CN106303014A - A kind of flight control system and unmanned plane - Google Patents
A kind of flight control system and unmanned plane Download PDFInfo
- Publication number
- CN106303014A CN106303014A CN201610652001.3A CN201610652001A CN106303014A CN 106303014 A CN106303014 A CN 106303014A CN 201610652001 A CN201610652001 A CN 201610652001A CN 106303014 A CN106303014 A CN 106303014A
- Authority
- CN
- China
- Prior art keywords
- flight
- flight control
- module
- mobile device
- aircraft
- 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.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
- H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
- H04M1/72409—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories
- H04M1/72415—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories for remote control of appliances
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Human Computer Interaction (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
This application provides a kind of flight control system and unmanned plane.The flight control system of the embodiment of the present invention includes mobile device, near field communication controller, driver, aircraft actuator and power-supply system, mobile device is wirelessly connected with near field communication controller, driver is connected in a wired fashion with near field communication controller and aircraft actuator respectively, and power-supply system is connected with near field communication controller, driver and aircraft actuator respectively.The fractional hardware needed for flight control system and module is instead of by mobile device, thus simplify the structure of flight control system, reduce cost, and owing to mobile device can carry out remote radio communication, therefore substantially prolongs the remote control distance of unmanned plane, and then expand the range of application of unmanned plane.Therefore, the technical scheme that the embodiment of the present invention provides can solve the problem that the problem that the flight control system of unmanned plane in prior art is complicated, cost is high, unmanned plane remote control distance is short.
Description
Technical field
The present invention relates to the communications field, particularly relate to a kind of flight control system and unmanned plane.
Background technology
UAV (Unmanned Aerial Vehicle, UAV) is called for short unmanned plane, is to utilize wireless remotecontrol
The most manned aircraft that equipment and the presetting apparatus provided for oneself are handled.Defining from technical standpoint, unmanned plane can be divided into unmanned solid
Fixed wing machine, unmanned VTOL machine, unmanned airship, depopulated helicopter, unmanned multi-rotor aerocraft, unmanned parasol etc..
Wherein, many rotor wing unmanned aerial vehicles belong to emerging technology, high-new frontier science and technology industry.Along with the development of science and technology, unmanned plane
In addition to for military use, more and more wide in the range of application of civil area.Owing to unmanned plane has, operating cost is low, nothing
Injures and deaths risk, mobility are good, can carry out over the horizon flight, the feature such as efficiently easy to use, have the most been successfully applied to shadow
Depending on fields such as aerial survey of taking photo by plane, survey and draw, high-voltage line inspections, remotely monitoring, disaster relief rescue, pesticide spraying, business performance, more and more
Industry just wishing to replace traditional manual work mode with unmanned plane.
Flight control system it is provided with, in order to control the flight of unmanned plane on unmanned plane.At present, the many rotors on market without
Man-machine many employing microcontrollers are as UAV Flight Control System.As it is shown in figure 1, the flying of many rotor wing unmanned aerial vehicles in prior art
Row control system includes microcontroller, acceleration transducer, gyroscope, Magnetic Sensor, navigational satellite receiver, wireless remote control mould
Block, motor drive and flight actuator (being motor in Fig. 1).Wherein, wireless remote control module is typically all short-range communication mould
Block, therefore remote control distance is limited in the range of close range communication techniques allowed.
In realizing process of the present invention, inventor finds that in prior art, at least there are the following problems:
The flight control system of unmanned plane is more complicated, and cost is the highest, simultaneously the remote control distance of unmanned plane also than
Shorter.
Summary of the invention
In view of this, a kind of flight control system and unmanned plane are embodiments provided, in order to solve prior art
The problem that the flight control system of middle unmanned plane is complicated, cost is high, unmanned plane remote control distance is short.
On the one hand, embodiments provide a kind of flight control system, be applied to unmanned plane, including mobile device,
Near field communication controller, driver, aircraft actuator and power-supply system, described mobile device controls with described near-field communication
Device is wirelessly connected, described driver respectively with described near field communication controller and described aircraft actuator with wired
Mode is connected, and described power-supply system is connected with described near field communication controller, driver and aircraft actuator respectively.
Aspect as above and arbitrary possible implementation, it is further provided a kind of implementation, described movement sets
Wireless communication module, near-field communication module, gyroscope, accelerometer, Magnetic Sensor and navigational satellite receiver it is provided with in Bei,
Described near-field communication module is wirelessly connected with described near field communication controller.
Aspect as above and arbitrary possible implementation, it is further provided a kind of implementation, described near field leads to
Letter module includes bluetooth module, WIFI module, UWB module and/or ZigBee module.
Aspect as above and arbitrary possible implementation, it is further provided a kind of implementation, described near field leads to
Letter controller is bluetooth controller, WIFI controller, UWB controller or ZigBee controller.
Aspect as above and arbitrary possible implementation, it is further provided a kind of implementation, described movement sets
Standby for mobile phone or panel computer.
