CN113238607A - Unmanned aerial vehicle control handle - Google Patents
Unmanned aerial vehicle control handle Download PDFInfo
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- CN113238607A CN113238607A CN202110572027.8A CN202110572027A CN113238607A CN 113238607 A CN113238607 A CN 113238607A CN 202110572027 A CN202110572027 A CN 202110572027A CN 113238607 A CN113238607 A CN 113238607A
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- unmanned aerial
- aerial vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
- G05G1/08—Controlling members for hand actuation by rotary movement, e.g. hand wheels
- G05G1/10—Details, e.g. of discs, knobs, wheels or handles
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Abstract
The invention discloses an unmanned aerial vehicle control handle, which comprises: a base, an accelerator deflector rod and an adjusting turntable which are arranged on the base, wherein one end of the cross-shaped return deflector rod is rotationally connected with the base, the other end of the cross-shaped return deflector rod is provided with a left value adjusting key and a right value adjusting key which are symmetrical by the axis of the over-middle point of the cross-shaped return deflector rod, a processor, the processor is connected with the accelerator shift lever, the adjusting turntable, the cross-shaped return shift lever and the left and right value adjusting keys, the processor comprises a monitoring module, the monitoring module is used for monitoring shifting amplitude information of the cross-shaped return shift lever, the processor is used for controlling the unmanned aerial vehicle according to the shifting amplitude information, aiming at the capability of navigation-level control, the control handle simplifies the handle structure on the basis of the automatic control of the unmanned aerial vehicle, so that the control of the handle is more visual, the manual control is more stable, the control of the unmanned aerial vehicle is in smooth transition, and the system has instantaneous intervention capability, and is suitable for navigation-level control and emergency intervention of medium and large autonomous unmanned planes.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle operation, and particularly relates to an unmanned aerial vehicle operation handle.
Background
With the increasing development of modern aircraft control technology, various aircrafts gradually exhibit high autonomy, but the fully-autonomous unmanned aerial vehicle still faces great challenges when landing in the presence of complex working conditions such as landing low altitude, near ground, turbulent wind field and the like. The control handle aiming at assisting in intervening real-time value adjustment while the unmanned aerial vehicle is autonomously controlled is relatively lacked in the current market, and the existing device is also relatively difficult to adjust to be used as navigation-level remote control, particularly for assisting in intervening manipulation at the navigation level.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the control handle of the unmanned aerial vehicle, aiming at the navigation-level control capability of the control handle, on the basis of the automatic control of the unmanned aerial vehicle, the handle structure is simplified, the control handle is more visual, the manual control is more stable, the unmanned aerial vehicle is controlled to be in smooth transition, and the control handle has the instantaneous intervention capability and is suitable for navigation-level control and emergency intervention of medium and large autonomous unmanned aerial vehicles.
In order to achieve the above object, the present invention provides a manipulation handle for an unmanned aerial vehicle, comprising:
a base;
the accelerator shift lever and the adjusting turntable are arranged on the base;
one end of the cross-shaped return deflector rod is rotatably connected with the base, and the other end of the cross-shaped return deflector rod is provided with a left value adjusting key and a right value adjusting key which are symmetrical with the axis of the middle passing point of the cross-shaped return deflector rod;
the processor is connected with the accelerator shifting lever, the adjusting turntable, the cross-shaped return shifting lever and the left and right adjusting keys, the processor comprises a monitoring module, the monitoring module is used for monitoring shifting amplitude information of the cross-shaped return shifting lever, and the processor is used for controlling the unmanned aerial vehicle according to the shifting amplitude information.
Optionally, the adjustment dial is an incremental adjustment dial.
Optionally, a button is arranged on the side wall of the base, the button comprises an enabling button and a zero returning button, and the front face of the base is further provided with indicator lamps in one-to-one correspondence with the buttons.
Optionally, the accelerator shift lever is a discrete-value shift lever, and includes a climbing shift, a sliding shift, and a stopping shift.
Optionally, the maximum stroke resilience force of the button is not less than 0.20 kg, the effective triggering stroke is 0.8cm, the button is higher than the mounting surface by 1.0cm in the extended state, and the button is higher than the mounting surface by 0.4cm in the locked triggering state.
Optionally, the distance between the left and right value adjusting keys and the other end of the cross-shaped return deflector rod is 3mm, and the effective pressing stroke is not more than 2 mm.
Optionally, the processor is connected with a self-driving instrument of the unmanned aerial vehicle, the processor can change an operation instruction of the self-driving instrument on the unmanned aerial vehicle according to the poking amplitude and the poking direction of the cross-shaped return poking rod, the operation instruction comprises a lateral deviation instruction value and a height instruction value, and the larger the poking amplitude is, the faster the operation instruction value changes.
