CN109358647A - The control system and its control method of the control multimachine of unmanned plane one - Google Patents
The control system and its control method of the control multimachine of unmanned plane one Download PDFInfo
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- CN109358647A CN109358647A CN201811486790.3A CN201811486790A CN109358647A CN 109358647 A CN109358647 A CN 109358647A CN 201811486790 A CN201811486790 A CN 201811486790A CN 109358647 A CN109358647 A CN 109358647A
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- unmanned plane
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- multimachine
- controls
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000004891 communication Methods 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 5
- 239000002699 waste material Substances 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 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
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- 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)
- Selective Calling Equipment (AREA)
Abstract
The invention discloses a kind of control systems of unmanned plane one control multimachine, including a tread remote control device, at least a day dead end controlled device and at least a controlled unmanned plane, the ground remote controller controls the unmanned plane for sending instruction, the day dead end controlled device is arranged on the controlled unmanned plane, for receiving the instruction of ground remote controller, and the state of flight of unmanned plane is returned into ground remote controller, the ground remote controller can simultaneously and at least a day dead end controlled device communicates, the present invention also provides a kind of control methods of unmanned plane one control multimachine, for controlling unmanned plane.In unmanned plane field, the present invention can solve the problem of manpower waste, multimachine coordinate inconvenience, inefficiency under multimachine operation, and a control multimachine does not need more remote control devices, can save many costs so yet.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control technical field more particularly to a kind of unmanned plane one control multimachine control system and its
Control method.
Background technique
In the prior art, the ground remote controllers such as unmanned plane and remote controler, radio station belong to point-to-point communication, one distant
Control device can only control a frame unmanned plane.Multiple people are needed in multimachine operation simultaneously, and everyone manipulates a unmanned plane and completes,
Thus there are problems that manpower expends, multimachine coordinates inconvenient and inefficiency.
The present invention realizes the control method that just can control multiple controlled devices using only a remote control device.In unmanned plane
In field, the present invention can solve the problem of manpower waste, multimachine coordinate inconvenience, inefficiency under multimachine operation, and
One control multimachine does not need more remote control devices, can save many costs so yet.
Summary of the invention
The purpose of the present invention is to solve disadvantages existing in the prior art, and a kind of unmanned plane one proposed controls multimachine
Control system and its control method.
To achieve the goals above, present invention employs following technical solutions:
A kind of control system of the control of unmanned plane one multimachine, including a tread remote control device, an at least day dead end are controlled
Device and at least a controlled unmanned plane, the ground remote controller control the unmanned plane, the sky for sending instruction
It holds controlled device to be arranged on the controlled unmanned plane, flies for receiving the instruction of ground remote controller, and by unmanned plane
Row state returns to ground remote controller, and the ground remote controller can simultaneously and at least a day dead end controlled device is logical
Letter.
Preferably, the ground remote controller includes unmanned controller and/or unmanned aerial vehicle end radio station.
Preferably, the unmanned controller, for control the direction of unmanned plane, posture, lifting, AB point, sprinkling system,
It makes a return voyage, radar, navigate lamp and foot prop.
Preferably, the unmanned aerial vehicle end radio station sends operation to unmanned plane and appoints for detecting drone status
Business and setting command.
Preferably, the day dead end controlled device includes unmanned plane receiver and/or unmanned plane day dead end radio station.
Preferably, the unmanned plane receiver is arranged on unmanned plane, for receiving the data of unmanned controller transmission,
And pass to controlled unmanned plane.
Preferably, the unmanned plane day dead end radio station is arranged on unmanned plane, for wireless with unmanned aerial vehicle end
Unmanned plane during flying state is sent to ground surface end radio station, and the operation that ground surface end radio station is uploaded by station telecommunication
Task is sent to unmanned plane.
