CN113345296A - Unmanned equipment training system, training method, controller and readable storage medium - Google Patents

Unmanned equipment training system, training method, controller and readable storage medium Download PDF

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Publication number
CN113345296A
CN113345296A CN202110574916.8A CN202110574916A CN113345296A CN 113345296 A CN113345296 A CN 113345296A CN 202110574916 A CN202110574916 A CN 202110574916A CN 113345296 A CN113345296 A CN 113345296A
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CN
China
Prior art keywords
controller
driving device
rocker
offset
main control
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
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CN202110574916.8A
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Chinese (zh)
Inventor
梁雄杰
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Zhuhai Sv Tech Co ltd
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Zhuhai Sv Tech Co ltd
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Priority to CN202110574916.8A priority Critical patent/CN113345296A/en
Publication of CN113345296A publication Critical patent/CN113345296A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/28—Simulation of stick forces or the like

Abstract

The invention provides an unmanned equipment training system, a training method, a controller and a readable storage medium, wherein the controller comprises a rocker assembly, a communication module and a main control module, the rocker assembly comprises a rocker, an X offset sensor and a Y offset sensor, the X offset sensor is used for acquiring the X offset of the rocker, the Y offset sensor is used for acquiring the Y offset of the rocker, the main control module is connected with the X offset sensor and the Y offset sensor, the communication module is connected with the main control module, the controller also comprises a passive driving assembly, the passive driving assembly comprises an X driving device and a Y driving device which are connected with the main control module, the X driving device drives the rocker to move along the X direction, and the Y driving device drives the rocker to move along the Y direction. The student holds the controller to follow the study, so that the factors of the action such as strength, angle and amplitude needing to be experienced by limbs can be better understood, complex operation can be more effectively understood, and the study efficiency is improved.

