TWI379702B - - Google Patents

Description

1379702 六、發明說明： 【發明所屬之技術領域】 本發明係有關-種制遙控器之運動以控制遙控直昇機飛行的系 統及方法’尤指-種感測遙控器之運動向量而產生控制訊號，再經無 線傳輸將控觀號傳至-遙控直昇機上，進而難遙控直昇機之至少 一操縱機構的作動’俾能輕易且更為穩定控制遙控直昇機的飛行狀態 者。 【先前技術】 在無人飛機先進航電系統的研究領域中，Aut〇pil〇t是無人飛機 最重要_心技術，而㈣伽即穩定直昇機_同_器。換言 之，co-pilot是autopilot的一部份。再者，由於航空玩具（如遙控 版機或直昇機）飛行控制實屬不易，以致進人門檻以及所遭遇的障礙與 困難性相對較高，所以遙控航空玩具是專業玩家的纖，而非初 學者所能輕易踏入的門檻。 按’-般用以遙控玩具或是航空玩具多以傳統的RC遙控器為之， 以讓小朋友也可輕易地操控。現今對於物件（12〇)的遙控，如第七圖所 示。亥RC遙控器係利用—手持遙控裝置⑴〇)，以撥動上方操控桿⑴】) 之偏移’透過上下左右的間接感知操控模式，決定被遙控之物件（12〇) 所應產生的職雜方向，以達纟彳互動湖之裝置者。然而，習知技 術在三度空騎細分析理論和計算公式複雜，必須制高性能的我 入式系統演算手持控繼置的運動，成本和耗電量均居高不下因此， 該習用結構確實有解決改善的必要性。 關的專利前案，如本國新型專利第_4『遙 控機向控制、、，吉構』其主要係 一- 二、三舰馬達具有第_、二」、° —、一、二條馬達，第-、 辨由第三舰η & ―、二連動桿馳接於連動機構之連動座， 二一之作而得控制副翼前、後不同仰俯角度，藉由第 一 '-概馬達之動作，得控制副翼、主翼左右不同 -二三伺料達全㈣作，以控_翼升_柯高度。措 =¾用、、’。構雖可叫化結構而減輕重量，進而制軸輕巧、省 電功f ’惟其並無飛航協同控繼麟置，所以無法以感測之 飛打狀態與遠端傳輸之_命令進行比對而送出修正命令給各飼服馬 達，以令伺服馬達帶動相關之操縱機構進行相應_整輸出，使遙控 直昇機的射歡轉在所設定之絲^的__離預設航 線，故而該習用結構有改良的必要。 為改善刖述缺失，另有一種如本國發明第1233833『遙控直昇機 鲁之自動控制系統』的專利前案，其自動控制系統裝設在遙控直昇機上， 其包含-FPGA f路板及-感測元件；其中，該FpGA電路板燒錄有模 糊控制賴·狄演算電路喊，射PGA電雜相產生訊號並傳 送至遙控直昇機之各侧服馬達，俾控制域翼之葉#驗及油門出 力，藉以上設置，當操控遙控直昇機升空保持停懸並切換成自動控制 狀態後，系統中之感測元件會將遙控直昇機之機身姿態及飛行狀態訊 號傳送給FPGA電路板，而FPGA電路板接收訊號後’會進行模糊控制 計算並送出修正命令給各伺服馬達。 1379702 ' 該㈣結構職可以送祕正命令給各舰馬達，令遙控直昇機 ‘的機^穩錄持在所設定之姿態而不受氣流的擾動，惟其非以伽運 動向莖以產生控制訊號的方式來操控直昇機的飛行而是同樣採用此 遙控器’所以其在三度空間運動的分析理論和計算公式複雜故而必 須使用高性能桃人式系統演算手持控繼置的運動，因而使得成本 和耗電量均居高不下，因此’該習用結構確實有解決改善的必要性。 有鑑於上述習用的缺失，本發明人乃藉多年的研究經驗與學識積 #極投入研發，經不斷的實驗與研究’終得有應用於控制遙控直昇機的 技術成果。 【發明内容】 本發明主要储供-種_遙㈣之運動鱗継控直昇機飛行 的系統及方法，主要係以感測遙控器之_向量來產生控制訊號再 與所感測之飛行狀態做比對而送出修正命令給相關之操控機構，使遙 控直昇機得以穩定維持在所設定的飛行姿態，故而較不受氣流的擾動 #下而偏離航道’進而得以加速引導初學者進入遙控飛航領域的門權， 因而具有遙控飛賴單容易、操作省力、成本相賴低以及較為環保 節能省電等諸多特點。 為達成上述功效’本發明採用之技術手段係其係感測遙控器之運 動向量而產生控制訊號，再經無線傳輸將控制訊號傳至一遙控直昇機 上，進而操控遙控直昇機之至少-操縱機構的作動，以控制該遙控直 昇機的飛行狀態，其中，高度控制模組包含一高度感測器用以感測遙 控直昇機目前高度而產生-高度感測訊號，並將高度感測訊號與來自1379702 VI. Description of the Invention: [Technical Field] The present invention relates to a system and method for controlling the movement of a remote controller to control the flight of a remote control helicopter, particularly a motion vector of a sensing remote controller to generate a control signal. After the wireless transmission, the control number is transmitted to the RC helicopter, and then the operation of at least one of the control mechanisms of the RC helicopter is difficult to control the flight state of the RC helicopter easily and more stably. [Prior Art] In the research field of the advanced avionics system of the unmanned aircraft, Aut〇pil〇t is the most important _ heart technology of the unmanned aircraft, and (4) gamma is the stable helicopter _ the same _ device. In other words, co-pilot is part of autopilot. Moreover, because flight control of aviation toys (such as remote control machines or helicopters) is not easy, the barriers to entry and the obstacles and difficulties encountered are relatively high, so the remote control aviation toy is a professional player's fiber, not a beginner. The threshold that can be easily stepped in. Press '-like remote control toys or aviation toys mostly with traditional RC remote control, so that children can also easily control. Today's remote control for objects (12〇) is shown in Figure 7. The RC remote control system uses the hand-held remote control device (1)〇) to shift the shift of the upper joystick (1)]) through the indirect perceptual control mode of the up, down, left and right to