A technical scheme in technique scheme has the advantages that
The flight control system of the embodiment of the present invention, is used mobile device as ingredient, is replaced by mobile device
Fractional hardware needed for flight control system and module, thus simplify the structure of flight control system, reduce cost, and
And owing to mobile device can carry out remote radio communication, therefore substantially prolongs the remote control distance of unmanned plane, Jin Ertuo
Open up the range of application of unmanned plane.
On the other hand, embodiments provide a kind of unmanned plane, control system including the flight described in aforementioned any one
System.
Aspect as above and arbitrary possible implementation, it is further provided a kind of implementation, described unmanned plane
For many rotor wing unmanned aerial vehicles.
A technical scheme in technique scheme has the advantages that
The unmanned plane of the embodiment of the present invention, by use mobile device as the ingredient of flight control system, permissible
Utilize the existing parts of mobile device or module to replace some ingredients of flight control system, thus reduce cost, and
And the telecommunication function utilizing mobile device itself to have considerably increases remote control distance.
On the other hand, embodiments provide a kind of flight control method based on aforesaid flight control system,
Including:
Obtain current flight attitude and the positional information of aircraft；
Control signal is generated according to described current flight attitude and positional information；
Described control signal is wirelessly sent to described aircraft, so that described aircraft controls letter according to described
Number adjust flight attitude and course.
A technical scheme in technique scheme has the advantages that
The flight control method of the embodiment of the present invention, is applied in mobile device, enables mobile device as flight control
The ingredient of system processed, thus contribute to simplifying the structure of flight control system, reduce the cost of flight control system.
On the other hand, embodiments provide a kind of flight control assemblies, including:
Acquisition module, for obtaining current flight attitude and the positional information of aircraft；
Generation module, generates for the current flight attitude obtained according to described acquisition module and positional information and controls letter
Number；
First sending module, the described control signal for being generated by described generation module is wirelessly sent to described
Aircraft, so that described aircraft adjusts flight attitude and course according to described control signal.
A technical scheme in technique scheme has the advantages that
The flight control assemblies of the embodiment of the present invention, is applied in mobile device, enables mobile device as flight control
The ingredient of system processed, thus contribute to simplifying the structure of flight control system, reduce the cost of flight control system.
On the other hand, embodiments provide a kind of flight control method based on aforesaid flight control system,
Including:
The flight telecommand of earth command station is received by telecommunication；
Wirelessly send described flight telecommand to aircraft, to control flight attitude and the boat of described aircraft
To.
A technical scheme in technique scheme has the advantages that
The flight control method of the embodiment of the present invention, is applied to mobile device, it is possible to receive ground by telecommunication
The flight telecommand of director, so that the remote control distance of unmanned plane is greatly increased, and then contributes to expanding unmanned plane
Range of application.
On the other hand, embodiments provide a kind of flight control assemblies, including:
Receiver module, for receiving the flight telecommand of earth command station by telecommunication；
Second sending module, for wirelessly sending the described flight telecommand of described receiver module reception to flying
Row device, to control flight attitude and the course of described aircraft.
A technical scheme in technique scheme has the advantages that
The flight control assemblies of the embodiment of the present invention, is applied to mobile device, it is possible to receive ground by telecommunication
The flight telecommand of director, so that the remote control distance of unmanned plane is greatly increased, and then contributes to expanding unmanned plane
Range of application.
On the other hand, a kind of mobile device is embodiments provided, including aforesaid flight control assemblies.
Aspect as above and arbitrary possible implementation, it is further provided a kind of implementation, described movement sets
Standby for mobile phone or panel computer.
A technical scheme in technique scheme has the advantages that
The mobile device of the embodiment of the present invention includes flight control assemblies, it is possible to be applied to flying of the aircraft such as unmanned plane
Row control system, contributes to simplifying the structure of flight control system, reduces the cost of flight control system, and can be by remote
Distance communication receives the flight telecommand of earth command station, so that the remote control distance of the aircraft such as unmanned plane increases
Add, and then contribute to expanding the range of application of the aircraft such as unmanned plane.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below by embodiment required use attached
Figure is briefly described, it should be apparent that, the accompanying drawing in describing below is only some embodiments of the present invention, for this area
From the point of view of those of ordinary skill, on the premise of not paying creative work, it is also possible to obtain the attached of other according to these accompanying drawings
Figure.
Fig. 1 is the system architecture diagram of the flight control system of many rotor wing unmanned aerial vehicles in prior art；
Fig. 2 is the system architecture diagram of the flight control system that the embodiment of the present invention is provided；
Fig. 3 is the structured flowchart of mobile device 210 in Fig. 2.
Fig. 4 is the structured flowchart of the unmanned plane that the embodiment of the present invention is provided.
Fig. 5 is one of flow chart of flight control method of being provided of the embodiment of the present invention.
Fig. 6 is one of functional block diagram of flight control assemblies of being provided of the embodiment of the present invention.
Fig. 7 is the two of the flow chart of the flight control method that the embodiment of the present invention is provided.
Fig. 8 is the two of the functional block diagram of the flight control assemblies that the embodiment of the present invention is provided.
Fig. 9 is the functional block diagram of the mobile device that the embodiment of the present invention is provided.
Figure 10 is a kind of hardware architecture diagram of the mobile device 900 that the embodiment of the present invention is provided.
