CN105629995A - Mooring following system and method - Google Patents
Mooring following system and method Download PDFInfo
- Publication number
- CN105629995A CN105629995A CN201610152513.3A CN201610152513A CN105629995A CN 105629995 A CN105629995 A CN 105629995A CN 201610152513 A CN201610152513 A CN 201610152513A CN 105629995 A CN105629995 A CN 105629995A
- Authority
- CN
- China
- Prior art keywords
- flight
- mooring
- flight device
- inclination
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000012544 monitoring process Methods 0.000 claims abstract description 8
- 241000239290 Araneae Species 0.000 claims description 25
- 238000001514 detection method Methods 0.000 claims description 11
- 239000000725 suspension Substances 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims 1
- 238000004364 calculation method Methods 0.000 abstract description 2
- 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 2
- 230000001186 cumulative effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000013341 scale-up Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003534 oscillatory effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a mooring following system and method. The mooring following system comprises a mooring platform; a cable for connecting the mooring platform and a flight device; a cross shaft, wherein the upper end of the cross shaft is connected with the flight device, and the lower end thereof is provided with a gyroscope sensor, and the lower end of the cross shaft is connected with the cable; the gyroscope sensor for monitoring inclination angle between the cable and the vertical direction; a control plate for receiving the inclination angle monitored by the gyroscope sensor and carrying out calculation according to the inclination angle to obtain the flight direction and flight speed of the flight device, and sending the flight direction and flight speed to a flight control module; and the flight control for controlling the flight state of the flight device according to the flight direction and the flight speed to enable the flight device to follow the mooring platform. The system and method realize precise following of the flight device for the mooring platform on the ground.
Description
Technical field
The embodiment of the present invention relates to without man-machine field, particularly relates to a kind of mooring system for tracking and method.
Background technology
Currently without man-machine taking pictures in aviation, geologic survey, ultra-high-tension power transmission line tours, oil filed pipeline inspection, have a wide range of applications in motorway management and farm crop dispenser etc. a lot.
In prior art, stagnant sky flight only relies on machine load global positioning system (GPS) (GlobalPositioningSystem, GPS) module to be difficult to realize the fixed high automatic hovering of complicated fixed point with the telemanipulation flying hand without man-machine. Even if this operation can realize, to flying, the extremely high complex operations of hand Capability Requirement also must be difficult to meet market requirement this kind in operating time, efficiency, performance, limits without man-machine application.
Summary of the invention
The present invention provides a kind of mooring system for tracking and method, to realize flight device accurately following mooring platform on ground.
First aspect, embodiments provides a kind of mooring system for tracking, and this mooring system for tracking comprises:
Mooring platform;
Cable, described cable is for connecting described mooring platform and flight device;
Joint spider, the upper end of described joint spider is connected with flight device, and the lower end of described joint spider is provided with gyro sensor, and the lower end of described joint spider is connected with described cable;
Described gyro sensor, for monitoring the angle of inclination between described cable and vertical direction in the stagnant empty flight course of flight device;
Switchboard, described switchboard respectively with fly control module and described gyro sensor be connected, for receiving the angle of inclination that described gyro sensor monitors, according to described angle of inclination, calculating flight direction and the flight velocity of flight device, send is to flying control module;
Described flying controls module, for according to the flight state in described flight direction and flight velocity control flight device, to realize described flight device following described mooring platform.
Second aspect, the embodiment of the present invention additionally provides a kind of mooring follower method, and this mooring follower method comprises:
When the device that flies is in stagnant empty flight state, the angle of inclination of gyro sensor monitoring cable and vertical direction, send is to switchboard;
Described switchboard, according to described angle of inclination, calculates flight direction and the flight velocity of described flight device, and send is to flying control module;
Described flying controls described flight direction and the flight velocity that module controls described flight device, so that mooring platform can be followed by described flight device.
