CN104460680A - Intelligent remote control device mixed control method, remote controller and flight system - Google Patents
Intelligent remote control device mixed control method, remote controller and flight system Download PDFInfo
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- 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
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
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Abstract
The invention discloses an intelligent remote control device mixed control method, a remote controller and a flight system; the intelligent remote control device mixed control method comprises the following steps: an input path reads input data; converts the input data into a preprocessed signal according to a corresponding preprocess function; an output path reads the preprocessed signal of the corresponding input path, and obtains a weight factor corresponding to the input path; generate a control signal according to the output control signal function of each corresponding output path and the read preprocessed signal and weight factor. The intelligent remote control device mixed control method, the remote controller and the flight system can satisfy complex control of an external device without needing large amount of paths, so a user can fully learn and handle a control method of a remotely controllable external device; the specific remote control method of the external device can be set, changed, and fully managed.
Description
Technical field
The present invention relates to a kind of intelligent remote control device mixing method, telepilot and flight system.
Background technology
Along with the development of science and technology, the field that remote-controlled equipment relates to is more and more extensive, and the scientific and technological content comprising the controllable device of telecontrolled aircraft obtains and promotes greatly, and cost also have dropped many than before.The number of users of these all controllable devices becomes increasing.The equipment of, more complicated many for some control assemblies, control mode is also correspondingly comparatively complicated, the such as telecontrolled aircraft of 4 passages, 6 passages.Existing remote control thereof, passage is all directly set and removes specific input media on corresponding telepilot, and be input to the situation in a passage for multiple input media, the mixing mode between the input signal of multiple input media is also determined, wherein mixing and Hybrid mode.Therefore, input media comparatively complicated in control mode is more, the huge passage of magnitude setting of just having to can meet the requirement of control.Too much passage makes control planning become complicated, is not easy to arrange control planning and manage, and considerably increases the difficulty that user understands and grasp the control method of remote-controlled equipment all sidedly.
On the other hand, the production firm of remote-controlled equipment is numerous, even if for the controllable device of identical type, also there are some standards different separately in different production firm in control.Therefore, though the performance of controllable device itself and the action that can perform very close, use a teleswitch and the concrete method controlled is carried out to it still may have obvious difference.For telecontrolled aircraft, because the control of telecontrolled aircraft is for the corresponding relation can only understood user between the action of telepilot and the action of telecontrolled aircraft entirety, make user be difficult to change according to oneself custom or the control mode of preference to telecontrolled aircraft, and telepilot also cannot be adapted to different telecontrolled aircrafts.This cannot manipulate different telecontrolled aircrafts with similar control method with regard to making user, and this is also unfavorable for the further genralrlization of telecontrolled aircraft.Like this equally for other remote-controlled equipment.
Summary of the invention
The technical problem to be solved in the present invention must can meet comparatively complicated control by the huge passage of magnitude setting to overcome remote control thereof of the prior art, user is difficult to the control method understanding and grasping remote-controlled equipment all sidedly, be not easy to, to telepilot, concrete setting and the comprehensive defect managed are carried out for the control method of external unit, propose a kind of intelligent remote control device mixing method, telepilot and flight system.
The present invention solves above-mentioned technical matters by following technical proposals:
The invention provides a kind of intelligent remote control device mixing method, its feature is, intelligent remote control device comprises some input blocks, some input channels and some output channels, and this intelligent remote control device mixing method comprises the following steps:
S
1, each input channel reads the input data of each input block;
S
2, the input data of reading are converted to preprocessed signal by the preconditioned functions corresponding according to each input channel;
S
3, each output channel reads the preprocessed signal of at least one input channel, and obtains weight coefficient corresponding to this at least one input channel;
S
4, the preprocessed signal of basis and output control signal function corresponding to each output channel and reading and weight coefficient, generate and be used for exporting to perform one group of output control signal controlled to an external unit.
Those skilled in the art are to be understood that, the preprocessed signal corresponding with input channel must by the impact of the input data of all input blocks, because the preconditioned functions corresponding with this input channel can not consider the input data of more specific input blocks, in preconditioned functions, the calculating of zero is multiplied by eliminate its impact to the input data execution of these input blocks in other words.Same easy understand ground, the impact that may only have one or several input blocks to rise in the generative process of the preprocessed signal that input channel is corresponding is comparatively large, in preconditioned functions, such as have the weight of the input data of specific one or several input block larger.
At execution step S
2after the preprocessed signal that obtains correspond respectively to each input channel.Each output channel can be set to correspond to any one or more input channel, performs step S
3read the preprocessed signal of one or more input channel, and obtain the corresponding corresponding weight coefficient of input channel.It should be noted that weight coefficient is corresponding to input channel, but weight coefficient itself can but inevitable preprocessed signal by corresponding input channel or certain input data produce.That is, for the weight coefficient corresponding with some input channels, both may be in step S according to this input channel
1certain specific input data of middle reading are determined, also may be inputted separately by user.
