WO2017185317A1 - 一种用于飞行器的遥控装置 - Google Patents

一种用于飞行器的遥控装置 Download PDF

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Publication number
WO2017185317A1
WO2017185317A1 PCT/CN2016/080606 CN2016080606W WO2017185317A1 WO 2017185317 A1 WO2017185317 A1 WO 2017185317A1 CN 2016080606 W CN2016080606 W CN 2016080606W WO 2017185317 A1 WO2017185317 A1 WO 2017185317A1
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WO
WIPO (PCT)
Prior art keywords
potential signal
command
aircraft
action
control device
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Application number
PCT/CN2016/080606
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English (en)
French (fr)
Inventor
曾华均
Original Assignee
深圳飞豹航天航空科技有限公司
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Filing date
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Application filed by 深圳飞豹航天航空科技有限公司 filed Critical 深圳飞豹航天航空科技有限公司
Priority to PCT/CN2016/080606 priority Critical patent/WO2017185317A1/zh
Publication of WO2017185317A1 publication Critical patent/WO2017185317A1/zh

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G05D1/0016—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the operator's input device

Definitions

  • the present invention relates to the field of remote control technology, and in particular to a remote control device for an aircraft.
  • the existing aircraft mainly controls its running state through the remote control device, and the operation of the remote control device mainly controls the forward or backward movement of the aircraft through two rockers provided on the remote control device, and the prior art exclusively provides such as "American hand” and " “Japanese hand” and other double lever operation mode, however, in the prior art, since it is necessary to control two joysticks at the same time, the novice is more difficult to control the aircraft in the entry stage, so it is necessary for the professional remote control personnel to undergo long-term training. The novice can skillfully operate the remote control device to properly control the flight attitude of the aircraft.
  • the prior art remote control device has a problem of complicated operation and poor user experience.
  • the embodiments of the present invention provide a remote control device for an aircraft, which can solve the technical problem that the control operation of the remote control device of the aircraft is complicated.
  • the present invention provides a remote control device for an aircraft, comprising: a rocker disposed on an outer surface of the remote control device, the rocker is set to perform a push forward motion and a rear push motion; the sensor module is configured Inside the remote control device, the first potential signal is generated according to the forward push action and the forward push angle, and the second potential signal is generated according to the pushback action and the pushback angle, wherein the magnitude of the first potential signal is related to the forward push angle, and the second potential signal
  • the size of the main processing chip is set inside the remote control device for collecting the first potential signal and generating a head downward command and a second acquisition set with a forward pushing angle according to the size of the first potential signal.
  • the potential signal generates a head up command set with a pushback angle according to the magnitude of the second potential signal; the communication module sends the head down command or the head up command to the aircraft, so that the aircraft is down according to the head
  • the command is used to push the angle downward to adjust the direction of the head, or to adjust the direction of the head upward according to the upward movement of the head.
  • the rocker is set to make a left push action and a right push action;
  • the sensor module generates a third potential signal according to the left push action and the left push angle, and generates a fourth potential signal according to the right push action and the right push angle, wherein the The magnitude of the three potential signal is related to the left push angle, wherein the magnitude of the fourth potential signal is related to the right push angle;
  • the main processing chip collects the third potential signal and generates a machine with a left push angle according to the magnitude of the third potential signal.
  • the left tilt command, the fourth potential signal is collected, and the right tilt command of the right angle is set according to the size of the fourth potential signal; the communication module sends the left tilt command or the right tilt command to the aircraft to make the aircraft According to the left tilt command of the fuselage, the left position of the body position is adjusted with the left tilt angle, or the right position of the body position is adjusted with the right tilt angle according to the right tilt command of the body.
  • the rocker is provided with a turntable, and the turntable is set to perform a rotating action
  • the sensor module generates a fifth potential signal according to the rotating action and the rotation angle, wherein the size of the fifth potential signal is related to the rotation angle
  • the main processing chip And acquiring a fifth potential signal and generating a head turning command set with a rotation angle according to the size of the fifth potential signal
  • the communication module transmitting the head turning command to the aircraft, so that the aircraft rotates according to the head turning instruction Adjust the direction of the nose of the aircraft.
  • the rotating action includes a left-handed action and a right-handed action.
  • the main processing chip collects the fifth potential signal and detects that the magnitude of the fifth potential signal is maintained at a fixed value for more than a predetermined period of time, and generates a spin command set with a rotation angle, wherein the rotation angle and the fifth potential signal are Corresponding to the size; the communication module sends a spin command to the aircraft, so that the aircraft performs a spin flight at the same height at a rotation angle according to the spin command.
  • the communication module when the rotating action is a left-handed motion, the communication module sends a spin command to the aircraft, so that the aircraft performs counterclockwise spin flight at the same height according to the spin command at the same rotation angle; when the rotating motion is a right-handed motion, The communication module transmits a spin command to the aircraft such that the aircraft makes a clockwise spin flight at the same altitude at a rotation angle according to the spin command.
  • the rocker is set to make an elongated motion
  • the sensor module generates a sixth potential signal according to the elongated motion and the elongated distance, wherein the magnitude of the sixth potential signal is related to the elongated distance
  • the main processing chip collects And the sixth potential signal generates an increase command set with a vertical rise distance according to the size of the sixth potential signal, wherein the vertical rise distance corresponds to the extended distance
  • the communication module sends the increase command to the aircraft, so that The aircraft climbs the vertical lift distance according to the rising command.
  • the rocker is set to perform a shortening action, wherein: the sensor module generates a seventh potential signal according to the shortening action and the shortening distance, wherein the size of the seventh potential signal is related to the shortening distance; the main processing chip collects the seventh potential signal And generating a falling command with a vertical falling distance according to the size of the seventh potential signal; and the communication module transmitting the falling command to the aircraft, so that the aircraft descends the vertical falling distance according to the falling command.
  • the remote control device further includes: a throttle control unit disposed on an outer surface of the remote control device, the throttle control unit is configured to perform a refueling action and a retracting action; and the sensor module generates an eighth potential signal according to the refueling action, according to the oil collecting action Generating a ninth potential signal, the magnitude of the eighth potential signal is related to the magnitude of the refueling action, and the magnitude of the ninth potential signal is related to the amplitude of the oil collection action; the main processing chip collects the eighth potential signal and according to the magnitude of the eighth potential signal Generating an acceleration command set with a first acceleration amount, collecting a ninth potential signal, and generating a deceleration command set with a second acceleration amount according to the magnitude of the ninth potential signal, wherein the first acceleration amount corresponds to the magnitude of the refueling operation, The acceleration amount corresponds to the amplitude of the oil collection action; the communication module transmits the acceleration command or acceleration to the aircraft, so that the aircraft accelerates according to the acceleration command with the first acceleration amount
  • the sensor module includes a plurality of adjustable potentiometers.
