CN112230633A - Safety protection device for unmanned aerial vehicle control training - Google Patents
Safety protection device for unmanned aerial vehicle control training Download PDFInfo
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- CN112230633A CN112230633A CN202011186580.XA CN202011186580A CN112230633A CN 112230633 A CN112230633 A CN 112230633A CN 202011186580 A CN202011186580 A CN 202011186580A CN 112230633 A CN112230633 A CN 112230633A
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 19
- 238000012545 processing Methods 0.000 claims description 8
- 240000007651 Rubus glaucus Species 0.000 claims description 3
- 235000011034 Rubus glaucus Nutrition 0.000 claims description 3
- 235000009122 Rubus idaeus Nutrition 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 4
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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
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
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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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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
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Abstract
The invention discloses a safety protection device for unmanned aerial vehicle control training, which comprises an unmanned aerial vehicle body, a processor, a first positioning device, a distance measuring device, a flight control interface, a wireless interface and a configuration port, wherein the processor is connected with the first positioning device; the unmanned aerial vehicle body is trained in a training field; the first positioning device is connected with the processor; the distance measuring device is connected with the processor; the flight control device is connected with the processor through the flight control interface; the wireless receiver is connected with the processor through the wireless interface; the human-computer interface unit is connected with the processor through the configuration port and used for inputting a preset instruction of a user and sending the preset instruction to the processor. The safety protection device for unmanned aerial vehicle control training provided by the invention has reasonable structural design, can avoid damage to the unmanned aerial vehicle caused by improper operation of a user, and greatly improves training efficiency.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a safety protection device for unmanned aerial vehicle control training.
Background
Unmanned aerial vehicles are unmanned aircraft that are operated by radio remote control devices and self-contained program control devices and are widely used in military and civilian applications.
In recent years, the development of unmanned aerial vehicles is rapid, so that unmanned aerial vehicle drivers are required in many industries. Because need experience and skill when unmanned aerial vehicle operates, novice often can take place the maloperation and lead to unmanned aerial vehicle to hit the wall or crash the accident in the training process, cause loss of property.
Disclosure of Invention
Therefore, the invention provides a safety protection device for unmanned aerial vehicle control training, which aims to solve the problem that a novice in the prior art is easy to damage an unmanned aerial vehicle in the unmanned aerial vehicle control training process.
In order to achieve the above purpose, the invention provides the following technical scheme:
the invention provides a safety protection device for unmanned aerial vehicle control training, which comprises:
the unmanned aerial vehicle body is trained in a training field;
the processor is arranged on the unmanned aerial vehicle body;
the first positioning device is arranged on the unmanned aerial vehicle body and connected with the processor, and the first positioning device is used for acquiring spatial position information of the unmanned aerial vehicle body and sending the spatial position information of the unmanned aerial vehicle body to the processor;
the distance measuring device is connected with the processor and used for obtaining the distance between the unmanned aerial vehicle body and the obstacle and sending the distance to the processor;
the flight control device is connected with the processor through the flight control interface and used for receiving a control instruction of the processor so as to control the unmanned aerial vehicle body to fly;
the wireless receiver is connected with the processor through the wireless interface and used for receiving a control instruction of a user and sending the control instruction to the processor;
the system comprises a configuration port, a human-computer interface unit and a processor, wherein the human-computer interface unit is connected with the processor through the configuration port and is used for inputting a preset instruction of a user and sending the preset instruction to the processor;
the processor sends the control instruction to the flight control device after carrying out first processing or second processing according to the space position information of the unmanned aerial vehicle body, the distance and the preset instruction.
Optionally, the training device further comprises a second positioning device, and the second positioning device is arranged on the training field. The second positioning device can be a GPS positioning module, a beidou positioning module or an RTK positioning module, a GLONASS module, a galileo satellite positioning module, etc., which enables the second positioning device to quickly and accurately position the training field.
Optionally, the number of the positioning devices is one to more.
Optionally, a plurality of the positioning devices are arranged at intervals on the training field.
Optionally, the training field comprises a flight zone and a restricted zone, the restricted zone surrounding the flight zone.
Optionally, the safety protection device further comprises a power module, the power module comprises a battery, and the power module supplies power to the safety protection device.