Optionally, the processor determines the value of the control instruction of the autopilot to the unmanned aerial vehicle according to the number of clicks of the two value-adjusting keys, and fine adjustment is performed on the control instruction of the autopilot to the unmanned aerial vehicle, so that accurate alignment is facilitated.
Optionally, the changing of the control instruction of the autopilot on the unmanned aerial vehicle according to the toggle amplitude information includes:
obtaining an intervention instruction according to the dialing amplitude and the dialing direction information;
and changing the control instruction value of the autopilot to the unmanned aerial vehicle according to the intervention instruction.
Optionally, the intervention instruction is a total yaw instruction value, and the total yaw instruction value is equal to a sum of a preset yaw instruction value, a yaw instruction reference value and a yaw instruction additional value;
the additional value of the lateral deviation instruction is calculated by the processor according to the left and right shifting degree of the cross-shaped return deflector rod;
and the lateral deviation instruction reference value is calculated by the processor according to the pressing times or duration of the left and right value-adjusting keys.
The invention provides an unmanned aerial vehicle control handle, which has the beneficial effects that:
this operating handle is to the ability of navigation level manipulation, on unmanned aerial vehicle automatic control basis, simplifies the handle structure, makes the handle manipulation more directly perceived, and manual manipulation is more stable, makes unmanned aerial vehicle control smooth transition, and possesses instantaneous intervention ability, is fit for medium and large-scale autonomous unmanned aerial vehicle navigation level manipulation and emergency intervention.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout.
Fig. 1 shows a schematic structural view of a drone steering handle according to one embodiment of the present invention.
Fig. 2 shows a front view of a drone steering handle according to one embodiment of the present invention.
Fig. 3 shows a control schematic of a drone joystick according to one embodiment of the invention.
Description of reference numerals:
1. a base; 2. an accelerator shift lever; 3. adjusting the turntable; 4. a cross-shaped return deflector rod; 5. a button; 6. an indicator light; 7. and adjusting a value key.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below. While the following describes preferred embodiments of the present invention, it should be understood that the present invention may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Fig. 1 shows a schematic structural view of a drone steering handle according to one embodiment of the present invention; fig. 2 shows a front view of a drone steering handle according to one embodiment of the present invention; fig. 3 shows a control schematic of a drone joystick according to one embodiment of the invention.
As shown in fig. 1-3, a drone handlebar comprising:
a base 1;
the accelerator shift lever 2 and the adjusting turntable 3 are arranged on the base 1;
one end of the cross-shaped return deflector rod 4 is rotatably connected with the base 1, the other end of the cross-shaped return deflector rod 4 is provided with a left value adjusting key 7 and a right value adjusting key 7, and the left value adjusting key 7 and the right value adjusting key 7 are symmetrical by the axis of the middle passing point of the cross-shaped return deflector rod 4;
the treater is connected with throttle driving lever 2, adjustment carousel 3, cross return force driving lever 4 and control two value adjustment buttons 7, and the treater includes monitoring module, and monitoring module is used for monitoring cross return force driving lever 4 stir range information, and the treater is used for controlling unmanned aerial vehicle according to stir range information.
Specifically, the power output of the unmanned aerial vehicle is controlled through an accelerator deflector rod 2, an adjusting turntable 3 is positioned in the middle of a handle, the steering of the unmanned aerial vehicle is controlled through the adjusting turntable 3, the unmanned aerial vehicle rotates leftwards to be adjusted leftwards when the unmanned aerial vehicle rotates leftwards, the unmanned aerial vehicle rotates rightwards to be adjusted rightwards, when the unmanned aerial vehicle lands on a runway, the heading track instruction value of the unmanned aerial vehicle is adjusted, the control destination of the unmanned aerial vehicle is aligned to the runway when the unmanned aerial vehicle lands on course interception and combination with lateral deviation adjustment, the error touch is avoided in the high-frequency control stage of landing, an electronic module of a cross-shaped return deflector rod 4 is electrically connected with a processor, the spring traction can automatically return to the center when the unmanned aerial vehicle is not manually controlled, upper, lower, left and right quadrants can be established through an intervening handle 4, the unmanned aerial vehicle can quickly intervene when the unmanned aerial vehicle automatically cruises, the unmanned aerial vehicle transversely aligns to the runway or a key runway position under the condition that the heading instruction is not changed, and indicates that the unmanned aerial vehicle rightwards when the cross-shaped return force deflector rod 4 is shifted rightwards, the front side is inclined to show upward, the front side is rolled and inclined forward to show upward right, the size of the command value is in direct proportion to the rolling stroke and the pitching stroke, the processor is an AVR single chip microcomputer, the accelerator shift lever 2 and the control command signal of the direction control structure are processed through the processor, and the control command signal is transmitted to the master control computer through the USB interface.