  • the remote control device further includes: a throttle control unit disposed on an outer surface of the remote control device, the throttle control unit is configured to perform a refueling action and a retracting action; and the sensor module generates an eighth potential signal according to the refueling action, according to the oil collecting action Generating a ninth potential signal, the magnitude of the eighth potential signal is related to the magnitude of the refueling action, and the magnitude of the ninth potential signal is related to the amplitude of the oil collection action; the main processing chip collects the eighth potential signal and according to the magnitude of the eighth potential signal Generating a horizontal forward flight command set with a first uniform flight speed, collecting a ninth potential signal, and generating a horizontal backward flight command set with a second uniform flight speed according to the magnitude of the ninth potential signal, wherein the first uniform flight The speed corresponds to the magnitude of the refueling action, and the second uniform flight speed corresponds to the magnitude of the refueling action; the communication module transmits a horizontal forward flight command or a horizontal backward flight command to
  • the remote control device further includes: a button take-off/landing button, and the main processing chip respectively generates a button take-off command and a button landing command according to the pressing action and the releasing pressing action on the one-button take-off/landing button; the communication module will A one-click takeoff command or a one-click landing command is sent to the aircraft to cause the aircraft to take off from the ground to a predetermined altitude according to a one-button takeoff command, or to land from the air to the ground according to a one-click landing command.
  • the present invention further provides a remote control device for an aircraft, comprising: a rocker disposed on an outer surface of the remote control device, the rocker is set to make a left push action and a right push action; and the sensor module is disposed inside the remote control device, Generating a third potential signal according to the left push action and the left push angle, and generating a fourth potential signal according to the right push action and the right push angle, wherein the magnitude of the third potential signal is related to the left push angle, wherein the size of the fourth potential signal is right
  • the push angle is related; the main processing chip collects the third potential signal and generates a left tilt command of the fuselage set with the left push angle according to the magnitude of the third potential signal, collects the fourth potential signal, and generates a setting according to the magnitude of the fourth potential signal.
  • the right tilting direction of the right angle command the communication module sends the left tilting command or the right tilting command to the aircraft, so that the aircraft adjusts the leftward tilt of the body position by the left tilting angle according to the left tilting command of the fuselage, or tilts according to the right side of the fuselage
  • the command adjusts the body position to the right tilt with a right-angled angle.
  • the present invention further provides a remote control device for an aircraft, characterized in that it comprises a remote lever, and the remote lever is arranged to make a push forward motion, a backward push motion, a left push motion, a right push motion, an elongated motion, and a shortening motion. And, the top or bottom of the remote lever is provided with a turntable, and the turntable is set to perform a rotating motion.
  • the embodiment of the present invention can solve the technical problem that the control operation of the remote control device of the aircraft is complicated by replacing the double rocker with a single rocker and by appropriately setting the control mode of the single rocker.
  • FIG. 1 is a schematic structural diagram of a system of a flight control system according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a device of a remote control device according to an embodiment of the present invention.
  • FIG. 3 is a schematic view showing the external structure of a remote control device when a rocker is shortened according to an embodiment of the present invention
  • FIG. 4 is a schematic view showing the external structure of the remote control device when the rocker is elongated according to an embodiment of the present invention
  • FIG. 5 is a schematic diagram showing the external structure of a remote control device when a rocker is pushed forward according to an embodiment of the present invention
  • FIG. 6 is a schematic diagram showing the external structure of a remote control device when a rocker is pushed back according to an embodiment of the present invention
  • FIG. 7 is a schematic diagram showing the external structure of a remote control device when a rocker makes a left push motion according to an embodiment of the present invention
  • FIG. 8 is a schematic diagram showing the external structure of a remote control device when a rocker makes a right push motion according to an embodiment of the present invention
  • FIG. 9 is a schematic diagram of circuit connections between a sensor module and a main processing chip in accordance with a preferred embodiment of the present invention.
  • FIG. 1 is a schematic structural diagram of a system of a flight control system according to an embodiment of the present invention.
  • the flight control system includes a remote control device 10 and an aircraft 11, and the remote control device 10 is connected with the aircraft 11 for signal connection. Perform wireless data transmission.
  • the present invention implements data transfer between the remote control device 10 and the aircraft 11 using mavlink, a communication protocol for small unmanned vehicles.
  • the remote control device 10 modulates the flight control command onto the carrier and transmits the operational control command aircraft 11 via the carrier.
  • the frequency of the carrier can be, for example, 433 MHz. 915MHz, 2.4G or 5.8G make the transmitted signal larger and the distance traveled farther.
  • the remote control device 10 establishes a WiFi network connection with the aircraft 11, and the remote control device 10 transmits a flight control command to the aircraft 11 via the WiFi network.
  • FIG. 2 is a schematic structural diagram of a device of a remote control device according to an embodiment of the present invention.
  • the remote control device 10 includes a rocker 101, a sensor module 102, a main processing chip 103, and a communication module 104.
  • the turntable 105 and the throttle control unit 106 are schematic structural diagrams of a device of a remote control device according to an embodiment of the present invention.
  • the remote control device 10 includes a rocker 101, a sensor module 102, a main processing chip 103, and a communication module 104.
  • the turntable 105 and the throttle control unit 106 The turntable 105 and the throttle control unit 106.
  • the main processing chip 103 and the sensor module 102 are disposed inside the remote control device 10, and the rocker 101 is disposed on the outer surface of the remote control device 10.
  • the main processing chip 103 is electrically connected to the communication module 104 and the sensor module 102 respectively, and the sensor module 102 is respectively mechanically connected with the rocker 101, the turntable 105 and the throttle control unit 106, and the sensor module 102 can detect the rocker 101,
  • the operation type and the operation range of the turntable 105 and the throttle control unit 106 are fed back to the main processing chip 103 by the multi-channel potential signal, and the main processing chip 103 generates a corresponding flight according to the type and magnitude of the potential signal.
  • the control commands are transmitted to the aircraft 11 via the communication module 104.
  • FIG. 3 is a schematic diagram showing the external structure of the remote control device when the rocker is shortened according to an embodiment of the present invention
  • FIG. 4 is a remote control device when the rocker is elongated according to an embodiment of the invention. Schematic of the external structure.
  • the remote control device 10 includes a rocker 101 and a throttle control portion 106 provided on an outer surface of the remote control device 10, and a turntable 105 disposed at the top of the rocker 101.
  • the turntable 105 may also be disposed at the bottom of the remote pole 101, wherein the bottom of the remote pole 101 refers to the position of the other end relative to the top of the remote pole 101 (as in FIG. 4). Marked by 99).
  • the remote control device 10 further includes a display screen 108 and a handle 107.
  • the user can grasp the handle 107 with his left hand and press the throttle control portion 106 with the left index finger while manipulating the rocker 101 with the right hand.
  • control manner is only one of the multiple control modes for implementing the embodiments of the present invention.
  • those skilled in the art may completely define other control modes according to the inventive concept. This is not limited.
  • the throttle control unit 106 is a trigger design.
  • the throttle control unit 106 can also be configured in other manners, such as directly using a button or a knob as the throttle control.
  • the portion 106 is not specifically limited in the present invention.
  • the handle 107 shown in this embodiment is only a specific implementation of the grip portion.
  • the present invention can replace the handle 107, such as a wrist strap, a hand rest, etc., by various other forms. Specifically limited.
  • the rocker 101 is provided to be capable of shortening, stretching, pushing, pushing, pushing, and pushing.
  • the top of the rocker 101 is provided with a turntable 105 which is arranged to perform a rotating action including a left-handed action and a right-handed action.
  • the throttle control unit 106 is provided to perform a refueling operation and a retracting operation.
  • FIG. 5 is a schematic diagram showing the external structure of the remote control device when the rocker is pushed forward according to an embodiment of the present invention
  • FIG. 6 is a rocker according to an embodiment of the present invention
  • FIG. 7 is a schematic diagram showing the external structure of the remote control device when the joystick is left-pushing according to the embodiment of the present invention
  • FIG. 8 is a schematic diagram of the external control device when the joystick is pushed right according to the embodiment of the present invention. Schematic diagram of the external structure of the remote control device.