determine the position of the object to be remotely controlled (12〇). The direction of the miscellaneous, to the device of the Dalai interactive lake. However, the conventional technique is complicated in the theory of three-degree airborne fine analysis and the calculation formula. It is necessary to make a high-performance I-in system to calculate the motion of the handheld control. The cost and power consumption are high. Therefore, the conventional structure is indeed There is a need to address improvements. The patent pre-existing case, such as the national new patent _4 "remote control to the control,, Jiji" is mainly the first-two, three-ship motor has the _, two", ° -, one, two motors, the first -, identified by the third ship η & ―, two linkage rods connected to the linkage of the linkage mechanism, two-in-one control of the aileron before and after the different pitch angle, by the first '- motor Action, you have to control the ailerons, the main wing is different from left to right - two or three to feed the whole (four), to control _ wing _ ke height. Measure =3⁄4 with , , '. Although the structure can be called a structure to reduce the weight, and then the shaft is light and energy-saving, but it does not have the flight control and control, so it cannot be compared with the _ command of the remote transmission. And sending a correction command to each feeding motor, so that the servo motor drives the relevant operating mechanism to perform corresponding _ whole output, so that the RC helicopter turns to the set route __ from the preset route, so the conventional structure There is a need for improvement. In order to improve the lack of description, there is another patent case such as the invention of the 1233833 "Remote Control Helicopter Lu's Automatic Control System". The automatic control system is installed on the RC helicopter, which includes -FPGA f board and - sensing The component; wherein, the FpGA circuit board is programmed with a fuzzy control Lai Di calculus circuit, the PGA electrical hybrid phase generates a signal and is transmitted to each side of the remote control helicopter motor, the control domain wing leaf # check and throttle output, With the above settings, when the control RC helicopter is lifted off and switched to the automatic control state, the sensing component in the system transmits the RC helicopter's body attitude and flight status signal to the FPGA circuit board, and the FPGA circuit board receives After the signal, the fuzzy control calculation will be performed and a correction command will be sent to each servo motor. 1379702 'The (4) structure can send secret commands to the various motors, so that the RC's machine can be held in the set position without being disturbed by the airflow, but it is not gamma-moving to the stem to generate control signals. The way to control the flight of the helicopter is to use the remote control as well. Therefore, the analysis theory and calculation formula of the three-dimensional space movement are complicated, so the high-performance peach-type system must be used to calculate the motion of the handheld control relay, thus making cost and consumption. The power is high, so 'the use of the structure does have the need to solve the improvement. In view of the above-mentioned lack of usage, the inventors have borrowed