A kind of unmanned plane one controls the control method of multimachine, for controlling unmanned plane, including a tread remote control device and extremely
A few controlled unmanned plane, ground remote controller can control one or more any controlled unmanned plane, and the unmanned plane one is controlled
The control method of multimachine comprises the following steps:
(1) ground remote controller and controlled unmanned plane establish communication；
(2) controlled unmanned plane waits control, if controlled unmanned plane receives control, controlled unmanned plane if starts to hold
The task that row ground remote controller is sent；
(3) during controlled unmanned plane execution task, whether control right transfer can be judged control by ground remote controller
Transfer, if control right transfer, ground remote controller controls other controlled unmanned planes, the controlled unmanned plane of power out of hand according to
So keep the communication with ground remote controller；
(4) judge whether communication disconnects, if communication disconnects, terminate.
Preferably, the ground remote controller is weighed by continuous switching control, to control different controlled unmanned planes.
Preferably, ground remote controller includes unmanned controller and/or unmanned aerial vehicle end radio station.
Preferably, the unmanned controller, for control the direction of unmanned plane, posture, lifting, AB point, sprinkling system,
It makes a return voyage, radar, navigate lamp and foot prop.
Preferably, the unmanned aerial vehicle end radio station sends operation to unmanned plane and appoints for detecting drone status
Business and setting command.
Preferably, a day dead end controlled device is provided on the controlled unmanned plane.
Preferably, the day dead end controlled device includes unmanned plane receiver and/or unmanned plane day dead end radio station.
Preferably, the unmanned plane receiver is arranged on unmanned plane, for receiving the data of unmanned controller transmission,
And pass to controlled unmanned plane.
Preferably, the unmanned plane day dead end radio station is arranged on unmanned plane, for wireless with unmanned aerial vehicle end
Unmanned plane during flying state is sent to ground surface end radio station, and the operation that ground surface end radio station is uploaded by station telecommunication
Task is sent to unmanned plane.
Compared with prior art, the beneficial effects of the present invention are: the control multimachine method proposed according to the present invention, passes through one
Tread controller and the communication of Duo Tai controlled device, have saved the more people of needs, the controlled dress of more point-to-point controls of tread controller
Manpower and economic cost required for setting, solve multimachine existing for multimachine operation coordinate inconvenience, inefficiency, waste time and
The problem of manpower.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is the module frame chart for the ground remote controller that the embodiment of the present invention proposes；
Fig. 2 is the module frame chart for the day dead end controlled device that the embodiment of the present invention proposes；
Fig. 3 is the module frame chart for the controlled unmanned plane that the embodiment of the present invention proposes；
Fig. 4 is the module frame chart for the control system that the embodiment of the present invention proposes；
Fig. 5 is the flow chart for the control method that the embodiment of the present invention proposes.
In figure: 1 ground remote controller, 101 unmanned controllers, 102 unmanned aerial vehicle end radio stations, 2 days dead ends by
Control device, 201 unmanned plane receivers, 202 unmanned plane day dead end radio stations, 3 controlled unmanned planes.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It should be noted that it can be directly on another component when component is referred to as " being fixed on " another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it, which can be, is directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being set to " another component, it
It can be and be set up directly on another component or may be simultaneously present component placed in the middle.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein "and/or" includes one or more phases
Any and all combinations of the listed item of pass.
Fig. 1-4 is please referred to, a kind of unmanned plane one controls the control system of multimachine, including a tread remote control device 1, at least one
Platform day dead end controlled device 2 and at least a controlled unmanned plane 3, ground remote controller 1 for send instruction control it is described nobody
Machine, day dead end controlled device 2 are arranged on controlled unmanned plane 3, for receiving the instruction of ground remote controller, and by unmanned plane
State of flight return to ground remote controller 1, ground remote controller 1 can simultaneously and an at least day dead end controlled device 2
Communication.