  • the rocker 101 performs a push forward motion under the operation of the user, and an arrow S1 indicates a forward push direction; in the state shown in FIG. 6, the rocker 101 performs a pushback motion under the user's operation, the arrow S2 denotes a pushback direction; in the state shown in Fig. 7, the rocker 101 makes a left push action under the operation of the user, and an arrow S3 indicates a left push direction; in the state shown in Fig. 8, the rocker 101 is under the user's operation. A right push action is made, and an arrow S4 indicates a right push direction.
  • the sensor module 102 detects the action type and the action amplitude of each state, and transmits them to the main processing chip 103 in the manner of multiple potential signals.
  • the sensor module 102 generates a first potential signal according to the forward pushing action and the forward pushing angle, generates a second potential signal according to the pushback action and the pushback angle, generates a third potential signal according to the left push action and the left push angle, or according to the right
  • the push action and the right push angle generate a fourth potential signal, wherein the magnitude of the first potential signal is related to the forward push angle, the magnitude of the second potential signal is related to the pushback angle, and the magnitude of the third potential signal is related to the left push angle, wherein The magnitude of the fourth potential signal is related to the right push angle.
  • the main processing chip 103 collects the first potential signal and generates a head down command that sets the forward push angle according to the magnitude of the first potential signal, collects the second potential signal, and generates a setting according to the magnitude of the second potential signal.
  • the machine head of the push angle commands upward collects the third potential signal, and generates a left tilt command of the fuselage set with the left push angle according to the magnitude of the third potential signal, collects the fourth potential signal, and generates a setting according to the magnitude of the fourth potential signal.
  • the communication module 104 sends the nose down command, the head up command, the body left tilt command or the body right tilt command to the aircraft 11 so that the aircraft 11 adjusts the head direction downward according to the nose downward command.
  • the angle of the head is adjusted upwards, the left position of the body position is adjusted according to the left tilting angle of the body, or the right side of the body position is adjusted according to the right tilting direction of the body.
  • the forward motion and the backward pushing motion of the single rocker 101 can respectively correspond to the control aircraft.
  • the nose of the 11 is up and down, and the left and right push motions of the single rocker 101 can respectively control the flight attitude of the aircraft 11 to the left and right, respectively, so that the operation control of the aircraft 11 is simpler and can
  • the utility model effectively solves the technical problem that the existing remote control device has complicated control operation when the aircraft is flying.
  • the sensor module 102 generates a sixth potential signal according to the elongated motion and the elongated distance, wherein the magnitude of the sixth potential signal is related to the elongated distance;
  • the communication module 104 transmits a raise command to the aircraft 11 such that the aircraft 11 climbs the vertical lift distance according to the rise command.
  • the sensor module 102 generates a seventh potential signal according to the shortening action and the shortening distance, wherein the size of the seventh potential signal is related to the shortening distance;
  • the main processing chip 103 collects the seventh potential signal and generates a falling instruction set with a vertical falling distance according to the size of the seventh potential signal;
  • the communication module 104 transmits a descent command to the aircraft 11 such that the aircraft 11 descends the vertical descent distance according to the descent command.
  • the vertical descent distance corresponds to the shortened distance.
  • a predetermined proportional relationship can be set between the two, such as the elongating distance: shortening the distance: the vertical descent distance is 1:500, that is, the shortening distance is 1 cm, and the corresponding vertical drop is 5 m. .
  • a scale may also be provided on the rocker 101 to indicate the height.
  • the corresponding rise height of the aircraft 11 is indicated, for example, when the user When the rocker 101 is elongated to be elongated by 1 cm, the aircraft 11 is raised by 5 meters.
  • the sensor module 102 generates a fifth potential signal according to the rotation action and the rotation angle, wherein the magnitude of the fifth potential signal is related to the rotation angle;
  • the main processing chip 103 collects a fifth potential signal and generates a head turning command set with a rotation angle according to the magnitude of the fifth potential signal;
  • the communication module 104 transmits a nose turning command to the aircraft 11 such that the aircraft 11 adjusts the nose direction of the aircraft 11 at a rotation angle according to the nose turning command.
  • the above rotation action includes a left-hand motion and a right-hand motion.
  • the remote control device 10 After the user rotates the dial 105 to the left or right to a fixed angle, if the reset is not performed, the left-hand or right-handed state is maintained, and the remote control device 10 generates a spin command to control.
  • the aircraft 11 performs a spin flight.
  • the main processing chip 103 generates a spin command set with a corresponding rotation angle when the fifth potential signal is collected and detects that the magnitude of the fifth potential signal is maintained at a fixed value for more than a predetermined period of time, wherein the rotation angle and the fifth potential signal are The size corresponds.
  • the communication module 104 transmits a spin command to the aircraft 11 such that the aircraft 11 performs a spin flight at the same height at a rotation angle according to the spin command.
  • the communication module 104 transmits a spin command to the aircraft 11 so that the aircraft 11 performs counterclockwise spin flight at the same height at a rotation angle according to the spin command.
  • the communication module 104 transmits a spin command to the aircraft 11 such that the aircraft 11 makes a clockwise spin flight at the same altitude at a rotation angle according to the spin command.
  • a scale may also be provided on the turntable 105 to indicate the nose turning angle.
  • the head of the aircraft 11 corresponds to the angle of the steering, for example.
  • the nose of the aircraft 11 deviates from the current route by 10 degrees to the left.
  • the sensor module 102 generates an eighth potential signal according to the refueling action, or generates a ninth potential signal according to the oil collecting action, and the magnitude of the eighth potential signal is related to the magnitude of the refueling action, and the magnitude of the ninth potential signal and the magnitude of the retracting action related;
  • the main processing chip 103 collects an eighth potential signal and generates an acceleration command set with a first acceleration amount according to the magnitude of the eighth potential signal, or acquires a ninth potential signal and generates a second setting according to the magnitude of the ninth potential signal. Deceleration command of acceleration amount;
  • the communication module 104 transmits an acceleration command or a deceleration command to the aircraft 11 such that the aircraft 11 accelerates with a first acceleration amount according to the acceleration command or decelerates with a second acceleration amount according to the deceleration command.
  • the rocker 101 described above can perform a push forward, a backward push, a left push or a right push action while the elongation or shortening action occurs.
  • the rocker 101 can simultaneously perform an elongated motion and a front push motion.
  • the aerial photography can be facilitated.
  • turntable 105 and throttle control portion 106 can also be used in synchronization with the rocker 101, thereby enabling the aircraft 11 to achieve different flight attitudes.
  • the turntable 105 when the turntable 105 is rotated to a certain angle so that the aircraft 11 flies counterclockwise at the same height, the telescopic rod 101 is stretched to cause an extension action, at which time the aircraft further acquires a rising command and remains counterclockwise.
  • the spin is flying, the ascending flight is performed, so that the flight action of counterclockwise spiraling can be performed.
  • the main processing chip may be configured to generate a horizontal forward flight command set with a first uniform flight speed, acquire a ninth potential signal, and generate a ninth potential signal according to the size of the eighth potential signal by acquiring the eighth potential signal.