The present invention receives the angle of inclination that monitors of gyro sensor by switchboard, and calculates flight direction and the flight velocity of flight device according to described angle of inclination, send to flying control module, described in fly to control the flight state of module control flight device. Solve the problem without the fixed high automatic hovering of the man-machine realization fixed point only relying on Airborne GPS module and the telemanipulation flying hand to be difficult to of stagnant sky flight in prior art, achieve described flight device accurately following described mooring platform, and this system for tracking simple and flexible, instead of the telemanipulation flying hand, save manpower.
Accompanying drawing explanation
The structural representation of a kind of mooring system for tracking that Fig. 1 provides for the embodiment of the present invention one.
The position that Fig. 2 is the gyro sensor that the embodiment of the present invention one provides arranges schematic diagram.
The structural representation of a kind of mooring system for tracking that Fig. 3 provides for the embodiment of the present invention two.
The schematic flow sheet of a kind of mooring follower method that Fig. 4 provides for the embodiment of the present invention three.
The schematic flow sheet of a kind of mooring follower method that Fig. 5 provides for the embodiment of the present invention four.
The schematic diagram that a kind of cable angle of inclination that Fig. 6 provides for the embodiment of the present invention four represents.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail. It should be appreciated that specific embodiment described herein is only for explaining the present invention, but not limitation of the invention. It also should be noted that, for convenience of description, accompanying drawing illustrate only part related to the present invention and not all structure.
Embodiment one
The structural representation of a kind of mooring system for tracking that Fig. 1 provides for the embodiment of the present invention one. As shown in Figure 1, the mooring system for tracking that the embodiment of the present invention one provides, mainly comprises:
Mooring platform 11, cable 12, joint spider 13, gyro sensor 14, switchboard 15 and fly control module 16.
Wherein, described cable 12 is for connecting described mooring platform 11 and flight device, and the upper end of described joint spider 13 is connected with flight device, and the lower end of described joint spider 13 is provided with gyro sensor 14, and the lower end of described joint spider 13 is connected with described cable 12. Joint spider 13, therefore can free opposing oscillatory between described cable 12 and described flight device as the movable part between cable 12 and flight device. Described gyro sensor 14 for monitoring the angle of inclination between described cable 12 and vertical direction in the stagnant empty flight course of flight device; Described switchboard 15 respectively with fly control module 16 and described gyro sensor 14 be connected, for receiving the angle of inclination that described gyro sensor 14 monitors, according to described angle of inclination, calculating flight direction and the flight velocity of flight device, send is to flying control module 16; Described flying controls module 16, for according to the flight state in described flight direction and flight velocity control flight device, to realize described flight device following described mooring platform 11.
Optionally, described switchboard 15 can be separated setting with the described control module 16 that flies, it is also possible to is be integrated on same circuit card, it is also possible to is realize switchboard 15 and the function flying to control module 16 by same chip.
The embodiment of the present invention receives, by switchboard 15, the angle of inclination that gyro sensor 14 monitors, and flight direction and the flight velocity of flight device is calculated according to described angle of inclination, send to fly control module 16, described in fly control module 16 control flight device flight state. Solve the problem without the fixed high automatic hovering of the man-machine realization fixed point only relying on Airborne GPS module and the telemanipulation flying hand to be difficult to of stagnant sky flight in prior art, achieve described flight device accurately following described mooring platform 11, and this system for tracking uses simple and flexible, instead of the telemanipulation flying hand, save manpower.
On the basis of above-described embodiment, it is preferable that, the positive dirction of the X-axis of gyro sensor 14 can be consistent with the head direction of described flight device. The benefit arranged like this is, it is possible to make described gyro sensor 14 direct representation be described head inclination angle aloft.
Preferably, mooring system for tracking described in above-described embodiment, also comprises: wire clamp 17.
Described wire clamp 17 is arranged on described cable 12, described wire clamp 17 is closed by two symmetrical hollow half cylinder buttons and forms, for described cable 12 is fixed on described joint spider 13 times ends, prevent the pulling force between the lift of flight device and mooring platform 11 from being broken by described cable 12.
Optionally, mooring system for tracking described in above-described embodiment, it is also possible to be comprise:
Suspension unit 18 and gyrostat erecting stage 19.