Optionally, the first positioning device is a GPS positioning module, a beidou positioning module or an RTK positioning module.
Optionally, the distance measuring device is an infrared distance meter, an ultrasonic distance meter or a laser distance meter.
Optionally, the processor is a single chip microcomputer, an ARM, an FPGA, a DSP, or a raspberry pi.
The invention has the following advantages:
the safety protection device for unmanned aerial vehicle control training, provided by the invention, is reasonable in structural design, the flight of the unmanned aerial vehicle is limited in the range of a training field, and when a user sends a dangerous operation instruction, the safety protection device can adjust the control instruction of the unmanned aerial vehicle and control the unmanned aerial vehicle, so that the occurrence of danger is avoided, and the unmanned aerial vehicle can be well protected.
This safety arrangement of unmanned aerial vehicle control training can avoid the problem of unmanned aerial vehicle damage because of user's improper operation leads to, and the user can control the training to unmanned aerial vehicle alone, has improved training efficiency effectively.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so that those skilled in the art can understand and read the present invention, and do not limit the conditions for implementing the present invention, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the functions and purposes of the present invention, shall fall within the scope covered by the technical contents disclosed in the present invention.
Fig. 1 is a schematic view of a connection structure of a safety protection device for unmanned aerial vehicle control training according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a training field for unmanned aerial vehicle control training provided in an embodiment of the present invention;
in the figure: 1. a safety protection device; 11. a processor; 12. a first positioning device; 13. a distance measuring device; 14. a flight control interface; 15. a wireless interface; 16. configuring a port; 17. a power supply module; 2. a flight control device; 3. a wireless receiver; 4. a training field; 41. a flight zone; 42. a restricted area; 5. and a second positioning device.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in fig. 1 and fig. 2, this embodiment provides a safety arrangement that training was controlled to unmanned aerial vehicle, and it can avoid the unmanned aerial vehicle damage that the user caused because of the operation is improper, maloperation or dangerous operation well to unmanned aerial vehicle in the training process can be protected well.
Specifically, this safety arrangement that training was controlled to unmanned aerial vehicle includes unmanned aerial vehicle body, treater 11, first positioner 12, range unit 13, flies to control interface 14, wireless interface 15 and configuration port 16. The processor 11, the first positioning device 12, the distance measuring device 13, the flight control interface 14, the wireless interface 15 and the configuration port 16 are all arranged on the unmanned aerial vehicle body.
Wherein, the unmanned aerial vehicle body trains at training place 4. The processor 11 set up in the unmanned aerial vehicle body. First positioner 12 set up in the unmanned aerial vehicle body, just first positioner 12 with processor 11 is connected, first positioner 12 is used for acquireing the spatial position information of unmanned aerial vehicle body and with the spatial position information of unmanned aerial vehicle body sends to processor 11.
It should be noted that the first positioning device 12 is configured to obtain, in real time, three-dimensional spatial position information where the unmanned aerial vehicle is currently located. Processor 11 compares through the spatial position information with the unmanned aerial vehicle body and the positional information in place of flight, can obtain the relative distance's of edge and with ground dx, dy and dz of unmanned aerial vehicle according to training place 4 at the present moment. Then, the real-time flying speed V of the unmanned aerial vehicle can be calculated through the difference between the position of the current moment and the position of the previous moment, and components Vx, Vy and Vz of the flying speed in the directions of the x axis, the y axis and the z axis are resolved.
Distance measuring device 13 with processor 11 is connected, distance measuring device 13 is used for acquireing the distance between unmanned aerial vehicle body and the barrier, and will the distance is sent to processor 11.
In this embodiment, the distance measuring device 13 is used to actively measure the distance between the unmanned aerial vehicle and the obstacle in real time, and send the distance to the processor 11, and then the processor 11 makes a judgment and makes a corresponding control.
The flight control device 2 is connected with the processor 11 through the flight control interface 14, and the flight control device 2 is used for receiving a control instruction of the processor 11 to control the unmanned aerial vehicle body to fly.
In this embodiment, the flight control device 2 is configured to receive the control instruction calculated by the processor 11, and control the flight of the unmanned aerial vehicle.
The wireless receiver 3 is connected with the processor 11 through the wireless interface 15, and the wireless receiver 3 is used for receiving a control instruction of a user, sending the control instruction to the processor 11 and analyzing the control instruction by the processor 11.