  • the communication module sends a horizontal forward flight command or a horizontal backward flight command to the aircraft, so that the aircraft can fly forward at a uniform speed according to the horizontal forward flight command at a first uniform flight speed level, or according to a horizontal backward flight instruction
  • the second uniform flight speed flies backward at a constant speed.
  • the aircraft can simultaneously receive the horizontal forward flight command and the nose down command, and the aircraft can make a dive flight.
  • the remote control device may further include a button take-off/landing button, and the main processing chip respectively generates a button take-off command according to the pressing action and the releasing pressing action on the one-button take-off/landing button. And a one-click landing command.
  • the communication module transmits a one-button takeoff command or a one-click landing command to the aircraft such that the aircraft takes off from the ground to a predetermined altitude according to a one-button takeoff command, or falls from the air to the ground according to a one-click landing command.
  • FIG. 9 is a schematic diagram of circuit connections between a sensor module and a main processing chip according to a preferred embodiment of the present invention.
  • FIG. 9 further clearly illustrates how the first to eighth potential signals are generated.
  • the sensor module includes eight voltage dividing circuits 20, 30, 40, 50, 60, 70, 80, 90.
  • the eight voltage dividing circuits 20, 30, 40, 50, 60, 70, 80, 90 pass through the analog to digital conversion circuits 201, 202, 203, 204, 205, 206, 207, 208 and the data receiving port of the main processing chip 103, respectively. connection.
  • the adjustable potentiometer 301 is disposed on the forward pushing action path of the rocker 101 by mechanical arrangement, and the adjustable potentiometer 302 is disposed on the push-back action path of the rocker 101 by mechanical arrangement, and the adjustable potentiometer 303 passes The mechanical setting is set on the left push motion path of the rocker 101, and the adjustable potentiometer 304 is mechanically disposed on the right push motion path of the rocker 101.
  • the adjustable potentiometer 305 is mechanically disposed on the elongated motion path of the rocker 101, and the adjustable potentiometer 306 is mechanically disposed on the shortening action path of the rocker 101.
  • the adjustable potentiometer 307 is disposed on the rotation path of the turntable 105 by mechanical arrangement.
  • the adjustable potentiometer 308 is disposed on the active path of the throttle control unit 106 by mechanical arrangement.
  • the voltage dividing circuit 90 includes an adjustable potentiometer 301 and a voltage dividing resistor 305 which are disposed in series, and the constant power source VCC is directly applied to the adjustable potentiometer 301 and the voltage dividing resistor 305 which are arranged in series, and the adjustable potentiometer 301
  • the connection point between the voltage divider resistor 305 and the voltage-dividing resistor 305 is connected to the analog-to-digital conversion circuit 204.
  • the adjustable potentiometer 301 is mechanically disposed on the forward motion path of the rocker 101. When the rocker 101 is pushed forward, The resistance value of the adjustable potentiometer 301 changes correspondingly, and the magnitude of the resistance value changes with the forward pushing angle.
