WO2018192206A1 - 无人机遥控器及无人机控制系统 - Google Patents

无人机遥控器及无人机控制系统 Download PDF

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Publication number
WO2018192206A1
WO2018192206A1 PCT/CN2017/109121 CN2017109121W WO2018192206A1 WO 2018192206 A1 WO2018192206 A1 WO 2018192206A1 CN 2017109121 W CN2017109121 W CN 2017109121W WO 2018192206 A1 WO2018192206 A1 WO 2018192206A1
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WIPO (PCT)
Prior art keywords
drone
control
remote controller
operating lever
elastic member
Prior art date
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.)
Ceased
Application number
PCT/CN2017/109121
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English (en)
French (fr)
Inventor
桂勤辉
程昌南
赖庆雄
王帅
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Autel Robotics Co Ltd
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Autel Robotics Co Ltd
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Filing date
Publication date
Application filed by Autel Robotics Co Ltd filed Critical Autel Robotics Co Ltd
Publication of WO2018192206A1 publication Critical patent/WO2018192206A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/04—Program control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Program control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/005—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with signals other than visual, e.g. acoustic, haptic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40132—Haptic joystick with force feedback based on accelerometer included in joystick
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40619—Haptic, combination of tactile and proprioceptive sensing

Definitions

  • the present application relates to the field of drones, and in particular to a drone remote controller and a drone control system.
  • a drone is a non-manned aircraft that is operated using radio remote control equipment and self-contained program control devices.
  • drones are widely used in street shooting, film and television shooting, environmental monitoring, geological survey, mapping, monitoring of agriculture, forestry and animal husbandry.
  • the remote control of the drone mainly uses base stations and remote controls.
  • the user controls the drone flight through the ground station or the remote control.
  • the ground station or the remote controller needs to obtain the four channels of data from up, down, left and right through the joystick, and control the flight path of the drone through wireless transmission.
  • the virtual joystick refers to displaying a simulated joystick on the App and controlling the flight through touch screen touch.
  • the somatosensory gesture refers to the collection of human body data through various sensors (infrared camera, attitude sensor, etc.). After the collected human body data is calculated by the algorithm, the control direction of the drone is obtained, and the drone is controlled by the calculated control direction.
  • control method of the virtual joystick and the somatosensory gesture can satisfy the people's demand for experiencing new things to a certain extent, but in actual use, the user can not experience the feeling of operation at all, and the user cannot perceive the Whether the man-machine is flying or not, the remote control and the drone cannot be integrated.
  • the purpose of the present application is to overcome the shortcomings of the UAV remote control in controlling the hand feeling in the prior art, and to provide a UAV remote controller.
  • the present application further proposes a drone control system.
  • the application provides a drone remote controller, including:
  • At least one operating lever disposed on the remote control body
  • control component disposed on the remote control body, configured to receive a drag coefficient in at least one flight direction fed back by the drone, and output a control signal according to the drag coefficient
  • At least one executing component electrically connecting the control component and adjusting a resistance of the operating rod in a moving direction according to a control signal output by the control component to feed back the resistance of the drone during flight On the operating lever.
  • the executing component includes:
  • An elastic member the first end of the elastic member is connected to the operating rod;
  • the operating rod includes a rocking rod and at least one linkage rod, and the rocking rod moves to move the linkage rod in the moving direction, and the first end of the linkage rod is movably connected to the connection point, and the linkage The second end of the rod connects the first end of the adjacent resilient member.
  • the number of the execution components is 4, and correspondingly, the number of the linkage bars is also 4, and the 4 linkage bars are respectively disposed on the front, the rear, the left, and the right movement of the rocker.
  • the first ends of the four linkage rods are movably connected to the same connection point, and the second ends of the four linkage rods are respectively connected to the first ends of the respective adjacent elastic members.
  • the executing component includes:
  • An electromagnetic assembly including a solenoid valve and an electromagnet electrically connected to the solenoid valve,
  • the solenoid valve is electrically connected to the control component and operates according to a control signal output by the control component;
  • the electromagnet disposed on the operating rod and adjacent to the electromagnetic component, wherein when the electromagnetic valve is energized, the electromagnet generates a magnetic field to attract the metal block, and the electromagnet is according to the size of the control signal. Adjusting the force between the electromagnet and the metal block to adjust the resistance to be overcome when the operating rod moves.
  • the operating rod includes a rocking rod and at least one linkage rod, and the rocking rod moves to move the linkage rod in a moving direction, and the first end of the linkage rod is movably connected to a connection point, The second end of the linkage rod is provided with the metal block.
  • the remote controller further includes at least one elastic member for returning the operating lever to an initial state, the elastic member is disposed on a straight line in which the moving direction of the linkage rod is located, and one end of the elastic member is fixed The other end is connected to a linkage rod adjacent to the elastic member.
  • the number of the elastic members is 4, and correspondingly, the number of the linkage rods is also 4, and the 4 linkage rods are respectively disposed on the front, rear, left, and right movements of the rocker.
  • the first ends of the four linkage rods are movably connected to the same connection point, and the second ends of the four linkage rods are respectively connected to the first ends of the respective adjacent elastic members.
  • the operating rod is movable in four moving directions, and each moving direction is correspondingly configured with one of the executing components, and the control component receives a drag coefficient of the drone in four flight directions, and according to each resistance coefficient A control signal is output to the corresponding execution unit.