Detailed description of the invention
In order to be better understood from technical scheme, below in conjunction with the accompanying drawings the embodiment of the present invention is retouched in detail
State.
It will be appreciated that described embodiment be only the present invention a part of embodiment rather than whole embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained under not making creative work premise all its
Its embodiment, broadly falls into the scope of protection of the invention.
The term used in embodiments of the present invention is only merely for describing the purpose of specific embodiment, and is not intended to be limiting
The present invention." a kind of ", " described " and " being somebody's turn to do " of singulative used in the embodiment of the present invention and appended claims
It is also intended to include most form, unless context clearly shows that other implications.
Should be appreciated that term "and/or" used herein is only a kind of incidence relation describing affiliated partner, represent
Three kinds of relations, such as, A and/or B can be there are, can represent: individualism A, there is A and B, individualism B these three simultaneously
Situation.It addition, character "/" herein, typically represent forward-backward correlation to as if the relation of a kind of "or".
Although should be appreciated that possible employing term first, second, third, etc. are to describe XXX in embodiments of the present invention, but
These XXX should not necessarily be limited by these terms.These terms are only used for XXX is distinguished from each other out.Such as, implementing without departing from the present invention
In the case of example scope, an XXX can also be referred to as the 2nd XXX, and similarly, the 2nd XXX can also be referred to as an XXX.
Depend on linguistic context, word as used in this " if " can be construed to " ... time " or " when ...
Time " or " in response to determining " or " in response to detection ".Similarly, depend on linguistic context, phrase " if it is determined that " or " if detection
(condition of statement or event) " " when determining " or " in response to determining " can be construed to or " when the detection (condition of statement
Or event) time " or " in response to detection (condition of statement or event) ".
Embodiment one
The embodiment of the present invention provides a kind of flight control system, refer to Fig. 1, and it is flying that the embodiment of the present invention is provided
The system architecture diagram of row control system, as it is shown in figure 1, this flight control system 200 can include that mobile device 210, near field lead to
Letter controller 220, driver 230, aircraft actuator 240 and power-supply system 250, wherein, mobile device 210 is led to near field
Letter controller 220 be wirelessly connected, driver 230 respectively with near field communication controller 220 and aircraft actuator 240
Be connected in a wired fashion, power-supply system 250 respectively with near field communication controller 220, driver 230 and aircraft actuator
240 are connected.
The flight control system of the embodiment of the present invention can apply to unmanned plane, the most rotor wing unmanned aerial vehicles etc..
Wherein, driver 230 performs machine for controlling aircraft according to the control signal of near field communication controller 220 transmission
Structure 240.Generally, aircraft actuator 240 is motor, and correspondingly, driver 230 is motor driver.In flight control
In system 200, multiple driver 230 and multiple aircraft actuator 240, driver 230 and aircraft can be had to perform machine
The quantity of structure 240 is typically equal.
Fig. 3 is the structured flowchart of mobile device 210 in Fig. 2.See Fig. 3, in mobile device 210, channel radio can be provided with
Letter module 211, near-field communication module 212, gyroscope 213, accelerometer 214, Magnetic Sensor 215 and navigational satellite receiver
216, wherein, near-field communication module 212 is wirelessly connected with near field communication controller 220.Wireless communication module 211, near
Field communication module 212, gyroscope 213, accelerometer 214, Magnetic Sensor 215 and navigational satellite receiver 216 all set with mobile
The processor of standby 210 is connected.
Mobile device 210 self can also have memorizer, touch screen etc., may be used for storage and shows flying of unmanned plane
Row data.
Wherein, wireless communication module 211 can be cellular radio module, 4G module, 3G module etc..Radio communication mold
The communication distance of block is long, far beyond the scope of near-field communication.
Wherein, near-field communication module 212 can include bluetooth module, WIFI module, UWB (Ultra Wideband, ultra-wide
Band) module, ZigBee module.
Correspondingly, near field communication controller can be bluetooth controller, WIFI controller, UWB controller or ZigBee control
Device processed etc..Near-field communication module communicates with identical the short distance wireless communication technology with near field communication controller.Such as, when
When near-field communication module includes bluetooth module and WIFI module, near field communication controller can be that bluetooth controller can also be
WIFI controller, when near-field communication module includes bluetooth module, WIFI module, UWB module, ZigBee module, near-field communication
Controller can be any one in bluetooth controller, WIFI controller, UWB controller or ZigBee controller.
Wherein, gyroscope 213 generally 3 axle gyroscopes, accelerometer 214 generally 3 axis accelerometers, Magnetic Sensor
215 generally 3 axial magnetic sensors.
Wherein, navigational satellite receiver 216 can include GPS (Global Positioning System, global location
System) module, Beidou module, GNSS (Global Navigation Satellite System, global navigational satellite system
System) module etc..
Wherein, mobile device 210 can be mobile phone, panel computer etc..
