TWI226582B

TWI226582B - Client/server control system applied to unmanned aerial vehicle

Info

Publication number: TWI226582B
Application number: TW92133494A
Authority: TW
Inventors: Hsien-Chiarn Lee; Sy-Kang Shen; Yuan-Hwang Liao; Wu-Song Tai; Chuang-Tsao Chiu
Original assignee: Chung Shan Inst Of Science
Priority date: 2003-11-28
Filing date: 2003-11-28
Publication date: 2005-01-11
Also published as: TW200517965A

Abstract

A client/server control system applied to unmanned aerial vehicle is provided, which can proceed all control items with respect to an unmanned aerial vehicle (UAV) through the server control device or the client control device chosen by the server control device. Such a client/server control system not only provides a synchronous training scheme to conduct the professional training, but also acts as a backup system when the ground navigation control station encounters a faulty condition. In comparison with all server/client control devices, the present system is further provided with a download display means to control the real-time status and is better than the conventional control system in terms of convenience, safety and instantaneity.

Description

五、發明說明（1) 【發明所屬之技術領域】用；^ i f ΐ係為一種主/從式操控系統，特別伟#瀚用於無人飛行載具（Unmanned Aeriai ν 係=一種應航操控的主/從式操控系統。 cie，wv)之飛【先前技術】 ”·、人氣行載具」（Unmanned Aerial VpH· 明又可稱「無人飛機」，顧名思義，a:eh= 駛的飛行載具。「無人飛行載具」與義一：二-種無人駕機」最大的區別在於：「無人飛行載具為：遙控飛二務：且依照任務需求不同可m別义η:，器來執行不同容或者整的操控系統才能夠飛：：；必須要搭配-套完的‘務。過去我們所習知;了」順利執行所賦予圖」中所不，操控系統包含兩個主要弟1、控站50(更包含信號收發器51、 °刀.：，導器53及狀態監控器54)及⑴操控、m貝料處理 50與操控裝置60之間係透過線t 八中地面導控站作模式如下：边、線▼方式進行通訊連線，其運菖執行上傳操控時，將由摔* ^ ^ ^ 操控命令(其中包括數位命令上？八利人用#控裝置60下達傳送至地面導控站5〇的資料，然後經由線帶行處理，完成命令處理以是電腦）中進貝料封包’最後再將資料封包送交給信號收發器線 1226582V. Description of the invention (1) [Technical field to which the invention belongs] Use; ^ if ΐ is a master / slave type control system, especially Wei Han #Unmanned Aeriai ν series = an air navigation control Master / slave control system. The flying of cie, wv) [Previous technology] ", popular aerial vehicle" (Unmanned Aerial VpH · Ming, also known as "unmanned aerial vehicle", as the name suggests, a: eh = flying vehicle The biggest difference between "unmanned aerial vehicle" and Yiyi: two kinds of unmanned aerial vehicles is: "unmanned aerial vehicle is: remote control flying two services: and according to different mission requirements, it can be different. The control system must be able to fly ::; it must be matched with the set of tasks. In the past, we are familiar with it; the control system consists of two main brothers: 1. control The station 50 (including the signal transceiver 51, ° knife.:, The guide 53 and the status monitor 54) and the 料 control, m shell material processing 50 and the control device 60 are connected through the line t eight ground guidance control station. The mode is as follows: side, line ▼ mode for communication connection, its operation When uploading control is performed, the * ^ ^ ^ control command (including digital commands? The eight people use the # 控装置 60 to send the data transmitted to the ground guidance and control station 50, and then process it through the line to complete the command processing So the computer) in the shell material packet 'and finally send the data packet to the signal transceiver line 1226582