many years of research experience and knowledge to invest in research and development, and through continuous experimentation and research, they have finally had the technical achievements for controlling RC helicopters. SUMMARY OF THE INVENTION The present invention mainly relates to a system and method for controlling the movement of a squadron-controlled helicopter. The main purpose is to generate a control signal by sensing the _ vector of the remote controller and then comparing with the sensed flight state. And the correction command is sent to the relevant control mechanism, so that the RC helicopter can be stably maintained in the set flight attitude, so that it is less subject to the disturbance of the airflow and deviates from the navigation channel, thereby speeding up the guidance of the beginner to enter the remote control field. Therefore, it has many features such as easy remote control, easy operation, low cost, and relatively environmental protection, energy saving and power saving. In order to achieve the above-mentioned effects, the technical means adopted by the present invention is to generate a control signal by sensing the motion vector of the remote controller, and then transmit the control signal to a remote control helicopter via wireless transmission, thereby controlling at least the control helicopter. Actuating to control the flight state of the RC helicopter, wherein the height control module includes a height sensor for sensing the current height of the RC helicopter to generate a height sensing signal, and the height sensing signal is derived from

Claims (1)

1379702 ' 補充修正曰期101年10月04曰 七、申請專利範圍： ’ ·· L 一種偵測遙控器之運動以控制遙控直昇機飛行的系統，其係用 以產生運動感測訊遽，並依據该運動感測訊號而產生控制訊號，再經 由一無線傳輸模組將該控制訊號傳至一遙控直昇機上操縱模組，該操 縱模組再操控該遙控直昇機之至少一操縱機構的作動，進而控制該遙 控直昇機的飛行狀態，其包括： 一運動感測器，其設在一遙控器上，用以偵測該遙控器之運動向 鲁重而產生該運動感測訊號，該運動向量包括可分別相對X軸、γ軸及z 軸位移的第一、第二及第三運動向量，及可分別相對χ軸、γ軸及Z 軸旋轉的第四、第五及第六運動向量； -訊號處理單元’其設在-遙控||上，用崎該運械測訊號轉 換為該控制訊號，以遙控該遙控直昇機之飛行，該遙控器更包含一用 以儲存複數個修正係數的資料庫，卩供該訊號處理單元將該動感測 訊號乘以與該運城職號對應之娜正錄後轉換為該控制訊號； • 一控制器，其設在該遙控直昇機上； -设在該遙控直昇機上的贿協同控制手段，該麟協同控制手 段用以控綱聽_的作動，使該遙控直昇齡現穩定的飛行狀 態’使該遙㈣未對該遙控直昇機施㈣，該遙控直昇機仍保持穩定 飛行狀態，該飛行協同控制手段包括一位置控繼組，其包含一用以 感測該遙控直昇機位置變化的光學位置感測器，當該運動感測器產生 該第-運動向量或該第二運動向量時，該訊號處理單元則將減之該 運動感測訊號轉換為位置移動命令的該控制訊號，該控制器比較該光 1379702 補充修正日期101年10月04日 學位置感測器產生的位置訊號與該位置軸命令，該控制器再依據比 :較結果而輸Hx控繼操_構_整訊號，使該遙控直昇機所 處位置達到與該位置移動命令相符合的位置； 碰控繼組’其包含—高賴測㈣域峨遙控直昇機目 别局度而產生-高度感測訊號，#該運動感測器產生該第三運動向量 或該第四運動向量時，該峨纽單元騎相應之該運械測訊號轉 換為高度命令的該控制訊號，該控制器再將該高度感測訊號與來自該 ⑩遙控n之該高度命令做峨，而可雜_結果輸出—肋控制該操 縱機構作_觀㈣簡，使該赫直昇齡或輕無高度命令 相符合之高度；及 一方位減賴組’其包括有二個分職設在該遙㈣及該直# 機上的方位角感測器，用以感繼遙控直昇機與該遙控ϋ彼此間的2 位角而分別產生二方位減測訊號，該訊號處理單元解讀其一該方七 角感測訊號後產生-機頭方向命令的該控制訊號，該控制器將其二言 方位角感職號與該_方向命令做味，並依據比較絲而輸出_ 用以控制賴縱麟㈣—轉雜娜號，使麵雜肖達到與該名 頭方向命令姆合的方向’以㈣該雜直昇機的航向肖與該遙控署 的指向角維持在-相對角度，該方位減測模組更包含—ζ轴感分 I’用以提供-2滅_絲錄継中，轉為修正該操縱機系 轉迷控制訊號的依據，而可進—步穩定該遙控直昇機的機頭方向。 ^ 2·如請求項第1項所述之偵測遙控器之運動以控制遙控直昇機名 行的系統，其中，該運動感測器係為陀螺儀或加速度計。 19 1379702 補充修正曰期101年10月〇4曰 -· @求項第1項所述之伽隨控器之運動以控制遙控直昇機飛 :行的系統二其中，所翻之該運動向量為該遙控器之六軸向量。 4·如明求項第1項所述之伽彳遙控器之運動以控制遙控直昇機飛 行的系統，其中，該高度感測器為超音波感測器。 5. 如明求項第1項所述之伽彳遙控H之運動以控f]遙控直昇機飛 打的系統，其中，該方位角感測器為磁感測器。 6. 如請求項第！項所述之侧遙控器之運動以控制遙控直昇機飛 鲁行的系統，其中，該操縱機構包括一主旋翼。 7·如凊求項第1項所述之偵測遙控器之運動以控制遙控直昇機飛 行的系統，其中，該控制嚭係為一 pID控制器或模糊控制器。 