  • the operating lever is two, respectively a first operating lever and a second operating lever, and the first operating lever is movable in four moving directions of forward, backward, left, and right to control the front of the drone.
  • the rear, left and right four flight directions the second operating lever can move to the left and right moving directions to control the left-handed and right-handed two flying directions of the drone, and each moving direction of each operating rod corresponds to One of the execution components is configured.
  • control component includes a communication module and a first controller electrically connected to each other, wherein the communication module is configured to receive a drag coefficient of at least one flight direction sent by the drone, and the first controller is configured to The drag coefficient is processed and a control signal is output to the execution unit based on the processed data.
  • the present application further provides a drone control system including a drone and a remote controller for controlling the flight of the drone, the remote controller being the drone remote controller described above.
  • a second controller and a sensor mounted on the drone the second controller is configured to process data collected by the sensor to obtain at least one flight direction of the drone Resistance coefficient.
  • the senor comprises at least one of a pressure sensor, an air flow sensor, an attitude sensor, and a wind sensor.
  • the UAV remote controller of the present application includes an operating lever, a control component and an executing component.
  • the control component outputs a control signal to the corresponding executing component according to the drag coefficient in the flight direction fed back by the drone, and the control component outputs a control signal according to the control component.
  • Adjusting the resistance of the operating rod in the moving direction to feed back the resistance of the drone to the operating lever which improves the operating feel of the drone remote control and provides a better user experience. And when the resistance of the operating rod suddenly decreases, it can be timely fed back to the operating lever, so that the user can adjust the operating lever in time to prevent the aircraft from hitting the obstacle.
  • the UAV control system of the present application can feed back the resistance of the UAV during flight by using the UAV remote controller described above, and improve the operational feel of the UAV remote control, thereby providing the user with better The experience of using. And when the resistance of the operating rod suddenly decreases, it can be timely fed back to the operating lever, so that the user can adjust the operating lever in time to prevent the aircraft from hitting the obstacle.
  • FIG. 1 is a schematic cross-sectional view of a remote control of a drone in the first embodiment.
  • FIG. 2 is a schematic cross-sectional view of the unmanned aerial vehicle remote control in the second embodiment.
  • connection In the description of the present application, it should be noted that the terms “installation”, “connected”, and “connected” are to be understood broadly, and may be fixed or detachable, for example, unless otherwise specifically defined and defined. Connected, or integrally connected; can be mechanical or electrical; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of the two components.
  • Connected, or integrally connected can be mechanical or electrical; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of the two components.
  • the specific meanings of the above terms in the present application can be understood in the specific circumstances for those skilled in the art.
  • FIG. 1 it is a schematic cross-sectional view of the unmanned aerial vehicle remote control in the first embodiment.
  • FIG. 1 only shows a schematic structural view of an actuator and an operating lever when the operating lever is moved in the upper and lower directions.
  • an unmanned aerial vehicle remote controller for controlling four flight directions of front, rear, left, and right of the drone is taken as an example for description.
  • the UAV remote control 10 provided by the present application includes a remote control body (not shown), an operating lever 11, a control assembly (not shown), and four execution components 12 (only two are shown in FIG. 1 in the vertical paper). There are two other directions in the face).
  • the remote control body includes a housing, a sensor disposed within the housing, a plurality of operation buttons, and the like.
  • the control component is disposed on the remote control body, and includes a communication module and a first controller, wherein the communication module is configured to receive a drag coefficient of four flight directions sent by the drone, for example, a forward drag coefficient a1, a backward drag coefficient a2 The left drag coefficient a3 and the right drag coefficient a3.
  • the resistance coefficients are obtained by processing the data collected by the plurality of sensors by the second controller on the drone, wherein the plurality of sensors include a pressure sensor, an air flow sensor, an attitude sensor, a wind sensor, etc., and each sensor They are all set on the drone. It will be appreciated that in other embodiments, it is also possible for the sensor to include only one or both of the above, except that the data collected by the plurality of sensors will be more comprehensive.
  • the first controller is electrically connected to the communication module, processes the received drag coefficient, and outputs a control signal to the corresponding executing component 12 according to the processed data.
  • the operating lever 11 is movable in four moving directions of forward, backward, left and right, and the four moving directions respectively control the four flight directions of the front, the rear, the left and the right of the drone.
  • the operating lever 11 includes a rocker 111 for operation by a user and four interlocking levers 112.
  • the four linkage rods are respectively disposed in the four moving directions of the rocker 111, and the first ends of the four linkage rods 112 are movably connected to the same connection point A1, and the second end is connected to the elastic member 121 of the adjacent execution member 12 ( Detailed description below).
  • the connecting rod 113 When the rocker 111 moves, the connecting rod 113 is pushed by the connecting rod 113 connected to the trailing end thereof.
  • the adjacent linkage rod 112 moves.
  • the connecting rod 113 at the upper end of the rocker 111 pushes the upper linkage rod 112 to the right (ie, in the direction indicated by the arrow B1).
  • the connecting rod 113 at the lower end of the rocker 111 pushes the lower linkage rod 112 to the right (ie, moves in the direction indicated by the arrow B2).
  • the four actuator members 12 are disposed corresponding to the four moving directions of the operating lever 11, so that the respective moving directions of the operating lever 11 have corresponding actuator members 12 to adjust the resistance to be overcome when the operating lever 11 is moved.