  • the analog-to-digital conversion circuit 204 obtains the potential of the connection point between the adjustable potentiometer 301 and the voltage dividing resistor 305 as a first potential signal, and the analog-to-digital conversion circuit 204 converts the first potential signal into a digital signal format, so that The main processing chip 103 can read the value of the first potential signal.
  • the main processing chip 103 also acquires other potential signals in a similar manner, thereby realizing the synchronous acquisition of the eight-way potential signals.
  • each of the above analog to digital conversion circuits may also be directly integrated into the main processing chip 103.
  • the embodiment of the present invention can solve the technical problem of complicated control operation of the remote control device of the aircraft by replacing the double rocker with a single rocker and by appropriately setting the control mode of the single rocker, thereby greatly improving the user experience.

Abstract

一种用于飞行器（11）的遥控装置（10），该遥控装置（10）包括：摇杆（101）、传感器模组（102）、主处理芯片（103）以及通信模组（104），摇杆（101）设置为可作出前推动作、后推动作、左推动作以及右推动作；传感器模组（102）根据前推动作及前推角度产生第一电位信号、根据后推动作及后推角度产生第二电位信号、根据左推动作及左推角度产生第三电位信号、根据右推动作及右推角度产生第四电位信号；主处理芯片（103），采集第一电位信号产生机头向下指令、采集第二电位信号产生机头向上指令、采集第三电位信号并产生机身左倾指令、采集第四电位信号产生机身右倾指令；通信模组（104）发送上述飞行指令至飞行器（11）。

Description

一种用于飞行器的遥控装置
【技术领域】
本发明涉及遥控技术领域，特别是涉及一种用于飞行器的遥控装置。
【背景技术】
随着科技的发展，技术的提高和生产成本的降低，诸如无人机、遥控直升机等飞行器越来越得到大众的青睐。各式飞行器已逐渐成为大众的消费产品。但是，目前来看，飞行器操作复杂性制约了其进入大众市场的力度。
现有的飞行器主要通过遥控装置控制其运行状态，而遥控装置的操作主要通过遥控装置上设置的两个摇杆控制飞行器的前进或后退，现有技术中，专门提供诸如“美国手”和“日本手”等双遥杆操作方式，但是，在现有技术中由于要同时控制两个摇杆，新手在入门阶段是比较难控制飞行器的，因此需要专业遥控人员经过长期的培训，方可使得新手能够熟练操作遥控装置进而合理控制飞行器的飞行姿态。
因此，现有技术的遥控装置存在操作复杂、用户体验不佳的问题。
【发明内容】
有鉴于此，本发明实施例提供了一种用于飞行器的遥控装置，能够解决飞行器的遥控装置控制操作复杂的技术问题。
为解决上述技术问题，本发明提供一种用于飞行器的遥控装置，包括：摇杆，设置在遥控装置的外表面，摇杆设置为可作出前推动作、后推动作；传感器模组，设置在遥控装置内部，根据前推动作及前推角度产生第一电位信号、根据后推动作及后推角度产生第二电位信号，其中第一电位信号的大小与前推角度有关，第二电位信号的大小与后推角度有关；主处理芯片，设置在遥控装置内部，用于采集第一电位信号并根据第一电位信号的大小产生设定有前推角度的机头向下指令、采集第二电位信号并根据第二电位信号的大小产生设定有后推角度的机头向上指令；通信模组，将机头向下指令或机头向上指令发送至飞行器，以使得飞行器根据机头向下指令以前推角度向下调整机头方向、或根据机头向上指令以后推角度向上调整机头方向。
其中，摇杆设置为可作出左推动作以及右推动作；传感器模组，根据左推动作及左推角度产生第三电位信号、根据右推动作及右推角度产生第四电位信号，其中第三电位信号的大小与左推角度有关，其中第四电位信号的大小与右推角度有关；主处理芯片，采集第三电位信号并根据第三电位信号的大小产生设定有左推角度的机身左倾指令、采集第四电位信号并根据第四电位信号的大小产生设定有右倾角度的机身右倾指令；通信模组，将机身左倾指令或机身右倾指令发送至飞行器，以使得飞行器根据机身左倾指令以左倾角度调整机身位置左倾、或根据机身右倾指令以右倾角度调整机身位置右倾。
其中，摇杆上设置有转盘，转盘设置为可作出旋转动作，其中：传感器模组，根据旋转动作及旋转角度产生第五电位信号，其中第五电位信号的大小与旋转角度有关；主处理芯片，采集第五电位信号并根据第五电位信号的大小产生设定有旋转角度的机头转向指令；通信模组，将机头转向指令发送至飞行器，以使得飞行器根据机头转向指令以旋转角度调整飞行器的机头方向。
其中，旋转动作包括左旋动作和右旋动作。
其中，主处理芯片，采集第五电位信号并检测到第五电位信号的大小保持在一固定值超过预定时长时，产生设定有旋转角度的自旋指令，其中旋转角度与第五电位信号的大小相对应；通信模组，将自旋指令发送至飞行器，以使得飞行器根据自旋指令以旋转角度在同一高度进行自旋飞行。
其中，在旋转动作为左旋动作时，通信模组将自旋指令发送至飞行器，以使得飞行器根据自旋指令以旋转角度在同一高度进行逆时针自旋飞行；在旋转动作为右旋动作时，通信模组将自旋指令发送至飞行器，以使得飞行器根据自旋指令以旋转角度在同一高度进行顺时针自旋飞行。
其中，摇杆设置为可作出拉长动作，其中：传感器模组，根据拉长动作及拉长距离产生第六电位信号，其中第六电位信号的大小与拉长距离有关；主处理芯片，采集第六电位信号并根据第六电位信号的大小产生设定有垂直升高距离的升高指令，其中垂直升高距离与拉长距离对应；通信模组，将升高指令发送至飞行器，以使得飞行器根据升高指令爬升垂直升高距离。
其中，摇杆设置为可作出缩短动作，其中：传感器模组，根据缩短动作及缩短距离产生第七电位信号，其中第七电位信号的大小与缩短距离有关；主处理芯片，采集第七电位信号并根据第七电位信号的大小产生设定有垂直下降距离的下降指令；通信模组，将下降指令发送至飞行器，以使得飞行器根据下降指令下降垂直下降距离。
其中，遥控装置还包括：油门控制部，设置在遥控装置的外表面，油门控制部设置为可作出加油动作和收油动作；传感器模组，根据加油动作产生第八电位信号，根据收油动作产生第九电位信号，第八电位信号的大小与加油动作的幅度有关，第九电位信号的大小与收油动作的幅度有关；主处理芯片，采集第八电位信号并根据第八电位信号的大小产生设定有第一加速量的加速指令、采集第九电位信号并根据第九电位信号的大小产生设定有第二加速量的减速指令，其中第一加速量与加油动作的幅度对应，第二加速量与收油动作的幅度对应；通信模组，将加速指令或加速发送至飞行器，以使得飞行器根据加速指令以第一加速量进行加速或根据减速指令以第二加速量进行减速。
其中，传感器模组包括多个可调电位器。