8. —種偵測遙控器之運動以控制遙控直昇機飛行的方法，其係用 以產生運動感測訊號，並依據該運動感測訊號而產生控制訊號，再經 由一無線傳輸模組將該控制訊號傳至一遙控直昇機之操縱模組上，再 由該操縱模組操控該遙控直昇機之至少一操縱機構的作動，以控制該 擊遙控直昇機的飛行狀態，其中，該運動向量包括可分別相對χ軸、γ 軸及Z軸位移的第一、第二及第三運動向量，及可分別相對χ軸、γ 軸及Ζ軸旋轉的第四、第五及第六運動向量，其包括： 將一運動感測器設在該遙控器上，以偵測該遙控器之運動向量而 產生該運動感測訊喊，該運動感測訊號包含該運動向量在一第一座標 系各座標軸之分量，該控制訊號包含一第二座標系各座標軸之分量， 當該訊號處理單元將該控制訊號傳送至一飛行協同控制手段後，該飛 行協同控制手段依據該控制訊號使該遙控直昇機於該第二座標系各座 20 1379702 補充修正日期101年10月04日 標軸之分量進行運動； 將一訊號處理單元設在一遙控器上，可將該運動感測訊號轉換為 該控制訊號，以遙控該遙控直昇機之飛行，該遙控器更包含一用以儲 存複數個修正係敫的資料庫，以供該訊號處理單元將該運動感測訊號 乘以與該運動感測訊號對應之該修正係數後轉換為該控制訊號； 將一控制器設在該遙控直昇機上； 提供一設在該遙控直昇機上的飛行協同控制手段，該飛行協同控 制手段用以控制讓操縱機構的作動，使該遙控直昇機呈現穩定的飛行 狀態’使該遙鮮未對該直昇機施控時，該遙控直昇機仍保持穩定飛 行狀態，該飛行協同控制手段包括一位置控制模組，其包含一用以感 測該遙控直昇雜置變化的光學位置感測H，倾運域卿產生該 第-運動向量或該第二運動向量時，該訊號處理單元則將相應之該運 動感測訊雜齡位置移動命令的該控制峨，當總獅接收到該 位置移動命令時，顯該光學位置感測器產生的位置訊號做比較，該 控制器依據比較結果而輸出一用以控制該操縱機構的調整訊號，使該 遙控直昇機所處錄逹職触置軸命令姆舍的位置上； 以=尚度控制模組之一高度感測器感測該遙控直异機目前高度而 產生-高度感麻號，當該運動感測器產生該第三運動向量或該第四 2向量時該訊號處理單π則將相應之該運動感測訊號轉換為高度 :的該控制鋪;’馳制ϋ縣該高度感槪號與來自該遙控器之 命令做比較，而可依據比較結果輸出—控職操縱機構作動的 、控制訊號，使該遙控直昇機升降至與該高度命令相符合之高度； 1379702 補充修正曰期101年10月04曰 及 ·、 .方位誠職_測該遙控直昇機與該遙控碰此間的方位 角而產生方位誠測訊號，其中，該方位角感測模組包括有二個分別 裝設在該遙控器及該遙控直昇機上的方位角感測器，而可分別產生二 方位角❹m號，賊聽料元解職—财位減酿號後產生 -機頭方向命令的該控制訊號，該控制器則將其二該方位角感測訊號 與該機向命令做比較，並依觀德果啸出—肋控制該操縱 鲁麵郎-轉速㈣峨，韻财位肖_触機财向命令相符 以控制該遙控直昇機的航向角與該遙控器的指向角維持在一相對角 度，該方位角感測模組更包含一 z軸感測器，用以提供一 2轴感測訊 號至該控制器中，以作為修正該操縱機構轉速控制訊號的依據，而可 進一步穩定該直昇機的機頭方向。 9.如μ求項帛8項所述之_遙㈣之獅雌制遙控直昇機飛 行的方法，其中，該運動感測器為陀螺儀或加速度計。 •如請求項第8項所述之偵測遙控器之運動以控制遙控直昇機 飛行的方法’射，所侧之該運動向量賴遙控ϋ之六軸向量。 I如π求項第8項所述之偵測遙控II之運動以控制遙控直昇機 飛打的方法，其中，該高度感測H為超音波感測器。 12·如凊求項第8項所述之偵測遙控器之運動以控制遙控直昇機 飛打的方法’其中’該方位祕測ϋ為磁感·。 丨3·如睛求項第8項所述之偵測遙控器之運動以控制遙控直昇機 飛打的方法，其+，該操縱機構包括-主旋！^ 22 137^702 14.如請求項第 飛行的方法，其_， 補充修正曰期101年10月04日 8項所述之偵測遙控器之運動以控制遙控直昇機 該控制器係為一 PID控制器。 1379702 修正日期101年5月31日 八、圖式：1379702 ' Supplementary amendments expired October 101, 2007, patent application scope: ' ·· L A system for detecting the movement of a remote control to control the flight of a remote control helicopter, which is used to generate motion sensing signals, and The motion sensing signal generates a control signal, and the control signal is transmitted to a remote control helicopter operating module via a wireless transmission module, and the operating module controls the actuation of at least one operating mechanism of the remote control helicopter to control The flight state of the RC helicopter includes: a motion sensor disposed on a remote controller for detecting the motion of the remote controller to generate the motion sensing signal, wherein the motion vector includes a separately First, second, and third motion vectors relative to the X-axis, γ-axis, and z-axis displacement, and fourth, fifth, and sixth motion vectors that are rotatable relative to the x-axis, the γ-axis, and the Z-axis, respectively; The unit 'is located on the remote control||, and is converted into the control signal by the Kawasaki mechanical test signal to remotely control the flight of the remote control helicopter. The remote control further includes a function for storing a plurality of correction coefficients. a database for the signal processing unit to multiply the motion sensing signal by the Nashen corresponding to the Yuncheng job number and convert it into the control signal; • a controller, which is located on the RC helicopter; The bribery cooperative control means on the RC helicopter, the lining cooperative control means is used to control the operation of the _ _, so that the remote control of the direct-aged stable flight state 'the remote (four) is not applied to the RC helicopter (four), the remote control The helicopter still maintains a stable flight