CN110244619B

CN110244619B - Rocker calibration method and device and remote control device

Info

Publication number: CN110244619B
Application number: CN201910526594.2A
Authority: CN
Inventors: 牛洪芳
Original assignee: Shenzhen Autel Intelligent Aviation Technology Co Ltd
Current assignee: Shenzhen Autel Intelligent Aviation Technology Co Ltd
Priority date: 2019-06-18
Filing date: 2019-06-18
Publication date: 2021-07-30
Anticipated expiration: 2039-06-18
Also published as: CN110244619A

Abstract

The invention relates to the technical field of remote control, in particular to a rocker calibration method, a rocker calibration device and a remote control device. The rocker calibration method comprises the following steps: when the remote control device is in a calibration mode, acquiring target point parameters; acquiring calibration parameters according to the target point parameters; and calibrating the rocker according to the calibration parameters. The implementation mode realizes the calibration function of the potentiometer rocker, has simple whole process, is safe and reliable, is suitable for most remote control devices with the potentiometer rocker, and has strong universality.

Description

Rocker calibration method and device and remote control device

[ technical field ] A method for producing a semiconductor device

The invention relates to the technical field of remote control, in particular to a rocker calibration method, a rocker calibration device and a remote control device.

[ background of the invention ]

At present, consumer unmanned aerial vehicle can not leave the control of remote controller basically, and the exactness of remote controller rocker instruction plays key effect in consumer operation unmanned aerial vehicle safety flight more. For example, a potentiometer rocker is easy to wear in the use process, so that the error is large, and the use performance of the potentiometer rocker is affected.

Therefore, how to calibrate the rocker to promote rocker performance, promote user experience, be the technical problem that technical personnel in the field need solve.

[ summary of the invention ]

The technical problem to be solved by the invention is to provide a rocker calibration method, a rocker calibration device and a remote control device, so as to improve the usability of a rocker and improve the user experience.

In one aspect of the embodiments of the present invention, a method for calibrating a joystick is provided, the method including:

when the remote control device is in a calibration mode, acquiring target point parameters;

acquiring calibration parameters according to the target point parameters;

and calibrating the rocker according to the calibration parameters.

Optionally, the remote control device comprises, in a calibration mode:

when the calibration parameters are not stored in the remote control device, controlling the remote control device to be in a calibration mode; or

When the calibration parameters stored in the remote control device are detected to be unavailable, controlling the remote control device to be in a calibration mode; or

When the rocker is detected to deviate from the preset position within the preset time, the remote control device is controlled to be in a calibration mode; or

And receiving a calibration mode instruction triggered by a user, and controlling the remote control device to be in a calibration mode according to the calibration mode instruction.

Optionally, the acquiring target point parameters includes:

controlling the rocker to move to a target point, wherein the target point comprises a middle position point, a leftmost position point and a rightmost position point of the rocker;

and acquiring a median value corresponding to the middle position point, a minimum value corresponding to the leftmost position point and a maximum value corresponding to the rightmost position point.

Optionally, the obtaining a median corresponding to the middle position point, a minimum corresponding to the leftmost position point, and a maximum corresponding to the rightmost position point includes:

controlling the rocker to be kept at the middle position point, sampling a median preset number of times, calculating an average value of median values corresponding to the preset number of times, and taking the average value as the median value corresponding to the middle position point;

controlling the rocker to be kept at the leftmost position point, sampling a minimum preset number of times, calculating an average value of the minimum values corresponding to the preset number of times, and taking the average value as the minimum value corresponding to the leftmost position point;

and controlling the rocker to be kept at the rightmost position point, sampling a maximum preset time, calculating an average value of the maximum values corresponding to the preset time, and taking the average value as the maximum value corresponding to the rightmost position point.

Optionally, the acquiring the calibration parameter according to the target point parameter specifically includes:

and performing dead zone filtering processing according to the median, the minimum and the maximum, thereby obtaining the calibration parameters of the rocker.

Optionally, the performing dead-zone filtering processing according to the median, the minimum, and the maximum to obtain the calibration parameter of the joystick includes:

determining respective dead zone ranges according to the median, the minimum and the maximum;

and performing dead zone removal and data zone linking processing on the dead zone range of the median, the dead zone range of the minimum and the dead zone range of the maximum, thereby generating the calibration parameter.

Optionally, the determining their respective dead zone ranges according to the median, the minimum, and the maximum comprises:

acquiring a preset dead zone range difference value corresponding to the median, the minimum and the maximum;

determining a dead zone range of the median according to the median and a dead zone range difference value corresponding to the median;

determining the dead zone range of the minimum value according to the minimum value and the dead zone range difference value corresponding to the minimum value;

and determining the dead zone range of the maximum value according to the maximum value and the dead zone range difference value corresponding to the maximum value.

Optionally, the median, the minimum, and the preset dead zone range difference corresponding to the maximum are different.