其中，遥控装置还包括：油门控制部，设置在遥控装置的外表面，油门控制部设置为可作出加油动作和收油动作；传感器模组，根据加油动作产生第八电位信号，根据收油动作产生第九电位信号，第八电位信号的大小与加油动作的幅度有关，第九电位信号的大小与收油动作的幅度有关；主处理芯片，采集第八电位信号并根据第八电位信号的大小产生设定有第一匀速飞行速度的水平向前飞行指令、采集第九电位信号并根据第九电位信号的大小产生设定有第二匀速飞行速度的水平向后飞行指令，其中第一匀速飞行速度与加油动作的幅度对应，第二匀速飞行速度与收油动作的幅度对应；通信模组，将水平向前飞行指令或水平向后飞行指令发送至飞行器，以使得飞行器根据水平向前飞行指令以第一匀速飞行速度水平匀速向前飞行，或根据水平向后飞行指令以第二匀速飞行速度匀速向后飞行。
其中，遥控装置，还包括：一键起飞/降落按钮，主处理芯片根据一键起飞/降落按钮上的按压动作和释放按压动作分别产生一键起飞命令和一键降落命令；通信模组，将一键起飞命令或一键降落命令发送至飞行器，以使得飞行器根据一键起飞命令从地面起飞至预定高度，或根据一键降落命令从空中降落至地面。
本发明进一步提供一种用于飞行器的遥控装置，包括：摇杆，设置在遥控装置的外表面，摇杆设置为可作出左推动作以及右推动作；传感器模组，设置在遥控装置内部，根据左推动作及左推角度产生第三电位信号、根据右推动作及右推角度产生第四电位信号，其中第三电位信号的大小与左推角度有关，其中第四电位信号的大小与右推角度有关；主处理芯片，采集第三电位信号并根据第三电位信号的大小产生设定有左推角度的机身左倾指令、采集第四电位信号并根据第四电位信号的大小产生设定有右倾角度的机身右倾指令；通信模组，将机身左倾指令或机身右倾指令发送至飞行器，以使得飞行器根据机身左倾指令以相左倾角度调整机身位置左倾、或根据机身右倾指令以右倾角度调整机身位置右倾。
本发明进一步提供一种用于飞行器的遥控装置，其特征在于，包括一遥杆，遥杆设置为可作出前推动作、后推动作、左推动作、右推动作、拉长动作以及缩短动作，并且，遥杆的顶部或底部设置有转盘，转盘设置为可作出旋转动作。
通过上述技术方案，本发明实施例通过以单个摇杆来取代双摇杆，并通过合理设置单个摇杆的控制方式，能够解决飞行器的遥控装置控制操作复杂的技术问题。
【附图说明】
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是根据本发明实施例的飞行控制系统的系统结构示意图；
图2是根据本发明实施例的遥控装置的装置结构示意图；
图3是根据本发明实施例的摇杆作出缩短动作时遥控装置的外部结构示意图；
图4是根据本发明实施例的摇杆作出拉长动作时遥控装置的外部结构示意图；
图5是根据本发明实施例的摇杆作出前推动作时遥控装置的外部结构示意图；
图6是根据本发明实施例的摇杆作出后推动作时遥控装置的外部结构示意图；
图7是根据本发明实施例的摇杆作出左推动作时遥控装置的外部结构示意图；
图8是根据本发明实施例的摇杆作出右推动作时遥控装置的外部结构示意图；以及
图9是根据本发明一优选实施例的传感器模组与主处理芯片之间的电路连接示意图。
【具体实施方式】
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
首先请参见图1，图1是根据本发明实施例的飞行控制系统的系统结构示意图，如图1所示，飞行控制系统包括遥控装置10和飞行器11，遥控装置10与飞行器11信号连接，可进行无线数据传输。优选地，本发明采用mavlink（一种用于小型无人载具的通信协议）协议实现遥控装置10与飞行器11之间的数据传输。具体地，遥控装置10将飞行控制指令调制到载波上，并通过载波发送运行控制指令飞行器11。其中载波的频率举例而言可为433MHz、 915MHz、2.4G或5.8G，使得传输的信号量更大，且传输的距离更远。又或者遥控装置10与飞行器11建立WiFi网络连接，遥控装置10通过WiFi网络发送飞行控制指令至飞行器11。
并请参见图2，图2是根据本发明实施例的遥控装置的装置结构示意图，如图2所示，遥控装置10包括摇杆101、传感器模组102、主处理芯片103、通信模组104、转盘105以及油门控制部106。
其中，主处理芯片103、传感器模组102设置在遥控装置10内部，摇杆101设置在遥控装置10外表面。主处理芯片103分别与通信模组104、传感器模组102电连接，传感器模组102分别与摇杆101、转盘105以及油门控制部106建立有机械连接，传感器模组102可检测摇杆101、转盘105以及油门控制部106的动作类型和动作幅度并通过以多路电位信号的方式将动作类型和动作幅度反馈至主处理芯片103，主处理芯片103根据电位信号类型及其大小产生对应的飞行控制指令并通过通信模组104发送至飞行器11。
请进一步参见图3和图4，图3是根据本发明实施例的摇杆作出缩短动作时遥控装置的外部结构示意图，图4是根据本发明实施例的摇杆作出拉长动作时遥控装置的外部结构示意图。
如图3和图4所示，遥控装置10包括设置在遥控装置10的外表面的摇杆101和油门控制部106，以及设置在摇杆101顶部的转盘105。
值得注意的是，在本发明的可选实施例中，转盘105也可以设置在遥杆101底部，其中遥杆101底部是指相对于遥杆101顶部的另一端所在位置（如图4中的标号99所示）。
可选地，在本实施例中，遥控装置10更包括显示屏108和手柄107。用户可以左手抓握手柄107，并以左手食指扣压油门控制部106，同时以右手操纵摇杆101来进行操控。
值得注意的是，上述控制方式仅为实现本发明实施例的多种控制方式中的其中一种，本领域技术人员在阅读本发明之后，完全可以根据本发明思路定义出其他控制方式，本发明对此不作限定。
值得注意的是，在本实施例中，油门控制部106是扳机式设计，在本发明的可选实施例中，油门控制部106也可以设置为其他方式，比如直接以按钮或旋钮作为油门控制部106，本发明对此不作具体限定。
同样地，本实施例中所示的手柄107只是作为握持部的一种具体实现方式，本发明可以通过多种其他形式来取代手柄107，如腕带、手托等，本发明对此不作具体限定。
摇杆101设置为可作出缩短动作、拉长动作、前推动作、后推动作、左推动作以及右推动作。
摇杆101的顶部设置有转盘105，转盘105设置为可作出旋转动作，该旋转动作包括左旋动作和右旋动作。
并且，油门控制部106设置为可作出加油动作和收油动作。
为了便于理解，请一并参见图5至图8，其中图5是根据本发明实施例的摇杆作出前推动作时遥控装置的外部结构示意图，图6是根据本发明实施例的摇杆作出后推动作时遥控装置的外部结构示意图，图7是根据本发明实施例的摇杆作出左推动作时遥控装置的外部结构示意图，图8是根据本发明实施例的摇杆作出右推动作时遥控装置的外部结构示意图。
在图5所示状态中，摇杆101在用户的操作下作出前推动作，箭头S1表示前推方向；在图6所示状态中，摇杆101在用户的操作下作出后推动作，箭头S2表示后推方向；在图7所示状态中，摇杆101在用户的操作下作出左推动作，箭头S3表示左推方向；在图8所示状态中，摇杆101在用户的操作下作出右推动作，箭头S4表示右推方向。
当摇杆101分别处于图3至图8所示的状态时，传感器模组102分别检测出各个状态的动作类型和动作幅度，并以多路电位信号的方式发送至主处理芯片103中。
以下首先介绍摇杆101发生前推动作、后推动作、左推动作或右推动作时遥控装置10内各模块的工作流程：
传感器模组102，根据前推动作及前推角度产生第一电位信号、根据后推动作及后推角度产生第二电位信号、根据左推动作及左推角度产生第三电位信号、或根据右推动作及右推角度产生第四电位信号，其中第一电位信号的大小与前推角度有关，第二电位信号的大小与后推角度有关，第三电位信号的大小与左推角度有关，其中第四电位信号的大小与右推角度有关。
主处理芯片103，采集第一电位信号并根据第一电位信号的大小产生设定有前推角度的机头向下指令、采集第二电位信号并根据第二电位信号的大小产生设定有后推角度的机头向上指令、采集第三电位信号并根据第三电位信号的大小产生设定有左推角度的机身左倾指令、采集第四电位信号并根据第四电位信号的大小产生设定有右推角度的机身右倾指令。
通信模组104，将机头向下指令、机头向上指令、机身左倾指令或机身右倾指令发送至飞行器11，以使得飞行器11根据机头向下指令以前推角度向下调整机头方向、根据机头向上指令以后推角度向上调整机头方向、根据机身左倾指令以左倾角度调整机身位置左倾、或根据机身右倾指令以右倾角度调整机身位置右倾。