  • Each of the actuator components 12 includes an elastic member 121 and an execution motor 122.
  • the first end of the resilient member 121 is coupled to the adjacent linkage rod 112 and the second end is coupled to the actuator motor 122.
  • the execution motor 122 receives the control signal outputted by the control component, determines the rotation speed of the execution motor 122 and the duration of the rotation according to the magnitude of the control signal, to adjust the displacement of the elastic member 121 to an appropriate length, thereby flying the drone.
  • the resistance is accurately fed back to the operating lever 11. For example, when the drone encounters a large resistance to the forward flight, the control assembly outputs a control signal to the corresponding actuator 12 according to the upward drag coefficient, and the resistance of the actuator 12 to stretch the elastic member 121 to move the rocker 111 forward. The increase is made to feed back the drag coefficient of the drone to the rocker 111, thereby improving the user's operating feel.
  • FIG. 1 The structural shape and connection relationship of the actuating member 12 and the operating lever 11 for realizing the forward and backward movement of the operating lever 11 are shown in FIG.
  • the structural shape and connection relationship of the operating lever 11 and the actuator 12 in FIG. 1 are also applicable to the function of moving the operating lever 11 to the left and right.
  • the resistance of the operating rod in the moving direction is adjusted by performing an action of the motor on the elastic member connected to the operating rod, thereby feeding back the drag coefficient in the flying direction of the drone to the operating rod, thereby improving the resistance.
  • the operating feel of the drone remote control gives the user a better experience. And when the resistance of the operating rod suddenly decreases, it can be timely fed back to the operating lever, so that the user can adjust the operating lever in time to prevent the aircraft from hitting the obstacle.
  • FIG. 2 it is a schematic cross-sectional view of the UAV remote controller in Embodiment 2.
  • This FIG. 2 only shows a schematic structural view of the actuator and the operating lever when the operating lever is moved in the front and rear directions.
  • an unmanned aerial vehicle remote controller for controlling four flight directions of front, rear, left, and right of the drone is taken as an example for description.
  • the drone remote controller 20 provided by the present application includes a remote control body (not shown), an operating lever 21, A control assembly (not shown) and four actuators 22 (only two are shown in Figure 2).
  • the remote control body includes a housing, a sensor disposed within the housing, and a plurality of operation buttons and the like.
  • the control component is disposed on the remote control body, and includes a communication module and a first controller, wherein the communication module is configured to receive a drag coefficient of four flight directions sent by the drone, for example, a forward drag coefficient a1, a backward drag coefficient a2 The left drag coefficient a3 and the right drag coefficient a3.
  • the resistance coefficients are obtained by processing the data collected by the plurality of sensors by the second controller on the drone, wherein the plurality of sensors include a pressure sensor, an air flow sensor, an attitude sensor, a wind sensor, etc., and each sensor They are all set on the drone.
  • the first controller processes the received drag coefficient and outputs a control signal to the corresponding executing component 22 based on the processed data.
  • the operating lever 21 is movable in four moving directions of forward, backward, left and right, and the four moving directions respectively control the four flight directions of the front, the rear, the left and the right of the drone.
  • the operating lever 21 includes a rocker 211 and four interlocking levers 212 for user operation.
  • the four linkage rods are respectively disposed in the four moving directions of the rocker 211, and the first ends of the four linkage rods 212 are movably connected to the same connection point A2, and the second end is connected to one end of the adjacent elastic member 23.
  • the other end of the elastic member 23 is fixed to the remote control body, and the elastic member 23 is disposed on a straight line on which the moving rod 212 connected thereto is moved, so that when the interlocking rod 212 is deviated, it is pulled back to the initial state by the elastic member 23.
  • a connecting rod 213 is disposed perpendicularly to the four moving directions of the rocker 211.
  • One end of the connecting rod 213 is connected to the rocking rod 211, and the other end is connected to the adjacent connecting rod 212.
  • the linkage rod 212 connected to the connecting rod 213 is pushed by the connecting rod 213 to move.
  • the connecting rod 213 at the upper end of the rocking rod 211 is pushed.
  • the upper linkage rod 212 moves to the right (ie, moves in the direction indicated by the arrow C1); when the rocker 211 moves backward, the connecting rod 213 at the lower end of the rocker 211 pushes the lower linkage rod 212 to the right (ie, to the C2 arrow) Move in the direction shown).
  • the four actuating members 22 are disposed corresponding to the four moving directions of the operating lever 21 such that the respective moving directions of the operating lever 21 have corresponding actuator members 22 to adjust the resistance to the movement of the operating lever 21.
  • Each of the actuator components 22 includes an electromagnetic component 221 and a metal block 222 that mates with the electromagnetic component 221.
  • the electromagnetic component includes a solenoid valve and an electromagnet electrically connected to the solenoid valve, a solenoid valve and a control component Electrical connection.
  • the solenoid valve When the control unit outputs a control signal to the electromagnetic component, the solenoid valve is actuated to close, the electromagnet is energized, and the electromagnet is energized to generate a magnetic field to attract the metal block 222 near the electromagnet. Since the metal block 222 is disposed at the end (ie, the second end) of the linkage rod 212, the magnetic force generated between the electromagnet and the metal block is converted into the resistance of the operating rod 21 to push the linkage rod 212 to move.
