CN106708087A - Unmanned aerial vehicle mobile control system and control method thereof - Google Patents
Unmanned aerial vehicle mobile control system and control method thereof Download PDFInfo
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- CN106708087A CN106708087A CN201611100651.3A CN201611100651A CN106708087A CN 106708087 A CN106708087 A CN 106708087A CN 201611100651 A CN201611100651 A CN 201611100651A CN 106708087 A CN106708087 A CN 106708087A
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- 238000006243 chemical reaction Methods 0.000 abstract description 2
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- 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
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention discloses an unmanned aerial vehicle mobile control system. The system comprises the mobile phone end module of an intelligent mobile phone and an unmanned aerial vehicle end module arranged in an unmanned aerial vehicle. The system is characterized in that the mobile phone end module comprises a moving track recognition module, a gesture track conversion module and a signal transmission module, and the unmanned aerial vehicle end module comprises a signal receiving module, a command analysis module and a flight control module. The invention further discloses a control method of the unmanned aerial vehicle mobile control system. According to the method, the unmanned aerial vehicle flies in real time in accordance with a moving track; through continuous moving, flight errors are reduced to ensure flight accuracy; the control does not need an unmanned aerial vehicle pilot who is specially trained; and foolproof and accurate unmanned aerial vehicle flight is realized.
Description
Technical field
The invention belongs to the communications field, it is related to a kind of unmanned plane mobile control system, specifically refers to a kind of unmanned plane movement
Control system and its control method.
Background technology
Recently as the development popularization of unmanned air vehicle technique, telecontrol engineering also reaches its maturity.Mainly have two in the market
Plant remote control thereof：A kind of is that the winged hand of specially trained unmanned plane is operated by special remote control to unmanned plane, than
It is by setting multiple directions controlled entity button or rocking bar on a remote control such as basic direction controlling.Another kind is logical
Cross cell phone software, set unmanned plane during flying destination and route, realize that the key of unmanned plane one takes off, flight, a key make a return voyage operation automatically.
But these remote control thereofs realize that unmanned plane during flying has deficiency.The first is by remote controller operation, flight
Precision is high, but very high for the requirement of operating personnel, and generally requiring could grasp driving for unmanned plane by special training
Skill is sailed, this kind of unmanned plane driver is in the field of business to be referred to as " winged hand ", according to China's issue in 2014《Civilian unmanned boat
Pocket system driver management temporary provisions》, unmanned plane driver must take appointment with certificate, and the threshold largely have impact on
The popularization of unmanned plane；Flight destination airline operational is set by cell phone software second, no-manned machine distant control is convenient " foolproof ", but
It is that flight precision cannot be guaranteed, flight error can reach several rice, how that is shot under the premise of this error, is shot
Image/video how about ensure can use, this is all the obvious drawback of " foolproof " unmanned plane.
Therefore, design it is a kind of in the case of remote control is not used, by handset touch panel drag and unmanned plane fly control come
Precisely flight is realized, i.e., on mobile phone screen, finger is moved in the horizontal direction and the vertical direction, and unmanned plane is according to finger
The unmanned plane mobile control system of motion track real-time flight is always those skilled in the art's technical barrier to be solved.
The content of the invention
The present invention is in view of the shortcomings of the prior art, it is proposed that a kind of unmanned plane mobile control system and its controlling party
Method, the mobile phone end module of the smart mobile phone used by user and the joint of the unmanned plane end module on unmanned plane are made
With realizing that unmanned plane precisely flies.
The present invention is achieved in that a kind of unmanned plane mobile control system disclosed by the invention, including smart mobile phone
Mobile phone end module and the unmanned plane end module in unmanned plane；Described mobile phone end module includes that motion track recognizes mould
Block, gesture path modular converter and signal emission module；Described unmanned plane end module includes signal receiving module, instruction solution
Analysis module and flight control modules.
The invention also discloses a kind of control method of unmanned plane mobile control system, comprise the following steps that：
1）Direction of rotation and the anglec of rotation of head are recognized by motion track identification module in mobile phone end module；Rotation therein
Subcontract and include mobile and counterclockwise mobile, level clockwise and vertically move direction and displacement；
2）The real-time moving movement Track command being collected into is processed into by gesture path modular converter in mobile phone end module again
Dependent instruction；
3）Signal emission module is made by above-mentioned steps 2 by mobile phone end module middle finger again）Middle dependent instruction is sent to unmanned plane and flies
Control system；
4）Signal receiving module in unmanned plane end module receives above-mentioned steps 3）The instruction of the unmanned plane movement of transmission；
5）The instruction that command analysis module in unmanned plane end module will be received is parsed into movement locus order；
6）Flight control modules in last unmanned plane end module drive unmanned plane to complete and motion track one in real time according to order
The motion of cause.
Above-mentioned steps 1 ~ 6 are once to move the operation between beginning and mobile end, as a moving operation, pass through
One or many moving operation, until completing whole mobile control flow
Further, the ratio of actual motion track is 1 in gesture path and unmanned plane end module in described mobile phone end module：（3
~15）.