五、焉;明說明（2) 傳.方式傳送至無人飛行載理的作業。％仃载具10中立即進行命令執行和處當無人飛行載具1 Q姑：择行下傳資料的動作，、此時=也^同時執狀態資料經由信號收發；具ι〇會將即時的各項成資料後交給資料處理』：:义；52將資料封包轉換禮貼能-欠W ^ 進仃f料處理，處理完畢的各 ==ίϊ:以透過狀態監控器54即時的加以顯示。 &括：刖此種刼控系統卻存在有下列幾個問題點， (η帶連接降低可靠度。由於所有地面導控糊盘數位或類比命令均需要透過棒帶來傳、 ΐ於Κ备！Ϊ之間的距離較•將會造成線帶使用起來 r ^. &文到外來因素的影響機會變大，再加上類的運作穩定性影！到整個操控系統和移動上的不方便1㈣離過短時’則會造成操作 (f)操工員口無法莩握即時狀況。由於在此種操控系統當，采控員手中的操控裝置6 〇並不具備下傳顯示機制^ 未提1如顯示裝置的部分），因此往往操控員在進行操控的同％必須要透過戴耳機接受以Π述方式所告知的即時狀况此種方式將會喪失掉在第_時内屋佳監控時效性。取 (3)不具備系統異常備援機制。由於整個操控系統的處理V. 焉; Explain clearly (2) Transmission. The operation is transmitted to unmanned aerial vehicle. % 仃 Vehicle 10 immediately executes the order and executes the unmanned aerial vehicle 1 Q: The action of downloading and downloading data is selected at this time, and at the same time, the status data is also sent and received via signals; After the data is completed, the data will be processed. ”: Yiyi; 52 will convert the data packet to a gift post-owe W ^ into the data processing, the processed data == ίϊ: displayed in real time through the status monitor 54 . & Including: This type of control system has the following problems, (η band connection reduces reliability. Because all ground-based control and control of digital or analog commands need to be transmitted through a stick, they are stored in the device. The distance between Ϊ and • will cause the use of the cords. ^. &Amp; The impact of external factors will increase, plus the stability of the operation of the class! Inconvenience to the entire control system and movement. 1 If the time is too short, it will cause the operator (f) to fail to grasp the real-time situation. Because of this control system, the control device in the hands of the acquisition controller 6 〇 does not have a download display mechanism ^ Not mentioned 1 (Such as the part of the display device), so often the same operator who performs the control must accept the real-time situation notified by the method described above through the headset. This method will lose the timeliness of the monitoring at the time. . (3) There is no system exception backup mechanism. Due to the processing of the entire control system

第7頁 1226582 五、發明說明（3) :， " --- 重心、都在於地面導控站50之中，因此當地面導控站50發生當,或是異常日夺’往往必須要花費一段時間才能夠重新恢復琿作，此時操控裴置將無法對無人飛行載具1〇進行操控，如此將會造成無法掌握無人飛行載具1〇的狀況而引起重大的意外事故問題。 (4)胃不具備人員同步訓練機制。由於習知的操控系統僅能夠提供單:操控的機制，因此若是在操控過程當中操控員發生任何操控不當的情況時，此種模式並無法即時提供支援操，的機制，造成操控系統的風險成本大大的增加，並 ϋ ί 一操控的模式當中往往無法有效將彼此的操控經驗 ^確貫的傳承，因此也常會造成人員培訓資源上的一大耗損。 i因此，要如何運用現有的軟硬體技術開始出一套可以問題的操控系'統，應該是目1從事相關研九領域人士們所要面對的主#關鍵所在。【紫明内容】 .i； :彳有鑑於此，本發明提出一套應用於無人飛行載具來Page 7 1226582 V. Description of the invention (3) :, " --- The center of gravity lies in the ground guidance and control station 50, so when the local guidance and control station 50 occurs, or an abnormal day wins, often it must be spent The operation can be resumed only after a period of time. At this time, the control of Pei Zhi will not be able to control the unmanned aerial vehicle 10, which will cause it to be unable to grasp the situation of the unmanned aerial vehicle 10 and cause major accidents. (4) The stomach does not have a synchronized training mechanism for personnel. As the conventional control system can only provide a single: control mechanism, if the operator has any improper control during the control process, this mode cannot provide the support operation mechanism in real time, causing the risk cost of the control system It has greatly increased, and ί In a control mode, it is often impossible to effectively pass each other's control experience ^, and it will often cause a great loss of personnel training resources. Therefore, how to use the existing software and hardware technologies to start a problematic control system should be the main issue for those who are engaged in the related research fields. [Content of Ziming] .i ;: In view of this, the present invention proposes a set of applications for unmanned aerial vehicles.

VnJT:lArial Vehicle，_之主/從式操控系統，解本h、f ί才呆控裝置與從屬操控裝置同時運作的模式 y /、上述所提到習知操控系統所存在的諸多問題。本發明的幾個主要目的包括： )應„用無線通訊方式來建立主:要操控裝置與從屬操控梦到增加整個操控系統可靠度的第一目的。J度進而達VnJT: lArial Vehicle, the master / slave control system, which explains the mode in which h and f control devices and slave control devices operate at the same time. Y /, many problems with the conventional control systems mentioned above. The main objectives of the present invention include:) The main purpose of establishing a master by wireless communication is to control the device and slaves to control the dream to increase the reliability of the entire control system.