After obtaining preprocessed signal and weight coefficient, step S
4carry out processing according to the output control signal function corresponding with output channel and generate and export control signal, the output control signal of generation can control specific external unit and perform one group of control.Here one group controls can be any manipulation to external unit, such as controls external unit and move in certain specific mode or send certain specific signal.Further, exporting control signal can be that one or more specific control assembly on instruction external devices performs specific action and controls external unit.Those skilled in the art are to be understood that, export in control signal function and include the operation rule relating to preprocessed signal and weight coefficient, but the computing relating to weight coefficient narrowly should be interpreted as and some signals must be added up with different weights, the operation rule relating to weight coefficient herein can be arranged at output control signal function according to actual conditions by those skilled in the art.
So far, this intelligent remote control device mixing method just completes the complete control procedure of the output control signal extremely finally needing external device to export from the input data of input block, as can be seen from above-mentioned steps, due to passage and the corresponding relation of input block and the corresponding relation between input channel and output channel and process function wherein all very clear, thus user also can understand and grasp all sidedly for the Hybrid mode of input block for external unit, and and then can carry out comparatively easily arranging and managing.
Preferably, this output control signal is according to formula S=F
n(c
ky
k) generate, wherein S is this output control signal, n is quantity, the F of the preprocessed signal corresponding with each output channel
nfor this output control signal function, c
kfor each weight coefficient, y
kfor the preprocessed signal that each weight coefficient is corresponding, F
nindependent variable comprise c
ky
k, k traversal meets all integers of 0<k<n+1.
This output control signal function F
ncomprise n parameter, be respectively c
1y
1, c
2y
2until c
ny
n.As shown from the above formula, generated in the process of this output control signal by preprocessed signal and weight coefficient, each weight coefficient carries out certain process for the preprocessed signal of correspondence respectively.That is, weight coefficient first can be utilized to process preprocessed signal by regarding as according to the process exporting control signal function generation output control signal, and then carry out computing to the result after process, its processing procedure is more clear.
Preferably, F
n(c
ky
k)=∑
nc
ky
k.
This output control signal function F
nfor c
ky
kadd up item by item, k traversal meets all integers of 0<k<n+1.It will be appreciated by those skilled in the art that now each weight coefficient is in this output control signal function F
neffect be exactly the weight of each preprocessed signal corresponding to adjustment, that is weight coefficient determines corresponding preprocessed signal affects size for the output control signal generated.If make certain preprocessed signal more obvious for the impact exporting control signal, then only need to improve its corresponding weight coefficient.So just make the setting of user more convenient.
Preferably, this some input block comprises digital input block, analog input parts and/or touch-control input block.
Preferably, this some input block comprises potentiometer, switch and touch-screen.
Preferably, this preconditioned functions comprises parameter of curve, travel parameters, reverse link parameter, endpoint parameter and/or delay parameter, the trip parameter is maximum value and the minimal value of preprocessed signal, whether this reverse link parameter is positive correlation for characterizing between preprocessed signal and input data, this endpoint parameter is for determining the valid interval inputting data, when inputting maximal value or the minimum value that preprocessed signal when data do not fall into this valid interval is the preprocessed signal inputted when data fall in this valid interval, this delay parameter is for determining the time delay of preprocessed signal relative to input data.
Wherein, this parameter of curve to include in this preconditioned functions slope everywhere, for determining the relation that preprocessed signal changes with the change of input data.It will be appreciated by those skilled in the art that when arranging preconditioned functions, can arrange one or more in above-mentioned parameter.
Preferably, preprocessed signal comprises multiplication operator, adding operator and/or assignment operator, multiplication operator is used for the computing of signal being multiplied by a numerical value, adding operator is used for computing signal being performed to an in addition numerical value, and assignment operator is used for computing signal being carried out to imparting one numerical value.Numerical value in above-mentioned operational symbol determines in the generative process of preprocessed signal.
In step S
4generate in the process exporting control signal, multiplication operator, adding operator and assignment operator both can be set to carry out computing to other preprocessed signals, and the resultant signal that also can be set to be formed after combining to other preprocessed signals carries out computing.When needs perform multiple above-mentioned operational symbol continuously, its order performed can be perform multiplication operator, adding operator, assignment operator successively.According to this output control signal function F
nwhen generating output control signal, all preprocessed signals can be divided into above-mentioned operational symbol and other preprocessed signals equally, and other preprocessed signals are with F
nform resultant signal after certain rule of middle setting combines, then perform the above-mentioned operational symbol in preprocessed signal.