Further, in described mobile phone end module, mobile phone interface is divided into the left and right sides；Described left side controlled level is moved
It is dynamic；Described right side control is vertically moved；Specifically refer on horizontal plane all around with vertical plane on it is upper and lower.
Further, it is described move horizontally including moving forward, being moved rearwards by, be moved to the left, move right, dextrorotation
Turn, rotate counterclockwise.
Further, it is described to vertically move including moving up, moving down.
The present invention is relative to the beneficial effect of prior art：The present invention is moved by with finger on smart mobile phone screen
It is dynamic, including the forward movement on horizontal plane, it is moved rearwards by, is moved to the left, moves right, turns clockwise, revolves counterclockwise
Turn, moving up, moving down to control unmanned plane during flying on vertical plane；Finger is moved simultaneously, and unmanned plane will be pressed in real time
According to motion track flight, by constantly mobile, flight error is reduced, it is ensured that flight precision, such control both need not be special
The unmanned plane of training flies hand to control, and the accurate flight of the unmanned plane of " foolproof " can be realized again.
Brief description of the drawings
Fig. 1 is the control system module map of a kind of unmanned plane mobile control system of the invention and its control method；
Fig. 2 is that a kind of unmanned plane mobile control system of the invention and its control method realize flow chart；
Fig. 3 is head rotating direction and the signal of angle of a kind of unmanned plane mobile control system of the invention and its control method
Figure.
Specific embodiment
The present invention provides a kind of unmanned plane mobile control system and its control method, to make the purpose of the present invention, technical side
Case and effect are clearer, clearly, and referring to the drawings and give an actual example that the present invention is described in more detail.It should be understood that herein
Described specific implementation is only used to explain the present invention, is not intended to limit the present invention.
As shown in figure 1, unmanned plane mobile control system of the invention, including smart mobile phone mobile phone end module and installation
Unmanned plane end module in unmanned plane, described mobile phone end module includes motion track identification module, gesture path modulus of conversion
Block and signal emission module；Described unmanned plane end module includes signal receiving module, command analysis module and flight control
Molding block；The assembly function of system is as follows：
Motion track identification mould collects real-time moving movement Track command in mobile phone end module, and these motion tracks include：
Unmanned plane head rotating direction（Including mobile clockwise and mobile counterclockwise）And angle；Unmanned plane moving direction（Including
On horizontal plane all around with vertical plane on it is upper and lower）And displacement.Gesture path modular converter in mobile phone end module
Real-time moving movement Track command to being collected into is processed into dependent instruction；Mobile phone end module middle finger makes signal emission module send
Instruction after treatment is to system for flight control computer.
Flight control system end module on unmanned plane（Unmanned plane end module）Effect：Signal in unmanned plane end module
Receiver module receives the instruction on unmanned plane movement of mobile phone transmission；Command analysis module in unmanned plane end module will be received
Instruction be parsed into movement locus order；Flight control modules in unmanned plane end module drive unmanned plane real-time according to order
Complete the motion consistent with motion track.
Specific control method is as follows：
1）As shown in Fig. 2 recognizing direction of rotation and the anglec of rotation of head by motion track identification module in mobile phone end module
Degree, level and vertically move direction and displacement；Six kinds of move modes of horizontal plane can be according to user's request, any group
Close.
By finger moving up and down in mobile phone screen left field；Wherein move up：Unmanned plane is in horizontal plane
Upper forward movement；Move down：Unmanned plane is moved rearwards by the horizontal plane；It is moved to the left：Unmanned plane is in the horizontal plane to moving to left
It is dynamic；Move right：Unmanned plane moves right in the horizontal plane.Movement on vertical plane：Move up, move down.Finger
In moving up and down for mobile phone screen right side area；Wherein move up：Unmanned plane rises；Move down：Unmanned plane declines.
As shown in figure 3, occur the open circles centered on unmanned plane icon on the left of mobile phone screen, such as Fig. 3 depicted.Head position
Put U point to directly over to unmanned plane represent current unmanned plane, head U positions correspond to the O points on circle, that is, every time
The initial position of rotation.This interval scale unmanned plane head of filled circles in figure, with finger along open circles move filled circles, then be
Rotating head.Position as where rotate counterclockwise filled circles to O ', then it represents that unmanned plane head revolves counterclockwise in the horizontal plane
Turn.
2）Again by gesture path modular converter in mobile phone end module at the real-time moving movement Track command that is collected into
Dependent instruction is managed into, including mobile direction, displacement, direction, the optional angle of rotation；
3）Signal emission module is made by above-mentioned steps 2 by mobile phone end module middle finger again）Middle dependent instruction is sent to unmanned plane and flies
Control system；
4）Signal receiving module in unmanned plane end module receives above-mentioned steps 3）The instruction of the unmanned plane movement of transmission；
5）The instruction that command analysis module in unmanned plane end module will be received is parsed into movement locus order；
6）Flight control modules in last unmanned plane end module drive unmanned plane to complete and motion track one in real time according to order
The motion of cause.This mobile end.
Demand in practical application scene, carries out one or many moving operation, until completing whole mobile control
Flow.After the completion of movement, unmanned plane precisely hovers over relevant position, is taken pictures or performed other tasks.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvement can also be made, these improvement also should be regarded as of the invention
Protection domain.