state, and the flight cooperative control means includes a position control group including an optical position sensor for sensing a change in the position of the remote control helicopter, and the motion sensor generates the first motion vector Or the second motion vector, the signal processing unit converts the motion sensing signal into the control signal of the position movement command, and the controller compares the light 1371702 to supplement the correction date of October 04, 101. The position signal generated by the detector and the position axis command, the controller is based on the ratio: the Hx control and the operation signal are compared to the result, so that the remote control helicopter is in the position a position corresponding to the position movement command; the collision control group 'which includes a high-level measurement (four) domain 峨 remote control helicopter to generate a height-sensing signal, # the motion sensor generates the third motion vector Or the fourth motion vector, the button unit is converted into the height commanded control signal by the corresponding mechanical measurement signal, and the controller further performs the height sensing signal and the height command from the 10 remote control n峨 而 _ 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果 结果The azimuth sensor disposed on the remote (four) and the straight machine is configured to respectively generate a two-direction subtraction signal by using a two-corner angle between the remote control helicopter and the remote control, and the signal processing unit interprets the first The controller generates a control signal of the head direction command after the seven-point sensing signal, and the controller savours its two-way azimuth sense number and the _ direction command, and outputs according to the comparison wire _ Long Lin (four) - turn the hybrid, make the face The direction of the hybrid head reaches the direction of the command of the head direction. (4) The heading of the hybrid helicopter is maintained at a relative angle with the pointing angle of the remote control unit. The azimuth reduction module further includes a ζ axis sense I' In order to provide the basis for the control of the control system, the direction of the nose of the RC helicopter can be further stabilized. ^2. The system for detecting the movement of a remote controller to control a remote helicopter name as described in claim 1, wherein the motion sensor is a gyroscope or an accelerometer. 19 1379702 Supplementary amendments 曰 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 101 The six-axis vector of the remote control. 4. The system of controlling the movement of a remote control helicopter as described in item 1 of the invention, wherein the height sensor is an ultrasonic sensor. 5. The system of controlling the movement of the gamma remote control H according to item 1 of the present invention, wherein the azimuth sensor is a magnetic sensor. 6. As requested in the item! The motion of the side remote control described in the item controls the system of the remote control helicopter flying, wherein the steering mechanism includes a main rotor. 7. The system for detecting the movement of a remote controller to control the flight of a remote control helicopter as described in claim 1, wherein the control system is a pID controller or a fuzzy controller. 