  • the electromagnet controls the intensity of the magnetic field generated by the electromagnet according to the magnitude of the output control signal current.
  • the greater the voltage of the output control signal the stronger the magnetic field strength generated by the electromagnet, and the stronger the magnetic force generated between the electromagnet and the metal block.
  • the smaller the voltage of the output control signal the weaker the magnetic field strength generated by the electromagnet, and the weaker the magnetic force generated between the electromagnet and the metal block. That is, the greater the drag coefficient of the UAV flying in the flight direction, the greater the voltage of the control signal output by the control unit, the stronger the magnetic field generated by the electromagnet corresponding to the flight direction, and the electromagnet and the metal block are generated.
  • the resistance is relatively reduced, and when the user operates the rocker 211, the resistance of the rocker 211 is significantly reduced.
  • FIG. 1 The structural shape and connection relationship of the actuating member 22 and the operating lever 21 that realize the forward and backward movement of the operating lever 21 are shown in FIG.
  • the structural shape and connection relationship of the operating lever 21 and the actuator 22 in FIG. 1 are also applicable to the function of moving the operating lever 21 to the left and right.
  • the resistance that the operating rod needs to overcome when moving in the moving direction is adjusted by the interaction of the electromagnetic component and the metal block, thereby feeding back the drag coefficient in the flight direction of the drone to the operating rod.
  • Improve the operating feel of the UAV remote control giving the user a better experience, and when the lever resistance suddenly decreases, it can be timely feedback to the operating lever, so that the user can adjust the operating lever in time to prevent the aircraft from colliding obstacle.
  • the technical solution of the present application is applicable to the drone remote controllers of the front, rear, left and right four flight directions of the front and rear, the left and the right of the drone, which are applicable to the above-mentioned first embodiment and the second embodiment. It is also suitable for a drone remote control that controls the left and right sides of the drone in two directions.
  • the drone remote controller includes two operating levers, which are a first operating lever and a second operating lever, respectively, and the first operating lever is movable in four moving directions of forward, backward, left, and right, thereby ,