Optionally, obtaining a preset dead zone range difference value corresponding to the median, the minimum, and the maximum includes:

sampling N times at the leftmost position to obtain N sampling values, storing the N sampling values, calculating a mean value _ min of the N sampling values, calculating a mean square error according to the N sampling values and the mean value _ min, and determining a dead zone range difference value corresponding to the minimum value according to the mean square error;

sampling for N times at the middle position point to obtain N sampling values and storing the N sampling values, calculating a mean value _ mid of the N sampling values, calculating a mean square error according to the N sampling values and the mean value _ mid, and determining a dead zone range difference value corresponding to the median according to the mean square error;

sampling N times at the rightmost position point to obtain N sampling values, storing the N sampling values, calculating the mean value _ max of the N sampling values, calculating the mean square error according to the N sampling values and the mean value _ max, and determining the dead zone range difference value corresponding to the maximum value according to the mean square error.

Optionally, the dead zone removing and data zone linking processing the dead zone range of the median, the dead zone range of the minimum, and the dead zone range of the maximum to generate the calibration parameter includes:

calculating to obtain a minimum right value, a maximum left value, a first use range value and a second use range value according to the median, the minimum value, the maximum value and the preset dead zone range difference value corresponding to the median, the minimum value and the maximum value;

performing summation operation on half of the dead zone range difference value corresponding to the median and the minimum right value to obtain a calibration parameter of the dead zone range of the minimum value;

performing summation operation on half of the dead zone range difference value corresponding to the median value and the first use range value to obtain a calibration parameter of a range on the left side of the median value;

determining the median as a calibration parameter for a dead band range of the median;

performing difference operation on the second use range value and a half of the dead zone range difference value corresponding to the median value to obtain a calibration parameter of the right side range of the median value;

and performing difference operation on half of the dead zone range difference value corresponding to the maximum left value and the median value, so as to obtain the calibration parameter of the dead zone range of the maximum value.

Optionally, the performing a rocker calibration according to the calibration parameter includes:

acquiring new parameters of the rocker according to the calibration parameters and the original parameters of the rocker;

and converting the new parameter of the rocker into a rocker command.

In another aspect of the embodiments of the present invention, there is provided a joystick calibration device for use in a remote control device, the device including:

the first acquisition module is used for acquiring a target point parameter when the remote control device is in a calibration mode;

the second acquisition module is used for acquiring calibration parameters according to the target point parameters;

and the calibration module is used for calibrating the rocker according to the calibration parameters.

Optionally, the first obtaining module includes:

the position control unit is used for controlling the rocker to move to a target point when the remote control device is in a calibration mode, and the target point comprises a middle position point, a leftmost position point and a rightmost position point of the rocker;

and the parameter acquisition unit is used for acquiring the median corresponding to the middle position point, the minimum corresponding to the leftmost position point and the maximum corresponding to the rightmost position point.

Optionally, the parameter obtaining unit is specifically configured to:

Optionally, the second obtaining module is specifically configured to:

Optionally, the second obtaining module includes:

the dead zone determining unit is used for determining respective dead zone ranges according to the median, the minimum and the maximum;

and the data processing unit is used for performing dead zone removal and data zone linking processing on the dead zone range of the median, the dead zone range of the minimum and the dead zone range of the maximum so as to generate the calibration parameter.

Optionally, the dead zone determining unit is specifically configured to:

Optionally, the data processing unit is specifically configured to:

Optionally, the calibration module is specifically configured to:

and converting the new parameter of the rocker into a rocker command.

In another aspect of the embodiments of the present invention, there is provided a remote control device including: a remote control body; the potentiometer rocker is fixed on the remote control body; at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method as described above.

In the embodiment of the invention, when the remote control device is in the calibration mode, the target point parameter is obtained, the calibration parameter is obtained according to the target point parameter, and then the rocker calibration is carried out according to the calibration parameter. The implementation mode realizes the calibration function of the potentiometer rocker, the whole process is simple, safety and reliability are realized, the universality is strong, in addition, the uniformity and the accuracy of the rocker instruction data are ensured, and the safety of the external equipment is ensured when the remote control device controls the external equipment.

[ description of the drawings ]

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

FIG. 1 is a flow chart of a method for calibrating a joystick according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the working range of the rocker of the potentiometer according to the embodiment of the present invention;

FIG. 3 is a flowchart of a method for obtaining a target point parameter in a method for calibrating a joystick according to an embodiment of the present invention;

FIG. 4 is a flowchart of a method for obtaining calibration parameters of the joystick according to the median, the minimum, and the maximum in the method for calibrating the joystick according to the embodiment of the present invention;

FIG. 5 is a flow chart of a method for determining the respective dead band ranges according to the median, the minimum, and the maximum in a rocker calibration method provided by an embodiment of the present invention;

FIG. 6 is a flow chart of another method for determining the respective dead band ranges according to the median, the minimum, and the maximum in a rocker calibration method provided by an embodiment of the present invention;

FIG. 7 is a flowchart of a method for generating the calibration parameters in a method for calibrating a joystick according to an embodiment of the present invention;

FIG. 8 is a diagram illustrating a state of a rocker of a potentiometer according to an embodiment of the present invention;

FIG. 9 is a schematic view of another state of the rocker of the potentiometer according to the embodiment of the present invention;

FIG. 10 is a schematic view of a potentiometer rocker according to an embodiment of the present invention in another state;

FIG. 11 is a schematic structural diagram of a rocker alignment device according to an embodiment of the present invention;

fig. 12 is a schematic diagram of a hardware structure of a remote control device according to an embodiment of the present invention.

