CN206404321U - A kind of motion sensing control handle of unmanned vehicle - Google Patents

Abstract

The utility model is related to technical field of flight control, discloses a kind of motion sensing control handle of unmanned vehicle, including housing and the battery compartment for being arranged at housing, it is characterised in that：The housing is provided with switch controlling device, signal processing apparatus and distant bar controlling, the switch controlling device, distant bar controlling are electrically connected with signal processing apparatus, signal processing apparatus is provided with the electrolevel for detecting housing posture, the signal processing apparatus is electrically connected with battery compartment, handle of the present utility model is not only simple in construction but also manipulates aircraft suitable for beginner, operation is easy, controls simpler.

Description

A kind of motion sensing control handle of unmanned vehicle

Technical field

The utility model is related to technical field of flight control, more particularly to a kind of unmanned vehicle motion sensing control handle.

Background technology

It is increasing with the demand of unmanned vehicle, substantial amounts of unmanned vehicle manufacturer has been occurred in that now, these Unmanned vehicle mainly includes：Spiral paddle, four rotary wind types etc., existing unmanned vehicle are required for utilizing control end and flight Device sets up flight control connection, i.e. flight attitude of the operator in ground control end for controlling aircraft.

For quadrotor, existing control mode is often joystick, using its rocking bar with The elemental motions such as acceleration, turning are realized in the cooperation of potentiometer, when needing to keep continuous side to fly shape control quadrotor During state, then generally require very skilled operator's ability discontinuous and complete, it is clear that for unskilled or skilled operator For, it is difficult to the holding for reaching that continuous side flies state, in view of this, inventor has made new innovation and creation.

Utility model content

The purpose of this utility model is that there is provided a kind of motion sensing control hand of unmanned vehicle in view of the shortcomings of the prior art Handle, this joystick has the advantages that simple in construction, easy operation and controlled.

To achieve the above object, the motion sensing control handle of a kind of unmanned vehicle of the present utility model, including housing and set The battery compartment of housing is placed in, the housing is provided with switch controlling device, signal processing apparatus and distant bar controlling, described to open Close control device, distant bar controlling to be electrically connected with signal processing apparatus, signal processing apparatus is provided with for detecting shell The electrolevel of body posture, the signal processing apparatus is electrically connected with battery compartment.

Further, the switch controlling device include the first pcb board, first pcb board be provided with power switch and The first through hole that power supply source switch stretches out, the anterior setting of the housing are provided with the top of body-sensing trigger switch, the housing There is the second through hole that donor sense trigger switch is stretched out, first pcb board is electrically connected with signal processing apparatus.

It is preferred that, first pcb board is additionally provided with camera control switch, and the front portion of the housing is provided with for camera control System switch stretches out and three through holes.

Further, the signal processing apparatus includes the second pcb board, and second pcb board is connected with MCU, signal and connect Receiving apparatus and the sender unit for the signal of compiling to be sent to aircraft, the signal receiving device and electronic horizon Instrument is electrically connected with, and the signal receiving device is electrically connected with by the second pcb board and MCU, and the sender unit passes through the Two pcb boards are electrically connected with MCU.

Further, the signal processing apparatus is also associated with for making the vibrating motor of hull vibration.

It is preferred that, the distant bar controlling includes control seat and the control-rod being flexibly connected with control seat, the control Seat is electrically connected with signal processing apparatus, and fourth hole is provided with the top of the housing, and the control-rod passes through fourth hole.

Further, the signal processing apparatus is additionally provided with the micromatic setting of the motor rotary speed for controlling aircraft.

It is preferred that, it is micro- that the micromatic setting includes the first trim button, the second trim button, the 3rd trim button and the 4th Adjust and be provided with the top of button, the housing for the first trim button, the second trim button, the 3rd trim button and the 4th fine setting The fifth hole of button.

A kind of joystick control method of unmanned vehicle of the present invention, when body-sensing presses switch to open, electrolevel The posture of front handle is detected,

Such as front handle is left side state, then left side signal L is sent to signal processing device by electrolevel Put, be sent to aircraft by signal processing means processes signal and by sender unit, aircraft is left side state；

Such as front handle is right side heeling condition, then left side signal L is sent to signal processing device by electrolevel Put, be sent to aircraft by signal processing means processes signal and by sender unit, aircraft is right side heeling condition；

Such as front handle is heeling condition under front end, then left side signal L is sent to signal transacting by electrolevel Device, aircraft, aircraft forward flight are sent to by signal processing means processes signal and by sender unit；

Such as front handle is heeling condition on front end, then left side signal L is sent to signal transacting by electrolevel Device, is sent to aircraft, aircraft flies backward by signal processing means processes signal and by sender unit；

When body-sensing button is closed, aircraft current flight state reverts to floating state.