Suspension unit 18 is fixed on flight device chassis, and the upper end of described joint spider 13 is connected with flight device by described suspension unit 18; Gyrostat erecting stage 19 is arranged on the lower end of described joint spider 13, and described gyro sensor 14 is arranged on described gyrostat erecting stage 19. The position relation of wherein said joint spider 13, gyrostat erecting stage 19 and gyro sensor 14, see Fig. 2.
Preferably, the device that flies described in above-described embodiment can be rotor wing unmanned aerial vehicle, such as the rotor wing unmanned aerial vehicle of 4 axles, 6 axles or 8 axles; Can also be other aircraft being provided with power-equipment such as dirigible.
Optionally, described mooring platform 11 is the fixed mooring platform in ground or is vehicle-mounted removable mooring platform.
Embodiment two
The structural representation of a kind of mooring system for tracking that Fig. 3 provides for the embodiment of the present invention two. As shown in Figure 3, the mooring system for tracking that the embodiment of the present invention two provides, mainly comprises:
Mooring platform 21, cable 22, joint spider 23, gyro sensor 24, switchboard 25 and fly control module 26.
Described cable 22 is for connecting described mooring platform 21 and flight device, and the upper end of described joint spider 23 is connected with flight device, and the lower end of joint spider 23 is provided with gyro sensor 24, and the lower end of described joint spider 23 is connected with described cable 22. Joint spider 23 is as the movable part between cable 22 and flight device. Described gyro sensor 24 for monitoring the angle of inclination between described cable 22 and vertical direction in the stagnant empty flight course of flight device; Described switchboard 25 respectively with fly control module 26 and described gyro sensor 24 be connected, for receiving the angle of inclination that described gyro sensor 24 monitors, according to described angle of inclination, calculating flight direction and the flight velocity of flight device, send is to flying control module 26; Described flying controls module 26, for according to the flight state in described flight direction and flight velocity control flight device, to realize described flight device following described mooring platform 21.
With above-described embodiment the difference is that, mooring system for tracking described in the present embodiment, also comprises: height detection module 27. Height detection module 27 is arranged on described flight device, for the distance monitored between described flight device and ground. Exemplary, described height detection module 27 can be barometric altimeter.
Described switchboard 25, also for receiving the distance that described height detection module 27 monitors, according to described distance and described angle of inclination, calculate flight direction and the flight velocity of flight device, send is to flying control module 26, thus described in fly control module 26 according to described flight direction and flight velocity control flight device flight state, to realize described flight device following described mooring platform 21.
The present embodiment is by rational height detection module 27 on described flight device, monitor the distance between described flight device and ground, switchboard 25 is also for receiving the distance that described height detection module 27 monitors, according to described distance and described angle of inclination, calculating flight direction and the flight velocity of flight device, send is to flying control module 26. When calculating flight direction and the flight velocity of flight device, owing to combining distance and angle of inclination, it is achieved that mooring platform 21 more accurately and is fast followed by flight device.
Embodiment three
The schematic flow sheet of a kind of mooring follower method that Fig. 4 provides for the embodiment of the present invention three. The mooring follower method that the present embodiment provides can be perform by the mooring system for tracking in above-mentioned any embodiment. As shown in Figure 4, the mooring follower method that the embodiment of the present invention provides specifically comprises following operation:
S410, when described flight device is in stagnant empty flight state, gyro sensor monitors the angle of inclination between described cable and vertical direction, and send is to switchboard.
S420, described switchboard, according to described angle of inclination, calculate flight direction and the flight velocity of described flight device, and send is to flying control module.
This operation can be specifically described switchboard passing ratio-integration-differential (ProportionIntegrationDifferentiation, PID) algorithm is controlled, calculate the flight direction of described flight device according to described angle of inclination, send is to flying control module.
Described switchboard can be specifically periodically according to described angle of inclination, draw the horizontal throw of flight device and mooring platform, thus calculate flight direction and the flight velocity of described flight device, send to fly control module, such as every 100 milliseconds or every 200 milliseconds repeat one deuterzooid operation.