A kind of work process of the flight control system of the embodiment of the present invention is as follows:
Mobile device 210 obtains flight attitude and the positional information of aircraft (here for unmanned plane), then according to acquisition
Flight attitude and positional information generate control signal；
Control signal wirelessly (such as bluetooth, WIFI, UWB, ZigBee etc.) is sent to closely by mobile device 210
Field communication controler 220；
After near field communication controller 220 receives control signal, send control signals to driver 230, driver 230
Corresponding aircraft actuator 240 is driven, to adjust flight attitude and the course of aircraft according to control signal.
The another kind of work process of the flight control system of the embodiment of the present invention is as follows:
Mobile device 210 receives the flight telecommand that (by wireless communication module 211) earth command station sends；
Mobile device 210 sends (by near-field communication module 212) this flight telecommand near field communication controller
220；
After near field communication controller 220 receives flight telecommand, flight telecommand is sent to driver 230,
Driver 230 according to flight telecommand drive corresponding aircraft actuator 240, with control aircraft flight attitude and
Course.
Wherein, power-supply system 250 is used for as near field communication controller 220, driver 230 and aircraft actuator 240
Power supply.
Mobile device is current application portable set widely, such as mobile phone, panel computer etc..Current movement sets
Standby function is the most powerful, and mobile device is internal typically all has been provided with wireless communication module, near-field communication module, gyro
Instrument, accelerometer, Magnetic Sensor and navigational satellite receiver, it is not necessary to mobile device is made the amendment on any hardware the most permissible
It is applied in the flight control system of unmanned plane.Meanwhile, mobile device has compact, frivolous feature, for unmanned plane
Overall weight do not affect.
Owing to mobile device being integrated with some hardware being provided with in other words required for flight control system, therefore unmanned
The flight control system of machine just can redesign these hardware, and replaces by mobile device.So, flight controls system
The structure of system just significantly simplify, and also greatly reduces the cost of flight control system simultaneously.
Mobile device can not only replace a part of hardware of UAV Flight Control System, and due to mobile device from
The wireless communication module communication distance that body is had is long, far beyond the scope of near-field communication, so when making by mobile device
During for the ingredient of flight control system, unmanned plane be able to receive that the earth command station at far place flight telecommand and
The flying quality of unmanned plane is transferred to this earth command station, thus reaches the more remote remote control to unmanned plane.
In use, mobile device can be fixed on unmanned plane.Such as, unmanned plane can arrange draw-in groove or deck
In mechanism, in order to fixing mobile device, it is also possible to be not provided with any mobile device fixed mechanism, but the most directly will move
Dynamic equipment sticks on unmanned plane.In the case of unmanned plane not execution task, mobile device can be pulled down from unmanned plane
Come, still use as common mobile device.
Visible, the flight control system of the embodiment of the present invention, use mobile device as ingredient, pass through mobile device
Instead of the fractional hardware needed for flight control system and module, thus simplify the structure of flight control system, reduce into
This, and owing to mobile device can carry out remote radio communication, therefore substantially prolongs the remote control distance of unmanned plane, enter
And expanded the range of application of unmanned plane.
Embodiment two
Fig. 4 is the structured flowchart of the unmanned plane that the embodiment of the present invention is provided.
See Fig. 4, in the embodiment of the present invention, unmanned plane 400 can include flight control system 200.
Wherein, unmanned plane 400 can be many rotor wing unmanned aerial vehicles, it is also possible to is other kinds of to use above-mentioned flight to control
The unmanned plane of system 200.
Wherein, flight control system 200 has been described in aforesaid embodiment one, and here is omitted.
Flight control system is the important component part of unmanned plane, after using aforesaid flight control system 200, and a side
Face, makes the structure of flight control system simplify so that the cost of flight control system drops due to the use of mobile device
Low, and the cost that the reduction of the cost of flight control system makes unmanned plane decreases.On the other hand, due to flight control
The wireless communication module communication distance that mobile device in system itself is had is long, and therefore unmanned plane is able to receive that far place
The flight telecommand of earth command station and the flying quality of unmanned plane is transferred to this earth command station, it is seen then that include flying
The remote control distance of the unmanned plane 400 of row control system 200 has obtained significantly extending.
To sum up, the unmanned plane of the embodiment of the present invention, by use mobile device as the ingredient of flight control system,
The existing parts of mobile device or module can be utilized to replace some ingredients of flight control system, thus reduce into
This, and the telecommunication function utilizing mobile device itself to have considerably increases remote control distance.
Embodiment three
Embodiments providing a kind of flight control method, this flight control method is based in previous embodiment one
Flight control system.The movement that this flight control method can apply in the flight control system in previous embodiment one sets
Standby.
Fig. 5 is one of flow chart of flight control method of being provided of the embodiment of the present invention.See Fig. 5, in the present embodiment,
Flight control method may include steps of:
Step S501, obtains current flight attitude and the positional information of aircraft；
In flight control system, mobile device can be passed through accelerometer, gyroscope and Magnetic Sensor and obtain aircraft
The data of current flight attitude, obtained the current location information of aircraft by navigational satellite receiver.Wherein, accelerometer
Acceleration on the three axes of sense aircraft, gyroscope is for the axial anglec of rotation speed of sense aircraft three coordinate
Rate, Magnetic Sensor is for the deflection of sense aircraft three axle earth magnetism.