Further improved, when handle starts motion sensing control, handle at least occurs once to vibrate.

The beneficial effects of the utility model：Compared with prior art, the body-sensing of a kind of unmanned vehicle of the present utility model Joystick, this joystick detects the posture of front handle using electrolevel, so that this attitude signal be sent to Signal processing means processes are the control signal that aircraft is received, and operator can hold portion's handle using the hand of itself completely, Again by the current pose of the direct joystick of hand, detected, corresponding signal will be sent to by electrolevel immediately Signal processing means processes are corresponding flying vehicles control signal, this directly to enter the mode of line tilt handle using hand to control Aircraft processed is to obtain the corresponding posture of aircraft, and handle of the invention is not only simple in construction but also suitable for beginner's manipulation Aircraft, operation is easy, controls simpler；And present invention also offers a kind of joystick controlling party of unmanned vehicle Method, this control method can make aircraft keep continuous side to fly state, make aircraft when temporarily by obstacle is tilted, it appears more Plus easily.

Brief description of the drawings

Fig. 1 is the front view of the utility model handle.

Fig. 2 is the structural decomposition diagram of the utility model handle.

Fig. 3 is the top view of the utility model handle.

Fig. 4 is the full sectional view of the utility model handle.

Reference：

Housing -- 1, drain pan -- 11, face-piece -- 12,

Battery compartment -- 13, switch controlling device -- 2, the first pcb board -- 21,

Power switch -- 22, body-sensing trigger switch -- 23, camera control switch -- 24,

Signal processing apparatus -- 3, the second pcb board -- 31, distant bar controlling -- 4,

Control seat -- 41, control-rod -- 42, electrolevel -- 5,

Vibrating motor -- 6, micromatic setting -- 7, the first trim button -- 71,

Second trim button -- 72, the 3rd trim button -- 73, the 4th trim button -- 74.

Embodiment

The utility model is described in detail below in conjunction with the accompanying drawings.

Referring to Fig. 1 to Fig. 4, the utility model provides a kind of motion sensing control handle of unmanned vehicle, including housing 1 and sets The battery compartment 13 of housing 1 is placed in, battery compartment 13 is used to install common battery, wherein, housing 1 includes drain pan 11 and face-piece 12, Face-piece 12 is fixed by screw etc. with drain pan 11, and battery compartment 13 can preferably be arranged at the bottom surface of drain pan 11, and the housing 1 is set It is equipped with switch controlling device 2, signal processing apparatus 3 and distant bar controlling 4, the switch controlling device 2, distant bar controlling 4 are electrically connected with signal processing apparatus 3, and signal processing apparatus 3 is provided with the electrolevel 5 for detecting the posture of housing 1, The signal processing apparatus 3 is electrically connected with battery compartment 13.The operation principle of this motion sensing control handle is：Switch controlling device 2 It is mainly used in the power supply of joystick, and controls being turned on and off for motion sensing control function, when motion sensing control function is in During opening, electrolevel 5 detects the posture of front handle, for example：When front handle is left side state, electronic water Level 5 transmits a signal to signal processing apparatus 3, and the Electric signal processing of electrolevel 5 is aircraft institute by signal processing apparatus 3 The remote signal that can be received, and sent remote signal by sender unit, received by aircraft and be changed flight The current pose of device is left side state.

It can thus be seen that this joystick detects the posture of front handle using electrolevel 5, so that by this appearance State signal is sent to the control signal that signal processing apparatus 3 is processed as aircraft reception, and operator can utilize itself completely Hand holds portion's handle, then by the current pose of the direct joystick of hand, is detected immediately by electrolevel 5, will be right The signal answered is sent to signal processing apparatus 3 and is processed as corresponding flying vehicles control signal, this directly to be inclined using hand The mode of oblique handle to control aircraft to obtain the corresponding posture of aircraft, handle of the invention it is not only simple in construction but also Aircraft is manipulated suitable for beginner, operation is easy, controls simpler.