㈣582 五、發^明說明⑷ — =)利用在主要/與屬操控裝置中直 p (如::：液晶顯示器）的方式，來讓二^‘古▲控器 %狀況，達到增加操控時效性的第-曰;: 地面導控站昱當日1、η 作架構，可以隨時提供作為的。要的反應時間’達到增加操控系統安全性的第三目統”作架構’可以由具經驗的操各個從屬操控裝；：資淺操操”業中隨時對負責貝培訓成本和時間的第四目的。 '本發明所提之應用於盔統中，包含有下仃載具之主/從式操控系包^上/下/^二⑴“收發器^負責資料封 (3乂;:主要操控裝置1〇〇，負二貝枓的封包作業，主/從桎批掘+ j 負貝執仃無人散行载具操控作業、上之從屬：=:::資5封包分配；及⑷-個以業丨!顯示下傳i料封勺’心二/1無亡飛行載具操控作可.參考「第2圖」的^貝分）容。（實際的系統運作架構有關本發明具體可粁奢如下： j仃之貫施方式，茲就配合圖式說明【實施方式】太癸二4本發明之系統運作架構圖。由圖中可知月要包含幾個部>:習知操控系統中的信號收發器㈣582 Fifth, ^^ Explanation ⑷ — =) Use the direct p (such as ::: LCD display) method in the main / slave control device to increase the control status of the two controllers to increase the timeliness of control. The first-said ;: Ground control station Yu on the day 1, η working structure, can be provided at any time. The required reaction time 'to achieve the third system of increasing the safety of the control system' "Architecture" can be controlled by experienced operators of each subordinate equipment; purpose. 'The application of the present invention to the helmet system includes a master / slave control system package for the stern vehicle ^ up / down / ^ 2⑴ "transceiver ^ responsible for data sealing (3 (;: main control device 1 〇〇, the packet operation of minus two, master / slave batch excavation + j minus to perform unmanned scattered vehicle control operation, the following slaves: = ::: Zi 5 packet distribution; and丨! It shows that the control of the "i 2" invincible flying vehicle can be controlled. Please refer to the "Figure 2" ^ cents) content. (The actual system operation architecture related to the present invention can be extravagantly as follows: The implementation method of j 仃 will be explained in conjunction with the drawings. [Embodiment] Taiguier 4 The system operation architecture diagram of the present invention can be seen from the figure. Contains several units: Signal Transceivers in the Control System