Optionally, after the horizontal throw that switchboard draws flight device and mooring platform, compare with predetermined threshold value; When described horizontal throw is less than predetermined threshold value, then switchboard is failure to actuate; When described horizontal throw is more than or equal to predetermined threshold value, or when the cumulative sum of horizontal throw that continuous several times does not reach predetermined threshold value is more than or equal to predetermined threshold value, the cumulative sum of horizontal throw of predetermined threshold value is not just reached according to described horizontal throw or described continuous several times, calculating flight direction and the flight velocity of flight device, send is to flying control module.
Exemplary, assume that switchboard calculates the horizontal throw of once fly device and mooring platform every 200 milliseconds, and predetermined threshold value is 5 meters, when the horizontal throw drawing flight device and mooring platform for continuous 4 times is 2 meters, 1 meter, 1 meter and 2 meters, then front 3 calculation result are failure to actuate, owing to the 4th time and the cumulative sum of the horizontal throw of first three time are greater than 5 meters, so according to the 4th sum cumulative with the horizontal throw of first three time, calculate flight direction and the flight velocity of flight device, it is sent to and flies control module, and cumulative for described horizontal throw sum is reset.
S430, described in fly to control module and control flight direction and the flight velocity of described flight device so that mooring platform can be followed by described flight device.
Angle of inclination between the described cable that the embodiment of the present invention is monitored according to gyro sensor by switchboard and horizontal plane, calculate flight direction and the flight velocity of described flight device, send is to flying control module, described flying controls flight direction and the flight velocity that module controls described flight device, so that mooring platform can be followed by described flight device. Solve the problem without the fixed high automatic hovering of the man-machine realization fixed point only relying on Airborne GPS module and the telemanipulation flying hand to be difficult to of stagnant sky flight in prior art, it is achieved that described flight device accurately following described mooring platform.
Preferably, on the basis of above-described embodiment, described switchboard calculates flight direction and the flight velocity of described flight device according to described angle of inclination, and send, to flying control module, specifically comprises:
Described switchboard receives the distance between the described flight device of height detection module monitors and ground, according to described distance and described angle of inclination, calculate flight direction and the flight velocity of described flight device, and described flight direction and flight velocity are sent to and fly control module. The benefit of process is like this, owing to switchboard is when calculating flight direction and the flight velocity of described flight device, considers Distance geometry angle of inclination, it is achieved that mooring platform more accurately and is fast followed by flight device simultaneously.
Embodiment four
The schematic flow sheet of a kind of mooring follower method that Fig. 5 provides for the embodiment of the present invention four. The mooring follower method that the present embodiment provides can be perform by mooring system for tracking in above-mentioned any embodiment. As shown in Figure 5, the mooring follower method that the embodiment of the present invention provides specifically comprises following operation:
Described cable and the angle of inclination of vertical direction under XY system of coordinates of monitoring are sent to switchboard by S510, gyro sensor.
Wherein, exemplary, the plane that described XY system of coordinates is formed and plane-parallel, and the positive dirction of X-axis is identical with head direction, the positive dirction of Y-axis is that the positive dirction of X-axis turns clockwise the sensing after 90 ��.
Concrete, gyro sensor can gather the parameters such as the respective acceleration of self X, Y, Z tri-axis, speed, circular frequency and angle in real time, and switchboard solves the parameter of gyrostat by communication interface. Optionally, described gyro sensor can be MPU6050 gyrostat.
S520, described switchboard pass through pid control algorithm, according to angle of inclination under XY system of coordinates of described cable and vertical direction, calculate flight direction and the flight velocity of described flight device, and described flight direction and flight velocity are sent to and fly control module.
As shown in Figure 6, when the device that flies hovers over directly over mooring platform in flight course, cable AB is in vertical state substantially, parallel with Z axle; When the device that flies flies away from directly over mooring platform, gyro sensor is with cable horizontal plane generation inclination relatively simultaneously, and described cable and the vertical direction angle of inclination under XY system of coordinates is also exactly the angle between gyro sensor place plane and horizontal plane.
In aforesaid operations, according to angle of inclination under XY system of coordinates of described cable and vertical direction, specifically according to the projection A of described cable in XZ plane1The angle �� 1 of B and X-axis and the described cable projection A in YZ plane2The angle �� 2 of B and Y-axis, calculates flight direction and flight velocity that described flight device is reference direction respectively with X-axis and Y-axis.