Generally, aircraft is preceding, it is necessary to be limited the relevant control of joystick, in the technical program in preparation flight In, the switch controlling device 2 includes the first pcb board 21, and first pcb board 21 is provided with power switch 22 and body-sensing triggering Switch 23, the top of the housing 1 is provided with the first through hole that power supply source switch 22 stretches out, and the front portion of the housing 1 is provided with The second through hole that donor sense trigger switch 23 is stretched out, first pcb board 21 is electrically connected with signal processing apparatus 3.Power supply is opened The effect for closing 22 is the power supply for controlling whole handle, when aircraft needs to take off, opens the power switch 22, utilizes handle Distant bar controlling 4 make aircraft takeoff rise be in floating state, when need adjust aircraft posture or carry out level During flight, user can directly utilize finger down body-sensing trigger switch 23, and at this moment, the motion sensing control of this handle is activated, electricity Sub- level meter 5 detects the posture of front handle, when operator needs the aircraft to carry out left side flight, operator only need to by Handle is tilted to the left, while the front end of front hand grip is tilted down, at this moment, electrolevel 5 send corresponding signal by believing Number processing unit 3 is handled, and is sent by sender unit, is received by aircraft so as to the synchronous left side for realizing aircraft Lateral attitude, and aircraft forward flight, and when user's releaser sense trigger switch 23, by electrolevel 5 no longer The posture of front handle is detected, aircraft is in default floating state automatically.

Same principle is：When needing adjustment aircraft with right side lateral attitude flight forward, user can be directly sharp Press...withed one's finger lower body sense trigger switch 23, and at this moment, the motion sensing control of this handle is activated, the detection front handle of electrolevel 5 Posture, operator need aircraft carry out right side tilt flight, operator only needs to the right tilt handle, while remote holder The front end of handle is tilted down, at this moment, and corresponding signal is sent and handled by signal processing apparatus 3 by electrolevel 5, and by Sender unit is sent, and is received by aircraft so as to the synchronous right side lateral attitude for realizing aircraft, while aircraft is forward Flight.

If necessary to aircraft with right side lateral attitude or left side posture backward flight when, i.e., falling under heeling condition Fly, user can directly utilize finger down body-sensing trigger switch 23, and at this moment, the motion sensing control of this handle is activated, electronic water Level 5 detects the posture of front handle, and operator needs aircraft to carry out right side inclination or left side flight, and operator only needs Handle is tilted or left side to the right, while the front end of front hand grip is inclined upwardly, at this moment, electrolevel 5 will be right The signal answered is sent to be handled by signal processing apparatus 3, and is sent by sender unit, is received by aircraft so as to synchronous real The right side of existing aircraft is tilted or left side posture, while aircraft flies backward, i.e. inverted flight under heeling condition.

Now, most unmanned vehicle can be installed in camera, the technical program, and first pcb board 21 is also set Camera control switch 24 is equipped with, the front portion of the housing 1 is provided with stretched out for camera control switch 24 and three through holes.The phase Machine controlling switch 24 not necessarily only controls camera, and it can also directly control the imaging devices such as video camera, and by the camera control System switch 24 is arranged at the front portion of housing 1, is conducive to hand in gripping handle, the camera can be easily pressed using finger Controlling switch 24, also meets the design of ergonomics.

In the technical program, the signal processing apparatus 3 includes the second pcb board 31, and second pcb board 31 is connected with MCU, signal receiving device and the sender unit for the signal of compiling to be sent to aircraft, the signal receiving device It is electrically connected with electrolevel 5, electrolevel 5 can be fixed using the second pcb board 31, the signal receiving device It is electrically connected with by the second pcb board 31 and MCU, the sender unit is electrically connected with by the second pcb board 31 and MCU.Letter Number reception device carries out relaying to the electric signal of electrolevel 5 and sends MCU to, and the effect of sender unit is by MCU The 2.4GHz of reason remote signal is sent out outside handle, so that aircraft, which can receive this, wishes control signal from a great distance, signal is received Device directly uses existing mature technology scheme with sender unit, and therefore, the present invention is not repeated.