The human-computer interface unit is connected with the processor 11 through the configuration port 16, and is used for inputting a preset instruction of a user and sending the preset instruction to the processor 11.
In this embodiment, the user can enter the information related to the training field 4 and the control through the human interface unit. For example, the spatial coordinates of the training field 4 and the spatial coordinates of the flight zone 41 and the restricted zone 42 may be set, or information such as the upper limit value of the flight speed of the unmanned aerial vehicle in the restricted zone 42 and the upper limit value of the flight speed in the flight zone 41 may be set. The relevant information is then entered into the processor 11 via the configuration interface.
The processor 11 sends the control instruction to the flight control device 2 after carrying out first processing or second processing according to the spatial position information of the unmanned aerial vehicle body, the distance and the preset instruction.
In this embodiment, the processor 11 is a control core of the safety protection device 1, and is configured to continuously read and record spatial position information of the unmanned aerial vehicle, calculate a flight speed of the unmanned aerial vehicle and a distance between the unmanned aerial vehicle and an edge of a control field and a distance from the ground, and analyze a control instruction of a user through the wireless interface 15. When unmanned aerial vehicle flight did not reach the upper limit value of default flight at flight zone 41 and airspeed, processor 11 does not restrict unmanned aerial vehicle's airspeed, and the aforesaid carries out first processing for processor 11 to control command, and simultaneously, processor 11 sends wireless receiver 3 the user's that comes control command direct transfer to flying control device 2, by flying control device 2 control unmanned aerial vehicle's flight. When the flying speed of the unmanned aerial vehicle flying in the flying area 41 exceeds the preset upper limit value of the flying, the processor 11 corrects the control instruction of the user sent by the wireless receiver 3, and the processor 11 performs the second processing on the control instruction, so that the flying speed of the unmanned aerial vehicle is limited and restricted. Especially when range unit 13 measures the distance of unmanned aerial vehicle apart from the barrier in the place ahead and reaches the restriction distance, control unmanned aerial vehicle and slow down.
The unmanned aerial vehicle that this embodiment provided controls safety arrangement of training, structural design is reasonable, with unmanned aerial vehicle's flight restriction in training place 4 within range, when the user sent the instruction of dangerous operation, this safety arrangement 1 can adjust unmanned aerial vehicle's control command and control unmanned aerial vehicle, avoids dangerous emergence to can protect unmanned aerial vehicle well.
This safety arrangement of unmanned aerial vehicle control training can avoid the problem of unmanned aerial vehicle damage because of user's improper operation leads to, and the user can control the training to unmanned aerial vehicle alone, has improved training efficiency effectively.
Optionally, a second positioning device 5 is further included, and the second positioning device 5 is arranged on the training ground 4, so that the second positioning device 5 can position the training ground.
Optionally, the number of the second positioning devices 5 is one to more, which enables the positioning device 12 to quickly and accurately position the training field.
Optionally, a plurality of the positioning devices 12 are arranged at intervals on the training field 4. Through the positioner 12 of a plurality of different positions, can carry out accurate location to the place, make things convenient for the controller to unmanned aerial vehicle's control, effectively avoid unmanned aerial vehicle to fly out the training place in the training process.
Optionally, the training field 4 comprises a flight zone 41 and a restricted zone 42, the restricted zone 42 surrounding the flight zone 41. This makes unmanned aerial vehicle's flight process can receive better control, can further prevent the damage that unmanned aerial vehicle caused because of maloperation etc..
In this embodiment, when unmanned aerial vehicle was flying, the space range that can fly that unmanned aerial vehicle was located was the space range that training place 4 included. One or more positioning devices 12 may be provided within the training field 4, or precise geographical location coordinate information of the training field 4 may be known, so that the controller may control the drone. The region in the marginal certain limit in range of distance training place 4 is restriction area 42, and the speed of unmanned aerial vehicle receives safety arrangement 1's restraint in the restriction area 42, and is closer when unmanned aerial vehicle apart from the edge of training place 4, and unmanned aerial vehicle's flying speed is the less, reduces to 0 until unmanned aerial vehicle's flying speed. The central area of the training ground 4 surrounded by the restricted area 42 is the free flight area of the drone. When the unmanned aerial vehicle flies in the free flight area 41, the flying speed of the unmanned aerial vehicle does not exceed the upper limit of the preset speed, and the unmanned aerial vehicle is only controlled by the wireless receiver 3.