Step S502, generates control signal according to the current flight attitude obtained and positional information；
Mobile device is referred to the expection flight attitude of aircraft, the current flight attitude of comparison aircraft and position letter
Breath generates control signal, and wherein, control signal makes the flight attitude of aircraft can be adjusted to above-mentioned expection flight
Attitude.Here, it is contemplated that flight attitude can pre-set.
Step S503, is wirelessly sent to aircraft by control signal, so that aircraft is adjusted according to this control signal
Whole flight attitude and course.
Mobile device in flight control system and being wirelessly connected between near field communication controller, therefore, mobile
Equipment wirelessly sends control signals near field communication controller, and control signal is sent to by near field communication controller
Driver, by driver drives aircraft actuator, adjusts flight attitude and the course of aircraft.
Wherein, the wireless mode of mobile device transmission of control signals can be bluetooth, WIFI, UWB, ZigBee etc., and this takes
The concrete proximity communication module certainly arranged in mobile device.Such as, if mobile device is provided with bluetooth module, WIFI
Module, ZigBee module these three proximity communication module, then the wireless transmission method that mobile device is used can be blue
Any one in tooth, WIFI, ZigBee.
Aircraft flight path it has been determined that in the case of, can be controlled by the flight control method shown in Fig. 5
Aircraft processed.
The flight control method of the embodiment of the present invention, is applied in mobile device, enables mobile device as flight control
The ingredient of system processed, thus contribute to simplifying the structure of flight control system, reduce the cost of flight control system.
Refer to Fig. 6, one of its functional block diagram of flight control assemblies provided by the embodiment of the present invention.Fig. 6 institute
The flight control assemblies shown is for performing the flight control method shown in Fig. 5.
As shown in Figure 6, in the present embodiment, flight control assemblies 600 can include acquisition module 610, generation module 620 and
First sending module 630.Wherein, acquisition module 610 is for obtaining current flight attitude and the positional information of aircraft.Generate mould
Block 620 generates control signal for the current flight attitude obtained according to acquisition module 610 and positional information.First sending module
630 are wirelessly sent to aircraft, so that aircraft is according to this control for the control signal generated by generation module 620
Signal adjusts flight attitude and course.
Owing to the flight control assemblies in the present embodiment is able to carry out the method shown in Fig. 5, the present embodiment does not describes in detail
Part, refer to the related description to Fig. 5.
The flight control assemblies of the embodiment of the present invention, is applied in mobile device, enables mobile device as flight control
The ingredient of system processed, thus contribute to simplifying the structure of flight control system, reduce the cost of flight control system.
Embodiment four
Embodiments providing a kind of flight control method, this flight control method is based in previous embodiment one
Flight control system.The movement that this flight control method can apply in the flight control system in previous embodiment one sets
Standby.
Fig. 7 is the two of the flow chart of the flight control method that the embodiment of the present invention is provided.See Fig. 7, in the present embodiment,
Flight control method may include steps of:
Step S701, receives the flight telecommand of earth command station by telecommunication；
Mobile device can receive the flight telecommand of earth command station by telecommunication.Wherein, at a distance
Communication relative to short-range communication by, telecommunication such as cellular radio communication, 4G communication, 3G communication etc..
Owing to the communication distance of telecommunication is far longer than short-range communication, therefore, use mobile device as flight control system
The remote control distance of the unmanned plane of ingredient can be greatly increased.
Step S702, wirelessly sends flight telecommand to aircraft, with control aircraft flight attitude and
Course.
According to the explanation in previous embodiment one, mobile device be the wireless mode with short-range communication with closely
Controller communication.Therefore, flight telecommand can be sent to the aircraft such as unmanned plane by mobile device wirelessly.
Flight path at aircraft does not determines, when needing the real-time control according to earth command station to carry out flight, permissible
Aircraft is controlled by the flight control method shown in Fig. 7.
The flight control method of the embodiment of the present invention, is applied to mobile device, it is possible to receive ground by telecommunication
The flight telecommand of director, so that the remote control distance of unmanned plane is greatly increased, and then contributes to expanding unmanned plane
Range of application.
Refer to Fig. 8, the two of the functional block diagram of its flight control assemblies provided by the embodiment of the present invention.Fig. 8 institute
The flight control assemblies shown is for performing the flight control method shown in Fig. 7.
As shown in Figure 8, in the present embodiment, flight control assemblies 800 can include receiver module 810 and the second sending module
820.Wherein, receiver module 810 for receiving the flight telecommand of earth command station by telecommunication.Second sends mould
The flight telecommand that block 820 receives for wirelessly sending/receiving module 810 is to aircraft, to control flying of aircraft
Row attitude and course.
Owing to the flight control assemblies in the present embodiment is able to carry out the method shown in Fig. 7, the present embodiment does not describes in detail
Part, refer to the related description to Fig. 7.
The flight control assemblies of the embodiment of the present invention, is applied to mobile device, it is possible to receive ground by telecommunication
The flight telecommand of director, so that the remote control distance of unmanned plane is greatly increased, and then contributes to expanding unmanned plane
Range of application.