Preferably, this external unit is telecontrolled aircraft, telecar or drone.
In the control of telecontrolled aircraft, telecar and drone, all include several output channels, its remote control mode is close.For telecontrolled aircraft, telecontrolled aircraft includes multiple control assembly, such as motor, steering wheel, aileron of angle change etc. can be carried out, when control assembly performs set, just have an impact to the skyborne motion of telecontrolled aircraft or attitude, the action of all control assemblies determines attitude and the mode of motion of telecontrolled aircraft jointly.Such as, the action of motor can be that rotating speed increases or reduces, and correspondingly, just improves or reduces the flying speed of telecontrolled aircraft, if the angle of empennage, aileron etc. changes simultaneously, correspondingly just have an impact to the flying height of telecontrolled aircraft.Therefore, for telecontrolled aircraft, just need to arrange a large amount of output channels if be configured for the control of various action, be not easy to arrange control planning and manage.Adopt above-mentioned intelligent remote control device mixing method, reasonably can arrange as required the relation of the input data of output channel and input channel, input block, the setting simplifying Hybrid mode makes it more distinct, substantially increases the convenience of the dirigibility of the mixing mode of telecontrolled aircraft and management, setting.
Preferably, S
4further comprising the steps of afterwards:
S
5, by the output control signal function of each output channel and correspondence thereof, export control signal, input channel, the preconditioned functions of each input channel and correspondence thereof, input block, weight coefficient, and all the other all input blocks are recorded in a mixing relation table.
S
5the process of all corresponding relations between from input block one end to the external unit receiving final output control signal and signal conversion is all recorded in this mixing relation table, is convenient to unified management.The corresponding relation that user can easily record from mixing relation table finds out the rule of corresponding relation or the signal conversion wanting to arrange easily, and and then changes its setting.It will be appreciated by those skilled in the art that all the other all input blocks above-mentioned are not and all input blocks corresponding to input channel.That is, record all input blocks in this mixing relation table, so that user adds what relevant control planning for these input blocks.
Preferably, each step includes and shows this mixing relation table at a display screen.
Make this mixing relation table more directly perceived for user by the display of display screen, operation of being more convenient for is to arrange control planning.Further, include in an interactive interface to the display of the information of all input/output relations and setting, i.e. in the mixing relation table of display screen display.User according to any actual demand, can set up contact between the input block in this mixing relation table, input channel, output channel, and the transformational relation of signalization, to make the final realistic demand of output control signal exported.
Present invention also offers a kind of telepilot that have employed above-mentioned intelligent remote control device mixing method, this telepilot comprises this some input block, this some input channel and this some output channel.
Present invention also offers a kind of flight system adopting above-mentioned telepilot, this flight system also comprises the telecontrolled aircraft as this external unit.
On the basis meeting this area general knowledge, above-mentioned each optimum condition, can combination in any, obtains the preferred embodiments of the invention.
Positive progressive effect of the present invention is:
Intelligent remote control device mixing method of the present invention, telepilot and flight system pass through neatly to input block, input channel, output channel and finally export to external unit output control signal corresponding relation and export the whole generative process of control signal and arrange, the control of the complexity for external unit just can be met without the need to the passage that magnitude setting is huge, make user more fully can understand and grasp the control method of remote-controlled equipment, and be convenient to change that telepilot is arranged for the concrete control method of external unit and comprehensively management.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the intelligent remote control device mixing method of a preferred embodiment of the present invention.
Fig. 2 is the schematic diagram at the main interface of mixing relation table that the intelligent remote control device mixing method of a preferred embodiment of the present invention utilizes touch screen to carry out arranging.
Fig. 3 be the input/output relation of being correlated with for simulating signal input block in the intelligent remote control device mixing method of a preferred embodiment of the present invention the schematic diagram of interface when selected curve type Expo.1 is set.
Fig. 4 be the input/output relation of being correlated with for simulating signal input block in the intelligent remote control device mixing method of a preferred embodiment of the present invention the schematic diagram of interface when selected curve type Expo.2 is set.
Fig. 5 be the input/output relation of being correlated with for simulating signal input block in the intelligent remote control device mixing method of a preferred embodiment of the present invention the schematic diagram of interface when selected curve type Broken Line is set.
Fig. 6 be the input/output relation of being correlated with for simulating signal input block in the intelligent remote control device mixing method of a preferred embodiment of the present invention the schematic diagram of interface when selected curve type Spline is set.
Fig. 7 be the input/output relation of being correlated with for digital signal input block in the intelligent remote control device mixing method of a preferred embodiment of the present invention the schematic diagram of interface when selected D/R operation rule is set.