Optionally, the safety protection device further comprises a power module 17, the power module 17 comprises a battery, and the power module 17 supplies power to the safety protection device 1. The battery sets up in the unmanned aerial vehicle body, supplies power for this safety arrangement 1 through power module 17, guarantees that unmanned aerial vehicle receives this safety arrangement 1's protection at the flight in-process.
Optionally, the first positioning device 12 is a GPS positioning module, a compass positioning module or an RTK positioning module. This enables the first positioning device 12 to quickly and accurately position the drone.
In addition, the first positioning device 12 may be a GLONASS module, a galileo satellite positioning module, or the like. Of course, the second positioning device 5 may also be a GPS positioning module, a beidou positioning module or an RTK positioning module, a GLONASS module, a galileo satellite positioning module, etc., which enables the second positioning device 5 to quickly and accurately position the training field.
Optionally, the distance measuring device 13 is an infrared distance meter, an ultrasonic distance meter or a laser distance meter. This enables the distance measuring device 13 to accurately determine the distance of the drone from the edge of the training field 4, obstacles and from the ground.
Optionally, the processor 11 is a single chip microcomputer, an ARM, an FPGA, a DSP, or a raspberry group. This enables the controller to effectively control the flight state of the drone.
In this embodiment, the safety protection device is installed between the wireless receiver 3 and the flight control device 2 of the unmanned aerial vehicle, and is used for intercepting the control instruction of the user output by the wireless receiver 3, and judging whether to correct the control instruction by the processor 11 according to the current flight state of the unmanned aerial vehicle. The configuration port 16 may be implemented by a serial port, a USB interface, a Can interface, a network port, or other general communication interfaces. Before the operation training, the safety protection device 1 is connected with a computer provided with a man-machine interface unit through a configuration port 16. The space position coordinates of the training field 4, the space position coordinates of the limit area 42, or the distance (referred to as limit width) of the limit area 42 from the edge of the training field 4 are set, and the upper limit value of the flight speed of the unmanned aerial vehicle is set through the human-machine interface unit.
When controlling the training, processor 11 reads and takes notes the current position of unmanned aerial vehicle once every 0.01s to with the last position comparison of unmanned aerial vehicle calculate unmanned aerial vehicle's current flying speed. According to the comparison of the current position of the unmanned aerial vehicle and the position coordinates of the training field 4, whether the unmanned aerial vehicle is located in the flight area 41 or the restricted area 42 is judged. When unmanned aerial vehicle flies in flight zone 41 and the flying speed is normal, processor 11 does not revise the user's that wireless receiver 3 exported control signal, directly carries user's control command to unmanned aerial vehicle's flight control device 2, guarantees that unmanned aerial vehicle maintains former mode of operation.
In this embodiment, when the flight speed of the unmanned aerial vehicle exceeds the preset upper flight limit, the processor 11 limits the flight speed of the unmanned aerial vehicle to the preset upper flight limit. When the unmanned aerial vehicle flies into the restricted area 42, the processor 11 controls the unmanned aerial vehicle to decelerate.
In one implementation, when the drone enters the restricted area 42, the controller can only issue commands to fly away from the edge of the training field 4, but not allow the controller to continue to issue commands to fly toward the edge of the training field 4, thereby causing the drone to exit the restricted area 42.
Another embodiment is to proportionally attenuate the upper limit of the airspeed of the drone within the restricted area 42. For example, the width of the restricted area 42 is 10 meters, and when the distance between the unmanned aerial vehicle and the edge of the training field 4 is 9 meters, the speed upper limit value of the unmanned aerial vehicle is reduced to 0.9 times of the original speed upper limit value. When the unmanned aerial vehicle is 2 meters away from the edge of the training field 4, the upper limit value of the speed of the unmanned aerial vehicle is reduced to 0.2 time, and finally the unmanned aerial vehicle is forced to land.