[ detailed description ] embodiments

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention. Additionally, while functional block divisions are performed in the device diagrams, with logical sequences shown in the flowcharts, in some cases, the steps shown or described may be performed in a different order than the block divisions in the device diagrams, or the flowcharts.

The embodiment of the invention provides a rocker calibration method and a rocker calibration device, which are applied to a remote control device, wherein the remote control device comprises a remote control body and a potentiometer rocker, and the potentiometer rocker is fixed on the remote control body and is used for a user to operate so as to input a remote control command to the remote control device. The number of the potentiometer rockers can be set according to the requirement, for example, one, two or more. In this embodiment, the remote control device includes two potentiometer rockers, which are a left potentiometer rocker and a right potentiometer rocker, respectively, so as to facilitate the operation of the left and right hands of the user respectively or simultaneously. The two potentiometer rockers respectively comprise two potentiometers with a horizontal axis and a vertical axis, and the working principles of the two potentiometers are consistent.

The following embodiments provide a calibration method for a potentiometer rocker of a remote control device, and specifically, please refer to fig. 1, the method includes the following steps:

and step S10, when the remote control device is in the calibration mode, acquiring target point parameters.

The calibration mode refers to a mode of operation for determining the error in the readings of the two potentiometers along the horizontal and vertical axes. The remote control device may be triggered to a calibration mode based on a predetermined condition, for example, the remote control device is in the calibration mode when the remote control device is used for the first time because no calibration parameters are stored in the memory of the remote control device. Or, when the remote control device is powered on, whether the calibration parameters stored in the memory can be used or not can be detected, and if the calibration parameters cannot be used, the calibration mode is automatically entered. Or, when the remote control device is powered on, judging whether the rocker is at a preset position (such as a middle position) or not, and automatically performing a calibration mode when detecting that the rocker is not at the preset position within n seconds, wherein n can be any numerical value. Or receiving a calibration mode command triggered by a user, and controlling the remote control device to be in a calibration mode according to the calibration mode command, wherein the calibration mode triggered by the user includes inputting the calibration mode command by voice, inputting the calibration mode command on a touch screen of the remote control device by a finger or a stylus pen, inputting the calibration mode command by pressing a button on the remote control device, and the like.

The target point parameters refer to calibration values corresponding to a target point, and the target points refer to a middle position point, a leftmost position point and a rightmost position point of the rocker, wherein the middle position point, the leftmost position point and the rightmost position point of the rocker are specifically determined according to an X axis and a Y axis corresponding to the rocker, and specifically comprise a leftmost point, a middle point and a rightmost point of an X axis of a left potentiometer rocker, an uppermost point, a middle point and a lowermost point of a Y axis of a left potentiometer rocker, a leftmost point, a middle point and a rightmost point of an X axis of a right potentiometer rocker, and an uppermost point, a middle point and a lowermost point of a Y axis of a right potentiometer rocker. Usually, each potentiometer rocker has an X axis and a Y axis, each axis has a low position, a middle position, and a high position, wherein the leftmost point, the middle point, and the rightmost point respectively represent the low position, the middle position, and the high position corresponding to the X axis of the potentiometer, and the uppermost point, the middle point, and the bottommost point respectively represent the low position, the middle position, and the high position corresponding to the Y axis of the potentiometer.

For example, as shown in fig. 2, fig. 2 shows the operating range of the potentiometer swing lever, and when the potentiometer swing lever is still, the potentiometer swing lever is kept at the middle point, the left and right areas of the horizontal axis potentiometer are fully filled to reach the leftmost point and the rightmost point respectively, and the upper and lower areas of the vertical axis potentiometer are fully filled to reach the uppermost point and the lowermost point respectively.

The obtaining of the target point parameters includes obtaining a median corresponding to the middle position point, a minimum corresponding to the leftmost position point, and a maximum corresponding to the rightmost position point. The joystick may be controlled to move to a target point and then the median, the minimum, and the maximum are collected. Wherein the median, the minimum, and the maximum collected are typically A/D values. In the process of controlling the movement of the rocker, the resistance value of the corresponding potentiometer is changed, so that the A/D value (namely, the sampling value) obtained by the A/D conversion circuit is also changed.