In most cases, people easily forget whether press some function buttons when operating various control ends, So, often occurs the operation of repeatability, to cause the error in flight, therefore, in the technical program, at the signal Reason device 3 is also associated with the vibrating motor 6 for vibrating housing 1.When signal processing apparatus 3 receives various shift knob letters Number when, signal processing apparatus 3 sends signal, and control vibrating motor 6 works 0.5 ~ 2 second, so, can reach prompting effector Effect.

In the technical program, the distant bar controlling 4 includes control seat 41 and the control being flexibly connected with control seat 41 Bar 42 processed, the control seat 41 is electrically connected with signal processing apparatus 3, and the top of the housing 1 is provided with fourth hole, described Control-rod 42 passes through fourth hole.Control to be single potentiometer in seat 41, this distant bar controlling 4, which is mainly aircraft, to be needed Fly when, push lever 42 forward so that aircraft rise be in floating state；When aircraft needs landing, control is promoted Bar 42 processed backward so that aircraft down drops back to ground；When aircraft is needing in floating state, control is promoted Bar 42 processed to the left, is turned to the left so that aircraft is realized；When aircraft is needing to turn right in floating state, control is promoted Bar 42 processed to the right, is turned to the right so that aircraft is realized；Regardless of whether be control-rod 42 forward, backward, to the left or to the right after, It can be resetted automatically.

For quadrotor, the rotating speed control for four motors having, which seems, to be even more important, and to realize flight The smooth flight of device is, it is necessary to which the rated speed tolerance value of four motors reaches minimum, it is generally the case that specified turn of four motors Speed is respectively provided with different tolerance values, in order that when controlling four motors, obtaining more accurate rotating speed control；In this programme In, the signal processing apparatus 3 is additionally provided with the micromatic setting 7 of the motor rotary speed for controlling aircraft.Filled using the fine setting Putting 7, the volume step rotating speed of different motors can be adjusted respectively, be particularly conducive to aircraft when tilting flight, motor output Rotating speed stabilization to improve the holding of aircraft lateral attitude.

For micromatic setting 7, the micromatic setting 7 includes the first trim button 71, the second trim button the 72, the 3rd and finely tuned The trim button 74 of button 73 and the 4th, the top of the housing 1 be provided with for the first trim button 71, the second trim button 72, The fifth hole of 3rd trim button 73 and the 4th trim button 74.First trim button 71, the second trim button the 72, the 3rd are micro- The trim button 74 of button 73 and the 4th is adjusted to correspond to the motor control of one aircraft of control, for example：Assuming that the volume of the first motor Determining rotating speed needs voltage to be that the 95% of the predeterminated voltage V, rated speed of the second motor needs 90% that voltage is predeterminated voltage V, The rated speed of three motors needs voltage to be that the 105% of the predeterminated voltage V, rated speed of the 4th motor needs voltage to be default electricity The 100% of V is pressed, then is adjusted using the first trim button 71, the second trim button 72, the 3rd trim button 73 and the 4th fine setting are pressed Button 74 is finely adjusted to it respectively, so, you can the initial speed of motor is approached to greatest extent, is then led to again Cross the percentage of control voltage to realize the accurate manipulation of motor, to reach the accurate control of aircraft.

A kind of joystick control method of unmanned vehicle of the present invention, when body-sensing presses switch to open, electrolevel 5 The posture of front handle is detected,

When manipulator needs aircraft with left side state, front handle is set to left side state, then electronics Left side signal L is sent to signal processing apparatus 3 by level meter 5, is sent by the process signal of signal processing apparatus 3 and by signal Device is sent to aircraft, and aircraft is left side state；

When manipulator needs aircraft with right side heeling condition, front handle is set to right side heeling condition, then electronics Left side signal L is sent to signal processing apparatus 3 by level meter 5, is sent by the process signal of signal processing apparatus 3 and by signal Device is sent to aircraft, and aircraft is right side heeling condition；

When aircraft needs aircraft forward flight in floating state, and manipulator, front handle is set to front end Lower heeling condition, then electrolevel 5 left side signal L is sent to signal processing apparatus 3, by signal processing apparatus 3 Reason signal is simultaneously sent to aircraft, aircraft forward flight by sender unit；

When manipulator needs aircraft flight backward, front handle is set to heeling condition on front end, then electronic horizon Left side signal L is sent to signal processing apparatus 3 by instrument 5, by the process signal of signal processing apparatus 3 and by sender unit Aircraft is sent to, aircraft flies backward.