在本实施例中，通过以单个摇杆101来取代双摇杆101，并通过合理设置单个摇杆101的控制方式，使得单个摇杆101的前推动作、后推动作、能够分别对应控制飞行器11的机头向上、向下，并使得单个摇杆101的左推动作及右推动作能够分别对应控制飞行器11的机身飞行姿态左倾、右倾，从而使得对飞行器11的操作控制更加简单，能够有效解决现有的遥控装置在飞行器飞行时控制操作复杂的技术问题。
以下介绍摇杆101发生拉长动作及缩短动作时遥控装置10内各模块的工作流程，首先介绍摇杆101发生拉长动作的情况：
传感器模组102，根据拉长动作及拉长距离产生第六电位信号，其中第六电位信号的大小与拉长距离有关；
主处理芯片103，采集第六电位信号并根据第六电位信号的大小产生设定有垂直升高距离的升高指令，其中垂直升高距离与拉长距离对应，具体而言二者之间可以设定预定比例关系，如拉长距离：垂直升高距离=1:500，即拉长距离为1cm，对应垂直升高5米；
通信模组104，将升高指令发送至飞行器11，以使得飞行器11根据升高指令爬升垂直升高距离。
以下是摇杆101发生缩短动作时各模块的工作流程：
传感器模组102，根据缩短动作及缩短距离产生第七电位信号，其中第七电位信号的大小与缩短距离有关；
主处理芯片103，采集第七电位信号并根据第七电位信号的大小产生设定有垂直下降距离的下降指令；
通信模组104，将下降指令发送至飞行器11，以使得飞行器11根据下降指令下降垂直下降距离。
其中垂直下降距离与缩短距离对应，具体而言二者之间可以设定预定比例关系，如拉长距离：缩短距离：垂直下降距离=1:500，即缩短距离为1cm，对应垂直下降5米。
在本发明的可选实施例中，也可在摇杆101上设置刻度，以表示高度，当用户拉长预定范围内的刻度时，则表明飞行器11对应的上升高度，举例而言，当用户对摇杆101进行拉长，使其拉长1cm，则飞行器11对应上升5米。通过设置刻度，可以使得用户更加方便地对飞行器11的飞行高度进行精确控制。
以下介绍摇杆101上的转盘105发生旋转动作时遥控装置10内各模块的工作流程：
传感器模组102，根据旋转动作及旋转角度产生第五电位信号，其中第五电位信号的大小与旋转角度有关；
主处理芯片103，采集第五电位信号并根据第五电位信号的大小产生设定有旋转角度的机头转向指令；
通信模组104，将机头转向指令发送至飞行器11，以使得飞行器11根据机头转向指令以旋转角度调整飞行器11的机头方向。
其中，上述旋转动作包括左旋动作和右旋动作。
进一步地，在本实施例中，当用户将转盘105左旋或右旋至一固定角度之后，若不进行复位，继续保持左旋或右旋状态，此时遥控装置10会产生自旋指令，以控制飞行器11进行自旋飞行。
具体而言：
主处理芯片103在采集第五电位信号并检测到第五电位信号的大小保持在一固定值超过预定时长时，产生设定有相应旋转角度的自旋指令，其中旋转角度与第五电位信号的大小相对应。
通信模组104将自旋指令发送至飞行器11，以使得飞行器11根据自旋指令以旋转角度在同一高度进行自旋飞行。
其中，在旋转动作为左旋动作时，通信模组104将自旋指令发送至飞行器11，以使得飞行器11根据自旋指令以旋转角度在同一高度进行逆时针自旋飞行。
在旋转动作为右旋动作时，通信模组104将自旋指令发送至飞行器11，以使得飞行器11根据自旋指令以旋转角度在同一高度进行顺时针自旋飞行。
其中，旋转角度越大，飞行器11自旋轨迹所形成的圆圈越小，反之则圆圈越大。
在本发明的可选实施例中，也可在转盘105上设置刻度，以表示机头转向角度，当用户旋转预定范围内的刻度时，则表明飞行器11的机头对应转向的角度，举例而言，当用户向左旋转转盘105，转动10度，则飞行器11的机头偏离当前航线对应左旋10度。通过设置刻度，可以使得用户更加方便地对飞行器的机头方向进行精确控制。
以下介绍油门控制部106发生加油动作及收油动作时遥控装置10内各模块的工作流程：
传感器模组102，根据加油动作产生第八电位信号，或根据收油动作产生第九电位信号，第八电位信号的大小与加油动作的幅度有关，第九电位信号的大小与收油动作的幅度有关；
主处理芯片103，采集第八电位信号并根据第八电位信号的大小产生设定有第一加速量的加速指令、或采集第九电位信号并根据第九电位信号的大小产生设定有第二加速量的减速指令；
通信模组104，将加速指令或减速指令发送至飞行器11，以使得飞行器11根据加速指令以第一加速量进行加速或根据减速指令以第二加速量进行减速。
值得注意的是，上述的摇杆101可在发生拉长或缩短动作的同时发生前推、后推、左推或右推动作，举例而言，摇杆101可同时发生拉长动作和前推动作，以使得飞行器11同时接收到上升指令和机头向下指令，从而上升的同时使得机头保持一定角度向下，能够方便航拍。
并且，上述的转盘105和油门控制部106亦可与摇杆101同步使用，从而使得飞行器11实现不同的飞行姿态。
举例而言，在转盘105左旋一定角度以使得飞行器11在同一高度逆时针自旋飞行时，拉伸遥杆101使其发生伸长动作，此时飞行器进一步获取到上升指令，并在保持逆时针自旋飞行的同时进行上升飞行，从而可进行逆时针螺旋上升的飞行动作。
进一步地，在本发明的可选实施例中， 主处理芯片可设置为通过采集第八电位信号并根据第八电位信号的大小产生设定有第一匀速飞行速度的水平向前飞行指令、采集第九电位信号并根据第九电位信号的大小产生设定有第二匀速飞行速度的水平向后飞行指令，其中第一匀速飞行速度与加油动作的幅度对应，第二匀速飞行速度与收油动作的幅度对应；
通信模组，将水平向前飞行指令或水平向后飞行指令发送至飞行器，以使得飞行器根据水平向前飞行指令以第一匀速飞行速度水平匀速向前飞行，或根据水平向后飞行指令以第二匀速飞行速度匀速向后飞行。
因此，若用户在对遥杆作出前推动作的同时，同步进行加油动作，此时飞行器可同时收到水平向前飞行指令和机头向下指令，飞行器可作出俯冲飞行。
进一步，在本发明的可选实施例中，遥控装置还可以包括一键起飞/降落按钮，主处理芯片根据所述一键起飞/降落按钮上的按压动作和释放按压动作分别产生一键起飞命令和一键降落命令。通信模组将一键起飞命令或一键降落命令发送至飞行器，以使得飞行器根据一键起飞命令从地面起飞至预定高度，或根据一键降落命令从空中降落至地面。
以下请参见图9，图9是根据本发明一优选实施例的传感器模组与主处理芯片之间的电路连接示意图。图9进一步清楚说明了上述第一至第八电位信号是如何产生的，如图9所示，传感器模组包括8个分压电路20、30、40、50、60、70、80、90，8个分压电路20、30、40、50、60、70、80、90分别通过模数转换电路201、202、203、204、205、206、207、208与主处理芯片103的数据接收端口连接。
具体而言：
可调电位器301通过机械设置的方式设置于摇杆101的前推动作路径上，可调电位器302通过机械设置的方式设置于摇杆101的后推动作路径上，可调电位器303通过机械设置的方式设置于摇杆101的左推动作路径上，可调电位器304通过机械设置的方式设置于摇杆101的右推动作路径上。
可调电位器305通过机械设置的方式设置于摇杆101的拉长动作路径上，可调电位器306通过机械设置的方式设置于摇杆101的缩短动作路径上。
可调电位器307通过机械设置方式设置于转盘105的旋转路径上。
可调电位器308通过机械设置方式设置于油门控制部106的活动路径上。
下面仅以分压电路90对采集第一电位信号的工作原理进行说明，其他分压电路的结构均与分压电路90类似，于此不作赘述。如图9所示，分压电路90包括串联设置的可调电位器301和分压电阻305，恒定电源VCC直接施加于串联设置的可调电位器301和分压电阻305，可调电位器301和分压电阻305之间的连接点与模数转换电路204连接，可调电位器301通过机械设置的方式设置于摇杆101的前推动作路径上，当摇杆101发生前推动作时，可调电位器301的电阻值发生对应变化，且电阻值的大小随前推角度而改变。
模数转换电路204获取可调电位器301和分压电阻305之间的连接点的电位，并将其作为第一电位信号，模数转换电路204将第一电位信号转换为数字信号格式，使得主处理芯片103可读取到第一电位信号的数值。
而主处理芯片103也以类似方式获取其他的电位信号，从而实现了八路电位信号的同步采集。
值得注意的是，上述的各模数转换电路也可以直接集成于主处理芯片103内。