Claims (6)
1. a kind of mobile phone end module of unmanned plane mobile control system, including smart mobile phone and nobody in unmanned plane
Generator terminal module, it is characterised in that described mobile phone end module include motion track identification module, gesture path modular converter and
Signal emission module；Described unmanned plane end module includes signal receiving module, command analysis module and flight control modules.
2. a kind of control method of unmanned plane mobile control system, it is characterised in that comprise the following steps：
1）By in mobile phone end module motion track identification module recognize head direction of rotation and the anglec of rotation, level and
Vertically move direction and displacement；
2）The real-time moving movement Track command being collected into is processed into by gesture path modular converter in mobile phone end module again
Dependent instruction；
3）Signal emission module is made by above-mentioned steps 2 by mobile phone end module middle finger again）Middle dependent instruction is sent to unmanned plane and flies
Control system；
4）Signal receiving module in unmanned plane end module receives above-mentioned steps 3）The instruction of the unmanned plane movement of transmission；
5）The instruction that command analysis module in unmanned plane end module will be received is parsed into movement locus order；
6）Flight control modules in last unmanned plane end module drive unmanned plane to complete and motion track one in real time according to order
The motion of cause.
3. a kind of control method of unmanned plane mobile control system according to claim 2, it is characterised in that described hand
The ratio of actual motion track is 1 in gesture path and unmanned plane end module in generator terminal module：（3~15）.
4. a kind of control method of unmanned plane mobile control system according to claim 2, it is characterised in that described hand
In generator terminal module, mobile phone interface is divided into the left and right sides；Described left side controlled level movement；Described right side control is vertical to move
It is dynamic.
5. a kind of control method of unmanned plane mobile control system according to claim 4, it is characterised in that described water
Translation is dynamic to be included moving forward, be moved rearwards by, be moved to the left, moving right, turning clockwise, rotate counterclockwise.
6. the control method of a kind of unmanned plane mobile control system according to claim 4, it is characterised in that described hangs down
Translation is dynamic to be included moving up, moving down.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611100651.3A CN106708087A (en) | 2016-12-05 | 2016-12-05 | Unmanned aerial vehicle mobile control system and control method thereof |
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| CN201611100651.3A CN106708087A (en) | 2016-12-05 | 2016-12-05 | Unmanned aerial vehicle mobile control system and control method thereof |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107357307A (en) * | 2017-07-05 | 2017-11-17 | 李奕铭 | Unmanned vehicle control method, control device and unmanned vehicle based on hand identification |
| CN107765707A (en) * | 2017-10-25 | 2018-03-06 | 深圳慧源创新科技有限公司 | Control the method, apparatus and system of unmanned plane rolling |
| CN108170153A (en) * | 2017-12-19 | 2018-06-15 | 广州亿航智能技术有限公司 | UAV Flight Control System and its method |
| CN109947096A (en) * | 2019-02-25 | 2019-06-28 | 广州极飞科技有限公司 | The control method and device of controll plant, Unmanned Systems |
| CN110414686A (en) * | 2019-06-10 | 2019-11-05 | 湖南大狗科技有限公司 | A kind of control unmanned plane acquisition image/video quantum of information software |
| CN113671855A (en) * | 2021-08-20 | 2021-11-19 | 广东好太太智能家居有限公司 | Clothes airing equipment control method, device and system and clothes airing equipment |
| CN115150503A (en) * | 2021-03-31 | 2022-10-04 | 重庆长安汽车股份有限公司 | System and method for controlling vehicle through mobile phone track |
| US11611811B2 (en) | 2017-09-29 | 2023-03-21 | SZ DJI Technology Co., Ltd. | Video processing method and device, unmanned aerial vehicle and system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107357307A (en) * | 2017-07-05 | 2017-11-17 | 李奕铭 | Unmanned vehicle control method, control device and unmanned vehicle based on hand identification |
| US11611811B2 (en) | 2017-09-29 | 2023-03-21 | SZ DJI Technology Co., Ltd. | Video processing method and device, unmanned aerial vehicle and system |
| CN107765707A (en) * | 2017-10-25 | 2018-03-06 | 深圳慧源创新科技有限公司 | Control the method, apparatus and system of unmanned plane rolling |
| CN108170153A (en) * | 2017-12-19 | 2018-06-15 | 广州亿航智能技术有限公司 | UAV Flight Control System and its method |
| CN109947096A (en) * | 2019-02-25 | 2019-06-28 | 广州极飞科技有限公司 | The control method and device of controll plant, Unmanned Systems |
| CN110414686A (en) * | 2019-06-10 | 2019-11-05 | 湖南大狗科技有限公司 | A kind of control unmanned plane acquisition image/video quantum of information software |
| CN115150503A (en) * | 2021-03-31 | 2022-10-04 | 重庆长安汽车股份有限公司 | System and method for controlling vehicle through mobile phone track |
| CN113671855A (en) * | 2021-08-20 | 2021-11-19 | 广东好太太智能家居有限公司 | Clothes airing equipment control method, device and system and clothes airing equipment |
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Application publication date: 20170524 |