Fig. 8 be the input/output relation of being correlated with for digital signal input block in the intelligent remote control device mixing method of a preferred embodiment of the present invention the schematic diagram of interface when selected Offset operation rule is set.
Fig. 9 be the input/output relation of being correlated with for digital signal input block in the intelligent remote control device mixing method of a preferred embodiment of the present invention the schematic diagram of interface when selected Equal operation rule is set.
Embodiment
Provide present pre-ferred embodiments below in conjunction with accompanying drawing, to describe technical scheme of the present invention in detail, but therefore do not limit the present invention among described scope of embodiments.
The intelligent remote control device mixing method of a preferred embodiment of the present invention, wherein intelligent remote control device comprises some input blocks, some input channels and some output channels, and remote-controlled external unit is a telecontrolled aircraft.As shown in Figure 1, this intelligent remote control device mixing method comprises the following steps:
S
1, each input channel reads the input data of each input block.
S
2, the input data of reading are converted to preprocessed signal by the preconditioned functions corresponding according to each input channel.
S
3, each output channel reads the preprocessed signal of at least one input channel, and obtains weight coefficient corresponding to this at least one input channel.
S
4, the preprocessed signal of basis and output control signal function corresponding to each output channel and reading and weight coefficient, generate and be used for exporting to perform one group of output control signal controlled to telecontrolled aircraft.
S
5, by the output control signal function of each output channel and correspondence thereof, export control signal, input channel, the preconditioned functions of each input channel and correspondence thereof, input block, weight coefficient, and all the other all input blocks are recorded in a mixing relation table.
Wherein, this some input block comprises potentiometer, switch and touch-screen.In the present embodiment, the input data of potentiometer are electric potential signal, and switch is then driving switch, and input data when being placed in different gear are different, and the input data of touch-screen are then digital signal.Further, this preconditioned functions comprises parameter of curve, travel parameters, reverse link parameter, endpoint parameter and/or delay parameter.
The trip parameter is maximum value and the minimal value of preprocessed signal, whether this reverse link parameter is positive correlation for characterizing between preprocessed signal and input data, this endpoint parameter for determine to input data valid interval, when inputting data and not falling into this valid interval preprocessed signal be input data fall in this valid interval time the maximal value of preprocessed signal or minimum value, this delay parameter is for determining the time delay of preprocessed signal relative to input data.
This parameter of curve to include in this preconditioned functions slope everywhere, for determining the relation that preprocessed signal changes with the change of input data.It will be appreciated by those skilled in the art that when arranging preconditioned functions, can arrange one or more in above-mentioned parameter.Namely the practical function of this reverse link parameter sets user and manipulates corresponding potentiometer, such as moves a rocking bar to a preset direction, and the effect produced is that this first flies control signal and increase or reduce.The valid interval that this endpoint parameter intercepts, it is effective for namely corresponding to which operating position of corresponding potentiometer under user's operation and control interface, and the operation in all the other positions can not produce any impact.
At execution step S
2after the preprocessed signal that obtains correspond respectively to each input channel.Each output channel can be set to correspond to any one or more input channel, performs step S
3read the preprocessed signal of one or more input channel, and obtain the corresponding corresponding weight coefficient of input channel.After obtaining preprocessed signal and weight coefficient, step S
4carry out processing according to the output control signal function corresponding with output channel and generate and export control signal, the output control signal of generation can control specific telecontrolled aircraft and perform one group of control.
This output control signal is according to formula S=F
n(c
ky
k) generate, wherein S is this output control signal, n is quantity, the F of the preprocessed signal corresponding with each output channel
nfor this output control signal function, c
kfor each weight coefficient, y
kfor the preprocessed signal that each weight coefficient is corresponding, F
nindependent variable comprise c
ky
k, k traversal meets all integers of 0<k<n+1.Particularly, this output control signal function F wherein
nfor F
n(c
ky
k)=∑
nc
ky
k.This output control signal function F
nfor c
ky
kadd up item by item, k traversal meets all integers of 0<k<n+1.Each weight coefficient is in this output control signal function F
neffect be exactly the weight of each preprocessed signal corresponding to adjustment, that is weight coefficient determines corresponding preprocessed signal affects size for the output control signal generated.
Preprocessed signal in the present embodiment comprises multiplication operator, adding operator and assignment operator.In step S
4generate in the process exporting control signal, the resultant signal formed after multiplication operator, adding operator and assignment operator are set to combine to other preprocessed signals carries out computing, and its order performed is for perform multiplication operator, adding operator, assignment operator successively.
In the present embodiment, one group controls can be any manipulation to telecontrolled aircraft, such as strengthens the throttle of telecontrolled aircraft, changes motor rotary speed or the aileron angle changing telecontrolled aircraft etc.In the present embodiment, exporting control signal is that one or more specific control assembly such as certain steering wheel or motor in instruction telecontrolled aircraft performs specific action and reach control to telecontrolled aircraft.