The command value of the cross-shaped return force deflector rod 4 is generally bound with the adjusting speed of a transverse yaw command of the airplane, the cross-shaped return force deflector rod 4 is moved left and right to adjust the added value of the yaw command of the unmanned aerial vehicle, a left value adjusting button and a right value adjusting button are respectively used for adjusting the reference value of the yaw command of the unmanned aerial vehicle in an incremental mode, the total yaw command value is equal to the yaw command value (generally 0) + the reference value of the yaw command + the added value of the yaw command, the added value is a temporary intervention value which returns to zero along with the return of the deflector rod, and the reference value of the yaw command is a steady-state value which is superposed on the automatic control yaw command value. And the cross-shaped return deflector rod 4 is moved up and down to adjust the sinking rate instruction value of the unmanned aerial vehicle.
In the present embodiment, the adjustment dial 3 is an incremental adjustment dial.
Specifically, the adjusting rotary table 3 protrudes 1.5cm out of the base and is positioned in the middle of the base 1 or at the bottom of the cross-shaped return deflector rod 4, mistaken touch is avoided in a high-frequency control stage of landing, the direction adjusting rotary table 3 is a relative incremental adjusting rotary table instead of an absolute scale value rotary table, the course instruction of the left-handed unmanned aerial vehicle is adjusted in a leftward rotating mode, and the unmanned aerial vehicle is adjusted in a directional rightward rotating mode in a rightward rotating mode.
In this embodiment, a button 5 is arranged on the side wall of the base 1, the button 5 comprises an enable button and a zero setting button, and the front surface of the base 1 is further provided with indicator lamps 6 corresponding to the buttons 5 one by one.
Specifically, button 5 is in the side wall and avoids the spurious triggering, pilot lamp 6 is located the front and is convenient for observe, button 5 and pilot lamp 6 are in different surfaces but horizontal longitudinal position one-to-one on the position overall arrangement, through enabling opening and close of button control handle, make the self-resuming of control handle through the button of zeroing, make each item numerical value of control handle resume initial condition, show the operating condition that enables button and zeroing button through pilot lamp 6, base 1 is provided with spare button and spare pilot lamp simultaneously, be used for the extension.
In the present embodiment, the accelerator shift lever 2 is a discrete value shift lever, and includes a climbing shift, a sliding shift, and a stopping shift.
Specifically, the power output of the unmanned aerial vehicle is adjusted through the accelerator shift lever 2, the shift lever has obvious gear stroke blocking and short gear shift piece stroke, so that the unmanned aerial vehicle is subjected to pulse type intervention on the power of the unmanned aerial vehicle under the condition of a large navigation control period when the fixed-wing unmanned aerial vehicle lands (the pulse type intervention is that the power output is reduced instantly after the power output is increased temporarily, and even the braking and the deceleration are stopped, so that the control purpose of the power pulse type intervention is achieved).
Furthermore, the length of the accelerator shift lever is 10.0cm, and the clamping force of each gear is not less than 5.0N cm.
In this embodiment, the maximum stroke resilience of the button 5 is not less than 0.20 kg, the effective trigger stroke is 0.8cm, the extended button 5 is higher than the mounting surface by 1.0cm, and the locked trigger button 5 is higher than the mounting surface by 0.4 cm.
In this embodiment, the distance between the left and right value-adjusting keys and the other end of the cross-shaped return deflector rod is 3mm, and the effective pressing stroke is not more than 2 mm.
In this embodiment, the treater is connected with unmanned aerial vehicle's autopilot, and the treater can dial 4 amplitude of moving and stir the direction according to the cross return force driving lever and change autopilot to unmanned aerial vehicle's manipulation instruction, and manipulation instruction includes lateral deviation instruction value and height instruction value, and the bigger manipulation instruction value that stirs the amplitude changes sooner.
In this embodiment, the processor finely tunes the determined value of the control instruction of the autopilot to the unmanned aerial vehicle according to the number of clicks of the two value-adjusting keys 7, so that accurate alignment is facilitated.
Specifically, the processor changes the control instruction of the navigation-level unmanned aerial vehicle according to the cross return deflector rod 4, and finely adjusts the instruction value through the pressing times of the value adjusting key 7, so that the accuracy is improved.
In this embodiment, change the control command of autopilot to unmanned aerial vehicle according to stirring amplitude information, include:
obtaining an intervention instruction according to the dialing amplitude and the dialing direction information;
and changing the control instruction value of the autopilot to the unmanned aerial vehicle according to the intervention instruction.