  • the four operating directions of the front, rear, left and right of the drone are controlled by the first operating lever moving forward, backward, left and right; the second operating lever can move in the left and right moving directions.
  • the two operating directions of the left and right sides of the drone are controlled by the second operating lever moving in the left and right moving directions.
  • Each of the operating rods is configured with an executing component as described in Embodiment 1 or Embodiment 2, and each of the executing components adjusts a resistance to be overcome when the operating lever moves according to a control signal output by the control unit, so that no The magnitude of the resistance in each flight direction of the man-machine is fed back to the operating lever.
  • the technical solution of the present application is also applicable to a drone remote controller in which a joystick controls a flight direction of a drone, and is also applicable to a plurality of operating levers, and each operating lever controls a flight direction of the drone.
  • Man-machine remote control does not limit the number of flight directions in which the operating lever and the operating lever can control the drone (ie, the number of moving directions that the operating lever has), the number of operating levers, and the operating lever to control the drone flight. The number of directions can be changed according to the actual application.
  • the present application further provides a drone control system including a drone and a remote controller for controlling the flight of the drone, the remote controller being the drone remote controller described above.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Acoustics & Sound (AREA)
  • Human Computer Interaction (AREA)
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Abstract

一种无人机遥控器（10）及无人机控制系统，无人机控制系统包括无人机遥控器（10）和无人机，无人机遥控器（10）包括遥控本体；至少一操作杆（21），设置在遥控本体上；控制组件，设置在遥控本体上，用于接收无人机反馈的至少一个飞行方向上的阻力系数，并根据阻力系数输出控制信号；至少一执行部件（22），电连接控制组件，并根据控制组件输出的控制信号，调整操作杆（21）在移动方向上的阻力，以将无人机飞行时的阻力大小反馈至操作杆（21）上，从而提高了无人机遥控器（10）的操作手感，能够带给用户更好的使用体验。

Description

无人机遥控器及无人机控制系统 技术领域
本申请涉及无人机领域，特别涉及一种无人机遥控器及无人机控制系统。
背景技术
无人机是指利用无线电遥控设备和自备的程序控制装置操纵的不载人飞机。无人机早期使用在军用领域，随着科学的发展，逐渐扩展到消费领域。目前无人机广泛用于街景拍摄、影视剧拍摄、环境监测、地质勘测、地图绘制、农林牧业的监测等诸多领域。
无人机的远程控制主要采用基站和遥控器为主。使用者通过地面站或遥控器控制无人机飞行，地面站或者遥控器均需通过摇杆来获得上下左右的四通道数据，并通过无线传输，控制无人机的飞行轨迹。
目前，很多无人机公司推出了虚拟摇杆控制或者直接通过体感手势来控制无人机的飞行。虚拟摇杆是指在App上显示一个模拟的遥杆，通过触摸屏触摸的方式来控制飞行。体感手势是指通过各种传感器(红外摄像机、姿态传感器等)采集人体数据，这些采集的人体数据经过算法计算后，得到无人机的控制方向，通过计算得到的控制方向来控制无人机。
然而，对于虚拟摇杆和体感手势的控制方式，虽然能在一定程度上满足人民对体验新鲜事物的需求，但是在实际使用时，使用者完全不能体验到操作的手感，导致使用者无法感知无人机是否在飞行，无法做到遥控与无人机融为一体。