Description

Unmanned equipment training system, training method, controller and readable storage medium
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to an unmanned equipment training system, an unmanned equipment training method, a controller and a readable storage medium.
Background
The unmanned aerial vehicle training system on the market mainly comprises a controller, a decoder and simulated flight software, a trainee needs to use the controller to connect the simulated flight software in the training process, the trainee trains the direction sense required by flight in a simulated environment, the decoder converts a remote control signal into a protocol recognized by a computer, the learning mode is active, the trainee firstly plans an action in the brain, coordinates the hand to do corresponding movement to push a rocker, then the simulated flight software feeds back the movement signal to synchronously react, if the movement signal is different from the reaction thought in the brain, the trainee needs to try again, and finally forms correct conditioned reflex by trying the brain for many times. The defects that a student needs to try many times to master the sense of direction, no teaching staff is used for guidance, and the learning efficiency is not high.
The other mode is a real-operation coach mode which mainly comprises a real unmanned aerial vehicle, a main controller and a secondary controller, wherein the real-operation mode is that a coach flies the airplane to the sky firstly and then switches to a secondary remote control of a student to enable the student to control the unmanned aerial vehicle, if the coach finds that the coach is dangerous, the coach can immediately switch back to the main remote control, the secondary remote control at the moment has no control right, and the mode has the defect that the student cannot feel the actual operation of the coach at the moment and further influences the learning effect.
Disclosure of Invention
The invention aims to provide a controller which can realize follow-up learning by utilizing rocker linkage.
It is a second object of the present invention to provide an unmanned equipment training system having the above controller.
A third object of the present invention is to provide an unmanned equipment training method applied to the above controller.
It is a fourth object of the present invention to provide a readable storage medium on which the above-mentioned unmanned aerial device training method can be stored.
In order to achieve the first purpose, the invention provides a controller which comprises a rocker assembly, a communication module and a main control module, wherein the rocker assembly comprises a rocker, an X offset sensor and a Y offset sensor, the X offset sensor is used for acquiring the X offset of the rocker, the Y offset sensor is used for acquiring the Y offset of the rocker, the main control module is connected with the X offset sensor and the Y offset sensor, the communication module is connected with the main control module, the controller further comprises a passive driving assembly, the passive driving assembly comprises an X driving device and a Y driving device, the X driving device drives the rocker to move along the X direction, and the Y driving device drives the rocker to move along the Y direction.
It can be seen from the above scheme that the position of the rocker is detected by the X offset sensor and the Y offset sensor, then the controller can realize normal unmanned equipment control, in addition, the main control signals collected by the X offset sensor and the Y offset sensor can be output to other controllers by the communication module, then the X driving device and the Y driving device can be driven according to the main control signals, so that the rocker of the controller can move along with the rocker, thereby enabling a student to hold the controller by hands to follow the learning, not only manually input main control signals can be adopted, but also program-simulated main control signals can be adopted, then a coach hand handle teaching mode can be simulated, the student follows the operation, the trial process and the wrong cognition can be avoided, and the standardized program student can better understand the force, angle, amplitude and other elements needing to be experienced, and more effectively understand the complex operation of limbs, the learning efficiency is improved.
According to a further scheme, the passive driving assembly further comprises an X-direction connecting rod and a positioning bracket, wherein the X-direction connecting rod is hinged between the rocker and the X-direction driving device; the X driving device is installed on the positioning support, and the Y driving device is connected with the positioning support and drives the positioning support to move along the Y direction.
In a further scheme, the passive driving assembly further comprises a Y-direction connecting rod, and the Y-direction connecting rod is hinged between the positioning bracket and the Y-direction driving device.
According to a further scheme, the controller further comprises a fixing support, the fixing support is installed on a shell of the controller, the passive driving assembly is located outside the shell of the controller, the Y driving device is installed on the fixing support, and the positioning support is movably arranged on the fixing support.
It is thus clear that through X to connecting rod, locating support, Y to the setting of connecting rod and fixed bolster, then conveniently in the external installation of passive drive subassembly, and connect drive stable in structure, for the rocker provides stable X to the Y to the drive, can conveniently reequip in traditional controller through external passive drive arrangement, then realize linkage learning function.
According to a further scheme, the passive driving assembly comprises an X limiting frame, the X limiting frame is provided with a first limiting groove extending along the Y direction, a rod part of the rocker passes through the first limiting groove, and the X driving device is connected with the X limiting frame and drives the X limiting frame to move along the X direction.
According to a further scheme, the passive driving assembly comprises a Y limiting frame, the Y limiting frame is provided with a second limiting groove extending along the X direction, the rod part of the rocker passes through the second limiting groove, and the Y driving device is connected with the Y limiting frame and drives the Y limiting frame to move along the Y direction.
It is from top to bottom visible, spacing through X spacing frame and Y spacing frame to the rocker, can carry out X to Y to the drive to the rocker steadily through X drive arrangement and Y drive arrangement then. Controller
In order to achieve the second object, the invention provides an unmanned equipment training system, which comprises unmanned equipment, a main controller and a sub-controller, wherein the main controller and the sub-controller respectively adopt the controllers in the scheme, the main controller is in communication connection with the unmanned equipment, and the main controller is in communication connection with the sub-controller.