Wherein, ground remote controller 1 includes unmanned controller 101 and/or unmanned aerial vehicle end radio station 102；Nothing
Man-machine remote controler 101, for controlling the direction of unmanned plane, posture, lifting, AB point, sprinkling system, making a return voyage, radar, boat lamp and foot
Frame；Unmanned aerial vehicle end radio station 102 sends job task and setting life to unmanned plane for detecting drone status
It enables.
Its dead end controlled device 2 includes unmanned plane receiver 201 and/or unmanned plane day dead end radio station 202, unmanned plane
Receiver 201 is arranged on unmanned plane, for receiving the data of unmanned controller transmission, and passes to controlled unmanned plane 3；Nothing
Man-machine day dead end radio station 202 is arranged on unmanned plane, for communicating with unmanned aerial vehicle end radio station 102, by nobody
Machine state of flight is sent to ground surface end radio station, and the job task that ground surface end radio station uploads is sent to nobody
Machine.
Referring to Fig. 5, a kind of unmanned plane one controls the control method of multimachine, for controlling unmanned plane, including a tread is distant
Device and an at least controlled unmanned plane are controlled, ground remote controller can control one or more any controlled unmanned plane, nobody
The control method that machine one controls multimachine comprises the following steps:
(1) ground remote controller and controlled unmanned plane establish communication；
(2) controlled unmanned plane waits control, if controlled unmanned plane receives control, controlled unmanned plane if starts to hold
The task that row ground remote controller is sent；
(3) during controlled unmanned plane execution task, whether control right transfer can be judged control by ground remote controller
Transfer, if control right transfer, ground remote controller controls other controlled unmanned planes, the controlled unmanned plane of power out of hand according to
So keep the communication with ground remote controller；
(4) judge whether communication disconnects, if communication disconnects, terminate.
Ground remote controller proposed by the present invention can be communicated with more day dead end controlled devices, day dead end controlled device with
Controlled unmanned plane connection, passes to controlled unmanned plane for the instruction for receiving ground remote controller, it is distant that ground can be used in user
It controls device and controls one or more any controlled unmanned plane, and upload job task to unmanned plane.
When controlled unmanned plane starts execution task, ground remote controller can by control right transfer to other it is controlled nobody
Continue upload task on machine, the controlled unmanned plane of power out of hand is still kept and the communication of ground remote controller.It receives again
When to control, the controlled unmanned plane of power out of hand will continue to execute currently outstanding task until task is completed, or
Because being interrupted after again controlled by other tasks.
Ground remote controller is weighed by continuous switching control, to control different controlled unmanned planes, realizes one with this
Control the function of multimachine.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (16)
1. the control system that a kind of unmanned plane one controls multimachine, it is characterised in that: including a tread remote control device, at least a day
Dead end controlled device and at least a controlled unmanned plane；
The ground remote controller controls the unmanned plane for sending instruction；
The day dead end controlled device is arranged on the controlled unmanned plane, for receiving the instruction of ground remote controller, and
The state of flight of unmanned plane is returned into ground remote controller；
The ground remote controller can simultaneously and at least a day dead end controlled device communicates.
2. the control system that unmanned plane one according to claim 1 controls multimachine, it is characterised in that: ground remote controller includes
Unmanned controller and/or unmanned aerial vehicle end radio station.
3. the control system that unmanned plane one according to claim 2 controls multimachine, it is characterised in that: the no-manned machine distant control
Device, for controlling the direction of unmanned plane, posture, lifting, AB point, sprinkling system, making a return voyage, radar, boat lamp and foot prop.
4. the control system that unmanned plane one according to claim 2 controls multimachine, it is characterised in that: the unmanned aerial vehicle end
Radio station sends job task and setting command to unmanned plane for detecting drone status.
5. the control system that unmanned plane one according to claim 1 controls multimachine, it is characterised in that: the controlled dress of day dead end
It sets including unmanned plane receiver and/or unmanned plane day dead end radio station.
6. the control system that unmanned plane one according to claim 5 controls multimachine, it is characterised in that: the unmanned plane receiver
It is arranged on unmanned plane, for receiving the data of unmanned controller transmission, and passes to controlled unmanned plane.