S
5the process of all corresponding relations between from input block one end to the telecontrolled aircraft receiving final output control signal and signal conversion is all recorded in this mixing relation table, is convenient to unified management.The corresponding relation that user can easily record from mixing relation table finds out the rule of corresponding relation or the signal conversion wanting to arrange easily, and and then changes its setting.That is, in all control modes of telecontrolled aircraft, control mode, the corresponding relation of passage and complete signal conversion process have all been embodied in this mixing relation table.
At above-mentioned steps S
1~ S
5in, each step includes and shows this mixing relation table at a display screen.
Make this mixing relation table more directly perceived for user by the display of display screen, operation of being more convenient for is to arrange control planning.Further, include in an interactive interface to the display of the information of all input/output relations and setting, i.e. in the mixing relation table of display screen display.User according to any actual demand, can set up contact between the input block in this mixing relation table, input channel, output channel, and the transformational relation of signalization, to make the final realistic demand of output control signal exported.
The telepilot of the present embodiment have employed above-mentioned intelligent remote control device mixing method, and this telepilot comprises some input blocks, some input channels and some output channels.
The flight system of the present embodiment have employed above-mentioned telepilot, and this flight system also comprises the telecontrolled aircraft as this external unit.
When the intelligent remote control device mixing method adopting the present embodiment being described below in conjunction with an object lesson, how according to actual needs specific control mode being carried out to telecontrolled aircraft and how to arrange.
For example, user needs the control mode of the throttle arranging telecontrolled aircraft.First, the output channel that the throttle of selected telecontrolled aircraft is corresponding.Then select input channel and this output channel to be associated accordingly, for example selected input channel is throttle input channel, aileron input channel, accelerator locking input channel.Then parameter of curve, travel parameters, reverse link parameter, endpoint parameter and the delay parameter of determining the output control signal the function how signal between throttle input channel and output channel is changed are set.Similarly, the above-mentioned parameter determining the output control signal function that the signal between aileron input channel and output channel is changed is set, and determines aileron input channel and the corresponding weight coefficient of throttle input channel.Then, for the output control signal function that the signal determined between accelerator locking input channel and output channel is changed, arranging an input block corresponding to accelerator locking input channel is a switch, corresponding preprocessed signal is an assignment operator, and in output control signal function, arrange operation rule be that the final resultant signal be combined into for other preprocessed signals by this assignment operator carries out computing under specific circumstances.
After above-mentioned setting, the throttle output channel of telecontrolled aircraft is subject to the Comprehensive Control of the input data of throttle input channel and the corresponding input block of aileron input channel, and is a preset constant according to the gear of switch corresponding to accelerator locking input channel by the output signal assignment of throttle output channel under specific circumstances.
That is, after above-mentioned setting, under specific circumstances, as long as the gear of switch corresponding to accelerator locking input channel is constant, the throttle of telecontrolled aircraft maintains the original state constant.In other cases, throttle is by the Comprehensive Control of throttle input channel and the corresponding input block of aileron input channel.
Due to the dirigibility that the intelligent remote control device mixing method of the present embodiment is arranged for the signal conversion method in passage corresponding relation and control procedure, and all passage corresponding relations and signal conversion method are all included in this mixing relation table, thus make user easily arrange.
And, on the basis of above-mentioned setting up procedure, if user will remove the absolute control of gear for the throttle of telecontrolled aircraft of switch corresponding to accelerator locking input channel under particular case, only need to find accelerator locking input channel from this mixing relation table, and remove the corresponding relation of accelerator locking input channel and throttle output channel, very clear convenience.Setting for other is changed, and its operation is also similar.
Should be noted that, in said process, the sequencing of each step must not in strict accordance with example above, also can be first determine one or more input block, then set gradually corresponding input channel, output channel until arrange the final output control signal generated.
Preconditioned functions between the input data how arranging input block and corresponding input channel is described for potentiometer as input block below.Suppose that the input data of potentiometer are an electric potential signal x, the preprocessed signal obtained after preconditioned functions process is y=g (x), wherein this preconditioned functions of g (x) i.e..In this example, the parameter of this preconditioned functions includes parameter of curve, travel parameters, reverse link parameter, endpoint parameter and delay parameter.