五、發明說明（5) 51及資料轉換器52，以及本發要操控裝置1 0 0和一個以上…罘卫糸統之特徵所在的主新主/從式操控^統來達成對:f操控裝置2〇〇，透過此一 Aerial Vehicle，（jAWl 〇之夂馆 4 淅仃載具（Unmanned "中，信號收發器51，=控作業。控霁置100之間資料封包的上;4 ς人飛行載具10與主要操則係負責進行資料的封包作業.2作業；資料轉換器52，整個操控作業的控管，除了倉主^操控裝置1〇〇，負責項操控作業之外，還可以進仃無人飛行載具10之各由所指定的從屬操控裝置2:仃負主責：操換控制^ 操控作業，另外還可提供黉料仃^人軋仃載具10之料_容；從屬操控裝置2 〇〇，係主已的二貝的切換選擇來執行無人飛行載真;〇貝的V控來自主要㈣置1◦◦所主要操控裝丨置100和從屬操控裝置2〇〇可二通二或通者…來進偷 V ί;ίί 為佳），且主要操控裝置100和從屬操控 (poo均可以各自與導航電腦3〇作連接，用以執行其他各释不同的任務’如：飛航狀態監控、酬載狀態監控、、掸控糸統監控，或者當導航電腦30中具備電子地圖時可以更進一 T用來執行航跡顯示及導航設定等作業。「第3A圖」的部分，係本發明主要操控裝置1〇〇的方 1226582 "" — 五、發明說明（6) 塊圖，主要包含下列幾個功能模組方塊：，及^ !/Λ:處理分配，同時也負責產生控制命令來：：主Α從插控的切換控制，括宁 π 仃置2|) 〇。取传操控權的從屬操控裝傳送千與導航電腦30連接時，更將負責 …科封包給導航電腦’用以執行其他各種不同： :以=收來自主要開關 # ^ I ^ ± ^ ^ *100 ^ ® mT^V，] "Mt (3)」主要截波保護及低通濾波電路14〇，生。搖桿裝置150之類比命令，而主接收來自主要根據操控員於主要操控裝置i。。之面‘：的』〇作的作動則係有關數位命令及類比命令所能夠提供的產生。度，:高度、頭向舞持控制機•、主/從切換選要操控裝置監控機制、即時狀態顯、主機制、環架歸零控制機制、雙開關*車批酬載裝備操控均f以1 f3B圖」中本發明較佳實 = 置面板示意圖來了解，在此不多作贅述。主要知控裝另外’在主要操控裝置1〇〇面板上更利 (Llgh"Efflitting Dl〇d" 1226582 五、發明說明（7) 1式來顯示各種不同的狀態，隨時可以提供操控員 =狀況進行應變及處理。（有關本發明較佳實施例中七、的燈號狀態判別表可以參見「第5圖」的說明） $主要資料處理器160，用以與主要切換選路uo溝通，接收處理上/下傳之資料封包，及3 :來自主要輸入/出埠及記憶體12。之數位命令和來自：：戴導保護及低通濾波電路1 40之類比命令。 (5):丨主要狀態監控器170，用以顯示主要資料處理器 =後之資料封包中的資訊’本發.明較佳實施例中採' ，不器（Liquid Crystal DispUy，LCD)來作為日日在資料封包中，主要的内容通常包含有 \、、” ^傳送回來的丨航資料、遙測資料或者；酬具W 但在實際狀況中教們可以依照所:賦予益、科同任務別，來自行設計各種不同：：傳；的不V. Description of the invention (5) 51 and data converter 52, as well as the control device 100 and more than one ... The master / slave master / slave control of the characteristics of the system is to achieve the f control: Device 200, through this Aerial Vehicle, (jAWl0's Hall 4 vehicle) (Unmanned ", signal transceiver 51, = control operation. Control data set between 100 data packets; 4 The human flight vehicle 10 and the main operations are responsible for the data packet operation. 2 operations; the data converter 52, the control of the entire control operation, in addition to the owner ^ control device 100, is responsible for the control operations, but also Can be assigned to each of the unmanned aerial vehicle 10 by the designated slave control device 2: 仃 Responsible for: operation control ^ control operations, in addition to provide materials ^ ^ human rolling vehicle 10 materials _ capacity; The slave control device 2000 is the switchover option of the master to perform the unmanned flight vehicle; the V control of the master is from the main control device 1 and the main control device 100 and the slave control device 200 are available. Two pass two or pass ... come and steal V ί; ί is better), and mainly control the equipment Set 100 and subordinate control (poo can each be connected to the navigation computer 30 to perform other tasks that are different from each other, such as: flight status monitoring, payload status monitoring, remote control system monitoring, or when navigation When the electronic map is provided in the computer 30, a further T can be used to perform operations such as track display and navigation setting. The part of "Figure 3A" is the main control device 100 of the present invention 1226582 " " — V. Invention Explanation (6) The block diagram mainly includes the following functional module blocks:, and ^! / Λ: handles allocation, and is also responsible for generating control commands to: Switching control of master-slave plug-in control, including Ning π setting 2 |) 〇. When the slave control device transmitting and receiving the control right is connected with the navigation computer 30, it will be responsible for ... the packet to the navigation computer 'to perform other various differences:: == 收从主开关 # ^ I ^ ± ^ ^ * 100 ^ ® mT ^ V,] " Mt (3) "is the main cut-off protection and low-pass filter circuit, and it is generated by the analogue command of the joystick device 150. The main control device i ... The action of 』〇 is related to the generation of digital commands and analog commands. Degrees: height, head-to-head dance control machine •, master / slave switch to select the control device monitoring mechanism, real-time status display, master The mechanism, ring frame zero control mechanism, dual switches * control of the vehicle ’s load-carrying equipment are all shown in Figure 1 f3B. The best practice of the present invention is the schematic diagram of the panel, and I wo n’t go into details here. 'It is more favorable on the main control device 100 panel (Llgh " Efflitting Dl0d " 1226582) V. Description of the invention (7) Formula 1 is used to display a variety of different states, and the operator = condition can be provided at any time to respond to and deal with. (Refer to the description in "Figure 5" for the indicator status of the light signals in the seventh and preferred embodiments of the present invention.) $ The main data processor 160 is used to communicate with the main switching route uo and receive and process the upload / download Data packet, and 3: from the main input / output port and memory 12. Digital command and from: Analog command of Daicon protection and low-pass filter circuit 1 40. (5): 丨 The main status monitor 170 is used to display the information in the main data processor = the subsequent data packet, 'this issue. It is adopted in the preferred embodiment of the Ming', and a Liquid Crystal DispUy (LCD) is used as Every day in the data packet, the main content usually contains \ ,,, and "^" flight data, telemetry data, or "reward" W, but in actual conditions, teachers can follow the instructions given: , From the line of design different :: pass; not

