-25 | 江苏云端智能科技有限公司 | A kind of novel no-manned machine distant control device |
| CN113238568A (en) * | 2021-04-26 | 2021-08-10 | 天津小鲨鱼智能科技有限公司 | Following method, aircraft and first equipment |
| CN113406973A (en) * | 2021-08-11 | 2021-09-17 | 广东小达科技有限公司 | Aircraft control system and method |
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2015
- 2015-07-17 CN CN201510421571.7A patent/CN105321317A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105575097A (en) * | 2016-03-02 | 2016-05-11 | 广西师范大学 | Portable unmanned plane control device |
| CN105836127A (en) * | 2016-03-18 | 2016-08-10 | 普宙飞行器科技（深圳）有限公司 | Control method of unmanned plane and unmanned plane system |
| CN105836127B (en) * | 2016-03-18 | 2018-05-04 | 普宙飞行器科技（深圳）有限公司 | The control method and UAV system of unmanned plane |
| TWI598143B (en) * | 2016-06-03 | 2017-09-11 | 博泰科技有限公司 | Following remote controlling method for aircraft |
| CN106094864A (en) * | 2016-06-30 | 2016-11-09 | 成都西可科技有限公司 | A kind of aircraft bracelet and exchange method thereof |
| CN106327854A (en) * | 2016-09-22 | 2017-01-11 | 北京奇虎科技有限公司 | Unmanned plane system and infrared remote control equipment for unmanned plane |
| WO2018157287A1 (en) * | 2017-02-28 | 2018-09-07 | 深圳市大疆创新科技有限公司 | Method and device for controlling landing of unmanned aerial vehicle, and unmanned aerial vehicle |
| CN107097187A (en) * | 2017-05-02 | 2017-08-29 | 文博创造展览展示（天津）有限公司 | A kind of intelligent historical relic repairs desktop system |
| CN109270959A (en) * | 2018-12-01 | 2019-01-25 | 江苏云端智能科技有限公司 | A kind of novel no-manned machine distant control device |
| CN113238568A (en) * | 2021-04-26 | 2021-08-10 | 天津小鲨鱼智能科技有限公司 | Following method, aircraft and first equipment |
| CN113406973A (en) * | 2021-08-11 | 2021-09-17 | 广东小达科技有限公司 | Aircraft control system and method |
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Application publication date: 20160210 |