First by arranging this reverse link parameter determination preprocessed signal and electric potential signal is positive correlation or inverse correlation, namely whether difference between the two comprise negative sign in preconditioned functions g (x).Then, by arranging the rule change of parameter of curve determination preprocessed signal with electric potential signal.Parameter of curve is specially the slope value of each position in preconditioned functions, the slope value of certain position is larger, just mean and same manipulation is carried out to potentiometer, the consequential change of preprocessed signal is larger, when exporting control signal function and being constant, the change exporting control signal is also larger.Then arrange travel parameters and endpoint parameter, both determine the maximum value minimal value of y value and the maximum value minimal value of x value in above formula y=g (x) respectively.This makes, and no matter how user manipulates potentiometer, and the manipulation exceeding the determined scope of maximum value minimal value of x value is all invalid, in any case and manipulation preprocessed signal all can not exceed the minimizing scope of maximum value of y.Easy understand, by the restriction to preprocessed signal, the actual effect also playing the final output control signal generated of restriction.Finally delay parameter is set, to determine that the change of electric potential signal causes the change of preprocessed signal.For example delay parameter is set to 1 second, and namely the preprocessed signal of any time is all determined by the electric potential signal of first 1 second of this any time.
Through above-mentioned setting, just complete the setting for preconditioned functions g (x) in this example, easy understand, both only can comprise for the setting of preconditioned functions in the present invention and the part in above-mentioned parameter had been arranged, also can also comprise other parameters except above-mentioned parameter.
The intelligent remote control device mixing method adopting the present embodiment is described, when adopting the input of touch-screen touch-control, according to actual needs to the process that the control of telecontrolled aircraft is arranged below in conjunction with a concrete example.Input channel, output channel quantity are 24 in this example, but therefore do not limit the number of channels in the present invention.
First, be illustrated in figure 2 the main interface of mixing relation table, user can select the passage wanting to arrange in this interface.Universal Mixing Table above Fig. 2 and omnipotent mixing table.In the main interface of mixing relation table, the table H/W (Input) in left side is input channel table, which includes the input channel of all input blocks, J1-4, KB1-2, SLD1-2, F-Mode, SW1-4, BUT0-2, ST1-8 in table correspond respectively to input block, and L, M, H in F-Mode correspond respectively to the selection of basic, normal, high three gears of F-mode parameter.The input block that these input channels are corresponding can be existing potentiometer input media, switch input media etc.In the main interface of mixing relation table, the table Output on right side is output channel table, which includes all output channels, the Thr in table represent throttle channel, Ail represents aileron passage, Ele represents hoist trunk, Rud represent turn to passage, Aux1-20 is respectively different output channels.
The center section at the main interface of mixing relation table comprises a single channel output display area (i.e. Singleoutput Monitor), for showing the curve of output schematic diagram of the output channel that corresponding input block respective user is selected, so that user intuitively understands the relation of selected output channel and corresponding single input block.Input block corresponding to J1, J4, SW4 passage is schematically illustrated to the curve of output of user-selected output channel in Fig. 2.It is final mixing output channel monitoring bar (i.e. Finaloutput Monitor) below single channel output display area, this monitoring bar answers input block to affect the summation of the output of selected output channel for reacting all selected phases, so that user intuitively understands the change of the input value of input block to the combined influence of output channel output valve.
Easy understand, when have employed the input of touch-screen touch-control, for above-mentioned main interface, user also just can utilize touch-control input to carry out the selection of corresponding IO channel.Have selected the input channel and output channel wanting to arrange its signal transformation rule further in main interface after, just enter into input/output relation and interface is set.Citing is arranged interface to input/output relation to be below described.
Be as seen in figures 3-6 and the interface that arranges is carried out for the input/output relation between the input signal of input channel corresponding to simulating signal input block and the output signal of corresponding output channel.As shown in Figure 3, Expo.1, Expo.2, Broken Line, Spline above Fig. 3 correspond respectively to the datum curve of Four types.Be illustrated in figure 3 the situation of the datum curve that have selected first kind Expo.1, Fig. 3 comprises the curve viewing area for demonstrating the input/output relation curve arranged, and the ordinate value that button rate+ and rate-above and below this curve viewing area is respectively used to two end points adjusting input/output relation curve increases and reduces.Button offset+ and offset-is for adjusting the translation along y direction of curve.Button expo+ and expo-is respectively used to adjust bent curvature of a curve and increases and reduce, in Fig. 3, upper left POS:/Rate is for showing on curve horizontal ordinate and the ordinate of selected any point, and Rate, Expo, Offset below POS:/Rate are the exact value of the ordinate value of the end points ordinate value of curve, curvature and curve entirety.Input/output relation shown in Fig. 3 arranges the Speed Set in the lower left corner at interface for arranging delay parameter, namely arranges the speed of exporting change relative to input change, and Reverse switch is for exporting reversal switch, namely for arranging reverse link parameter.
When being illustrated in figure 4 the datum curve that have selected Second Type Expo.2, interface is set, substantially identical with the situation shown in Fig. 3 except datum curve type, do not repeat them here.
When being illustrated in figure 5 the datum curve that have selected the 3rd type B roken Line, interface is set, Fig. 5 comprises the curve viewing area for demonstrating the input/output relation curve arranged, there is button 1-9+ the top of this curve viewing area, there is button 1-9-below, and these buttons are respectively used to the ordinate value adjusting 9 points that horizontal ordinate is different on curve.For example, button 1+ and 1-is respectively used to the ordinate value increase and the reduction that adjust end points on the left of curve.The upper left POS:/Rate in interface is as shown in Figure 5 for showing horizontal ordinate and the ordinate of any point selected on curve, and the 1-9 in the region below POS:/Rate is respectively used to the exact value of the ordinate showing corresponding 9 points in right side graph.The Speed Set of the lower left at interface shown in Fig. 5 is identical with the design in the interface shown in Fig. 3 with Reverse switch, does not repeat them here.
When being illustrated in figure 6 the datum curve that have selected the 4th type Spline, interface is set, except datum curve type with shown in Fig. 5 interface is set under the parameters that shows substantially identical with each function controlling button, do not repeat them here.
Interface as Figure 7-9 for carrying out arranging for the input/output relation between the input signal of input channel corresponding to digital signal input block and the output signal of corresponding output channel.The input block related in such as Fig. 7-9 corresponds to plectrum switch, comprises the digital signal input blocks such as the various buttons of touch-screen button.
The input/output relation that D/R, Offset, Equal above Fig. 7-9 correspond to based on three kinds of operation rules is arranged, the output signal being input as the corresponding passage of simulating signal here.
Carry out the interface of input/output relation setting after being illustrated in figure 7 selected D/R, meet following rule for arranging of input/output relation after selected D/R, output equals input and is multiplied by preset ratio value.Fig. 7 comprises a curve viewing area, 0,1,2 of the left side of curve viewing area be respectively corresponding third gear switch input medias respectively selected three gears time preset ratio value, as shown in Figure 7, be respectively closed condition when this third gear switch input media is in each gear, this preset ratio value be 150% and this preset ratio value be 50%, by relative+,-button just can regulate this preset ratio value increase and reduce.In Fig. 7, in curve viewing area, the dotted line 0 of display represents the J curve effectJ (meaning of the dotted line in Fig. 8,9 is that the dotted line in same Fig. 7 is similar) of the output of analog channel, easy understand ground, the third gear switch input media of 0 correspondence of the dotted line 0 in Fig. 7 namely on the left of curve viewing area selectes the curve of final output quantity when gear is closed condition.Solid line 1,2 represents that third gear switch selects the J curve effectJ of the final output quantity in other situations of each shelves respectively.The Speed Set of below is consistent with explanation above with the effect of Reverse switch, repeats no more.
Carry out the interface of input/output relation setting after being illustrated in figure 8 selected Offset, be illustrated in figure 9 the interface that selected Equal carries out input/output relation setting.Shown in Fig. 8,9, shown in interface and Fig. 7, the difference at interface is only: meet default compensation operation rule for arranging of input/output relation after selected Offset, output equals input and adds preset ratio value; After selected Equal, following rule is met for arranging of input/output relation, export and equal fixing preset value.And about other parts in the interface of input/output relation setting, interface shown in Fig. 8,9 is substantially identical with the interface shown in Fig. 7, the meaning of dotted line 0 wherein, solid line 1,2 is also similar with the situation shown in Fig. 7, and only its relation arranges difference, does not repeat them here.
Select passage by interface as shown in figs. 2-9 and after input/output relation is arranged, just can complete the setting to the relation between each input block and final output control signal.User easily through above-mentioned graphic interface, can carry out for the complete setting of the control mode of telecontrolled aircraft or change.
Although the foregoing describe the specific embodiment of the present invention, it will be understood by those of skill in the art that these only illustrate, protection scope of the present invention is defined by the appended claims.Those skilled in the art, under the prerequisite not deviating from principle of the present invention and essence, can make various changes or modifications to these embodiments, but these change and amendment all falls into protection scope of the present invention.
Claims (12)
1. an intelligent remote control device mixing method, is characterized in that, intelligent remote control device comprises some input blocks, some input channels and some output channels, and this intelligent remote control device mixing method comprises the following steps:
S
1, each input channel reads the input data of each input block;
S
2, the input data of reading are converted to preprocessed signal by the preconditioned functions corresponding according to each input channel;
S
3, each output channel reads the preprocessed signal of at least one input channel, and obtains weight coefficient corresponding to this at least one input channel;
S
4, the preprocessed signal of basis and output control signal function corresponding to each output channel and reading and weight coefficient, generate and be used for exporting to perform one group of output control signal controlled to an external unit.
2. intelligent remote control device mixing method as claimed in claim 1, it is characterized in that, this output control signal is according to formula S=F
n(c
ky
k) generate, wherein S is this output control signal, n is quantity, the F of the preprocessed signal corresponding with each output channel
nfor this output control signal function, c
kfor each weight coefficient, y
kfor the preprocessed signal that each weight coefficient is corresponding, F
nindependent variable comprise c
ky
k, k traversal meets all integers of 0<k<n+1.
3. intelligent remote control device mixing method as claimed in claim 2, is characterized in that, F
n(c
ky
k)=∑
nc
ky
k.
4. intelligent remote control device mixing method as claimed in claim 1, it is characterized in that, this some input block comprises digital input block, analog input parts and/or touch-control input block.
5. intelligent remote control device mixing method as claimed in claim 1, it is characterized in that, this some input block comprises potentiometer, switch and touch-screen.
6. intelligent remote control device mixing method as claimed in claim 5, it is characterized in that, this preconditioned functions comprises parameter of curve, travel parameters, reverse link parameter, endpoint parameter and/or delay parameter, the trip parameter is maximum value and the minimal value of preprocessed signal, whether this reverse link parameter is positive correlation for characterizing between preprocessed signal and input data, this endpoint parameter is for determining the valid interval inputting data, when inputting maximal value or the minimum value that preprocessed signal when data do not fall into this valid interval is the preprocessed signal inputted when data fall in this valid interval, this delay parameter is for determining the time delay of preprocessed signal relative to input data.
7. intelligent remote control device mixing method as claimed in claim 5, it is characterized in that, preprocessed signal comprises multiplication operator, adding operator and/or assignment operator, multiplication operator is used for the computing of signal being multiplied by a numerical value, adding operator is used for computing signal being performed to an in addition numerical value, and assignment operator is used for computing signal being carried out to imparting one numerical value.
8. intelligent remote control device mixing method as claimed in claim 1, it is characterized in that, this external unit is telecontrolled aircraft, telecar or drone.
9., as the intelligent remote control device mixing method in claim 1-8 as described in any one, it is characterized in that, S
4further comprising the steps of afterwards:
S
5, by the output control signal function of each output channel and correspondence thereof, export control signal, input channel, the preconditioned functions of each input channel and correspondence thereof, input block, weight coefficient, and all the other all input blocks are recorded in a mixing relation table.
10. intelligent remote control device mixing method as claimed in claim 9, it is characterized in that, each step includes:
This mixing relation table is shown at a display screen.
11. 1 kinds of telepilots that have employed as the intelligent remote control device mixing method in claim 1-10 as described in any one, this telepilot comprises this some input block, this some input channel and this some output channel.
The flight system of 12. 1 kinds of employing telepilots as claimed in claim 11, this flight system also comprises the telecontrolled aircraft as this external unit.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310425780.XA CN104460680A (en) | 2013-09-17 | 2013-09-17 | Intelligent remote control device mixed control method, remote controller and flight system |
| PCT/CN2014/079121 WO2015039460A1 (en) | 2013-09-17 | 2014-06-04 | Method for hybrid control of smart remote control device, remote controller and flight system |
| HK15109205.5A HK1208536A1 (en) | 2013-09-17 | 2015-09-18 | Method for hybrid control of smart romote control device, remote controller and flight system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310425780.XA CN104460680A (en) | 2013-09-17 | 2013-09-17 | Intelligent remote control device mixed control method, remote controller and flight system |
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| CN201310425780.XA Pending CN104460680A (en) | 2013-09-17 | 2013-09-17 | Intelligent remote control device mixed control method, remote controller and flight system |
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| CN (1) | CN104460680A (en) |
| HK (1) | HK1208536A1 (en) |
| WO (1) | WO2015039460A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113031630A (en) * | 2019-12-24 | 2021-06-25 | 广州极飞科技股份有限公司 | Speed control curve acquisition method, speed control method and related device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114039985B (en) * | 2021-10-16 | 2024-02-02 | 深圳市奥金瑞科技有限公司 | Intelligent remote control system based on synchronous local and remote control information |
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| US20020049518A1 (en) * | 2000-10-23 | 2002-04-25 | Futaba Corporation | Sterring control device for radio-controlled model helicopter |
| CN101266569A (en) * | 2007-03-14 | 2008-09-17 | 沈安平 | Model electronic equipment parameter modulator approach |
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| CN113031630A (en) * | 2019-12-24 | 2021-06-25 | 广州极飞科技股份有限公司 | Speed control curve acquisition method, speed control method and related device |
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|---|---|
| WO2015039460A1 (en) | 2015-03-26 |
| HK1208536A1 (en) | 2016-03-04 |
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