综上，本发明实施例通过以单个摇杆来取代双摇杆，并通过合理设置单个摇杆的控制方式，能够解决飞行器的遥控装置控制操作复杂的技术问题，从而可以极大地提高用户体验。
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (14)

  1. 一种用于飞行器的遥控装置，其中，包括：
    摇杆，设置在所述遥控装置的外表面，所述摇杆设置为可作出前推动作、后推动作；
    传感器模组，设置在所述遥控装置内部，根据所述前推动作及前推角度产生第一电位信号、根据所述后推动作及后推角度产生第二电位信号，其中所述第一电位信号的大小与所述前推角度有关，所述第二电位信号的大小与所述后推角度有关；
    主处理芯片，设置在所述遥控装置内部，用于采集所述第一电位信号并根据所述第一电位信号的大小产生设定有所述前推角度的机头向下指令、采集所述第二电位信号并根据所述第二电位信号的大小产生设定有所述后推角度的机头向上指令；
    通信模组，将所述机头向下指令或所述机头向上指令发送至所述飞行器，以使得所述飞行器根据所述机头向下指令以所述前推角度向下调整机头方向、或根据所述机头向上指令以所述后推角度向上调整机头方向。
  2. 根据权利要求1所述的遥控装置，其中，
    所述摇杆设置为可作出左推动作以及右推动作；
    所述传感器模组，根据所述左推动作及左推角度产生第三电位信号、根据所述右推动作及右推角度产生第四电位信号，其中所述第三电位信号的大小与所述左推角度有关，其中所述第四电位信号的大小与所述右推角度有关；
    主处理芯片，采集所述第三电位信号并根据所述第三电位信号的大小产生设定有所述左推角度的机身左倾指令、采集所述第四电位信号并根据所述第四电位信号的大小产生设定有所述右倾角度的机身右倾指令；
    通信模组，将所述机身左倾指令或所述机身右倾指令发送至所述飞行器，以使得所述飞行器根据所述机身左倾指令以所述左倾角度调整机身位置左倾、或根据所述机身右倾指令以所述右倾角度调整机身位置右倾。
  3. 根据权利要求1所述的遥控装置，其中，所述摇杆的顶部或底部设置有转盘，所述转盘设置为可作出旋转动作，其中：
    所述传感器模组，根据所述旋转动作及旋转角度产生第五电位信号，其中所述第五电位信号的大小与所述旋转角度有关；
    所述主处理芯片，采集所述第五电位信号并根据所述第五电位信号的大小产生设定有所述旋转角度的机头转向指令；
    所述通信模组，将所述机头转向指令发送至所述飞行器，以使得所述飞行器根据所述机头转向指令以所述旋转角度调整所述飞行器的机头方向。
  4. 根据权利要求3所述的遥控装置，其特征在于，所述旋转动作包括左旋动作和右旋动作。
  5. 根据权利要求4所述的遥控装置，其中，
    所述主处理芯片，采集所述第五电位信号并检测到所述第五电位信号的大小保持在一固定值超过预定时长时，产生设定有所述旋转角度的自旋指令，其中所述旋转角度与所述第五电位信号的大小相对应；
    所述通信模组，将所述自旋指令发送至所述飞行器，以使得所述飞行器根据所述自旋指令以所述旋转角度在同一高度进行自旋飞行。
  6. 根据权利要求5所述的遥控装置，其中，
    在所述旋转动作为左旋动作时，所述通信模组将所述自旋指令发送至所述飞行器，以使得所述飞行器根据所述自旋指令以所述旋转角度在同一高度进行逆时针自旋飞行；
    在所述旋转动作为右旋动作时，所述通信模组将所述自旋指令发送至所述飞行器，以使得所述飞行器根据所述自旋指令以所述旋转角度在同一高度进行顺时针自旋飞行。
  7. 根据权利要求1所述的遥控装置，其中，所述摇杆设置为可作出拉长动作，其中：
    所述传感器模组，根据所述拉长动作及拉长距离产生第六电位信号，其中所述第六电位信号的大小与所述拉长距离有关；
    所述主处理芯片，采集所述第六电位信号并根据所述第六电位信号的大小产生设定有垂直升高距离的升高指令，其中所述垂直升高距离与所述拉长距离对应；
    所述通信模组，将所述升高指令发送至所述飞行器，以使得所述飞行器根据所述升高指令爬升所述垂直升高距离。
  8. 根据权利要求1所述的遥控装置，其中，所述摇杆设置为可作出缩短动作，其中：
    所述传感器模组，根据所述缩短动作及缩短距离产生第七电位信号，其中所述第七电位信号的大小与所述缩短距离有关；
    所述主处理芯片，采集所述第七电位信号并根据所述第七电位信号的大小产生设定有垂直下降距离的下降指令；
    所述通信模组，将所述下降指令发送至所述飞行器，以使得所述飞行器根据所述下降指令下降所述垂直下降距离。
  9. 根据权利要求1所述的遥控装置，其中，还包括：
    油门控制部，设置在所述遥控装置的外表面，所述油门控制部设置为可作出加油动作和收油动作；
    所述传感器模组，根据所述加油动作产生第八电位信号，根据所述收油动作产生第九电位信号，所述第八电位信号的大小与所述加油动作的幅度有关，所述第九电位信号的大小与所述收油动作的幅度有关；
    所述主处理芯片，采集所述第八电位信号并根据所述第八电位信号的大小产生设定有第一加速量的加速指令、采集所述第九电位信号并根据所述第九电位信号的大小产生设定有第二加速量的减速指令，其中所述第一加速量与所述加油动作的幅度对应，所述第二加速量与所述收油动作的幅度对应；
    所述通信模组，将所述加速指令或加速发送至所述飞行器，以使得所述飞行器根据所述加速指令以所述第一加速量进行加速或根据所述减速指令以所述第二加速量进行减速。
  10. 根据权利要求1所述的遥控装置，其中，所述传感器模组包括多个可调电位器。
  11. 根据权利要求1所述的遥控装置，其中，还包括：
    油门控制部，设置在所述遥控装置的外表面，所述油门控制部设置为可作出加油动作和收油动作；
    所述传感器模组，根据所述加油动作产生第八电位信号，根据所述收油动作产生第九电位信号，所述第八电位信号的大小与所述加油动作的幅度有关，所述第九电位信号的大小与所述收油动作的幅度有关；
    所述主处理芯片，采集所述第八电位信号并根据所述第八电位信号的大小产生设定有第一匀速飞行速度的水平向前飞行指令、采集所述第九电位信号并根据所述第九电位信号的大小产生设定有第二匀速飞行速度的水平向后飞行指令，其中所述第一匀速飞行速度与所述加油动作的幅度对应，所述第二匀速飞行速度与所述收油动作的幅度对应；
    所述通信模组，将所述水平向前飞行指令或水平向后飞行指令发送至所述飞行器，以使得所述飞行器根据所述水平向前飞行指令以所述第一匀速飞行速度水平匀速向前飞行，或根据所述水平向后飞行指令以所述第二匀速飞行速度匀速向后飞行。
  12. 根据权利要求1所述的遥控装置，其中，还包括：
    一键起飞/降落按钮，所述主处理芯片根据所述一键起飞/降落按钮上的按压动作和释放按压动作分别产生一键起飞命令和一键降落命令；
    所述通信模组，将所述一键起飞命令或所述一键降落命令发送至所述飞行器，以使得所述飞行器根据所述一键起飞命令从地面起飞至预定高度，或根据所述一键降落命令从空中降落至地面。
  13. 一种用于飞行器的遥控装置，其中，包括：
    摇杆，设置在所述遥控装置的外表面，所述摇杆设置为可作出左推动作以及右推动作；
    传感器模组，设置在所述遥控装置内部，根据所述左推动作及左推角度产生第三电位信号、根据所述右推动作及右推角度产生第四电位信号，其中所述第三电位信号的大小与所述左推角度有关，其中所述第四电位信号的大小与所述右推角度有关；
    主处理芯片，采集所述第三电位信号并根据所述第三电位信号的大小产生设定有所述左推角度的机身左倾指令、采集所述第四电位信号并根据所述第四电位信号的大小产生设定有所述右倾角度的机身右倾指令；
    通信模组，将所述机身左倾指令或所述机身右倾指令发送至所述飞行器，以使得所述飞行器根据所述机身左倾指令以相所述左倾角度调整机身位置左倾、或根据所述机身右倾指令以所述右倾角度调整机身位置右倾。
  14. 一种用于飞行器的遥控装置，其中，包括一遥杆，所述遥杆设置为可作出前推动作、后推动作、左推动作、右推动作、拉长动作以及缩短动作，并且，所述遥杆的顶部或底部设置有转盘，所述转盘设置为可作出旋转动作。
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