:4A圖」則係說明本發明從屬操控裝置2〇〇的方塊要的功能模財塊均與主要操控裝置進一步說明如下：々1 J (1)從屬串列通信電路21 0，主要备主控赛置1〇。，及接收來自主給主要操料封包。受钿在凌置100所分配之下傳資 ::透過串列通化電路與導航電腦30連接時傳捧導航資料封包給導航電腦，更將負貝任務。用以執订其他各種不同的第12頁 1226582"4A picture" is to explain the functional modules of the slave control device 200 of the present invention and the main control device are further explained as follows: 々1 J (1) Slave serial communication circuit 21 0, mainly for the master control Set at 10. , And receive packets from the master to the main operator. Received the transfer of funds under the allocation of Lingzhi 100 :: When connecting with the navigation computer 30 through the serial communication circuit, it will spread the navigation data packets to the navigation computer, and will even lose the task. Used to order various other pages 1212582

五、發明說明（8) __ (2 )從屬輸人/ ψ 士食裝置230之數位人入憶體220，用以接收來自從屬開關操控員於從：摔二’=開”置23°的作動則係根據 (3)從屬哉分置2〇0之面板上的操作所產生。 ^ ^# ^ "250 " ^ ^ ^ ^ "古·屬‘控1置20〇之面板上的操作所產生。如.、·文位命令及類比命令听能夠提供的功能機制，機▲fiw、頭向保持控制機制、從屬操控裝置監於 :即時狀態顯示機制、酬載裝備操二控制機制、雙開關停車控制機制…等等，可參閱零，」中本發明較佳實施例之從屬操控裝置面板示少了解。 •夕，在從屬操控裝置20 0面板上更利用發光二極體 (Ught-Eittir^ Diode，LED),，以燈號產生不同變化的方式來顯示各種不同的狀態，隨時可以提供操控員時狀況進行應變及處理。（有關本發明較佳實施例中供的燈號狀態判別表可以參見「第5圖」的說明） (4)從屬資料處理器2 60，用以與從屬串列通信電路21〇溝通，接收處理上/下傳之資料封包，及負責解析來自從屬輸入/出埠及記憶體220之數位命令和來自從屬截波保護及低.濾波電路24Q之類比命令。 ’、口 (5 )|從屬狀態監控器270，用以顯示從屬資料處理器26〇處理後之資料封包中的資訊，本發明較佳實施例中採用液晶顯 f 器（Liquid Crystal Display, LCD)來作為顯示。V. Description of the invention (8) __ (2) Slave input / ψ The number of people and food device 230 enters the memory 220, and is used to receive the action of the slave switch operator when the slave: falls two '= on' to 23 ° It is generated according to (3) the operation on the panel of the subordinate 哉 200. ^ ^ # ^ " 250 " ^ ^ ^ ^ " The operation of the ancient control panel which is set on 200 The function mechanisms that can be provided by the text command and analog command listening are: machine fifiw, head hold control mechanism, slave control device supervised by: real-time status display mechanism, payload equipment operation two control mechanism, dual Switch on and off control mechanism ... etc., please refer to "Zero," little is known about the slave control panel of the preferred embodiment of the present invention. • Evening, the light emitting diode (Ught-Eittir ^ Diode, LED) is even used on the slave control device's 200 panel to display a variety of different states with different changes in the light, which can provide the status of the operator at any time. Perform strain and treatment. (Refer to the description of "Figure 5" for the lamp status discrimination table provided in the preferred embodiment of the present invention.) (4) The slave data processor 2 60 is used to communicate with the slave serial communication circuit 21 and receive and process. Up / down data packets, and is responsible for parsing digital commands from slave input / output ports and memory 220 and analog commands from slave clipping protection and low. Filter circuit 24Q. '、口 (5) | The slave state monitor 270 is used to display the information in the data packet processed by the slave data processor 26. In the preferred embodiment of the present invention, a liquid crystal display (Liquid Crystal Display, LCD) is used. Come as a display.