In order to achieve the third object of the present invention, the present invention provides an unmanned equipment training method, which is applied to the controller of the above scheme, wherein the controller is used as a sub-controller;
the unmanned equipment training method comprises the following steps:
receiving a master control signal output by a master controller;
and driving the X driving device and the Y driving device according to the master control signal.
In order to achieve the third object of the present invention, the present invention provides an unmanned equipment training method, which is applied to the controller of the above scheme, wherein the controller is used as a main controller;
the unmanned equipment training method comprises the following steps:
collecting a master control signal for controlling the unmanned equipment;
and sending the main control signal to the sub-controller through the communication module.
In order to achieve the fourth object of the present invention, the present invention provides a readable storage medium having a computer program stored thereon, characterized in that: the computer program, when executed by a processor, implements the steps of the unmanned device training method as described above.
It can be seen by above-mentioned scheme that through the linkage of main control unit and sub-controller, main control unit gathers the master control signal, sends to sub-controller, and sub-controller follows main control unit's control action according to the master control signal then, and this system of controller still can be according to the removal of master control signal drive rocker by analog system to make the student follow the study operation.
Drawings
Fig. 1 is a block diagram of a first embodiment of the controller of the present invention.
Fig. 2 is a block diagram of the first embodiment of the controller of the present invention from another perspective.
Fig. 3 is a structural diagram of a passive driving component in a first embodiment of the controller of the present invention.
Fig. 4 is a system connection diagram of a sub-controller in an embodiment of the unmanned aerial device training system of the present invention.
FIG. 5 is a system connection diagram of the master and slave controllers in an embodiment of the unmanned aerial vehicle training system of the present invention.
Fig. 6 is a flowchart of a first embodiment of the unmanned aerial device training method of the present invention.
Fig. 7 is a flowchart of a second embodiment of the unmanned aerial device training method of the present invention.
Fig. 8 is a block diagram of a second embodiment of the controller of the present invention.
Fig. 9 is a structural view of a second embodiment of the controller of the present invention with the housing omitted.
The invention is further explained with reference to the drawings and the embodiments.
Detailed Description
First embodiment of controller:
referring to fig. 1 to 3, the controller includes a rocker assembly, a communication module, and a main control module, the rocker assembly includes two passive driving assemblies 2, two rockers 12, an X offset sensor and a Y offset sensor, the X offset sensor is used for acquiring an X offset of the rocker 12, the Y offset sensor is used for acquiring a Y offset of the rocker 12, the main control module is connected with the X offset sensor and the Y offset sensor, and the communication module is connected with the main control module.
The passive driving assembly 2 comprises an X-direction connecting rod 211, an X-direction connecting rod 212, an X-direction driving device 213, a Y-direction driving device 218, a positioning bracket 214, a Y-direction connecting rod 216 and a Y-direction connecting rod 217, the passive driving assembly 2 is arranged outside the shell 11 of the controller and is positioned at the forward end of the X direction, the two rockers 12 are distributed along the Y direction, and then the two passive driving assemblies 2 are also distributed along the Y direction. The X drive 213 and the Y drive 218 may be motor driven.
The X-direction connecting rod 211 and the X-direction connecting rod 212 are arranged along the X direction, the X-direction connecting rod 211 is horizontally arranged, the X-direction connecting rod 212 is vertically arranged, the X-direction connecting rod 211 is hinged with the rocker 12, the X-direction connecting rod 211, the X-direction connecting rod 212 and the X driving device 213 are sequentially hinged and connected, and the rocker 12 is driven to move or rotate along the X direction under the rotation drive of the X driving device 213. The X driving device 213 is fixedly installed on the positioning support 214, the Y-direction connecting rod 216 and the Y-direction connecting rod 217 are arranged along the Y direction, one end of the Y-direction connecting rod 216 is hinged with the positioning support 214, the Y-direction connecting rod 216, the Y-direction connecting rod 217 and the Y driving device 218 are sequentially hinged, and under the rotation driving of the Y driving device 218, the positioning support 214 and the X driving device 213 are driven to move or rotate in the Y direction, so that the rocker 12 is driven to move or rotate along the Y direction.
The fixed bolster includes installing support 31 and centre gripping support 32, centre gripping support 32 can be for the telescopic movement of installing support 31, realize then that installing support 31 and centre gripping support 32 fix a position the installation to the centre gripping of casing 11, installing support 31 is provided with the hinge hole in both sides, be provided with articulated column 215 on the locating support 214, articulated column 215 and hinge hole cooperation realize then that locating support 214 rotationally installs on installing support 31, Y drive arrangement 218 fixed mounting is on installing support 31. Of course, the positioning bracket can also be arranged on the mounting bracket in a sliding groove sliding block mode so as to realize that the positioning bracket is movably arranged on the mounting bracket and also realize the driving of the rocker.
Unmanned equipment training system embodiment:
referring to fig. 4 and 5, the unmanned aerial vehicle training system includes an unmanned aerial vehicle, a main controller, and a sub-controller, where the unmanned aerial vehicle includes, but is not limited to, an unmanned aerial vehicle, an unmanned ship, a model airplane, a model ship, etc., in this embodiment, the unmanned aerial vehicle 101 is used for illustration, the main controller 102 and the sub-controller 103 respectively use the controllers of the above-described embodiments, in general control operations, as shown in fig. 4, the sub-controller 203 obtains the control right of the unmanned aerial vehicle 101, and executes step S11, and the sub-controller 103 is connected with the unmanned aerial vehicle 101 through a communication module and implements control of the unmanned aerial vehicle 101.