It should be noted that the restricted area 42 is equivalent to the buffering and protection of the boundary of the training field 4, and because the fast inertia of the flight speed of the unmanned aerial vehicle is large, in order to ensure that the unmanned aerial vehicle does not collide with the wall and other dangerous situations, the restricted area 42 should be set to the distance enough for the unmanned aerial vehicle to decelerate. On the other hand, too large a restricted area 42 may cause too small an area of the flight area 41, limiting the experience of the unmanned aerial vehicle training. Therefore, it is necessary to divide an appropriate region and set an appropriate upper speed limit according to the actual situation.
In one embodiment, the distance measuring device 13 is always pointed to the flight direction of the unmanned aerial vehicle, and measures the distance to the obstacle in front of the flight direction in real time. When finding that the distance from a front obstacle (such as a square flagpole) reaches the limit width, the processor 11 controls the unmanned aerial vehicle to decelerate.
In another embodiment, the distance measuring device 13 detects the distance from the drone to an obstacle within 360 degrees around the drone in real time, and records the distance and orientation of the obstacle in the processor 11. When unmanned aerial vehicle was close to the barrier and reached restriction width scope, even unmanned aerial vehicle can not take place to bump also control unmanned aerial vehicle and slow down to collision barrier when avoiding unmanned aerial vehicle to turn to.
In addition, this safety arrangement that unmanned aerial vehicle controlled training can be used to the training of student at ordinary times, can also be used to different scenes such as model aeroplane and model ship performance, match, examination.
The safety arrangement of training is controlled to unmanned aerial vehicle that this embodiment provided, structural design is reasonable, can avoid the damage of unmanned aerial vehicle because of user's improper operation leads to, improves training efficiency widely.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (9)
1. The utility model provides an unmanned aerial vehicle controls safety arrangement of training which characterized in that includes:
the unmanned aerial vehicle body is trained in a training field;
the processor is arranged on the unmanned aerial vehicle body;
the first positioning device is arranged on the unmanned aerial vehicle body and connected with the processor, and the first positioning device is used for acquiring spatial position information of the unmanned aerial vehicle body and sending the spatial position information of the unmanned aerial vehicle body to the processor;
the distance measuring device is connected with the processor and used for obtaining the distance between the unmanned aerial vehicle body and the obstacle and sending the distance to the processor;
the flight control device is connected with the processor through the flight control interface and used for receiving a control instruction of the processor so as to control the unmanned aerial vehicle body to fly;
the wireless receiver is connected with the processor through the wireless interface and used for receiving a control instruction of a user and sending the control instruction to the processor;
the system comprises a configuration port, a human-computer interface unit and a processor, wherein the human-computer interface unit is connected with the processor through the configuration port and is used for inputting a preset instruction of a user and sending the preset instruction to the processor;
the processor sends the control instruction to the flight control device after carrying out first processing or second processing according to the space position information of the unmanned aerial vehicle body, the distance and the preset instruction.
2. The unmanned aerial vehicle controls safety arrangement of training of claim 1, further comprising a second positioner, the second positioner set up in the training place.
3. The unmanned aerial vehicle controls trained safety arrangement of claim 2, characterized in that, the quantity of positioner is one to a plurality.
4. The unmanned aerial vehicle controls safety arrangement of training of claim 3, a plurality of the positioner interval sets up in the training place.
5. The unmanned aerial vehicle handling training safety device of claim 1, the training venue comprising a flight area and a restricted area, the restricted area surrounding the flight area.
6. The unmanned aerial vehicle controls safety device of training of claim 1, further comprising a power module, the power module includes a battery, the power module supplies power for the safety device.
7. The unmanned aerial vehicle handling training safety device of claim 1, wherein the positioning device is a GPS positioning module, a Beidou positioning module, or an RTK positioning module.
8. The unmanned aerial vehicle controls safety arrangement of training of claim 1, range unit is infrared range finder, ultrasonic range finder or laser range finder.
9. The unmanned aerial vehicle handling training safety arrangement of claim 1, the processor is a single chip, an ARM, an FPGA, a DSP, or a raspberry.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116828132A (en) * | 2023-07-05 | 2023-09-29 | 广州磐碟塔信息科技有限公司 | Virtual photography control method and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116828132A (en) * | 2023-07-05 | 2023-09-29 | 广州磐碟塔信息科技有限公司 | Virtual photography control method and system |
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