五、發明說明（9) 在資料封包斧，主要的内容具10所傳送回來的：飛航資料今】；；ί!由無人飛行載的不同任務別，來自行$^2々所賦予無人飛行載具1〇容。自订°又叶各種不同的回傳資料封包内非。d:明；？本發明其中的較佳實施例而已，並圍無作的均尊二^貫施範圍；即凡依本發明申請專利範免弗與修飾，皆為本發明專利範圍所涵蓋。 1226582V. Description of the invention (9) In the data packet axe, the main content is transmitted back from 10: flight information today]; ί! Different missions carried by unmanned flight, from the unmanned flight given by the line $ ^ 2々 The vehicle has a capacity of 10. There are various kinds of custom return data packets in the packet. d: Ming ;? Only the preferred embodiments of the present invention are included, and the scope of non-performing uniformity is not limited; that is, all patent applications and exemptions and modifications according to the present invention are covered by the patent scope of the present invention. 1226582

第1圖係習知操控系統之系統運作架構圖· 第2:圖係本發明砷提之應用於無人飛行二且系統之系統運作架構圖； /、之主/從式操控第3 A圖係本發明所提之應用於無人飛控參統之主要操控裝置方塊圖； -、之主/從式操第3 B圖係本發明所提之應用於無人飛控系統之主要操控裝置面板示意圖； /、之主/從式操第4,A圖係本發明所提之應用於無人飛行控參統之從屬操辨裝置方塊圖；〃、之主/從式操第4 B圖係本發明所提之應用於無人控”之主要操控裝置面板示意圖如；载具之主/從式操第5,丨圖係本發明所提之應用於無人飛行載具之主/從式系參之燈號狀態判別表。【圖式符號說明】 1〇無人飛行載具（Unmanned Aerial Vehicle, UAV、 30 導航電腦 5 〇地面導控站 51 信號收發器 5 2 .資料轉換器 53 : 資料處理器 54 狀態監控器 6 〇操控裝置主要操控裝置主要切,,择選擇器及串列通信電路Figure 1 is the system operation architecture diagram of the conventional control system. Figure 2: The system operation architecture diagram of the arsenic proposed by the present invention is applied to the unmanned flight system II. /, Master / slave control 3 / A The block diagram of the main control device applied to the unmanned flight control system mentioned in the present invention;-, master / slave operation Figure 3B is a schematic diagram of the main control device panel applied to the unmanned flight control system according to the present invention; Figure 4A of the master / slave operation is a block diagram of the slave operation device applied to the unmanned flight control system mentioned in the present invention; Figure 4B of the master / slave operation of the present invention is shown in FIG. Refer to the schematic diagram of the main control device panel for the application of unmanned control "; the master / slave operation of the vehicle No. 5, 丨 is the light signal of the master / slave system of the unmanned flying vehicle mentioned in the invention State discrimination table. [Illustration of graphical symbols] 1 Unmanned Aerial Vehicle (UAV, 30 navigation computer 5) Ground guidance and control station 51 Signal transceiver 5 2 Data converter 53: Data processor 54 Status monitoring Control device 〇 Main control device Selector and serial communication circuit

100 1 lQi: •h100 1 lQi: • h

第15頁 1226582 圖式餚單說明 120 主要輸入/出琿及記憶體 130 主要開關裝置 140 主要截波保護及低通濾波電路 150 主要搖_裝置 160 主要資料處理器 170 主要狀態監控器 20 0 從屬操控裝置 210 從屬串列通信電路 22 0 從屬輸入/出埠及記憶體 2 3 0 從屬開關裝置 24泸從屬截殊保護及低通濾波電路 2 5 0 從屬搖桿裝置 2 6 0丨 2 7 0'; 從屬資料處理器從屬狀態監控器Page 15 1226582 Graphic Menu Description 120 Main Input / Output and Memory 130 Main Switching Device 140 Main Clipping Protection and Low Pass Filter Circuit 150 Main Shaking Device 160 Main Data Processor 170 Main Status Monitor 20 0 Slave Control device 210 Slave serial communication circuit 22 0 Slave input / output port and memory 2 3 0 Slave switch device 24 泸 Slave cut protection and low-pass filter circuit 2 5 0 Slave joystick device 2 6 0 丨 2 7 0 ' ; Slave data processor slave status monitor