Exemplary, when �� 1 and �� 2 is respectively 80 ��, then the device that flies can be respectively 10 meters/second in the X direction with the speed in Y-direction, and flight direction represents two directions for X-axis and Y-axis negative direction. Optionally, described switchboard can be the flight direction and the flight velocity that calculate described flight device by STM32F103VCT6 as primary controller, and adopt twin wire serial bus (Inter-IntegratedCircuit, I2C) principal and subordinate mode to communicate with described gyro sensor.
S530, described in fly to control module and control flight direction and the flight velocity of described flight device so that mooring platform can be followed by described flight device.
Further, before originally operating in the flight direction controlling described flight device and flight velocity, also comprising is that the flight direction of reference direction and flight velocity are synthesized respectively with X-axis and Y-axis by the described flight device calculated in aforesaid operations. The flight velocity obtained when the angle of inclination of the device that flies is bigger is bigger, when the inclination angle value of the device that flies constantly reduces, flight velocity also reduces thereupon, flight device is finally made to keep moving in the same way with mooring platform is synchronized in flight course so that flight device can be in the surface of mooring platform.
The embodiment of the present invention adopts pid control algorithm by described switchboard, according to angle of inclination under XY system of coordinates of described cable and vertical direction, calculate flight direction and the flight velocity of described flight device, flying to control flight direction and the flight velocity that module controls described flight device, therefore mooring platform can be followed by described flight device accurately.
It should be noted that, in the present embodiment, the positive dirction of the X-axis of XY system of coordinates is the direction of flight device head, and simultaneously positive dirction with the X-axis of gyro sensor is consistent.
Preferably, in above-described embodiment, at described switchboard by pid control algorithm, according to angle of inclination under XY system of coordinates of described cable and vertical direction, when calculating flight velocity, it is also possible to be comprise:
Angle of inclination under XY system of coordinates of cable and vertical direction according to the Distance geometry between described flight device and ground, calculate flight direction and the flight velocity of described flight device, to realize flight device, mooring platform more accurately and is flexibly followed.
See Fig. 6, according to the distance A between described flight device and ground2D and described cable and vertical direction angle of inclination (the projection A of the AB of cable described in figure in XZ plane under XY system of coordinates1The projection A of the angle �� 1 and described cable AB of B and X-axis in YZ plane2The angle �� 2 of B and Y-axis), calculate flight direction and the flight velocity of described flight device.
Exemplary, switchboard is Kp*BD+Ki*s+Kd*m by the flight velocity that pid control algorithm calculates.
Wherein, Kp*BD is ratio item, and when cable is more than or equal to predetermined threshold value at the length BD of the projection of Y-axis, the speed that switchboard is obtained by pid control algorithm, Kp is a scale-up factor, and BD equals A2D/tan (�� 2), the flight direction of flight device is the direction that �� 2 can be made to trend towards 90 ��.
Ki*s is integral, when the speed of cable when the cumulative sum s that the length continuous several times of the projection BD of Y-axis does not reach predetermined threshold value is more than or equal to predetermined threshold value. Wherein, Ki is another scale-up factor.
Kd*m is differential term, is also the variable quantity of distance. The cable that this obtains when switchboard, when the value of the length BD of the projection of Y-axis adds m than the value of the BD obtained last time, illustrates that the angle of inclination of cable and vertical direction becomes big, then Kd*m is not zero. Exemplary, when the flight of flight device is highly 20 meters, cable is when the projection of X-axis is respectively 5 and 10 meters with the length of the projection in Y-axis, and the speed along X-axis and the speed along Y-axis are respectively 10 meters/second and 20 meters/second.
Note, above are only the better embodiment of the present invention and institute's application technology principle. It is understood by those skilled in the art that and the invention is not restricted to specific embodiment described here, various obvious change can be carried out for a person skilled in the art, readjust and substitute and protection scope of the present invention can not be departed from. Therefore, although being described in further detail invention has been by above embodiment, but the present invention is not limited only to above embodiment, when not departing from present inventive concept, other equivalence embodiments more can also be comprised, and the scope of the present invention is determined by appended right.