In some embodiments, referring to fig. 3, the specific process of obtaining the target point parameter in step S110 includes:

step S101, controlling the rocker to be kept at the middle position point, sampling a median preset number of times, calculating an average value of median values corresponding to the preset number of times, and taking the average value as the median value corresponding to the middle position point;

step S102, controlling the rocker to be kept at the leftmost position point, sampling a minimum preset number of times, calculating an average value of minimum values corresponding to the preset number of times, and taking the average value as the minimum value corresponding to the leftmost position point;

and S103, controlling the rocker to be kept at the rightmost position point, sampling a maximum preset number of times, calculating an average value of the maximum values corresponding to the preset number of times, and taking the average value as the maximum value corresponding to the rightmost position point.

The sampling values of the potentiometer rocker at the middle position point, the leftmost position point and the minimum position point are continuously read when the median, the minimum and the maximum are sampled, the summation and the averaging are carried out according to a plurality of continuously read sampling values, and the average value is used as the median, the minimum and the maximum. The order of sampling the median, minimum, and maximum values is not limited to fig. 3, and the sampling may be performed in another order.

In some embodiments, the median, minimum, and maximum values may also be saved for use in a subsequent calibration process. In addition, the leftmost location point corresponds to the minimum value, and the rightmost location point corresponds to the maximum value, which should not be taken as a limitation of the embodiment of the present invention, and may also correspond to the maximum value, the rightmost location point corresponds to the minimum value, and so on.

And step S20, acquiring calibration parameters according to the target point parameters.

The calibration parameters refer to parameters capable of adjusting the rocker to restore normal operation. In this embodiment, the acquiring the calibration parameter according to the target point parameter specifically includes: and performing dead zone filtering processing according to the median, the minimum and the maximum, thereby obtaining the calibration parameters of the rocker.

The dead zone of the potentiometer rocker refers to a region in which the specified rocker moves but the read position does not change, that is, a region in which the operation is not responsive. Therefore, the dead zone needs to be filtered in the calibration process, and the accuracy of the rocker control is improved. The dead zone filtering process is to compress the sampling value within the dead zone range into a target value, and the target value is used as the sampling value corresponding to the dead zone.

In this embodiment, the dead zone is mainly a dead zone corresponding to the median, the minimum, and the maximum, respectively, that is, a dead zone corresponding to the middle position, the low position, and the high position of the rocker, respectively. After the dead-zone filtering process is performed, the sampling values corresponding to the middle, lower, and upper bits may change, and the finally determined sampling value is the calibration parameter.

Referring to fig. 4, dead-zone filtering is performed according to the median, the minimum, and the maximum, so as to obtain calibration parameters of the joystick, including:

step S201, determining respective dead zone ranges according to the median, the minimum and the maximum;

the dead zone range refers to the size of the dead zone, and may be specifically represented by a numerical interval, for example, the sampling minimum value is 100, the corresponding dead zone range may be 100 to 110, the sampling median value is 200, and the corresponding dead zone range may be 190 to 210.

The three dead zone ranges determined according to the median, the minimum and the maximum are the same, for example, the difference between the numerical intervals is 10, the three dead zone ranges may also be different, for example, the difference between the numerical values of the dead zone range corresponding to the minimum is 10, the difference between the numerical values of the dead zone range corresponding to the intermediate is 20, and the like. When a user operates the rocker, when the rocker is placed at the leftmost position point, the rightmost position point and the middle position point, slight difference may exist in manual operation, so that the readings are inconsistent, and therefore a dead zone range is set, the numerical value in the range is regulated to be consistent, and the numerical value does not change along with the movement of the rocker. The specific content of step S201 refers to steps S2011 to S2014 in fig. 5.

In this embodiment, referring to fig. 5, the determining the respective dead zone ranges according to the median, the minimum and the maximum includes:

step S2011, acquiring a preset dead zone range difference value corresponding to the median, the minimum and the maximum;

the preset dead zone range difference value refers to a numerical value for measuring the size of the dead zone range. The preset dead zone range difference value can be set according to a specific application scene, can be customized by a user, and can also be set by the remote control device system. In one embodiment, for example, where set by the remote control system, the rocker dead band range difference is based on the sampled value at each calibration, such as calibrating the left-most end of the rocker: sampling for N times at the leftmost end and storing, calculating a mean value _ min of the N times of sampling, calculating a mean square error according to the N times of sampling values and the mean value _ min, and determining a dead zone range difference value corresponding to the minimum value according to the mean square error; calibrating a rocker middle position point: sampling for N times at the middle position point to obtain N sampling values and storing the N sampling values, calculating a mean value _ mid of the N sampling values, calculating a mean square error according to the N sampling values and the mean value _ mid, and determining a dead zone range difference value corresponding to the median according to the mean square error; calibrating the rightmost end of the rocker: sampling N times at the rightmost position point to obtain N sampling values, storing the N sampling values, calculating the mean value _ max of the N sampling values, calculating the mean square error according to the N sampling values and the mean value _ max, and determining the dead zone range difference value corresponding to the maximum value according to the mean square error. The relationship between the dead zone range difference value and the mean square error in the above items is determined by a relational formula obtained by testing, specifically, the relationship increases with the increase of the mean square error, for example, the relational formula is a linear formula. The adjustment of the set dead zone range difference value according to the mean square error is more accurate than the calibration of the rocker by the fixed set dead zone range.