而传统的普通摇杆控制虽然能够使用户实时感受到控制飞行的方向，但是，连接摇杆的弹簧是固定的，对前后左右的阻尼系数也是固定的，而无人机在飞行中由于受到环境(温度、风向、风量、湿度、障碍物等)及自身的影响，在各个方向上行驶的阻力具有很大的差异，这会导致在不同的方向，使用者无法根据当前的实时环境状况来控制无人机飞行，影响手感，更有甚者，有些用户到极端环境下近距离拍摄，比如通风口，摇杆已达到最大值，但无人机由于受到反向风向的影响，停止不前，若此时风向突然改变，如未及时 调整摇杆，轻则偏离原来行驶方向，重则撞到障碍物导致炸机。
因此，目前人们对遥控器控制手感的需要，急需提出一种新的无人机遥控器。
发明内容
本申请的目的在于克服现有技术中无人机遥控器控制手感差的缺陷，提出一种无人机遥控器。
本申请另提出一种无人机控制系统。
本申请提供一种无人机遥控器，包括：
遥控本体；
至少一操作杆，设置在所述遥控本体上；
控制组件，设置在所述遥控本体上，用于接收无人机反馈的至少一个飞行方向上的阻力系数，并根据所述阻力系数输出控制信号；
至少一执行部件，电连接所述控制组件，并根据所述控制组件输出的控制信号，调整所述操作杆在移动方向上的阻力，以将所述无人机飞行时的阻力大小反馈至所述操作杆上。
可选的，所述执行部件包括：
弹性件，所述弹性件的第一端与所述操作杆相连；
执行电机，与所述弹性件的第二端连接，且所述执行电机与所述控制组件电连接，所述执行电机接收所述控制组件输出的控制信号，并根据所述控制信号调整所述弹性件拉伸的位移。
可选的，所述操作杆包括摇杆和至少一联动杆，所述摇杆移动时推动移动方向上的联动杆移动，所述联动杆的第一端活动连接在连接点上，所述联动杆的第二端连接相邻弹性件的第一端。
可选的，所述执行部件的数量为4，对应地，所述联动杆的数量也为4，4个所述联动杆分别设置在所述摇杆的前、后、左、右四个移动方向上，且4个所述联动杆的第一端活动连接在同一连接点上，4个所述联动杆的第二端分别连接各自相邻弹性件的第一端。
可选的，所述执行部件包括：
电磁组件，所述电磁组件包括电磁阀以及与所述电磁阀电连接的电磁铁， 所述电磁阀与所述控制组件电连接并根据所述控制组件输出的控制信号动作；
金属块，设置在所述操作杆上，且靠近所述电磁组件，在所述电磁阀动作通电时，所述电磁铁产生磁场吸引所述金属块，并且所述电磁铁根据控制信号的大小，调节所述电磁铁与所述金属块之间作用力的大小，以调节所述操作杆移动时要克服的阻力。
可选的，所述操作杆包括摇杆和至少一联动杆，所述摇杆移动时推动移动方向上的联动杆移动，所述联动杆的第一端活动连接在一连接点上，所述联动杆的第二端设置有所述金属块。
可选的，所述遥控器还包括至少一用于将所述操作杆恢复初始状态的弹性件，所述弹性件布设在所述联动杆移动方向所在的直线上，所述弹性件的一端固定，另一端连接与所述弹性件相邻的联动杆。
可选的，所述弹性件的数量为4，对应地，所述联动杆的数量也为4，4个所述联动杆分别设置在所述摇杆的前、后、左、右四个移动方向上，且4个所述联动杆的第一端活动连接在同一连接点上，4个所述联动杆的第二端分别连接各自相邻弹性件的第一端。
可选的，所述操作杆能够向四个移动方向移动，每一移动方向对应配置一个所述执行部件，所述控制组件接收无人机在四个飞行方向的阻力系数，并根据各阻力系数向相应的执行部件输出控制信号。
可选的，所述操作杆为两个，分别为第一操作杆和第二操作杆，所述第一操作杆能够向前、后、左、右四个移动方向移动以控制无人机前、后、左、右四个飞行方向，所述第二操作杆能够向左、右两个移动方向移动以控制无人机左旋、右旋两个飞行方向，各操作杆的每一移动方向对应配置一个所述执行部件。
可选的，所述控制组件包括相互电连接的通信模块和第一控制器，其中所述通信模块用于接收无人机发送的至少一个飞行方向的阻力系数，所述第一控制器用于将所述阻力系数进行处理，并根据处理后的数据输出控制信号至所述执行部件。
本申请另提供一种无人机控制系统，包括无人机和用于控制所述无人机飞行的遥控器，所述遥控器为上述所述的无人机遥控器。
可选的，还包括安装在所述无人机上的第二控制器和传感器，所述第二控制器用于将所述传感器采集到的数据进行处理以得到所述无人机至少一个飞行方向上的阻力系数。
可选的，所述传感器包括压力传感器、气流传感器、姿态传感器、风力传感器中的至少一个。
与现有技术相比，本申请具有如下有益效果：
本申请的无人机遥控器包括操作杆、控制组件和执行部件，控制组件根据无人机反馈的飞行方向上的阻力系数向对应的执行部件输出控制信号，执行部件根据控制组件输出的控制信号，调整操作杆在移动方向上的阻力，以将无人机飞行时的阻力大小反馈至操作杆上，提高了无人机遥控器的操作手感，给用户带来更好的使用体验。并且在操作杆阻力突然减小时，能够及时反馈至操作杆上，以使使用者能够及时调整操作杆，防止飞行器撞上障碍物。
本申请的无人机控制系统通过采用上述所述的无人机遥控器可将无人机飞行时的阻力大小反馈至操作杆上，提高无人机遥控器的操作手感，带给用户更好的使用体验。并且在操作杆阻力突然减小时，能够及时反馈至操作杆上，以使使用者能够及时调整操作杆，防止飞行器撞上障碍物。
附图说明
图1是在实施例一中无人机遥控器的横截面示意图。
图2是在实施例二中无人机遥控器的横截面示意图。
具体实施方式
为了进一步说明本申请的原理和结构，现结合附图对本申请的优选实施例进行详细说明。
在本申请的描述中，需要说明的是，术语“前”、“后”、“左”、“右”、等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
实施例一
如图1所示，其是在实施例一中无人机遥控器的横截面示意图。该图1仅示出操作杆往上下两个方向移动时的执行部件和操作杆的结构示意图。
在本实施例中，以用于控制无人机前、后、左、右四个飞行方向的无人机遥控器为例进行说明。
本申请提供的无人机遥控器10包括遥控本体(未图示)、一个操作杆11、控制组件(未图示)和四个执行部件12(图1中仅示出两个，在垂直纸面的方向还有另外两个)。遥控本体包括壳体、设置在壳体内的传感器、多个操作按钮等。
控制组件设置在遥控本体上，其包括通信模块和第一控制器，通信模块用于接收无人机发送的四个飞行方向的阻力系数，例如，向前阻力系数a1，向后阻力系数a2、向左阻力系数a3和向右阻力系数a3。该些阻力系数是通过无人机上的第二控制器对多个传感器采集到的数据进行处理后得到的，其中，多个传感器包括压力传感器、气流传感器、姿态传感器、风力传感器等，且各传感器均设置在无人机上。可以理解，在其他实施例中，所述传感器也有可能只包括上述的其中一个或两个，只是多个传感器收集的数据会更全面。