Claims (10)
1. a mooring system for tracking, it is characterised in that, comprising:
Mooring platform;
Cable, described cable is for connecting described mooring platform and flight device;
Joint spider, the upper end of described joint spider is connected with flight device, and the lower end of described joint spider is provided with gyro sensor, and the lower end of described joint spider is connected with described cable;
Described gyro sensor, for monitoring the angle of inclination between described cable and vertical direction in the stagnant empty flight course of flight device;
Switchboard, described switchboard respectively with fly control module and described gyro sensor be connected, for receiving the angle of inclination that described gyro sensor monitors, according to described angle of inclination, calculating flight direction and the flight velocity of flight device, send is to flying control module;
Described flying controls module, for according to the flight state in described flight direction and flight velocity control flight device, to realize described flight device following described mooring platform.
2. mooring system for tracking according to claim 1, it is characterised in that, also comprise:
Height detection module, described height detection module installation on described flight device, for the distance monitored between described flight device and ground;
Described switchboard, also for receiving the distance that described height detection module monitors arrives, according to described distance and described angle of inclination, calculates flight direction and the flight velocity of flight device, and send is to flying control module.
3. mooring system for tracking according to claim 1, it is characterised in that, the positive dirction of the X-axis of gyro sensor is consistent with the head direction of described flight device.
4. mooring system for tracking according to claim 1, it is characterised in that, also comprise:
Wire clamp, described wire clamp is arranged on described cable, for fixing described cable in the lower end of described joint spider.
5. mooring system for tracking according to claim 1, it is characterised in that, also comprise:
Suspension unit, described suspension unit is fixed on flight device chassis, and the upper end of described joint spider is connected with flight device by described suspension unit;
And gyrostat erecting stage, it being arranged on the lower end of described joint spider, described gyro sensor is arranged on described gyrostat erecting stage.
6. according to the arbitrary described mooring system for tracking of claim 1-5, it is characterised in that, described mooring platform is the fixed mooring platform in ground or vehicle-mounted removable mooring platform.
7. mooring system for tracking according to claim 6, it is characterised in that, described flight device is rotor wing unmanned aerial vehicle.
8. a mooring follower method, it is characterised in that, comprising:
When the device that flies is in stagnant empty flight state, the angle of inclination of gyro sensor monitoring cable and vertical direction, send is to switchboard;
Described switchboard, according to described angle of inclination, calculates flight direction and the flight velocity of described flight device, and send is to flying control module;
Described flying controls described flight direction and the flight velocity that module controls described flight device, so that mooring platform can be followed by described flight device.
9. mooring follower method according to claim 8, it is characterised in that, described switchboard, according to described angle of inclination, calculates flight direction and the flight velocity of described flight device, and send, to flying control module, specifically comprises:
Distance between the described flight device that the height detection module monitors that receives described switchboard arrives and ground, according to described distance and described angle of inclination, calculate flight direction and the flight velocity of described flight device, and described flight direction and flight velocity are sent to and fly control module.