Embodiment five
Embodiments provide a kind of mobile device.Mobile device in the embodiment of the present invention can apply to this
Flight control system in bright previous embodiment one.
Fig. 9 is the functional block diagram of the mobile device that the embodiment of the present invention is provided.As it is shown in figure 9, in the present embodiment, move
Dynamic equipment 900 can include flight control assemblies.This flight control assemblies can be the flight control in present invention
Device 600 processed, it is also possible to be the flight control assemblies 800 in present invention, it is also possible to both included that flight controls dress
Put 600 and also include flight control assemblies 800.
Wherein, mobile device can be mobile phone, panel computer etc..
Wherein, the hardware configuration of the mobile device 900 that the embodiment of the present invention is provided can be as shown in Figure 10.
Refer to Figure 10, a kind of hardware architecture diagram of its mobile device 900 provided by the embodiment of the present invention.As
Shown in Figure 10, mobile device 900 can include following one or more assembly: processes assembly 902, memorizer 904, power supply module
906, multimedia groupware 908, audio-frequency assembly 910, the interface 912 of input/output (I/O), sensor cluster 914, and communication
Assembly 916.
Processing assembly 902 and generally control the integrated operation of mobile device 900, such as with display, call, data are led to
The operation that letter, camera operation and record operation are associated.Process assembly 902 and can include that one or more processor 920 is held
Row instruction, to complete all or part of step of above-mentioned flight control method, specifically includes: obtain the current flight of aircraft
Attitude and positional information；Control signal is generated according to described current flight attitude and positional information；By described control signal with nothing
Line mode is sent to described aircraft, so that described aircraft adjusts flight attitude and course according to described control signal.Process
Assembly 902 can also complete following flight control method: the flight remote control being received earth command station by telecommunication is referred to
Order；Wirelessly send described flight telecommand to aircraft, to control flight attitude and the course of described aircraft.This
Outward, process assembly 902 and can include one or more module, it is simple to process between assembly 902 and other assemblies is mutual.Example
As, process assembly 902 and can include multi-media module, with facilitate multimedia groupware 908 and process between assembly 902 mutual.
Memorizer 904 is configured to store various types of data to support the operation in mobile device 900.These data
Example include in mobile device 900 operation any application program or the instruction of method, contact data, telephone directory
Data, message, picture, video etc..Memorizer 904 can by any kind of volatibility or non-volatile memory device or it
Combination realize, such as static RAM (SRAM), Electrically Erasable Read Only Memory (EEPROM), erasable
Except programmable read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic memory, soon
Flash memory, disk or CD.
The various assemblies that power supply module 906 is mobile device 900 provide electric power.Power supply module 906 can include power supply pipe
Reason system, one or more power supplys, and other generate, manage and distribute, with for mobile device 900, the assembly that electric power is associated.
The screen of one output interface of offer that multimedia groupware 908 is included between described mobile device 900 and user.
In certain embodiments, screen can include liquid crystal display (LCD) and touch panel (TP).If screen includes touch surface
Plate, screen may be implemented as touch screen, to receive the input signal from user.Touch panel includes one or more touch
Sensor is with the gesture on sensing touch, slip and touch panel.Described touch sensor can not only sense touch or slide
The border of action, but also detect the persistent period relevant to described touch or slide and pressure.In certain embodiments,
Multimedia groupware 908 includes a front-facing camera and/or post-positioned pick-up head.When mobile device 900 is in operator scheme, as clapped
When taking the photograph pattern or video mode, front-facing camera and/or post-positioned pick-up head can receive the multi-medium data of outside.Each preposition
Photographic head and post-positioned pick-up head can be a fixing optical lens system or have focal length and optical zoom ability.
Audio-frequency assembly 910 is configured to output and/or input audio signal.Such as, audio-frequency assembly 910 includes a Mike
Wind (MIC), when mobile device 900 is in operator scheme, during such as call model, logging mode and speech recognition mode, mike
It is configured to receive external audio signal.The audio signal received can be further stored at memorizer 904 or via logical
Letter assembly 916 sends.In certain embodiments, audio-frequency assembly 910 also includes a speaker, is used for exporting audio signal.
I/O interface 912 provides interface for processing between assembly 902 and peripheral interface module, above-mentioned peripheral interface module can
To be keyboard, put striking wheel, button etc..These buttons may include but be not limited to: home button, volume button, start button and lock
Set button.
Sensor cluster 914 includes one or more sensor, for providing the state of various aspects for mobile device 900
Assessment.Such as, what sensor cluster 914 can detect mobile device 900 opens/closed mode, the relative localization of assembly, example
Such as display that described assembly is mobile device 900 and keypad, sensor cluster 914 can also detect mobile device 900 or
The position change of 900 1 assemblies of mobile device, the presence or absence that user contacts with mobile device 900, mobile device 900
Orientation or acceleration/deceleration and the variations in temperature of mobile device 900.Sensor cluster 914 can include proximity transducer, is configured
It is used for when there is no any physical contact object near detecting.Sensor cluster 914 can also include optical sensor,
Such as CMOS or ccd image sensor, it is used for using in imaging applications.In certain embodiments, this sensor cluster 914 also may be used
To include acceleration transducer, gyro sensor, Magnetic Sensor, pressure transducer or temperature sensor.