In addition, the dead zone range difference can be confirmed according to the degree of wear of rocker in different positions department, if certain position degree of wear is lighter, can set up less with the dead zone range difference that this position corresponds, if certain position degree of wear is serious, can set up great with the dead zone range difference that this position corresponds to can confirm the dead zone scope according to the degree of wear of different positions, can also improve calibration efficiency when guaranteeing the precision of calibration parameter. In addition, the dead zone range difference values may be respectively set to fixed values, that is, preset dead zone range difference values corresponding to the median, the minimum and the maximum may be set to the same or different fixed values.

The preset dead zone range difference value corresponding to the median, the preset dead zone range difference value corresponding to the minimum and the preset dead zone range difference value corresponding to the maximum can be the same or different. Step S2012, determining a dead zone range of the median according to the median and a dead zone range difference corresponding to the median;

for example, if the median is 200 and the difference between the dead zone ranges corresponding to the median is 10, determining that the dead zone range of the median includes all values between 195 and 205, wherein the read position does not change when the rocker is controlled to move between 195 and 205.

Step S2013, determining the dead zone range of the minimum value according to the minimum value and the dead zone range difference value corresponding to the minimum value;

for example, if the minimum value is 100, and the difference between the dead zone ranges corresponding to the minimum values is 15, it is determined that the dead zone range of the minimum value includes all values between 100 and 115, and the read position does not change when the joystick is controlled to move between 100 and 115.

And step S2014, determining the dead zone range of the maximum value according to the maximum value and the dead zone range difference value corresponding to the maximum value.

For example, if the maximum value is 300, and the difference between the dead band ranges corresponding to the maximum values is 20, it is determined that the dead band range of the maximum value includes all values between 280 and 300, and the read position does not change when the rocker is controlled to move between 280 and 300.

In some embodiments, steps S2012-S2014 may be performed in any order, or simultaneously.

After the dead zone range is determined according to the steps S2011 to S2014, if the dead zone range is not set accurately enough, for example, when a dead zone range difference is initially set as a fixed value, the dead zone range may be adjusted, so as to more accurately obtain sampling parameters corresponding to the dead zone range, so as to ensure that the potentiometer rocker is correctly calibrated, and thus, the normal use of the potentiometer rocker is realized. Specifically, referring to fig. 6, the main difference between fig. 6 and fig. 5 is that the method further includes:

step S2015, sampling preset times in the dead zone range of the median, the dead zone range of the minimum, and the dead zone range of the maximum, respectively;

step S2016, calculating the mean square error of the parameter corresponding to the preset times;

and S2017, adjusting the dead zone range of the median, the dead zone range of the minimum and the dead zone range of the maximum according to the mean square error.

For example, n times of sampling are performed in the interval of the values 195 to 205, that is, n times of sampling is performed on the median, the average value of the n times of sampling results is calculated, then the mean square error of the sampling values is calculated, and the dead zone range is adjusted according to the mean square error, for example, the dead zone range is adjusted to be larger if the mean square error is larger, and the dead zone range is adjusted to be smaller if the mean square error is larger.

Step S202, dead zone removing and data zone linking processing are carried out on the dead zone range of the median, the dead zone range of the minimum and the dead zone range of the maximum, so that the calibration parameters are generated.

The dead zone removing process is to remove the determined dead zone, so that the stability of the critical point data can be ensured. The essence of the dead zone removal is to determine a parameter within the dead zone range by which the dead zone removed is represented. In addition, after the dead zone removing processing is performed, in order to ensure the continuity of the critical point data, the remaining data needs to be subjected to linking processing, that is, data area linking processing.

Referring to fig. 7, the dead zone removing and data zone linking processing the dead zone range of the median, the dead zone range of the minimum, and the dead zone range of the maximum to generate the calibration parameter includes:

step S2021, calculating to obtain a minimum right value, a maximum left value, a first use range value and a second use range value according to the median, the minimum, the maximum and the preset dead zone range difference values corresponding to the median, the minimum and the maximum;

the minimum right value refers to a value of a critical point of a dead zone corresponding to the minimum value, where the critical point of the dead zone corresponding to the minimum value includes a point corresponding to the minimum value and a point corresponding to the minimum right value, for example, if the minimum value is 100, and a difference value of a preset dead zone range corresponding to the minimum value is 10, the minimum right value is 110.

The maximum left value refers to a value of a critical point of a dead zone corresponding to the maximum value, where the critical point of the dead zone corresponding to the maximum value includes a point corresponding to the maximum value and a point corresponding to the maximum left value, for example, if the maximum value is 300, and a difference value of a corresponding preset dead zone range is 10, the maximum left value is 290.