第一控制器与通信模块电连接，将接收的阻力系数进行处理，并根据处理后的数据输出控制信号至相应的执行部件12。
操作杆11能够向前、后、左、右四个移动方向移动，四个移动方向分别对应控制无人机的前、后、左、右四个飞行方向。操作杆11包括供使用者操作用的摇杆111和四个联动杆112。四个联动杆分别设置在摇杆111的四个移动方向上，且四个联动杆112的第一端活动连接在同一连接点A1上，第二端连接相邻执行部件12的弹性件121(下文详细说明)。
摇杆111移动时，通过连接在其尾端的连接杆113推动与该连接杆113 相邻的联动杆112移动，例如，如图1所示，当摇杆111向前移动时，摇杆111上端的连接杆113推动上方的联动杆112向右移动(即往B1箭头所示方向移动)；当摇杆111向后移动时，摇杆111下端的连接杆113推动下方的联动杆112向右移动(即往B2箭头所示方向移动)。
四个执行部件12对应于操作杆11的四个移动方向而设置，使得操作杆11的各个移动方向都有相应的执行部件12来调节操作杆11移动时所要克服的阻力。
每一执行部件12包括弹性件121和执行电机122。弹性件121的第一端与相邻的联动杆112相连，第二端与执行电机122相连。执行电机122接收控制组件输出的控制信号，根据控制信号的大小确定执行电机122的转速和转动持续的时间长度，以将弹性件121拉伸的位移调整至适当的长度，进而将无人机飞行的阻力精准的反馈到操作杆11上。例如，当无人机向前飞行遇到较大阻力时，控制组件根据向上阻力系数输出控制信号至对应的执行部件12，执行部件12拉伸弹性件121，使摇杆111向前移动的阻力增大，从而将无人机的阻力系数反馈至摇杆111上，提高用户的操作手感。
图1中示出了实现操作杆11向前、向后移动功能的执行部件12和操作杆11的结构形状和连接关系。该图1中的操作杆11和执行部件12的结构形状和连接关系也同样适用于实现操作杆11向左、向右移动功能。
在本实施例中通过执行电机作用于与操作杆相连的弹性件来调整操作杆在移动方向上的阻力，藉此，将无人机的飞行方向上的阻力系数反馈至操作杆上，提高了无人机遥控器的操作手感，带给用户更好的使用体验。并且在操作杆阻力突然减小时，能够及时反馈至操作杆上，以使使用者能够及时调整操作杆，防止飞行器撞上障碍物。
实施例二
如图2所示，其是在实施例二中无人机遥控器的横截面示意图。该图2仅示出操作杆往前后两个方向移动时的执行部件和操作杆的结构示意图。
在本实施例中，以用于控制无人机前、后、左、右四个飞行方向的无人机遥控器为例进行说明。
本申请提供的无人机遥控器20包括遥控本体(未图示)、一个操作杆21、 控制组件(未图示)和四个执行部件22(图2中仅示出两个)。遥控本体包括壳体、设置在壳体内的传感器以及多个操作按钮等。
控制组件设置在遥控本体上，其包括通信模块和第一控制器，通信模块用于接收无人机发送的四个飞行方向的阻力系数，例如，向前阻力系数a1，向后阻力系数a2、向左阻力系数a3和向右阻力系数a3。该些阻力系数是通过无人机上的第二控制器对多个传感器采集到的数据进行处理后得到的，其中，多个传感器包括压力传感器、气流传感器、姿态传感器、风力传感器等，且各传感器均设置在无人机上。
第一控制器将接收的阻力系数进行处理，并根据处理后的数据输出控制信号至相应的执行部件22。
操作杆21能够向前、后、左、右四个移动方向移动，四个移动方向分别对应控制无人机的前、后、左、右四个飞行方向。操作杆21包括供使用者操作用的摇杆211和四个联动杆212。四个联动杆分别设置在摇杆211的四个移动方向上，且四个联动杆212的第一端活动连接在同一连接点A2上，第二端连接相邻的弹性件23的一端。
弹性件23的另一端固定在遥控本体上，且弹性件23布设在与其连接的联动杆212移动方向所在的直线上，使得当联动杆212偏离时，通过弹性件23拉回至初始状态。
垂直于摇杆211的四个移动方向上各设置一个连接杆213，连接杆213的一端与摇杆211连接，另一端与相邻的联动杆212连接。摇杆211移动时，通过连接杆213推动与该连接杆213相连接的联动杆212移动，例如，如图2所示，当摇杆211向前移动时，摇杆211上端的连接杆213推动上方的联动杆212向右移动(即往C1箭头所示方向移动)；当摇杆211向后移动时，摇杆211下端的连接杆213推动下方的联动杆212向右移动(即往C2箭头所示方向移动)。
四个执行部件22对应于操作杆21的四个移动方向而设置，使得操作杆21的各个移动方向都有相应的执行部件22来调节操作杆21移动时所受的阻力。
每一执行部件22包括电磁组件221和与该电磁组件221相配合的金属块222。电磁组件包括电磁阀以及与电磁阀电连接的电磁铁，电磁阀与控制组件 电连接。当控制组件对电磁组件输出控制信号时，电磁阀动作而闭合，使电磁铁通电，电磁铁通电产生磁场，吸引电磁铁附近的金属块222。因金属块222设置在联动杆212的末端(即第二端)，故电磁铁和金属块之间产生的磁力转换为操作杆21推动联动杆212移动的阻力。
电磁铁根据输出控制信号电流的大小控制电磁铁产生的磁场强度，当输出的控制信号的电压越大，电磁铁产生的磁场强度就越强，电磁铁与金属块之间产生的磁力就越强；反之，当输出的控制信号的电压越小，电磁铁产生的磁场强度就越弱，电磁铁与金属块之间产生的磁力就越弱。即当无人机向飞行方向飞行的阻力系数越大，控制组件输出的控制信号的电压就越大，对应于该飞行方向的电磁铁产生的磁场就越强，电磁铁与金属块之间产生的磁力就越强，摇杆211移动要克服的阻力越大，使用者在操作摇杆211时，能够明显感觉到摇杆211阻力的增大；反之，无人机向飞行方向飞行的阻力系数越小，控制组件输出的控制信号的电压就越小，对应于该飞行方向的电磁铁产生的磁场就越弱，电磁铁与金属块之间产生的磁力就越弱，摇杆211移动要克服的阻力相对减少了，使用者在操作摇杆211时，能够明显感觉到摇杆211阻力的变小。
图1中示出了实现操作杆21向前、向后移动功能的执行部件22和操作杆21的结构形状和连接关系。该图1中的操作杆21和执行部件22的结构形状和连接关系也同样适用于实现操作杆21向左、向右移动的功能。