8. A method for detecting motion of a remote controller to control flight of a remote control helicopter, which is for generating a motion sensing signal, and generating a control signal according to the motion sensing signal, and then controlling the signal via a wireless transmission module The signal is transmitted to a control module of a remote control helicopter, and the operation module controls the operation of at least one operating mechanism of the remote control helicopter to control the flight state of the remote control helicopter, wherein the motion vector includes a relative motion First, second, and third motion vectors of the axis, the gamma axis, and the Z axis, and fourth, fifth, and sixth motion vectors that are rotatable relative to the x-axis, the gamma axis, and the x-axis, respectively, including: The motion sensor is disposed on the remote controller to detect the motion vector of the remote controller to generate the motion sensing signal, and the motion sensing signal includes a component of the motion vector in a coordinate axis of the first coordinate system. The control signal includes a component of each coordinate axis of the second coordinate system. When the signal processing unit transmits the control signal to a flight cooperative control device, the flight cooperative control device is configured according to the The signalling signal causes the RC helicopter to move in the second coordinate system 20 1379702 supplementary correction date October 04, 101 standard axis; a signal processing unit is set on a remote controller, the motion sensing can be performed The signal is converted into the control signal to remotely control the flight of the remote control helicopter, and the remote controller further includes a database for storing a plurality of correction systems for the signal processing unit to multiply the motion sensing signal by the movement The correction signal corresponding to the correction coefficient is converted into the control signal; a controller is disposed on the RC helicopter; and a flight cooperative control means is provided on the RC helicopter, and the flight cooperative control means is used to control the manipulation The action of the mechanism causes the RC helicopter to exhibit a stable flight state. When the remote control does not control the helicopter, the RC helicopter still maintains a stable flight state. The flight cooperative control means includes a position control module, which includes a An optical position sensing H for sensing the change of the remote control direct mismatch, and the dumping domain generates the first motion vector or the second In the motion vector, the signal processing unit correspondingly controls the movement of the motion sense measurement position moving command, and when the total lion receives the position movement command, the position signal generated by the optical position sensor is displayed. Comparing, the controller outputs an adjustment signal for controlling the operating mechanism according to the comparison result, so that the remote control helicopter is located at the position of the touch-up axis command of the remote control helicopter; The sensor senses the current height of the remote control directing machine to generate a height sensed number, and