The first use range value refers to a use range value after all dead zones are removed from the left side of the midpoint of the rocker, the second use range value refers to a use range value after all dead zones are removed from the right side of the midpoint of the rocker, and the first use range value and the second use range value are numerical value intervals. Because the structures of the rockers and the power supply are different, the first use range value and the second use range value of each rocker are different. However, after a subsequent gear shift, the two usage ranges can be shifted to the same range size.

Step S2022, performing summation operation on half of the dead zone range difference value corresponding to the median and the minimum right value, thereby obtaining a calibration parameter of the dead zone range of the minimum value;

step S2023, performing summation operation on half of the dead zone range difference value corresponding to the median value and the first usage range value, so as to obtain a calibration parameter of a range on the left side of the median value, where the range on the left side of the median value refers to a range in which all dead zone ranges are removed from the left side of the middle position point;

step S2024, determining the median as a calibration parameter of a dead zone range of the median;

step S2025, performing a difference operation on the second usage range value and a half of the dead zone range difference value corresponding to the median value, so as to obtain a calibration parameter of a range on the right side of the median value, where the range on the right side of the median value refers to a range on the right side of the middle position point after all dead zone ranges are removed;

the difference operation performed on the second usage range value and half of the dead zone range difference value of the median value is specifically a dead zone range difference value obtained by subtracting the median value from the second usage range value.

Step S2026, performing a difference operation on half of the dead zone range difference between the maximum left value and the median, thereby obtaining the calibration parameter of the dead zone range of the maximum value.

The difference operation of the maximum left value and half of the dead zone range difference of the median is specifically that the maximum left value is subtracted by half of the dead zone range difference of the median.

The following describes the rocker calibration method provided in the above embodiment by taking a horizontal-axis potentiometer of the rocker as an example.

For example, please refer to fig. 8 to 10, wherein the joystick can move on the coordinate axes shown in fig. 8, the leftmost side of the coordinate axes is the position point corresponding to the minimum value, the middle of the coordinate axes is the position point corresponding to the median value, the rightmost side of the coordinate axes is the position point corresponding to the maximum value, and these three position points are collectively referred to as the target point. After the minimum Min _ Value, the median Mid _ Value, and the maximum Max _ Value are determined, a dead zone filtering process is performed to determine a dead zone range of each destination point, the dead zone range of the minimum Min _ Value is denoted by [ Min _ Value, Min _ Value _ Right ] in fig. 9, the dead zone range of the maximum Max _ Value is denoted by [ Max _ Value _ Left, Max _ Value ], the dead zone range of the median Mid-Value is denoted by [ Mid _ Value _ Left, Mid _ Value _ Right ], the dead zone range difference of the median Mid-Value is denoted by Mid-deaczone, the first Value taken in a Value interval (i.e., any of the first usage range) after all dead zones are removed to the Left of the median is denoted by Value1, and the second Value taken in a Value interval (i.e., any of the second usage range) after all dead zones are removed to the Right of the median Value 2. Performing data area linking processing after the dead zone removing processing is performed, as shown in fig. 10, that is, the remaining data corresponding to the non-dead zone range is connected into coherent data, the data on the left side and the right side of the median value are to be drawn close to the middle, wherein the left data linking and the right data linking can be processed in the following five situations, which are respectively:

the data processing of the minimum dead zone Min _ DeadZone area is as follows:

Min_Value_Right+Mid_Deadzone/2

the data in the interval to the left of the median after all dead zones are removed is processed as:

Value 1+Mid_Deadzone/2

the data processing of the median dead zone Mid _ DeadZone data area is as follows:

Mid_Value

the data in the interval to the right of the median after all dead zones are removed is processed as:

Value2-Mid_Deadzone/2

the data processing of the maximum value dead zone Max _ DeadZone area is as follows:

Max_Value_Left-Mid_Deadzone/2

after the processing, the stability and the continuity of the data of the rocker horizontal-axis potentiometer are ensured. The vertical axis potentiometer may also be calibrated by the above method.

And step S30, calibrating the rocker according to the calibration parameters.

In this embodiment, the calibrating the joystick according to the calibration parameter includes: acquiring new parameters of the rocker according to the calibration parameters and the original parameters of the rocker; and converting the new parameters of the rocker into a rocker instruction, namely converting the data of the original data after the calibration parameter calculation into the rocker instruction of the control device for controlling other equipment, such as the rocker instruction for controlling the unmanned aerial vehicle.

In some embodiments, during the calibration of the joystick, an alarm message may be sent to prompt the user to pay attention to the current calibration mode.

In some embodiments, during the calibration of the joystick, the whole calibration process can be displayed on the remote control device, and a prompt message is sent after the calibration is completed.