Communications component 916 is configured to facilitate the communication of wired or wireless mode between mobile device 900 and other equipment.
Mobile device 900 can access wireless network based on communication standard, such as WiFi, 2G, 3G or 4G or combinations thereof.At one
In exemplary embodiment, communications component 916 receives the broadcast singal or wide from external broadcasting management system via broadcast channel
Broadcast relevant information.In one exemplary embodiment, described communications component 916 also includes near-field communication (NFC) module, to promote
Junction service.Such as, can be based on RF identification (RFID) technology in NFC module, Infrared Data Association (IrDA) technology, ultra broadband
(UWB) technology, bluetooth (BT) technology and other technologies realize.
In the exemplary embodiment, mobile device 900 can be by one or more application specific integrated circuits (ASIC), number
Word signal processor (DSP), digital signal processing appts (DSPD), PLD (PLD), field programmable gate array
(FPGA), controller, microcontroller, microprocessor or other electronic components realize, be used for performing said method.
The mobile device of the embodiment of the present invention includes flight control assemblies, it is possible to be applied to flying of the aircraft such as unmanned plane
Row control system, contributes to simplifying the structure of flight control system, reduces the cost of flight control system, and can be by remote
Distance communication receives the flight telecommand of earth command station, so that the remote control distance of the aircraft such as unmanned plane increases
Add, and then contribute to expanding the range of application of the aircraft such as unmanned plane.
Those skilled in the art is it can be understood that arrive, for convenience and simplicity of description, and the system of foregoing description,
The specific works process of device and module, is referred to the corresponding process in preceding method embodiment, does not repeats them here.
In several embodiments provided by the present invention, it should be understood that disclosed system, apparatus and method are permissible
Realize by another way.Such as, device embodiment described above is only schematically, such as, and described module
Dividing, be only a kind of logic function and divide, actual can have other dividing mode, such as, multiple modules or group when realizing
Part can in conjunction with or be desirably integrated into another system, or some features can be ignored, or does not performs.Another point, shown
Or the coupling each other discussed or direct-coupling or communication connection can be indirect by some interfaces, device or module
Coupling or communication connection, can be electrical, machinery or other form.
The described module illustrated as separating component can be or may not be physically separate, shows as module
The parts shown can be or may not be physical module, i.e. may be located at a place, or can also be distributed to multiple
On NE.Some or all of module therein can be selected according to the actual needs to realize the mesh of the present embodiment scheme
's.
It addition, each functional module in each embodiment of the present invention can be integrated in a processing unit, it is also possible to
It is that modules is individually physically present, it is also possible to two or more modules are integrated in a unit.Above-mentioned integrated list
Unit both can realize to use the form of hardware, it would however also be possible to employ hardware adds the form of SFU software functional unit and realizes.
The above-mentioned integrated unit realized with the form of SFU software functional unit, can be stored in an embodied on computer readable and deposit
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions with so that a computer
Device (can be personal computer, server, or network equipment etc.) or processor (Processor) perform the present invention each
The part steps of method described in embodiment.And aforesaid storage medium includes: USB flash disk, portable hard drive, read only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or CD etc. various
The medium of program code can be stored.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all spirit in the present invention and
Within principle, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.
Claims (13)
1. a flight control system, is applied to unmanned plane, it is characterised in that includes mobile device, near field communication controller, drive
Dynamic device, aircraft actuator and power-supply system, described mobile device is wirelessly connected with described near field communication controller,
Described driver is connected in a wired fashion with described near field communication controller and described aircraft actuator respectively, described power supply
System is connected with described near field communication controller, driver and aircraft actuator respectively.
Flight control system the most according to claim 1, it is characterised in that be provided with radio communication in described mobile device
Module, near-field communication module, gyroscope, accelerometer, Magnetic Sensor and navigational satellite receiver, described near-field communication module with
Described near field communication controller is wirelessly connected.
Flight control system the most according to claim 2, it is characterised in that described near-field communication module includes bluetooth mould
Block, WIFI module, UWB module and/or ZigBee module.
Flight control system the most according to claim 1, it is characterised in that described near field communication controller is Bluetooth control
Device, WIFI controller, UWB controller or ZigBee controller.
Flight control system the most according to claim 1, it is characterised in that described mobile device is mobile phone or flat board electricity
Brain.
6. a unmanned plane, it is characterised in that include the flight control system described in any one of Claims 1 to 5.
Unmanned plane the most according to claim 6, it is characterised in that described unmanned plane is many rotor wing unmanned aerial vehicles.
8. a flight control method based on the flight control system described in claim 1, it is characterised in that including:
Obtain current flight attitude and the positional information of aircraft；
Control signal is generated according to described current flight attitude and positional information；
Described control signal is wirelessly sent to described aircraft, so that described aircraft is adjusted according to described control signal
Whole flight attitude and course.
9. a flight control assemblies, it is characterised in that including:
Acquisition module, for obtaining current flight attitude and the positional information of aircraft；
Generation module, generates control signal for the current flight attitude obtained according to described acquisition module and positional information；
First sending module, is wirelessly sent to described flight for the described control signal generated by described generation module
Device, so that described aircraft adjusts flight attitude and course according to described control signal.