The embodiment of the unmanned equipment training method comprises the following steps:
in the emergency state or the follow-up learning state, as shown in fig. 5 and 6, the main controller performs step S21, the main controller transmits a control switching signal, the sub controller 103 performs step S12, receives the control switching signal, then the main controller 102 is connected to the unmanned aerial vehicle 101 and drives the control right (S22), and at the same time, the main controller 102 is connected to the sub controller 103 through the communication module, so that the subsequent body sensing linkage can be realized, then the sub controller 103 performs step S13, and the sub controller 103 enters the follow-up learning mode.
Then the master controller controls the unmanned aerial vehicle (S23), and then step S24 is executed, the master controller collects master control signals for controlling the unmanned aerial vehicle, the master control signals include X offset signals and Y offset signals of the two rockers, the X offset signals include X-direction travel, X-direction acceleration and trigger time, the X offset signals include Y-direction travel, Y-direction acceleration and trigger time, and then step S25 is executed, and the master control signals are sent to the slave controller 103.
The sub-controller 103 performs step S14 to receive the main control signal outputted by the main controller 10, and then performs step S15, the sub-controller 103 correspondingly drives the X driving device 213 and the Y driving device 218 of the two passive driving assemblies 2 according to the respective X offset signal and Y offset signal of the two rockers in the main control signal, so that the two rockers of the sub-controller 103 move along with the two rockers of the main controller 102, thereby realizing that the action of the trainer operating the main controller 102 is followed by the sub-controller 103, and enabling the trainee to follow the learning in real time when operating the sub-controller 103.
In practical application, a single controller can also be used for independent learning, see fig. 7, that is, the controller is connected to a flight device simulation learning system, a controller is arranged in the simulation learning system, the controller is provided with a control program, and stores a pre-recorded rocker action of a coach, and is matched with a preset learning scene, after the simulation learning system is connected with an auxiliary remote controller, step S31 is executed, the master control signal generated by the simulation system is output to an auxiliary controller, and the auxiliary controller receives the master control signal after entering a follow-up learning mode, and then the movement of the rocker is driven according to the master control signal, so that a trainee can follow the learning operation of the simulation system. The flight simulation system is connected with the flight simulator through an experienced coach to control a common controller, the software records a rocker signal in the control process, or the computer sets the action of the unmanned aerial vehicle to automatically generate the rocker signal, the rocker signal is recorded on a readable storage medium, and the rocker signal is decoded and then reversely output to the controller with a driving device.
A readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the unmanned equipment training method as described above.
In addition, in the above embodiment, when the XY offset signals of the two rockers correspond to the control signals of the flight system, one of the XY offset signals represents roll and pitch of the aircraft, the other XY offset signal includes a throttle Z and a direction a, Z represents a degree of freedom of vertical movement of the drone, and a represents a degree of freedom of horizontal rotation of the drone. In addition, the control corresponding to other unmanned equipment can be defined according to the actual situation. There is illustrated in the drawings another rocker type control AZ, and the above description is in XY direction, and the control of AZ is similar.
Second embodiment of controller:
referring to fig. 8 and 9, the passive driving assembly of the second embodiment of the controller may be disposed in a housing, specifically, a main control circuit board 43 and a battery 46 are disposed in a housing 41 of the controller, and two rockers 42, a main control module and a communication module are disposed on the main control circuit board 43.
The passive driving assembly comprises an X limiting frame 442 and a Y limiting frame 441, the X limiting frame 442 and the Y limiting frame 441 are respectively arranged in an arc shape, the X limiting frame 442 is located at the outer side of the Y limiting frame 441, the X limiting frame 442 is provided with a first limiting groove 444 extending along the Y direction, the Y limiting frame 441 is provided with a second limiting groove 443 extending along the X direction, a rod part of the rocker 42 passes through the first limiting groove 444 and the second limiting groove 443, the X limiting frame 442 and the Y limiting frame 441 are respectively and rotatably arranged on the main control circuit board 42, one axial end of the X limiting frame 442 is connected with an X offset sensor 431, one axial end of the Y limiting frame 441 is connected with a Y offset sensor 432, the X offset sensor 431 and the Y offset sensor 432 can adopt detection devices such as potentiometers and angle sensors to detect angles, the other axial end of the X limiting frame 442 is connected with an X driving device 452, the X driving device 452 drives the X limiting frame 442 to move along the X direction, the other end of the Y stopper frame 441 in the axial direction is connected to a Y driving device 451, and the Y driving device 218 drives the Y stopper frame 441 to move in the Y direction.
The rotation of the two rocking bars can be driven by acquiring the master control signal from other controllers or from an analog system.
Therefore, the position of the rocker is detected by the X offset sensor and the Y offset sensor, so that the controller can realize normal unmanned equipment control, in addition, the main control signals collected by the X deviation sensor and the Y deviation sensor can be output to other controllers through the communication module, and then the X driving device and the Y driving device can be driven according to the main control signals, so that the rocker of the controller moves along with the rocker, so that the student can hold the controller by hand to follow the study, not only can adopt the master control signal input manually, but also can adopt the master control signal simulated by the program to further simulate the teaching mode of the handle of a coach, the student follows the operation, the trial process is avoided, the wrong cognition is corrected, and the standardized program trainees can better understand the force, angle, amplitude and other factors needing limb feeling of the action, so that the complex operation can be more effectively understood, and the learning efficiency is improved.