在本实施例中通过电磁组件和金属块的相互作用来调节操作杆在移动方向上移动时所需克服的阻力，藉此，将无人机的飞行方向上的阻力系数反馈至操作杆上，提高无人机遥控器的操作手感，带给用户更好的使用体验，并且在操作杆阻力突然减小时，能够及时反馈至操作杆上，以使使用者能够及时调整操作杆，防止飞行器撞上障碍物。
本申请的技术方案除了适用于上述实施例一和实施例二例举的一个操作杆控制无人机前、后、左、右四个飞行方向的无人机遥控器外，本发明的技术方案还适用于一个操作杆控制无人机左旋、右旋两个飞行方向的无人机遥控器。
在一个实施例中，无人机遥控器包括两个操作杆，分别为第一操作杆和第二操作杆，第一操作杆能够向前、后、左、右四个移动方向移动，藉此， 通过第一操作杆向前、后、左、右四个移动方向移动来控制无人机前、后、左、右四个飞行方向；第二操作杆能够向左、右两个移动方向移动，藉此，通过第二操作杆向左、右两个移动方向移动来控制无人机左旋、右旋两个飞行方向。每一操作杆对应的移动方向各配置一个如实施例一或实施例二所述的执行部件，每一执行部件根据控制单元输出的控制信号调节操作杆移动时所需克服的阻力，以将无人机各个飞行方向上的阻力大小反馈至操作杆上。
此外，本申请的技术方案还适用于一个操作杆控制无人机一个飞行方向的无人机遥控器，也可适用于包括多个操作杆且每一操作杆控制无人机一个飞行方向的无人机遥控器。在此，本申请的技术方案并不对操作杆和操作杆能够控制无人机的飞行方向的数量(即操作杆具有的移动方向数量)进行限定，操作杆的数量以及操作杆控制无人机飞行方向的数量是可根据实际应用进行变化的。
本申请另提供一种无人机控制系统，该控制系统包括无人机和用于控制所述无人机飞行的遥控器，所述遥控器为上述所述的无人机遥控器。
以上仅为本申请的较佳可行实施例，并非限制本申请的保护范围，凡运用本申请说明书及附图内容所作出的等效结构变化，均包含在本申请的保护范围内。

Claims (14)

  1. 一种无人机遥控器，其特征在于，包括：
    遥控本体；
    至少一操作杆，设置在所述遥控本体上；
    控制组件，设置在所述遥控本体上，用于接收无人机反馈的至少一个飞行方向上的阻力系数，并根据所述阻力系数输出控制信号；
    至少一执行部件，电连接所述控制组件，并根据所述控制组件输出的控制信号，调整所述操作杆在移动方向上的阻力，以将所述无人机飞行时的阻力大小反馈至所述操作杆上。
  2. 根据权利要求1所述的无人机遥控器，其特征在于，所述执行部件包括：
    弹性件，所述弹性件的第一端与所述操作杆相连；
    执行电机，与所述弹性件的第二端连接，且所述执行电机与所述控制组件电连接，所述执行电机接收所述控制组件输出的控制信号，并根据所述控制信号调整所述弹性件拉伸的位移。
  3. 根据权利要求2所述的无人机遥控器，其特征在于，所述操作杆包括摇杆和至少一联动杆，所述摇杆移动时推动移动方向上的联动杆移动，所述联动杆的第一端活动连接在连接点上，所述联动杆的第二端连接相邻弹性件的第一端。
  4. 根据权利要求3所述的无人机遥控器，其特征在于，所述执行部件的数量为4，对应地，所述联动杆的数量也为4，4个所述联动杆分别设置在所述摇杆的前、后、左、右四个移动方向上，且4个所述联动杆的第一端活动连接在同一连接点上，4个所述联动杆的第二端分别连接各自相邻弹性件的第一端。
  5. 根据权利要求1所述的无人机遥控器，其特征在于，所述执行部件包括：
    电磁组件，所述电磁组件包括电磁阀以及与所述电磁阀电连接的电磁铁，所述电磁阀与所述控制组件电连接并根据所述控制组件输出的控制信号动作；
    金属块，设置在所述操作杆上，且靠近所述电磁组件，在所述电磁阀动作通电时，所述电磁铁产生磁场吸引所述金属块，并且所述电磁铁根据控制信号的大小，调节所述电磁铁与所述金属块之间作用力的大小，以调节所述操作杆移动时要克服的阻力。
  6. 根据权利要求5所述的无人机遥控器，其特征在于，所述操作杆包括摇杆和至少一联动杆，所述摇杆移动时推动移动方向上的联动杆移动，所述联动杆的第一端活动连接在一连接点上，所述联动杆的第二端设置有所述金属块。
  7. 根据权利要求6所述的无人机遥控器，其特征在于，所述遥控器还包括至少一用于将所述操作杆恢复初始状态的弹性件，所述弹性件布设在所述联动杆移动方向所在的直线上，所述弹性件的一端固定，另一端连接与所述弹性件相邻的联动杆。
  8. 根据权利要求7所述的无人机遥控器，其特征在于，所述弹性件的数量为4，对应地，所述联动杆的数量也为4，4个所述联动杆分别设置在所述摇杆的前、后、左、右四个移动方向上，且4个所述联动杆的第一端活动连接在同一连接点上，4个所述联动杆的第二端分别连接各自相邻弹性件的第一端。
  9. 根据权利要求1所述的无人机遥控器，其特征在于，所述操作杆能够向四个移动方向移动，每一移动方向对应配置一个所述执行部件，所述控制组件接收无人机在四个飞行方向的阻力系数，并根据各阻力系数向相应的执行部件输出控制信号。
  10. 根据权利要求1所述的无人机遥控器，其特征在于，所述操作杆为两个，分别为第一操作杆和第二操作杆，所述第一操作杆能够向前、后、左、右四个移动方向移动以控制无人机前、后、左、右四个飞行方向，所述第二操作杆能够向左、右两个移动方向移动以控制无人机左旋、右旋两个飞行方向，各操作杆的每一移动方向对应配置一个所述执行部件。
  11. 根据权利要求1所述的无人机遥控器，其特征在于，所述控制组件包括相互电连接的通信模块和第一控制器，其中所述通信模块用于接收无人机发送的至少一个飞行方向的阻力系数，所述第一控制器用于将所述阻力系数进行处理，并根据处理后的数据输出控制信号至所述执行部件。
  12. 一种无人机控制系统，其特征在于，包括无人机和用于控制所述无人机飞行的遥控器，所述遥控器为权利要求1至11任一项所述的无人机遥控器。
  13. 根据权利要求12所述的无人机控制系统，其特征在于，还包括安装在所述无人机上的第二控制器和传感器，所述第二控制器用于将所述传感器采集到的数据进行处理以得到所述无人机至少一个飞行方向上的阻力系数。
  14. 根据权利要求13所述的无人机控制系统，其特征在于，所述传感器包括压力传感器、气流传感器、姿态传感器、风力传感器中的至少一个。
PCT/CN2017/109121 2017-04-19 2017-11-02 无人机遥控器及无人机控制系统 Ceased WO2018192206A1 (zh)

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