10. mooring follower method according to claim 8, it is characterised in that, described switchboard, according to described angle of inclination, calculates flight direction and the flight velocity of described flight device, specifically comprises:
Described switchboard passing ratio-integration-differential pid control algorithm, according to described angle of inclination, calculates the flight direction of described flight device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610152513.3A CN105629995B (en) | 2016-03-17 | 2016-03-17 | One kind is tethered at system for tracking and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610152513.3A CN105629995B (en) | 2016-03-17 | 2016-03-17 | One kind is tethered at system for tracking and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105629995A true CN105629995A (en) | 2016-06-01 |
| CN105629995B CN105629995B (en) | 2018-03-27 |
Family
ID=56045049
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610152513.3A Active CN105629995B (en) | 2016-03-17 | 2016-03-17 | One kind is tethered at system for tracking and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105629995B (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106502258A (en) * | 2016-10-28 | 2017-03-15 | 易瓦特科技股份公司 | A kind of method and apparatus of adjustment UAV Attitude |
| CN107368093A (en) * | 2017-06-17 | 2017-11-21 | 广东容祺智能科技有限公司 | One kind is tethered at unmanned plane synchronization system for tracking |
| CN107651212A (en) * | 2017-10-25 | 2018-02-02 | 珠海市双捷科技有限公司 | It is tethered at unmanned plane, is tethered at unmanned plane positioning following control system and its control method |
| WO2018090646A1 (en) * | 2016-11-17 | 2018-05-24 | 深圳光启空间技术有限公司 | Boosting method and boosting device for tethering aircraft, and tethering aircraft system |
| CN109189088A (en) * | 2018-08-21 | 2019-01-11 | 中南林业科技大学 | Captive unmanned plane adaptive cruise tracking, terminal and storage medium |
| CN111190436A (en) * | 2019-12-31 | 2020-05-22 | 湖南优加特装智能科技有限公司 | Flight control system and control method of tethered unmanned aerial vehicle |
| CN112748745A (en) * | 2021-01-21 | 2021-05-04 | 江苏科技大学 | Joint control method and system for unmanned aerial vehicle and follow-up trolley |
| CN113022879A (en) * | 2021-05-17 | 2021-06-25 | 南京航天国器智能装备有限公司 | Follow car and tie unmanned aerial vehicle and keep away barrier system |
| CN113306478A (en) * | 2020-02-25 | 2021-08-27 | 北京理工大学 | Aircraft mooring following protection platform and control method thereof |
| CN114312357A (en) * | 2021-12-16 | 2022-04-12 | 东风越野车有限公司 | Individual soldier accompanying unmanned vehicle and accompanying control method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102591350A (en) * | 2011-01-06 | 2012-07-18 | 佛山市安尔康姆航拍科技有限公司 | Flight control method and system of four-rotor unmanned vehicle |
| CN103144779A (en) * | 2012-11-30 | 2013-06-12 | 中国电子科技集团公司第七研究所 | Multi-rotor-wing unmanned aerial vehicle mooring system |
| CN103314336A (en) * | 2011-01-14 | 2013-09-18 | 贝尔直升机泰克斯特龙公司 | Flight control laws for vertical flight path control |
| CN104670516A (en) * | 2015-02-15 | 2015-06-03 | 南京理工大学 | Rapid taking-off and landing device of air vehicle |
| CN204979221U (en) * | 2015-09-18 | 2016-01-20 | 邱丽琴 | There is asynchronous multiaxis aircraft of rope |
-
2016
- 2016-03-17 CN CN201610152513.3A patent/CN105629995B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102591350A (en) * | 2011-01-06 | 2012-07-18 | 佛山市安尔康姆航拍科技有限公司 | Flight control method and system of four-rotor unmanned vehicle |
| CN103314336A (en) * | 2011-01-14 | 2013-09-18 | 贝尔直升机泰克斯特龙公司 | Flight control laws for vertical flight path control |
| CN103144779A (en) * | 2012-11-30 | 2013-06-12 | 中国电子科技集团公司第七研究所 | Multi-rotor-wing unmanned aerial vehicle mooring system |
| CN104670516A (en) * | 2015-02-15 | 2015-06-03 | 南京理工大学 | Rapid taking-off and landing device of air vehicle |
| CN204979221U (en) * | 2015-09-18 | 2016-01-20 | 邱丽琴 | There is asynchronous multiaxis aircraft of rope |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106502258A (en) * | 2016-10-28 | 2017-03-15 | 易瓦特科技股份公司 | A kind of method and apparatus of adjustment UAV Attitude |
| CN108069045A (en) * | 2016-11-17 | 2018-05-25 | 深圳光启空间技术有限公司 | Propelled method, assist device and the pending flight device system of pending flight device |