In this embodiment, the intervention instruction is a total yaw instruction value, and the total yaw instruction value is equal to a sum of a preset yaw instruction value, a yaw instruction reference value and a yaw instruction additional value;
the additional value of the lateral deviation instruction is calculated by the processor according to the left and right shifting degree of the cross-shaped return shifting lever;
the lateral deviation instruction reference value is calculated by the processor according to the pressing times (or duration) of the left and right value-adjusting keys.
When this embodiment unmanned aerial vehicle control handle used, use as an example navigation unmanned aerial vehicle descending, connect through treater USB and unmanned aerial vehicle control computer, turn to through 3 control unmanned aerial vehicle of adjustment carousel, make unmanned aerial vehicle unanimous with the channel direction, switch unmanned aerial vehicle power take off through throttle driving lever 2, change unmanned aerial vehicle flight state, and control two value adjustment buttons 7 through cross return force driving lever 4 and correct unmanned aerial vehicle flight gesture at any time, make unmanned aerial vehicle steadily descend.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (10)
1. An unmanned aerial vehicle handlebar characterized by comprising:
a base;
the accelerator shift lever and the adjusting turntable are arranged on the base;
one end of the cross-shaped return deflector rod is connected with the base, the other end of the cross-shaped return deflector rod is provided with a left value adjusting key and a right value adjusting key, and the left value adjusting key and the right value adjusting key are symmetrical with an axis passing through the midpoint of the cross-shaped return deflector rod;
the processor is connected with the accelerator shifting lever, the adjusting turntable, the cross-shaped return shifting lever and the left and right adjusting keys, the processor comprises a monitoring module, the monitoring module is used for monitoring shifting amplitude information of the cross-shaped return shifting lever, and the processor is used for controlling the unmanned aerial vehicle according to the shifting amplitude information.
2. The drone steering handle according to claim 1, wherein the adjustment dial is an incremental adjustment dial.
3. The unmanned aerial vehicle handlebar of claim 1, wherein the side wall of the base is provided with buttons, the buttons comprise an enabling button and a return-to-zero button, and the front surface of the base is further provided with indicator lights corresponding to the buttons one to one.
4. The unmanned aerial vehicle handlebar of claim 1, wherein the throttle lever is a discrete value shift lever comprising a climb gear, a glide gear, and a stop gear.
5. The unmanned aerial vehicle handle of claim 3, wherein the maximum button travel resilience force is not less than 0.20 kg, the effective trigger travel is 0.8cm, the button is higher than the mounting surface by 1.0cm in the extended state, and the button is higher than the mounting surface by 0.4cm in the locked trigger state.
6. The unmanned aerial vehicle control handle of claim 1, wherein the left and right adjustment keys are 3mm away from the other end of the cross return deflector rod, and an effective pressing stroke is not greater than 2 mm.
7. The unmanned aerial vehicle control handle of claim 1, wherein the processor is connected to a pilot of the unmanned aerial vehicle, the processor is capable of changing a control command of the pilot to the unmanned aerial vehicle according to a toggle amplitude and a toggle direction of the cross-shaped return force toggle rod, the control command comprises a yaw command value and a height command value, and the larger the toggle amplitude, the faster the control command value changes.
8. The joystick of claim 7, wherein the processor determines the steering command of the drone by the autopilot according to the number of clicks of the two tuning keys, and performs fine tuning to facilitate precise alignment.
9. The unmanned aerial vehicle control handle of claim 1, wherein changing the control command of the autopilot to the unmanned aerial vehicle according to the toggle amplitude information comprises:
obtaining an intervention instruction according to the dialing amplitude and the dialing direction information;
and changing the control instruction value of the autopilot to the unmanned aerial vehicle according to the intervention instruction.
10. The unmanned aerial vehicle joystick of claim 1, wherein the intervention command is a total yaw command value, and the total yaw command value is equal to a sum of a preset yaw command value, a yaw command reference value and a yaw command additional value;
the additional value of the lateral deviation instruction is calculated by the processor according to the left and right shifting degree of the cross-shaped return deflector rod;
and the lateral deviation instruction reference value is calculated by the processor according to the pressing times of the left and right value adjusting keys.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110572027.8A CN113238607A (en) | 2021-05-25 | 2021-05-25 | Unmanned aerial vehicle control handle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110572027.8A CN113238607A (en) | 2021-05-25 | 2021-05-25 | Unmanned aerial vehicle control handle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113238607A true CN113238607A (en) | 2021-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110572027.8A Pending CN113238607A (en) | 2021-05-25 | 2021-05-25 | Unmanned aerial vehicle control handle |
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| CN (1) | CN113238607A (en) |
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2021
- 2021-05-25 CN CN202110572027.8A patent/CN113238607A/en active Pending
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