10. a flight control method based on the flight control system described in claim 1, it is characterised in that including:
The flight telecommand of earth command station is received by telecommunication；
Wirelessly send described flight telecommand to aircraft, to control flight attitude and the course of described aircraft.
11. 1 kinds of flight control assemblies, it is characterised in that including:
Receiver module, for receiving the flight telecommand of earth command station by telecommunication；
Second sending module, for wirelessly sending the described flight telecommand of described receiver module reception to flight
Device, to control flight attitude and the course of described aircraft.
12. 1 kinds of mobile devices, it is characterised in that include the flight control assemblies described in claim 9 and/or 11.
13. mobile devices according to claim 12, it is characterised in that described mobile device is mobile phone or panel computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610652001.3A CN106303014A (en) | 2016-08-10 | 2016-08-10 | A kind of flight control system and unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610652001.3A CN106303014A (en) | 2016-08-10 | 2016-08-10 | A kind of flight control system and unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106303014A true CN106303014A (en) | 2017-01-04 |
Family
ID=57668010
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610652001.3A Pending CN106303014A (en) | 2016-08-10 | 2016-08-10 | A kind of flight control system and unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106303014A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106911860A (en) * | 2017-03-21 | 2017-06-30 | 四川智航慧飞无人机科技有限公司 | The system that a kind of unmanned plane is combined with mobile phone |
| CN110460974A (en) * | 2019-09-24 | 2019-11-15 | 中国航空工业集团公司沈阳飞机设计研究所 | A kind of wireless communications method |
| CN116215842A (en) * | 2023-03-10 | 2023-06-06 | 重庆信易源智能科技有限公司 | Intelligent man-machine interaction system based on aerial platform |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105068544A (en) * | 2015-08-28 | 2015-11-18 | 上海菲猫机器人技术有限公司 | UAV flight control system based on Android mobile phone and external sensor |
| US20160116912A1 (en) * | 2014-09-17 | 2016-04-28 | Youval Nehmadi | System and method for controlling unmanned vehicles |
-
2016
- 2016-08-10 CN CN201610652001.3A patent/CN106303014A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160116912A1 (en) * | 2014-09-17 | 2016-04-28 | Youval Nehmadi | System and method for controlling unmanned vehicles |
| CN105068544A (en) * | 2015-08-28 | 2015-11-18 | 上海菲猫机器人技术有限公司 | UAV flight control system based on Android mobile phone and external sensor |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106911860A (en) * | 2017-03-21 | 2017-06-30 | 四川智航慧飞无人机科技有限公司 | The system that a kind of unmanned plane is combined with mobile phone |
| CN110460974A (en) * | 2019-09-24 | 2019-11-15 | 中国航空工业集团公司沈阳飞机设计研究所 | A kind of wireless communications method |
| CN116215842A (en) * | 2023-03-10 | 2023-06-06 | 重庆信易源智能科技有限公司 | Intelligent man-machine interaction system based on aerial platform |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106412230B (en) | Mobile terminal and control method thereof | |
| EP3452881B1 (en) | Imaging using multiple unmanned aerial vehicles | |
| US20190373173A1 (en) | Multi-gimbal assembly | |
| WO2018095158A1 (en) | Flight control method, apparatus and system for use in aircraft | |
| EP3299925B1 (en) | Method, apparatus and system for controlling unmanned aerial vehicle | |
| US11960284B2 (en) | Multipoint cable cam system and method | |
| KR101546717B1 (en) | Mobile communication terminal having unmanned aerial vehicle | |
| CN111400610B (en) | Vehicle-mounted social method and device and computer storage medium | |
| JP6174290B1 (en) | Unattended mobile object confirmation system | |
| CN108151748B (en) | Flight device surveying and mapping operation route planning method and device and terminal | |
| CN106814750A (en) | UAV flight control method and device | |
| US20170269590A1 (en) | Controlled device and communication system and method utilizing the same | |
| WO2016011590A1 (en) | Data processing method and device, and aircraft | |
| CN111381602B (en) | Unmanned aerial vehicle flight control method and device and unmanned aerial vehicle | |
| CN106303014A (en) | A kind of flight control system and unmanned plane | |
| CN106054918A (en) | Method and device for providing information of unmanned aerial vehicle | |
| US20200202727A1 (en) | Thermal image based precision drone landing systems and methods | |
| KR20160100188A (en) | Mobile terminal and method of controlling the same | |
| CN109196794A (en) | The configuration method and device of flight path, flying method and device and base station | |
| CN204287973U (en) | flight camera | |
| CN110463166A (en) | Mobile terminal device and its function-limiting method with function restriction and the processing routine for this | |
| KR20220046594A (en) | Mobile terminal and method of controlling the mobile terminal | |
| CN107688350A (en) | Unmanned aerial vehicle (UAV) control method and apparatus | |
| KR20170081349A (en) | Drone and mobile terminal for controlling the same | |
| CN110418049B (en) | Position information processing method and device, mobile terminal and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170104 |