7. the control system that unmanned plane one according to claim 5 controls multimachine, it is characterised in that: unmanned plane day dead end
Radio station be arranged on unmanned plane, for and unmanned aerial vehicle end radio set communication, unmanned plane during flying state is sent to
Ground surface end radio station, and the job task that ground surface end radio station uploads is sent to unmanned plane.
8. a kind of unmanned plane one controls the control method of multimachine, for controlling unmanned plane, it is characterised in that: be remotely controlled including a tread
Device and at least a controlled unmanned plane, ground remote controller can control one or more any controlled unmanned plane, the nothing
The control method of man-machine control multimachine comprises the following steps:
(1) ground remote controller and controlled unmanned plane establish communication；
(2) controlled unmanned plane waits control, if controlled unmanned plane receives control, controlled unmanned plane if starts to execute ground
The task that face remote control device is sent；
(3) during controlled unmanned plane execution task, control right transfer can be judged whether control turns by ground remote controller
It moves, if control right transfer, ground remote controller controls other controlled unmanned planes, and the controlled unmanned plane of power out of hand is still
Keep the communication with ground remote controller；
(4) judge whether communication disconnects, if communication disconnects, terminate.
9. the control method that unmanned plane one according to claim 8 controls multimachine, it is characterised in that: the ground remote controller
It is weighed by continuous switching control, to control different controlled unmanned planes.
10. the control method that unmanned plane one according to claim 8 controls multimachine, it is characterised in that: the ground remote control dress
It sets including unmanned controller and/or unmanned aerial vehicle end radio station.
11. the control method that unmanned plane one according to claim 10 controls multimachine, it is characterised in that: the no-manned machine distant control
Device, for controlling the direction of unmanned plane, posture, lifting, AB point, sprinkling system, making a return voyage, radar, boat lamp and foot prop.
12. the control method that unmanned plane one according to claim 10 controls multimachine, it is characterised in that: the unmanned aerial vehicle
Radio station is held, for detecting drone status, sends job task and setting command to unmanned plane.
13. the control method that unmanned plane one according to claim 8 controls multimachine, it is characterised in that: the controlled unmanned plane
On be provided with a day dead end controlled device.
14. the control method that unmanned plane one according to claim 13 controls multimachine, it is characterised in that: the day dead end is controlled
Device includes unmanned plane receiver and/or unmanned plane day dead end radio station.
15. the control method that unmanned plane one according to claim 14 controls multimachine, it is characterised in that: the unmanned plane receives
Machine is arranged on unmanned plane, for receiving the data of unmanned controller transmission, and passes to controlled unmanned plane.
16. the control method that unmanned plane one according to claim 14 controls multimachine, it is characterised in that: the unmanned plane sky
Hold radio station be arranged on unmanned plane, for and unmanned aerial vehicle end radio set communication, unmanned plane during flying state is sent
Ground surface end radio station is given, and the job task that ground surface end radio station uploads is sent to unmanned plane.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811486790.3A CN109358647A (en) | 2018-12-06 | 2018-12-06 | The control system and its control method of the control multimachine of unmanned plane one |
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| CN201811486790.3A CN109358647A (en) | 2018-12-06 | 2018-12-06 | The control system and its control method of the control multimachine of unmanned plane one |
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Cited By (2)
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| CN110471446A (en) * | 2019-08-23 | 2019-11-19 | 深圳市千代创新电子科技有限公司 | The control method of remotely-piloted vehicle, apparatus and system |
| CN112944287A (en) * | 2021-02-08 | 2021-06-11 | 西湖大学 | Aerial repair system with active light source |
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| US20170285633A1 (en) * | 2016-04-01 | 2017-10-05 | Lntel Corporation | Drone control registration |
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| CN112944287A (en) * | 2021-02-08 | 2021-06-11 | 西湖大学 | Aerial repair system with active light source |
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