第16頁Page 16

Claims

1226582 專利範圍用於無料轉換業，然種應係由一資行封包作送及接收控作業，一主要操業，並負進行該資配作業，一資料其特徵控裝置責提供料封包其中該 t飛；載具之主/從式操控系統，該系絲器負責將接收到的操控命令及數據气、自、、後透過一信號收發器以無線傳 = 封包，藉此進行對一無人飛行載具2專在於該系統中更包含·· 呆，用以執行對該無人飛行載具之該操控作主/從操控的切換控制，與該信號收發工哭上/下傳作業，及處理該資料封包下^ 主要操控裝置更包含：一主要輸入/出埠及記憶體，用以接收控裝置之一個以上數位命令.； /王要操 2波S護及低通滤，電路，用以接收來自該主要#控裝置之一個以上類比命屬； :)一主要資料處理器，用以處理上/下傳之該資料封包W該數位命令及該類比命令；一主，切換選擇器及串列通信電路，用以根據該主要資料處理器處理後之該數位命令，執行與該信號該資料封包上/下傳作業及處理該資料封包下收傳業’並負責產生一控制命令進行主/從操控的切換控制；及彳 ' 主要狀悲監控器，用以顯示該主要資料處理器處理後之該資料封包中的資訊；及一個以上從屬操控裝置，用以分別透過一通訊連線方式與該主要操控裝置連接，負責根據該主要操控裝置之該控制1226582 The scope of the patent is used in the material-free conversion industry. However, it should be a package sending and receiving control operation by a capital bank, a main operation, and is responsible for carrying out the allocation operation. A feature of the data control device is responsible for providing the material package. Flying; the master / slave control system of the vehicle, the threader is responsible for transmitting the received control commands and data, wirelessly, and automatically through a signal transceiver = packet, thereby carrying out an unmanned flight vehicle Tool 2 is dedicated to the system. It is used to perform switching control of the control of the unmanned aerial vehicle as a master / slave control, to cry up and down with the signal transceiver, and to process the data. Under the packet ^ The main control device further includes: a main input / output port and memory to receive more than one digital command from the control device; / Wang Yaojiao 2 waves of S protection and low-pass filter, circuit for receiving from One or more analogues of the main #control device; :) a main data processor for processing the data packet transmitted / uploaded by the digital command and the analog command; a main, switching selector A serial communication circuit is used to execute the data packet upload / download operation and process the data packet transmission / reception industry according to the digital command processed by the main data processor, and is responsible for generating a control command for the host. / Slave switching control; and 彳 'main state monitor, used to display information in the data packet processed by the main data processor; and more than one subordinate control device, respectively, through a communication connection Connected to the main control device and responsible for the control according to the main control device