when the motion sensor generates the third motion vector or the fourth 2 vector, the signal processing single π will corresponding to the motion The sensing signal is converted to the height: the control shop; 'the high-sensitivity nickname of the county is compared with the command from the remote controller, and the control signal can be output according to the comparison result, and the control signal is activated. The RC helicopter is raised to the height corresponding to the height command; 1379702 Supplementary amendments are issued on October 04, 2010 and ·, . Positioning _ Measure the position of the RC helicopter and the remote control The azimuth sensing module includes two azimuth sensors respectively mounted on the remote controller and the remote control helicopter, and respectively generates two azimuth angles, The thief listens to the material dismissal - after the financial position is reduced, the control signal is generated by the head direction command, and the controller compares the two azimuth sensing signals with the command to the command, and according to the view of the fruit The rib control of the manipulator Lu Lu Lang-speed (four) 峨, the rhyme position _ _ touch machine financial command match to control the RC helicopter's heading angle and the remote control's pointing angle maintained at a relative angle, the azimuth The test module further includes a z-axis sensor for providing a 2-axis sensing signal to the controller for correcting the rotational speed control signal of the operating mechanism, thereby further stabilizing the head direction of the helicopter. 9. A method of flying a lion female RC helicopter as described in Item 8 of the item 8, wherein the motion sensor is a gyroscope or an accelerometer. • The method of detecting the motion of the remote controller to control the flight of the RC helicopter as described in item 8 of the claim item, the motion vector of the side is dependent on the six-axis vector of the remote control. The method of detecting the motion of the remote control II as described in item 8 of π to control the remote control helicopter flying, wherein the height sensing H is an ultrasonic sensor. 12. The method of detecting the movement of the remote controller as described in item 8 of the claim to control the remote control helicopter to fly, wherein the orientation sensor is magnetic.丨3· As for the method of detecting the movement of the remote controller according to item 8 of the item to control the remote control helicopter flying, the +, the operating mechanism includes - the main rotation! ^ 22 137^702 14. As requested in the method of flight, _, supplemented by the motion of detecting the remote control as described in 8 of October 04, 101 to control the RC helicopter. The controller is a PID. Controller. 1379702 Revision date May 31, 2010 VIII. Schema: 第一圖 1379702 修11:丨1期：01年5;131门The first picture 1379702 Revision 11: 丨 1 period: 01 years 5; 131 doors 第二圖 1379702Second picture 1379702 lieacl (l!.fecfi〇nl(iLieac (l!.fecfi〇nl(i mniinOtorRFMmniinOtorRFM iicad Ju'cctiou 第四® 1379702 • ^:K[：；vj；0i 31 ίίIicad Ju'cctiou fourth® 1379702 • ^:K[:;vj;0i 31 ίί mJeion eJcAMtormJeion eJcAMtor Η— 第五圖 n麵 ΧΎΗ—fifth map n-face ΧΎ 第六圖 1379702 修:K:丨斯：⑴丨丨（5 ,:〗31 ::Figure 6 1379702 Revision: K: Muse: (1) 丨丨 (5,: 〗 31 :: 第七圖Seventh picture 第八圖Eighth picture