Claims (10)

1. The controller comprises a rocker assembly, a communication module and a main control module, wherein the rocker assembly comprises a rocker, an X offset sensor and a Y offset sensor, the X offset sensor is used for acquiring the X offset of the rocker, the Y offset sensor is used for acquiring the Y offset of the rocker, the main control module is connected with the X offset sensor and the Y offset sensor, and the communication module is connected with the main control module;
the method is characterized in that:
the controller further comprises a passive driving assembly, the passive driving assembly comprises an X driving device and a Y driving device, the X driving device and the Y driving device are connected with the main control module, the rocker is driven by the X driving device to move along the X direction, and the rocker is driven by the Y driving device to move along the Y direction.
2. The controller according to claim 1, wherein:
the passive driving assembly further comprises an X-direction connecting rod and a positioning bracket, and the X-direction connecting rod is hinged between the rocker and the X-direction driving device;
the X driving device is installed on the positioning support, and the Y driving device is connected with the positioning support and drives the positioning support to move along the Y direction.
3. The controller according to claim 2, wherein:
the passive driving assembly further comprises a Y-direction connecting rod, and the Y-direction connecting rod is hinged between the positioning support and the Y-direction driving device.
4. The controller of claim 3, wherein:
the controller further comprises a fixed support, the fixed support is installed on the shell of the controller, the passive driving assembly is located outside the shell of the controller, the Y driving device is installed on the fixed support, and the positioning support is movably arranged on the fixed support.
5. The controller according to claim 1, wherein:
the passive driving assembly comprises an X limiting frame, the X limiting frame is provided with a first limiting groove extending along the Y direction, the rod part of the rocker penetrates through the first limiting groove, and the X driving device is connected with the X limiting frame and drives the X limiting frame to move along the X direction.
6. The controller according to claim 1, wherein:
the passive driving assembly comprises a Y limiting frame, the Y limiting frame is provided with a second limiting groove extending along the X direction, the rod part of the rocker penetrates through the second limiting groove, and the Y driving device is connected with the Y limiting frame and drives the Y limiting frame to move along the Y direction.
7. The unmanned equipment training system is characterized by comprising unmanned equipment, a main controller and a secondary controller, wherein the main controller and the secondary controller respectively adopt the controllers of any one of the claims 1 to 6, the main controller is in communication connection with the unmanned equipment, and the main controller is in communication connection with the secondary controller.
8. An unmanned aerial vehicle training method, characterized in that, when applied to the controller according to any one of claims 1 to 6, the controller is used as a sub-controller;
the unmanned equipment training method comprises the following steps:
receiving a master control signal output by a master controller;
and driving the X driving device and the Y driving device according to the master control signal.
9. An unmanned aerial vehicle training method, characterized by being applied to the controller according to any one of claims 1 to 6, the controller being used as a master controller;
the unmanned equipment training method comprises the following steps:
collecting a master control signal for controlling the unmanned equipment;
and sending the main control signal to a secondary controller through the communication module.
10. A readable storage medium having stored thereon a computer program, characterized in that: the computer program when executed by a processor realizes the steps of the method for unmanned equipment training as claimed in claim 8 or 9.
CN202110574916.8A 2021-05-25 2021-05-25 Unmanned equipment training system, training method, controller and readable storage medium Pending CN113345296A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110574916.8A CN113345296A (en) 2021-05-25 2021-05-25 Unmanned equipment training system, training method, controller and readable storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110574916.8A CN113345296A (en) 2021-05-25 2021-05-25 Unmanned equipment training system, training method, controller and readable storage medium

Publications (1)

Publication Number Publication Date
CN113345296A true CN113345296A (en) 2021-09-03

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Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Status (1)

Country Link
CN (1) CN113345296A (en)

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