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1226582 --^---- 六、申請專利範圍命會進行切換，上傳該資料_包行#該無人飛行載且之咳掘批於I 资探控裝置，以執詈焱八，並接收該主要摔控# 巧力配之下傳該資料封包，其中各該從屬操控裝j匕一從屬輸入/出埠及記憶體，用以接收來 ^ 關裝置之一個以上數位命令；要收來自一從屬開一從屬截波柢護及低通濾波電路，屬搖桿裝置之一個以上類比命令；用以接收來自-從 :二從屬資料處理器，用以處理上/下匕、该數位命令及該類比命令； μ貝；斗封 Κ屬串列通信電路，用以根據該從屬。之該數位命令進行該資料封包上傳至誃主器處理後串f通信電路的㈣，及接收來自該；要：：換選擇器及列填信電路所分說之下傳該資料封包，及刀換.擇器及串一從屬狀態監控器，用以顯示該從屬I 後孓該資料封包中的資訊；疋屬貝枓處理器處理 2· f申請專利範圍第工項所述之應用於盔 —、從式操控系統，其中該資料封包至少包、、人骯仃載具之主/ 遙測資料、一酬載資料。、各一飛航資料、一 3·如申請專利範圍第i項所述之應用於盔從式操控系統，其中該通訊連線方式係、、氣，載具之主/ 4·如申請專利範圍第丨項所述之應用於备為，有線通訊。 k式操控系統，其中該通訊連線方式係、、坻行載具之主/ 5 ·衫申請專利範圍第丨斤述之應用於 ' :、、、無線通jl。於無入飛行載具之主/ 1226582 六、申ft專利範圍從式操控系統，置’用以根據操 6· f申請專利範從4操控系統，置，用以根據操 7·如申請專利範從式操控系統，裔係為液晶顯示 8·如申請專利範從式操控系統，该傳屬串列通信恶監控、一酬載其中該主要操控裝置更包含一主要開關裝作動作產生對應之該數位命令。圍弟1項所述之應用於無人飛行載具之主/ 其中該主要操控裝置更包含一主要搖桿裝作動作產生對應之該類比命令。圍第1項所述之應用於無人飛行載具之主/ 其中該主要狀態監控器及該從屬狀態監控 li(LiQuid Crystal Display, LCD)。圍第1項所述之應用於無人飛行載具之主/ 其中該主要切換選擇器及串列通信電路與電路可與一導航電腦連接並執行一飛航狀狀態監控、一操控系統監控。 9 ·兮申請專利範圍第1項所述之應用於無人飛行載具之主/ 從式操控系統，其中該導航電腦更包含一電子地圖，用以執#一航跡顯示及一導航設定。 1 0 ·如申請專利範圍第1項所述之應用於無人飛行載具之主/從式操控系統，其中該主要操控裝置及該從屬操控裝置專包含一發光二極體（Light-Emitting Diode，LED)，用i利用燈號變化顯示該系統之不同狀態。1226582-^ ---- VI. The scope of the patent application will be switched, upload the information_ 包行 # The unmanned flight carrier and the cough will be approved by the I-funded detection and control device to execute the eighth, and receive the Main throttling # Qiao Li matches the data packet, in which each slave controls a slave input / output port and memory to receive more than one digital command from the device; to receive from a slave Open a slave clipping protection and low-pass filter circuit, belong to more than one analog command of the joystick device; used to receive from-slave: two slave data processors to process up / down dagger, the digital command and the analog Command; μ shells; bucket seal K belongs to a serial communication circuit, according to the slave. The digital command uploads the data packet to the 通信 host and processes it to the f communication circuit, and receives it from: to: change the selector and the column filling circuit to pass the data packet, and the knife The selector and a slave status monitor are used to display the information in the data packet after the slave I; the shellfish processor processes 2 · f application for the scope of patent application in the helmet- Slave control system, in which the data packet contains at least, master / telemetry data of the vehicle, and payload data. 1. Each flight information, 3. The application in the helmet-slave control system as described in item i of the patent application scope, where the communication connection method is, the master of the gas, the vehicle / 4. The scope of the patent application The application described in item 丨 is for backup, wired communication. K-type control system, in which the communication connection method is the main application of 坻, 坻行载 //, and the application of patent scope of the shirt is described in the application of ': ,,, and wireless communication jl. Master of non-enterprise flight vehicle / 1226582 VI. Applying for ft patent range slave control system, it is used to apply for a patent model according to operation 6 · f, and it is used to apply a model for 4 control system, according to operation 7. · If you apply for a patent model Slave control system, LCD line 8. If you apply for a patent-compliant slave control system, the transmission is a serial communication evil monitor, a reward. The main control device also includes a main switch acting as a corresponding action. Digital commands. The main application of the unmanned aerial vehicle described in item 1 of the sibling / wherein the main control device further includes a main joystick as the action to generate the corresponding analog command. The main / main state monitor and the slave state monitor li (LiQuid Crystal Display, LCD) applied to the unmanned aerial vehicle described in item 1 above. The main application of the unmanned aerial vehicle described in item 1 above, wherein the main switching selector and the serial communication circuit and circuit can be connected to a navigation computer and perform a flight state monitoring and a control system monitoring. 9. The master / slave control system for unmanned aerial vehicles described in item 1 of the scope of patent application, wherein the navigation computer further includes an electronic map for performing a track display and a navigation setting. 1 0 · The master / slave control system applied to an unmanned aerial vehicle as described in item 1 of the scope of the patent application, wherein the master control device and the slave control device specifically include a light-emitting diode (Light-Emitting Diode, LED), use i to show the different states of the system by changing the light.

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