| WO2018090646A1 (en) * | 2016-11-17 | 2018-05-24 | 深圳光启空间技术有限公司 | Boosting method and boosting device for tethering aircraft, and tethering aircraft system |
| CN107368093A (en) * | 2017-06-17 | 2017-11-21 | 广东容祺智能科技有限公司 | One kind is tethered at unmanned plane synchronization system for tracking |
| WO2019080152A1 (en) * | 2017-10-25 | 2019-05-02 | 珠海市双捷科技有限公司 | Moorable unmanned aerial vehicle, moorable unmanned aerial vehicle positioning and following control system and control method therefor |
| CN107651212A (en) * | 2017-10-25 | 2018-02-02 | 珠海市双捷科技有限公司 | It is tethered at unmanned plane, is tethered at unmanned plane positioning following control system and its control method |
| CN109189088A (en) * | 2018-08-21 | 2019-01-11 | 中南林业科技大学 | Captive unmanned plane adaptive cruise tracking, terminal and storage medium |
| CN109189088B (en) * | 2018-08-21 | 2021-10-08 | 中南林业科技大学 | Self-adaptive cruise tracking method, terminal and storage medium for tethered unmanned aerial vehicle |
| CN111190436A (en) * | 2019-12-31 | 2020-05-22 | 湖南优加特装智能科技有限公司 | Flight control system and control method of tethered unmanned aerial vehicle |
| CN113306478A (en) * | 2020-02-25 | 2021-08-27 | 北京理工大学 | Aircraft mooring following protection platform and control method thereof |
| CN112748745A (en) * | 2021-01-21 | 2021-05-04 | 江苏科技大学 | Joint control method and system for unmanned aerial vehicle and follow-up trolley |
| CN113022879A (en) * | 2021-05-17 | 2021-06-25 | 南京航天国器智能装备有限公司 | Follow car and tie unmanned aerial vehicle and keep away barrier system |
| CN114312357A (en) * | 2021-12-16 | 2022-04-12 | 东风越野车有限公司 | Individual soldier accompanying unmanned vehicle and accompanying control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105629995B (en) | 2018-03-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105629995A (en) | Mooring following system and method | |
| CN103853156B (en) | A kind of small-sized four-rotor aircraft control system based on machine set sensor and method | |
| US20210341527A1 (en) | Unmanned Aerial Vehicle Electromagnetic Avoidance And Utilization System | |
| CN103941747B (en) | The control method of unmanned aerial vehicle group and system | |
| CN107272740B (en) | Novel four-rotor unmanned aerial vehicle control system | |
| US20180046177A1 (en) | Motion Sensing Flight Control System Based on Smart Terminal and Terminal Equipment | |
| CN105303899A (en) | Child-mother type robot cooperation system of combination of unmanned surface vessel and unmanned aerial vehicle | |
| Wenzel et al. | Low-cost visual tracking of a landing place and hovering flight control with a microcontroller | |
| CN104977912A (en) | Ethernet-exchange-bus-based unmanned plane flight control system and method | |
| CN105793792A (en) | Flight auxiliary method and system of unmanned aerial vehicle, unmanned aerial vehicle, and mobile terminal | |
| CN103144770A (en) | Full-automatic indoor environment control, obstacle avoidance and navigation type micro aerial vehicle | |
| CN208110387U (en) | A kind of indoor Visual Navigation unmanned plane cluster flight control system | |
| CN108698696B (en) | Active vehicle control system and method | |
| EP3754302A1 (en) | Flight control and navigation integrated machine | |
| CN102508493A (en) | Flight control method for small unmanned aerial vehicle | |
| Iwaneczko et al. | A prototype of unmanned aerial vehicle for image acquisition | |
| CN104743128A (en) | General aircraft crew integrated warning system | |
| CN109634297A (en) | A kind of multi-rotor unmanned aerial vehicle and control method based on light stream sensor location navigation | |
| US20240176367A1 (en) | Uav dispatching method, server, dock apparatus, system, and storage medium | |
| Schofield et al. | Autonomous power line detection and tracking system using UAVs | |
| CN209387883U (en) | Fly control and navigation all-in-one machine | |
| CN206057971U (en) | A kind of low latitude unmanned plane balance system | |
| CN202120126U (en) | Unmanned aerial vehicle and remote controller | |
| CN204587317U (en) | The comprehensive warning system of general-purpose aircraft unit | |
| Xie et al. | Position estimation and control for quadrotor using optical flow and GPS sensors |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |