CN102650884A - Controller and method for adjusting control signals by utilizing controller - Google Patents

Abstract

The invention discloses a controller and a method for adjusting control signals by utilizing the controller. The method comprises the following steps of: acquiring the indication direction of an unmanned aerial vehicle detected by an electronic compass built in the unmanned aerial vehicle; acquiring the indication direction of the controller detected by an electronic compass built in the controller; calculating the angle difference between the indication direction of the unmanned aerial vehicle and the indication direction of the controller; automatically correcting a control instruction of the controller according to the calculated angle difference and generating a corrected control instruction; and transmitting the corrected control instruction to the unmanned aerial vehicle so as to control the flying of the unmanned aerial vehicle. The control instruction of the controller can be corrected automatically by utilizing the controller and the method.

Description

Controller and method for adjusting control signal using same

technical field

The invention relates to an electronic device and an application method thereof, in particular to a controller and a method for adjusting a control signal by using the same.

Background technique

When the traditional unmanned aerial vehicle (Unmanned Aerial Vehicle, UAV) controller is in use, the operator can only rely on visual identification of the head position of the unmanned aerial vehicle, and use this as a way to adjust the flight of the unmanned aerial vehicle. The reference basis for the direction. However, since the head orientation of the unmanned aerial vehicle will change continuously with the change of the flight direction, and the position of the head of the aircraft is sometimes difficult to judge after take-off, when the orientation of the head of the unmanned aerial vehicle is different from the orientation of the controller At the same time, serious errors may occur in the control instructions issued by the operator.

For example, when the orientation of the controller is the same as that of the head of the unmanned aerial vehicle, if the operator wants to adjust the unmanned aerial vehicle to fly to the right, he only needs to push the joystick of the controller slightly to the right That's it. However, when the orientation of the head of the unmanned aerial vehicle body is opposite to that of the controller, if the operator wants to adjust the unmanned aerial vehicle to fly to the right, he needs to push the joystick of the controller to the left , but the operator's intuitive reaction is easy to operate to the right corresponding to itself, and push the joystick to the right. Therefore, although the operator thinks that the unmanned aerial vehicle will fly to the right, he actually controls the unmanned aerial vehicle to fly to his left, so it is easy to cause a major error in operation.

Contents of the invention

In view of the above, it is necessary to provide a controller and a method for adjusting control signals using it, which can automatically correct the control of the controller according to the angle difference between the direction indicated by the unmanned aerial vehicle and the direction indicated by the controller. instruction.

A controller for adjusting control signals, the controller comprising:

The acquiring module is used to acquire the indicated direction of the unmanned aerial vehicle detected by the built-in electronic compass of the unmanned aerial vehicle;

The obtaining module is also used to obtain the indication direction of the controller detected by the built-in electronic compass of the controller;

A calculation module, used to calculate the angle difference between the indicated direction of the unmanned aerial vehicle and the indicated direction of the controller;

an adjustment module, configured to automatically correct the control command of the controller according to the calculated angle difference, and generate a corrected control command; and

The transmission module is used for transmitting the corrected control command to the unmanned aerial vehicle, so as to control the flight of the unmanned aerial vehicle.

A method for adjusting a control signal by using a controller, the method includes the following steps:

Obtain the indicated direction of the UAV detected by the built-in electronic compass of the UAV;

Obtain the indicated direction of the controller detected by the built-in electronic compass of the controller;

calculating an angular difference between the indicated direction of the unmanned aerial vehicle and the indicated direction of the controller;

automatically correcting the control command of the controller according to the calculated angle difference, and generating a corrected control command; and

The modified control command is transmitted to the unmanned aerial vehicle to control the flight of the unmanned aerial vehicle.

The aforementioned methods may be performed by an electronic device, wherein the electronic device has attached one or more processors, memory, and one or more modules, programs or instruction sets stored in the memory for performing the methods. In some embodiments, the electronic device provides multiple functions including wireless communication.

Instructions for performing the foregoing methods may be embodied in a computer program product configured to be executed by one or more processors.

Compared with the prior art, the controller and the method for adjusting the control signal using it can automatically correct the controller’s position according to the angle difference between the direction indicated by the unmanned aerial vehicle and the direction indicated by the controller. Control commands, thereby avoiding the generation of control command errors.

Description of drawings

Fig. 1 is a structural block diagram of a preferred embodiment of the controller of the present invention.

Fig. 2 is a functional block diagram of the control signal adjustment system.

Fig. 3 is a flow chart of a preferred embodiment of a method for adjusting a control signal by a controller.

FIG. 4 is a schematic diagram of detecting the pointing direction of the unmanned aerial vehicle and the pointing direction of the controller.

FIG. 5 is a schematic diagram of calculating the angle difference between the pointing direction of the unmanned aerial vehicle and the pointing direction of the controller.

Description of main component symbols

controller 2 Control signal adjustment system 20 memory twenty one Electronic compass twenty two network module twenty four Processor 26 get module 201 Computing module 202 Adjustment module 203 Transmission module 204

The following specific embodiments will further illustrate the present invention in conjunction with the above-mentioned drawings.

Detailed ways

As shown in Fig. 1, it is a structural block diagram of a preferred embodiment of the controller of the present invention. In this embodiment, the controller 2 includes a memory 21 , an electronic compass 22 , a network module 24 and a processor 26 connected through a data bus. In this embodiment, the controller 2 is used to control the flight direction of an unmanned aerial vehicle (Unmanned Aerial Vehicle, UAV). The controller 2 includes a joystick. The joystick can be moved forward, backward, left, and right to control the UAV to move north, south, west, and east.

Wherein, the control signal adjustment system 20 is stored in the memory 21, and the control signal adjustment system 20 is used to automatically correct the controller 2 according to the angle difference between the direction indicated by the unmanned aerial vehicle and the direction indicated by the controller 2. For the specific process, please refer to the description of Figure 3.

In this embodiment, the electronic compass 22 is a set of electronic compass chips built in the controller 2, enabling the controller 2 to function as a compass. Its operating principle is the same as that of the traditional compass, which detects the south pole and the north pole by sensing the earth's magnetic field, but the electronic compass replaces the magnetic needle with a magnetoresistive sensor, applies the Hall effect, and uses the Lorent magnetic force to cause the electrons in the current to deflect. To calculate the data of the voltage change, so as to know the direction indicated by the controller 2.

The network module 24 is used to provide the network communication function and data transmission function between the controller 2 and other electronic devices (such as unmanned aerial vehicles) through wired or wireless network transmission. The above-mentioned wired or wireless network transmission methods include, but are not limited to, traditional network connections, GPRS, Wi-Fi/WLAN, 3G/WCDMA, 3.5G/HSDPA, etc.

In order to realize communication with the controller 2, an electronic compass and a signal receiver are installed in the unmanned aerial vehicle. The electronic compass is used to detect the indicated direction of the unmanned aerial vehicle, and transmit the indicated direction of the unmanned aerial vehicle to the controller 2 . The signal receiver is used for receiving the manipulation instruction sent by the controller.

In this embodiment, the control signal adjustment system 20 can be divided into one or more modules, and the one or more modules are stored in the memory 21 and configured to be executed by one or more processors ( This embodiment is executed by a processor 26) to complete the present invention. For example, referring to FIG. 2 , the control signal adjustment system 20 is divided into an acquisition module 201 , a calculation module 202 , an adjustment module 203 and a transmission module 204 . The module referred to in the present invention is a program segment that completes a specific function, and is more suitable for describing the execution process of software in the controller 2 than a program.

As shown in FIG. 3 , it is a flow chart of a preferred embodiment of a method for adjusting a control signal by a controller.

In step S1, the acquiring module 201 acquires the indicated direction of the unmanned aerial vehicle detected by the built-in electronic compass of the unmanned aerial vehicle.

In this embodiment, as shown in FIG. 4 , the indicated direction of the unmanned aerial vehicle includes the main indicated direction, the offset direction and the offset angle, wherein the first English numeral is the main indicator of the unmanned aerial vehicle. Indicates the direction, the second digit is the offset direction of the UAV, and the third digit is the offset angle. For example, the indication direction of the UAV is N-E20°, wherein the main indication direction is north (N), the offset direction is east (E), and the offset angle is 20°.

In step S2 , the acquisition module 201 acquires the indicated direction of the controller 2 detected by the built-in electronic compass 22 of the controller 2 .

In this embodiment, referring to FIG. 4, the indication direction of the controller 2 includes the main indication direction, the offset direction and the offset angle, wherein the first English numeral is the main indication direction of the controller 2, and the first digit is the main indication direction of the controller 2. The two digits are the offset direction of controller 2, and the third digit is the offset angle. For example, the indication direction of the controller 2 is N-E45°, wherein the main indication direction is north (N), the offset direction is east (E), and the offset angle is 45°.

In step S3 , the calculating module 202 calculates the angle difference between the pointing direction of the UAV and the pointing direction of the controller 2 . Referring to FIG. 5 , assuming that θ represents the angle difference between the pointing direction of the UAV and the pointing direction of the controller 2 , then θ=45°−20°=25°.

In step S4, the adjustment module 203 automatically corrects the manipulation command of the controller 2 according to the calculated angle difference, and generates a corrected manipulation command. In this embodiment, the so-called correction means that regardless of the indicated direction of the unmanned aerial vehicle, all control commands are automatically corrected to control commands relative to the direction indicated by the controller 2 according to the calculated angle difference.

Taking Figure 5 as an example for illustration, the angle difference between the indicated direction of the unmanned aerial vehicle and the indicated direction of the controller 2 is 25 degrees, assuming that the operator pulls the joystick of the controller 2 upwards, the The control command is to control the unmanned aerial vehicle to fly northward, and the corrected control command by the adjustment module 203 is to control the unmanned aerial vehicle to fly 25 degrees east of north.

Step S5 , the transmission module 204 transmits the corrected control command to the signal receiver of the UAV through the signal transmitter installed in the controller 2 . The unmanned aerial vehicle flies according to the modified control instructions.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention without limitation. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be Modifications or equivalent replacements can be made without departing from the spirit and scope of the technical solutions of the present invention.

Claims (8)

1. a method of utilizing controller to carry out the control signal adjustment is characterized in that this method comprises the steps:

Obtain the direction indication of the unmanned flight carrier that the electronic compass built in the unmanned flight carrier detects;

Obtain the direction indication of the controller that the electronic compass built in the controller detects;

Differential seat angle between the direction indication of the unmanned flight of calculating carrier and the direction indication of controller;

The instruction of controlling according to the automatic Correction and Control device of this differential seat angle that calculates generates the revised instruction of controlling; And

Control instruction and send unmanned flight carrier to revised, to control the flight of unmanned flight carrier.

2. the method for utilizing controller to carry out the control signal adjustment as claimed in claim 1 is characterized in that, the direction indication of said unmanned flight carrier comprises main direction indication, offset direction and deviation angle.

3. the method for utilizing controller to carry out the control signal adjustment as claimed in claim 1 is characterized in that the direction indication of said controller comprises main direction indication, offset direction and deviation angle.

4. the method for utilizing controller to carry out the control signal adjustment as claimed in claim 1; It is characterized in that; The instruction of controlling of the automatic Correction and Control device of this differential seat angle that calculates of said basis is meant: according to the differential seat angle that calculates, this is controlled instruction be modified to the instruction of controlling with respect to the controller direction indication.

5. a controller is used to carry out the control signal adjustment, it is characterized in that this controller comprises:

Storer;

Electronic compass;

One or more processors; And

One or more modules, said one or more modules are stored in the said storer and are configured to and carried out by said one or more processors, and said one or more modules comprise:

Acquisition module is used to obtain the direction indication of the unmanned flight carrier that the electronic compass built in the unmanned flight carrier detects;

Said acquisition module also is used to obtain the direction indication of the controller that the electronic compass built in the controller detects;

Computing module is used to calculate the differential seat angle between the direction indication of direction indication and controller of unmanned flight carrier;

Adjusting module is used for the instruction of controlling according to the automatic Correction and Control device of this differential seat angle that calculates, and generates the revised instruction of controlling; And

Transport module is used for controlling instruction and sending unmanned flight carrier to revised, to control the flight of unmanned flight carrier.

6. controller as claimed in claim 5 is characterized in that, the direction indication of said unmanned flight carrier comprises main direction indication, offset direction and deviation angle.

7. controller as claimed in claim 5 is characterized in that the direction indication of said controller comprises main direction indication, offset direction and deviation angle.

8. the controller of stating like claim 5; It is characterized in that; Said adjusting module is meant according to the instruction of controlling of the automatic Correction and Control device of this differential seat angle that calculates: according to the differential seat angle that calculates, this is controlled instruction be modified to the instruction of controlling with respect to the controller direction indication.

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