The embodiment of the invention provides a rocker calibration method, which comprises the steps of acquiring a target point parameter when a remote control device is in a calibration mode, acquiring a calibration parameter according to the target point parameter, and calibrating a rocker according to the calibration parameter. The implementation mode realizes the calibration function of the potentiometer rocker, the whole process is simple, safety and reliability are realized, the universality is strong, in addition, the uniformity and the accuracy of the rocker instruction data are ensured, and the safety of the external equipment is ensured when the remote control device controls the external equipment.

Referring to fig. 11, an embodiment of the present invention provides a joystick calibration device 100, where the device 100 is applied to a remote control device, and the device 100 includes: a first acquisition module 11, a second acquisition module 12 and a calibration module 13.

The first obtaining module 11 is configured to obtain a target point parameter when the remote control device is in a calibration mode; a second obtaining module 12, configured to obtain calibration parameters according to the target point parameters; and the calibration module 13 is used for calibrating the rocker according to the calibration parameters.

Wherein the remote control device comprises, in a calibration mode: when the calibration parameters are not stored in the remote control device, controlling the remote control device to be in a calibration mode; or when detecting that the calibration parameters stored in the remote control device are unavailable, controlling the remote control device to be in a calibration mode; or when the rocker is detected to deviate from the preset position within the preset time, the remote control device is controlled to be in a calibration mode; or receiving a calibration mode instruction triggered by a user, and controlling the remote control device to be in a calibration mode according to the calibration mode instruction.

The first obtaining module 11 includes a position control unit 111 and a parameter obtaining unit 112, where the position control unit 111 is configured to control the joystick to move to a target point when the remote control device is in the calibration mode, where the target point includes a middle position point, a leftmost position point, and a rightmost position point of the joystick; a parameter obtaining unit 112, configured to obtain a median corresponding to the middle position point, a minimum corresponding to the leftmost position point, and a maximum corresponding to the rightmost position point.

The parameter obtaining unit 112 is specifically configured to:

The second obtaining module 12 is specifically configured to perform dead-zone filtering processing according to the median, the minimum, and the maximum, so as to obtain a calibration parameter of the joystick. The second acquisition module includes a dead zone determination unit 121 and a data processing unit 122. A dead zone determining unit 121, configured to determine respective dead zone ranges thereof according to the median, the minimum, and the maximum; a data processing unit 122, configured to perform dead zone removal and data zone linking processing on the dead zone range of the median, the dead zone range of the minimum, and the dead zone range of the maximum, so as to generate the calibration parameter.

The dead zone determining unit 121 is specifically configured to: acquiring a preset dead zone range difference value corresponding to the median, the minimum and the maximum; determining a dead zone range of the median according to the median and a dead zone range difference value corresponding to the median; determining the dead zone range of the minimum value according to the minimum value and the dead zone range difference value corresponding to the minimum value; and determining the dead zone range of the maximum value according to the maximum value and the dead zone range difference value corresponding to the maximum value.

And the difference values of the preset dead zone ranges corresponding to the median, the minimum and the maximum are different.

The dead zone determining unit 121 is further specifically configured to: sampling N times at the leftmost position to obtain N sampling values, storing the N sampling values, calculating a mean value _ min of the N sampling values, calculating a mean square error according to the N sampling values and the mean value _ min, and determining a dead zone range difference value corresponding to the minimum value according to the mean square error; sampling for N times at the middle position point to obtain N sampling values and storing the N sampling values, calculating a mean value _ mid of the N sampling values, calculating a mean square error according to the N sampling values and the mean value _ mid, and determining a dead zone range difference value corresponding to the median according to the mean square error; sampling N times at the rightmost position point to obtain N sampling values, storing the N sampling values, calculating the mean value _ max of the N sampling values, calculating the mean square error according to the N sampling values and the mean value _ max, and determining the dead zone range difference value corresponding to the maximum value according to the mean square error.

Wherein the data processing unit 122 is specifically configured to:

Wherein the calibration module 13 is specifically configured to: acquiring new parameters of the rocker according to the calibration parameters and the original parameters of the rocker; and converting the new parameter of the rocker into a rocker command.

It should be noted that, for the information interaction, execution process and other contents between the modules and units in the apparatus, the specific contents may refer to the description in the method embodiment of the present invention because the same concept is used as the method embodiment of the present invention, and are not described herein again.

The embodiment of the invention provides a rocker calibrating device, which is used for acquiring a target point parameter when a remote control device is in a calibrating mode, acquiring a calibrating parameter according to the target point parameter and calibrating a rocker according to the calibrating parameter. The implementation mode realizes the calibration function of the potentiometer rocker, the whole process is simple, safety and reliability are realized, the universality is strong, in addition, the uniformity and the accuracy of the rocker instruction data are ensured, and the safety of the external equipment is ensured when the remote control device controls the external equipment.

Referring to fig. 12, fig. 12 is a schematic diagram of a hardware structure of a remote control device according to an embodiment of the present invention, and as shown in fig. 12, the remote control device 200 includes:

the remote control device comprises a remote control body (not shown) and potentiometer rocking bars (not shown), wherein the potentiometer rocking bars are fixed on the remote control body, and the number of the potentiometer rocking bars is not particularly limited.