And be more importantly, it is necessary to when aircraft is with left side or right side heeling condition flight forward, such as incite somebody to action current Handle is set to left side state, meanwhile, the front end of handle is set to the state of tilting down, now, aircraft is left side State and flight forward state is kept, the state that this holding tilts flight forward has continuity, and can grasp temporarily Control makes aircraft realize inclination；Front handle is such as set to right side heeling condition, meanwhile, it is set to the front end of handle and tilts down State, now, aircraft is right side heeling condition and keeps flight forward state, and this holding tilts the state of flight forward With continuity, and can manipulate temporarily makes aircraft realize inclination.

When needing manipulation aircraft with left side or right side heeling condition flight backward, front handle is such as set to a left side Side heeling condition, meanwhile, the front end of handle is set to the state of being inclined upwardly, now, aircraft is left side state and protected Hold state of flight backward, i.e. left side inverted flight；Front handle is such as set to right side heeling condition, meanwhile, make the front end of handle The state of being inclined upwardly is set to, now, aircraft is right side heeling condition and keeps state of flight backward, i.e., right side tilts Fly, this state for keeping flight tilted backwards has continuity, and can manipulate temporarily makes aircraft realize inclination, makes to fly Row device is when temporarily by obstacle is tilted, it appears be more prone to.

When body-sensing button is closed, aircraft current flight state reverts to floating state.

Certainly, in order that manipulator obtains more preferably operating experience, as more excellent control method,

When handle starts motion sensing control, handle at least occurs once to vibrate.So, operator can vibration prompting Under, it can accurately know currently to have switched under motion sensing control state.

Above content is only preferred embodiment of the present utility model, for one of ordinary skill in the art, according to this reality With new thought, it will change in specific embodiments and applications, this specification content should not be construed as To limitation of the present utility model.

Claims (8)

1. a kind of motion sensing control handle of unmanned vehicle, including housing and the battery compartment for being arranged at housing, it is characterised in that：Institute State housing and be provided with switch controlling device, signal processing apparatus and distant bar controlling, the switch controlling device, the control of distant bar Device is electrically connected with signal processing apparatus, and signal processing apparatus is provided with the electrolevel for detecting housing posture, The signal processing apparatus is electrically connected with battery compartment.

2. a kind of motion sensing control handle of unmanned vehicle according to claim 1, it is characterised in that：The switch control Device includes the first pcb board, and first pcb board is provided with the top of power switch and body-sensing trigger switch, the housing and set The first through hole that power supply source switch stretches out is equipped with, the front portion of the housing is provided with the second of the stretching of donor sense trigger switch and led to Hole, first pcb board is electrically connected with signal processing apparatus.

3. a kind of motion sensing control handle of unmanned vehicle according to claim 2, it is characterised in that：First PCB Plate is additionally provided with camera control switch, and the front portion of the housing is provided with switchs stretch out and three through holes for camera control.

4. a kind of motion sensing control handle of unmanned vehicle according to claim 1, it is characterised in that：The signal transacting Device includes the second pcb board, and second pcb board is connected with MCU, signal receiving device and for the signal of compiling to be sent to The sender unit of aircraft, the signal receiving device is electrically connected with electrolevel, and the signal receiving device leads to Cross the second pcb board to be electrically connected with MCU, the sender unit is electrically connected with by the second pcb board and MCU.

5. a kind of motion sensing control handle of unmanned vehicle according to claim 1, it is characterised in that：The signal transacting Device is also associated with for making the vibrating motor of hull vibration.

6. a kind of motion sensing control handle of unmanned vehicle according to claim 5, it is characterised in that：The distant bar control Device includes control seat and the control-rod being flexibly connected with control seat, and the control seat is electrically connected with signal processing apparatus, institute State and fourth hole is provided with the top of housing, the control-rod passes through fourth hole.

7. a kind of motion sensing control handle of unmanned vehicle according to claim 1, it is characterised in that：The signal transacting Device is additionally provided with the micromatic setting of the motor rotary speed for controlling aircraft.

8. a kind of motion sensing control handle of unmanned vehicle according to claim 7, it is characterised in that：The micromatic setting Including the first trim button, the second trim button, the 3rd trim button and the 4th trim button, it is provided with the top of the housing For the fifth hole of the first trim button, the second trim button, the 3rd trim button and the 4th trim button.