One or more processors 21 and a memory 22 are provided in the remote control device, and one processor 21 is taken as an example in fig. 12. Wherein, the potentiometer rocker and the memory 22 are respectively connected with the processor 21 in a communication way.

The processor 21 and the memory 22 may be connected by a bus or other means, and fig. 12 illustrates the connection by a bus as an example.

The memory 22, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the rocker calibration method in the embodiment of the present invention (for example, the first obtaining module 11, the second obtaining module 12, and the calibration module 13 shown in fig. 11). The processor 21 executes various functional applications and data processing of the server by executing nonvolatile software programs, instructions and modules stored in the memory 22, so as to implement the rocker calibration method of the above method embodiment.

The memory 22 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the stored data area may store data created from use of the rocker calibration device, and the like. Further, the memory 22 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 22 may optionally include memory located remotely from processor 21, which may be connected to the rocker calibration device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The one or more modules are stored in the memory 22 and, when executed by the one or more processors 21, perform the rocker calibration method in any of the method embodiments described above, e.g., the methods implemented in fig. 1, 3-7 described above, to implement the functionality of the modules and units in fig. 11.

The product can execute the method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the method provided by the embodiment of the present invention.

The remote control device 200 of the embodiment of the present invention can be in various forms, including but not limited to a remote controller, and other electronic devices with data interaction functions. The remote control device 200 may be used to control unmanned aerial vehicles, unmanned vehicles, and the like.

Embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer-executable instructions for a remote control device to perform a rocker calibration method in any of the above method embodiments, for example, to perform the methods described above and implemented in fig. 1, 3 through 7, to implement the functions of the modules and units in fig. 11.

Embodiments of the present invention provide a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by a computer, cause the computer to perform a rocker calibration method in any of the above-described method embodiments, e.g., perform the methods implemented in fig. 1, 3-7 described above, to implement the functions of the modules and units in fig. 11.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A rocker calibration method is applied to a remote control device, and is characterized by comprising the following steps:

acquiring calibration parameters according to the target point parameters;

calibrating the rocker according to the calibration parameters;

wherein the acquiring target point parameters comprises:

acquiring a median corresponding to the middle position point, a minimum corresponding to the leftmost position point and a maximum corresponding to the rightmost position point;

wherein, the acquiring calibration parameters according to the target point parameters specifically includes:

performing dead zone filtering processing according to the median, the minimum and the maximum, thereby obtaining calibration parameters of the rocker;

wherein, the dead-zone filtering processing is performed according to the median, the minimum and the maximum, so as to obtain the calibration parameters of the rocker, and the dead-zone filtering processing comprises:

performing dead zone removal and data zone engagement processing on the dead zone range of the median, the dead zone range of the minimum and the dead zone range of the maximum, thereby generating the calibration parameter;

said determining their respective dead band ranges from said median, minimum and maximum values comprises:

determining the dead zone range of the maximum value according to the maximum value and the dead zone range difference value corresponding to the maximum value;

obtaining a preset dead zone range difference value corresponding to the median, the minimum and the maximum, including:

2. The method of claim 1, wherein the remote control device being in a calibration mode comprises:

3. The method of claim 1, wherein obtaining the median value corresponding to the middle position point, the minimum value corresponding to the leftmost position point, and the maximum value corresponding to the rightmost position point comprises:

4. The method according to claim 1, wherein the difference values of the preset dead zone ranges corresponding to the median, the minimum and the maximum are different.

5. The method of claim 1, wherein said dead band removing and data zone engaging processing said dead band range of median, said dead band range of minimum, and said dead band range of maximum to generate said calibration parameters comprises:

6. The method of claim 5, wherein the performing a rocker calibration according to the calibration parameter comprises:

and converting the new parameter of the rocker into a rocker command.

7. A rocker alignment device for use with a remote control device, the device comprising:

the calibration module is used for calibrating the rocker according to the calibration parameters;

wherein the first obtaining module comprises:

a parameter obtaining unit, configured to obtain a median corresponding to the middle position point, a minimum corresponding to the leftmost position point, and a maximum corresponding to the rightmost position point;

the second obtaining module is specifically configured to:

the second acquisition module includes:

the data processing unit is used for performing dead zone removal and data zone linking processing on the dead zone range of the median, the dead zone range of the minimum and the dead zone range of the maximum so as to generate the calibration parameters;

the dead zone determination unit is specifically configured to:

8. The apparatus according to claim 7, wherein the parameter obtaining unit is specifically configured to:

9. The apparatus according to claim 7, wherein the data processing unit is specifically configured to:

10. The apparatus of claim 9, wherein the calibration module is specifically configured to:

and converting the new parameter of the rocker into a rocker command.

11. A remote control device, comprising:

a remote control body;

the potentiometer rocker is fixed on the remote control body;

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 6.